diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00001/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00001/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7706f55c2c4d78431172f9d4f338bfd903ed72c2 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00001/meta.json @@ -0,0 +1,3856 @@ +{ + "frame_id": 1, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 0.5, + "sim_timestamp": 13145.569510977017 + }, + "drone_pose": { + "x": -46.18676113328464, + "y": -110.06758702073755, + "z": 21.2, + "pitch": -44.11569289604805, + "yaw": 89.94627595817623, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.0006732344627380371, + -0.71793532371521, + 0.6961094737052917, + 64.29498291015625 + ], + [ + 0.9999995231628418, + 0.0009377002716064453, + 0.0, + -46.083534240722656 + ], + [ + -0.0006527304649353027, + 0.6961091756820679, + 0.7179356217384338, + -91.86943817138672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -46.610693453187736, + "y": -109.93903873813153, + "z": 20.671350888409354 + }, + "t1_image_uv": [ + 1524.9763632621055, + 965.9021203656893 + ], + "t1_depth": 0.4600016208971735 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.16718292236328, + "y": -89.18776321411133, + "z": 0.954941889718175 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 29.08315325735478, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 663, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.16718292236328, + "y": -89.18775939941406, + "z": 0.9549418687820435 + }, + "extent": { + "x": 0.481208473443985, + "y": 0.6008349657058716, + "z": 0.886236846446991 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 619.4733459697231, + "ymin": 327.6259680698532, + "xmax": 660.4964370180971, + "ymax": 391.7760212534621 + }, + "corners_3d": [ + [ + -45.566349029541016, + -89.6689682006836, + 0.06870502233505249 + ], + [ + -46.76801681518555, + -89.6689682006836, + 0.06870502233505249 + ], + [ + -46.76801681518555, + -88.70655059814453, + 0.06870502233505249 + ], + [ + -45.566349029541016, + -88.70655059814453, + 0.06870502233505249 + ], + [ + -45.566349029541016, + -89.6689682006836, + 1.8411786556243896 + ], + [ + -46.76801681518555, + -89.6689682006836, + 1.8411786556243896 + ], + [ + -46.76801681518555, + -88.70655059814453, + 1.8411786556243896 + ], + [ + -45.566349029541016, + -88.70655059814453, + 1.8411786556243896 + ] + ], + "corners_2d": [ + [ + 620.3361126699936, + 391.7494950253318 + ], + [ + 659.6349166440983, + 391.7760212534621 + ], + [ + 659.2122030464071, + 369.639149381775 + ], + [ + 620.8171477670894, + 369.61382916552077 + ], + [ + 619.4733459697231, + 349.7011851357008 + ], + [ + 660.4964370180971, + 349.7276656487755 + ], + [ + 660.0349598337792, + 327.6511937175269 + ], + [ + 619.9956709841535, + 327.6259680698532 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 1, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 89, + "semantic_pixel_counts": { + "1": 596743, + "2": 123359, + "3": 52428, + "4": 19714, + "5": 3099, + "6": 21245, + "7": 4110, + "9": 19636, + "10": 19336, + "12": 3762, + "14": 10196, + "20": 2283, + "21": 5591, + "24": 39329, + "25": 769 + }, + "instance_pixel_counts": { + "143": 4155, + "365": 112, + "655": 12919, + "1167": 7233, + "1679": 10950, + "1957": 1114, + "2191": 188, + "2703": 9641, + "3727": 9310, + "3749": 22, + "7077": 7, + "8579": 922, + "9068": 153, + "10826": 769, + "15186": 6518, + "15698": 6755, + "16210": 3738, + "16722": 5765, + "19796": 1756, + "20040": 3099, + "21869": 4752, + "22381": 3199, + "22784": 4177, + "22893": 2083, + "23040": 15837, + "23405": 3835, + "23441": 1916, + "23552": 4308, + "23953": 2382, + "24429": 4996, + "24465": 1953, + "24941": 3805, + "24977": 1883, + "25453": 2049, + "25489": 1790, + "25662": 1166, + "25965": 1970, + "26001": 1170, + "26696": 19714, + "26987": 613, + "26989": 1871, + "27243": 61, + "27719": 25092, + "28231": 10231, + "28523": 46, + "28779": 1541, + "31633": 3154, + "32084": 2033, + "32145": 3742, + "32166": 570, + "32657": 3234, + "33169": 3156, + "38503": 726, + "38542": 693, + "39527": 823, + "39566": 84, + "40358": 2154, + "42918": 1541, + "51815": 221218, + "52327": 22229, + "53351": 98778, + "53863": 227242, + "54375": 18915, + "54887": 6812, + "54889": 17710, + "55401": 634, + "55913": 2767, + "56173": 19636, + "56320": 663, + "56425": 17388, + "56486": 6, + "56576": 585, + "56742": 36, + "56832": 466, + "56937": 523, + "57088": 531, + "57344": 694, + "57449": 307, + "57600": 823, + "59392": 6407, + "59762": 1147, + "62827": 119, + "63083": 86, + "63314": 3860, + "63874": 111, + "64142": 9335, + "64594": 70, + "64654": 4991, + "64876": 96 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 663, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.16718292236328, + "y": -89.18775939941406, + "z": 0.9549418687820435 + }, + "extent": { + "x": 0.4791039824485779, + "y": 0.5434374809265137, + "z": 0.9040164947509766 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 621.4255923031025, + "ymin": 327.2349076046776, + "xmax": 658.5442066651035, + "ymax": 392.129069914424 + }, + "corners_3d": [ + [ + -45.62374496459961, + -89.66686248779297, + 0.050925374031066895 + ], + [ + -46.71062088012695, + -89.66686248779297, + 0.050925374031066895 + ], + [ + -46.71062088012695, + -88.70865631103516, + 0.050925374031066895 + ], + [ + -45.62374496459961, + -88.70865631103516, + 0.050925374031066895 + ], + [ + -45.62374496459961, + -89.66686248779297, + 1.85895836353302 + ], + [ + -46.71062088012695, + -89.66686248779297, + 1.85895836353302 + ], + [ + -46.71062088012695, + -88.70865631103516, + 1.85895836353302 + ], + [ + -45.62374496459961, + -88.70865631103516, + 1.85895836353302 + ] + ], + "corners_2d": [ + [ + 622.2215901639833, + 392.10508017938645 + ], + [ + 657.7494832569379, + 392.129069914424 + ], + [ + 657.3719263335133, + 370.08898118442437 + ], + [ + 622.657193590612, + 370.06607703442705 + ], + [ + 621.4255923031025, + 349.21248101076037 + ], + [ + 658.5442066651035, + 349.23642842058103 + ], + [ + 658.1311638670228, + 327.2577245559686 + ], + [ + 621.8992479964805, + 327.2349076046776 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 585, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.041194915771484, + "y": -86.19005584716797, + "z": 0.9635453820228577 + }, + "extent": { + "x": 0.47108158469200134, + "y": 0.5502979159355164, + "z": 0.9291965961456299 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 491.83089264146633, + "ymin": 262.0480605478974, + "xmax": 534.1570446203328, + "ymax": 328.6252494442414 + }, + "corners_3d": [ + [ + -41.60086441040039, + -86.7652587890625, + 0.03434878587722778 + ], + [ + -42.67741012573242, + -86.53643035888672, + 0.03434878587722778 + ], + [ + -42.48152542114258, + -85.61485290527344, + 0.03434878587722778 + ], + [ + -41.40497970581055, + -85.84368133544922, + 0.03434878587722778 + ], + [ + -41.60086441040039, + -86.7652587890625, + 1.8927419185638428 + ], + [ + -42.67741012573242, + -86.53643035888672, + 1.8927419185638428 + ], + [ + -42.48152542114258, + -85.61485290527344, + 1.8927419185638428 + ], + [ + -41.40497970581055, + -85.84368133544922, + 1.8927419185638428 + ] + ], + "corners_2d": [ + [ + 500.75615948759287, + 328.6252494442414 + ], + [ + 534.1570446203328, + 323.974202685087 + ], + [ + 530.5283434208387, + 305.6369216988933 + ], + [ + 497.79696797490624, + 310.09881484300007 + ], + [ + 494.78610717709046, + 284.82970399993604 + ], + [ + 529.6435155752695, + 280.21644597122526 + ], + [ + 525.9597347110998, + 262.0480605478974 + ], + [ + 491.83089264146633, + 266.4659360078648 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 466, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.42300796508789, + "y": -82.24504852294922, + "z": 0.9567680358886719 + }, + "extent": { + "x": 0.4853466749191284, + "y": 0.3027685582637787, + "z": 0.958774745464325 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 692.3295939697114, + "ymin": 192.85849373255252, + "xmax": 715.8678632494853, + "ymax": 254.21630151761232 + }, + "corners_3d": [ + [ + -48.172630310058594, + -82.75938415527344, + -0.002006709575653076 + ], + [ + -48.77484893798828, + -82.69609069824219, + -0.002006709575653076 + ], + [ + -48.67338562011719, + -81.730712890625, + -0.002006709575653076 + ], + [ + -48.0711669921875, + -81.79400634765625, + -0.002006709575653076 + ], + [ + -48.172630310058594, + -82.75938415527344, + 1.9155428409576416 + ], + [ + -48.77484893798828, + -82.69609069824219, + 1.9155428409576416 + ], + [ + -48.67338562011719, + -81.730712890625, + 1.9155428409576416 + ], + [ + -48.0711669921875, + -81.79400634765625, + 1.9155428409576416 + ] + ], + "corners_2d": [ + [ + 696.1944328142359, + 254.21630151761232 + ], + [ + 712.9246563875147, + 253.13645692930544 + ], + [ + 708.7344034622841, + 236.86584525383097 + ], + [ + 692.3295939697114, + 237.9034365631215 + ], + [ + 698.4655077289623, + 209.9265968531424 + ], + [ + 715.8678632494853, + 208.86347853444803 + ], + [ + 711.4515479351568, + 192.85849373255252 + ], + [ + 694.4010014701576, + 193.8783847808661 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 531, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -55.66718292236328, + "y": -89.18775939941406, + "z": 0.9598490595817566 + }, + "extent": { + "x": 0.32369139790534973, + "y": 0.5421923995018005, + "z": 0.881611168384552 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 927.4277773518021, + "ymin": 331.3615361838301, + "xmax": 981.5257706666457, + "ymax": 388.0720597099008 + }, + "corners_3d": [ + [ + -55.12499237060547, + -89.5114517211914, + 0.07823789119720459 + ], + [ + -56.20937728881836, + -89.5114517211914, + 0.07823789119720459 + ], + [ + -56.209373474121094, + -88.86406707763672, + 0.07823789119720459 + ], + [ + -55.1249885559082, + -88.86406707763672, + 0.07823789119720459 + ], + [ + -55.12499237060547, + -89.5114517211914, + 1.8414602279663086 + ], + [ + -56.20937728881836, + -89.5114517211914, + 1.8414602279663086 + ], + [ + -56.209373474121094, + -88.86406707763672, + 1.8414602279663086 + ], + [ + -55.1249885559082, + -88.86406707763672, + 1.8414602279663086 + ] + ], + "corners_2d": [ + [ + 931.9435339845252, + 388.04829551954634 + ], + [ + 967.2939791840888, + 388.0720597099008 + ], + [ + 962.2289578536746, + 373.17615097357856 + ], + [ + 927.4277773518021, + 373.15311937320433 + ], + [ + 944.6378464876498, + 346.2162686234671 + ], + [ + 981.5257706666457, + 346.2399843224988 + ], + [ + 976.0135309857087, + 331.384489768055 + ], + [ + 939.7232843765171, + 331.3615361838301 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 694, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -49.78268051147461, + "y": -100.31512451171875, + "z": 0.9931595921516418 + }, + "extent": { + "x": 0.47569581866264343, + "y": 0.28220707178115845, + "z": 0.9441327452659607 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 786.6977049003815, + "ymin": 669.3641261918556, + "xmax": 823.6720139405675, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.45229721069336, + -100.75871276855469, + 0.04902684688568115 + ], + [ + -50.01361846923828, + -100.81771087646484, + 0.04902684688568115 + ], + [ + -50.11306381225586, + -99.87153625488281, + 0.04902684688568115 + ], + [ + -49.55174255371094, + -99.81253814697266, + 0.04902684688568115 + ], + [ + -49.45229721069336, + -100.75871276855469, + 1.9372923374176025 + ], + [ + -50.01361846923828, + -100.81771087646484, + 1.9372923374176025 + ], + [ + -50.11306381225586, + -99.87153625488281, + 1.9372923374176025 + ], + [ + -49.55174255371094, + -99.81253814697266, + 1.9372923374176025 + ] + ], + "corners_2d": [ + [ + 786.8528880316752, + 750.5226875543608 + ], + [ + 812.3701726661302, + 753.1660699227343 + ], + [ + 811.4283314699942, + 712.3654199133671 + ], + [ + 786.6977049003815, + 709.8822948054077 + ], + [ + 796.4611486919805, + 711.2936413783257 + ], + [ + 823.6720139405675, + 714.0267183471381 + ], + [ + 822.3000699371925, + 671.9211852604185 + ], + [ + 795.9819199331674, + 669.3641261918556 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 823, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -34.92184829711914, + "y": -97.35797882080078, + "z": 0.941826581954956 + }, + "extent": { + "x": 0.3363915979862213, + "y": 0.5439745783805847, + "z": 0.9254960417747498 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 132.7183651076337, + "ymin": 557.673469326887, + "xmax": 214.55528455958085, + "ymax": 631.4474168167874 + }, + "corners_3d": [ + [ + -34.319820404052734, + -97.57392120361328, + 0.0163305401802063 + ], + [ + -35.383995056152344, + -97.80011749267578, + 0.0163305401802063 + ], + [ + -35.52387619018555, + -97.14203643798828, + 0.0163305401802063 + ], + [ + -34.45970153808594, + -96.91584014892578, + 0.0163305401802063 + ], + [ + -34.319820404052734, + -97.57392120361328, + 1.8673226833343506 + ], + [ + -35.383995056152344, + -97.80011749267578, + 1.8673226833343506 + ], + [ + -35.52387619018555, + -97.14203643798828, + 1.8673226833343506 + ], + [ + -34.45970153808594, + -96.91584014892578, + 1.8673226833343506 + ] + ], + "corners_2d": [ + [ + 160.2699927092611, + 623.1813747509522 + ], + [ + 200.30087099102627, + 631.4474168167874 + ], + [ + 214.55528455958085, + 607.8171508589304 + ], + [ + 175.20981107388639, + 599.871777233817 + ], + [ + 132.7183651076337, + 581.4333053361472 + ], + [ + 174.86334013267748, + 589.8718128562583 + ], + [ + 190.45356950691632, + 565.7663316714055 + ], + [ + 149.066633498118, + 557.673469326887 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 232, + "instance_id": 59392, + "pixel_count": 6407, + "type_id": "vehicle.toyota.prius", + "bbox_3d": { + "center_world": { + "x": -62.880393981933594, + "y": -94.98814392089844, + "z": 0.7607561349868774 + }, + "extent": { + "x": 2.256761312484741, + "y": 1.0034072399139404, + "z": 0.7624167203903198 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 1167.6221250008596, + "ymin": 471.7750652914948, + "xmax": 1280.0, + "ymax": 570.0754173339926 + }, + "corners_3d": [ + [ + -60.625144958496094, + -93.98133850097656, + -0.00165654718875885 + ], + [ + -60.62212371826172, + -95.98815155029297, + -0.00165654718875885 + ], + [ + -65.1356430053711, + -95.99494934082031, + -0.0016646161675453186 + ], + [ + -65.13866424560547, + -93.9881362915039, + -0.0016646161675453186 + ], + [ + -60.62514877319336, + -93.98133850097656, + 1.523176908493042 + ], + [ + -60.622127532958984, + -95.98815155029297, + 1.523176908493042 + ], + [ + -65.1356430053711, + -95.99494934082031, + 1.5231688022613525 + ], + [ + -65.13866424560547, + -93.9881362915039, + 1.5231688022613525 + ] + ], + "corners_2d": [ + [ + 1167.6221250008596, + 507.2266177333488 + ], + [ + 1198.0146732210974, + 569.7117846274267 + ], + [ + 1372.5632243473583, + 570.0754173339926 + ], + [ + 1332.5957896034545, + 507.55151456936295 + ], + [ + 1189.8142334205636, + 471.7750652914948 + ], + [ + 1222.9061724064723, + 534.9010122127798 + ], + [ + 1405.2515215725607, + 535.2692915620489 + ], + [ + 1361.7357368652042, + 472.1025127369128 + ] + ], + "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": 497.5055726033319, + "ymin": 601.9677910351958, + "xmax": 519.9347937504406, + "ymax": 646.9779412163678 + }, + "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": [ + [ + 518.0096393794943, + 646.9779412163678 + ], + [ + 519.9347937504406, + 627.9552252963 + ], + [ + 504.6982938925025, + 627.9424162117787 + ], + [ + 502.5313821986457, + 646.9647223859633 + ], + [ + 513.5496598352108, + 621.2717160319864 + ], + [ + 515.6162326862266, + 601.9807733131137 + ], + [ + 499.83175320053004, + 601.9677910351958 + ], + [ + 497.5055726033319, + 621.2583031612543 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 834.2527046685739, + "ymin": 23.86918335303517, + "xmax": 847.4935184281351, + "ymax": 52.65172068832857 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 834.2527046685739, + 47.62421268465346 + ], + [ + 835.8205794335843, + 52.64825591533065 + ], + [ + 843.7467476257145, + 52.65172068832857 + ], + [ + 842.1149925316527, + 47.62762184222038 + ], + [ + 837.7955554506469, + 23.86918335303517 + ], + [ + 839.4215727537875, + 28.78908628876883 + ], + [ + 847.4935184281351, + 28.79247974575776 + ], + [ + 845.8012592422649, + 23.872521349968338 + ] + ], + "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": 411.27917721980623, + "ymin": 144.5165307767399, + "xmax": 427.83073056615257, + "ymax": 177.6308888348958 + }, + "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": [ + [ + 416.23713202047213, + 177.6258957536871 + ], + [ + 425.74936910251665, + 177.6308888348958 + ], + [ + 427.83073056615257, + 170.40233323071718 + ], + [ + 418.41034917543817, + 170.39743613070817 + ], + [ + 411.27917721980623, + 151.64716418341533 + ], + [ + 421.0021463073185, + 151.6520907456182 + ], + [ + 423.1760249903011, + 144.5213605690925 + ], + [ + 413.5490060507899, + 144.5165307767399 + ] + ], + "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": 807.1051883721366, + "ymin": 602.2246965985927, + "xmax": 831.9957191204315, + "ymax": 647.2395325275528 + }, + "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": [ + [ + 825.2224600055404, + 647.2395325275528 + ], + [ + 822.3481420054343, + 628.2087071325263 + ], + [ + 807.1051883721366, + 628.1958926304579 + ], + [ + 809.737542577491, + 647.2263080175544 + ], + [ + 831.9957191204315, + 621.5371494540059 + ], + [ + 828.9083613697683, + 602.2376845648682 + ], + [ + 813.1169554403682, + 602.2246965985927 + ], + [ + 815.9444756826756, + 621.5237306095448 + ] + ], + "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": 669.6316664783467, + "ymin": 602.1083232431201, + "xmax": 687.2299486718729, + "ymax": 647.121036892399 + }, + "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": [ + [ + 685.5639242365709, + 647.121036892399 + ], + [ + 684.8716912854622, + 628.0938851381875 + ], + [ + 669.6316664783467, + 628.0810730902971 + ], + [ + 670.0820293432289, + 647.1078149552943 + ], + [ + 687.2299486718729, + 621.4169129029103 + ], + [ + 686.4858505043757, + 602.1213086325231 + ], + [ + 670.697587925181, + 602.1083232431201 + ], + [ + 671.1819528642997, + 621.4034967646055 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8433051479337506626, + "instance_id": 17047, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -62.61595153808594, + "y": -91.29429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1279.0055108824474, + "ymin": 256.4951693512698, + "xmax": 1280.0, + "ymax": 293.18135145074757 + }, + "corners_3d": [ + [ + -62.75453567504883, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.4842529296875, + 6.416468620300293 + ], + [ + -62.75453567504883, + -91.4842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1289.870641927256, + 283.56284844910755 + ], + [ + 1279.0055108824474, + 283.55634194953115 + ], + [ + 1286.185204811561, + 293.1746976279728 + ], + [ + 1297.1727097821463, + 293.18135145074757 + ], + [ + 1306.3597866394782, + 256.5016296255028 + ], + [ + 1295.2188484043768, + 256.4951693512698 + ], + [ + 1302.7700260120414, + 266.0479183656325 + ], + [ + 1314.039666654068, + 266.05452869227236 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 919.356748643376, + "ymin": 23.90531498842256, + "xmax": 934.868084132489, + "ymax": 52.68922498807939 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 919.356748643376, + 47.66111455094796 + ], + [ + 921.616123287292, + 52.68575979822674 + ], + [ + 929.5432450945189, + 52.68922498807939 + ], + [ + 927.2199748126914, + 47.66452411537273 + ], + [ + 924.4520671882577, + 23.90531498842256 + ], + [ + 926.795149443746, + 28.82581825977428 + ], + [ + 934.868084132489, + 28.829212132546218 + ], + [ + 932.4587438287138, + 23.908653390987297 + ] + ], + "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": 464.38991581374194, + "ymin": 98.59586493323758, + "xmax": 476.13379419673464, + "ymax": 124.95356704570898 + }, + "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": [ + [ + 467.3694249546817, + 124.94990674734316 + ], + [ + 474.87080382771524, + 124.95356704570898 + ], + [ + 476.13379419673464, + 119.67208634033747 + ], + [ + 468.6893503610432, + 119.6684814005533 + ], + [ + 464.38991581374194, + 103.80448089219385 + ], + [ + 472.0207491237654, + 103.80809120318838 + ], + [ + 473.3273747139907, + 98.59941971014973 + ], + [ + 465.75545078504217, + 98.59586493323758 + ] + ], + "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": 428.06080384730353, + "ymin": 92.795965541047, + "xmax": 442.9542698397596, + "ymax": 124.1148869493341 + }, + "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": [ + [ + 432.3264901896585, + 124.1105823773321 + ], + [ + 441.1586747690496, + 124.1148869493341 + ], + [ + 442.9542698397596, + 117.87879248700361 + ], + [ + 434.20133118569584, + 117.8745648240643 + ], + [ + 428.06080384730353, + 98.92832428726638 + ], + [ + 437.074378760401, + 98.9325580868794 + ], + [ + 438.9439157218905, + 92.80012216361155 + ], + [ + 430.012859967642, + 92.795965541047 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 763.3404451466738, + "ymin": 23.83917499097197, + "xmax": 774.6895792223561, + "ymax": 52.62057225465088 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 763.3404451466738, + 47.593564562621395 + ], + [ + 764.332196893956, + 52.61710782784405 + ], + [ + 772.2575718312848, + 52.62057225465088 + ], + [ + 771.2019524884267, + 47.596973382298984 + ], + [ + 765.5898590891751, + 23.83917499097197 + ], + [ + 766.6184562468455, + 28.758579358783948 + ], + [ + 774.6895792223561, + 28.761972470472926 + ], + [ + 773.5947536279471, + 23.84251265103518 + ] + ], + "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": 395.13464666297733, + "ymin": 194.20324528362784, + "xmax": 413.3460200855874, + "ymax": 228.9556465872288 + }, + "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": [ + [ + 400.8065531729985, + 228.94994522599063 + ], + [ + 410.97098318850925, + 228.9556465872288 + ], + [ + 413.3460200855874, + 220.70716301468244 + ], + [ + 403.2864040832551, + 220.701578649301 + ], + [ + 395.13464666297733, + 202.36451608199664 + ], + [ + 405.5400624471845, + 202.37015862223592 + ], + [ + 408.02814999808254, + 194.20876933278439 + ], + [ + 397.73255031051633, + 194.20324528362784 + ] + ], + "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": 261.5692357555328, + "ymin": 677.0644073109075, + "xmax": 292.24971932015455, + "ymax": 715.845507998811 + }, + "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": [ + [ + 287.31289668059634, + 715.845507998811 + ], + [ + 292.24971932015455, + 697.8989720921181 + ], + [ + 278.5729792676413, + 697.8868014749003 + ], + [ + 273.44274278932465, + 715.8329906301201 + ], + [ + 275.8885563371213, + 695.3005450017429 + ], + [ + 281.14742803443704, + 677.0767603619914 + ], + [ + 267.03415798215906, + 677.0644073109075 + ], + [ + 261.5692357555328, + 695.2878285184481 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1035.619311407163, + "ymin": 101.31307960990779, + "xmax": 1053.2216604788312, + "ymax": 127.75136445402362 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1035.619311407163, + 122.42385170113297 + ], + [ + 1038.6478966725963, + 127.74767465923972 + ], + [ + 1046.182457293237, + 127.75136445402362 + ], + [ + 1043.096434113355, + 122.4274854693924 + ], + [ + 1042.4222671909831, + 101.31307960990779 + ], + [ + 1045.5564876639237, + 106.56423198299021 + ], + [ + 1053.2216604788312, + 106.56787189280521 + ], + [ + 1050.0280013046136, + 101.31666330396541 + ] + ], + "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": 718.8649735260345, + "ymin": 0.0, + "xmax": 1099.8510847259458, + "ymax": 184.29473957866267 + }, + "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": [ + [ + 1027.8282001040916, + 184.29473957866267 + ], + [ + 1024.7523119841344, + 178.0960060487377 + ], + [ + 718.8649735260345, + 176.41726452223762 + ], + [ + 719.4078027310305, + 182.5881248225143 + ], + [ + 1099.8510847259458, + -32.20494994451258 + ], + [ + 1095.5095597596487, + -37.43955041660922 + ], + [ + 733.3300343503553, + -38.85444420322369 + ], + [ + 734.1149827405225, + -33.647714283570735 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 520448382005777854, + "instance_id": 48789, + "pixel_count": null, + "type_id": "BP_Lamppost_tall8_SM_0", + "bbox_3d": { + "center_world": { + "x": -19.3944149017334, + "y": -69.02778625488281, + "z": 3.636636972427368 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 58.96071790486155, + "ymax": 6.7711633937697115 + }, + "corners_3d": [ + [ + -20.361778259277344, + -70.11705780029297, + 3.4733119010925293 + ], + [ + -20.361783981323242, + -67.93851470947266, + 3.4733152389526367 + ], + [ + -18.427051544189453, + -67.93851470947266, + 3.4733152389526367 + ], + [ + -18.427045822143555, + -70.11705780029297, + 3.4733119010925293 + ], + [ + -20.361778259277344, + -70.11705780029297, + 3.7999587059020996 + ], + [ + -20.361783981323242, + -67.93851470947266, + 3.799962043762207 + ], + [ + -18.427051544189453, + -67.93851470947266, + 3.799962043762207 + ], + [ + -18.427045822143555, + -70.11705780029297, + 3.7999587059020996 + ] + ], + "corners_2d": [ + [ + 36.768619794972665, + 6.7711633937697115 + ], + [ + 58.96071790486155, + -14.433378075210612 + ], + [ + 15.383347494818395, + -14.450386771585954 + ], + [ + -8.46878518047697, + 6.752833562538285 + ], + [ + 33.40771592733006, + -0.7131958379657704 + ], + [ + 55.84294192946493, + -21.755276421997394 + ], + [ + 12.03184441972553, + -21.772151348855175 + ], + [ + -12.081613970928174, + -0.7313889493122474 + ] + ], + "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": 327.2536919146717, + "ymin": 61.08789433159984, + "xmax": 419.9131409500714, + "ymax": 205.84842015361596 + }, + "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": [ + [ + 409.8303996541888, + 205.84842015361596 + ], + [ + 419.9131409500714, + 172.01047161688726 + ], + [ + 367.8396447820301, + 171.9833427998313 + ], + [ + 355.385272799368, + 205.81876349103317 + ], + [ + 387.0792704700243, + 92.74476072653272 + ], + [ + 399.1956693162291, + 61.113145438862716 + ], + [ + 342.2213540921672, + 61.08789433159984 + ], + [ + 327.2536919146717, + 92.71691848075909 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4931911690494204353, + "instance_id": 49625, + "pixel_count": null, + "type_id": "BP_Lamppost_tall8_SM_2", + "bbox_3d": { + "center_world": { + "x": -19.394060134887695, + "y": -69.02775573730469, + "z": 2.5271682739257812 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 90.42920284077218, + "ymax": 78.41019832839737 + }, + "corners_3d": [ + [ + -20.422487258911133, + -70.17810821533203, + 0.1843433380126953 + ], + [ + -20.422487258911133, + -67.87740325927734, + 0.1843433380126953 + ], + [ + -18.365633010864258, + -67.87740325927734, + 0.1843433380126953 + ], + [ + -18.365633010864258, + -70.17810821533203, + 0.1843433380126953 + ], + [ + -20.422487258911133, + -70.17810821533203, + 4.869993209838867 + ], + [ + -20.422487258911133, + -67.87740325927734, + 4.869993209838867 + ], + [ + -18.365633010864258, + -67.87740325927734, + 4.869993209838867 + ], + [ + -18.365633010864258, + -70.17810821533203, + 4.869993209838867 + ] + ], + "corners_2d": [ + [ + 69.40952249192219, + 78.41019832839737 + ], + [ + 90.42920284077218, + 54.546184230932624 + ], + [ + 46.50581462978391, + 54.52691544176639 + ], + [ + 23.810726770782367, + 78.38943089523286 + ], + [ + 22.908391266626268, + -25.228110063276176 + ], + [ + 47.416260298818315, + -46.85221309811777 + ], + [ + 0.05668870736099052, + -46.86962110077616 + ], + [ + -26.40480979985159, + -25.246984557931796 + ] + ], + "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": 160.3602243619443, + "ymin": 541.3231876838494, + "xmax": 932.2849748108472, + "ymax": 720.0 + }, + "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": [ + [ + 300.5211988157338, + 765.4940107887048 + ], + [ + 295.2794545880763, + 785.3588516928002 + ], + [ + 849.7314538783519, + 790.8987186209753 + ], + [ + 846.8401540652856, + 770.8724517483968 + ], + [ + 170.34601309255726, + 541.3231876838494 + ], + [ + 160.3602243619443, + 564.3262127143344 + ], + [ + 932.2849748108472, + 570.7883586749631 + ], + [ + 926.5965732838231, + 547.5253679431175 + ] + ], + "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": 356.19681992709076, + "ymin": 0.0, + "xmax": 479.1752687930583, + "ymax": 400.573521648427 + }, + "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": [ + [ + 479.1752687930583, + 178.3996222270947 + ], + [ + 468.207702750975, + 178.33919433851665 + ], + [ + 413.3720695108808, + 400.47194343893335 + ], + [ + 427.5862503368322, + 400.573521648427 + ], + [ + 449.58486167748373, + -37.18352900378318 + ], + [ + 436.6023734894769, + -37.23448728086743 + ], + [ + 356.19681992709076, + 160.89316521925718 + ], + [ + 373.99003331735065, + 160.9889962469486 + ] + ], + "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": 336.2999035805125, + "ymin": 89.03182577323622, + "xmax": 403.83985145019585, + "ymax": 127.82829900437187 + }, + "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": [ + [ + 392.922993787696, + 127.82829900437187 + ], + [ + 403.83985145019585, + 97.11545544375457 + ], + [ + 351.6463244151712, + 97.09100537403322 + ], + [ + 338.3300179999662, + 127.80154875661361 + ], + [ + 391.26020345907534, + 119.60259552316327 + ], + [ + 402.32084671191353, + 89.0561361876056 + ], + [ + 349.7916742323143, + 89.03182577323622 + ], + [ + 336.2999035805125, + 119.57598232963215 + ] + ], + "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": 336.3415936955836, + "ymin": 89.04740502672598, + "xmax": 403.7919033210334, + "ymax": 127.75607248376213 + }, + "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": [ + [ + 392.8845973477498, + 127.75607248376213 + ], + [ + 403.7919033210334, + 97.07800799385177 + ], + [ + 351.65935378418146, + 97.05348501325989 + ], + [ + 338.35798488991855, + 127.7292450054529 + ], + [ + 391.2326372053331, + 119.58473209141084 + ], + [ + 402.28264551963395, + 89.07178884962138 + ], + [ + 349.81706177431806, + 89.04740502672598 + ], + [ + 336.3415936955836, + 119.55804118381761 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11665211921157023400, + "instance_id": 43110, + "pixel_count": null, + "type_id": "BP_Lamppost_tall8_SM_1", + "bbox_3d": { + "center_world": { + "x": -19.394420623779297, + "y": -69.02778625488281, + "z": 3.637737274169922 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 58.90140529307041, + "ymax": 6.70933589343764 + }, + "corners_3d": [ + [ + -20.3605899810791, + -70.1158676147461, + 3.475497007369995 + ], + [ + -20.360593795776367, + -67.93971252441406, + 3.4755005836486816 + ], + [ + -18.428251266479492, + -67.93970489501953, + 3.4755005836486816 + ], + [ + -18.428247451782227, + -70.11585998535156, + 3.475497007369995 + ], + [ + -20.3605899810791, + -70.1158676147461, + 3.799973964691162 + ], + [ + -20.360593795776367, + -67.93971252441406, + 3.7999775409698486 + ], + [ + -18.428251266479492, + -67.93970489501953, + 3.7999775409698486 + ], + [ + -18.428247451782227, + -70.11585998535156, + 3.799973964691162 + ] + ], + "corners_2d": [ + [ + 36.73106210750643, + 6.70933589343764 + ], + [ + 58.90140529307041, + -14.47088372488787 + ], + [ + 15.375513249524033, + -14.487942743576355 + ], + [ + -8.45110953045139, + 6.690953288806725 + ], + [ + 33.39234526930363, + -0.725494589774712 + ], + [ + 55.8039603244647, + -21.744493442991768 + ], + [ + 12.046163719574224, + -21.76141917152472 + ], + [ + -12.039766610160541, + -0.7437409668779082 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1182.9495887259404, + "ymin": 160.088435666011, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1405.9793170639014, + 808.1336143453398 + ], + [ + 1426.3074663747866, + 808.3383626859087 + ], + [ + 1197.231569273931, + 399.720140804995 + ], + [ + 1182.9495887259404, + 399.6187410694177 + ], + [ + 1712.8252464953782, + 591.0255393839486 + ], + [ + 1741.3622192523248, + 591.2671725765091 + ], + [ + 1337.677533321118, + 160.18405592617296 + ], + [ + 1319.7779880328421, + 160.088435666011 + ] + ], + "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": 0.0, + "ymin": 638.2053418225103, + "xmax": 84.40595942250945, + "ymax": 720.0 + }, + "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": [ + [ + 84.40595942250945, + 1011.3781024185998 + ], + [ + -40.88043909808857, + 749.6227136147702 + ], + [ + -407.45901520585403, + 986.5775555553462 + ], + [ + -343.10922633393807, + 1364.1383018693787 + ], + [ + -43.836124746698374, + 933.1943076582252 + ], + [ + -167.2163774068107, + 638.2053418225103 + ], + [ + -644.5855580136056, + 904.282297588919 + ], + [ + -635.680306253106, + 1368.3159565466804 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1119.241404439057, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 160.7635351033475 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1119.241404439057, + 56.59327559353824 + ], + [ + 1276.4128188342468, + 160.7635351033475 + ], + [ + 1456.7911166358372, + 119.38531657242982 + ], + [ + 1282.8771406927117, + 25.91279662671269 + ], + [ + 1257.3645315647254, + -316.2110024628406 + ], + [ + 1501.0375417945809, + -259.0181705707399 + ], + [ + 1723.452015213177, + -282.4109042787744 + ], + [ + 1456.6524204693137, + -332.0266177331358 + ] + ], + "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": 0.0, + "ymin": 162.0249773845679, + "xmax": 2.803973630217456, + "ymax": 720.0 + }, + "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": [ + [ + 2.803973630217456, + 1073.6329288409474 + ], + [ + -184.64639366843107, + 743.7054196608848 + ], + [ + -813.477560747976, + 1164.9252932624677 + ], + [ + -770.9427173189997, + 1790.4815829190632 + ], + [ + -1004.3000837158224, + 636.669298847007 + ], + [ + -975.683115257284, + 162.0249773845679 + ], + [ + -3471.492059852815, + 826.2905110213769 + ], + [ + -11066.67942962392, + 5003.970617022567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12511280680997575471, + "instance_id": 12123, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2349_123", + "bbox_3d": { + "center_world": { + "x": -36.20769119262695, + "y": -108.4781723022461, + "z": 6.51531457901001 + }, + "extent": { + "x": 4.686452865600586, + "y": 4.53662633895874, + "z": 6.939882278442383 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 381.7006124997849, + "xmax": 385.3201792676083, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -42.32275390625, + -110.74749755859375, + -0.42456769943237305 + ], + [ + -38.674442291259766, + -102.44004821777344, + -0.42456769943237305 + ], + [ + -30.09263038635254, + -106.20884704589844, + -0.42456769943237305 + ], + [ + -33.74094009399414, + -114.51629638671875, + -0.42456769943237305 + ], + [ + -42.32275390625, + -110.74749755859375, + 13.455196380615234 + ], + [ + -38.674442291259766, + -102.44004821777344, + 13.455196380615234 + ], + [ + -30.09263038635254, + -106.20884704589844, + 13.455196380615234 + ], + [ + -33.74094009399414, + -114.51629638671875, + 13.455196380615234 + ] + ], + "corners_2d": [ + [ + 385.3201792676083, + 1414.1237750480607 + ], + [ + 289.12410081497865, + 837.3559306646337 + ], + [ + -226.1371152162983, + 1050.543092190564 + ], + [ + -367.11424824038556, + 1865.7152094983107 + ], + [ + -116.27474301407881, + 1540.2186156524951 + ], + [ + -22.68516526731196, + 381.7006124997849 + ], + [ + -1250.1304368531428, + 696.3905525548438 + ], + [ + -4778.624203480373, + 4124.287135070712 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00004/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00004/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a1265993abf1d5649ac829df87a4adbeb402b868 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00004/meta.json @@ -0,0 +1,3740 @@ +{ + "frame_id": 4, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 2.0, + "sim_timestamp": 13178.967786384048 + }, + "drone_pose": { + "x": -46.75952927761136, + "y": -109.04072758482086, + "z": 20.616361685759934, + "pitch": -42.62566465761706, + "yaw": 88.41098201992338, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.020403623580932617, + -0.7355108857154846, + 0.6772056818008423, + 67.19318389892578 + ], + [ + 0.999615490436554, + 0.027730107307434082, + 2.9802322387695312e-08, + -43.717838287353516 + ], + [ + -0.018778979778289795, + 0.6769452095031738, + 0.7357937693595886, + -89.86209106445312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -46.777099326345535, + "y": -108.5265715800963, + "z": 20.591738444049465 + }, + "t1_image_uv": [ + 717.4379630825481, + -442.120448789251 + ], + "t1_depth": 0.3944838348293331 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.16718292236328, + "y": -87.68776321411133, + "z": 0.9560844679176808 + }, + "image_uv": [ + 639.9999999999999, + 359.99999999999994 + ], + "depth": 29.031473643337044, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 708, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.16718292236328, + "y": -87.68775939941406, + "z": 0.9560844898223877 + }, + "extent": { + "x": 0.5157544016838074, + "y": 0.5056103467941284, + "z": 0.9050182700157166 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 622.21255804041, + "ymin": 325.85838276660826, + "xmax": 657.3314165564929, + "ymax": 393.62041933770854 + }, + "corners_3d": [ + [ + -45.66157150268555, + -88.2035140991211, + 0.05106621980667114 + ], + [ + -46.672794342041016, + -88.2035140991211, + 0.05106621980667114 + ], + [ + -46.672794342041016, + -87.17200469970703, + 0.05106621980667114 + ], + [ + -45.66157150268555, + -87.17200469970703, + 0.05106621980667114 + ], + [ + -45.66157150268555, + -88.2035140991211, + 1.861102819442749 + ], + [ + -46.672794342041016, + -88.2035140991211, + 1.861102819442749 + ], + [ + -46.672794342041016, + -87.17200469970703, + 1.861102819442749 + ], + [ + -45.66157150268555, + -87.17200469970703, + 1.861102819442749 + ] + ], + "corners_2d": [ + [ + 622.9573235649607, + 392.97401232096354 + ], + [ + 656.1160626701314, + 393.62041933770854 + ], + [ + 656.6235898120716, + 370.4357089509167 + ], + [ + 624.3021216566765, + 369.82155804161397 + ], + [ + 622.21255804041, + 348.8334814175488 + ], + [ + 656.8208535695184, + 349.475664634309 + ], + [ + 657.3314165564929, + 326.4671748523412 + ], + [ + 623.6341901065825, + 325.85838276660826 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 4, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 79, + "semantic_pixel_counts": { + "1": 602834, + "2": 114089, + "3": 62738, + "4": 19267, + "6": 23881, + "7": 3985, + "9": 20201, + "10": 23724, + "12": 3685, + "14": 9026, + "20": 2498, + "21": 5995, + "24": 29677 + }, + "instance_pixel_counts": { + "143": 4857, + "655": 7911, + "1167": 7526, + "1447": 367, + "1679": 11812, + "1957": 1242, + "2703": 12251, + "3727": 8142, + "3749": 88, + "4261": 29, + "8579": 938, + "9068": 499, + "15186": 6651, + "15698": 6930, + "16210": 3898, + "16722": 5740, + "19796": 1720, + "21869": 3781, + "22381": 3339, + "22784": 4684, + "22893": 2463, + "23040": 16678, + "23405": 3249, + "23441": 3408, + "23552": 5178, + "23953": 4052, + "24429": 5037, + "24465": 3394, + "24941": 4120, + "24977": 3212, + "25489": 3036, + "25965": 2462, + "26001": 1588, + "26696": 19267, + "26987": 746, + "26989": 1575, + "27243": 55, + "27719": 27412, + "28231": 16889, + "28523": 60, + "28779": 1520, + "31633": 3172, + "32084": 2651, + "32145": 3931, + "32166": 605, + "32657": 3232, + "33169": 3133, + "40358": 2297, + "42918": 1640, + "51815": 226956, + "52327": 26606, + "53351": 97347, + "53863": 225197, + "54375": 23257, + "54887": 3471, + "54889": 13482, + "55401": 760, + "55913": 2438, + "56173": 20201, + "56320": 708, + "56425": 12165, + "56486": 12, + "56576": 596, + "56742": 31, + "56832": 485, + "56937": 645, + "57088": 533, + "57344": 450, + "57449": 187, + "57600": 913, + "59392": 4655, + "59762": 2517, + "62827": 117, + "63083": 94, + "63314": 3855, + "63874": 388, + "64142": 2943, + "64594": 80, + "64654": 5209 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 708, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.16718292236328, + "y": -87.68775939941406, + "z": 0.9560844898223877 + }, + "extent": { + "x": 0.5021948218345642, + "y": 0.37339842319488525, + "z": 0.8685604929924011 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 626.7637950930748, + "ymin": 327.1545825090483, + "xmax": 652.903753737717, + "ymax": 392.37079651296995 + }, + "corners_3d": [ + [ + -45.793785095214844, + -88.18995666503906, + 0.08752399682998657 + ], + [ + -46.54058074951172, + -88.18995666503906, + 0.08752399682998657 + ], + [ + -46.54058074951172, + -87.18556213378906, + 0.08752399682998657 + ], + [ + -45.793785095214844, + -87.18556213378906, + 0.08752399682998657 + ], + [ + -45.793785095214844, + -88.18995666503906, + 1.8246450424194336 + ], + [ + -46.54058074951172, + -88.18995666503906, + 1.8246450424194336 + ], + [ + -46.54058074951172, + -87.18556213378906, + 1.8246450424194336 + ], + [ + -45.793785095214844, + -87.18556213378906, + 1.8246450424194336 + ] + ], + "corners_2d": [ + [ + 627.2959899916731, + 391.89378672333544 + ], + [ + 651.7962940713611, + 392.37079651296995 + ], + [ + 652.3974461256577, + 369.80225626477323 + ], + [ + 628.5002181905381, + 369.34845811300175 + ], + [ + 626.7637950930748, + 349.53437964545867 + ], + [ + 652.2907313268141, + 350.00838601261233 + ], + [ + 652.903753737717, + 327.6045938724219 + ], + [ + 628.030819196286, + 327.1545825090483 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 596, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.041194915771484, + "y": -84.69005584716797, + "z": 0.9646928906440735 + }, + "extent": { + "x": 0.4469311833381653, + "y": 0.4392969012260437, + "z": 0.8745299577713013 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 498.9126050551639, + "ymin": 264.07444393263415, + "xmax": 532.9486398668022, + "ymax": 325.9491660509582 + }, + "corners_3d": [ + [ + -41.70442199707031, + -85.21855926513672, + 0.09016293287277222 + ], + [ + -42.56381607055664, + -85.035888671875, + 0.09016293287277222 + ], + [ + -42.377967834472656, + -84.16155242919922, + 0.09016293287277222 + ], + [ + -41.51857376098633, + -84.34422302246094, + 0.09016293287277222 + ], + [ + -41.70442199707031, + -85.21855926513672, + 1.8392229080200195 + ], + [ + -42.56381607055664, + -85.035888671875, + 1.8392229080200195 + ], + [ + -42.377967834472656, + -84.16155242919922, + 1.8392229080200195 + ], + [ + -41.51857376098633, + -84.34422302246094, + 1.8392229080200195 + ] + ], + "corners_2d": [ + [ + 506.2375184946144, + 325.9491660509582 + ], + [ + 532.9486398668022, + 322.81279077734433 + ], + [ + 530.2907118646913, + 305.85650214862426 + ], + [ + 504.107015164272, + 308.86824384229 + ], + [ + 501.0155343045665, + 283.899821653558 + ], + [ + 528.7854668861702, + 280.8027574696008 + ], + [ + 526.1129046039391, + 264.07444393263415 + ], + [ + 498.9126050551639, + 267.0437906006139 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 485, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.42300796508789, + "y": -80.74504852294922, + "z": 0.9579106569290161 + }, + "extent": { + "x": 0.4582251012325287, + "y": 0.4369848668575287, + "z": 0.9305018186569214 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 694.1640337145845, + "ymin": 198.90073319375938, + "xmax": 724.517388217003, + "ymax": 258.24389370623186 + }, + "corners_3d": [ + [ + -48.03631591796875, + -81.2464370727539, + 0.027408838272094727 + ], + [ + -48.905494689941406, + -81.15508270263672, + 0.027408838272094727 + ], + [ + -48.80970001220703, + -80.24365997314453, + 0.027408838272094727 + ], + [ + -47.940521240234375, + -80.33501434326172, + 0.027408838272094727 + ], + [ + -48.03631591796875, + -81.2464370727539, + 1.8884124755859375 + ], + [ + -48.905494689941406, + -81.15508270263672, + 1.8884124755859375 + ], + [ + -48.80970001220703, + -80.24365997314453, + 1.8884124755859375 + ], + [ + -47.940521240234375, + -80.33501434326172, + 1.8884124755859375 + ] + ], + "corners_2d": [ + [ + 697.1931464051713, + 258.24389370623186 + ], + [ + 721.4218426671533, + 257.12018122498887 + ], + [ + 717.9326743557792, + 242.15900647348752 + ], + [ + 694.1640337145845, + 243.24003151219705 + ], + [ + 699.3707995358868, + 214.6547651455072 + ], + [ + 724.517388217003, + 213.5533647758353 + ], + [ + 720.8366689555876, + 198.90073319375938 + ], + [ + 696.1852964409678, + 199.95874916421815 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 533, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -55.66718292236328, + "y": -87.68775939941406, + "z": 0.955571711063385 + }, + "extent": { + "x": 0.33951902389526367, + "y": 0.5538330078125, + "z": 0.9068571329116821 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 929.2342283430152, + "ymin": 335.44063822218425, + "xmax": 984.7049353976145, + "ymax": 395.72382163310397 + }, + "corners_3d": [ + [ + -55.11334991455078, + -88.02727508544922, + 0.04871457815170288 + ], + [ + -56.22101593017578, + -88.02727508544922, + 0.04871457815170288 + ], + [ + -56.22101593017578, + -87.3482437133789, + 0.04871457815170288 + ], + [ + -55.11334991455078, + -87.3482437133789, + 0.04871457815170288 + ], + [ + -55.11334991455078, + -88.02727508544922, + 1.862428903579712 + ], + [ + -56.22101593017578, + -88.02727508544922, + 1.862428903579712 + ], + [ + -56.22101593017578, + -87.3482437133789, + 1.862428903579712 + ], + [ + -55.11334991455078, + -87.3482437133789, + 1.862428903579712 + ] + ], + "corners_2d": [ + [ + 933.5601882266301, + 395.01264393300374 + ], + [ + 970.2009795042372, + 395.72382163310397 + ], + [ + 965.255379058584, + 380.26023821042645 + ], + [ + 929.2342283430152, + 379.5727762717978 + ], + [ + 946.4442976114415, + 350.7705559218488 + ], + [ + 984.7049353976145, + 351.47721412427626 + ], + [ + 979.2914084721644, + 336.12272384632666 + ], + [ + 941.7059024965708, + 335.44063822218425 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 450, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -49.78268051147461, + "y": -98.81512451171875, + "z": 0.9765531420707703 + }, + "extent": { + "x": 0.47940921783447266, + "y": 0.34509769082069397, + "z": 0.9315640926361084 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 772.1112862954664, + "ymin": 666.4291230378141, + "xmax": 814.2642070334048, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.38936233520508, + -99.2558364868164, + 0.044989049434661865 + ], + [ + -50.075775146484375, + -99.3279800415039, + 0.044989049434661865 + ], + [ + -50.17599868774414, + -98.3744125366211, + 0.044989049434661865 + ], + [ + -49.489585876464844, + -98.3022689819336, + 0.044989049434661865 + ], + [ + -49.38936233520508, + -99.2558364868164, + 1.9081172943115234 + ], + [ + -50.075775146484375, + -99.3279800415039, + 1.9081172943115234 + ], + [ + -50.17599868774414, + -98.3744125366211, + 1.9081172943115234 + ], + [ + -49.489585876464844, + -98.3022689819336, + 1.9081172943115234 + ] + ], + "corners_2d": [ + [ + 772.1112862954664, + 750.0187198958574 + ], + [ + 803.797671005452, + 754.0847456075697 + ], + [ + 804.1209058074453, + 712.9231840712987 + ], + [ + 773.4512140386981, + 709.1145360886474 + ], + [ + 780.5245120783572, + 708.4315565746615 + ], + [ + 814.2642070334048, + 712.6161427990141 + ], + [ + 814.2493821316281, + 670.3327897661875 + ], + [ + 781.6600277968417, + 666.4291230378141 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 913, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -34.92184829711914, + "y": -95.85797882080078, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.38273313641548157, + "y": 0.3439013659954071, + "z": 0.9380491971969604 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 130.62018295588905, + "ymin": 541.187076131283, + "xmax": 200.29565202799222, + "ymax": 617.7684000730687 + }, + "corners_3d": [ + [ + -34.50588607788086, + -96.16085052490234, + 0.003772556781768799 + ], + [ + -35.17866134643555, + -96.30384826660156, + 0.003772556781768799 + ], + [ + -35.33781051635742, + -95.55510711669922, + 0.003772556781768799 + ], + [ + -34.665035247802734, + -95.412109375, + 0.003772556781768799 + ], + [ + -34.50588607788086, + -96.16085052490234, + 1.879870891571045 + ], + [ + -35.17866134643555, + -96.30384826660156, + 1.879870891571045 + ], + [ + -35.33781051635742, + -95.55510711669922, + 1.879870891571045 + ], + [ + -34.665035247802734, + -95.412109375, + 1.879870891571045 + ] + ], + "corners_2d": [ + [ + 157.94734764241923, + 612.0380471062875 + ], + [ + 182.75243977351926, + 617.7684000730687 + ], + [ + 200.29565202799222, + 591.8534331643114 + ], + [ + 175.9649295669838, + 586.3797284470808 + ], + [ + 130.62018295588905, + 567.1960068103434 + ], + [ + 156.69320042334704, + 573.013767405125 + ], + [ + 175.8368769979084, + 546.7299919782615 + ], + [ + 150.28642449003507, + 541.187076131283 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 232, + "instance_id": 59392, + "pixel_count": 4655, + "type_id": "vehicle.toyota.prius", + "bbox_3d": { + "center_world": { + "x": -62.880393981933594, + "y": -94.98814392089844, + "z": 0.7607561349868774 + }, + "extent": { + "x": 2.256761312484741, + "y": 1.0034072399139404, + "z": 0.7624167203903198 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 1193.6728457140653, + "ymin": 526.5045420853805, + "xmax": 1280.0, + "ymax": 636.7994555370873 + }, + "corners_3d": [ + [ + -60.625144958496094, + -93.98133850097656, + -0.00165654718875885 + ], + [ + -60.62212371826172, + -95.98815155029297, + -0.00165654718875885 + ], + [ + -65.1356430053711, + -95.99494934082031, + -0.0016646161675453186 + ], + [ + -65.13866424560547, + -93.9881362915039, + -0.0016646161675453186 + ], + [ + -60.62514877319336, + -93.98133850097656, + 1.523176908493042 + ], + [ + -60.622127532958984, + -95.98815155029297, + 1.523176908493042 + ], + [ + -65.1356430053711, + -95.99494934082031, + 1.5231688022613525 + ], + [ + -65.13866424560547, + -93.9881362915039, + 1.5231688022613525 + ] + ], + "corners_2d": [ + [ + 1193.6728457140653, + 563.0671872083333 + ], + [ + 1226.3566719746323, + 631.9598908237017 + ], + [ + 1415.635689661995, + 636.7994555370873 + ], + [ + 1371.4938290017772, + 567.345836676197 + ], + [ + 1217.773076193325, + 526.5045420853805 + ], + [ + 1253.572824778681, + 596.1692423746681 + ], + [ + 1451.7949346652235, + 601.077546620435 + ], + [ + 1403.4648698775927, + 530.819949170486 + ] + ], + "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": 463.41203142910933, + "ymin": 660.5039304823692, + "xmax": 489.81793530625544, + "ymax": 709.1219656060573 + }, + "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": [ + [ + 486.552966952784, + 709.1219656060573 + ], + [ + 489.81793530625544, + 687.8993857501 + ], + [ + 473.488777936652, + 687.4774330363514 + ], + [ + 469.9390105438779, + 708.6851023576054 + ], + [ + 480.661467141922, + 682.4788912036298 + ], + [ + 484.15480868134114, + 660.9320417889612 + ], + [ + 467.2121741538506, + 660.5039304823692 + ], + [ + 463.41203142910933, + 682.0350657720007 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 847.6071648497968, + "ymin": 50.90777632907219, + "xmax": 861.2938322785367, + "ymax": 80.43528095686571 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 847.6071648497968, + 75.19200822631745 + ], + [ + 849.0782030167228, + 80.33037782898009 + ], + [ + 857.2846428695347, + 80.43528095686571 + ], + [ + 855.7435124399412, + 75.29513359934373 + ], + [ + 851.4039301707917, + 50.90777632907219 + ], + [ + 852.9352903558726, + 55.92869157608919 + ], + [ + 861.2938322785367, + 56.03121321644778 + ], + [ + 859.6897690593655, + 51.00852893435348 + ] + ], + "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": 405.1467668397207, + "ymin": 168.51157315801314, + "xmax": 422.65436495462654, + "ymax": 202.69227371568252 + }, + "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": [ + [ + 410.2617847736045, + 202.54061014294103 + ], + [ + 420.037666208264, + 202.69227371568252 + ], + [ + 422.65436495462654, + 195.2734301812584 + ], + [ + 412.9777851277153, + 195.1248490291838 + ], + [ + 405.1467668397207, + 175.8117189725399 + ], + [ + 415.13925816040205, + 175.96105268063783 + ], + [ + 417.8647617569478, + 168.65780527248802 + ], + [ + 407.9759978953176, + 168.51157315801314 + ] + ], + "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": 799.6584689727707, + "ymin": 669.0565890598916, + "xmax": 825.5970646712645, + "ymax": 717.8545133188672 + }, + "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": [ + [ + 818.6860480803861, + 717.8545133188672 + ], + [ + 816.2157358018422, + 696.3328037217761 + ], + [ + 799.6584689727707, + 695.904956854809 + ], + [ + 801.8358954383293, + 717.4114396139132 + ], + [ + 825.5970646712645, + 691.3531418528233 + ], + [ + 822.9085646626988, + 669.4909084562344 + ], + [ + 805.7202307207488, + 669.0565890598916 + ], + [ + 808.0928805245167, + 690.9027621120506 + ] + ], + "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": 650.3927956758159, + "ymin": 665.1542173679653, + "xmax": 668.3246861096871, + "ymax": 713.8703614517999 + }, + "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": [ + [ + 667.1349725871906, + 713.8703614517999 + ], + [ + 667.2915229857313, + 692.4853824580175 + ], + [ + 650.8385247147004, + 692.0602296401087 + ], + [ + 650.3927956758159, + 713.4301266509107 + ], + [ + 668.1809702697522, + 687.3037403059561 + ], + [ + 668.3246861096871, + 665.5856986174086 + ], + [ + 651.2486850739334, + 665.1542173679653 + ], + [ + 650.7932686690709, + 686.8563573134661 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 935.8222125038518, + "ymin": 52.00017944020351, + "xmax": 951.9542098093655, + "ymax": 81.57306266834848 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 935.8222125038518, + 76.31010324316111 + ], + [ + 938.0544919669924, + 81.46776397765694 + ], + [ + 946.2918762009658, + 81.57306266834848 + ], + [ + 943.9889783707802, + 76.41361415725544 + ], + [ + 941.2425616875569, + 52.00017944020351 + ], + [ + 943.5635667978345, + 57.04029209800575 + ], + [ + 951.9542098093655, + 57.14320747405628 + ], + [ + 949.5599459195851, + 52.10131562469502 + ] + ], + "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": 467.3496482135323, + "ymin": 122.360025280005, + "xmax": 479.4888836214414, + "ymax": 149.2760118047957 + }, + "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": [ + [ + 470.2652772039289, + 149.16624722903032 + ], + [ + 477.91158444767154, + 149.2760118047957 + ], + [ + 479.4888836214414, + 143.92372587248425 + ], + [ + 471.9031362948561, + 143.81570052655076 + ], + [ + 467.3496482135323, + 127.62750986553473 + ], + [ + 475.1268382861066, + 127.73558551771401 + ], + [ + 476.753546545754, + 122.46635940151117 + ], + [ + 469.03899883303416, + 122.360025280005 + ] + ], + "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": 425.98774980392886, + "ymin": 115.81125505389531, + "xmax": 441.5796701493807, + "ymax": 147.96465154734176 + }, + "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": [ + [ + 430.2976826296621, + 147.83498231216495 + ], + [ + 439.3407594544751, + 147.96465154734176 + ], + [ + 441.5796701493807, + 141.61690634731545 + ], + [ + 432.6216306520513, + 141.4896767543765 + ], + [ + 425.98774980392886, + 122.03693719568506 + ], + [ + 435.21587271070126, + 122.16418708881255 + ], + [ + 437.5401493652662, + 115.93606232347622 + ], + [ + 428.4005624679905, + 115.81125505389531 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 774.3454553728363, + "ymin": 50.000702682219924, + "xmax": 786.0083467763479, + "ymax": 79.49049654639686 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 774.3454553728363, + 74.2635433459252 + ], + [ + 775.1864580587344, + 79.38592131800942 + ], + [ + 783.3672453411879, + 79.49049654639686 + ], + [ + 782.4565854178418, + 74.36634911284932 + ], + [ + 776.7985150327006, + 50.000702682219924 + ], + [ + 777.6764137834573, + 55.00570549511417 + ], + [ + 786.0083467763479, + 55.107900781691626 + ], + [ + 785.0582044611781, + 50.10113733756208 + ] + ], + "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": 384.92929608773875, + "ymin": 219.55438923177738, + "xmax": 404.3828494799035, + "ymax": 255.60927948803737 + }, + "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": [ + [ + 390.8893328475875, + 255.4347119965198 + ], + [ + 401.3731750354366, + 255.60927948803737 + ], + [ + 404.3828494799035, + 247.0762788782161 + ], + [ + 394.0131278859226, + 246.90551355473713 + ], + [ + 384.92929608773875, + 227.97762437737913 + ], + [ + 395.6626568819184, + 228.15006919900247 + ], + [ + 398.80756574522144, + 219.7229897543544 + ], + [ + 388.1937912399329, + 219.55438923177738 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1056.4461945155617, + "ymin": 133.07085535543345, + "xmax": 1074.8805558030115, + "ymax": 160.33441243838345 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1056.4461945155617, + 154.6938923448497 + ], + [ + 1059.5448911779063, + 160.22101043928123 + ], + [ + 1067.4145989854621, + 160.33441243838345 + ], + [ + 1064.2517698481108, + 154.80546830641765 + ], + [ + 1063.6595226919671, + 133.07085535543345 + ], + [ + 1066.8721457544616, + 138.51521867156825 + ], + [ + 1074.8805558030115, + 138.62693885213972 + ], + [ + 1071.6015293994044, + 133.1807455457381 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 143619947594126905, + "instance_id": 14614, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_Poles_4", + "bbox_3d": { + "center_world": { + "x": -55.298187255859375, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 727.9114938168282, + "ymin": 0.0, + "xmax": 1124.386574922648, + "ymax": 218.23585817521408 + }, + "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": [ + [ + 1047.9753985776815, + 218.23585817521408 + ], + [ + 1044.841647294814, + 211.7818349822873 + ], + [ + 727.9114938168282, + 205.3109022196338 + ], + [ + 728.2604519417685, + 211.65134588281845 + ], + [ + 1124.386574922648, + -3.6729916603597985 + ], + [ + 1119.8838940681017, + -9.034733184957645 + ], + [ + 744.0372395902881, + -14.393036301172174 + ], + [ + 744.6171423200148, + -9.142958328274688 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 520448382005777854, + "instance_id": 48789, + "pixel_count": null, + "type_id": "BP_Lamppost_tall8_SM_0", + "bbox_3d": { + "center_world": { + "x": -19.3944149017334, + "y": -69.02778625488281, + "z": 3.636636972427368 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 68.06915348259304, + "ymax": 24.958263948144577 + }, + "corners_3d": [ + [ + -20.361778259277344, + -70.11705780029297, + 3.4733119010925293 + ], + [ + -20.361783981323242, + -67.93851470947266, + 3.4733152389526367 + ], + [ + -18.427051544189453, + -67.93851470947266, + 3.4733152389526367 + ], + [ + -18.427045822143555, + -70.11705780029297, + 3.4733119010925293 + ], + [ + -20.361778259277344, + -70.11705780029297, + 3.7999587059020996 + ], + [ + -20.361783981323242, + -67.93851470947266, + 3.799962043762207 + ], + [ + -18.427051544189453, + -67.93851470947266, + 3.799962043762207 + ], + [ + -18.427045822143555, + -70.11705780029297, + 3.7999587059020996 + ] + ], + "corners_2d": [ + [ + 44.172511343381416, + 24.958263948144577 + ], + [ + 68.06915348259304, + 4.2188976581911675 + ], + [ + 24.832161229761823, + 3.7277378381375 + ], + [ + -0.7387415833102295, + 24.427764352204633 + ], + [ + 40.9226175368658, + 17.441549746481485 + ], + [ + 65.06817011539658, + -3.120942530747641 + ], + [ + 21.60732830569043, + -3.607810713881122 + ], + [ + -4.230201782046038, + 16.91546881319067 + ] + ], + "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": 326.6177624844352, + "ymin": 82.69484218671312, + "xmax": 422.1728777722685, + "ymax": 230.64709638464905 + }, + "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": [ + [ + 410.0383305376912, + 230.64709638464905 + ], + [ + 422.1728777722685, + 196.26134290620612 + ], + [ + 369.2992359720671, + 195.44835893550984 + ], + [ + 354.65626806592206, + 229.75463304368725 + ], + [ + 387.41238433683907, + 115.29388721059166 + ], + [ + 401.8093257875629, + 83.44441870646853 + ], + [ + 344.02404601012773, + 82.69484218671312 + ], + [ + 326.6177624844352, + 114.46364029597848 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4931911690494204353, + "instance_id": 49625, + "pixel_count": null, + "type_id": "BP_Lamppost_tall8_SM_2", + "bbox_3d": { + "center_world": { + "x": -19.394060134887695, + "y": -69.02775573730469, + "z": 2.5271682739257812 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 98.5001100291156, + "ymax": 96.99976234282013 + }, + "corners_3d": [ + [ + -20.422487258911133, + -70.17810821533203, + 0.1843433380126953 + ], + [ + -20.422487258911133, + -67.87740325927734, + 0.1843433380126953 + ], + [ + -18.365633010864258, + -67.87740325927734, + 0.1843433380126953 + ], + [ + -18.365633010864258, + -70.17810821533203, + 0.1843433380126953 + ], + [ + -20.422487258911133, + -70.17810821533203, + 4.869993209838867 + ], + [ + -20.422487258911133, + -67.87740325927734, + 4.869993209838867 + ], + [ + -18.365633010864258, + -67.87740325927734, + 4.869993209838867 + ], + [ + -18.365633010864258, + -70.17810821533203, + 4.869993209838867 + ] + ], + "corners_2d": [ + [ + 75.74367460543726, + 96.99976234282013 + ], + [ + 98.5001100291156, + 73.48121781596234 + ], + [ + 54.84371329257101, + 72.92057888803419 + ], + [ + 30.391458658099168, + 96.39410662076858 + ], + [ + 30.7398025016696, + -7.168320992835561 + ], + [ + 57.073278400422964, + -28.23623531145597 + ], + [ + 10.122248868422162, + -28.73690623908948 + ], + [ + -18.17837455773838, + -7.712465063069715 + ] + ], + "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": 97.75089729240472, + "ymin": 589.9003749310892, + "xmax": 934.0984571366805, + "ymax": 720.0 + }, + "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": [ + [ + 262.3913803602437, + 822.6999261319655 + ], + [ + 255.50544464730297, + 844.4915019514531 + ], + [ + 847.1005277125779, + 867.4670278021925 + ], + [ + 844.5210640007463, + 844.9433802833505 + ], + [ + 110.91986628661357, + 589.9003749310892 + ], + [ + 97.75089729240472, + 615.3184746008682 + ], + [ + 934.0984571366805, + 642.4798580758992 + ], + [ + 928.4732528687036, + 615.849070527521 + ] + ], + "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": 342.3487710084396, + "ymin": 0.0, + "xmax": 482.29810747524095, + "ymax": 432.85893474850093 + }, + "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": [ + [ + 482.29810747524095, + 203.6642750589302 + ], + [ + 471.1248344379463, + 203.43511282913707 + ], + [ + 402.86283614748925, + 432.46260220489705 + ], + [ + 417.5292236157653, + 432.85893474850093 + ], + [ + 453.4479044640152, + -15.75375358396002 + ], + [ + 440.2420930756592, + -15.94303618522872 + ], + [ + 342.3487710084396, + 184.7813325227111 + ], + [ + 360.72826961414233, + 185.14996028287553 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 436.817096820876, + "ymin": 0.0, + "xmax": 494.8235978847183, + "ymax": 6.693187462514743 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 488.72028911640575, + 6.693187462514743 + ], + [ + 494.8235978847183, + -10.569498105545676 + ], + [ + 456.99760938941034, + -10.983349100854298 + ], + [ + 449.6275639682233, + 6.251026715417822 + ], + [ + 478.53136632010353, + -87.35387870858187 + ], + [ + 485.3847626069223, + -102.47809743626362 + ], + [ + 445.10968986028166, + -102.83986913781831 + ], + [ + 436.817096820876, + -87.7420930781633 + ] + ], + "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": 335.73194165404925, + "ymin": 111.10492357072141, + "xmax": 406.2575244101217, + "ymax": 151.04737433817965 + }, + "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": [ + [ + 393.24614135466334, + 151.04737433817965 + ], + [ + 406.2575244101217, + 120.02562477870151 + ], + [ + 353.2997880558163, + 119.29733971978376 + ], + [ + 337.7542340956522, + 150.2472321380914 + ], + [ + 391.5931653345888, + 142.66032411733372 + ], + [ + 404.7641737857034, + 111.82852115594807 + ], + [ + 351.4701832440729, + 111.10492357072141 + ], + [ + 335.73194165404925, + 141.8648425877669 + ] + ], + "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": 335.775461035211, + "ymin": 111.12100826601821, + "xmax": 406.2081539268206, + "ymax": 150.973383626192 + }, + "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": [ + [ + 393.2084303160347, + 150.973383626192 + ], + [ + 406.2081539268206, + 119.9869533495357 + ], + [ + 353.312272913559, + 119.25945775478846 + ], + [ + 337.7840700885508, + 150.17418798170593 + ], + [ + 391.5662279599162, + 142.64177888032117 + ], + [ + 404.72437283281073, + 111.84385201442592 + ], + [ + 351.49485320486934, + 111.12100826601821 + ], + [ + 335.775461035211, + 141.8472085746651 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11665211921157023400, + "instance_id": 43110, + "pixel_count": null, + "type_id": "BP_Lamppost_tall8_SM_1", + "bbox_3d": { + "center_world": { + "x": -19.394420623779297, + "y": -69.02778625488281, + "z": 3.637737274169922 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 68.0099128206042, + "ymax": 24.896151028228473 + }, + "corners_3d": [ + [ + -20.3605899810791, + -70.1158676147461, + 3.475497007369995 + ], + [ + -20.360593795776367, + -67.93971252441406, + 3.4755005836486816 + ], + [ + -18.428251266479492, + -67.93970489501953, + 3.4755005836486816 + ], + [ + -18.428247451782227, + -70.11585998535156, + 3.475497007369995 + ], + [ + -20.3605899810791, + -70.1158676147461, + 3.799973964691162 + ], + [ + -20.360593795776367, + -67.93971252441406, + 3.7999775409698486 + ], + [ + -18.428251266479492, + -67.93970489501953, + 3.7999775409698486 + ], + [ + -18.428247451782227, + -70.11585998535156, + 3.799973964691162 + ] + ], + "corners_2d": [ + [ + 44.13684640189899, + 24.896151028228473 + ], + [ + 68.0099128206042, + 4.180715981922049 + ], + [ + 24.824042393913487, + 3.690101024260855 + ], + [ + -0.7194928370057596, + 24.366283244373278 + ], + [ + 40.908418524916215, + 17.429196008435554 + ], + [ + 65.02849426105149, + -3.110716161755647 + ], + [ + 21.620519980396125, + -3.59707219152898 + ], + [ + -4.187583504183522, + 16.903713094419743 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1210.226831573395, + "ymin": 198.80732689843384, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1456.054929164391, + 904.4102743761238 + ], + [ + 1478.6180684632168, + 905.2946728326112 + ], + [ + 1225.46358982305, + 447.8927511091242 + ], + [ + 1210.226831573395, + 447.48386622756345 + ], + [ + 1811.9345664152333, + 686.9528973111242 + ], + [ + 1844.6628083438954, + 688.0298570641214 + ], + [ + 1377.9048549596446, + 199.19069912878612 + ], + [ + 1358.6220391284596, + 198.80732689843384 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17408989212588188295, + "instance_id": 34594, + "pixel_count": null, + "type_id": "BP_HighwayLight_simple_5_SM_2", + "bbox_3d": { + "center_world": { + "x": -75.30853271484375, + "y": -56.101219177246094, + "z": 5.664507865905762 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1158.3796841506423, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 17.254441421579088 + }, + "corners_3d": [ + [ + -75.6749038696289, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -74.94214630126953, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -74.9421615600586, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -75.67491912841797, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -75.6749038696289, + -52.1658935546875, + 11.14326000213623 + ], + [ + -74.94214630126953, + -52.1658935546875, + 11.14326000213623 + ], + [ + -74.9421615600586, + -60.03654479980469, + 11.14326000213623 + ], + [ + -75.67491912841797, + -60.03654479980469, + 11.14326000213623 + ] + ], + "corners_2d": [ + [ + 1171.287370381197, + -39.58775132739913 + ], + [ + 1158.3796841506423, + -39.71908987806313 + ], + [ + 1214.9953021170154, + 17.090445076578135 + ], + [ + 1229.43616264748, + 17.254441421579088 + ], + [ + 1254.0114781953926, + -264.2143135295032 + ], + [ + 1239.0686870198283, + -264.29564878133624 + ], + [ + 1316.8674359869642, + -228.4612471481879 + ], + [ + 1333.9040806163318, + -228.35586983787266 + ] + ], + "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": 0.0, + "ymin": 677.6870984901077, + "xmax": 18.59481346537416, + "ymax": 720.0 + }, + "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": [ + [ + 18.59481346537416, + 1087.9338811681848 + ], + [ + -89.64753139049492, + 793.6355915810303 + ], + [ + -493.2166775045541, + 1043.0012527509148 + ], + [ + -470.77187721849464, + 1477.6634365304135 + ], + [ + -132.47176859883507, + 1011.3266573812289 + ], + [ + -228.47091487662533, + 677.6870984901077 + ], + [ + -759.2226041940173, + 958.4841619486537 + ], + [ + -827.0592192099341, + 1501.5948864625423 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1144.2461062758166, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 197.7907618315688 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1144.2461062758166, + 88.5138245493327 + ], + [ + 1308.7512071743317, + 197.7907618315688 + ], + [ + 1498.742274339856, + 157.62154348949727 + ], + [ + 1314.666080274873, + 59.34714257360258 + ], + [ + 1289.7390321637, + -290.77775665347804 + ], + [ + 1548.5106469242146, + -234.31799038966562 + ], + [ + 1783.7819207818868, + -255.7709849674386 + ], + [ + 1497.5405754143708, + -304.8770695207389 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12511280680997575471, + "instance_id": 12123, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2349_123", + "bbox_3d": { + "center_world": { + "x": -36.20769119262695, + "y": -108.4781723022461, + "z": 6.51531457901001 + }, + "extent": { + "x": 4.686452865600586, + "y": 4.53662633895874, + "z": 6.939882278442383 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 423.12966463944883, + "xmax": 311.1226151789602, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -42.32275390625, + -110.74749755859375, + -0.42456769943237305 + ], + [ + -38.674442291259766, + -102.44004821777344, + -0.42456769943237305 + ], + [ + -30.09263038635254, + -106.20884704589844, + -0.42456769943237305 + ], + [ + -33.74094009399414, + -114.51629638671875, + -0.42456769943237305 + ], + [ + -42.32275390625, + -110.74749755859375, + 13.455196380615234 + ], + [ + -38.674442291259766, + -102.44004821777344, + 13.455196380615234 + ], + [ + -30.09263038635254, + -106.20884704589844, + 13.455196380615234 + ], + [ + -33.74094009399414, + -114.51629638671875, + 13.455196380615234 + ] + ], + "corners_2d": [ + [ + 311.1226151789602, + 1574.5707247228156 + ], + [ + 246.46460559757696, + 901.1417900257903 + ], + [ + -314.8166277800357, + 1123.0587897663347 + ], + [ + -565.1508084005413, + 2094.114089735831 + ], + [ + -527.8107726308374, + 2012.0926562529344 + ], + [ + -128.33136359121647, + 423.12966463944883 + ], + [ + -1548.8798069154145, + 761.1758631801838 + ], + [ + -10977.967337175984, + 8065.052663822785 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00005/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00005/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4df635d3811fb48b065538bd2a285720c6b1e7c5 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00005/meta.json @@ -0,0 +1,3744 @@ +{ + "frame_id": 5, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 2.5, + "sim_timestamp": 13191.082137537422 + }, + "drone_pose": { + "x": -46.777099326345535, + "y": -108.5265715800963, + "z": 20.591738444049465, + "pitch": -42.60759658452999, + "yaw": 88.36278936096198, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.02102828025817871, + -0.7357068657875061, + 0.6769735217094421, + 66.88732147216797 + ], + [ + 0.9995917677879333, + 0.02857077121734619, + 0.0, + -43.65731430053711 + ], + [ + -0.019341647624969482, + 0.6766971945762634, + 0.7360073328018188, + -89.50004577636719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -46.808880643536604, + "y": -108.01120531950247, + "z": 20.568586254185806 + }, + "t1_image_uv": [ + 753.2348873151469, + -446.38680660654575 + ], + "t1_depth": 0.3941636141258195 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.16718292236328, + "y": -87.18776321411133, + "z": 0.9564604447036982 + }, + "image_uv": [ + 639.9999999999999, + 359.99999999999983 + ], + "depth": 29.004497627293407, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 666, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.16718292236328, + "y": -87.18775939941406, + "z": 0.9564604163169861 + }, + "extent": { + "x": 0.4732983410358429, + "y": 0.5396923422813416, + "z": 0.8977710008621216 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 621.0806625088229, + "ymin": 326.9002325326941, + "xmax": 658.4757419478841, + "ymax": 392.53789510681815 + }, + "corners_3d": [ + [ + -45.62749099731445, + -87.66105651855469, + 0.0586894154548645 + ], + [ + -46.70687484741211, + -87.66105651855469, + 0.0586894154548645 + ], + [ + -46.70687484741211, + -86.71446228027344, + 0.0586894154548645 + ], + [ + -45.62749099731445, + -86.71446228027344, + 0.0586894154548645 + ], + [ + -45.62749099731445, + -87.66105651855469, + 1.854231357574463 + ], + [ + -46.70687484741211, + -87.66105651855469, + 1.854231357574463 + ], + [ + -46.70687484741211, + -86.71446228027344, + 1.854231357574463 + ], + [ + -45.62749099731445, + -86.71446228027344, + 1.854231357574463 + ] + ], + "corners_2d": [ + [ + 621.8662059751105, + 391.82806513698176 + ], + [ + 657.2603235964382, + 392.53789510681815 + ], + [ + 657.7258736657506, + 371.24861765381763 + ], + [ + 623.1538100737696, + 370.5714034303648 + ], + [ + 621.0806625088229, + 347.99384670015246 + ], + [ + 658.008634234359, + 348.6989646777303 + ], + [ + 658.4757419478841, + 327.5715980017403 + ], + [ + 622.4417180871847, + 326.9002325326941 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + -1.7053025658242404e-13 + ] + }, + "trace_timestep_index": 5, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 83, + "semantic_pixel_counts": { + "1": 607134, + "2": 111513, + "3": 65444, + "4": 19271, + "6": 18866, + "7": 3198, + "9": 20239, + "10": 25278, + "12": 3850, + "14": 8350, + "20": 2566, + "21": 5659, + "24": 30232 + }, + "instance_pixel_counts": { + "143": 5067, + "655": 4181, + "1167": 7620, + "1447": 125, + "1679": 12192, + "1957": 1000, + "2703": 12804, + "3727": 7945, + "3749": 91, + "4261": 35, + "8556": 18, + "8579": 962, + "9068": 579, + "9580": 13, + "10092": 2, + "15186": 6777, + "15698": 7062, + "16210": 4021, + "16722": 5718, + "19796": 1625, + "21869": 3482, + "22381": 3406, + "22784": 4820, + "22893": 2579, + "23040": 10236, + "23405": 3123, + "23441": 3790, + "23552": 5534, + "23953": 4431, + "24429": 5079, + "24465": 3793, + "24941": 4257, + "24977": 3595, + "25489": 3390, + "25965": 2554, + "26001": 1704, + "26696": 19271, + "26987": 775, + "26989": 1511, + "27243": 57, + "27719": 28293, + "28231": 18533, + "28523": 57, + "28779": 1551, + "31633": 3238, + "32084": 2714, + "32145": 4041, + "32166": 442, + "32657": 3302, + "33169": 3206, + "40358": 2350, + "42918": 1645, + "51815": 230467, + "52327": 27835, + "53351": 97798, + "53863": 223844, + "54375": 24362, + "54887": 2828, + "54889": 13699, + "55401": 798, + "55913": 2691, + "56173": 20239, + "56320": 666, + "56425": 12198, + "56486": 11, + "56576": 599, + "56742": 33, + "56832": 474, + "56937": 686, + "57088": 533, + "57344": 708, + "57449": 160, + "57600": 870, + "59392": 4011, + "59522": 25, + "59762": 2580, + "62827": 126, + "63083": 96, + "63314": 3934, + "63874": 487, + "64142": 2059, + "64594": 81, + "64654": 5361 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 666, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.16718292236328, + "y": -87.18775939941406, + "z": 0.9564604163169861 + }, + "extent": { + "x": 0.4855004847049713, + "y": 0.5980761647224426, + "z": 0.8924815654754639 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 619.0689696182085, + "ymin": 326.7328477596499, + "xmax": 660.4291690267986, + "ymax": 392.73353551979966 + }, + "corners_3d": [ + [ + -45.56910705566406, + -87.67326354980469, + 0.06397885084152222 + ], + [ + -46.7652587890625, + -87.67325592041016, + 0.06397885084152222 + ], + [ + -46.7652587890625, + -86.70225524902344, + 0.06397885084152222 + ], + [ + -45.56910705566406, + -86.70226287841797, + 0.06397885084152222 + ], + [ + -45.56910705566406, + -87.67326354980469, + 1.8489420413970947 + ], + [ + -46.7652587890625, + -87.67325592041016, + 1.8489420413970947 + ], + [ + -46.7652587890625, + -86.70225524902344, + 1.8489420413970947 + ], + [ + -45.56910705566406, + -86.70226287841797, + 1.8489420413970947 + ] + ], + "corners_2d": [ + [ + 619.9332542348146, + 391.9466188828275 + ], + [ + 659.173150598021, + 392.73353551979966 + ], + [ + 659.6050176087732, + 370.89372373481024 + ], + [ + 621.2998267111542, + 370.1438793037456 + ], + [ + 619.0689696182085, + 348.36928315707877 + ], + [ + 659.9996884906241, + 349.15102789997235 + ], + [ + 660.4291690267986, + 327.4762358868964 + ], + [ + 620.5144000693653, + 326.7328477596499 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 599, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.041194915771484, + "y": -84.19005584716797, + "z": 0.9650639891624451 + }, + "extent": { + "x": 0.45072025060653687, + "y": 0.5008057355880737, + "z": 0.9220717549324036 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 496.82664943695727, + "ymin": 262.4998156602302, + "xmax": 534.9190163301109, + "ymax": 327.2648487732414 + }, + "corners_3d": [ + [ + -41.645042419433594, + -84.73505401611328, + 0.042992234230041504 + ], + [ + -42.6247673034668, + -84.52680206298828, + 0.042992234230041504 + ], + [ + -42.437347412109375, + -83.64505767822266, + 0.042992234230041504 + ], + [ + -41.45762252807617, + -83.85330963134766, + 0.042992234230041504 + ], + [ + -41.645042419433594, + -84.73505401611328, + 1.8871357440948486 + ], + [ + -42.6247673034668, + -84.52680206298828, + 1.8871357440948486 + ], + [ + -42.437347412109375, + -83.64505767822266, + 1.8871357440948486 + ], + [ + -41.45762252807617, + -83.85330963134766, + 1.8871357440948486 + ] + ], + "corners_2d": [ + [ + 504.4709259043291, + 327.2648487732414 + ], + [ + 534.9190163301109, + 323.7028919405505 + ], + [ + 532.2235480375114, + 306.598686123212 + ], + [ + 502.3819635713978, + 310.0178961232416 + ], + [ + 498.8819948331292, + 282.8743568574324 + ], + [ + 530.6045984202119, + 279.3597503719621 + ], + [ + 527.891443600026, + 262.4998156602302 + ], + [ + 496.82664943695727, + 265.8679596070984 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 474, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.42300796508789, + "y": -80.24504852294922, + "z": 0.9599760174751282 + }, + "extent": { + "x": 0.4757128655910492, + "y": 0.31193357706069946, + "z": 0.9195364117622375 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 697.7383552052457, + "ymin": 198.96047214148086, + "xmax": 721.2019872057241, + "ymax": 258.09012156658036 + }, + "corners_3d": [ + [ + -48.16250991821289, + -80.75076293945312, + 0.040439605712890625 + ], + [ + -48.782958984375, + -80.685546875, + 0.040439605712890625 + ], + [ + -48.68350601196289, + -79.73933410644531, + 0.040439605712890625 + ], + [ + -48.06305694580078, + -79.80455017089844, + 0.040439605712890625 + ], + [ + -48.16250991821289, + -80.75076293945312, + 1.8795124292373657 + ], + [ + -48.782958984375, + -80.685546875, + 1.8795124292373657 + ], + [ + -48.68350601196289, + -79.73933410644531, + 1.8795124292373657 + ], + [ + -48.06305694580078, + -79.80455017089844, + 1.8795124292373657 + ] + ], + "corners_2d": [ + [ + 700.9377349033498, + 258.09012156658036 + ], + [ + 718.259135815072, + 257.2958539513527 + ], + [ + 714.7179026658348, + 241.75237062864636 + ], + [ + 697.7383552052457, + 242.51529435063145 + ], + [ + 703.2316538084035, + 214.9646400632753 + ], + [ + 721.2019872057241, + 214.18600693280877 + ], + [ + 717.4695596583763, + 198.96047214148086 + ], + [ + 699.8669011413137, + 199.7072579979797 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 533, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -55.66718292236328, + "y": -87.18775939941406, + "z": 0.9541459679603577 + }, + "extent": { + "x": 0.2973608374595642, + "y": 0.4697021245956421, + "z": 0.8916702270507812 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 932.6489851195947, + "ymin": 337.000953883557, + "xmax": 981.7047419287562, + "ymax": 394.6095537237808 + }, + "corners_3d": [ + [ + -55.197479248046875, + -87.48512268066406, + 0.062475740909576416 + ], + [ + -56.13688659667969, + -87.48512268066406, + 0.062475740909576416 + ], + [ + -56.13688659667969, + -86.89039611816406, + 0.062475740909576416 + ], + [ + -55.197479248046875, + -86.89039611816406, + 0.062475740909576416 + ], + [ + -55.197479248046875, + -87.48512268066406, + 1.8458161354064941 + ], + [ + -56.13688659667969, + -87.48512268066406, + 1.8458161354064941 + ], + [ + -56.13688659667969, + -86.89039611816406, + 1.8458161354064941 + ], + [ + -55.197479248046875, + -86.89039611816406, + 1.8458161354064941 + ] + ], + "corners_2d": [ + [ + 936.4753821819407, + 393.98880102737 + ], + [ + 967.567895719646, + 394.6095537237808 + ], + [ + 963.2796322357118, + 381.0541560418358 + ], + [ + 932.6489851195947, + 380.4516020077588 + ], + [ + 949.2613399696165, + 350.4428289536588 + ], + [ + 981.7047419287562, + 351.05962097307514 + ], + [ + 977.016549329539, + 337.5989012091798 + ], + [ + 945.0756933601361, + 337.000953883557 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 708, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -49.78268051147461, + "y": -98.31512451171875, + "z": 0.9751225709915161 + }, + "extent": { + "x": 0.475822776556015, + "y": 0.36762699484825134, + "z": 0.9109065532684326 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 770.9139782213219, + "ymin": 667.4170749769515, + "xmax": 815.0332806154947, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.36732864379883, + -98.74991607666016, + 0.0642160177230835 + ], + [ + -50.09855651855469, + -98.82676696777344, + 0.0642160177230835 + ], + [ + -50.19803237915039, + -97.88033294677734, + 0.0642160177230835 + ], + [ + -49.46680450439453, + -97.80348205566406, + 0.0642160177230835 + ], + [ + -49.36732864379883, + -98.74991607666016, + 1.8860291242599487 + ], + [ + -50.09855651855469, + -98.82676696777344, + 1.8860291242599487 + ], + [ + -50.19803237915039, + -97.88033294677734, + 1.8860291242599487 + ], + [ + -49.46680450439453, + -97.80348205566406, + 1.8860291242599487 + ] + ], + "corners_2d": [ + [ + 770.9139782213219, + 749.8746502751237 + ], + [ + 804.7355009734372, + 754.2414179517655 + ], + [ + 805.0613156377565, + 713.3002755845008 + ], + [ + 772.319253174411, + 709.2085204687801 + ], + [ + 779.067819458045, + 709.150921030135 + ], + [ + 815.0332806154947, + 713.642218179398 + ], + [ + 815.028748618904, + 671.6087602028529 + ], + [ + 780.2814794521069, + 667.4170749769515 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 870, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -34.92184829711914, + "y": -95.35797882080078, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.4038757085800171, + "y": 0.4985888600349426, + "z": 0.9371107220649719 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 123.47775616289084, + "ymin": 539.0848058322157, + "xmax": 205.61237228888558, + "ymax": 619.7028062658992 + }, + "corners_3d": [ + [ + -34.35018539428711, + -95.64936828613281, + 0.004711031913757324 + ], + [ + -35.3255729675293, + -95.856689453125, + 0.004711031913757324 + ], + [ + -35.49351119995117, + -95.06658935546875, + 0.004711031913757324 + ], + [ + -34.518123626708984, + -94.85926818847656, + 0.004711031913757324 + ], + [ + -34.35018539428711, + -95.64936828613281, + 1.8789324760437012 + ], + [ + -35.3255729675293, + -95.856689453125, + 1.8789324760437012 + ], + [ + -35.49351119995117, + -95.06658935546875, + 1.8789324760437012 + ], + [ + -34.518123626708984, + -94.85926818847656, + 1.8789324760437012 + ] + ], + "corners_2d": [ + [ + 151.16284977745738, + 611.3498504167617 + ], + [ + 187.15228964055274, + 619.7028062658992 + ], + [ + 205.61237228888558, + 592.2822714873121 + ], + [ + 170.34865496979108, + 584.3239883847617 + ], + [ + 123.47775616289084, + 566.4746064864565 + ], + [ + 161.3058100197087, + 574.9550050347971 + ], + [ + 181.44754049787718, + 547.1425867487875 + ], + [ + 144.41883814176418, + 539.0848058322157 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 232, + "instance_id": 59392, + "pixel_count": 4011, + "type_id": "vehicle.toyota.prius", + "bbox_3d": { + "center_world": { + "x": -62.880393981933594, + "y": -94.98814392089844, + "z": 0.7607561349868774 + }, + "extent": { + "x": 2.256761312484741, + "y": 1.0034072399139404, + "z": 0.7624167203903198 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 1202.0975491121828, + "ymin": 543.6007706198964, + "xmax": 1280.0, + "ymax": 656.4070116043792 + }, + "corners_3d": [ + [ + -60.625144958496094, + -93.98133850097656, + -0.00165654718875885 + ], + [ + -60.62212371826172, + -95.98815155029297, + -0.00165654718875885 + ], + [ + -65.1356430053711, + -95.99494934082031, + -0.0016646161675453186 + ], + [ + -65.13866424560547, + -93.9881362915039, + -0.0016646161675453186 + ], + [ + -60.62514877319336, + -93.98133850097656, + 1.523176908493042 + ], + [ + -60.622127532958984, + -95.98815155029297, + 1.523176908493042 + ], + [ + -65.1356430053711, + -95.99494934082031, + 1.5231688022613525 + ], + [ + -65.13866424560547, + -93.9881362915039, + 1.5231688022613525 + ] + ], + "corners_2d": [ + [ + 1202.0975491121828, + 580.0621346341555 + ], + [ + 1235.843106870097, + 651.2553612950569 + ], + [ + 1428.6247747294537, + 656.4070116043792 + ], + [ + 1383.0040010016023, + 584.6068664229302 + ], + [ + 1226.9805945078829, + 543.6007706198964 + ], + [ + 1264.0028559336763, + 615.6941090732765 + ], + [ + 1466.0664848082454, + 620.9269367103011 + ], + [ + 1416.036764553732, + 548.1906627441779 + ] + ], + "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": 457.1136692831926, + "ymin": 689.2204161460252, + "xmax": 484.5367494675281, + "ymax": 720.0 + }, + "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": [ + [ + 481.0735959708841, + 738.534695845103 + ], + [ + 484.5367494675281, + 716.2680248072968 + ], + [ + 467.80486728190317, + 715.8120895017322 + ], + [ + 464.0424916731072, + 738.062232347984 + ], + [ + 474.81298425194484, + 712.331172321251 + ], + [ + 478.5248371220363, + 689.6838175776704 + ], + [ + 461.14846165186265, + 689.2204161460252 + ], + [ + 457.1136692831926, + 711.8503042895286 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 849.9516814708294, + "ymin": 57.42587105735072, + "xmax": 863.8653726004032, + "ymax": 87.25851176051782 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 849.9516814708294, + 81.89155704577297 + ], + [ + 851.4521496554008, + 87.14793046635128 + ], + [ + 859.7610404437576, + 87.25851176051782 + ], + [ + 858.1887094235581, + 82.00024108060626 + ], + [ + 853.8376878229158, + 57.42587105735072 + ], + [ + 855.400573168902, + 62.56382498160292 + ], + [ + 863.8653726004032, + 62.671932771796946 + ], + [ + 862.2279143899705, + 57.53208984365517 + ] + ], + "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": 401.17036795797947, + "ymin": 177.85127297897458, + "xmax": 419.0665245548719, + "ymax": 212.42985669588265 + }, + "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": [ + [ + 406.4460222883199, + 212.26926602783547 + ], + [ + 416.3619717016742, + 212.42985669588265 + ], + [ + 419.0665245548719, + 204.80677019332455 + ], + [ + 409.2527520659885, + 204.6494911140963 + ], + [ + 401.17036795797947, + 185.3562043416781 + ], + [ + 411.30917639052115, + 185.51441242970014 + ], + [ + 414.1277328167981, + 178.00614607686552 + ], + [ + 404.09572085942904, + 177.85127297897458 + ] + ], + "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": 802.1432788901406, + "ymin": 698.4817553073101, + "xmax": 828.9028985652003, + "ymax": 720.0 + }, + "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": [ + [ + 821.6898312366683, + 747.9828823592518 + ], + [ + 819.1222012360186, + 725.3844200062737 + ], + [ + 802.1432788901406, + 724.9217533109716 + ], + [ + 804.4027008177844, + 747.5033167344527 + ], + [ + 828.9028985652003, + 721.9504101144346 + ], + [ + 826.10196898626, + 698.952265915318 + ], + [ + 808.4590044306455, + 698.4817553073101 + ], + [ + 810.9269104721811, + 721.4620255913333 + ] + ], + "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": 649.0638749253612, + "ymin": 694.2550641940529, + "xmax": 667.4560023382382, + "ymax": 720.0 + }, + "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": [ + [ + 666.2339259640545, + 743.6712680547917 + ], + [ + 666.429694321479, + 721.2245153247403 + ], + [ + 649.5637299733701, + 720.7649263482351 + ], + [ + 649.0638749253612, + 743.1949500064951 + ], + [ + 667.2717372430395, + 717.5600335456535 + ], + [ + 667.4560023382382, + 694.7223235994745 + ], + [ + 649.9349626605093, + 694.2550641940529 + ], + [ + 649.4223006721095, + 717.0750868996182 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 939.264854910645, + "ymin": 58.57762718652714, + "xmax": 955.6866437414461, + "ymax": 88.45798588703838 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 939.264854910645, + 83.07000588786815 + ], + [ + 941.5459083587705, + 88.34696950627972 + ], + [ + 949.8874908153177, + 88.45798588703838 + ], + [ + 947.5340117428611, + 83.17911384942335 + ], + [ + 944.814954745284, + 58.57762718652714 + ], + [ + 947.1879153844295, + 63.73608273147602 + ], + [ + 955.6866437414461, + 63.84462384335609 + ], + [ + 953.238515344193, + 58.68426797578684 + ] + ], + "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": 465.192383199578, + "ymin": 129.12797825984063, + "xmax": 477.5280388223838, + "ymax": 156.29173344938135 + }, + "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": [ + [ + 468.1766834639468, + 156.1762354424285 + ], + [ + 475.90780526879786, + 156.29173344938135 + ], + [ + 477.5280388223838, + 150.82620575373255 + ], + [ + 469.8588372377031, + 150.71255868952335 + ], + [ + 465.192383199578, + 134.50846351788053 + ], + [ + 473.0572893254629, + 134.62221914717156 + ], + [ + 474.7287684644695, + 129.2398795917637 + ], + [ + 466.92793519867837, + 129.12797825984063 + ] + ], + "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": 422.69771047618195, + "ymin": 123.74302242353289, + "xmax": 438.6028188917678, + "ymax": 156.24994124173608 + }, + "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": [ + [ + 427.1312239298526, + 156.1129463819359 + ], + [ + 436.2938611269183, + 156.24994124173608 + ], + [ + 438.6028188917678, + 149.74188057922908 + ], + [ + 429.5274923912474, + 149.60749804571822 + ], + [ + 422.69771047618195, + 130.12859174001164 + ], + [ + 432.05030833861343, + 130.26308952343288 + ], + [ + 434.4483925607407, + 123.87490285724488 + ], + [ + 425.1867451293614, + 123.74302242353289 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 775.7889407915529, + "ymin": 56.46965524387923, + "xmax": 787.6275264951746, + "ymax": 86.26264509205038 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 775.7889407915529, + 80.9131157222198 + ], + [ + 776.6435547645856, + 86.15242438078252 + ], + [ + 784.925350526099, + 86.26264509205038 + ], + [ + 783.99933892165, + 81.02144840668848 + ], + [ + 778.2981246583577, + 56.46965524387923 + ], + [ + 779.1908447022869, + 61.590619514127184 + ], + [ + 787.6275264951746, + 61.69836822029373 + ], + [ + 786.6607252555631, + 56.57552430886801 + ] + ], + "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": 380.23902223389166, + "ymin": 230.37579853558736, + "xmax": 400.1643903253299, + "ymax": 266.8708838930804 + }, + "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": [ + [ + 386.4017055794176, + 266.68564039848917 + ], + [ + 397.046992208494, + 266.8708838930804 + ], + [ + 400.1643903253299, + 258.08415118959437 + ], + [ + 389.6367742167682, + 257.903005692988 + ], + [ + 380.23902223389166, + 239.05474432713666 + ], + [ + 391.1415809888524, + 239.23785133126432 + ], + [ + 394.40116185292527, + 230.55475803581487 + ], + [ + 383.6219968318086, + 230.37579853558736 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1061.153237056223, + "ymin": 140.32843434405908, + "xmax": 1079.924658832763, + "ymax": 167.85439246797523 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1061.153237056223, + 162.08447451820984 + ], + [ + 1064.3193449252426, + 167.73492941303925 + ], + [ + 1072.285166294648, + 167.85439246797523 + ], + [ + 1069.0533409423467, + 162.2019909019685 + ], + [ + 1068.5327522051584, + 140.32843434405908 + ], + [ + 1071.8167431260915, + 145.89611798785901 + ], + [ + 1079.924658832763, + 146.01384845042665 + ], + [ + 1076.572595184413, + 140.4442128907226 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 143619947594126905, + "instance_id": 14614, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_Poles_4", + "bbox_3d": { + "center_world": { + "x": -55.298187255859375, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 728.7036469319935, + "ymin": 0.0, + "xmax": 1130.6069459419177, + "ymax": 226.00646615385938 + }, + "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": [ + [ + 1052.3727918996065, + 226.00646615385938 + ], + [ + 1049.174217779955, + 219.4155148883578 + ], + [ + 728.7036469319935, + 212.65811556399143 + ], + [ + 729.0539301851458, + 219.12910950999103 + ], + [ + 1130.6069459419177, + 2.5751809978374354 + ], + [ + 1125.9902199707876, + -2.9179087818860694 + ], + [ + 745.176637325828, + -8.530744063728434 + ], + [ + 745.7647403966577, + -3.1561922396279556 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 520448382005777854, + "instance_id": 48789, + "pixel_count": null, + "type_id": "BP_Lamppost_tall8_SM_0", + "bbox_3d": { + "center_world": { + "x": -19.3944149017334, + "y": -69.02778625488281, + "z": 3.636636972427368 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.6645827968808362, + "xmax": 63.04386785321799, + "ymax": 29.645082496510952 + }, + "corners_3d": [ + [ + -20.361778259277344, + -70.11705780029297, + 3.4733119010925293 + ], + [ + -20.361783981323242, + -67.93851470947266, + 3.4733152389526367 + ], + [ + -18.427051544189453, + -67.93851470947266, + 3.4733152389526367 + ], + [ + -18.427045822143555, + -70.11705780029297, + 3.4733119010925293 + ], + [ + -20.361778259277344, + -70.11705780029297, + 3.7999587059020996 + ], + [ + -20.361783981323242, + -67.93851470947266, + 3.799962043762207 + ], + [ + -18.427051544189453, + -67.93851470947266, + 3.799962043762207 + ], + [ + -18.427045822143555, + -70.11705780029297, + 3.7999587059020996 + ] + ], + "corners_2d": [ + [ + 38.67684440898893, + 29.645082496510952 + ], + [ + 63.04386785321799, + 8.557982010422734 + ], + [ + 19.44587503704929, + 8.043637400596367 + ], + [ + -6.624435158426081, + 29.089141427153038 + ], + [ + 35.367552358157354, + 22.083097592447587 + ], + [ + 59.99047138327137, + 1.174464610837049 + ], + [ + 16.1649416395378, + 0.6645827968808362 + ], + [ + -10.17943652163035, + 21.531748983508066 + ] + ], + "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": 322.60461169214557, + "ymin": 89.06670858912833, + "xmax": 419.72723118766095, + "ymax": 238.4166273179937 + }, + "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": [ + [ + 407.2844048205769, + 238.4166273179937 + ], + [ + 419.72723118766095, + 203.32665833807732 + ], + [ + 366.31020824452605, + 202.47233115013083 + ], + [ + 351.30524693531464, + 237.47781174946186 + ], + [ + 384.1175424198714, + 122.41111070406097 + ], + [ + 398.90514280089457, + 89.85562190892085 + ], + [ + 340.4719843126452, + 89.06670858912833 + ], + [ + 322.60461169214557, + 121.53621536108881 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4931911690494204353, + "instance_id": 49625, + "pixel_count": null, + "type_id": "BP_Lamppost_tall8_SM_2", + "bbox_3d": { + "center_world": { + "x": -19.394060134887695, + "y": -69.02775573730469, + "z": 2.5271682739257812 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 93.98098133374651, + "ymax": 102.09129425938744 + }, + "corners_3d": [ + [ + -20.422487258911133, + -70.17810821533203, + 0.1843433380126953 + ], + [ + -20.422487258911133, + -67.87740325927734, + 0.1843433380126953 + ], + [ + -18.365633010864258, + -67.87740325927734, + 0.1843433380126953 + ], + [ + -18.365633010864258, + -70.17810821533203, + 0.1843433380126953 + ], + [ + -20.422487258911133, + -70.17810821533203, + 4.869993209838867 + ], + [ + -20.422487258911133, + -67.87740325927734, + 4.869993209838867 + ], + [ + -18.365633010864258, + -67.87740325927734, + 4.869993209838867 + ], + [ + -18.365633010864258, + -70.17810821533203, + 4.869993209838867 + ] + ], + "corners_2d": [ + [ + 70.79503849853393, + 102.09129425938744 + ], + [ + 93.98098133374651, + 78.19406852906076 + ], + [ + 49.97782928274364, + 77.60733971507415 + ], + [ + 25.068080569401673, + 101.45701854127651 + ], + [ + 24.981180587413178, + -2.6730339443205935 + ], + [ + 51.84307891764547, + -24.1002543789819 + ], + [ + 4.491937471259234, + -24.62468588381472 + ], + [ + -24.37196446961218, + -3.2434546169078544 + ] + ], + "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": 80.2870260830914, + "ymin": 619.1847115363958, + "xmax": 941.0666170349191, + "ymax": 720.0 + }, + "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": [ + [ + 253.57663117941718, + 848.2144254795423 + ], + [ + 246.3849468995872, + 870.8683009184681 + ], + [ + 850.1556192866826, + 895.3282130702947 + ], + [ + 847.4892732863326, + 871.8789789624476 + ], + [ + 94.25630745024466, + 619.1847115363958 + ], + [ + 80.2870260830914, + 646.0175838694126 + ], + [ + 941.0666170349191, + 675.405974373461 + ], + [ + 935.136027458309, + 647.2232823742086 + ] + ], + "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": 336.39299560939935, + "ymin": 0.0, + "xmax": 480.46680067871955, + "ymax": 445.4701385006275 + }, + "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": [ + [ + 480.46680067871955, + 210.86034315121742 + ], + [ + 469.17703513183346, + 210.62119927431752 + ], + [ + 398.96619177139746, + 445.0536916336158 + ], + [ + 413.835008048148, + 445.4701385006275 + ], + [ + 450.92599170038034, + -10.020787445010683 + ], + [ + 437.5579126650303, + -10.218894623076665 + ], + [ + 336.39299560939935, + 196.1821156760394 + ], + [ + 355.0899887608027, + 196.57186142812157 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 435.35421854794686, + "ymin": 0.0, + "xmax": 493.95597331607775, + "ymax": 10.532204616855722 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 487.7377649789879, + 10.532204616855722 + ], + [ + 493.95597331607775, + -6.970994794798287 + ], + [ + 455.85533107621404, + -7.403219656953809 + ], + [ + 448.35129067979847, + 10.070174327932591 + ], + [ + 477.4022144624798, + -84.0369104207918 + ], + [ + 484.389042297689, + -99.38100318727936 + ], + [ + 443.8032998234122, + -99.75904831179793 + ], + [ + 435.35421854794686, + -84.44282508665697 + ] + ], + "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": 331.91953715109446, + "ymin": 117.67459781929605, + "xmax": 403.4757981975025, + "ymax": 158.3770287013951 + }, + "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": [ + [ + 390.11889869415074, + 158.3770287013951 + ], + [ + 403.4757981975025, + 126.68397256944075 + ], + [ + 349.9392456653108, + 125.91781063299337 + ], + [ + 333.99047242861513, + 157.53434195654899 + ], + [ + 388.4257072295344, + 149.93863710723483 + ], + [ + 401.9481401783419, + 118.43591280349844 + ], + [ + 348.0680303466651, + 117.67459781929605 + ], + [ + 331.91953715109446, + 149.10075416313228 + ] + ], + "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": 331.963692931646, + "ymin": 117.69104139860661, + "xmax": 403.4256648614297, + "ymax": 158.30228038338936 + }, + "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": [ + [ + 390.08072958694476, + 158.30228038338936 + ], + [ + 403.4256648614297, + 126.64528574736786 + ], + [ + 349.95160553983726, + 125.87995653398158 + ], + [ + 334.02061553376683, + 157.46059388481288 + ], + [ + 388.3985746213644, + 149.91966885030567 + ], + [ + 401.9077946864393, + 118.45156051379723 + ], + [ + 348.0928501082418, + 117.69104139860661 + ], + [ + 331.963692931646, + 149.0827497418535 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11665211921157023400, + "instance_id": 43110, + "pixel_count": null, + "type_id": "BP_Lamppost_tall8_SM_1", + "bbox_3d": { + "center_world": { + "x": -19.394420623779297, + "y": -69.02778625488281, + "z": 3.637737274169922 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.675510245134717, + "xmax": 62.98381172634333, + "ymax": 29.582453404806017 + }, + "corners_3d": [ + [ + -20.3605899810791, + -70.1158676147461, + 3.475497007369995 + ], + [ + -20.360593795776367, + -67.93971252441406, + 3.4755005836486816 + ], + [ + -18.428251266479492, + -67.93970489501953, + 3.4755005836486816 + ], + [ + -18.428247451782227, + -70.11585998535156, + 3.475497007369995 + ], + [ + -20.3605899810791, + -70.1158676147461, + 3.799973964691162 + ], + [ + -20.360593795776367, + -67.93971252441406, + 3.7999775409698486 + ], + [ + -18.428251266479492, + -67.93970489501953, + 3.7999775409698486 + ], + [ + -18.428247451782227, + -70.11585998535156, + 3.799973964691162 + ] + ], + "corners_2d": [ + [ + 38.64081654545873, + 29.582453404806017 + ], + [ + 62.98381172634333, + 8.519677485323541 + ], + [ + 19.43734881222906, + 8.00590520397077 + ], + [ + -6.605076396127515, + 29.02717674555737 + ], + [ + 35.35338332255867, + 22.070525269665097 + ], + [ + 59.950319697635564, + 1.1848537588606973 + ], + [ + 16.178094182155974, + 0.675510245134717 + ], + [ + -10.13628265210275, + 21.519805937145236 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1218.1172248887056, + "ymin": 211.1762914354265, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1472.7249581458611, + 934.4055080547575 + ], + [ + 1495.8102085366356, + 935.3495971798429 + ], + [ + 1233.5892683960165, + 461.43862462355736 + ], + [ + 1218.1172248887056, + 461.0083374308545 + ], + [ + 1847.3423293083024, + 723.2778643016165 + ], + [ + 1881.1746272001533, + 724.4487187375223 + ], + [ + 1390.9868625546433, + 211.58246001549395 + ], + [ + 1371.3274533169424, + 211.1762914354265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17408989212588188295, + "instance_id": 34594, + "pixel_count": null, + "type_id": "BP_HighwayLight_simple_5_SM_2", + "bbox_3d": { + "center_world": { + "x": -75.30853271484375, + "y": -56.101219177246094, + "z": 5.664507865905762 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1162.4875274282867, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 21.509708140234068 + }, + "corners_3d": [ + [ + -75.6749038696289, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -74.94214630126953, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -74.9421615600586, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -75.67491912841797, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -75.6749038696289, + -52.1658935546875, + 11.14326000213623 + ], + [ + -74.94214630126953, + -52.1658935546875, + 11.14326000213623 + ], + [ + -74.9421615600586, + -60.03654479980469, + 11.14326000213623 + ], + [ + -75.67491912841797, + -60.03654479980469, + 11.14326000213623 + ] + ], + "corners_2d": [ + [ + 1175.4963152774067, + -36.16158507303692 + ], + [ + 1162.4875274282867, + -36.29875733697605 + ], + [ + 1219.9476532193685, + 21.33811759653588 + ], + [ + 1234.5155855851058, + 21.509708140234068 + ], + [ + 1259.5592628095524, + -262.1952939861536 + ], + [ + 1244.4816005753557, + -262.28031067659356 + ], + [ + 1323.6643236276732, + -225.8832705177506 + ], + [ + 1340.8770674135149, + -225.7728549169151 + ] + ], + "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": 0.0, + "ymin": 702.329794397349, + "xmax": 2.807377266294793, + "ymax": 720.0 + }, + "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": [ + [ + 2.807377266294793, + 1122.8898287930292 + ], + [ + -104.15456162729276, + 816.4637156917679 + ], + [ + -519.4462218721451, + 1075.410845573107 + ], + [ + -504.5177988008852, + 1531.9576883512786 + ], + [ + -156.44416578043126, + 1052.7042325615703 + ], + [ + -248.7832225877156, + 702.329794397349 + ], + [ + -798.8493758940836, + 996.2963139267074 + ], + [ + -885.3105830237653, + 1574.6255472693365 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1149.0741039240938, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 205.42717597716236 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1149.0741039240938, + 93.96525948731761 + ], + [ + 1316.1698473398696, + 205.42717597716236 + ], + [ + 1507.9529239791655, + 164.5203026091012 + ], + [ + 1320.9357531290384, + 64.36513525377819 + ], + [ + 1297.7011243068455, + -288.423293960676 + ], + [ + 1562.224245464416, + -230.62278917052936 + ], + [ + 1800.089097158802, + -252.56846740871651 + ], + [ + 1507.5863364100019, + -302.76247967021345 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12511280680997575471, + "instance_id": 12123, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2349_123", + "bbox_3d": { + "center_world": { + "x": -36.20769119262695, + "y": -108.4781723022461, + "z": 6.51531457901001 + }, + "extent": { + "x": 4.686452865600586, + "y": 4.53662633895874, + "z": 6.939882278442383 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 458.95119426347924, + "xmax": 298.2901425507978, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -42.32275390625, + -110.74749755859375, + -0.42456769943237305 + ], + [ + -38.674442291259766, + -102.44004821777344, + -0.42456769943237305 + ], + [ + -30.09263038635254, + -106.20884704589844, + -0.42456769943237305 + ], + [ + -33.74094009399414, + -114.51629638671875, + -0.42456769943237305 + ], + [ + -42.32275390625, + -110.74749755859375, + 13.455196380615234 + ], + [ + -38.674442291259766, + -102.44004821777344, + 13.455196380615234 + ], + [ + -30.09263038635254, + -106.20884704589844, + 13.455196380615234 + ], + [ + -33.74094009399414, + -114.51629638671875, + 13.455196380615234 + ] + ], + "corners_2d": [ + [ + 298.2901425507978, + 1637.626174535254 + ], + [ + 236.92050884168617, + 929.2481517506336 + ], + [ + -339.3339759240854, + 1160.4405031254314 + ], + [ + -615.4707513023977, + 2192.4518544032526 + ], + [ + -677.345679161969, + 2305.4814164880245 + ], + [ + -162.6170018008787, + 458.95119426347924 + ], + [ + -1675.4308754359854, + 828.5440415456741 + ], + [ + -17499.313932005643, + 12799.564529027384 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00006/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00006/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fd01e25064809621219ff10c537702f26ddbb3b7 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00006/meta.json @@ -0,0 +1,3434 @@ +{ + "frame_id": 6, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 3.0, + "sim_timestamp": 13201.943474699976 + }, + "drone_pose": { + "x": -46.808880643536604, + "y": -108.01120531950247, + "z": 20.568586254185806, + "pitch": -42.59266193973996, + "yaw": 88.2762877524699, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.022144317626953125, + -0.7358506321907043, + 0.6767817735671997, + 66.59622955322266 + ], + [ + 0.99954754114151, + 0.030079901218414307, + 2.9802322387695312e-08, + -43.53873062133789 + ], + [ + -0.020357578992843628, + 0.6764755249023438, + 0.736183762550354, + -89.16210174560547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -46.85969682528717, + "y": -107.49681511763414, + "z": 20.546674967106668 + }, + "t1_image_uv": [ + 802.1937908349189, + -449.6891119816253 + ], + "t1_depth": 0.392218228820757 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.16718292236328, + "y": -86.68776321411133, + "z": 0.9568413044139743 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 28.97794849816369, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 717, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.16718292236328, + "y": -86.68775939941406, + "z": 0.956841230392456 + }, + "extent": { + "x": 0.4761718511581421, + "y": 0.5282323956489563, + "z": 0.8921416401863098 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 621.4298101542771, + "ymin": 326.93829673436835, + "xmax": 658.1320918941927, + "ymax": 392.5145878079301 + }, + "corners_3d": [ + [ + -45.63895034790039, + -87.16393280029297, + 0.06469959020614624 + ], + [ + -46.69541549682617, + -87.16393280029297, + 0.06469959020614624 + ], + [ + -46.69541549682617, + -86.21158599853516, + 0.06469959020614624 + ], + [ + -45.63895034790039, + -86.21158599853516, + 0.06469959020614624 + ], + [ + -45.63895034790039, + -87.16393280029297, + 1.848982810974121 + ], + [ + -46.69541549682617, + -87.16393280029297, + 1.848982810974121 + ], + [ + -46.69541549682617, + -86.21158599853516, + 1.848982810974121 + ], + [ + -45.63895034790039, + -86.21158599853516, + 1.848982810974121 + ] + ], + "corners_2d": [ + [ + 622.1966526945941, + 391.78253615642524 + ], + [ + 656.8764392209664, + 392.5145878079301 + ], + [ + 657.4002918202467, + 371.08256435612907 + ], + [ + 623.5317182240077, + 370.3843897118994 + ], + [ + 621.4298101542771, + 348.1721296789293 + ], + [ + 657.6039642004126, + 348.89931735997396 + ], + [ + 658.1320918941927, + 327.63043524361956 + ], + [ + 622.839679343286, + 326.93829673436835 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 6, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 85, + "semantic_pixel_counts": { + "1": 611264, + "2": 107743, + "3": 68122, + "4": 19263, + "6": 15208, + "7": 2386, + "9": 20317, + "10": 26921, + "12": 3967, + "14": 7523, + "20": 2601, + "21": 5393, + "24": 30892 + }, + "instance_pixel_counts": { + "143": 5286, + "655": 1225, + "1167": 7713, + "1447": 5, + "1679": 12609, + "1957": 795, + "2703": 13400, + "3727": 7716, + "3749": 95, + "4261": 37, + "8556": 131, + "8579": 980, + "9068": 761, + "9580": 81, + "10092": 26, + "12396": 22, + "14444": 40, + "15186": 6920, + "15698": 7208, + "16210": 4115, + "16722": 5589, + "19796": 1485, + "21869": 2350, + "22381": 3433, + "22784": 4962, + "22893": 2695, + "23040": 5296, + "23405": 2585, + "23441": 4074, + "23552": 5805, + "23953": 4676, + "24429": 5119, + "24465": 4133, + "24941": 4391, + "24977": 3944, + "25489": 3743, + "25965": 2687, + "26001": 1741, + "26696": 19263, + "26987": 812, + "26989": 1445, + "27243": 62, + "27719": 29284, + "28231": 20342, + "28523": 75, + "28779": 1520, + "31633": 3324, + "32084": 2778, + "32145": 4152, + "32166": 262, + "32657": 3383, + "33169": 3295, + "40358": 2402, + "42918": 1686, + "51815": 234144, + "52327": 29106, + "53351": 98634, + "53863": 221639, + "54375": 25513, + "54887": 2228, + "54889": 14322, + "55401": 838, + "55913": 2761, + "56173": 20317, + "56320": 717, + "56425": 12138, + "56486": 8, + "56576": 597, + "56742": 30, + "56832": 471, + "56937": 709, + "57088": 541, + "57344": 700, + "57449": 124, + "57600": 941, + "59392": 3260, + "59522": 45, + "59762": 2626, + "62827": 150, + "63083": 98, + "63314": 4010, + "63874": 506, + "64142": 283, + "64594": 85, + "64654": 5522 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 717, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.16718292236328, + "y": -86.68775939941406, + "z": 0.956841230392456 + }, + "extent": { + "x": 0.47968992590904236, + "y": 0.6006494164466858, + "z": 0.884064793586731 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 618.9509057768031, + "ymin": 327.0192851786291, + "xmax": 660.5511827566617, + "ymax": 392.45656677844187 + }, + "corners_3d": [ + [ + -45.566532135009766, + -87.16744995117188, + 0.0727764368057251 + ], + [ + -46.7678337097168, + -87.16744995117188, + 0.0727764368057251 + ], + [ + -46.7678337097168, + -86.20806884765625, + 0.0727764368057251 + ], + [ + -45.566532135009766, + -86.20806884765625, + 0.0727764368057251 + ], + [ + -45.566532135009766, + -87.16744995117188, + 1.840906023979187 + ], + [ + -46.7678337097168, + -87.16744995117188, + 1.840906023979187 + ], + [ + -46.7678337097168, + -86.20806884765625, + 1.840906023979187 + ], + [ + -45.566532135009766, + -86.20806884765625, + 1.840906023979187 + ] + ], + "corners_2d": [ + [ + 619.8124337379786, + 391.62402340357824 + ], + [ + 659.2575238473738, + 392.45656677844187 + ], + [ + 659.7291356266874, + 370.86437502719855 + ], + [ + 621.2136308655193, + 370.0706439630561 + ], + [ + 618.9509057768031, + 348.40857725190205 + ], + [ + 660.0801415957291, + 349.2356458757716 + ], + [ + 660.5511827566617, + 327.80621087998816 + ], + [ + 620.4315900501562, + 327.0192851786291 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 597, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.041194915771484, + "y": -83.69005584716797, + "z": 0.9654447436332703 + }, + "extent": { + "x": 0.45283207297325134, + "y": 0.5002784132957458, + "z": 0.921526312828064 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 496.90734562773105, + "ymin": 262.3103872740923, + "xmax": 534.9604389085596, + "ymax": 327.1508980439524 + }, + "corners_3d": [ + [ + -41.645999908447266, + -84.23700714111328, + 0.0439184308052063 + ], + [ + -42.624691009521484, + -84.02897644042969, + 0.0439184308052063 + ], + [ + -42.4363899230957, + -83.14310455322266, + 0.0439184308052063 + ], + [ + -41.457698822021484, + -83.35113525390625, + 0.0439184308052063 + ], + [ + -41.645999908447266, + -84.23700714111328, + 1.8869709968566895 + ], + [ + -42.624691009521484, + -84.02897644042969, + 1.8869709968566895 + ], + [ + -42.4363899230957, + -83.14310455322266, + 1.8869709968566895 + ], + [ + -41.457698822021484, + -83.35113525390625, + 1.8869709968566895 + ] + ], + "corners_2d": [ + [ + 504.51759481745466, + 327.1508980439524 + ], + [ + 534.9604389085596, + 323.62093789349376 + ], + [ + 532.2907341083886, + 306.4277047734408 + ], + [ + 502.4580803420739, + 309.81538362889637 + ], + [ + 498.93140534289, + 282.7396802461244 + ], + [ + 530.6481953706183, + 279.25687983262077 + ], + [ + 527.9623485086927, + 262.3103872740923 + ], + [ + 496.90734562773105, + 265.64721441449694 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 471, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.42300796508789, + "y": -79.74504852294922, + "z": 0.9799419045448303 + }, + "extent": { + "x": 0.4724975526332855, + "y": 0.3800683617591858, + "z": 0.9481585621833801 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 696.2299367925726, + "ymin": 197.74670574185023, + "xmax": 723.584850995766, + "ymax": 258.3438243182159 + }, + "corners_3d": [ + [ + -48.09440994262695, + -80.25468444824219, + 0.031783342361450195 + ], + [ + -48.85038375854492, + -80.17523193359375, + 0.031783342361450195 + ], + [ + -48.75160598754883, + -79.23541259765625, + 0.031783342361450195 + ], + [ + -47.99563217163086, + -79.31486511230469, + 0.031783342361450195 + ], + [ + -48.09440994262695, + -80.25468444824219, + 1.9281004667282104 + ], + [ + -48.85038375854492, + -80.17523193359375, + 1.9281004667282104 + ], + [ + -48.75160598754883, + -79.23541259765625, + 1.9281004667282104 + ], + [ + -47.99563217163086, + -79.31486511230469, + 1.9281004667282104 + ] + ], + "corners_2d": [ + [ + 699.3398428302665, + 258.3438243182159 + ], + [ + 720.4607377226911, + 257.3949302513057 + ], + [ + 716.9362527913684, + 241.94895130486464 + ], + [ + 696.2299367925726, + 242.86061133512186 + ], + [ + 701.646790410792, + 213.79416437296427 + ], + [ + 723.584850995766, + 212.86466358302013 + ], + [ + 719.8621077346559, + 197.74670574185023 + ], + [ + 698.3709859819436, + 198.6383599785731 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 541, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -55.66718292236328, + "y": -86.68775939941406, + "z": 0.9527202248573303 + }, + "extent": { + "x": 0.3041357398033142, + "y": 0.42891111969947815, + "z": 0.8926168084144592 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 934.2838318933683, + "ymin": 337.176807330021, + "xmax": 980.7678940748497, + "ymax": 395.1842400310975 + }, + "corners_3d": [ + [ + -55.23827362060547, + -86.99189758300781, + 0.060103416442871094 + ], + [ + -56.096092224121094, + -86.99189758300781, + 0.060103416442871094 + ], + [ + -56.096092224121094, + -86.38362121582031, + 0.060103416442871094 + ], + [ + -55.23827362060547, + -86.38362121582031, + 0.060103416442871094 + ], + [ + -55.23827362060547, + -86.99189758300781, + 1.8453370332717896 + ], + [ + -56.096092224121094, + -86.99189758300781, + 1.8453370332717896 + ], + [ + -56.096092224121094, + -86.38362121582031, + 1.8453370332717896 + ], + [ + -55.23827362060547, + -86.38362121582031, + 1.8453370332717896 + ] + ], + "corners_2d": [ + [ + 938.1986433530057, + 394.5864073557727 + ], + [ + 966.639420971006, + 395.1842400310975 + ], + [ + 962.2918619019553, + 381.301505579979 + ], + [ + 934.2838318933683, + 380.72161766236985 + ], + [ + 951.0881725192513, + 350.94360545684174 + ], + [ + 980.7678940748497, + 351.5376174896018 + ], + [ + 976.0124258690124, + 337.75223650838757 + ], + [ + 946.8036620929666, + 337.176807330021 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 700, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -49.78268051147461, + "y": -97.81512451171875, + "z": 0.9736967086791992 + }, + "extent": { + "x": 0.4821411669254303, + "y": 0.4726269841194153, + "z": 0.9400466680526733 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 765.3551256581534, + "ymin": 666.392290636462, + "xmax": 819.7923135127644, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.262245178222656, + -98.24522399902344, + 0.03365004062652588 + ], + [ + -50.20232009887695, + -98.34402465820312, + 0.03365004062652588 + ], + [ + -50.30311584472656, + -97.38502502441406, + 0.03365004062652588 + ], + [ + -49.363040924072266, + -97.28622436523438, + 0.03365004062652588 + ], + [ + -49.262245178222656, + -98.24522399902344, + 1.9137433767318726 + ], + [ + -50.20232009887695, + -98.34402465820312, + 1.9137433767318726 + ], + [ + -50.30311584472656, + -97.38502502441406, + 1.9137433767318726 + ], + [ + -49.363040924072266, + -97.28622436523438, + 1.9137433767318726 + ] + ], + "corners_2d": [ + [ + 765.3551256581534, + 750.8076221481767 + ], + [ + 808.8652657883417, + 756.4955495209197 + ], + [ + 809.1252009138482, + 714.9173528929412 + ], + [ + 767.022261846515, + 709.5924457040576 + ], + [ + 773.4282941486636, + 708.7236980588452 + ], + [ + 819.7923135127644, + 714.5795341195549 + ], + [ + 819.691085378845, + 671.8515025946485 + ], + [ + 774.9215469435892, + 666.392290636462 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 941, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -34.92184829711914, + "y": -94.85797882080078, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.40189695358276367, + "y": 0.5143212676048279, + "z": 0.9422862529754639 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 122.00641695737352, + "ymin": 538.4412363586528, + "xmax": 205.45267842480803, + "ymax": 619.5469117096421 + }, + "corners_3d": [ + [ + -34.335205078125, + -95.14415740966797, + -0.00046449899673461914 + ], + [ + -35.34136962890625, + -95.35802459716797, + -0.00046449899673461914 + ], + [ + -35.50849151611328, + -94.5718002319336, + -0.00046449899673461914 + ], + [ + -34.50232696533203, + -94.3579330444336, + -0.00046449899673461914 + ], + [ + -34.335205078125, + -95.14415740966797, + 1.884108066558838 + ], + [ + -35.34136962890625, + -95.35802459716797, + 1.884108066558838 + ], + [ + -35.50849151611328, + -94.5718002319336, + 1.884108066558838 + ], + [ + -34.50232696533203, + -94.3579330444336, + 1.884108066558838 + ] + ], + "corners_2d": [ + [ + 149.92385721426228, + 610.8767342030121 + ], + [ + 187.02158092330495, + 619.5469117096421 + ], + [ + 205.45267842480803, + 592.2605887365037 + ], + [ + 169.09811010250473, + 583.9982536295764 + ], + [ + 122.00641695737352, + 565.6812158688264 + ], + [ + 161.00870462360723, + 574.4837078995615 + ], + [ + 181.1278092642046, + 546.8068674700975 + ], + [ + 142.9444204730804, + 538.4412363586528 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 232, + "instance_id": 59392, + "pixel_count": 3260, + "type_id": "vehicle.toyota.prius", + "bbox_3d": { + "center_world": { + "x": -62.880393981933594, + "y": -94.98814392089844, + "z": 0.7607561349868774 + }, + "extent": { + "x": 2.256761312484741, + "y": 1.0034072399139404, + "z": 0.7624167203903198 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 1210.719920309507, + "ymin": 561.6313113247792, + "xmax": 1280.0, + "ymax": 677.2191565736127 + }, + "corners_3d": [ + [ + -60.625144958496094, + -93.98133850097656, + -0.00165654718875885 + ], + [ + -60.62212371826172, + -95.98815155029297, + -0.00165654718875885 + ], + [ + -65.1356430053711, + -95.99494934082031, + -0.0016646161675453186 + ], + [ + -65.13866424560547, + -93.9881362915039, + -0.0016646161675453186 + ], + [ + -60.62514877319336, + -93.98133850097656, + 1.523176908493042 + ], + [ + -60.622127532958984, + -95.98815155029297, + 1.523176908493042 + ], + [ + -65.1356430053711, + -95.99494934082031, + 1.5231688022613525 + ], + [ + -65.13866424560547, + -93.9881362915039, + 1.5231688022613525 + ] + ], + "corners_2d": [ + [ + 1210.719920309507, + 597.955209608785 + ], + [ + 1245.5286392857952, + 671.6134640440043 + ], + [ + 1442.0751930665451, + 677.2191565736127 + ], + [ + 1394.9363472893497, + 602.8892828410766 + ], + [ + 1236.4309061799345, + 561.6313113247792 + ], + [ + 1274.6873596442904, + 636.3336764390357 + ], + [ + 1480.888281485512, + 642.0370163498039 + ], + [ + 1429.1026103318384, + 566.6215079102028 + ] + ], + "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": 449.80497572072466, + "ymin": 719.3635949731179, + "xmax": 478.36395693421684, + "ymax": 720.0 + }, + "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": [ + [ + 474.6603975977978, + 769.3857566861979 + ], + [ + 478.36395693421684, + 745.9980096951061 + ], + [ + 461.2132378454691, + 745.4940492351554 + ], + [ + 457.19510058263285, + 768.8630459180245 + ], + [ + 467.97351511485397, + 743.7093121022388 + ], + [ + 471.9498960369558, + 719.876756390562 + ], + [ + 454.1215303875025, + 719.3635949731179 + ], + [ + 449.80497572072466, + 743.1762787040468 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 852.5216794501448, + "ymin": 64.15865372117923, + "xmax": 866.6693085723953, + "ymax": 94.30821478927606 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 852.5216794501448, + 88.80865761861685 + ], + [ + 854.0466810184492, + 94.18902650097573 + ], + [ + 862.4624176677466, + 94.30821478927606 + ], + [ + 860.8636904650024, + 88.92577516842022 + ], + [ + 856.504082953071, + 64.15865372117923 + ], + [ + 858.0936286539884, + 69.41970594055994 + ], + [ + 866.6693085723953, + 69.53627072327674 + ], + [ + 865.0032210601084, + 64.27315556197306 + ] + ], + "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": 397.0872848410538, + "ymin": 187.3801241094102, + "xmax": 415.39249678062737, + "ymax": 222.36562274884798 + }, + "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": [ + [ + 402.5303128929585, + 222.19181767985287 + ], + [ + 412.58778240633643, + 222.36562274884798 + ], + [ + 415.39249678062737, + 214.53061471821908 + ], + [ + 405.4401412354456, + 214.36044621708433 + ], + [ + 397.0872848410538, + 195.0976931572079 + ], + [ + 407.37403660986723, + 195.26901475912587 + ], + [ + 410.2984440085065, + 187.54778025660607 + ], + [ + 400.12162708503433, + 187.3801241094102 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 942.9837644607837, + "ymin": 65.40037364890685, + "xmax": 959.706893965165, + "ymax": 95.60123301912472 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 942.9837644607837, + 90.0786988266276 + ], + [ + 945.3097731753525, + 95.48154457663225 + ], + [ + 953.7608250894672, + 95.60123301912472 + ], + [ + 951.3604749878677, + 90.19630353975936 + ], + [ + 948.6733361532883, + 65.40037364890685 + ], + [ + 951.0945449683829, + 70.6838193060072 + ], + [ + 959.706893965165, + 70.80088251254523 + ], + [ + 957.2084920039802, + 65.51536072689748 + ] + ], + "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": 463.13874182896257, + "ymin": 135.97683951375424, + "xmax": 475.6779338194562, + "ymax": 163.39365124023135 + }, + "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": [ + [ + 466.191387028377, + 163.2694455277461 + ], + [ + 474.00776344312044, + 163.39365124023135 + ], + [ + 475.6779338194562, + 157.81164016544818 + ], + [ + 467.9248545034286, + 157.68944758206032 + ], + [ + 463.13874182896257, + 141.4736008063821 + ], + [ + 471.0918619925595, + 141.59597161983552 + ], + [ + 472.81527104118493, + 136.0971925322359 + ], + [ + 464.9276727275387, + 135.97683951375424 + ] + ], + "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": 419.39382672799184, + "ymin": 131.8122841138076, + "xmax": 435.626631115516, + "ymax": 164.6805894496509 + }, + "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": [ + [ + 423.954307855825, + 164.53265819314157 + ], + [ + 433.23754414487496, + 164.6805894496509 + ], + [ + 435.626631115516, + 158.00663877869843 + ], + [ + 426.4330207954399, + 157.8615665459748 + ], + [ + 419.39382672799184, + 138.36339926887013 + ], + [ + 428.8720621218248, + 138.50870048475275 + ], + [ + 431.3543727777849, + 131.95471873167745 + ], + [ + 421.96954912189153, + 131.8122841138076 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 777.4226520059079, + "ymin": 63.12799101579111, + "xmax": 789.4404213639348, + "ymax": 93.2349332843691 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 777.4226520059079, + 87.75441234307885 + ], + [ + 778.2852157177763, + 93.11615935835687 + ], + [ + 786.6716932855277, + 93.2349332843691 + ], + [ + 785.7359126535744, + 87.8711262728608 + ], + [ + 779.9932652599904, + 63.12799101579111 + ], + [ + 780.8951188709215, + 68.37049248936586 + ], + [ + 789.4404213639348, + 68.48664438827797 + ], + [ + 788.4625639658432, + 63.24209087535519 + ] + ], + "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": 375.3475621420383, + "ymin": 241.44505631708188, + "xmax": 395.7722070605837, + "ymax": 278.39047236408857 + }, + "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": [ + [ + 381.7236197649875, + 278.1895436151991 + ], + [ + 392.53229886202485, + 278.39047236408857 + ], + [ + 395.7722070605837, + 269.3397491514345 + ], + [ + 385.0848351978472, + 269.14333529164094 + ], + [ + 375.3475621420383, + 250.39027826291178 + ], + [ + 386.4215037653281, + 250.58902060991994 + ], + [ + 389.8112290110399, + 241.6392245539851 + ], + [ + 378.86458652748286, + 241.44505631708188 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1066.195967085205, + "ymin": 147.89575290446803, + "xmax": 1085.320461712281, + "ymax": 175.69660761816496 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1066.195967085205, + 169.7868278562792 + ], + [ + 1069.4271188362213, + 175.5679068299783 + ], + [ + 1077.4949014252395, + 175.69660761816496 + ], + [ + 1074.1963366959271, + 169.91340571214076 + ], + [ + 1073.7537527936875, + 147.89575290446803 + ], + [ + 1077.1069279032781, + 153.5941550739137 + ], + [ + 1085.320461712281, + 153.721034482673 + ], + [ + 1081.8974266434159, + 148.02050246490847 + ] + ], + "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": 729.6516154198935, + "ymin": 0.0, + "xmax": 1137.271105751961, + "ymax": 234.09884841919302 + }, + "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": [ + [ + 1057.079759407647, + 234.09884841919302 + ], + [ + 1053.8194782503751, + 227.36320741865458 + ], + [ + 729.6516154198935, + 220.18306391955676 + ], + [ + 729.9968425899052, + 226.78976965845013 + ], + [ + 1137.271105751961, + 9.11348236918002 + ], + [ + 1132.5409469278525, + 3.480349769122995 + ], + [ + 746.5121660522357, + -2.503368713225427 + ], + [ + 747.1014903970671, + 3.0016629595797895 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 520448382005777854, + "instance_id": 48789, + "pixel_count": null, + "type_id": "BP_Lamppost_tall8_SM_0", + "bbox_3d": { + "center_world": { + "x": -19.3944149017334, + "y": -69.02778625488281, + "z": 3.636636972427368 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 4.817513637328034, + "xmax": 58.37538424139791, + "ymax": 34.22232971362831 + }, + "corners_3d": [ + [ + -20.361778259277344, + -70.11705780029297, + 3.4733119010925293 + ], + [ + -20.361783981323242, + -67.93851470947266, + 3.4733152389526367 + ], + [ + -18.427051544189453, + -67.93851470947266, + 3.4733152389526367 + ], + [ + -18.427045822143555, + -70.11705780029297, + 3.4733119010925293 + ], + [ + -20.361778259277344, + -70.11705780029297, + 3.7999587059020996 + ], + [ + -20.361783981323242, + -67.93851470947266, + 3.799962043762207 + ], + [ + -18.427051544189453, + -67.93851470947266, + 3.799962043762207 + ], + [ + -18.427045822143555, + -70.11705780029297, + 3.7999587059020996 + ] + ], + "corners_2d": [ + [ + 33.51751645902823, + 34.22232971362831 + ], + [ + 58.37538424139791, + 12.789252142652117 + ], + [ + 14.437523989637498, + 12.239058580003189 + ], + [ + -12.15103833069054, + 33.62722226255789 + ], + [ + 30.1504068573322, + 26.616060821129565 + ], + [ + 55.27125263194921, + 5.3629673460549725 + ], + [ + 11.10234557708236, + 4.817513637328034 + ], + [ + -15.767802148332294, + 26.02582820198552 + ] + ], + "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": 318.6618892121628, + "ymin": 95.47462826376722, + "xmax": 417.39576771992097, + "ymax": 246.25212501374713 + }, + "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": [ + [ + 404.60299560602186, + 246.25212501374713 + ], + [ + 417.39576771992097, + 210.4417026140808 + ], + [ + 363.43870142841155, + 209.52428839174155 + ], + [ + 348.0300600740271, + 245.24294047577447 + ], + [ + 380.8910286307917, + 129.60383708672694 + ], + [ + 396.1167665792434, + 96.32315073884024 + ], + [ + 337.0381282617095, + 95.47462826376722 + ], + [ + 318.6618892121628, + 128.66166770463278 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4931911690494204353, + "instance_id": 49625, + "pixel_count": null, + "type_id": "BP_Lamppost_tall8_SM_2", + "bbox_3d": { + "center_world": { + "x": -19.394060134887695, + "y": -69.02775573730469, + "z": 2.5271682739257812 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 89.80231110285331, + "ymax": 107.06419646918954 + }, + "corners_3d": [ + [ + -20.422487258911133, + -70.17810821533203, + 0.1843433380126953 + ], + [ + -20.422487258911133, + -67.87740325927734, + 0.1843433380126953 + ], + [ + -18.365633010864258, + -67.87740325927734, + 0.1843433380126953 + ], + [ + -18.365633010864258, + -70.17810821533203, + 0.1843433380126953 + ], + [ + -20.422487258911133, + -70.17810821533203, + 4.869993209838867 + ], + [ + -20.422487258911133, + -67.87740325927734, + 4.869993209838867 + ], + [ + -18.365633010864258, + -67.87740325927734, + 4.869993209838867 + ], + [ + -18.365633010864258, + -70.17810821533203, + 4.869993209838867 + ] + ], + "corners_2d": [ + [ + 66.16612753867355, + 107.06419646918954 + ], + [ + 89.80231110285331, + 82.79087737083631 + ], + [ + 45.47305836537646, + 82.16365740326154 + ], + [ + 20.086687450695422, + 106.38569390240602 + ], + [ + 19.56439609545214, + 1.7173373384601405 + ], + [ + 46.976838453347, + -20.06772144220804 + ], + [ + -0.7511715447845972, + -20.628842779967215 + ], + [ + -30.198555231082537, + 1.1065349927460488 + ] + ], + "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": 61.20589191249644, + "ymin": 649.860848268459, + "xmax": 947.6871679910446, + "ymax": 720.0 + }, + "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": [ + [ + 243.98276496514166, + 874.4821098271259 + ], + [ + 236.44708161148105, + 898.0410229160036 + ], + [ + 852.7910159799446, + 924.5419489037756 + ], + [ + 850.0559838779989, + 900.1034141351178 + ], + [ + 76.07504340050605, + 649.860848268459 + ], + [ + 61.20589191249644, + 678.2172817247097 + ], + [ + 947.6871679910446, + 710.6069331600672 + ], + [ + 941.4619807482164, + 680.7191110006155 + ] + ], + "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": 330.14451826339797, + "ymin": 0.0, + "xmax": 478.7456254687218, + "ymax": 458.319729633044 + }, + "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": [ + [ + 478.7456254687218, + 218.13270450373395 + ], + [ + 467.3390987577907, + 217.87888533659122 + ], + [ + 394.890800228447, + 457.87464996766965 + ], + [ + 409.96337999196174, + 458.319729633044 + ], + [ + 448.51833995637855, + -4.208085715425682 + ], + [ + 434.986818465351, + -4.418993881375059 + ], + [ + 330.14451826339797, + 207.88416233854358 + ], + [ + 349.16368573646133, + 208.30339440967117 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 434.2445919612642, + "ymin": 0.0, + "xmax": 493.437919088547, + "ymax": 14.357161095444326 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 487.08591572495425, + 14.357161095444326 + ], + [ + 493.437919088547, + -3.3906552541438373 + ], + [ + 455.06496258467695, + -3.851947115725295 + ], + [ + 447.40816646670817, + 13.863805241701982 + ], + [ + 476.6240288976586, + -80.73553119202052 + ], + [ + 483.7639607280296, + -96.30390448856582 + ], + [ + 442.8697253374036, + -96.70761265696694 + ], + [ + 434.2445919612642, + -81.16925412805085 + ] + ], + "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": 328.180404599559, + "ymin": 124.27987572675315, + "xmax": 400.8085179634041, + "ymax": 165.77870706466825 + }, + "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": [ + [ + 387.0629643595779, + 165.77870706466825 + ], + [ + 400.8085179634041, + 133.39705411527532 + ], + [ + 346.6957234782196, + 132.57338429202505 + ], + [ + 330.3004186595572, + 164.87176182307854 + ], + [ + 385.32921191972997, + 157.28955515939083 + ], + [ + 399.24661886625483, + 125.09842854995267 + ], + [ + 344.7828933467869, + 124.27987572675315 + ], + [ + 328.180404599559, + 156.38766363107226 + ] + ], + "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": 328.2252197466819, + "ymin": 124.29669785990492, + "xmax": 400.75760047128233, + "ymax": 165.70318132521888 + }, + "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": [ + [ + 387.02436030578076, + 165.70318132521888 + ], + [ + 400.75760047128233, + 133.35835111359762 + ], + [ + 346.70793349745253, + 132.5355811173684 + ], + [ + 330.33088872861987, + 164.79731868466965 + ], + [ + 385.30190960290963, + 157.2701400493198 + ], + [ + 399.2057067939112, + 125.1143897927713 + ], + [ + 344.80783783671836, + 124.29669785990492 + ], + [ + 328.2252197466819, + 156.36929281187543 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11665211921157023400, + "instance_id": 43110, + "pixel_count": null, + "type_id": "BP_Lamppost_tall8_SM_1", + "bbox_3d": { + "center_world": { + "x": -19.394420623779297, + "y": -69.02778625488281, + "z": 3.637737274169922 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 4.82863635886531, + "xmax": 58.31452547009371, + "ymax": 34.15918352191761 + }, + "corners_3d": [ + [ + -20.3605899810791, + -70.1158676147461, + 3.475497007369995 + ], + [ + -20.360593795776367, + -67.93971252441406, + 3.4755005836486816 + ], + [ + -18.428251266479492, + -67.93970489501953, + 3.4755005836486816 + ], + [ + -18.428247451782227, + -70.11585998535156, + 3.475497007369995 + ], + [ + -20.3605899810791, + -70.1158676147461, + 3.799973964691162 + ], + [ + -20.360593795776367, + -67.93971252441406, + 3.7999775409698486 + ], + [ + -18.428251266479492, + -67.93970489501953, + 3.7999775409698486 + ], + [ + -18.428247451782227, + -70.11585998535156, + 3.799973964691162 + ] + ], + "corners_2d": [ + [ + 33.48116122527142, + 34.15918352191761 + ], + [ + 58.31452547009371, + 12.75082204938991 + ], + [ + 14.428579173002277, + 12.201244083854135 + ], + [ + -12.13156165696455, + 33.56479137188347 + ], + [ + 30.136293052973997, + 26.603262480811452 + ], + [ + 55.230626881521175, + 5.373510639848632 + ], + [ + 11.115435352211534, + 4.82863635886531 + ], + [ + -15.724116649882035, + 26.01370784319971 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1226.2937138837312, + "ymin": 224.31021506312098, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1489.87234351855, + 966.3964108244361 + ], + [ + 1513.5230700228865, + 967.423173990249 + ], + [ + 1242.0172750485153, + 475.6949441002721 + ], + [ + 1226.2937138837312, + 475.23396306202585 + ], + [ + 1884.9389350827437, + 762.853496870331 + ], + [ + 1919.9941140242252, + 764.1523610685813 + ], + [ + 1404.7134623950592, + 224.74851756380428 + ], + [ + 1384.647649154818, + 224.31021506312098 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17408989212588188295, + "instance_id": 34594, + "pixel_count": null, + "type_id": "BP_HighwayLight_simple_5_SM_2", + "bbox_3d": { + "center_world": { + "x": -75.30853271484375, + "y": -56.101219177246094, + "z": 5.664507865905762 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1167.191694545272, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 25.974430109976595 + }, + "corners_3d": [ + [ + -75.6749038696289, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -74.94214630126953, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -74.9421615600586, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -75.67491912841797, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -75.6749038696289, + -52.1658935546875, + 11.14326000213623 + ], + [ + -74.94214630126953, + -52.1658935546875, + 11.14326000213623 + ], + [ + -74.9421615600586, + -60.03654479980469, + 11.14326000213623 + ], + [ + -75.67491912841797, + -60.03654479980469, + 11.14326000213623 + ] + ], + "corners_2d": [ + [ + 1180.3104479092308, + -32.58446397805494 + ], + [ + 1167.191694545272, + -32.73096958496677 + ], + [ + 1225.4917514876752, + 25.790817793087058 + ], + [ + 1240.197969873372, + 25.974430109976595 + ], + [ + 1265.8658045666011, + -260.10141865381047 + ], + [ + 1250.6408519540423, + -260.1923139267533 + ], + [ + 1331.2422426733765, + -223.18596277429583 + ], + [ + 1348.6475323957834, + -223.06760986015172 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1154.3810508533422, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 213.48003915453089 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1154.3810508533422, + 99.66105279164543 + ], + [ + 1324.1310183666671, + 213.48003915453089 + ], + [ + 1517.9374952847484, + 171.86309099773314 + ], + [ + 1327.8477355203256, + 69.65794579261018 + ], + [ + 1306.4256438752234, + -285.9622110887768 + ], + [ + 1577.0178521095577, + -226.68815253713694 + ], + [ + 1817.8460300250451, + -249.13102114218339 + ], + [ + 1518.6431343849094, + -300.53450112547284 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12511280680997575471, + "instance_id": 12123, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2349_123", + "bbox_3d": { + "center_world": { + "x": -36.20769119262695, + "y": -108.4781723022461, + "z": 6.51531457901001 + }, + "extent": { + "x": 4.686452865600586, + "y": 4.53662633895874, + "z": 6.939882278442383 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 497.4899440512598, + "xmax": 283.41282209208055, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -42.32275390625, + -110.74749755859375, + -0.42456769943237305 + ], + [ + -38.674442291259766, + -102.44004821777344, + -0.42456769943237305 + ], + [ + -30.09263038635254, + -106.20884704589844, + -0.42456769943237305 + ], + [ + -33.74094009399414, + -114.51629638671875, + -0.42456769943237305 + ], + [ + -42.32275390625, + -110.74749755859375, + 13.455196380615234 + ], + [ + -38.674442291259766, + -102.44004821777344, + 13.455196380615234 + ], + [ + -30.09263038635254, + -106.20884704589844, + 13.455196380615234 + ], + [ + -33.74094009399414, + -114.51629638671875, + 13.455196380615234 + ] + ], + "corners_2d": [ + [ + 283.41282209208055, + 1704.2698971011253 + ], + [ + 226.49521833653932, + 958.2247501284362 + ], + [ + -365.2862279903602, + 1198.7369212614103 + ], + [ + -670.6986252016877, + 2296.663099876564 + ], + [ + -871.6101704998316, + 2676.031403438545 + ], + [ + -200.63651676017537, + 497.4899440512598 + ], + [ + -1815.7141062721216, + 902.207243036669 + ], + [ + -39532.62175632205, + 28756.200481898202 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00008/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00008/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6b19d3587fcef51b1951290a1491a1e6bbd3e9f2 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00008/meta.json @@ -0,0 +1,3322 @@ +{ + "frame_id": 8, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 4.0, + "sim_timestamp": 13225.984191940399 + }, + "drone_pose": { + "x": -46.92854450319935, + "y": -106.98461537868846, + "z": 20.52582833539978, + "pitch": -42.55954836352375, + "yaw": 87.9525502179536, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.026315629482269287, + -0.7361045479774475, + 0.6763561367988586, + 66.10405731201172 + ], + [ + 0.9993615746498108, + 0.035727083683013916, + 2.9802322387695312e-08, + -43.07632827758789 + ], + [ + -0.024164259433746338, + 0.6759243011474609, + 0.7365747690200806, + -88.5663070678711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.00885264608973, + "y": -106.47440560954664, + "z": 20.418021897163317 + }, + "t1_image_uv": [ + 851.8104206644878, + -206.73733081367482 + ], + "t1_depth": 0.4463699072785234 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.16718292236328, + "y": -85.68776321411133, + "z": 0.9576079048961401 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.931830816479746, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 697, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.16718292236328, + "y": -85.68775939941406, + "z": 0.9576079249382019 + }, + "extent": { + "x": 0.4886474609375, + "y": 0.6112597584724426, + "z": 0.8804253935813904 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 618.4517728509064, + "ymin": 326.7799462291532, + "xmax": 661.0319047729341, + "ymax": 392.7191588871168 + }, + "corners_3d": [ + [ + -45.55592346191406, + -86.17640686035156, + 0.07718253135681152 + ], + [ + -46.7784423828125, + -86.17640686035156, + 0.07718253135681152 + ], + [ + -46.7784423828125, + -85.19911193847656, + 0.07718253135681152 + ], + [ + -45.55592346191406, + -85.19911193847656, + 0.07718253135681152 + ], + [ + -45.55592346191406, + -86.17640686035156, + 1.8380333185195923 + ], + [ + -46.7784423828125, + -86.17640686035156, + 1.8380333185195923 + ], + [ + -46.7784423828125, + -85.19911193847656, + 1.8380333185195923 + ], + [ + -45.55592346191406, + -85.19911193847656, + 1.8380333185195923 + ] + ], + "corners_2d": [ + [ + 619.3311376808238, + 391.7113278247103 + ], + [ + 659.5418512479625, + 392.7191588871168 + ], + [ + 660.1933568025178, + 370.7013545099256 + ], + [ + 620.949308189804, + 369.74145726394823 + ], + [ + 618.4517728509064, + 348.58045684093565 + ], + [ + 660.3742235785352, + 349.581589400585 + ], + [ + 661.0319047729341, + 327.7315124749984 + ], + [ + 620.1590968600091, + 326.7799462291532 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 8, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 80, + "semantic_pixel_counts": { + "1": 609813, + "2": 106855, + "3": 73306, + "4": 19148, + "6": 10460, + "7": 2496, + "9": 20576, + "10": 30341, + "12": 3828, + "14": 5779, + "20": 2782, + "21": 5142, + "24": 31074 + }, + "instance_pixel_counts": { + "143": 5750, + "1167": 7907, + "1679": 13526, + "1957": 559, + "2703": 14789, + "3727": 7157, + "3749": 98, + "4261": 55, + "5714": 1, + "8556": 696, + "8579": 1000, + "9068": 1386, + "9580": 636, + "10092": 529, + "12396": 473, + "14444": 301, + "15186": 7154, + "15698": 7508, + "16210": 4314, + "16722": 5197, + "19796": 1096, + "22381": 3510, + "22784": 5267, + "22893": 2934, + "23441": 4286, + "23552": 6106, + "23953": 4884, + "24429": 5191, + "24465": 4345, + "24941": 4671, + "24977": 4176, + "25489": 4049, + "25965": 2952, + "26001": 1466, + "26696": 19148, + "26987": 892, + "26989": 1277, + "27243": 57, + "27719": 31329, + "28231": 24202, + "28523": 71, + "28779": 1609, + "31633": 3484, + "32084": 2918, + "32145": 4384, + "32657": 3547, + "33169": 3437, + "40358": 2525, + "42918": 1756, + "51815": 234323, + "52327": 31791, + "53351": 98244, + "53863": 216324, + "54375": 27981, + "54887": 1150, + "54889": 14712, + "55401": 897, + "55913": 2722, + "56173": 20576, + "56320": 697, + "56425": 11882, + "56486": 11, + "56576": 594, + "56742": 32, + "56832": 480, + "56937": 773, + "57088": 538, + "57344": 713, + "57449": 88, + "57600": 806, + "59392": 1765, + "59522": 71, + "59762": 2758, + "62827": 166, + "63083": 108, + "63314": 4164, + "63339": 27, + "63874": 512, + "64594": 89, + "64654": 5862 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 697, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.16718292236328, + "y": -85.68775939941406, + "z": 0.9576079249382019 + }, + "extent": { + "x": 0.473090797662735, + "y": 0.5446728467941284, + "z": 0.9063843488693237 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 620.7474951720113, + "ymin": 326.51012733449477, + "xmax": 658.8037867758748, + "ymax": 392.9148417466339 + }, + "corners_3d": [ + [ + -45.62250900268555, + -86.16085052490234, + 0.051223576068878174 + ], + [ + -46.711856842041016, + -86.16085052490234, + 0.051223576068878174 + ], + [ + -46.711856842041016, + -85.21466827392578, + 0.051223576068878174 + ], + [ + -45.62250900268555, + -85.21466827392578, + 0.051223576068878174 + ], + [ + -45.62250900268555, + -86.16085052490234, + 1.8639922142028809 + ], + [ + -46.711856842041016, + -86.16085052490234, + 1.8639922142028809 + ], + [ + -46.711856842041016, + -85.21466827392578, + 1.8639922142028809 + ], + [ + -45.62250900268555, + -85.21466827392578, + 1.8639922142028809 + ] + ], + "corners_2d": [ + [ + 621.5555841589045, + 392.01744136525195 + ], + [ + 657.3504922908493, + 392.9148417466339 + ], + [ + 658.0321725884235, + 371.59903039620445 + ], + [ + 623.0702080837101, + 370.74296048648324 + ], + [ + 620.7474951720113, + 347.61581960681457 + ], + [ + 658.1114336540597, + 348.5070468583703 + ], + [ + 658.8037867758748, + 327.358574472151 + ], + [ + 622.3464899145948, + 326.51012733449477 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 594, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.041194915771484, + "y": -82.69005584716797, + "z": 0.9662064909934998 + }, + "extent": { + "x": 0.4656274616718292, + "y": 0.5543603897094727, + "z": 0.92733234167099 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 495.6716577551672, + "ymin": 261.27490914054425, + "xmax": 537.023845725526, + "ymax": 327.22041254678516 + }, + "corners_3d": [ + [ + -41.595760345458984, + -83.2607650756836, + 0.038874149322509766 + ], + [ + -42.68025207519531, + -83.0302505493164, + 0.038874149322509766 + ], + [ + -42.486629486083984, + -82.11934661865234, + 0.038874149322509766 + ], + [ + -41.402137756347656, + -82.34986114501953, + 0.038874149322509766 + ], + [ + -41.595760345458984, + -83.2607650756836, + 1.8935388326644897 + ], + [ + -42.68025207519531, + -83.0302505493164, + 1.8935388326644897 + ], + [ + -42.486629486083984, + -82.11934661865234, + 1.8935388326644897 + ], + [ + -41.402137756347656, + -82.34986114501953, + 1.8935388326644897 + ] + ], + "corners_2d": [ + [ + 503.23851678176226, + 327.22041254678516 + ], + [ + 537.023845725526, + 323.4296180348244 + ], + [ + 534.3920962061145, + 305.74329267271935 + ], + [ + 501.3055065134587, + 309.3767096019083 + ], + [ + 497.5589307684087, + 282.44153136925445 + ], + [ + 532.7672253362825, + 278.70230835418164 + ], + [ + 530.1217611196851, + 261.27490914054425 + ], + [ + 495.6716577551672, + 264.8526735100817 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 480, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.42300796508789, + "y": -78.74504852294922, + "z": 0.9919340014457703 + }, + "extent": { + "x": 0.46354490518569946, + "y": 0.37340086698532104, + "z": 0.9323060512542725 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 697.689139268619, + "ymin": 198.13017120535196, + "xmax": 724.5447051071982, + "ymax": 257.73071563167935 + }, + "corners_3d": [ + [ + -48.10010528564453, + -79.24508666992188, + 0.0596279501914978 + ], + [ + -48.84281539916992, + -79.16702270507812, + 0.0596279501914978 + ], + [ + -48.74591064453125, + -78.24501037597656, + 0.0596279501914978 + ], + [ + -48.00320053100586, + -78.32307434082031, + 0.0596279501914978 + ], + [ + -48.10010528564453, + -79.24508666992188, + 1.9242401123046875 + ], + [ + -48.84281539916992, + -79.16702270507812, + 1.9242401123046875 + ], + [ + -48.74591064453125, + -78.24501037597656, + 1.9242401123046875 + ], + [ + -48.00320053100586, + -78.32307434082031, + 1.9242401123046875 + ] + ], + "corners_2d": [ + [ + 700.6293722928499, + 257.73071563167935 + ], + [ + 721.4333294422811, + 256.86848098860787 + ], + [ + 718.0907739660566, + 241.69616409775577 + ], + [ + 697.689139268619, + 242.5250949474869 + ], + [ + 702.9485419735237, + 213.82776652044808 + ], + [ + 724.5447051071982, + 212.98302255513548 + ], + [ + 721.014103494151, + 198.13017120535196 + ], + [ + 699.851166694481, + 198.94107731342564 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 538, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -55.66718292236328, + "y": -85.68775939941406, + "z": 0.9498686194419861 + }, + "extent": { + "x": 0.3167138695716858, + "y": 0.5049414038658142, + "z": 0.8828171491622925 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 932.5985524936833, + "ymin": 338.2743790114826, + "xmax": 984.343600952197, + "ymax": 396.756366269617 + }, + "corners_3d": [ + [ + -55.1622428894043, + -86.00447082519531, + 0.0670514702796936 + ], + [ + -56.172122955322266, + -86.00447082519531, + 0.0670514702796936 + ], + [ + -56.172122955322266, + -85.37104797363281, + 0.0670514702796936 + ], + [ + -55.1622428894043, + -85.37104797363281, + 0.0670514702796936 + ], + [ + -55.1622428894043, + -86.00447082519531, + 1.8326857089996338 + ], + [ + -56.172122955322266, + -86.00447082519531, + 1.8326857089996338 + ], + [ + -56.172122955322266, + -85.37104797363281, + 1.8326857089996338 + ], + [ + -55.1622428894043, + -85.37104797363281, + 1.8326857089996338 + ] + ], + "corners_2d": [ + [ + 936.5450894594188, + 395.9167211597564 + ], + [ + 970.1822314367155, + 396.756366269617 + ], + [ + 965.7005564524025, + 382.2444998216593 + ], + [ + 932.5985524936833, + 381.4311718515997 + ], + [ + 949.2516488962208, + 352.65860425932453 + ], + [ + 984.343600952197, + 353.4929729949667 + ], + [ + 979.4396355990222, + 339.0815024870627 + ], + [ + 944.9297086483027, + 338.2743790114826 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 713, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -49.78268051147461, + "y": -96.81512451171875, + "z": 0.9708501100540161 + }, + "extent": { + "x": 0.48020026087760925, + "y": 0.29664555191993713, + "z": 0.9232950210571289 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 770.8636716350093, + "ymin": 669.2385347057061, + "xmax": 808.8731262570142, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.43746566772461, + -97.26168823242188, + 0.04755508899688721 + ], + [ + -50.02750778198242, + -97.32369995117188, + 0.04755508899688721 + ], + [ + -50.12789535522461, + -96.36856079101562, + 0.04755508899688721 + ], + [ + -49.5378532409668, + -96.30654907226562, + 0.04755508899688721 + ], + [ + -49.43746566772461, + -97.26168823242188, + 1.894145131111145 + ], + [ + -50.02750778198242, + -97.32369995117188, + 1.894145131111145 + ], + [ + -50.12789535522461, + -96.36856079101562, + 1.894145131111145 + ], + [ + -49.5378532409668, + -96.30654907226562, + 1.894145131111145 + ] + ], + "corners_2d": [ + [ + 770.8636716350093, + 752.9746145258956 + ], + [ + 798.2556167043955, + 756.7085416125465 + ], + [ + 799.0999410148935, + 715.2219446671381 + ], + [ + 772.5921414651314, + 711.7261327330802 + ], + [ + 779.1633126815934, + 711.591859212697 + ], + [ + 808.3237870786938, + 715.4343833915023 + ], + [ + 808.8731262570142, + 672.8212513848206 + ], + [ + 780.712573985563, + 669.2385347057061 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 806, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -34.92184829711914, + "y": -93.85797882080078, + "z": 0.9418168663978577 + }, + "extent": { + "x": 0.34138181805610657, + "y": 0.5663623213768005, + "z": 0.9174320101737976 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 120.17520085184799, + "ymin": 538.6061999233292, + "xmax": 203.86206834870018, + "ymax": 615.5303448159563 + }, + "corners_3d": [ + [ + -34.2968864440918, + -94.07415008544922, + 0.02438485622406006 + ], + [ + -35.40485763549805, + -94.30965423583984, + 0.02438485622406006 + ], + [ + -35.546810150146484, + -93.64180755615234, + 0.02438485622406006 + ], + [ + -34.438838958740234, + -93.40630340576172, + 0.02438485622406006 + ], + [ + -34.2968864440918, + -94.07415008544922, + 1.8592488765716553 + ], + [ + -35.40485763549805, + -94.30965423583984, + 1.8592488765716553 + ], + [ + -35.546810150146484, + -93.64180755615234, + 1.8592488765716553 + ], + [ + -34.438838958740234, + -93.40630340576172, + 1.8592488765716553 + ] + ], + "corners_2d": [ + [ + 147.3927327906219, + 605.8153491503007 + ], + [ + 188.03749366461278, + 615.5303448159563 + ], + [ + 203.86206834870018, + 592.4045584318778 + ], + [ + 163.90456051388475, + 583.0791002383055 + ], + [ + 120.17520085184799, + 561.6326929054603 + ], + [ + 162.8384675603628, + 571.4873634675497 + ], + [ + 180.06688486102553, + 548.0445004777944 + ], + [ + 138.15855901514976, + 538.6061999233292 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 232, + "instance_id": 59392, + "pixel_count": 1765, + "type_id": "vehicle.toyota.prius", + "bbox_3d": { + "center_world": { + "x": -62.880393981933594, + "y": -94.98814392089844, + "z": 0.7607561349868774 + }, + "extent": { + "x": 2.256761312484741, + "y": 1.0034072399139404, + "z": 0.7624167203903198 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 1228.2743705618213, + "ymin": 600.9849672940177, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -60.625144958496094, + -93.98133850097656, + -0.00165654718875885 + ], + [ + -60.62212371826172, + -95.98815155029297, + -0.00165654718875885 + ], + [ + -65.1356430053711, + -95.99494934082031, + -0.0016646161675453186 + ], + [ + -65.13866424560547, + -93.9881362915039, + -0.0016646161675453186 + ], + [ + -60.62514877319336, + -93.98133850097656, + 1.523176908493042 + ], + [ + -60.622127532958984, + -95.98815155029297, + 1.523176908493042 + ], + [ + -65.1356430053711, + -95.99494934082031, + 1.5231688022613525 + ], + [ + -65.13866424560547, + -93.9881362915039, + 1.5231688022613525 + ] + ], + "corners_2d": [ + [ + 1228.2743705618213, + 636.9098165070167 + ], + [ + 1265.1526704394628, + 716.0639927112079 + ], + [ + 1470.2003412357035, + 723.1910770086357 + ], + [ + 1419.938050243238, + 643.1521054180598 + ], + [ + 1255.7721890337696, + 600.9849672940177 + ], + [ + 1296.471003220247, + 681.5268281472786 + ], + [ + 1512.0422940097862, + 688.8042054866539 + ], + [ + 1456.6002844305294, + 607.318011225799 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 858.3600843125097, + "ymin": 78.4672619183147, + "xmax": 872.9888873494245, + "ymax": 109.2848644167598 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 858.3600843125097, + 103.49048587391968 + ], + [ + 859.911671198286, + 109.1362486408521 + ], + [ + 868.5547049713102, + 109.2848644167598 + ], + [ + 866.9253628674536, + 103.63645235492896 + ], + [ + 862.5568187470898, + 78.4672619183147 + ], + [ + 864.1771456808293, + 83.99210908460799 + ], + [ + 872.9888873494245, + 84.13756786653647 + ], + [ + 871.2877543636712, + 78.61007806986771 + ] + ], + "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": 388.52702087075926, + "ymin": 206.9553904647828, + "xmax": 407.71624392151375, + "ymax": 242.77507699060135 + }, + "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": [ + [ + 394.3241409287792, + 242.55691631221856 + ], + [ + 404.6632814324141, + 242.77507699060135 + ], + [ + 407.71624392151375, + 234.49875442217632 + ], + [ + 397.4881699575792, + 234.28529232507307 + ], + [ + 388.52702087075926, + 215.11603535412564 + ], + [ + 399.10850717018036, + 215.33132543645223 + ], + [ + 402.2942871857498, + 207.16593617802653 + ], + [ + 391.82910559766583, + 206.9553904647828 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 951.2817030631136, + "ymin": 80.01669134757083, + "xmax": 968.6365830436816, + "ymax": 110.89793784231418 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 951.2817030631136, + 105.07402359679736 + ], + [ + 953.6787764832995, + 110.74856110803762 + ], + [ + 962.3660652409743, + 110.89793784231418 + ], + [ + 959.8904443147242, + 105.22073075388002 + ], + [ + 957.2797785955951, + 80.01669134757083 + ], + [ + 959.7788438869347, + 85.57024279464548 + ], + [ + 968.6365830436816, + 85.71646087466172 + ], + [ + 966.0558723820604, + 80.16024617322677 + ] + ], + "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": 459.43853954533415, + "ymin": 149.94460982750851, + "xmax": 472.405790382057, + "ymax": 177.87847097423358 + }, + "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": [ + [ + 462.62337573975447, + 177.72457545601668 + ], + [ + 470.60811114325253, + 177.87847097423358 + ], + [ + 472.405790382057, + 172.05732446794548 + ], + [ + 464.48710622014164, + 171.90597979727275 + ], + [ + 459.43853954533415, + 155.68008986245593 + ], + [ + 467.56596120642337, + 155.83181032774746 + ], + [ + 469.4214230034585, + 150.0937709113487 + ], + [ + 461.3624241466896, + 149.94460982750851 + ] + ], + "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": 412.7514072675614, + "ymin": 148.35485108507828, + "xmax": 429.68464718567145, + "ymax": 181.9623418385881 + }, + "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": [ + [ + 417.5733709622951, + 181.77751282605698 + ], + [ + 427.09596098248363, + 181.9623418385881 + ], + [ + 429.68464718567145, + 174.94462936307548 + ], + [ + 420.2563540276122, + 174.76346909658872 + ], + [ + 412.7514072675614, + 155.2491540206787 + ], + [ + 422.4791972364504, + 155.430868024712 + ], + [ + 425.1704905444461, + 148.53288116279901 + ], + [ + 415.5410840055596, + 148.35485108507828 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 781.2834402390906, + "ymin": 77.18226454043338, + "xmax": 793.6616282618871, + "ymax": 107.94702310210283 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 781.2834402390906, + 102.17708426852437 + ], + [ + 782.136969489041, + 107.79903697155635 + ], + [ + 790.7433834818568, + 107.94702310210283 + ], + [ + 789.8127523507655, + 102.3224378479976 + ], + [ + 783.9929976637056, + 77.18226454043338 + ], + [ + 784.8879430664479, + 82.68336315184501 + ], + [ + 793.6616282618871, + 82.82819374770298 + ], + [ + 792.6865687864198, + 77.32446952875665 + ] + ], + "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": 364.80558347987755, + "ymin": 264.2370279165971, + "xmax": 386.3190667431901, + "ymax": 302.107393141601 + }, + "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": [ + [ + 371.6418798135609, + 301.8540514380949 + ], + [ + 382.7766749737095, + 302.107393141601 + ], + [ + 386.3190667431901, + 292.5042741594454 + ], + [ + 375.3129825764055, + 292.2568048589609 + ], + [ + 364.80558347987755, + 273.7398895508544 + ], + [ + 376.22196473262835, + 273.99081619611036 + ], + [ + 379.93189633643254, + 264.48199259655235 + ], + [ + 368.6507783319206, + 264.2370279165971 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1077.3524528202302, + "ymin": 164.24774028479987, + "xmax": 1097.2295803836284, + "ymax": 192.6392764507647 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1077.3524528202302, + 186.41314648637794 + ], + [ + 1080.7005489739001, + 192.47881715361675 + ], + [ + 1088.9927068339541, + 192.6392764507647 + ], + [ + 1085.573403675643, + 186.5708907284965 + ], + [ + 1085.3045625491732, + 164.24774028479987 + ], + [ + 1088.7834511638719, + 170.2312607120233 + ], + [ + 1097.2295803836284, + 170.3895721490137 + ], + [ + 1093.676827948448, + 164.403324510375 + ] + ], + "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": 732.0447666574391, + "ymin": 10.216206974753561, + "xmax": 1152.0114569805955, + "ymax": 251.53658826490516 + }, + "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": [ + [ + 1067.4843475528382, + 251.53658826490516 + ], + [ + 1064.1165187725273, + 244.4866113701059 + ], + [ + 732.0447666574391, + 235.8966124666237 + ], + [ + 732.3528128867093, + 242.7886467187987 + ], + [ + 1152.0114569805955, + 23.367116013675513 + ], + [ + 1147.0633426508066, + 17.426125734336836 + ], + [ + 749.8056474991555, + 10.216206974753561 + ], + [ + 750.3669188563582, + 15.998451499040925 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 520448382005777854, + "instance_id": 48789, + "pixel_count": null, + "type_id": "BP_Lamppost_tall8_SM_0", + "bbox_3d": { + "center_world": { + "x": -19.3944149017334, + "y": -69.02778625488281, + "z": 3.636636972427368 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 12.720520175936656, + "xmax": 50.64611002331185, + "ymax": 42.986966981725004 + }, + "corners_3d": [ + [ + -20.361778259277344, + -70.11705780029297, + 3.4733119010925293 + ], + [ + -20.361783981323242, + -67.93851470947266, + 3.4733152389526367 + ], + [ + -18.427051544189453, + -67.93851470947266, + 3.4733152389526367 + ], + [ + -18.427045822143555, + -70.11705780029297, + 3.4733119010925293 + ], + [ + -20.361778259277344, + -70.11705780029297, + 3.7999587059020996 + ], + [ + -20.361783981323242, + -67.93851470947266, + 3.799962043762207 + ], + [ + -18.427051544189453, + -67.93851470947266, + 3.799962043762207 + ], + [ + -18.427045822143555, + -70.11705780029297, + 3.7999587059020996 + ] + ], + "corners_2d": [ + [ + 24.74301517423919, + 42.986966981725004 + ], + [ + 50.64611002331185, + 20.89385775845483 + ], + [ + 6.133654605702873, + 20.22071416146582 + ], + [ + -21.54669257133662, + 42.25790736521316 + ], + [ + 21.271036742788056, + 35.29827599908691 + ], + [ + 47.451174349481335, + 13.3879429180094 + ], + [ + 2.7017008210667655, + 12.720520175936656 + ], + [ + -25.275041457212183, + 34.575093521229576 + ] + ], + "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": 311.13549836120234, + "ymin": 108.3890955356099, + "xmax": 413.1976360414889, + "ymax": 262.08431291301747 + }, + "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": [ + [ + 399.5427998539305, + 262.08431291301747 + ], + [ + 413.1976360414889, + 224.80900076643957 + ], + [ + 358.19872463872207, + 223.67604486266345 + ], + [ + 341.8230969813672, + 260.8354540895475 + ], + [ + 374.7519877809772, + 144.20252417863418 + ], + [ + 391.03562375168735, + 109.44035389941845 + ], + [ + 330.70836818267816, + 108.3890955356099 + ], + [ + 311.13549836120234, + 143.03234516409753 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4931911690494204353, + "instance_id": 49625, + "pixel_count": null, + "type_id": "BP_Lamppost_tall8_SM_2", + "bbox_3d": { + "center_world": { + "x": -19.394060134887695, + "y": -69.02775573730469, + "z": 2.5271682739257812 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 82.95062452795673, + "ymax": 116.56599330379183 + }, + "corners_3d": [ + [ + -20.422487258911133, + -70.17810821533203, + 0.1843433380126953 + ], + [ + -20.422487258911133, + -67.87740325927734, + 0.1843433380126953 + ], + [ + -18.365633010864258, + -67.87740325927734, + 0.1843433380126953 + ], + [ + -18.365633010864258, + -70.17810821533203, + 0.1843433380126953 + ], + [ + -20.422487258911133, + -70.17810821533203, + 4.869993209838867 + ], + [ + -20.422487258911133, + -67.87740325927734, + 4.869993209838867 + ], + [ + -18.365633010864258, + -67.87740325927734, + 4.869993209838867 + ], + [ + -18.365633010864258, + -70.17810821533203, + 4.869993209838867 + ] + ], + "corners_2d": [ + [ + 58.34582912246481, + 116.56599330379183 + ], + [ + 82.95062452795673, + 91.57609630208236 + ], + [ + 38.07038972652322, + 90.80963800593833 + ], + [ + 11.670646239730786, + 115.73582148263887 + ], + [ + 10.316507340636122, + 10.136237194746343 + ], + [ + 38.89693419755349, + -12.3320912312995 + ], + [ + -9.468397807244514, + -13.018921902854686 + ], + [ + -40.139748095714936, + 9.387499253638907 + ] + ], + "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": 17.05760344800956, + "ymin": 714.9960716019386, + "xmax": 958.5451315114591, + "ymax": 720.0 + }, + "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": [ + [ + 221.76515076962244, + 928.8597205838948 + ], + [ + 213.39390563691325, + 954.3441292762277 + ], + [ + 855.9046256182306, + 987.3139259516138 + ], + [ + 853.1215498601107, + 960.6884576796547 + ], + [ + 34.09664781274421, + 714.9960716019386 + ], + [ + 17.05760344800956, + 746.721916203183 + ], + [ + 958.5451315114591, + 788.5223498646353 + ], + [ + 951.8230816940236, + 754.6985938639065 + ] + ], + "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": 316.57466086042245, + "ymin": 7.4719863161124636, + "xmax": 475.72366225930546, + "ymax": 484.6003124152686 + }, + "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": [ + [ + 475.72366225930546, + 232.9196324608367 + ], + [ + 464.0876497541225, + 232.61720104646182 + ], + [ + 386.02868798943217, + 484.0625120955436 + ], + [ + 401.50474586638677, + 484.6003124152686 + ], + [ + 444.17355665872844, + 7.7248699786649695 + ], + [ + 430.3189320330032, + 7.4719863161124636 + ], + [ + 316.57466086042245, + 232.08270090852835 + ], + [ + 336.2385588982716, + 232.59603250715588 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 433.4524751697886, + "ymin": 0.0, + "xmax": 493.78617966959223, + "ymax": 22.080762839265617 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 487.092619392076, + 22.080762839265617 + ], + [ + 493.78617966959223, + 3.8423306913429087 + ], + [ + 454.8908443279079, + 3.279576272165855 + ], + [ + 446.8558999134408, + 21.478279160844295 + ], + [ + 476.4688696298032, + -74.03499657950601 + ], + [ + 483.991159325912, + -90.05438340823116 + ], + [ + 442.50435606964487, + -90.54748332815905 + ], + [ + 433.4524751697886, + -74.56536961559908 + ] + ], + "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": 321.0614107801566, + "ymin": 137.57997022733676, + "xmax": 395.9569424565898, + "ymax": 180.77591657487432 + }, + "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": [ + [ + 381.2682071365099, + 180.77591657487432 + ], + [ + 395.9569424565898, + 146.98994414799634 + ], + [ + 340.7303809544594, + 145.97043562358454 + ], + [ + 323.27853229943634, + 179.65083982947624 + ], + [ + 379.45409982505527, + 172.18891133868462 + ], + [ + 394.32869342527385, + 138.59337989842453 + ], + [ + 338.7367271154937, + 137.57997022733676 + ], + [ + 321.0614107801566, + 171.0698115619155 + ] + ], + "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": 321.10761054369254, + "ymin": 137.59760791779448, + "xmax": 395.904404504912, + "ymax": 180.6987882657637 + }, + "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": [ + [ + 381.2288551313443, + 180.6987882657637 + ], + [ + 395.904404504912, + 146.9511932368311 + ], + [ + 340.74219496597675, + 145.93281687075503 + ], + [ + 323.30972864813504, + 179.57507730396844 + ], + [ + 379.4265757886761, + 172.16853040613884 + ], + [ + 394.28658133301525, + 138.6099319503864 + ], + [ + 338.7618079134983, + 137.59760791779448 + ], + [ + 321.10761054369254, + 171.05075105621287 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11665211921157023400, + "instance_id": 43110, + "pixel_count": null, + "type_id": "BP_Lamppost_tall8_SM_1", + "bbox_3d": { + "center_world": { + "x": -19.394420623779297, + "y": -69.02778625488281, + "z": 3.637737274169922 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 12.732046383712373, + "xmax": 50.583745498769076, + "ymax": 42.922811229365834 + }, + "corners_3d": [ + [ + -20.3605899810791, + -70.1158676147461, + 3.475497007369995 + ], + [ + -20.360593795776367, + -67.93971252441406, + 3.4755005836486816 + ], + [ + -18.428251266479492, + -67.93970489501953, + 3.4755005836486816 + ], + [ + -18.428247451782227, + -70.11585998535156, + 3.475497007369995 + ], + [ + -20.3605899810791, + -70.1158676147461, + 3.799973964691162 + ], + [ + -20.360593795776367, + -67.93971252441406, + 3.7999775409698486 + ], + [ + -18.428251266479492, + -67.93970489501953, + 3.7999775409698486 + ], + [ + -18.428247451782227, + -70.11585998535156, + 3.799973964691162 + ] + ], + "corners_2d": [ + [ + 24.706179840608343, + 42.922811229365834 + ], + [ + 50.583745498769076, + 20.85516722126806 + ], + [ + 6.123853681603919, + 20.182789745853142 + ], + [ + -21.526942314271764, + 42.19464294434823 + ], + [ + 21.257137589494732, + 35.28501000934119 + ], + [ + 47.4096302379653, + 13.398746768270712 + ], + [ + 2.7145682337370545, + 12.732046383712373 + ], + [ + -25.230334641709874, + 34.56267376773866 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1243.3767025808684, + "ymin": 253.3592404739378, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1525.1929086041791, + 1037.4835295605217 + ], + [ + 1550.137902264235, + 1038.7765520667358 + ], + [ + 1259.6624796481738, + 506.78390442699776 + ], + [ + 1243.3767025808684, + 506.2221375887386 + ], + [ + 1966.987426126034, + 853.8223580778704 + ], + [ + 2004.9473310333217, + 855.5330756578454 + ], + [ + 1434.0292429640149, + 253.90197393090108 + ], + [ + 1413.0419766569762, + 253.3592404739378 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17408989212588188295, + "instance_id": 34594, + "pixel_count": null, + "type_id": "BP_HighwayLight_simple_5_SM_2", + "bbox_3d": { + "center_world": { + "x": -75.30853271484375, + "y": -56.101219177246094, + "z": 5.664507865905762 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1178.7831078601155, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 35.89008255552977 + }, + "corners_3d": [ + [ + -75.6749038696289, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -74.94214630126953, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -74.9421615600586, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -75.67491912841797, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -75.6749038696289, + -52.1658935546875, + 11.14326000213623 + ], + [ + -74.94214630126953, + -52.1658935546875, + 11.14326000213623 + ], + [ + -74.9421615600586, + -60.03654479980469, + 11.14326000213623 + ], + [ + -75.67491912841797, + -60.03654479980469, + 11.14326000213623 + ] + ], + "corners_2d": [ + [ + 1192.1542033065527, + -24.638810919243042 + ], + [ + 1178.7831078601155, + -24.818329015069935 + ], + [ + 1238.7170126319845, + 35.664173020477165 + ], + [ + 1253.7412594651826, + 35.89008255552977 + ], + [ + 1281.2258668061663, + -255.3395901018689 + ], + [ + 1265.661325923604, + -255.45126445885762 + ], + [ + 1349.1844881037227, + -217.07506572646014 + ], + [ + 1367.0352021289007, + -216.92884412132707 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1166.673002829464, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 231.2515128032693 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1166.673002829464, + 112.11379337433021 + ], + [ + 1341.8989622248992, + 231.2515128032693 + ], + [ + 1540.6547424726539, + 188.37726004007348 + ], + [ + 1343.9711825431273, + 81.46041259710341 + ], + [ + 1326.4990906383255, + -280.3735407013503 + ], + [ + 1610.2614812005452, + -217.69762874123535 + ], + [ + 1858.4752708319147, + -241.10795215446115 + ], + [ + 1544.3245992003256, + -295.35951668989196 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12511280680997575471, + "instance_id": 12123, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2349_123", + "bbox_3d": { + "center_world": { + "x": -36.20769119262695, + "y": -108.4781723022461, + "z": 6.51531457901001 + }, + "extent": { + "x": 4.686452865600586, + "y": 4.53662633895874, + "z": 6.939882278442383 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 582.8153157275651, + "xmax": 245.26918193495663, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -42.32275390625, + -110.74749755859375, + -0.42456769943237305 + ], + [ + -38.674442291259766, + -102.44004821777344, + -0.42456769943237305 + ], + [ + -30.09263038635254, + -106.20884704589844, + -0.42456769943237305 + ], + [ + -33.74094009399414, + -114.51629638671875, + -0.42456769943237305 + ], + [ + -42.32275390625, + -110.74749755859375, + 13.455196380615234 + ], + [ + -38.674442291259766, + -102.44004821777344, + 13.455196380615234 + ], + [ + -30.09263038635254, + -106.20884704589844, + 13.455196380615234 + ], + [ + -33.74094009399414, + -114.51629638671875, + 13.455196380615234 + ] + ], + "corners_2d": [ + [ + 245.26918193495663, + 1848.4758832693913 + ], + [ + 202.2136907661084, + 1018.3357310408948 + ], + [ + -422.0078015241627, + 1276.7748712481894 + ], + [ + -798.8202729327488, + 2521.5797203161633 + ], + [ + -1491.5177302657544, + 3797.6580071181443 + ], + [ + -290.286187921752, + 582.8153157275651 + ], + [ + -2142.013181186049, + 1068.3387042625363 + ], + null + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00009/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00009/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8b84bea929668a145738157e04ca036406968bfa --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00009/meta.json @@ -0,0 +1,3222 @@ +{ + "frame_id": 9, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 4.5, + "sim_timestamp": 13237.09289849666 + }, + "drone_pose": { + "x": -47.00885264608973, + "y": -106.47440560954664, + "z": 20.418021897163317, + "pitch": -42.410960116557085, + "yaw": 87.73571545821092, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.029170513153076172, + -0.7377498149871826, + 0.6744436025619507, + 66.15194702148438 + ], + [ + 0.9992191791534424, + 0.039508938789367676, + 0.0, + -42.765472412109375 + ], + [ + -0.02664649486541748, + 0.6739169955253601, + 0.7383263111114502, + -88.08270263671875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.09097526407908, + "y": -105.96500387066638, + "z": 20.38706337496697 + }, + "t1_image_uv": [ + 888.7908038589603, + -414.84767481821234 + ], + "t1_depth": 0.39429528669533564 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.16718292236328, + "y": -85.18776321411133, + "z": 0.9579838816821575 + }, + "image_uv": [ + 639.9999999999999, + 359.9999999999999 + ], + "depth": 28.853468283015015, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 734, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.16718292236328, + "y": -85.18775939941406, + "z": 0.9579839110374451 + }, + "extent": { + "x": 0.46785643696784973, + "y": 0.39589354395866394, + "z": 0.8880065679550171 + }, + "yaw": 135.0 + }, + "bbox_2d": { + "xmin": 619.1815610143658, + "ymin": 324.3511163248675, + "xmax": 660.7894000240561, + "ymax": 395.2804555489378 + }, + "corners_3d": [ + [ + -45.556419372558594, + -85.2386474609375, + 0.06997734308242798 + ], + [ + -46.11629867553711, + -85.79852294921875, + 0.06997734308242798 + ], + [ + -46.77794647216797, + -85.13687133789062, + 0.06997734308242798 + ], + [ + -46.21806716918945, + -84.57699584960938, + 0.06997734308242798 + ], + [ + -45.556419372558594, + -85.2386474609375, + 1.8459904193878174 + ], + [ + -46.11629867553711, + -85.79852294921875, + 1.8459904193878174 + ], + [ + -46.77794647216797, + -85.13687133789062, + 1.8459904193878174 + ], + [ + -46.21806716918945, + -84.57699584960938, + 1.8459904193878174 + ] + ], + "corners_2d": [ + [ + 620.0288089910185, + 381.97251353291256 + ], + [ + 637.5183497635932, + 395.2804555489378 + ], + [ + 659.9444664308452, + 380.76918966277634 + ], + [ + 642.4071134543983, + 367.878285333871 + ], + [ + 619.1815610143658, + 338.32051269418014 + ], + [ + 637.4114436860034, + 351.52765548161216 + ], + [ + 660.7894000240561, + 337.12712104838477 + ], + [ + 642.507563697972, + 324.3511163248675 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 9, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 84, + "semantic_pixel_counts": { + "1": 604582, + "2": 109635, + "3": 75975, + "4": 19078, + "6": 10825, + "7": 2575, + "9": 20834, + "10": 31747, + "12": 3771, + "14": 4718, + "20": 2854, + "21": 5329, + "24": 29677 + }, + "instance_pixel_counts": { + "143": 5999, + "1167": 7989, + "1679": 14047, + "1957": 450, + "2703": 15496, + "3727": 6757, + "3749": 94, + "4261": 68, + "5714": 36, + "8556": 1020, + "8579": 1027, + "9068": 1736, + "9580": 963, + "10092": 832, + "12396": 778, + "14444": 469, + "15186": 7301, + "15698": 7665, + "16210": 4435, + "16722": 4820, + "19796": 718, + "22381": 3572, + "22784": 5449, + "22893": 3066, + "23441": 4371, + "23552": 6311, + "23953": 5003, + "24429": 5217, + "24465": 4431, + "24941": 4850, + "24977": 4254, + "25489": 4147, + "25965": 3103, + "26001": 1256, + "26696": 19078, + "26987": 926, + "26989": 1163, + "27243": 61, + "27719": 32298, + "28231": 25998, + "28523": 85, + "28779": 1620, + "30548": 29, + "31572": 49, + "31633": 3568, + "32084": 3005, + "32145": 4489, + "32657": 3624, + "33169": 3512, + "40358": 2607, + "42918": 1810, + "51815": 232471, + "52327": 33245, + "53351": 95494, + "53863": 213374, + "54375": 29327, + "54887": 671, + "54889": 14259, + "55401": 941, + "55913": 1874, + "56173": 20834, + "56320": 734, + "56425": 11724, + "56486": 12, + "56576": 615, + "56742": 32, + "56832": 441, + "56937": 815, + "57088": 557, + "57344": 661, + "57449": 64, + "57600": 763, + "59392": 917, + "59522": 77, + "59762": 2812, + "60274": 72, + "62827": 172, + "63083": 111, + "63314": 4246, + "63339": 143, + "63874": 536, + "64594": 102, + "64654": 6078, + "64850": 25 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 734, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.16718292236328, + "y": -85.18775939941406, + "z": 0.9579839110374451 + }, + "extent": { + "x": 0.4485717713832855, + "y": 0.47026365995407104, + "z": 0.86895751953125 + }, + "yaw": 135.0 + }, + "bbox_2d": { + "xmin": 617.9961411018788, + "ymin": 323.93928683082373, + "xmax": 662.0510388027109, + "ymax": 395.795833115878 + }, + "corners_3d": [ + [ + -45.5174674987793, + -85.17242431640625, + 0.08902639150619507 + ], + [ + -46.18252182006836, + -85.83747100830078, + 0.08902639150619507 + ], + [ + -46.816898345947266, + -85.20309448242188, + 0.08902639150619507 + ], + [ + -46.1518440246582, + -84.53804779052734, + 0.08902639150619507 + ], + [ + -45.5174674987793, + -85.17242431640625, + 1.8269414901733398 + ], + [ + -46.18252182006836, + -85.83747100830078, + 1.8269414901733398 + ], + [ + -46.816898345947266, + -85.20309448242188, + 1.8269414901733398 + ], + [ + -46.1518440246582, + -84.53804779052734, + 1.8269414901733398 + ] + ], + "corners_2d": [ + [ + 618.871318071148, + 379.99902987794496 + ], + [ + 639.6571571342574, + 395.795833115878 + ], + [ + 661.1721801048253, + 381.84515866176264 + ], + [ + 640.3318571995547, + 366.5235046412952 + ], + [ + 617.9961411018788, + 337.29653887405533 + ], + [ + 639.64269548812, + 352.9758777937126 + ], + [ + 662.0510388027109, + 339.1277592950483 + ], + [ + 640.345388209337, + 323.93928683082373 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 615, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.041194915771484, + "y": -82.19005584716797, + "z": 0.9665922522544861 + }, + "extent": { + "x": 0.4392407536506653, + "y": 0.41501957178115845, + "z": 0.8931779265403748 + }, + "yaw": 123.00000762939453 + }, + "bbox_2d": { + "xmin": 495.26345544609467, + "ymin": 260.9806453076958, + "xmax": 537.2258196014785, + "ymax": 327.11514812385775 + }, + "corners_3d": [ + [ + -41.45390319824219, + -82.3323974609375, + 0.07341432571411133 + ], + [ + -42.15003204345703, + -82.78446960449219, + 0.07341432571411133 + ], + [ + -42.62848663330078, + -82.04771423339844, + 0.07341432571411133 + ], + [ + -41.93235778808594, + -81.59564208984375, + 0.07341432571411133 + ], + [ + -41.45390319824219, + -82.3323974609375, + 1.8597701787948608 + ], + [ + -42.15003204345703, + -82.78446960449219, + 1.8597701787948608 + ], + [ + -42.62848663330078, + -82.04771423339844, + 1.8597701787948608 + ], + [ + -41.93235778808594, + -81.59564208984375, + 1.8597701787948608 + ] + ], + "corners_2d": [ + [ + 500.7653654546551, + 317.6924210240756 + ], + [ + 519.953172399386, + 327.11514812385775 + ], + [ + 537.2258196014785, + 313.0894491887022 + ], + [ + 518.1637000748748, + 303.97558621290807 + ], + [ + 495.26345544609467, + 274.4927047061093 + ], + [ + 515.1537798964786, + 283.7849355074203 + ], + [ + 533.1879356422961, + 269.9564934806172 + ], + [ + 513.4314881747612, + 260.9806453076958 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 441, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.42300796508789, + "y": -78.24504852294922, + "z": 0.9931010007858276 + }, + "extent": { + "x": 0.3585571348667145, + "y": 0.3929687440395355, + "z": 0.9587211608886719 + }, + "yaw": 128.99993896484375 + }, + "bbox_2d": { + "xmin": 695.5146300963214, + "ymin": 197.02823722670533, + "xmax": 728.3634003116055, + "ymax": 259.3328766154485 + }, + "corners_3d": [ + [ + -47.8919677734375, + -78.27639770507812, + 0.03437983989715576 + ], + [ + -48.50275421142578, + -78.77100372314453, + 0.03437983989715576 + ], + [ + -48.95404815673828, + -78.21369934082031, + 0.03437983989715576 + ], + [ + -48.34326171875, + -77.7190933227539, + 0.03437983989715576 + ], + [ + -47.8919677734375, + -78.27639770507812, + 1.9518221616744995 + ], + [ + -48.50275421142578, + -78.77100372314453, + 1.9518221616744995 + ], + [ + -48.95404815673828, + -78.21369934082031, + 1.9518221616744995 + ], + [ + -48.34326171875, + -77.7190933227539, + 1.9518221616744995 + ] + ], + "corners_2d": [ + [ + 695.5146300963214, + 250.7278415667724 + ], + [ + 712.7479438055713, + 259.3328766154485 + ], + [ + 725.0550198704116, + 250.38836609445661 + ], + [ + 707.8832290656073, + 241.9794161878326 + ], + [ + 697.674972119689, + 205.57876582788887 + ], + [ + 715.6118998759264, + 213.99654946159475 + ], + [ + 728.3634003116055, + 205.2468281453043 + ], + [ + 710.4936304817733, + 197.02823722670533 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 557, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -55.66718292236328, + "y": -85.18775939941406, + "z": 0.948442816734314 + }, + "extent": { + "x": 0.2931884825229645, + "y": 0.3449121117591858, + "z": 0.8828510642051697 + }, + "yaw": 135.0 + }, + "bbox_2d": { + "xmin": 937.1229532681041, + "ymin": 336.3842771757779, + "xmax": 981.5121818651528, + "ymax": 400.5065187222071 + }, + "corners_3d": [ + [ + -55.21597671508789, + -85.15118408203125, + 0.06559175252914429 + ], + [ + -55.703758239746094, + -85.63896179199219, + 0.06559175252914429 + ], + [ + -56.11838912963867, + -85.22433471679688, + 0.06559175252914429 + ], + [ + -55.63060760498047, + -84.73655700683594, + 0.06559175252914429 + ], + [ + -55.21597671508789, + -85.15118408203125, + 1.8312938213348389 + ], + [ + -55.703758239746094, + -85.63896179199219, + 1.8312938213348389 + ], + [ + -56.11838912963867, + -85.22433471679688, + 1.8312938213348389 + ], + [ + -55.63060760498047, + -84.73655700683594, + 1.8312938213348389 + ] + ], + "corners_2d": [ + [ + 937.1229532681041, + 388.7603590183807 + ], + [ + 956.5567450140934, + 400.5065187222071 + ], + [ + 967.5546560759278, + 391.25603113707507 + ], + [ + 948.174923364955, + 379.74406169434474 + ], + [ + 949.7474754960797, + 345.3291543443023 + ], + [ + 970.1889446647292, + 356.9936268204881 + ], + [ + 981.5121818651528, + 347.80639497528716 + ], + [ + 961.1332010274643, + 336.3842771757779 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 661, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -49.78268051147461, + "y": -96.31512451171875, + "z": 0.9694242477416992 + }, + "extent": { + "x": 0.32133543491363525, + "y": 0.42841795086860657, + "z": 0.942764163017273 + }, + "yaw": 141.00001525878906 + }, + "bbox_2d": { + "xmin": 759.97583842332, + "ymin": 668.9295565157076, + "xmax": 818.9022344870932, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.263343811035156, + -96.18440246582031, + 0.02666008472442627 + ], + [ + -49.80256652832031, + -96.85028839111328, + 0.02666008472442627 + ], + [ + -50.30201721191406, + -96.44584655761719, + 0.02666008472442627 + ], + [ + -49.762794494628906, + -95.77996063232422, + 0.02666008472442627 + ], + [ + -49.263343811035156, + -96.18440246582031, + 1.9121884107589722 + ], + [ + -49.80256652832031, + -96.85028839111328, + 1.9121884107589722 + ], + [ + -50.30201721191406, + -96.44584655761719, + 1.9121884107589722 + ], + [ + -49.762794494628906, + -95.77996063232422, + 1.9121884107589722 + ] + ], + "corners_2d": [ + [ + 759.97583842332, + 729.0910870147413 + ], + [ + 786.5901467881114, + 759.5038682654749 + ], + [ + 808.0970433702582, + 742.2985417449743 + ], + [ + 781.3273544808859, + 712.6906022434655 + ], + [ + 767.601795066353, + 685.7517218527371 + ], + [ + 796.1500276438811, + 717.0210704312906 + ], + [ + 818.9022344870932, + 699.3192343675423 + ], + [ + 790.1848175864553, + 668.9295565157076 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 763, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -34.92184829711914, + "y": -93.35797882080078, + "z": 0.9418168663978577 + }, + "extent": { + "x": 0.47606930136680603, + "y": 0.3684521019458771, + "z": 0.9285581707954407 + }, + "yaw": 146.9999542236328 + }, + "bbox_2d": { + "xmin": 123.43688870738401, + "ymin": 533.7910718968685, + "xmax": 196.66622095241388, + "ymax": 617.9536987891588 + }, + "corners_3d": [ + [ + -34.3219108581543, + -93.30825805664062, + 0.013258695602416992 + ], + [ + -34.7232551574707, + -93.92627716064453, + 0.013258695602416992 + ], + [ + -35.521785736083984, + -93.40769958496094, + 0.013258695602416992 + ], + [ + -35.12044143676758, + -92.78968048095703, + 0.013258695602416992 + ], + [ + -34.3219108581543, + -93.30825805664062, + 1.8703750371932983 + ], + [ + -34.7232551574707, + -93.92627716064453, + 1.8703750371932983 + ], + [ + -35.521785736083984, + -93.40769958496094, + 1.8703750371932983 + ], + [ + -35.12044143676758, + -92.78968048095703, + 1.8703750371932983 + ] + ], + "corners_2d": [ + [ + 150.57039426426104, + 595.6963371730591 + ], + [ + 156.24534792968404, + 617.9536987891588 + ], + [ + 196.66622095241388, + 600.7757407124489 + ], + [ + 190.29454224644456, + 579.1806539105719 + ], + [ + 123.43688870738401, + 550.5005492367673 + ], + [ + 128.85959427512017, + 573.0626301765486 + ], + [ + 171.96976948773073, + 555.64508525297 + ], + [ + 165.7535742071364, + 533.7910718968685 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 232, + "instance_id": 59392, + "pixel_count": 917, + "type_id": "vehicle.toyota.prius", + "bbox_3d": { + "center_world": { + "x": -62.880393981933594, + "y": -94.98814392089844, + "z": 0.7607561349868774 + }, + "extent": { + "x": 2.256761312484741, + "y": 1.0034072399139404, + "z": 0.7624167203903198 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 1239.1318255797714, + "ymin": 622.4085364796588, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -60.625144958496094, + -93.98133850097656, + -0.00165654718875885 + ], + [ + -60.62212371826172, + -95.98815155029297, + -0.00165654718875885 + ], + [ + -65.1356430053711, + -95.99494934082031, + -0.0016646161675453186 + ], + [ + -65.13866424560547, + -93.9881362915039, + -0.0016646161675453186 + ], + [ + -60.62514877319336, + -93.98133850097656, + 1.523176908493042 + ], + [ + -60.622127532958984, + -95.98815155029297, + 1.523176908493042 + ], + [ + -65.1356430053711, + -95.99494934082031, + 1.5231688022613525 + ], + [ + -65.13866424560547, + -93.9881362915039, + 1.5231688022613525 + ] + ], + "corners_2d": [ + [ + 1239.1318255797714, + 658.3037798561081 + ], + [ + 1277.4039072804549, + 740.7189853085017 + ], + [ + 1487.968071237699, + 748.9145018896019 + ], + [ + 1435.5806269303564, + 665.4573490189391 + ], + [ + 1267.7065758901208, + 622.4085364796588 + ], + [ + 1310.0449916655048, + 706.3980522279195 + ], + [ + 1531.6893182319895, + 714.7809543220192 + ], + [ + 1473.7665261585764, + 629.6764916119657 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 861.7664217317919, + "ymin": 85.77101543953944, + "xmax": 876.6633347668652, + "ymax": 116.98547068955958 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 861.7664217317919, + 111.04905539692342 + ], + [ + 863.3312401395139, + 116.81749816153715 + ], + [ + 872.1061942553836, + 116.98547068955958 + ], + [ + 870.4610741759687, + 111.2139836675104 + ], + [ + 866.0789851054881, + 85.77101543953944 + ], + [ + 867.7149097562137, + 91.41593233373192 + ], + [ + 876.6633347668652, + 91.5803381078448 + ], + [ + 874.9439173387364, + 85.9323839179525 + ] + ], + "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": 383.40871252927496, + "ymin": 216.40418893311005, + "xmax": 403.123607036429, + "ymax": 252.74884732462203 + }, + "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": [ + [ + 389.4058075576527, + 252.50123728122057 + ], + [ + 399.9075280754046, + 252.74884732462203 + ], + [ + 403.123607036429, + 244.25711319997123 + ], + [ + 392.73668902450396, + 244.0149357839357 + ], + [ + 383.40871252927496, + 224.77829040562494 + ], + [ + 394.1598616866594, + 225.0226930935476 + ], + [ + 397.5169754020453, + 216.64310318560928 + ], + [ + 386.8861152895449, + 216.40418893311005 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 956.1185928325325, + "ymin": 87.52223350095767, + "xmax": 973.8292403906555, + "ymax": 118.80927721929888 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 956.1185928325325, + 112.83881531034976 + ], + [ + 958.5570878860256, + 118.64033691007529 + ], + [ + 967.3825992908487, + 118.80927721929888 + ], + [ + 964.8628819316216, + 113.00468513526613 + ], + [ + 962.2838300218336, + 87.52223350095767 + ], + [ + 964.8282420540382, + 93.20015609982414 + ], + [ + 973.8292403906555, + 93.36552778227752 + ], + [ + 971.2003595991198, + 87.684541206505 + ] + ], + "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": 457.39827447755886, + "ymin": 157.0767592599375, + "xmax": 470.61034608095963, + "ymax": 185.32037526666488 + }, + "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": [ + [ + 460.6503318762964, + 185.14693479714282 + ], + [ + 468.7296452824022, + 185.32037526666488 + ], + [ + 470.61034608095963, + 179.38931933298778 + ], + [ + 462.5987908393621, + 179.21879578789844 + ], + [ + 457.39827447755886, + 162.92042011907512 + ], + [ + 465.623304912152, + 163.09141594043308 + ], + [ + 467.56452977502397, + 157.24482779031473 + ], + [ + 459.4097129796695, + 157.0767592599375 + ] + ], + "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": 408.8846637661289, + "ymin": 156.37606810982953, + "xmax": 426.22670443746006, + "ymax": 190.4348708885096 + }, + "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": [ + [ + 413.84913958653544, + 190.22572556185088 + ], + [ + 423.50786742746857, + 190.4348708885096 + ], + [ + 426.22670443746006, + 183.2560507008201 + ], + [ + 416.6651745352192, + 183.051128273246 + ], + [ + 408.8846637661289, + 163.42875211426446 + ], + [ + 418.75398410606, + 163.6343906936403 + ], + [ + 421.5811977160198, + 156.57746485002352 + ], + [ + 411.8133374889533, + 156.37606810982953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 783.5483187006903, + "ymin": 84.31951143489755, + "xmax": 796.1249337913177, + "ymax": 115.47372270102622 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 783.5483187006903, + 109.56545544951643 + ], + [ + 784.3926376973116, + 115.3065502574556 + ], + [ + 793.1257934689705, + 115.47372270102622 + ], + [ + 792.2019309882722, + 109.72960526201527 + ], + [ + 786.333097072235, + 84.31951143489755 + ], + [ + 787.2199671536666, + 89.93714502082406 + ], + [ + 796.1249337913177, + 90.10075238252915 + ], + [ + 795.1553745171026, + 84.48010349740179 + ] + ], + "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": 358.3839640412046, + "ymin": 275.2600397874491, + "xmax": 380.55524192092315, + "ymax": 313.72814105403654 + }, + "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": [ + [ + 365.48722565633125, + 313.4397497678974 + ], + [ + 376.81265044448054, + 313.72814105403654 + ], + [ + 380.55524192092315, + 303.846208353864 + ], + [ + 369.3632188549011, + 303.56463672976383 + ], + [ + 358.3839640412046, + 285.04120661738517 + ], + [ + 370.00001782596684, + 285.32694478150665 + ], + [ + 373.9214228465421, + 275.5388493491031 + ], + [ + 362.4456622584933, + 275.2600397874491 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1083.9271067673935, + "ymin": 172.9312258420949, + "xmax": 1104.2361006448148, + "ymax": 201.6862337452404 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1083.9271067673935, + 195.2982437503116 + ], + [ + 1087.3474643329046, + 201.50461619069273 + ], + [ + 1095.7734882528662, + 201.6862337452404 + ], + [ + 1092.2794657491436, + 195.47673660533314 + ], + [ + 1092.0951417180108, + 172.9312258420949 + ], + [ + 1095.6514876388621, + 179.05428328964348 + ], + [ + 1104.2361006448148, + 179.23349236489994 + ], + [ + 1100.6033037750303, + 173.1072951682922 + ] + ], + "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": 733.4858106939166, + "ymin": 16.51909006234615, + "xmax": 1160.5659071791204, + "ymax": 261.01970209606924 + }, + "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": [ + [ + 1073.664292820497, + 261.01970209606924 + ], + [ + 1070.229238339265, + 253.8104418425322 + ], + [ + 733.4858106939166, + 244.29262535319765 + ], + [ + 733.7675487179436, + 251.3241212326692 + ], + [ + 1160.5659071791204, + 30.59009676227464 + ], + [ + 1155.4852547016542, + 24.51074484459764 + ], + [ + 751.7379151094698, + 16.51909006234615 + ], + [ + 752.2771433643995, + 22.41932875518438 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 520448382005777854, + "instance_id": 48789, + "pixel_count": null, + "type_id": "BP_Lamppost_tall8_SM_0", + "bbox_3d": { + "center_world": { + "x": -19.3944149017334, + "y": -69.02778625488281, + "z": 3.636636972427368 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 16.954805461668286, + "xmax": 46.93096292505106, + "ymax": 47.58179483652623 + }, + "corners_3d": [ + [ + -20.361778259277344, + -70.11705780029297, + 3.4733119010925293 + ], + [ + -20.361783981323242, + -67.93851470947266, + 3.4733152389526367 + ], + [ + -18.427051544189453, + -67.93851470947266, + 3.4733152389526367 + ], + [ + -18.427045822143555, + -70.11705780029297, + 3.4733119010925293 + ], + [ + -20.361778259277344, + -70.11705780029297, + 3.7999587059020996 + ], + [ + -20.361783981323242, + -67.93851470947266, + 3.799962043762207 + ], + [ + -18.427051544189453, + -67.93851470947266, + 3.799962043762207 + ], + [ + -18.427045822143555, + -70.11705780029297, + 3.7999587059020996 + ] + ], + "corners_2d": [ + [ + 20.39051921161763, + 47.58179483652623 + ], + [ + 46.93096292505106, + 25.253748014665348 + ], + [ + 2.145036934765585, + 24.501762357736993 + ], + [ + -26.198746475544567, + 46.76664535558143 + ], + [ + 16.873115886035976, + 39.84232845089724 + ], + [ + 43.698112165742145, + 17.70035139268174 + ], + [ + -1.327095671467191, + 16.954805461668286 + ], + [ + -29.975136177202558, + 39.03379716233849 + ] + ], + "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": 306.91786734518416, + "ymin": 114.85353979226298, + "xmax": 410.8717766552852, + "ymax": 270.28860228087564 + }, + "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": [ + [ + 396.6551468067296, + 270.28860228087564 + ], + [ + 410.8717766552852, + 232.31923651081365 + ], + [ + 355.2912072227904, + 231.0439674627003 + ], + [ + 338.2884311543844, + 268.88092846379243 + ], + [ + 371.3032358791727, + 151.45540051458815 + ], + [ + 388.2658929086422, + 116.0369842872326 + ], + [ + 327.2542395717003, + 114.85353979226298 + ], + [ + 306.91786734518416, + 150.13594811598762 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4931911690494204353, + "instance_id": 49625, + "pixel_count": null, + "type_id": "BP_Lamppost_tall8_SM_2", + "bbox_3d": { + "center_world": { + "x": -19.394060134887695, + "y": -69.02775573730469, + "z": 2.5271682739257812 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 79.60921195509081, + "ymax": 121.62712226992497 + }, + "corners_3d": [ + [ + -20.422487258911133, + -70.17810821533203, + 0.1843433380126953 + ], + [ + -20.422487258911133, + -67.87740325927734, + 0.1843433380126953 + ], + [ + -18.365633010864258, + -67.87740325927734, + 0.1843433380126953 + ], + [ + -18.365633010864258, + -70.17810821533203, + 0.1843433380126953 + ], + [ + -20.422487258911133, + -70.17810821533203, + 4.869993209838867 + ], + [ + -20.422487258911133, + -67.87740325927734, + 4.869993209838867 + ], + [ + -18.365633010864258, + -67.87740325927734, + 4.869993209838867 + ], + [ + -18.365633010864258, + -70.17810821533203, + 4.869993209838867 + ] + ], + "corners_2d": [ + [ + 54.40414190841341, + 121.62712226992497 + ], + [ + 79.60921195509081, + 96.36042990766805 + ], + [ + 34.4613274100974, + 95.50381595537704 + ], + [ + 7.435608735312371, + 120.69852612325965 + ], + [ + 5.7544727509824725, + 14.515409129058298 + ], + [ + 35.0421246991109, + -8.185457837767956 + ], + [ + -13.623702565966596, + -8.952476067910254 + ], + [ + -45.03331594120084, + 13.678470267593127 + ] + ], + "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": 308.29690851856435, + "ymin": 13.219858519033778, + "xmax": 474.05210390503134, + "ymax": 498.22093723157934 + }, + "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": [ + [ + 474.05210390503134, + 240.68390084001896 + ], + [ + 462.2864316885085, + 240.34974287364997 + ], + [ + 380.51118955671325, + 497.62107714622397 + ], + [ + 396.227999367748, + 498.22093723157934 + ], + [ + 441.8359654629972, + 13.499208728941198 + ], + [ + 427.80434484607645, + 13.219858519033778 + ], + [ + 308.29690851856435, + 243.4522267283217 + ], + [ + 328.3363365430165, + 244.02701963036662 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 433.47604741623144, + "ymin": 0.0, + "xmax": 494.3772693090168, + "ymax": 26.74125538985919 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 487.4677497714427, + 26.74125538985919 + ], + [ + 494.3772693090168, + 8.321648643246476 + ], + [ + 455.2160367131037, + 7.693345927645112 + ], + [ + 446.94347870675745, + 26.068142034660127 + ], + [ + 476.8131400233723, + -69.94645897525658 + ], + [ + 484.573124093334, + -86.10989609512791 + ], + [ + 442.7912178944115, + -86.65989365872258 + ], + [ + 433.47604741623144, + -70.53847106588938 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8405920204582788773, + "instance_id": 42398, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436763763427734, + "y": -78.8399658203125, + "z": 3.5914459228515625 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 317.0597129458836, + "ymin": 144.30384085974214, + "xmax": 393.29707143821395, + "ymax": 188.333557499542 + }, + "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": [ + [ + 378.0001939327711, + 188.333557499542 + ], + [ + 393.29707143821395, + 153.9110164518635 + ], + [ + 337.45649085226546, + 152.76324256263663 + ], + [ + 319.3270009806672, + 187.06508416925624 + ], + [ + 376.14438776367, + 179.67361722113446 + ], + [ + 391.6354797407722, + 145.4447493362175 + ], + [ + 335.42231188084486, + 144.30384085974214 + ], + [ + 317.0597129458836, + 178.41186083473247 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9860855723636234418, + "instance_id": 45592, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.436767578125, + "y": -78.8399658203125, + "z": 3.592546224594116 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 317.10673564476565, + "ymin": 144.3218623446475, + "xmax": 393.2436153772205, + "ymax": 188.25548039144724 + }, + "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": [ + [ + 377.96049301470555, + 188.25548039144724 + ], + [ + 393.2436153772205, + 153.8720465637095 + ], + [ + 337.46806389867874, + 152.72555851608266 + ], + [ + 319.35867946202677, + 186.98856123655554 + ], + [ + 376.1167887393268, + 179.6527665714692 + ], + [ + 391.5926602684116, + 145.46153741092925 + ], + [ + 335.44741790656025, + 144.3218623446475 + ], + [ + 317.10673564476565, + 178.39251334198244 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11665211921157023400, + "instance_id": 43110, + "pixel_count": null, + "type_id": "BP_Lamppost_tall8_SM_1", + "bbox_3d": { + "center_world": { + "x": -19.394420623779297, + "y": -69.02778625488281, + "z": 3.637737274169922 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 16.966490566934056, + "xmax": 46.86784355574423, + "ymax": 47.517110966828966 + }, + "corners_3d": [ + [ + -20.3605899810791, + -70.1158676147461, + 3.475497007369995 + ], + [ + -20.360593795776367, + -67.93971252441406, + 3.4755005836486816 + ], + [ + -18.428251266479492, + -67.93970489501953, + 3.4755005836486816 + ], + [ + -18.428247451782227, + -70.11585998535156, + 3.475497007369995 + ], + [ + -20.3605899810791, + -70.1158676147461, + 3.799973964691162 + ], + [ + -20.360593795776367, + -67.93971252441406, + 3.7999775409698486 + ], + [ + -18.428251266479492, + -67.93970489501953, + 3.7999775409698486 + ], + [ + -18.428247451782227, + -70.11585998535156, + 3.799973964691162 + ] + ], + "corners_2d": [ + [ + 20.353562803441946, + 47.517110966828966 + ], + [ + 46.86784355574423, + 25.214813391994994 + ], + [ + 2.134792653569093, + 24.463691518269627 + ], + [ + -26.178747052404447, + 46.70296738994239 + ], + [ + 16.85939771598146, + 39.828870285515904 + ], + [ + 43.65605787895129, + 17.711222041314443 + ], + [ + -1.3144093905625596, + 16.966490566934056 + ], + [ + -29.92985744426244, + 39.02129405258688 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1253.831519202825, + "ymin": 268.00662996243904, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1548.162789864608, + 1078.7799255823577 + ], + [ + 1573.9768500194466, + 1080.264328298804 + ], + [ + 1270.4719967145434, + 523.7019506335521 + ], + [ + 1253.831519202825, + 523.0716128799426 + ], + [ + 2021.0571244081127, + 905.8240892426213 + ], + [ + 2061.0012832513285, + 907.8377496712403 + ], + [ + 1451.7359860217248, + 268.61915506062206 + ], + [ + 1430.1736771013059, + 268.00662996243904 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17408989212588188295, + "instance_id": 34594, + "pixel_count": null, + "type_id": "BP_HighwayLight_simple_5_SM_2", + "bbox_3d": { + "center_world": { + "x": -75.30853271484375, + "y": -56.101219177246094, + "z": 5.664507865905762 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1185.493733687224, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 41.96239410299154 + }, + "corners_3d": [ + [ + -75.6749038696289, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -74.94214630126953, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -74.9421615600586, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -75.67491912841797, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -75.6749038696289, + -52.1658935546875, + 11.14326000213623 + ], + [ + -74.94214630126953, + -52.1658935546875, + 11.14326000213623 + ], + [ + -74.9421615600586, + -60.03654479980469, + 11.14326000213623 + ], + [ + -75.67491912841797, + -60.03654479980469, + 11.14326000213623 + ] + ], + "corners_2d": [ + [ + 1199.0077242030766, + -19.413789687216138 + ], + [ + 1185.493733687224, + -19.61483235507899 + ], + [ + 1246.418079222397, + 41.70870189847676 + ], + [ + 1261.626868370895, + 41.96239410299154 + ], + [ + 1289.832643044486, + -251.8093093846603 + ], + [ + 1274.0813335226912, + -251.93384265551936 + ], + [ + 1359.3037779786919, + -213.1741058807155 + ], + [ + 1377.4060443542285, + -213.01046851553963 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1173.8931024382687, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 241.05424335344404 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1173.8931024382687, + 119.23731722841748 + ], + [ + 1352.508983652353, + 241.05424335344404 + ], + [ + 1554.2246853181791, + 197.6862477464379 + ], + [ + 1353.418802759497, + 88.4050772855037 + ], + [ + 1337.8132836279983, + -277.3487321678575 + ], + [ + 1629.4391878656174, + -213.6404160766116 + ], + [ + 1881.9380093302293, + -237.21368945431038 + ], + [ + 1558.7867465541774, + -292.3029938044899 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12511280680997575471, + "instance_id": 12123, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2349_123", + "bbox_3d": { + "center_world": { + "x": -36.20769119262695, + "y": -108.4781723022461, + "z": 6.51531457901001 + }, + "extent": { + "x": 4.686452865600586, + "y": 4.53662633895874, + "z": 6.939882278442383 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 626.8100624996486, + "xmax": 218.20336992271103, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -42.32275390625, + -110.74749755859375, + -0.42456769943237305 + ], + [ + -38.674442291259766, + -102.44004821777344, + -0.42456769943237305 + ], + [ + -30.09263038635254, + -106.20884704589844, + -0.42456769943237305 + ], + [ + -33.74094009399414, + -114.51629638671875, + -0.42456769943237305 + ], + [ + -42.32275390625, + -110.74749755859375, + 13.455196380615234 + ], + [ + -38.674442291259766, + -102.44004821777344, + 13.455196380615234 + ], + [ + -30.09263038635254, + -106.20884704589844, + 13.455196380615234 + ], + [ + -33.74094009399414, + -114.51629638671875, + 13.455196380615234 + ] + ], + "corners_2d": [ + [ + 218.20336992271103, + 1937.4969700398146 + ], + [ + 186.1050452983223, + 1051.6758123889547 + ], + [ + -459.70482553144166, + 1320.806419370565 + ], + [ + -891.1761934500169, + 2667.1113804472498 + ], + [ + -2131.729013609232, + 4871.128629611624 + ], + [ + -350.6854446050942, + 626.8100624996486 + ], + [ + -2371.254639445859, + 1164.1494850870208 + ], + null + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00011/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00011/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c8a15eae2ed39791f937e43bd059af387e3bf26b --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00011/meta.json @@ -0,0 +1,3124 @@ +{ + "frame_id": 11, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 5.5, + "sim_timestamp": 13260.65965394047 + }, + "drone_pose": { + "x": -47.16578217608898, + "y": -105.45513222372429, + "z": 20.35694005695081, + "pitch": -42.36156709850117, + "yaw": 88.65698476009887, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.017318427562713623, + -0.7387045621871948, + 0.67380690574646, + 65.00037384033203 + ], + [ + 0.999725341796875, + 0.023437917232513428, + 0.0, + -44.681175231933594 + ], + [ + -0.015792638063430786, + 0.6736218333244324, + 0.7389074563980103, + -86.82363891601562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.230025684714995, + "y": -104.94499648642682, + "z": 20.327564848994026 + }, + "t1_image_uv": [ + 824.9085697379273, + -418.9278314485508 + ], + "t1_depth": 0.3955201863945827 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -84.18776321411133, + "z": 0.9579789996892214 + }, + "image_uv": [ + 640.0, + 360.0000000000001 + ], + "depth": 28.790089890585847, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 691, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -84.18775939941406, + "z": 0.9579790234565735 + }, + "extent": { + "x": 0.5206738114356995, + "y": 0.5531054735183716, + "z": 0.9107966423034668 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 620.4847689431439, + "ymin": 325.3079825126374, + "xmax": 659.0025399466463, + "ymax": 394.16686387605034 + }, + "corners_3d": [ + [ + -46.114078521728516, + -84.70843505859375, + 0.04718238115310669 + ], + [ + -47.22028732299805, + -84.70843505859375, + 0.04718238115310669 + ], + [ + -47.22028732299805, + -83.66708374023438, + 0.04718238115310669 + ], + [ + -46.114078521728516, + -83.66708374023438, + 0.04718238115310669 + ], + [ + -46.114078521728516, + -84.70843505859375, + 1.8687756061553955 + ], + [ + -47.22028732299805, + -84.70843505859375, + 1.8687756061553955 + ], + [ + -47.22028732299805, + -83.66708374023438, + 1.8687756061553955 + ], + [ + -46.114078521728516, + -83.66708374023438, + 1.8687756061553955 + ] + ], + "corners_2d": [ + [ + 621.3099177139449, + 393.56657299311405 + ], + [ + 657.8947396467771, + 394.16686387605034 + ], + [ + 658.2193073996298, + 370.6702887365979 + ], + [ + 622.5787331086788, + 370.1006011536081 + ], + [ + 620.4847689431439, + 348.57056203474156 + ], + [ + 658.6853196071484, + 349.1663454807017 + ], + [ + 659.0025399466463, + 325.8721049657404 + ], + [ + 621.8303098316159, + 325.3079825126374 + ] + ], + "center_offset_px": [ + 0.0, + 1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 11, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 87, + "semantic_pixel_counts": { + "1": 587907, + "2": 116263, + "3": 79123, + "4": 20103, + "6": 10931, + "7": 2717, + "9": 21123, + "10": 35944, + "12": 4000, + "14": 5407, + "20": 2923, + "21": 5229, + "24": 29930 + }, + "instance_pixel_counts": { + "143": 6534, + "1167": 7774, + "1679": 14759, + "2703": 16465, + "3727": 7610, + "3749": 87, + "4261": 84, + "5714": 122, + "8556": 1822, + "8579": 1060, + "9068": 2545, + "9580": 1830, + "10092": 1740, + "12396": 1727, + "14444": 368, + "15186": 7746, + "15698": 8157, + "16210": 4795, + "16722": 1748, + "19796": 1300, + "22381": 3789, + "22784": 5904, + "22893": 3350, + "23441": 4702, + "23552": 6503, + "23953": 5348, + "24429": 5012, + "24465": 4749, + "24941": 5116, + "24977": 4573, + "25489": 3878, + "25965": 3301, + "26001": 3, + "26696": 20103, + "26987": 1040, + "26989": 1321, + "27243": 53, + "27719": 34563, + "28231": 29141, + "28523": 85, + "28779": 1574, + "30548": 145, + "31572": 177, + "31633": 3834, + "32084": 3101, + "32145": 4814, + "32657": 3904, + "33169": 3028, + "40358": 2678, + "42918": 1855, + "51815": 226457, + "52327": 36076, + "53351": 80924, + "53863": 211931, + "54375": 31553, + "54887": 966, + "54889": 13970, + "55401": 1028, + "55913": 1956, + "56173": 21123, + "56320": 691, + "56425": 11996, + "56486": 12, + "56576": 585, + "56742": 34, + "56832": 479, + "56937": 889, + "57088": 518, + "57344": 725, + "57449": 91, + "57600": 1002, + "58022": 3, + "58278": 1, + "58790": 16, + "59392": 684, + "59522": 106, + "59762": 2830, + "60070": 33, + "60274": 178, + "62827": 196, + "63083": 118, + "63314": 4542, + "63339": 260, + "63874": 75, + "64594": 99, + "64654": 6669, + "64850": 64 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 691, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -84.18775939941406, + "z": 0.9579790234565735 + }, + "extent": { + "x": 0.49330320954322815, + "y": 0.4850390553474426, + "z": 0.8898260593414307 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 622.8770638030172, + "ymin": 326.4758274469219, + "xmax": 656.6958617847123, + "ymax": 393.00001980203115 + }, + "corners_3d": [ + [ + -46.18214416503906, + -84.68106079101562, + 0.06815296411514282 + ], + [ + -47.1522216796875, + -84.68106079101562, + 0.06815296411514282 + ], + [ + -47.1522216796875, + -83.6944580078125, + 0.06815296411514282 + ], + [ + -46.18214416503906, + -83.6944580078125, + 0.06815296411514282 + ], + [ + -46.18214416503906, + -84.68106079101562, + 1.8478050231933594 + ], + [ + -47.1522216796875, + -84.68106079101562, + 1.8478050231933594 + ], + [ + -47.1522216796875, + -83.6944580078125, + 1.8478050231933594 + ], + [ + -46.18214416503906, + -83.6944580078125, + 1.8478050231933594 + ] + ], + "corners_2d": [ + [ + 623.5842715457036, + 392.4743656451283 + ], + [ + 655.6602030755579, + 393.00001980203115 + ], + [ + 656.0227988513964, + 370.7425287016512 + ], + [ + 624.7321214680468, + 370.2423103294681 + ], + [ + 622.8770638030172, + 348.5197001676983 + ], + [ + 656.3352694023297, + 349.04146779844814 + ], + [ + 656.6958617847123, + 326.9713007971368 + ], + [ + 624.091147379794, + 326.4758274469219 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 585, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -81.19004821777344, + "z": 0.9665776491165161 + }, + "extent": { + "x": 0.4653882086277008, + "y": 0.4413110613822937, + "z": 0.9038727283477783 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 497.13868804748154, + "ymin": 262.8818391734768, + "xmax": 531.9341222489845, + "ymax": 327.47526263543114 + }, + "corners_3d": [ + [ + -42.2062873840332, + -81.73702239990234, + 0.06270492076873779 + ], + [ + -43.06962203979492, + -81.55351257324219, + 0.06270492076873779 + ], + [ + -42.876102447509766, + -80.64307403564453, + 0.06270492076873779 + ], + [ + -42.01276779174805, + -80.82658386230469, + 0.06270492076873779 + ], + [ + -42.2062873840332, + -81.73702239990234, + 1.8704503774642944 + ], + [ + -43.06962203979492, + -81.55351257324219, + 1.8704503774642944 + ], + [ + -42.876102447509766, + -80.64307403564453, + 1.8704503774642944 + ], + [ + -42.01276779174805, + -80.82658386230469, + 1.8704503774642944 + ] + ], + "corners_2d": [ + [ + 504.89734921419375, + 327.47526263543114 + ], + [ + 531.9341222489845, + 324.23784820831554 + ], + [ + 529.0597923822427, + 306.54561442937734 + ], + [ + 502.5840067193536, + 309.6477846184874 + ], + [ + 499.4233355085794, + 283.50264861199673 + ], + [ + 527.5730653291912, + 280.31029338500633 + ], + [ + 524.680798760557, + 262.8818391734768 + ], + [ + 497.13868804748154, + 265.9356166583833 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 479, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -77.24504852294922, + "z": 0.9949955344200134 + }, + "extent": { + "x": 0.46928465366363525, + "y": 0.4171459972858429, + "z": 0.9443322420120239 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 694.1629202980191, + "ymin": 196.96831589013027, + "xmax": 723.8026856807892, + "ymax": 257.7904972075345 + }, + "corners_3d": [ + [ + -48.55720138549805, + -77.75536346435547, + 0.0506632924079895 + ], + [ + -49.38692092895508, + -77.66815948486328, + 0.0506632924079895 + ], + [ + -49.288814544677734, + -76.73473358154297, + 0.0506632924079895 + ], + [ + -48.4590950012207, + -76.82193756103516, + 0.0506632924079895 + ], + [ + -48.55720138549805, + -77.75536346435547, + 1.9393277168273926 + ], + [ + -49.38692092895508, + -77.66815948486328, + 1.9393277168273926 + ], + [ + -49.288814544677734, + -76.73473358154297, + 1.9393277168273926 + ], + [ + -48.4590950012207, + -76.82193756103516, + 1.9393277168273926 + ] + ], + "corners_2d": [ + [ + 697.4041697696438, + 257.7904972075345 + ], + [ + 720.6816547884313, + 256.6579948400216 + ], + [ + 716.983520218132, + 241.3494791901118 + ], + [ + 694.1629202980191, + 242.43748537079938 + ], + [ + 699.6281346263688, + 213.04474829808512 + ], + [ + 723.8026856807892, + 211.9365102198375 + ], + [ + 719.9002117308011, + 196.96831589013027 + ], + [ + 696.2180649557263, + 198.03137735055446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 518, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -84.18775939941406, + "z": 0.9465093016624451 + }, + "extent": { + "x": 0.3282495141029358, + "y": 0.5807470679283142, + "z": 0.8887337446212769 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 930.5753695896676, + "ymin": 335.2771019810664, + "xmax": 987.9770212159497, + "ymax": 394.6333671903161 + }, + "corners_3d": [ + [ + -55.5864372253418, + -84.51600646972656, + 0.05777555704116821 + ], + [ + -56.747928619384766, + -84.51600646972656, + 0.05777555704116821 + ], + [ + -56.747928619384766, + -83.85951232910156, + 0.05777555704116821 + ], + [ + -55.5864372253418, + -83.85951232910156, + 0.05777555704116821 + ], + [ + -55.5864372253418, + -84.51600646972656, + 1.8352429866790771 + ], + [ + -56.747928619384766, + -84.51600646972656, + 1.8352429866790771 + ], + [ + -56.747928619384766, + -83.85951232910156, + 1.8352429866790771 + ], + [ + -55.5864372253418, + -83.85951232910156, + 1.8352429866790771 + ] + ], + "corners_2d": [ + [ + 934.925228987095, + 394.00212220613065 + ], + [ + 973.5958139367294, + 394.6333671903161 + ], + [ + 968.6065082160649, + 379.65485132908015 + ], + [ + 930.5753695896676, + 379.04420761382323 + ], + [ + 947.630161026178, + 350.1159446769555 + ], + [ + 987.9770212159497, + 350.74262710213975 + ], + [ + 982.5295898985291, + 335.8824732703647 + ], + [ + 942.8783141666308, + 335.2771019810664 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 725, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -50.28268051147461, + "y": -95.31512451171875, + "z": 0.9674907326698303 + }, + "extent": { + "x": 0.48062750697135925, + "y": 0.4931885302066803, + "z": 0.9380460977554321 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 769.2035326135737, + "ymin": 667.3493424098658, + "xmax": 826.4453721257751, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.7419548034668, + -95.74156951904297, + 0.029444634914398193 + ], + [ + -50.72292709350586, + -95.84467315673828, + 0.029444634914398193 + ], + [ + -50.82340621948242, + -94.88867950439453, + 0.029444634914398193 + ], + [ + -49.84243392944336, + -94.78557586669922, + 0.029444634914398193 + ], + [ + -49.7419548034668, + -95.74156951904297, + 1.9055368900299072 + ], + [ + -50.72292709350586, + -95.84467315673828, + 1.9055368900299072 + ], + [ + -50.82340621948242, + -94.88867950439453, + 1.9055368900299072 + ], + [ + -49.84243392944336, + -94.78557586669922, + 1.9055368900299072 + ] + ], + "corners_2d": [ + [ + 769.2035326135737, + 752.5961714917378 + ], + [ + 815.0783199251947, + 758.2928774369227 + ], + [ + 814.8268424992153, + 716.4402763972846 + ], + [ + 770.4540092476336, + 711.1110096184013 + ], + [ + 777.5521975748959, + 709.9393251977992 + ], + [ + 826.4453721257751, + 715.8018097529164 + ], + [ + 825.7812271997586, + 672.8104748007153 + ], + [ + 778.5904914417084, + 667.3493424098658 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 1002, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -92.35797882080078, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.37314572930336, + "y": 0.35438475012779236, + "z": 0.9305241703987122 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 125.2058806273892, + "ymin": 544.3005930683893, + "xmax": 196.09971392115892, + "ymax": 621.0767929703936 + }, + "corners_3d": [ + [ + -34.99762725830078, + -92.6492919921875, + 0.01129758358001709 + ], + [ + -35.6909065246582, + -92.7966537475586, + 0.01129758358001709 + ], + [ + -35.8460693359375, + -92.06666564941406, + 0.01129758358001709 + ], + [ + -35.15279006958008, + -91.91930389404297, + 0.01129758358001709 + ], + [ + -34.99762725830078, + -92.6492919921875, + 1.8723459243774414 + ], + [ + -35.6909065246582, + -92.7966537475586, + 1.8723459243774414 + ], + [ + -35.8460693359375, + -92.06666564941406, + 1.8723459243774414 + ], + [ + -35.15279006958008, + -91.91930389404297, + 1.8723459243774414 + ] + ], + "corners_2d": [ + [ + 152.81747432861647, + 615.2015262929468 + ], + [ + 178.75051185862077, + 621.0767929703936 + ], + [ + 196.09971392115892, + 595.4498968973312 + ], + [ + 170.6608090476933, + 589.8359514871759 + ], + [ + 125.2058806273892, + 569.999526525304 + ], + [ + 152.46511376946148, + 575.9613315633011 + ], + [ + 171.40515016657156, + 549.98269196617 + ], + [ + 144.6903073934795, + 544.3005930683893 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 232, + "instance_id": 59392, + "pixel_count": 684, + "type_id": "vehicle.toyota.prius", + "bbox_3d": { + "center_world": { + "x": -62.880393981933594, + "y": -94.98814392089844, + "z": 0.7607561349868774 + }, + "extent": { + "x": 2.256761312484741, + "y": 1.0034072399139404, + "z": 0.7624167203903198 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 1239.9707214214463, + "ymin": 653.5069197489058, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -60.625144958496094, + -93.98133850097656, + -0.00165654718875885 + ], + [ + -60.62212371826172, + -95.98815155029297, + -0.00165654718875885 + ], + [ + -65.1356430053711, + -95.99494934082031, + -0.0016646161675453186 + ], + [ + -65.13866424560547, + -93.9881362915039, + -0.0016646161675453186 + ], + [ + -60.62514877319336, + -93.98133850097656, + 1.523176908493042 + ], + [ + -60.622127532958984, + -95.98815155029297, + 1.523176908493042 + ], + [ + -65.1356430053711, + -95.99494934082031, + 1.5231688022613525 + ], + [ + -65.13866424560547, + -93.9881362915039, + 1.5231688022613525 + ] + ], + "corners_2d": [ + [ + 1239.9707214214463, + 689.0290523849595 + ], + [ + 1281.0555827339444, + 776.2182920483251 + ], + [ + 1496.0590224195946, + 781.4869350898985 + ], + [ + 1440.249424459642, + 693.60917758249 + ], + [ + 1269.4189876102732, + 653.5069197489058 + ], + [ + 1314.918430815908, + 742.5945281332504 + ], + [ + 1541.4730851828267, + 747.9982555857904 + ], + [ + 1479.6844073214017, + 658.1710225930829 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 846.7232851633878, + "ymin": 98.45610951137633, + "xmax": 861.7064138225023, + "ymax": 130.21271491982887 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 846.7232851633878, + 124.08815091442483 + ], + [ + 848.3827090462171, + 130.10875254843793 + ], + [ + 857.3411758182983, + 130.21271491982887 + ], + [ + 855.5979216690673, + 124.19018294158926 + ], + [ + 850.8350960713638, + 98.45610951137633 + ], + [ + 852.567331229687, + 104.35145673400592 + ], + [ + 861.7064138225023, + 104.45327563638381 + ], + [ + 859.8869505400844, + 98.55600044180073 + ] + ], + "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": 353.36879140882354, + "ymin": 240.57905872353308, + "xmax": 374.6338328249211, + "ymax": 277.8307304307167 + }, + "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": [ + [ + 360.3013273889723, + 277.6737989707884 + ], + [ + 371.21148682240687, + 277.8307304307167 + ], + [ + 374.6338328249211, + 268.7587172788397 + ], + [ + 363.84775368260415, + 268.6053544386581 + ], + [ + 353.36879140882354, + 249.5400700077126 + ], + [ + 364.5480161857755, + 249.6951870205241 + ], + [ + 368.1322845110195, + 240.730562473531 + ], + [ + 357.08329890105546, + 240.57905872353308 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 942.9309202463996, + "ymin": 99.53903502705396, + "xmax": 960.8180442268722, + "ymax": 131.34012407968768 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 942.9309202463996, + 125.19425368606318 + ], + [ + 945.5005618551363, + 131.23579834090256 + ], + [ + 954.4903400977315, + 131.34012407968768 + ], + [ + 951.8362851492518, + 125.29663899875692 + ], + [ + 948.9669697733451, + 99.53903502705396 + ], + [ + 951.6463756550918, + 105.45530052243788 + ], + [ + 960.8180442268722, + 105.55748246657384 + ], + [ + 958.0507913623977, + 99.63927872777583 + ] + ], + "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": 433.0043812128897, + "ymin": 173.83069517180027, + "xmax": 447.05772574506943, + "ymax": 202.61043455420358 + }, + "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": [ + [ + 436.78645149984595, + 202.5023192310702 + ], + [ + 445.1013593193801, + 202.61043455420358 + ], + [ + 447.05772574506943, + 196.3770991402792 + ], + [ + 438.81469812857733, + 196.27085266195473 + ], + [ + 433.0043812128897, + 179.97799786607195 + ], + [ + 441.4734839340149, + 180.08467048279294 + ], + [ + 443.49801971859256, + 173.93549001612834 + ], + [ + 435.1034758751044, + 173.83069517180027 + ] + ], + "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": 380.50814652081476, + "ymin": 176.5681970494611, + "xmax": 399.1367693500272, + "ymax": 211.43038089087057 + }, + "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": [ + [ + 386.2590242576153, + 211.29862006103687 + ], + [ + 396.26063768177465, + 211.43038089087057 + ], + [ + 399.1367693500272, + 203.80627816481555 + ], + [ + 389.239530405967, + 203.6772667316403 + ], + [ + 380.50814652081476, + 184.06845629479537 + ], + [ + 390.7354158558885, + 184.19815495791102 + ], + [ + 393.73530108083196, + 176.69512898742371 + ], + [ + 383.61714333865706, + 176.5681970494611 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 766.8036957413608, + "ymin": 97.55669770562997, + "xmax": 779.3822632168652, + "ymax": 129.27632713863318 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 766.8036957413608, + 123.16943163832795 + ], + [ + 767.7094077080968, + 129.1726660860434 + ], + [ + 776.6419080710025, + 129.27632713863318 + ], + [ + 775.652848237266, + 123.27117069387566 + ], + [ + 769.3221779145739, + 97.55669770562997 + ], + [ + 770.2702013730453, + 103.43469991889378 + ], + [ + 779.3822632168652, + 103.5362178014883 + ], + [ + 778.3475235670965, + 97.6562961193477 + ] + ], + "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": 326.54342243014435, + "ymin": 303.72327506874166, + "xmax": 350.55885272669894, + "ymax": 343.195346185821 + }, + "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": [ + [ + 334.7493393945225, + 343.01148957888154 + ], + [ + 346.55303334944904, + 343.195346185821 + ], + [ + 350.55885272669894, + 332.57665721926526 + ], + [ + 338.9002596170707, + 332.3973196071944 + ], + [ + 326.54342243014435, + 314.2541487754488 + ], + [ + 338.662694820141, + 314.4366242240656 + ], + [ + 342.875029153968, + 303.9011471780997 + ], + [ + 330.9086695131724, + 303.72327506874166 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1073.502043513669, + "ymin": 184.83208506938476, + "xmax": 1094.0597968548109, + "ymax": 213.96214729269346 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1073.502043513669, + 207.42144252019744 + ], + [ + 1077.0868119718307, + 213.8505867126131 + ], + [ + 1085.6311246600076, + 213.96214729269346 + ], + [ + 1081.970475839073, + 207.53104461977736 + ], + [ + 1081.6264016287882, + 184.83208506938476 + ], + [ + 1085.352588561266, + 191.1780960171411 + ], + [ + 1094.0597968548109, + 191.28823271957248 + ], + [ + 1090.254822201317, + 184.94025221274254 + ] + ], + "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": 717.5138163748425, + "ymin": 28.78742986867701, + "xmax": 1150.2386932416587, + "ymax": 273.6543672477774 + }, + "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": [ + [ + 1063.5982433779382, + 273.6543672477774 + ], + [ + 1059.9934544796272, + 266.2001253242288 + ], + [ + 717.5138163748425, + 259.6057739279431 + ], + [ + 717.8495249523198, + 266.9341773484314 + ], + [ + 1150.2386932416587, + 40.66972882489756 + ], + [ + 1144.9209926924989, + 34.35417561943245 + ], + [ + 733.0292981823565, + 28.78742986867701 + ], + [ + 733.609376971415, + 34.97501449568023 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 520448382005777854, + "instance_id": 48789, + "pixel_count": null, + "type_id": "BP_Lamppost_tall8_SM_0", + "bbox_3d": { + "center_world": { + "x": -19.3944149017334, + "y": -69.02778625488281, + "z": 3.636636972427368 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 30.99541645196382, + "xmax": 10.973716781238295, + "ymax": 62.667083392271934 + }, + "corners_3d": [ + [ + -20.361778259277344, + -70.11705780029297, + 3.4733119010925293 + ], + [ + -20.361783981323242, + -67.93851470947266, + 3.4733152389526367 + ], + [ + -18.427051544189453, + -67.93851470947266, + 3.4733152389526367 + ], + [ + -18.427045822143555, + -70.11705780029297, + 3.4733119010925293 + ], + [ + -20.361778259277344, + -70.11705780029297, + 3.7999587059020996 + ], + [ + -20.361783981323242, + -67.93851470947266, + 3.799962043762207 + ], + [ + -18.427051544189453, + -67.93851470947266, + 3.799962043762207 + ], + [ + -18.427045822143555, + -70.11705780029297, + 3.7999587059020996 + ] + ], + "corners_2d": [ + [ + -16.99614756615631, + 62.667083392271934 + ], + [ + 10.973716781238295, + 39.146982444499486 + ], + [ + -35.398164117843635, + 38.67760369567765 + ], + [ + -65.3083142090162, + 62.157064526538534 + ], + [ + -20.829243336489185, + 54.790320812793595 + ], + [ + 7.4539539443850344, + 31.460877616098855 + ], + [ + -39.174187640827654, + 30.99541645196382 + ], + [ + -69.41962481733242, + 54.28431879667812 + ] + ], + "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": 276.658282892867, + "ymin": 131.7799073143741, + "xmax": 386.7856602488969, + "ymax": 290.27718278324176 + }, + "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": [ + [ + 371.99771717875103, + 290.27718278324176 + ], + [ + 386.7856602488969, + 250.35709977365536 + ], + [ + 329.5583334658705, + 249.56267706911257 + ], + [ + 311.8065178802085, + 289.39782201774585 + ], + [ + 343.26100058491807, + 169.91916000023457 + ], + [ + 361.11622565105137, + 132.52014889492148 + ], + [ + 298.12347076306605, + 131.7799073143741 + ], + [ + 276.658282892867, + 169.09105362229982 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4931911690494204353, + "instance_id": 49625, + "pixel_count": null, + "type_id": "BP_Lamppost_tall8_SM_2", + "bbox_3d": { + "center_world": { + "x": -19.394060134887695, + "y": -69.02775573730469, + "z": 2.5271682739257812 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 4.595519006904851, + "xmax": 46.40107160297907, + "ymax": 137.91697357493658 + }, + "corners_3d": [ + [ + -20.422487258911133, + -70.17810821533203, + 0.1843433380126953 + ], + [ + -20.422487258911133, + -67.87740325927734, + 0.1843433380126953 + ], + [ + -18.365633010864258, + -67.87740325927734, + 0.1843433380126953 + ], + [ + -18.365633010864258, + -70.17810821533203, + 0.1843433380126953 + ], + [ + -20.422487258911133, + -70.17810821533203, + 4.869993209838867 + ], + [ + -20.422487258911133, + -67.87740325927734, + 4.869993209838867 + ], + [ + -18.365633010864258, + -67.87740325927734, + 4.869993209838867 + ], + [ + -18.365633010864258, + -70.17810821533203, + 4.869993209838867 + ] + ], + "corners_2d": [ + [ + 19.961694914462782, + 137.91697357493658 + ], + [ + 46.40107160297907, + 111.36217600940034 + ], + [ + -0.26298180448623043, + 110.82867771300391 + ], + [ + -28.654156300815657, + 137.33733329740105 + ], + [ + -33.00700807420992, + 29.010268754587457 + ], + [ + -2.079528354787385, + 5.074698560708043 + ], + [ + -52.50660214720892, + 4.595519006904851 + ], + [ + -85.72101610217987, + 28.486026799281888 + ] + ], + "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": 271.4504991138974, + "ymin": 27.56045794611373, + "xmax": 451.7993044789359, + "ymax": 530.9191840782687 + }, + "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": [ + [ + 451.7993044789359, + 258.38321596598576 + ], + [ + 439.7090665037101, + 258.14927912084175 + ], + [ + 354.40120602648864, + 530.491487066802 + ], + [ + 370.71477847028495, + 530.9191840782687 + ], + [ + 414.1995810589609, + 27.757467463577314 + ], + [ + 399.7084052661979, + 27.56045794611373 + ], + [ + 271.4504991138974, + 274.2436000407964 + ], + [ + 292.46098808842396, + 274.66034896394615 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 409.0482264299323, + "ymin": 0.0, + "xmax": 472.81698144763817, + "ymax": 36.13664382712784 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 465.7497238790885, + 36.13664382712784 + ], + [ + 472.81698144763817, + 17.095051705223398 + ], + [ + 432.8675735908713, + 16.710006833245473 + ], + [ + 424.3781745234435, + 35.72358057239484 + ], + [ + 453.35120095669083, + -61.81436430153917 + ], + [ + 461.3601402135912, + -78.54751950434274 + ], + [ + 418.68401627866234, + -78.88503901884906 + ], + [ + 409.0482264299323, + -62.17822363544201 + ] + ], + "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": 287.84280442215305, + "ymin": 161.71222209815883, + "xmax": 367.0624027347712, + "ymax": 207.314036229444 + }, + "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": [ + [ + 351.01807592897217, + 207.314036229444 + ], + [ + 367.0624027347712, + 171.01393932956978 + ], + [ + 309.4565940245538, + 170.29686171484133 + ], + [ + 290.3869583327798, + 206.51915619610668 + ], + [ + 348.91280582151376, + 198.53227121451883 + ], + [ + 365.17457672410575, + 162.42522017919694 + ], + [ + 307.1727310585839, + 161.71222209815883 + ], + [ + 287.84280442215305, + 197.7413354680751 + ] + ], + "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": 287.89164404639877, + "ymin": 161.73094252650372, + "xmax": 367.0060026688083, + "ymax": 207.23434418307681 + }, + "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": [ + [ + 350.9759832582681, + 207.23434418307681 + ], + [ + 367.0060026688083, + 170.97538524091783 + ], + [ + 309.4671517970559, + 170.2590593341202 + ], + [ + 290.41859762057766, + 206.44038325455466 + ], + [ + 348.88445499419686, + 198.51059476871984 + ], + [ + 365.13027802936097, + 162.44321976637335 + ], + [ + 307.1984676888085, + 161.73094252650372 + ], + [ + 287.89164404639877, + 197.7205485107999 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11665211921157023400, + "instance_id": 43110, + "pixel_count": null, + "type_id": "BP_Lamppost_tall8_SM_1", + "bbox_3d": { + "center_world": { + "x": -19.394420623779297, + "y": -69.02778625488281, + "z": 3.637737274169922 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 31.007541694622603, + "xmax": 10.906992403208392, + "ymax": 62.60098837729811 + }, + "corners_3d": [ + [ + -20.3605899810791, + -70.1158676147461, + 3.475497007369995 + ], + [ + -20.360593795776367, + -67.93971252441406, + 3.4755005836486816 + ], + [ + -18.428251266479492, + -67.93970489501953, + 3.4755005836486816 + ], + [ + -18.428247451782227, + -70.11585998535156, + 3.475497007369995 + ], + [ + -20.3605899810791, + -70.1158676147461, + 3.799973964691162 + ], + [ + -20.360593795776367, + -67.93971252441406, + 3.7999775409698486 + ], + [ + -18.428251266479492, + -67.93970489501953, + 3.7999775409698486 + ], + [ + -18.428247451782227, + -70.11585998535156, + 3.799973964691162 + ] + ], + "corners_2d": [ + [ + -17.03541106476564, + 62.60098837729811 + ], + [ + 10.906992403208392, + 39.10796113904337 + ], + [ + -35.41023238918251, + 38.63908813958426 + ], + [ + -65.28853563923576, + 62.09156382449402 + ], + [ + -20.84318213981885, + 54.77635094837541 + ], + [ + 7.410161987356446, + 31.47252683980082 + ], + [ + -39.16132633612597, + 31.007541694622603 + ], + [ + -69.37232879493251, + 54.27091268024941 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1251.7706234813234, + "ymin": 289.1406182326466, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1568.357996597531, + 1135.3436987122 + ], + [ + 1594.8952646679968, + 1136.4093522034314 + ], + [ + 1268.6939242837423, + 546.1572610626232 + ], + [ + 1251.7706234813234, + 545.7170214800933 + ], + [ + 2079.836476219727, + 982.5060060475635 + ], + [ + 2121.5213693328874, + 984.0062906487057 + ], + [ + 1454.8396621860068, + 289.5732409584908 + ], + [ + 1432.8083092628103, + 289.1406182326466 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17408989212588188295, + "instance_id": 34594, + "pixel_count": null, + "type_id": "BP_HighwayLight_simple_5_SM_2", + "bbox_3d": { + "center_world": { + "x": -75.30853271484375, + "y": -56.101219177246094, + "z": 5.664507865905762 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1170.8580950482924, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 46.368844913451596 + }, + "corners_3d": [ + [ + -75.6749038696289, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -74.94214630126953, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -74.9421615600586, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -75.67491912841797, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -75.6749038696289, + -52.1658935546875, + 11.14326000213623 + ], + [ + -74.94214630126953, + -52.1658935546875, + 11.14326000213623 + ], + [ + -74.9421615600586, + -60.03654479980469, + 11.14326000213623 + ], + [ + -75.67491912841797, + -60.03654479980469, + 11.14326000213623 + ] + ], + "corners_2d": [ + [ + 1184.391330041134, + -15.890383194068477 + ], + [ + 1170.8580950482924, + -16.011185252831524 + ], + [ + 1233.2089751340072, + 46.21605843385481 + ], + [ + 1248.4458952347431, + 46.368844913451596 + ], + [ + 1273.5531918386373, + -249.8771470137466 + ], + [ + 1257.7789787104275, + -249.95187832978047 + ], + [ + 1344.7165060866269, + -210.65629803454965 + ], + [ + 1362.8545262955668, + -210.5578011887028 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1162.1827961921583, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 250.60719791992858 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1162.1827961921583, + 126.45025388841708 + ], + [ + 1344.731916848949, + 250.60719791992858 + ], + [ + 1545.6214762396094, + 203.96484233186644 + ], + [ + 1341.5966060136257, + 93.37570707277166 + ], + [ + 1325.0093121751636, + -274.6428950489244 + ], + [ + 1623.819923715631, + -209.62528888767486 + ], + [ + 1874.4981887070533, + -235.00637863218628 + ], + [ + 1545.813573096496, + -290.6610885380079 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00013/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00013/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..aa2c28a231004428950bb495bcb0b5d4ad1b04da --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00013/meta.json @@ -0,0 +1,3023 @@ +{ + "frame_id": 13, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 6.5, + "sim_timestamp": 13282.56825538096 + }, + "drone_pose": { + "x": -47.28337471575637, + "y": -104.43504588890184, + "z": 20.298884664667575, + "pitch": -42.29775220404636, + "yaw": 88.33883246243519, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.021441876888275146, + -0.7393466234207153, + 0.6729835271835327, + 64.56672668457031 + ], + [ + 0.999579668045044, + 0.028988957405090332, + 0.0, + -44.236045837402344 + ], + [ + -0.019509077072143555, + 0.6727007031440735, + 0.739657461643219, + -86.19020080566406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.327053497691864, + "y": -103.92543078643432, + "z": 20.270870769169704 + }, + "t1_image_uv": [ + 782.1241689019648, + -421.34508974134303 + ], + "t1_depth": 0.3946985562109662 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -83.18776321411133, + "z": 0.9587407172471285 + }, + "image_uv": [ + 640.0000000000001, + 360.0 + ], + "depth": 28.737917135652715, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 688, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -83.18775939941406, + "z": 0.9587406516075134 + }, + "extent": { + "x": 0.48158445954322815, + "y": 0.4969579875469208, + "z": 0.8853870034217834 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 622.3618154122046, + "ymin": 326.7120068943969, + "xmax": 657.2104781470614, + "ymax": 392.76118903591043 + }, + "corners_3d": [ + [ + -46.170223236083984, + -83.66934204101562, + 0.07335364818572998 + ], + [ + -47.16414260864258, + -83.66934204101562, + 0.07335364818572998 + ], + [ + -47.16414260864258, + -82.7061767578125, + 0.07335364818572998 + ], + [ + -46.170223236083984, + -82.7061767578125, + 0.07335364818572998 + ], + [ + -46.170223236083984, + -83.66934204101562, + 1.8441276550292969 + ], + [ + -47.16414260864258, + -83.66934204101562, + 1.8441276550292969 + ], + [ + -47.16414260864258, + -82.7061767578125, + 1.8441276550292969 + ], + [ + -46.170223236083984, + -82.7061767578125, + 1.8441276550292969 + ] + ], + "corners_2d": [ + [ + 623.0869149684892, + 392.0949591898685 + ], + [ + 656.0002034405447, + 392.76118903591043 + ], + [ + 656.5194293538434, + 371.01749863645495 + ], + [ + 624.3949131005472, + 370.38284468144 + ], + [ + 622.3618154122046, + 348.23617769497 + ], + [ + 656.6866921645769, + 348.89734030206967 + ], + [ + 657.2104781470614, + 327.3405399804359 + ], + [ + 623.7426015173531, + 326.7120068943969 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 13, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 90, + "semantic_pixel_counts": { + "1": 572769, + "2": 123476, + "3": 83430, + "4": 20039, + "6": 11529, + "7": 2865, + "9": 21440, + "10": 38380, + "12": 3945, + "14": 5027, + "20": 3072, + "21": 5925, + "24": 29703 + }, + "instance_pixel_counts": { + "143": 7072, + "1167": 7926, + "1679": 15912, + "2703": 17878, + "3727": 6876, + "3749": 99, + "4261": 100, + "5714": 256, + "6565": 111, + "8018": 2, + "8530": 6, + "8556": 2430, + "8579": 1100, + "9042": 21, + "9068": 3195, + "9580": 2418, + "10092": 2298, + "12396": 2304, + "12675": 6, + "14444": 251, + "15186": 8044, + "15698": 8518, + "16210": 5043, + "16722": 686, + "19796": 674, + "22381": 4058, + "22784": 6327, + "22893": 3636, + "23441": 4941, + "23552": 6843, + "23953": 5611, + "24429": 5040, + "24465": 4986, + "24941": 5453, + "24977": 4836, + "25489": 3653, + "25965": 3614, + "26696": 20039, + "26987": 1139, + "26989": 1117, + "27243": 58, + "27719": 37642, + "28231": 32263, + "28523": 87, + "28779": 1583, + "30548": 527, + "31142": 8, + "31572": 573, + "31633": 4029, + "31654": 13, + "32084": 3253, + "32145": 5077, + "32657": 4104, + "33169": 2646, + "40358": 2830, + "42918": 1969, + "51815": 220041, + "52327": 38955, + "53351": 74632, + "53863": 204491, + "54375": 34371, + "54887": 279, + "54889": 13912, + "55401": 1124, + "55913": 1965, + "56173": 21440, + "56320": 688, + "56425": 11693, + "56486": 14, + "56576": 612, + "56742": 36, + "56832": 494, + "56937": 970, + "57088": 547, + "57344": 715, + "57449": 39, + "57600": 889, + "58022": 11, + "58790": 17, + "59522": 124, + "59762": 2866, + "60070": 35, + "60274": 452, + "62827": 223, + "63083": 120, + "63314": 4726, + "63339": 395, + "64594": 105, + "64654": 7252, + "64850": 69 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 688, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -83.18775939941406, + "z": 0.9587406516075134 + }, + "extent": { + "x": 0.48323729634284973, + "y": 0.6007617115974426, + "z": 0.8890008926391602 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 618.7756225466474, + "ymin": 326.5174944901056, + "xmax": 660.7111389664586, + "ymax": 392.95495665958697 + }, + "corners_3d": [ + [ + -46.06642150878906, + -83.6709976196289, + 0.06973975896835327 + ], + [ + -47.2679443359375, + -83.6709976196289, + 0.06973975896835327 + ], + [ + -47.2679443359375, + -82.70452117919922, + 0.06973975896835327 + ], + [ + -46.06642150878906, + -82.70452117919922, + 0.06973975896835327 + ], + [ + -46.06642150878906, + -83.6709976196289, + 1.8477416038513184 + ], + [ + -47.2679443359375, + -83.6709976196289, + 1.8477416038513184 + ], + [ + -47.2679443359375, + -82.70452117919922, + 1.8477416038513184 + ], + [ + -46.06642150878906, + -82.70452117919922, + 1.8477416038513184 + ] + ], + "corners_2d": [ + [ + 619.6516068929201, + 392.14949223157873 + ], + [ + 659.4379527810088, + 392.95495665958697 + ], + [ + 659.8761746854298, + 371.1329026499592 + ], + [ + 621.046475159517, + 370.36573810287064 + ], + [ + 618.7756225466474, + 348.1117718249007 + ], + [ + 660.2755196183123, + 348.9110876802563 + ], + [ + 660.7111389664586, + 327.27722717195917 + ], + [ + 620.2509893167006, + 326.5174944901056 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 612, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -80.19004821777344, + "z": 0.973345160484314 + }, + "extent": { + "x": 0.45191895961761475, + "y": 0.5011670589447021, + "z": 0.9219990372657776 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 495.67825553723657, + "ymin": 261.8569723542453, + "xmax": 534.0881138361227, + "ymax": 327.25564977444344 + }, + "corners_3d": [ + [ + -42.14493942260742, + -80.73628997802734, + 0.05134612321853638 + ], + [ + -43.125370025634766, + -80.52789306640625, + 0.05134612321853638 + ], + [ + -42.93745040893555, + -79.64380645751953, + 0.05134612321853638 + ], + [ + -41.9570198059082, + -79.85220336914062, + 0.05134612321853638 + ], + [ + -42.14493942260742, + -80.73628997802734, + 1.8953442573547363 + ], + [ + -43.125370025634766, + -80.52789306640625, + 1.8953442573547363 + ], + [ + -42.93745040893555, + -79.64380645751953, + 1.8953442573547363 + ], + [ + -41.9570198059082, + -79.85220336914062, + 1.8953442573547363 + ] + ], + "corners_2d": [ + [ + 503.35330972640554, + 327.25564977444344 + ], + [ + 534.0881138361227, + 323.69214550608 + ], + [ + 531.402584896377, + 306.51278368632916 + ], + [ + 501.2899262450618, + 309.9312359562255 + ], + [ + 497.70399235868007, + 282.281044495861 + ], + [ + 529.7287739340472, + 278.7693435275085 + ], + [ + 527.0281301064128, + 261.8569723542453 + ], + [ + 495.67825553723657, + 265.22002186747096 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 494, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -76.24504852294922, + "z": 0.9973393678665161 + }, + "extent": { + "x": 0.45866209268569946, + "y": 0.4265063405036926, + "z": 0.9318646788597107 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 695.164259129472, + "ymin": 197.56467308671392, + "xmax": 725.2068056795767, + "ymax": 257.5181055508359 + }, + "corners_3d": [ + [ + -48.54677963256836, + -76.74578094482422, + 0.06547468900680542 + ], + [ + -49.39512252807617, + -76.6566162109375, + 0.06547468900680542 + ], + [ + -49.29923629760742, + -75.74431610107422, + 0.06547468900680542 + ], + [ + -48.45089340209961, + -75.83348083496094, + 0.06547468900680542 + ], + [ + -48.54677963256836, + -76.74578094482422, + 1.929203987121582 + ], + [ + -49.39512252807617, + -76.6566162109375, + 1.929203987121582 + ], + [ + -49.29923629760742, + -75.74431610107422, + 1.929203987121582 + ], + [ + -48.45089340209961, + -75.83348083496094, + 1.929203987121582 + ] + ], + "corners_2d": [ + [ + 698.2159491979668, + 257.5181055508359 + ], + [ + 722.073606838063, + 256.43916986114607 + ], + [ + 718.5620894855485, + 241.46508963766178 + ], + [ + 695.164259129472, + 242.50243609043392 + ], + [ + 700.4416042036386, + 213.26221271618002 + ], + [ + 725.2068056795767, + 212.20638550836395 + ], + [ + 721.5007213087912, + 197.56467308671392 + ], + [ + 697.230631649686, + 198.57829391916897 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 547, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -83.18775939941406, + "z": 0.9441850781440735 + }, + "extent": { + "x": 0.30413818359375, + "y": 0.428901344537735, + "z": 0.8926163911819458 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 936.5764491726962, + "ymin": 336.9315078245849, + "xmax": 983.5415404245026, + "ymax": 395.506573938817 + }, + "corners_3d": [ + [ + -55.73828125, + -83.49189758300781, + 0.051568686962127686 + ], + [ + -56.59608459472656, + -83.49189758300781, + 0.051568686962127686 + ], + [ + -56.59608459472656, + -82.88362121582031, + 0.051568686962127686 + ], + [ + -55.73828125, + -82.88362121582031, + 0.051568686962127686 + ], + [ + -55.73828125, + -83.49189758300781, + 1.836801528930664 + ], + [ + -56.59608459472656, + -83.49189758300781, + 1.836801528930664 + ], + [ + -56.59608459472656, + -82.88362121582031, + 1.836801528930664 + ], + [ + -55.73828125, + -82.88362121582031, + 1.836801528930664 + ] + ], + "corners_2d": [ + [ + 940.6018329830822, + 394.9286592731671 + ], + [ + 969.2650877866499, + 395.506573938817 + ], + [ + 964.7981337153255, + 381.5834448293432 + ], + [ + 936.5764491726962, + 381.02309349510057 + ], + [ + 953.6268430822788, + 350.7244572353297 + ], + [ + 983.5415404245026, + 351.29808760171017 + ], + [ + 978.6559897129639, + 337.48696748455546 + ], + [ + 949.2219373864064, + 336.9315078245849 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 715, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -50.28268051147461, + "y": -94.31512451171875, + "z": 0.9646391272544861 + }, + "extent": { + "x": 0.47938722372055054, + "y": 0.3458496332168579, + "z": 0.9315986633300781 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 773.5327641698811, + "ymin": 669.6518087493798, + "xmax": 816.5183437502459, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.888614654541016, + -94.7557373046875, + 0.03304046392440796 + ], + [ + -50.5765266418457, + -94.82803344726562, + 0.03304046392440796 + ], + [ + -50.6767463684082, + -93.87451171875, + 0.03304046392440796 + ], + [ + -49.988834381103516, + -93.80221557617188, + 0.03304046392440796 + ], + [ + -49.888614654541016, + -94.7557373046875, + 1.896237850189209 + ], + [ + -50.5765266418457, + -94.82803344726562, + 1.896237850189209 + ], + [ + -50.6767463684082, + -93.87451171875, + 1.896237850189209 + ], + [ + -49.988834381103516, + -93.80221557617188, + 1.896237850189209 + ] + ], + "corners_2d": [ + [ + 773.5327641698811, + 754.817790178748 + ], + [ + 805.8106940229067, + 759.0023870989903 + ], + [ + 806.0993126418797, + 717.1597363844423 + ], + [ + 774.8784874104294, + 713.2453964970518 + ], + [ + 782.1258010434497, + 712.3270202723886 + ], + [ + 816.5183437502459, + 716.6325998035961 + ], + [ + 816.4509052231809, + 673.6623238283498 + ], + [ + 783.2559470539024, + 669.6518087493798 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 889, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -91.35797882080078, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.3990808129310608, + "y": 0.524951159954071, + "z": 0.9447332620620728 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 115.62734361277501, + "ymin": 539.6273517537373, + "xmax": 201.06574383470257, + "ymax": 621.95207698896 + }, + "corners_3d": [ + [ + -34.82539367675781, + -91.63919830322266, + -0.002911508083343506 + ], + [ + -35.85235595703125, + -91.85748291015625, + -0.002911508083343506 + ], + [ + -36.01830291748047, + -91.0767593383789, + -0.002911508083343506 + ], + [ + -34.99134063720703, + -90.85847473144531, + -0.002911508083343506 + ], + [ + -34.82539367675781, + -91.63919830322266, + 1.8865549564361572 + ], + [ + -35.85235595703125, + -91.85748291015625, + 1.8865549564361572 + ], + [ + -36.01830291748047, + -91.0767593383789, + 1.8865549564361572 + ], + [ + -34.99134063720703, + -90.85847473144531, + 1.8865549564361572 + ] + ], + "corners_2d": [ + [ + 144.13390546724156, + 613.0491212891768 + ], + [ + 182.41748142462166, + 621.95207698896 + ], + [ + 201.06574383470257, + 594.5622061049494 + ], + [ + 163.5558989768839, + 586.0820010684924 + ], + [ + 115.62734361277501, + 566.9399386746543 + ], + [ + 155.8918337342384, + 575.9734605366572 + ], + [ + 176.2695999463723, + 548.2080985280106 + ], + [ + 136.85829614748735, + 539.6273517537373 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 852.566290687143, + "ymin": 114.4479347987212, + "xmax": 868.0884906919038, + "ymax": 146.9527188187874 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 852.566290687143, + 140.48345146074567 + ], + [ + 854.2605689423331, + 146.81738076738966 + ], + [ + 863.477645791179, + 146.9527188187874 + ], + [ + 861.6945883103936, + 140.6162051705176 + ], + [ + 856.9081709908759, + 114.4479347987212 + ], + [ + 858.680320272893, + 120.65514630753327 + ], + [ + 868.0884906919038, + 120.78780356573591 + ], + [ + 866.2238613244738, + 114.57800741327088 + ] + ], + "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": 342.2154597494121, + "ymin": 263.21934567148884, + "xmax": 364.62854359166784, + "ymax": 301.43249426687805 + }, + "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": [ + [ + 349.6414412111273, + 301.2264465076969 + ], + [ + 360.88688246303485, + 301.43249426687805 + ], + [ + 364.62854359166784, + 291.8065008018526 + ], + [ + 353.51497141539613, + 291.6052915837269 + ], + [ + 342.2154597494121, + 272.73865530671895 + ], + [ + 353.74665394508366, + 272.9425848289575 + ], + [ + 357.6693501693792, + 263.4183661243042 + ], + [ + 346.27677030167695, + 263.21934567148884 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 951.566129758749, + "ymin": 115.85867907609986, + "xmax": 970.1726260329622, + "ymax": 148.42114202116332 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 951.566129758749, + 141.9232156365002 + ], + [ + 954.2251874286842, + 148.28520151973106 + ], + [ + 963.4832935978728, + 148.42114202116332 + ], + [ + 960.7346703848677, + 142.05655460413115 + ], + [ + 957.9444796208668, + 115.85867907609986 + ], + [ + 960.721708721705, + 122.09395217646849 + ], + [ + 970.1726260329622, + 122.22721217519035 + ], + [ + 967.3020808908227, + 115.98933688239342 + ] + ], + "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": 428.03485545542765, + "ymin": 189.46235340194093, + "xmax": 442.61335885060527, + "ymax": 218.81935802215003 + }, + "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": [ + [ + 431.99660401125016, + 218.67954088298464 + ], + [ + 440.5034597481128, + 218.81935802215003 + ], + [ + 442.61335885060527, + 212.30394742812456 + ], + [ + 434.18177834319965, + 212.16660700262568 + ], + [ + 428.03485545542765, + 195.89167169991012 + ], + [ + 436.7029980508503, + 196.029717699735 + ], + [ + 438.8871794355403, + 189.5979081144888 + ], + [ + 430.2971803268362, + 189.46235340194093 + ] + ], + "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": 371.8143157802548, + "ymin": 195.44032684545317, + "xmax": 391.3347455433169, + "ymax": 231.14637576170844 + }, + "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": [ + [ + 377.9254723120191, + 230.97433528779425 + ], + [ + 388.20751277791646, + 231.14637576170844 + ], + [ + 391.3347455433169, + 223.10108893700945 + ], + [ + 381.163059254865, + 222.9327456480174 + ], + [ + 371.8143157802548, + 203.362210364215 + ], + [ + 382.3347283611273, + 203.53173346847274 + ], + [ + 385.59901141311764, + 195.60612330851518 + ], + [ + 375.19410013730095, + 195.44032684545317 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 770.3981031557099, + "ymin": 113.2772600477289, + "xmax": 783.3708814399158, + "ymax": 145.7341287829918 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 770.3981031557099, + 139.28859686926296 + ], + [ + 771.2948687112003, + 145.59928966694247 + ], + [ + 780.477964235572, + 145.7341287829918 + ], + [ + 779.4930687471888, + 139.42086585347414 + ], + [ + 773.0566497427556, + 113.2772600477289 + ], + [ + 773.9981104163348, + 119.46123379125277 + ], + [ + 783.3708814399158, + 119.59339193637703 + ], + [ + 782.3376308330664, + 113.4068480513157 + ] + ], + "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": 312.7892070516869, + "ymin": 330.45963215406283, + "xmax": 338.24672345755937, + "ymax": 371.00573081764804 + }, + "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": [ + [ + 321.64546966231717, + 370.76300298641416 + ], + [ + 333.8433253794297, + 371.00573081764804 + ], + [ + 338.24672345755937, + 359.67732378055916 + ], + [ + 326.2038642323232, + 359.44077308043217 + ], + [ + 312.7892070516869, + 341.7104691980938 + ], + [ + 325.32399027665133, + 341.951754257161 + ], + [ + 329.96042116011677, + 330.6946093196648 + ], + [ + 317.58925734279757, + 330.45963215406283 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1085.3836109882882, + "ymin": 203.01327014237975, + "xmax": 1106.8034086155906, + "ymax": 232.79917204681888 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1085.3836109882882, + 225.89118291685276 + ], + [ + 1089.1131848828368, + 232.65396606066724 + ], + [ + 1097.910327565853, + 232.79917204681888 + ], + [ + 1094.1002820896865, + 226.0337682983457 + ], + [ + 1093.951800955141, + 203.01327014237975 + ], + [ + 1097.8336864330217, + 209.6940428259097 + ], + [ + 1106.8034086155906, + 209.83751372592428 + ], + [ + 1102.8378785590476, + 203.1541021657926 + ] + ], + "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": 719.5497732925153, + "ymin": 43.03225857374156, + "xmax": 1166.20208170059, + "ymax": 292.9765130705332 + }, + "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": [ + [ + 1074.642466955781, + 292.9765130705332 + ], + [ + 1070.9044238347883, + 285.15593716171077 + ], + [ + 719.5497732925153, + 277.06405487887537 + ], + [ + 719.8440939098053, + 284.7261920752327 + ], + [ + 1166.20208170059, + 56.5935993603581 + ], + [ + 1160.6130623792437, + 49.914479553143565 + ], + [ + 735.9086791893037, + 43.03225857374156 + ], + [ + 736.4557793471208, + 49.54824739973685 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 520448382005777854, + "instance_id": 48789, + "pixel_count": null, + "type_id": "BP_Lamppost_tall8_SM_0", + "bbox_3d": { + "center_world": { + "x": -19.3944149017334, + "y": -69.02778625488281, + "z": 3.636636972427368 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 39.78407476847593, + "xmax": 1.740308970156093, + "ymax": 72.41867265683334 + }, + "corners_3d": [ + [ + -20.361778259277344, + -70.11705780029297, + 3.4733119010925293 + ], + [ + -20.361783981323242, + -67.93851470947266, + 3.4733152389526367 + ], + [ + -18.427051544189453, + -67.93851470947266, + 3.4733152389526367 + ], + [ + -18.427045822143555, + -70.11705780029297, + 3.4733119010925293 + ], + [ + -20.361778259277344, + -70.11705780029297, + 3.7999587059020996 + ], + [ + -20.361783981323242, + -67.93851470947266, + 3.799962043762207 + ], + [ + -18.427051544189453, + -67.93851470947266, + 3.799962043762207 + ], + [ + -18.427045822143555, + -70.11705780029297, + 3.7999587059020996 + ] + ], + "corners_2d": [ + [ + -27.46746627488028, + 72.41867265683334 + ], + [ + 1.740308970156093, + 48.149584835967914 + ], + [ + -45.274576791698564, + 47.55105854290372 + ], + [ + -76.47927370451077, + 71.76733040682217 + ], + [ + -31.42734642263804, + 64.45289973845087 + ], + [ + -1.888546547347346, + 40.37767058916495 + ], + [ + -49.16656183184125, + 39.78407476847593 + ], + [ + -80.72517232784378, + 63.806605850201265 + ] + ], + "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": 267.1845753655763, + "ymin": 146.26213133775474, + "xmax": 381.36969495702766, + "ymax": 308.0298925199788 + }, + "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": [ + [ + 365.547141209547, + 308.0298925199788 + ], + [ + 381.36969495702766, + 266.38165379321777 + ], + [ + 322.9595961483178, + 265.35792345939973 + ], + [ + 304.0437992417558, + 306.89397579390004 + ], + [ + 335.3894423758168, + 186.38069622202607 + ], + [ + 354.5408802481515, + 147.2192716214636 + ], + [ + 290.1193001886673, + 146.26213133775474 + ], + [ + 267.1845753655763, + 185.30681799493556 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4931911690494204353, + "instance_id": 49625, + "pixel_count": null, + "type_id": "BP_Lamppost_tall8_SM_2", + "bbox_3d": { + "center_world": { + "x": -19.394060134887695, + "y": -69.02775573730469, + "z": 2.5271682739257812 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 13.066829775279984, + "xmax": 38.21683719864029, + "ymax": 148.4611198514511 + }, + "corners_3d": [ + [ + -20.422487258911133, + -70.17810821533203, + 0.1843433380126953 + ], + [ + -20.422487258911133, + -67.87740325927734, + 0.1843433380126953 + ], + [ + -18.365633010864258, + -67.87740325927734, + 0.1843433380126953 + ], + [ + -18.365633010864258, + -70.17810821533203, + 0.1843433380126953 + ], + [ + -20.422487258911133, + -70.17810821533203, + 4.869993209838867 + ], + [ + -20.422487258911133, + -67.87740325927734, + 4.869993209838867 + ], + [ + -18.365633010864258, + -67.87740325927734, + 4.869993209838867 + ], + [ + -18.365633010864258, + -70.17810821533203, + 4.869993209838867 + ] + ], + "corners_2d": [ + [ + 10.639284170619248, + 148.4611198514511 + ], + [ + 38.21683719864029, + 121.09343502802301 + ], + [ + -9.062098676482151, + 120.41393428889589 + ], + [ + -38.645653922525526, + 147.72177725015612 + ], + [ + -44.052460966894614, + 38.388784631393264 + ], + [ + -11.7367468092109, + 13.678109897121999 + ], + [ + -62.87779510678786, + 13.066829775279984 + ], + [ + -97.54869401975225, + 37.71888810507323 + ] + ], + "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": 253.55856818107253, + "ymin": 40.92779700585476, + "xmax": 447.71631409125644, + "ymax": 561.4435153629627 + }, + "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": [ + [ + 447.71631409125644, + 274.8687525219725 + ], + [ + 435.36600921480397, + 274.5828803951117 + ], + [ + 343.14022372394874, + 560.9120956744898 + ], + [ + 359.93449464336084, + 561.4435153629627 + ], + [ + 408.3067087147483, + 41.17012721772193 + ], + [ + 393.44346528280494, + 40.92779700585476 + ], + [ + 253.55856818107253, + 303.1459286728039 + ], + [ + 275.3663230520695, + 303.67181648730576 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 407.59213364147644, + "ymin": 0.0, + "xmax": 472.6690573896122, + "ymax": 44.61392320345158 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 465.2176585442112, + 44.61392320345158 + ], + [ + 472.6690573896122, + 25.03756944383133 + ], + [ + 432.1556735949502, + 24.548259281078117 + ], + [ + 423.23987954247264, + 44.08840757979846 + ], + [ + 452.58750434707247, + -54.42107524250554 + ], + [ + 461.0310127577452, + -71.64339996611761 + ], + [ + 417.7139280887778, + -72.0727557241716 + ], + [ + 407.59213364147644, + -54.88453872244634 + ] + ], + "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": 278.8920616647838, + "ymin": 176.61269420615253, + "xmax": 360.79869220326515, + "ymax": 224.19381901053382 + }, + "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": [ + [ + 343.60620787810626, + 224.19381901053382 + ], + [ + 360.79869220326515, + 186.22725295289226 + ], + [ + 301.9213781671774, + 185.30096879630267 + ], + [ + 281.5625639338111, + 223.1643578450537 + ], + [ + 341.39484644617323, + 215.30852922117617 + ], + [ + 358.82357479937633, + 177.5339323853502 + ], + [ + 299.532941172671, + 176.61269420615253 + ], + [ + 278.8920616647838, + 214.28389068592216 + ] + ], + "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": 278.9425446018791, + "ymin": 176.6323644765017, + "xmax": 360.74033299760913, + "ymax": 224.11231783981628 + }, + "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": [ + [ + 343.56320535663053, + 224.11231783981628 + ], + [ + 360.74033299760913, + 186.18872814230767 + ], + [ + 301.93136442529874, + 185.26344210403906 + ], + [ + 281.59499090446997, + 223.08407983009815 + ], + [ + 341.36628158717707, + 215.28571534972613 + ], + [ + 358.77787081627383, + 177.55264286673957 + ], + [ + 299.5587935584432, + 176.6323644765017 + ], + [ + 278.9425446018791, + 214.26226369135946 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11665211921157023400, + "instance_id": 43110, + "pixel_count": null, + "type_id": "BP_Lamppost_tall8_SM_1", + "bbox_3d": { + "center_world": { + "x": -19.394420623779297, + "y": -69.02778625488281, + "z": 3.637737274169922 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 39.79665002303523, + "xmax": 1.6718174428872317, + "ymax": 72.3514666861679 + }, + "corners_3d": [ + [ + -20.3605899810791, + -70.1158676147461, + 3.475497007369995 + ], + [ + -20.360593795776367, + -67.93971252441406, + 3.4755005836486816 + ], + [ + -18.428251266479492, + -67.93970489501953, + 3.4755005836486816 + ], + [ + -18.428247451782227, + -70.11585998535156, + 3.475497007369995 + ], + [ + -20.3605899810791, + -70.1158676147461, + 3.799973964691162 + ], + [ + -20.360593795776367, + -67.93971252441406, + 3.7999775409698486 + ], + [ + -18.428251266479492, + -67.93970489501953, + 3.7999775409698486 + ], + [ + -18.428247451782227, + -70.11585998535156, + 3.799973964691162 + ] + ], + "corners_2d": [ + [ + -27.5072896518343, + 72.3514666861679 + ], + [ + 1.6718174428872317, + 48.110302841061014 + ], + [ + -45.287688449987854, + 47.51243982129347 + ], + [ + -76.45920484219278, + 71.70090443625645 + ], + [ + -31.441004787706447, + 64.43840386343612 + ], + [ + -1.9334003292402713, + 40.389620137126485 + ], + [ + -49.15398531690278, + 39.79665002303523 + ], + [ + -80.67668410539534, + 63.79285141811488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1271.1555852324, + "ymin": 323.55525830828697, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1613.3503972656713, + 1225.2094751439215 + ], + [ + 1641.553871619602, + 1226.601640913383 + ], + [ + 1288.738233299942, + 581.972278045575 + ], + [ + 1271.1555852324, + 581.4203751754524 + ], + [ + 2197.7175898321507, + 1111.1998922331775 + ], + [ + 2243.6243814110007, + 1113.2827748069712 + ], + [ + 1489.5293968771384, + 324.10776654420647 + ], + [ + 1466.3758751609535, + 323.55525830828697 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17408989212588188295, + "instance_id": 34594, + "pixel_count": null, + "type_id": "BP_HighwayLight_simple_5_SM_2", + "bbox_3d": { + "center_world": { + "x": -75.30853271484375, + "y": -56.101219177246094, + "z": 5.664507865905762 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1182.684248053403, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 57.09612247093702 + }, + "corners_3d": [ + [ + -75.6749038696289, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -74.94214630126953, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -74.9421615600586, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -75.67491912841797, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -75.6749038696289, + -52.1658935546875, + 11.14326000213623 + ], + [ + -74.94214630126953, + -52.1658935546875, + 11.14326000213623 + ], + [ + -74.9421615600586, + -60.03654479980469, + 11.14326000213623 + ], + [ + -75.67491912841797, + -60.03654479980469, + 11.14326000213623 + ] + ], + "corners_2d": [ + [ + 1196.4839306137903, + -7.283093068078756 + ], + [ + 1182.684248053403, + -7.437255965650479 + ], + [ + 1246.8971344541458, + 56.900258586750454 + ], + [ + 1262.4739968991134, + 57.09612247093702 + ], + [ + 1289.3308767220788, + -244.60314814237597 + ], + [ + 1273.1966009058767, + -244.69868984863285 + ], + [ + 1363.4607762156434, + -203.96404969269315 + ], + [ + 1382.078351347161, + -203.8373454502497 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1175.0508287432797, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 270.20801662776836 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1175.0508287432797, + 140.01892416781126 + ], + [ + 1363.9619196539238, + 270.20801662776836 + ], + [ + 1570.133224419083, + 222.02086783362458 + ], + [ + 1358.5319815812, + 106.16647089980418 + ], + [ + 1346.485579871794, + -268.5306991449023 + ], + [ + 1661.1054270939856, + -199.70621064275144 + ], + [ + 1919.6037639046929, + -226.24748145951617 + ], + [ + 1573.2651478537118, + -285.01090465594325 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00017/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00017/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a33acdd72304bf06e16f85587284695702965036 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00017/meta.json @@ -0,0 +1,2721 @@ +{ + "frame_id": 17, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 8.5, + "sim_timestamp": 13328.203555152984 + }, + "drone_pose": { + "x": -47.42244206112676, + "y": -102.39848295281537, + "z": 20.190778385132045, + "pitch": -42.178695321589075, + "yaw": 87.96070633132824, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.02637028694152832, + -0.7405849695205688, + 0.6714451313018799, + 63.5283203125 + ], + [ + 0.9993666410446167, + 0.035584867000579834, + 2.9802322387695312e-08, + -43.74856948852539 + ], + [ + -0.0238933265209198, + 0.6710197925567627, + 0.7410542964935303, + -84.80695343017578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.44996057056294, + "y": -101.89044022725528, + "z": 20.170700240285402 + }, + "t1_image_uv": [ + 752.4833460768286, + -442.960950973221 + ], + "t1_depth": 0.38900450859058483 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -81.18776321411133, + "z": 0.9602592722326517 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.64049429657463, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 707, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -81.18775939941406, + "z": 0.960259199142456 + }, + "extent": { + "x": 0.49961912631988525, + "y": 0.3400610387325287, + "z": 0.864842414855957 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 627.6052375099156, + "ymin": 326.77404088518074, + "xmax": 652.0798594628459, + "ymax": 392.76104086646865 + }, + "corners_3d": [ + [ + -46.32712173461914, + -81.6873779296875, + 0.09541678428649902 + ], + [ + -47.00724411010742, + -81.6873779296875, + 0.09541678428649902 + ], + [ + -47.00724411010742, + -80.68814086914062, + 0.09541678428649902 + ], + [ + -46.32712173461914, + -80.68814086914062, + 0.09541678428649902 + ], + [ + -46.32712173461914, + -81.6873779296875, + 1.825101613998413 + ], + [ + -47.00724411010742, + -81.6873779296875, + 1.825101613998413 + ], + [ + -47.00724411010742, + -80.68814086914062, + 1.825101613998413 + ], + [ + -46.32712173461914, + -80.68814086914062, + 1.825101613998413 + ] + ], + "corners_2d": [ + [ + 628.104026796614, + 392.2001318768348 + ], + [ + 650.7198567955523, + 392.76104086646865 + ], + [ + 651.6056083139683, + 370.1822391655729 + ], + [ + 629.5546493985913, + 369.64903392790177 + ], + [ + 627.6052375099156, + 349.12521049100366 + ], + [ + 651.1696236238447, + 349.6817439752453 + ], + [ + 652.0798594628459, + 327.3019786267603 + ], + [ + 629.1280801655819, + 326.77404088518074 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 17, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 100, + "semantic_pixel_counts": { + "1": 540430, + "2": 138612, + "3": 91619, + "4": 20128, + "6": 13407, + "7": 3236, + "9": 22795, + "10": 40165, + "12": 3890, + "14": 6453, + "20": 3291, + "21": 9320, + "24": 28254 + }, + "instance_pixel_counts": { + "143": 8273, + "339": 532, + "1167": 8133, + "1679": 18489, + "1875": 374, + "2703": 21120, + "3727": 5148, + "3749": 107, + "4204": 93, + "4261": 115, + "5202": 188, + "5714": 316, + "6565": 662, + "8018": 765, + "8530": 486, + "8556": 2733, + "8579": 1210, + "9042": 429, + "9068": 3538, + "9554": 562, + "9580": 2783, + "10092": 2694, + "11596": 161, + "12396": 2494, + "12675": 7, + "15186": 8746, + "15698": 9367, + "16210": 5443, + "16722": 5, + "22381": 4784, + "22784": 7335, + "22893": 4260, + "23441": 5537, + "23552": 7664, + "23953": 6199, + "24429": 5052, + "24465": 5536, + "24941": 6297, + "24977": 5426, + "25489": 2583, + "25965": 4268, + "26696": 19967, + "26987": 1354, + "26989": 613, + "27243": 51, + "27719": 43703, + "28231": 35809, + "28523": 107, + "28779": 1550, + "30339": 267, + "30548": 1440, + "30630": 416, + "31142": 411, + "31572": 1541, + "31633": 4497, + "31654": 448, + "32084": 3472, + "32145": 5679, + "32657": 4552, + "33169": 1590, + "37286": 4, + "37798": 10, + "40358": 3148, + "42918": 2298, + "51815": 205885, + "52327": 45554, + "53351": 61944, + "53863": 186475, + "54375": 40572, + "54889": 13217, + "55401": 1320, + "55913": 1599, + "56173": 22795, + "56320": 707, + "56425": 10977, + "56486": 16, + "56576": 623, + "56742": 37, + "56832": 483, + "56937": 1141, + "57088": 549, + "57344": 661, + "57600": 867, + "58022": 17, + "58278": 1, + "58790": 18, + "59522": 167, + "59762": 3205, + "60274": 1440, + "60582": 443, + "61094": 488, + "61803": 302, + "62059": 332, + "62827": 245, + "63083": 128, + "63314": 3104, + "63339": 412, + "64594": 126, + "64654": 8472, + "64850": 81 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 707, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -81.18775939941406, + "z": 0.960259199142456 + }, + "extent": { + "x": 0.5201318264007568, + "y": 0.3482104539871216, + "z": 0.8782650828361511 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 627.2866977528246, + "ymin": 325.97463974536214, + "xmax": 652.3769762080624, + "ymax": 393.56424667037624 + }, + "corners_3d": [ + [ + -46.318973541259766, + -81.70789337158203, + 0.08199411630630493 + ], + [ + -47.0153923034668, + -81.70789337158203, + 0.08199411630630493 + ], + [ + -47.0153923034668, + -80.6676254272461, + 0.08199411630630493 + ], + [ + -46.318973541259766, + -80.6676254272461, + 0.08199411630630493 + ], + [ + -46.318973541259766, + -81.70789337158203, + 1.838524341583252 + ], + [ + -47.0153923034668, + -81.70789337158203, + 1.838524341583252 + ], + [ + -47.0153923034668, + -80.6676254272461, + 1.838524341583252 + ], + [ + -46.318973541259766, + -80.6676254272461, + 1.838524341583252 + ] + ], + "corners_2d": [ + [ + 627.8063534790598, + 392.98926779198746 + ], + [ + 650.9690272788632, + 393.56424667037624 + ], + [ + 651.8839186193142, + 370.05645641195264 + ], + [ + 629.3230381263397, + 369.51100311547 + ], + [ + 627.2866977528246, + 349.2415159769131 + ], + [ + 651.4368039114013, + 349.8119649703559 + ], + [ + 652.3769762080624, + 326.5145974870715 + ], + [ + 628.8803425418076, + 325.97463974536214 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 623, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -78.19004821777344, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.44157230854034424, + "y": 0.43763673305511475, + "z": 0.855183482170105 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 498.23583752165666, + "ymin": 262.7743124737162, + "xmax": 532.2035689183466, + "ymax": 324.20987040495663 + }, + "corners_3d": [ + [ + -42.20492935180664, + -78.71295928955078, + 0.14209240674972534 + ], + [ + -43.06107711791992, + -78.5309829711914, + 0.14209240674972534 + ], + [ + -42.87746047973633, + -77.6671371459961, + 0.14209240674972534 + ], + [ + -42.02131271362305, + -77.84911346435547, + 0.14209240674972534 + ], + [ + -42.20492935180664, + -78.71295928955078, + 1.85245943069458 + ], + [ + -43.06107711791992, + -78.5309829711914, + 1.85245943069458 + ], + [ + -42.87746047973633, + -77.6671371459961, + 1.85245943069458 + ], + [ + -42.02131271362305, + -77.84911346435547, + 1.85245943069458 + ] + ], + "corners_2d": [ + [ + 505.2387935137757, + 324.20987040495663 + ], + [ + 532.2035689183466, + 321.21580653317585 + ], + [ + 529.78437692637, + 304.42171131581813 + ], + [ + 503.357903998293, + 307.29577747645396 + ], + [ + 500.0786633297256, + 282.2692900992928 + ], + [ + 528.0913275551363, + 279.31731231039345 + ], + [ + 525.6679884143796, + 262.7743124737162 + ], + [ + 498.23583752165666, + 265.6035994183068 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 483, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -74.24504852294922, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4828466773033142, + "y": 0.4065258800983429, + "z": 0.9100955128669739 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 697.152301411595, + "ymin": 197.94816810625446, + "xmax": 726.1890588613468, + "ymax": 257.7077836725659 + }, + "corners_3d": [ + [ + -48.56917953491211, + -74.76774597167969, + 0.08717542886734009 + ], + [ + -49.377777099609375, + -74.68275451660156, + 0.08717542886734009 + ], + [ + -49.27683639526367, + -73.72235107421875, + 0.08717542886734009 + ], + [ + -48.468238830566406, + -73.80734252929688, + 0.08717542886734009 + ], + [ + -48.56917953491211, + -74.76774597167969, + 1.9073665142059326 + ], + [ + -49.377777099609375, + -74.68275451660156, + 1.9073665142059326 + ], + [ + -49.27683639526367, + -73.72235107421875, + 1.9073665142059326 + ], + [ + -48.468238830566406, + -73.80734252929688, + 1.9073665142059326 + ] + ], + "corners_2d": [ + [ + 700.2419475414048, + 257.7077836725659 + ], + [ + 723.0884366183748, + 256.76747086999467 + ], + [ + 719.5322706359633, + 240.98945019998965 + ], + [ + 697.152301411595, + 241.8914314748965 + ], + [ + 702.4928648435465, + 214.29696779099757 + ], + [ + 726.1890588613468, + 213.3767329430339 + ], + [ + 722.4368703055742, + 197.94816810625446 + ], + [ + 699.2421609664043, + 198.8295338130029 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 549, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -81.18775939941406, + "z": 0.9457085132598877 + }, + "extent": { + "x": 0.30668210983276367, + "y": 0.47704100608825684, + "z": 0.8922112584114075 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 936.4251454123171, + "ymin": 338.0683387166443, + "xmax": 986.9185875369797, + "ymax": 397.25719201144034 + }, + "corners_3d": [ + [ + -55.69014358520508, + -81.49443817138672, + 0.053497254848480225 + ], + [ + -56.644222259521484, + -81.49443817138672, + 0.053497254848480225 + ], + [ + -56.644222259521484, + -80.8810806274414, + 0.053497254848480225 + ], + [ + -55.69014358520508, + -80.8810806274414, + 0.053497254848480225 + ], + [ + -55.69014358520508, + -81.49443817138672, + 1.8379197120666504 + ], + [ + -56.644222259521484, + -81.49443817138672, + 1.8379197120666504 + ], + [ + -56.644222259521484, + -80.8810806274414, + 1.8379197120666504 + ], + [ + -55.69014358520508, + -80.8810806274414, + 1.8379197120666504 + ] + ], + "corners_2d": [ + [ + 940.3750780581131, + 396.46434246253943 + ], + [ + 972.4655151655144, + 397.25719201144034 + ], + [ + 968.0132012301167, + 383.15282752470915 + ], + [ + 936.4251454123171, + 382.38443213683036 + ], + [ + 953.4211929545945, + 352.0300532731609 + ], + [ + 986.9185875369797, + 352.8168075234076 + ], + [ + 982.0415146568321, + 338.82979793901075 + ], + [ + 949.0911409790845, + 338.0683387166443 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 661, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -50.28268051147461, + "y": -92.31512451171875, + "z": 0.958940863609314 + }, + "extent": { + "x": 0.46699464321136475, + "y": 0.44691407680511475, + "z": 0.9037654399871826 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 766.1673161156091, + "ymin": 672.1643196317173, + "xmax": 818.8499493218213, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.78940200805664, + -92.73284912109375, + 0.05517542362213135 + ], + [ + -50.6783332824707, + -92.82627868652344, + 0.05517542362213135 + ], + [ + -50.77595901489258, + -91.89739990234375, + 0.05517542362213135 + ], + [ + -49.887027740478516, + -91.80397033691406, + 0.05517542362213135 + ], + [ + -49.78940200805664, + -92.73284912109375, + 1.8627063035964966 + ], + [ + -50.6783332824707, + -92.82627868652344, + 1.8627063035964966 + ], + [ + -50.77595901489258, + -91.89739990234375, + 1.8627063035964966 + ], + [ + -49.887027740478516, + -91.80397033691406, + 1.8627063035964966 + ] + ], + "corners_2d": [ + [ + 766.1673161156091, + 755.455083948091 + ], + [ + 808.1360366242386, + 761.1660977948848 + ], + [ + 808.6152318715175, + 720.0947654668367 + ], + [ + 767.9947246599612, + 714.7461076706312 + ], + [ + 774.059448462789, + 713.915646651063 + ], + [ + 818.7038898882544, + 719.7863362979105 + ], + [ + 818.8499493218213, + 677.6403565703849 + ], + [ + 775.7280045231826, + 672.1643196317173 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 867, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -89.35797882080078, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.34261229634284973, + "y": 0.41206541657447815, + "z": 0.9125897884368896 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 118.542758321811, + "ymin": 540.9383508034995, + "xmax": 192.25525135098547, + "ymax": 616.399263658637 + }, + "corners_3d": [ + [ + -34.94755554199219, + -89.60742950439453, + 0.0292319655418396 + ], + [ + -35.75367736816406, + -89.77877807617188, + 0.0292319655418396 + ], + [ + -35.896141052246094, + -89.10852813720703, + 0.0292319655418396 + ], + [ + -35.09001922607422, + -88.93717956542969, + 0.0292319655418396 + ], + [ + -34.94755554199219, + -89.60742950439453, + 1.8544116020202637 + ], + [ + -35.75367736816406, + -89.77877807617188, + 1.8544116020202637 + ], + [ + -35.896141052246094, + -89.10852813720703, + 1.8544116020202637 + ], + [ + -35.09001922607422, + -88.93717956542969, + 1.8544116020202637 + ] + ], + "corners_2d": [ + [ + 145.92372963048751, + 609.2500606049172 + ], + [ + 175.86343383961906, + 616.399263658637 + ], + [ + 192.25525135098547, + 592.9738070332386 + ], + [ + 162.83251812981632, + 586.1180125761903 + ], + [ + 118.542758321811, + 564.3458884480988 + ], + [ + 149.96818506459033, + 571.5910867907107 + ], + [ + 167.82249238195266, + 547.8702066258109 + ], + [ + 136.96485307689414, + 540.9383508034995 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 863.4662630962763, + "ymin": 148.60102818025655, + "xmax": 880.1795730248662, + "ymax": 182.6661090803144 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 863.4662630962763, + 175.44580609476193 + ], + [ + 865.2869819595737, + 182.4814148936231 + ], + [ + 875.0529822931734, + 182.6661090803144 + ], + [ + 873.132508758729, + 175.6267649302651 + ], + [ + 868.2882288798199, + 148.60102818025655 + ], + [ + 870.1992336061371, + 155.50842187546894 + ], + [ + 880.1795730248662, + 155.68979147876027 + ], + [ + 878.1644103408598, + 148.77865092213915 + ] + ], + "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": 316.73828822307814, + "ymin": 313.9713053973301, + "xmax": 341.76376916512316, + "ymax": 354.2465364310623 + }, + "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": [ + [ + 325.34501168166173, + 353.9589981851241 + ], + [ + 337.35102504197937, + 354.2465364310623 + ], + [ + 341.76376916512316, + 343.3142546105188 + ], + [ + 329.9081568598596, + 343.03394506031424 + ], + [ + 316.73828822307814, + 324.81271689130756 + ], + [ + 329.0698696431647, + 325.0981550728097 + ], + [ + 333.70939073768363, + 314.2493751805264 + ], + [ + 321.53642324057915, + 313.9713053973301 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 968.3634048533327, + "ymin": 150.52868081842044, + "xmax": 988.5534782893776, + "ymax": 184.67151679096835 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 968.3634048533327, + 177.40955347743994 + ], + [ + 971.269482364464, + 184.48575147432607 + ], + [ + 981.0921204063018, + 184.67151679096835 + ], + [ + 978.0851374676562, + 177.5915510672379 + ], + [ + 975.4695900421573, + 150.52868081842044 + ], + [ + 978.5139902740964, + 157.47679225078832 + ], + [ + 988.5534782893776, + 157.6592367431231 + ], + [ + 985.4036923901373, + 150.70734526521613 + ] + ], + "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": 415.64037234432686, + "ymin": 223.53732783070876, + "xmax": 431.3806763569539, + "ymax": 254.11225494245093 + }, + "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": [ + [ + 420.0399842208915, + 253.92361453771986 + ], + [ + 428.9716287642292, + 254.11225494245093 + ], + [ + 431.3806763569539, + 246.95566604306646 + ], + [ + 422.5320940239777, + 246.77054303561437 + ], + [ + 415.64037234432686, + 230.60942706319585 + ], + [ + 424.74960308431895, + 230.79596793173457 + ], + [ + 427.24672366037294, + 223.7203218651254 + ], + [ + 418.22387486772936, + 223.53732783070876 + ] + ], + "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": 351.5120216499246, + "ymin": 237.33443093080265, + "xmax": 373.0433982883885, + "ymax": 274.8473705400607 + }, + "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": [ + [ + 358.4873269806927, + 274.6102407140091 + ], + [ + 369.4001311010981, + 274.8473705400607 + ], + [ + 373.0433982883885, + 265.82141263582156 + ], + [ + 362.2549965885381, + 265.5897059622901 + ], + [ + 351.5120216499246, + 246.2416327953184 + ], + [ + 362.6931455335898, + 246.47585182270592 + ], + [ + 366.5046882590284, + 237.56316297131247 + ], + [ + 355.45412248863175, + 237.33443093080265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 776.5088447760393, + "ymin": 147.00336361854954, + "xmax": 790.3553354085418, + "ymax": 181.00390387495347 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 776.5088447760393, + 173.81804164509194 + ], + [ + 777.4345530085045, + 180.82009515989762 + ], + [ + 787.1537306199685, + 181.00390387495347 + ], + [ + 786.1292153493157, + 173.99814170362626 + ], + [ + 779.4472917392476, + 147.00336361854954 + ], + [ + 780.4238860071748, + 153.87710153576586 + ], + [ + 790.3553354085418, + 154.05758271381342 + ], + [ + 789.2755939263424, + 147.18012529020982 + ] + ], + "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": 281.71573832726943, + "ymin": 390.96726550947415, + "xmax": 310.48937157245587, + "ymax": 433.81734813315234 + }, + "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": [ + [ + 292.1330520523113, + 433.4744242044695 + ], + [ + 305.23260456816286, + 433.81734813315234 + ], + [ + 310.48937157245587, + 420.7940616581312 + ], + [ + 297.56865837281435, + 420.4605361871445 + ], + [ + 281.71573832726943, + 403.94592994060605 + ], + [ + 295.20381978875014, + 404.28807072404305 + ], + [ + 300.7583242633886, + 391.29975441041904 + ], + [ + 287.45977020149286, + 390.96726550947415 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1108.9046825215828, + "ymin": 241.14422398207995, + "xmax": 1132.1995034016795, + "ymax": 272.2671136705916 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1108.9046825215828, + 264.57406277331813 + ], + [ + 1112.9967051089404, + 272.0694018592307 + ], + [ + 1122.315831895512, + 272.2671136705916 + ], + [ + 1118.1334277590645, + 264.76800170010927 + ], + [ + 1118.41709627731, + 241.14422398207995 + ], + [ + 1122.6869074949234, + 248.56169746252866 + ], + [ + 1132.1995034016795, + 248.7573947763953 + ], + [ + 1127.8355384890374, + 241.3361114576074 + ] + ], + "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": 722.4324624654381, + "ymin": 73.74767712747393, + "xmax": 1198.4833003199517, + "ymax": 333.26772130949473 + }, + "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": [ + [ + 1096.387237869898, + 333.26772130949473 + ], + [ + 1092.3109958008713, + 324.6487839316414 + ], + [ + 722.4324624654381, + 314.20604527194973 + ], + [ + 722.6851438753753, + 322.60952860330553 + ], + [ + 1198.4833003199517, + 90.26687956985677 + ], + [ + 1192.2322628524694, + 82.77689912223008 + ], + [ + 740.3653806441974, + 73.74767712747393 + ], + [ + 740.8968765659545, + 81.0097544720793 + ] + ], + "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": 244.79942417441896, + "ymin": 178.16783814978234, + "xmax": 368.05305235342644, + "ymax": 346.86312986762965 + }, + "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": [ + [ + 350.17926291205043, + 346.86312986762965 + ], + [ + 368.05305235342644, + 301.2839435622185 + ], + [ + 306.9990156185586, + 299.9125211452153 + ], + [ + 285.73241676482115, + 345.33339162632177 + ], + [ + 316.62578836808643, + 222.6777536882368 + ], + [ + 338.42645411315925, + 179.4600089248983 + ], + [ + 270.7890426588145, + 178.16783814978234 + ], + [ + 244.79942417441896, + 221.21863790117726 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4931911690494204353, + "instance_id": 49625, + "pixel_count": null, + "type_id": "BP_Lamppost_tall8_SM_2", + "bbox_3d": { + "center_world": { + "x": -19.394060134887695, + "y": -69.02775573730469, + "z": 2.5271682739257812 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 32.16953199257432, + "xmax": 17.395654347482605, + "ymax": 172.08317365992585 + }, + "corners_3d": [ + [ + -20.422487258911133, + -70.17810821533203, + 0.1843433380126953 + ], + [ + -20.422487258911133, + -67.87740325927734, + 0.1843433380126953 + ], + [ + -18.365633010864258, + -67.87740325927734, + 0.1843433380126953 + ], + [ + -18.365633010864258, + -70.17810821533203, + 0.1843433380126953 + ], + [ + -20.422487258911133, + -70.17810821533203, + 4.869993209838867 + ], + [ + -20.422487258911133, + -67.87740325927734, + 4.869993209838867 + ], + [ + -18.365633010864258, + -67.87740325927734, + 4.869993209838867 + ], + [ + -18.365633010864258, + -70.17810821533203, + 4.869993209838867 + ] + ], + "corners_2d": [ + [ + -12.583729658178981, + 172.08317365992585 + ], + [ + 17.395654347482605, + 142.82477810747875 + ], + [ + -31.379578944398418, + 141.93456254021555 + ], + [ + -63.49972729236492, + 171.11141134281954 + ], + [ + -71.47851885357113, + 59.50335017344099 + ], + [ + -36.17520433871209, + 32.97352027368788 + ], + [ + -89.06164891692504, + 32.16953199257432 + ], + [ + -126.89098572944579, + 58.61891375185371 + ] + ], + "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": 212.85416979156383, + "ymin": 70.33210492087443, + "xmax": 437.38133882753834, + "ymax": 629.5438329498572 + }, + "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": [ + [ + 437.38133882753834, + 310.60754003478417 + ], + [ + 424.4570739678125, + 310.240700747696 + ], + [ + 318.3157585037163, + 628.8364682367793 + ], + [ + 336.19828805882275, + 629.5438329498572 + ], + [ + 393.5364426919353, + 70.64778414018849 + ], + [ + 377.840845763969, + 70.33210492087443 + ], + [ + 212.85416979156383, + 369.6159456901826 + ], + [ + 236.51716791972973, + 370.34153395229015 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 401.3548235479738, + "ymin": 0.0, + "xmax": 469.3771644225662, + "ymax": 62.61282713548002 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 461.2221584518938, + 62.61282713548002 + ], + [ + 469.3771644225662, + 41.85642094890312 + ], + [ + 427.6282338909435, + 41.220366414324815 + ], + [ + 417.9141038483382, + 61.92804019518536 + ], + [ + 447.87487768581923, + -38.69208554344402 + ], + [ + 457.1337599445425, + -57.001042305931094 + ], + [ + 412.40787516070293, + -57.560536746710625 + ], + [ + 401.3548235479738, + -39.297708332562195 + ] + ], + "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": 257.7380022012114, + "ymin": 209.3832918419759, + "xmax": 345.4569343196076, + "ymax": 261.31830202236665 + }, + "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": [ + [ + 325.9383161784516, + 261.31830202236665 + ], + [ + 345.4569343196076, + 219.53028842512572 + ], + [ + 283.72378367613834, + 218.2825973249765 + ], + [ + 260.7099057249027, + 259.92368050733137 + ], + [ + 323.4730122685204, + 252.2266839096015 + ], + [ + 343.27106731941234, + 210.624879220862 + ], + [ + 281.08433832320986, + 209.3832918419759 + ], + [ + 257.7380022012114, + 250.83770606264773 + ] + ], + "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": 257.792059920982, + "ymin": 209.4050477047701, + "xmax": 345.39422168988375, + "ymax": 261.23295844028814 + }, + "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": [ + [ + 325.8930273148323, + 261.23295844028814 + ], + [ + 345.39422168988375, + 219.49210712004788 + ], + [ + 283.7325172232409, + 218.24578361068464 + ], + [ + 260.74386822297987, + 259.84002779667316 + ], + [ + 323.4438258845987, + 252.2013603521488 + ], + [ + 343.22234899319307, + 210.64531398295424 + ], + [ + 281.1105876520959, + 209.4050477047701 + ], + [ + 257.792059920982, + 250.81403106433913 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17408989212588188295, + "instance_id": 34594, + "pixel_count": null, + "type_id": "BP_HighwayLight_simple_5_SM_2", + "bbox_3d": { + "center_world": { + "x": -75.30853271484375, + "y": -56.101219177246094, + "z": 5.664507865905762 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1203.3999185567823, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 78.36467265807067 + }, + "corners_3d": [ + [ + -75.6749038696289, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -74.94214630126953, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -74.9421615600586, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -75.67491912841797, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -75.6749038696289, + -52.1658935546875, + 11.14326000213623 + ], + [ + -74.94214630126953, + -52.1658935546875, + 11.14326000213623 + ], + [ + -74.9421615600586, + -60.03654479980469, + 11.14326000213623 + ], + [ + -75.67491912841797, + -60.03654479980469, + 11.14326000213623 + ] + ], + "corners_2d": [ + [ + 1217.7095248778287, + 9.64199172340335 + ], + [ + 1203.3999185567823, + 9.440868308371364 + ], + [ + 1271.802628272018, + 78.10682728465287 + ], + [ + 1288.0353186859763, + 78.36467265807067 + ], + [ + 1317.645565458944, + -234.24877646860864 + ], + [ + 1300.816329476547, + -234.37392049399966 + ], + [ + 1398.3867831345347, + -190.65139594423408 + ], + [ + 1417.9401132767948, + -190.48335829900668 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1199.2230815001224, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 310.40105150613323 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1199.2230815001224, + 167.5495508436134 + ], + [ + 1402.1488175521117, + 310.40105150613323 + ], + [ + 1618.0808548438636, + 258.3394049971066 + ], + [ + 1390.297292735808, + 131.64611155286306 + ], + [ + 1388.4332468913722, + -256.04934820898404 + ], + [ + 1738.3919932077688, + -178.91939925125018 + ], + [ + 2011.1915437212938, + -208.36439669857657 + ], + [ + 1626.4655535313727, + -273.7343560544417 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00019/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00019/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a1f505291e1d79526186fe207e1e27dd463f9683 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00019/meta.json @@ -0,0 +1,2928 @@ +{ + "frame_id": 19, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 9.5, + "sim_timestamp": 13350.937609046 + }, + "drone_pose": { + "x": -47.47758557865407, + "y": -101.38291689958916, + "z": 20.152000058571232, + "pitch": -42.13025221991576, + "yaw": 87.81034640145104, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.0283353328704834, + -0.7410802841186523, + 0.6708183288574219, + 62.9598388671875 + ], + [ + 0.9992698431015015, + 0.038207292556762695, + 0.0, + -43.56934356689453 + ], + [ + -0.025630176067352295, + 0.6703284978866577, + 0.741621732711792, + -84.12187957763672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.50554233142571, + "y": -100.8758192287814, + "z": 20.1346740611548 + }, + "t1_image_uv": [ + 757.4732896784442, + -450.33931718128656 + ], + "t1_depth": 0.3866304951587351 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -80.18776321411133, + "z": 0.9663627878576517 + }, + "image_uv": [ + 640.0, + 359.9999999999999 + ], + "depth": 28.600349118494023, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 701, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -80.18775939941406, + "z": 0.966362714767456 + }, + "extent": { + "x": 0.4740576148033142, + "y": 0.5355859398841858, + "z": 0.8752419352531433 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 620.8080811851524, + "ymin": 326.8291256028997, + "xmax": 658.7368087522149, + "ymax": 392.66283471726786 + }, + "corners_3d": [ + [ + -46.131595611572266, + -80.66181945800781, + 0.09112077951431274 + ], + [ + -47.2027702331543, + -80.66181945800781, + 0.09112077951431274 + ], + [ + -47.2027702331543, + -79.71369934082031, + 0.09112077951431274 + ], + [ + -46.131595611572266, + -79.71369934082031, + 0.09112077951431274 + ], + [ + -46.131595611572266, + -80.66181945800781, + 1.8416047096252441 + ], + [ + -47.2027702331543, + -80.66181945800781, + 1.8416047096252441 + ], + [ + -47.2027702331543, + -79.71369934082031, + 1.8416047096252441 + ], + [ + -46.131595611572266, + -79.71369934082031, + 1.8416047096252441 + ] + ], + "corners_2d": [ + [ + 621.589197006661, + 391.71495399966136 + ], + [ + 657.2235752968824, + 392.66283471726786 + ], + [ + 657.9915809838059, + 371.21967117163615 + ], + [ + 623.2036060740053, + 370.31634821886007 + ], + [ + 620.8080811851524, + 348.03160859823265 + ], + [ + 657.9551228191146, + 348.9717911450774 + ], + [ + 658.7368087522149, + 327.723305537384 + ], + [ + 622.5086281249198, + 326.8291256028997 + ] + ], + "center_offset_px": [ + 0.0, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 19, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 99, + "semantic_pixel_counts": { + "1": 522683, + "2": 146736, + "3": 95965, + "4": 20310, + "6": 14432, + "7": 3427, + "9": 23713, + "10": 40274, + "12": 3937, + "14": 7614, + "20": 3415, + "21": 11028, + "24": 28066 + }, + "instance_pixel_counts": { + "143": 8966, + "339": 911, + "883": 349, + "1167": 8225, + "1679": 19954, + "1875": 564, + "2703": 22942, + "3727": 4079, + "3749": 113, + "4204": 68, + "4261": 120, + "5202": 40, + "5714": 329, + "6565": 987, + "8018": 1206, + "8530": 726, + "8556": 2863, + "8579": 1260, + "9042": 619, + "9068": 3717, + "9554": 869, + "9580": 2914, + "10092": 2824, + "11596": 348, + "12396": 2202, + "12675": 6, + "15186": 9137, + "15698": 9829, + "16210": 5455, + "22381": 5263, + "22784": 7907, + "22893": 4541, + "23441": 5869, + "23552": 8103, + "23953": 6506, + "24429": 5038, + "24465": 5867, + "24941": 6773, + "24977": 5753, + "25489": 1902, + "25965": 4638, + "26696": 19962, + "26987": 1454, + "26989": 315, + "27243": 41, + "27719": 46971, + "28231": 37019, + "28523": 132, + "28779": 1549, + "30339": 395, + "30548": 1893, + "30630": 731, + "31142": 713, + "31572": 2024, + "31633": 4751, + "31654": 765, + "32084": 3697, + "32145": 5987, + "32657": 4818, + "33169": 893, + "37286": 4, + "37798": 6, + "40358": 3215, + "42918": 2492, + "51815": 197334, + "52327": 49326, + "53351": 55299, + "53863": 176711, + "54375": 44013, + "54889": 13153, + "55401": 1426, + "55913": 1571, + "56173": 23713, + "56320": 701, + "56425": 10708, + "56486": 18, + "56576": 611, + "56742": 33, + "56832": 496, + "56937": 1208, + "57088": 553, + "57344": 637, + "57600": 939, + "58022": 16, + "58790": 18, + "59522": 194, + "59762": 3393, + "60274": 2045, + "60582": 812, + "61094": 861, + "61803": 452, + "62059": 461, + "62827": 267, + "63083": 131, + "63314": 1955, + "63339": 435, + "64594": 131, + "64654": 9031, + "64850": 84 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 701, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -80.18775939941406, + "z": 0.966362714767456 + }, + "extent": { + "x": 0.47675779461860657, + "y": 0.5152953863143921, + "z": 0.8862036466598511 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 621.5011377904311, + "ymin": 326.5034876544548, + "xmax": 658.0567504651444, + "ymax": 392.9698203025513 + }, + "corners_3d": [ + [ + -46.151885986328125, + -80.66452026367188, + 0.08015906810760498 + ], + [ + -47.18247985839844, + -80.66452026367188, + 0.08015906810760498 + ], + [ + -47.18247985839844, + -79.71099853515625, + 0.08015906810760498 + ], + [ + -46.151885986328125, + -79.71099853515625, + 0.08015906810760498 + ], + [ + -46.151885986328125, + -80.66452026367188, + 1.8525663614273071 + ], + [ + -47.18247985839844, + -80.66452026367188, + 1.8525663614273071 + ], + [ + -47.18247985839844, + -79.71099853515625, + 1.8525663614273071 + ], + [ + -46.151885986328125, + -79.71099853515625, + 1.8525663614273071 + ] + ], + "corners_2d": [ + [ + 622.2633493923681, + 392.0576897255787 + ], + [ + 656.5413767307516, + 392.9698203025513 + ], + [ + 657.3298208560911, + 371.4043967709023 + ], + [ + 623.8703596310498, + 370.53537125961526 + ], + [ + 621.5011377904311, + 347.8261009390754 + ], + [ + 657.2529739312772, + 348.73073550215764 + ], + [ + 658.0567504651444, + 327.3636016599744 + ], + [ + 623.1944700312904, + 326.5034876544548 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 611, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -77.19004821777344, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.4490967094898224, + "y": 0.5528979897499084, + "z": 0.9068413972854614 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 494.60040573408526, + "ymin": 260.8757661992013, + "xmax": 536.0082650868445, + "ymax": 325.9049821217965 + }, + "corners_3d": [ + [ + -42.093753814697266, + -77.7442855834961, + 0.0904344916343689 + ], + [ + -43.175384521484375, + -77.51437377929688, + 0.0904344916343689 + ], + [ + -42.9886360168457, + -76.63581085205078, + 0.0904344916343689 + ], + [ + -41.907005310058594, + -76.86572265625, + 0.0904344916343689 + ], + [ + -42.093753814697266, + -77.7442855834961, + 1.9041173458099365 + ], + [ + -43.175384521484375, + -77.51437377929688, + 1.9041173458099365 + ], + [ + -42.9886360168457, + -76.63581085205078, + 1.9041173458099365 + ], + [ + -41.907005310058594, + -76.86572265625, + 1.9041173458099365 + ] + ], + "corners_2d": [ + [ + 501.9373358955153, + 325.9049821217965 + ], + [ + 536.0082650868445, + 322.17677041193963 + ], + [ + 533.5441669266015, + 305.10091433420445 + ], + [ + 500.1659939834086, + 308.67706548693815 + ], + [ + 496.32166624394097, + 281.3489645975465 + ], + [ + 531.7980914059258, + 277.676992633267 + ], + [ + 529.326357175289, + 260.8757661992013 + ], + [ + 494.60040573408526, + 264.3920884044983 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 496, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -73.24504852294922, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.45783933997154236, + "y": 0.4475024342536926, + "z": 0.929891049861908 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 696.6684003937876, + "ymin": 198.02465454005022, + "xmax": 727.9125970278826, + "ymax": 258.03997911598236 + }, + "corners_3d": [ + [ + -48.525814056396484, + -73.74715423583984, + 0.06738483905792236 + ], + [ + -49.415916442871094, + -73.65360260009766, + 0.06738483905792236 + ], + [ + -49.3202018737793, + -72.7429428100586, + 0.06738483905792236 + ], + [ + -48.43009948730469, + -72.83649444580078, + 0.06738483905792236 + ], + [ + -48.525814056396484, + -73.74715423583984, + 1.9271669387817383 + ], + [ + -49.415916442871094, + -73.65360260009766, + 1.9271669387817383 + ], + [ + -49.3202018737793, + -72.7429428100586, + 1.9271669387817383 + ], + [ + -48.43009948730469, + -72.83649444580078, + 1.9271669387817383 + ] + ], + "corners_2d": [ + [ + 699.5222820592453, + 258.03997911598236 + ], + [ + 724.6837312016999, + 257.04481120763603 + ], + [ + 721.3413834773828, + 242.0755142678284 + ], + [ + 696.6684003937876, + 243.0321121678548 + ], + [ + 701.7948423990699, + 213.6257270195685 + ], + [ + 727.9125970278826, + 212.6524864881049 + ], + [ + 724.3798879874131, + 198.02465454005022 + ], + [ + 698.788045862505, + 198.95877939498033 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 553, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -80.18775939941406, + "z": 0.948662519454956 + }, + "extent": { + "x": 0.31556639075279236, + "y": 0.4266357421875, + "z": 0.8755128383636475 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 938.7234458077747, + "ymin": 338.91018580744066, + "xmax": 985.7329587042865, + "ymax": 397.7642117951452 + }, + "corners_3d": [ + [ + -55.74054718017578, + -80.50332641601562, + 0.0731496810913086 + ], + [ + -56.59381866455078, + -80.50332641601562, + 0.0731496810913086 + ], + [ + -56.59381866455078, + -79.8721923828125, + 0.0731496810913086 + ], + [ + -55.74054718017578, + -79.8721923828125, + 0.0731496810913086 + ], + [ + -55.74054718017578, + -80.50332641601562, + 1.8241753578186035 + ], + [ + -56.59381866455078, + -80.50332641601562, + 1.8241753578186035 + ], + [ + -56.59381866455078, + -79.8721923828125, + 1.8241753578186035 + ], + [ + -55.74054718017578, + -79.8721923828125, + 1.8241753578186035 + ] + ], + "corners_2d": [ + [ + 942.7838980834081, + 397.0011021775977 + ], + [ + 971.5752678649999, + 397.7642117951452 + ], + [ + 967.0495149656365, + 383.22641715590584 + ], + [ + 938.7234458077747, + 382.48758800805854 + ], + [ + 955.7008947048596, + 353.30260587775285 + ], + [ + 985.7329587042865, + 354.05989321746944 + ], + [ + 980.7805097612807, + 339.6423752586109 + ], + [ + 951.2543570477037, + 338.91018580744066 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 637, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -50.28268051147461, + "y": -91.31512451171875, + "z": 0.9560893774032593 + }, + "extent": { + "x": 0.47913089394569397, + "y": 0.357475608587265, + "z": 0.9322158694267273 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 769.0719953406889, + "ymin": 672.3964239265317, + "xmax": 813.7294277135807, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.877079010009766, + -91.75426483154297, + 0.023873507976531982 + ], + [ + -50.58811569213867, + -91.82899475097656, + 0.023873507976531982 + ], + [ + -50.68828201293945, + -90.87598419189453, + 0.023873507976531982 + ], + [ + -49.97724533081055, + -90.80125427246094, + 0.023873507976531982 + ], + [ + -49.877079010009766, + -91.75426483154297, + 1.8883051872253418 + ], + [ + -50.58811569213867, + -91.82899475097656, + 1.8883051872253418 + ], + [ + -50.68828201293945, + -90.87598419189453, + 1.8883051872253418 + ], + [ + -49.97724533081055, + -90.80125427246094, + 1.8883051872253418 + ] + ], + "corners_2d": [ + [ + 769.0719953406889, + 758.3102017581614 + ], + [ + 802.6960279390305, + 762.9782391049121 + ], + [ + 803.4791986101336, + 720.7911216914259 + ], + [ + 770.9641890773017, + 716.4272165980266 + ], + [ + 777.4279003731334, + 715.3876692231495 + ], + [ + 813.2700355816836, + 720.1906296943932 + ], + [ + 813.7294277135807, + 676.8672285942672 + ], + [ + 779.144735441609, + 672.3964239265317 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 939, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -88.35797882080078, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.32204344868659973, + "y": 0.5812451243400574, + "z": 0.9042379856109619 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 111.55665270763768, + "ymin": 539.637702896454, + "xmax": 196.57901089919608, + "ymax": 616.3727404484903 + }, + "corners_3d": [ + [ + -34.786346435546875, + -88.55213928222656, + 0.037583768367767334 + ], + [ + -35.92343521118164, + -88.79383087158203, + 0.037583768367767334 + ], + [ + -36.057350158691406, + -88.163818359375, + 0.037583768367767334 + ], + [ + -34.92026138305664, + -87.92212677001953, + 0.037583768367767334 + ], + [ + -34.786346435546875, + -88.55213928222656, + 1.846059799194336 + ], + [ + -35.92343521118164, + -88.79383087158203, + 1.846059799194336 + ], + [ + -36.057350158691406, + -88.163818359375, + 1.846059799194336 + ], + [ + -34.92026138305664, + -87.92212677001953, + 1.846059799194336 + ] + ], + "corners_2d": [ + [ + 138.99878543323723, + 606.1982386311349 + ], + [ + 181.16136867381402, + 616.3727404484903 + ], + [ + 196.57901089919608, + 594.3149789567617 + ], + [ + 155.09921503574935, + 584.5339085413711 + ], + [ + 111.55665270763768, + 561.5499560472957 + ], + [ + 155.7865536312105, + 571.8570037544066 + ], + [ + 172.5637961827715, + 549.524932093918 + ], + [ + 129.0829489012163, + 539.637702896454 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 868.8929847491993, + "ymin": 167.28298221232436, + "xmax": 886.2566459908921, + "ymax": 202.16269001466068 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 868.8929847491993, + 194.518915636866 + ], + [ + 870.7904679923793, + 201.95306079154582 + ], + [ + 880.850157139021, + 202.16269001466068 + ], + [ + 878.8468023622905, + 194.7241791491204 + ], + [ + 873.9745613474333, + 167.28298221232436 + ], + [ + 875.9695789568684, + 174.58941905950093 + ], + [ + 886.2566459908921, + 174.79549689766276 + ], + [ + 884.1509432717028, + 167.48467351888337 + ] + ], + "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": 302.41240878408155, + "ymin": 342.44032692050985, + "xmax": 328.9295325205586, + "ymax": 383.80002066155305 + }, + "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": [ + [ + 311.71532805546843, + 383.4695356723251 + ], + [ + 324.13953166235916, + 383.80002066155305 + ], + [ + 328.9295325205586, + 372.1034680171076 + ], + [ + 316.6664064366294, + 371.78159034238047 + ], + [ + 302.41240878408155, + 354.0587967982376 + ], + [ + 315.1852780394212, + 354.3874427801752 + ], + [ + 320.22991781697056, + 342.760175773348 + ], + [ + 307.62723078039403, + 342.44032692050985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 976.9405926546272, + "ymin": 169.4724593092588, + "xmax": 997.9998458771622, + "ymax": 204.4396072258581 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 976.9405926546272, + 196.74702874395973 + ], + [ + 979.9906239776005, + 204.2286324846179 + ], + [ + 990.1148818608015, + 204.4396072258581 + ], + [ + 986.9576275048188, + 196.9535958959458 + ], + [ + 984.445139048429, + 169.4724593092588 + ], + [ + 987.6452614352518, + 176.82658570226403 + ], + [ + 997.9998458771622, + 177.03401609712733 + ], + [ + 994.6875937684852, + 169.67546014887287 + ] + ], + "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": 408.614695279315, + "ymin": 242.12001891969652, + "xmax": 424.99491627106613, + "ymax": 273.3276441546082 + }, + "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": [ + [ + 413.2668175095903, + 273.1147964308655 + ], + [ + 422.42621747436067, + 273.3276441546082 + ], + [ + 424.99491627106613, + 265.8093725125036 + ], + [ + 415.92289631694973, + 265.60059895475774 + ], + [ + 408.614695279315, + 249.55574461280912 + ], + [ + 417.9607873777137, + 249.76641227094572 + ], + [ + 420.6255101496911, + 242.3265726076234 + ], + [ + 411.3703785382388, + 242.12001891969652 + ] + ], + "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": 340.09087091178566, + "ymin": 260.63353503122784, + "xmax": 362.75621658802646, + "ymax": 299.0964354290457 + }, + "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": [ + [ + 347.5710751027386, + 298.825716611888 + ], + [ + 358.8277076449748, + 299.0964354290457 + ], + [ + 362.75621658802646, + 289.50352829290364 + ], + [ + 351.63197359237563, + 289.23920280600385 + ], + [ + 340.09087091178566, + 270.112649959796 + ], + [ + 351.63296925196295, + 270.38041950126814 + ], + [ + 355.748416107855, + 260.89482205745963 + ], + [ + 344.3454650928628, + 260.63353503122784 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 779.3735933491598, + "ymin": 165.46933838033124, + "xmax": 793.6934049307614, + "ymax": 200.27649172642478 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 779.3735933491598, + 192.67303031762722 + ], + [ + 780.3217166282982, + 200.06797387174677 + ], + [ + 790.3280713017665, + 200.27649172642478 + ], + [ + 789.2751880380283, + 192.8772169530157 + ], + [ + 782.4594739335569, + 165.46933838033124 + ], + [ + 783.4620970041769, + 172.73639053574232 + ], + [ + 793.6934049307614, + 172.94135141210216 + ], + [ + 792.5812845332765, + 165.66994815068242 + ] + ], + "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": 264.19323925515204, + "ymin": 425.202114899241, + "xmax": 294.88513706285323, + "ymax": 469.2621318094305 + }, + "corners_3d": [ + [ + -39.64542770385742, + -88.795654296875, + 5.545533180236816 + ], + [ + -39.9225959777832, + -88.795654296875, + 5.545533180236816 + ], + [ + -39.9225959777832, + -88.41574096679688, + 5.545533180236816 + ], + [ + -39.64542770385742, + -88.41574096679688, + 5.545533180236816 + ], + [ + -39.64542770385742, + -88.795654296875, + 6.416468620300293 + ], + [ + -39.9225959777832, + -88.795654296875, + 6.416468620300293 + ], + [ + -39.9225959777832, + -88.41574096679688, + 6.416468620300293 + ], + [ + -39.64542770385742, + -88.41574096679688, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 275.54101500405557, + 468.86531148624374 + ], + [ + 289.1406893081822, + 469.2621318094305 + ], + [ + 294.88513706285323, + 455.2349519061928 + ], + [ + 281.4782205708232, + 454.84943514929705 + ], + [ + 264.19323925515204, + 439.20954615438905 + ], + [ + 278.2117780383256, + 439.6063094979075 + ], + [ + 284.2941384902355, + 425.5872321154115 + ], + [ + 270.4803230910141, + 425.202114899241 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1121.0198755554225, + "ymin": 261.7726482573802, + "xmax": 1145.3400675329929, + "ymax": 293.5848410472503 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1121.0198755554225, + 285.4541949746892 + ], + [ + 1125.3180672963506, + 293.36082001640966 + ], + [ + 1134.9138021836784, + 293.5848410472503 + ], + [ + 1130.5197598293144, + 285.67381850048724 + ], + [ + 1131.0485555133596, + 261.7726482573802 + ], + [ + 1135.5392646487298, + 269.6049466329373 + ], + [ + 1145.3400675329929, + 269.8269091411313 + ], + [ + 1140.749389302067, + 261.99016327575544 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 143619947594126905, + "instance_id": 14614, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_Poles_4", + "bbox_3d": { + "center_world": { + "x": -55.298187255859375, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 723.5970536241963, + "ymin": 90.68013460934111, + "xmax": 1215.4210367496607, + "ymax": 354.8834110668112 + }, + "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": [ + [ + 1107.5268085561463, + 354.8834110668112 + ], + [ + 1103.2587536169378, + 345.82016138147395 + ], + [ + 723.5970536241963, + 334.2062937703736 + ], + [ + 723.8333710460721, + 343.0234862892296 + ], + [ + 1215.4210367496607, + 108.77346332442045 + ], + [ + 1208.789852419678, + 100.81818258698468 + ], + [ + 742.3236662975199, + 90.68013460934111 + ], + [ + 742.8540351415635, + 98.37115554734055 + ] + ], + "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": 232.3433486022384, + "ymin": 195.6530073672578, + "xmax": 360.5977976841055, + "ymax": 367.9638830175226 + }, + "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": [ + [ + 341.6287296067547, + 367.9638830175226 + ], + [ + 360.5977976841055, + 320.17868245514126 + ], + [ + 298.12968277642256, + 318.63719740956935 + ], + [ + 275.6021833502771, + 366.2396453218946 + ], + [ + 306.12997868820526, + 242.6400244761599 + ], + [ + 329.37116094641914, + 197.11191159683707 + ], + [ + 260.0004802867518, + 195.6530073672578 + ], + [ + 232.3433486022384, + 240.9869584903659 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4931911690494204353, + "instance_id": 49625, + "pixel_count": null, + "type_id": "BP_Lamppost_tall8_SM_2", + "bbox_3d": { + "center_world": { + "x": -19.394060134887695, + "y": -69.02775573730469, + "z": 2.5271682739257812 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 42.5799699793713, + "xmax": 5.888970782601177, + "ymax": 184.86037983555954 + }, + "corners_3d": [ + [ + -20.422487258911133, + -70.17810821533203, + 0.1843433380126953 + ], + [ + -20.422487258911133, + -67.87740325927734, + 0.1843433380126953 + ], + [ + -18.365633010864258, + -67.87740325927734, + 0.1843433380126953 + ], + [ + -18.365633010864258, + -70.17810821533203, + 0.1843433380126953 + ], + [ + -20.422487258911133, + -70.17810821533203, + 4.869993209838867 + ], + [ + -20.422487258911133, + -67.87740325927734, + 4.869993209838867 + ], + [ + -18.365633010864258, + -67.87740325927734, + 4.869993209838867 + ], + [ + -18.365633010864258, + -70.17810821533203, + 4.869993209838867 + ] + ], + "corners_2d": [ + [ + -25.37032591955301, + 184.86037983555954 + ], + [ + 5.888970782601177, + 154.54806019737805 + ], + [ + -43.6933330428152, + 153.55868958613317 + ], + [ + -77.16756320470279, + 183.77853216204537 + ], + [ + -86.62401179626829, + 71.0319254805787 + ], + [ + -49.71054001683365, + 43.475661733121854 + ], + [ + -103.54296868351435, + 42.5799699793713 + ], + [ + -143.07717285637955, + 70.04462432291842 + ] + ], + "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": 189.6507179367428, + "ymin": 86.61460461562956, + "xmax": 431.52108507347816, + "ymax": 667.3146598971995 + }, + "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": [ + [ + 431.52108507347816, + 329.93564425696405 + ], + [ + 418.2905711773207, + 329.5286994831111 + ], + [ + 304.57763515572293, + 666.51439423946 + ], + [ + 323.05550042471947, + 667.3146598971995 + ], + [ + 385.1090453882093, + 86.96789942648564 + ], + [ + 368.962416635357, + 86.61460461562956 + ], + [ + 189.6507179367428, + 407.89070573889023 + ], + [ + 214.3603788274653, + 408.7288419630307 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 397.52610737324244, + "ymin": 0.0, + "xmax": 467.1359884883546, + "ymax": 72.14300267012015 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 458.6236396802703, + 72.14300267012015 + ], + [ + 467.1359884883546, + 50.739916206097234 + ], + [ + 424.73828952539384, + 50.03616221245062 + ], + [ + 414.61611068742593, + 71.3843714084025 + ], + [ + 444.8511962431521, + -30.304451215423967 + ], + [ + 454.5291754656352, + -49.215662454327 + ], + [ + 409.06065158192604, + -49.83568823905085 + ], + [ + 397.52610737324244, + -30.976568052530638 + ] + ], + "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": 245.98201345115984, + "ymin": 227.2923565908883, + "xmax": 336.8502285550993, + "ymax": 281.6528515232573 + }, + "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": [ + [ + 316.073769274508, + 281.6528515232573 + ], + [ + 336.8502285550993, + 237.69871179240747 + ], + [ + 273.5814499024287, + 236.29189627685236 + ], + [ + 249.12637879154744, + 280.07556020719414 + ], + [ + 313.46270410748934, + 272.4663129282973 + ], + [ + 334.5436266359032, + 228.69274445531437 + ], + [ + 270.79874659052103, + 227.2923565908883 + ], + [ + 245.98201345115984, + 270.8948222766785 + ] + ], + "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": 246.03801111521915, + "ymin": 227.31528049537224, + "xmax": 336.7851259792392, + "ymax": 281.5654876979118 + }, + "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": [ + [ + 316.0271943294853, + 281.5654876979118 + ], + [ + 336.7851259792392, + 237.66086700953568 + ], + [ + 273.5894521052006, + 236.25559895188326 + ], + [ + 249.1611147948119, + 279.99011963842025 + ], + [ + 313.4331874070291, + 272.43957784354257 + ], + [ + 334.4932854938874, + 228.71416989529482 + ], + [ + 270.82520533749243, + 227.31528049537224 + ], + [ + 246.03801111521915, + 270.8699671266327 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 403.3806176210926, + "ymin": 0.0, + "xmax": 456.8842880324246, + "ymax": 1.1987982679177662 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 448.032205016493, + 1.1987982679177662 + ], + [ + 456.8842880324246, + -17.48129394220331 + ], + [ + 415.02592128235483, + -18.09153171481387 + ], + [ + 404.5943914982764, + 0.5412623715159839 + ], + [ + 447.04111513871663, + -6.133023613962678 + ], + [ + 455.9737299220147, + -24.635882825023316 + ], + [ + 413.90861662218333, + -25.24021261383166 + ], + [ + 403.3806176210926, + -6.784439816909014 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 403.3476482556222, + "ymin": 0.0, + "xmax": 456.92088099849343, + "ymax": 1.258962947759528 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 448.06059203010443, + 1.258962947759528 + ], + [ + 456.92088099849343, + -17.44284561290158 + ], + [ + 415.01300898733433, + -18.05385225621933 + ], + [ + 404.56969144418383, + 0.6005463148698595 + ], + [ + 447.06300056362295, + -6.1217347316048745 + ], + [ + 456.0044350048178, + -24.644944562179433 + ], + [ + 413.8881919606024, + -25.249996982355867 + ], + [ + 403.3476482556222, + -6.773983565125263 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17408989212588188295, + "instance_id": 34594, + "pixel_count": null, + "type_id": "BP_HighwayLight_simple_5_SM_2", + "bbox_3d": { + "center_world": { + "x": -75.30853271484375, + "y": -56.101219177246094, + "z": 5.664507865905762 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1213.4850737583563, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 89.43378745827289 + }, + "corners_3d": [ + [ + -75.6749038696289, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -74.94214630126953, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -74.9421615600586, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -75.67491912841797, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -75.6749038696289, + -52.1658935546875, + 11.14326000213623 + ], + [ + -74.94214630126953, + -52.1658935546875, + 11.14326000213623 + ], + [ + -74.9421615600586, + -60.03654479980469, + 11.14326000213623 + ], + [ + -75.67491912841797, + -60.03654479980469, + 11.14326000213623 + ] + ], + "corners_2d": [ + [ + 1228.0532967953818, + 18.375357847958014 + ], + [ + 1213.4850737583563, + 18.15257300303557 + ], + [ + 1284.1413380180663, + 89.14685404693836 + ], + [ + 1300.7088418591093, + 89.43378745827289 + ], + [ + 1331.6652028389549, + -228.81718294946825 + ], + [ + 1314.47987037482, + -228.9562356509939 + ], + [ + 1416.0067344661127, + -183.57020177338973 + ], + [ + 1436.0441138592264, + -183.38228734298548 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1211.3683756510786, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 331.8787792551496 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1211.3683756510786, + 182.07933329591427 + ], + [ + 1421.901410164749, + 331.8787792551496 + ], + [ + 1642.7584971754563, + 277.58476742104665 + ], + [ + 1406.2743015480125, + 144.99187288980542 + ], + [ + 1410.188201985125, + -249.1429999078032 + ], + [ + 1780.0524720147619, + -167.14407513159324 + ], + [ + 2060.0423314377053, + -198.36704151295112 + ], + [ + 1653.9629415128459, + -267.56725863590077 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00021/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00021/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..64b7cab2d8447075f5ebbae6975c361539357690 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00021/meta.json @@ -0,0 +1,2834 @@ +{ + "frame_id": 21, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 10.5, + "sim_timestamp": 13372.888325262116 + }, + "drone_pose": { + "x": -47.533661990530156, + "y": -100.36905726417773, + "z": 20.11871993243294, + "pitch": -42.05719151036906, + "yaw": 87.65746473005888, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.030347704887390137, + -0.7418561577796936, + 0.6698720455169678, + 62.424964904785156 + ], + [ + 0.9991644024848938, + 0.04087364673614502, + 0.0, + -43.39148712158203 + ], + [ + -0.02738010883331299, + 0.6693122386932373, + 0.7424765825271606, + -83.41738891601562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.561639597251144, + "y": -99.86257500044451, + "z": 20.1041347501638 + }, + "t1_image_uv": [ + 761.4317957515573, + -457.0986896528418 + ], + "t1_depth": 0.3846580952647233 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -79.18776321411133, + "z": 0.9926957939565182 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 28.55175656516657, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 728, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -79.18775939941406, + "z": 0.9926957488059998 + }, + "extent": { + "x": 0.491645485162735, + "y": 0.4194360375404358, + "z": 0.8629780411720276 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 624.7360884574596, + "ymin": 326.7723844711983, + "xmax": 654.8845546729791, + "ymax": 392.7637426311257 + }, + "corners_3d": [ + [ + -46.247745513916016, + -79.67940521240234, + 0.12971770763397217 + ], + [ + -47.08662033081055, + -79.67940521240234, + 0.12971770763397217 + ], + [ + -47.08662033081055, + -78.69611358642578, + 0.12971770763397217 + ], + [ + -46.247745513916016, + -78.69611358642578, + 0.12971770763397217 + ], + [ + -46.247745513916016, + -79.67940521240234, + 1.8556737899780273 + ], + [ + -47.08662033081055, + -79.67940521240234, + 1.8556737899780273 + ], + [ + -47.08662033081055, + -78.69611358642578, + 1.8556737899780273 + ], + [ + -46.247745513916016, + -78.69611358642578, + 1.8556737899780273 + ] + ], + "corners_2d": [ + [ + 625.3493266747671, + 391.9685544756391 + ], + [ + 653.3217493686938, + 392.7637426311257 + ], + [ + 654.3008370792795, + 370.52280636473574 + ], + [ + 627.0190861725616, + 369.76646506408747 + ], + [ + 624.7360884574596, + 348.7683634586092 + ], + [ + 653.879876769564, + 349.557014007616 + ], + [ + 654.8845546729791, + 327.5209561561295 + ], + [ + 626.4897196880283, + 326.7723844711983 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 21, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 108, + "semantic_pixel_counts": { + "1": 504162, + "2": 155722, + "3": 101314, + "4": 20524, + "5": 1, + "6": 15630, + "7": 3648, + "9": 24648, + "10": 39419, + "12": 3900, + "14": 8780, + "20": 3536, + "21": 12659, + "24": 27657 + }, + "instance_pixel_counts": { + "143": 9751, + "339": 1338, + "883": 1683, + "1167": 8278, + "1679": 21610, + "1875": 647, + "2703": 24551, + "3727": 2838, + "3749": 109, + "4204": 37, + "4261": 123, + "5714": 344, + "6565": 1287, + "7539": 91, + "8018": 1603, + "8530": 929, + "8556": 3006, + "8579": 1311, + "8810": 16, + "9042": 790, + "9068": 3907, + "9320": 585, + "9554": 1172, + "9580": 3042, + "10092": 2956, + "11368": 799, + "11370": 31, + "11596": 595, + "12396": 1867, + "12675": 7, + "15186": 9524, + "15698": 10340, + "16210": 5377, + "22381": 5778, + "22784": 8585, + "22893": 4793, + "23441": 6210, + "23552": 8607, + "23953": 6821, + "24429": 5008, + "24465": 6225, + "24941": 7278, + "24977": 6104, + "25489": 1133, + "25928": 1, + "25965": 4931, + "26696": 19929, + "26987": 1557, + "26989": 4, + "27243": 32, + "27719": 50839, + "28231": 37363, + "28523": 120, + "28779": 1588, + "30339": 481, + "30548": 2354, + "30630": 1082, + "31142": 1033, + "31572": 2500, + "31633": 5034, + "31654": 1115, + "32084": 3926, + "32145": 6347, + "32657": 5026, + "32911": 347, + "33169": 239, + "37286": 4, + "37798": 3, + "40358": 3220, + "42391": 27, + "42918": 2769, + "44951": 87, + "51815": 187990, + "52327": 52768, + "53351": 48632, + "53863": 166465, + "54375": 46923, + "54889": 12999, + "55401": 1508, + "55913": 1486, + "56173": 24648, + "56320": 728, + "56425": 10320, + "56486": 20, + "56576": 602, + "56742": 34, + "56832": 501, + "56937": 1297, + "57088": 548, + "57344": 600, + "57600": 921, + "58022": 16, + "58278": 1, + "58790": 20, + "59522": 294, + "59762": 3607, + "60274": 2756, + "60582": 1230, + "61094": 1283, + "61803": 477, + "62059": 451, + "62827": 284, + "63083": 138, + "63314": 676, + "63339": 452, + "64594": 137, + "64654": 9602, + "64850": 86 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 728, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -79.18775939941406, + "z": 0.9926957488059998 + }, + "extent": { + "x": 0.5072851181030273, + "y": 0.36065673828125, + "z": 0.8858073353767395 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 626.741337531839, + "ymin": 325.89187814303006, + "xmax": 652.9165887494339, + "ymax": 393.6190675638832 + }, + "corners_3d": [ + [ + -46.30652618408203, + -79.6950454711914, + 0.10688841342926025 + ], + [ + -47.02783966064453, + -79.6950454711914, + 0.10688841342926025 + ], + [ + -47.02783966064453, + -78.68047332763672, + 0.10688841342926025 + ], + [ + -46.30652618408203, + -78.68047332763672, + 0.10688841342926025 + ], + [ + -46.30652618408203, + -79.6950454711914, + 1.8785030841827393 + ], + [ + -47.02783966064453, + -79.6950454711914, + 1.8785030841827393 + ], + [ + -47.02783966064453, + -78.68047332763672, + 1.8785030841827393 + ], + [ + -46.30652618408203, + -78.68047332763672, + 1.8785030841827393 + ] + ], + "corners_2d": [ + [ + 627.2880687220713, + 392.93471314022185 + ], + [ + 651.3372862890507, + 393.6190675638832 + ], + [ + 652.397152768789, + 370.67108869020905 + ], + [ + 628.9600707050782, + 370.021185427438 + ], + [ + 626.741337531839, + 348.58716552961585 + ], + [ + 651.8252821074304, + 349.26576702619144 + ], + [ + 652.9165887494339, + 326.5349065327846 + ], + [ + 628.4978590939364, + 325.89187814303006 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 602, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -76.19004821777344, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4284936785697937, + "y": 0.4943384528160095, + "z": 0.8652769327163696 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 496.82606154577036, + "ymin": 262.92384311401776, + "xmax": 534.2152155703382, + "ymax": 324.7570713742921 + }, + "corners_3d": [ + [ + -42.14674758911133, + -76.71195983886719, + 0.13199400901794434 + ], + [ + -43.11381912231445, + -76.50640106201172, + 0.13199400901794434 + ], + [ + -42.93564224243164, + -75.66813659667969, + 0.13199400901794434 + ], + [ + -41.968570709228516, + -75.87369537353516, + 0.13199400901794434 + ], + [ + -42.14674758911133, + -76.71195983886719, + 1.8625478744506836 + ], + [ + -43.11381912231445, + -76.50640106201172, + 1.8625478744506836 + ], + [ + -42.93564224243164, + -75.66813659667969, + 1.8625478744506836 + ], + [ + -41.968570709228516, + -75.87369537353516, + 1.8625478744506836 + ] + ], + "corners_2d": [ + [ + 503.7123572072275, + 324.7570713742921 + ], + [ + 534.2152155703382, + 321.4802355326549 + ], + [ + 531.9655427917706, + 305.18207726944144 + ], + [ + 502.0569823444249, + 308.3308758744878 + ], + [ + 498.4359414419569, + 282.1976192895187 + ], + [ + 530.1365014191556, + 278.96875722248444 + ], + [ + 527.8852178233639, + 262.92384311401776 + ], + [ + 496.82606154577036, + 266.021817195617 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 501, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -72.24504852294922, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.4584936499595642, + "y": 0.4305395483970642, + "z": 0.9313642382621765 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 697.7211612347301, + "ymin": 198.74150931339173, + "xmax": 728.0079989056131, + "ymax": 258.8278903708133 + }, + "corners_3d": [ + [ + -48.54275131225586, + -72.74603271484375, + 0.06591165065765381 + ], + [ + -49.39911651611328, + -72.6560287475586, + 0.06591165065765381 + ], + [ + -49.30326461791992, + -71.74406433105469, + 0.06591165065765381 + ], + [ + -48.4468994140625, + -71.83406829833984, + 0.06591165065765381 + ], + [ + -48.54275131225586, + -72.74603271484375, + 1.9286401271820068 + ], + [ + -49.39911651611328, + -72.6560287475586, + 1.9286401271820068 + ], + [ + -49.30326461791992, + -71.74406433105469, + 1.9286401271820068 + ], + [ + -48.4468994140625, + -71.83406829833984, + 1.9286401271820068 + ] + ], + "corners_2d": [ + [ + 700.5350584832472, + 258.8278903708133 + ], + [ + 724.7719721842601, + 257.9086181609265 + ], + [ + 721.485641969552, + 242.9113545339428 + ], + [ + 697.7211612347301, + 243.79487115036528 + ], + [ + 702.8487686118553, + 214.2919364374593 + ], + [ + 728.0079989056131, + 213.39313615520393 + ], + [ + 724.5328775403877, + 198.74150931339173 + ], + [ + 699.8823421301779, + 199.60405558945763 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 548, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -79.18775939941406, + "z": 0.9784672260284424 + }, + "extent": { + "x": 0.31693845987319946, + "y": 0.355231910943985, + "z": 0.8746339082717896 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 941.8086906411636, + "ymin": 339.35925757114177, + "xmax": 984.0331956583166, + "ymax": 398.312995371308 + }, + "corners_3d": [ + [ + -55.81195068359375, + -79.50469970703125, + 0.10383331775665283 + ], + [ + -56.52241516113281, + -79.50469970703125, + 0.10383331775665283 + ], + [ + -56.52241516113281, + -78.87081909179688, + 0.10383331775665283 + ], + [ + -55.81195068359375, + -78.87081909179688, + 0.10383331775665283 + ], + [ + -55.81195068359375, + -79.50469970703125, + 1.853101134300232 + ], + [ + -56.52241516113281, + -79.50469970703125, + 1.853101134300232 + ], + [ + -56.52241516113281, + -78.87081909179688, + 1.853101134300232 + ], + [ + -55.81195068359375, + -78.87081909179688, + 1.853101134300232 + ] + ], + "corners_2d": [ + [ + 945.8964950675404, + 397.6319813688449 + ], + [ + 969.9440230574846, + 398.312995371308 + ], + [ + 965.4643623796635, + 383.68909664674015 + ], + [ + 941.8086906411636, + 383.02991927827696 + ], + [ + 958.9485420230258, + 353.8365847944238 + ], + [ + 984.0331956583166, + 354.5122685866666 + ], + [ + 979.1280961474058, + 340.01237413529833 + ], + [ + 954.4695253362088, + 339.35925757114177 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 600, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -50.28268051147461, + "y": -90.31512451171875, + "z": 0.9532425999641418 + }, + "extent": { + "x": 0.47980716824531555, + "y": 0.3312890827655792, + "z": 0.9304611682891846 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 769.1346907694614, + "ymin": 674.0142411380205, + "xmax": 811.4395476566157, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.903053283691406, + -90.75767517089844, + 0.022781431674957275 + ], + [ + -50.5620002746582, + -90.82693481445312, + 0.022781431674957275 + ], + [ + -50.66230773925781, + -89.87257385253906, + 0.022781431674957275 + ], + [ + -50.003360748291016, + -89.80331420898438, + 0.022781431674957275 + ], + [ + -49.903053283691406, + -90.75767517089844, + 1.8837037086486816 + ], + [ + -50.5620002746582, + -90.82693481445312, + 1.8837037086486816 + ], + [ + -50.66230773925781, + -89.87257385253906, + 1.8837037086486816 + ], + [ + -50.003360748291016, + -89.80331420898438, + 1.8837037086486816 + ] + ], + "corners_2d": [ + [ + 769.1346907694614, + 760.1213629992922 + ], + [ + 800.3621354117365, + 764.5413213035597 + ], + [ + 801.3366491426659, + 722.195821374329 + ], + [ + 771.1430959160406, + 718.0650695979857 + ], + [ + 777.486927325025, + 717.1794519856428 + ], + [ + 810.7726706622782, + 721.7267252360449 + ], + [ + 811.4395476566157, + 678.2457131371375 + ], + [ + 779.3259344347023, + 674.0142411380205 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 921, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -87.35797882080078, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.3408557176589966, + "y": 0.5515038967132568, + "z": 0.9160085320472717 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 110.74535230200661, + "ymin": 538.6466604008675, + "xmax": 194.97044328414563, + "ymax": 616.9277906167523 + }, + "corners_3d": [ + [ + -34.811527252197266, + -87.57672119140625, + 0.02581322193145752 + ], + [ + -35.89043426513672, + -87.8060531616211, + 0.02581322193145752 + ], + [ + -36.032169342041016, + -87.13923645019531, + 0.02581322193145752 + ], + [ + -34.95326232910156, + -86.90990447998047, + 0.02581322193145752 + ], + [ + -34.811527252197266, + -87.57672119140625, + 1.857830286026001 + ], + [ + -35.89043426513672, + -87.8060531616211, + 1.857830286026001 + ], + [ + -36.032169342041016, + -87.13923645019531, + 1.857830286026001 + ], + [ + -34.95326232910156, + -86.90990447998047, + 1.857830286026001 + ] + ], + "corners_2d": [ + [ + 138.5785237588267, + 607.1643650045874 + ], + [ + 178.5285007486059, + 616.9277906167523 + ], + [ + 194.97044328414563, + 593.615120576929 + ], + [ + 155.70270054624154, + 584.2511424017358 + ], + [ + 110.74535230200661, + 561.8202312288486 + ], + [ + 152.67566256912187, + 571.7106880716983 + ], + [ + 170.5846251084817, + 548.1106419112905 + ], + [ + 129.40339926706025, + 538.6466604008675 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 874.4029214223553, + "ymin": 187.62336066559982, + "xmax": 892.454070207737, + "ymax": 223.3449235609004 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 874.4029214223553, + 215.23915371457366 + ], + [ + 876.3827540290034, + 223.10745910374382 + ], + [ + 886.752108173938, + 223.3449235609004 + ], + [ + 884.6597179889249, + 215.47152058866612 + ], + [ + 879.7579541896071, + 187.62336066559982 + ], + [ + 881.8432811899036, + 195.3652480263664 + ], + [ + 892.454070207737, + 195.59895719845338 + ], + [ + 890.2509131605434, + 187.85193887073254 + ] + ], + "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": 286.79496077196745, + "ymin": 373.52923216572583, + "xmax": 314.95794991600053, + "ymax": 416.0186691667579 + }, + "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": [ + [ + 296.87544390825775, + 415.6392285851685 + ], + [ + 309.7450888738963, + 416.0186691667579 + ], + [ + 314.95794991600053, + 403.4725720440649 + ], + [ + 302.261214322106, + 403.1033840154971 + ], + [ + 286.79496077196745, + 386.0136327315396 + ], + [ + 300.0385852017874, + 386.3916717353916 + ], + [ + 305.538399842719, + 373.89676261842743 + ], + [ + 292.47780706561946, + 373.52923216572583 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 985.7723414942099, + "ymin": 190.10546791045937, + "xmax": 1007.7566440957428, + "ymax": 225.92511050101058 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 985.7723414942099, + 217.76221867385485 + ], + [ + 988.9782365950425, + 225.68596349004514 + ], + [ + 999.4210627724705, + 225.92511050101058 + ], + [ + 996.1010241757099, + 217.99621412190882 + ], + [ + 993.6999175830975, + 190.10546791045937 + ], + [ + 997.0689258878654, + 197.90316391370385 + ], + [ + 1007.7566440957428, + 198.1385674986459 + ], + [ + 1004.268107227777, + 190.33568493762715 + ] + ], + "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": 401.0710404622311, + "ymin": 262.1875128758119, + "xmax": 418.13623359061876, + "ymax": 294.045489030387 + }, + "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": [ + [ + 405.9964444669439, + 293.80588652210287 + ], + [ + 415.3935640473113, + 294.045489030387 + ], + [ + 418.13623359061876, + 286.13698271719943 + ], + [ + 408.8311500553358, + 285.90209234639383 + ], + [ + 401.0710404622311, + 270.0160356516437 + ], + [ + 410.6645086457662, + 270.2534071694326 + ], + [ + 413.51205599635966, + 262.4201193418348 + ], + [ + 404.0144902542549, + 262.1875128758119 + ] + ], + "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": 327.7202985586825, + "ymin": 285.99770883282065, + "xmax": 351.6225610504214, + "ymax": 325.4463379647972 + }, + "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": [ + [ + 335.75771860087883, + 325.1377612633304 + ], + [ + 347.3777487807154, + 325.4463379647972 + ], + [ + 351.6225610504214, + 315.23009557796934 + ], + [ + 340.14368031181397, + 314.9290529514508 + ], + [ + 327.7202985586825, + 296.10688321565357 + ], + [ + 339.6443591963698, + 296.412553458889 + ], + [ + 344.0974263156224, + 286.29572248718677 + ], + [ + 332.3219498563227, + 285.99770883282065 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 782.1864130510205, + "ymin": 185.56856988617363, + "xmax": 797.0019425105374, + "ymax": 221.20877982174383 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 782.1864130510205, + 213.15015134346214 + ], + [ + 783.157538974187, + 220.97270386243432 + ], + [ + 793.4662593754474, + 221.20877982174383 + ], + [ + 792.3838784639274, + 213.3811741249705 + ], + [ + 785.4251000553592, + 185.56856988617363 + ], + [ + 786.4546260768146, + 193.2644098750424 + ], + [ + 797.0019425105374, + 193.49672107607213 + ], + [ + 795.8559810522117, + 185.79579583722764 + ] + ], + "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": 244.96143668963788, + "ymin": 462.7483273192487, + "xmax": 277.7942755737376, + "ymax": 508.07144917177936 + }, + "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": [ + [ + 257.360806859888, + 507.61249114666236 + ], + [ + 271.4972719591153, + 508.07144917177936 + ], + [ + 277.7942755737376, + 492.9160898963562 + ], + [ + 263.866153639611, + 492.4707430002701 + ], + [ + 244.96143668963788, + 477.9154550246316 + ], + [ + 259.5504104351798, + 478.3754115876382 + ], + [ + 266.2326380992227, + 463.1942112072647 + ], + [ + 251.86545215953078, + 462.7483273192487 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1133.5761564879044, + "ymin": 284.1062127950953, + "xmax": 1158.989731354976, + "ymax": 316.63037057623814 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1133.5761564879044, + 308.0232623890448 + ], + [ + 1138.0979142501953, + 316.3770537177226 + ], + [ + 1147.9857435944107, + 316.63037057623814 + ], + [ + 1143.3621503570712, + 308.2714589439954 + ], + [ + 1144.153755826123, + 284.1062127950953 + ], + [ + 1148.8843178448974, + 292.390185124563 + ], + [ + 1158.989731354976, + 292.641441746264 + ], + [ + 1154.1528278036303, + 284.35228246916523 + ] + ], + "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": 724.6449242879172, + "ymin": 109.22280693144077, + "xmax": 1233.1328829816882, + "ymax": 378.1502092017541 + }, + "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": [ + [ + 1119.0475828745382, + 378.1502092017541 + ], + [ + 1114.5722406437305, + 368.6060563022867 + ], + [ + 724.6449242879172, + 355.7010432479716 + ], + [ + 724.8624909096209, + 364.964170165489 + ], + [ + 1233.1328829816882, + 129.06887686520633 + ], + [ + 1226.0852617111054, + 120.60216794180005 + ], + [ + 744.1733080826443, + 109.22280693144077 + ], + [ + 744.700698362738, + 117.38284859550225 + ] + ], + "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": 219.05798602399068, + "ymin": 214.57938983841265, + "xmax": 352.6559238573657, + "ymax": 390.6224124224469 + }, + "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": [ + [ + 332.49748344466434, + 390.6224124224469 + ], + [ + 352.6559238573657, + 340.46350334701236 + ], + [ + 288.718454133497, + 338.7352357638964 + ], + [ + 264.82360299399824, + 388.68351865859506 + ], + [ + 294.8957975287423, + 264.25393206998194 + ], + [ + 319.70991706043844, + 216.2227187188823 + ], + [ + 248.53319881171262, + 214.57938983841265 + ], + [ + 219.05798602399068, + 262.3850796303645 + ] + ], + "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": 163.97593160242633, + "ymin": 104.42738036992873, + "xmax": 425.2357526224421, + "ymax": 708.2405189403405 + }, + "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": [ + [ + 425.2357526224421, + 350.6868077745162 + ], + [ + 411.6864595061179, + 350.23584814506324 + ], + [ + 289.62075963107685, + 707.3348481064601 + ], + [ + 308.73316842175154, + 708.2405189403405 + ], + [ + 376.0419234030033, + 104.8225437347885 + ], + [ + 359.4228597884338, + 104.42738036992873 + ], + [ + 163.97593160242633, + 450.3231242302264 + ], + [ + 189.82150062643854, + 451.2932167278299 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 393.52512430634135, + "ymin": 0.0, + "xmax": 464.7722076017714, + "ymax": 82.50086538572589 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 455.8825887193675, + 82.50086538572589 + ], + [ + 464.7722076017714, + 60.423071804374445 + ], + [ + 421.7157801861688, + 59.6469927983361 + ], + [ + 411.163334576252, + 81.66316651634867 + ], + [ + 441.6694505372609, + -21.061450763099117 + ], + [ + 451.79025942592796, + -40.60277573007164 + ], + [ + 405.5677397411904, + -41.287640068550445 + ], + [ + 393.52512430634135, + -21.804973419592443 + ] + ], + "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": 233.45161168139794, + "ymin": 246.6331970022399, + "xmax": 327.67328882977597, + "ymax": 303.60638600940524 + }, + "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": [ + [ + 305.52593202855377, + 303.60638600940524 + ], + [ + 327.67328882977597, + 257.3108279765328 + ], + [ + 262.80574411173643, + 255.72837903346004 + ], + [ + 236.782093953247, + 301.8264190822461 + ], + [ + 302.7571204840938, + 294.3312344692563 + ], + [ + 325.23678997671726, + 248.20895179455965 + ], + [ + 259.8693523887057, + 246.6331970022399 + ], + [ + 233.45161168139794, + 292.5571226780802 + ] + ], + "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": 233.5096768480837, + "ymin": 246.65738303986757, + "xmax": 327.6056405498251, + "ymax": 303.51692403448493 + }, + "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": [ + [ + 305.4780122503082, + 303.51692403448493 + ], + [ + 327.6056405498251, + 257.27342609516097 + ], + [ + 262.8129222024568, + 255.6927222387856 + ], + [ + 236.81763862696107, + 301.73913823212365 + ], + [ + 302.72729388048134, + 294.30296656884775 + ], + [ + 325.18472815528247, + 248.23144380460946 + ], + [ + 259.8959953542957, + 246.65738303986757 + ], + [ + 233.5096768480837, + 292.53099241013535 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 399.5536151017292, + "ymin": 0.0, + "xmax": 454.23281189428, + "ymax": 10.796201717722681 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 444.98032167559774, + 10.796201717722681 + ], + [ + 454.23281189428, + -8.496056194391485 + ], + [ + 411.6932407864173, + -9.169802873330582 + ], + [ + 400.80690061515764, + 10.069240567469137 + ], + [ + 443.95704233733665, + 3.380777841151371 + ], + [ + 453.2946428363472, + -15.730759756958605 + ], + [ + 410.5418055876297, + -16.398059815185945 + ], + [ + 399.5536151017292, + 2.6604908509105485 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 399.51992441738594, + "ymin": 0.0, + "xmax": 454.2702206261906, + "ymax": 10.857321395973429 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 445.00914891970484, + 10.857321395973429 + ], + [ + 454.2702206261906, + -8.457352111248724 + ], + [ + 411.6803743100076, + -9.131946675089068 + ], + [ + 400.7817491143212, + 10.129386570844247 + ], + [ + 443.9791562931703, + 3.3924675353106863 + ], + [ + 453.32598688397263, + -15.740093398097201 + ], + [ + 410.5211989721736, + -16.408190896284736 + ], + [ + 399.51992441738594, + 2.671259318720786 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17408989212588188295, + "instance_id": 34594, + "pixel_count": null, + "type_id": "BP_HighwayLight_simple_5_SM_2", + "bbox_3d": { + "center_world": { + "x": -75.30853271484375, + "y": -56.101219177246094, + "z": 5.664507865905762 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1223.7045165445384, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 101.44429148536608 + }, + "corners_3d": [ + [ + -75.6749038696289, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -74.94214630126953, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -74.9421615600586, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -75.67491912841797, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -75.6749038696289, + -52.1658935546875, + 11.14326000213623 + ], + [ + -74.94214630126953, + -52.1658935546875, + 11.14326000213623 + ], + [ + -74.9421615600586, + -60.03654479980469, + 11.14326000213623 + ], + [ + -75.67491912841797, + -60.03654479980469, + 11.14326000213623 + ] + ], + "corners_2d": [ + [ + 1238.5380096982062, + 27.9330711284764 + ], + [ + 1223.7045165445384, + 27.687090233378967 + ], + [ + 1296.7310497106168, + 101.12595340570334 + ], + [ + 1313.644605375619, + 101.44429148536608 + ], + [ + 1345.9069689270586, + -222.50990286137574 + ], + [ + 1328.355690273847, + -222.66395289251545 + ], + [ + 1434.060862801724, + -175.51230607402204 + ], + [ + 1454.6005304545897, + -175.30272430033983 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1223.833881441867, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 355.0360059092906 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1223.833881441867, + 197.75683425898632 + ], + [ + 1442.4932823978756, + 355.0360059092906 + ], + [ + 1668.4658485925702, + 298.34398179861216 + ], + [ + 1422.6923957402823, + 159.4209061579978 + ], + [ + 1432.770628710871, + -241.0970034553485 + ], + [ + 1824.3909483062355, + -153.69599303878397 + ], + [ + 2111.791917972579, + -186.89808783124556 + ], + [ + 1682.4758800494726, + -260.32227351349945 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00022/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00022/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8e0479c4cc55960148fb3faeabfbc11ed9f9dc0e --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00022/meta.json @@ -0,0 +1,2835 @@ +{ + "frame_id": 22, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 11.0, + "sim_timestamp": 13382.990107405232 + }, + "drone_pose": { + "x": -47.561639597251144, + "y": -99.86257500044451, + "z": 20.1041347501638, + "pitch": -42.041155788858795, + "yaw": 87.58117598554047, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.03134334087371826, + -0.7420022487640381, + 0.6696642637252808, + 62.1259765625 + ], + [ + 0.9991090297698975, + 0.04220396280288696, + 0.0, + -43.304664611816406 + ], + [ + -0.02826249599456787, + 0.6690676212310791, + 0.7426639795303345, + -83.08963775634766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.589176450270344, + "y": -99.35634343045008, + "z": 20.090913511243674 + }, + "t1_image_uv": [ + 762.3155845070742, + -461.08660382512574 + ], + "t1_depth": 0.38361568100223636 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -78.68776321411133, + "z": 0.9936625924706459 + }, + "image_uv": [ + 640.0, + 359.9999999999999 + ], + "depth": 28.537393942332073, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 709, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -78.68775939941406, + "z": 0.9936625361442566 + }, + "extent": { + "x": 0.5082690119743347, + "y": 0.5567626953125, + "z": 0.9123560786247253 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 619.8812334280183, + "ymin": 324.9714513368201, + "xmax": 659.6071160087562, + "ymax": 394.50117324206605 + }, + "corners_3d": [ + [ + -46.11042022705078, + -79.19602966308594, + 0.08130645751953125 + ], + [ + -47.22394561767578, + -79.19602966308594, + 0.08130645751953125 + ], + [ + -47.22394561767578, + -78.17948913574219, + 0.08130645751953125 + ], + [ + -46.11042022705078, + -78.17948913574219, + 0.08130645751953125 + ], + [ + -46.11042022705078, + -79.19602966308594, + 1.906018614768982 + ], + [ + -47.22394561767578, + -79.19602966308594, + 1.906018614768982 + ], + [ + -47.22394561767578, + -78.17948913574219, + 1.906018614768982 + ], + [ + -46.11042022705078, + -78.17948913574219, + 1.906018614768982 + ] + ], + "corners_2d": [ + [ + 620.735180668518, + 393.40990209810207 + ], + [ + 657.8558491927696, + 394.50117324206605 + ], + [ + 658.7951747841812, + 371.4921236266891 + ], + [ + 622.6211421291247, + 370.45589677649207 + ], + [ + 619.8812334280183, + 347.69839756527546 + ], + [ + 658.6483446956476, + 348.7801549552354 + ], + [ + 659.6071160087562, + 325.99632040583646 + ], + [ + 621.871310217439, + 324.9714513368201 + ] + ], + "center_offset_px": [ + 0.0, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 22, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 108, + "semantic_pixel_counts": { + "1": 495123, + "2": 160336, + "3": 103812, + "4": 20643, + "5": 96, + "6": 16242, + "7": 3794, + "9": 25089, + "10": 39147, + "12": 3931, + "14": 9187, + "20": 3629, + "21": 13168, + "24": 27254, + "25": 149 + }, + "instance_pixel_counts": { + "143": 10063, + "339": 1546, + "883": 2260, + "1167": 8301, + "1679": 22465, + "1875": 632, + "2703": 25270, + "3727": 2180, + "3749": 120, + "4204": 13, + "4261": 131, + "5714": 352, + "6565": 1416, + "7539": 199, + "8018": 1779, + "8530": 1027, + "8556": 3076, + "8579": 1345, + "8810": 35, + "9042": 869, + "9068": 4007, + "9320": 1150, + "9554": 1311, + "9580": 3118, + "10092": 3025, + "11368": 1307, + "11370": 47, + "11596": 717, + "12396": 1682, + "12675": 7, + "15186": 9744, + "15698": 10593, + "16210": 5202, + "22381": 6009, + "22784": 8964, + "22893": 4934, + "23441": 6386, + "23552": 8851, + "23953": 6985, + "24429": 4984, + "24465": 6420, + "24941": 7370, + "24977": 6216, + "25489": 759, + "25928": 96, + "25965": 5085, + "26696": 19926, + "26987": 1623, + "27243": 28, + "27719": 52854, + "28231": 37676, + "28523": 138, + "28779": 1582, + "30339": 523, + "30548": 2540, + "30630": 1208, + "30863": 111, + "31142": 1130, + "31572": 2694, + "31633": 5192, + "31654": 1170, + "32084": 3953, + "32145": 6543, + "32657": 4977, + "32911": 617, + "33169": 61, + "37286": 4, + "37798": 2, + "39239": 149, + "40358": 3203, + "42391": 72, + "42918": 2982, + "44951": 142, + "51815": 183395, + "52327": 54211, + "53351": 45338, + "53863": 161406, + "54375": 48316, + "54889": 12842, + "55401": 1552, + "55913": 1393, + "56173": 25089, + "56320": 709, + "56425": 10049, + "56486": 13, + "56576": 608, + "56742": 28, + "56832": 500, + "56937": 1336, + "57088": 566, + "57344": 603, + "57600": 945, + "58022": 18, + "58790": 19, + "59522": 353, + "59762": 3725, + "60274": 3093, + "60582": 1430, + "61094": 1484, + "61803": 473, + "62059": 344, + "62827": 286, + "63083": 140, + "63314": 146, + "63339": 458, + "64594": 144, + "64654": 9879, + "64850": 90 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 709, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -78.68775939941406, + "z": 0.9936625361442566 + }, + "extent": { + "x": 0.49687010049819946, + "y": 0.5002514719963074, + "z": 0.893718957901001 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 621.8768024985004, + "ymin": 325.75599196975986, + "xmax": 657.6709589966508, + "ymax": 393.73376259859845 + }, + "corners_3d": [ + [ + -46.16693115234375, + -79.18463134765625, + 0.09994357824325562 + ], + [ + -47.16743469238281, + -79.18463134765625, + 0.09994357824325562 + ], + [ + -47.16743469238281, + -78.19088745117188, + 0.09994357824325562 + ], + [ + -46.16693115234375, + -78.19088745117188, + 0.09994357824325562 + ], + [ + -46.16693115234375, + -79.18463134765625, + 1.8873815536499023 + ], + [ + -47.16743469238281, + -79.18463134765625, + 1.8873815536499023 + ], + [ + -47.16743469238281, + -78.19088745117188, + 1.8873815536499023 + ], + [ + -46.16693115234375, + -78.19088745117188, + 1.8873815536499023 + ] + ], + "corners_2d": [ + [ + 622.6304851956197, + 392.7538932306281 + ], + [ + 655.988117792599, + 393.73376259859845 + ], + [ + 656.9536772226895, + 371.2452759846917 + ], + [ + 624.4282298155944, + 370.31377123347926 + ], + [ + 621.8768024985004, + 347.97880428002776 + ], + [ + 656.6826496564248, + 348.95028231533774 + ], + [ + 657.6709589966508, + 326.6775187307527 + ], + [ + 623.7701436518572, + 325.75599196975986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 608, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -75.69004821777344, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.47626224160194397, + "y": 0.4593188762664795, + "z": 0.9160619974136353 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 497.7930643074024, + "ymin": 260.78008578820453, + "xmax": 533.4616762594595, + "ymax": 326.6909863871677 + }, + "corners_3d": [ + [ + -42.19093322753906, + -76.25140380859375, + 0.08120894432067871 + ], + [ + -43.08949661254883, + -76.0604019165039, + 0.08120894432067871 + ], + [ + -42.891456604003906, + -75.12869262695312, + 0.08120894432067871 + ], + [ + -41.99289321899414, + -75.31969451904297, + 0.08120894432067871 + ], + [ + -42.19093322753906, + -76.25140380859375, + 1.9133329391479492 + ], + [ + -43.08949661254883, + -76.0604019165039, + 1.9133329391479492 + ], + [ + -42.891456604003906, + -75.12869262695312, + 1.9133329391479492 + ], + [ + -41.99289321899414, + -75.31969451904297, + 1.9133329391479492 + ] + ], + "corners_2d": [ + [ + 505.10836088040014, + 326.6909863871677 + ], + [ + 533.4616762594595, + 323.66250598043507 + ], + [ + 531.0207032570565, + 305.5330443849851 + ], + [ + 503.2807198151394, + 308.43032860417856 + ], + [ + 499.56762469354385, + 281.59185089673826 + ], + [ + 529.1021398765994, + 278.6102563266045 + ], + [ + 526.6626691770355, + 260.78008578820453 + ], + [ + 497.7930643074024, + 263.62740002460265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 500, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -71.74504852294922, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.4755517542362213, + "y": 0.31034910678863525, + "z": 0.9197410941123962 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 701.2987181233298, + "ymin": 198.94042632198247, + "xmax": 724.8337312362239, + "ymax": 258.79206846280124 + }, + "corners_3d": [ + [ + -48.664066314697266, + -72.25043487548828, + 0.07753479480743408 + ], + [ + -49.28136444091797, + -72.18555450439453, + 0.07753479480743408 + ], + [ + -49.181949615478516, + -71.23966217041016, + 0.07753479480743408 + ], + [ + -48.56465148925781, + -71.3045425415039, + 0.07753479480743408 + ], + [ + -48.664066314697266, + -72.25043487548828, + 1.9170169830322266 + ], + [ + -49.28136444091797, + -72.18555450439453, + 1.9170169830322266 + ], + [ + -49.181949615478516, + -71.23966217041016, + 1.9170169830322266 + ], + [ + -48.56465148925781, + -71.3045425415039, + 1.9170169830322266 + ] + ], + "corners_2d": [ + [ + 704.2588239433322, + 258.79206846280124 + ], + [ + 721.7505187764074, + 258.142672372435 + ], + [ + 718.4364708489575, + 242.5801202337225 + ], + [ + 701.2987181233298, + 243.20331133683817 + ], + [ + 706.6844772717916, + 214.7830928753604 + ], + [ + 724.8337312362239, + 214.14800129378378 + ], + [ + 721.3321931866049, + 198.94042632198247 + ], + [ + 703.5637024035523, + 199.54895371468524 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 566, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -78.68775939941406, + "z": 0.9850492477416992 + }, + "extent": { + "x": 0.33137205243110657, + "y": 0.5838403105735779, + "z": 0.8810005187988281 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 934.3451491997218, + "ymin": 338.763727654264, + "xmax": 992.6102529835246, + "ymax": 399.2245525136549 + }, + "corners_3d": [ + [ + -55.583343505859375, + -79.01913452148438, + 0.1040487289428711 + ], + [ + -56.75102233886719, + -79.01913452148438, + 0.1040487289428711 + ], + [ + -56.75102233886719, + -78.35638427734375, + 0.1040487289428711 + ], + [ + -55.583343505859375, + -78.35638427734375, + 0.1040487289428711 + ], + [ + -55.583343505859375, + -79.01913452148438, + 1.8660497665405273 + ], + [ + -56.75102233886719, + -79.01913452148438, + 1.8660497665405273 + ], + [ + -56.75102233886719, + -78.35638427734375, + 1.8660497665405273 + ], + [ + -55.583343505859375, + -78.35638427734375, + 1.8660497665405273 + ] + ], + "corners_2d": [ + [ + 938.4662634564563, + 398.06693179409785 + ], + [ + 978.0479600409408, + 399.2245525136549 + ], + [ + 973.2519107117972, + 383.9137626308161 + ], + [ + 934.3451491997218, + 382.79496149227117 + ], + [ + 951.3063158341254, + 353.90325047818754 + ], + [ + 992.6102529835246, + 355.05172922505074 + ], + [ + 987.3544154510851, + 339.87207914150815 + ], + [ + 946.7848751512956, + 338.763727654264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 603, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -50.28268051147461, + "y": -89.81512451171875, + "z": 0.9508646726608276 + }, + "extent": { + "x": 0.47568362951278687, + "y": 0.369072288274765, + "z": 0.9106822609901428 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 766.8300800033768, + "ymin": 674.840545663284, + "xmax": 812.6154251202056, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.86590576171875, + -90.24962615966797, + 0.040182411670684814 + ], + [ + -50.60000991821289, + -90.3267822265625, + 0.040182411670684814 + ], + [ + -50.69945526123047, + -89.38062286376953, + 0.040182411670684814 + ], + [ + -49.96535110473633, + -89.303466796875, + 0.040182411670684814 + ], + [ + -49.86590576171875, + -90.24962615966797, + 1.8615469932556152 + ], + [ + -50.60000991821289, + -90.3267822265625, + 1.8615469932556152 + ], + [ + -50.69945526123047, + -89.38062286376953, + 1.8615469932556152 + ], + [ + -49.96535110473633, + -89.303466796875, + 1.8615469932556152 + ] + ], + "corners_2d": [ + [ + 766.8300800033768, + 759.7137137646628 + ], + [ + 801.6630221448277, + 764.6879413329307 + ], + [ + 802.6445242220644, + 722.6392175642798 + ], + [ + 768.9564962555562, + 717.9882384720582 + ], + [ + 774.8549215624616, + 717.6416658355846 + ], + [ + 811.934592360228, + 722.7560425151215 + ], + [ + 812.6154251202056, + 679.6025945724039 + ], + [ + 776.8303937747721, + 674.840545663284 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 945, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -86.85797882080078, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.3645910620689392, + "y": 0.3902880847454071, + "z": 0.9324374794960022 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 115.36868389949564, + "ymin": 538.3319004150485, + "xmax": 189.47780193878106, + "ymax": 616.2985332150968 + }, + "corners_3d": [ + [ + -34.96428680419922, + -87.13345336914062, + 0.00938427448272705 + ], + [ + -35.727806091308594, + -87.29574584960938, + 0.00938427448272705 + ], + [ + -35.87940979003906, + -86.58250427246094, + 0.00938427448272705 + ], + [ + -35.11589050292969, + -86.42021179199219, + 0.00938427448272705 + ], + [ + -34.96428680419922, + -87.13345336914062, + 1.8742592334747314 + ], + [ + -35.727806091308594, + -87.29574584960938, + 1.8742592334747314 + ], + [ + -35.87940979003906, + -86.58250427246094, + 1.8742592334747314 + ], + [ + -35.11589050292969, + -86.42021179199219, + 1.8742592334747314 + ] + ], + "corners_2d": [ + [ + 143.49210775274906, + 609.3466917269875 + ], + [ + 171.74324738432, + 616.2985332150968 + ], + [ + 189.47780193878106, + 591.4459783755276 + ], + [ + 161.7412059269493, + 584.7978005326314 + ], + [ + 115.36868389949564, + 563.1659646006156 + ], + [ + 145.04523838944044, + 570.2098204325673 + ], + [ + 164.39162759075583, + 545.0511966613822 + ], + [ + 135.28089670844014, + 538.3319004150485 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 877.2089136051017, + "ymin": 197.93480037511048, + "xmax": 895.6232785983015, + "ymax": 234.09411988435755 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 877.2089136051017, + 225.74022939516146 + ], + [ + 879.2316126127835, + 233.8416033232504 + ], + [ + 889.7629897562279, + 234.09411988435755 + ], + [ + 887.624191960006, + 225.98724244107476 + ], + [ + 882.7103288626403, + 197.93480037511048 + ], + [ + 884.8428384695737, + 205.9109724128955 + ], + [ + 895.6232785983015, + 206.15965235815355 + ], + [ + 893.3691458680119, + 198.17793541010533 + ] + ], + "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": 278.4613781744547, + "ymin": 389.64258073707396, + "xmax": 307.514975071888, + "ymax": 432.7133365507128 + }, + "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": [ + [ + 288.97073948771725, + 432.3070501998735 + ], + [ + 302.0741288605718, + 432.7133365507128 + ], + [ + 307.514975071888, + 419.70685849010766 + ], + [ + 294.59081108940245, + 419.3117547792497 + ], + [ + 278.4613781744547, + 402.5976144639156 + ], + [ + 291.95255241333274, + 403.00281533028345 + ], + [ + 297.69847497242563, + 390.03630199625013 + ], + [ + 284.3972126076502, + 389.64258073707396 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 990.3165519019742, + "ymin": 200.5753974586853, + "xmax": 1012.7920705422225, + "ymax": 236.8383722259519 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 990.3165519019742, + 228.4227368903754 + ], + [ + 993.6042770621452, + 236.58397894213135 + ], + [ + 1004.2139242192509, + 236.8383722259519 + ], + [ + 1000.8083845666781, + 228.67156552993845 + ], + [ + 998.4716838616646, + 200.5753974586853 + ], + [ + 1001.929619049344, + 208.61189499465817 + ], + [ + 1012.7920705422225, + 208.8624667533584 + ], + [ + 1009.2106727705316, + 200.82036127060286 + ] + ], + "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": 397.0760217896245, + "ymin": 272.305709503748, + "xmax": 414.50492556138124, + "ymax": 304.4988088141341 + }, + "corners_3d": [ + [ + -39.744693756103516, + -78.3948974609375, + 2.645533323287964 + ], + [ + -40.02336502075195, + -78.3948974609375, + 2.645533323287964 + ], + [ + -40.02336502075195, + -78.01498413085938, + 2.645533323287964 + ], + [ + -39.744693756103516, + -78.01498413085938, + 2.645533323287964 + ], + [ + -39.744693756103516, + -78.3948974609375, + 3.5146729946136475 + ], + [ + -40.02336502075195, + -78.3948974609375, + 3.5146729946136475 + ], + [ + -40.02336502075195, + -78.01498413085938, + 3.5146729946136475 + ], + [ + -39.744693756103516, + -78.01498413085938, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 402.1500233691187, + 304.2448702148922 + ], + [ + 411.6704677335854, + 304.4988088141341 + ], + [ + 414.50492556138124, + 296.38275897926883 + ], + [ + 405.078949091155, + 296.1338820927791 + ], + [ + 397.0760217896245, + 280.34353137633593 + ], + [ + 406.79800384984173, + 280.5952347363553 + ], + [ + 409.742173129226, + 272.55229029802246 + ], + [ + 400.1186798758081, + 272.305709503748 + ] + ], + "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": 321.1361048677107, + "ymin": 299.01032502183574, + "xmax": 345.703586736512, + "ymax": 338.9685333276025 + }, + "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": [ + [ + 329.47934384037234, + 338.6393567937397 + ], + [ + 341.28944869395735, + 338.9685333276025 + ], + [ + 345.703586736512, + 328.4164217426813 + ], + [ + 334.03927615674024, + 328.0954174213218 + ], + [ + 321.1361048677107, + 309.4598522391868 + ], + [ + 333.2603167320376, + 309.7861941587348 + ], + [ + 337.89455603094905, + 299.3283515519143 + ], + [ + 325.92394538830337, + 299.01032502183574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 783.5821333939697, + "ymin": 195.74949777981965, + "xmax": 798.6576665138787, + "ymax": 231.82285517596637 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 783.5821333939697, + 223.51989745189354 + ], + [ + 784.5647155689717, + 231.5718866203916 + ], + [ + 795.0315297608877, + 231.82285517596637 + ], + [ + 793.9342570007547, + 223.76541274739517 + ], + [ + 786.9017872557275, + 195.74949777981965 + ], + [ + 787.9448593439804, + 203.67591950922343 + ], + [ + 798.6576665138787, + 203.92303937367478 + ], + [ + 797.4944805488465, + 195.99112454097343 + ] + ], + "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": 234.66518114586472, + "ymin": 482.38125981433626, + "xmax": 268.66421957179915, + "ymax": 528.3506457713275 + }, + "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": [ + [ + 247.6479311500343, + 527.8573428221528 + ], + [ + 262.06710247969494, + 528.3506457713275 + ], + [ + 268.66421957179915, + 512.5800807823177 + ], + [ + 254.4617692167413, + 512.1017074811712 + ], + [ + 234.66518114586472, + 498.18291455179224 + ], + [ + 249.55530949990901, + 498.677915742572 + ], + [ + 256.5644403617213, + 482.86079580099005 + ], + [ + 241.90530499873148, + 482.38125981433626 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1140.0437996102726, + "ymin": 295.4423720564263, + "xmax": 1166.0370144196913, + "ymax": 328.3334643021447 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1140.0437996102726, + 319.47178753830855 + ], + [ + 1144.6825593513972, + 328.0643663533971 + ], + [ + 1154.7227713242787, + 328.3334643021447 + ], + [ + 1149.9790168534098, + 319.73536625813165 + ], + [ + 1150.9160460559685, + 295.4423720564263 + ], + [ + 1155.7724479504905, + 303.96802613868664 + ], + [ + 1166.0370144196913, + 304.2350905368752 + ], + [ + 1161.070899790564, + 295.70384044965493 + ] + ], + "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": 725.1210967063894, + "ymin": 118.59948427796527, + "xmax": 1242.3756483111847, + "ymax": 389.9322318048913 + }, + "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": [ + [ + 1124.95431714904, + 389.9322318048913 + ], + [ + 1120.371291961219, + 380.13279352443953 + ], + [ + 725.1210967063894, + 366.5377993810634 + ], + [ + 725.3281331334013, + 376.0371252461823 + ], + [ + 1242.3756483111847, + 139.3976371840647 + ], + [ + 1235.1062650917074, + 130.653789361095 + ], + [ + 745.0668066501476, + 118.59948427796527 + ], + [ + 745.5918394061323, + 127.01298185717843 + ] + ], + "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": 212.05342056460296, + "ymin": 224.10442604227865, + "xmax": 348.4833139227195, + "ymax": 402.07168304054574 + }, + "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": [ + [ + 327.7011074484401, + 402.07168304054574 + ], + [ + 348.4833139227195, + 350.65689720416077 + ], + [ + 283.7872589036487, + 348.8291389733431 + ], + [ + 259.1762889851546, + 400.0181090483639 + ], + [ + 288.95895898606483, + 275.2161371241734 + ], + [ + 314.605760779721, + 225.8467919366264 + ], + [ + 242.48989219077055, + 224.10442604227865 + ], + [ + 212.05342056460296, + 273.2309619822645 + ] + ], + "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": 150.12715409923993, + "ymin": 113.40776910472178, + "xmax": 421.91888245661687, + "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": [ + [ + 421.91888245661687, + 361.1261667242834 + ], + [ + 408.204926400786, + 360.6517609380417 + ], + [ + 281.71450876219563, + 728.4631453775803 + ], + [ + 301.1570136679835, + 729.4261454523999 + ], + [ + 371.20856823499776, + 113.82560599035793 + ], + [ + 354.3420673299496, + 113.40776910472178 + ], + [ + 150.12715409923993, + 472.77523245155584 + ], + [ + 176.57748705531895, + 473.8194150410113 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 391.3941150382173, + "ymin": 0.0, + "xmax": 463.50303190333653, + "ymax": 87.45841595642145 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 454.4181686760831, + 87.45841595642145 + ], + [ + 463.50303190333653, + 65.02491073351183 + ], + [ + 420.1058253748692, + 64.2109304317176 + ], + [ + 409.33095520911843, + 86.57922970553165 + ], + [ + 439.9642210397446, + -16.68800904062863 + ], + [ + 450.3154528734624, + -36.56409545133937 + ], + [ + 403.7008585508544, + -37.28308707005493 + ], + [ + 391.3941150382173, + -17.469172665308463 + ] + ], + "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": 226.85489972607468, + "ymin": 256.3659816500057, + "xmax": 322.83390957147463, + "ymax": 314.7278079657533 + }, + "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": [ + [ + 299.96301385825353, + 314.7278079657533 + ], + [ + 322.83390957147463, + 267.184672626076 + ], + [ + 257.13683852392836, + 265.5081435395857 + ], + [ + 230.28631346179242, + 312.83891004949135 + ], + [ + 297.10852543579034, + 305.41041710338004 + ], + [ + 320.32693451655416, + 258.0357296591581 + ], + [ + 254.11719112646426, + 256.3659816500057 + ], + [ + 226.85489972607468, + 303.5273324326656 + ] + ], + "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": 226.9140470936896, + "ymin": 256.3908403533577, + "xmax": 322.764914413299, + "ymax": 314.6372598625331 + }, + "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": [ + [ + 299.9143784141561, + 314.6372598625331 + ], + [ + 322.764914413299, + 267.1475327482321 + ], + [ + 257.1435598609862, + 265.47285410241216 + ], + [ + 230.3222578679604, + 312.750681444603 + ], + [ + 297.0785452631994, + 305.38133075581766 + ], + [ + 320.27397336645953, + 258.0587896600059 + ], + [ + 254.1439233221348, + 256.3908403533577 + ], + [ + 226.9140470936896, + 303.5005225621066 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 397.516512448933, + "ymin": 0.0, + "xmax": 452.8069530457208, + "ymax": 15.355980227934538 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 443.3464724200818, + 15.355980227934538 + ], + [ + 452.8069530457208, + -4.2607151448088985 + ], + [ + 409.9137154553714, + -4.967844794648329 + ], + [ + 398.79134126861464, + 14.592476544471538 + ], + [ + 442.30559160386144, + 7.896636875980505 + ], + [ + 451.8536423764218, + -11.537668024677885 + ], + [ + 408.7436250962272, + -12.238078306449893 + ], + [ + 397.516512448933, + 7.140087216356562 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 397.4824473088644, + "ymin": 0.0, + "xmax": 452.8447907008034, + "ymax": 15.417603157491214 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 443.3755339218452, + 15.417603157491214 + ], + [ + 452.8447907008034, + -4.221877215973564 + ], + [ + 409.900878910264, + -4.929896189677493 + ], + [ + 398.7659623803179, + 14.6530769329284 + ], + [ + 442.3278240593452, + 7.908538908787875 + ], + [ + 451.8853183372, + -11.547146060335194 + ], + [ + 408.7229239338072, + -12.248393092381548 + ], + [ + 397.4824473088644, + 7.151021346336847 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17408989212588188295, + "instance_id": 34594, + "pixel_count": null, + "type_id": "BP_HighwayLight_simple_5_SM_2", + "bbox_3d": { + "center_world": { + "x": -75.30853271484375, + "y": -56.101219177246094, + "z": 5.664507865905762 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1228.9589190557379, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 107.2716964721123 + }, + "corners_3d": [ + [ + -75.6749038696289, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -74.94214630126953, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -74.9421615600586, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -75.67491912841797, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -75.6749038696289, + -52.1658935546875, + 11.14326000213623 + ], + [ + -74.94214630126953, + -52.1658935546875, + 11.14326000213623 + ], + [ + -74.9421615600586, + -60.03654479980469, + 11.14326000213623 + ], + [ + -75.67491912841797, + -60.03654479980469, + 11.14326000213623 + ] + ], + "corners_2d": [ + [ + 1243.9300677268257, + 32.46447200633622 + ], + [ + 1228.9589190557379, + 32.20630964836465 + ], + [ + 1303.2051103519411, + 106.93678725639774 + ], + [ + 1320.2981490437812, + 107.2716964721123 + ], + [ + 1353.322196547179, + -219.70717739399822 + ], + [ + 1335.5788203741317, + -219.86919035768074 + ], + [ + 1443.4759572649946, + -171.76526232857668 + ], + [ + 1464.2795653713342, + -171.54409357074348 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1230.237229774573, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 366.7714054645452 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1230.237229774573, + 205.5236735176519 + ], + [ + 1453.1221019498685, + 366.7714054645452 + ], + [ + 1681.753470330207, + 308.8079760944818 + ], + [ + 1431.1493415838027, + 166.52802073470667 + ], + [ + 1444.6430516829928, + -237.32807847486015 + ], + [ + 1847.9858026268046, + -146.94911008806844 + ], + [ + 2139.270548280524, + -181.24690708890284 + ], + [ + 1697.473848273996, + -256.99312873846463 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00025/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00025/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f1bff167b9002a878050f5e51909082d94f8c17a --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00025/meta.json @@ -0,0 +1,2832 @@ +{ + "frame_id": 25, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 12.5, + "sim_timestamp": 13415.666216266574 + }, + "drone_pose": { + "x": -47.642082048500825, + "y": -98.34456727644944, + "z": 20.068526398433615, + "pitch": -42.0021849624103, + "yaw": 87.3616941085482, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.034206509590148926, + -0.7423316240310669, + 0.669158935546875, + 61.20490646362305 + ], + [ + 0.9989399909973145, + 0.04603093862533569, + 0.0, + -43.06468963623047 + ], + [ + -0.030802011489868164, + 0.6684496402740479, + 0.7431192994117737, + -82.11917114257812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.66726540721016, + "y": -97.83901005170509, + "z": 20.059332025677065 + }, + "t1_image_uv": [ + 762.1570073613997, + -473.24470754921924 + ], + "t1_depth": 0.3805821754755117 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -77.18776321411133, + "z": 0.9971782159805298 + }, + "image_uv": [ + 639.9999999999998, + 359.9999999999999 + ], + "depth": 28.50047557383327, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 716, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -77.18775939941406, + "z": 0.9971781969070435 + }, + "extent": { + "x": 0.48427000641822815, + "y": 0.4642895460128784, + "z": 0.8842403292655945 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 623.0711760695068, + "ymin": 326.22475279287687, + "xmax": 656.51705874569, + "ymax": 393.2662111607267 + }, + "corners_3d": [ + [ + -46.2028923034668, + -77.67202758789062, + 0.11293786764144897 + ], + [ + -47.131473541259766, + -77.67202758789062, + 0.11293786764144897 + ], + [ + -47.131473541259766, + -76.7034912109375, + 0.11293786764144897 + ], + [ + -46.2028923034668, + -76.7034912109375, + 0.11293786764144897 + ], + [ + -46.2028923034668, + -77.67202758789062, + 1.8814184665679932 + ], + [ + -47.131473541259766, + -77.67202758789062, + 1.8814184665679932 + ], + [ + -47.131473541259766, + -76.7034912109375, + 1.8814184665679932 + ], + [ + -46.2028923034668, + -76.7034912109375, + 1.8814184665679932 + ] + ], + "corners_2d": [ + [ + 623.768027395552, + 392.274346719917 + ], + [ + 654.7595479573342, + 393.2662111607267 + ], + [ + 655.853030231152, + 371.33920144275623 + ], + [ + 625.6164894637103, + 370.395172784653 + ], + [ + 623.0711760695068, + 347.89113146277975 + ], + [ + 655.3939179238846, + 348.87442463057283 + ], + [ + 656.51705874569, + 327.1586638673376 + ], + [ + 625.0146906251739, + 326.22475279287687 + ] + ], + "center_offset_px": [ + -2.2737367544323206e-13, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 25, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 105, + "semantic_pixel_counts": { + "1": 466573, + "2": 174727, + "3": 111818, + "4": 21197, + "5": 384, + "6": 18361, + "7": 4168, + "9": 26287, + "10": 38644, + "12": 3844, + "14": 8934, + "20": 3948, + "21": 13434, + "24": 26759, + "25": 2522 + }, + "instance_pixel_counts": { + "143": 10986, + "339": 2209, + "883": 4623, + "1167": 8307, + "1679": 24505, + "1875": 329, + "2703": 27923, + "3727": 679, + "3749": 138, + "4261": 139, + "5714": 376, + "6565": 1517, + "7539": 1010, + "8018": 2333, + "8530": 1325, + "8556": 3304, + "8579": 1351, + "8810": 76, + "9042": 1104, + "9068": 4329, + "9320": 2917, + "9554": 1729, + "9580": 3363, + "10092": 3240, + "11368": 2909, + "11370": 82, + "11596": 1254, + "12396": 1041, + "12675": 6, + "15186": 10430, + "15698": 11375, + "16210": 3132, + "22381": 6652, + "22784": 10199, + "22893": 5413, + "23441": 6952, + "23552": 9681, + "23953": 7514, + "24429": 4886, + "24465": 7022, + "24941": 7689, + "24977": 5927, + "25489": 77, + "25928": 384, + "25965": 5561, + "26696": 19943, + "26987": 1817, + "27243": 14, + "27719": 58626, + "28231": 38214, + "28523": 140, + "28779": 1694, + "30339": 679, + "30548": 2797, + "30630": 1248, + "30863": 565, + "31142": 1184, + "31572": 2938, + "31633": 5694, + "31654": 1191, + "32084": 3199, + "32145": 7264, + "32657": 4217, + "32911": 1451, + "37286": 3, + "37798": 10, + "39239": 2522, + "40358": 2795, + "42391": 224, + "42918": 3734, + "44951": 319, + "51815": 167898, + "52327": 59057, + "53351": 35419, + "53863": 145476, + "54375": 52897, + "54889": 12670, + "55401": 1689, + "55913": 1254, + "56173": 26287, + "56320": 716, + "56425": 9507, + "56576": 623, + "56742": 42, + "56832": 503, + "56937": 1481, + "57088": 559, + "57344": 570, + "57600": 873, + "58022": 18, + "58278": 1, + "58790": 19, + "59522": 619, + "59762": 4170, + "60274": 3576, + "60582": 2059, + "61094": 2130, + "61803": 503, + "62059": 61, + "62827": 227, + "63083": 103, + "63339": 482, + "64594": 163, + "64654": 10941, + "64850": 97 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 716, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -77.18775939941406, + "z": 0.9971781969070435 + }, + "extent": { + "x": 0.47526854276657104, + "y": 0.538403332233429, + "z": 0.896693766117096 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 620.5079064410228, + "ymin": 326.02242268040663, + "xmax": 659.0304121408952, + "ymax": 393.4361897649133 + }, + "corners_3d": [ + [ + -46.128780364990234, + -77.66302490234375, + 0.10048443078994751 + ], + [ + -47.20558547973633, + -77.66302490234375, + 0.10048443078994751 + ], + [ + -47.20558547973633, + -76.71249389648438, + 0.10048443078994751 + ], + [ + -46.128780364990234, + -76.71249389648438, + 0.10048443078994751 + ], + [ + -46.128780364990234, + -77.66302490234375, + 1.8938720226287842 + ], + [ + -47.20558547973633, + -77.66302490234375, + 1.8938720226287842 + ], + [ + -47.20558547973633, + -76.71249389648438, + 1.8938720226287842 + ], + [ + -46.128780364990234, + -76.71249389648438, + 1.8938720226287842 + ] + ], + "corners_2d": [ + [ + 621.3210750943682, + 392.286484056737 + ], + [ + 657.2408365699823, + 393.4361897649133 + ], + [ + 658.2545418468092, + 371.91208796100585 + ], + [ + 623.1935007743896, + 370.81680912277386 + ], + [ + 620.5079064410228, + 347.28015565161974 + ], + [ + 657.9924037003944, + 348.4197619228536 + ], + [ + 659.0304121408952, + 327.10581766427157 + ], + [ + 622.4801070926025, + 326.02242268040663 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 623, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -74.19005584716797, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.46196290850639343, + "y": 0.5645044445991516, + "z": 0.9192672371864319 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 494.82271611141016, + "ymin": 260.40879056297615, + "xmax": 536.9150218944616, + "ymax": 326.59257837330233 + }, + "corners_3d": [ + [ + -42.08507537841797, + -74.75929260253906, + 0.07800370454788208 + ], + [ + -43.18941116333008, + -74.5245590209961, + 0.07800370454788208 + ], + [ + -42.997314453125, + -73.62081909179688, + 0.07800370454788208 + ], + [ + -41.89297866821289, + -73.85555267333984, + 0.07800370454788208 + ], + [ + -42.08507537841797, + -74.75929260253906, + 1.9165382385253906 + ], + [ + -43.18941116333008, + -74.5245590209961, + 1.9165382385253906 + ], + [ + -42.997314453125, + -73.62081909179688, + 1.9165382385253906 + ], + [ + -41.89297866821289, + -73.85555267333984, + 1.9165382385253906 + ] + ], + "corners_2d": [ + [ + 502.0484319561208, + 326.59257837330233 + ], + [ + 536.9150218944616, + 322.95875882386 + ], + [ + 534.5804514180154, + 305.38127461450676 + ], + [ + 500.4477135279344, + 308.86201631511625 + ], + [ + 496.3617382085213, + 281.26799364931026 + ], + [ + 532.6849557693388, + 277.69137915368105 + ], + [ + 530.3501727477872, + 260.40879056297615 + ], + [ + 494.82271611141016, + 263.82874528370985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 503, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -70.24504852294922, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.4850170910358429, + "y": 0.31803464889526367, + "z": 0.9574344158172607 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 701.8569409206947, + "ymin": 198.04791184294237, + "xmax": 725.9817800154874, + "ymax": 260.0550228460393 + }, + "corners_3d": [ + [ + -48.657413482666016, + -70.76065063476562, + 0.03984147310256958 + ], + [ + -49.28999710083008, + -70.69416809082031, + 0.03984147310256958 + ], + [ + -49.188602447509766, + -69.72944641113281, + 0.03984147310256958 + ], + [ + -48.5560188293457, + -69.79592895507812, + 0.03984147310256958 + ], + [ + -48.657413482666016, + -70.76065063476562, + 1.9547102451324463 + ], + [ + -49.28999710083008, + -70.69416809082031, + 1.9547102451324463 + ], + [ + -49.188602447509766, + -69.72944641113281, + 1.9547102451324463 + ], + [ + -48.5560188293457, + -69.79592895507812, + 1.9547102451324463 + ] + ], + "corners_2d": [ + [ + 704.78560841589, + 260.0550228460393 + ], + [ + 722.72913366744, + 259.4295060786493 + ], + [ + 719.429529630889, + 243.53827404102572 + ], + [ + 701.8569409206947, + 244.13802578635153 + ], + [ + 707.3349402918316, + 214.17057967528152 + ], + [ + 725.9817800154874, + 213.5594879970407 + ], + [ + 722.4849802597435, + 198.04791184294237 + ], + [ + 704.2384004108044, + 198.63287458431293 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 559, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -77.18775939941406, + "z": 0.9917241334915161 + }, + "extent": { + "x": 0.33022215962409973, + "y": 0.5874242782592773, + "z": 0.8769432902336121 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 934.9100300436805, + "ymin": 339.53582975880414, + "xmax": 993.4609493747002, + "ymax": 399.9879600854057 + }, + "corners_3d": [ + [ + -55.57975769042969, + -77.51798248291016, + 0.11478084325790405 + ], + [ + -56.754608154296875, + -77.51798248291016, + 0.11478084325790405 + ], + [ + -56.754608154296875, + -76.85753631591797, + 0.11478084325790405 + ], + [ + -55.57975769042969, + -76.85753631591797, + 0.11478084325790405 + ], + [ + -55.57975769042969, + -77.51798248291016, + 1.8686673641204834 + ], + [ + -56.754608154296875, + -77.51798248291016, + 1.8686673641204834 + ], + [ + -56.754608154296875, + -76.85753631591797, + 1.8686673641204834 + ], + [ + -55.57975769042969, + -76.85753631591797, + 1.8686673641204834 + ] + ], + "corners_2d": [ + [ + 938.9533690259362, + 398.7144491540347 + ], + [ + 978.9058261413968, + 399.9879600854057 + ], + [ + 974.1812422991904, + 384.692849237158 + ], + [ + 934.9100300436805, + 383.4620177319093 + ], + [ + 951.7737844262929, + 354.6554384286397 + ], + [ + 993.4609493747002, + 355.91884990860274 + ], + [ + 988.2805051021235, + 340.7551310336509 + ], + [ + 947.3344726178766, + 339.53582975880414 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 570, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -50.28268051147461, + "y": -88.31512451171875, + "z": 0.949297308921814 + }, + "extent": { + "x": 0.48648443818092346, + "y": 0.3361474871635437, + "z": 0.951646089553833 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 766.3731823781233, + "ymin": 674.532101285196, + "xmax": 809.6609208434352, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.89752197265625, + -88.76380920410156, + -0.002348780632019043 + ], + [ + -50.56613540649414, + -88.8340835571289, + -0.002348780632019043 + ], + [ + -50.66783905029297, + -87.86643981933594, + -0.002348780632019043 + ], + [ + -49.99922561645508, + -87.7961654663086, + -0.002348780632019043 + ], + [ + -49.89752197265625, + -88.76380920410156, + 1.900943398475647 + ], + [ + -50.56613540649414, + -88.8340835571289, + 1.900943398475647 + ], + [ + -50.66783905029297, + -87.86643981933594, + 1.900943398475647 + ], + [ + -49.99922561645508, + -87.7961654663086, + 1.900943398475647 + ] + ], + "corners_2d": [ + [ + 766.3731823781233, + 762.4841571486218 + ], + [ + 798.131371149849, + 767.1465300147244 + ], + [ + 799.4227116509911, + 724.0776915987535 + ], + [ + 768.7317800702042, + 719.7252568320512 + ], + [ + 774.7594858660104, + 718.4452543960758 + ], + [ + 808.6663834264372, + 723.2453818038919 + ], + [ + 809.6609208434352, + 678.9930534895232 + ], + [ + 776.9678387973715, + 674.532101285196 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 873, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -85.35797882080078, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.3737231492996216, + "y": 0.34459471702575684, + "z": 0.9303362965583801 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 115.4641708999768, + "ymin": 537.1516176422971, + "xmax": 186.76113704978673, + "ymax": 614.978821142465 + }, + "corners_3d": [ + [ + -35.007083892822266, + -85.65189361572266, + 0.011485457420349121 + ], + [ + -35.681209564208984, + -85.79518127441406, + 0.011485457420349121 + ], + [ + -35.836612701416016, + -85.0640640258789, + 0.011485457420349121 + ], + [ + -35.1624870300293, + -84.9207763671875, + 0.011485457420349121 + ], + [ + -35.007083892822266, + -85.65189361572266, + 1.8721580505371094 + ], + [ + -35.681209564208984, + -85.79518127441406, + 1.8721580505371094 + ], + [ + -35.836612701416016, + -85.0640640258789, + 1.8721580505371094 + ], + [ + -35.1624870300293, + -84.9207763671875, + 1.8721580505371094 + ] + ], + "corners_2d": [ + [ + 143.52311321433496, + 608.7541300415586 + ], + [ + 168.403366547612, + 614.978821142465 + ], + [ + 186.76113704978673, + 589.5773590444542 + ], + [ + 162.3426061248876, + 583.6312060633908 + ], + [ + 115.4641708999768, + 562.5605676564056 + ], + [ + 141.5930531436083, + 568.8661496533614 + ], + [ + 161.6115886710894, + 543.1596186759714 + ], + [ + 135.99011155684343, + 537.1516176422971 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 885.7939861313781, + "ymin": 230.87205954654806, + "xmax": 905.3739529157506, + "ymax": 268.3960660357537 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 885.7939861313781, + 259.22583259083217 + ], + [ + 887.9570665423851, + 268.09434653462773 + ], + [ + 899.0030634668018, + 268.3960660357537 + ], + [ + 896.7122958707505, + 259.5206633190182 + ], + [ + 891.7664806407371, + 230.87205954654806 + ], + [ + 894.0538097972563, + 239.62126701088755 + ], + [ + 905.3739529157506, + 239.91901441164129 + ], + [ + 902.952558748495, + 231.162844623567 + ] + ], + "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": 251.1739816752982, + "ymin": 441.9479807660656, + "xmax": 283.19951130671285, + "ymax": 486.8289079648181 + }, + "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": [ + [ + 263.1408894323119, + 486.3325898119252 + ], + [ + 276.9958563299494, + 486.8289079648181 + ], + [ + 283.19951130671285, + 472.27480528122993 + ], + [ + 269.5448033786228, + 471.792950568876 + ], + [ + 251.1739816752982, + 456.4907088188537 + ], + [ + 265.462946047467, + 456.98737163849455 + ], + [ + 272.0353367927733, + 442.42972079764513 + ], + [ + 257.9592746648707, + 441.9479807660656 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1004.4209432628807, + "ymin": 234.0317190782867, + "xmax": 1028.4825863069213, + "ymax": 271.67694682900253 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1004.4209432628807, + 262.42915553993805 + ], + [ + 1007.9766475800303, + 271.37266069348664 + ], + [ + 1019.1166093806721, + 271.67694682900253 + ], + [ + 1015.4310585555943, + 262.72646532383783 + ], + [ + 1013.313977776028, + 234.0317190782867 + ], + [ + 1017.0637625607399, + 242.8567290822401 + ], + [ + 1028.4825863069213, + 243.15707202441865 + ], + [ + 1024.5964136129962, + 234.3250090001173 + ] + ], + "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": 384.16034169286013, + "ymin": 304.4060093888664, + "xmax": 402.76548592707877, + "ymax": 337.636255047243 + }, + "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": [ + [ + 389.72521333058853, + 337.3360438286528 + ], + [ + 399.63425560647795, + 337.636255047243 + ], + [ + 402.76548592707877, + 328.84388136956727 + ], + [ + 392.9587640723347, + 328.54990541584726 + ], + [ + 384.16034169286013, + 313.12718710570095 + ], + [ + 394.28776354543334, + 313.4252502201954 + ], + [ + 397.544950935355, + 304.6977463785021 + ], + [ + 387.52438438622937, + 304.4060093888664 + ] + ], + "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": 299.6907684562721, + "ymin": 340.9217859583682, + "xmax": 326.45313575560203, + "ymax": 382.4689196376375 + }, + "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": [ + [ + 309.0623204114281, + 382.0715821052039 + ], + [ + 321.4792502789145, + 382.4689196376375 + ], + [ + 326.45313575560203, + 370.79991589382814 + ], + [ + 314.1973008275981, + 370.412962623473 + ], + [ + 299.6907684562721, + 352.5064229951106 + ], + [ + 312.4551659156289, + 352.901391177427 + ], + [ + 317.69010747177026, + 341.306145339605 + ], + [ + 305.0958837253859, + 340.9217859583682 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 787.6926161087166, + "ymin": 228.25976269470326, + "xmax": 803.5951446532775, + "ymax": 265.68329215289543 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 787.6926161087166, + 256.5769431437843 + ], + [ + 788.7128660290828, + 265.3836866489986 + ], + [ + 799.6814666517931, + 265.68329215289543 + ], + [ + 798.5352980215619, + 256.8697317358157 + ], + [ + 791.2686175217864, + 228.25976269470326 + ], + [ + 792.3562588230604, + 236.94654907251032 + ], + [ + 803.5951446532775, + 237.24215927835095 + ], + [ + 802.3753399793372, + 228.5484849681922 + ] + ], + "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": 200.7373916014405, + "ymin": 546.6215026038465, + "xmax": 238.674042580564, + "ymax": 594.5954945373788 + }, + "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": [ + [ + 215.72550079036841, + 593.9854300118948 + ], + [ + 231.06036575387202, + 594.5954945373788 + ], + [ + 238.674042580564, + 576.7334142068171 + ], + [ + 223.58411070480474, + 576.1430131126751 + ], + [ + 200.7373916014405, + 564.5895606805445 + ], + [ + 216.60567580168072, + 565.2042856999035 + ], + [ + 224.72703159619505, + 547.2157314342461 + ], + [ + 209.120866309731, + 546.6215026038465 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1160.1936049062806, + "ymin": 331.4962614353257, + "xmax": 1188.0564271562466, + "ymax": 365.5232763178501 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1160.1936049062806, + 355.82861118115886 + ], + [ + 1165.213338925864, + 365.20285579910427 + ], + [ + 1175.7362577039503, + 365.5232763178501 + ], + [ + 1170.6012236911774, + 356.1421599035693 + ], + [ + 1172.0200060629104, + 331.4962614353257 + ], + [ + 1177.2869651405072, + 340.81476412835787 + ], + [ + 1188.0564271562466, + 341.13336096007674 + ], + [ + 1182.668734670559, + 331.80787107561883 + ] + ], + "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": 726.3435578788244, + "ymin": 148.6473299024095, + "xmax": 1271.5612071651876, + "ymax": 427.20090999940135 + }, + "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": [ + [ + 1143.281151759254, + 427.20090999940135 + ], + [ + 1138.3494333259034, + 416.5711963262037 + ], + [ + 726.3435578788244, + 400.7536855328092 + ], + [ + 726.5171761864706, + 411.0193943305107 + ], + [ + 1271.5612071651876, + 172.59246265698582 + ], + [ + 1263.5590602843408, + 162.92686711010364 + ], + [ + 747.5730943518273, + 148.6473299024095 + ], + [ + 748.0907983780374, + 157.90086543513928 + ] + ], + "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": 189.52767428260063, + "ymin": 254.3611057755895, + "xmax": 335.10651532148336, + "ymax": 438.3040557875871 + }, + "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": [ + [ + 312.31584972946405, + 438.3040557875871 + ], + [ + 335.10651532148336, + 382.81488831901845 + ], + [ + 268.0312506807849, + 380.66872060064156 + ], + [ + 241.11509187913452, + 435.8814209764112 + ], + [ + 269.8134154245919, + 310.18068479436494 + ], + [ + 298.16977215950203, + 256.42391218312775 + ], + [ + 223.0907505536041, + 254.3611057755895 + ], + [ + 189.52767428260063, + 307.816556058999 + ] + ], + "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": 103.99052829982043, + "ymin": 142.1578306729046, + "xmax": 411.22602837307846, + "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": [ + [ + 411.22602837307846, + 394.0696343382256 + ], + [ + 396.99535282568723, + 393.52003433001494 + ], + [ + 256.02903571532744, + 796.5916676783436 + ], + [ + 276.5280288609622, + 797.7457147706746 + ], + [ + 355.493249313002, + 142.64999779074117 + ], + [ + 337.840792593098, + 142.1578306729046 + ], + [ + 103.99052829982043, + 547.3268359337391 + ], + [ + 132.42810337575702, + 548.6296513808239 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 384.5082971362731, + "ymin": 0.0, + "xmax": 459.3327335872565, + "ymax": 102.82375458663591 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 449.63698992200614, + 102.82375458663591 + ], + [ + 459.3327335872565, + 79.26145092894296 + ], + [ + 414.88146838736475, + 78.3299352695513 + ], + [ + 403.41047722329694, + 101.81558279594748 + ], + [ + 434.40073440674064, + -3.0889972776989794 + ], + [ + 445.47658969487657, + -24.03382627242155 + ], + [ + 397.6458293378263, + -24.859197803972393 + ], + [ + 384.5082971362731, + -3.987837509410099 + ] + ], + "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": 205.66988542022085, + "ymin": 287.23129362232424, + "xmax": 307.2745848150772, + "ymax": 350.10586034674554 + }, + "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": [ + [ + 282.0572636796413, + 350.10586034674554 + ], + [ + 307.2745848150772, + 298.48630534250606 + ], + [ + 238.96502109264378, + 296.50638875195847 + ], + [ + 209.43391102490597, + 347.86354640279575 + ], + [ + 278.9198098084602, + 340.67445903068744 + ], + [ + 304.53578208613885, + 289.20439164923823 + ], + [ + 235.67214040058172, + 287.23129362232424 + ], + [ + 205.66988542022085, + 338.4375064611509 + ] + ], + "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": 205.7324985905292, + "ymin": 287.2583449686003, + "xmax": 307.20125163637164, + "ymax": 350.0119182716918 + }, + "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": [ + [ + 282.00632627119234, + 350.0119182716918 + ], + [ + 307.20125163637164, + 298.4501572364404 + ], + [ + 238.9701964217013, + 296.47242812800823 + ], + [ + 209.47107253851158, + 347.7723717728505 + ], + [ + 278.8893845926286, + 340.64269326794556 + ], + [ + 304.47995456973, + 289.22930758438946 + ], + [ + 235.6991169964445, + 287.2583449686003 + ], + [ + 205.7324985905292, + 338.40846915223716 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 390.93225828768215, + "ymin": 0.6599802842451936, + "xmax": 448.12974903485895, + "ymax": 29.519183472110342 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 438.0162156223686, + 29.519183472110342 + ], + [ + 448.12974903485895, + 8.868738289121552 + ], + [ + 404.1404149266641, + 8.057709571140379 + ], + [ + 392.276775318976, + 28.64164449744061 + ], + [ + 436.9181348659268, + 21.92666613489763 + ], + [ + 447.1272008027775, + 1.4634789707348546 + ], + [ + 402.90997371975243, + 0.6599802842451936 + ], + [ + 390.93225828768215, + 21.056909687325856 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 390.89702546228625, + "ymin": 0.6490815612628467, + "xmax": 448.1689354496448, + "ymax": 29.58236353078422 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 438.0460163217064, + 29.58236353078422 + ], + [ + 448.1689354496448, + 8.907959264935698 + ], + [ + 404.127692688971, + 8.095912655857092 + ], + [ + 392.2507042760766, + 28.703649652749277 + ], + [ + 436.94073018318596, + 21.93924370714086 + ], + [ + 447.1599098701736, + 1.453539241904764 + ], + [ + 402.8889843498182, + 0.6490815612628467 + ], + [ + 390.89702546228625, + 21.068373468812354 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17408989212588188295, + "instance_id": 34594, + "pixel_count": null, + "type_id": "BP_HighwayLight_simple_5_SM_2", + "bbox_3d": { + "center_world": { + "x": -75.30853271484375, + "y": -56.101219177246094, + "z": 5.664507865905762 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1244.9394253767834, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 125.35574075997536 + }, + "corners_3d": [ + [ + -75.6749038696289, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -74.94214630126953, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -74.9421615600586, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -75.67491912841797, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -75.6749038696289, + -52.1658935546875, + 11.14326000213623 + ], + [ + -74.94214630126953, + -52.1658935546875, + 11.14326000213623 + ], + [ + -74.9421615600586, + -60.03654479980469, + 11.14326000213623 + ], + [ + -75.67491912841797, + -60.03654479980469, + 11.14326000213623 + ] + ], + "corners_2d": [ + [ + 1260.3357436122064, + 46.43473735169897 + ], + [ + 1244.9394253767834, + 46.13875013616291 + ], + [ + 1323.0280644511017, + 124.96890158311109 + ], + [ + 1340.6780703749869, + 125.35574075997536 + ], + [ + 1376.0929493109866, + -211.0176518916594 + ], + [ + 1357.7516524693497, + -211.20471381740913 + ], + [ + 1472.6337159221569, + -160.02304985211526 + ], + [ + 1494.2646525387195, + -159.764964063781 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1249.953958310769, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 403.9053785762813 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1249.953958310769, + 229.82559697281346 + ], + [ + 1486.3372315617348, + 403.9053785762813 + ], + [ + 1723.2207756773405, + 341.798728505742 + ], + [ + 1457.2212478442016, + 188.70363474767646 + ], + [ + 1481.994214154248, + -225.26657102976878 + ], + [ + 1924.1160220800448, + -124.84113685134537 + ], + [ + 2227.390245224123, + -162.87655215368397 + ], + [ + 1744.5777920395553, + -246.3997608506196 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00029/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00029/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8ed178cc6aaea1338acc0fb496152640abf15cde --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00029/meta.json @@ -0,0 +1,2826 @@ +{ + "frame_id": 29, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 14.5, + "sim_timestamp": 13464.832419443177 + }, + "drone_pose": { + "x": -47.73732470534345, + "y": -96.32357941216239, + "z": 20.03743430608344, + "pitch": -41.977581119952674, + "yaw": 87.10149384238882, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.037591755390167236, + -0.7424555420875549, + 0.6688398122787476, + 59.90867614746094 + ], + [ + 0.9987207055091858, + 0.05056685209274292, + -2.9802322387695312e-08, + -42.80547332763672 + ], + [ + -0.033821165561676025, + 0.667984127998352, + 0.7434065341949463, + -80.85311126708984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.7588773339154, + "y": -95.81882914267591, + "z": 20.031813322850635 + }, + "t1_image_uv": [ + 759.5824465253428, + -484.4900707084648 + ], + "t1_depth": 0.3777039647378442 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -75.18776321411133, + "z": 0.9972709906101227 + }, + "image_uv": [ + 639.9999999999998, + 359.99999999999994 + ], + "depth": 28.46745069150684, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 707, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -75.18775939941406, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.49245116114616394, + "y": 0.5268945097923279, + "z": 0.9019558429718018 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 620.7737018110199, + "ymin": 325.4295338163375, + "xmax": 658.7549315246536, + "ymax": 394.04525281493324 + }, + "corners_3d": [ + [ + -46.140289306640625, + -75.68021392822266, + 0.09531509876251221 + ], + [ + -47.19407653808594, + -75.68021392822266, + 0.09531509876251221 + ], + [ + -47.19407653808594, + -74.69530487060547, + 0.09531509876251221 + ], + [ + -46.140289306640625, + -74.69530487060547, + 0.09531509876251221 + ], + [ + -46.140289306640625, + -75.68021392822266, + 1.8992267847061157 + ], + [ + -47.19407653808594, + -75.68021392822266, + 1.8992267847061157 + ], + [ + -47.19407653808594, + -74.69530487060547, + 1.8992267847061157 + ], + [ + -46.140289306640625, + -74.69530487060547, + 1.8992267847061157 + ] + ], + "corners_2d": [ + [ + 621.5812613117695, + 392.80718585238344 + ], + [ + 656.7774218403092, + 394.04525281493324 + ], + [ + 657.9856924914147, + 371.72844826399233 + ], + [ + 623.6616544141131, + 370.5511288761132 + ], + [ + 620.7737018110199, + 347.4623702347501 + ], + [ + 657.5140791493778, + 348.68942815810334 + ], + [ + 658.7549315246536, + 326.5938448507466 + ], + [ + 622.963851465867, + 325.4295338163375 + ] + ], + "center_offset_px": [ + -2.2737367544323206e-13, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 29, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 99, + "semantic_pixel_counts": { + "1": 426575, + "2": 197455, + "3": 120765, + "4": 22157, + "5": 564, + "6": 20442, + "7": 4804, + "9": 27678, + "10": 39645, + "12": 3941, + "14": 7960, + "20": 4290, + "21": 12973, + "24": 25743, + "25": 6608 + }, + "instance_pixel_counts": { + "143": 12438, + "339": 2773, + "883": 8116, + "1167": 8165, + "1679": 25785, + "2703": 31796, + "3749": 151, + "4261": 149, + "5714": 407, + "6565": 1628, + "7539": 2614, + "8018": 3446, + "8530": 2068, + "8556": 3669, + "8579": 1578, + "8810": 174, + "9042": 1764, + "9068": 4836, + "9320": 5399, + "9554": 1579, + "9580": 3713, + "10092": 3481, + "11368": 5176, + "11370": 150, + "11596": 2110, + "12396": 95, + "12675": 7, + "15186": 10496, + "15698": 12288, + "16210": 428, + "22381": 7325, + "22784": 12106, + "22893": 6168, + "23441": 7509, + "23552": 10555, + "23953": 8211, + "24429": 4577, + "24465": 7664, + "24941": 8161, + "24977": 4109, + "25928": 564, + "25965": 6308, + "26696": 20047, + "26987": 2119, + "27243": 4, + "27719": 68390, + "28231": 39570, + "28523": 204, + "28779": 1656, + "30339": 169, + "30548": 3058, + "30630": 1333, + "30863": 1187, + "31142": 1268, + "31572": 3199, + "31633": 6469, + "31654": 1233, + "32084": 1703, + "32145": 8361, + "32657": 2695, + "32911": 2650, + "37798": 14, + "39239": 6608, + "40358": 1232, + "42391": 438, + "42918": 4410, + "44951": 557, + "51815": 144442, + "52327": 66330, + "53351": 22367, + "53863": 123202, + "54375": 59659, + "54889": 12232, + "55401": 1889, + "55913": 874, + "56173": 27678, + "56320": 707, + "56425": 8830, + "56576": 607, + "56742": 60, + "56832": 498, + "56937": 1594, + "57088": 542, + "57344": 543, + "57600": 1044, + "58022": 23, + "58790": 17, + "59522": 838, + "59762": 4654, + "60274": 3861, + "60582": 2726, + "61094": 2745, + "61803": 535, + "62827": 236, + "63083": 160, + "63339": 517, + "64594": 190, + "64654": 13510, + "64850": 105 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 707, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -75.18775939941406, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.5218725204467773, + "y": 0.5480737090110779, + "z": 0.910074770450592 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 619.9646203199114, + "ymin": 324.55386531904844, + "xmax": 659.5145698820085, + "ymax": 394.9498506086313 + }, + "corners_3d": [ + [ + -46.119110107421875, + -75.70963287353516, + 0.08719617128372192 + ], + [ + -47.21525573730469, + -75.70963287353516, + 0.08719617128372192 + ], + [ + -47.21525573730469, + -74.66588592529297, + 0.08719617128372192 + ], + [ + -46.119110107421875, + -74.66588592529297, + 0.08719617128372192 + ], + [ + -46.119110107421875, + -75.70963287353516, + 1.9073457717895508 + ], + [ + -47.21525573730469, + -75.70963287353516, + 1.9073457717895508 + ], + [ + -47.21525573730469, + -74.66588592529297, + 1.9073457717895508 + ], + [ + -46.119110107421875, + -74.66588592529297, + 1.9073457717895508 + ] + ], + "corners_2d": [ + [ + 620.8142005706779, + 393.66001902769347 + ], + [ + 657.4459915786032, + 394.9498506086313 + ], + [ + 658.7076955208836, + 371.29731137864604 + ], + [ + 623.0369370198051, + 370.07443644000256 + ], + [ + 619.9646203199114, + 347.9007339265497 + ], + [ + 658.2196897931689, + 349.17907824041123 + ], + [ + 659.5145698820085, + 325.76302898703653 + ], + [ + 622.3063762600161, + 324.55386531904844 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 607, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -72.19005584716797, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.449821799993515, + "y": 0.46113041043281555, + "z": 0.881151020526886 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 498.6603820868346, + "ymin": 261.53919014551946, + "xmax": 533.9419811747656, + "ymax": 324.72457617877603 + }, + "corners_3d": [ + [ + -42.18366622924805, + -72.72592163085938, + 0.11611992120742798 + ], + [ + -43.08577346801758, + -72.53417205810547, + 0.11611992120742798 + ], + [ + -42.89872360229492, + -71.65419006347656, + 0.11611992120742798 + ], + [ + -41.99661636352539, + -71.84593963623047, + 0.11611992120742798 + ], + [ + -42.18366622924805, + -72.72592163085938, + 1.8784220218658447 + ], + [ + -43.08577346801758, + -72.53417205810547, + 1.8784220218658447 + ], + [ + -42.89872360229492, + -71.65419006347656, + 1.8784220218658447 + ], + [ + -41.99661636352539, + -71.84593963623047, + 1.8784220218658447 + ] + ], + "corners_2d": [ + [ + 505.4190865782713, + 324.72457617877603 + ], + [ + 533.9419811747656, + 321.8413294541279 + ], + [ + 531.8496662931715, + 304.70929122929033 + ], + [ + 503.91355602267583, + 307.4739113275891 + ], + [ + 500.109191253774, + 281.2331766012437 + ], + [ + 529.7725939937956, + 278.39389919259065 + ], + [ + 527.6896504653644, + 261.53919014551946 + ], + [ + 498.6603820868346, + 264.2571976796348 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 498, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -68.24504852294922, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4794872999191284, + "y": 0.3511132597923279, + "z": 0.9149708151817322 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 701.99773670347, + "ymin": 199.27255657977327, + "xmax": 727.8152681718814, + "ymax": 259.16087616656563 + }, + "corners_3d": [ + [ + -48.623939514160156, + -68.75861358642578, + 0.08230012655258179 + ], + [ + -49.32231903076172, + -68.68521118164062, + 0.08230012655258179 + ], + [ + -49.222076416015625, + -67.73148345947266, + 0.08230012655258179 + ], + [ + -48.52369689941406, + -67.80488586425781, + 0.08230012655258179 + ], + [ + -48.623939514160156, + -68.75861358642578, + 1.9122416973114014 + ], + [ + -49.32231903076172, + -68.68521118164062, + 1.9122416973114014 + ], + [ + -49.222076416015625, + -67.73148345947266, + 1.9122416973114014 + ], + [ + -48.52369689941406, + -67.80488586425781, + 1.9122416973114014 + ] + ], + "corners_2d": [ + [ + 704.7789162328589, + 259.16087616656563 + ], + [ + 724.6360762066561, + 258.52353164249007 + ], + [ + 721.447671614862, + 242.80455018705072 + ], + [ + 701.99773670347, + 243.41586817464514 + ], + [ + 707.2143231554452, + 215.25415109011516 + ], + [ + 727.8152681718814, + 214.63092604234896 + ], + [ + 724.4416855424583, + 199.27255657977327 + ], + [ + 704.2787065778255, + 199.8694058496041 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 542, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -75.18775939941406, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.30192625522613525, + "y": 0.5311450362205505, + "z": 0.9035718441009521 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 937.4479898739075, + "ymin": 340.2789298299614, + "xmax": 992.2476387285662, + "ymax": 400.89005236302773 + }, + "corners_3d": [ + [ + -55.63603973388672, + -75.48968505859375, + 0.09369421005249023 + ], + [ + -56.69832992553711, + -75.48968505859375, + 0.09369421005249023 + ], + [ + -56.698326110839844, + -74.88583374023438, + 0.09369421005249023 + ], + [ + -55.63603591918945, + -74.88583374023438, + 0.09369421005249023 + ], + [ + -55.63603973388672, + -75.48968505859375, + 1.9008378982543945 + ], + [ + -56.69832992553711, + -75.48968505859375, + 1.9008378982543945 + ], + [ + -56.698326110839844, + -74.88583374023438, + 1.9008378982543945 + ], + [ + -55.63603591918945, + -74.88583374023438, + 1.9008378982543945 + ] + ], + "corners_2d": [ + [ + 941.097380594025, + 399.6230220294472 + ], + [ + 977.2933052446542, + 400.89005236302773 + ], + [ + 973.0777253656654, + 386.86595985141196 + ], + [ + 937.4479898739075, + 385.6378841736543 + ], + [ + 954.4273951974187, + 354.13835355324 + ], + [ + 992.2476387285662, + 355.3949330381875 + ], + [ + 987.6062282410307, + 341.49520575318394 + ], + [ + 950.403690301679, + 340.2789298299614 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 543, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -50.28268051147461, + "y": -86.31512451171875, + "z": 0.9508207440376282 + }, + "extent": { + "x": 0.4728735685348511, + "y": 0.3950097858905792, + "z": 0.9100804924964905 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 761.5905269634052, + "ymin": 676.6910069493274, + "xmax": 810.309073532743, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.84040451049805, + -86.7441177368164, + 0.040740251541137695 + ], + [ + -50.6260986328125, + -86.82669830322266, + 0.040740251541137695 + ], + [ + -50.72495651245117, + -85.8861312866211, + 0.040740251541137695 + ], + [ + -49.93926239013672, + -85.80355072021484, + 0.040740251541137695 + ], + [ + -49.84040451049805, + -86.7441177368164, + 1.8609012365341187 + ], + [ + -50.6260986328125, + -86.82669830322266, + 1.8609012365341187 + ], + [ + -50.72495651245117, + -85.8861312866211, + 1.8609012365341187 + ], + [ + -49.93926239013672, + -85.80355072021484, + 1.8609012365341187 + ] + ], + "corners_2d": [ + [ + 761.5905269634052, + 761.6277776549907 + ], + [ + 799.0142990039756, + 767.2857608749861 + ], + [ + 800.4415029063694, + 725.2685870715767 + ], + [ + 764.2434350671602, + 719.9777309373026 + ], + [ + 769.3039363562954, + 719.4164364682309 + ], + [ + 809.1497636286833, + 725.2342758311572 + ], + [ + 810.309073532743, + 682.1085947257916 + ], + [ + 771.8498197216564, + 676.6910069493274 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 1044, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -83.35797882080078, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.389533668756485, + "y": 0.32111814618110657, + "z": 0.9076941609382629 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 114.83431161316685, + "ymin": 535.7535032105915, + "xmax": 184.71417345349806, + "ymax": 613.2194505911474 + }, + "corners_3d": [ + [ + -35.02676010131836, + -83.67223358154297, + 0.03412759304046631 + ], + [ + -35.65496063232422, + -83.8057632446289, + 0.03412759304046631 + ], + [ + -35.81693649291992, + -83.0437240600586, + 0.03412759304046631 + ], + [ + -35.18873596191406, + -82.91019439697266, + 0.03412759304046631 + ], + [ + -35.02676010131836, + -83.67223358154297, + 1.8495159149169922 + ], + [ + -35.65496063232422, + -83.8057632446289, + 1.8495159149169922 + ], + [ + -35.81693649291992, + -83.0437240600586, + 1.8495159149169922 + ], + [ + -35.18873596191406, + -82.91019439697266, + 1.8495159149169922 + ] + ], + "corners_2d": [ + [ + 142.2606121653522, + 607.3222837730734 + ], + [ + 165.3814651330747, + 613.2194505911474 + ], + [ + 184.71417345349806, + 586.8277882632681 + ], + [ + 162.03714837341238, + 581.2053135359326 + ], + [ + 114.83431161316685, + 562.1551185242822 + ], + [ + 139.08265976396802, + 568.12602573237 + ], + [ + 160.11490609912187, + 541.4314852164875 + ], + [ + 136.35293083526585, + 535.7535032105915 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 897.7639325642403, + "ymin": 279.89938009232526, + "xmax": 919.1071051318627, + "ymax": 319.3691265861879 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 897.7639325642403, + 308.91548241142584 + ], + [ + 900.1494773603902, + 318.992120711373 + ], + [ + 911.9563934615774, + 319.3691265861879 + ], + [ + 909.4250893266503, + 309.28330745367646 + ], + [ + 904.4531601259789, + 279.89938009232526 + ], + [ + 906.9865272546054, + 289.87158531009675 + ], + [ + 919.1071051318627, + 290.2448085358842 + ], + [ + 916.4201823245575, + 280.2632801762863 + ] + ], + "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": 208.706878930801, + "ymin": 522.408308664551, + "xmax": 245.54687793339184, + "ymax": 569.8549952197097 + }, + "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": [ + [ + 223.11072281437697, + 569.2136946948998 + ], + [ + 238.10614508175212, + 569.8549952197097 + ], + [ + 245.54687793339184, + 552.7600136125102 + ], + [ + 230.78572228928198, + 552.1389681911853 + ], + [ + 208.706878930801, + 539.5755761933424 + ], + [ + 224.21181788167746, + 540.220720269777 + ], + [ + 232.1343279274932, + 523.0323893378418 + ], + [ + 216.87970778045758, + 522.408308664551 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1024.5451204076985, + "ymin": 283.85619471222003, + "xmax": 1051.0304533436063, + "ymax": 323.47196393858155 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1024.5451204076985, + 312.9145107004058 + ], + [ + 1028.522487557013, + 323.09119100178907 + ], + [ + 1040.4473789675708, + 323.47196393858155 + ], + [ + 1036.3213580209322, + 313.2859657100498 + ], + [ + 1034.574834945394, + 283.85619471222003 + ], + [ + 1038.7855579289317, + 293.9300105668853 + ], + [ + 1051.0304533436063, + 294.3070618438438 + ], + [ + 1046.663045249817, + 284.2237799537048 + ] + ], + "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": 364.57387648805576, + "ymin": 351.64719489200945, + "xmax": 384.9745738539867, + "ymax": 386.3375822933417 + }, + "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": [ + [ + 370.91632398087955, + 385.96823302353937 + ], + [ + 381.39295210976144, + 386.3375822933417 + ], + [ + 384.9745738539867, + 376.49838170377774 + ], + [ + 374.61224447280904, + 376.1371517423961 + ], + [ + 364.57387648805576, + 361.4299079646801 + ], + [ + 375.2948541739209, + 361.79753938712037 + ], + [ + 379.02896152661083, + 352.0065574681908 + ], + [ + 368.4276452001912, + 351.64719489200945 + ] + ], + "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": 266.6667003265636, + "ymin": 404.40951953549074, + "xmax": 296.9091463005799, + "ymax": 448.22135669401735 + }, + "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": [ + [ + 277.7229842222277, + 447.7171073305645 + ], + [ + 291.0483838842073, + 448.22135669401735 + ], + [ + 296.9091463005799, + 434.7563294162702 + ], + [ + 283.7690751726147, + 434.2662406910449 + ], + [ + 266.6667003265636, + 417.82966909803423 + ], + [ + 280.39295950710914, + 418.3329921417421 + ], + [ + 286.5853319775292, + 404.89828586825126 + ], + [ + 273.0556342264796, + 404.40951953549074 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 793.0576327476078, + "ymin": 276.6324755061542, + "xmax": 810.192651846983, + "ymax": 315.9812614293197 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 793.0576327476078, + 305.61295454772505 + ], + [ + 794.1403326844527, + 315.60735204777 + ], + [ + 805.8502711795325, + 315.9812614293197 + ], + [ + 804.6241753744697, + 305.97779528829244 + ], + [ + 797.0130693671829, + 276.6324755061542 + ], + [ + 798.1742283258383, + 286.52117999293125 + ], + [ + 810.192651846983, + 286.8912577217526 + ], + [ + 808.8804911932394, + 276.99334697514786 + ] + ], + "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": 147.2612809935327, + "ymin": 647.0097485561264, + "xmax": 191.72309841309254, + "ymax": 697.7904593169724 + }, + "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": [ + [ + 165.6769430380415, + 696.9872623603387 + ], + [ + 182.42093541358446, + 697.7904593169724 + ], + [ + 191.72309841309254, + 676.4188771127197 + ], + [ + 175.27063533235662, + 675.643990453115 + ], + [ + 147.2612809935327, + 668.6433496737102 + ], + [ + 164.64301543571514, + 669.4580554170745 + ], + [ + 174.62819636333745, + 647.7946538457422 + ], + [ + 157.5604038132392, + 647.0097485561264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1189.0574654908705, + "ymin": 384.7140928027679, + "xmax": 1219.7665706098833, + "ymax": 420.3367622835897 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1189.0574654908705, + 409.3469584664915 + ], + [ + 1194.6682267927786, + 419.9386625531093 + ], + [ + 1205.90009976905, + 420.3367622835897 + ], + [ + 1200.1580941394413, + 409.73597839038564 + ], + [ + 1202.347354007149, + 384.7140928027679 + ], + [ + 1208.253479831225, + 395.27246783143937 + ], + [ + 1219.7665706098833, + 395.66943050629817 + ], + [ + 1213.7225891251583, + 385.1017837037391 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 143619947594126905, + "instance_id": 14614, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_Poles_4", + "bbox_3d": { + "center_world": { + "x": -55.298187255859375, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 727.5107567469755, + "ymin": 193.63671072108517, + "xmax": 1280.0, + "ymax": 481.6655490602472 + }, + "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": [ + [ + 1169.3297544276454, + 481.6655490602472 + ], + [ + 1163.8624647913325, + 469.75826452248964 + ], + [ + 727.5107567469755, + 450.63293835117247 + ], + [ + 727.6380786503703, + 462.07419356378784 + ], + [ + 1314.4266729015096, + 222.5282508645558 + ], + [ + 1305.2571178033772, + 211.3837147514384 + ], + [ + 750.544414425978, + 193.63671072108517 + ], + [ + 751.0556876419232, + 204.23084761887958 + ] + ], + "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": 155.56694838165083, + "ymin": 299.0011082336614, + "xmax": 315.1016852121556, + "ymax": 491.4134132043431 + }, + "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": [ + [ + 289.2835328907131, + 491.4134132043431 + ], + [ + 315.1016852121556, + 429.6681434178786 + ], + [ + 244.5789551079257, + 427.05398954968217 + ], + [ + 214.18654722988157, + 488.4425035702261 + ], + [ + 240.83761367788776, + 362.17318394375457 + ], + [ + 273.36454651612354, + 301.545228834914 + ], + [ + 193.9428014441449, + 299.0011082336614 + ], + [ + 155.56694838165083, + 359.2322446624284 + ] + ], + "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": 29.592784136625937, + "ymin": 185.1583806787733, + "xmax": 395.11020928372466, + "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": [ + [ + 395.11020928372466, + 442.08506993302757 + ], + [ + 380.13060011009424, + 441.42435962931904 + ], + [ + 216.68596493343296, + 900.1259546804451 + ], + [ + 238.7734181186645, + 901.584113013728 + ], + [ + 331.3804808049989, + 185.7652653097435 + ], + [ + 312.56212921048933, + 185.1583806787733 + ], + [ + 29.592784136625937, + 667.250010100588 + ], + [ + 61.17656144734042, + 669.004644629895 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 374.0243049295478, + "ymin": 0.0, + "xmax": 452.8110697728504, + "ymax": 124.43013228741174 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 442.2431494023717, + 124.43013228741174 + ], + [ + 452.8110697728504, + 99.20360499266428 + ], + [ + 406.8699281630787, + 98.10956787204032 + ], + [ + 394.4033875249073, + 123.24271841323372 + ], + [ + 425.8000453067651, + 16.121664675179034 + ], + [ + 437.9214676129756, + -6.415712874112103 + ], + [ + 388.36234259106885, + -7.389731960323502 + ], + [ + 374.0243049295478, + 15.057454043375287 + ] + ], + "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": 173.8200402652907, + "ymin": 332.6345001260234, + "xmax": 283.86505174263243, + "ymax": 402.45801003904705 + }, + "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": [ + [ + 255.0601727656358, + 402.45801003904705 + ], + [ + 283.86505174263243, + 344.49532283364516 + ], + [ + 211.74004905438403, + 342.06272544673453 + ], + [ + 178.1097994979906, + 399.682130328002 + ], + [ + 251.4739948084151, + 392.9129131704058 + ], + [ + 280.7612987662608, + 335.0609441507705 + ], + [ + 208.01851632726692, + 332.6345001260234 + ], + [ + 173.8200402652907, + 390.14076403584494 + ] + ], + "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": 173.88785933448736, + "ymin": 332.6649436163048, + "xmax": 283.7851379459123, + "ymax": 402.35920214156096 + }, + "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": [ + [ + 255.00573243633409, + 402.35920214156096 + ], + [ + 283.7851379459123, + 344.46107676074973 + ], + [ + 211.74269013298704, + 342.0311614813 + ], + [ + 178.1486134184973, + 399.5867627024401 + ], + [ + 251.4430124068901, + 392.8769682521318 + ], + [ + 280.70120555507367, + 335.08875259945756 + ], + [ + 208.04576349552173, + 332.6649436163048 + ], + [ + 173.88785933448736, + 390.1082339929223 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 380.9042702374544, + "ymin": 18.783652180835418, + "xmax": 440.8313873918531, + "ymax": 49.49721708561981 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 429.7785825911236, + 49.49721708561981 + ], + [ + 440.8313873918531, + 27.311650124971493 + ], + [ + 395.2868633369959, + 26.355896303400755 + ], + [ + 382.35554611345833, + 48.46001197891576 + ], + [ + 428.59219729126545, + 41.72312106010952 + ], + [ + 439.7526994296917, + 19.730854922458605 + ], + [ + 393.9639066780262, + 18.783652180835418 + ], + [ + 380.9042702374544, + 40.69473128488062 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 380.86736725180634, + "ymin": 18.77189184378284, + "xmax": 440.87253472008683, + "ymax": 49.562596241768006 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 429.8094730569839, + 49.562596241768006 + ], + [ + 440.87253472008683, + 27.351334558166855 + ], + [ + 395.2743561230052, + 26.39438488625956 + ], + [ + 382.3285328279504, + 48.52400329252913 + ], + [ + 428.61530103757207, + 41.736697157501965 + ], + [ + 439.78688076740184, + 19.720223583744087 + ], + [ + 393.94251574781526, + 18.77189184378284 + ], + [ + 380.86736725180634, + 40.70698869883279 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17408989212588188295, + "instance_id": 34594, + "pixel_count": null, + "type_id": "BP_HighwayLight_simple_5_SM_2", + "bbox_3d": { + "center_world": { + "x": -75.30853271484375, + "y": -56.101219177246094, + "z": 5.664507865905762 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1266.705085896332, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 150.77890046078784 + }, + "corners_3d": [ + [ + -75.6749038696289, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -74.94214630126953, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -74.9421615600586, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -75.67491912841797, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -75.6749038696289, + -52.1658935546875, + 11.14326000213623 + ], + [ + -74.94214630126953, + -52.1658935546875, + 11.14326000213623 + ], + [ + -74.9421615600586, + -60.03654479980469, + 11.14326000213623 + ], + [ + -75.67491912841797, + -60.03654479980469, + 11.14326000213623 + ] + ], + "corners_2d": [ + [ + 1282.696433444602, + 65.81213717264404 + ], + [ + 1266.705085896332, + 65.46382920657624 + ], + [ + 1350.390259082748, + 150.31895372591916 + ], + [ + 1368.826209371043, + 150.77890046078784 + ], + [ + 1407.6896396535572, + -198.9203919607562 + ], + [ + 1388.499227007118, + -199.14301993548884 + ], + [ + 1513.763624829835, + -143.29451175772732 + ], + [ + 1536.584424700901, + -142.9827088844038 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1277.5008259696622, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 458.1595424609294 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1277.5008259696622, + 264.5726271710429 + ], + [ + 1534.034467625851, + 458.1595424609294 + ], + [ + 1782.5191392580678, + 389.62668322725324 + ], + [ + 1493.6743050100893, + 220.21371745883116 + ], + [ + 1536.3450246834373, + -207.41838194786897 + ], + [ + 2040.3024552358775, + -90.48457235306853 + ], + [ + 2360.0968821685306, + -134.8105083125597 + ], + [ + 1812.7971018563476, + -230.9205565805196 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00030/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00030/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c6644ae5c2f5af32a98b54465fba826a53c87bae --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00030/meta.json @@ -0,0 +1,2723 @@ +{ + "frame_id": 30, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 15.0, + "sim_timestamp": 13475.986226084875 + }, + "drone_pose": { + "x": -47.7588773339154, + "y": -95.81882914267591, + "z": 20.031813322850635, + "pitch": -41.974081562809744, + "yaw": 87.04255706318652, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.03835761547088623, + -0.7424572110176086, + 0.6687943935394287, + 59.576141357421875 + ], + [ + 0.9986681342124939, + 0.05159425735473633, + 0.0, + -42.75157165527344 + ], + [ + -0.0345059335231781, + 0.6679036617279053, + 0.7434474229812622, + -80.53831481933594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.77957342737424, + "y": -95.31426456483422, + "z": 20.026919098738574 + }, + "t1_image_uv": [ + 758.8900658365683, + -486.8427226577643 + ], + "t1_depth": 0.3770970141249471 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -74.68776321411133, + "z": 0.9972661067545414 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.460986133430946, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 707, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -74.68775939941406, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.4916747808456421, + "y": 0.41926267743110657, + "z": 0.8629556894302368 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 624.5175244750208, + "ymin": 326.5647324166641, + "xmax": 655.0997520372002, + "ymax": 392.97771553749163 + }, + "corners_3d": [ + [ + -46.247920989990234, + -75.17943572998047, + 0.13431036472320557 + ], + [ + -47.08644485473633, + -75.17943572998047, + 0.13431036472320557 + ], + [ + -47.08644485473633, + -74.19608306884766, + 0.13431036472320557 + ], + [ + -46.247920989990234, + -74.19608306884766, + 0.13431036472320557 + ], + [ + -46.247920989990234, + -75.17943572998047, + 1.8602217435836792 + ], + [ + -47.08644485473633, + -75.17943572998047, + 1.8602217435836792 + ], + [ + -47.08644485473633, + -74.19608306884766, + 1.8602217435836792 + ], + [ + -46.247920989990234, + -74.19608306884766, + 1.8602217435836792 + ] + ], + "corners_2d": [ + [ + 625.1404464278568, + 391.97255009633807 + ], + [ + 653.1766290821142, + 392.97771553749163 + ], + [ + 654.5066570586005, + 370.7029606434348 + ], + [ + 627.1647938311605, + 369.74709311463465 + ], + [ + 624.5175244750208, + 348.57689885874635 + ], + [ + 653.7296477541818, + 349.57350062428736 + ], + [ + 655.0997520372002, + 327.5104852008249 + ], + [ + 626.6406321471446, + 326.5647324166641 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 30, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 100, + "semantic_pixel_counts": { + "1": 416996, + "2": 203279, + "3": 122525, + "4": 22424, + "5": 585, + "6": 20459, + "7": 4953, + "9": 28067, + "10": 39837, + "12": 3878, + "14": 7647, + "20": 4386, + "21": 13079, + "24": 25383, + "25": 8102 + }, + "instance_pixel_counts": { + "143": 12844, + "339": 2821, + "883": 8867, + "1167": 8093, + "1679": 25918, + "2703": 32867, + "3749": 160, + "4261": 149, + "5714": 407, + "6565": 1660, + "7539": 3080, + "8018": 3628, + "8530": 2300, + "8556": 3770, + "8579": 1694, + "8810": 187, + "9042": 2039, + "9068": 4957, + "9320": 6073, + "9554": 1349, + "9580": 3815, + "10092": 3415, + "11368": 5777, + "11370": 164, + "11596": 2339, + "12396": 14, + "12675": 6, + "15186": 10062, + "15698": 12543, + "16210": 105, + "22381": 7611, + "22784": 12293, + "22893": 6388, + "23441": 7652, + "23552": 10500, + "23953": 8392, + "24429": 4056, + "24465": 7826, + "24941": 8274, + "24977": 3569, + "25928": 585, + "25965": 6524, + "26696": 20085, + "26987": 2191, + "27243": 5, + "27719": 71018, + "28231": 39761, + "28523": 194, + "28779": 1681, + "30339": 68, + "30548": 3123, + "30630": 1349, + "30863": 1357, + "31142": 1278, + "31572": 3282, + "31633": 6702, + "31654": 1231, + "32084": 1242, + "32145": 8678, + "32657": 2183, + "32911": 2969, + "37286": 1, + "37798": 11, + "39239": 8102, + "40358": 1190, + "42391": 493, + "42918": 4424, + "44951": 617, + "51815": 138024, + "52327": 68398, + "53351": 19888, + "53863": 117310, + "54375": 61526, + "54889": 11982, + "55401": 1939, + "55913": 703, + "56173": 28067, + "56320": 707, + "56425": 8756, + "56576": 608, + "56742": 68, + "56832": 484, + "56937": 1652, + "57088": 549, + "57344": 475, + "57600": 1055, + "58022": 8, + "58790": 16, + "59522": 857, + "59762": 4822, + "60274": 3954, + "60582": 2774, + "61094": 2800, + "61803": 545, + "62827": 287, + "63083": 169, + "63339": 527, + "64594": 202, + "64654": 14250, + "64850": 114 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 707, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -74.68775939941406, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.4902880787849426, + "y": 0.45536863803863525, + "z": 0.8877586126327515 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 623.2542451150309, + "ymin": 325.90804516012344, + "xmax": 656.3343912821299, + "ymax": 393.58707967181545 + }, + "corners_3d": [ + [ + -46.211814880371094, + -75.17804718017578, + 0.10950744152069092 + ], + [ + -47.12255096435547, + -75.17804718017578, + 0.10950744152069092 + ], + [ + -47.12255096435547, + -74.19747161865234, + 0.10950744152069092 + ], + [ + -46.211814880371094, + -74.19747161865234, + 0.10950744152069092 + ], + [ + -46.211814880371094, + -75.17804718017578, + 1.8850246667861938 + ], + [ + -47.12255096435547, + -75.17804718017578, + 1.8850246667861938 + ], + [ + -47.12255096435547, + -74.19747161865234, + 1.8850246667861938 + ], + [ + -46.211814880371094, + -74.19747161865234, + 1.8850246667861938 + ] + ], + "corners_2d": [ + [ + 623.9468998018315, + 392.49533231268816 + ], + [ + 654.3788153270275, + 393.58707967181545 + ], + [ + 655.6746792689212, + 371.37084880198205 + ], + [ + 625.9938879700153, + 370.33246852955193 + ], + [ + 623.2542451150309, + 347.85197813712307 + ], + [ + 655.0000169646501, + 348.9341513643548 + ], + [ + 656.3343912821299, + 326.9351233275506 + ], + [ + 625.4051311846432, + 325.90804516012344 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 608, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -71.69005584716797, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.42821046710014343, + "y": 0.5159497857093811, + "z": 0.880877673625946 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 497.0640866635084, + "ymin": 261.69795902743004, + "xmax": 535.6562679372621, + "ymax": 324.37446843169505 + }, + "corners_3d": [ + [ + -42.12554931640625, + -72.21617889404297, + 0.11639326810836792 + ], + [ + -43.1348991394043, + -72.00163269042969, + 0.11639326810836792 + ], + [ + -42.95684051513672, + -71.16393280029297, + 0.11639326810836792 + ], + [ + -41.94749069213867, + -71.37847900390625, + 0.11639326810836792 + ], + [ + -42.12554931640625, + -72.21617889404297, + 1.8781485557556152 + ], + [ + -43.1348991394043, + -72.00163269042969, + 1.8781485557556152 + ], + [ + -42.95684051513672, + -71.16393280029297, + 1.8781485557556152 + ], + [ + -41.94749069213867, + -71.37847900390625, + 1.8781485557556152 + ] + ], + "corners_2d": [ + [ + 503.7530642142902, + 324.37446843169505 + ], + [ + 535.6562679372621, + 321.17262118706435 + ], + [ + 533.6565940053862, + 304.8687009697554 + ], + [ + 502.3788350373563, + 307.9449767940332 + ], + [ + 498.38066562034703, + 280.89022474579974 + ], + [ + 531.558390869321, + 277.7373926624589 + ], + [ + 529.5659179038482, + 261.69795902743004 + ], + [ + 497.0640866635084, + 264.7224257049771 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 484, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -67.74504852294922, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.48528075218200684, + "y": 0.2904101610183716, + "z": 0.9401326775550842 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 703.8558497622905, + "ymin": 198.63750752420071, + "xmax": 726.3157706999444, + "ymax": 259.815451186689 + }, + "corners_3d": [ + [ + -48.684913635253906, + -68.25802612304688, + 0.057138264179229736 + ], + [ + -49.26255416870117, + -68.19731140136719, + 0.057138264179229736 + ], + [ + -49.161102294921875, + -67.23207092285156, + 0.057138264179229736 + ], + [ + -48.58346176147461, + -67.29278564453125, + 0.057138264179229736 + ], + [ + -48.684913635253906, + -68.25802612304688, + 1.937403678894043 + ], + [ + -49.26255416870117, + -68.19731140136719, + 1.937403678894043 + ], + [ + -49.161102294921875, + -67.23207092285156, + 1.937403678894043 + ], + [ + -48.58346176147461, + -67.29278564453125, + 1.937403678894043 + ] + ], + "corners_2d": [ + [ + 706.6814479944038, + 259.815451186689 + ], + [ + 723.1053000669855, + 259.297884796462 + ], + [ + 719.938855335706, + 243.37819350500635 + ], + [ + 703.8558497622905, + 243.87437777149063 + ], + [ + 709.2592580776733, + 214.68762974327518 + ], + [ + 726.3157706999444, + 214.18184583835082 + ], + [ + 722.9601249435516, + 198.63750752420071 + ], + [ + 706.2709298355994, + 199.12161471319692 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 549, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -74.68775939941406, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.31736814975738525, + "y": 0.33179929852485657, + "z": 0.8732517957687378 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 944.3823708933791, + "ymin": 341.1591363499058, + "xmax": 985.1498321436059, + "ymax": 400.5322269313494 + }, + "corners_3d": [ + [ + -55.835384368896484, + -75.005126953125, + 0.12401425838470459 + ], + [ + -56.49898147583008, + -75.005126953125, + 0.12401425838470459 + ], + [ + -56.49898147583008, + -74.37039184570312, + 0.12401425838470459 + ], + [ + -55.835384368896484, + -74.37039184570312, + 0.12401425838470459 + ], + [ + -55.835384368896484, + -75.005126953125, + 1.8705178499221802 + ], + [ + -56.49898147583008, + -75.005126953125, + 1.8705178499221802 + ], + [ + -56.49898147583008, + -74.37039184570312, + 1.8705178499221802 + ], + [ + -55.835384368896484, + -74.37039184570312, + 1.8705178499221802 + ] + ], + "corners_2d": [ + [ + 948.3182337719782, + 399.7235250090532 + ], + [ + 970.9704146983605, + 400.5322269313494 + ], + [ + 966.6617483433273, + 385.79057857822704 + ], + [ + 944.3823708933791, + 385.00802156319503 + ], + [ + 961.514867218541, + 355.7472685642638 + ], + [ + 985.1498321436059, + 356.54956043915905 + ], + [ + 980.418782842614, + 341.934408060066 + ], + [ + 957.1893780654474, + 341.1591363499058 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 475, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -50.28268051147461, + "y": -85.81512451171875, + "z": 0.9511967897415161 + }, + "extent": { + "x": 0.47892579436302185, + "y": 0.29032230377197266, + "z": 0.9277376532554626 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 765.9305893096112, + "ymin": 676.8991101691286, + "xmax": 804.8381766307173, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.943885803222656, + -86.26107788085938, + 0.023459136486053467 + ], + [ + -50.5213508605957, + -86.32177734375, + 0.023459136486053467 + ], + [ + -50.62147521972656, + -85.36917114257812, + 0.023459136486053467 + ], + [ + -50.044010162353516, + -85.3084716796875, + 0.023459136486053467 + ], + [ + -49.943885803222656, + -86.26107788085938, + 1.878934383392334 + ], + [ + -50.5213508605957, + -86.32177734375, + 1.878934383392334 + ], + [ + -50.62147521972656, + -85.36917114257812, + 1.878934383392334 + ], + [ + -50.044010162353516, + -85.3084716796875, + 1.878934383392334 + ] + ], + "corners_2d": [ + [ + 765.9305893096112, + 763.269059317661 + ], + [ + 793.4356536139542, + 767.4583911533473 + ], + [ + 795.1115039216115, + 724.943110112401 + ], + [ + 768.5181770557789, + 721.0289148713547 + ], + [ + 774.0897080773577, + 720.2552674997571 + ], + [ + 803.4118533510704, + 724.5654968937423 + ], + [ + 804.8381766307173, + 680.9088616564081 + ], + [ + 776.5499644311775, + 676.8991101691286 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 1055, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -82.85797882080078, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.3385009765625, + "y": 0.5570752024650574, + "z": 0.9152063727378845 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 107.04350524079018, + "ymin": 534.7785504064154, + "xmax": 191.6936591904655, + "ymax": 613.4516155997096 + }, + "corners_3d": [ + [ + -34.80656814575195, + -83.07325744628906, + 0.026615381240844727 + ], + [ + -35.89636993408203, + -83.3049087524414, + 0.026615381240844727 + ], + [ + -36.03712844848633, + -82.6427001953125, + 0.026615381240844727 + ], + [ + -34.94732666015625, + -82.41104888916016, + 0.026615381240844727 + ], + [ + -34.80656814575195, + -83.07325744628906, + 1.8570281267166138 + ], + [ + -35.89636993408203, + -83.3049087524414, + 1.8570281267166138 + ], + [ + -36.03712844848633, + -82.6427001953125, + 1.8570281267166138 + ], + [ + -34.94732666015625, + -82.41104888916016, + 1.8570281267166138 + ] + ], + "corners_2d": [ + [ + 134.99769847244164, + 603.2191163463722 + ], + [ + 175.01322719477776, + 613.4516155997096 + ], + [ + 191.6936591904655, + 590.4468663939055 + ], + [ + 152.34514227730392, + 580.629634277547 + ], + [ + 107.04350524079018, + 557.6102973988712 + ], + [ + 149.02281935498638, + 567.9695223964335 + ], + [ + 167.1798700843999, + 544.6947350286199 + ], + [ + 125.93197815626752, + 534.7785504064154 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 900.8815537833867, + "ymin": 293.2102153285565, + "xmax": 922.7092411705456, + "ymax": 333.1903453448956 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 900.8815537833867, + 322.375212510817 + ], + [ + 903.3304566040765, + 332.79256293494177 + ], + [ + 915.342789239199, + 333.1903453448956 + ], + [ + 912.743051550477, + 322.7631455154611 + ], + [ + 907.7685246581241, + 293.2102153285565 + ], + [ + 910.3720950575768, + 303.52846333557363 + ], + [ + 922.7092411705456, + 303.9225977952823 + ], + [ + 919.9466231825224, + 293.5943346764367 + ] + ], + "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": 196.828483835523, + "ymin": 544.7917593078225, + "xmax": 235.05893833353645, + "ymax": 592.9071837047884 + }, + "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": [ + [ + 211.9506573265718, + 592.2242623605258 + ], + [ + 227.26041172602038, + 592.9071837047884 + ], + [ + 235.05893833353645, + 575.0718813233455 + ], + [ + 219.9932745741488, + 574.4109887623874 + ], + [ + 196.828483835523, + 562.7276180615354 + ], + [ + 212.6696945525041, + 563.4156490823302 + ], + [ + 220.98484034851214, + 545.4568321497808 + ], + [ + 205.40481015908148, + 544.7917593078225 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1029.8625381601328, + "ymin": 297.3876100166448, + "xmax": 1057.018507796916, + "ymax": 337.52017884385504 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1029.8625381601328, + 326.59356518378655 + ], + [ + 1033.959247630016, + 337.11827026273664 + ], + [ + 1046.096183413235, + 337.52017884385504 + ], + [ + 1041.8455299064447, + 326.9854716768831 + ], + [ + 1040.2084144152466, + 297.3876100166448 + ], + [ + 1044.5499390606576, + 307.8150391422299 + ], + [ + 1057.018507796916, + 308.2133721567867 + ], + [ + 1052.5145694039493, + 297.7757684980123 + ] + ], + "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": 359.2172006811248, + "ymin": 364.3692198049681, + "xmax": 380.1134046243871, + "ymax": 399.43926918955475 + }, + "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": [ + [ + 365.7793467269146, + 399.0511688025422 + ], + [ + 376.4078815010196, + 399.43926918955475 + ], + [ + 380.1134046243871, + 389.3084692200658 + ], + [ + 369.6024811206156, + 388.9290259957928 + ], + [ + 359.2172006811248, + 374.44839049134464 + ], + [ + 370.0973010660648, + 374.8349509341227 + ], + [ + 373.9629891411395, + 364.74695459254167 + ], + [ + 363.20610023507334, + 364.3692198049681 + ] + ], + "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": 257.51256739040275, + "ymin": 421.86952403656505, + "xmax": 288.743530096254, + "ymax": 466.275111895377 + }, + "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": [ + [ + 269.05760137111247, + 465.7407803861636 + ], + [ + 282.63076380991214, + 466.275111895377 + ], + [ + 288.743530096254, + 452.2951526710907 + ], + [ + 275.36258794899953, + 451.77610989992854 + ], + [ + 257.51256739040275, + 435.81807709413334 + ], + [ + 271.50185240774914, + 436.3520403662268 + ], + [ + 277.9674847546037, + 422.3877440296824 + ], + [ + 264.18229490247273, + 421.86952403656505 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 794.394463795995, + "ymin": 289.7623965327288, + "xmax": 811.864661330666, + "ymax": 329.616267618813 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 794.394463795995, + 318.8927319545507 + ], + [ + 795.4956138701973, + 329.221875140156 + ], + [ + 807.4055735197285, + 329.616267618813 + ], + [ + 806.1561254276864, + 319.2773998909655 + ], + [ + 798.452662620861, + 289.7623965327288 + ], + [ + 799.6354501226565, + 299.9909701450774 + ], + [ + 811.864661330666, + 300.38165651219333 + ], + [ + 810.5255712386703, + 290.1431980968703 + ] + ], + "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": 132.14472611305916, + "ymin": 675.274969956665, + "xmax": 178.52450827497728, + "ymax": 720.0 + }, + "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": [ + [ + 151.58830513390672, + 725.91790561558 + ], + [ + 168.72498496847356, + 726.7776937348735 + ], + [ + 178.52450827497728, + 704.3661034687498 + ], + [ + 161.69303881446274, + 703.5373419266832 + ], + [ + 132.14472611305916, + 698.0016507013441 + ], + [ + 149.94997172918215, + 698.8753925075807 + ], + [ + 160.48786367382877, + 676.1159615029292 + ], + [ + 143.01186763182704, + 675.274969956665 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1196.694128288963, + "ymin": 399.0708511759151, + "xmax": 1228.1882563388635, + "ymax": 435.10746783981295 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1196.694128288963, + 423.75578185373445 + ], + [ + 1202.4703802221804, + 434.688110828097 + ], + [ + 1213.8926680824447, + 435.10746783981295 + ], + [ + 1207.9807209507148, + 424.1654215250736 + ], + [ + 1210.389483898954, + 399.0708511759151 + ], + [ + 1216.4750257248843, + 409.9771298464292 + ], + [ + 1228.1882563388635, + 410.3956136080626 + ], + [ + 1221.9600647134487, + 399.4794006504436 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 143619947594126905, + "instance_id": 14614, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_Poles_4", + "bbox_3d": { + "center_world": { + "x": -55.298187255859375, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 727.7269758716849, + "ymin": 205.90636547690414, + "xmax": 1280.0, + "ymax": 496.2515134791023 + }, + "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": [ + [ + 1176.183210339659, + 496.2515134791023 + ], + [ + 1170.5670131298357, + 483.98990376137453 + ], + [ + 727.7269758716849, + 463.97042579699405 + ], + [ + 727.8425970435503, + 475.7370022766558 + ], + [ + 1325.9729670770273, + 236.19055565619536 + ], + [ + 1316.470263836046, + 224.62332187909064 + ], + [ + 751.231400450889, + 205.90636547690414 + ], + [ + 751.742082256556, + 216.8821539720379 + ] + ], + "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": 146.29547918253263, + "ymin": 311.04636733107316, + "xmax": 309.6815703688125, + "ymax": 505.67290636866244 + }, + "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": [ + [ + 283.03439399908086, + 505.67290636866244 + ], + [ + 309.6815703688125, + 442.19455699503413 + ], + [ + 238.24144614061368, + 439.4550250294552 + ], + [ + 206.89663981362736, + 502.5539058056768 + ], + [ + 232.91008792838124, + 376.2799866935185 + ], + [ + 266.5967400172819, + 313.72155281499613 + ], + [ + 186.00989887546717, + 311.04636733107316 + ], + [ + 146.29547918253263, + 373.1803845929616 + ] + ], + "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": 8.169275021463704, + "ymin": 196.87841803638494, + "xmax": 390.7248595438461, + "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": [ + [ + 390.7248595438461, + 454.92481186628555 + ], + [ + 375.5459256131139, + 454.2342131262767 + ], + [ + 205.8056640812262, + 928.676306645968 + ], + [ + 228.32817574734867, + 930.2210391096596 + ], + [ + 324.7270137085019, + 197.5171788951894 + ], + [ + 305.5931091292679, + 196.87841803638494 + ], + [ + 8.169275021463704, + 701.7774344653797 + ], + [ + 40.64934193195563, + 703.6701243965931 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 371.1611852302473, + "ymin": 0.0, + "xmax": 451.0041118494992, + "ymax": 130.07722060740838 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 440.20696049102685, + 130.07722060740838 + ], + [ + 451.0041118494992, + 104.40437757773941 + ], + [ + 404.6743762175386, + 103.2687838182166 + ], + [ + 391.9457923718524, + 128.84379937855786 + ], + [ + 423.43079488922416, + 21.164272122055195 + ], + [ + 435.82911996974383, + -1.8031281357042417 + ], + [ + 385.81756292026324, + -2.815455189202055 + ], + [ + 371.1611852302473, + 20.05725784657608 + ] + ], + "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": 165.14368172795912, + "ymin": 344.85889208271004, + "xmax": 277.49286064808007, + "ymax": 416.6118498933633 + }, + "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": [ + [ + 247.69528132913314, + 416.6118498933633 + ], + [ + 277.49286064808007, + 356.8752240564273 + ], + [ + 204.34679371499948, + 354.3199707565539 + ], + [ + 169.58196671769247, + 413.6900993836174 + ], + [ + 243.9820763882505, + 407.04692155346817 + ], + [ + 274.28640021724686, + 347.4083188597623 + ], + [ + 200.50488326002642, + 344.85889208271004 + ], + [ + 165.14368172795912, + 404.12826092940367 + ] + ], + "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": 165.2129237401403, + "ymin": 344.8902799718219, + "xmax": 277.4111382772515, + "ymax": 416.511758797659 + }, + "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": [ + [ + 247.63987676716954, + 416.511758797659 + ], + [ + 277.4111382772515, + 356.84157625256495 + ], + [ + 204.3487028813758, + 354.2891373884862 + ], + [ + 169.621199797239, + 413.5936317984325 + ], + [ + 243.95096385541206, + 407.0098056140258 + ], + [ + 274.2251494822241, + 347.43693690743265 + ], + [ + 200.53218535508734, + 344.8902799718219 + ], + [ + 165.2129237401403, + 404.09474836359595 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 378.1655094777325, + "ymin": 23.525095306122523, + "xmax": 438.81108766135173, + "ymax": 54.73380619604808 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 427.51010416294923, + 54.73380619604808 + ], + [ + 438.81108766135173, + 32.1346313422373 + ], + [ + 392.8599044917735, + 31.141667643766766 + ], + [ + 379.6461268773378, + 53.65538700410491 + ], + [ + 426.299334542814, + 46.91371657154485 + ], + [ + 437.71136524953, + 24.50926616244226 + ], + [ + 391.5115249610809, + 23.525095306122523 + ], + [ + 378.1655094777325, + 45.84435478699703 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 378.1281669994689, + "ymin": 23.51310391208193, + "xmax": 438.85275632185375, + "ymax": 54.79975739200137 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 427.541286878744, + 54.79975739200137 + ], + [ + 438.85275632185375, + 32.174421534825115 + ], + [ + 392.84746313400456, + 31.180216449758007 + ], + [ + 379.61887406685054, + 53.71989546500379 + ], + [ + 426.32256994618325, + 46.92756087658205 + ], + [ + 437.74593284869115, + 24.49844742124077 + ], + [ + 391.4900305410714, + 23.51310391208193 + ], + [ + 378.1281669994689, + 45.856827396769006 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17408989212588188295, + "instance_id": 34594, + "pixel_count": null, + "type_id": "BP_HighwayLight_simple_5_SM_2", + "bbox_3d": { + "center_world": { + "x": -75.30853271484375, + "y": -56.101219177246094, + "z": 5.664507865905762 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1272.233346878947, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 157.41280345375404 + }, + "corners_3d": [ + [ + -75.6749038696289, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -74.94214630126953, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -74.9421615600586, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -75.67491912841797, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -75.6749038696289, + -52.1658935546875, + 11.14326000213623 + ], + [ + -74.94214630126953, + -52.1658935546875, + 11.14326000213623 + ], + [ + -74.9421615600586, + -60.03654479980469, + 11.14326000213623 + ], + [ + -75.67491912841797, + -60.03654479980469, + 11.14326000213623 + ] + ], + "corners_2d": [ + [ + 1288.3785783690464, + 70.82914488910444 + ], + [ + 1272.233346878947, + 70.46746990843928 + ], + [ + 1357.412758951324, + 156.93392676757077 + ], + [ + 1376.053305545639, + 157.41280345375404 + ], + [ + 1415.8190460360265, + -195.7608428856114 + ], + [ + 1396.40681962919, + -195.99273453937076 + ], + [ + 1524.4810028545842, + -138.87092615198958 + ], + [ + 1547.6157198188007, + -138.54486978597413 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00032/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00032/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5737f0e212a120a17e54a310f6b10abd85d79287 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00032/meta.json @@ -0,0 +1,2513 @@ +{ + "frame_id": 32, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 16.0, + "sim_timestamp": 13498.617300114827 + }, + "drone_pose": { + "x": -47.79944455137763, + "y": -94.80987877252134, + "z": 20.02268239606464, + "pitch": -41.969569644127716, + "yaw": 86.93156776817894, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.039798617362976074, + -0.7424342036247253, + 0.6687358617782593, + 58.902557373046875 + ], + [ + 0.9985663294792175, + 0.053528785705566406, + 0.0, + -42.655860900878906 + ], + [ + -0.03579661250114441, + 0.6677770614624023, + 0.7435001134872437, + -79.90978240966797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.81852279844202, + "y": -94.30566490020563, + "z": 20.01903327149491 + }, + "t1_image_uv": [ + 757.5426139449261, + -490.9348298646769 + ], + "t1_depth": 0.3760266148277814 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -73.68776321411133, + "z": 0.9972709906101227 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.44981654081733, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 713, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -73.68775939941406, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4860546886920929, + "y": 0.6004906892776489, + "z": 0.8705052137374878 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 618.1835925445337, + "ymin": 326.24850085804803, + "xmax": 661.2951352598843, + "ymax": 393.2862411183075 + }, + "corners_3d": [ + [ + -46.06669235229492, + -74.17381286621094, + 0.12676572799682617 + ], + [ + -47.26767349243164, + -74.17381286621094, + 0.12676572799682617 + ], + [ + -47.26767349243164, + -73.20170593261719, + 0.12676572799682617 + ], + [ + -46.06669235229492, + -73.20170593261719, + 0.12676572799682617 + ], + [ + -46.06669235229492, + -74.17381286621094, + 1.8677761554718018 + ], + [ + -47.26767349243164, + -74.17381286621094, + 1.8677761554718018 + ], + [ + -47.26767349243164, + -73.20170593261719, + 1.8677761554718018 + ], + [ + -46.06669235229492, + -73.20170593261719, + 1.8677761554718018 + ] + ], + "corners_2d": [ + [ + 619.068775547132, + 391.79252037825154 + ], + [ + 659.2223905411364, + 393.2862411183075 + ], + [ + 660.4509293971948, + 371.2490610652174 + ], + [ + 621.2804683323727, + 369.827794845121 + ], + [ + 618.1835925445337, + 347.99967294978586 + ], + [ + 660.0367206285368, + 349.48051015019314 + ], + [ + 661.2951352598843, + 327.6545842221455 + ], + [ + 620.5090411557355, + 326.24850085804803 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 32, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 98, + "semantic_pixel_counts": { + "1": 397046, + "2": 215826, + "3": 124856, + "4": 23003, + "5": 601, + "6": 20424, + "7": 4170, + "9": 28835, + "10": 40198, + "12": 3821, + "14": 7241, + "20": 4585, + "21": 13004, + "24": 25631, + "25": 12359 + }, + "instance_pixel_counts": { + "143": 13705, + "339": 2919, + "883": 10255, + "1167": 7240, + "1679": 26172, + "2703": 35031, + "3749": 161, + "4261": 157, + "5714": 419, + "6508": 18, + "6565": 1728, + "7539": 4134, + "8018": 3790, + "8530": 2370, + "8556": 3973, + "8579": 1689, + "8810": 226, + "9042": 2133, + "9068": 5251, + "9320": 7446, + "9554": 648, + "9580": 4026, + "10092": 3031, + "10624": 24, + "11368": 7013, + "11370": 202, + "11596": 2807, + "12675": 8, + "15186": 8535, + "15698": 13287, + "22381": 8662, + "22784": 11629, + "22893": 6781, + "23441": 7973, + "23552": 10377, + "23953": 8780, + "24429": 4098, + "24465": 8159, + "24941": 8541, + "24977": 2413, + "25928": 601, + "25965": 6966, + "26696": 20196, + "26987": 2374, + "27243": 13, + "27460": 158, + "27719": 76339, + "28231": 40111, + "28523": 209, + "28779": 1663, + "30548": 3255, + "30630": 1401, + "30863": 1695, + "31142": 1327, + "31572": 3435, + "31633": 7183, + "31654": 1243, + "32084": 551, + "32145": 9376, + "32657": 1092, + "32911": 3627, + "37798": 14, + "39239": 12359, + "40358": 762, + "42391": 616, + "42918": 4487, + "44951": 748, + "51815": 124897, + "52327": 73014, + "53351": 14429, + "53863": 104570, + "54375": 65677, + "54889": 11621, + "55401": 2055, + "55913": 706, + "56173": 28835, + "56320": 713, + "56425": 8878, + "56576": 620, + "56742": 84, + "56832": 483, + "56937": 1743, + "57088": 572, + "57344": 497, + "57600": 936, + "58790": 16, + "59522": 899, + "59762": 5183, + "60274": 4121, + "60582": 2870, + "61094": 2896, + "61803": 515, + "62827": 393, + "63083": 174, + "63339": 541, + "64594": 236, + "64654": 15605, + "64850": 122 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 713, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -73.68775939941406, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.47332763671875, + "y": 0.5394750833511353, + "z": 0.8975182175636292 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 620.3240413483602, + "ymin": 325.8928800782955, + "xmax": 659.2152151830398, + "ymax": 393.56623025221074 + }, + "corners_3d": [ + [ + -46.127708435058594, + -74.16108703613281, + 0.09975272417068481 + ], + [ + -47.20665740966797, + -74.16108703613281, + 0.09975272417068481 + ], + [ + -47.20665740966797, + -73.21443176269531, + 0.09975272417068481 + ], + [ + -46.127708435058594, + -73.21443176269531, + 0.09975272417068481 + ], + [ + -46.127708435058594, + -74.16108703613281, + 1.894789218902588 + ], + [ + -47.20665740966797, + -74.16108703613281, + 1.894789218902588 + ], + [ + -47.20665740966797, + -73.21443176269531, + 1.894789218902588 + ], + [ + -46.127708435058594, + -73.21443176269531, + 1.894789218902588 + ] + ], + "corners_2d": [ + [ + 621.1464319907523, + 392.22504050165605 + ], + [ + 657.1854699938576, + 393.56623025221074 + ], + [ + 658.4301208756555, + 372.1073962878061 + ], + [ + 623.2501360796538, + 370.82956135106497 + ], + [ + 620.3240413483602, + 347.07398285133615 + ], + [ + 657.9362698958134, + 348.40320455274593 + ], + [ + 659.2152151830398, + 327.1566733175243 + ], + [ + 622.5377037086016, + 325.8928800782955 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 620, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -70.69005584716797, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4607202410697937, + "y": 0.5606494545936584, + "z": 0.9205799102783203 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 495.674527803292, + "ymin": 259.80581581237095, + "xmax": 537.3477532205117, + "ymax": 325.91621004179046 + }, + "corners_3d": [ + [ + -42.088584899902344, + -71.25727081298828, + 0.07669103145599365 + ], + [ + -43.18538284301758, + -71.02413940429688, + 0.07669103145599365 + ], + [ + -42.993804931640625, + -70.12284088134766, + 0.07669103145599365 + ], + [ + -41.89700698852539, + -70.35597229003906, + 0.07669103145599365 + ], + [ + -42.088584899902344, + -71.25727081298828, + 1.9178508520126343 + ], + [ + -43.18538284301758, + -71.02413940429688, + 1.9178508520126343 + ], + [ + -42.993804931640625, + -70.12284088134766, + 1.9178508520126343 + ], + [ + -41.89700698852539, + -70.35597229003906, + 1.9178508520126343 + ] + ], + "corners_2d": [ + [ + 502.67436051199275, + 325.91621004179046 + ], + [ + 537.3477532205117, + 322.47347433578256 + ], + [ + 535.2176145081683, + 304.9277433204146 + ], + [ + 501.2751172002986, + 308.22546994143397 + ], + [ + 497.0044390051057, + 280.44097828710744 + ], + [ + 533.1277483160375, + 277.0532390711737 + ], + [ + 531.0052263802877, + 259.80581581237095 + ], + [ + 495.674527803292, + 263.04517811956794 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 483, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -66.74504852294922, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4823950231075287, + "y": 0.4203198254108429, + "z": 0.9143474102020264 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 700.7108058022274, + "ymin": 199.26174742485824, + "xmax": 730.4741822466729, + "ymax": 259.3386202952531 + }, + "corners_3d": [ + [ + -48.555416107177734, + -67.26873779296875, + 0.0829235315322876 + ], + [ + -49.391448974609375, + -67.18086242675781, + 0.0829235315322876 + ], + [ + -49.29059982299805, + -66.22135925292969, + 0.0829235315322876 + ], + [ + -48.454566955566406, + -66.30923461914062, + 0.0829235315322876 + ], + [ + -48.555416107177734, + -67.26873779296875, + 1.9116183519363403 + ], + [ + -49.391448974609375, + -67.18086242675781, + 1.9116183519363403 + ], + [ + -49.29059982299805, + -66.22135925292969, + 1.9116183519363403 + ], + [ + -48.454566955566406, + -66.30923461914062, + 1.9116183519363403 + ] + ], + "corners_2d": [ + [ + 703.402867774806, + 259.3386202952531 + ], + [ + 727.1991767809179, + 258.61679798965946 + ], + [ + 724.0154890762942, + 242.79249056080965 + ], + [ + 700.7108058022274, + 243.4846338117203 + ], + [ + 705.7864775210437, + 215.4284683185375 + ], + [ + 730.4741822466729, + 214.72264764385378 + ], + [ + 727.1029932845786, + 199.26174742485824 + ], + [ + 702.9440263427416, + 199.93749157607027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 572, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -73.68775939941406, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.31495359539985657, + "y": 0.4710375964641571, + "z": 0.881112277507782 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 939.913402757935, + "ymin": 341.23198433458236, + "xmax": 990.4339265319827, + "ymax": 401.3069313337025 + }, + "corners_3d": [ + [ + -55.696144104003906, + -74.00271606445312, + 0.1161537766456604 + ], + [ + -56.638221740722656, + -74.00271606445312, + 0.1161537766456604 + ], + [ + -56.638221740722656, + -73.372802734375, + 0.1161537766456604 + ], + [ + -55.696144104003906, + -73.372802734375, + 0.1161537766456604 + ], + [ + -55.696144104003906, + -74.00271606445312, + 1.8783783912658691 + ], + [ + -56.638221740722656, + -74.00271606445312, + 1.8783783912658691 + ], + [ + -56.638221740722656, + -73.372802734375, + 1.8783783912658691 + ], + [ + -55.696144104003906, + -73.372802734375, + 1.8783783912658691 + ] + ], + "corners_2d": [ + [ + 943.7062395418509, + 400.1143889894006 + ], + [ + 975.8969052283009, + 401.3069313337025 + ], + [ + 971.5777919945258, + 386.6534762270646 + ], + [ + 939.913402757935, + 385.49922465500254 + ], + [ + 956.8320329037585, + 355.71956059349486 + ], + [ + 990.4339265319827, + 356.9025860822164 + ], + [ + 985.6855907771692, + 342.37542327759945 + ], + [ + 952.6567114366184, + 341.23198433458236 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 497, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -50.28268051147461, + "y": -84.81512451171875, + "z": 0.951958417892456 + }, + "extent": { + "x": 0.46556398272514343, + "y": 0.3600781559944153, + "z": 0.938393235206604 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 761.6644911870208, + "ymin": 677.1031578316611, + "xmax": 807.4124893006917, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.875911712646484, + -85.2405014038086, + 0.01356518268585205 + ], + [ + -50.59212112426758, + -85.3157730102539, + 0.01356518268585205 + ], + [ + -50.689449310302734, + -84.3897476196289, + 0.01356518268585205 + ], + [ + -49.97323989868164, + -84.3144760131836, + 0.01356518268585205 + ], + [ + -49.875911712646484, + -85.2405014038086, + 1.89035165309906 + ], + [ + -50.59212112426758, + -85.3157730102539, + 1.89035165309906 + ], + [ + -50.689449310302734, + -84.3897476196289, + 1.89035165309906 + ], + [ + -49.97323989868164, + -84.3144760131836, + 1.89035165309906 + ] + ], + "corners_2d": [ + [ + 761.6644911870208, + 762.8104970368665 + ], + [ + 795.7702150034784, + 768.0697088434074 + ], + [ + 797.4079872336129, + 726.6798939332393 + ], + [ + 764.4014437830995, + 721.7568327114581 + ], + [ + 769.6392208611765, + 719.2534738003058 + ], + [ + 806.0256670472461, + 724.6661213451188 + ], + [ + 807.4124893006917, + 682.1482913533096 + ], + [ + 772.2744780100178, + 677.1031578316611 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 936, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -81.85797882080078, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.3366357386112213, + "y": 0.5762890577316284, + "z": 0.911087155342102 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 105.94484898617702, + "ymin": 534.0469455575576, + "xmax": 191.7797077809414, + "ymax": 612.7998727158729 + }, + "corners_3d": [ + [ + -34.78816223144531, + -82.06744384765625, + 0.030734598636627197 + ], + [ + -35.91555404663086, + -82.30707550048828, + 0.030734598636627197 + ], + [ + -36.05553436279297, + -81.64851379394531, + 0.030734598636627197 + ], + [ + -34.92814254760742, + -81.40888214111328, + 0.030734598636627197 + ], + [ + -34.78816223144531, + -82.06744384765625, + 1.8529088497161865 + ], + [ + -35.91555404663086, + -82.30707550048828, + 1.8529088497161865 + ], + [ + -36.05553436279297, + -81.64851379394531, + 1.8529088497161865 + ], + [ + -34.92814254760742, + -81.40888214111328, + 1.8529088497161865 + ] + ], + "corners_2d": [ + [ + 133.81816978312412, + 602.1486313545406 + ], + [ + 175.14451664959785, + 612.7998727158729 + ], + [ + 191.7797077809414, + 589.944800136271 + ], + [ + 151.13608005932622, + 579.7232564351202 + ], + [ + 105.94484898617702, + 556.7094777251078 + ], + [ + 149.28654565813787, + 567.4911020576051 + ], + [ + 167.38535157360684, + 544.3703113963647 + ], + [ + 124.79182582604517, + 534.0469455575576 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 907.3043645817941, + "ymin": 321.2505233718744, + "xmax": 930.1615069347641, + "ymax": 362.28175357069347 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 907.3043645817941, + 350.68714156618097 + ], + [ + 909.8907885106048, + 361.83967689147005 + ], + [ + 922.3344585811426, + 362.28175357069347 + ], + [ + 919.5862684003241, + 351.1178933781384 + ], + [ + 914.6127817521342, + 321.2505233718744 + ], + [ + 917.3689394029727, + 332.3170748389752 + ], + [ + 930.1615069347641, + 332.7559060617684 + ], + [ + 927.2344477931792, + 321.6778074750507 + ] + ], + "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": 171.3286183708999, + "ymin": 592.7124071071416, + "xmax": 212.61101946344115, + "ymax": 642.196064914508 + }, + "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": [ + [ + 188.04716068046673, + 641.4220373070191 + ], + [ + 204.02611391032895, + 642.196064914508 + ], + [ + 212.61101946344115, + 622.7273173942003 + ], + [ + 196.89772199623832, + 621.9793644924289 + ], + [ + 171.3286183708999, + 612.349993140587 + ], + [ + 187.88735464837401, + 613.1322910758156 + ], + [ + 197.06868383262804, + 593.4674022101458 + ], + [ + 180.79505073015184, + 592.7124071071416 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1040.9024814435302, + "ymin": 325.89899873709646, + "xmax": 1069.4895653881404, + "ymax": 367.0957456563007 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1040.9024814435302, + 355.3727043065003 + ], + [ + 1045.2573446308372, + 366.64874023599094 + ], + [ + 1057.8397499724815, + 367.0957456563007 + ], + [ + 1053.319537150112, + 355.80819617517267 + ], + [ + 1051.925411039573, + 325.89899873709646 + ], + [ + 1056.5503858872432, + 337.0915006295005 + ], + [ + 1069.4895653881404, + 337.53536117182006 + ], + [ + 1064.6897983355198, + 326.331114415059 + ] + ], + "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": 347.9068078099944, + "ymin": 391.0260097535054, + "xmax": 369.85759745299214, + "ymax": 426.87361692418534 + }, + "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": [ + [ + 354.9430096558562, + 426.4459818722626 + ], + [ + 365.8886802665864, + 426.87361692418534 + ], + [ + 369.85759745299214, + 416.11872222081877 + ], + [ + 359.0366001591609, + 415.7009148875978 + ], + [ + 347.9068078099944, + 401.7407324754565 + ], + [ + 359.11946748321833, + 402.1672863441854 + ], + [ + 363.26539986668615, + 391.44252301416685 + ], + [ + 352.18353236041565, + 391.0260097535054 + ] + ], + "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": 237.9899117671996, + "ymin": 458.96056885853193, + "xmax": 271.3659668410297, + "ymax": 504.58754587754436 + }, + "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": [ + [ + 250.60903528906687, + 503.98824386065655 + ], + [ + 264.7059284886888, + 504.58754587754436 + ], + [ + 271.3659668410297, + 489.48398276379214 + ], + [ + 257.47626225015586, + 488.90249960909546 + ], + [ + 237.9899117671996, + 474.0652806689525 + ], + [ + 252.53617814576126, + 474.66563896213734 + ], + [ + 259.5970036309728, + 459.54251160647203 + ], + [ + 245.2712380206562, + 458.96056885853193 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 797.0811370163184, + "ymin": 317.41663096185266, + "xmax": 815.2588270252458, + "ymax": 358.31080176735657 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 797.0811370163184, + 346.82160290777574 + ], + [ + 798.223133610352, + 357.8727701393251 + ], + [ + 810.5529394979159, + 358.31080176735657 + ], + [ + 809.2520958752477, + 347.2484637597343 + ], + [ + 801.3559555528899, + 317.41663096185266 + ], + [ + 802.5865375704475, + 328.379846557245 + ], + [ + 815.2588270252458, + 328.81455192416604 + ], + [ + 813.8605111366892, + 317.83995060995716 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1212.5487604568302, + "ymin": 429.19219475454025, + "xmax": 1245.7141807967337, + "ymax": 466.0752157286908 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1212.5487604568302, + 453.9472472265128 + ], + [ + 1218.6805563056892, + 465.61079195813704 + ], + [ + 1230.5013846620475, + 466.0752157286908 + ], + [ + 1224.2243458019998, + 454.4005562914929 + ], + [ + 1227.1098482585671, + 429.19219475454025 + ], + [ + 1233.5814931066893, + 440.84673345148195 + ], + [ + 1245.7141807967337, + 441.31094816706866 + ], + [ + 1239.0895815285967, + 429.64501891156885 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 143619947594126905, + "instance_id": 14614, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_Poles_4", + "bbox_3d": { + "center_world": { + "x": -55.298187255859375, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 728.0756917591056, + "ymin": 231.82772075851588, + "xmax": 1280.0, + "ymax": 526.7104169435079 + }, + "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": [ + [ + 1190.3615279509295, + 526.7104169435079 + ], + [ + 1184.4269200137935, + 513.6925166491944 + ], + [ + 728.0756917591056, + 491.79251331243336 + ], + [ + 728.1677233661011, + 504.2524487236957 + ], + [ + 1350.219054114602, + 265.11798409300786 + ], + [ + 1339.9914286869614, + 252.6305367873311 + ], + [ + 752.5500090946947, + 231.82772075851588 + ], + [ + 753.0609355065242, + 243.6321109231274 + ] + ], + "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": 126.71900328549214, + "ymin": 336.31587472635925, + "xmax": 298.3031612384265, + "ymax": 535.494146723296 + }, + "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": [ + [ + 269.89898252122805, + 535.494146723296 + ], + [ + 298.3031612384265, + 468.3197443010423 + ], + [ + 224.95495947979163, + 465.31793024216336 + ], + [ + 191.59112854059327, + 532.0637223689145 + ], + [ + 216.15266429570613, + 405.98151558146344 + ], + [ + 252.32174872206537, + 339.26812908539114 + ], + [ + 169.29889556590268, + 336.31587472635925 + ], + [ + 126.71900328549214, + 402.5442939633365 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6713771921265837202, + "instance_id": 37572, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_Poles_4", + "bbox_3d": { + "center_world": { + "x": -39.54796600341797, + "y": -83.9518051147461, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 221.6262785832344, + "xmax": 381.4984025933981, + "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": [ + [ + 381.4984025933981, + 481.7075279857235 + ], + [ + 365.904837315161, + 480.95425484433173 + ], + [ + 182.61966406209763, + 989.4505800731536 + ], + [ + 206.0645714947952, + 991.1837232706827 + ], + [ + 310.5939617122897, + 222.33330135896153 + ], + [ + 290.7964718731948, + 221.6262785832344 + ], + [ + -38.7927893176485, + 777.4795253613665 + ], + [ + -4.360597473407438, + 779.6876998557179 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 365.13844017861584, + "ymin": 6.603946050472359, + "xmax": 447.1782705035291, + "ymax": 141.69065959626485 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 435.9078486125171, + 141.69065959626485 + ], + [ + 447.1782705035291, + 115.08623207925436 + ], + [ + 400.050805738725, + 113.8662326574794 + ], + [ + 386.7807437172834, + 140.3635693755923 + ], + [ + 418.4253362917988, + 31.563146664551653 + ], + [ + 431.39804181752675, + 7.6944636526233126 + ], + [ + 380.4556331583775, + 6.603946050472359 + ], + [ + 365.13844017861584, + 30.368526452193407 + ] + ], + "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": 146.85076761170603, + "ymin": 370.4682994113718, + "xmax": 264.07318001939774, + "ymax": 446.34389829171727 + }, + "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": [ + [ + 232.15748136136756, + 446.34389829171727 + ], + [ + 264.07318001939774, + 382.8007029336813 + ], + [ + 188.79570220396852, + 379.9869901950935 + ], + [ + 151.60972508014947, + 443.1129842794387 + ], + [ + 228.16969764917957, + 436.7520826922886 + ], + [ + 260.6456109961671, + 373.2770740398696 + ], + [ + 184.69495908099094, + 370.4682994113718 + ], + [ + 146.85076761170603, + 433.5226320012447 + ] + ], + "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": 146.92302180641371, + "ymin": 370.5017081351779, + "xmax": 263.9876180945278, + "ymax": 446.24115436451825 + }, + "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": [ + [ + 232.10002883683143, + 446.24115436451825 + ], + [ + 263.9876180945278, + 382.7684239492784 + ], + [ + 188.79601088104687, + 379.9578022079152 + ], + [ + 151.64980325849916, + 443.01425128384165 + ], + [ + 228.13834041268973, + 436.7124500295756 + ], + [ + 260.58192160916786, + 373.3074296376717 + ], + [ + 184.72235133489528, + 370.5017081351779 + ], + [ + 146.92302180641371, + 433.4870034086701 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 372.404851713417, + "ymin": 33.283140659905996, + "xmax": 434.5341408862788, + "ymax": 65.52288056544938 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 422.71909289176403, + 65.52288056544938 + ], + [ + 434.5341408862788, + 42.05797021264112 + ], + [ + 387.74683965833674, + 40.989168913518654 + ], + [ + 373.94756611301807, + 64.36025405086485 + ], + [ + 421.45658724032137, + 57.610146819576244 + ], + [ + 433.38979449911415, + 34.34268295211098 + ], + [ + 386.3446782911334, + 33.283140659905996 + ], + [ + 372.404851713417, + 56.457040801503865 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 372.36660170909704, + "ymin": 33.270666926416254, + "xmax": 434.5768922499974, + "ymax": 65.59000393739558 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 422.7508851820544, + 65.59000393739558 + ], + [ + 434.5768922499974, + 42.09795828715477 + ], + [ + 387.7345458684986, + 41.02782307298253 + ], + [ + 373.9198288757605, + 64.42582262670481 + ], + [ + 421.48009141619536, + 57.62455165195337 + ], + [ + 433.4251581799555, + 34.331470773834155 + ], + [ + 386.32297330581105, + 33.270666926416254 + ], + [ + 372.36660170909704, + 56.46996546780679 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00033/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00033/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e68c55a19c792d7eb0ba36747b7577d7adeea211 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00033/meta.json @@ -0,0 +1,2620 @@ +{ + "frame_id": 33, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 16.5, + "sim_timestamp": 13511.772182180779 + }, + "drone_pose": { + "x": -47.81852279844202, + "y": -94.30566490020563, + "z": 20.01903327149491, + "pitch": -41.96838524284973, + "yaw": 86.87934562743453, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.04047584533691406, + -0.7424113750457764, + 0.6687204241752625, + 58.56195831298828 + ], + [ + 0.9985171556472778, + 0.05443859100341797, + 2.9802322387695312e-08, + -42.61373519897461 + ], + [ + -0.03640425205230713, + 0.6677287817001343, + 0.7435139417648315, + -79.59583282470703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.83683939431929, + "y": -93.80161654531642, + "z": 20.01590149968209 + }, + "t1_image_uv": [ + 756.8909231296471, + -492.6623609077244 + ], + "t1_depth": 0.3755641311096534 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -73.18776321411133, + "z": 0.9972709906101227 + }, + "image_uv": [ + 639.9999999999999, + 360.0 + ], + "depth": 28.445013541995102, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 738, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -73.18775939941406, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.5190673470497131, + "y": 0.44599607586860657, + "z": 0.890649676322937 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 623.4566056137445, + "ymin": 325.1701282241206, + "xmax": 656.1127047289006, + "ymax": 394.36221954786004 + }, + "corners_3d": [ + [ + -46.221187591552734, + -73.70682525634766, + 0.10662126541137695 + ], + [ + -47.11317825317383, + -73.70682525634766, + 0.10662126541137695 + ], + [ + -47.11317825317383, + -72.66869354248047, + 0.10662126541137695 + ], + [ + -46.221187591552734, + -72.66869354248047, + 0.10662126541137695 + ], + [ + -46.221187591552734, + -73.70682525634766, + 1.887920618057251 + ], + [ + -47.11317825317383, + -73.70682525634766, + 1.887920618057251 + ], + [ + -47.11317825317383, + -72.66869354248047, + 1.887920618057251 + ], + [ + -46.221187591552734, + -72.66869354248047, + 1.887920618057251 + ] + ], + "corners_2d": [ + [ + 624.1438772212529, + 393.23175896718476 + ], + [ + 653.9815974301796, + 394.36221954786004 + ], + [ + 655.4600467524384, + 370.83296256470584 + ], + [ + 626.4015397651557, + 369.7609442136824 + ], + [ + 623.4566056137445, + 348.40774261116945 + ], + [ + 654.5884163581105, + 349.52830228495037 + ], + [ + 656.1127047289006, + 326.2303473075787 + ], + [ + 625.8282037224931, + 325.1701282241206 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 33, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 101, + "semantic_pixel_counts": { + "1": 386144, + "2": 222638, + "3": 126002, + "4": 23315, + "5": 639, + "6": 20508, + "7": 4316, + "9": 29093, + "10": 40208, + "12": 3880, + "14": 7172, + "20": 4592, + "21": 12821, + "24": 25821, + "25": 14451 + }, + "instance_pixel_counts": { + "143": 14160, + "339": 2970, + "883": 10914, + "1167": 6993, + "1679": 26287, + "2703": 36241, + "3749": 162, + "4261": 177, + "5228": 176, + "5714": 432, + "6508": 37, + "6565": 1761, + "7539": 4699, + "8018": 3871, + "8530": 2423, + "8556": 4089, + "8579": 1754, + "8810": 238, + "9042": 2160, + "9068": 5398, + "9320": 8139, + "9554": 263, + "9580": 4130, + "10092": 2792, + "10624": 39, + "11368": 7645, + "11370": 223, + "11596": 3049, + "12675": 7, + "15186": 7631, + "15698": 13790, + "22381": 9205, + "22784": 11844, + "22893": 7051, + "23441": 8122, + "23552": 10320, + "23953": 8993, + "24429": 4170, + "24465": 8340, + "24941": 8659, + "24977": 1788, + "25928": 639, + "25965": 7204, + "26696": 20266, + "26987": 2463, + "27243": 17, + "27460": 177, + "27719": 79017, + "28231": 40117, + "28523": 232, + "28779": 1534, + "30548": 3331, + "30630": 1430, + "30863": 1874, + "31142": 1353, + "31572": 3523, + "31633": 7404, + "31654": 1255, + "32084": 292, + "32145": 9747, + "32657": 548, + "32911": 3965, + "37798": 10, + "39239": 14451, + "40358": 412, + "42391": 674, + "42918": 4611, + "44951": 820, + "51815": 117298, + "52327": 75448, + "53351": 11666, + "53863": 97989, + "54375": 67959, + "54889": 11426, + "55401": 2102, + "55913": 674, + "56173": 29093, + "56320": 738, + "56425": 8928, + "56576": 603, + "56742": 111, + "56832": 504, + "56937": 1801, + "57088": 554, + "57344": 523, + "57600": 958, + "58278": 1, + "58368": 26, + "58790": 16, + "59522": 906, + "59762": 5368, + "60274": 4206, + "60582": 2891, + "61094": 2941, + "61803": 420, + "62827": 410, + "63083": 174, + "63339": 553, + "64594": 269, + "64654": 16318, + "64850": 127 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 738, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -73.18775939941406, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.49168944358825684, + "y": 0.5296337604522705, + "z": 0.9027671813964844 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 620.6024083036023, + "ymin": 325.3509129567793, + "xmax": 658.924656926085, + "ymax": 394.1237250876443 + }, + "corners_3d": [ + [ + -46.137550354003906, + -73.67945098876953, + 0.09450376033782959 + ], + [ + -47.196815490722656, + -73.67945098876953, + 0.09450376033782959 + ], + [ + -47.196815490722656, + -72.6960678100586, + 0.09450376033782959 + ], + [ + -46.137550354003906, + -72.6960678100586, + 0.09450376033782959 + ], + [ + -46.137550354003906, + -73.67945098876953, + 1.9000381231307983 + ], + [ + -47.196815490722656, + -73.67945098876953, + 1.9000381231307983 + ], + [ + -47.196815490722656, + -72.6960678100586, + 1.9000381231307983 + ], + [ + -46.137550354003906, + -72.6960678100586, + 1.9000381231307983 + ] + ], + "corners_2d": [ + [ + 621.4183119648599, + 392.7831138642691 + ], + [ + 656.8164485753027, + 394.1237250876443 + ], + [ + 658.147256846948, + 371.82943429503257 + ], + [ + 623.6251543782037, + 370.5545474561119 + ], + [ + 620.6024083036023, + 347.3553401793763 + ], + [ + 657.5559954176102, + 348.68396606320874 + ], + [ + 658.924656926085, + 326.61165034278946 + ], + [ + 622.9247470788818, + 325.3509129567793 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 603, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -70.19005584716797, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4783032536506653, + "y": 0.5062598586082458, + "z": 0.9299260973930359 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 497.43620960202435, + "ymin": 259.32828292560947, + "xmax": 535.8052059689087, + "ymax": 326.2323729220908 + }, + "corners_3d": [ + [ + -42.145442962646484, + -70.76316833496094, + 0.06734484434127808 + ], + [ + -43.13583755493164, + -70.55265045166016, + 0.06734484434127808 + ], + [ + -42.936946868896484, + -69.616943359375, + 0.06734484434127808 + ], + [ + -41.94655227661133, + -69.82746124267578, + 0.06734484434127808 + ], + [ + -42.145442962646484, + -70.76316833496094, + 1.927196979522705 + ], + [ + -43.13583755493164, + -70.55265045166016, + 1.927196979522705 + ], + [ + -42.936946868896484, + -69.616943359375, + 1.927196979522705 + ], + [ + -41.94655227661133, + -69.82746124267578, + 1.927196979522705 + ] + ], + "corners_2d": [ + [ + 504.48538511365064, + 326.2323729220908 + ], + [ + 535.8052059689087, + 323.13896112296305 + ], + [ + 533.6548341165676, + 304.91258435335385 + ], + [ + 503.0202939377066, + 307.8708325722879 + ], + [ + 498.83078066703973, + 280.2852397866286 + ], + [ + 531.4743648601795, + 277.2416863832743 + ], + [ + 529.3360402451391, + 259.32828292560947 + ], + [ + 497.43620960202435, + 262.2335031816471 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 504, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -66.24504852294922, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4772436320781708, + "y": 0.327880859375, + "z": 0.9171301126480103 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 703.4826340282954, + "ymin": 199.37029562340925, + "xmax": 727.9375499556367, + "ymax": 259.2617427158579 + }, + "corners_3d": [ + [ + -48.64680862426758, + -66.75395202636719, + 0.08014082908630371 + ], + [ + -49.29897689819336, + -66.6854019165039, + 0.08014082908630371 + ], + [ + -49.1992073059082, + -65.73614501953125, + 0.08014082908630371 + ], + [ + -48.54703903198242, + -65.80469512939453, + 0.08014082908630371 + ], + [ + -48.64680862426758, + -66.75395202636719, + 1.9144010543823242 + ], + [ + -49.29897689819336, + -66.6854019165039, + 1.9144010543823242 + ], + [ + -49.1992073059082, + -65.73614501953125, + 1.9144010543823242 + ], + [ + -48.54703903198242, + -65.80469512939453, + 1.9144010543823242 + ] + ], + "corners_2d": [ + [ + 706.179219901438, + 259.2617427158579 + ], + [ + 724.7443192192832, + 258.7086722216575 + ], + [ + 721.668109411237, + 243.04565504595126 + ], + [ + 703.4826340282954, + 243.57621845228982 + ], + [ + 708.6747813653751, + 215.2133160993659 + ], + [ + 727.9375499556367, + 214.67255110014122 + ], + [ + 724.6798507010094, + 199.37029562340925 + ], + [ + 705.825460118255, + 199.8882512032333 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 554, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -73.18775939941406, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.3393481373786926, + "y": 0.5356127619743347, + "z": 0.9083530902862549 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 937.5233109869201, + "ymin": 340.0697119510376, + "xmax": 993.2878782440854, + "ymax": 402.8469792559951 + }, + "corners_3d": [ + [ + -55.631568908691406, + -73.52710723876953, + 0.08891785144805908 + ], + [ + -56.702796936035156, + -73.52710723876953, + 0.08891785144805908 + ], + [ + -56.702796936035156, + -72.8484115600586, + 0.08891785144805908 + ], + [ + -55.631568908691406, + -72.8484115600586, + 0.08891785144805908 + ], + [ + -55.631568908691406, + -73.52710723876953, + 1.9056240320205688 + ], + [ + -56.702796936035156, + -73.52710723876953, + 1.9056240320205688 + ], + [ + -56.702796936035156, + -72.8484115600586, + 1.9056240320205688 + ], + [ + -55.631568908691406, + -72.8484115600586, + 1.9056240320205688 + ] + ], + "corners_2d": [ + [ + 941.547691740215, + 401.4651771776036 + ], + [ + 978.1722340774194, + 402.8469792559951 + ], + [ + 973.5032262545817, + 387.04506506871746 + ], + [ + 937.5233109869201, + 385.71099388698264 + ], + [ + 955.0048217884842, + 355.68217309927974 + ], + [ + 993.2878782440854, + 357.0527020381854 + ], + [ + 988.1388494819035, + 341.3908425043997 + ], + [ + 950.559555502208, + 340.0697119510376 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 523, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -50.28268051147461, + "y": -84.31512451171875, + "z": 0.9523392915725708 + }, + "extent": { + "x": 0.4757348895072937, + "y": 0.36854007840156555, + "z": 0.9107659459114075 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 760.8824859776648, + "ymin": 677.468555332694, + "xmax": 807.2663947742665, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.866432189941406, + -84.7497329711914, + 0.04157334566116333 + ], + [ + -50.59947204589844, + -84.82677459716797, + 0.04157334566116333 + ], + [ + -50.69892883300781, + -83.8805160522461, + 0.04157334566116333 + ], + [ + -49.96588897705078, + -83.80347442626953, + 0.04157334566116333 + ], + [ + -49.866432189941406, + -84.7497329711914, + 1.863105297088623 + ], + [ + -50.59947204589844, + -84.82677459716797, + 1.863105297088623 + ], + [ + -50.69892883300781, + -83.8805160522461, + 1.863105297088623 + ], + [ + -49.96588897705078, + -83.80347442626953, + 1.863105297088623 + ] + ], + "corners_2d": [ + [ + 760.8824859776648, + 762.8009740294976 + ], + [ + 795.843479054085, + 768.223655542469 + ], + [ + 797.5560889659653, + 725.8915353907208 + ], + [ + 763.7470550124156, + 720.8231570700107 + ], + [ + 768.5704779445394, + 720.5350052594722 + ], + [ + 805.8001094985523, + 726.1115646885737 + ], + [ + 807.2663947742665, + 682.6587527521658 + ], + [ + 771.3403101078057, + 677.468555332694 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 958, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -81.35797882080078, + "z": 1.0941753387451172 + }, + "extent": { + "x": 0.38356444239616394, + "y": 0.34376218914985657, + "z": 0.9392502903938293 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 110.15249131872599, + "ymin": 529.4304162768078, + "xmax": 182.84274345275838, + "ymax": 608.9951103584148 + }, + "corners_3d": [ + [ + -35.00585174560547, + -81.66168975830078, + 0.15492504835128784 + ], + [ + -35.67835235595703, + -81.80463409423828, + 0.15492504835128784 + ], + [ + -35.83784484863281, + -81.05426788330078, + 0.15492504835128784 + ], + [ + -35.16534423828125, + -80.91132354736328, + 0.15492504835128784 + ], + [ + -35.00585174560547, + -81.66168975830078, + 2.0334255695343018 + ], + [ + -35.67835235595703, + -81.80463409423828, + 2.0334255695343018 + ], + [ + -35.83784484863281, + -81.05426788330078, + 2.0334255695343018 + ], + [ + -35.16534423828125, + -80.91132354736328, + 2.0334255695343018 + ] + ], + "corners_2d": [ + [ + 138.855114028551, + 602.5983882152847 + ], + [ + 163.59282049298753, + 608.9951103584148 + ], + [ + 182.84274345275838, + 583.0476116887874 + ], + [ + 158.57068293549924, + 576.9450002092276 + ], + [ + 110.15249131872599, + 555.3602311669296 + ], + [ + 136.14012643000558, + 561.8366152938354 + ], + [ + 157.1483164310265, + 535.5925475593046 + ], + [ + 131.67252664603598, + 529.4304162768078 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 26, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 669.5498434363924, + "ymin": 0.0, + "xmax": 712.0244954249299, + "ymax": 6.339971772980277 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 710.0926285480214, + -27.166622358910388 + ], + [ + 671.730041841579, + -27.852709209859768 + ], + [ + 669.5498434363924, + 5.554033485772379 + ], + [ + 710.6079218017659, + 6.339971772980277 + ], + [ + 711.404703474842, + -54.394356126545745 + ], + [ + 672.3231298499351, + -55.05331064794365 + ], + [ + 670.1417557588035, + -22.926370272410622 + ], + [ + 712.0244954249299, + -22.169523933398068 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 910.6214082577226, + "ymin": 336.02934359397574, + "xmax": 934.0261588531753, + "ymax": 377.6017838296468 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 910.6214082577226, + 365.58656395191684 + ], + [ + 913.2824934786424, + 377.1360498260153 + ], + [ + 925.9528414814959, + 377.6017838296468 + ], + [ + 923.1240963607304, + 366.0401578027694 + ], + [ + 918.1547738803822, + 336.02934359397574 + ], + [ + 920.9938946990414, + 347.5008201820343 + ], + [ + 934.0261588531753, + 347.96358656637955 + ], + [ + 931.0097312707856, + 336.4797135755993 + ] + ], + "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": 157.62768043028632, + "ymin": 618.3950652772273, + "xmax": 200.58815880355144, + "ymax": 668.5771894046568 + }, + "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": [ + [ + 175.23453497970542, + 667.7531656580267 + ], + [ + 191.57020219900733, + 668.5771894046568 + ], + [ + 200.58815880355144, + 648.2059088040115 + ], + [ + 184.53000424846107, + 647.4102719916714 + ], + [ + 157.62768043028632, + 638.9762958482609 + ], + [ + 174.56979120975922, + 639.8105446485397 + ], + [ + 184.22995759988135, + 619.199515116065 + ], + [ + 167.5861484926955, + 618.3950652772273 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1046.6448519481412, + "ymin": 340.9298634433396, + "xmax": 1075.9965219664305, + "ymax": 382.67447801803087 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1046.6448519481412, + 370.5214545227625 + ], + [ + 1051.1394471254516, + 382.2033669143781 + ], + [ + 1063.9560797628485, + 382.67447801803087 + ], + [ + 1059.2899790557608, + 370.9802160188511 + ], + [ + 1058.030823405938, + 340.9298634433396 + ], + [ + 1062.8095100753585, + 352.53659131091956 + ], + [ + 1075.9965219664305, + 353.0048526767862 + ], + [ + 1071.036346771049, + 341.3855084634719 + ] + ], + "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": 341.9379650403466, + "ymin": 404.99793104434013, + "xmax": 364.45038195317767, + "ymax": 441.2436379299557 + }, + "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": [ + [ + 349.229963703293, + 440.79512315200355 + ], + [ + 360.3412857548635, + 441.2436379299557 + ], + [ + 364.45038195317767, + 430.15458556343964 + ], + [ + 353.4675010374052, + 429.71653633330527 + ], + [ + 341.9379650403466, + 416.05352289912076 + ], + [ + 353.3245244261676, + 416.50124376153576 + ], + [ + 357.61988752040446, + 405.4349475450369 + ], + [ + 346.36817142695304, + 404.99793104434013 + ] + ], + "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": 227.57469774510918, + "ymin": 478.67879226930665, + "xmax": 262.11628317751615, + "ymax": 524.9335314066984 + }, + "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": [ + [ + 240.78456565245796, + 524.2990632176675 + ], + [ + 255.1585652033201, + 524.9335314066984 + ], + [ + 262.11628317751615, + 509.21625816565074 + ], + [ + 247.95761212246987, + 508.6010301160569 + ], + [ + 227.57469774510918, + 494.4167718765184 + ], + [ + 242.4162050078449, + 495.05318907922015 + ], + [ + 249.80176004926255, + 479.2952864979467 + ], + [ + 235.18969914679724, + 478.67879226930665 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 798.4365156924382, + "ymin": 331.9890457411632, + "xmax": 816.9880631039658, + "ymax": 373.4189273420826 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 798.4365156924382, + 361.5167549292692 + ], + [ + 799.6010768935747, + 372.95760399830806 + ], + [ + 812.1514290582529, + 373.4189273420826 + ], + [ + 810.8223383337081, + 361.9661090528752 + ], + [ + 802.825730965513, + 331.9890457411632 + ], + [ + 804.0826805438722, + 343.34961687435816 + ], + [ + 816.9880631039658, + 343.80787790865065 + ], + [ + 815.5572085200026, + 332.4350897595891 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1220.791468257916, + "ymin": 445.0032097867489, + "xmax": 1254.847553310846, + "ymax": 482.31882403276353 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1220.791468257916, + 469.7741686455349 + ], + [ + 1227.1144077354968, + 481.83046776569466 + ], + [ + 1239.143994007985, + 482.31882403276353 + ], + [ + 1232.6706846875936, + 470.25064343656106 + ], + [ + 1235.8152743876735, + 445.0032097867489 + ], + [ + 1242.4948483584353, + 457.0604356614514 + ], + [ + 1254.847553310846, + 457.5489923712239 + ], + [ + 1248.0094804660134, + 445.4795745353474 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 143619947594126905, + "instance_id": 14614, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_Poles_4", + "bbox_3d": { + "center_world": { + "x": -55.298187255859375, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 728.2100134281304, + "ymin": 245.52933051335978, + "xmax": 1280.0, + "ymax": 542.6224136653099 + }, + "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": [ + [ + 1197.7062153515017, + 542.6224136653099 + ], + [ + 1191.6012598167094, + 529.2006487301313 + ], + [ + 728.2100134281304, + 506.31017636269064 + ], + [ + 728.2901302781128, + 519.1397951854051 + ], + [ + 1362.9712287965428, + 280.44473010183106 + ], + [ + 1352.3487189767766, + 267.4558970841196 + ], + [ + 753.1849778122876, + 245.52933051335978 + ], + [ + 753.6967936112741, + 257.7839065735824 + ] + ], + "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": 116.38198617323599, + "ymin": 349.57657980633223, + "xmax": 292.33303521396243, + "ymax": 551.0945464582196 + }, + "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": [ + [ + 262.99672436266985, + 551.0945464582196 + ], + [ + 292.33303521396243, + 481.94829482652636 + ], + [ + 217.99203861905835, + 478.8090549995055 + ], + [ + 183.55682353606727, + 547.5000764306027 + ], + [ + 207.29526620376203, + 421.6263815422625 + ], + [ + 244.79470192579748, + 352.6755611143542 + ], + [ + 160.49754798083194, + 349.57657980633223 + ], + [ + 116.38198617323599, + 418.009167647388 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6713771921265837202, + "instance_id": 37572, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_Poles_4", + "bbox_3d": { + "center_world": { + "x": -39.54796600341797, + "y": -83.9518051147461, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 234.69996560232033, + "xmax": 376.64781326019954, + "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": [ + [ + 376.64781326019954, + 495.6814813915031 + ], + [ + 360.8384715185076, + 494.8952938109986 + ], + [ + 170.2548671399527, + 1021.8324974301399 + ], + [ + 194.18936467409287, + 1023.6684100740634 + ], + [ + 303.0888107026205, + 235.44361002268963 + ], + [ + 282.9421138513318, + 234.69996560232033 + ], + [ + -64.5953226361953, + 819.0821509308962 + ], + [ + -29.097364517442998, + 821.4713148694912 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 361.97691835830585, + "ymin": 11.454984112376621, + "xmax": 445.15937219123333, + "ymax": 147.66366430422016 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 433.6444453834546, + 147.66366430422016 + ], + [ + 445.15937219123333, + 120.5731423683252 + ], + [ + 397.62240162116234, + 119.31022141656558 + ], + [ + 384.07237092973276, + 146.2888265750501 + ], + [ + 415.78782529242966, + 36.926337525033375 + ], + [ + 429.05866137734404, + 12.585460610613723 + ], + [ + 377.6373387742185, + 11.454984112376621 + ], + [ + 361.97691835830585, + 35.6868225109539 + ] + ], + "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": 137.20641041646576, + "ymin": 383.8882894418475, + "xmax": 257.0085267762322, + "ymax": 461.9681055642364 + }, + "corners_3d": [ + [ + -37.40412902832031, + -79.92923736572266, + 3.4281208515167236 + ], + [ + -37.40413284301758, + -77.75069427490234, + 3.428124189376831 + ], + [ + -35.469398498535156, + -77.75069427490234, + 3.428124189376831 + ], + [ + -35.46939468383789, + -79.92923736572266, + 3.4281208515167236 + ], + [ + -37.40412902832031, + -79.92923736572266, + 3.754767656326294 + ], + [ + -37.40413284301758, + -77.75069427490234, + 3.7547709941864014 + ], + [ + -35.469398498535156, + -77.75069427490234, + 3.7547709941864014 + ], + [ + -35.46939468383789, + -79.92923736572266, + 3.754767656326294 + ] + ], + "corners_2d": [ + [ + 223.96141043200043, + 461.9681055642364 + ], + [ + 257.0085267762322, + 396.38134500563507 + ], + [ + 180.6179355796059, + 393.43120680093966 + ], + [ + 142.13856223149367, + 458.5730373180604 + ], + [ + 219.82516074855567, + 452.37007563071666 + ], + [ + 253.46191148361595, + 386.83406558884536 + ], + [ + 176.3779966581556, + 383.8882894418475 + ], + [ + 137.20641041646576, + 448.9754618779208 + ] + ], + "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": 137.28026068974782, + "ymin": 383.92278004795537, + "xmax": 256.9209251318456, + "ymax": 461.8639899739754 + }, + "corners_3d": [ + [ + -37.40293884277344, + -79.92804718017578, + 3.4303059577941895 + ], + [ + -37.4029426574707, + -77.75189208984375, + 3.430309534072876 + ], + [ + -35.47059631347656, + -77.75188446044922, + 3.430309534072876 + ], + [ + -35.4705924987793, + -79.92803955078125, + 3.4303059577941895 + ], + [ + -37.40293884277344, + -79.92804718017578, + 3.7547829151153564 + ], + [ + -37.4029426574707, + -77.75189208984375, + 3.754786491394043 + ], + [ + -35.47059631347656, + -77.75188446044922, + 3.754786491394043 + ], + [ + -35.4705924987793, + -79.92803955078125, + 3.7547829151153564 + ] + ], + "corners_2d": [ + [ + 223.90286981603452, + 461.8639899739754 + ], + [ + 256.9209251318456, + 396.3498448684004 + ], + [ + 180.61736936549238, + 393.40294242732597 + ], + [ + 142.17906610704966, + 458.47313786878254 + ], + [ + 219.79369060425364, + 452.329089481008 + ], + [ + 253.39693624187197, + 386.8653539425032 + ], + [ + 176.40542256642783, + 383.92278004795537 + ], + [ + 137.28026068974782, + 448.9386932064882 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 369.3813568757626, + "ymin": 38.30566450904877, + "xmax": 432.27703344894104, + "ymax": 71.08220571722467 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 420.1955412180407, + 71.08220571722467 + ], + [ + 432.27703344894104, + 47.16431284059502 + ], + [ + 385.0598463130535, + 46.05681261700022 + ], + [ + 370.9569001662995, + 69.87650113174277 + ], + [ + 418.9056213748586, + 63.122836262329315 + ], + [ + 431.10904867956714, + 39.40368154597337 + ], + [ + 383.62926829886743, + 38.30566450904877 + ], + [ + 369.3813568757626, + 61.926872787647085 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 369.34263813069816, + "ymin": 38.29293903459785, + "xmax": 432.3203470519247, + "ymax": 71.14992969821026 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 420.2276512254449, + 71.14992969821026 + ], + [ + 432.3203470519247, + 47.20439260535238 + ], + [ + 385.047634673339, + 46.095511394703806 + ], + [ + 370.9289178199944, + 69.94261303755678 + ], + [ + 418.92926264564517, + 63.137533995875174 + ], + [ + 431.1448227393028, + 39.39226295614702 + ], + [ + 383.607456298658, + 38.29293903459785 + ], + [ + 369.34263813069816, + 61.940034782278644 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00034/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00034/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..682f18bc57aadc93d0037ed81b1c1fe955aa9578 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00034/meta.json @@ -0,0 +1,2621 @@ +{ + "frame_id": 34, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 17.0, + "sim_timestamp": 13524.89547958714 + }, + "drone_pose": { + "x": -47.83683939431929, + "y": -93.80161654531642, + "z": 20.01590149968209, + "pitch": -41.96778584043158, + "yaw": 86.82919318994252, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.0411263108253479, + -0.7423826456069946, + 0.6687126159667969, + 58.21916198730469 + ], + [ + 0.9984689950942993, + 0.055312931537628174, + -2.9802322387695312e-08, + -42.57516860961914 + ], + [ + -0.03698837757110596, + 0.6676888465881348, + 0.743520975112915, + -79.28193664550781 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.85442337390181, + "y": -93.2977279560843, + "z": 20.013217023321097 + }, + "t1_image_uv": [ + 756.2505127317827, + -494.17186980354427 + ], + "t1_depth": 0.3751501264381208 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -72.68776321411133, + "z": 0.9972709906101227 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 28.440661124429443, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 735, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -72.68775939941406, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.5281909108161926, + "y": 0.4780639410018921, + "z": 0.8963597416877747 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 622.2967456487484, + "ymin": 324.77044028218785, + "xmax": 657.2358557556088, + "ymax": 394.76760876240996 + }, + "corners_3d": [ + [ + -46.189117431640625, + -73.21595001220703, + 0.1009112000465393 + ], + [ + -47.14524841308594, + -73.21595001220703, + 0.1009112000465393 + ], + [ + -47.14524841308594, + -72.1595687866211, + 0.1009112000465393 + ], + [ + -46.189117431640625, + -72.1595687866211, + 0.1009112000465393 + ], + [ + -46.189117431640625, + -73.21595001220703, + 1.8936307430267334 + ], + [ + -47.14524841308594, + -73.21595001220703, + 1.8936307430267334 + ], + [ + -47.14524841308594, + -72.1595687866211, + 1.8936307430267334 + ], + [ + -46.189117431640625, + -72.1595687866211, + 1.8936307430267334 + ] + ], + "corners_2d": [ + [ + 623.037055432135, + 393.5356186365909 + ], + [ + 655.0268632244388, + 394.76760876240996 + ], + [ + 656.5333459678463, + 370.8190803818002 + ], + [ + 625.3933461986084, + 369.65186987696177 + ], + [ + 622.2967456487484, + 348.4151690260569 + ], + [ + 655.6836172212376, + 349.6363204201378 + ], + [ + 657.2358557556088, + 325.92469394279715 + ], + [ + 624.7735662837622, + 324.77044028218785 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 34, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 102, + "semantic_pixel_counts": { + "1": 374961, + "2": 229830, + "3": 127158, + "4": 23646, + "5": 639, + "6": 20622, + "7": 4469, + "9": 29034, + "10": 40071, + "12": 3834, + "14": 7313, + "20": 4697, + "21": 12599, + "24": 26123, + "25": 16604 + }, + "instance_pixel_counts": { + "143": 14641, + "339": 3030, + "883": 11642, + "1167": 7089, + "1679": 26420, + "2703": 37440, + "3749": 194, + "4261": 162, + "5228": 182, + "5714": 446, + "6508": 55, + "6565": 1796, + "7539": 5206, + "8018": 3956, + "8530": 2456, + "8556": 4205, + "8579": 1886, + "8810": 264, + "9042": 2177, + "9068": 5567, + "9320": 8725, + "9554": 69, + "9580": 4243, + "10092": 2523, + "10624": 57, + "11368": 8302, + "11370": 243, + "11596": 3296, + "12675": 9, + "15186": 6685, + "15698": 14286, + "22381": 9692, + "22784": 12041, + "22893": 7290, + "23441": 8299, + "23552": 10248, + "23953": 9201, + "24429": 4115, + "24465": 8478, + "24941": 8779, + "24977": 1169, + "25928": 639, + "25965": 7461, + "26696": 20350, + "26987": 2571, + "27243": 26, + "27460": 181, + "27719": 81841, + "28231": 39973, + "28523": 248, + "28779": 1487, + "30548": 3417, + "30630": 1444, + "30863": 2057, + "31142": 1368, + "31572": 3611, + "31633": 7394, + "31654": 1264, + "32084": 116, + "32145": 10173, + "32657": 205, + "32911": 4320, + "37798": 9, + "39239": 16604, + "40358": 140, + "42391": 736, + "42918": 4633, + "44951": 883, + "51815": 109359, + "52327": 78031, + "53351": 8936, + "53863": 91269, + "54375": 70339, + "54438": 148, + "54889": 11293, + "55401": 2172, + "55913": 651, + "56173": 29034, + "56320": 735, + "56425": 9012, + "56576": 615, + "56742": 123, + "56832": 496, + "56937": 1865, + "57088": 521, + "57344": 511, + "57600": 956, + "58278": 1, + "58368": 169, + "58790": 16, + "59522": 916, + "59762": 5603, + "60274": 4285, + "60582": 2732, + "61094": 2992, + "61803": 321, + "62827": 422, + "63083": 183, + "63339": 573, + "64594": 315, + "64654": 17066, + "64850": 127 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 735, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -72.68775939941406, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.49784421920776367, + "y": 0.4028295874595642, + "z": 0.8701831698417664 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 625.0010093108646, + "ymin": 326.2051590769621, + "xmax": 654.6236322339656, + "ymax": 393.332657542983 + }, + "corners_3d": [ + [ + -46.26435470581055, + -73.18560028076172, + 0.1270877718925476 + ], + [ + -47.070011138916016, + -73.18560028076172, + 0.1270877718925476 + ], + [ + -47.070011138916016, + -72.1899185180664, + 0.1270877718925476 + ], + [ + -46.26435470581055, + -72.1899185180664, + 0.1270877718925476 + ], + [ + -46.26435470581055, + -73.18560028076172, + 1.8674540519714355 + ], + [ + -47.070011138916016, + -73.18560028076172, + 1.8674540519714355 + ], + [ + -47.070011138916016, + -72.1899185180664, + 1.8674540519714355 + ], + [ + -46.26435470581055, + -72.1899185180664, + 1.8674540519714355 + ] + ], + "corners_2d": [ + [ + 625.6098749289104, + 392.29628463902 + ], + [ + 652.5605046536474, + 393.332657542983 + ], + [ + 654.0442717107948, + 370.767928483986 + ], + [ + 627.7693639577492, + 369.7830271608921 + ], + [ + 625.0010093108646, + 348.4998908732567 + ], + [ + 653.092597524402, + 349.52734595249467 + ], + [ + 654.6236322339656, + 327.17950955228775 + ], + [ + 627.2654122080911, + 326.2051590769621 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 615, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -69.69005584716797, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4506811797618866, + "y": 0.4390527606010437, + "z": 0.8790876865386963 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 499.85079262872586, + "ymin": 261.25047674112454, + "xmax": 533.6248420486871, + "ymax": 324.19894039295144 + }, + "corners_3d": [ + [ + -42.205440521240234, + -70.22217559814453, + 0.11818325519561768 + ], + [ + -43.064353942871094, + -70.03960418701172, + 0.11818325519561768 + ], + [ + -42.876949310302734, + -69.1579360961914, + 0.11818325519561768 + ], + [ + -42.018035888671875, + -69.34050750732422, + 0.11818325519561768 + ], + [ + -42.205440521240234, + -70.22217559814453, + 1.8763586282730103 + ], + [ + -43.064353942871094, + -70.03960418701172, + 1.8763586282730103 + ], + [ + -42.876949310302734, + -69.1579360961914, + 1.8763586282730103 + ], + [ + -42.018035888671875, + -69.34050750732422, + 1.8763586282730103 + ] + ], + "corners_2d": [ + [ + 506.4475356195256, + 324.19894039295144 + ], + [ + 533.6248420486871, + 321.5357713761531 + ], + [ + 531.6638196258626, + 304.3586991762129 + ], + [ + 505.0479902279991, + 306.9119459973244 + ], + [ + 501.1901928265257, + 280.7712423487248 + ], + [ + 529.4513477420678, + 278.14881617947617 + ], + [ + 527.5052869678093, + 261.25047674112454 + ], + [ + 499.85079262872586, + 263.76054622161337 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 496, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -65.74504852294922, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.47059568762779236, + "y": 0.4017578065395355, + "z": 0.945830225944519 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 701.6033699339448, + "ymin": 198.72938135653231, + "xmax": 730.3171099608412, + "ymax": 259.8982200467741 + }, + "corners_3d": [ + [ + -48.5726432800293, + -66.25505828857422, + 0.05144071578979492 + ], + [ + -49.37175369262695, + -66.17107391357422, + 0.05144071578979492 + ], + [ + -49.273372650146484, + -65.23503875732422, + 0.05144071578979492 + ], + [ + -48.47426223754883, + -65.31902313232422, + 0.05144071578979492 + ], + [ + -48.5726432800293, + -66.25505828857422, + 1.943101167678833 + ], + [ + -49.37175369262695, + -66.17107391357422, + 1.943101167678833 + ], + [ + -49.273372650146484, + -65.23503875732422, + 1.943101167678833 + ], + [ + -48.47426223754883, + -65.31902313232422, + 1.943101167678833 + ] + ], + "corners_2d": [ + [ + 704.1989838981042, + 259.8982200467741 + ], + [ + 726.93693902356, + 259.2323718411835 + ], + [ + 723.8828738555882, + 243.7812647876102 + ], + [ + 701.6033699339448, + 244.4203949103482 + ], + [ + 706.6973508339336, + 214.46395629051344 + ], + [ + 730.3171099608412, + 213.81339350478837 + ], + [ + 727.0757091734622, + 198.72938135653231 + ], + [ + 703.9502622023646, + 199.35285590663085 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 521, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -72.68775939941406, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.3332470655441284, + "y": 0.5432934165000916, + "z": 0.9088051319122314 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 937.3983133178785, + "ymin": 340.3605771790083, + "xmax": 993.6334706810593, + "ymax": 402.9378154382379 + }, + "corners_3d": [ + [ + -55.6238899230957, + -73.02100372314453, + 0.08846092224121094 + ], + [ + -56.71047592163086, + -73.02100372314453, + 0.08846092224121094 + ], + [ + -56.71047592163086, + -72.3545150756836, + 0.08846092224121094 + ], + [ + -55.6238899230957, + -72.3545150756836, + 0.08846092224121094 + ], + [ + -55.6238899230957, + -73.02100372314453, + 1.9060711860656738 + ], + [ + -56.71047592163086, + -73.02100372314453, + 1.9060711860656738 + ], + [ + -56.71047592163086, + -72.3545150756836, + 1.9060711860656738 + ], + [ + -55.6238899230957, + -72.3545150756836, + 1.9060711860656738 + ] + ], + "corners_2d": [ + [ + 941.3289664566748, + 401.51332071673335 + ], + [ + 978.4922981799948, + 402.9378154382379 + ], + [ + 973.9189195164687, + 387.41117740858994 + ], + [ + 937.3983133178785, + 386.0350335508317 + ], + [ + 954.7856474021801, + 355.6997602359186 + ], + [ + 993.6334706810593, + 357.1126305981523 + ], + [ + 988.5883996645314, + 341.7234051235453 + ], + [ + 950.4423288802152, + 340.3605771790083 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 511, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -50.28268051147461, + "y": -83.81512451171875, + "z": 0.9527202248573303 + }, + "extent": { + "x": 0.4813404083251953, + "y": 0.48444831371307373, + "z": 0.93891441822052 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 754.8399128493201, + "ymin": 675.856647509016, + "xmax": 812.7134439980846, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.750572204589844, + -84.2431869506836, + 0.013805806636810303 + ], + [ + -50.71416091918945, + -84.34446716308594, + 0.013805806636810303 + ], + [ + -50.814788818359375, + -83.3870620727539, + 0.013805806636810303 + ], + [ + -49.851200103759766, + -83.28578186035156, + 0.013805806636810303 + ], + [ + -49.750572204589844, + -84.2431869506836, + 1.8916347026824951 + ], + [ + -50.71416091918945, + -84.34446716308594, + 1.8916347026824951 + ], + [ + -50.814788818359375, + -83.3870620727539, + 1.8916347026824951 + ], + [ + -49.851200103759766, + -83.28578186035156, + 1.8916347026824951 + ] + ], + "corners_2d": [ + [ + 754.8399128493201, + 762.9957224612094 + ], + [ + 800.7729408451701, + 770.1662774907775 + ], + [ + 802.3782757556186, + 727.2809629994549 + ], + [ + 757.9748034259751, + 720.5839175923041 + ], + [ + 762.3753637533008, + 719.3998799771476 + ], + [ + 811.3860547468485, + 726.7806451181291 + ], + [ + 812.7134439980846, + 682.7196511995646 + ], + [ + 765.4403007310856, + 675.856647509016 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 956, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -80.85797882080078, + "z": 1.0940629243850708 + }, + "extent": { + "x": 0.3804309070110321, + "y": 0.3276684582233429, + "z": 0.9335436224937439 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 110.72511165278445, + "ymin": 529.507312823098, + "xmax": 181.92034685094507, + "ymax": 608.2889100551004 + }, + "corners_3d": [ + [ + -35.02224349975586, + -81.16197204589844, + 0.1605193018913269 + ], + [ + -35.66326141357422, + -81.29822540283203, + 0.1605193018913269 + ], + [ + -35.82145309448242, + -80.55398559570312, + 0.1605193018913269 + ], + [ + -35.18043518066406, + -80.41773223876953, + 0.1605193018913269 + ], + [ + -35.02224349975586, + -81.16197204589844, + 2.02760648727417 + ], + [ + -35.66326141357422, + -81.29822540283203, + 2.02760648727417 + ], + [ + -35.82145309448242, + -80.55398559570312, + 2.02760648727417 + ], + [ + -35.18043518066406, + -80.41773223876953, + 2.02760648727417 + ] + ], + "corners_2d": [ + [ + 139.22360392327028, + 602.1754864202026 + ], + [ + 162.78526320253872, + 608.2889100551004 + ], + [ + 181.92034685094507, + 582.5759284729404 + ], + [ + 158.79792104691353, + 576.741292175149 + ], + [ + 110.72511165278445, + 555.213425613166 + ], + [ + 135.46886628780567, + 561.4022449508224 + ], + [ + 156.33961355680555, + 535.3983843031206 + ], + [ + 132.0783429777028, + 529.507312823098 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 169, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 669.7280479606101, + "ymin": 0.0, + "xmax": 712.531689541805, + "ymax": 10.108747623804959 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 710.6182697712502, + -23.88048449314124 + ], + [ + 671.9864756641026, + -24.588641344318887 + ], + [ + 669.7280479606101, + 9.296730953809288 + ], + [ + 711.0944224668979, + 10.108747623804959 + ], + [ + 711.9496355294117, + -51.24135782714063 + ], + [ + 672.5886091539826, + -51.92167909716852 + ], + [ + 670.3280699588588, + -19.32572449428966 + ], + [ + 712.531689541805, + -18.543539974293253 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 914.0173349696679, + "ymin": 351.3499330042599, + "xmax": 937.993587114961, + "ymax": 393.4743580427386 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 914.0173349696679, + 381.0160069601984 + ], + [ + 916.7573868944166, + 392.9838559639107 + ], + [ + 929.6623065744708, + 393.4743580427386 + ], + [ + 926.7483875716341, + 381.4934955084372 + ], + [ + 921.7860536942057, + 351.3499330042599 + ], + [ + 924.7130170597443, + 363.2488345870856 + ], + [ + 937.993587114961, + 363.7367056956994 + ], + [ + 934.8825604256599, + 351.8244958501305 + ] + ], + "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": 143.23270401625916, + "ymin": 645.3348473150195, + "xmax": 187.98540114211727, + "ymax": 696.2240574155712 + }, + "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": [ + [ + 161.79588091644854, + 695.3466827143724 + ], + [ + 178.504384288477, + 696.2240574155712 + ], + [ + 187.98540114211727, + 674.8858174056213 + ], + [ + 171.56707216551808, + 674.0393663141451 + ], + [ + 143.23270401625916, + 666.9296770778076 + ], + [ + 160.5761856831454, + 667.8195295830956 + ], + [ + 170.74977367969507, + 646.192152092829 + ], + [ + 153.71872268673394, + 645.3348473150195 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1052.5497941439658, + "ymin": 356.51465152924993, + "xmax": 1082.701784376255, + "ymax": 398.817983478802 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1052.5497941439658, + 386.21178023073395 + ], + [ + 1057.1919120142834, + 398.32162080230455 + ], + [ + 1070.2510217487084, + 398.817983478802 + ], + [ + 1065.4309100670907, + 386.69489702666 + ], + [ + 1064.3167459242827, + 356.51465152924993 + ], + [ + 1069.2579313159883, + 368.55879396906056 + ], + [ + 1082.701784376255, + 369.05266339403875 + ], + [ + 1077.5720412013275, + 356.99496821052344 + ] + ], + "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": 335.7488465435516, + "ymin": 419.425757460328, + "xmax": 358.84765483651665, + "ymax": 456.07591490549885 + }, + "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": [ + [ + 343.3102164523586, + 455.60570797758294 + ], + [ + 354.5922180276717, + 456.07591490549885 + ], + [ + 358.84765483651665, + 444.63674331103783 + ], + [ + 347.6980335594844, + 444.1776786454733 + ], + [ + 335.7488465435516, + 430.8389201935839 + ], + [ + 347.31472139591654, + 431.3086639197119 + ], + [ + 351.7662885221011, + 419.8840913297216 + ], + [ + 340.3394971127565, + 419.425757460328 + ] + ], + "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": 216.68867725352652, + "ymin": 499.24320878185574, + "xmax": 252.46454765097997, + "ymax": 546.137106728112 + }, + "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": [ + [ + 230.52918856019284, + 545.4654749250028 + ], + [ + 245.19129495891445, + 546.137106728112 + ], + [ + 252.46454765097997, + 529.7677148620805 + ], + [ + 238.02639454742234, + 529.1168635429592 + ], + [ + 216.68867725352652, + 515.6554241677936 + ], + [ + 231.83754285675985, + 516.3300387695126 + ], + [ + 239.5680409854579, + 499.8962618646438 + ], + [ + 224.65811831048472, + 499.24320878185574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 799.8037623799894, + "ymin": 347.09338886290965, + "xmax": 818.7437090279151, + "ymax": 389.06969294796085 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 799.8037623799894, + 376.73256739006433 + ], + [ + 800.9924410656704, + 388.5839955124965 + ], + [ + 813.7709489978245, + 389.06969294796085 + ], + [ + 812.4117597229904, + 377.2054407757906 + ], + [ + 804.3118282602286, + 347.09338886290965 + ], + [ + 805.5969427819934, + 358.87326045615697 + ], + [ + 818.7437090279151, + 359.35621632124867 + ], + [ + 817.278184235828, + 347.5632357159665 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1229.2622720891281, + "ymin": 461.3481983039909, + "xmax": 1264.2489471125432, + "ymax": 499.1027493649221 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1229.2622720891281, + 486.1206864159987 + ], + [ + 1235.7860792795323, + 498.58943662760146 + ], + [ + 1248.0312108574885, + 499.1027493649221 + ], + [ + 1241.351649457417, + 486.62130026796905 + ], + [ + 1244.770507576057, + 461.3481983039909 + ], + [ + 1251.668853207811, + 473.82887583390504 + ], + [ + 1264.2489471125432, + 474.34285706026196 + ], + [ + 1257.1862713791968, + 461.84913152655133 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 143619947594126905, + "instance_id": 14614, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_Poles_4", + "bbox_3d": { + "center_world": { + "x": -55.298187255859375, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 728.3187902552202, + "ymin": 259.7613978839232, + "xmax": 1280.0, + "ymax": 559.0176981814909 + }, + "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": [ + [ + 1205.2354786825338, + 559.0176981814909 + ], + [ + 1198.9521237837735, + 545.1735275603921 + ], + [ + 728.3187902552202, + 521.2561050620309 + ], + [ + 728.3868933683401, + 534.4719482311261 + ], + [ + 1376.1812359619785, + 296.3921219412986 + ], + [ + 1365.139880416147, + 282.871476354057 + ], + [ + 753.8059584355806, + 259.7613978839232 + ], + [ + 754.3192150538141, + 272.4925030401879 + ] + ], + "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": 105.65553799896134, + "ymin": 363.2809807640911, + "xmax": 286.16690941845303, + "ymax": 567.1827438133122 + }, + "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": [ + [ + 255.85965432330704, + 567.1827438133122 + ], + [ + 286.16690941845303, + 495.97559601667217 + ], + [ + 210.80575995990847, + 492.69435913361065 + ], + [ + 175.25441138813824, + 563.4181479550311 + ], + [ + 198.0984484248346, + 437.83716340967845 + ], + [ + 236.993335575328, + 366.53268375421095 + ], + [ + 151.3819010065098, + 363.2809807640911 + ], + [ + 105.65553799896134, + 434.0317325213581 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6713771921265837202, + "instance_id": 37572, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_Poles_4", + "bbox_3d": { + "center_world": { + "x": -39.54796600341797, + "y": -83.9518051147461, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 248.27363788903548, + "xmax": 371.63195572731223, + "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": [ + [ + 371.63195572731223, + 510.0661560429893 + ], + [ + 355.6008581099317, + 509.2459084984721 + ], + [ + 157.33119688290344, + 1055.6618624358448 + ], + [ + 181.7758874926962, + 1057.6069669857175 + ], + [ + 295.27230583686054, + 249.05574036631873 + ], + [ + 274.7639349195276, + 248.27363788903548 + ], + [ + -92.15213084845891, + 863.5196703158568 + ], + [ + -55.52091087958047, + 866.108212695532 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 358.7138272130167, + "ymin": 16.4045180352486, + "xmax": 443.06968487634396, + "ymax": 153.7523108440245 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 431.3046741462025, + 153.7523108440245 + ], + [ + 443.06968487634396, + 126.16157932699929 + ], + [ + 395.1158550836834, + 124.85520683962605 + ], + [ + 381.2793212836155, + 152.3290564230877 + ], + [ + 413.059406238266, + 42.40367881826711 + ], + [ + 426.6361334908587, + 17.575582672407336 + ], + [ + 374.72655956754176, + 16.4045180352486 + ], + [ + 358.7138272130167, + 41.11847593859335 + ] + ], + "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": 127.20966334821651, + "ymin": 397.7437564418876, + "xmax": 249.6947024414074, + "ymax": 478.13117593643386 + }, + "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": [ + [ + 215.46348607586083, + 478.13117593643386 + ], + [ + 249.6947024414074, + 410.3992698787283 + ], + [ + 172.15739333972402, + 407.30745170640205 + ], + [ + 132.32435737823528, + 474.56493386569014 + ], + [ + 211.17064180701777, + 468.53238156823664 + ], + [ + 246.0229046587766, + 400.83188745737914 + ], + [ + 167.77119407294907, + 397.7437564418876 + ], + [ + 127.20966334821651, + 464.9654372843893 + ] + ], + "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": 127.28517473567376, + "ymin": 397.77938057538984, + "xmax": 249.6049746999572, + "ymax": 478.025657066353 + }, + "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": [ + [ + 215.40381143783065, + 478.025657066353 + ], + [ + 249.6049746999572, + 410.36861767229937 + ], + [ + 172.1558977968395, + 407.28018474235864 + ], + [ + 132.3652888490044, + 474.46384477154095 + ], + [ + 211.1390663277357, + 468.48997275194756 + ], + [ + 245.95659574545192, + 400.8641547520501 + ], + [ + 167.79864482584742, + 397.77938057538984 + ], + [ + 127.28517473567376, + 464.92746896043457 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 366.26115995151156, + "ymin": 43.42813011818896, + "xmax": 429.9403843117005, + "ymax": 76.7563088943183 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 417.58577387376056, + 76.7563088943183 + ], + [ + 429.9403843117005, + 52.37142242295306 + ], + [ + 382.2851283731392, + 51.22465326008842 + ], + [ + 367.8707710671778, + 75.5068168692219 + ], + [ + 416.2673647009759, + 68.75010565674336 + ], + [ + 428.74784232138614, + 44.56519800265386 + ], + [ + 380.82507583763, + 43.42813011818896 + ], + [ + 366.26115995151156, + 67.51056778947549 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 366.22196197895437, + "ymin": 43.41514553370507, + "xmax": 429.98427469300367, + "ymax": 76.82464349450805 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 417.61821049210334, + 76.82464349450805 + ], + [ + 429.98427469300367, + 52.41158873710208 + ], + [ + 382.27300477500887, + 51.26339092079223 + ], + [ + 367.8425415340178, + 75.57348120479509 + ], + [ + 416.2911448530066, + 68.76510512626243 + ], + [ + 428.78403538020785, + 44.5535662747435 + ], + [ + 380.8031557151821, + 43.41514553370507 + ], + [ + 366.22196197895437, + 67.52397497525783 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00038/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00038/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cecae38326703ce0403198d63f2d31dd84b88e92 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00038/meta.json @@ -0,0 +1,2511 @@ +{ + "frame_id": 38, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 19.0, + "sim_timestamp": 13571.09170632367 + }, + "drone_pose": { + "x": -47.90305744414884, + "y": -91.78695656042242, + "z": 20.007358784785268, + "pitch": -41.96861591468447, + "yaw": 86.64775916106217, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.04347628355026245, + -0.7422389984130859, + 0.6687234044075012, + 56.831119537353516 + ], + [ + 0.9982888698577881, + 0.05847430229187012, + 0.0, + -42.453914642333984 + ], + [ + -0.03910309076309204, + 0.667579174041748, + 0.7435112595558167, + -78.02391815185547 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.91799692808552, + "y": -91.28364320034058, + "z": 20.005991279279602 + }, + "t1_image_uv": [ + 753.8737885034002, + -498.71313834445004 + ], + "t1_depth": 0.37384378706432925 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -70.68776321411133, + "z": 0.9979497012495995 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.42641341083721, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 715, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -70.68775939941406, + "z": 0.9979497194290161 + }, + "extent": { + "x": 0.50787353515625, + "y": 0.33119139075279236, + "z": 0.8771803975105286 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 627.4110549431846, + "ymin": 325.85248756703027, + "xmax": 652.2652780717135, + "ymax": 393.6814980656 + }, + "corners_3d": [ + [ + -46.33599090576172, + -71.19563293457031, + 0.12076932191848755 + ], + [ + -46.998374938964844, + -71.19563293457031, + 0.12076932191848755 + ], + [ + -46.998374938964844, + -70.17988586425781, + 0.12076932191848755 + ], + [ + -46.33599090576172, + -70.17988586425781, + 0.12076932191848755 + ], + [ + -46.33599090576172, + -71.19563293457031, + 1.8751301765441895 + ], + [ + -46.998374938964844, + -71.19563293457031, + 1.8751301765441895 + ], + [ + -46.998374938964844, + -70.17988586425781, + 1.8751301765441895 + ], + [ + -46.33599090576172, + -70.17988586425781, + 1.8751301765441895 + ] + ], + "corners_2d": [ + [ + 627.9265487802679, + 392.77976032278957 + ], + [ + 650.0934412475902, + 393.6814980656 + ], + [ + 651.7754354782599, + 370.6568791246763 + ], + [ + 630.175254125093, + 369.8008117114941 + ], + [ + 627.4110549431846, + 348.6066925602997 + ], + [ + 650.5248477762779, + 349.5006268483547 + ], + [ + 652.2652780717135, + 326.6992897975906 + ], + [ + 629.7669745496657, + 325.85248756703027 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 38, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 96, + "semantic_pixel_counts": { + "1": 333093, + "2": 256711, + "3": 130718, + "4": 25731, + "5": 750, + "6": 21158, + "7": 3511, + "9": 30599, + "10": 37827, + "12": 3661, + "14": 8408, + "20": 5389, + "21": 11818, + "24": 26245, + "25": 25981 + }, + "instance_pixel_counts": { + "143": 16792, + "339": 3253, + "883": 15740, + "1167": 6621, + "1679": 26767, + "2703": 43092, + "3749": 208, + "4261": 195, + "5228": 195, + "5714": 483, + "6508": 131, + "6565": 1949, + "7539": 6098, + "8018": 4341, + "8530": 2623, + "8556": 4706, + "8579": 2482, + "8810": 329, + "9042": 2140, + "9068": 6266, + "9320": 11268, + "9580": 4758, + "10092": 1229, + "10624": 133, + "11368": 11100, + "11370": 314, + "11596": 4377, + "12675": 11, + "15186": 2246, + "15698": 16314, + "22381": 11229, + "22784": 11706, + "22893": 8383, + "23441": 9021, + "23552": 9493, + "23953": 10135, + "24429": 3154, + "24465": 7559, + "24941": 7805, + "25928": 750, + "25965": 8567, + "26696": 21354, + "26987": 3047, + "27243": 48, + "27460": 198, + "27719": 92890, + "28231": 37693, + "28523": 289, + "28779": 1591, + "30548": 3766, + "30630": 1544, + "30863": 2832, + "31142": 1469, + "31572": 3895, + "31633": 5859, + "31654": 1247, + "32145": 11980, + "32911": 5811, + "34884": 141, + "37798": 7, + "39239": 25981, + "42391": 1007, + "42918": 3821, + "44951": 1189, + "51815": 76073, + "52327": 89597, + "53351": 14, + "53863": 64270, + "54375": 80771, + "54438": 125, + "54889": 10370, + "55401": 2520, + "56173": 30599, + "56320": 715, + "56425": 9590, + "56576": 611, + "56742": 44, + "56832": 503, + "56937": 2199, + "57088": 585, + "57344": 520, + "57600": 727, + "58278": 7, + "58368": 747, + "58790": 16, + "59522": 988, + "59762": 6382, + "60274": 4678, + "60582": 1406, + "61094": 3222, + "62827": 482, + "63083": 206, + "63339": 610, + "64594": 553, + "64654": 20572, + "64850": 142 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 715, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -70.68775939941406, + "z": 0.9979497194290161 + }, + "extent": { + "x": 0.49399900436401367, + "y": 0.3967578113079071, + "z": 0.8606502413749695 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 625.1656156253575, + "ymin": 326.50255691019856, + "xmax": 654.466791278431, + "ymax": 393.0486794889778 + }, + "corners_3d": [ + [ + -46.270423889160156, + -71.18175506591797, + 0.13729947805404663 + ], + [ + -47.063941955566406, + -71.18175506591797, + 0.13729947805404663 + ], + [ + -47.063941955566406, + -70.19376373291016, + 0.13729947805404663 + ], + [ + -46.270423889160156, + -70.19376373291016, + 0.13729947805404663 + ], + [ + -46.270423889160156, + -71.18175506591797, + 1.8585999011993408 + ], + [ + -47.063941955566406, + -71.18175506591797, + 1.8585999011993408 + ], + [ + -47.063941955566406, + -70.19376373291016, + 1.8585999011993408 + ], + [ + -46.270423889160156, + -70.19376373291016, + 1.8585999011993408 + ] + ], + "corners_2d": [ + [ + 625.7615653527234, + 391.9692632012075 + ], + [ + 652.3176343230821, + 393.0486794889778 + ], + [ + 653.8994464307589, + 370.6505599796647 + ], + [ + 628.0042284086317, + 369.62437612476 + ], + [ + 625.1656156253575, + 348.632847358846 + ], + [ + 652.8338364964914, + 349.7030677249628 + ], + [ + 654.466791278431, + 327.51787367472355 + ], + [ + 627.5151856600354, + 326.50255691019856 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 611, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -67.69005584716797, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.44884034991264343, + "y": 0.43982914090156555, + "z": 0.8930245637893677 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 500.1297591792611, + "ymin": 260.68657119432925, + "xmax": 533.9353218783261, + "ymax": 324.22405104866084 + }, + "corners_3d": [ + [ + -42.20429611206055, + -68.22053527832031, + 0.10424637794494629 + ], + [ + -43.06473159790039, + -68.03764343261719, + 0.10424637794494629 + ], + [ + -42.87809371948242, + -67.15957641601562, + 0.10424637794494629 + ], + [ + -42.01765823364258, + -67.34246826171875, + 0.10424637794494629 + ], + [ + -42.20429611206055, + -68.22053527832031, + 1.8902955055236816 + ], + [ + -43.06473159790039, + -68.03764343261719, + 1.8902955055236816 + ], + [ + -42.87809371948242, + -67.15957641601562, + 1.8902955055236816 + ], + [ + -42.01765823364258, + -67.34246826171875, + 1.8902955055236816 + ] + ], + "corners_2d": [ + [ + 506.71086481864006, + 324.22405104866084 + ], + [ + 533.9353218783261, + 321.61092422420546 + ], + [ + 532.0619154475391, + 304.4952606782374 + ], + [ + 505.3981732561481, + 307.000928429244 + ], + [ + 501.3785244167055, + 280.0920716520727 + ], + [ + 529.7060490816086, + 277.51963921760995 + ], + [ + 527.8507113233345, + 260.68657119432925 + ], + [ + 500.1297591792611, + 263.14912922806775 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 503, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -63.745052337646484, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.48252928256988525, + "y": 0.47804686427116394, + "z": 0.9078691005706787 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 700.1719720013548, + "ymin": 199.5205518866669, + "xmax": 733.1812594075734, + "ymax": 259.37118622348225 + }, + "corners_3d": [ + [ + -48.498016357421875, + -64.27490997314453, + 0.08940678834915161 + ], + [ + -49.448875427246094, + -64.17497253417969, + 0.08940678834915161 + ], + [ + -49.347999572753906, + -63.2151985168457, + 0.08940678834915161 + ], + [ + -48.39714050292969, + -63.31513595581055, + 0.08940678834915161 + ], + [ + -48.498016357421875, + -64.27490997314453, + 1.9051449298858643 + ], + [ + -49.448875427246094, + -64.17497253417969, + 1.9051449298858643 + ], + [ + -49.347999572753906, + -63.2151985168457, + 1.9051449298858643 + ], + [ + -48.39714050292969, + -63.31513595581055, + 1.9051449298858643 + ] + ], + "corners_2d": [ + [ + 702.7206637673083, + 259.37118622348225 + ], + [ + 729.8285798324346, + 258.62893526090033 + ], + [ + 726.7185353486611, + 242.77976597236946 + ], + [ + 700.1719720013548, + 243.49144941128634 + ], + [ + 705.0639575787918, + 215.73407755997638 + ], + [ + 733.1812594075734, + 215.008169444102 + ], + [ + 729.8853665137299, + 199.5205518866669 + ], + [ + 702.3715347008815, + 200.2154851737254 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 585, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -70.68775939941406, + "z": 0.997246503829956 + }, + "extent": { + "x": 0.33086180686950684, + "y": 0.4305199980735779, + "z": 0.8923792839050293 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 941.658977096918, + "ymin": 341.64694170456727, + "xmax": 989.8132728448094, + "ymax": 403.1194659894144 + }, + "corners_3d": [ + [ + -55.736663818359375, + -71.01862335205078, + 0.10486721992492676 + ], + [ + -56.59770202636719, + -71.01862335205078, + 0.10486721992492676 + ], + [ + -56.59770202636719, + -70.35689544677734, + 0.10486721992492676 + ], + [ + -55.736663818359375, + -70.35689544677734, + 0.10486721992492676 + ], + [ + -55.736663818359375, + -71.01862335205078, + 1.8896257877349854 + ], + [ + -56.59770202636719, + -71.01862335205078, + 1.8896257877349854 + ], + [ + -56.59770202636719, + -70.35689544677734, + 1.8896257877349854 + ], + [ + -55.736663818359375, + -70.35689544677734, + 1.8896257877349854 + ] + ], + "corners_2d": [ + [ + 945.5702502344805, + 401.92382892124084 + ], + [ + 975.0845315862559, + 403.1194659894144 + ], + [ + 970.6654935470744, + 387.6789999528363 + ], + [ + 941.658977096918, + 386.5237182995237 + ], + [ + 958.9831903861849, + 356.91238985486206 + ], + [ + 989.8132728448094, + 358.0985256406585 + ], + [ + 984.9417549930611, + 342.791330926498 + ], + [ + 954.6652887992502, + 341.64694170456727 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 520, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -50.28268051147461, + "y": -81.81512451171875, + "z": 0.9542387127876282 + }, + "extent": { + "x": 0.4624585211277008, + "y": 0.4027343988418579, + "z": 0.9153595566749573 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 757.2188766546665, + "ymin": 678.4373740966828, + "xmax": 807.0538302428988, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.83381271362305, + -82.23295593261719, + 0.0388791561126709 + ], + [ + -50.63486862182617, + -82.31714630126953, + 0.0388791561126709 + ], + [ + -50.73154830932617, + -81.39729309082031, + 0.0388791561126709 + ], + [ + -49.93049240112305, + -81.31310272216797, + 0.0388791561126709 + ], + [ + -49.83381271362305, + -82.23295593261719, + 1.8695982694625854 + ], + [ + -50.63486862182617, + -82.31714630126953, + 1.8695982694625854 + ], + [ + -50.73154830932617, + -81.39729309082031, + 1.8695982694625854 + ], + [ + -49.93049240112305, + -81.31310272216797, + 1.8695982694625854 + ] + ], + "corners_2d": [ + [ + 757.2188766546665, + 762.8557681250063 + ], + [ + 795.4343717215946, + 768.9371927256351 + ], + [ + 797.2880738727928, + 727.7107250179511 + ], + [ + 760.2965064530139, + 722.01612532586 + ], + [ + 764.7178540616301, + 720.344474375648 + ], + [ + 805.4289789398308, + 726.5996512139541 + ], + [ + 807.0538302428988, + 684.2704609854138 + ], + [ + 767.7288356361532, + 678.4373740966828 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 727, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -78.85797882080078, + "z": 1.0945219993591309 + }, + "extent": { + "x": 0.38463500142097473, + "y": 0.4798315465450287, + "z": 0.9336169958114624 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 104.18554316637346, + "ymin": 526.825251973846, + "xmax": 186.7250480294137, + "ymax": 608.7385338009932 + }, + "corners_3d": [ + [ + -34.87253189086914, + -79.13444519042969, + 0.16090500354766846 + ], + [ + -35.81122589111328, + -79.33396911621094, + 0.16090500354766846 + ], + [ + -35.97116470336914, + -78.58151245117188, + 0.16090500354766846 + ], + [ + -35.032470703125, + -78.38198852539062, + 0.16090500354766846 + ], + [ + -34.87253189086914, + -79.13444519042969, + 2.028139114379883 + ], + [ + -35.81122589111328, + -79.33396911621094, + 2.028139114379883 + ], + [ + -35.97116470336914, + -78.58151245117188, + 2.028139114379883 + ], + [ + -35.032470703125, + -78.38198852539062, + 2.028139114379883 + ] + ], + "corners_2d": [ + [ + 132.98736598454042, + 599.694180290009 + ], + [ + 167.38867976027052, + 608.7385338009932 + ], + [ + 186.7250480294137, + 582.7375413419053 + ], + [ + 152.96799830233448, + 574.1094913467205 + ], + [ + 104.18554316637346, + 552.6768588314428 + ], + [ + 140.3083585408521, + 561.8318738539004 + ], + [ + 161.39381636658305, + 535.535710026 + ], + [ + 125.97844296996459, + 526.825251973846 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 747, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 670.1194724105636, + "ymin": 0.0, + "xmax": 714.280761436218, + "ymax": 25.76008904889659 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 712.4389802960314, + -10.271308703327577 + ], + [ + 672.6944543468423, + -11.068437100556878 + ], + [ + 670.1194724105636, + 24.84233686740987 + ], + [ + 712.7632470335778, + 25.76008904889659 + ], + [ + 713.8448730201363, + -38.17285929059051 + ], + [ + 673.327941459243, + -38.93946025244975 + ], + [ + 670.7465172235172, + -4.356163367533554 + ], + [ + 714.280761436218, + -3.471054008777628 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 928.5315275311578, + "ymin": 418.69080660153185, + "xmax": 955.0677259781985, + "ymax": 463.1355853166098 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 928.5315275311578, + 448.6444429036541 + ], + [ + 931.6372613815713, + 462.5330445808249 + ], + [ + 945.5690358248173, + 463.1355853166098 + ], + [ + 942.2609598850663, + 449.2297764176989 + ], + [ + 937.362019964201, + 418.69080660153185 + ], + [ + 940.6970519535379, + 432.56033478617843 + ], + [ + 955.0677259781985, + 433.162328463055 + ], + [ + 951.5175023155068, + 419.2750862936522 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1078.0384250744669, + "ymin": 425.05451486172956, + "xmax": 1111.8034403504996, + "ymax": 469.70576204465726 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1078.0384250744669, + 455.018442604234 + ], + [ + 1083.3610236648883, + 469.0950046336992 + ], + [ + 1097.4827817198427, + 469.70576204465726 + ], + [ + 1091.9523619611568, + 455.6116421890489 + ], + [ + 1091.5370857433948, + 425.05451486172956 + ], + [ + 1097.230643693716, + 439.1175938461677 + ], + [ + 1111.8034403504996, + 439.72805452649055 + ], + [ + 1105.8886823514615, + 425.6468893382392 + ] + ], + "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": 308.5935809280033, + "ymin": 482.1713176911042, + "xmax": 334.3184923169893, + "ymax": 520.5045760102557 + }, + "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": [ + [ + 317.38689358406066, + 519.9382391745481 + ], + [ + 329.4071115444701, + 520.5045760102557 + ], + [ + 334.3184923169893, + 507.48368214847244 + ], + [ + 322.4483634790828, + 506.93165343950807 + ], + [ + 308.5935809280033, + 495.20498719840697 + ], + [ + 320.93661558854484, + 495.77270848487626 + ], + [ + 326.09080440741275, + 482.7243124598994 + ], + [ + 313.9059734406941, + 482.1713176911042 + ] + ], + "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": 167.8077356375839, + "ymin": 591.1265203798221, + "xmax": 209.33323390457548, + "ymax": 640.6886342401936 + }, + "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": [ + [ + 184.6460040135757, + 639.8444926777565 + ], + [ + 200.58541508700642, + 640.6886342401936 + ], + [ + 209.33323390457548, + 621.2561359718773 + ], + [ + 193.65800629558066, + 620.4404154797207 + ], + [ + 167.8077356375839, + 610.7233008302239 + ], + [ + 184.32411951759184, + 611.5763839647994 + ], + [ + 193.67620076605482, + 591.9498468456866 + ], + [ + 177.44329171259847, + 591.1265203798221 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 805.4531146160176, + "ymin": 413.4542443655582, + "xmax": 826.1120032841086, + "ymax": 457.72810915021574 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 805.4531146160176, + 443.39745231858046 + ], + [ + 806.7560999204609, + 457.1322892942957 + ], + [ + 820.5324721062884, + 457.72810915021574 + ], + [ + 819.0315861264328, + 443.97635001170033 + ], + [ + 810.4880430265189, + 413.4542443655582 + ], + [ + 811.9065654935497, + 427.16552451907637 + ], + [ + 826.1120032841086, + 427.76059655741494 + ], + [ + 824.4831554709037, + 414.0319048222193 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1265.7289901709878, + "ymin": 532.6640146680502, + "xmax": 1280.0, + "ymax": 572.2383959240003 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1265.7289901709878, + 557.2693280259966 + ], + [ + 1273.1680634428392, + 571.6134034002541 + ], + [ + 1286.3512481198654, + 572.2383959240003 + ], + [ + 1278.7319074830225, + 557.8777489078906 + ], + [ + 1283.423929371544, + 532.6640146680502 + ], + [ + 1291.3224502836374, + 547.0770860257898 + ], + [ + 1304.894710345588, + 547.7053355297244 + ], + [ + 1296.8052090255915, + 533.2751382174553 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 143619947594126905, + "instance_id": 14614, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_Poles_4", + "bbox_3d": { + "center_world": { + "x": -55.298187255859375, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 728.5140262335018, + "ymin": 322.64852814899075, + "xmax": 1280.0, + "ymax": 629.9277721093201 + }, + "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": [ + [ + 1237.437646285327, + 629.9277721093201 + ], + [ + 1230.3490577274033, + 614.1839297373183 + ], + [ + 728.5140262335018, + 585.7415911080642 + ], + [ + 728.5327999849765, + 600.688940644878 + ], + [ + 1434.2709525134305, + 367.20270012475794 + ], + [ + 1421.2713373168963, + 351.1970833838368 + ], + [ + 756.1837372689351, + 322.64852814899075 + ], + [ + 756.709062373596, + 337.59333771858553 + ] + ], + "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": 58.44204035148039, + "ymin": 423.00338383521455, + "xmax": 259.3905788707737, + "ymax": 636.9056310663568 + }, + "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": [ + [ + 224.75759606785851, + 636.9056310663568 + ], + [ + 259.3905788707737, + 556.4499676362498 + ], + [ + 179.64951789061234, + 552.5484794270776 + ], + [ + 139.12450447393576, + 632.3906012182294 + ], + [ + 157.56024000263108, + 508.9884021508834 + ], + [ + 202.78962946943307, + 426.93526790459686 + ], + [ + 111.4794849697987, + 423.00338383521455 + ], + [ + 58.44204035148039, + 504.3341331700516 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6713771921265837202, + "instance_id": 37572, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_Poles_4", + "bbox_3d": { + "center_world": { + "x": -39.54796600341797, + "y": -83.9518051147461, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 308.16813904322805, + "xmax": 349.7925644738611, + "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": [ + [ + 349.7925644738611, + 572.1049310950935 + ], + [ + 332.80890708526164, + 571.1353665999561 + ], + [ + 99.24020034403554, + 1207.5960332104103 + ], + [ + 125.96186423877589, + 1210.0555769718492 + ], + [ + 260.55804836875313, + 309.1256032055004 + ], + [ + 238.46346724796877, + 308.16813904322805 + ], + [ + -224.0084100621059, + 1076.2263823004475 + ], + [ + -182.01974033920123, + 1079.8575608233916 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 344.6191047023244, + "ymin": 37.27202044751431, + "xmax": 433.99779604492284, + "ymax": 179.3548904498502 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 421.1712095770563, + 179.3548904498502 + ], + [ + 433.99779604492284, + 149.6125671851648 + ], + [ + 384.29897528541494, + 148.12630903906327 + ], + [ + 369.2448190669717, + 177.73033814545175 + ], + [ + 401.2165061362318, + 65.55069063944285 + ], + [ + 416.10209243140866, + 38.61255897379033 + ], + [ + 362.1407997812556, + 37.27202044751431 + ], + [ + 344.6191047023244, + 64.0737816328517 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8405920204582788773, + "instance_id": 42398, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436763763427734, + "y": -78.8399658203125, + "z": 3.5914459228515625 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 83.34104215007324, + "ymin": 457.9676628400076, + "xmax": 217.7276866986403, + "ymax": 548.763636227558 + }, + "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": [ + [ + 178.15412069306353, + 548.763636227558 + ], + [ + 217.7276866986403, + 471.2917946640745 + ], + [ + 135.23345785330832, + 467.57274363657547 + ], + [ + 89.2931698084393, + 544.4312222393709 + ], + [ + 173.14155420545097, + 539.2279039702416 + ], + [ + 213.48545811534274, + 461.68691826613656 + ], + [ + 130.18201827148965, + 457.9676628400076 + ], + [ + 83.34104215007324, + 534.888352127797 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9860855723636234418, + "instance_id": 45592, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.436767578125, + "y": -78.8399658203125, + "z": 3.592546224594116 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 83.42393756953948, + "ymin": 458.0084083499381, + "xmax": 217.6284785729879, + "ymax": 548.6521642332315 + }, + "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": [ + [ + 178.08939525542206, + 548.6521642332315 + ], + [ + 217.6284785729879, + 471.26533508211844 + ], + [ + 135.22761770856664, + 467.5503209549355 + ], + [ + 89.33582664013477, + 544.3251322072337 + ], + [ + 173.10965724963262, + 539.1790094359345 + ], + [ + 213.4132758632732, + 461.72362585439464 + ], + [ + 130.20945829159405, + 458.0084083499381 + ], + [ + 83.42393756953948, + 534.8449022233492 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 352.7901016409226, + "ymin": 65.00152291987746, + "xmax": 419.78807469493006, + "ymax": 100.69515167156374 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 406.2676882566341, + 100.69515167156374 + ], + [ + 419.78807469493006, + 74.29221495738375 + ], + [ + 370.29409816692004, + 72.98189862960533 + ], + [ + 354.54921111232625, + 99.26248110715369 + ], + [ + 404.8238522469806, + 92.49991728719294 + ], + [ + 418.48756029617107, + 66.30132947127709 + ], + [ + 368.7049190701608, + 65.00152291987746 + ], + [ + 352.7901016409226, + 91.07797219566152 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 352.74887379249867, + "ymin": 64.98742291828313, + "xmax": 419.8344273930787, + "ymax": 100.76603362039202 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 406.30152450216576, + 100.76603362039202 + ], + [ + 419.8344273930787, + 74.33267029684083 + ], + [ + 370.28239084953765, + 73.02072785288777 + ], + [ + 354.5199696616239, + 99.33144970782865 + ], + [ + 404.84820527794693, + 92.51621882233042 + ], + [ + 418.5255218489392, + 66.2887735158343 + ], + [ + 368.68255633892517, + 64.98742291828313 + ], + [ + 352.74887379249867, + 91.09244428285604 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00041/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00041/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..db0987d93527fd7d42df7f709aa42fe30adcaac3 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00041/meta.json @@ -0,0 +1,2511 @@ +{ + "frame_id": 41, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 20.5, + "sim_timestamp": 13614.019538329216 + }, + "drone_pose": { + "x": -47.94615182969145, + "y": -90.27741542171125, + "z": 20.003907406978954, + "pitch": -41.973850486011706, + "yaw": 86.52958317442865, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.045003294944763184, + -0.7420868277549744, + 0.6687914133071899, + 55.772972106933594 + ], + [ + 0.9981662631034851, + 0.060533106327056885, + 0.0, + -42.39344787597656 + ], + [ + -0.040484070777893066, + 0.6675649881362915, + 0.7434501647949219, + -77.07899475097656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.9594577307127, + "y": -89.77448470478708, + "z": 20.0031284257947 + }, + "t1_image_uv": [ + 752.495112264875, + -500.89914184825443 + ], + "t1_depth": 0.3731404049337465 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -69.18776321411133, + "z": 0.9972661067545414 + }, + "image_uv": [ + 640.0000000000001, + 359.99999999999994 + ], + "depth": 28.41938784032536, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 717, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -69.18775939941406, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.4878247082233429, + "y": 0.5980566143989563, + "z": 0.895563006401062 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 618.118172117254, + "ymin": 325.43532669866477, + "xmax": 661.3609910485017, + "ymax": 394.0573783348419 + }, + "corners_3d": [ + [ + -46.06912612915039, + -69.67558288574219, + 0.10170304775238037 + ], + [ + -47.26523971557617, + -69.67558288574219, + 0.10170304775238037 + ], + [ + -47.26523971557617, + -68.69993591308594, + 0.10170304775238037 + ], + [ + -46.06912612915039, + -68.69993591308594, + 0.10170304775238037 + ], + [ + -46.06912612915039, + -69.67558288574219, + 1.8928290605545044 + ], + [ + -47.26523971557617, + -69.67558288574219, + 1.8928290605545044 + ], + [ + -47.26523971557617, + -68.69993591308594, + 1.8928290605545044 + ], + [ + -46.06912612915039, + -68.69993591308594, + 1.8928290605545044 + ] + ], + "corners_2d": [ + [ + 619.0320162975457, + 392.3727753731801 + ], + [ + 659.0270598391079, + 394.0573783348419 + ], + [ + 660.489266316552, + 371.9164061792356 + ], + [ + 621.4762351644949, + 370.3138070403321 + ], + [ + 618.118172117254, + 347.2735057436327 + ], + [ + 659.8579403067291, + 348.9431737750526 + ], + [ + 661.3609910485017, + 327.0203081842204 + ], + [ + 620.6896374035348, + 325.43532669866477 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 41, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 96, + "semantic_pixel_counts": { + "1": 325075, + "2": 258592, + "3": 132740, + "4": 26831, + "5": 817, + "6": 21615, + "7": 3683, + "9": 31563, + "10": 36139, + "12": 3449, + "14": 9216, + "20": 5565, + "21": 11071, + "24": 22610, + "25": 32634 + }, + "instance_pixel_counts": { + "143": 18694, + "339": 3453, + "620": 186, + "883": 19142, + "1167": 2191, + "1679": 23872, + "2703": 48100, + "3749": 230, + "4261": 202, + "5228": 207, + "5714": 520, + "6508": 187, + "6565": 2066, + "7539": 6525, + "8018": 4675, + "8530": 2766, + "8556": 5149, + "8579": 2840, + "8810": 427, + "9042": 1969, + "9068": 6887, + "9320": 13289, + "9580": 5065, + "10092": 195, + "10624": 171, + "11368": 13376, + "11370": 381, + "11596": 5254, + "12675": 9, + "15186": 101, + "15698": 16450, + "20308": 604, + "22381": 6179, + "22784": 12297, + "22893": 9361, + "23441": 9639, + "23552": 9108, + "23953": 10930, + "24465": 5615, + "24941": 5706, + "25928": 817, + "25965": 9557, + "26696": 21577, + "26987": 3481, + "27243": 53, + "27460": 214, + "27719": 103050, + "28231": 35988, + "28523": 380, + "28779": 1210, + "29095": 149, + "30548": 4046, + "30630": 1628, + "30863": 3466, + "31142": 1551, + "31572": 3320, + "31633": 3986, + "31654": 1272, + "32145": 13521, + "32911": 7032, + "34884": 187, + "37798": 6, + "39239": 32634, + "42391": 1227, + "42918": 2626, + "44951": 1424, + "51815": 56372, + "52327": 99816, + "53863": 52178, + "54375": 90044, + "54438": 100, + "54889": 10264, + "55401": 2799, + "56173": 31563, + "56320": 717, + "56425": 4880, + "56576": 621, + "56832": 492, + "56937": 2458, + "57088": 584, + "57344": 436, + "57600": 599, + "58278": 14, + "58368": 1246, + "58790": 26, + "59522": 1053, + "59762": 7007, + "60274": 5001, + "60582": 268, + "61094": 3413, + "62827": 537, + "63083": 224, + "63339": 641, + "64594": 792, + "64654": 18733, + "64850": 151 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 717, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -69.18775939941406, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.475288063287735, + "y": 0.538525402545929, + "z": 0.8968120217323303 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 620.2243472641475, + "ymin": 325.75496063676127, + "xmax": 659.3141304645629, + "ymax": 393.712013021774 + }, + "corners_3d": [ + [ + -46.128658294677734, + -69.66304779052734, + 0.10045403242111206 + ], + [ + -47.20570755004883, + -69.66304779052734, + 0.10045403242111206 + ], + [ + -47.20570755004883, + -68.71247100830078, + 0.10045403242111206 + ], + [ + -46.128658294677734, + -68.71247100830078, + 0.10045403242111206 + ], + [ + -46.128658294677734, + -69.66304779052734, + 1.894078016281128 + ], + [ + -47.20570755004883, + -69.66304779052734, + 1.894078016281128 + ], + [ + -47.20570755004883, + -68.71247100830078, + 1.894078016281128 + ], + [ + -46.128658294677734, + -68.71247100830078, + 1.894078016281128 + ] + ], + "corners_2d": [ + [ + 621.051168703481, + 392.1960777241173 + ], + [ + 657.052300912364, + 393.712013021774 + ], + [ + 658.5246815528417, + 372.14402161435885 + ], + [ + 623.3850309043363, + 370.7000269874811 + ], + [ + 620.2243472641475, + 347.035708827494 + ], + [ + 657.797682546778, + 348.5381430062543 + ], + [ + 659.3141304645629, + 327.1830974143879 + ], + [ + 622.6781835982873, + 325.75496063676127 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 621, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -66.19005584716797, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.46460697054862976, + "y": 0.5631177425384521, + "z": 0.9221730828285217 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 496.3492808671931, + "ymin": 259.13097389875867, + "xmax": 538.0098956961444, + "ymax": 325.3802720780907 + }, + "corners_3d": [ + [ + -42.086978912353516, + -66.76158905029297, + 0.07509785890579224 + ], + [ + -43.18860626220703, + -66.52742767333984, + 0.07509785890579224 + ], + [ + -42.99541091918945, + -65.61852264404297, + 0.07509785890579224 + ], + [ + -41.89378356933594, + -65.8526840209961, + 0.07509785890579224 + ], + [ + -42.086978912353516, + -66.76158905029297, + 1.9194440841674805 + ], + [ + -43.18860626220703, + -66.52742767333984, + 1.9194440841674805 + ], + [ + -42.99541091918945, + -65.61852264404297, + 1.9194440841674805 + ], + [ + -41.89378356933594, + -65.8526840209961, + 1.9194440841674805 + ] + ], + "corners_2d": [ + [ + 503.1579883296186, + 325.3802720780907 + ], + [ + 538.0098956961444, + 322.0770428328396 + ], + [ + 536.0434443595635, + 304.3664534051214 + ], + [ + 501.93433601427336, + 307.5292231010242 + ], + [ + 497.4955661727705, + 279.78914153513136 + ], + [ + 533.8071294900271, + 276.5389479055051 + ], + [ + 531.8552345008534, + 259.13097389875867 + ], + [ + 496.3492808671931, + 262.23744685662035 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 492, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -62.245052337646484, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4579809606075287, + "y": 0.49302488565444946, + "z": 0.9331330060958862 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 700.2250672493524, + "ymin": 199.30688500690832, + "xmax": 734.0080747246036, + "ymax": 259.5800284991325 + }, + "corners_3d": [ + [ + -48.48055648803711, + -62.75205993652344, + 0.06413793563842773 + ], + [ + -49.461204528808594, + -62.648990631103516, + 0.06413793563842773 + ], + [ + -49.36545944213867, + -61.73804473876953, + 0.06413793563842773 + ], + [ + -48.38481140136719, + -61.84111404418945, + 0.06413793563842773 + ], + [ + -48.48055648803711, + -62.75205993652344, + 1.9304039478302002 + ], + [ + -49.461204528808594, + -62.648990631103516, + 1.9304039478302002 + ], + [ + -49.36545944213867, + -61.73804473876953, + 1.9304039478302002 + ], + [ + -48.38481140136719, + -61.84111404418945, + 1.9304039478302002 + ] + ], + "corners_2d": [ + [ + 702.5898309272188, + 259.5800284991325 + ], + [ + 730.5335321841052, + 258.84885792800856 + ], + [ + 727.6191701142807, + 243.79247318236457 + ], + [ + 700.2250672493524, + 244.49503794529124 + ], + [ + 704.9943277780573, + 214.72514807763056 + ], + [ + 734.0080747246036, + 214.01053939561965 + ], + [ + 730.9129625486668, + 199.30688500690832 + ], + [ + 702.4912649268788, + 199.99249521354326 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 584, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -69.18775939941406, + "z": 0.9973881244659424 + }, + "extent": { + "x": 0.3219335973262787, + "y": 0.5252221822738647, + "z": 0.8823723196983337 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 938.7991991905674, + "ymin": 342.382996296811, + "xmax": 993.2855220671709, + "ymax": 403.27817451974335 + }, + "corners_3d": [ + [ + -55.64196014404297, + -69.50969696044922, + 0.11501580476760864 + ], + [ + -56.692405700683594, + -69.50968933105469, + 0.11501580476760864 + ], + [ + -56.692405700683594, + -68.8658218383789, + 0.11501580476760864 + ], + [ + -55.64196014404297, + -68.86582946777344, + 0.11501580476760864 + ], + [ + -55.64196014404297, + -69.50969696044922, + 1.879760503768921 + ], + [ + -56.692405700683594, + -69.50968933105469, + 1.879760503768921 + ], + [ + -56.692405700683594, + -68.8658218383789, + 1.879760503768921 + ], + [ + -55.64196014404297, + -68.86582946777344, + 1.879760503768921 + ] + ], + "corners_2d": [ + [ + 942.5131259908303, + 401.7670316442521 + ], + [ + 978.5618917511226, + 403.27817451974335 + ], + [ + 974.2437440769645, + 388.23124467833986 + ], + [ + 938.7991991905674, + 386.76979145594333 + ], + [ + 955.646167182214, + 357.251207768165 + ], + [ + 993.2855220671709, + 358.750535538333 + ], + [ + 988.5280963022258, + 343.830936115716 + ], + [ + 951.5469629814381, + 342.382996296811 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 436, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -50.28268051147461, + "y": -80.31512451171875, + "z": 0.9553812742233276 + }, + "extent": { + "x": 0.4772949516773224, + "y": 0.45411136746406555, + "z": 0.9305813312530518 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 753.6069604249751, + "ymin": 677.363856523556, + "xmax": 808.7001719215942, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.781166076660156, + -80.74234008789062, + 0.02479994297027588 + ], + [ + -50.68441390991211, + -80.83727264404297, + 0.02479994297027588 + ], + [ + -50.78419494628906, + -79.88790893554688, + 0.02479994297027588 + ], + [ + -49.88094711303711, + -79.79297637939453, + 0.02479994297027588 + ], + [ + -49.781166076660156, + -80.74234008789062, + 1.8859626054763794 + ], + [ + -50.68441390991211, + -80.83727264404297, + 1.8859626054763794 + ], + [ + -50.78419494628906, + -79.88790893554688, + 1.8859626054763794 + ], + [ + -49.88094711303711, + -79.79297637939453, + 1.8859626054763794 + ] + ], + "corners_2d": [ + [ + 753.6069604249751, + 763.8283986179033 + ], + [ + 796.7126352266068, + 770.7839037390606 + ], + [ + 798.674121590023, + 728.1899259556706 + ], + [ + 756.9912300325765, + 721.690417289894 + ], + [ + 761.0065942701873, + 720.6227418605168 + ], + [ + 806.9795846296079, + 727.7812905684648 + ], + [ + 808.7001719215942, + 684.0240592759458 + ], + [ + 764.3420314996791, + 677.363856523556 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 599, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -77.35797882080078, + "z": 1.146108865737915 + }, + "extent": { + "x": 0.33598998188972473, + "y": 0.5453783869743347, + "z": 0.9249351024627686 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 102.05325966389637, + "ymin": 525.8839625396546, + "xmax": 186.65989172282593, + "ymax": 605.4845023806131 + }, + "corners_3d": [ + [ + -34.81853103637695, + -77.57323455810547, + 0.22117376327514648 + ], + [ + -35.88545227050781, + -77.80001831054688, + 0.22117376327514648 + ], + [ + -36.02516555786133, + -77.1427230834961, + 0.22117376327514648 + ], + [ + -34.95824432373047, + -76.91593933105469, + 0.22117376327514648 + ], + [ + -34.81853103637695, + -77.57323455810547, + 2.0710439682006836 + ], + [ + -35.88545227050781, + -77.80001831054688, + 2.0710439682006836 + ], + [ + -36.02516555786133, + -77.1427230834961, + 2.0710439682006836 + ], + [ + -34.95824432373047, + -76.91593933105469, + 2.0710439682006836 + ] + ], + "corners_2d": [ + [ + 130.6797780105324, + 595.1656084985914 + ], + [ + 169.7121444519695, + 605.4845023806131 + ], + [ + 186.65989172282593, + 582.77461299836 + ], + [ + 148.26499732135323, + 572.8720924735014 + ], + [ + 102.05325966389637, + 548.4026796341168 + ], + [ + 143.01712296881766, + 558.8432086917353 + ], + [ + 161.483058907491, + 535.8801787418907 + ], + [ + 121.2184752064361, + 525.8839625396546 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 1246, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 670.103015741897, + "ymin": 0.0, + "xmax": 715.3307419470277, + "ymax": 38.09973615115996 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 713.5409841239654, + 0.41048933855046243 + ], + [ + 672.9211192694055, + -0.4545931407840271 + ], + [ + 670.103015741897, + 37.10056555462597 + ], + [ + 713.7551274468532, + 38.09973615115996 + ], + [ + 715.0005469619202, + -27.90625022312787 + ], + [ + 673.5733587563625, + -28.738905659310888 + ], + [ + 670.7448883406996, + 7.460824073855235 + ], + [ + 715.3307419470277, + 8.425397293045421 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 940.6147909656995, + "ymin": 476.5503575189334, + "xmax": 969.4182461589746, + "ymax": 522.8576670478973 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 940.6147909656995, + 506.5080844825553 + ], + [ + 944.0582339794157, + 522.1542223849536 + ], + [ + 958.868930403096, + 522.8576670478973 + ], + [ + 955.1970962615297, + 507.1902258632981 + ], + [ + 950.3966275626984, + 476.5503575189334 + ], + [ + 954.110437610014, + 492.234383061671 + ], + [ + 969.4182461589746, + 492.93990272587394 + ], + [ + 965.4605847200564, + 477.23382109787804 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1099.5041098070112, + "ymin": 483.9990208875253, + "xmax": 1136.504797124578, + "ymax": 530.5337755246946 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1099.5041098070112, + 513.9407213078648 + ], + [ + 1105.4528179516808, + 529.8197740562293 + ], + [ + 1120.4857829488833, + 530.5337755246946 + ], + [ + 1114.3018800365076, + 514.6329418595185 + ], + [ + 1114.569744200911, + 483.9990208875253 + ], + [ + 1120.9595739821489, + 499.92427193696807 + ], + [ + 1136.504797124578, + 500.6407337725293 + ], + [ + 1129.8636110111438, + 484.69291564816723 + ] + ], + "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": 285.3864205286282, + "ymin": 535.2127026168578, + "xmax": 313.43075370832366, + "ymax": 574.877093740153 + }, + "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": [ + [ + 295.29825491545796, + 574.2267173725971 + ], + [ + 307.9385863286969, + 574.877093740153 + ], + [ + 313.43075370832366, + 560.4434193003461 + ], + [ + 300.9562251014879, + 559.8103298878827 + ], + [ + 285.3864205286282, + 549.7005764125493 + ], + [ + 298.3842948863426, + 550.3544405177073 + ], + [ + 304.1638095064799, + 535.8486974519121 + ], + [ + 291.3411821232519, + 535.2127026168578 + ] + ], + "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": 124.46540910610213, + "ymin": 672.0598658097838, + "xmax": 171.37924702064544, + "ymax": 720.0 + }, + "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": [ + [ + 144.18954494610097, + 722.7211594073608 + ], + [ + 161.24269960010884, + 723.726725702132 + ], + [ + 171.37924702064544, + 701.3939973509488 + ], + [ + 154.627993247235, + 700.4246788553585 + ], + [ + 124.46540910610213, + 694.6971699287825 + ], + [ + 142.1807265145918, + 695.7188790591683 + ], + [ + 153.07364197540028, + 673.0433208839958 + ], + [ + 135.68388559755851, + 672.0598658097838 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 809.9694861508409, + "ymin": 470.42873797947584, + "xmax": 832.1245689884925, + "ymax": 516.5477402386881 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 809.9694861508409, + 500.39697047603534 + ], + [ + 811.380557551799, + 515.852914657331 + ], + [ + 826.0097787647237, + 516.5477402386881 + ], + [ + 824.3758163267087, + 501.0708801725804 + ], + [ + 815.4656550938872, + 470.42873797947584 + ], + [ + 817.0104709233115, + 485.91591443386534 + ], + [ + 832.1245689884925, + 486.6125064213325 + ], + [ + 830.3419627633963, + 471.1036879648168 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 143619947594126905, + "instance_id": 14614, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_Poles_4", + "bbox_3d": { + "center_world": { + "x": -55.298187255859375, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 728.403109833519, + "ymin": 377.095309276655, + "xmax": 1280.0, + "ymax": 689.4282325494737 + }, + "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": [ + [ + 1264.140690493726, + 689.4282325494737 + ], + [ + 1256.3344668783486, + 671.9983207823088 + ], + [ + 728.4233689203434, + 639.6361186143247 + ], + [ + 728.403109833519, + 656.1128787620405 + ], + [ + 1484.4731958046384, + 428.993605553363 + ], + [ + 1469.6323793444794, + 410.65334013617854 + ], + [ + 757.9012485968725, + 377.095309276655 + ], + [ + 758.4433212986077, + 394.10138145432813 + ] + ], + "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": 17.828240084641948, + "ymin": 473.63242478499166, + "xmax": 236.84947329816345, + "ymax": 695.5485823742426 + }, + "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": [ + [ + 198.42183768380784, + 695.5485823742426 + ], + [ + 236.84947329816345, + 606.9134361170852 + ], + [ + 153.47018687294462, + 602.4808941113297 + ], + [ + 108.58188430018686, + 690.3818830963355 + ], + [ + 122.62839432599071, + 569.9719808019659 + ], + [ + 173.56943725103196, + 478.1633129201563 + ], + [ + 77.45506380739414, + 473.63242478499166 + ], + [ + 17.828240084641948, + 564.5563995465192 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6713771921265837202, + "instance_id": 37572, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_Poles_4", + "bbox_3d": { + "center_world": { + "x": -39.54796600341797, + "y": -83.9518051147461, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 359.8966547090111, + "xmax": 331.35029071240456, + "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": [ + [ + 331.35029071240456, + 623.9081669003712 + ], + [ + 313.57466648003947, + 622.8101671036984 + ], + [ + 47.58903600758413, + 1342.5636035489642 + ], + [ + 76.31591910649911, + 1345.5149598627045 + ], + [ + 230.33397722059294, + 361.0138518790136 + ], + [ + 206.87870864597505, + 359.8966547090111 + ], + [ + -353.56182042358773, + 1285.2743938584676 + ], + [ + -306.40704728701985, + 1290.075855505146 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 332.9021132958244, + "ymin": 54.08783922905877, + "xmax": 426.43060377360234, + "ymax": 199.926030630105 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 412.7353287587607, + 199.926030630105 + ], + [ + 426.43060377360234, + 168.3954285675491 + ], + [ + 375.3348073753793, + 166.76651737015447 + ], + [ + 359.2828901049733, + 198.1408752682622 + ], + [ + 391.3183666731708, + 84.27332129278011 + ], + [ + 407.28713912689864, + 55.56441915827247 + ], + [ + 351.67397683961894, + 54.08783922905877 + ], + [ + 332.9021132958244, + 82.64144618232717 + ] + ], + "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": 45.78007968331201, + "ymin": 508.8271410500306, + "xmax": 190.5469956340949, + "ymax": 608.9093151390526 + }, + "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": [ + [ + 146.19959757041318, + 608.9093151390526 + ], + [ + 190.5469956340949, + 522.6730023753312 + ], + [ + 103.89311885187374, + 518.40636918054 + ], + [ + 52.49689478452399, + 603.8972654283293 + ], + [ + 140.52822550029174, + 599.5115013757169 + ], + [ + 185.7893325301331, + 513.0985239625413 + ], + [ + 98.24202712755562, + 508.8271410500306 + ], + [ + 45.78007968331201, + 594.4849728711642 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 227.0059361754279, + "ymin": 0.0, + "xmax": 315.4135506580046, + "ymax": 8.43402719659241 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 315.4135506580046, + -31.34107797491862 + ], + [ + 306.99655974652796, + -31.53062512420513 + ], + [ + 272.369499607627, + 8.21121415152993 + ], + [ + 281.4803284386588, + 8.43402719659241 + ], + [ + 278.8056982599684, + -195.83608809217083 + ], + [ + 269.4561869329337, + -195.97353757106748 + ], + [ + 227.0059361754279, + -166.88006427949267 + ], + [ + 237.21935360251967, + -166.715379682268 + ] + ], + "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": 45.86943600964457, + "ymin": 508.8724634395315, + "xmax": 190.43946500106904, + "ymax": 608.7929902918809 + }, + "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": [ + [ + 146.13044779006657, + 608.7929902918809 + ], + [ + 190.43946500106904, + 522.6507190512066 + ], + [ + 103.88321893116938, + 518.3886790243746 + ], + [ + 52.54084558485363, + 603.7871621444856 + ], + [ + 140.49623501977538, + 599.4567319396925 + ], + [ + 185.71208165687432, + 513.1392178550618 + ], + [ + 98.26930592755048, + 508.8724634395315 + ], + [ + 45.86943600964457, + 594.4365466872237 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 341.6018104785672, + "ymin": 82.36233742909775, + "xmax": 411.3037517014059, + "ymax": 120.01549693450832 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 396.82193891154134, + 120.01549693450832 + ], + [ + 411.3037517014059, + 91.92419077148446 + ], + [ + 360.33191215166937, + 90.48306686882069 + ], + [ + 343.4884980470551, + 118.43538819307759 + ], + [ + 395.2706536387165, + 111.67689522494817 + ], + [ + 409.9109670513325, + 83.79241856154937 + ], + [ + 358.6328502517188, + 82.36233742909775 + ], + [ + 341.6018104785672, + 110.10799518471455 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 341.55892858920043, + "ymin": 82.34730869203844, + "xmax": 411.35213117195235, + "ymax": 120.08840970749893 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 396.85693131793863, + 120.08840970749893 + ], + [ + 411.35213117195235, + 91.96479503986393 + ], + [ + 360.32059340837907, + 90.52188829078705 + ], + [ + 343.458470963152, + 118.50619235770114 + ], + [ + 395.2954543209037, + 111.69428486662852 + ], + [ + 409.95036243387926, + 83.77908647488454 + ], + [ + 358.61014579657507, + 82.34730869203844 + ], + [ + 341.55892858920043, + 110.1233637802253 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00043/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00043/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..64759fcd89e3a1df6f535892906fc057164a262e --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00043/meta.json @@ -0,0 +1,2403 @@ +{ + "frame_id": 43, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 21.5, + "sim_timestamp": 13639.295024958672 + }, + "drone_pose": { + "x": -47.9723752102122, + "y": -89.27165760278663, + "z": 20.00248935482929, + "pitch": -41.97731198522621, + "yaw": 86.45764198681995, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.04593253135681152, + -0.7419893741607666, + 0.6688362956047058, + 55.0637321472168 + ], + [ + 0.9980894327163696, + 0.06178635358810425, + 2.9802322387695312e-08, + -42.36494064331055 + ], + [ + -0.04132503271102905, + 0.6675584316253662, + 0.7434097528457642, + -76.44654846191406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.98507802296325, + "y": -88.76892887926098, + "z": 20.001968434704192 + }, + "t1_image_uv": [ + 752.6408527323642, + -501.89529703432163 + ], + "t1_depth": 0.37278430362252 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -68.18776321411133, + "z": 0.9972661067545414 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 28.41535923070893, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 736, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -68.18775939941406, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.4900561273097992, + "y": 0.43073973059654236, + "z": 0.864998996257782 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 623.930872701383, + "ymin": 326.3902468630745, + "xmax": 655.6770230209406, + "ymax": 393.1511097345924 + }, + "corners_3d": [ + [ + -46.23644256591797, + -68.67781829833984, + 0.1322670578956604 + ], + [ + -47.097923278808594, + -68.67781829833984, + 0.1322670578956604 + ], + [ + -47.097923278808594, + -67.69770050048828, + 0.1322670578956604 + ], + [ + -46.23644256591797, + -67.69770050048828, + 0.1322670578956604 + ], + [ + -46.23644256591797, + -68.67781829833984, + 1.8622651100158691 + ], + [ + -47.097923278808594, + -68.67781829833984, + 1.8622651100158691 + ], + [ + -47.097923278808594, + -67.69770050048828, + 1.8622651100158691 + ], + [ + -46.23644256591797, + -67.69770050048828, + 1.8622651100158691 + ] + ], + "corners_2d": [ + [ + 624.5798537607824, + 391.91242310527724 + ], + [ + 653.409519733467, + 393.1511097345924 + ], + [ + 655.0587185239286, + 370.9195681851551 + ], + [ + 626.9405112103043, + 369.7414903271313 + ], + [ + 623.930872701383, + 348.34756284971206 + ], + [ + 653.9746938635757, + 349.5756643254024 + ], + [ + 655.6770230209406, + 327.55582411219615 + ], + [ + 626.4050461025449, + 326.3902468630745 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 43, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 92, + "semantic_pixel_counts": { + "1": 324728, + "2": 260792, + "3": 133870, + "4": 26696, + "5": 878, + "6": 21213, + "7": 2844, + "9": 30694, + "10": 35095, + "12": 3697, + "14": 9820, + "20": 4731, + "21": 10455, + "24": 18895, + "25": 37192 + }, + "instance_pixel_counts": { + "143": 20139, + "339": 3581, + "620": 191, + "883": 21306, + "1679": 20740, + "2703": 51844, + "3749": 243, + "4261": 210, + "5228": 216, + "5714": 547, + "6508": 231, + "6565": 2145, + "7539": 7071, + "8018": 4929, + "8530": 2906, + "8556": 5477, + "8579": 3129, + "8810": 473, + "9042": 1257, + "9068": 7342, + "9320": 14771, + "9580": 4753, + "10624": 183, + "11368": 14995, + "11370": 425, + "11596": 5879, + "12675": 11, + "15698": 15086, + "20308": 1316, + "22381": 4641, + "22784": 10952, + "22893": 10094, + "23441": 10086, + "23552": 8887, + "23953": 11520, + "24465": 4129, + "24941": 4529, + "25928": 878, + "25965": 10288, + "26696": 20817, + "26987": 3801, + "27243": 81, + "27460": 223, + "27719": 109554, + "28231": 34929, + "28523": 365, + "28779": 20, + "29095": 135, + "30548": 4259, + "30630": 1682, + "30863": 3919, + "31142": 1598, + "31572": 2656, + "31633": 2312, + "31654": 1306, + "32145": 14687, + "32911": 7911, + "34372": 6, + "34884": 194, + "37798": 9, + "39239": 37192, + "42391": 1379, + "42918": 1675, + "44951": 1599, + "51815": 49529, + "52327": 107498, + "53863": 40898, + "54375": 97037, + "54438": 84, + "54889": 5603, + "55401": 2996, + "56173": 30694, + "56320": 736, + "56425": 5284, + "56576": 611, + "56832": 491, + "56937": 2651, + "57088": 564, + "57344": 481, + "57600": 814, + "58368": 1589, + "58790": 27, + "59522": 1089, + "59762": 7492, + "60274": 5225, + "61094": 3554, + "62827": 591, + "63083": 235, + "63339": 667, + "64594": 972, + "64654": 14155, + "64850": 158 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 736, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -68.18775939941406, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.5033667087554932, + "y": 0.3869897425174713, + "z": 0.8870635628700256 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 625.4128019925643, + "ymin": 325.58318636465265, + "xmax": 654.2189170739316, + "ymax": 393.93069385369796 + }, + "corners_3d": [ + [ + -46.28019332885742, + -68.69112396240234, + 0.11020249128341675 + ], + [ + -47.05417251586914, + -68.69112396240234, + 0.11020249128341675 + ], + [ + -47.05417251586914, + -67.68439483642578, + 0.11020249128341675 + ], + [ + -46.28019332885742, + -67.68439483642578, + 0.11020249128341675 + ], + [ + -46.28019332885742, + -68.69112396240234, + 1.8843295574188232 + ], + [ + -47.05417251586914, + -68.69112396240234, + 1.8843295574188232 + ], + [ + -47.05417251586914, + -67.68439483642578, + 1.8843295574188232 + ], + [ + -46.28019332885742, + -67.68439483642578, + 1.8843295574188232 + ] + ], + "corners_2d": [ + [ + 626.0168996234908, + 392.8169663770101 + ], + [ + 651.9138503502221, + 393.93069385369796 + ], + [ + 653.6443373977844, + 371.09642537741854 + ], + [ + 628.403274091853, + 370.03860666063713 + ], + [ + 625.4128019925643, + 348.13659449405 + ], + [ + 652.429219346505, + 349.24059283588997 + ], + [ + 654.2189170739316, + 326.6294632897223 + ], + [ + 627.9155371913027, + 325.58318636465265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 611, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -65.19005584716797, + "z": 0.9973050951957703 + }, + "extent": { + "x": 0.4271802008152008, + "y": 0.5014404654502869, + "z": 0.8665502667427063 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 498.6626605996895, + "ymin": 261.3045648469032, + "xmax": 536.013850429242, + "ymax": 323.02414030500415 + }, + "corners_3d": [ + [ + -42.139530181884766, + -65.712158203125, + 0.13075482845306396 + ], + [ + -43.1204948425293, + -65.50364685058594, + 0.13075482845306396 + ], + [ + -42.9428596496582, + -64.66795349121094, + 0.13075482845306396 + ], + [ + -41.96189498901367, + -64.87646484375, + 0.13075482845306396 + ], + [ + -42.139530181884766, + -65.712158203125, + 1.8638553619384766 + ], + [ + -43.1204948425293, + -65.50364685058594, + 1.8638553619384766 + ], + [ + -42.9428596496582, + -64.66795349121094, + 1.8638553619384766 + ], + [ + -41.96189498901367, + -64.87646484375, + 1.8638553619384766 + ] + ], + "corners_2d": [ + [ + 504.9666561037053, + 323.02414030500415 + ], + [ + 536.013850429242, + 320.11383318735403 + ], + [ + 534.2734092356432, + 303.8272751969565 + ], + [ + 503.8361078171767, + 306.6234526299524 + ], + [ + 499.7282954197935, + 280.1960536753279 + ], + [ + 531.9946558753805, + 277.32985413403276 + ], + [ + 530.2707911835066, + 261.3045648469032 + ], + [ + 498.6626605996895, + 264.0541457415839 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 491, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -61.245052337646484, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4827856421470642, + "y": 0.48812010884284973, + "z": 0.9043707251548767 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 700.5974572698091, + "ymin": 199.66391543047672, + "xmax": 734.1496307108296, + "ymax": 259.3520540616091 + }, + "corners_3d": [ + [ + -48.4880256652832, + -61.776214599609375, + 0.09290021657943726 + ], + [ + -49.458919525146484, + -61.674171447753906, + 0.09290021657943726 + ], + [ + -49.35799026489258, + -60.713890075683594, + 0.09290021657943726 + ], + [ + -48.3870964050293, + -60.81593322753906, + 0.09290021657943726 + ], + [ + -48.4880256652832, + -61.776214599609375, + 1.901641607284546 + ], + [ + -49.458919525146484, + -61.674171447753906, + 1.901641607284546 + ], + [ + -49.35799026489258, + -60.713890075683594, + 1.901641607284546 + ], + [ + -48.3870964050293, + -60.81593322753906, + 1.901641607284546 + ] + ], + "corners_2d": [ + [ + 703.0669146827098, + 259.3520540616091 + ], + [ + 730.7723842237968, + 258.64796011644887 + ], + [ + 727.7282750202866, + 242.77436312220323 + ], + [ + 700.5974572698091, + 243.44942807535386 + ], + [ + 705.415608735972, + 215.86593007712236 + ], + [ + 734.1496307108296, + 215.177258899502 + ], + [ + 730.9218266510809, + 199.66391543047672 + ], + [ + 702.8054397440898, + 200.3231706866311 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 564, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -68.18775939941406, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.3173315227031708, + "y": 0.3346044719219208, + "z": 0.8734493851661682 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 945.4343109533024, + "ymin": 343.24811495920386, + "xmax": 986.4621397911021, + "ymax": 402.98024923158897 + }, + "corners_3d": [ + [ + -55.832576751708984, + -68.50508880615234, + 0.12382155656814575 + ], + [ + -56.50178909301758, + -68.50508880615234, + 0.12382155656814575 + ], + [ + -56.50178909301758, + -67.87042999267578, + 0.12382155656814575 + ], + [ + -55.832576751708984, + -67.87042999267578, + 0.12382155656814575 + ], + [ + -55.832576751708984, + -68.50508880615234, + 1.870720386505127 + ], + [ + -56.50178909301758, + -68.50508880615234, + 1.870720386505127 + ], + [ + -56.50178909301758, + -67.87042999267578, + 1.870720386505127 + ], + [ + -55.832576751708984, + -67.87042999267578, + 1.870720386505127 + ] + ], + "corners_2d": [ + [ + 949.1808065531868, + 401.9969360088991 + ], + [ + 972.1644078301592, + 402.98024923158897 + ], + [ + 968.0378870059996, + 388.1464709126182 + ], + [ + 945.4343109533024, + 387.1950526852297 + ], + [ + 962.4741752920418, + 357.9248564510866 + ], + [ + 986.4621397911021, + 358.9005869566912 + ], + [ + 981.9172095802624, + 344.19086959253536 + ], + [ + 958.3429046843653, + 343.24811495920386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 481, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -50.28268051147461, + "y": -79.31512451171875, + "z": 0.9854448437690735 + }, + "extent": { + "x": 0.4621313810348511, + "y": 0.42286136746406555, + "z": 0.9116067886352539 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 754.6610158009894, + "ymin": 678.2026581460129, + "xmax": 806.5889784183358, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.8138313293457, + -79.73052215576172, + 0.07383805513381958 + ], + [ + -50.6549186706543, + -79.81892395019531, + 0.07383805513381958 + ], + [ + -50.751529693603516, + -78.89972686767578, + 0.07383805513381958 + ], + [ + -49.91044235229492, + -78.81132507324219, + 0.07383805513381958 + ], + [ + -49.8138313293457, + -79.73052215576172, + 1.8970515727996826 + ], + [ + -50.6549186706543, + -79.81892395019531, + 1.8970515727996826 + ], + [ + -50.751529693603516, + -78.89972686767578, + 1.8970515727996826 + ], + [ + -49.91044235229492, + -78.81132507324219, + 1.8970515727996826 + ] + ], + "corners_2d": [ + [ + 754.6610158009894, + 762.53739559218 + ], + [ + 794.8501215992286, + 769.0644991510745 + ], + [ + 796.8678821901713, + 727.7948297478936 + ], + [ + 757.9654361498922, + 721.6831329450132 + ], + [ + 761.9798089074044, + 720.1224723344415 + ], + [ + 804.7883980134828, + 726.8358158496405 + ], + [ + 806.5889784183358, + 684.4627951985985 + ], + [ + 765.2372331457001, + 678.2026581460129 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 814, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -76.35797882080078, + "z": 1.1459721326828003 + }, + "extent": { + "x": 0.33803099393844604, + "y": 0.5581957697868347, + "z": 0.9149903655052185 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 101.45335875071726, + "ymin": 525.4943601352736, + "xmax": 186.79391038107696, + "ymax": 604.9890774844675 + }, + "corners_3d": [ + [ + -34.80556869506836, + -76.57257080078125, + 0.2309817671775818 + ], + [ + -35.89756393432617, + -76.80467987060547, + 0.2309817671775818 + ], + [ + -36.03812789916992, + -76.14338684082031, + 0.2309817671775818 + ], + [ + -34.94613265991211, + -75.9112777709961, + 0.2309817671775818 + ], + [ + -34.80556869506836, + -76.57257080078125, + 2.060962438583374 + ], + [ + -35.89756393432617, + -76.80467987060547, + 2.060962438583374 + ], + [ + -36.03812789916992, + -76.14338684082031, + 2.060962438583374 + ], + [ + -34.94613265991211, + -75.9112777709961, + 2.060962438583374 + ] + ], + "corners_2d": [ + [ + 129.80269363191917, + 594.385315619925 + ], + [ + 169.71285723342754, + 604.9890774844675 + ], + [ + 186.79391038107696, + 582.1573551918725 + ], + [ + 147.53789968856108, + 571.9838285488564 + ], + [ + 101.45335875071726, + 548.118639952463 + ], + [ + 143.31464005584075, + 558.8457563949821 + ], + [ + 161.90714228659203, + 535.762713369154 + ], + [ + 120.76261737866025, + 525.4943601352736 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 1589, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 669.9617549033842, + "ymin": 0.0, + "xmax": 715.9250846992531, + "ymax": 46.66802029659624 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 714.1699906633302, + 7.809368717645725 + ], + [ + 672.9461755895785, + 6.897989186710561 + ], + [ + 669.9617549033842, + 45.613053318299706 + ], + [ + 714.3114769862095, + 46.66802029659624 + ], + [ + 715.6645231683945, + -20.788214123086107 + ], + [ + 673.6088375863422, + -21.665946170853317 + ], + [ + 670.6110736878985, + 15.675394709835928 + ], + [ + 715.9250846992531, + 16.694524977973003 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 949.3751901499036, + "ymin": 519.3329247168854, + "xmax": 979.8951163751767, + "ymax": 566.9414994293477 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 949.3751901499036, + 549.1522464261568 + ], + [ + 953.081558107739, + 566.1603825518083 + ], + [ + 968.5404377656328, + 566.9414994293477 + ], + [ + 964.5854721917215, + 549.9087162755391 + ], + [ + 959.8838063321476, + 519.3329247168854 + ], + [ + 963.893795763807, + 536.4300874808428 + ], + [ + 979.8951163751767, + 537.2157439051019 + ], + [ + 975.6189303052629, + 520.0929554859462 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1115.1777628521559, + "ymin": 527.6197870869206, + "xmax": 1154.6489536269048, + "ymax": 575.4696800384434 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1115.1777628521559, + 557.3982899153198 + ], + [ + 1121.6133835793169, + 574.6760742572634 + ], + [ + 1137.3194278600624, + 575.4696800384434 + ], + [ + 1130.627321789131, + 558.1666599882707 + ], + [ + 1131.4489745447295, + 527.6197870869206 + ], + [ + 1138.382847508203, + 544.9974081286445 + ], + [ + 1154.6489536269048, + 545.7960653820188 + ], + [ + 1147.4401453610299, + 528.3921853136178 + ] + ], + "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": 268.3464289738258, + "ymin": 573.9194299348251, + "xmax": 298.1403429397858, + "ymax": 614.5037541843101 + }, + "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": [ + [ + 279.1178939701256, + 613.7901432934526 + ], + [ + 292.20845110354617, + 614.5037541843101 + ], + [ + 298.1403429397858, + 598.9962347001506 + ], + [ + 285.2274814681917, + 598.3022734796574 + ], + [ + 268.3464289738258, + 589.5166633664609 + ], + [ + 281.8208808665295, + 590.2356242272788 + ], + [ + 288.0757110442578, + 574.6180153467735 + ], + [ + 274.7894508539532, + 573.9194299348251 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 813.1622706778957, + "ymin": 512.5285922101195, + "xmax": 836.4349656401578, + "ymax": 559.9373151821754 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 813.1622706778957, + 542.378148367718 + ], + [ + 814.6583632408058, + 559.1663813990687 + ], + [ + 829.9157070471738, + 559.9373151821754 + ], + [ + 828.1773809280139, + 543.124911757448 + ], + [ + 819.0049912577819, + 512.5285922101195 + ], + [ + 820.6493865502607, + 529.3972050735614 + ], + [ + 836.4349656401578, + 530.1722689597375 + ], + [ + 834.5314165447378, + 513.2785427553442 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 143619947594126905, + "instance_id": 14614, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_Poles_4", + "bbox_3d": { + "center_world": { + "x": -55.298187255859375, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 728.2042643303234, + "ymin": 417.59460123737443, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -61.32330322265625, + -78.3179702758789, + 0.0 + ], + [ + -61.3271484375, + -77.8851547241211, + 0.0 + ], + [ + -49.2730712890625, + -77.77800750732422, + 0.0 + ], + [ + -49.26922607421875, + -78.21082305908203, + 0.0 + ], + [ + -61.32330322265625, + -78.3179702758789, + 8.446706771850586 + ], + [ + -61.3271484375, + -77.8851547241211, + 8.446706771850586 + ], + [ + -49.2730712890625, + -77.77800750732422, + 8.446706771850586 + ], + [ + -49.26922607421875, + -78.21082305908203, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1283.3894062051913, + 732.6266544653017 + ], + [ + 1275.0386184955523, + 713.9207076332941 + ], + [ + 728.2521457990123, + 678.6308895257672 + ], + [ + 728.2042643303234, + 696.2604053705086 + ], + [ + 1521.8435740441696, + 475.2628569793695 + ], + [ + 1505.5441706967363, + 455.07446363696624 + ], + [ + 759.0335616275356, + 417.59460123737443 + ], + [ + 759.5909404231302, + 436.2201275342218 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3035069817188182073, + "instance_id": 14824, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.43640899658203, + "y": -78.83992767333984, + "z": 2.4819772243499756 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 510.6554767982427, + "xmax": 220.49001291089735, + "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": [ + [ + 179.21061745486958, + 738.1741471015255 + ], + [ + 220.49001291089735, + 643.3693087693597 + ], + [ + 134.49274113234463, + 638.5434142069591 + ], + [ + 86.32602304368095, + 732.5195364471915 + ], + [ + 96.78913125336032, + 614.9570402028402 + ], + [ + 152.11424876927663, + 515.6395586421727 + ], + [ + 52.503175782288395, + 510.6554767982427 + ], + [ + -12.178583260918572, + 608.957271690751 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6713771921265837202, + "instance_id": 37572, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_Poles_4", + "bbox_3d": { + "center_world": { + "x": -39.54796600341797, + "y": -83.9518051147461, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 398.28717641881474, + "xmax": 317.93889143221435, + "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": [ + [ + 317.93889143221435, + 661.3537090429036 + ], + [ + 299.5928627928527, + 660.1603019214476 + ], + [ + 8.323923055347677, + 1445.0915246121265 + ], + [ + 38.56371522172708, + 1448.4397769256773 + ], + [ + 207.8101635309614, + 399.52832672055825 + ], + [ + 183.3506656365352, + 398.28717641881474 + ], + [ + -460.9249781436779, + 1458.5032554496015 + ], + [ + -409.56073955683314, + 1464.3864707076964 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 324.5195461327839, + "ymin": 65.93560692504974, + "xmax": 421.0165553045611, + "ymax": 214.3799753864216 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 406.7020593782132, + 214.3799753864216 + ], + [ + 421.0165553045611, + 181.56487405126862 + ], + [ + 368.94428895607314, + 179.83613809673056 + ], + [ + 352.1806484776239, + 212.48193737877173 + ], + [ + 384.21563096723634, + 97.49795445725567 + ], + [ + 400.9627037326694, + 67.50820837413664 + ], + [ + 344.1901534740456, + 65.93560692504974 + ], + [ + 324.5195461327839, + 95.75613945991643 + ] + ], + "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": 18.132393850640028, + "ymin": 545.9082045953057, + "xmax": 170.66370257530718, + "ymax": 653.049315797836 + }, + "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": [ + [ + 122.67759894677067, + 653.049315797836 + ], + [ + 170.66370257530718, + 560.1123648924643 + ], + [ + 80.99307955734889, + 555.4341664627156 + ], + [ + 25.439989248254506, + 647.5201427311063 + ], + [ + 116.49633689179802, + 643.8012660717197 + ], + [ + 165.51130743802713, + 550.5952223778382 + ], + [ + 74.8835582858793, + 545.9082045953057 + ], + [ + 18.132393850640028, + 638.2510774549808 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 219.54049997540574, + "ymin": 0.0, + "xmax": 310.6305856924083, + "ymax": 15.91276264054477 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 310.6305856924083, + -24.997915987998 + ], + [ + 302.10402108708126, + -25.196697199537084 + ], + [ + 266.41132494537396, + 15.678561539044608 + ], + [ + 275.65048953889124, + 15.91276264054477 + ], + [ + 272.91446818510315, + -191.2705961947985 + ], + [ + 263.4294320673371, + -191.41518183628818 + ], + [ + 219.54049997540574, + -161.3919932315074 + ], + [ + 229.91561984036719, + -161.21826239109248 + ] + ], + "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": 18.22659611241795, + "ymin": 545.957008286554, + "xmax": 170.5499229864174, + "ymax": 652.9295511679957 + }, + "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": [ + [ + 122.60513687621983, + 652.9295511679957 + ], + [ + 170.5499229864174, + 560.0934850700086 + ], + [ + 80.97999554098385, + 555.420290813147 + ], + [ + 25.48479410094353, + 647.4072357674108 + ], + [ + 116.4643871252897, + 643.7419789065341 + ], + [ + 165.43029612648326, + 550.6389559001152 + ], + [ + 74.91062852992525, + 545.957008286554 + ], + [ + 18.22659611241795, + 638.198822096319 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 333.6039282266181, + "ymin": 94.58014460451687, + "xmax": 405.2228332550782, + "ymax": 133.6383408284645 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 390.05191818451937, + 133.6383408284645 + ], + [ + 405.2228332550782, + 104.32851419526293 + ], + [ + 353.21501338774965, + 102.79530017402072 + ], + [ + 335.58380845258085, + 131.95395292854838 + ], + [ + 388.42195514524747, + 125.20381844248027 + ], + [ + 403.7626493042916, + 96.10199736569496 + ], + [ + 351.4358951678555, + 94.58014460451687 + ], + [ + 333.6039282266181, + 123.53091166012206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 333.55987349427096, + "ymin": 94.56444754262077, + "xmax": 405.27265862956483, + "ymax": 133.71266868739565 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 390.0877353014107, + 133.71266868739565 + ], + [ + 405.27265862956483, + 104.36917920942219 + ], + [ + 353.203995468884, + 102.83407260874287 + ], + [ + 335.5532427594042, + 132.02603426784125 + ], + [ + 388.44706161145126, + 125.22199340212222 + ], + [ + 403.8030575180793, + 96.08810422669887 + ], + [ + 351.4129597978581, + 94.56444754262077 + ], + [ + 333.55987349427096, + 123.54692969649906 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00046/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00046/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6de511870bf3b27c0d80996b20aa63592b718310 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00046/meta.json @@ -0,0 +1,2405 @@ +{ + "frame_id": 46, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 23.0, + "sim_timestamp": 13673.228047468932 + }, + "drone_pose": { + "x": -48.010983151892795, + "y": -87.76374964990136, + "z": 20.00120711082009, + "pitch": -41.98276230260342, + "yaw": 86.35177215880157, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.04729962348937988, + -0.7418397068977356, + 0.6689069271087646, + 53.99858474731445 + ], + [ + 0.9979735016822815, + 0.06363070011138916, + -2.9802322387695312e-08, + -42.3292236328125 + ], + [ + -0.04256299138069153, + 0.6675513982772827, + 0.743346095085144, + -75.49813079833984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -48.02512458582756, + "y": -87.26123273959398, + "z": 20.000935751282128 + }, + "t1_image_uv": [ + 758.8416029643291, + -502.9237392013815 + ], + "t1_depth": 0.37229963920857717 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -66.68776321411133, + "z": 0.9972709906101227 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 28.410431030864522, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 705, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -66.68775939941406, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.5123388767242432, + "y": 0.5373827815055847, + "z": 0.9105320572853088 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 620.1018376007966, + "ymin": 324.5455879826088, + "xmax": 659.3969038535263, + "ymax": 394.9497682430073 + }, + "corners_3d": [ + [ + -46.129798889160156, + -67.2000961303711, + 0.08673888444900513 + ], + [ + -47.204566955566406, + -67.2000961303711, + 0.08673888444900513 + ], + [ + -47.204566955566406, + -66.17542266845703, + 0.08673888444900513 + ], + [ + -46.129798889160156, + -66.17542266845703, + 0.08673888444900513 + ], + [ + -46.129798889160156, + -67.2000961303711, + 1.9078030586242676 + ], + [ + -47.204566955566406, + -67.2000961303711, + 1.9078030586242676 + ], + [ + -47.204566955566406, + -66.17542266845703, + 1.9078030586242676 + ], + [ + -46.129798889160156, + -66.17542266845703, + 1.9078030586242676 + ] + ], + "corners_2d": [ + [ + 620.947417045539, + 393.35575354337203 + ], + [ + 656.8989693519892, + 394.9497682430073 + ], + [ + 658.5925296928119, + 371.69026111132695 + ], + [ + 623.566797547845, + 370.17760927169917 + ], + [ + 620.1018376007966, + 347.4886198911995 + ], + [ + 657.6503602120221, + 349.0683989560657 + ], + [ + 659.3969038535263, + 326.04129298700684 + ], + [ + 622.8571243291761, + 324.5455879826088 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 46, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 94, + "semantic_pixel_counts": { + "1": 325255, + "2": 261605, + "3": 134863, + "4": 25524, + "5": 967, + "6": 20001, + "7": 3194, + "9": 27984, + "10": 33723, + "12": 3627, + "14": 10600, + "20": 4987, + "21": 9496, + "24": 15850, + "25": 43924 + }, + "instance_pixel_counts": { + "143": 22587, + "339": 3807, + "620": 202, + "883": 23863, + "1679": 13571, + "2703": 58283, + "3749": 269, + "4261": 223, + "5228": 234, + "5714": 585, + "6508": 269, + "6565": 2263, + "7539": 8639, + "8018": 5342, + "8530": 3107, + "8556": 6032, + "8579": 3088, + "8810": 570, + "9042": 249, + "9068": 8096, + "9320": 17167, + "9580": 3693, + "10624": 192, + "11116": 182, + "11368": 17592, + "11370": 505, + "11596": 6906, + "12419": 1, + "12675": 10, + "15698": 12431, + "20308": 2440, + "20820": 6, + "22381": 2822, + "22784": 9602, + "22893": 11346, + "23441": 10761, + "23552": 9357, + "23953": 12484, + "24465": 1643, + "24941": 2781, + "25928": 967, + "25965": 11544, + "26696": 18618, + "26987": 4369, + "27243": 115, + "27460": 241, + "27559": 155, + "27719": 113625, + "28231": 33601, + "29095": 116, + "30548": 4600, + "30630": 1778, + "30863": 4646, + "31142": 1685, + "31572": 1472, + "31633": 232, + "31654": 1359, + "32145": 15858, + "32911": 9319, + "34372": 36, + "34884": 210, + "37798": 4, + "39239": 43924, + "42391": 1626, + "42918": 193, + "44951": 1872, + "51815": 32265, + "52327": 120572, + "53863": 28606, + "54375": 109053, + "54438": 49, + "54889": 5699, + "55401": 3390, + "56173": 27984, + "56320": 705, + "56425": 858, + "56576": 630, + "56832": 491, + "56937": 2942, + "57088": 559, + "57344": 497, + "57600": 745, + "58368": 2082, + "58790": 43, + "59522": 1148, + "59762": 8315, + "60274": 5620, + "61094": 3140, + "62827": 658, + "63083": 261, + "63339": 710, + "64594": 1331, + "64654": 7583, + "64850": 177 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 705, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -66.68775939941406, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.5003344416618347, + "y": 0.46128904819488525, + "z": 0.8842217922210693 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 622.7990909800822, + "ymin": 325.60032640080664, + "xmax": 656.7742661127063, + "ymax": 393.9222091430088 + }, + "corners_3d": [ + [ + -46.205894470214844, + -67.18809509277344, + 0.11304914951324463 + ], + [ + -47.12847137451172, + -67.18809509277344, + 0.11304914951324463 + ], + [ + -47.12847137451172, + -66.18742370605469, + 0.11304914951324463 + ], + [ + -46.205894470214844, + -66.18742370605469, + 0.11304914951324463 + ], + [ + -46.205894470214844, + -67.18809509277344, + 1.8814927339553833 + ], + [ + -47.12847137451172, + -67.18809509277344, + 1.8814927339553833 + ], + [ + -47.12847137451172, + -66.18742370605469, + 1.8814927339553833 + ], + [ + -46.205894470214844, + -66.18742370605469, + 1.8814927339553833 + ] + ], + "corners_2d": [ + [ + 623.5092328694898, + 392.5548906506205 + ], + [ + 654.3793171659862, + 393.9222091430088 + ], + [ + 656.0982237168098, + 371.2157998734245 + ], + [ + 626.0051801355411, + 369.9167198623664 + ], + [ + 622.7990909800822, + 348.0157605388377 + ], + [ + 654.9995189224472, + 349.37118737894497 + ], + [ + 656.7742661127063, + 326.8853075399786 + ], + [ + 625.4183789102104, + 325.60032640080664 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 630, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -63.69005584716797, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.4665429890155792, + "y": 0.43891116976737976, + "z": 0.8935890197753906 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 500.7236102202694, + "ymin": 259.9192069114856, + "xmax": 534.3875921098772, + "ymax": 324.08634130478 + }, + "corners_3d": [ + [ + -42.2088737487793, + -64.23765563964844, + 0.10367703437805176 + ], + [ + -43.0675163269043, + -64.05514526367188, + 0.10367703437805176 + ], + [ + -42.87351608276367, + -63.142452239990234, + 0.10367703437805176 + ], + [ + -42.01487350463867, + -63.3249626159668, + 0.10367703437805176 + ], + [ + -42.2088737487793, + -64.23765563964844, + 1.890855073928833 + ], + [ + -43.0675163269043, + -64.05514526367188, + 1.890855073928833 + ], + [ + -42.87351608276367, + -63.142452239990234, + 1.890855073928833 + ], + [ + -42.01487350463867, + -63.3249626159668, + 1.890855073928833 + ] + ], + "corners_2d": [ + [ + 507.2008376069582, + 324.08634130478 + ], + [ + 534.3875921098772, + 321.56563032804115 + ], + [ + 532.5761970313181, + 303.76261390549274 + ], + [ + 505.9721505741429, + 306.1756043804218 + ], + [ + 501.88082017802867, + 279.9096091074548 + ], + [ + 530.1700884818949, + 277.42810430818497 + ], + [ + 528.3824934842951, + 259.9192069114856 + ], + [ + 500.7236102202694, + 262.2905673770224 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 491, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -59.745052337646484, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4846288859844208, + "y": 0.3304980397224426, + "z": 0.9546550512313843 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 705.3029359110718, + "ymin": 198.54532709407928, + "xmax": 729.984376730495, + "ymax": 260.4778214274878 + }, + "corners_3d": [ + [ + -48.64497756958008, + -60.261573791503906, + 0.04261589050292969 + ], + [ + -49.30235290527344, + -60.19247817993164, + 0.04261589050292969 + ], + [ + -49.2010383605957, + -59.22853088378906, + 0.04261589050292969 + ], + [ + -48.543663024902344, + -59.29762649536133, + 0.04261589050292969 + ], + [ + -48.64497756958008, + -60.261573791503906, + 1.9519259929656982 + ], + [ + -49.30235290527344, + -60.19247817993164, + 1.9519259929656982 + ], + [ + -49.2010383605957, + -59.22853088378906, + 1.9519259929656982 + ], + [ + -48.543663024902344, + -59.29762649536133, + 1.9519259929656982 + ] + ], + "corners_2d": [ + [ + 707.8292049165647, + 260.4778214274878 + ], + [ + 726.578508141639, + 260.02105899013634 + ], + [ + 723.6620658185495, + 244.0643538601285 + ], + [ + 705.3029359110718, + 244.50222764647663 + ], + [ + 710.4991623537089, + 214.566631922305 + ], + [ + 729.984376730495, + 214.1204164214847 + ], + [ + 726.881812016568, + 198.54532709407928 + ], + [ + 707.8176564530304, + 198.97238752053173 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 559, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -66.68775939941406, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.3346289098262787, + "y": 0.5802978277206421, + "z": 0.8917139768600464 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 937.0876502686228, + "ymin": 342.40519241264406, + "xmax": 995.7555908371139, + "ymax": 404.6456191756478 + }, + "corners_3d": [ + [ + -55.586883544921875, + -67.02239227294922, + 0.10556191205978394 + ], + [ + -56.74748229980469, + -67.02238464355469, + 0.10556191205978394 + ], + [ + -56.74748229980469, + -66.3531265258789, + 0.10556191205978394 + ], + [ + -55.586883544921875, + -66.35313415527344, + 0.10556191205978394 + ], + [ + -55.586883544921875, + -67.02239227294922, + 1.8889899253845215 + ], + [ + -56.74748229980469, + -67.02238464355469, + 1.8889899253845215 + ], + [ + -56.74748229980469, + -66.3531265258789, + 1.8889899253845215 + ], + [ + -55.586883544921875, + -66.35313415527344, + 1.8889899253845215 + ] + ], + "corners_2d": [ + [ + 940.8501436918109, + 402.8857758339923 + ], + [ + 980.7495923969583, + 404.6456191756478 + ], + [ + 976.2915799852492, + 388.97205362401843 + ], + [ + 937.0876502686228, + 387.2723511010408 + ], + [ + 954.072250386158, + 357.8841573183048 + ], + [ + 995.7555908371139, + 359.630314486186 + ], + [ + 990.8347109916222, + 344.0891218113707 + ], + [ + 949.9098698601647, + 342.40519241264406 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 497, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -50.28268051147461, + "y": -77.81512451171875, + "z": 0.9924320578575134 + }, + "extent": { + "x": 0.47175782918930054, + "y": 0.29560306668281555, + "z": 0.958825945854187 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 759.5082536012885, + "ymin": 677.6751978956219, + "xmax": 799.7415132100108, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.93938446044922, + -78.25340270996094, + 0.033606112003326416 + ], + [ + -50.52735137939453, + -78.31519317626953, + 0.033606112003326416 + ], + [ + -50.6259765625, + -77.37684631347656, + 0.033606112003326416 + ], + [ + -50.03800964355469, + -77.31505584716797, + 0.033606112003326416 + ], + [ + -49.93938446044922, + -78.25340270996094, + 1.9512579441070557 + ], + [ + -50.52735137939453, + -78.31519317626953, + 1.9512579441070557 + ], + [ + -50.6259765625, + -77.37684631347656, + 1.9512579441070557 + ], + [ + -50.03800964355469, + -77.31505584716797, + 1.9512579441070557 + ] + ], + "corners_2d": [ + [ + 759.5082536012885, + 765.1699935048935 + ], + [ + 787.5785031777978, + 769.7862086220288 + ], + [ + 789.9553151987461, + 727.7266690842708 + ], + [ + 762.8004439194281, + 723.4097840406876 + ], + [ + 767.5605438688178, + 720.5880936587384 + ], + [ + 797.5607428608594, + 725.3434110937101 + ], + [ + 799.7415132100108, + 682.1024382966814 + ], + [ + 770.7845777506209, + 677.6751978956219 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 745, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -74.85797882080078, + "z": 1.145767092704773 + }, + "extent": { + "x": 0.3743273913860321, + "y": 0.34037595987319946, + "z": 0.9329944252967834 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 107.8848786570885, + "ymin": 525.1190010492306, + "xmax": 179.89491496618257, + "ymax": 603.894990449539 + }, + "corners_3d": [ + [ + -35.01108169555664, + -75.15335845947266, + 0.2127726674079895 + ], + [ + -35.67695999145508, + -75.29489135742188, + 0.2127726674079895 + ], + [ + -35.83261489868164, + -74.5625991821289, + 0.2127726674079895 + ], + [ + -35.1667366027832, + -74.42106628417969, + 0.2127726674079895 + ], + [ + -35.01108169555664, + -75.15335845947266, + 2.078761577606201 + ], + [ + -35.67695999145508, + -75.29489135742188, + 2.078761577606201 + ], + [ + -35.83261489868164, + -74.5625991821289, + 2.078761577606201 + ], + [ + -35.1667366027832, + -74.42106628417969, + 2.078761577606201 + ] + ], + "corners_2d": [ + [ + 136.50507509038226, + 597.3796035680928 + ], + [ + 160.80425542916703, + 603.894990449539 + ], + [ + 179.89491496618257, + 578.7474503628682 + ], + [ + 156.03443621422048, + 572.523689686738 + ], + [ + 107.8848786570885, + 550.2309104777066 + ], + [ + 133.3949249155511, + 556.824063090861 + ], + [ + 154.20833444017666, + 531.4008198973584 + ], + [ + 129.17972614147146, + 525.1190010492306 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 2082, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 669.6248379505287, + "ymin": 0.0, + "xmax": 716.7332055884699, + "ymax": 60.05484033681796 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 715.0365431750678, + 19.33775861694886 + ], + [ + 672.8737923541419, + 18.352972259761884 + ], + [ + 669.6248379505287, + 58.91098194273127 + ], + [ + 715.0621263161242, + 60.05484033681796 + ], + [ + 716.5839486132733, + -9.687649015441252 + ], + [ + 673.5504142379791, + -10.636947782329457 + ], + [ + 670.2829968251604, + 28.520597560310023 + ], + [ + 716.7332055884699, + 29.62677676121359 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 963.7209479274427, + "ymin": 590.9981183255132, + "xmax": 997.1880459296883, + "ymax": 640.6473210331696 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 963.7209479274427, + 620.3199868122426 + ], + [ + 967.8881560369178, + 639.7281973203546 + ], + [ + 984.4309858277513, + 640.6473210331696 + ], + [ + 979.9795109888508, + 621.2081657769627 + ], + [ + 975.4902552923206, + 590.9981183255132 + ], + [ + 980.0223879123826, + 610.5996190697783 + ], + [ + 997.1880459296883, + 611.5285071600434 + ], + [ + 992.3500409786753, + 591.8946055613721 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1141.076087579919, + "ymin": 600.780156515928, + "xmax": 1184.8325081946496, + "ymax": 650.691054234755 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1141.076087579919, + 630.0086108148296 + ], + [ + 1148.3685870857084, + 649.7557346869013 + ], + [ + 1165.2029172900693, + 650.691054234755 + ], + [ + 1157.616214971972, + 630.9121711828602 + ], + [ + 1159.4561399913055, + 600.780156515928 + ], + [ + 1167.3530234072036, + 620.7366727194259 + ], + [ + 1184.8325081946496, + 621.6825429695881 + ], + [ + 1176.6186640592582, + 601.6927412929986 + ] + ], + "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": 240.02165347085173, + "ymin": 637.7194862679487, + "xmax": 272.81090350392657, + "ymax": 679.7293940006464 + }, + "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": [ + [ + 252.29239729986568, + 678.9061452307616 + ], + [ + 266.1207412415557, + 679.7293940006464 + ], + [ + 272.81090350392657, + 662.3728582181689 + ], + [ + 259.1806178553118, + 661.5735689307369 + ], + [ + 240.02165347085173, + 655.2346401090516 + ], + [ + 254.27916021456952, + 656.0669649787508 + ], + [ + 261.3570751729028, + 638.5268379121576 + ], + [ + 247.31001148751733, + 637.7194862679487 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 818.2239298485248, + "ymin": 582.9781729547603, + "xmax": 843.3846575451463, + "ymax": 632.4104599964967 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 818.2239298485248, + 612.3720963567854 + ], + [ + 819.8673376966045, + 631.5045129966219 + ], + [ + 836.1730010969874, + 632.4104599964967 + ], + [ + 834.2533173840975, + 613.2477561286815 + ], + [ + 824.6560355489235, + 582.9781729547603 + ], + [ + 826.4741044082054, + 602.2910281389248 + ], + [ + 843.3846575451463, + 603.2061120215063 + ], + [ + 841.2696223338705, + 583.8615693375821 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 143619947594126905, + "instance_id": 14614, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_Poles_4", + "bbox_3d": { + "center_world": { + "x": -55.298187255859375, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 727.6700002686887, + "ymin": 485.86351777380685, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -61.32330322265625, + -78.3179702758789, + 0.0 + ], + [ + -61.3271484375, + -77.8851547241211, + 0.0 + ], + [ + -49.2730712890625, + -77.77800750732422, + 0.0 + ], + [ + -49.26922607421875, + -78.21082305908203, + 0.0 + ], + [ + -61.32330322265625, + -78.3179702758789, + 8.446706771850586 + ], + [ + -61.3271484375, + -77.8851547241211, + 8.446706771850586 + ], + [ + -49.2730712890625, + -77.77800750732422, + 8.446706771850586 + ], + [ + -49.26922607421875, + -78.21082305908203, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1314.7604170267111, + 803.5864517222374 + ], + [ + 1305.4760338265837, + 782.689436094768 + ], + [ + 727.7659856475393, + 742.3655964561408 + ], + [ + 727.6700002686887, + 761.9632338603203 + ], + [ + 1585.0219796828974, + 553.9576019325063 + ], + [ + 1566.0903993564268, + 530.4291960095902 + ], + [ + 760.6560076051029, + 485.86351777380685 + ], + [ + 761.2385217745481, + 507.3869249527305 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3035069817188182073, + "instance_id": 14824, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.43640899658203, + "y": -78.83992767333984, + "z": 2.4819772243499756 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 571.7911004266518, + "xmax": 193.6575745354225, + "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": [ + [ + 147.50548804206386, + 808.1151571967879 + ], + [ + 193.6575745354225, + 702.7799674671552 + ], + [ + 103.41556639766122, + 697.2828870690761 + ], + [ + 49.65324371646682, + 801.6190239189773 + ], + [ + 53.48109144291675, + 689.9928258657245 + ], + [ + 116.4689666472417, + 577.5651873197097 + ], + [ + 11.11633911560773, + 571.7911004266518 + ], + [ + -62.38861214070812, + 682.959664974783 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6713771921265837202, + "instance_id": 37572, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_Poles_4", + "bbox_3d": { + "center_world": { + "x": -39.54796600341797, + "y": -83.9518051147461, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 462.7668949635506, + "xmax": 295.88404719863354, + "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": [ + [ + 295.88404719863354, + 722.431810572946 + ], + [ + 276.61164616140087, + 721.075403397838 + ], + [ + -59.73352345529008, + 1622.0850489202462 + ], + [ + -26.904890720167487, + 1626.1740773727747 + ], + [ + 169.7464773700329, + 464.22962269624793 + ], + [ + 143.61093262120204, + 462.7668949635506 + ], + [ + -667.9573649495876, + 1791.8021849353568 + ], + [ + -608.680968941348, + 1800.0694829347947 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 311.07206433285774, + "ymin": 84.70905221247335, + "xmax": 412.3563204181613, + "ymax": 237.22863815273354 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 397.0397241967396, + 237.22863815273354 + ], + [ + 412.3563204181613, + 202.33495042146967 + ], + [ + 358.7490286584269, + 200.4446674297807 + ], + [ + 340.8341270851416, + 235.147215897018 + ], + [ + 372.79432040871535, + 118.51604100968012 + ], + [ + 390.81022638638353, + 86.43822707588743 + ], + [ + 332.207071754567, + 84.70905221247335 + ], + [ + 311.07206433285774, + 116.59413485211269 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8405920204582788773, + "instance_id": 42398, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436763763427734, + "y": -78.8399658203125, + "z": 3.5914459228515625 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 606.9388428170988, + "xmax": 137.766348541865, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.40412902832031, + -79.92923736572266, + 3.4281208515167236 + ], + [ + -37.40413284301758, + -77.75069427490234, + 3.428124189376831 + ], + [ + -35.469398498535156, + -77.75069427490234, + 3.428124189376831 + ], + [ + -35.46939468383789, + -79.92923736572266, + 3.4281208515167236 + ], + [ + -37.40412902832031, + -79.92923736572266, + 3.754767656326294 + ], + [ + -37.40413284301758, + -77.75069427490234, + 3.7547709941864014 + ], + [ + -35.469398498535156, + -77.75069427490234, + 3.7547709941864014 + ], + [ + -35.46939468383789, + -79.92923736572266, + 3.754767656326294 + ] + ], + "corners_2d": [ + [ + 83.46858105162823, + 726.2526258473703 + ], + [ + 137.766348541865, + 621.7054229215603 + ], + [ + 43.161910352318955, + 616.3145991928038 + ], + [ + -19.592993970526436, + 719.816717923208 + ], + [ + 76.39099463047967, + 717.3431194146451 + ], + [ + 131.92842672855897, + 612.3466840658729 + ], + [ + 36.25792586973034, + 606.9388428170988 + ], + [ + -27.93680505702389, + 710.8730013601335 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 207.74641620755392, + "ymin": 0.0, + "xmax": 303.1053518223991, + "ymax": 27.569739492595602 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 303.1053518223991, + -15.138456130121028 + ], + [ + 294.4090628681882, + -15.351807708700846 + ], + [ + 257.03131067611724, + 27.317480119072968 + ], + [ + 266.46978872215834, + 27.569739492595602 + ], + [ + 263.62122470875187, + -184.13786401674304 + ], + [ + 253.92548160595345, + -184.29378991236706 + ], + [ + 207.74641620755392, + -152.78859995721177 + ], + [ + 218.37378004873312, + -152.6004053801404 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9860855723636234418, + "instance_id": 45592, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.436767578125, + "y": -78.8399658203125, + "z": 3.592546224594116 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 606.9936506222625, + "xmax": 137.64193074055595, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.40293884277344, + -79.92804718017578, + 3.4303059577941895 + ], + [ + -37.4029426574707, + -77.75189208984375, + 3.430309534072876 + ], + [ + -35.47059631347656, + -77.75188446044922, + 3.430309534072876 + ], + [ + -35.4705924987793, + -79.92803955078125, + 3.4303059577941895 + ], + [ + -37.40293884277344, + -79.92804718017578, + 3.7547829151153564 + ], + [ + -37.4029426574707, + -77.75189208984375, + 3.754786491394043 + ], + [ + -35.47059631347656, + -77.75188446044922, + 3.754786491394043 + ], + [ + -35.4705924987793, + -79.92803955078125, + 3.7547829151153564 + ] + ], + "corners_2d": [ + [ + 83.39051339529055, + 726.1273687822238 + ], + [ + 137.64193074055595, + 621.6927935215424 + ], + [ + 43.14315254470739, + 616.3076737780109 + ], + [ + -19.54694617216387, + 719.6994296690023 + ], + [ + 76.35933589926196, + 717.2759426309055 + ], + [ + 131.84109237902408, + 612.3956602321844 + ], + [ + 36.28446933112161, + 606.9936506222625 + ], + [ + -27.834358140862832, + 710.814073253162 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 320.7865857284743, + "ymin": 113.91806045548572, + "xmax": 395.4728980162088, + "ymax": 155.25038000836923 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 379.18120013178196, + 155.25038000836923 + ], + [ + 395.4728980162088, + 123.95878678778425 + ], + [ + 341.8314911456898, + 122.27575180209638 + ], + [ + 322.9196126366013, + 153.39564280587564 + ], + [ + 377.42166513585306, + 146.67203118227977 + ], + [ + 393.90208908409426, + 115.58929766310175 + ], + [ + 339.9212646691344, + 113.91806045548572 + ], + [ + 320.7865857284743, + 144.82911868736804 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 320.7406542742582, + "ymin": 113.90127760518843, + "xmax": 395.52504881780305, + "ymax": 155.32693051037984 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 379.21833582079654, + 155.32693051037984 + ], + [ + 395.52504881780305, + 123.99947817021607 + ], + [ + 341.82099855109686, + 122.31437295279724 + ], + [ + 322.8882123456848, + 153.46972177699064 + ], + [ + 377.4472353368119, + 146.6914861773344 + ], + [ + 393.9441120933652, + 115.57449302240173 + ], + [ + 339.89798438831, + 113.90127760518843 + ], + [ + 320.7406542742582, + 144.84619425781568 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00047/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00047/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..43fdbf41f5118582cdcba4c5d0b03d7164ec951a --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00047/meta.json @@ -0,0 +1,2404 @@ +{ + "frame_id": 47, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 23.5, + "sim_timestamp": 13684.620071788551 + }, + "drone_pose": { + "x": -48.02512458582756, + "y": -87.26123273959398, + "z": 20.000935751282128, + "pitch": -41.98452363819425, + "yaw": 86.3130464002963, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.04779958724975586, + -0.7417870759963989, + 0.6689298152923584, + 53.6456184387207 + ], + [ + 0.9979302883148193, + 0.06430500745773315, + 0.0, + -42.31438446044922 + ], + [ + -0.04301553964614868, + 0.6675453186035156, + 0.7433255314826965, + -75.18386840820312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -48.041066440833006, + "y": -86.75868881685668, + "z": 20.000720246828923 + }, + "t1_image_uv": [ + 764.3971618859202, + -503.1706070700179 + ], + "t1_depth": 0.3721627262985344 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -66.18776321411133, + "z": 0.9972709906101227 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.409054854725895, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 718, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -66.18775939941406, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.5030664205551147, + "y": 0.3512206971645355, + "z": 0.8786016702651978 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 626.6182882699995, + "ymin": 325.83436045560546, + "xmax": 653.0432353732598, + "ymax": 393.6930798297051 + }, + "corners_3d": [ + [ + -46.31596374511719, + -66.69082641601562, + 0.11866927146911621 + ], + [ + -47.018402099609375, + -66.69082641601562, + 0.11866927146911621 + ], + [ + -47.018402099609375, + -65.6846923828125, + 0.11866927146911621 + ], + [ + -46.31596374511719, + -65.6846923828125, + 0.11866927146911621 + ], + [ + -46.31596374511719, + -66.69082641601562, + 1.8758726119995117 + ], + [ + -47.018402099609375, + -66.69082641601562, + 1.8758726119995117 + ], + [ + -47.018402099609375, + -65.6846923828125, + 1.8758726119995117 + ], + [ + -46.31596374511719, + -65.6846923828125, + 1.8758726119995117 + ] + ], + "corners_2d": [ + [ + 627.1674941575536, + 392.6407742083079 + ], + [ + 650.6763696533426, + 393.6930798297051 + ], + [ + 652.5209197106288, + 370.87029442011175 + ], + [ + 629.6069934036635, + 369.8707908162922 + ], + [ + 626.6182882699995, + 348.38220088723284 + ], + [ + 651.1338564572403, + 349.4254253042318 + ], + [ + 653.0432353732598, + 326.82308543091244 + ], + [ + 629.1739605682851, + 325.83436045560546 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 47, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 93, + "semantic_pixel_counts": { + "1": 329105, + "2": 260959, + "3": 134801, + "4": 25190, + "5": 1005, + "6": 18212, + "7": 3338, + "9": 29075, + "10": 32848, + "12": 3669, + "14": 10753, + "20": 5200, + "21": 9495, + "24": 11588, + "25": 46362 + }, + "instance_pixel_counts": { + "143": 23498, + "339": 3887, + "620": 206, + "883": 24514, + "1679": 10369, + "2703": 60971, + "3749": 281, + "4261": 227, + "5228": 240, + "5714": 594, + "6508": 275, + "6565": 2311, + "7539": 9378, + "8018": 5489, + "8530": 3148, + "8556": 6228, + "8579": 2007, + "8810": 602, + "9042": 168, + "9068": 8386, + "9320": 18099, + "9580": 3288, + "10624": 200, + "11116": 186, + "11368": 18513, + "11370": 526, + "11596": 7266, + "12419": 1, + "12675": 13, + "15698": 11274, + "20308": 2801, + "20820": 46, + "22381": 2252, + "22784": 8765, + "22893": 11824, + "23441": 10662, + "23552": 9613, + "23953": 12834, + "24465": 1070, + "24941": 2182, + "25928": 1005, + "25965": 12020, + "26696": 17924, + "26987": 4563, + "27243": 115, + "27460": 244, + "27559": 149, + "27719": 113443, + "28231": 32732, + "29095": 105, + "30548": 4720, + "30630": 1816, + "30863": 4894, + "31142": 1710, + "31572": 1017, + "31633": 18, + "31654": 1395, + "32145": 15645, + "32911": 9816, + "34372": 37, + "34884": 213, + "37798": 4, + "39239": 46362, + "42391": 1715, + "44951": 1967, + "51815": 30541, + "52327": 125412, + "53863": 22804, + "54375": 113736, + "54438": 42, + "54889": 1426, + "55401": 3509, + "56173": 29075, + "56320": 718, + "56425": 560, + "56576": 600, + "56832": 492, + "56937": 3068, + "57088": 559, + "57344": 470, + "57600": 830, + "58368": 2169, + "58790": 52, + "59522": 1165, + "59762": 8604, + "60274": 5761, + "61094": 2726, + "62827": 678, + "63083": 266, + "63339": 721, + "64594": 1483, + "64654": 6008, + "64850": 186 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 718, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -66.18775939941406, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4928271472454071, + "y": 0.41154539585113525, + "z": 0.8618835806846619 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 624.5492520827974, + "ymin": 326.4092213935951, + "xmax": 655.0714356934916, + "ymax": 393.1412658858993 + }, + "corners_3d": [ + [ + -46.255638122558594, + -66.68058776855469, + 0.1353873610496521 + ], + [ + -47.07872772216797, + -66.68058776855469, + 0.1353873610496521 + ], + [ + -47.07872772216797, + -65.69493103027344, + 0.1353873610496521 + ], + [ + -46.255638122558594, + -65.69493103027344, + 0.1353873610496521 + ], + [ + -46.255638122558594, + -66.68058776855469, + 1.859154462814331 + ], + [ + -47.07872772216797, + -66.68058776855469, + 1.859154462814331 + ], + [ + -47.07872772216797, + -65.69493103027344, + 1.859154462814331 + ], + [ + -46.255638122558594, + -65.69493103027344, + 1.859154462814331 + ] + ], + "corners_2d": [ + [ + 625.1713235420459, + 391.9089433040293 + ], + [ + 652.7215854774255, + 393.1412658858993 + ], + [ + 654.4789477414397, + 370.7802233513551 + ], + [ + 627.6121582768674, + 369.608531240009 + ], + [ + 624.5492520827974, + 348.4960414585739 + ], + [ + 653.2560282470818, + 349.7179060327727 + ], + [ + 655.0714356934916, + 327.5685440357319 + ], + [ + 627.105946526693, + 326.4092213935951 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 600, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -63.19005584716797, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.44999027252197266, + "y": 0.4399707317352295, + "z": 0.8938422799110413 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 500.79024144130517, + "ymin": 260.1621636406738, + "xmax": 534.4488758015129, + "ymax": 323.7091404283593 + }, + "corners_3d": [ + [ + -42.20439910888672, + -63.72168731689453, + 0.10342377424240112 + ], + [ + -43.06510925292969, + -63.53873825073242, + 0.10342377424240112 + ], + [ + -42.87799072265625, + -62.658424377441406, + 0.10342377424240112 + ], + [ + -42.01728057861328, + -62.841373443603516, + 0.10342377424240112 + ], + [ + -42.20439910888672, + -63.72168731689453, + 1.8911082744598389 + ], + [ + -43.06510925292969, + -63.53873825073242, + 1.8911082744598389 + ], + [ + -42.87799072265625, + -62.658424377441406, + 1.8911082744598389 + ], + [ + -42.01728057861328, + -62.841373443603516, + 1.8911082744598389 + ] + ], + "corners_2d": [ + [ + 507.20706570118045, + 323.7091404283593 + ], + [ + 534.4488758015129, + 321.19609215838625 + ], + [ + 532.7181343391544, + 304.02378843357343 + ], + [ + 506.0398108962362, + 306.433169241334 + ], + [ + 501.88785323825124, + 279.52455353092245 + ], + [ + 530.2342240585995, + 277.0506807309128 + ], + [ + 528.5270108056561, + 260.1621636406738 + ], + [ + 500.79024144130517, + 262.53003575384986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 492, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -59.245052337646484, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4634350538253784, + "y": 0.4702783226966858, + "z": 0.9386852979660034 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 701.6301944616682, + "ymin": 199.20539073199748, + "xmax": 734.13523699213, + "ymax": 259.86472658161483 + }, + "corners_3d": [ + [ + -48.50374984741211, + -59.75510787963867, + 0.05858564376831055 + ], + [ + -49.439151763916016, + -59.65679168701172, + 0.05858564376831055 + ], + [ + -49.34226608276367, + -58.7349967956543, + 0.05858564376831055 + ], + [ + -48.406864166259766, + -58.83331298828125, + 0.05858564376831055 + ], + [ + -48.50374984741211, + -59.75510787963867, + 1.9359562397003174 + ], + [ + -49.439151763916016, + -59.65679168701172, + 1.9359562397003174 + ], + [ + -49.34226608276367, + -58.7349967956543, + 1.9359562397003174 + ], + [ + -48.406864166259766, + -58.83331298828125, + 1.9359562397003174 + ] + ], + "corners_2d": [ + [ + 703.9533669517151, + 259.86472658161483 + ], + [ + 730.6323904072196, + 259.22612188206875 + ], + [ + 727.7778065478146, + 243.97082501645764 + ], + [ + 701.6301944616682, + 244.58414316695996 + ], + [ + 706.4272457050138, + 214.7259679749082 + ], + [ + 734.13523699213, + 214.10188136498496 + ], + [ + 731.099943168008, + 199.20539073199748 + ], + [ + 703.9647047151684, + 199.8038398033658 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 559, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -66.18775939941406, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.3314184546470642, + "y": 0.3885498046875, + "z": 0.8892822265625 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 943.6466575375927, + "ymin": 342.959949877677, + "xmax": 988.871207507852, + "ymax": 404.3803174437719 + }, + "corners_3d": [ + [ + -55.77863311767578, + -66.51918029785156, + 0.10799366235733032 + ], + [ + -56.55573272705078, + -66.51918029785156, + 0.10799366235733032 + ], + [ + -56.55573272705078, + -65.85633850097656, + 0.10799366235733032 + ], + [ + -55.77863311767578, + -65.85633850097656, + 0.10799366235733032 + ], + [ + -55.77863311767578, + -66.51918029785156, + 1.8865580558776855 + ], + [ + -56.55573272705078, + -66.51918029785156, + 1.8865580558776855 + ], + [ + -56.55573272705078, + -65.85633850097656, + 1.8865580558776855 + ], + [ + -55.77863311767578, + -65.85633850097656, + 1.8865580558776855 + ] + ], + "corners_2d": [ + [ + 947.473294304134, + 403.1890827628998 + ], + [ + 974.1970617140059, + 404.3803174437719 + ], + [ + 969.9088814351761, + 388.861061486209 + ], + [ + 943.6466575375927, + 387.7101602907925 + ], + [ + 960.9555526029907, + 358.30665958804474 + ], + [ + 988.871207507852, + 359.48867114514644 + ], + [ + 984.1365586236193, + 344.1002309253218 + ], + [ + 956.7241397265831, + 342.959949877677 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 470, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -50.28268051147461, + "y": -77.31512451171875, + "z": 0.9935990571975708 + }, + "extent": { + "x": 0.4778418242931366, + "y": 0.5110889077186584, + "z": 0.933242917060852 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 749.0375930788166, + "ymin": 676.5292586173348, + "xmax": 809.8832559701007, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.72444152832031, + -77.73692321777344, + 0.06035614013671875 + ], + [ + -50.74102020263672, + -77.8437728881836, + 0.06035614013671875 + ], + [ + -50.840919494628906, + -76.89332580566406, + 0.06035614013671875 + ], + [ + -49.8243408203125, + -76.7864761352539, + 0.06035614013671875 + ], + [ + -49.72444152832031, + -77.73692321777344, + 1.9268419742584229 + ], + [ + -50.74102020263672, + -77.8437728881836, + 1.9268419742584229 + ], + [ + -50.840919494628906, + -76.89332580566406, + 1.9268419742584229 + ], + [ + -49.8243408203125, + -76.7864761352539, + 1.9268419742584229 + ] + ], + "corners_2d": [ + [ + 749.0375930788166, + 763.2956686132924 + ], + [ + 797.626395171016, + 771.3183141816289 + ], + [ + 799.7321640371588, + 728.5813698840302 + ], + [ + 752.7490067062142, + 721.0858586516695 + ], + [ + 756.1749570435243, + 719.8662540848047 + ], + [ + 808.013903039127, + 728.1245207235025 + ], + [ + 809.8832559701007, + 684.2111576954239 + ], + [ + 759.8679583846789, + 676.5292586173348 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 830, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -74.35797882080078, + "z": 1.1457279920578003 + }, + "extent": { + "x": 0.38621336221694946, + "y": 0.4946679472923279, + "z": 0.9319614768028259 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 101.711327987093, + "ymin": 523.0858081008864, + "xmax": 185.50962736227103, + "ymax": 605.5130328417139 + }, + "corners_3d": [ + [ + -34.85769271850586, + -74.63290405273438, + 0.21376651525497437 + ], + [ + -35.825408935546875, + -74.8386001586914, + 0.21376651525497437 + ], + [ + -35.98600387573242, + -74.08305358886719, + 0.21376651525497437 + ], + [ + -35.018287658691406, + -73.87735748291016, + 0.21376651525497437 + ], + [ + -34.85769271850586, + -74.63290405273438, + 2.0776894092559814 + ], + [ + -35.825408935546875, + -74.8386001586914, + 2.0776894092559814 + ], + [ + -35.98600387573242, + -74.08305358886719, + 2.0776894092559814 + ], + [ + -35.018287658691406, + -73.87735748291016, + 2.0776894092559814 + ] + ], + "corners_2d": [ + [ + 130.5991985167941, + 596.0180497829483 + ], + [ + 165.89860473392406, + 605.5130328417139 + ], + [ + 185.50962736227103, + 579.5128144220753 + ], + [ + 150.86663032577525, + 570.4558415645897 + ], + [ + 101.711327987093, + 548.9066632476806 + ], + [ + 138.76717598609957, + 558.5150635144387 + ], + [ + 160.14403945985248, + 532.2266439222894 + ], + [ + 123.80841142050451, + 523.0858081008864 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 2169, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 669.51054282938, + "ymin": 0.0, + "xmax": 717.0130782857465, + "ymax": 64.66953746714182 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 715.3411750932878, + 23.30339224442156 + ], + [ + 672.8561179050932, + 22.291813839446036 + ], + [ + 669.51054282938, + 63.493172982554256 + ], + [ + 715.3219864352336, + 64.66953746714182 + ], + [ + 716.9070776662684, + -5.866418430118813 + ], + [ + 673.5376670830601, + -6.841851493864169 + ], + [ + 670.1716974002767, + 32.95036138794444 + ], + [ + 717.0130782857465, + 34.088393639170135 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 968.8258724373885, + "ymin": 617.1870245075104, + "xmax": 1003.3884885923055, + "ymax": 667.5399647849163 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 968.8258724373885, + 646.2448849600216 + ], + [ + 973.1654047314303, + 666.5669076440863 + ], + [ + 990.1040803186207, + 667.5399647849163 + ], + [ + 985.466672806953, + 647.1844333300005 + ], + [ + 981.0676422945198, + 617.1870245075104 + ], + [ + 985.7961902911782, + 637.7466022932606 + ], + [ + 1003.3884885923055, + 638.7317130454215 + ], + [ + 998.3388561622778, + 618.1369594072896 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1150.3988247880711, + "ymin": 627.5551851138978, + "xmax": 1195.7641182102516, + "ymax": 678.1765562500633 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1150.3988247880711, + 656.4965896632018 + ], + [ + 1158.0150100403646, + 677.1857560599246 + ], + [ + 1175.2625511027254, + 678.1765562500633 + ], + [ + 1167.337718093694, + 657.4529685176499 + ], + [ + 1169.5760540707424, + 627.5551851138978 + ], + [ + 1177.838697170546, + 648.5003500504063 + ], + [ + 1195.7641182102516, + 649.5041145785517 + ], + [ + 1187.1683368021663, + 628.5227791383431 + ] + ], + "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": 229.71930393363743, + "ymin": 660.6740958525263, + "xmax": 263.62329144019054, + "ymax": 703.1704883613712 + }, + "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": [ + [ + 242.55596904012754, + 702.3052081562764 + ], + [ + 256.6481208506921, + 703.1704883613712 + ], + [ + 263.62329144019054, + 685.124783673956 + ], + [ + 249.7367399954254, + 684.2851725685629 + ], + [ + 229.71930393363743, + 678.9064976500579 + ], + [ + 244.25743577990767, + 679.7824179052493 + ], + [ + 251.6457126834922, + 661.5232111639801 + ], + [ + 237.32629281788974, + 660.6740958525263 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 819.9479238681116, + "ymin": 608.6913407057983, + "xmax": 845.7992593095545, + "ymax": 658.8216821442114 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 819.9479238681116, + 637.8395507128103 + ], + [ + 821.644250739357, + 657.8630486452201 + ], + [ + 838.331838214057, + 658.8216821442114 + ], + [ + 836.3462891981812, + 638.7654113914515 + ], + [ + 826.5963902023782, + 608.6913407057983 + ], + [ + 828.4775143361081, + 628.937686510815 + ], + [ + 845.7992593095545, + 629.9076475204974 + ], + [ + 843.6067197120428, + 609.6269270259884 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 143619947594126905, + "instance_id": 14614, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_Poles_4", + "bbox_3d": { + "center_world": { + "x": -55.298187255859375, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 727.3834679327582, + "ymin": 510.93199765029306, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -61.32330322265625, + -78.3179702758789, + 0.0 + ], + [ + -61.3271484375, + -77.8851547241211, + 0.0 + ], + [ + -49.2730712890625, + -77.77800750732422, + 0.0 + ], + [ + -49.26922607421875, + -78.21082305908203, + 0.0 + ], + [ + -61.32330322265625, + -78.3179702758789, + 8.446706771850586 + ], + [ + -61.3271484375, + -77.8851547241211, + 8.446706771850586 + ], + [ + -49.2730712890625, + -77.77800750732422, + 8.446706771850586 + ], + [ + -49.26922607421875, + -78.21082305908203, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1325.9436545388517, + 829.121419035999 + ], + [ + 1316.313543711786, + 807.4071797720965 + ], + [ + 727.4995970074127, + 765.1658479945977 + ], + [ + 727.3834679327582, + 785.4928282939021 + ], + [ + 1608.2825824968836, + 583.1264182868987 + ], + [ + 1588.3303192228605, + 558.2973454698343 + ], + [ + 761.1230993392841, + 510.93199765029306 + ], + [ + 761.7114642394961, + 533.5725310711607 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3035069817188182073, + "instance_id": 14824, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.43640899658203, + "y": -78.83992767333984, + "z": 2.4819772243499756 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 593.8066121712611, + "xmax": 184.01483735199395, + "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": [ + [ + 136.04733390742285, + 833.1752231783435 + ], + [ + 184.01483735199395, + 723.9452642679398 + ], + [ + 92.27017750488824, + 718.1937964706357 + ], + [ + 36.42731378873634, + 826.3577867389679 + ], + [ + 37.63173765513409, + 717.254172546847 + ], + [ + 103.52530161702384, + 599.8845983675138 + ], + [ + -3.8815495731590772, + 593.8066121712611 + ], + [ + -80.72518105965423, + 709.8192501294204 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6713771921265837202, + "instance_id": 37572, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_Poles_4", + "bbox_3d": { + "center_world": { + "x": -39.54796600341797, + "y": -83.9518051147461, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 486.33692010849694, + "xmax": 287.93201072283864, + "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": [ + [ + 287.93201072283864, + 744.214916310071 + ], + [ + 268.3309092471805, + 742.7968082350837 + ], + [ + -85.42081126673622, + 1688.3380231924325 + ], + [ + -51.632138858270764, + 1692.7266871071056 + ], + [ + 155.71492460818445, + 487.8863210216981 + ], + [ + 128.970792954001, + 486.33692010849694 + ], + [ + -753.7834536811808, + 1929.3347901276582 + ], + [ + -691.3192965375222, + 1938.711173017365 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 306.36237986541, + "ymin": 91.2418424285384, + "xmax": 409.3379049489104, + "ymax": 245.16634472170816 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 393.66284526441217, + 245.16634472170816 + ], + [ + 409.3379049489104, + 209.53706546999464 + ], + [ + 355.20077089933096, + 207.58748017921442 + ], + [ + 336.87487720085585, + 243.01746977885117 + ], + [ + 368.7880699980227, + 125.84995760031671 + ], + [ + 387.2598653846667, + 93.02872348660173 + ], + [ + 328.02254320857213, + 91.2418424285384 + ], + [ + 306.36237986541, + 123.86151016758117 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8405920204582788773, + "instance_id": 42398, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436763763427734, + "y": -78.8399658203125, + "z": 3.5914459228515625 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 628.8560846074588, + "xmax": 125.86080609866963, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.40412902832031, + -79.92923736572266, + 3.4281208515167236 + ], + [ + -37.40413284301758, + -77.75069427490234, + 3.428124189376831 + ], + [ + -35.469398498535156, + -77.75069427490234, + 3.428124189376831 + ], + [ + -35.46939468383789, + -79.92923736572266, + 3.4281208515167236 + ], + [ + -37.40412902832031, + -79.92923736572266, + 3.754767656326294 + ], + [ + -37.40413284301758, + -77.75069427490234, + 3.7547709941864014 + ], + [ + -35.469398498535156, + -77.75069427490234, + 3.7547709941864014 + ], + [ + -35.46939468383789, + -79.92923736572266, + 3.754767656326294 + ] + ], + "corners_2d": [ + [ + 69.18408156949033, + 752.7184823680255 + ], + [ + 125.86080609866963, + 643.8226921986762 + ], + [ + 29.497042572897612, + 638.1590367432484 + ], + [ + -35.967052691258914, + 745.9323052027062 + ], + [ + 61.766131951005946, + 743.9589850658323 + ], + [ + 119.76524150970192, + 634.5402065361691 + ], + [ + 22.29514051591036, + 628.8560846074588 + ], + [ + -44.70342618567247, + 737.1330165906791 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 203.69907602126625, + "ymin": 0.0, + "xmax": 300.54607384168787, + "ymax": 31.567708022027375 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 300.54607384168787, + -11.764206603998105 + ], + [ + 291.7920722594078, + -11.98284427915371 + ], + [ + 253.82526019009123, + 31.30888551294038 + ], + [ + 263.33165148588427, + 31.567708022027375 + ], + [ + 260.4491113825981, + -181.6863702448627 + ], + [ + 250.6814995717953, + -181.84642144407428 + ], + [ + 203.69907602126625, + -149.82416253423952 + ], + [ + 214.4127005638802, + -149.63069316649603 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9860855723636234418, + "instance_id": 45592, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.436767578125, + "y": -78.8399658203125, + "z": 3.592546224594116 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 628.9131355464933, + "xmax": 125.73245180270601, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.40293884277344, + -79.92804718017578, + 3.4303059577941895 + ], + [ + -37.4029426574707, + -77.75189208984375, + 3.430309534072876 + ], + [ + -35.47059631347656, + -77.75188446044922, + 3.430309534072876 + ], + [ + -35.4705924987793, + -79.92803955078125, + 3.4303059577941895 + ], + [ + -37.40293884277344, + -79.92804718017578, + 3.7547829151153564 + ], + [ + -37.4029426574707, + -77.75189208984375, + 3.754786491394043 + ], + [ + -35.47059631347656, + -77.75188446044922, + 3.754786491394043 + ], + [ + -35.4705924987793, + -79.92803955078125, + 3.7547829151153564 + ] + ], + "corners_2d": [ + [ + 69.10395794033957, + 752.5912995565108 + ], + [ + 125.73245180270601, + 643.8125002220994 + ], + [ + 29.476104195063044, + 638.154813810428 + ], + [ + -35.920608459897835, + 745.8135196428527 + ], + [ + 61.73465732214777, + 743.888829094969 + ], + [ + 119.67559043642791, + 634.5911348788763 + ], + [ + 22.321430385081726, + 628.9131355464933 + ], + [ + -44.597930340417406, + 737.0715824277651 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 316.3018426348138, + "ymin": 120.64112469352915, + "xmax": 392.0668345181792, + "ymax": 162.7803909747511 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 375.37304781887855, + 162.7803909747511 + ], + [ + 392.0668345181792, + 130.78459243657477 + ], + [ + 337.86013207630907, + 129.04640765447184 + ], + [ + 318.48963696347266, + 160.86280812286915 + ], + [ + 373.5671006184907, + 154.1543093125944 + ], + [ + 390.45654354471327, + 122.36736708113347 + ], + [ + 335.90318508397576, + 120.64112469352915 + ], + [ + 316.3018426348138, + 152.24865728020916 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 316.255251446065, + "ymin": 120.62395530170289, + "xmax": 392.1198051521195, + "ymax": 162.85771077649244 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 375.41064245837657, + 162.85771077649244 + ], + [ + 392.1198051521195, + 130.82527441508046 + ], + [ + 337.8498379616757, + 129.0849541774857 + ], + [ + 318.45794959798, + 160.93757343886185 + ], + [ + 373.59282348906004, + 154.17422127976886 + ], + [ + 390.4991328484888, + 122.3522400086188 + ], + [ + 335.8797933645076, + 120.62395530170289 + ], + [ + 316.255251446065, + 152.2661076283075 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00050/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00050/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fc43e54aea56e3a988207fb5d39ba58ea4f50c70 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00050/meta.json @@ -0,0 +1,2300 @@ +{ + "frame_id": 50, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 25.0, + "sim_timestamp": 13721.328253050568 + }, + "drone_pose": { + "x": -48.08280552844416, + "y": -85.7533696903137, + "z": 20.000417101197122, + "pitch": -41.989220994902496, + "yaw": 86.15546620436196, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.049835920333862305, + -0.7415980696678162, + 0.6689907312393188, + 52.610687255859375 + ], + [ + 0.9977496266365051, + 0.06704944372177124, + -2.9802322387695312e-08, + -42.22488784790039 + ], + [ + -0.04485544562339783, + 0.6674853563308716, + 0.743270754814148, + -74.2616195678711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -48.11110136667335, + "y": -85.25051817502236, + "z": 20.000313594037408 + }, + "t1_image_uv": [ + 800.0497840038075, + -503.70112203497865 + ], + "t1_depth": 0.37157281544586485 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -64.68776321411133, + "z": 0.9972709906101227 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.405691783045604, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 730, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -64.68775939941406, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.49098142981529236, + "y": 0.42665037512779236, + "z": 0.8836765885353088 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 623.9738099371344, + "ymin": 325.83223574737303, + "xmax": 655.635932416837, + "ymax": 393.67606840102485 + }, + "corners_3d": [ + [ + -46.24053192138672, + -65.17874145507812, + 0.11359435319900513 + ], + [ + -47.093833923339844, + -65.17874145507812, + 0.11359435319900513 + ], + [ + -47.093833923339844, + -64.19677734375, + 0.11359435319900513 + ], + [ + -46.24053192138672, + -64.19677734375, + 0.11359435319900513 + ], + [ + -46.24053192138672, + -65.17874145507812, + 1.8809475898742676 + ], + [ + -47.093833923339844, + -65.17874145507812, + 1.8809475898742676 + ], + [ + -47.093833923339844, + -64.19677734375, + 1.8809475898742676 + ], + [ + -46.24053192138672, + -64.19677734375, + 1.8809475898742676 + ] + ], + "corners_2d": [ + [ + 624.6350943203997, + 392.343748606266 + ], + [ + 653.1786287061623, + 393.67606840102485 + ], + [ + 655.0058296436828, + 371.39390073713236 + ], + [ + 627.1670865815875, + 370.12685084419513 + ], + [ + 623.9738099371344, + 347.83115080430287 + ], + [ + 653.7466980876743, + 349.1518901582295 + ], + [ + 655.635932416837, + 327.08559319316385 + ], + [ + 626.6290383119403, + 325.83223574737303 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 50, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 93, + "semantic_pixel_counts": { + "1": 329881, + "2": 261544, + "3": 132648, + "4": 23975, + "5": 1083, + "6": 14267, + "7": 858, + "9": 31552, + "10": 29742, + "12": 3722, + "14": 11762, + "20": 5701, + "21": 10114, + "24": 11059, + "25": 53692 + }, + "instance_pixel_counts": { + "143": 26521, + "339": 4132, + "620": 226, + "883": 25680, + "1132": 43, + "1679": 168, + "2703": 70544, + "3749": 314, + "4261": 255, + "5228": 254, + "5714": 647, + "6508": 289, + "6565": 2448, + "7539": 12238, + "8018": 5959, + "8530": 3171, + "8556": 6888, + "8579": 633, + "8810": 663, + "9068": 9298, + "9320": 21247, + "9580": 1796, + "10624": 208, + "11116": 196, + "11368": 21436, + "11370": 608, + "11596": 8419, + "12419": 5, + "12675": 17, + "15698": 7145, + "20308": 3629, + "20820": 494, + "20866": 12, + "22381": 438, + "22784": 5272, + "22893": 13338, + "23441": 9317, + "23552": 7976, + "23953": 13975, + "24465": 15, + "24941": 188, + "25928": 1083, + "25965": 13608, + "26696": 15556, + "26987": 5110, + "27460": 266, + "27559": 131, + "27719": 114163, + "28231": 29665, + "29095": 80, + "30548": 5124, + "30630": 1910, + "30863": 5698, + "31142": 1785, + "31572": 213, + "31654": 1496, + "32145": 13958, + "32911": 11395, + "34372": 38, + "34884": 229, + "37798": 3, + "39239": 53692, + "41796": 53, + "42391": 1992, + "44951": 2282, + "51815": 12002, + "52327": 141578, + "53863": 3926, + "54375": 129692, + "54438": 10, + "54889": 254, + "55401": 3936, + "56173": 31552, + "56320": 730, + "56425": 45, + "56576": 633, + "56832": 481, + "56937": 3530, + "57088": 576, + "57344": 424, + "57600": 878, + "58368": 2302, + "58790": 66, + "59522": 1232, + "59762": 9240, + "60274": 6204, + "61094": 1389, + "62827": 765, + "63083": 296, + "63339": 764, + "64594": 1959, + "64654": 1209, + "64850": 218 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 730, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -64.68775939941406, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4846557378768921, + "y": 0.48185789585113525, + "z": 0.8712649941444397 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 622.0740556514401, + "ymin": 326.2133278752267, + "xmax": 657.4989115915865, + "ymax": 393.3153840619177 + }, + "corners_3d": [ + [ + -46.185325622558594, + -65.17241668701172, + 0.12600594758987427 + ], + [ + -47.14904022216797, + -65.17241668701172, + 0.12600594758987427 + ], + [ + -47.14904022216797, + -64.2031021118164, + 0.12600594758987427 + ], + [ + -46.185325622558594, + -64.2031021118164, + 0.12600594758987427 + ], + [ + -46.185325622558594, + -65.17241668701172, + 1.8685359954833984 + ], + [ + -47.14904022216797, + -65.17241668701172, + 1.8685359954833984 + ], + [ + -47.14904022216797, + -64.2031021118164, + 1.8685359954833984 + ], + [ + -46.185325622558594, + -64.2031021118164, + 1.8685359954833984 + ] + ], + "corners_2d": [ + [ + 622.8033620031235, + 391.8112287191906 + ], + [ + 655.0443697514262, + 393.3153840619177 + ], + [ + 656.8032649658746, + 371.3172843193643 + ], + [ + 625.3484383209744, + 369.8859113914632 + ], + [ + 622.0740556514401, + 347.92638315137435 + ], + [ + 655.6835155419675, + 349.41762882887366 + ], + [ + 657.4989115915865, + 327.6294695901173 + ], + [ + 624.7429039356591, + 326.2133278752267 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 633, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -61.69005584716797, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.4520288407802582, + "y": 0.4637768864631653, + "z": 0.9010881781578064 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 500.35304052324585, + "ymin": 259.67877597710867, + "xmax": 535.4598969173845, + "ymax": 323.743602093022 + }, + "corners_3d": [ + [ + -42.18153381347656, + -62.22863006591797, + 0.09617787599563599 + ], + [ + -43.08882141113281, + -62.03578186035156, + 0.09617787599563599 + ], + [ + -42.900856018066406, + -61.15148162841797, + 0.09617787599563599 + ], + [ + -41.993568420410156, + -61.344329833984375, + 0.09617787599563599 + ], + [ + -42.18153381347656, + -62.22863006591797, + 1.8983542919158936 + ], + [ + -43.08882141113281, + -62.03578186035156, + 1.8983542919158936 + ], + [ + -42.900856018066406, + -61.15148162841797, + 1.8983542919158936 + ], + [ + -41.993568420410156, + -61.344329833984375, + 1.8983542919158936 + ] + ], + "corners_2d": [ + [ + 506.74787811573543, + 323.743602093022 + ], + [ + 535.4598969173845, + 321.1448741728248 + ], + [ + 533.775844843911, + 303.89413943747235 + ], + [ + 505.6607024814419, + 306.38518742918524 + ], + [ + 501.36585404129744, + 279.19981777515227 + ], + [ + 531.2513338691908, + 276.64193645791727 + ], + [ + 529.5924024330301, + 259.67877597710867 + ], + [ + 500.35304052324585, + 262.1265350264272 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 481, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -57.745052337646484, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4840185344219208, + "y": 0.2965722680091858, + "z": 0.9280837774276733 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 706.9963791454194, + "ymin": 199.35365908928776, + "xmax": 729.6088626196641, + "ymax": 259.9368882503774 + }, + "corners_3d": [ + [ + -48.678653717041016, + -58.25741958618164, + 0.06918716430664062 + ], + [ + -49.268550872802734, + -58.19541931152344, + 0.06918716430664062 + ], + [ + -49.167362213134766, + -57.23268508911133, + 0.06918716430664062 + ], + [ + -48.57746505737305, + -57.29468536376953, + 0.06918716430664062 + ], + [ + -48.678653717041016, + -58.25741958618164, + 1.9253547191619873 + ], + [ + -49.268550872802734, + -58.19541931152344, + 1.9253547191619873 + ], + [ + -49.167362213134766, + -57.23268508911133, + 1.9253547191619873 + ], + [ + -48.57746505737305, + -57.29468536376953, + 1.9253547191619873 + ] + ], + "corners_2d": [ + [ + 709.4633423704901, + 259.9368882503774 + ], + [ + 726.3081447569357, + 259.5611120414892 + ], + [ + 723.4906046949199, + 243.61462546563428 + ], + [ + 706.9963791454194, + 243.97486740304907 + ], + [ + 712.1212148136113, + 215.29724151812343 + ], + [ + 729.6088626196641, + 214.92989026415353 + ], + [ + 726.6143977457234, + 199.35365908928776 + ], + [ + 709.504295273236, + 199.70526225048746 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 576, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -64.68775939941406, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.32905271649360657, + "y": 0.3141259551048279, + "z": 0.8869683742523193 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 946.3985540760627, + "ymin": 343.7602972760782, + "xmax": 986.3610366027226, + "ymax": 404.80105414431443 + }, + "corners_3d": [ + [ + -55.853057861328125, + -65.01681518554688, + 0.11030751466751099 + ], + [ + -56.48130798339844, + -65.01681518554688, + 0.11030751466751099 + ], + [ + -56.48130798339844, + -64.35870361328125, + 0.11030751466751099 + ], + [ + -55.853057861328125, + -64.35870361328125, + 0.11030751466751099 + ], + [ + -55.853057861328125, + -65.01681518554688, + 1.8842442035675049 + ], + [ + -56.48130798339844, + -65.01681518554688, + 1.8842442035675049 + ], + [ + -56.48130798339844, + -64.35870361328125, + 1.8842442035675049 + ], + [ + -55.853057861328125, + -64.35870361328125, + 1.8842442035675049 + ] + ], + "corners_2d": [ + [ + 950.1861359532254, + 403.79544694795214 + ], + [ + 971.8190474809289, + 404.80105414431443 + ], + [ + 967.6601564576908, + 389.3745387399789 + ], + [ + 946.3985540760627, + 388.40276081005817 + ], + [ + 963.7643621033134, + 359.0231180114804 + ], + [ + 986.3610366027226, + 360.021029521752 + ], + [ + 981.7656554322263, + 344.7232069375298 + ], + [ + 959.5737949087022, + 343.7602972760782 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 424, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -50.28268051147461, + "y": -75.81512451171875, + "z": 0.9971098303794861 + }, + "extent": { + "x": 0.4831763207912445, + "y": 0.316276878118515, + "z": 0.9415803551673889 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 756.7265608806697, + "ymin": 677.855161041534, + "xmax": 798.988534384171, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.91762924194336, + -76.2625961303711, + 0.05552947521209717 + ], + [ + -50.54671859741211, + -76.3287124633789, + 0.05552947521209717 + ], + [ + -50.64773178100586, + -75.3676528930664, + 0.05552947521209717 + ], + [ + -50.01864242553711, + -75.3015365600586, + 0.05552947521209717 + ], + [ + -49.91762924194336, + -76.2625961303711, + 1.938690185546875 + ], + [ + -50.54671859741211, + -76.3287124633789, + 1.938690185546875 + ], + [ + -50.64773178100586, + -75.3676528930664, + 1.938690185546875 + ], + [ + -50.01864242553711, + -75.3015365600586, + 1.938690185546875 + ] + ], + "corners_2d": [ + [ + 756.7265608806697, + 765.5687979397107 + ], + [ + 786.7963277882425, + 770.6187393861939 + ], + [ + 789.4128273394888, + 727.4927482393289 + ], + [ + 760.3464939434575, + 722.7781017899431 + ], + [ + 764.4540388858397, + 721.8080795306914 + ], + [ + 796.5556942775427, + 727.0081233415533 + ], + [ + 798.988534384171, + 682.6882647359405 + ], + [ + 768.0279598811906, + 677.855161041534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 878, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -72.85797882080078, + "z": 1.1456059217453003 + }, + "extent": { + "x": 0.3883605897426605, + "y": 0.5168871879577637, + "z": 0.9298304319381714 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 100.48852941480823, + "ymin": 521.7850803106259, + "xmax": 185.9007345040577, + "ymax": 604.6846282777572 + }, + "corners_3d": [ + [ + -34.83551025390625, + -73.13038635253906, + 0.2157754898071289 + ], + [ + -35.84669494628906, + -73.34532165527344, + 0.2157754898071289 + ], + [ + -36.00818634033203, + -72.5855712890625, + 0.2157754898071289 + ], + [ + -34.99700164794922, + -72.37063598632812, + 0.2157754898071289 + ], + [ + -34.83551025390625, + -73.13038635253906, + 2.0754363536834717 + ], + [ + -35.84669494628906, + -73.34532165527344, + 2.0754363536834717 + ], + [ + -36.00818634033203, + -72.5855712890625, + 2.0754363536834717 + ], + [ + -34.99700164794922, + -72.37063598632812, + 2.0754363536834717 + ] + ], + "corners_2d": [ + [ + 129.34869071157271, + 594.6832801508085 + ], + [ + 166.1247160155798, + 604.6846282777572 + ], + [ + 185.9007345040577, + 578.5953914576946 + ], + [ + 149.80821294543125, + 569.0571528894659 + ], + [ + 100.48852941480823, + 547.6668442483017 + ], + [ + 139.08531092700184, + 557.7864827160303 + ], + [ + 160.63337365244212, + 531.4105035866199 + ], + [ + 122.78610868110866, + 521.7850803106259 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 2302, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 669.389419905102, + "ymin": 4.929470982740327, + "xmax": 718.1991336995029, + "ymax": 79.0187375640864 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 716.5692594769968, + 35.60913486071746 + ], + [ + 673.0868141690253, + 34.49970646524008 + ], + [ + 669.389419905102, + 77.72386875182445 + ], + [ + 716.3611637542929, + 79.0187375640864 + ], + [ + 718.1991336995029, + 6.000304006494957 + ], + [ + 673.7896305434656, + 4.929470982740327 + ], + [ + 670.0649531432044, + 46.719347342938875 + ], + [ + 718.1203669018118, + 47.97345123816166 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 984.8118589875294, + "ymin": 704.0711364635397, + "xmax": 1023.0386803811318, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 984.8118589875294, + 731.9411079303652 + ], + [ + 989.7159401843844, + 755.4336368958951 + ], + [ + 1007.9687558410114, + 756.6083837037636 + ], + [ + 1002.7194164740962, + 733.0724201932844 + ], + [ + 998.6460080674759, + 704.0711364635397 + ], + [ + 1004.0244400708632, + 727.9734594217086 + ], + [ + 1023.0386803811318, + 729.16965582855 + ], + [ + 1017.2858871238045, + 705.2213473542964 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1180.3974193388733, + "ymin": 716.6382686813845, + "xmax": 1231.2317565194153, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1180.3974193388733, + 744.2972510303607 + ], + [ + 1189.106813056454, + 768.266385323918 + ], + [ + 1207.7336494625702, + 769.465204016903 + ], + [ + 1198.6649724125675, + 745.4513060611097 + ], + [ + 1202.3041602445974, + 716.6382686813845 + ], + [ + 1211.811689557119, + 741.0454705653085 + ], + [ + 1231.2317565194153, + 742.2671977519778 + ], + [ + 1221.3340331174397, + 717.8125449179371 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 824.7573414635369, + "ymin": 693.7949699700581, + "xmax": 852.8580774860328, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 824.7573414635369, + 721.8300961942786 + ], + [ + 826.603768769366, + 744.9362472634522 + ], + [ + 844.5534460542392, + 746.0914845939419 + ], + [ + 842.3729763315416, + 722.9429666193278 + ], + [ + 832.1069147788785, + 693.7949699700581 + ], + [ + 834.1723795702245, + 717.2884504502882 + ], + [ + 852.8580774860328, + 718.4639785332613 + ], + [ + 850.4308916810812, + 694.9256879231434 + ] + ], + "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": 725.7487448108303, + "ymin": 594.4423832856758, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -61.32330322265625, + -78.3179702758789, + 0.0 + ], + [ + -61.3271484375, + -77.8851547241211, + 0.0 + ], + [ + -49.2730712890625, + -77.77800750732422, + 0.0 + ], + [ + -49.26922607421875, + -78.21082305908203, + 0.0 + ], + [ + -61.32330322265625, + -78.3179702758789, + 8.446706771850586 + ], + [ + -61.3271484375, + -77.8851547241211, + 8.446706771850586 + ], + [ + -49.2730712890625, + -77.77800750732422, + 8.446706771850586 + ], + [ + -49.26922607421875, + -78.21082305908203, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1361.7637418024779, + 912.6253489969779 + ], + [ + 1350.9857048075592, + 888.1334549430031 + ], + [ + 725.9585439919853, + 838.9035921176156 + ], + [ + 725.7487448108303, + 861.6798101035918 + ], + [ + 1685.878922654003, + 681.823754640928 + ], + [ + 1662.3241706036947, + 652.3443367341921 + ], + [ + 761.7148193108624, + 594.4423832856758 + ], + [ + 762.2804047646665, + 621.009690446041 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3035069817188182073, + "instance_id": 14824, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.43640899658203, + "y": -78.83992767333984, + "z": 2.4819772243499756 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 665.1428968726169, + "xmax": 152.47005650867163, + "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": [ + [ + 98.30143656672192, + 913.9880728178481 + ], + [ + 152.47005650867163, + 791.7693471770351 + ], + [ + 55.97347102800916, + 785.094093581372 + ], + [ + -6.939918924713538, + 905.9981414709474 + ], + [ + -15.238772577910254, + 806.5462206758663 + ], + [ + 60.74781331319821, + 672.3360488946639 + ], + [ + -53.23146667356946, + 665.1428968726169 + ], + [ + -141.6156779441692, + 797.6243966315251 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6713771921265837202, + "instance_id": 37572, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_Poles_4", + "bbox_3d": { + "center_world": { + "x": -39.54796600341797, + "y": -83.9518051147461, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 564.1398771969826, + "xmax": 261.73302664052426, + "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": [ + [ + 261.73302664052426, + 814.1676352724885 + ], + [ + 241.08711904462098, + 812.526855653743 + ], + [ + -174.6081359015218, + 1913.1752548625557 + ], + [ + -137.61514721663832, + 1918.711833685829 + ], + [ + 108.45741567195341, + 566.0105290591932 + ], + [ + 79.72826070084955, + 564.1398771969826 + ], + [ + -1088.6694126979899, + 2459.164640172477 + ], + [ + -1014.4190809981255, + 2473.6046647457893 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 291.6265544744462, + "ymin": 111.64436813692924, + "xmax": 399.9844773472031, + "ymax": 269.9317441677649 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 383.1262664751145, + 269.9317441677649 + ], + [ + 399.9844773472031, + 231.96463481915558 + ], + [ + 344.2143113191945, + 229.8019078756105 + ], + [ + 324.5402259467773, + 267.5405008414801 + ], + [ + 356.2334483665428, + 148.83785417973198 + ], + [ + 376.2112929074151, + 113.63860414156781 + ], + [ + 315.01175945723395, + 111.64436813692924 + ], + [ + 291.6265544744462, + 146.61027148717312 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8405920204582788773, + "instance_id": 42398, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436763763427734, + "y": -78.8399658203125, + "z": 3.5914459228515625 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 699.6578843435577, + "xmax": 86.64851218675267, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.40412902832031, + -79.92923736572266, + 3.4281208515167236 + ], + [ + -37.40413284301758, + -77.75069427490234, + 3.428124189376831 + ], + [ + -35.469398498535156, + -77.75069427490234, + 3.428124189376831 + ], + [ + -35.46939468383789, + -79.92923736572266, + 3.4281208515167236 + ], + [ + -37.40412902832031, + -79.92923736572266, + 3.754767656326294 + ], + [ + -37.40413284301758, + -77.75069427490234, + 3.7547709941864014 + ], + [ + -35.469398498535156, + -77.75069427490234, + 3.7547709941864014 + ], + [ + -35.46939468383789, + -79.92923736572266, + 3.754767656326294 + ] + ], + "corners_2d": [ + [ + 21.758173420551657, + 838.9249806374039 + ], + [ + 86.64851218675267, + 715.3192215988865 + ], + [ + -15.323353126554593, + 708.6579691656975 + ], + [ + -90.09796478164992, + 830.8492829940998 + ], + [ + 13.163740985569348, + 830.7555884634417 + ], + [ + 79.67306031038584, + 706.3530482876176 + ], + [ + -23.53855098928443, + 699.6578843435577 + ], + [ + -100.18548116298155, + 822.6181148997524 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 191.56409908508323, + "ymin": 0.0, + "xmax": 293.0513975426664, + "ymax": 43.828762159167354 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 293.0513975426664, + -1.4363765721915343 + ], + [ + 284.1235942508318, + -1.6741135346547935 + ], + [ + 244.27842277324277, + 43.546289074865 + ], + [ + 253.98968883674416, + 43.828762159167354 + ], + [ + 251.0897871449988, + -174.1488409628605 + ], + [ + 241.10503206079488, + -174.3237493332581 + ], + [ + 191.56409908508323, + -140.6900416028152 + ], + [ + 202.53894928540706, + -140.47762008035374 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9860855723636234418, + "instance_id": 45592, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.436767578125, + "y": -78.8399658203125, + "z": 3.592546224594116 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 699.7225274307527, + "xmax": 86.50693847076093, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.40293884277344, + -79.92804718017578, + 3.4303059577941895 + ], + [ + -37.4029426574707, + -77.75189208984375, + 3.430309534072876 + ], + [ + -35.47059631347656, + -77.75188446044922, + 3.430309534072876 + ], + [ + -35.4705924987793, + -79.92803955078125, + 3.4303059577941895 + ], + [ + -37.40293884277344, + -79.92804718017578, + 3.7547829151153564 + ], + [ + -37.4029426574707, + -77.75189208984375, + 3.754786491394043 + ], + [ + -35.47059631347656, + -77.75188446044922, + 3.754786491394043 + ], + [ + -35.4705924987793, + -79.92803955078125, + 3.7547829151153564 + ] + ], + "corners_2d": [ + [ + 21.67128431679498, + 838.7917047260878 + ], + [ + 86.50693847076093, + 715.3175683496503 + ], + [ + -15.351962805857283, + 708.6632494322562 + ], + [ + -90.05043360685602, + 830.7259828100673 + ], + [ + 13.133249145775608, + 830.6752208160563 + ], + [ + 79.57571468379604, + 706.410503508409 + ], + [ + -23.51339112460596, + 699.7225274307527 + ], + [ + -100.06976988397116, + 822.5482235482134 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 302.2863527007543, + "ymin": 141.61817770122408, + "xmax": 381.47972935467345, + "ymax": 186.34550892288019 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 363.45843359456154, + 186.34550892288019 + ], + [ + 381.47972935467345, + 152.1018682169624 + ], + [ + 325.5259817060455, + 150.16551644831551 + ], + [ + 304.6496136724504, + 184.20210637420325 + ], + [ + 361.50349460375605, + 177.5779112716733 + ], + [ + 379.7434403802944, + 143.54206654830875 + ], + [ + 323.4201674569581, + 141.61817770122408 + ], + [ + 302.2863527007543, + 175.44681514713702 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 302.23766771973334, + "ymin": 141.59976335870272, + "xmax": 381.5353041397999, + "ymax": 186.42522962350952 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 363.4974365553662, + 186.42522962350952 + ], + [ + 381.5353041397999, + 152.1424702741768 + ], + [ + 325.5163764872299, + 150.2037486640757 + ], + [ + 304.6170265080906, + 184.27897453268713 + ], + [ + 361.5296421393709, + 177.5992998639469 + ], + [ + 379.78782520528273, + 143.52592489554067 + ], + [ + 323.3964779410227, + 141.59976335870272 + ], + [ + 302.23766771973334, + 175.46544675009108 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00051/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00051/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e326a6e207d19cd5be37b501c4315be9b4abab2e --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00051/meta.json @@ -0,0 +1,1773 @@ +{ + "frame_id": 51, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 25.5, + "sim_timestamp": 13734.575256706448 + }, + "drone_pose": { + "x": -48.11110136667335, + "y": -85.25051817502236, + "z": 20.000313594037408, + "pitch": -41.99031908400774, + "yaw": 86.07832883365691, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.05083334445953369, + -0.7415174841880798, + 0.6690050363540649, + 52.28009033203125 + ], + [ + 0.9976584315299988, + 0.06839263439178467, + 0.0, + -42.16794967651367 + ], + [ + -0.04575499892234802, + 0.6674385666847229, + 0.7432578802108765, + -73.96619415283203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -48.14600979307981, + "y": -84.74740607185379, + "z": 20.00023378010573 + }, + "t1_image_uv": [ + 818.988170670217, + -503.81660929497514 + ], + "t1_depth": 0.3713453229493399 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -64.18776321411133, + "z": 0.9972709906101227 + }, + "image_uv": [ + 640.0, + 359.9999999999999 + ], + "depth": 28.404932233766615, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 719, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -64.18775939941406, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.5199609398841858, + "y": 0.5557299852371216, + "z": 0.9111075401306152 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 619.3575583485922, + "ymin": 324.2785387031573, + "xmax": 660.1184865175646, + "ymax": 395.2322937817661 + }, + "corners_3d": [ + [ + -46.111454010009766, + -64.70771789550781, + 0.08616340160369873 + ], + [ + -47.2229118347168, + -64.70771789550781, + 0.08616340160369873 + ], + [ + -47.2229118347168, + -63.66779708862305, + 0.08616340160369873 + ], + [ + -46.111454010009766, + -63.66779708862305, + 0.08616340160369873 + ], + [ + -46.111454010009766, + -64.70771789550781, + 1.9083784818649292 + ], + [ + -47.2229118347168, + -64.70771789550781, + 1.9083784818649292 + ], + [ + -47.2229118347168, + -63.66779708862305, + 1.9083784818649292 + ], + [ + -46.111454010009766, + -63.66779708862305, + 1.9083784818649292 + ] + ], + "corners_2d": [ + [ + 620.2356844977646, + 393.45922283456457 + ], + [ + 657.4160972942288, + 395.2322937817661 + ], + [ + 659.2834719967041, + 371.62159816624273 + ], + [ + 623.073725338892, + 369.9403176202663 + ], + [ + 619.3575583485922, + 347.55910840462116 + ], + [ + 658.1914890402011, + 349.31640898098374 + ], + [ + 660.1184865175646, + 325.9409844335472 + ], + [ + 622.3422503580564, + 324.2785387031573 + ] + ], + "center_offset_px": [ + 0.0, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 51, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 87, + "semantic_pixel_counts": { + "1": 333265, + "2": 265516, + "3": 131037, + "4": 23395, + "5": 1145, + "6": 7640, + "9": 31266, + "10": 29073, + "12": 3503, + "14": 12057, + "20": 5793, + "21": 10340, + "24": 11476, + "25": 56094 + }, + "instance_pixel_counts": { + "143": 27510, + "339": 4219, + "620": 230, + "883": 25913, + "1132": 174, + "2470": 9, + "2703": 71821, + "3749": 333, + "4261": 257, + "5228": 264, + "5714": 660, + "6508": 311, + "6565": 2495, + "7539": 13322, + "8018": 6122, + "8530": 3119, + "8556": 7115, + "8810": 696, + "9068": 9633, + "9320": 22332, + "9580": 1254, + "10624": 213, + "11116": 200, + "11368": 22467, + "11370": 646, + "11596": 8839, + "12419": 5, + "12675": 17, + "15698": 5421, + "20308": 3679, + "20820": 795, + "20866": 26, + "22356": 3, + "22784": 3952, + "22893": 13691, + "23441": 8485, + "23552": 2423, + "23953": 14384, + "25928": 1145, + "25965": 14101, + "26696": 14556, + "26987": 5181, + "27460": 269, + "27559": 124, + "27719": 115962, + "28231": 28996, + "29095": 70, + "30548": 5165, + "30630": 1944, + "30863": 5981, + "31142": 1805, + "31572": 55, + "31654": 1545, + "32145": 13213, + "32911": 11968, + "34372": 39, + "34884": 236, + "37798": 4, + "39239": 56094, + "41796": 57, + "42391": 2091, + "44951": 2391, + "51815": 4868, + "52327": 147574, + "53863": 21, + "54375": 136003, + "54889": 128, + "55401": 4121, + "56173": 31266, + "56320": 719, + "56576": 610, + "56832": 478, + "56937": 3689, + "57088": 581, + "57344": 154, + "57600": 961, + "58368": 2360, + "58790": 82, + "59522": 1239, + "59762": 9158, + "60274": 6350, + "61094": 919, + "62827": 798, + "63083": 305, + "63339": 784, + "64594": 2105, + "64850": 223 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 719, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -64.18775939941406, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.49498045444488525, + "y": 0.46906980872154236, + "z": 0.884832501411438 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 622.4624834456085, + "ymin": 325.63900947797083, + "xmax": 657.1100094298283, + "ymax": 393.877763086586 + }, + "corners_3d": [ + [ + -46.19811248779297, + -64.6827392578125, + 0.11243844032287598 + ], + [ + -47.136253356933594, + -64.6827392578125, + 0.11243844032287598 + ], + [ + -47.136253356933594, + -63.692779541015625, + 0.11243844032287598 + ], + [ + -46.19811248779297, + -63.692779541015625, + 0.11243844032287598 + ], + [ + -46.19811248779297, + -64.6827392578125, + 1.882103443145752 + ], + [ + -47.136253356933594, + -64.6827392578125, + 1.882103443145752 + ], + [ + -47.136253356933594, + -63.692779541015625, + 1.882103443145752 + ], + [ + -46.19811248779297, + -63.692779541015625, + 1.882103443145752 + ] + ], + "corners_2d": [ + [ + 623.187099281292, + 392.3832523885368 + ], + [ + 654.5687768432164, + 393.877763086586 + ], + [ + 656.419595828676, + 371.4110070756749 + ], + [ + 625.8187927539893, + 369.9902853371474 + ], + [ + 622.4624834456085, + 347.8118915976671 + ], + [ + 655.1977655886756, + 349.29341334858634 + ], + [ + 657.1100094298283, + 327.04435098485555 + ], + [ + 625.2235074986771, + 325.63900947797083 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 610, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -61.19005584716797, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.4611474871635437, + "y": 0.43891605734825134, + "z": 0.8902146816253662 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 501.33359862571996, + "ymin": 259.7614763268244, + "xmax": 534.8135116823023, + "ymax": 323.4775181717334 + }, + "corners_3d": [ + [ + -42.20774841308594, + -61.732383728027344, + 0.10705137252807617 + ], + [ + -43.06639862060547, + -61.549869537353516, + 0.10705137252807617 + ], + [ + -42.87464141845703, + -60.647727966308594, + 0.10705137252807617 + ], + [ + -42.0159912109375, + -60.83024215698242, + 0.10705137252807617 + ], + [ + -42.20774841308594, + -61.732383728027344, + 1.8874807357788086 + ], + [ + -43.06639862060547, + -61.549869537353516, + 1.8874807357788086 + ], + [ + -42.87464141845703, + -60.647727966308594, + 1.8874807357788086 + ], + [ + -42.0159912109375, + -60.83024215698242, + 1.8874807357788086 + ] + ], + "corners_2d": [ + [ + 507.62963798372004, + 323.4775181717334 + ], + [ + 534.8135116823023, + 321.0407624622712 + ], + [ + 533.1467403292214, + 303.44017832142333 + ], + [ + 506.5395724514187, + 305.773941040612 + ], + [ + 502.34880987644334, + 279.471156130105 + ], + [ + 530.6300136656953, + 277.07221395258335 + ], + [ + 528.9911269646881, + 259.7614763268244 + ], + [ + 501.33359862571996, + 262.05511879789356 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 478, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -57.245052337646484, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4850439429283142, + "y": 0.29555419087409973, + "z": 0.9340041279792786 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 707.2930141738761, + "ymin": 199.2484137242, + "xmax": 729.854535289399, + "ymax": 260.1407138241487 + }, + "corners_3d": [ + [ + -48.67977523803711, + -57.758331298828125, + 0.0632668137550354 + ], + [ + -49.267642974853516, + -57.6965446472168, + 0.0632668137550354 + ], + [ + -49.16624069213867, + -56.731773376464844, + 0.0632668137550354 + ], + [ + -48.578372955322266, + -56.79356002807617, + 0.0632668137550354 + ], + [ + -48.67977523803711, + -57.758331298828125, + 1.9312751293182373 + ], + [ + -49.267642974853516, + -57.6965446472168, + 1.9312751293182373 + ], + [ + -49.16624069213867, + -56.731773376464844, + 1.9312751293182373 + ], + [ + -48.578372955322266, + -56.79356002807617, + 1.9312751293182373 + ] + ], + "corners_2d": [ + [ + 709.7343921739239, + 260.1407138241487 + ], + [ + 726.5235153840197, + 259.77951843279914 + ], + [ + 723.7319203879654, + 243.79389997775894 + ], + [ + 707.2930141738761, + 244.14013262244214 + ], + [ + 712.4203754470532, + 215.21371718558902 + ], + [ + 729.854535289399, + 214.86066735025884 + ], + [ + 726.8854682488615, + 199.2484137242 + ], + [ + 709.828650339524, + 199.5862933372815 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 581, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -64.18775939941406, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.33205077052116394, + "y": 0.5701806545257568, + "z": 0.9002522826194763 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 937.7259623981705, + "ymin": 343.2259789879902, + "xmax": 995.8180855972615, + "ymax": 405.92858920256145 + }, + "corners_3d": [ + [ + -55.59700393676758, + -64.51981353759766, + 0.097023606300354 + ], + [ + -56.737361907958984, + -64.51981353759766, + 0.097023606300354 + ], + [ + -56.737361907958984, + -63.855709075927734, + 0.097023606300354 + ], + [ + -55.59700393676758, + -63.855709075927734, + 0.097023606300354 + ], + [ + -55.59700393676758, + -64.51981353759766, + 1.8975281715393066 + ], + [ + -56.737361907958984, + -64.51981353759766, + 1.8975281715393066 + ], + [ + -56.737361907958984, + -63.855709075927734, + 1.8975281715393066 + ], + [ + -55.59700393676758, + -63.855709075927734, + 1.8975281715393066 + ] + ], + "corners_2d": [ + [ + 941.3650074817838, + 404.0650102323633 + ], + [ + 980.645928820622, + 405.92858920256145 + ], + [ + 976.3265215778333, + 390.3366445873887 + ], + [ + 937.7259623981705, + 388.5363149208433 + ], + [ + 954.758907597304, + 358.6215568716571 + ], + [ + 995.8180855972615, + 360.47073332908616 + ], + [ + 991.0384106615015, + 345.00967722238875 + ], + [ + 950.7219940212422, + 343.2259789879902 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 154, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -50.28268051147461, + "y": -75.31512451171875, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.48066413402557373, + "y": 0.30058354139328003, + "z": 0.93128502368927 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 756.7877924742663, + "ymin": 678.5182556843142, + "xmax": 797.4694362680461, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.933502197265625, + -75.76173400878906, + 0.06598591804504395 + ], + [ + -50.531375885009766, + -75.82457733154297, + 0.06598591804504395 + ], + [ + -50.631858825683594, + -74.86851501464844, + 0.06598591804504395 + ], + [ + -50.03398513793945, + -74.80567169189453, + 0.06598591804504395 + ], + [ + -49.933502197265625, + -75.76173400878906, + 1.928555965423584 + ], + [ + -50.531375885009766, + -75.82457733154297, + 1.928555965423584 + ], + [ + -50.631858825683594, + -74.86851501464844, + 1.928555965423584 + ], + [ + -50.03398513793945, + -74.80567169189453, + 1.928555965423584 + ] + ], + "corners_2d": [ + [ + 756.7877924742663, + 765.52461465008 + ], + [ + 785.3722000525753, + 770.3630765424158 + ], + [ + 788.0839304542196, + 727.4576818987814 + ], + [ + 760.448354075202, + 722.9389383104905 + ], + [ + 764.4335315826471, + 722.2492834199537 + ], + [ + 794.9279260068432, + 727.2300300194918 + ], + [ + 797.4694362680461, + 683.149441382855 + ], + [ + 768.0525485698518, + 678.5182556843142 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 961, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -72.35797882080078, + "z": 1.1455669403076172 + }, + "extent": { + "x": 0.37669798731803894, + "y": 0.32627683877944946, + "z": 0.9302165508270264 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 107.71356732047741, + "ymin": 523.3803484403903, + "xmax": 178.73107797594764, + "ymax": 601.8942106769052 + }, + "corners_3d": [ + [ + -35.02437973022461, + -72.65860748291016, + 0.21535038948059082 + ], + [ + -35.66267395019531, + -72.79428100585938, + 0.21535038948059082 + ], + [ + -35.81931686401367, + -72.0573501586914, + 0.21535038948059082 + ], + [ + -35.18102264404297, + -71.92167663574219, + 0.21535038948059082 + ], + [ + -35.02437973022461, + -72.65860748291016, + 2.0757834911346436 + ], + [ + -35.66267395019531, + -72.79428100585938, + 2.0757834911346436 + ], + [ + -35.81931686401367, + -72.0573501586914, + 2.0757834911346436 + ], + [ + -35.18102264404297, + -71.92167663574219, + 2.0757834911346436 + ] + ], + "corners_2d": [ + [ + 136.22235791804655, + 595.561954320711 + ], + [ + 159.39391523892454, + 601.8942106769052 + ], + [ + 178.73107797594764, + 576.7057226612249 + ], + [ + 155.97608533928997, + 570.6578229650487 + ], + [ + 107.71356732047741, + 548.5362975523033 + ], + [ + 132.0308729135677, + 554.9428676344539 + ], + [ + 153.1003304250337, + 529.4834790828484 + ], + [ + 129.2397518987791, + 523.3803484403903 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 2360, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 669.4955175809396, + "ymin": 8.992486140142034, + "xmax": 718.8261307852723, + "ymax": 83.98637484611248 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 717.1701252599919, + 39.86172943687251 + ], + [ + 673.3444794597519, + 38.70995521059325 + ], + [ + 669.4955175809396, + 82.64039620503814 + ], + [ + 716.8673011795264, + 83.98637484611248 + ], + [ + 718.8261307852723, + 10.10456591659755 + ], + [ + 674.0584762079757, + 8.992486140142034 + ], + [ + 670.1793979287302, + 51.480623815219644 + ], + [ + 718.6537228294524, + 52.78474118596819 + ] + ], + "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": 724.7505084309792, + "ymin": 625.4468863450679, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -61.32330322265625, + -78.3179702758789, + 0.0 + ], + [ + -61.3271484375, + -77.8851547241211, + 0.0 + ], + [ + -49.2730712890625, + -77.77800750732422, + 0.0 + ], + [ + -49.26922607421875, + -78.21082305908203, + 0.0 + ], + [ + -61.32330322265625, + -78.3179702758789, + 8.446706771850586 + ], + [ + -61.3271484375, + -77.8851547241211, + 8.446706771850586 + ], + [ + -49.2730712890625, + -77.77800750732422, + 8.446706771850586 + ], + [ + -49.26922607421875, + -78.21082305908203, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1374.437084797497, + 943.1687245722753 + ], + [ + 1363.2391565990747, + 917.6210577279328 + ], + [ + 725.0111782613335, + 865.4473740474191 + ], + [ + 724.7505084309792, + 889.1387420294413 + ], + [ + 1714.6637225567456, + 719.2430644587077 + ], + [ + 1689.694557330911, + 687.9007525808634 + ], + [ + 761.3729954422645, + 625.4468863450679 + ], + [ + 761.9028119900581, + 653.5521952854658 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3035069817188182073, + "instance_id": 14824, + "pixel_count": null, + "type_id": "BP_Lamppost_tall13_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.43640899658203, + "y": -78.83992767333984, + "z": 2.4819772243499756 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 690.7296981698978, + "xmax": 140.89694296272324, + "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": [ + [ + 84.34915317068521, + 942.8542582833128 + ], + [ + 140.89694296272324, + 815.8403013154666 + ], + [ + 42.7486336021617, + 808.777277393086 + ], + [ + -22.85681034482741, + 934.3708871104507 + ], + [ + -35.00012842756769, + 838.9602702894292 + ], + [ + 44.91375096726449, + 698.393813828668 + ], + [ + -71.37753962453257, + 690.7296981698978 + ], + [ + -164.22029675793726, + 829.4067299510687 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6713771921265837202, + "instance_id": 37572, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_Poles_4", + "bbox_3d": { + "center_world": { + "x": -39.54796600341797, + "y": -83.9518051147461, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 592.6365116862333, + "xmax": 252.0182681184359, + "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": [ + [ + 252.0182681184359, + 839.0725360092641 + ], + [ + 231.00623863416843, + 837.3390966758176 + ], + [ + -209.4528275256531, + 1997.947405456856 + ], + [ + -171.2801320109212, + 2003.9847416517944 + ], + [ + 90.5925324454081, + 594.6433983732463 + ], + [ + 61.148945238209876, + 592.6365116862333 + ], + [ + -1236.5051740035617, + 2688.8094003023666 + ], + [ + -1157.422718686403, + 2705.8787126584793 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 286.53468218346615, + "ymin": 118.6971625491409, + "xmax": 396.7947541399256, + "ymax": 278.48985942979084 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 379.49394681735504, + 278.48985942979084 + ], + [ + 396.7947541399256, + 239.70076403283235 + ], + [ + 340.4707936794412, + 237.44816082335993 + ], + [ + 320.2971555249198, + 275.99657606809507 + ], + [ + 351.88575011545703, + 156.81944227585285 + ], + [ + 372.42562198814466, + 120.77859778476665 + ], + [ + 310.55798025768337, + 118.6971625491409 + ], + [ + 286.53468218346615, + 154.4914278538253 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 187.64594270370418, + "ymin": 0.0, + "xmax": 290.7295893768513, + "ymax": 47.9778925643609 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 290.7295893768513, + 2.053080757731152 + ], + [ + 281.7447095059166, + 1.8071798233352183 + ], + [ + 241.22650282272036, + 47.685356910653866 + ], + [ + 251.00513610382342, + 47.9778925643609 + ], + [ + 248.15457063606715, + -171.58887851365478 + ], + [ + 238.09826182774987, + -171.7700997759341 + ], + [ + 187.64594270370418, + -137.58362357002744 + ], + [ + 198.70703077469477, + -137.36318739923013 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 297.4496004515858, + "ymin": 148.8627260038445, + "xmax": 377.8565628083193, + "ymax": 194.5140434742656 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 359.3397348712223, + 194.5140434742656 + ], + [ + 377.8565628083193, + 159.47659016839492 + ], + [ + 321.30869528318715, + 157.45684310956122 + ], + [ + 299.8749682829681, + 192.27573474379656 + ], + [ + 357.33192032380305, + 185.70018291304942 + ], + [ + 376.0759089228271, + 150.86977605938415 + ], + [ + 319.150564023347, + 148.8627260038445 + ], + [ + 297.4496004515858, + 183.4743537949245 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 297.400176266323, + "ymin": 148.84386500476612, + "xmax": 377.91305642535985, + "ymax": 194.59459739901234 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 359.3792068952303, + 194.59459739901234 + ], + [ + 377.91305642535985, + 159.51715068305762 + ], + [ + 321.29935928008524, + 157.4949349788561 + ], + [ + 299.84206457185786, + 192.3533108217337 + ], + [ + 357.35818760645884, + 185.72210318983406 + ], + [ + 376.12092807038465, + 150.85328474411756 + ], + [ + 319.12679732067187, + 148.84386500476612 + ], + [ + 297.400176266323, + 183.49339302930153 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00053/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00053/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fed3b07bd14d18feb35469e40ad6a72596b98bdd --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00053/meta.json @@ -0,0 +1,1664 @@ +{ + "frame_id": 53, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 26.5, + "sim_timestamp": 13758.958389208885 + }, + "drone_pose": { + "x": -48.18872795120786, + "y": -84.24386998685628, + "z": 20.00017274439536, + "pitch": -41.991700063976424, + "yaw": 85.8669072484139, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.053568124771118164, + -0.7413088083267212, + 0.6690229177474976, + 51.65153121948242 + ], + [ + 0.9973993301391602, + 0.07207363843917847, + 0.0, + -41.99164581298828 + ], + [ + -0.04821890592575073, + 0.6672829985618591, + 0.7432417869567871, + -73.403076171875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -48.24037046154175, + "y": -83.73974039227319, + "z": 20.000126465171544 + }, + "t1_image_uv": [ + 867.313698699906, + -503.9749733738182 + ], + "t1_depth": 0.37098028562053853 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -63.18776321411133, + "z": 0.9972709906101227 + }, + "image_uv": [ + 639.9999999999999, + 360.0 + ], + "depth": 28.403961110451686, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 731, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -63.18776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4847753942012787, + "y": 0.541918933391571, + "z": 0.875146210193634 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 619.9028943349472, + "ymin": 325.9637443695334, + "xmax": 659.6254086784122, + "ymax": 393.56715684327264 + }, + "corners_3d": [ + [ + -46.12526321411133, + -63.67253875732422, + 0.12212473154067993 + ], + [ + -47.209102630615234, + -63.67253875732422, + 0.12212473154067993 + ], + [ + -47.209102630615234, + -62.70298767089844, + 0.12212473154067993 + ], + [ + -46.12526321411133, + -62.70298767089844, + 0.12212473154067993 + ], + [ + -46.12526321411133, + -63.67253875732422, + 1.8724172115325928 + ], + [ + -47.209102630615234, + -63.67253875732422, + 1.8724172115325928 + ], + [ + -47.209102630615234, + -62.70298767089844, + 1.8724172115325928 + ], + [ + -46.12526321411133, + -62.70298767089844, + 1.8724172115325928 + ] + ], + "corners_2d": [ + [ + 620.724044108861, + 391.74854144117285 + ], + [ + 656.9695841991494, + 393.56715684327264 + ], + [ + 658.8416011105796, + 371.5611234735775 + ], + [ + 623.4791179083793, + 369.8304912855384 + ], + [ + 619.9028943349472, + 347.6685054505225 + ], + [ + 657.6940133567555, + 349.471456381578 + ], + [ + 659.6254086784122, + 327.67589189316544 + ], + [ + 622.7932665010441, + 325.9637443695334 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 53, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 82, + "semantic_pixel_counts": { + "1": 334034, + "2": 270000, + "3": 126877, + "4": 22045, + "5": 1204, + "6": 2879, + "9": 30746, + "10": 28161, + "12": 3758, + "14": 12661, + "20": 5688, + "21": 10810, + "24": 11784, + "25": 60953 + }, + "instance_pixel_counts": { + "143": 27081, + "339": 4387, + "620": 237, + "883": 26641, + "1132": 180, + "2470": 161, + "2703": 71797, + "3749": 351, + "4261": 272, + "5228": 277, + "5714": 702, + "6508": 357, + "6565": 2610, + "7539": 15230, + "8018": 6462, + "8530": 2854, + "8556": 7404, + "8810": 787, + "9068": 10341, + "9320": 24595, + "9580": 299, + "10624": 230, + "11116": 213, + "11368": 24668, + "11370": 695, + "11596": 9697, + "12419": 8, + "12675": 15, + "15698": 1820, + "20308": 3795, + "20820": 1357, + "20866": 54, + "22356": 260, + "22784": 1525, + "22893": 13511, + "23441": 6649, + "23953": 15243, + "25928": 1204, + "25965": 13858, + "26696": 12348, + "26987": 5042, + "27460": 285, + "27559": 109, + "27719": 119089, + "28231": 28071, + "29095": 47, + "30548": 4783, + "30630": 2020, + "30863": 6563, + "31142": 1819, + "31654": 1634, + "32145": 11320, + "32911": 13180, + "34372": 44, + "34884": 240, + "37798": 3, + "39239": 60953, + "41796": 58, + "42391": 2296, + "44951": 2625, + "52327": 150178, + "54375": 134593, + "55401": 4298, + "56173": 30746, + "56320": 731, + "56576": 611, + "56832": 496, + "56937": 3566, + "57088": 574, + "57344": 421, + "57600": 925, + "58368": 2466, + "58790": 128, + "59522": 1300, + "59762": 8748, + "60274": 6709, + "61094": 107, + "62827": 872, + "63083": 331, + "63339": 819, + "64594": 2231, + "64850": 304 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 731, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -63.18776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.49619871377944946, + "y": 0.42908933758735657, + "z": 0.889022171497345 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 623.7903879680885, + "ymin": 325.53014342644155, + "xmax": 655.8125163195887, + "ymax": 393.97836233790355 + }, + "corners_3d": [ + [ + -46.238094329833984, + -63.683963775634766, + 0.108248770236969 + ], + [ + -47.09627151489258, + -63.6839599609375, + 0.108248770236969 + ], + [ + -47.09627151489258, + -62.69156265258789, + 0.108248770236969 + ], + [ + -46.238094329833984, + -62.691566467285156, + 0.108248770236969 + ], + [ + -46.238094329833984, + -63.683963775634766, + 1.8862931728363037 + ], + [ + -47.09627151489258, + -63.6839599609375, + 1.8862931728363037 + ], + [ + -47.09627151489258, + -62.69156265258789, + 1.8862931728363037 + ], + [ + -46.238094329833984, + -62.691566467285156, + 1.8862931728363037 + ] + ], + "corners_2d": [ + [ + 624.4633223580527, + 392.5375602575743 + ], + [ + 653.1614482592103, + 393.97836233790355 + ], + [ + 655.1714966440841, + 371.46174271253903 + ], + [ + 627.1885919394173, + 370.0922245989546 + ], + [ + 623.7903879680885, + 347.75398420453837 + ], + [ + 653.7324609395184, + 349.1822142636716 + ], + [ + 655.8125163195887, + 326.884767811421 + ], + [ + 626.6481720929648, + 325.53014342644155 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 611, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -60.19005584716797, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.42732179164886475, + "y": 0.5147632360458374, + "z": 0.8788758516311646 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 499.4790331557198, + "ymin": 260.23232417243736, + "xmax": 537.4251298204925, + "ymax": 322.43475267534615 + }, + "corners_3d": [ + [ + -42.12652587890625, + -60.715065002441406, + 0.11839020252227783 + ], + [ + -43.1335563659668, + -60.501014709472656, + 0.11839020252227783 + ], + [ + -42.95586395263672, + -59.66504669189453, + 0.11839020252227783 + ], + [ + -41.94883346557617, + -59.87909698486328, + 0.11839020252227783 + ], + [ + -42.12652587890625, + -60.715065002441406, + 1.876141905784607 + ], + [ + -43.1335563659668, + -60.501014709472656, + 1.876141905784607 + ], + [ + -42.95586395263672, + -59.66504669189453, + 1.876141905784607 + ], + [ + -41.94883346557617, + -59.87909698486328, + 1.876141905784607 + ] + ], + "corners_2d": [ + [ + 505.56658489123663, + 322.43475267534615 + ], + [ + 537.4251298204925, + 319.6576978108319 + ], + [ + 535.92344456817, + 303.358343280154 + ], + [ + 504.69236489922685, + 306.0264152674713 + ], + [ + 500.2779052364446, + 279.00031085722543 + ], + [ + 533.4038708836853, + 276.2660355031488 + ], + [ + 531.9271429180094, + 260.23232417243736 + ], + [ + 499.4790331557198, + 262.8552110763434 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 496, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -56.245052337646484, + "z": 0.9973637461662292 + }, + "extent": { + "x": 0.4833984375, + "y": 0.43635985255241394, + "z": 0.905910313129425 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 704.1725114337676, + "ymin": 200.06128445628502, + "xmax": 734.6610023504759, + "ymax": 259.6834334364375 + }, + "corners_3d": [ + [ + -48.53956604003906, + -56.77141571044922, + 0.0914534330368042 + ], + [ + -49.40750503540039, + -56.68019104003906, + 0.0914534330368042 + ], + [ + -49.30644989013672, + -55.71868896484375, + 0.0914534330368042 + ], + [ + -48.43851089477539, + -55.809913635253906, + 0.0914534330368042 + ], + [ + -48.53956604003906, + -56.77141571044922, + 1.9032740592956543 + ], + [ + -49.40750503540039, + -56.68019104003906, + 1.9032740592956543 + ], + [ + -49.30644989013672, + -55.71868896484375, + 1.9032740592956543 + ], + [ + -48.43851089477539, + -55.809913635253906, + 1.9032740592956543 + ] + ], + "corners_2d": [ + [ + 706.4395163160558, + 259.6834334364375 + ], + [ + 731.2548732996448, + 259.2042939209106 + ], + [ + 728.4712627281649, + 243.27025504836746 + ], + [ + 704.1725114337676, + 243.72959411368873 + ], + [ + 708.9210157759825, + 216.10317388989625 + ], + [ + 734.6610023504759, + 215.63450830809992 + ], + [ + 731.7020440038713, + 200.06128445628502 + ], + [ + 706.5174471415419, + 200.50988267115446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 574, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -63.18776321411133, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.31609129905700684, + "y": 0.3299926817417145, + "z": 0.8735949397087097 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 946.3598330024187, + "ymin": 345.4394010086861, + "xmax": 987.0386049255699, + "ymax": 405.37532252211076 + }, + "corners_3d": [ + [ + -55.837188720703125, + -63.50385284423828, + 0.1236809492111206 + ], + [ + -56.49717712402344, + -63.50385284423828, + 0.1236809492111206 + ], + [ + -56.49717712402344, + -62.871673583984375, + 0.1236809492111206 + ], + [ + -55.837188720703125, + -62.871673583984375, + 0.1236809492111206 + ], + [ + -55.837188720703125, + -63.50385284423828, + 1.87087082862854 + ], + [ + -56.49717712402344, + -63.50385284423828, + 1.87087082862854 + ], + [ + -56.49717712402344, + -62.871673583984375, + 1.87087082862854 + ], + [ + -55.837188720703125, + -62.871673583984375, + 1.87087082862854 + ] + ], + "corners_2d": [ + [ + 949.8920865074858, + 404.2376060396441 + ], + [ + 972.6676311488395, + 405.37532252211076 + ], + [ + 968.7590759640715, + 390.52199373013207 + ], + [ + 946.3598330024187, + 389.42111166344904 + ], + [ + 963.2617065886852, + 360.1343760196096 + ], + [ + 987.0386049255699, + 361.2636164427015 + ], + [ + 982.7194179458677, + 346.5305432620826 + ], + [ + 959.3523324516766, + 345.4394010086861 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 421, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -50.28268051147461, + "y": -74.31512451171875, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.4637182950973511, + "y": 0.45823732018470764, + "z": 0.9068928956985474 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 747.4765020032355, + "ymin": 679.0963816646182, + "xmax": 803.1503873909958, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.778480529785156, + -74.72840118408203, + 0.09038299322128296 + ], + [ + -50.689937591552734, + -74.82420349121094, + 0.09038299322128296 + ], + [ + -50.78688049316406, + -73.90184783935547, + 0.09038299322128296 + ], + [ + -49.875423431396484, + -73.80604553222656, + 0.09038299322128296 + ], + [ + -49.778480529785156, + -74.72840118408203, + 1.9041688442230225 + ], + [ + -50.689937591552734, + -74.82420349121094, + 1.9041688442230225 + ], + [ + -50.78688049316406, + -73.90184783935547, + 1.9041688442230225 + ], + [ + -49.875423431396484, + -73.80604553222656, + 1.9041688442230225 + ] + ], + "corners_2d": [ + [ + 747.4765020032355, + 763.371111256251 + ], + [ + 791.0569898206653, + 770.9026305210393 + ], + [ + 793.6539678763493, + 729.4020009123805 + ], + [ + 751.4690093509578, + 722.3514268394459 + ], + [ + 754.3135288390422, + 721.1868124452768 + ], + [ + 800.7271065774706, + 728.9337669856119 + ], + [ + 803.1503873909958, + 686.3186855304251 + ], + [ + 758.3164366766943, + 679.0963816646182 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 925, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -71.35797882080078, + "z": 1.1455131769180298 + }, + "extent": { + "x": 0.3276098668575287, + "y": 0.5828295946121216, + "z": 0.9057120084762573 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 99.69020668480107, + "ymin": 521.7372499450709, + "xmax": 185.6989511213111, + "ymax": 600.6623786003076 + }, + "corners_3d": [ + [ + -34.78364181518555, + -71.5572509765625, + 0.23980116844177246 + ], + [ + -35.923828125, + -71.79960632324219, + 0.23980116844177246 + ], + [ + -36.060054779052734, + -71.15870666503906, + 0.23980116844177246 + ], + [ + -34.91986846923828, + -70.91635131835938, + 0.23980116844177246 + ], + [ + -34.78364181518555, + -71.5572509765625, + 2.051225185394287 + ], + [ + -35.923828125, + -71.79960632324219, + 2.051225185394287 + ], + [ + -36.060054779052734, + -71.15870666503906, + 2.051225185394287 + ], + [ + -34.91986846923828, + -70.91635131835938, + 2.051225185394287 + ] + ], + "corners_2d": [ + [ + 127.74122464932407, + 589.2684927122333 + ], + [ + 168.93400502146665, + 600.6623786003076 + ], + [ + 185.6989511213111, + 578.7348145142433 + ], + [ + 145.1459797405335, + 567.7864811389645 + ], + [ + 99.69020668480107, + 543.4222140080274 + ], + [ + 142.85499882024482, + 554.9426920907597 + ], + [ + 161.07432160263818, + 532.7831910883069 + ], + [ + 118.6089774326066, + 521.7372499450709 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 2466, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 670.0453378283123, + "ymin": 17.34261516899261, + "xmax": 720.5257226072167, + "ymax": 94.22593977858264 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 718.8066333769218, + 48.61634278325789 + ], + [ + 674.277136116306, + 47.357207878995496 + ], + [ + 670.0453378283123, + 92.75072064932903 + ], + [ + 718.2385804782115, + 94.22593977858264 + ], + [ + 720.5257226072167, + 18.55919457101527 + ], + [ + 675.0231178102163, + 17.34261516899261 + ], + [ + 670.7543131862276, + 61.27846924328264 + ], + [ + 720.0894354262872, + 62.70896248581175 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 143619947594126905, + "instance_id": 14614, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_Poles_4", + "bbox_3d": { + "center_world": { + "x": -55.298187255859375, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 721.5963451915412, + "ymin": 693.0823129849701, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -61.32330322265625, + -78.3179702758789, + 0.0 + ], + [ + -61.3271484375, + -77.8851547241211, + 0.0 + ], + [ + -49.2730712890625, + -77.77800750732422, + 0.0 + ], + [ + -49.26922607421875, + -78.21082305908203, + 0.0 + ], + [ + -61.32330322265625, + -78.3179702758789, + 8.446706771850586 + ], + [ + -61.3271484375, + -77.8851547241211, + 8.446706771850586 + ], + [ + -49.2730712890625, + -77.77800750732422, + 8.446706771850586 + ], + [ + -49.26922607421875, + -78.21082305908203, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1400.7785864372156, + 1009.2294431066078 + ], + [ + 1388.6852044471434, + 981.3262609338432 + ], + [ + 722.0084294793207, + 921.8655280711733 + ], + [ + 721.5963451915412, + 947.5602575404888 + ], + [ + 1777.27764328425, + 802.7285359727535 + ], + [ + 1749.079464349259, + 767.0338214895585 + ], + [ + 759.1882157711756, + 693.0823129849701 + ], + [ + 759.5660497045967, + 724.6930477213496 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6713771921265837202, + "instance_id": 37572, + "pixel_count": null, + "type_id": "AmericanLights_Town04_14_Poles_4", + "bbox_3d": { + "center_world": { + "x": -39.54796600341797, + "y": -83.9518051147461, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 653.8492056465275, + "xmax": 230.646157713916, + "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": [ + [ + 230.646157713916, + 891.3401106601772 + ], + [ + 208.87993997036796, + 889.3802270308123 + ], + [ + -289.3098204378557, + 2184.576333952379 + ], + [ + -248.61181297350606, + 2191.8820527724615 + ], + [ + 50.77761012189137, + 656.1934433283257 + ], + [ + 19.83011215965962, + 653.8492056465275 + ], + [ + -1616.5006138969989, + 3267.222488952907 + ], + [ + -1526.0854466411265, + 3292.2017696128023 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 276.0919703913157, + "ymin": 133.13782849168126, + "xmax": 390.33140458921685, + "ymax": 296.02205300963016 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 372.0473617869846, + 296.02205300963016 + ], + [ + 390.33140458921685, + 255.52773389929715 + ], + [ + 332.8965531239287, + 253.05218518019058 + ], + [ + 311.62416758019594, + 293.2760259618023 + ], + [ + 342.9426185073079, + 173.2308322384705 + ], + [ + 364.72583151109876, + 135.4350098577739 + ], + [ + 301.513688268544, + 133.13782849168126 + ], + [ + 276.0919703913157, + 170.65466875867426 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 180.2202611443742, + "ymin": 0.0, + "xmax": 286.5547767507623, + "ymax": 56.3077823517321 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 286.5547767507623, + 9.05201693381889 + ], + [ + 277.4591813666248, + 8.785638961867505 + ], + [ + 235.50485935697475, + 55.990103259651676 + ], + [ + 245.41420737884994, + 56.3077823517321 + ], + [ + 242.79673933419178, + -166.43396887428196 + ], + [ + 232.60125060811436, + -166.6309471356385 + ], + [ + 180.2202611443742, + -131.324916206615 + ], + [ + 191.44920477349513, + -131.08455639040426 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 287.5399288868224, + "ymin": 163.68554831508348, + "xmax": 370.4939239331085, + "ymax": 211.2879157412131 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 350.87995856531273, + 211.2879157412131 + ], + [ + 370.4939239331085, + 174.59800018351694 + ], + [ + 312.75162017272174, + 172.37177289965342 + ], + [ + 290.09491563158844, + 208.81493859225813 + ], + [ + 348.7614442437775, + 202.38351270601808 + ], + [ + 368.62110907058155, + 165.89846285076203 + ], + [ + 310.48506091015594, + 163.68554831508348 + ], + [ + 287.5399288868224, + 199.9234822589103 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 287.488958382888, + "ymin": 163.66574005019112, + "xmax": 370.55233789140397, + "ymax": 211.37018994841748 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 350.9203463767155, + 211.37018994841748 + ], + [ + 370.55233789140397, + 174.63846134417088 + ], + [ + 312.742901069592, + 172.4095203837207 + ], + [ + 290.061347776963, + 208.8939250217185 + ], + [ + 348.78789544651164, + 202.40656413473027 + ], + [ + 368.6674579327891, + 165.8812645325269 + ], + [ + 310.4611939042466, + 163.66574005019112 + ], + [ + 287.488958382888, + 199.94334612003138 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00056/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00056/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5fa028a1840bc3809a7e9de0a706bbc4caac22b3 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00056/meta.json @@ -0,0 +1,1453 @@ +{ + "frame_id": 56, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 28.0, + "sim_timestamp": 13794.102487069787 + }, + "drone_pose": { + "x": -48.374170346238586, + "y": -82.7289296043137, + "z": 20.000065781643684, + "pitch": -41.992499050927705, + "yaw": 85.36197496768737, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.060098111629486084, + -0.7407985925674438, + 0.669033408164978, + 50.811954498291016 + ], + [ + 0.9967254400253296, + 0.080860435962677, + -2.9802322387695312e-08, + -41.52627182006836 + ], + [ + -0.05409833788871765, + 0.6668425798416138, + 0.7432323694229126, + -72.6488265991211 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -48.45791428582137, + "y": -82.2216666432202, + "z": 20.000046680494567 + }, + "t1_image_uv": [ + 962.3320774195088, + -504.09379310870725 + ], + "t1_depth": 0.3707596477676315 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -61.68776321411133, + "z": 0.997275874465704 + }, + "image_uv": [ + 640.0000000000001, + 360.00000000000006 + ], + "depth": 28.403353910793633, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 715, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -61.68776321411133, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.5096679329872131, + "y": 0.5838866829872131, + "z": 0.90863037109375 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 618.2079153209162, + "ymin": 324.37523835314653, + "xmax": 661.2616167864253, + "ymax": 395.13831533181474 + }, + "corners_3d": [ + [ + -46.08329772949219, + -62.19742965698242, + 0.08864551782608032 + ], + [ + -47.251068115234375, + -62.19742965698242, + 0.08864551782608032 + ], + [ + -47.251068115234375, + -61.178096771240234, + 0.08864551782608032 + ], + [ + -46.08329772949219, + -61.178096771240234, + 0.08864551782608032 + ], + [ + -46.08329772949219, + -62.19742965698242, + 1.9059062004089355 + ], + [ + -47.251068115234375, + -62.19742965698242, + 1.9059062004089355 + ], + [ + -47.251068115234375, + -61.178096771240234, + 1.9059062004089355 + ], + [ + -46.08329772949219, + -61.178096771240234, + 1.9059062004089355 + ] + ], + "corners_2d": [ + [ + 619.1320907460091, + 392.9368453766441 + ], + [ + 658.1523146896637, + 395.13831533181474 + ], + [ + 660.3809776195711, + 372.0039865867961 + ], + [ + 622.3568334134363, + 369.91419316301483 + ], + [ + 618.2079153209162, + 347.1649004866717 + ], + [ + 658.9582851781142, + 349.34680538998606 + ], + [ + 661.2616167864253, + 326.4417474800514 + ], + [ + 621.5963886673112, + 324.37523835314653 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 56, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 79, + "semantic_pixel_counts": { + "1": 334176, + "2": 271825, + "3": 120299, + "4": 19660, + "5": 1322, + "6": 1458, + "9": 30065, + "10": 28424, + "12": 3774, + "14": 12823, + "20": 5656, + "21": 11590, + "24": 12136, + "25": 68392 + }, + "instance_pixel_counts": { + "143": 26413, + "339": 4646, + "620": 258, + "883": 28318, + "1132": 189, + "2470": 150, + "2703": 69715, + "3749": 396, + "4261": 301, + "4678": 179, + "5228": 296, + "5714": 756, + "6508": 434, + "6565": 2794, + "7539": 17394, + "8018": 7019, + "8530": 1397, + "8556": 6545, + "8810": 906, + "9068": 11522, + "9320": 28288, + "10624": 255, + "11116": 222, + "11368": 28266, + "11370": 804, + "11596": 11104, + "12419": 12, + "12675": 19, + "20308": 3983, + "20820": 1791, + "20866": 94, + "22356": 1083, + "22893": 13244, + "23441": 3451, + "23953": 16694, + "25928": 1322, + "25965": 13446, + "26696": 8556, + "26987": 4928, + "27460": 307, + "27559": 100, + "27719": 120671, + "28231": 28321, + "29095": 35, + "30548": 3327, + "30630": 2125, + "30863": 7500, + "31142": 1846, + "31654": 1816, + "32145": 6425, + "32911": 15199, + "34372": 49, + "34884": 259, + "37798": 1, + "39239": 68392, + "41796": 63, + "42391": 2623, + "44951": 3014, + "52327": 146678, + "54375": 130944, + "55401": 4163, + "56173": 30065, + "56320": 715, + "56576": 601, + "56832": 483, + "56937": 3467, + "57088": 557, + "57344": 377, + "57600": 1041, + "58368": 2639, + "58790": 61, + "59522": 1364, + "59762": 7448, + "60274": 7314, + "62827": 997, + "63083": 381, + "63339": 874, + "64594": 1597, + "64850": 468 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 715, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -61.68776321411133, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.4872997999191284, + "y": 0.5222729444503784, + "z": 0.9035429954528809 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 620.4301726381307, + "ymin": 325.10406202154456, + "xmax": 659.1111959970237, + "ymax": 394.3785854128039 + }, + "corners_3d": [ + [ + -46.1449089050293, + -62.17506408691406, + 0.09373289346694946 + ], + [ + -47.189456939697266, + -62.17506408691406, + 0.09373289346694946 + ], + [ + -47.189456939697266, + -61.200462341308594, + 0.09373289346694946 + ], + [ + -46.1449089050293, + -61.200462341308594, + 0.09373289346694946 + ], + [ + -46.1449089050293, + -62.17506408691406, + 1.9008188247680664 + ], + [ + -47.189456939697266, + -62.17506408691406, + 1.9008188247680664 + ], + [ + -47.189456939697266, + -61.200462341308594, + 1.9008188247680664 + ], + [ + -46.1449089050293, + -61.200462341308594, + 1.9008188247680664 + ] + ], + "corners_2d": [ + [ + 621.2551858301421, + 392.4117258148893 + ], + [ + 656.1421057802143, + 394.3785854128039 + ], + [ + 658.3236209898697, + 372.26588520243746 + ], + [ + 624.2887636824931, + 370.3945409299303 + ], + [ + 620.4301726381307, + 346.89990142368686 + ], + [ + 656.8541936201453, + 348.8492802648084 + ], + [ + 659.1111959970237, + 326.95476282444514 + ], + [ + 623.6149763602797, + 325.10406202154456 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 601, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -58.69005584716797, + "z": 0.9972611665725708 + }, + "extent": { + "x": 0.46931156516075134, + "y": 0.4854053258895874, + "z": 0.9254540801048279 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 501.3813632149492, + "ymin": 257.78070074833806, + "xmax": 537.5553465651399, + "ymax": 323.5324664217843 + }, + "corners_3d": [ + [ + -42.163970947265625, + -59.25003433227539, + 0.07180708646774292 + ], + [ + -43.11356735229492, + -59.04819107055664, + 0.07180708646774292 + ], + [ + -42.918418884277344, + -58.13007736206055, + 0.07180708646774292 + ], + [ + -41.96882247924805, + -58.3319206237793, + 0.07180708646774292 + ], + [ + -42.163970947265625, + -59.25003433227539, + 1.922715187072754 + ], + [ + -43.11356735229492, + -59.04819107055664, + 1.922715187072754 + ], + [ + -42.918418884277344, + -58.13007736206055, + 1.922715187072754 + ], + [ + -41.96882247924805, + -58.3319206237793, + 1.922715187072754 + ] + ], + "corners_2d": [ + [ + 507.5297306398466, + 323.5324664217843 + ], + [ + 537.5553465651399, + 321.079059292482 + ], + [ + 536.1570729853689, + 303.17144597467717 + ], + [ + 506.7808382962211, + 305.51937952180685 + ], + [ + 502.03620746006027, + 277.7938557969965 + ], + [ + 533.3200948050373, + 275.3802014282886 + ], + [ + 531.9609373729155, + 257.78070074833806 + ], + [ + 501.3813632149492, + 260.08643920523133 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 483, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -54.745052337646484, + "z": 0.9974028468132019 + }, + "extent": { + "x": 0.4817480444908142, + "y": 0.3181127905845642, + "z": 0.9472616314888 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 709.2254169436914, + "ymin": 199.54764485577806, + "xmax": 732.94528864317, + "ymax": 260.9119621652748 + }, + "corners_3d": [ + [ + -48.6569938659668, + -55.25741195678711, + 0.050141215324401855 + ], + [ + -49.28973388671875, + -55.19091033935547, + 0.050141215324401855 + ], + [ + -49.189022064208984, + -54.23269271850586, + 0.050141215324401855 + ], + [ + -48.55628204345703, + -54.2991943359375, + 0.050141215324401855 + ], + [ + -48.6569938659668, + -55.25741195678711, + 1.944664478302002 + ], + [ + -49.28973388671875, + -55.19091033935547, + 1.944664478302002 + ], + [ + -49.189022064208984, + -54.23269271850586, + 1.944664478302002 + ], + [ + -48.55628204345703, + -54.2991943359375, + 1.944664478302002 + ] + ], + "corners_2d": [ + [ + 711.3495366543187, + 260.9119621652748 + ], + [ + 729.4486977951204, + 260.65677721078845 + ], + [ + 726.9486993207177, + 244.7439347293897 + ], + [ + 709.2254169436914, + 244.9886096582988 + ], + [ + 714.1395899286605, + 215.33401309881668 + ], + [ + 732.94528864317, + 215.08464934138377 + ], + [ + 730.2741423931783, + 199.54764485577806 + ], + [ + 711.873912814856, + 199.78634976367596 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 557, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -61.68776321411133, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.32194334268569946, + "y": 0.5764355063438416, + "z": 0.8780328035354614 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 938.4548105353626, + "ymin": 346.58570900914964, + "xmax": 996.5461655006613, + "ymax": 408.17220343984246 + }, + "corners_3d": [ + [ + -55.59074783325195, + -62.009708404541016, + 0.1192430853843689 + ], + [ + -56.74361801147461, + -62.00970458984375, + 0.1192430853843689 + ], + [ + -56.74361801147461, + -61.36581802368164, + 0.1192430853843689 + ], + [ + -55.59074783325195, + -61.365821838378906, + 0.1192430853843689 + ], + [ + -55.59074783325195, + -62.009708404541016, + 1.8753087520599365 + ], + [ + -56.74361801147461, + -62.00970458984375, + 1.8753087520599365 + ], + [ + -56.74361801147461, + -61.36581802368164, + 1.8753087520599365 + ], + [ + -55.59074783325195, + -61.365821838378906, + 1.8753087520599365 + ] + ], + "corners_2d": [ + [ + 941.7287578973709, + 405.932032873031 + ], + [ + 981.6636450090072, + 408.17220343984246 + ], + [ + 977.716291521394, + 392.96894054102273 + ], + [ + 938.4548105353626, + 390.80272041247724 + ], + [ + 954.8380815088135, + 361.5923874017081 + ], + [ + 996.5461655006613, + 363.8162424726496 + ], + [ + 992.1712372998968, + 348.7330414691825 + ], + [ + 951.1971225493835, + 346.58570900914964 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 377, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -50.28268051147461, + "y": -72.81512451171875, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.486440509557724, + "y": 0.3417358696460724, + "z": 0.9514473676681519 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 747.8930898249108, + "ymin": 678.882219822067, + "xmax": 793.168452371923, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.891971588134766, + -73.26317596435547, + 0.04582357406616211 + ], + [ + -50.57169723510742, + -73.33462524414062, + 0.04582357406616211 + ], + [ + -50.67338943481445, + -72.36707305908203, + 0.04582357406616211 + ], + [ + -49.9936637878418, + -72.29562377929688, + 0.04582357406616211 + ], + [ + -49.891971588134766, + -73.26317596435547, + 1.9487183094024658 + ], + [ + -50.57169723510742, + -73.33462524414062, + 1.9487183094024658 + ], + [ + -50.67338943481445, + -72.36707305908203, + 1.9487183094024658 + ], + [ + -49.9936637878418, + -72.29562377929688, + 1.9487183094024658 + ] + ], + "corners_2d": [ + [ + 747.8930898249108, + 767.3078866648907 + ], + [ + 780.3539526664192, + 773.2174049452929 + ], + [ + 783.8329742960398, + 729.7584031731557 + ], + [ + 752.4560103809206, + 724.2432843538277 + ], + [ + 755.1232733177624, + 723.1358823188737 + ], + [ + 789.8060776705131, + 729.2242483095505 + ], + [ + 793.168452371923, + 684.5384231874136 + ], + [ + 759.7202361229504, + 678.882219822067 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 1041, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -69.85797882080078, + "z": 1.145522952079773 + }, + "extent": { + "x": 0.3625781238079071, + "y": 0.4580712914466858, + "z": 0.9321321845054626 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 101.89308927768911, + "ymin": 517.4648270512558, + "xmax": 181.43641002828065, + "ymax": 597.674180643488 + }, + "corners_3d": [ + [ + -34.89840316772461, + -70.11739349365234, + 0.2133907675743103 + ], + [ + -35.794525146484375, + -70.30786895751953, + 0.2133907675743103 + ], + [ + -35.94529342651367, + -69.59856414794922, + 0.2133907675743103 + ], + [ + -35.049171447753906, + -69.40808868408203, + 0.2133907675743103 + ], + [ + -34.89840316772461, + -70.11739349365234, + 2.077655076980591 + ], + [ + -35.794525146484375, + -70.30786895751953, + 2.077655076980591 + ], + [ + -35.94529342651367, + -69.59856414794922, + 2.077655076980591 + ], + [ + -35.049171447753906, + -69.40808868408203, + 2.077655076980591 + ] + ], + "corners_2d": [ + [ + 130.58673597034266, + 588.490388704754 + ], + [ + 162.63435820040382, + 597.674180643488 + ], + [ + 181.43641002828065, + 573.6786879861731 + ], + [ + 149.9276917601298, + 564.888949864089 + ], + [ + 101.89308927768911, + 541.2897033488587 + ], + [ + 135.50701091922832, + 550.5761151629567 + ], + [ + 155.97654297645414, + 526.3310088078449 + ], + [ + 122.95253614209719, + 517.4648270512558 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 2639, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 671.9025602359246, + "ymin": 30.457546212268312, + "xmax": 724.4633181461377, + "ymax": 110.40961866630093 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 722.6150333675677, + 62.423298961072874 + ], + [ + 676.9822147368739, + 60.92525981088892 + ], + [ + 671.9025602359246, + 108.6474815640749 + ], + [ + 721.3855178016358, + 110.40961866630093 + ], + [ + 724.4633181461377, + 31.906523118398525 + ], + [ + 677.8073539802895, + 30.457546212268312 + ], + [ + 672.6759332593389, + 76.70122347786804 + ], + [ + 723.3642540734404, + 78.41210829660042 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 259.6722058396775, + "ymin": 155.5082684162249, + "xmax": 380.3653288972011, + "ymax": 323.2461240434707 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 360.2920767794629, + 323.2461240434707 + ], + [ + 380.3653288972011, + 280.04986651025376 + ], + [ + 321.2861285152762, + 277.09170772704664 + ], + [ + 298.0514688759174, + 319.95378849022705 + ], + [ + 328.7589539451166, + 198.87333420847065 + ], + [ + 352.78560600542824, + 158.27138777064826 + ], + [ + 287.57192765506136, + 155.5082684162249 + ], + [ + 259.6722058396775, + 195.76191425983077 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 170.54484912993598, + "ymin": 0.0, + "xmax": 281.8707652493489, + "ymax": 68.71411539830666 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 281.8707652493489, + 19.462339171016993 + ], + [ + 272.6229924325964, + 19.151234689953696 + ], + [ + 228.24052236082213, + 68.34175454649892 + ], + [ + 238.32927085316396, + 68.71411539830666 + ], + [ + 236.51671778047927, + -158.723158132835 + ], + [ + 226.12893327990497, + -158.95436993204373 + ], + [ + 170.54484912993598, + -121.95878716696893 + ], + [ + 182.0054920117998, + -121.67534173180132 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 271.9807675874043, + "ymin": 186.62216417322475, + "xmax": 359.09156775206895, + "ymax": 237.43803084404726 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 337.4944406866806, + 237.43803084404726 + ], + [ + 359.09156775206895, + 198.11405376315955 + ], + [ + 299.5742525170854, + 195.44162778828212 + ], + [ + 274.74461488541687, + 234.4585751826378 + ], + [ + 335.19611074135247, + 228.40419713041535 + ], + [ + 357.07130888249833, + 189.27987793863707 + ], + [ + 297.13533591965194, + 186.62216417322475 + ], + [ + 271.9807675874043, + 225.4387653448927 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 271.9272927938969, + "ymin": 186.6007834313848, + "xmax": 359.15309221209804, + "ymax": 237.52303332456336 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 337.5360927574081, + 237.52303332456336 + ], + [ + 359.15309221209804, + 198.1543441848585 + ], + [ + 299.56671304889073, + 195.47867423438933 + ], + [ + 274.7099643067831, + 234.53962082489574 + ], + [ + 335.2226353758484, + 228.4291375199062 + ], + [ + 357.11982433197807, + 189.2616265872423 + ], + [ + 297.11151085565615, + 186.6007834313848 + ], + [ + 271.9272927938969, + 225.45985700922904 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00057/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00057/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b947fe6dec3587765a8ce17259d19f629c2e2cbe --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00057/meta.json @@ -0,0 +1,1455 @@ +{ + "frame_id": 57, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 28.5, + "sim_timestamp": 13808.059182473691 + }, + "drone_pose": { + "x": -48.45791428582137, + "y": -82.2216666432202, + "z": 20.000046680494567, + "pitch": -41.992882958484, + "yaw": 85.13383069201605, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.06304705142974854, + -0.7405490279197693, + 0.6690382361412048, + 50.563507080078125 + ], + [ + 0.9963955283164978, + 0.08482873439788818, + 0.0, + -41.308494567871094 + ], + [ + -0.05675363540649414, + 0.6666267514228821, + 0.7432279586791992, + -72.42591094970703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -48.55378075000961, + "y": -81.7127680844358, + "z": 20.000032739894795 + }, + "t1_image_uv": [ + 999.0395350542937, + -504.1234250393285 + ], + "t1_depth": 0.37082956050755267 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -61.18776321411133, + "z": 0.9972709906101227 + }, + "image_uv": [ + 640.0000000000001, + 360.0 + ], + "depth": 28.403121240476615, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 710, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -61.18776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.5018823146820068, + "y": 0.44072508811950684, + "z": 0.878713071346283 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 623.166448489574, + "ymin": 325.5442800047587, + "xmax": 656.4224065940023, + "ymax": 394.00154743717553 + }, + "corners_3d": [ + [ + -46.22645950317383, + -61.68964385986328, + 0.118557870388031 + ], + [ + -47.107906341552734, + -61.68964385986328, + 0.118557870388031 + ], + [ + -47.107906341552734, + -60.685882568359375, + 0.118557870388031 + ], + [ + -46.22645950317383, + -60.685882568359375, + 0.118557870388031 + ], + [ + -46.22645950317383, + -61.68964385986328, + 1.8759839534759521 + ], + [ + -47.107906341552734, + -61.68964385986328, + 1.8759839534759521 + ], + [ + -47.107906341552734, + -60.685882568359375, + 1.8759839534759521 + ], + [ + -46.22645950317383, + -60.685882568359375, + 1.8759839534759521 + ] + ], + "corners_2d": [ + [ + 623.8573603205326, + 392.25918065096863 + ], + [ + 653.3150682526013, + 394.00154743717553 + ], + [ + 655.7641726021096, + 371.2421915387857 + ], + [ + 627.0468688731962, + 369.5869263672793 + ], + [ + 623.166448489574, + 347.99518688942726 + ], + [ + 653.8861140108983, + 349.72255447728867 + ], + [ + 656.4224065940023, + 327.1817418218833 + ], + [ + 626.5070753835267, + 325.5442800047587 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 57, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 81, + "semantic_pixel_counts": { + "1": 333946, + "2": 272323, + "3": 118035, + "4": 18794, + "5": 1390, + "6": 1505, + "9": 29688, + "10": 28500, + "12": 3770, + "14": 12715, + "20": 5697, + "21": 11846, + "24": 12424, + "25": 70967 + }, + "instance_pixel_counts": { + "143": 26188, + "339": 4656, + "620": 262, + "883": 28834, + "1132": 193, + "2470": 150, + "2703": 68962, + "3749": 409, + "4261": 311, + "4678": 179, + "5228": 298, + "5714": 772, + "6508": 460, + "6565": 2864, + "7539": 18084, + "8018": 7211, + "8530": 912, + "8556": 6056, + "8810": 957, + "9068": 11943, + "9320": 29524, + "10624": 273, + "11116": 232, + "11368": 29633, + "11370": 846, + "11596": 11614, + "12419": 13, + "12675": 24, + "17516": 27, + "20308": 4048, + "20820": 1842, + "20866": 111, + "22356": 1391, + "22893": 13125, + "23441": 2270, + "23953": 17207, + "25928": 1390, + "25965": 13288, + "26696": 7180, + "26987": 4940, + "27460": 306, + "27559": 96, + "27719": 121098, + "28231": 28393, + "29095": 22, + "30548": 2737, + "30630": 2168, + "30863": 7826, + "31142": 1850, + "31654": 1856, + "32145": 4311, + "32911": 15940, + "34372": 50, + "34884": 268, + "37798": 1, + "39239": 70967, + "41796": 64, + "42391": 2738, + "44951": 3158, + "52327": 145421, + "54375": 129368, + "54950": 1, + "55401": 4241, + "56173": 29688, + "56320": 710, + "56576": 623, + "56832": 514, + "56937": 3499, + "57088": 564, + "57344": 426, + "57600": 933, + "58368": 2697, + "58790": 41, + "59522": 1394, + "59762": 7197, + "60274": 7535, + "62827": 1037, + "63083": 397, + "63339": 901, + "64594": 1248, + "64850": 530 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 710, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -61.18776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.527478039264679, + "y": 0.4194384813308716, + "z": 0.8857803344726562 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 623.8169971582179, + "ymin": 324.84214094965233, + "xmax": 655.7646483500537, + "ymax": 394.7259240310195 + }, + "corners_3d": [ + [ + -46.247745513916016, + -61.715240478515625, + 0.11149060726165771 + ], + [ + -47.08662033081055, + -61.715240478515625, + 0.11149060726165771 + ], + [ + -47.08662033081055, + -60.66028594970703, + 0.11149060726165771 + ], + [ + -46.247745513916016, + -60.66028594970703, + 0.11149060726165771 + ], + [ + -46.247745513916016, + -61.715240478515625, + 1.8830512762069702 + ], + [ + -47.08662033081055, + -61.715240478515625, + 1.8830512762069702 + ], + [ + -47.08662033081055, + -60.66028594970703, + 1.8830512762069702 + ], + [ + -46.247745513916016, + -60.66028594970703, + 1.8830512762069702 + ] + ], + "corners_2d": [ + [ + 624.4869142319917, + 393.0654701006988 + ], + [ + 652.535682248203, + 394.7259240310195 + ], + [ + 655.1282392030303, + 370.80692291143686 + ], + [ + 627.8198240742378, + 369.2335828335368 + ], + [ + 623.8169971582179, + 348.4396046759822 + ], + [ + 653.0780683000921, + 350.08574287629716 + ], + [ + 655.7646483500537, + 326.39833763186743 + ], + [ + 627.3083929987816, + 324.84214094965233 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 623, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -58.19005584716797, + "z": 0.9972611665725708 + }, + "extent": { + "x": 0.44440189003944397, + "y": 0.43769046664237976, + "z": 0.8582646250724792 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 503.6286115349636, + "ymin": 259.80448575560285, + "xmax": 536.2903264077287, + "ymax": 320.9927670478475 + }, + "corners_3d": [ + [ + -42.205467224121094, + -58.71574783325195, + 0.13899654150009155 + ], + [ + -43.06171798706055, + -58.53374481201172, + 0.13899654150009155 + ], + [ + -42.876922607421875, + -57.664363861083984, + 0.13899654150009155 + ], + [ + -42.02067184448242, + -57.84636688232422, + 0.13899654150009155 + ], + [ + -42.205467224121094, + -58.71574783325195, + 1.8555257320404053 + ], + [ + -43.06171798706055, + -58.53374481201172, + 1.8555257320404053 + ], + [ + -42.876922607421875, + -57.664363861083984, + 1.8555257320404053 + ], + [ + -42.02067184448242, + -57.84636688232422, + 1.8555257320404053 + ] + ], + "corners_2d": [ + [ + 509.1993560605365, + 320.9927670478475 + ], + [ + 536.2903264077287, + 318.85380064592107 + ], + [ + 535.096722619918, + 301.9029973139239 + ], + [ + 508.56209226624753, + 303.9546541333864 + ], + [ + 504.18231395058467, + 278.5912365954298 + ], + [ + 532.3231023656404, + 276.48456435114707 + ], + [ + 531.1695816422467, + 259.80448575560285 + ], + [ + 503.6286115349636, + 261.8219780462881 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 514, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -54.245052337646484, + "z": 0.9971684813499451 + }, + "extent": { + "x": 0.4573388695716858, + "y": 0.4880151152610779, + "z": 0.9323300123214722 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 705.3712768732955, + "ymin": 200.4501786645389, + "xmax": 738.6335211098229, + "ymax": 260.38364974995 + }, + "corners_3d": [ + [ + -48.485469818115234, + -54.75089645385742, + 0.0648384690284729 + ], + [ + -49.456153869628906, + -54.64887619018555, + 0.0648384690284729 + ], + [ + -49.36054611206055, + -53.73920822143555, + 0.0648384690284729 + ], + [ + -48.389862060546875, + -53.84122848510742, + 0.0648384690284729 + ], + [ + -48.485469818115234, + -54.75089645385742, + 1.9294984340667725 + ], + [ + -49.456153869628906, + -54.64887619018555, + 1.9294984340667725 + ], + [ + -49.36054611206055, + -53.73920822143555, + 1.9294984340667725 + ], + [ + -48.389862060546875, + -53.84122848510742, + 1.9294984340667725 + ] + ], + "corners_2d": [ + [ + 707.2063904509212, + 260.38364974995 + ], + [ + 734.9815340318473, + 260.0579746583629 + ], + [ + 732.5979719005567, + 244.94639127465354 + ], + [ + 705.3712768732955, + 245.25931152392639 + ], + [ + 709.7915822750625, + 215.5290383001393 + ], + [ + 738.6335211098229, + 215.21068238148848 + ], + [ + 736.0852602367623, + 200.4501786645389 + ], + [ + 707.8342606845708, + 200.75560159831812 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 564, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -61.18776321411133, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.30360350012779236, + "y": 0.49671873450279236, + "z": 0.8980956673622131 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 941.338574390981, + "ymin": 347.45208572227125, + "xmax": 993.9346959642876, + "ymax": 409.0157102310936 + }, + "corners_3d": [ + [ + -55.67046356201172, + -61.49136734008789, + 0.09918022155761719 + ], + [ + -56.663902282714844, + -61.49136734008789, + 0.09918022155761719 + ], + [ + -56.663902282714844, + -60.884159088134766, + 0.09918022155761719 + ], + [ + -55.67046356201172, + -60.884159088134766, + 0.09918022155761719 + ], + [ + -55.67046356201172, + -61.49136734008789, + 1.8953715562820435 + ], + [ + -56.663902282714844, + -61.49136734008789, + 1.8953715562820435 + ], + [ + -56.663902282714844, + -60.884159088134766, + 1.8953715562820435 + ], + [ + -55.67046356201172, + -60.884159088134766, + 1.8953715562820435 + ] + ], + "corners_2d": [ + [ + 944.3888844933945, + 406.98831183455496 + ], + [ + 978.8246576247591, + 409.0157102310936 + ], + [ + 975.2262183806404, + 394.6572614339249 + ], + [ + 941.338574390981, + 392.69304858420094 + ], + [ + 957.9317662684568, + 361.6301887124551 + ], + [ + 993.9346959642876, + 363.6425739056025 + ], + [ + 989.9304136833853, + 349.3990280890943 + ], + [ + 954.5261901155172, + 347.45208572227125 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 426, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -50.28268051147461, + "y": -72.31512451171875, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4773803949356079, + "y": 0.4465844929218292, + "z": 0.9315712451934814 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 740.866054416458, + "ymin": 679.3401642206513, + "xmax": 796.1241883004675, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.78864288330078, + -72.74320983886719, + 0.06569969654083252 + ], + [ + -50.676918029785156, + -72.8365707397461, + 0.06569969654083252 + ], + [ + -50.77671813964844, + -71.88703918457031, + 0.06569969654083252 + ], + [ + -49.88844299316406, + -71.7936782836914, + 0.06569969654083252 + ], + [ + -49.78864288330078, + -72.74320983886719, + 1.9288421869277954 + ], + [ + -50.676918029785156, + -72.8365707397461, + 1.9288421869277954 + ], + [ + -50.77671813964844, + -71.88703918457031, + 1.9288421869277954 + ], + [ + -49.88844299316406, + -71.7936782836914, + 1.9288421869277954 + ] + ], + "corners_2d": [ + [ + 740.866054416458, + 765.964045328423 + ], + [ + 783.288619210305, + 773.8533638053768 + ], + [ + 786.7876195666428, + 731.1247185053377 + ], + [ + 745.7540363343618, + 723.7525923465478 + ], + [ + 747.4745352469954, + 722.6904408199395 + ], + [ + 792.7386735401525, + 730.8135527017755 + ], + [ + 796.1241883004675, + 686.897601523756 + ], + [ + 752.4379434883889, + 679.3401642206513 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 933, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -69.35797882080078, + "z": 1.145527720451355 + }, + "extent": { + "x": 0.3567224144935608, + "y": 0.3114868104457855, + "z": 0.9071455001831055 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 107.38804427700359, + "ymin": 518.1203739421285, + "xmax": 175.42425002385187, + "ymax": 593.7661274281093 + }, + "corners_3d": [ + [ + -35.04300308227539, + -69.64214324951172, + 0.2383822202682495 + ], + [ + -35.65236282348633, + -69.77166748046875, + 0.2383822202682495 + ], + [ + -35.80069351196289, + -69.07381439208984, + 0.2383822202682495 + ], + [ + -35.19133377075195, + -68.94429016113281, + 0.2383822202682495 + ], + [ + -35.04300308227539, + -69.64214324951172, + 2.05267333984375 + ], + [ + -35.65236282348633, + -69.77166748046875, + 2.05267333984375 + ], + [ + -35.80069351196289, + -69.07381439208984, + 2.05267333984375 + ], + [ + -35.19133377075195, + -68.94429016113281, + 2.05267333984375 + ] + ], + "corners_2d": [ + [ + 135.03655351722836, + 587.4583339536548 + ], + [ + 156.73660181977112, + 593.7661274281093 + ], + [ + 175.42425002385187, + 570.3134411469284 + ], + [ + 154.08004022864878, + 564.2715054058817 + ], + [ + 107.38804427700359, + 541.520375026341 + ], + [ + 130.1149267201231, + 547.8955807852137 + ], + [ + 150.40813033850048, + 524.2126183746693 + ], + [ + 128.06960035533052, + 518.1203739421285 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 2697, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 672.8182949018417, + "ymin": 34.99245146608115, + "xmax": 726.1893235571421, + "ymax": 116.03949551044838 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 724.2872669309312, + 67.21747150105938 + ], + [ + 678.272866955257, + 65.61352988455303 + ], + [ + 672.8182949018417, + 114.15020501258414 + ], + [ + 722.747612720359, + 116.03949551044838 + ], + [ + 726.1893235571421, + 36.54444493765186 + ], + [ + 679.1340671875281, + 34.99245146608115 + ], + [ + 673.6212029827186, + 82.04434352066454 + ], + [ + 724.7783920010652, + 83.87949332053614 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 253.93757022170905, + "ymin": 163.11919775854298, + "xmax": 376.92687872966457, + "ymax": 332.5369171618746 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 356.1550224096116, + 332.5369171618746 + ], + [ + 376.92687872966457, + 288.4041148371769 + ], + [ + 317.3136875776662, + 285.23497632280146 + ], + [ + 293.32407686995936, + 329.0058061404072 + ], + [ + 323.75458561843874, + 207.66803955891396 + ], + [ + 348.6516754911082, + 166.08602120795848 + ], + [ + 282.7847530180231, + 163.11919775854298 + ], + [ + 253.93757022170905, + 204.32259956176293 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 167.78952067566445, + "ymin": 0.0, + "xmax": 280.8055345155606, + "ymax": 72.78233150233535 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 280.8055345155606, + 22.87270856101361 + ], + [ + 271.5120103240166, + 22.542070157018202 + ], + [ + 226.23511769103203, + 72.38613060008083 + ], + [ + 236.37759850108074, + 72.78233150233535 + ], + [ + 234.98125356638894, + -156.18940750002355 + ], + [ + 224.53535790414236, + -156.43554290149063 + ], + [ + 167.78952067566445, + -118.8802888084665 + ], + [ + 179.31994222605329, + -118.5780945773381 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 266.55125761118586, + "ymin": 194.41915774492358, + "xmax": 355.1470762674163, + "ymax": 246.39047499886505 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 332.77947426763217, + 246.39047499886505 + ], + [ + 355.1470762674163, + 206.14892028921085 + ], + [ + 295.0513468585794, + 203.28143409739144 + ], + [ + 269.3890851657785, + 243.18961694675528 + ], + [ + 330.41688446729404, + 237.31553786569117 + ], + [ + 353.07480024378066, + 197.27132225553214 + ], + [ + 292.5520843546168, + 194.41915774492358 + ], + [ + 266.55125761118586, + 234.12916775816902 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 266.4968950067617, + "ymin": 194.39720805626357, + "xmax": 355.2097066417733, + "ymax": 246.4764301632659 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 332.82150573238255, + 246.4764301632659 + ], + [ + 355.2097066417733, + 206.18915341903852 + ], + [ + 295.0442856128072, + 203.31819142806603 + ], + [ + 269.35405025922927, + 243.27132283914798 + ], + [ + 330.443362224302, + 237.34116527700962 + ], + [ + 353.12408881697024, + 197.25272905027293 + ], + [ + 292.5283399570954, + 194.39720805626357 + ], + [ + 266.4968950067617, + 234.15065741038865 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00058/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00058/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..51bfb9940d037a03e5df4f266ee8cad82c8d9ea5 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00058/meta.json @@ -0,0 +1,1456 @@ +{ + "frame_id": 58, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 29.0, + "sim_timestamp": 13819.081224107416 + }, + "drone_pose": { + "x": -48.55378075000961, + "y": -81.7127680844358, + "z": 20.000032739894795, + "pitch": -41.993556734438855, + "yaw": 84.87251611227686, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.06642311811447144, + -0.7402459383010864, + 0.6690470576286316, + 50.33168029785156 + ], + [ + 0.9959983825683594, + 0.08937209844589233, + 0.0, + -41.056636810302734 + ], + [ + -0.05979418754577637, + 0.6663697361946106, + 0.7432200908660889, + -72.21857452392578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -48.66204419526047, + "y": -81.20211573043336, + "z": 20.0000226783272 + }, + "t1_image_uv": [ + 1037.3032779892055, + -504.15737281777297 + ], + "t1_depth": 0.37082386387344807 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -60.68776321411133, + "z": 0.9972709906101227 + }, + "image_uv": [ + 639.9999999999999, + 360.00000000000017 + ], + "depth": 28.40272936287152, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 708, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -60.68776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.5042992830276489, + "y": 0.5929809212684631, + "z": 0.9039884209632874 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 617.7800143746696, + "ymin": 324.4944255887568, + "xmax": 661.6924942821317, + "ymax": 395.028478613248 + }, + "corners_3d": [ + [ + -46.07420349121094, + -61.19206237792969, + 0.09328252077102661 + ], + [ + -47.260162353515625, + -61.19206237792969, + 0.09328252077102661 + ], + [ + -47.260162353515625, + -60.18346405029297, + 0.09328252077102661 + ], + [ + -46.07420349121094, + -60.18346405029297, + 0.09328252077102661 + ], + [ + -46.07420349121094, + -61.19206237792969, + 1.901259422302246 + ], + [ + -47.260162353515625, + -61.19206237792969, + 1.901259422302246 + ], + [ + -47.260162353515625, + -60.18346405029297, + 1.901259422302246 + ], + [ + -46.07420349121094, + -60.18346405029297, + 1.901259422302246 + ] + ], + "corners_2d": [ + [ + 618.7173837027968, + 392.5580477147358 + ], + [ + 658.315006055037, + 395.028478613248 + ], + [ + 660.7982064407511, + 372.14726930193166 + ], + [ + 622.1988222204568, + 369.80079797917665 + ], + [ + 617.7800143746696, + 347.0223363041767 + ], + [ + 659.1239906810762, + 349.4709016532546 + ], + [ + 661.6924942821317, + 326.81492381220176 + ], + [ + 621.4355389173588, + 324.4944255887568 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 1.7053025658242404e-13 + ] + }, + "trace_timestep_index": 58, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 82, + "semantic_pixel_counts": { + "1": 334014, + "2": 272470, + "3": 115905, + "4": 17888, + "5": 1441, + "6": 1549, + "9": 29549, + "10": 28606, + "12": 3713, + "14": 12478, + "20": 5701, + "21": 12105, + "24": 12617, + "25": 73564 + }, + "instance_pixel_counts": { + "143": 25962, + "339": 4500, + "620": 268, + "883": 29154, + "1132": 195, + "2214": 53, + "2470": 145, + "2703": 68138, + "3749": 428, + "4261": 318, + "4678": 185, + "5228": 308, + "5714": 803, + "6508": 481, + "6565": 2930, + "7539": 18952, + "8018": 7405, + "8530": 551, + "8556": 5525, + "8810": 991, + "9068": 12389, + "9320": 30970, + "10624": 302, + "11116": 233, + "11368": 30920, + "11370": 874, + "11596": 12117, + "12419": 16, + "12675": 21, + "17516": 45, + "20308": 4100, + "20820": 1877, + "20866": 123, + "22356": 1696, + "22893": 13038, + "23441": 1331, + "23953": 17413, + "25928": 1441, + "25965": 13133, + "26696": 5771, + "26987": 4918, + "27460": 319, + "27559": 87, + "27719": 121159, + "28231": 28495, + "29095": 15, + "30548": 2053, + "30630": 2195, + "30863": 8160, + "31142": 1857, + "31654": 1888, + "32145": 2387, + "32911": 16718, + "34372": 51, + "34884": 269, + "37798": 5, + "39239": 73564, + "41796": 67, + "42391": 2858, + "44951": 3304, + "52327": 143938, + "54375": 128186, + "54950": 7, + "55401": 4290, + "56173": 29549, + "56320": 708, + "56576": 628, + "56832": 496, + "56937": 3432, + "57088": 564, + "57344": 400, + "57600": 917, + "58368": 2752, + "58790": 6, + "59522": 1426, + "59762": 7034, + "60274": 7769, + "62827": 1085, + "63083": 417, + "63339": 925, + "64594": 892, + "64850": 597 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 708, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -60.68776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4952709972858429, + "y": 0.4664038121700287, + "z": 0.8841254711151123 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 622.2224298734724, + "ymin": 325.45689299423856, + "xmax": 657.3535873908581, + "ymax": 394.07462084970564 + }, + "corners_3d": [ + [ + -46.20077896118164, + -61.18303298950195, + 0.11314547061920166 + ], + [ + -47.13358688354492, + -61.18303298950195, + 0.11314547061920166 + ], + [ + -47.13358688354492, + -60.1924934387207, + 0.11314547061920166 + ], + [ + -46.20077896118164, + -60.1924934387207, + 0.11314547061920166 + ], + [ + -46.20077896118164, + -61.18303298950195, + 1.8813964128494263 + ], + [ + -47.13358688354492, + -61.18303298950195, + 1.8813964128494263 + ], + [ + -47.13358688354492, + -60.1924934387207, + 1.8813964128494263 + ], + [ + -46.20077896118164, + -60.1924934387207, + 1.8813964128494263 + ] + ], + "corners_2d": [ + [ + 622.9562976721174, + 392.1325644843964 + ], + [ + 654.1087612540899, + 394.07462084970564 + ], + [ + 656.6536175244217, + 371.6180806802746 + ], + [ + 626.2729543142383, + 369.7718129849546 + ], + [ + 622.2224298734724, + 347.59781762417504 + ], + [ + 654.7176294044609, + 349.5230269869743 + ], + [ + 657.3535873908581, + 327.2832103663512 + ], + [ + 625.6972587677018, + 325.45689299423856 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 628, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -57.69005584716797, + "z": 0.9972611665725708 + }, + "extent": { + "x": 0.4653271734714508, + "y": 0.4409472942352295, + "z": 0.9035974144935608 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 503.9788979723579, + "ymin": 257.9640498732552, + "xmax": 536.9689394210777, + "ymax": 322.1056703536843 + }, + "corners_3d": [ + [ + -42.20663070678711, + -58.23689270019531, + 0.09366375207901001 + ], + [ + -43.069252014160156, + -58.05353546142578, + 0.09366375207901001 + ], + [ + -42.87575912475586, + -57.143218994140625, + 0.09366375207901001 + ], + [ + -42.01313781738281, + -57.326576232910156, + 0.09366375207901001 + ], + [ + -42.20663070678711, + -58.23689270019531, + 1.9008586406707764 + ], + [ + -43.069252014160156, + -58.05353546142578, + 1.9008586406707764 + ], + [ + -42.87575912475586, + -57.143218994140625, + 1.9008586406707764 + ], + [ + -42.01313781738281, + -57.326576232910156, + 1.9008586406707764 + ] + ], + "corners_2d": [ + [ + 509.6979058105876, + 322.1056703536843 + ], + [ + 536.9689394210777, + 320.0282486731961 + ], + [ + 535.8349559891506, + 302.2757878925941 + ], + [ + 509.1499510457056, + 304.26457632368147 + ], + [ + 504.4302760438725, + 277.4619726132602 + ], + [ + 532.8146702604835, + 275.41755383477664 + ], + [ + 531.7289912351225, + 257.9640498732552 + ], + [ + 503.9788979723579, + 259.9178398341785 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 496, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -53.745052337646484, + "z": 0.9974760413169861 + }, + "extent": { + "x": 0.48436033725738525, + "y": 0.33793699741363525, + "z": 0.951798677444458 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 710.4123858817131, + "ymin": 199.80573730504474, + "xmax": 735.1893342806525, + "ymax": 261.42475909506953 + }, + "corners_3d": [ + [ + -48.637550354003906, + -54.2620849609375, + 0.045677363872528076 + ], + [ + -49.309722900390625, + -54.191436767578125, + 0.045677363872528076 + ], + [ + -49.208465576171875, + -53.22801971435547, + 0.045677363872528076 + ], + [ + -48.536293029785156, + -53.298667907714844, + 0.045677363872528076 + ], + [ + -48.637550354003906, + -54.2620849609375, + 1.9492747783660889 + ], + [ + -49.309722900390625, + -54.191436767578125, + 1.9492747783660889 + ], + [ + -49.208465576171875, + -53.22801971435547, + 1.9492747783660889 + ], + [ + -48.536293029785156, + -53.298667907714844, + 1.9492747783660889 + ] + ], + "corners_2d": [ + [ + 712.3386788122501, + 261.42475909506953 + ], + [ + 731.5890106717997, + 261.2508382840284 + ], + [ + 729.2602067597013, + 245.22891955533004 + ], + [ + 710.4123858817131, + 245.39563490688 + ], + [ + 715.1829518827618, + 215.61813516033035 + ], + [ + 735.1893342806525, + 215.4481922643556 + ], + [ + 732.6927175959818, + 199.80573730504474 + ], + [ + 713.1207272662608, + 199.96837173863523 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 564, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -60.68776321411133, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.32701414823532104, + "y": 0.581188976764679, + "z": 0.8852627873420715 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 938.689255539249, + "ymin": 348.0238494065148, + "xmax": 997.3086564344605, + "ymax": 410.5461742551156 + }, + "corners_3d": [ + [ + -55.585994720458984, + -61.01477813720703, + 0.11201310157775879 + ], + [ + -56.74837112426758, + -61.01477813720703, + 0.11201310157775879 + ], + [ + -56.74837112426758, + -60.360748291015625, + 0.11201310157775879 + ], + [ + -55.585994720458984, + -60.360748291015625, + 0.11201310157775879 + ], + [ + -55.585994720458984, + -61.01477813720703, + 1.8825386762619019 + ], + [ + -56.74837112426758, + -61.01477813720703, + 1.8825386762619019 + ], + [ + -56.74837112426758, + -60.360748291015625, + 1.8825386762619019 + ], + [ + -55.585994720458984, + -60.360748291015625, + 1.8825386762619019 + ] + ], + "corners_2d": [ + [ + 941.8317530616995, + 408.0382042090344 + ], + [ + 982.2372407631385, + 410.5461742551156 + ], + [ + 978.4014837731761, + 395.0437709154288 + ], + [ + 938.689255539249, + 392.61997486317927 + ], + [ + 955.0857516268804, + 363.31874648213073 + ], + [ + 997.3086564344605, + 365.80880207494 + ], + [ + 993.0404972437344, + 350.4267541802731 + ], + [ + 951.574015754953, + 348.0238494065148 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 400, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -50.28268051147461, + "y": -71.81512451171875, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4704809784889221, + "y": 0.30897706747055054, + "z": 0.9580470323562622 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 744.8008416095892, + "ymin": 680.6338779994206, + "xmax": 787.0890263347223, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.92621612548828, + -72.250732421875, + 0.03922390937805176 + ], + [ + -50.54078674316406, + -72.31532287597656, + 0.03922390937805176 + ], + [ + -50.63914489746094, + -71.3795166015625, + 0.03922390937805176 + ], + [ + -50.024574279785156, + -71.31492614746094, + 0.03922390937805176 + ], + [ + -49.92621612548828, + -72.250732421875, + 1.9553179740905762 + ], + [ + -50.54078674316406, + -72.31532287597656, + 1.9553179740905762 + ], + [ + -50.63914489746094, + -71.3795166015625, + 1.9553179740905762 + ], + [ + -50.024574279785156, + -71.31492614746094, + 1.9553179740905762 + ] + ], + "corners_2d": [ + [ + 744.8008416095892, + 767.9200351053277 + ], + [ + 774.1070275524289, + 773.5076357861849 + ], + [ + 778.0519478444445, + 731.4882362425674 + ], + [ + 749.6887834218003, + 726.2613566609227 + ], + [ + 751.877179235042, + 723.4563375347402 + ], + [ + 783.2046423357053, + 729.2144420807131 + ], + [ + 787.0890263347223, + 685.996406467257 + ], + [ + 756.8368164669422, + 680.6338779994206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 917, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -68.85797882080078, + "z": 1.145527720451355 + }, + "extent": { + "x": 0.3598119914531708, + "y": 0.47312498092651367, + "z": 0.9326205253601074 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 100.59631930270666, + "ymin": 513.9101477129805, + "xmax": 180.86563218882543, + "ymax": 594.2801230597934 + }, + "corners_3d": [ + [ + -34.884254455566406, + -69.11155700683594, + 0.21290719509124756 + ], + [ + -35.8098258972168, + -69.30829620361328, + 0.21290719509124756 + ], + [ + -35.959442138671875, + -68.60440063476562, + 0.21290719509124756 + ], + [ + -35.033870697021484, + -68.40766143798828, + 0.21290719509124756 + ], + [ + -34.884254455566406, + -69.11155700683594, + 2.078148365020752 + ], + [ + -35.8098258972168, + -69.30829620361328, + 2.078148365020752 + ], + [ + -35.959442138671875, + -68.60440063476562, + 2.078148365020752 + ], + [ + -35.033870697021484, + -68.40766143798828, + 2.078148365020752 + ] + ], + "corners_2d": [ + [ + 129.2717180502214, + 584.5883304124261 + ], + [ + 162.0357926155039, + 594.2801230597934 + ], + [ + 180.86563218882543, + 570.6684906839029 + ], + [ + 148.63714416723815, + 561.3871094422155 + ], + [ + 100.59631930270666, + 537.3222548059664 + ], + [ + 134.94755106815813, + 547.1187375839951 + ], + [ + 155.43485904796222, + 523.2691734574237 + ], + [ + 121.66918882341645, + 513.9101477129805 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 2752, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 673.8806066805752, + "ymin": 39.61188425458988, + "xmax": 728.1291363084877, + "ymax": 121.79396403152805 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 726.1675326342149, + 72.11289317578292 + ], + [ + 679.7641884456292, + 70.38765475547018 + ], + [ + 673.8806066805752, + 119.75898111506905 + ], + [ + 724.2649273899734, + 121.79396403152805 + ], + [ + 728.1291363084877, + 41.28188650738258 + ], + [ + 680.6666486795452, + 39.61188425458988 + ], + [ + 674.7172398583565, + 87.49262774541052 + ], + [ + 726.3526839465696, + 89.47018737435178 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 248.03639885136124, + "ymin": 170.79285482810306, + "xmax": 373.4019225341214, + "ymax": 341.92319350118237 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 351.87275882087465, + 341.92319350118237 + ], + [ + 373.4019225341214, + 296.83712964611317 + ], + [ + 313.2654613751193, + 293.4275999800975 + ], + [ + 288.46349477446415, + 338.119961802003 + ], + [ + 318.5708959574034, + 216.5755555585403 + ], + [ + 344.40889859277, + 173.99194932350215 + ], + [ + 277.9001025404831, + 170.79285482810306 + ], + [ + 248.03639885136124, + 212.96317193015278 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 165.2892175581179, + "ymin": 0.0, + "xmax": 280.00791537329764, + "ymax": 76.80021428053294 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 280.00791537329764, + 26.23945417191635 + ], + [ + 270.6716046370538, + 25.886633634597843 + ], + [ + 224.45323963790668, + 76.37695318786655 + ], + [ + 234.64579214620397, + 76.80021428053294 + ], + [ + 233.74862939893137, + -153.6861024658375 + ], + [ + 223.24821600162107, + -153.94918066612024 + ], + [ + 165.2892175581179, + -115.838523953307 + ], + [ + 176.88487751206935, + -115.51505234312032 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 260.96549738039437, + "ymin": 202.2772718510972, + "xmax": 351.09990144368527, + "ymax": 255.44927201379176 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 327.8989668311787, + 255.44927201379176 + ], + [ + 351.09990144368527, + 214.2713029830793 + ], + [ + 290.4363099339482, + 211.1814561752221 + ], + [ + 263.8797983326574, + 251.99594491830197 + ], + [ + 325.4695775357175, + 246.3343838436334 + ], + [ + 348.97390500269705, + 205.35111461482563 + ], + [ + 287.87503826153375, + 202.2772718510972 + ], + [ + 260.96549738039437, + 242.89605654760015 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 260.91021910507726, + "ymin": 202.25472910410608, + "xmax": 351.16367598987, + "ymax": 255.53620307875696 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 327.94135177263007, + 255.53620307875696 + ], + [ + 351.16367598987, + 214.3114810366068 + ], + [ + 290.42977729383176, + 211.21789427575425 + ], + [ + 263.8443681376913, + 252.07829330865513 + ], + [ + 325.49596522183157, + 246.3607294437159 + ], + [ + 349.0239941273603, + 205.33218720766834 + ], + [ + 287.85141440096396, + 202.25472910410608 + ], + [ + 260.91021910507726, + 242.9179347237488 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00059/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00059/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ab6135be2640b301cbdc44c50a5aa34a8013c722 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00059/meta.json @@ -0,0 +1,1457 @@ +{ + "frame_id": 59, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 29.5, + "sim_timestamp": 13831.824147596257 + }, + "drone_pose": { + "x": -48.66204419526047, + "y": -81.20211573043336, + "z": 20.0000226783272, + "pitch": -41.99442392277766, + "yaw": 84.57724669761866, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.07023608684539795, + -0.7398837804794312, + 0.6690582633018494, + 50.11677169799805 + ], + [ + 0.995524525642395, + 0.09450364112854004, + 0.0, + -40.77036666870117 + ], + [ + -0.06322842836380005, + 0.6660639047622681, + 0.743209958076477, + -72.02684020996094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -48.78224749248734, + "y": -80.68956217290035, + "z": 20.000015502136318 + }, + "t1_image_uv": [ + 1075.2285886436712, + -504.19372555125153 + ], + "t1_depth": 0.37079222607931056 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -60.18776321411133, + "z": 0.9972709906101227 + }, + "image_uv": [ + 640.0, + 359.9999999999999 + ], + "depth": 28.4022367936645, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 712, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -60.18776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4853833019733429, + "y": 0.5878735184669495, + "z": 0.8669275641441345 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 617.9719960214654, + "ymin": 325.82231673160555, + "xmax": 661.530399715343, + "ymax": 393.7481411663801 + }, + "corners_3d": [ + [ + -46.07931137084961, + -60.67314529418945, + 0.13034337759017944 + ], + [ + -47.25505828857422, + -60.67314529418945, + 0.13034337759017944 + ], + [ + -47.25505447387695, + -59.7023811340332, + 0.13034337759017944 + ], + [ + -46.079307556152344, + -59.7023811340332, + 0.13034337759017944 + ], + [ + -46.07931137084961, + -60.67314529418945, + 1.8641984462738037 + ], + [ + -47.25505828857422, + -60.67314529418945, + 1.8641984462738037 + ], + [ + -47.25505447387695, + -59.7023811340332, + 1.8641984462738037 + ], + [ + -46.079307556152344, + -59.7023811340332, + 1.8641984462738037 + ] + ], + "corners_2d": [ + [ + 618.8634699529912, + 391.1611730509251 + ], + [ + 658.1163597169086, + 393.7481411663801 + ], + [ + 660.6779676937924, + 371.73568022093633 + ], + [ + 622.3774064769829, + 369.2738158346258 + ], + [ + 617.9719960214654, + 347.4981173188843 + ], + [ + 658.8827531773798, + 350.0630345335794 + ], + [ + 661.530399715343, + 328.2581565865115 + ], + [ + 621.6530553965664, + 325.82231673160555 + ] + ], + "center_offset_px": [ + 0.0, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 59, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 83, + "semantic_pixel_counts": { + "1": 334162, + "2": 272106, + "3": 114193, + "4": 17080, + "5": 1489, + "6": 1572, + "9": 29361, + "10": 28685, + "12": 3663, + "14": 12249, + "20": 5770, + "21": 12358, + "24": 12784, + "25": 76128 + }, + "instance_pixel_counts": { + "143": 25735, + "339": 4116, + "620": 275, + "883": 29041, + "1132": 199, + "2214": 164, + "2470": 145, + "2703": 67288, + "3749": 448, + "4261": 333, + "4678": 189, + "4979": 254, + "5228": 314, + "5714": 823, + "6508": 504, + "6565": 3009, + "7539": 19922, + "8018": 7609, + "8530": 400, + "8556": 4944, + "8810": 1024, + "9068": 12839, + "9320": 32362, + "10624": 317, + "11116": 237, + "11368": 32340, + "11370": 916, + "11596": 12649, + "12419": 17, + "12675": 22, + "17516": 46, + "20308": 4174, + "20820": 1925, + "20866": 138, + "22356": 1989, + "22868": 15, + "22893": 12933, + "23441": 682, + "23953": 17266, + "25928": 1489, + "25965": 12973, + "26696": 4431, + "26987": 4950, + "27460": 325, + "27559": 82, + "27719": 120696, + "28231": 28563, + "29095": 8, + "30548": 1317, + "30630": 2225, + "30863": 8500, + "31142": 1875, + "31654": 1914, + "32145": 994, + "32911": 17543, + "34372": 53, + "34884": 279, + "37798": 5, + "39239": 76128, + "41796": 70, + "42391": 2987, + "44951": 3451, + "52327": 142567, + "54375": 126893, + "54950": 15, + "55401": 4299, + "56173": 29361, + "56320": 712, + "56576": 633, + "56832": 496, + "56937": 3323, + "57088": 555, + "57344": 364, + "57600": 903, + "58368": 2829, + "59522": 1434, + "59762": 6868, + "60274": 8031, + "62827": 1135, + "63083": 433, + "63339": 939, + "64594": 554, + "64850": 673 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 712, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -60.18776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.49064451456069946, + "y": 0.45400145649909973, + "z": 0.8878800868988037 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 622.5889358888395, + "ymin": 325.4374513859181, + "xmax": 657.0012892952002, + "ymax": 394.0812659150573 + }, + "corners_3d": [ + [ + -46.21318054199219, + -60.678409576416016, + 0.10939085483551025 + ], + [ + -47.121185302734375, + -60.67840576171875, + 0.10939085483551025 + ], + [ + -47.121185302734375, + -59.69711685180664, + 0.10939085483551025 + ], + [ + -46.21318054199219, + -59.697120666503906, + 0.10939085483551025 + ], + [ + -46.21318054199219, + -60.678409576416016, + 1.8851510286331177 + ], + [ + -47.121185302734375, + -60.67840576171875, + 1.8851510286331177 + ], + [ + -47.121185302734375, + -59.69711685180664, + 1.8851510286331177 + ], + [ + -46.21318054199219, + -59.697120666503906, + 1.8851510286331177 + ] + ], + "corners_2d": [ + [ + 623.3105739167905, + 392.0828020932353 + ], + [ + 653.6139911900202, + 394.0812659150573 + ], + [ + 656.3125476485159, + 371.8426383691605 + ], + [ + 626.7518493491278, + 369.9417943779242 + ], + [ + 622.5889358888395, + 347.35985948191325 + ], + [ + 654.2040191672085, + 349.3408968605228 + ], + [ + 657.0012892952002, + 327.3176923099008 + ], + [ + 626.1937562068326, + 325.4374513859181 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 633, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -57.19005584716797, + "z": 0.9972611665725708 + }, + "extent": { + "x": 0.4304468035697937, + "y": 0.5188354849815369, + "z": 0.8855878114700317 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 502.2673835219785, + "ymin": 258.5669354633503, + "xmax": 539.800304466061, + "ymax": 320.74053736739285 + }, + "corners_3d": [ + [ + -42.123191833496094, + -57.71896743774414, + 0.11167335510253906 + ], + [ + -43.138187408447266, + -57.50322341918945, + 0.11167335510253906 + ], + [ + -42.959197998046875, + -56.6611442565918, + 0.11167335510253906 + ], + [ + -41.9442024230957, + -56.876888275146484, + 0.11167335510253906 + ], + [ + -42.123191833496094, + -57.71896743774414, + 1.8828489780426025 + ], + [ + -43.138187408447266, + -57.50322341918945, + 1.8828489780426025 + ], + [ + -42.959197998046875, + -56.6611442565918, + 1.8828489780426025 + ], + [ + -41.9442024230957, + -56.876888275146484, + 1.8828489780426025 + ] + ], + "corners_2d": [ + [ + 507.7372898884954, + 320.74053736739285 + ], + [ + 539.800304466061, + 318.40699865764225 + ], + [ + 538.828178540833, + 301.9977869713209 + ], + [ + 507.40381198398063, + 304.2390314948576 + ], + [ + 502.5050660682107, + 277.00152331944196 + ], + [ + 535.8481265591344, + 274.7045461316556 + ], + [ + 534.920332059096, + 258.5669354633503 + ], + [ + 502.2673835219785, + 260.7695871799387 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 496, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -53.245052337646484, + "z": 1.0023540258407593 + }, + "extent": { + "x": 0.4835253655910492, + "y": 0.379462867975235, + "z": 0.9333882927894592 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 710.3420663804992, + "ymin": 200.40473675417243, + "xmax": 737.3789571670333, + "ymax": 261.0967696917381 + }, + "corners_3d": [ + [ + -48.59616470336914, + -53.765594482421875, + 0.06896573305130005 + ], + [ + -49.35093307495117, + -53.68626403808594, + 0.06896573305130005 + ], + [ + -49.24985122680664, + -52.724510192871094, + 0.06896573305130005 + ], + [ + -48.49508285522461, + -52.80384063720703, + 0.06896573305130005 + ], + [ + -48.59616470336914, + -53.765594482421875, + 1.9357423782348633 + ], + [ + -49.35093307495117, + -53.68626403808594, + 1.9357423782348633 + ], + [ + -49.24985122680664, + -52.724510192871094, + 1.9357423782348633 + ], + [ + -48.49508285522461, + -52.80384063720703, + 1.9357423782348633 + ] + ], + "corners_2d": [ + [ + 712.1228424439944, + 261.0967696917381 + ], + [ + 733.7640386341938, + 260.9674925742485 + ], + [ + 731.530953349092, + 244.96439643957268 + ], + [ + 710.3420663804992, + 245.08832226391235 + ], + [ + 714.9039080854961, + 216.1626614205733 + ], + [ + 737.3789571670333, + 216.0362831375376 + ], + [ + 734.9831935693014, + 200.40473675417243 + ], + [ + 712.9955883426643, + 200.52568857841703 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 555, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -60.18776321411133, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.3149999976158142, + "y": 0.3313867151737213, + "z": 0.8733704686164856 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 947.6412832138049, + "ymin": 350.22054495272175, + "xmax": 988.3008290189914, + "ymax": 410.64697658235673 + }, + "corners_3d": [ + [ + -55.83579635620117, + -60.50276184082031, + 0.12390542030334473 + ], + [ + -56.49856948852539, + -60.50276184082031, + 0.12390542030334473 + ], + [ + -56.49856948852539, + -59.872764587402344, + 0.12390542030334473 + ], + [ + -55.83579635620117, + -59.872764587402344, + 0.12390542030334473 + ], + [ + -55.83579635620117, + -60.50276184082031, + 1.870646357536316 + ], + [ + -56.49856948852539, + -60.50276184082031, + 1.870646357536316 + ], + [ + -56.49856948852539, + -59.872764587402344, + 1.870646357536316 + ], + [ + -55.83579635620117, + -59.872764587402344, + 1.870646357536316 + ] + ], + "corners_2d": [ + [ + 950.7094102060888, + 409.1319206599437 + ], + [ + 973.7959861022391, + 410.64697658235673 + ], + [ + 970.3456514236489, + 395.699386099084 + ], + [ + 947.6412832138049, + 394.23339374062465 + ], + [ + 964.1877148676036, + 365.0038568488862 + ], + [ + 988.3008290189914, + 366.5083683844696 + ], + [ + 984.4560060734705, + 351.6742728913576 + ], + [ + 960.7595263597076, + 350.22054495272175 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 364, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -50.28268051147461, + "y": -71.31512451171875, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.46812745928764343, + "y": 0.3288525640964508, + "z": 0.9537482261657715 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 741.0512116151517, + "ymin": 681.2286672645384, + "xmax": 785.3398092078448, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.90669631958008, + -71.7463150024414, + 0.04352271556854248 + ], + [ + -50.56079864501953, + -71.8150634765625, + 0.04352271556854248 + ], + [ + -50.65866470336914, + -70.8839340209961, + 0.04352271556854248 + ], + [ + -50.00456237792969, + -70.815185546875, + 0.04352271556854248 + ], + [ + -49.90669631958008, + -71.7463150024414, + 1.9510191679000854 + ], + [ + -50.56079864501953, + -71.8150634765625, + 1.9510191679000854 + ], + [ + -50.65866470336914, + -70.8839340209961, + 1.9510191679000854 + ], + [ + -50.00456237792969, + -70.815185546875, + 1.9510191679000854 + ] + ], + "corners_2d": [ + [ + 741.0512116151517, + 768.0731596935268 + ], + [ + 772.2291747875388, + 774.1814299811205 + ], + [ + 776.4419025640543, + 732.3540159517297 + ], + [ + 746.2598490220622, + 726.6380207800796 + ], + [ + 747.8443046424937, + 723.8178458619363 + ], + [ + 781.1637430324427, + 730.1120187380399 + ], + [ + 785.3398092078448, + 687.092795352067 + ], + [ + 753.1553562302787, + 681.2286672645384 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 903, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -68.35797882080078, + "z": 1.1455327272415161 + }, + "extent": { + "x": 0.3296545445919037, + "y": 0.5845288038253784, + "z": 0.9008490443229675 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 97.57354459111048, + "ymin": 512.5130322792293, + "xmax": 182.891446264431, + "ymax": 591.5919687689368 + }, + "corners_3d": [ + [ + -34.78155517578125, + -68.55889892578125, + 0.24468368291854858 + ], + [ + -35.92506408691406, + -68.80196380615234, + 0.24468368291854858 + ], + [ + -36.06214141845703, + -68.15705871582031, + 0.24468368291854858 + ], + [ + -34.91863250732422, + -67.91399383544922, + 0.24468368291854858 + ], + [ + -34.78155517578125, + -68.55889892578125, + 2.046381711959839 + ], + [ + -35.92506408691406, + -68.80196380615234, + 2.046381711959839 + ], + [ + -36.06214141845703, + -68.15705871582031, + 2.046381711959839 + ], + [ + -34.91863250732422, + -67.91399383544922, + 2.046381711959839 + ] + ], + "corners_2d": [ + [ + 125.34209330229987, + 579.4850230393051 + ], + [ + 165.57584268509822, + 591.5919687689368 + ], + [ + 182.891446264431, + 570.0244284145436 + ], + [ + 143.25340634712552, + 558.3868354160732 + ], + [ + 97.57354459111048, + 533.7896048221055 + ], + [ + 139.6765353161777, + 546.0191114119065 + ], + [ + 158.45481217561024, + 524.243495663315 + ], + [ + 117.0006455740156, + 512.5130322792293 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 2829, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 675.0781589376256, + "ymin": 44.32043231035658, + "xmax": 730.2751057470366, + "ymax": 127.67908895419708 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 728.2481962185235, + 77.11514434599917 + ], + [ + 681.448535974019, + 75.25217392863692 + ], + [ + 675.0781589376256, + 125.47856266688316 + ], + [ + 725.9260639211274, + 127.67908895419708 + ], + [ + 730.2751057470366, + 46.124463873750415 + ], + [ + 682.3974169975053, + 44.32043231035658 + ], + [ + 675.9525428683518, + 93.05092241993395 + ], + [ + 728.0755921699617, + 95.19034136307232 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 241.94245347304928, + "ymin": 178.52422407067633, + "xmax": 369.76816140471044, + "ymax": 351.4000332062224 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 347.41940432022596, + 351.4000332062224 + ], + [ + 369.76816140471044, + 305.3449944216368 + ], + [ + 309.12134441157525, + 301.66363871546173 + ], + [ + 283.4464258798757, + 347.2889717491092 + ], + [ + 313.1784193248852, + 225.5921517505456 + ], + [ + 340.03228235064717, + 181.98625829907218 + ], + [ + 272.89567878382877, + 178.52422407067633 + ], + [ + 241.94245347304928, + 221.67739239103196 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 163.04359003426055, + "ymin": 0.0, + "xmax": 279.47747967170176, + "ymax": 80.76369700535804 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 279.47747967170176, + 29.560230316282286 + ], + [ + 270.101570737955, + 29.182452619741582 + ], + [ + 222.89310327142408, + 80.30999618100753 + ], + [ + 233.13176654925866, + 80.76369700535804 + ], + [ + 232.8196739300477, + -151.21439872420342 + ], + [ + 222.268623024538, + -151.49654187051954 + ], + [ + 163.04359003426055, + -112.83625699709904 + ], + [ + 174.69954919028993, + -112.48884503311416 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 255.19801096111217, + "ymin": 210.19125998562768, + "xmax": 346.9258976523019, + "ymax": 264.61022079675934 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 322.8248426027351, + 264.61022079675934 + ], + [ + 346.9258976523019, + 222.47785083587036 + ], + [ + 285.7073831679874, + 219.13637432399048 + ], + [ + 258.1914954720539, + 260.8710459038691 + ], + [ + 320.32585240189513, + 255.45662546954924 + ], + [ + 344.7442789864495, + 213.51598138835269 + ], + [ + 283.0822758177766, + 210.19125998562768 + ], + [ + 255.19801096111217, + 251.73300166118082 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 255.1417889212654, + "ymin": 210.16809948249946, + "xmax": 346.99085655141363, + "ymax": 264.6981513496331 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 322.86755286843396, + 264.6981513496331 + ], + [ + 346.99085655141363, + 222.51797720536678 + ], + [ + 285.7014339395331, + 219.1724620209993 + ], + [ + 258.1556602342895, + 260.95401639952775 + ], + [ + 320.3521027916346, + 255.48372141163853 + ], + [ + 344.79519670953476, + 213.4967291130099 + ], + [ + 283.0588157556172, + 210.16809948249946 + ], + [ + 255.1417889212654, + 251.75525680210478 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00062/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00062/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f9ac582cb4b0ef39d2fbb03f213dfa192d0086d4 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00062/meta.json @@ -0,0 +1,1559 @@ +{ + "frame_id": 62, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 31.0, + "sim_timestamp": 13865.83669306268 + }, + "drone_pose": { + "x": -49.05247050951724, + "y": -79.65730986102947, + "z": 20.000006933847118, + "pitch": -41.99987557150129, + "yaw": 83.51049404255477, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.08399134874343872, + -0.7383846640586853, + 0.6691290140151978, + 49.555137634277344 + ], + [ + 0.9935925602912903, + 0.11302131414413452, + 0.0, + -39.735198974609375 + ], + [ + -0.07562586665153503, + 0.6648415923118591, + 0.7431463003158569, + -71.53205871582031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -49.19644803712752, + "y": -79.13738181932304, + "z": 20.0000045259269 + }, + "t1_image_uv": [ + 1161.0786832886752, + -504.37574161811403 + ], + "t1_depth": 0.37181562120933176 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -58.68776321411133, + "z": 0.9972661067545414 + }, + "image_uv": [ + 639.9999999999999, + 359.99999999999994 + ], + "depth": 28.399219045465987, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 701, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -58.68776321411133, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.5247143507003784, + "y": 0.5337011814117432, + "z": 0.9072858691215515 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 619.3801915935674, + "ymin": 323.8283829944673, + "xmax": 660.1176062824593, + "ymax": 395.72900424189356 + }, + "corners_3d": [ + [ + -46.133480072021484, + -59.21247863769531, + 0.08998018503189087 + ], + [ + -47.20088577270508, + -59.21247863769531, + 0.08998018503189087 + ], + [ + -47.20088577270508, + -58.163047790527344, + 0.08998018503189087 + ], + [ + -46.133480072021484, + -58.163047790527344, + 0.08998018503189087 + ], + [ + -46.133480072021484, + -59.21247863769531, + 1.9045519828796387 + ], + [ + -47.20088577270508, + -59.21247863769531, + 1.9045519828796387 + ], + [ + -47.20088577270508, + -58.163047790527344, + 1.9045519828796387 + ], + [ + -46.133480072021484, + -58.163047790527344, + 1.9045519828796387 + ] + ], + "corners_2d": [ + [ + 620.2536383907523, + 392.9136776452345 + ], + [ + 655.8234537854516, + 395.72900424189356 + ], + [ + 659.2853288873833, + 371.9638111132858 + ], + [ + 624.641240927443, + 369.29496463827377 + ], + [ + 619.3801915935674, + 347.20833481490774 + ], + [ + 656.5256709221401, + 349.9988333785179 + ], + [ + 660.1176062824593, + 326.4675245776323 + ], + [ + 623.9805239352731, + 323.8283829944673 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 62, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 81, + "semantic_pixel_counts": { + "1": 334799, + "2": 268075, + "3": 111022, + "4": 15702, + "5": 1613, + "6": 1691, + "9": 28778, + "10": 27521, + "12": 3647, + "14": 12649, + "20": 5646, + "21": 13322, + "24": 13024, + "25": 84111 + }, + "instance_pixel_counts": { + "143": 25049, + "339": 2808, + "620": 285, + "883": 26154, + "1132": 206, + "2214": 186, + "2470": 149, + "2703": 64435, + "3749": 517, + "4166": 91, + "4261": 368, + "4678": 196, + "4979": 1894, + "5228": 335, + "5714": 906, + "6508": 574, + "6565": 3255, + "7539": 24028, + "8018": 8074, + "8530": 141, + "8556": 2758, + "8810": 1137, + "9068": 14333, + "9320": 36672, + "10624": 389, + "11116": 246, + "11368": 36963, + "11370": 1064, + "11596": 14360, + "12419": 26, + "12675": 27, + "17516": 49, + "20308": 4354, + "20820": 2052, + "20866": 179, + "22356": 2796, + "22868": 137, + "22893": 12635, + "23953": 15195, + "25928": 1613, + "25965": 12434, + "26696": 1342, + "26987": 4708, + "27460": 349, + "27476": 162, + "27559": 84, + "27719": 116354, + "28231": 27380, + "30548": 110, + "30630": 2336, + "30863": 9576, + "31142": 1982, + "31654": 1982, + "32911": 20267, + "34372": 54, + "34884": 297, + "37798": 8, + "39239": 84111, + "41796": 71, + "42391": 3377, + "44951": 3948, + "52327": 138839, + "54375": 122325, + "54950": 40, + "55401": 3975, + "56173": 28778, + "56320": 701, + "56576": 630, + "56832": 511, + "56937": 3247, + "57088": 566, + "57344": 333, + "57600": 906, + "58368": 3038, + "59522": 1512, + "59762": 5813, + "60274": 8898, + "62827": 1319, + "63083": 502, + "63339": 1032, + "64850": 926 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 701, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -58.68776321411133, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.4986010491847992, + "y": 0.36998045444488525, + "z": 0.8662495017051697 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 625.1904623254068, + "ymin": 325.87060222152, + "xmax": 654.4549466955247, + "ymax": 393.69853875457795 + }, + "corners_3d": [ + [ + -46.297203063964844, + -59.186363220214844, + 0.1310165524482727 + ], + [ + -47.03716278076172, + -59.186363220214844, + 0.1310165524482727 + ], + [ + -47.03716278076172, + -58.18916320800781, + 0.1310165524482727 + ], + [ + -46.297203063964844, + -58.18916320800781, + 0.1310165524482727 + ], + [ + -46.297203063964844, + -59.186363220214844, + 1.8635156154632568 + ], + [ + -47.03716278076172, + -59.186363220214844, + 1.8635156154632568 + ], + [ + -47.03716278076172, + -58.18916320800781, + 1.8635156154632568 + ], + [ + -46.297203063964844, + -58.18916320800781, + 1.8635156154632568 + ] + ], + "corners_2d": [ + [ + 625.7898730797172, + 391.7497762887789 + ], + [ + 650.4552334064145, + 393.69853875457795 + ], + [ + 653.883342250718, + 371.14173972862767 + ], + [ + 629.8289295094202, + 369.28953959613494 + ], + [ + 625.1904623254068, + 348.1149657727563 + ], + [ + 650.8972550669935, + 350.0472157319829 + ], + [ + 654.4549466955247, + 327.7032224971411 + ], + [ + 629.4110888770055, + 325.87060222152 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 630, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -55.69005584716797, + "z": 0.9972611665725708 + }, + "extent": { + "x": 0.4515967071056366, + "y": 0.43903812766075134, + "z": 0.8795334696769714 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 507.08312534267213, + "ymin": 257.31504195181503, + "xmax": 539.2110415066605, + "ymax": 319.2872696689582 + }, + "corners_3d": [ + [ + -42.20564270019531, + -56.22306442260742, + 0.11772769689559937 + ], + [ + -43.06453323364258, + -56.04050064086914, + 0.11772769689559937 + ], + [ + -42.876747131347656, + -55.157047271728516, + 0.11772769689559937 + ], + [ + -42.01785659790039, + -55.3396110534668, + 0.11772769689559937 + ], + [ + -42.20564270019531, + -56.22306442260742, + 1.8767945766448975 + ], + [ + -43.06453323364258, + -56.04050064086914, + 1.8767945766448975 + ], + [ + -42.876747131347656, + -55.157047271728516, + 1.8767945766448975 + ], + [ + -42.01785659790039, + -55.3396110534668, + 1.8767945766448975 + ] + ], + "corners_2d": [ + [ + 512.1003459804678, + 319.2872696689582 + ], + [ + 539.2110415066605, + 317.6353694312027 + ], + [ + 538.7119570413471, + 300.426408964954 + ], + [ + 512.1689580790896, + 302.0098015794682 + ], + [ + 507.08312534267213, + 275.86581818611444 + ], + [ + 535.2655532463527, + 274.23974472135166 + ], + [ + 534.8331181181964, + 257.31504195181503 + ], + [ + 507.26365086653834, + 258.87112217257754 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 511, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -51.745052337646484, + "z": 0.9974369406700134 + }, + "extent": { + "x": 0.4601074159145355, + "y": 0.49144041538238525, + "z": 0.9352851510047913 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 711.0356242782956, + "ymin": 201.68887455759224, + "xmax": 744.2168257715748, + "ymax": 261.77461000915565 + }, + "corners_3d": [ + [ + -48.48235321044922, + -52.25400924682617, + 0.06215178966522217 + ], + [ + -49.4598503112793, + -52.151268005371094, + 0.06215178966522217 + ], + [ + -49.36366271972656, + -51.2360954284668, + 0.06215178966522217 + ], + [ + -48.386165618896484, + -51.338836669921875, + 0.06215178966522217 + ], + [ + -48.48235321044922, + -52.25400924682617, + 1.9327220916748047 + ], + [ + -49.4598503112793, + -52.151268005371094, + 1.9327220916748047 + ], + [ + -49.36366271972656, + -51.2360954284668, + 1.9327220916748047 + ], + [ + -48.386165618896484, + -51.338836669921875, + 1.9327220916748047 + ] + ], + "corners_2d": [ + [ + 712.2558588700797, + 261.6324503975641 + ], + [ + 740.3365275079905, + 261.77461000915565 + ], + [ + 738.5562461067167, + 246.50023355049058 + ], + [ + 711.0356242782956, + 246.3636852072509 + ], + [ + 715.0496594544459, + 216.6042814070723 + ], + [ + 744.2168257715748, + 216.74325910586379 + ], + [ + 742.2888317993176, + 201.82216101651323 + ], + [ + 713.7254234807907, + 201.68887455759224 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 566, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -58.68776321411133, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.3316918909549713, + "y": 0.5721948146820068, + "z": 0.8988410830497742 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 940.1071688573204, + "ymin": 352.496394093409, + "xmax": 998.3856178681024, + "ymax": 416.7613252240176 + }, + "corners_3d": [ + [ + -55.59498977661133, + -59.01945495605469, + 0.09843480587005615 + ], + [ + -56.739376068115234, + -59.01945495605469, + 0.09843480587005615 + ], + [ + -56.739376068115234, + -58.35607147216797, + 0.09843480587005615 + ], + [ + -55.59498977661133, + -58.35607147216797, + 0.09843480587005615 + ], + [ + -55.59498977661133, + -59.01945495605469, + 1.8961169719696045 + ], + [ + -56.739376068115234, + -59.01945495605469, + 1.8961169719696045 + ], + [ + -56.739376068115234, + -58.35607147216797, + 1.8961169719696045 + ], + [ + -55.59498977661133, + -58.35607147216797, + 1.8961169719696045 + ] + ], + "corners_2d": [ + [ + 942.786062859715, + 413.5998775752289 + ], + [ + 982.9395754499251, + 416.7613252240176 + ], + [ + 979.5590526049805, + 400.8735388068226 + ], + [ + 940.1071688573204, + 397.820026313011 + ], + [ + 956.3746802656376, + 368.1561212722859 + ], + [ + 998.3856178681024, + 371.29640809221235 + ], + [ + 994.5773838991374, + 355.52477756631583 + ], + [ + 953.3338401648527, + 352.496394093409 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 333, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -50.28268051147461, + "y": -69.81512451171875, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.4772046208381653, + "y": 0.503537654876709, + "z": 0.9320429563522339 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 722.5337820311867, + "ymin": 681.6176846747139, + "xmax": 784.068069238431, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.73202133178711, + -70.2370834350586, + 0.0652230978012085 + ], + [ + -50.733577728271484, + -70.34234619140625, + 0.0652230978012085 + ], + [ + -50.83333969116211, + -69.3931655883789, + 0.0652230978012085 + ], + [ + -49.831783294677734, + -69.28790283203125, + 0.0652230978012085 + ], + [ + -49.73202133178711, + -70.2370834350586, + 1.9293090105056763 + ], + [ + -50.733577728271484, + -70.34234619140625, + 1.9293090105056763 + ], + [ + -50.83333969116211, + -69.3931655883789, + 1.9293090105056763 + ], + [ + -49.831783294677734, + -69.28790283203125, + 1.9293090105056763 + ] + ], + "corners_2d": [ + [ + 722.5337820311867, + 768.0904560150575 + ], + [ + 770.2166462998782, + 778.3488658535292 + ], + [ + 775.4155296962015, + 735.5783640516393 + ], + [ + 729.2700719399389, + 725.990090111964 + ], + [ + 727.9547351377488, + 724.8652316664625 + ], + [ + 778.8430063976936, + 735.4316651287793 + ], + [ + 784.068069238431, + 691.4507251514401 + ], + [ + 734.927188802779, + 681.6176846747139 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 906, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -66.85797882080078, + "z": 1.1455425024032593 + }, + "extent": { + "x": 0.3729199171066284, + "y": 0.3577856421470642, + "z": 0.9305680394172668 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 102.21369831268589, + "ymin": 505.11821510253134, + "xmax": 174.68639714663385, + "ymax": 583.7967406310627 + }, + "corners_3d": [ + [ + -34.994346618652344, + -67.14836120605469, + 0.21497446298599243 + ], + [ + -35.69428253173828, + -67.29713439941406, + 0.21497446298599243 + ], + [ + -35.84934997558594, + -66.56759643554688, + 0.21497446298599243 + ], + [ + -35.1494140625, + -66.4188232421875, + 0.21497446298599243 + ], + [ + -34.994346618652344, + -67.14836120605469, + 2.076110601425171 + ], + [ + -35.69428253173828, + -67.29713439941406, + 2.076110601425171 + ], + [ + -35.84934997558594, + -66.56759643554688, + 2.076110601425171 + ], + [ + -35.1494140625, + -66.4188232421875, + 2.076110601425171 + ] + ], + "corners_2d": [ + [ + 130.52487925348754, + 576.0392208915302 + ], + [ + 154.6048578953338, + 583.7967406310627 + ], + [ + 174.68639714663385, + 559.9759056683232 + ], + [ + 150.98981834948637, + 552.5531423531104 + ], + [ + 102.21369831268589, + 528.7967802653455 + ], + [ + 127.42727245193839, + 536.630452017496 + ], + [ + 149.23470321106203, + 512.5956360008842 + ], + [ + 124.43863603553541, + 505.11821510253134 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 3038, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 679.1667610025379, + "ymin": 58.9889979273558, + "xmax": 737.628752395785, + "ymax": 146.13519271721273 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 735.3770293923358, + 92.77141797112921 + ], + [ + 687.3433315340884, + 90.39698782826088 + ], + [ + 679.1667610025379, + 143.3184332375855 + ], + [ + 731.4572566359634, + 146.13519271721273 + ], + [ + 737.628752395785, + 61.291140938165086 + ], + [ + 688.4564949451296, + 58.9889979273558 + ], + [ + 680.1717139591389, + 110.4020463627678 + ], + [ + 733.8143636106387, + 113.14456386932773 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 222.12273809580523, + "ymin": 202.1052237463981, + "xmax": 357.88887981694893, + "ymax": 380.4223995334205 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 332.7011847591636, + 380.4223995334205 + ], + [ + 357.88887981694893, + 331.35989535009645 + ], + [ + 295.7913778378584, + 326.6736297702194 + ], + [ + 267.12934849550595, + 375.17149601083526 + ], + [ + 295.36094863767767, + 253.34963870883877 + ], + [ + 325.7267375532733, + 206.5432364039702 + ], + [ + 256.7947640368811, + 202.1052237463981 + ], + [ + 222.12273809580523, + 248.3100754723901 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 60.22993280613923, + "ymax": 3.4920072332790824 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 60.22993280613923, + -35.47721137590884 + ], + [ + 52.21787612495439, + -35.82582381662763 + ], + [ + -8.793221360843063, + 3.0830967298449536 + ], + [ + -0.16443141854551868, + 3.4920072332790824 + ], + [ + -4.664176367650043, + -199.08304455843324 + ], + [ + -13.51864563920401, + -199.33540785224977 + ], + [ + -88.11512968514774, + -170.90726481843706 + ], + [ + -78.50216193043093, + -170.60567095169563 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 157.4405356366873, + "ymin": 0.0, + "xmax": 279.14163078714734, + "ymax": 92.35969514977472 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 279.14163078714734, + 39.27247289313539 + ], + [ + 269.66470962780136, + 38.803941099625206 + ], + [ + 219.20133144165425, + 91.79524049776097 + ], + [ + 229.55588120721376, + 92.35969514977472 + ], + [ + 231.46083888820533, + -143.98350499081408 + ], + [ + 220.7794549579217, + -144.3351037912921 + ], + [ + 157.4405356366873, + -104.05482596298577 + ], + [ + 169.24941135316578, + -103.62010926654835 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 236.43808907388416, + "ymin": 234.30976324330877, + "xmax": 333.28567914525775, + "ymax": 292.7575776498019 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 306.07248836996564, + 292.7575776498019 + ], + [ + 333.28567914525775, + 247.64618645876791 + ], + [ + 270.483269397674, + 243.37188742782052 + ], + [ + 239.68940098391857, + 287.9567387304446 + ], + [ + 303.3437707495764, + 283.49561449310727 + ], + [ + 330.92226642493563, + 238.56479846107578 + ], + [ + 267.652234849931, + 234.30976324330877 + ], + [ + 236.43808907388416, + 278.7120171296663 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 236.37886422494591, + "ymin": 234.28459681160263, + "xmax": 333.35445857637774, + "ymax": 292.8486537925603 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 306.116022629795, + 292.8486537925603 + ], + [ + 333.35445857637774, + 247.68617546910565 + ], + [ + 270.47942829954377, + 243.40673310881334 + ], + [ + 239.65231596719286, + 288.04145438586636 + ], + [ + 303.3693151889963, + 283.5251622357265 + ], + [ + 330.9758415968177, + 238.54462543434448 + ], + [ + 267.6295322086246, + 234.28459681160263 + ], + [ + 236.37886422494591, + 278.7353356538811 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00063/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00063/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a20169c7aff1a3d4be05992d4d7d479bdb9902f4 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00063/meta.json @@ -0,0 +1,1559 @@ +{ + "frame_id": 63, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 31.5, + "sim_timestamp": 13877.725410736399 + }, + "drone_pose": { + "x": -49.19644803712752, + "y": -79.13738181932304, + "z": 20.0000045259269, + "pitch": -42.00395938524073, + "yaw": 83.11595037261276, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.08906817436218262, + -0.7377413511276245, + 0.6691819429397583, + 49.3811149597168 + ], + [ + 0.992790699005127, + 0.11986052989959717, + -2.9802322387695312e-08, + -39.35633850097656 + ], + [ + -0.08020848035812378, + 0.6643576622009277, + 0.7430986166000366, + -71.38347625732422 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -49.33927716738294, + "y": -78.61554104125943, + "z": 20.00000290088224 + }, + "t1_image_uv": [ + 1166.9757113873175, + -504.5023744130415 + ], + "t1_depth": 0.37226310794669754 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -58.18776321411133, + "z": 0.9972661067545414 + }, + "image_uv": [ + 640.0000000000001, + 359.99999999999994 + ], + "depth": 28.39696760487086, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 707, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -58.18776321411133, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.5201513767242432, + "y": 0.35542234778404236, + "z": 0.8816006779670715 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 625.4817295863297, + "ymin": 324.9915088108898, + "xmax": 654.1552179129703, + "ymax": 394.58073089637276 + }, + "corners_3d": [ + [ + -46.31175994873047, + -58.707916259765625, + 0.11566537618637085 + ], + [ + -47.022605895996094, + -58.707916259765625, + 0.11566537618637085 + ], + [ + -47.022605895996094, + -57.66761016845703, + 0.11566537618637085 + ], + [ + -46.31175994873047, + -57.66761016845703, + 0.11566537618637085 + ], + [ + -46.31175994873047, + -58.707916259765625, + 1.8788666725158691 + ], + [ + -47.022605895996094, + -58.707916259765625, + 1.8788666725158691 + ], + [ + -47.022605895996094, + -57.66761016845703, + 1.8788666725158691 + ], + [ + -46.31175994873047, + -57.66761016845703, + 1.8788666725158691 + ] + ], + "corners_2d": [ + [ + 626.0799569597583, + 392.5927796911648 + ], + [ + 649.7612666406102, + 394.58073089637276 + ], + [ + 653.585949134132, + 371.0615310132122 + ], + [ + 630.5145473138159, + 369.17611577682874 + ], + [ + 625.4817295863297, + 348.17938749254813 + ], + [ + 650.1817362012284, + 350.1503120020121 + ], + [ + 654.1552179129703, + 326.85657943257957 + ], + [ + 630.1179862603277, + 324.9915088108898 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 63, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 81, + "semantic_pixel_counts": { + "1": 335113, + "2": 266344, + "3": 109946, + "4": 15529, + "5": 1649, + "6": 1741, + "9": 28680, + "10": 26653, + "12": 3605, + "14": 13098, + "20": 5605, + "21": 13650, + "24": 13221, + "25": 86766 + }, + "instance_pixel_counts": { + "143": 24818, + "339": 2329, + "620": 289, + "883": 24835, + "1132": 215, + "2214": 188, + "2470": 150, + "2703": 63415, + "3180": 5, + "3749": 537, + "4166": 179, + "4261": 384, + "4678": 202, + "4979": 2189, + "5228": 341, + "5714": 933, + "6508": 594, + "6565": 3325, + "7539": 25886, + "8018": 8200, + "8530": 71, + "8556": 1921, + "8810": 1182, + "9068": 14859, + "9320": 38178, + "10624": 406, + "11116": 248, + "11368": 38653, + "11370": 1100, + "11596": 14970, + "12419": 29, + "12675": 27, + "17516": 49, + "20308": 4409, + "20820": 2095, + "20866": 193, + "22356": 3025, + "22868": 208, + "22893": 12529, + "23953": 14064, + "25928": 1649, + "25965": 12239, + "26696": 559, + "26987": 4628, + "27460": 355, + "27476": 242, + "27559": 76, + "27719": 114466, + "28231": 26511, + "30630": 2369, + "30863": 9956, + "31142": 2033, + "31654": 2010, + "32911": 21268, + "34372": 57, + "34884": 305, + "37798": 8, + "39239": 86766, + "41796": 76, + "42391": 3520, + "44951": 4133, + "52327": 137514, + "54375": 120768, + "54950": 51, + "55401": 3907, + "56173": 28680, + "56320": 707, + "56576": 629, + "56832": 501, + "56937": 3246, + "57088": 571, + "57344": 230, + "57600": 967, + "58368": 3119, + "59522": 1548, + "59762": 5340, + "60274": 9228, + "62827": 1389, + "63083": 524, + "63339": 1059, + "64850": 1024 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 707, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -58.18776321411133, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.5023510456085205, + "y": 0.3571533262729645, + "z": 0.8672399520874023 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 625.5083101077512, + "ymin": 325.7480115281986, + "xmax": 654.1429339097024, + "ymax": 393.82544064859394 + }, + "corners_3d": [ + [ + -46.310028076171875, + -58.69011306762695, + 0.13002610206604004 + ], + [ + -47.02433776855469, + -58.69011306762695, + 0.13002610206604004 + ], + [ + -47.02433776855469, + -57.6854133605957, + 0.13002610206604004 + ], + [ + -46.310028076171875, + -57.6854133605957, + 0.13002610206604004 + ], + [ + -46.310028076171875, + -58.69011306762695, + 1.8645060062408447 + ], + [ + -47.02433776855469, + -58.69011306762695, + 1.8645060062408447 + ], + [ + -47.02433776855469, + -57.6854133605957, + 1.8645060062408447 + ], + [ + -46.310028076171875, + -57.6854133605957, + 1.8645060062408447 + ] + ], + "corners_2d": [ + [ + 626.09563988752, + 391.8297372467948 + ], + [ + 649.889570160357, + 393.82544064859394 + ], + [ + 653.5829870899369, + 371.1125830608072 + ], + [ + 630.3813456113481, + 369.216413446904 + ], + [ + 625.5083101077512, + 348.14398707336045 + ], + [ + 650.3082819242808, + 350.1228011766722 + ], + [ + 654.1429339097024, + 327.62412440840524 + ], + [ + 629.9857189461619, + 325.7480115281986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 629, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -55.19005584716797, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.44233644008636475, + "y": 0.4393213093280792, + "z": 0.8747825622558594 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 507.82825778032964, + "ymin": 257.166430410011, + "xmax": 539.897148488614, + "ymax": 318.4249654184247 + }, + "corners_3d": [ + [ + -42.20344161987305, + -55.71406555175781, + 0.12248349189758301 + ], + [ + -43.06288146972656, + -55.53138732910156, + 0.12248349189758301 + ], + [ + -42.87894821166992, + -54.666046142578125, + 0.12248349189758301 + ], + [ + -42.019508361816406, + -54.848724365234375, + 0.12248349189758301 + ], + [ + -42.20344161987305, + -55.71406555175781, + 1.8720486164093018 + ], + [ + -43.06288146972656, + -55.53138732910156, + 1.8720486164093018 + ], + [ + -42.87894821166992, + -54.666046142578125, + 1.8720486164093018 + ], + [ + -42.019508361816406, + -54.848724365234375, + 1.8720486164093018 + ] + ], + "corners_2d": [ + [ + 512.7872154135719, + 318.4249654184247 + ], + [ + 539.897148488614, + 316.89243574034083 + ], + [ + 539.5780122662153, + 300.04178578297245 + ], + [ + 513.0246600341978, + 301.5120258731695 + ], + [ + 507.82825778032964, + 275.2483669192284 + ], + [ + 536.0025290196065, + 273.7397475024134 + ], + [ + 535.7541794202409, + 257.166430410011 + ], + [ + 508.18056561640765, + 258.61142018417337 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 501, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -51.245052337646484, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.48264890909194946, + "y": 0.4841284155845642, + "z": 0.9065611958503723 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 712.6562013634203, + "ymin": 202.30627689112563, + "xmax": 745.3078196059345, + "ymax": 261.8871295787791 + }, + "corners_3d": [ + [ + -48.491981506347656, + -51.77566146850586, + 0.09071469306945801 + ], + [ + -49.454933166503906, + -51.67445373535156, + 0.09071469306945801 + ], + [ + -49.354034423828125, + -50.71444320678711, + 0.09071469306945801 + ], + [ + -48.391082763671875, + -50.815650939941406, + 0.09071469306945801 + ], + [ + -48.491981506347656, + -51.77566146850586, + 1.9038370847702026 + ], + [ + -49.454933166503906, + -51.67445373535156, + 1.9038370847702026 + ], + [ + -49.354034423828125, + -50.71444320678711, + 1.9038370847702026 + ], + [ + -48.391082763671875, + -50.815650939941406, + 1.9038370847702026 + ] + ], + "corners_2d": [ + [ + 713.7824766069893, + 261.6336583756226 + ], + [ + 741.5006331915732, + 261.8871295787791 + ], + [ + 739.7940182608827, + 245.85107325003452 + ], + [ + 712.6562013634203, + 245.60809665796342 + ], + [ + 716.5490332918511, + 217.9729424119545 + ], + [ + 745.3078196059345, + 218.22093449379955 + ], + [ + 743.4559950367628, + 202.54362862965198 + ], + [ + 715.321451351265, + 202.30627689112563 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 571, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -58.18776321411133, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.3390136659145355, + "y": 0.5244824290275574, + "z": 0.9073391556739807 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 942.0012386999566, + "ymin": 353.67190849131794, + "xmax": 997.0826128145425, + "ymax": 418.69704739886583 + }, + "corners_3d": [ + [ + -55.6427001953125, + -58.52677536010742, + 0.08993673324584961 + ], + [ + -56.69166564941406, + -58.52677536010742, + 0.08993673324584961 + ], + [ + -56.69166564941406, + -57.848751068115234, + 0.08993673324584961 + ], + [ + -55.6427001953125, + -57.848751068115234, + 0.08993673324584961 + ], + [ + -55.6427001953125, + -58.52677536010742, + 1.904615044593811 + ], + [ + -56.69166564941406, + -58.52677536010742, + 1.904615044593811 + ], + [ + -56.69166564941406, + -57.848751068115234, + 1.904615044593811 + ], + [ + -55.6427001953125, + -57.848751068115234, + 1.904615044593811 + ] + ], + "corners_2d": [ + [ + 944.6142410476444, + 415.6115266855519 + ], + [ + 981.5188997554762, + 418.69704739886583 + ], + [ + 978.2464059972705, + 402.4145780998259 + ], + [ + 942.0012386999566, + 399.4367600748556 + ], + [ + 958.4476307161799, + 369.7251335052109 + ], + [ + 997.0826128145425, + 372.7903802697345 + ], + [ + 993.3769583846679, + 356.62542663731443 + ], + [ + 955.4641260622432, + 353.67190849131794 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 230, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -50.28268051147461, + "y": -69.31512451171875, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.4624365568161011, + "y": 0.40321534872055054, + "z": 0.9151064157485962 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 723.5795001398517, + "ymin": 684.3441138390193, + "xmax": 775.3270957937591, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.833335876464844, + -69.73287963867188, + 0.08216947317123413 + ], + [ + -50.63534927368164, + -69.81717681884766, + 0.08216947317123413 + ], + [ + -50.732025146484375, + -68.89736938476562, + 0.08216947317123413 + ], + [ + -49.93001174926758, + -68.81307220458984, + 0.08216947317123413 + ], + [ + -49.833335876464844, + -69.73287963867188, + 1.9123823642730713 + ], + [ + -50.63534927368164, + -69.81717681884766, + 1.9123823642730713 + ], + [ + -50.732025146484375, + -68.89736938476562, + 1.9123823642730713 + ], + [ + -49.93001174926758, + -68.81307220458984, + 1.9123823642730713 + ] + ], + "corners_2d": [ + [ + 723.5795001398517, + 768.7024117649503 + ], + [ + 761.7263181807208, + 777.1765747390008 + ], + [ + 767.3381668057152, + 735.7867089020108 + ], + [ + 730.3794395169195, + 727.8493317341903 + ], + [ + 728.9712373912165, + 726.2973867617836 + ], + [ + 769.6345778939689, + 735.0215220306751 + ], + [ + 775.3270957937591, + 692.4816769018646 + ], + [ + 736.011107470026, + 684.3441138390193 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 967, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -66.35797882080078, + "z": 1.1455425024032593 + }, + "extent": { + "x": 0.3861108422279358, + "y": 0.4239550828933716, + "z": 0.9392384886741638 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 98.79808914853857, + "ymin": 501.0401684806512, + "xmax": 176.65105871064873, + "ymax": 582.3848381237823 + }, + "corners_3d": [ + [ + -34.9268798828125, + -66.64750671386719, + 0.20630401372909546 + ], + [ + -35.756263732910156, + -66.82379913330078, + 0.20630401372909546 + ], + [ + -35.91681671142578, + -66.06845092773438, + 0.20630401372909546 + ], + [ + -35.087432861328125, + -65.89215850830078, + 0.20630401372909546 + ], + [ + -34.9268798828125, + -66.64750671386719, + 2.0847809314727783 + ], + [ + -35.756263732910156, + -66.82379913330078, + 2.0847809314727783 + ], + [ + -35.91681671142578, + -66.06845092773438, + 2.0847809314727783 + ], + [ + -35.087432861328125, + -65.89215850830078, + 2.0847809314727783 + ] + ], + "corners_2d": [ + [ + 127.46600559819228, + 573.0446774449836 + ], + [ + 155.75964434660256, + 582.3848381237823 + ], + [ + 176.65105871064873, + 557.8674613395224 + ], + [ + 148.8147727055774, + 548.9421957292067 + ], + [ + 98.79808914853857, + 525.3335113126991 + ], + [ + 128.42626927639964, + 534.7639845399166 + ], + [ + 151.11939363579467, + 510.0290292806868 + ], + [ + 121.98906199398982, + 501.0401684806512 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 3119, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 680.5120348991052, + "ymin": 64.04928119307772, + "xmax": 740.178961848739, + "ymax": 152.54263312228653 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 737.8469348871348, + 98.19132526385101 + ], + [ + 689.3864707798982, + 95.61922178837995 + ], + [ + 680.5120348991052, + 149.48689036731514 + ], + [ + 733.3010958732463, + 152.54263312228653 + ], + [ + 740.178961848739, + 66.54415530598573 + ], + [ + 690.558376797302, + 64.04928119307772 + ], + [ + 681.5618816063412, + 116.40573479090543 + ], + [ + 735.7305329153178, + 119.38245101451187 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 214.84292525227147, + "ymin": 210.16031376581984, + "xmax": 353.46733009571636, + "ymax": 390.36458002867226 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 327.21912452627856, + 390.36458002867226 + ], + [ + 353.46733009571636, + 340.2553092934609 + ], + [ + 290.9040460584619, + 335.18031202405723 + ], + [ + 261.1353329062979, + 384.671682159382 + ], + [ + 288.72651058973275, + 262.908422227903 + ], + [ + 320.40734436002765, + 214.97807061228357 + ], + [ + 250.89525140425093, + 210.16031376581984 + ], + [ + 214.84292525227147, + 257.4298349236899 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 61.19304354910696, + "ymax": 5.4372249619787 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 61.19304354910696, + -33.80398938047347 + ], + [ + 53.18340784802706, + -34.17647102421722 + ], + [ + -8.687331819559176, + 5.000106541940227 + ], + [ + -0.06299489241666834, + 5.4372249619787 + ], + [ + -3.8705666732273585, + -197.90483506637634 + ], + [ + -12.722502690837928, + -198.17470830275852 + ], + [ + -88.35577931452144, + -169.52469953723926 + ], + [ + -78.74797693414928, + -169.20198012563787 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 155.65553606814206, + "ymin": 0.0, + "xmax": 279.18799175862927, + "ymax": 96.1776964473325 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 279.18799175862927, + 42.464169170067635 + ], + [ + 269.6812480643028, + 41.96129747750058 + ], + [ + 218.05123354091683, + 95.57126445859222 + ], + [ + 228.43937780108456, + 96.1776964473325 + ], + [ + 231.18306747687166, + -141.61630665090934 + ], + [ + 220.46279857618038, + -141.9942822512591 + ], + [ + 155.65553606814206, + -101.171853262821 + ], + [ + 167.50921847065928, + -100.70390250365745 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 229.54561676283788, + "ymin": 242.54186433827903, + "xmax": 328.2148988128691, + "ymax": 302.43236612914023 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 299.8376438219754, + 302.43236612914023 + ], + [ + 328.2148988128691, + 256.27797801880246 + ], + [ + 264.9017317345986, + 251.64137867584475 + ], + [ + 232.8916780412133, + 297.2180565165281 + ], + [ + 297.02348360268985, + 293.1367711080185 + ], + [ + 325.78418613536184, + 247.15837923288575 + ], + [ + 261.99538254268293, + 242.54186433827903 + ], + [ + 229.54561676283788, + 287.9401648230664 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 229.48533192930114, + "ymin": 242.51597730371668, + "xmax": 328.28505214898513, + "ymax": 302.52454212257317 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 299.8814264459671, + 302.52454212257317 + ], + [ + 328.28505214898513, + 256.31791797211304 + ], + [ + 264.89871318099875, + 251.67574779943126 + ], + [ + 232.8541767503857, + 297.3033272682828 + ], + [ + 297.04870655506835, + 293.1672049195555 + ], + [ + 325.8387043222436, + 247.1379067326201 + ], + [ + 261.9730092435506, + 242.51597730371668 + ], + [ + 229.48533192930114, + 287.9638277639646 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00064/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00064/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e5e90d790e319644f14f512014e399ac21c6db88 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00064/meta.json @@ -0,0 +1,1560 @@ +{ + "frame_id": 64, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 32.0, + "sim_timestamp": 13890.909616164165 + }, + "drone_pose": { + "x": -49.33927716738294, + "y": -78.61554104125943, + "z": 20.00000290088224, + "pitch": -42.00945209163784, + "yaw": 82.72374768828236, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.09410780668258667, + -0.7370508313179016, + 0.6692532300949097, + 49.2017936706543 + ], + [ + 0.9919471144676208, + 0.12665343284606934, + 2.9802322387695312e-08, + -38.98501205444336 + ], + [ + -0.08476325869560242, + 0.6638637781143188, + 0.7430343627929688, + -71.23285675048828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -49.472819337566705, + "y": -78.09188479813162, + "z": 20.00000182247706 + }, + "t1_image_uv": [ + 1151.0895036558104, + -504.6709609802821 + ], + "t1_depth": 0.37339459617091114 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -57.68776321411133, + "z": 0.9972661067545414 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.393942630491345, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 714, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -57.68776321411133, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.4977148473262787, + "y": 0.42985105514526367, + "z": 0.8746989965438843 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 622.9034466593989, + "ymin": 325.4055790509946, + "xmax": 656.6998846882658, + "ymax": 394.16314072814885 + }, + "corners_3d": [ + [ + -46.23733139038086, + -58.18547821044922, + 0.1225670576095581 + ], + [ + -47.0970344543457, + -58.18547821044922, + 0.1225670576095581 + ], + [ + -47.0970344543457, + -57.19004821777344, + 0.1225670576095581 + ], + [ + -46.23733139038086, + -57.19004821777344, + 0.1225670576095581 + ], + [ + -46.23733139038086, + -58.18547821044922, + 1.8719650506973267 + ], + [ + -47.0970344543457, + -58.18547821044922, + 1.8719650506973267 + ], + [ + -47.0970344543457, + -57.19004821777344, + 1.8719650506973267 + ], + [ + -46.23733139038086, + -57.19004821777344, + 1.8719650506973267 + ] + ], + "corners_2d": [ + [ + 623.6020301468861, + 391.6251702635924 + ], + [ + 652.2083846813061, + 394.16314072814885 + ], + [ + 656.0327092407205, + 371.66031853720324 + ], + [ + 628.1300275406269, + 369.2476653222698 + ], + [ + 622.9034466593989, + 347.5659683545649 + ], + [ + 652.7300198268656, + 350.0822911931693 + ], + [ + 656.6998846882658, + 327.7925586128905 + ], + [ + 627.6374940289492, + 325.4055790509946 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 64, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 82, + "semantic_pixel_counts": { + "1": 335356, + "2": 265068, + "3": 108354, + "4": 15613, + "5": 1694, + "6": 1808, + "9": 28266, + "10": 25644, + "12": 3614, + "14": 13706, + "20": 5644, + "21": 14020, + "24": 13343, + "25": 89470 + }, + "instance_pixel_counts": { + "143": 24583, + "339": 1810, + "620": 300, + "883": 23492, + "1132": 219, + "2214": 190, + "2470": 149, + "2703": 62457, + "3180": 61, + "3749": 565, + "4166": 182, + "4261": 390, + "4678": 206, + "4979": 2380, + "5228": 348, + "5714": 962, + "6508": 598, + "6565": 3407, + "7539": 27824, + "8018": 8310, + "8530": 13, + "8556": 1093, + "8810": 1226, + "9068": 15331, + "9320": 39743, + "10624": 435, + "11116": 255, + "11368": 40381, + "11370": 1161, + "11596": 15603, + "12419": 32, + "12675": 31, + "17516": 52, + "20308": 4485, + "20820": 2145, + "20866": 205, + "22356": 3196, + "22868": 292, + "22893": 12412, + "23953": 12848, + "25928": 1694, + "25965": 12043, + "26696": 10, + "26987": 4626, + "27460": 364, + "27476": 384, + "27559": 80, + "27719": 112936, + "28231": 25497, + "30630": 2402, + "30863": 10347, + "31142": 2098, + "31654": 2033, + "32911": 22309, + "34372": 58, + "34884": 314, + "37798": 9, + "39239": 89470, + "41796": 77, + "42391": 3664, + "44951": 4317, + "52327": 136159, + "54375": 119073, + "54950": 59, + "55401": 3847, + "56173": 28266, + "56320": 714, + "56576": 606, + "56832": 495, + "56937": 3160, + "57088": 588, + "57344": 280, + "57600": 931, + "58368": 3204, + "59522": 1603, + "59762": 4551, + "60274": 9562, + "60833": 2, + "62827": 1460, + "63083": 553, + "63339": 1096, + "64850": 1140 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 714, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -57.68776321411133, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.5180200338363647, + "y": 0.3360595703125, + "z": 0.8808997273445129 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 626.0493590839454, + "ymin": 325.0631345954017, + "xmax": 653.6036097317291, + "ymax": 394.50615378480813 + }, + "corners_3d": [ + [ + -46.33112335205078, + -58.20578384399414, + 0.11636632680892944 + ], + [ + -47.00324249267578, + -58.20578384399414, + 0.11636632680892944 + ], + [ + -47.00324249267578, + -57.169742584228516, + 0.11636632680892944 + ], + [ + -46.33112335205078, + -57.169742584228516, + 0.11636632680892944 + ], + [ + -46.33112335205078, + -58.20578384399414, + 1.8781657218933105 + ], + [ + -47.00324249267578, + -58.20578384399414, + 1.8781657218933105 + ], + [ + -47.00324249267578, + -57.169742584228516, + 1.8781657218933105 + ], + [ + -46.33112335205078, + -57.169742584228516, + 1.8781657218933105 + ] + ], + "corners_2d": [ + [ + 626.623832022359, + 392.5198398571391 + ], + [ + 648.9966369862613, + 394.50615378480813 + ], + [ + 653.0568019556664, + 371.0986488860685 + ], + [ + 631.2564174055392, + 369.2142961159858 + ], + [ + 626.0493590839454, + 348.14156714029576 + ], + [ + 649.3839122719826, + 350.11090614860694 + ], + [ + 653.6036097317291, + 326.9272130222641 + ], + [ + 630.8910643903032, + 325.0631345954017 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 606, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -54.69005584716797, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.440300315618515, + "y": 0.4378662407398224, + "z": 0.8599573969841003 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 508.65449837719734, + "ymin": 257.1458261788348, + "xmax": 540.510450707425, + "ymax": 317.46518781479904 + }, + "corners_3d": [ + [ + -42.20444107055664, + -55.21177291870117, + 0.13730865716934204 + ], + [ + -43.06103515625, + -55.02969741821289, + 0.13730865716934204 + ], + [ + -42.87794876098633, + -54.168338775634766, + 0.13730865716934204 + ], + [ + -42.02135467529297, + -54.35041427612305, + 0.13730865716934204 + ], + [ + -42.20444107055664, + -55.21177291870117, + 1.8572235107421875 + ], + [ + -43.06103515625, + -55.02969741821289, + 1.8572235107421875 + ], + [ + -42.87794876098633, + -54.168338775634766, + 1.8572235107421875 + ], + [ + -42.02135467529297, + -54.35041427612305, + 1.8572235107421875 + ] + ], + "corners_2d": [ + [ + 513.4979823346052, + 317.46518781479904 + ], + [ + 540.510450707425, + 316.05621556661833 + ], + [ + 540.3619364632817, + 299.2895046307416 + ], + [ + 513.9019840092144, + 300.6414497054825 + ], + [ + 508.65449837719734, + 275.0281704613076 + ], + [ + 536.7079924613606, + 273.6408553802074 + ], + [ + 536.6345087625127, + 257.1458261788348 + ], + [ + 509.17646819857345, + 258.4749107632252 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 495, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -50.745052337646484, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.48491454124450684, + "y": 0.3229467570781708, + "z": 0.956364095211029 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 718.4947741682766, + "ymin": 201.347858164046, + "xmax": 741.937394331782, + "ymax": 263.41084366159515 + }, + "corners_3d": [ + [ + -48.65251922607422, + -51.26106643676758, + 0.04090684652328491 + ], + [ + -49.29487228393555, + -51.19355392456055, + 0.04090684652328491 + ], + [ + -49.19349670410156, + -50.22903823852539, + 0.04090684652328491 + ], + [ + -48.551143646240234, + -50.29655075073242, + 0.04090684652328491 + ], + [ + -48.65251922607422, + -51.26106643676758, + 1.9536349773406982 + ], + [ + -49.29487228393555, + -51.19355392456055, + 1.9536349773406982 + ], + [ + -49.19349670410156, + -50.22903823852539, + 1.9536349773406982 + ], + [ + -48.551143646240234, + -50.29655075073242, + 1.9536349773406982 + ] + ], + "corners_2d": [ + [ + 719.5611911335538, + 263.16634894381633 + ], + [ + 738.0506708071833, + 263.41084366159515 + ], + [ + 736.5954970102495, + 247.2750103353019 + ], + [ + 718.4947741682766, + 247.04067876916372 + ], + [ + 722.7139489487292, + 217.09350091880464 + ], + [ + 741.937394331782, + 217.33243541630642 + ], + [ + 740.3409785226345, + 201.57647983130155 + ], + [ + 721.5374165597958, + 201.347858164046 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 588, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -57.68776321411133, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.3056298792362213, + "y": 0.49703124165534973, + "z": 0.8963024020195007 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 943.4847302506935, + "ymin": 356.26323100195145, + "xmax": 996.1175430085985, + "ymax": 419.20726628311223 + }, + "corners_3d": [ + [ + -55.67015075683594, + -57.99339294433594, + 0.10097348690032959 + ], + [ + -56.664215087890625, + -57.99339294433594, + 0.10097348690032959 + ], + [ + -56.664215087890625, + -57.38213348388672, + 0.10097348690032959 + ], + [ + -55.67015075683594, + -57.38213348388672, + 0.10097348690032959 + ], + [ + -55.67015075683594, + -57.99339294433594, + 1.893578290939331 + ], + [ + -56.664215087890625, + -57.99339294433594, + 1.893578290939331 + ], + [ + -56.664215087890625, + -57.38213348388672, + 1.893578290939331 + ], + [ + -55.67015075683594, + -57.38213348388672, + 1.893578290939331 + ] + ], + "corners_2d": [ + [ + 945.7198481446228, + 416.1118303993248 + ], + [ + 980.764634083687, + 419.20726628311223 + ], + [ + 977.9637883583155, + 404.4879749788339 + ], + [ + 943.4847302506935, + 401.4902263610071 + ], + [ + 959.4456178471054, + 370.77876147998705 + ], + [ + 996.1175430085985, + 373.8543963209081 + ], + [ + 992.9371670480479, + 359.2375464770422 + ], + [ + 956.8842334016213, + 356.26323100195145 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 280, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -50.28268051147461, + "y": -68.81512451171875, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.47270265221595764, + "y": 0.2893579304218292, + "z": 0.9582732319831848 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 724.9164851061312, + "ymin": 684.6550152072664, + "xmax": 766.3652997592845, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.94549560546875, + -69.25498962402344, + 0.03900265693664551 + ], + [ + -50.52104187011719, + -69.31548309326172, + 0.03900265693664551 + ], + [ + -50.61986541748047, + -68.37525939941406, + 0.03900265693664551 + ], + [ + -50.04431915283203, + -68.31476593017578, + 0.03900265693664551 + ], + [ + -49.94549560546875, + -69.25498962402344, + 1.9555491209030151 + ], + [ + -50.52104187011719, + -69.31548309326172, + 1.9555491209030151 + ], + [ + -50.61986541748047, + -68.37525939941406, + 1.9555491209030151 + ], + [ + -50.04431915283203, + -68.31476593017578, + 1.9555491209030151 + ] + ], + "corners_2d": [ + [ + 724.9164851061312, + 771.967677127661 + ], + [ + 752.2319394093005, + 778.239013900446 + ], + [ + 758.567617842803, + 736.0415680725249 + ], + [ + 732.1164148710619, + 730.1750553659135 + ], + [ + 730.6737475739161, + 727.6360950463943 + ], + [ + 759.881092380665, + 734.102238621371 + ], + [ + 766.3652997592845, + 690.6768647831867 + ], + [ + 738.1439959846294, + 684.6550152072664 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 931, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -65.85797882080078, + "z": 1.1455473899841309 + }, + "extent": { + "x": 0.3588488698005676, + "y": 0.3338305652141571, + "z": 0.9031974673271179 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 102.76981276662832, + "ymin": 501.08362625370154, + "xmax": 171.81660082708868, + "ymax": 576.8806089876462 + }, + "corners_3d": [ + [ + -35.02070236206055, + -66.13957977294922, + 0.24234992265701294 + ], + [ + -35.67377471923828, + -66.27839660644531, + 0.24234992265701294 + ], + [ + -35.822994232177734, + -65.57637786865234, + 0.24234992265701294 + ], + [ + -35.169921875, + -65.43756103515625, + 0.24234992265701294 + ], + [ + -35.02070236206055, + -66.13957977294922, + 2.0487449169158936 + ], + [ + -35.67377471923828, + -66.27839660644531, + 2.0487449169158936 + ], + [ + -35.822994232177734, + -65.57637786865234, + 2.0487449169158936 + ], + [ + -35.169921875, + -65.43756103515625, + 2.0487449169158936 + ] + ], + "corners_2d": [ + [ + 130.09804257342228, + 569.4274143409159 + ], + [ + 152.1941912110413, + 576.8806089876462 + ], + [ + 171.81660082708868, + 554.2950308775792 + ], + [ + 150.04634431765436, + 547.1488403453519 + ], + [ + 102.76981276662832, + 523.5282261531735 + ], + [ + 125.85899890708129, + 531.0481076799751 + ], + [ + 147.09645610846138, + 508.2776401366426 + ], + [ + 124.3604539029759, + 501.08362625370154 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 3204, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 681.700720209368, + "ymin": 69.1891175037166, + "xmax": 742.599657246494, + "ymax": 159.06522782483756 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 740.1887483017639, + 103.69813133788409 + ], + [ + 691.2942555573707, + 100.92241335329936 + ], + [ + 681.700720209368, + 155.76266937592104 + ], + [ + 734.9969601770921, + 159.06522782483756 + ], + [ + 742.599657246494, + 71.88268178783596 + ], + [ + 692.5228170383161, + 69.1891175037166 + ], + [ + 682.7923177181473, + 122.51607100122934 + ], + [ + 737.496452724474, + 125.73489802551452 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 207.1366110869959, + "ymin": 218.3960429930167, + "xmax": 348.738375183879, + "ymax": 400.5259076801551 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 321.3918107518957, + 400.5259076801551 + ], + [ + 348.738375183879, + 349.3358421199566 + ], + [ + 285.7054955525113, + 343.85836133689753 + ], + [ + 254.79220447623607, + 394.37446274667553 + ], + [ + 281.6722060029112, + 272.7048159266968 + ], + [ + 314.7211711740702, + 223.60877517691458 + ], + [ + 244.62268980085145, + 218.3960429930167 + ], + [ + 207.1366110869959, + 266.76844289141775 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 62.01451030800797, + "ymax": 7.39438917784247 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 62.01451030800797, + -32.12437921715883 + ], + [ + 54.00708580685773, + -32.52097724209676 + ], + [ + -8.737233801600041, + 6.928744939891544 + ], + [ + -0.1172243015175809, + 7.39438917784247 + ], + [ + -3.2418402377238635, + -196.73243332998504 + ], + [ + -12.091537930439813, + -197.02003273491403 + ], + [ + -88.7817084868567, + -168.14299275028088 + ], + [ + -79.17888315158632, + -167.79886145273304 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 153.64619659647838, + "ymin": 0.0, + "xmax": 279.0764406754412, + "ymax": 100.04121995174819 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 279.0764406754412, + 45.687767195958145 + ], + [ + 269.5395561378893, + 45.14991008895703 + ], + [ + 216.71834237193104, + 99.39194270292984 + ], + [ + 227.14030911807248, + 100.04121995174819 + ], + [ + 230.71805043601546, + -139.2313547162799 + ], + [ + 219.9583657305099, + -139.63629282885535 + ], + [ + 153.64619659647838, + -98.25793932794556 + ], + [ + 165.54512606190588, + -97.7559327964845 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 222.24854212334446, + "ymin": 250.95457518785565, + "xmax": 322.79578380058973, + "ymax": 312.33838331467285 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 293.2092773166398, + 312.33838331467285 + ], + [ + 322.79578380058973, + 265.10384951758687 + ], + [ + 258.966762704931, + 260.09094464078623 + ], + [ + 225.69511766520765, + 306.6936649655586 + ], + [ + 290.30410901155426, + 303.0102986329225 + ], + [ + 320.29331092667604, + 255.94666788006566 + ], + [ + 255.98046196762158, + 250.95457518785565 + ], + [ + 222.24854212334446, + 297.38360582257064 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 222.18716659842556, + "ymin": 250.92794204551706, + "xmax": 322.86736682312994, + "ymax": 312.4316848396474 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 293.2533218467874, + 312.4316848396474 + ], + [ + 322.86736682312994, + 265.14372669992747 + ], + [ + 258.96461745249565, + 260.1248082351034 + ], + [ + 225.65720825302412, + 306.7794946814146 + ], + [ + 290.3289867324306, + 303.04165242313354 + ], + [ + 320.3487991007693, + 255.92588638195184 + ], + [ + 255.95843858705803, + 250.92794204551706 + ], + [ + 222.18716659842556, + 297.4076241331401 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00067/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00067/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8772745ed25d23a141ef284fe3ee3f5525988f26 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00067/meta.json @@ -0,0 +1,1560 @@ +{ + "frame_id": 67, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 33.5, + "sim_timestamp": 13921.582880695583 + }, + "drone_pose": { + "x": -49.677560107164744, + "y": -77.03556971950995, + "z": 20.000000671738448, + "pitch": -42.05491939363139, + "yaw": 81.78340924135351, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.10611528158187866, + -0.7348812818527222, + 0.6698426008224487, + 48.48668670654297 + ], + [ + 0.9897348880767822, + 0.14291560649871826, + 0.0, + -38.15803146362305 + ], + [ + -0.09573093056678772, + 0.6629666090011597, + 0.7425031065940857, + -70.67774963378906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -49.73840802006149, + "y": -76.50075398929593, + "z": 20.00000039211986 + }, + "t1_image_uv": [ + 979.3712123805768, + -506.0545881979044 + ], + "t1_depth": 0.3865693387868386 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -46.66718292236328, + "y": -56.18776321411133, + "z": 0.9972709906101227 + }, + "image_uv": [ + 640.0000000000001, + 360.0 + ], + "depth": 28.368946794256388, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 739, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -56.18776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.49693113565444946, + "y": 0.35833740234375, + "z": 0.8647082448005676 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 625.119696342173, + "ymin": 325.75142312901016, + "xmax": 654.5340160735838, + "ymax": 393.82622129264655 + }, + "corners_3d": [ + [ + -46.30884552001953, + -56.684696197509766, + 0.13256269693374634 + ], + [ + -47.02552032470703, + -56.6846923828125, + 0.13256269693374634 + ], + [ + -47.02552032470703, + -55.69083023071289, + 0.13256269693374634 + ], + [ + -46.30884552001953, + -55.690834045410156, + 0.13256269693374634 + ], + [ + -46.30884552001953, + -56.684696197509766, + 1.8619792461395264 + ], + [ + -47.02552032470703, + -56.6846923828125, + 1.8619792461395264 + ], + [ + -47.02552032470703, + -55.69083023071289, + 1.8619792461395264 + ], + [ + -46.30884552001953, + -55.690834045410156, + 1.8619792461395264 + ] + ], + "corners_2d": [ + [ + 625.721977565378, + 391.43519466832157 + ], + [ + 649.5391467858891, + 393.82622129264655 + ], + [ + 653.9588989869654, + 371.3756707737841 + ], + [ + 630.7229376770667, + 369.1023094923019 + ], + [ + 625.119696342173, + 347.87344032201713 + ], + [ + 649.94264821727, + 350.24464330566923 + ], + [ + 654.5340160735838, + 328.0011981442355 + ], + [ + 630.3417467663932, + 325.75142312901016 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 67, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 82, + "semantic_pixel_counts": { + "1": 336302, + "2": 263366, + "3": 100283, + "4": 17650, + "5": 1779, + "6": 2023, + "9": 27350, + "10": 22029, + "12": 3591, + "14": 15773, + "20": 5901, + "21": 14190, + "24": 13580, + "25": 97783 + }, + "instance_pixel_counts": { + "143": 23840, + "339": 158, + "620": 318, + "883": 19706, + "1132": 230, + "2214": 199, + "2470": 140, + "2703": 61109, + "3180": 65, + "3749": 643, + "4166": 191, + "4261": 445, + "4678": 220, + "4979": 4287, + "5228": 372, + "5714": 1061, + "6053": 15, + "6508": 694, + "6565": 3645, + "7539": 31937, + "8018": 8281, + "8556": 31, + "8810": 1380, + "9068": 14803, + "9320": 44911, + "10624": 506, + "11116": 269, + "11368": 45893, + "11370": 1329, + "11596": 17650, + "12419": 44, + "12675": 36, + "17516": 56, + "20308": 4701, + "20820": 2294, + "20866": 253, + "22356": 3514, + "22868": 735, + "22893": 12033, + "23380": 109, + "23953": 8578, + "25928": 1779, + "25965": 11431, + "26987": 4733, + "27460": 388, + "27476": 951, + "27559": 54, + "27719": 108700, + "28231": 21858, + "30630": 2529, + "30863": 11613, + "31142": 2278, + "31654": 2150, + "32911": 25589, + "34372": 64, + "34884": 332, + "37798": 12, + "39239": 97783, + "41796": 83, + "42391": 4134, + "44951": 4917, + "52327": 131572, + "54375": 113926, + "54950": 79, + "55401": 3603, + "56173": 27350, + "56320": 739, + "56576": 606, + "56832": 509, + "56937": 2973, + "57088": 589, + "57344": 215, + "57600": 933, + "58368": 3469, + "59522": 1770, + "59762": 296, + "60274": 10682, + "60833": 20, + "62827": 679, + "63083": 634, + "63339": 1202, + "64850": 1524 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 739, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -56.18776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.48473143577575684, + "y": 0.46025633811950684, + "z": 0.8844899535179138 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 621.6589071621628, + "ymin": 325.1803784389517, + "xmax": 657.939605050061, + "ymax": 394.36259571384704 + }, + "corners_3d": [ + [ + -46.20692825317383, + -56.67249298095703, + 0.11278098821640015 + ], + [ + -47.127437591552734, + -56.67249298095703, + 0.11278098821640015 + ], + [ + -47.127437591552734, + -55.703033447265625, + 0.11278098821640015 + ], + [ + -46.20692825317383, + -55.703033447265625, + 0.11278098821640015 + ], + [ + -46.20692825317383, + -56.67249298095703, + 1.881760835647583 + ], + [ + -47.127437591552734, + -56.67249298095703, + 1.881760835647583 + ], + [ + -47.127437591552734, + -55.703033447265625, + 1.881760835647583 + ], + [ + -46.20692825317383, + -55.703033447265625, + 1.881760835647583 + ] + ], + "corners_2d": [ + [ + 622.4173713035691, + 391.293119258792 + ], + [ + 652.9850072867746, + 394.36259571384704 + ], + [ + 657.213325689396, + 372.4453372906254 + ], + [ + 627.3732033581005, + 369.5232292055156 + ], + [ + 621.6589071621628, + 346.73928440804707 + ], + [ + 653.547142185797, + 349.78264305420015 + ], + [ + 657.939605050061, + 328.0715472210397 + ], + [ + 626.8422893561628, + 325.1803784389517 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 606, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -42.541194915771484, + "y": -53.19005584716797, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.4307470917701721, + "y": 0.52665776014328, + "z": 0.8806389570236206 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 507.4573137806317, + "ymin": 255.54537731767718, + "xmax": 545.0917190800045, + "ymax": 316.4670625424545 + }, + "corners_3d": [ + [ + -42.115604400634766, + -53.720890045166016, + 0.11662709712982178 + ], + [ + -43.14590072631836, + -53.50189208984375, + 0.11662709712982178 + ], + [ + -42.9667854309082, + -52.65922164916992, + 0.11662709712982178 + ], + [ + -41.93648910522461, + -52.87821960449219, + 0.11662709712982178 + ], + [ + -42.115604400634766, + -53.720890045166016, + 1.877905011177063 + ], + [ + -43.14590072631836, + -53.50189208984375, + 1.877905011177063 + ], + [ + -42.9667854309082, + -52.65922164916992, + 1.877905011177063 + ], + [ + -41.93648910522461, + -52.87821960449219, + 1.877905011177063 + ] + ], + "corners_2d": [ + [ + 512.460437435145, + 316.4670625424545 + ], + [ + 544.8999065416593, + 315.11116221563384 + ], + [ + 545.0917190800045, + 298.70381228397196 + ], + [ + 513.3017671225073, + 300.0060277249309 + ], + [ + 507.4573137806317, + 273.01544972442974 + ], + [ + 541.1757093874181, + 271.6808847625289 + ], + [ + 541.4521426305034, + 255.54537731767718 + ], + [ + 508.43493428822615, + 256.8250953677027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 509, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.92300796508789, + "y": -49.245052337646484, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.48521238565444946, + "y": 0.2924829125404358, + "z": 0.9380172491073608 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 722.777472867473, + "ymin": 202.31826721197177, + "xmax": 744.1867693841185, + "ymax": 263.7464118600578 + }, + "corners_3d": [ + [ + -48.68284606933594, + -49.7581787109375, + 0.059253692626953125 + ], + [ + -49.26460647583008, + -49.6970329284668, + 0.059253692626953125 + ], + [ + -49.163169860839844, + -48.73192596435547, + 0.059253692626953125 + ], + [ + -48.5814094543457, + -48.79307174682617, + 0.059253692626953125 + ], + [ + -48.68284606933594, + -49.7581787109375, + 1.9352881908416748 + ], + [ + -49.26460647583008, + -49.6970329284668, + 1.9352881908416748 + ], + [ + -49.163169860839844, + -48.73192596435547, + 1.9352881908416748 + ], + [ + -48.5814094543457, + -48.79307174682617, + 1.9352881908416748 + ] + ], + "corners_2d": [ + [ + 723.4808181189175, + 263.3604869829526 + ], + [ + 740.2775433071183, + 263.7464118600578 + ], + [ + 739.2203554946907, + 247.54546637513627 + ], + [ + 722.777472867473, + 247.17561070599209 + ], + [ + 726.7335444907691, + 218.13234983304562 + ], + [ + 744.1867693841185, + 218.50974965382957 + ], + [ + 743.0038592903179, + 202.67936033668556 + ], + [ + 725.9323629574677, + 202.31826721197177 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 589, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -56.16718292236328, + "y": -56.18776321411133, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.31398192048072815, + "y": 0.34440672397613525, + "z": 0.8707366585731506 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 949.8827785870078, + "ymin": 360.7733539116974, + "xmax": 991.2045412310581, + "ymax": 422.33409707167755 + }, + "corners_3d": [ + [ + -55.822776794433594, + -56.501747131347656, + 0.1265392303466797 + ], + [ + -56.51158905029297, + -56.50174331665039, + 0.1265392303466797 + ], + [ + -56.51158905029297, + -55.873779296875, + 0.1265392303466797 + ], + [ + -55.822776794433594, + -55.873783111572266, + 0.1265392303466797 + ], + [ + -55.822776794433594, + -56.501747131347656, + 1.868012547492981 + ], + [ + -56.51158905029297, + -56.50174331665039, + 1.868012547492981 + ], + [ + -56.51158905029297, + -55.873779296875, + 1.868012547492981 + ], + [ + -55.822776794433594, + -55.873783111572266, + 1.868012547492981 + ] + ], + "corners_2d": [ + [ + 951.9313763874384, + 419.88880585418815 + ], + [ + 976.4020938215081, + 422.33409707167755 + ], + [ + 973.9468454750308, + 407.1081490347387 + ], + [ + 949.8827785870078, + 404.7423053424211 + ], + [ + 965.6193187299971, + 375.821215569456 + ], + [ + 991.2045412310581, + 378.25260784083457 + ], + [ + 988.3898395928641, + 363.1223677091406 + ], + [ + 963.2487962424249, + 360.7733539116974 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 215, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -50.28268051147461, + "y": -67.31512451171875, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.4790625274181366, + "y": 0.2915063798427582, + "z": 0.9276732206344604 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 715.6969672936424, + "ymin": 687.2137333716312, + "xmax": 757.7111734451714, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.94269561767578, + -67.76109313964844, + 0.06960266828536987 + ], + [ + -50.52251434326172, + -67.82203674316406, + 0.06960266828536987 + ], + [ + -50.62266540527344, + -66.86915588378906, + 0.06960266828536987 + ], + [ + -50.0428466796875, + -66.80821228027344, + 0.06960266828536987 + ], + [ + -49.94269561767578, + -67.76109313964844, + 1.9249491691589355 + ], + [ + -50.52251434326172, + -67.82203674316406, + 1.9249491691589355 + ], + [ + -50.62266540527344, + -66.86915588378906, + 1.9249491691589355 + ], + [ + -50.0428466796875, + -66.80821228027344, + 1.9249491691589355 + ] + ], + "corners_2d": [ + [ + 715.6969672936424, + 773.5565595166361 + ], + [ + 743.183705341034, + 780.347918176999 + ], + [ + 750.6511879753853, + 737.534532315525 + ], + [ + 724.036461111637, + 731.1865884844026 + ], + [ + 720.6758361255919, + 730.7656146740552 + ], + [ + 750.0088807427419, + 737.7640646087646 + ], + [ + 757.7111734451714, + 693.7266938305901 + ], + [ + 729.3692146511574, + 687.2137333716312 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 933, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -35.42184829711914, + "y": -64.35797882080078, + "z": 1.145557165145874 + }, + "extent": { + "x": 0.33769285678863525, + "y": 0.5087255835533142, + "z": 0.9170578718185425 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 95.7561090855279, + "ymin": 493.14109696959895, + "xmax": 175.30420383798628, + "ymax": 572.2244117116095 + }, + "corners_3d": [ + [ + -34.85403060913086, + -64.58251953125, + 0.22849929332733154 + ], + [ + -35.849246978759766, + -64.79405975341797, + 0.22849929332733154 + ], + [ + -35.98966598510742, + -64.13343811035156, + 0.22849929332733154 + ], + [ + -34.994449615478516, + -63.92189407348633, + 0.22849929332733154 + ], + [ + -34.85403060913086, + -64.58251953125, + 2.062614917755127 + ], + [ + -35.849246978759766, + -64.79405975341797, + 2.062614917755127 + ], + [ + -35.98966598510742, + -64.13343811035156, + 2.062614917755127 + ], + [ + -34.994449615478516, + -63.92189407348633, + 2.062614917755127 + ] + ], + "corners_2d": [ + [ + 123.65299011153297, + 560.4797091474576 + ], + [ + 156.62929629576172, + 572.2244117116095 + ], + [ + 175.30420383798628, + 551.2376312852543 + ], + [ + 142.76345268636584, + 539.9431443492804 + ], + [ + 95.7561090855279, + 513.8186679965721 + ], + [ + 130.2107396570483, + 525.6633600675074 + ], + [ + 150.42710893846095, + 504.5078114352374 + ], + [ + 116.44372566378343, + 493.14109696959895 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 3469, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 683.132970620918, + "ymin": 84.80449888368275, + "xmax": 747.5496622440435, + "ymax": 179.00835563714125 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 744.9469917661763, + 120.37560634397911 + ], + [ + 694.693331323699, + 117.04350457306649 + ], + [ + 683.132970620918, + 175.02529632712594 + ], + [ + 738.0225735457461, + 179.00835563714125 + ], + [ + 747.5496622440435, + 88.04255854706906 + ], + [ + 696.0423253437609, + 84.80449888368275 + ], + [ + 684.298503443746, + 141.2720364539397 + ], + [ + 740.6872365637926, + 145.16061200819874 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 180.7579644706375, + "ymin": 245.1698626487858, + "xmax": 332.21570874613144, + "ymax": 433.394505101433 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 301.5672350912406, + 433.394505101433 + ], + [ + 332.21570874613144, + 378.56462920314624 + ], + [ + 267.55982260008756, + 371.94941859061356 + ], + [ + 233.17898862460254, + 425.9372991396974 + ], + [ + 257.56409790672586, + 304.5781057578673 + ], + [ + 294.8169110938023, + 251.51761581948224 + ], + [ + 222.68389876104908, + 245.1698626487858 + ], + [ + 180.7579644706375, + 297.31428149161485 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 60.11737218868882, + "ymax": 14.072474025268662 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 60.11737218868882, + -26.5132296184824 + ], + [ + 52.082034649252364, + -26.973377047227928 + ], + [ + -13.408381098840323, + 13.531215636378306 + ], + [ + -4.761156631756421, + 14.072474025268662 + ], + [ + -6.445317539834832, + -193.02804453476438 + ], + [ + -15.330822488693343, + -193.36285298462462 + ], + [ + -95.46044961991663, + -163.60602693451415 + ], + [ + -85.82229292676959, + -163.20444464506 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 143.51481154956986, + "ymin": 0.0, + "xmax": 275.4188442821252, + "ymax": 112.49486735072938 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 275.4188442821252, + 55.93124024632448 + ], + [ + 265.7614540328276, + 55.299408134957275 + ], + [ + 209.37392029922103, + 111.72953415606966 + ], + [ + 219.9334662236164, + 112.49486735072938 + ], + [ + 225.3877019044371, + -131.82612558412552 + ], + [ + 214.47068922573908, + -132.3045292192126 + ], + [ + 143.51481154956986, + -88.98718691202686 + ], + [ + 155.59753648995917, + -88.39137575653643 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 197.28862513919938, + "ymin": 278.2775154712593, + "xmax": 303.85475600506714, + "ymax": 344.5114587500364 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 270.577133200755, + 344.5114587500364 + ], + [ + 303.85475600506714, + 293.614346414577 + ], + [ + 238.23799138238195, + 287.52546475228604 + ], + [ + 201.08721832655095, + 337.6261630885565 + ], + [ + 267.3536240743832, + 335.0908822999796 + ], + [ + 301.0985752009766, + 284.3447839337655 + ], + [ + 234.96908104650328, + 278.2775154712593 + ], + [ + 197.28862513919938, + 328.2229165604346 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 197.2237355839036, + "ymin": 278.24846663659974, + "xmax": 303.9310528123423, + "ymax": 344.6083273829215 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 270.6223819147621, + 344.6083273829215 + ], + [ + 303.9310528123423, + 293.65378986277346 + ], + [ + 238.2386382925306, + 287.5576417017397 + ], + [ + 201.04818358079842, + 337.7139319983929 + ], + [ + 267.37758453423123, + 335.12522616354397 + ], + [ + 301.15715029147947, + 284.32283345414817 + ], + [ + 234.94799837085054, + 278.24846663659974 + ], + [ + 197.2237355839036, + 328.24828965091444 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00072/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00072/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5414e0e237f23533e31e1e0315f0f4ad95262bcf --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00072/meta.json @@ -0,0 +1,1778 @@ +{ + "frame_id": 72, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 36.0, + "sim_timestamp": 13977.730989777716 + }, + "drone_pose": { + "x": -49.78398839245714, + "y": -74.33130729689402, + "z": 20.000000031937333, + "pitch": -42.07385929124028, + "yaw": 78.72183789245217, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.14516979455947876, + -0.7279476523399353, + 0.6700880527496338, + 47.934669494628906 + ], + [ + 0.9806893467903137, + 0.1955723762512207, + 0.0, + -34.28547286987305 + ], + [ + -0.1310507357120514, + 0.6571481823921204, + 0.7422816157341003, + -70.21654510498047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -49.77208488136164, + "y": -73.7891751665585, + "z": 20.000000015111624 + }, + "t1_image_uv": [ + 868.5185661502518, + -506.63125202723813 + ], + "t1_depth": 0.39637184648660795 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -45.66718292236328, + "y": -53.68776321411133, + "z": 0.9972709906101227 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.358556214914884, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 691, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -45.66718292236328, + "y": -53.68776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.5843822956085205, + "y": 0.43184325098991394, + "z": 0.9029412865638733 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 616.5086175150229, + "ymin": 320.75529752654415, + "xmax": 663.8029449172096, + "ymax": 399.0616167365953 + }, + "corners_3d": [ + [ + -45.77504348754883, + -54.406341552734375, + 0.09432965517044067 + ], + [ + -46.38576126098633, + -53.795623779296875, + 0.09432965517044067 + ], + [ + -45.559322357177734, + -52.96918487548828, + 0.09432965517044067 + ], + [ + -44.948604583740234, + -53.57990264892578, + 0.09432965517044067 + ], + [ + -45.77504348754883, + -54.406341552734375, + 1.900212287902832 + ], + [ + -46.38576126098633, + -53.795623779296875, + 1.900212287902832 + ], + [ + -45.559322357177734, + -52.96918487548828, + 1.900212287902832 + ], + [ + -44.948604583740234, + -53.57990264892578, + 1.900212287902832 + ] + ], + "corners_2d": [ + [ + 638.8261642225631, + 399.0616167365953 + ], + [ + 662.8021395911178, + 387.86151129617537 + ], + [ + 641.1309647042277, + 365.9837123296824 + ], + [ + 617.4839315043374, + 376.6393828040862 + ], + [ + 638.7739697869978, + 353.51331571619465 + ], + [ + 663.8029449172096, + 342.40961603848723 + ], + [ + 641.1793376929755, + 320.75529752654415 + ], + [ + 616.5086175150229, + 331.29631657304964 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 72, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 91, + "semantic_pixel_counts": { + "1": 338030, + "2": 265700, + "3": 83073, + "4": 23514, + "5": 2064, + "6": 2365, + "9": 25531, + "10": 4689, + "12": 3228, + "14": 20079, + "15": 345, + "20": 4973, + "21": 14543, + "24": 15276, + "25": 118190 + }, + "instance_pixel_counts": { + "143": 22436, + "339": 42, + "620": 341, + "883": 13511, + "1132": 249, + "2214": 209, + "2470": 220, + "2703": 52827, + "3180": 69, + "3749": 21, + "4166": 210, + "4261": 574, + "4678": 238, + "4979": 7599, + "5228": 404, + "5714": 1345, + "6053": 24, + "6508": 818, + "6565": 4047, + "7539": 24665, + "8018": 8988, + "8064": 60, + "8808": 6, + "8810": 1730, + "9068": 14255, + "9320": 55833, + "10346": 36, + "10624": 628, + "10856": 427, + "11116": 289, + "11368": 57391, + "11370": 1569, + "11596": 23514, + "12675": 46, + "17516": 61, + "20308": 5018, + "20820": 2541, + "20866": 327, + "22356": 3648, + "22868": 1217, + "22893": 11402, + "23380": 834, + "23953": 4423, + "24916": 345, + "25928": 2064, + "25965": 10117, + "26987": 4332, + "27460": 435, + "27476": 1667, + "27559": 130, + "27719": 110282, + "28002": 16, + "28231": 4476, + "28258": 19, + "29095": 21, + "30630": 2681, + "30863": 13761, + "31142": 2333, + "31654": 2639, + "32399": 835, + "32911": 32692, + "34372": 74, + "34884": 367, + "37798": 16, + "39239": 118190, + "41796": 95, + "42391": 4988, + "44439": 142, + "44951": 6218, + "47184": 7, + "48708": 185, + "52327": 121908, + "54375": 102465, + "54950": 181, + "55401": 3657, + "56173": 25531, + "56320": 691, + "56576": 556, + "56832": 476, + "56937": 2799, + "57088": 569, + "57344": 77, + "57600": 859, + "58368": 4017, + "58624": 792, + "58880": 345, + "59522": 2031, + "60274": 7254, + "60833": 142, + "63339": 1482, + "64850": 2336 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 691, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -45.66718292236328, + "y": -53.68776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4068334996700287, + "y": 0.4371679723262787, + "z": 0.8606908917427063 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 619.6828747391652, + "ymin": 325.01209444262474, + "xmax": 660.4212704822066, + "ymax": 394.63092020212525 + }, + "corners_3d": [ + [ + -45.64573287963867, + -54.28456115722656, + 0.13658004999160767 + ], + [ + -46.263980865478516, + -53.66631317138672, + 0.13658004999160767 + ], + [ + -45.68863296508789, + -53.090965270996094, + 0.13658004999160767 + ], + [ + -45.07038497924805, + -53.70921325683594, + 0.13658004999160767 + ], + [ + -45.64573287963867, + -54.28456115722656, + 1.857961893081665 + ], + [ + -46.263980865478516, + -53.66631317138672, + 1.857961893081665 + ], + [ + -45.68863296508789, + -53.090965270996094, + 1.857961893081665 + ], + [ + -45.07038497924805, + -53.70921325683594, + 1.857961893081665 + ] + ], + "corners_2d": [ + [ + 635.3605447909691, + 394.63092020212525 + ], + [ + 659.6051933271042, + 383.38082215221414 + ], + [ + 644.5031707241683, + 368.1562474622519 + ], + [ + 620.4908140508873, + 379.02239887793695 + ], + [ + 635.1648808070553, + 351.24252075101975 + ], + [ + 660.4212704822066, + 340.08827561630164 + ], + [ + 644.6872801592885, + 325.01209444262474 + ], + [ + 619.6828747391652, + 335.77014083420016 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 556, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -41.541194915771484, + "y": -50.69005584716797, + "z": 1.1398392915725708 + }, + "extent": { + "x": 0.39133787155151367, + "y": 0.4162573218345642, + "z": 0.8850164413452148 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 512.8474135974922, + "ymin": 246.31833879094813, + "xmax": 552.3793663586322, + "ymax": 311.504511311922 + }, + "corners_3d": [ + [ + -41.6426887512207, + -51.252296447753906, + 0.25482285022735596 + ], + [ + -42.096107482910156, + -50.55409240722656, + 0.25482285022735596 + ], + [ + -41.439701080322266, + -50.12781524658203, + 0.25482285022735596 + ], + [ + -40.98628234863281, + -50.826019287109375, + 0.25482285022735596 + ], + [ + -41.6426887512207, + -51.252296447753906, + 2.024855613708496 + ], + [ + -42.096107482910156, + -50.55409240722656, + 2.024855613708496 + ], + [ + -41.439701080322266, + -50.12781524658203, + 2.024855613708496 + ], + [ + -40.98628234863281, + -50.826019287109375, + 2.024855613708496 + ] + ], + "corners_2d": [ + [ + 533.2614832285568, + 311.504511311922 + ], + [ + 552.3793663586322, + 300.06987535926174 + ], + [ + 536.7090509195705, + 289.86451679270715 + ], + [ + 517.6171366148794, + 301.0096712463313 + ], + [ + 529.0452873959148, + 267.583279001714 + ], + [ + 548.9685872731508, + 256.34128943397474 + ], + [ + 532.7410984319998, + 246.31833879094813 + ], + [ + 512.8474135974922, + 257.26478406462695 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 476, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -47.92300796508789, + "y": -46.745052337646484, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.3659912049770355, + "y": 0.427070289850235, + "z": 0.9108439683914185 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 725.6746695992491, + "ymin": 204.86500807937074, + "xmax": 762.1851015217326, + "ymax": 267.1508338047059 + }, + "corners_3d": [ + [ + -47.93867111206055, + -47.307273864746094, + 0.08642208576202393 + ], + [ + -48.476200103759766, + -46.64348220825195, + 0.08642208576202393 + ], + [ + -47.907344818115234, + -46.182830810546875, + 0.08642208576202393 + ], + [ + -47.369815826416016, + -46.846622467041016, + 0.08642208576202393 + ], + [ + -47.93867111206055, + -47.307273864746094, + 1.9081100225448608 + ], + [ + -48.476200103759766, + -46.64348220825195, + 1.9081100225448608 + ], + [ + -47.907344818115234, + -46.182830810546875, + 1.9081100225448608 + ], + [ + -47.369815826416016, + -46.846622467041016, + 1.9081100225448608 + ] + ], + "corners_2d": [ + [ + 740.2424933819415, + 267.1508338047059 + ], + [ + 757.7578303394833, + 257.84466766637945 + ], + [ + 743.1484500497809, + 248.4775690767349 + ], + [ + 725.6746695992491, + 257.55572202788863 + ], + [ + 744.0588755653328, + 223.1296264461852 + ], + [ + 762.1851015217326, + 214.0229235340879 + ], + [ + 746.9771801306209, + 204.86500807937074 + ], + [ + 728.8944660455359, + 213.7403044205242 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 569, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -55.16718292236328, + "y": -53.68776321411133, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.4018188416957855, + "y": 0.37218016386032104, + "z": 0.9094931483268738 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 944.6050425161133, + "ymin": 367.439878416044, + "xmax": 999.8518260372852, + "ymax": 440.5953834114119 + }, + "corners_3d": [ + [ + -55.188140869140625, + -54.23506164550781, + 0.08778274059295654 + ], + [ + -55.714481353759766, + -53.70872116088867, + 0.08778274059295654 + ], + [ + -55.14622497558594, + -53.140464782714844, + 0.08778274059295654 + ], + [ + -54.6198844909668, + -53.666805267333984, + 0.08778274059295654 + ], + [ + -55.188140869140625, + -54.23506164550781, + 1.906769037246704 + ], + [ + -55.714481353759766, + -53.70872116088867, + 1.906769037246704 + ], + [ + -55.14622497558594, + -53.140464782714844, + 1.906769037246704 + ], + [ + -54.6198844909668, + -53.666805267333984, + 1.906769037246704 + ] + ], + "corners_2d": [ + [ + 965.9175711361606, + 440.5953834114119 + ], + [ + 983.8987536087715, + 430.02761994383025 + ], + [ + 962.5010509463627, + 413.42447075090473 + ], + [ + 944.6050425161133, + 423.6188690715668 + ], + [ + 981.2151013684542, + 394.4643581404631 + ], + [ + 999.8518260372852, + 383.9449049181246 + ], + [ + 977.1842464826955, + 367.439878416044 + ], + [ + 958.6341901389017, + 377.57081347270986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 77, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -49.28268051147461, + "y": -64.81512451171875, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4365576207637787, + "y": 0.4302026331424713, + "z": 0.9068345427513123 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 676.8246453306302, + "ymin": 689.7921838757417, + "xmax": 738.7613978353236, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -49.22308349609375, + -65.42512512207031, + 0.09043639898300171 + ], + [ + -49.891746520996094, + -64.88365936279297, + 0.09043639898300171 + ], + [ + -49.34227752685547, + -64.20512390136719, + 0.09043639898300171 + ], + [ + -48.673614501953125, + -64.74658966064453, + 0.09043639898300171 + ], + [ + -49.22308349609375, + -65.42512512207031, + 1.9041054248809814 + ], + [ + -49.891746520996094, + -64.88365936279297, + 1.9041054248809814 + ], + [ + -49.34227752685547, + -64.20512390136719, + 1.9041054248809814 + ], + [ + -48.673614501953125, + -64.74658966064453, + 1.9041054248809814 + ] + ], + "corners_2d": [ + [ + 697.473670600145, + 786.9214964509409 + ], + [ + 732.820348025993, + 767.8994655053261 + ], + [ + 711.4905597122009, + 732.7058519981902 + ], + [ + 676.8246453306302, + 750.6844669898637 + ], + [ + 701.2107974436306, + 745.5337526968477 + ], + [ + 738.7613978353236, + 725.9417722291607 + ], + [ + 715.932175127677, + 689.7921838757417 + ], + [ + 679.1477956772028, + 708.2432061267891 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 859, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -34.42184829711914, + "y": -61.85797882080078, + "z": 1.1445415019989014 + }, + "extent": { + "x": 0.35625243186950684, + "y": 0.34196287393569946, + "z": 0.9325451254844666 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 104.78659119019028, + "ymin": 473.09333176979965, + "xmax": 161.27771271565786, + "ymax": 549.5742030255122 + }, + "corners_3d": [ + [ + -34.32908248901367, + -62.34300231933594, + 0.21199637651443481 + ], + [ + -34.902671813964844, + -61.97051239013672, + 0.21199637651443481 + ], + [ + -34.51461410522461, + -61.372955322265625, + 0.21199637651443481 + ], + [ + -33.94102478027344, + -61.745445251464844, + 0.21199637651443481 + ], + [ + -34.32908248901367, + -62.34300231933594, + 2.0770866870880127 + ], + [ + -34.902671813964844, + -61.97051239013672, + 2.0770866870880127 + ], + [ + -34.51461410522461, + -61.372955322265625, + 2.0770866870880127 + ], + [ + -33.94102478027344, + -61.745445251464844, + 2.0770866870880127 + ] + ], + "corners_2d": [ + [ + 132.39253776616323, + 549.5742030255122 + ], + [ + 161.27771271565786, + 541.4471964602252 + ], + [ + 160.55740320699545, + 520.7743769930395 + ], + [ + 132.24082945423856, + 528.5827489399592 + ], + [ + 104.78659119019028, + 502.0501551930821 + ], + [ + 135.453803946403, + 493.8701512976901 + ], + [ + 135.23171516583312, + 473.09333176979965 + ], + [ + 105.20467024859352, + 480.9357931494543 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 4017, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 715.8282592963096, + "ymin": 116.65468624727515, + "xmax": 788.082076081836, + "ymax": 219.98201568910514 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 784.297344202234, + 154.92418726090833 + ], + [ + 731.3022309497818, + 149.7946755615183 + ], + [ + 715.8282592963096, + 213.79874344772418 + ], + [ + 773.9020371113561, + 219.98201568910514 + ], + [ + 788.082076081836, + 121.65298010812216 + ], + [ + 733.6779185931795, + 116.65468624727515 + ], + [ + 717.9992017989987, + 179.16738574189992 + ], + [ + 777.7694690954569, + 185.22342946750715 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 229, + "instance_id": 58624, + "pixel_count": 792, + "type_id": "vehicle.dodge.charger_police_2020", + "bbox_3d": { + "center_world": { + "x": -54.599266052246094, + "y": -22.700984954833984, + "z": 0.8727232813835144 + }, + "extent": { + "x": 2.6187572479248047, + "y": 0.9648797512054443, + "z": 0.819191575050354 + }, + "yaw": 89.66251373291016 + }, + "bbox_2d": { + "xmin": 903.7829170666973, + "ymin": 0.0, + "xmax": 951.1797303922597, + "ymax": 28.50237262707242 + }, + "corners_3d": [ + [ + -53.64982986450195, + -25.325380325317383, + 0.05353168025612831 + ], + [ + -55.57955551147461, + -25.314014434814453, + 0.05353168025612831 + ], + [ + -55.5487060546875, + -20.076589584350586, + 0.05353168025612831 + ], + [ + -53.61897659301758, + -20.08795738220215, + 0.05353168025612831 + ], + [ + -53.64982986450195, + -25.325380325317383, + 1.6919147968292236 + ], + [ + -55.57955551147461, + -25.314014434814453, + 1.6919147968292236 + ], + [ + -55.5487060546875, + -20.076589584350586, + 1.6919147968292236 + ], + [ + -53.61897659301758, + -20.08795738220215, + 1.6919147968292236 + ] + ], + "corners_2d": [ + [ + 904.8678522650143, + 25.501375881596573 + ], + [ + 944.0928944045204, + 28.50237262707242 + ], + [ + 940.1243622895049, + -10.761171608903851 + ], + [ + 903.7829170666973, + -13.339001568478693 + ], + [ + 911.0051367239612, + -6.890148003043521 + ], + [ + 951.1797303922597, + -4.006144799451079 + ], + [ + 946.5944632486662, + -41.67951720070357 + ], + [ + 909.4393701937236, + -44.1484463413305 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 345, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 767.6647513120217, + "ymin": 0.0, + "xmax": 811.7131118149895, + "ymax": 16.323347420925018 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 808.5669673536612, + -17.453219745104093 + ], + [ + 775.5283299695891, + -19.809494277482315 + ], + [ + 767.6647513120217, + 13.631350178498792 + ], + [ + 802.9438640548445, + 16.323347420925018 + ], + [ + 811.7131118149895, + -44.34591734363056 + ], + [ + 778.0454287905529, + -46.614011114663015 + ], + [ + 770.2019134893021, + -14.386428482023803 + ], + [ + 806.1992409414563, + -11.78851796995292 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 167.43462733739256, + "ymin": 291.64231582911583, + "xmax": 331.98827900748427, + "ymax": 491.309374111765 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 295.0900064388755, + 491.309374111765 + ], + [ + 331.98827900748427, + 430.22661363407224 + ], + [ + 265.30560711978455, + 420.1133184945743 + ], + [ + 224.53359371489256, + 479.84239264268314 + ], + [ + 247.06010544268702, + 361.5086542298151 + ], + [ + 292.0622494041463, + 301.48285043175883 + ], + [ + 217.32727580126732, + 291.64231582911583 + ], + [ + 167.43462733739256, + 350.1622013663736 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 93.89326474505378, + "ymax": 21.156724447201896 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 93.89326474505378, + -20.21091475340654 + ], + [ + 85.99037252775156, + -20.858168172105024 + ], + [ + 17.03997773189701, + 20.394814633106876 + ], + [ + 25.515338129332804, + 21.156724447201896 + ], + [ + 30.198792113171862, + -188.58792532004202 + ], + [ + 21.47015073991406, + -189.0604149626762 + ], + [ + -62.45761094242107, + -158.6499897081667 + ], + [ + -53.02854180791553, + -158.08261832352696 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 164.75352262756599, + "ymin": 0.0, + "xmax": 301.75322666834774, + "ymax": 131.83296106518733 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 301.75322666834774, + 72.27566793591484 + ], + [ + 292.0209093728247, + 71.3591456063939 + ], + [ + 229.79619059074827, + 130.7183381980955 + ], + [ + 240.4209365459672, + 131.83296106518733 + ], + [ + 253.73629858612532, + -119.53158526674764 + ], + [ + 242.7116879038761, + -120.23128187229054 + ], + [ + 164.75352262756599, + -74.25607590319265 + ], + [ + 176.93454002460965, + -73.37978022277042 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 185.5108867194844, + "ymin": 325.5918018693464, + "xmax": 301.7159044316824, + "ymax": 401.6665975046602 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 261.5878400099867, + 401.6665975046602 + ], + [ + 301.7159044316824, + 344.3876836660788 + ], + [ + 233.83072421874937, + 334.9891857418179 + ], + [ + 189.66003708175202, + 390.9683219617456 + ], + [ + 258.05944571812006, + 392.13948000759564 + ], + [ + 298.7623202709371, + 334.966500590885 + ], + [ + 230.32393215891625, + 325.5918018693464 + ], + [ + 185.5108867194844, + 381.45588510949466 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 185.44040676149007, + "ymin": 325.5577865140261, + "xmax": 301.79852556427403, + "ymax": 401.7703714309718 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 261.63271204486375, + 401.7703714309718 + ], + [ + 301.79852556427403, + 344.4269903054344 + ], + [ + 233.83524792713825, + 335.01737203612424 + ], + [ + 189.61781625147506, + 391.05799710694566 + ], + [ + 258.0809866680336, + 392.180093804625 + ], + [ + 298.8260007080643, + 334.9434203853294 + ], + [ + 230.30519217497312, + 325.5577865140261 + ], + [ + 185.44040676149007, + 381.4825023047407 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00073/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00073/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5ce48cea814acf85de12c4d85478f3b5cddd8cc6 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00073/meta.json @@ -0,0 +1,1778 @@ +{ + "frame_id": 73, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 36.5, + "sim_timestamp": 13988.253688031109 + }, + "drone_pose": { + "x": -49.77208488136164, + "y": -73.7891751665585, + "z": 20.000000015111624, + "pitch": -41.99307057502837, + "yaw": 77.40015680302866, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.16212773323059082, + -0.7253269553184509, + 0.6690406799316406, + 48.209896087646484 + ], + [ + 0.975917398929596, + 0.2181406021118164, + -2.9802322387695312e-08, + -32.47702407836914 + ], + [ + -0.14594492316246033, + 0.6529284715652466, + 0.7432258129119873, + -70.30754852294922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -49.7515390269672, + "y": -73.25077320269578, + "z": 20.00000000667478 + }, + "t1_image_uv": [ + 877.4019658241934, + -504.1776457176642 + ], + "t1_depth": 0.3938484885261161 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -45.16718292236328, + "y": -53.18776321411133, + "z": 0.997280754595995 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.40293357701615, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 707, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -45.16718292236328, + "y": -53.18776321411133, + "z": 0.9972807765007019 + }, + "extent": { + "x": 0.48036620020866394, + "y": 0.5439110994338989, + "z": 0.9046868681907654 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 617.8419545194038, + "ymin": 323.77466991244245, + "xmax": 661.7470103411267, + "ymax": 395.79763001769754 + }, + "corners_3d": [ + [ + -44.62327194213867, + -53.668128967285156, + 0.09259390830993652 + ], + [ + -45.71109390258789, + -53.668128967285156, + 0.09259390830993652 + ], + [ + -45.71109390258789, + -52.7073974609375, + 0.09259390830993652 + ], + [ + -44.62327194213867, + -52.7073974609375, + 0.09259390830993652 + ], + [ + -44.62327194213867, + -53.668128967285156, + 1.9019676446914673 + ], + [ + -45.71109390258789, + -53.668128967285156, + 1.9019676446914673 + ], + [ + -45.71109390258789, + -52.7073974609375, + 1.9019676446914673 + ], + [ + -44.62327194213867, + -52.7073974609375, + 1.9019676446914673 + ] + ], + "corners_2d": [ + [ + 618.7750050235927, + 390.2763665686268 + ], + [ + 654.3143506741535, + 395.79763001769754 + ], + [ + 660.8475526363358, + 374.37036393811036 + ], + [ + 626.1101533524535, + 369.1081106089007 + ], + [ + 617.8419545194038, + 344.72630303748184 + ], + [ + 654.9476654696732, + 350.1982354618189 + ], + [ + 661.7470103411267, + 328.979004177046 + ], + [ + 625.5146259108039, + 323.77466991244245 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 73, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 91, + "semantic_pixel_counts": { + "1": 338141, + "2": 267046, + "3": 75647, + "4": 25505, + "5": 2093, + "6": 2401, + "9": 25128, + "10": 1279, + "12": 3442, + "14": 21114, + "15": 581, + "20": 4505, + "21": 14336, + "24": 15823, + "25": 124559 + }, + "instance_pixel_counts": { + "143": 22164, + "339": 602, + "620": 343, + "883": 12418, + "1132": 248, + "2214": 206, + "2470": 234, + "2703": 49265, + "3180": 69, + "4166": 211, + "4261": 272, + "4678": 242, + "4979": 4660, + "5228": 405, + "5714": 1440, + "6053": 25, + "6508": 855, + "6565": 4092, + "7539": 21067, + "8018": 9712, + "8064": 59, + "8298": 23, + "8808": 242, + "8810": 1805, + "9068": 15133, + "9320": 58350, + "10346": 71, + "10624": 653, + "10856": 1144, + "11116": 290, + "11368": 60039, + "11370": 1717, + "11596": 25505, + "12675": 51, + "17516": 64, + "20308": 5030, + "20820": 2567, + "20866": 337, + "22356": 3622, + "22868": 1249, + "22893": 11303, + "23380": 1042, + "23953": 4839, + "24916": 581, + "25928": 2093, + "25965": 9714, + "26987": 4182, + "27460": 440, + "27476": 1724, + "27559": 188, + "27719": 112258, + "28002": 20, + "28231": 1062, + "28258": 71, + "29095": 81, + "30630": 2677, + "30863": 14164, + "31142": 2394, + "31654": 2691, + "32399": 1530, + "32911": 34560, + "34372": 78, + "34884": 375, + "37798": 19, + "39239": 124559, + "41796": 96, + "42391": 5272, + "44439": 265, + "44951": 6551, + "47184": 7, + "48708": 188, + "52327": 119378, + "54375": 98988, + "54950": 246, + "55401": 3571, + "56173": 25128, + "56320": 707, + "56576": 602, + "56832": 518, + "56937": 2742, + "57088": 625, + "57344": 116, + "57600": 874, + "58368": 4126, + "58624": 1152, + "58880": 602, + "59522": 2057, + "60274": 4699, + "60833": 207, + "63339": 1023, + "64850": 2517 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 707, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -45.16718292236328, + "y": -53.18776321411133, + "z": 0.9972807765007019 + }, + "extent": { + "x": 0.5196899175643921, + "y": 0.5566186308860779, + "z": 0.9112012982368469 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 617.0849336928229, + "ymin": 322.70858445022964, + "xmax": 662.4471305374889, + "ymax": 396.9192461162304 + }, + "corners_3d": [ + [ + -44.610565185546875, + -53.707454681396484, + 0.08607947826385498 + ], + [ + -45.72380065917969, + -53.707454681396484, + 0.08607947826385498 + ], + [ + -45.72380065917969, + -52.66807174682617, + 0.08607947826385498 + ], + [ + -44.610565185546875, + -52.66807174682617, + 0.08607947826385498 + ], + [ + -44.610565185546875, + -53.707454681396484, + 1.9084820747375488 + ], + [ + -45.72380065917969, + -53.707454681396484, + 1.9084820747375488 + ], + [ + -45.72380065917969, + -52.66807174682617, + 1.9084820747375488 + ], + [ + -44.610565185546875, + -52.66807174682617, + 1.9084820747375488 + ] + ], + "corners_2d": [ + [ + 618.0575575968727, + 391.2576006139678 + ], + [ + 654.456045292441, + 396.9192461162304 + ], + [ + 661.5130142374854, + 373.7333378130948 + ], + [ + 626.0021478453455, + 368.35843182403994 + ], + [ + 617.0849336928229, + 345.3716281884629 + ], + [ + 655.1010583596974, + 350.9828178360699 + ], + [ + 662.4471305374889, + 328.0234564226937 + ], + [ + 625.3982290288308, + 322.70858445022964 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 602, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -41.041194915771484, + "y": -50.19005584716797, + "z": 1.1496831178665161 + }, + "extent": { + "x": 0.45021364092826843, + "y": 0.46881595253944397, + "z": 0.8902730941772461 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 517.8078993207699, + "ymin": 246.89931808730682, + "xmax": 553.2160980122346, + "ymax": 307.8272247959408 + }, + "corners_3d": [ + [ + -40.67622756958008, + -50.7279052734375, + 0.25941002368927 + ], + [ + -41.5933723449707, + -50.532958984375, + 0.25941002368927 + ], + [ + -41.40616226196289, + -49.65220642089844, + 0.25941002368927 + ], + [ + -40.489017486572266, + -49.84715270996094, + 0.25941002368927 + ], + [ + -40.67622756958008, + -50.7279052734375, + 2.0399560928344727 + ], + [ + -41.5933723449707, + -50.532958984375, + 2.0399560928344727 + ], + [ + -41.40616226196289, + -49.65220642089844, + 2.0399560928344727 + ], + [ + -40.489017486572266, + -49.84715270996094, + 2.0399560928344727 + ] + ], + "corners_2d": [ + [ + 522.4423264275426, + 307.6386352529051 + ], + [ + 551.0785081441942, + 307.8272247959408 + ], + [ + 553.2160980122346, + 290.8840274555847 + ], + [ + 525.1768134651295, + 290.70322510111794 + ], + [ + 517.8078993207699, + 263.5323057167958 + ], + [ + 547.5721468163529, + 263.7176815635757 + ], + [ + 549.8681854990399, + 247.0767474203933 + ], + [ + 520.7482595126856, + 246.89931808730682 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 518, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -47.42300796508789, + "y": -46.245052337646484, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.4578832983970642, + "y": 0.44636473059654236, + "z": 0.9297447204589844 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 732.5632599446346, + "ymin": 206.95047612462145, + "xmax": 763.4636769270826, + "ymax": 268.5426651524271 + }, + "corners_3d": [ + [ + -47.02695083618164, + -46.74708557128906, + 0.06753116846084595 + ], + [ + -47.914791107177734, + -46.653770446777344, + 0.06753116846084595 + ], + [ + -47.81906509399414, + -45.743019104003906, + 0.06753116846084595 + ], + [ + -46.93122482299805, + -45.836334228515625, + 0.06753116846084595 + ], + [ + -47.02695083618164, + -46.74708557128906, + 1.92702054977417 + ], + [ + -47.914791107177734, + -46.653770446777344, + 1.92702054977417 + ], + [ + -47.81906509399414, + -45.743019104003906, + 1.92702054977417 + ], + [ + -46.93122482299805, + -45.836334228515625, + 1.92702054977417 + ] + ], + "corners_2d": [ + [ + 732.5632599446346, + 266.7781137995652 + ], + [ + 758.3265232864474, + 268.5426651524271 + ], + [ + 758.9454124429392, + 253.17431097761056 + ], + [ + 733.692013198208, + 251.4791736967827 + ], + [ + 736.1449724841366, + 221.90499794242592 + ], + [ + 762.9160248809777, + 223.63130204924224 + ], + [ + 763.4636769270826, + 208.60632094482227 + ], + [ + 737.2427334325965, + 206.95047612462145 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 625, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -54.66718292236328, + "y": -53.18776321411133, + "z": 0.9973881244659424 + }, + "extent": { + "x": 0.3041113317012787, + "y": 0.5267895460128784, + "z": 0.8888890147209167 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 945.0970124706026, + "ymin": 376.2675969875298, + "xmax": 999.3804720874712, + "ymax": 442.1169845320186 + }, + "corners_3d": [ + [ + -54.1403923034668, + -53.49187469482422, + 0.10849910974502563 + ], + [ + -55.193973541259766, + -53.49187469482422, + 0.10849910974502563 + ], + [ + -55.193973541259766, + -52.88365173339844, + 0.10849910974502563 + ], + [ + -54.1403923034668, + -52.88365173339844, + 0.10849910974502563 + ], + [ + -54.1403923034668, + -53.49187469482422, + 1.886277198791504 + ], + [ + -55.193973541259766, + -53.49187469482422, + 1.886277198791504 + ], + [ + -55.193973541259766, + -52.88365173339844, + 1.886277198791504 + ], + [ + -54.1403923034668, + -52.88365173339844, + 1.886277198791504 + ] + ], + "corners_2d": [ + [ + 945.3614776362693, + 436.2008740178146 + ], + [ + 983.6372752661396, + 442.1169845320186 + ], + [ + 982.7592039141648, + 426.98724154673863 + ], + [ + 945.0970124706026, + 421.2582243957892 + ], + [ + 959.2596872947261, + 391.1308363407478 + ], + [ + 999.3804720874712, + 397.02144925814713 + ], + [ + 998.199797862906, + 381.9636281465281 + ], + [ + 958.7526574624159, + 376.2675969875298 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 116, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.78268051147461, + "y": -64.31512451171875, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.47876468300819397, + "y": 0.3824975788593292, + "z": 0.9325981736183167 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 667.9498271263657, + "ymin": 689.7284273839855, + "xmax": 720.113405778871, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -48.35223388671875, + -64.75128173828125, + 0.06467771530151367 + ], + [ + -49.113037109375, + -64.83124542236328, + 0.06467771530151367 + ], + [ + -49.21312713623047, + -63.878963470458984, + 0.06467771530151367 + ], + [ + -48.45232391357422, + -63.79899978637695, + 0.06467771530151367 + ], + [ + -48.35223388671875, + -64.75128173828125, + 1.929874062538147 + ], + [ + -49.113037109375, + -64.83124542236328, + 1.929874062538147 + ], + [ + -49.21312713623047, + -63.878963470458984, + 1.929874062538147 + ], + [ + -48.45232391357422, + -63.79899978637695, + 1.929874062538147 + ] + ], + "corners_2d": [ + [ + 667.9498271263657, + 775.43171998253 + ], + [ + 703.107343505798, + 787.0682420243979 + ], + [ + 715.2641911428826, + 744.8235137891422 + ], + [ + 681.1408647425085, + 733.9327323856833 + ], + [ + 669.7976611434851, + 732.3914234046525 + ], + [ + 707.3200039496865, + 744.3872008438701 + ], + [ + 720.113405778871, + 700.9070072762117 + ], + [ + 683.7669512619754, + 689.7284273839855 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 874, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -33.92184829711914, + "y": -61.35797882080078, + "z": 1.1440287828445435 + }, + "extent": { + "x": 0.40601927042007446, + "y": 0.4460229277610779, + "z": 0.9228127598762512 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 94.19506730549222, + "ymin": 461.10269409030064, + "xmax": 171.37126630912246, + "ymax": 542.5596206416014 + }, + "corners_3d": [ + [ + -33.40115737915039, + -61.662391662597656, + 0.22121602296829224 + ], + [ + -34.27370834350586, + -61.84785842895508, + 0.22121602296829224 + ], + [ + -34.44253921508789, + -61.053565979003906, + 0.22121602296829224 + ], + [ + -33.56998825073242, + -60.868099212646484, + 0.22121602296829224 + ], + [ + -33.40115737915039, + -61.662391662597656, + 2.0668416023254395 + ], + [ + -34.27370834350586, + -61.84785842895508, + 2.0668416023254395 + ], + [ + -34.44253921508789, + -61.053565979003906, + 2.0668416023254395 + ], + [ + -33.56998825073242, + -60.868099212646484, + 2.0668416023254395 + ] + ], + "corners_2d": [ + [ + 121.49979612935999, + 530.8556488674068 + ], + [ + 147.5390215620203, + 542.5596206416014 + ], + [ + 171.37126630912246, + 519.5429121258832 + ], + [ + 145.63767249492167, + 508.34524546845455 + ], + [ + 94.19506730549222, + 483.6929116518471 + ], + [ + 121.29666591333796, + 495.4588401223234 + ], + [ + 146.97659016119889, + 472.3335995956801 + ], + [ + 120.1993936384714, + 461.10269409030064 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 4126, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 732.7907260088275, + "ymin": 125.75673500466957, + "xmax": 807.6268993137554, + "ymax": 231.42869803964254 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 803.2948203513661, + 164.9570810302285 + ], + [ + 749.6250181222318, + 159.07578407849402 + ], + [ + 732.7907260088275, + 224.32708367156522 + ], + [ + 791.6278598861787, + 231.42869803964254 + ], + [ + 807.6268993137554, + 131.49076841068216 + ], + [ + 752.5070468993018, + 125.75673500466957 + ], + [ + 735.4771267460322, + 189.52428666203534 + ], + [ + 796.0617089563912, + 196.48437846909303 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 229, + "instance_id": 58624, + "pixel_count": 1152, + "type_id": "vehicle.dodge.charger_police_2020", + "bbox_3d": { + "center_world": { + "x": -54.599266052246094, + "y": -22.700984954833984, + "z": 0.8727232813835144 + }, + "extent": { + "x": 2.6187572479248047, + "y": 0.9648797512054443, + "z": 0.819191575050354 + }, + "yaw": 89.66251373291016 + }, + "bbox_2d": { + "xmin": 927.3866753855568, + "ymin": 0.0, + "xmax": 975.5524359221868, + "ymax": 37.498934420638136 + }, + "corners_3d": [ + [ + -53.64982986450195, + -25.325380325317383, + 0.05353168025612831 + ], + [ + -55.57955551147461, + -25.314014434814453, + 0.05353168025612831 + ], + [ + -55.5487060546875, + -20.076589584350586, + 0.05353168025612831 + ], + [ + -53.61897659301758, + -20.08795738220215, + 0.05353168025612831 + ], + [ + -53.64982986450195, + -25.325380325317383, + 1.6919147968292236 + ], + [ + -55.57955551147461, + -25.314014434814453, + 1.6919147968292236 + ], + [ + -55.5487060546875, + -20.076589584350586, + 1.6919147968292236 + ], + [ + -53.61897659301758, + -20.08795738220215, + 1.6919147968292236 + ] + ], + "corners_2d": [ + [ + 927.9149115725851, + 34.051891795870574 + ], + [ + 967.8193649605006, + 37.498934420638136 + ], + [ + 964.3330874535407, + -2.6129934266338637 + ], + [ + 927.3866753855568, + -5.5698074111502365 + ], + [ + 934.6624261090512, + 1.4199984918827795 + ], + [ + 975.5524359221868, + 4.734436956784407 + ], + [ + 971.4050106409743, + -33.772950440122145 + ], + [ + 933.6152585163311, + -36.60617321276089 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 602, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 788.8347014508249, + "ymin": 0.0, + "xmax": 834.3796232256701, + "ymax": 23.71392009431611 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 830.7872896092385, + -10.61194319584979 + ], + [ + 797.3650045801153, + -13.301382149585777 + ], + [ + 788.8347014508249, + 20.63856190962781 + ], + [ + 824.5313340658122, + 23.71392009431611 + ], + [ + 834.3796232256701, + -37.67033089604257 + ], + [ + 800.3115821992944, + -40.259926317578845 + ], + [ + 791.8181032796599, + -7.540972191034086 + ], + [ + 828.2523897820555, + -4.572058102480582 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 175.4904774953825, + "ymin": 300.017343730653, + "xmax": 340.93329241843765, + "ymax": 502.1019333488773 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 302.37987886958894, + 502.1019333488773 + ], + [ + 340.93329241843765, + 440.16172672896727 + ], + [ + 274.3509885611378, + 428.68709746886105 + ], + [ + 231.98566378614532, + 489.08304827274696 + ], + [ + 254.93288966002189, + 372.2002929261404 + ], + [ + 301.82965144158817, + 311.20267377926064 + ], + [ + 227.19740875497382, + 300.017343730653 + ], + [ + 175.4904774953825, + 359.29209040515485 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 115.77166895412552, + "ymax": 21.29443079571911 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 115.77166895412552, + -19.636834676460808 + ], + [ + 107.98459961963704, + -20.354924450023702 + ], + [ + 38.76528373845531, + 20.450031975694458 + ], + [ + 47.09879736454559, + 21.29443079571911 + ], + [ + 54.912562116118465, + -187.51672098641507 + ], + [ + 46.32361224598935, + -188.04040394413892 + ], + [ + -37.54118086366111, + -157.99389779925696 + ], + [ + -28.286522558714978, + -157.36586333397338 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 183.94568504371915, + "ymin": 0.0, + "xmax": 319.56025613486776, + "ymax": 135.1130434358698 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 319.56025613486776, + 75.53497238472318 + ], + [ + 309.88508200731235, + 74.50742107966914 + ], + [ + 246.41112415793162, + 133.8636602494895 + ], + [ + 256.9563408768524, + 135.1130434358698 + ], + [ + 274.01412256968655, + -116.47877530381476 + ], + [ + 263.0587208808278, + -117.2634576049366 + ], + [ + 183.94568504371915, + -71.27884623770194 + ], + [ + 196.0265297989564, + -70.29632489246956 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 193.46671071167873, + "ymin": 334.0946033460272, + "xmax": 311.1801179838148, + "ymax": 412.3471041914531 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 269.3372753820216, + 412.3471041914531 + ], + [ + 311.1801179838148, + 354.18653292396823 + ], + [ + 243.39247043508743, + 343.5096930176945 + ], + [ + 197.57273995587275, + 400.1846284325466 + ], + [ + 265.85057168210164, + 402.8077928827691 + ], + [ + 308.2850249960573, + 344.74581787963274 + ], + [ + 239.9443537404743, + 334.0946033460272 + ], + [ + 193.46671071167873, + 390.6602044731377 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 193.39541360066755, + "ymin": 334.05946468949946, + "xmax": 311.26321847563344, + "ymax": 412.45240906783056 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 269.38081873510976, + 412.45240906783056 + ], + [ + 311.26321847563344, + 354.2263302934941 + ], + [ + 243.3975600522187, + 343.53687088001686 + ], + [ + 197.5294223860488, + 400.27391143269784 + ], + [ + 265.8710515290505, + 402.84986712591717 + ], + [ + 308.3495826886179, + 344.723099304846 + ], + [ + 239.92657842382795, + 334.05946468949946 + ], + [ + 193.39541360066755, + 390.68635855528544 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00077/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00077/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..64d348f3cd3778bc1b549e494e3e6c3011fafd4a --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00077/meta.json @@ -0,0 +1,1883 @@ +{ + "frame_id": 77, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 38.5, + "sim_timestamp": 14029.812923196005 + }, + "drone_pose": { + "x": -49.589639272325236, + "y": -71.64033041280578, + "z": 20.000000000315822, + "pitch": -42.09198964067897, + "yaw": 76.4676120181766, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.17364048957824707, + -0.7214680910110474, + 0.6703228950500488, + 46.890525817871094 + ], + [ + 0.9722378253936768, + 0.23399490118026733, + 0.0, + -31.449447631835938 + ], + [ + -0.156852126121521, + 0.6517132520675659, + 0.7420696020126343, + -69.30857849121094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -49.49695073925914, + "y": -71.1080377134396, + "z": 20.000000000083908 + }, + "t1_image_uv": [ + 722.626294866084, + -507.18280098768014 + ], + "t1_depth": 0.4001266821748998 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -44.66718292236328, + "y": -51.18776321411133, + "z": 0.9973247018456459 + }, + "image_uv": [ + 639.9999999999999, + 360.0 + ], + "depth": 28.348540527397198, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 690, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -44.66718292236328, + "y": -51.18776321411133, + "z": 0.9973246455192566 + }, + "extent": { + "x": 0.4310058355331421, + "y": 0.5665478110313416, + "z": 0.8972715735435486 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 615.5438455583936, + "ymin": 322.24816916993854, + "xmax": 664.5503508747746, + "ymax": 397.4621108719855 + }, + "corners_3d": [ + [ + -44.57133865356445, + -51.89313888549805, + 0.10005307197570801 + ], + [ + -45.37255859375, + -51.0919189453125, + 0.10005307197570801 + ], + [ + -44.76302719116211, + -50.48238754272461, + 0.10005307197570801 + ], + [ + -43.96180725097656, + -51.283607482910156, + 0.10005307197570801 + ], + [ + -44.57133865356445, + -51.89313888549805, + 1.8945962190628052 + ], + [ + -45.37255859375, + -51.0919189453125, + 1.8945962190628052 + ], + [ + -44.76302719116211, + -50.48238754272461, + 1.8945962190628052 + ], + [ + -43.96180725097656, + -51.283607482910156, + 1.8945962190628052 + ] + ], + "corners_2d": [ + [ + 631.2885460669027, + 397.4621108719855 + ], + [ + 663.5283580005291, + 383.7208697011733 + ], + [ + 648.4201494838705, + 367.2114672897275 + ], + [ + 616.5581729875378, + 380.4443650270965 + ], + [ + 630.9040558019835, + 352.2097488428757 + ], + [ + 664.5503508747746, + 338.5888588534743 + ], + [ + 648.7788261864564, + 322.24816916993854 + ], + [ + 615.5438455583936, + 335.3437454084985 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 77, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 92, + "semantic_pixel_counts": { + "1": 338344, + "2": 265438, + "3": 52431, + "4": 29517, + "5": 2220, + "6": 2863, + "9": 22503, + "10": 259, + "12": 3382, + "14": 26060, + "15": 1073, + "20": 3962, + "21": 15098, + "24": 16487, + "25": 141963 + }, + "instance_pixel_counts": { + "70": 181, + "143": 20789, + "620": 383, + "883": 9511, + "1132": 276, + "2214": 223, + "2470": 255, + "2703": 39416, + "3180": 80, + "4166": 233, + "4678": 271, + "4979": 1964, + "5228": 459, + "5714": 1613, + "6053": 26, + "6508": 996, + "6565": 4560, + "7539": 17786, + "8018": 8426, + "8064": 67, + "8298": 92, + "8780": 9, + "8808": 1926, + "8810": 2071, + "9068": 10822, + "9320": 66624, + "10346": 139, + "10624": 793, + "10856": 2727, + "11116": 316, + "11368": 69211, + "11370": 1985, + "11596": 29517, + "17516": 68, + "20308": 5440, + "20820": 2845, + "20866": 428, + "22356": 3842, + "22868": 1410, + "22893": 10464, + "23380": 2018, + "23953": 181, + "24916": 1073, + "25928": 2211, + "25965": 8484, + "26987": 3962, + "27460": 501, + "27476": 2553, + "27559": 172, + "27719": 111958, + "28002": 30, + "28258": 60, + "29095": 45, + "30351": 168, + "30630": 2909, + "30863": 16469, + "31142": 2808, + "31654": 3173, + "32399": 2980, + "32911": 40362, + "34372": 84, + "34884": 419, + "36753": 58, + "37798": 34, + "39239": 141963, + "41796": 109, + "41879": 117, + "42391": 6057, + "44439": 527, + "44951": 7647, + "47184": 62, + "48708": 207, + "52327": 109704, + "54375": 88152, + "54950": 226, + "55401": 3151, + "56173": 22503, + "56320": 690, + "56576": 632, + "56832": 498, + "56937": 2313, + "57088": 595, + "57344": 80, + "57600": 887, + "58368": 4710, + "58624": 1977, + "58880": 1265, + "59522": 2373, + "60274": 641, + "60833": 198, + "63339": 1, + "64850": 3100 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 690, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -44.66718292236328, + "y": -51.18776321411133, + "z": 0.9973246455192566 + }, + "extent": { + "x": 0.6270898580551147, + "y": 0.4814697206020355, + "z": 0.9047780632972717 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 614.6536099544737, + "ymin": 319.3834907124856, + "xmax": 665.733792675952, + "ymax": 400.55044151818265 + }, + "corners_3d": [ + [ + -44.7701530456543, + -51.97163391113281, + 0.09254658222198486 + ], + [ + -45.451053619384766, + -51.290733337402344, + 0.09254658222198486 + ], + [ + -44.564212799072266, + -50.403892517089844, + 0.09254658222198486 + ], + [ + -43.8833122253418, + -51.08479309082031, + 0.09254658222198486 + ], + [ + -44.7701530456543, + -51.97163391113281, + 1.9021027088165283 + ], + [ + -45.451053619384766, + -51.290733337402344, + 1.9021027088165283 + ], + [ + -44.564212799072266, + -50.403892517089844, + 1.9021027088165283 + ], + [ + -43.8833122253418, + -51.08479309082031, + 1.9021027088165283 + ] + ], + "corners_2d": [ + [ + 637.1810576729359, + 400.55044151818265 + ], + [ + 664.6478594123596, + 388.770882585526 + ], + [ + 642.7075877947151, + 364.69294637549035 + ], + [ + 615.7077631999286, + 375.84394299300976 + ], + [ + 637.0551551483798, + 354.89582904791337 + ], + [ + 665.733792675952, + 343.21584476976756 + ], + [ + 642.8235353527165, + 319.3834907124856 + ], + [ + 614.6536099544737, + 330.4137414530883 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 632, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -40.54119110107422, + "y": -48.19005584716797, + "z": 1.149673342704773 + }, + "extent": { + "x": 0.40267089009284973, + "y": 0.4680102467536926, + "z": 0.9041511416435242 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 516.3960189897765, + "ymin": 242.336347322459, + "xmax": 558.5738686338815, + "ymax": 309.9307497983622 + }, + "corners_3d": [ + [ + -40.624000549316406, + -48.80187225341797, + 0.24552220106124878 + ], + [ + -41.13379669189453, + -48.01686096191406, + 0.24552220106124878 + ], + [ + -40.45838165283203, + -47.57823944091797, + 0.24552220106124878 + ], + [ + -39.948585510253906, + -48.363250732421875, + 0.24552220106124878 + ], + [ + -40.624000549316406, + -48.80187225341797, + 2.0538244247436523 + ], + [ + -41.13379669189453, + -48.01686096191406, + 2.0538244247436523 + ], + [ + -40.45838165283203, + -47.57823944091797, + 2.0538244247436523 + ], + [ + -39.948585510253906, + -48.363250732421875, + 2.0538244247436523 + ] + ], + "corners_2d": [ + [ + 536.4780306246555, + 309.9307497983622 + ], + [ + 558.5738686338815, + 297.63459080940174 + ], + [ + 543.147036856641, + 286.78955716485973 + ], + [ + 521.1209600123608, + 298.7541005441444 + ], + [ + 532.3041075149454, + 265.0626978800012 + ], + [ + 555.3421969056819, + 252.9805085907526 + ], + [ + 539.3569236847777, + 242.336347322459 + ], + [ + 516.3960189897765, + 254.0799310254826 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 498, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -46.55297088623047, + "y": -45.444007873535156, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.408210426568985, + "y": 0.391181617975235, + "z": 0.9414264559745789 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 716.5033316138604, + "ymin": 224.109650756921, + "xmax": 753.9744903804244, + "ymax": 289.66870766358227 + }, + "corners_3d": [ + [ + -46.62403106689453, + -46.00490951538086, + 0.055839598178863525 + ], + [ + -47.116390228271484, + -45.39689636230469, + 0.055839598178863525 + ], + [ + -46.481910705566406, + -44.88310623168945, + 0.055839598178863525 + ], + [ + -45.98955154418945, + -45.491119384765625, + 0.055839598178863525 + ], + [ + -46.62403106689453, + -46.00490951538086, + 1.938692569732666 + ], + [ + -47.116390228271484, + -45.39689636230469, + 1.938692569732666 + ], + [ + -46.481910705566406, + -44.88310623168945, + 1.938692569732666 + ], + [ + -45.98955154418945, + -45.491119384765625, + 1.938692569732666 + ] + ], + "corners_2d": [ + [ + 732.3642350181993, + 289.66870766358227 + ], + [ + 749.5797643436289, + 281.0709908215672 + ], + [ + 733.6382725514732, + 269.65877709698344 + ], + [ + 716.5033316138604, + 278.0080248555527 + ], + [ + 736.1105702128432, + 243.7103482854656 + ], + [ + 753.9744903804244, + 235.28357756310078 + ], + [ + 737.3371431352444, + 224.109650756921 + ], + [ + 719.5591199315215, + 232.2832925222515 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 595, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -54.16718292236328, + "y": -51.18776321411133, + "z": 0.9972807765007019 + }, + "extent": { + "x": 0.42137205600738525, + "y": 0.3924829065799713, + "z": 0.8977699875831604 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 943.9991824144676, + "ymin": 376.13524323944023, + "xmax": 1001.7564081929424, + "ymax": 450.51416677842707 + }, + "corners_3d": [ + [ + -54.1876106262207, + -51.76324462890625, + 0.0995107889175415 + ], + [ + -54.7426643371582, + -51.20819091796875, + 0.0995107889175415 + ], + [ + -54.14675521850586, + -50.612281799316406, + 0.0995107889175415 + ], + [ + -53.59170150756836, + -51.167335510253906, + 0.0995107889175415 + ], + [ + -54.1876106262207, + -51.76324462890625, + 1.8950507640838623 + ], + [ + -54.7426643371582, + -51.20819091796875, + 1.8950507640838623 + ], + [ + -54.14675521850586, + -50.612281799316406, + 1.8950507640838623 + ], + [ + -53.59170150756836, + -51.167335510253906, + 1.8950507640838623 + ] + ], + "corners_2d": [ + [ + 965.7416825713861, + 450.51416677842707 + ], + [ + 985.740624491227, + 439.80243191045895 + ], + [ + 963.85179491497, + 421.5797079184602 + ], + [ + 943.9991824144676, + 431.88091774031466 + ], + [ + 981.0097350784738, + 404.94378215186623 + ], + [ + 1001.7564081929424, + 394.2691569285662 + ], + [ + 978.5518379811798, + 376.13524323944023 + ], + [ + 957.9581661180713, + 386.3822784206863 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 80, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -48.28268051147461, + "y": -62.31512451171875, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.44322019815444946, + "y": 0.3366186320781708, + "z": 0.9560708403587341 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 659.5002180396841, + "ymin": 692.7720695191604, + "xmax": 711.5519668017091, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -48.30000686645508, + -62.87141418457031, + 0.041200101375579834 + ], + [ + -48.823211669921875, + -62.447731018066406, + 0.041200101375579834 + ], + [ + -48.26535415649414, + -61.75883483886719, + 0.041200101375579834 + ], + [ + -47.742149353027344, + -62.182518005371094, + 0.041200101375579834 + ], + [ + -48.30000686645508, + -62.87141418457031, + 1.9533417224884033 + ], + [ + -48.823211669921875, + -62.447731018066406, + 1.9533417224884033 + ], + [ + -48.26535415649414, + -61.75883483886719, + 1.9533417224884033 + ], + [ + -47.742149353027344, + -62.182518005371094, + 1.9533417224884033 + ] + ], + "corners_2d": [ + [ + 678.4425058392442, + 788.4136098574368 + ], + [ + 706.9991726341199, + 774.5968724862626 + ], + [ + 687.435316700343, + 737.8899330633305 + ], + [ + 659.5002180396841, + 750.9226254386659 + ], + [ + 681.0848832850627, + 744.8118561292517 + ], + [ + 711.5519668017091, + 730.5528131433407 + ], + [ + 690.5602978829662, + 692.7720695191604 + ], + [ + 660.7992115063596, + 706.1691984944543 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 887, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -33.42184829711914, + "y": -59.35797882080078, + "z": 1.1435307264328003 + }, + "extent": { + "x": 0.29311278462409973, + "y": 0.421332985162735, + "z": 0.9094764590263367 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 100.50182623576256, + "ymin": 459.8863377807947, + "xmax": 162.60302961324817, + "ymax": 531.9002912520477 + }, + "corners_3d": [ + [ + -33.22813034057617, + -59.83327865600586, + 0.23405426740646362 + ], + [ + -33.93484878540039, + -59.37432861328125, + 0.23405426740646362 + ], + [ + -33.61556625366211, + -58.8826789855957, + 0.23405426740646362 + ], + [ + -32.90884780883789, + -59.34162902832031, + 0.23405426740646362 + ], + [ + -33.22813034057617, + -59.83327865600586, + 2.053007125854492 + ], + [ + -33.93484878540039, + -59.37432861328125, + 2.053007125854492 + ], + [ + -33.61556625366211, + -58.8826789855957, + 2.053007125854492 + ], + [ + -32.90884780883789, + -59.34162902832031, + 2.053007125854492 + ] + ], + "corners_2d": [ + [ + 127.23198457385467, + 531.9002912520477 + ], + [ + 162.27083025645686, + 523.1746454542767 + ], + [ + 162.60302961324817, + 506.42307820983456 + ], + [ + 128.14135828845872, + 514.8661445711839 + ], + [ + 100.50182623576256, + 485.4609686049265 + ], + [ + 137.58714910487458, + 476.694600516038 + ], + [ + 138.3579080776638, + 459.8863377807947 + ], + [ + 101.91843643197979, + 468.3544514344105 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 4710, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 741.7382431511788, + "ymin": 152.5737430858332, + "xmax": 821.5051619445172, + "ymax": 266.21336826799654 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 816.5913316925878, + 193.5246581721701 + ], + [ + 760.4963536160955, + 186.62211695910796 + ], + [ + 741.7382431511788, + 257.8130602500402 + ], + [ + 803.4462104080022, + 266.21336826799654 + ], + [ + 821.5051619445172, + 159.32018740282976 + ], + [ + 763.8153461733186, + 152.5737430858332 + ], + [ + 744.8368573575103, + 222.33283847289823 + ], + [ + 808.4805943179229, + 230.590284852547 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 229, + "instance_id": 58624, + "pixel_count": 1977, + "type_id": "vehicle.dodge.charger_police_2020", + "bbox_3d": { + "center_world": { + "x": -54.599266052246094, + "y": -22.700984954833984, + "z": 0.8727232813835144 + }, + "extent": { + "x": 2.6187572479248047, + "y": 0.9648797512054443, + "z": 0.819191575050354 + }, + "yaw": 89.66251373291016 + }, + "bbox_2d": { + "xmin": 947.6599705655834, + "ymin": 0.0, + "xmax": 998.2382494919972, + "ymax": 56.803910728656604 + }, + "corners_3d": [ + [ + -53.64982986450195, + -25.325380325317383, + 0.05353168025612831 + ], + [ + -55.57955551147461, + -25.314014434814453, + 0.05353168025612831 + ], + [ + -55.5487060546875, + -20.076589584350586, + 0.05353168025612831 + ], + [ + -53.61897659301758, + -20.08795738220215, + 0.05353168025612831 + ], + [ + -53.64982986450195, + -25.325380325317383, + 1.6919147968292236 + ], + [ + -55.57955551147461, + -25.314014434814453, + 1.6919147968292236 + ], + [ + -55.5487060546875, + -20.076589584350586, + 1.6919147968292236 + ], + [ + -53.61897659301758, + -20.08795738220215, + 1.6919147968292236 + ] + ], + "corners_2d": [ + [ + 948.0173876789538, + 52.803175910605205 + ], + [ + 989.6392542703976, + 56.803910728656604 + ], + [ + 986.1002056046427, + 13.7229333221444 + ], + [ + 947.6599705655834, + 10.308216073213998 + ], + [ + 955.5376895658519, + 19.355627457521905 + ], + [ + 998.2382494919972, + 23.209918058800838 + ], + [ + 993.9472214161249, + -18.223511266008984 + ], + [ + 954.5886871723549, + -21.500994046411904 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 1265, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 803.4475148184415, + "ymin": 0.0, + "xmax": 851.4162667068974, + "ymax": 40.956078174904064 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 847.3660174581944, + 4.271762828774399 + ], + [ + 812.7510992746475, + 1.1794760524293793 + ], + [ + 803.4475148184415, + 37.405838800335744 + ], + [ + 840.4844747723113, + 40.956078174904064 + ], + [ + 851.4162667068974, + -23.433824544681215 + ], + [ + 816.1044575602409, + -26.415375895254613 + ], + [ + 806.8510785586616, + 8.557966999972564 + ], + [ + 844.6870674902901, + 11.99062216975733 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 141.40978893950876, + "ymin": 349.74181524561783, + "xmax": 322.90158252678395, + "ymax": 562.4267837369161 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 279.3870981484866, + 562.4267837369161 + ], + [ + 322.90158252678395, + 493.1626561103658 + ], + [ + 253.3934515888435, + 479.41589906824856 + ], + [ + 205.77563152914445, + 546.7254051244443 + ], + [ + 225.01636609834418, + 432.7129119887169 + ], + [ + 278.6200105014506, + 363.3491278860525 + ], + [ + 200.24922689515165, + 349.74181524561783 + ], + [ + 141.40978893950876, + 416.87048463807 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 112.93292800091376, + "ymax": 33.0201816097935 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 112.93292800091376, + -9.871007028331576 + ], + [ + 105.04842998410822, + -10.679787343909766 + ], + [ + 32.18662515342271, + 32.066042104424184 + ], + [ + 40.622258596426605, + 33.0201816097935 + ], + [ + 49.91353924628129, + -181.16421114779007 + ], + [ + 41.20275873941489, + -181.75769581471639 + ], + [ + -47.41833123672086, + -150.0712323094387 + ], + [ + -38.03501265801083, + -149.3564429392078 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 172.15963609653977, + "ymin": 0.0, + "xmax": 316.74564017029, + "ymax": 156.47952479813102 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 316.74564017029, + 92.89688150540621 + ], + [ + 306.8351290425365, + 91.71972972632915 + ], + [ + 238.69179207996098, + 155.04000153410254 + ], + [ + 249.50426296918482, + 156.47952479813102 + ], + [ + 268.9268946252601, + -103.82742374367575 + ], + [ + 257.6612794892498, + -104.73545431703207 + ], + [ + 172.15963609653977, + -55.13160983232734 + ], + [ + 184.60056716190024, + -53.98562633549972 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 161.7836636608655, + "ymin": 384.5120425855175, + "xmax": 289.46449924306705, + "ymax": 472.7243635881425 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 241.84401608032965, + 472.7243635881425 + ], + [ + 289.46449924306705, + 406.9559992031494 + ], + [ + 218.41176658064677, + 394.02916749703445 + ], + [ + 166.47788583308397, + 457.88565988070695 + ], + [ + 237.83562917277283, + 463.1600789713591 + ], + [ + 286.1746018708887, + 397.42240385600917 + ], + [ + 214.51148468993034, + 384.5120425855175 + ], + [ + 161.7836636608655, + 448.3205404474349 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 161.706461838699, + "ymin": 384.4719425066368, + "xmax": 289.55520799090425, + "ymax": 472.83608943969 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 241.8898656100826, + 472.83608943969 + ], + [ + 289.55520799090425, + 406.99401992616123 + ], + [ + 218.42098135137195, + 394.0520573036455 + ], + [ + 166.43266513352432, + 457.9778982213437 + ], + [ + 237.85494085720563, + 463.20850728543064 + ], + [ + 286.24426242014704, + 397.3973060332161 + ], + [ + 214.49488357476844, + 384.4719425066368 + ], + [ + 161.706461838699, + 448.3494530084025 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 376.77342340217166, + "ymin": 0.0, + "xmax": 454.3245541012326, + "ymax": 0.9312461461114481 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 454.3245541012326, + -37.19549741834106 + ], + [ + 446.3478510209057, + -37.917908027887165 + ], + [ + 405.4480983347463, + 0.08697855864306803 + ], + [ + 414.0038239298061, + 0.9312461461114481 + ], + [ + 433.48077883399037, + -201.08798851036101 + ], + [ + 424.645777315474, + -201.6112093466304 + ], + [ + 376.77342340217166, + -173.8380599636132 + ], + [ + 386.32349657368076, + -173.21530974779512 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00082/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00082/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6a6d0a813a0de1d0b1b0381114779e76dd1ff899 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00082/meta.json @@ -0,0 +1,1885 @@ +{ + "frame_id": 82, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 41.0, + "sim_timestamp": 14087.642604026245 + }, + "drone_pose": { + "x": -48.96022537464873, + "y": -69.02174660196846, + "z": 20.0, + "pitch": -41.94818499487429, + "yaw": 74.09803252035532, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2037816047668457, + -0.7152878642082214, + 0.6684582829475403, + 45.97843933105469 + ], + [ + 0.9617319703102112, + 0.27399224042892456, + 0.0, + -28.17518424987793 + ], + [ + -0.18315239250659943, + 0.6428776383399963, + 0.7437496185302734, + -68.21471405029297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -48.797269703153034, + "y": -68.51239537003146, + "z": 20.0 + }, + "t1_image_uv": [ + 598.5578241931061, + -502.81714413910333 + ], + "t1_depth": 0.39754007477074105 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -43.16718292236328, + "y": -48.68776321411133, + "z": 0.9972709906101227 + }, + "image_uv": [ + 640.0, + 359.9999999999999 + ], + "depth": 28.427696548892925, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 703, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -43.16718292236328, + "y": -48.68776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.49220457673072815, + "y": 0.49467283487319946, + "z": 0.8931974768638611 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 618.745796486569, + "ymin": 323.63645219417117, + "xmax": 660.8738569131999, + "ymax": 395.996521824177 + }, + "corners_3d": [ + [ + -42.67251205444336, + -49.179969787597656, + 0.10407346487045288 + ], + [ + -43.66185760498047, + -49.17996597290039, + 0.10407346487045288 + ], + [ + -43.6618537902832, + -48.195556640625, + 0.10407346487045288 + ], + [ + -42.672508239746094, + -48.195560455322266, + 0.10407346487045288 + ], + [ + -42.67251205444336, + -49.179969787597656, + 1.8904683589935303 + ], + [ + -43.66185760498047, + -49.17996597290039, + 1.8904683589935303 + ], + [ + -43.6618537902832, + -48.195556640625, + 1.8904683589935303 + ], + [ + -42.672508239746094, + -48.195560455322266, + 1.8904683589935303 + ] + ], + "corners_2d": [ + [ + 619.6278683223575, + 389.6987897257513 + ], + [ + 651.4535405961997, + 395.996521824177 + ], + [ + 660.0224398569904, + 374.3785705747656 + ], + [ + 628.8983865898646, + 368.3791259978154 + ], + [ + 618.745796486569, + 344.73687593300167 + ], + [ + 651.9531074713344, + 350.978198905961 + ], + [ + 660.8738569131999, + 329.56979193275 + ], + [ + 628.4296761073795, + 323.63645219417117 + ] + ], + "center_offset_px": [ + 0.0, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 82, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 94, + "semantic_pixel_counts": { + "1": 339004, + "2": 263057, + "3": 27752, + "4": 18467, + "5": 2511, + "6": 3443, + "9": 18839, + "10": 324, + "12": 3392, + "14": 30332, + "15": 2556, + "20": 3269, + "21": 15248, + "24": 18542, + "25": 174864 + }, + "instance_pixel_counts": { + "70": 201, + "143": 18573, + "620": 420, + "883": 2783, + "1132": 303, + "2214": 238, + "2470": 275, + "2703": 19821, + "3180": 89, + "4166": 262, + "4678": 301, + "5228": 511, + "6053": 33, + "6508": 1236, + "6565": 5166, + "7539": 7614, + "8018": 8758, + "8064": 75, + "8298": 201, + "8780": 70, + "8808": 5920, + "8810": 2416, + "9068": 5218, + "9320": 79728, + "10346": 279, + "10624": 1002, + "10856": 6979, + "11116": 349, + "11368": 85073, + "11370": 2443, + "11596": 18467, + "17516": 75, + "20308": 5918, + "20820": 3195, + "20866": 557, + "21332": 38, + "22356": 4056, + "22868": 1606, + "22893": 9072, + "23380": 2467, + "24916": 2556, + "25698": 187, + "25928": 2441, + "25965": 6209, + "26987": 3269, + "27460": 563, + "27476": 3064, + "27559": 248, + "27719": 114068, + "27746": 80, + "28002": 29, + "28258": 127, + "29095": 106, + "30351": 1182, + "30630": 3179, + "30863": 20107, + "31142": 3111, + "31654": 3673, + "32399": 5905, + "32911": 49847, + "34372": 100, + "34884": 480, + "36753": 186, + "37286": 50, + "37798": 69, + "39239": 174864, + "41796": 126, + "41879": 479, + "42391": 7104, + "44439": 1052, + "44951": 9638, + "46672": 11, + "47184": 115, + "48708": 230, + "52327": 92870, + "54375": 68434, + "54950": 366, + "55401": 2760, + "56173": 18839, + "56320": 703, + "56576": 561, + "56832": 491, + "56937": 1737, + "57088": 616, + "57344": 81, + "57600": 940, + "58368": 5579, + "58624": 2399, + "58880": 2010, + "59522": 2760, + "59553": 14, + "60833": 315, + "64837": 179, + "64850": 3379 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 703, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -43.16718292236328, + "y": -48.68776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.5156591534614563, + "y": 0.5073510408401489, + "z": 0.9054171442985535 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 618.0798642449828, + "ymin": 322.75207607333283, + "xmax": 661.5058058971889, + "ymax": 396.90101950179496 + }, + "corners_3d": [ + [ + -42.65983200073242, + -49.20342254638672, + 0.0918537974357605 + ], + [ + -43.67453384399414, + -49.20342254638672, + 0.0918537974357605 + ], + [ + -43.67453384399414, + -48.17210388183594, + 0.0918537974357605 + ], + [ + -42.65983200073242, + -48.17210388183594, + 0.0918537974357605 + ], + [ + -42.65983200073242, + -49.20342254638672, + 1.9026880264282227 + ], + [ + -43.67453384399414, + -49.20342254638672, + 1.9026880264282227 + ], + [ + -43.67453384399414, + -48.17210388183594, + 1.9026880264282227 + ], + [ + -42.65983200073242, + -48.17210388183594, + 1.9026880264282227 + ] + ], + "corners_2d": [ + [ + 619.0022116009238, + 390.43393931305775 + ], + [ + 651.6517799943397, + 396.90101950179496 + ], + [ + 660.6172903694649, + 374.24745953995017 + ], + [ + 628.721196217884, + 368.10082992503567 + ], + [ + 618.0798642449828, + 344.8522207513807 + ], + [ + 652.1674647594783, + 351.26090690048477 + ], + [ + 661.5058058971889, + 328.8297502992927 + ], + [ + 628.2386810184175, + 322.75207607333283 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 561, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -39.04119110107422, + "y": -45.69005584716797, + "z": 1.1493852138519287 + }, + "extent": { + "x": 0.4469287395477295, + "y": 0.43930912017822266, + "z": 0.8731311559677124 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 525.8952874912064, + "ymin": 243.76022177407037, + "xmax": 560.1678124539919, + "ymax": 304.34508758559616 + }, + "corners_3d": [ + [ + -38.704402923583984, + -46.21855545043945, + 0.2762540578842163 + ], + [ + -39.56382369995117, + -46.03588104248047, + 0.2762540578842163 + ], + [ + -39.37797927856445, + -45.161556243896484, + 0.2762540578842163 + ], + [ + -38.518558502197266, + -45.34423065185547, + 0.2762540578842163 + ], + [ + -38.704402923583984, + -46.21855545043945, + 2.0225162506103516 + ], + [ + -39.56382369995117, + -46.03588104248047, + 2.0225162506103516 + ], + [ + -39.37797927856445, + -45.161556243896484, + 2.0225162506103516 + ], + [ + -38.518558502197266, + -45.34423065185547, + 2.0225162506103516 + ] + ], + "corners_2d": [ + [ + 530.1122760924311, + 303.2086719199262 + ], + [ + 556.637701312357, + 304.34508758559616 + ], + [ + 560.1678124539919, + 287.72102269734995 + ], + [ + 534.1830755155169, + 286.6309039083921 + ], + [ + 525.8952874912064, + 260.0393717756121 + ], + [ + 553.4339535962548, + 261.15625822399164 + ], + [ + 557.1652984031887, + 244.82991530959504 + ], + [ + 530.2089613132787, + 243.76022177407037 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 491, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -43.78395080566406, + "y": -41.78450012207031, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.48344969749450684, + "y": 0.4550122022628784, + "z": 0.9034196138381958 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 695.8937471946158, + "ymin": 204.08092347658305, + "xmax": 727.9187744541964, + "ymax": 265.7433503546267 + }, + "corners_3d": [ + [ + -43.38196563720703, + -42.312862396240234, + 0.09385627508163452 + ], + [ + -44.28700637817383, + -42.21773910522461, + 0.09385627508163452 + ], + [ + -44.185935974121094, + -41.25613784790039, + 0.09385627508163452 + ], + [ + -43.2808952331543, + -41.351261138916016, + 0.09385627508163452 + ], + [ + -43.38196563720703, + -42.312862396240234, + 1.900695562362671 + ], + [ + -44.28700637817383, + -42.21773910522461, + 1.900695562362671 + ], + [ + -44.185935974121094, + -41.25613784790039, + 1.900695562362671 + ], + [ + -43.2808952331543, + -41.351261138916016, + 1.900695562362671 + ] + ], + "corners_2d": [ + [ + 695.8937471946158, + 263.07691286396584 + ], + [ + 721.8309899912451, + 265.7433503546267 + ], + [ + 724.8083815165857, + 249.79530777537968 + ], + [ + 699.3974056522392, + 247.23819808343185 + ], + [ + 697.9812073082699, + 219.56578949171637 + ], + [ + 724.8981652621185, + 222.17500940302523 + ], + [ + 727.9187744541964, + 206.5792873683168 + ], + [ + 701.5681653669395, + 204.08092347658305 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 616, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -52.66718292236328, + "y": -48.68776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.3020873963832855, + "y": 0.531140148639679, + "z": 0.9018416404724121 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 943.8953744000096, + "ymin": 388.4821992138855, + "xmax": 999.3075100540464, + "ymax": 456.90174415633214 + }, + "corners_3d": [ + [ + -52.136043548583984, + -48.98984909057617, + 0.09542930126190186 + ], + [ + -53.19832229614258, + -48.98984909057617, + 0.09542930126190186 + ], + [ + -53.19832229614258, + -48.385677337646484, + 0.09542930126190186 + ], + [ + -52.136043548583984, + -48.385677337646484, + 0.09542930126190186 + ], + [ + -52.136043548583984, + -48.98984909057617, + 1.899112582206726 + ], + [ + -53.19832229614258, + -48.98984909057617, + 1.899112582206726 + ], + [ + -53.19832229614258, + -48.385677337646484, + 1.899112582206726 + ], + [ + -52.136043548583984, + -48.385677337646484, + 1.899112582206726 + ] + ], + "corners_2d": [ + [ + 943.8953744000096, + 449.20341237407365 + ], + [ + 982.9889738885277, + 456.90174415633214 + ], + [ + 983.3820218450292, + 441.654999438421 + ], + [ + 944.9014833164533, + 434.1983763054486 + ], + [ + 958.1074487723067, + 403.4226463330653 + ], + [ + 999.1651372409669, + 411.0963927060337 + ], + [ + 999.3075100540464, + 395.90397341327986 + ], + [ + 958.9255309627426, + 388.4821992138855 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 81, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -46.78268051147461, + "y": -59.81512451171875, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.46342045068740845, + "y": 0.45439454913139343, + "z": 0.9076663851737976 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 631.57530279754, + "ymin": 690.611587090772, + "xmax": 690.8255350756382, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -46.28233337402344, + -60.22850799560547, + 0.08960455656051636 + ], + [ + -47.1861457824707, + -60.32350158691406, + 0.08960455656051636 + ], + [ + -47.28302764892578, + -59.40174102783203, + 0.08960455656051636 + ], + [ + -46.379215240478516, + -59.30674743652344, + 0.08960455656051636 + ], + [ + -46.28233337402344, + -60.22850799560547, + 1.9049372673034668 + ], + [ + -47.1861457824707, + -60.32350158691406, + 1.9049372673034668 + ], + [ + -47.28302764892578, + -59.40174102783203, + 1.9049372673034668 + ], + [ + -46.379215240478516, + -59.30674743652344, + 1.9049372673034668 + ] + ], + "corners_2d": [ + [ + 632.0827895221242, + 772.9287972636748 + ], + [ + 672.6745687777279, + 789.0982458425423 + ], + [ + 687.8216823151619, + 748.854724603256 + ], + [ + 648.2952640201911, + 733.6710320350671 + ], + [ + 631.57530279754, + 730.9310004500844 + ], + [ + 674.7972521192249, + 747.5840054272177 + ], + [ + 690.8255350756382, + 706.1870524929566 + ], + [ + 648.8096068441089, + 690.611587090772 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 940, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -31.921844482421875, + "y": -56.85797882080078, + "z": 1.1420024633407593 + }, + "extent": { + "x": 0.37952879071235657, + "y": 0.2942187488079071, + "z": 0.9032539129257202 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 100.97301278815405, + "ymin": 442.0853420395339, + "xmax": 165.5920965776076, + "ymax": 516.222036376904 + }, + "corners_3d": [ + [ + -31.555147171020508, + -57.16804122924805, + 0.23874855041503906 + ], + [ + -32.1307258605957, + -57.29038619995117, + 0.23874855041503906 + ], + [ + -32.288543701171875, + -56.547916412353516, + 0.23874855041503906 + ], + [ + -31.712963104248047, + -56.42557144165039, + 0.23874855041503906 + ], + [ + -31.555147171020508, + -57.16804122924805, + 2.0452563762664795 + ], + [ + -32.1307258605957, + -57.29038619995117, + 2.0452563762664795 + ], + [ + -32.288543701171875, + -56.547916412353516, + 2.0452563762664795 + ], + [ + -31.712963104248047, + -56.42557144165039, + 2.0452563762664795 + ] + ], + "corners_2d": [ + [ + 126.76694802389329, + 507.9517082603308 + ], + [ + 142.51248432544548, + 516.222036376904 + ], + [ + 165.5920965776076, + 496.3069765905555 + ], + [ + 149.96808668825372, + 488.35546734331814 + ], + [ + 100.97301278815405, + 461.7056744595441 + ], + [ + 117.29493761707124, + 469.9976481579697 + ], + [ + 142.03774722251183, + 450.042019887018 + ], + [ + 125.8411692796991, + 442.0853420395339 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 5579, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 779.5115575676083, + "ymin": 196.92232538726546, + "xmax": 867.3908257518433, + "ymax": 322.8957720385425 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 860.859312327307, + 241.01346136947336 + ], + [ + 801.0603190532204, + 231.85158260143206 + ], + [ + 779.5115575676083, + 311.62106207708933 + ], + [ + 845.5949114564567, + 322.8957720385425 + ], + [ + 867.3908257518433, + 205.9066737304952 + ], + [ + 805.7630053216061, + 196.92232538726546 + ], + [ + 784.0417146619385, + 275.36631462864347 + ], + [ + 852.3663609655966, + 286.49394262964057 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 229, + "instance_id": 58624, + "pixel_count": 2399, + "type_id": "vehicle.dodge.charger_police_2020", + "bbox_3d": { + "center_world": { + "x": -54.599266052246094, + "y": -22.700984954833984, + "z": 0.8727232813835144 + }, + "extent": { + "x": 2.6187572479248047, + "y": 0.9648797512054443, + "z": 0.819191575050354 + }, + "yaw": 89.66251373291016 + }, + "bbox_2d": { + "xmin": 1002.3964769372446, + "ymin": 7.681882226284813, + "xmax": 1057.7159095840725, + "ymax": 92.49335741735939 + }, + "corners_3d": [ + [ + -53.64982986450195, + -25.325380325317383, + 0.05353168025612831 + ], + [ + -55.57955551147461, + -25.314014434814453, + 0.05353168025612831 + ], + [ + -55.5487060546875, + -20.076589584350586, + 0.05353168025612831 + ], + [ + -53.61897659301758, + -20.08795738220215, + 0.05353168025612831 + ], + [ + -53.64982986450195, + -25.325380325317383, + 1.6919147968292236 + ], + [ + -55.57955551147461, + -25.314014434814453, + 1.6919147968292236 + ], + [ + -55.5487060546875, + -20.076589584350586, + 1.6919147968292236 + ], + [ + -53.61897659301758, + -20.08795738220215, + 1.6919147968292236 + ] + ], + "corners_2d": [ + [ + 1002.64363989106, + 87.2390634628623 + ], + [ + 1047.1379024600674, + 92.49335741735939 + ], + [ + 1043.3363534263026, + 44.96349882790378 + ], + [ + 1002.3964769372446, + 40.51159132318077 + ], + [ + 1011.9803235896101, + 52.71628768416383 + ], + [ + 1057.7159095840725, + 57.79169222418915 + ], + [ + 1052.9589631748556, + 11.964584712014812 + ], + [ + 1010.9704332553749, + 7.681882226284813 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 2010, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 849.3196685675343, + "ymin": 0.0, + "xmax": 901.388092085489, + "ymax": 72.09074285424492 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 896.1535779987538, + 32.09427483178223 + ], + [ + 859.6914238898707, + 28.105894290300625 + ], + [ + 849.3196685675343, + 67.48620125792036 + ], + [ + 888.4243533135242, + 72.09074285424492 + ], + [ + 901.388092085489, + 3.5662198635410505 + ], + [ + 864.1466790823416, + -0.28602029564899567 + ], + [ + 853.8863175168744, + 37.801566368347835 + ], + [ + 893.8888555704639, + 42.262451331013494 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 123.8142317746441, + "ymin": 420.45223741306177, + "xmax": 322.9606896902653, + "ymax": 648.2244245458305 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 272.2599837560939, + 648.2244245458305 + ], + [ + 322.9606896902653, + 568.8756509160555 + ], + [ + 250.25457395343267, + 550.3835111096505 + ], + [ + 195.2087212050518, + 626.9197908184453 + ], + [ + 211.93744913905073, + 520.2921415763162 + ], + [ + 275.08140630279854, + 439.11119419523993 + ], + [ + 192.5611751750704, + 420.45223741306177 + ], + [ + 123.8142317746441, + 498.31582747951154 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 140.17856058348013, + "ymax": 48.72673153751566 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 140.17856058348013, + 4.349617561737887 + ], + [ + 132.31764858828876, + 3.3605414201945223 + ], + [ + 55.881671325503476, + 47.557226277114694 + ], + [ + 64.26804415999425, + 48.72673153751566 + ], + [ + 79.12372856280672, + -169.56971288138357 + ], + [ + 70.43826315877357, + -170.29882529509757 + ], + [ + -22.363344428382675, + -137.37595193456764 + ], + [ + -13.039465809542548, + -136.4951453152961 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 190.06786387313593, + "ymin": 0.0, + "xmax": 340.44412026796243, + "ymax": 186.4907933253547 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 340.44412026796243, + 118.54163671401352 + ], + [ + 330.33912891845836, + 117.05771125517575 + ], + [ + 256.45908497633695, + 184.66504732473558 + ], + [ + 267.4729120679211, + 186.4907933253547 + ], + [ + 294.34563246903207, + -82.99003219763665 + ], + [ + 282.816860809711, + -84.14652982440015 + ], + [ + 190.06786387313593, + -30.579496229168285 + ], + [ + 202.7872044488214, + -29.10760906327141 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 146.5079015137759, + "ymin": 455.914404206767, + "xmax": 286.86358143411104, + "ymax": 559.5179698781377 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 230.993112769142, + 559.5179698781377 + ], + [ + 286.86358143411104, + 483.1045535233267 + ], + [ + 212.206112961857, + 465.48472547576057 + ], + [ + 151.73502160725963, + 539.0893670127172 + ], + [ + 226.52770135744038, + 550.0347419467114 + ], + [ + 283.2882737080149, + 473.5367123948729 + ], + [ + 207.95311410232966, + 455.914404206767 + ], + [ + 146.5079015137759, + 529.5717545394685 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 146.42320555073206, + "ymin": 455.866611320445, + "xmax": 286.9626803109825, + "ymax": 559.6391450592117 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 231.03960224186454, + 559.6391450592117 + ], + [ + 286.9626803109825, + 483.1404829557504 + ], + [ + 212.21985691965517, + 465.5002861830203 + ], + [ + 151.6859650028963, + 539.1838133342187 + ], + [ + 226.5445948072334, + 550.0933105317112 + ], + [ + 283.3645782052428, + 473.5093053782893 + ], + [ + 207.93877240783831, + 455.866611320445 + ], + [ + 146.42320555073206, + 529.6032887806546 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 410.74695349081435, + "ymin": 0.0, + "xmax": 488.3618584528159, + "ymax": 20.99368182756575 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 488.3618584528159, + -19.195436818680662 + ], + [ + 480.2176462811456, + -20.09489101584768 + ], + [ + 436.46963224561875, + 19.938689491083835 + ], + [ + 445.202341615559, + 20.99368182756575 + ], + [ + 470.79829151823037, + -186.83254375604668 + ], + [ + 461.7491697620309, + -187.48814826444277 + ], + [ + 410.74695349081435, + -158.0319346690501 + ], + [ + 420.52734653530433, + -157.24797137951134 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00083/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00083/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dcadc243098fb2863aebffd9f2a7517d3ef84b9c --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00083/meta.json @@ -0,0 +1,1886 @@ +{ + "frame_id": 83, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 41.5, + "sim_timestamp": 14099.34323160653 + }, + "drone_pose": { + "x": -48.797269703153034, + "y": -68.51239537003146, + "z": 20.0, + "pitch": -42.01979564790799, + "yaw": 74.51683994007004, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.19832462072372437, + -0.7159525156021118, + 0.6693873405456543, + 45.341575622558594 + ], + [ + 0.9637089967727661, + 0.2669551372528076, + -2.9802322387695312e-08, + -28.73662567138672 + ], + [ + -0.1786964237689972, + 0.645094633102417, + 0.7429136037826538, + -67.775146484375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -48.62457892522857, + "y": -68.00818551764152, + "z": 20.0 + }, + "t1_image_uv": [ + 562.7066725854453, + -504.98865018797494 + ], + "t1_depth": 0.3952391281050763 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -43.16718292236328, + "y": -48.18776321411133, + "z": 0.9972709906101227 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 28.388241566483007, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 712, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -43.16718292236328, + "y": -48.18776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.5264990329742432, + "y": 0.4751611351966858, + "z": 0.8749706745147705 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 616.9040059542335, + "ymin": 322.25262158166595, + "xmax": 663.3742204753132, + "ymax": 397.55798274733627 + }, + "corners_3d": [ + [ + -43.20348358154297, + -48.89604568481445, + 0.12230026721954346 + ], + [ + -43.875465393066406, + -48.224063873291016, + 0.12230026721954346 + ], + [ + -43.130882263183594, + -47.4794807434082, + 0.12230026721954346 + ], + [ + -42.458900451660156, + -48.15146255493164, + 0.12230026721954346 + ], + [ + -43.20348358154297, + -48.89604568481445, + 1.8722416162490845 + ], + [ + -43.875465393066406, + -48.224063873291016, + 1.8722416162490845 + ], + [ + -43.130882263183594, + -47.4794807434082, + 1.8722416162490845 + ], + [ + -42.458900451660156, + -48.15146255493164, + 1.8722416162490845 + ] + ], + "corners_2d": [ + [ + 634.8020241298784, + 397.55798274733627 + ], + [ + 662.4237625504836, + 386.6601631433349 + ], + [ + 645.016663016121, + 366.075861634225 + ], + [ + 617.8324210571211, + 376.47338876943627 + ], + [ + 634.5788933273176, + 353.434304611422 + ], + [ + 663.3742204753132, + 342.6299224582211 + ], + [ + 645.2241883249228, + 322.25262158166595 + ], + [ + 616.9040059542335, + 332.5406067809805 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 83, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 95, + "semantic_pixel_counts": { + "1": 338528, + "2": 261831, + "3": 23282, + "4": 18754, + "5": 2514, + "6": 3676, + "9": 17918, + "10": 334, + "12": 3328, + "14": 31279, + "15": 2326, + "20": 3054, + "21": 15876, + "24": 18797, + "25": 180103 + }, + "instance_pixel_counts": { + "70": 206, + "143": 18061, + "620": 443, + "883": 3032, + "1132": 313, + "2214": 251, + "2470": 284, + "2703": 18070, + "3180": 91, + "4166": 270, + "4678": 313, + "5228": 534, + "6053": 34, + "6508": 1307, + "6565": 5363, + "7539": 7957, + "8018": 7270, + "8064": 76, + "8298": 214, + "8337": 32, + "8780": 76, + "8808": 6367, + "8810": 2517, + "9068": 2385, + "9320": 82540, + "10346": 287, + "10624": 1054, + "10856": 7334, + "11116": 367, + "11136": 28, + "11368": 87774, + "11370": 2476, + "11596": 18754, + "17516": 77, + "20308": 6093, + "20820": 3311, + "20866": 595, + "21332": 105, + "22356": 4166, + "22868": 1676, + "22893": 8753, + "23380": 2544, + "24916": 2326, + "25698": 193, + "25928": 2438, + "25965": 5880, + "26987": 3054, + "27460": 593, + "27476": 3156, + "27559": 209, + "27719": 112970, + "27746": 119, + "28002": 35, + "28258": 93, + "29095": 56, + "30351": 1301, + "30630": 3301, + "30863": 20818, + "31142": 3238, + "31654": 3824, + "32399": 6105, + "32911": 50975, + "34372": 103, + "34884": 495, + "36753": 189, + "37286": 65, + "37798": 85, + "39239": 180103, + "41796": 132, + "41879": 519, + "42391": 7342, + "44439": 1093, + "44951": 9944, + "46672": 43, + "47184": 134, + "48708": 236, + "52327": 89436, + "54375": 65077, + "54950": 349, + "55401": 2629, + "56173": 17918, + "56320": 712, + "56576": 568, + "56832": 441, + "56937": 1708, + "57088": 698, + "57344": 57, + "57600": 852, + "58368": 5740, + "58624": 2442, + "58880": 2046, + "59522": 2904, + "60833": 299, + "64837": 185, + "64850": 2638 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 712, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -43.16718292236328, + "y": -48.18776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.39381346106529236, + "y": 0.4744604527950287, + "z": 0.8828753232955933 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 619.100875935763, + "ymin": 324.56739208328077, + "xmax": 661.0211820190161, + "ymax": 395.0287144614431 + }, + "corners_3d": [ + [ + -43.11015701293945, + -48.801727294921875, + 0.1143956184387207 + ], + [ + -43.78114700317383, + -48.1307373046875, + 0.1143956184387207 + ], + [ + -43.22420883178711, + -47.57379913330078, + 0.1143956184387207 + ], + [ + -42.553218841552734, + -48.244789123535156, + 0.1143956184387207 + ], + [ + -43.11015701293945, + -48.801727294921875, + 1.8801462650299072 + ], + [ + -43.78114700317383, + -48.1307373046875, + 1.8801462650299072 + ], + [ + -43.22420883178711, + -47.57379913330078, + 1.8801462650299072 + ], + [ + -42.553218841552734, + -48.244789123535156, + 1.8801462650299072 + ] + ], + "corners_2d": [ + [ + 632.6411265552025, + 395.0287144614431 + ], + [ + 660.161393121993, + 384.21157484603305 + ], + [ + 647.1445397766089, + 368.81491629710274 + ], + [ + 619.9509110916911, + 379.2584978698571 + ], + [ + 632.3233225869453, + 350.528536091516 + ], + [ + 661.0211820190161, + 339.807743855288 + ], + [ + 647.4437243747974, + 324.56739208328077 + ], + [ + 619.100875935763, + 334.9024954268964 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 568, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -39.04119110107422, + "y": -45.19005584716797, + "z": 1.1493901014328003 + }, + "extent": { + "x": 0.42411008477211, + "y": 0.4480273425579071, + "z": 0.8690020442008972 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 521.3446937027826, + "ymin": 241.53143081469028, + "xmax": 562.776546617057, + "ymax": 307.1546918074776 + }, + "corners_3d": [ + [ + -39.15286636352539, + -45.796791076660156, + 0.2803880572319031 + ], + [ + -39.640892028808594, + -45.04529571533203, + 0.2803880572319031 + ], + [ + -38.92951583862305, + -44.58332061767578, + 0.2803880572319031 + ], + [ + -38.441490173339844, + -45.334815979003906, + 0.2803880572319031 + ], + [ + -39.15286636352539, + -45.796791076660156, + 2.0183920860290527 + ], + [ + -39.640892028808594, + -45.04529571533203, + 2.0183920860290527 + ], + [ + -38.92951583862305, + -44.58332061767578, + 2.0183920860290527 + ], + [ + -38.441490173339844, + -45.334815979003906, + 2.0183920860290527 + ] + ], + "corners_2d": [ + [ + 541.1623798316375, + 307.1546918074776 + ], + [ + 562.776546617057, + 295.89176388078283 + ], + [ + 547.189057612696, + 284.1886430552694 + ], + [ + 525.6791486473879, + 295.12256279222964 + ], + [ + 537.3564450254668, + 264.09265189284577 + ], + [ + 559.8457113519574, + 253.02212185279646 + ], + [ + 543.720032138762, + 241.53143081469028 + ], + [ + 521.3446937027826, + 252.2664916483927 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 441, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -43.85501480102539, + "y": -40.940223693847656, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.3556201159954071, + "y": 0.3958740234375, + "z": 0.9343189001083374 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 698.2248576008615, + "ymin": 198.244289469139, + "xmax": 731.5865941854415, + "ymax": 259.9358690712369 + }, + "corners_3d": [ + [ + -43.88225173950195, + -41.471675872802734, + 0.06294715404510498 + ], + [ + -44.380516052246094, + -40.85636901855469, + 0.06294715404510498 + ], + [ + -43.82777786254883, + -40.40877151489258, + 0.06294715404510498 + ], + [ + -43.32951354980469, + -41.024078369140625, + 0.06294715404510498 + ], + [ + -43.88225173950195, + -41.471675872802734, + 1.9315849542617798 + ], + [ + -44.380516052246094, + -40.85636901855469, + 1.9315849542617798 + ], + [ + -43.82777786254883, + -40.40877151489258, + 1.9315849542617798 + ], + [ + -43.32951354980469, + -41.024078369140625, + 1.9315849542617798 + ] + ], + "corners_2d": [ + [ + 710.7456682895391, + 259.9358690712369 + ], + [ + 728.2193457141095, + 252.2530613676226 + ], + [ + 715.6045909527193, + 242.8000771342053 + ], + [ + 698.2248576008615, + 250.29131750701973 + ], + [ + 713.4744164401645, + 214.98064000204855 + ], + [ + 731.5865941854415, + 207.47334589764074 + ], + [ + 718.4529648797022, + 198.244289469139 + ], + [ + 700.4412684262292, + 205.55734983685176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 698, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -52.66718292236328, + "y": -48.18776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.2555834949016571, + "y": 0.37012937664985657, + "z": 0.8692265748977661 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 948.2683725346567, + "ymin": 388.5883396473386, + "xmax": 996.0529327121332, + "ymax": 453.6987726949331 + }, + "corners_3d": [ + [ + -52.586185455322266, + -48.630210876464844, + 0.12804436683654785 + ], + [ + -53.1096305847168, + -48.10676574707031, + 0.12804436683654785 + ], + [ + -52.7481803894043, + -47.74531555175781, + 0.12804436683654785 + ], + [ + -52.224735260009766, + -48.268760681152344, + 0.12804436683654785 + ], + [ + -52.586185455322266, + -48.630210876464844, + 1.86649751663208 + ], + [ + -53.1096305847168, + -48.10676574707031, + 1.86649751663208 + ], + [ + -52.7481803894043, + -47.74531555175781, + 1.86649751663208 + ], + [ + -52.224735260009766, + -48.268760681152344, + 1.86649751663208 + ] + ], + "corners_2d": [ + [ + 961.0978066296232, + 453.6987726949331 + ], + [ + 980.7389747234113, + 444.0981751406149 + ], + [ + 967.7994654132119, + 432.64588592300544 + ], + [ + 948.2683725346567, + 442.01504383510684 + ], + [ + 975.6816352191308, + 409.5632580169733 + ], + [ + 996.0529327121332, + 399.9930285657079 + ], + [ + 982.3462185868103, + 388.5883396473386 + ], + [ + 962.0912194377572, + 397.9176352969017 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 57, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -46.78268051147461, + "y": -59.31512451171875, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.38652342557907104, + "y": 0.365478515625, + "z": 0.9489304423332214 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 641.1441620622452, + "ymin": 695.0172265854235, + "xmax": 690.9142131384381, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -46.74189758300781, + -59.84551239013672, + 0.04834049940109253 + ], + [ + -47.309959411621094, + -59.38550567626953, + 0.04834049940109253 + ], + [ + -46.823463439941406, + -58.78473663330078, + 0.04834049940109253 + ], + [ + -46.255401611328125, + -59.24474334716797, + 0.04834049940109253 + ], + [ + -46.74189758300781, + -59.84551239013672, + 1.9462013244628906 + ], + [ + -47.309959411621094, + -59.38550567626953, + 1.9462013244628906 + ], + [ + -46.823463439941406, + -58.78473663330078, + 1.9462013244628906 + ], + [ + -46.255401611328125, + -59.24474334716797, + 1.9462013244628906 + ] + ], + "corners_2d": [ + [ + 656.0041762074338, + 786.1572231348505 + ], + [ + 687.7097379491062, + 772.2968536382568 + ], + [ + 672.1990457187237, + 739.8206806914636 + ], + [ + 641.1441620622452, + 752.9815538325038 + ], + [ + 657.0915708393118, + 742.7210091921684 + ], + [ + 690.9142131384381, + 728.4272968111893 + ], + [ + 674.3031472707837, + 695.0172265854235 + ], + [ + 641.2197720051553, + 708.5428209599401 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 852, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -31.921844482421875, + "y": -56.35797882080078, + "z": 1.1420024633407593 + }, + "extent": { + "x": 0.4506188929080963, + "y": 0.5164574980735779, + "z": 0.9124121069908142 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 96.53729421424748, + "ymin": 441.6714613718532, + "xmax": 167.36709754997872, + "ymax": 523.1576330053817 + }, + "corners_3d": [ + [ + -31.734132766723633, + -57.017181396484375, + 0.22959035634994507 + ], + [ + -32.600406646728516, + -56.45461654663086, + 0.22959035634994507 + ], + [ + -32.10955810546875, + -55.69877624511719, + 0.22959035634994507 + ], + [ + -31.243282318115234, + -56.2613410949707, + 0.22959035634994507 + ], + [ + -31.734132766723633, + -57.017181396484375, + 2.0544145107269287 + ], + [ + -32.600406646728516, + -56.45461654663086, + 2.0544145107269287 + ], + [ + -32.10955810546875, + -55.69877624511719, + 2.0544145107269287 + ], + [ + -31.243282318115234, + -56.2613410949707, + 2.0544145107269287 + ] + ], + "corners_2d": [ + [ + 123.25348685464235, + 523.1576330053817 + ], + [ + 165.7177737746419, + 513.6889052355231 + ], + [ + 167.36709754997872, + 488.3980972415733 + ], + [ + 125.98151466889146, + 497.40040696652994 + ], + [ + 96.53729421424748, + 476.5085517841329 + ], + [ + 141.4344039784341, + 467.0066345509756 + ], + [ + 143.79892139184312, + 441.6714613718532 + ], + [ + 100.10564135289576, + 450.68218602828637 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 5740, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 776.3067033760716, + "ymin": 203.2930389022996, + "xmax": 864.4241722850057, + "ymax": 331.38086303319386 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 857.901141413585, + 247.49704098257186 + ], + [ + 797.4567126070732, + 238.38560881650812 + ], + [ + 776.3067033760716, + 320.1399922404759 + ], + [ + 843.2009648050158, + 331.38086303319386 + ], + [ + 864.4241722850057, + 212.23422777285012 + ], + [ + 802.111533648052, + 203.2930389022996 + ], + [ + 780.7940276155532, + 283.75239665339 + ], + [ + 849.9846760285338, + 294.85627186398693 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 229, + "instance_id": 58624, + "pixel_count": 2442, + "type_id": "vehicle.dodge.charger_police_2020", + "bbox_3d": { + "center_world": { + "x": -54.599266052246094, + "y": -22.700984954833984, + "z": 0.8727232813835144 + }, + "extent": { + "x": 2.6187572479248047, + "y": 0.9648797512054443, + "z": 0.819191575050354 + }, + "yaw": 89.66251373291016 + }, + "bbox_2d": { + "xmin": 998.4581192194901, + "ymin": 9.665167555681819, + "xmax": 1054.5851432066802, + "ymax": 95.34048513172274 + }, + "corners_3d": [ + [ + -53.64982986450195, + -25.325380325317383, + 0.05353168025612831 + ], + [ + -55.57955551147461, + -25.314014434814453, + 0.05353168025612831 + ], + [ + -55.5487060546875, + -20.076589584350586, + 0.05353168025612831 + ], + [ + -53.61897659301758, + -20.08795738220215, + 0.05353168025612831 + ], + [ + -53.64982986450195, + -25.325380325317383, + 1.6919147968292236 + ], + [ + -55.57955551147461, + -25.314014434814453, + 1.6919147968292236 + ], + [ + -55.5487060546875, + -20.076589584350586, + 1.6919147968292236 + ], + [ + -53.61897659301758, + -20.08795738220215, + 1.6919147968292236 + ] + ], + "corners_2d": [ + [ + 999.211623657663, + 90.14835217154405 + ], + [ + 1043.995113816322, + 95.34048513172274 + ], + [ + 1039.6331967700557, + 47.049137193243325 + ], + [ + 998.4581192194901, + 42.655682731000525 + ], + [ + 1008.5441777776459, + 55.45640236234493 + ], + [ + 1054.5851432066802, + 60.47404254159494 + ], + [ + 1049.2459366809971, + 13.893270464908142 + ], + [ + 1007.0101787728031, + 9.665167555681819 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 2046, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 844.753935801185, + "ymin": 1.9476114365985495, + "xmax": 896.7550960382775, + "ymax": 75.12228164184302 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 891.5686344491141, + 34.433373701714004 + ], + [ + 854.8510068412759, + 30.492270506744376 + ], + [ + 844.753935801185, + 70.56671553182542 + ], + [ + 884.1611925965186, + 75.12228164184302 + ], + [ + 896.7550960382775, + 5.755548333776289 + ], + [ + 859.2474552615749, + 1.9476114365985495 + ], + [ + 849.2642369552098, + 40.721524187470834 + ], + [ + 889.583068701281, + 45.13677907542507 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 108.03413109887651, + "ymin": 439.3674938630125, + "xmax": 313.69096104137884, + "ymax": 670.358649110995 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 261.9681468479927, + 670.358649110995 + ], + [ + 313.69096104137884, + 587.7586928687649 + ], + [ + 239.4742131705118, + 569.0658689540268 + ], + [ + 183.1949323211162, + 648.7609929692774 + ], + [ + 198.40824422068567, + 543.4027489291049 + ], + [ + 263.27872525562896, + 458.3422167151519 + ], + [ + 178.8148745171194, + 439.3674938630125 + ], + [ + 108.03413109887651, + 520.9682324615826 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 127.90665310405996, + "ymax": 54.02356834174071 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 127.90665310405996, + 8.49431931109632 + ], + [ + 119.93533150391704, + 7.508683003141186 + ], + [ + 42.246604856072395, + 52.85562723545087 + ], + [ + 50.76212151976699, + 54.02356834174071 + ], + [ + 64.4584001039334, + -167.06586872657635 + ], + [ + 55.63841048380527, + -167.79470911668955 + ], + [ + -39.083868743484345, + -133.89956053927273 + ], + [ + -29.600474584548238, + -133.0166610956514 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 176.35669932735414, + "ymin": 0.0, + "xmax": 330.93522227556457, + "ymax": 194.22598846028956 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 330.93522227556457, + 124.42089318583459 + ], + [ + 320.69090769645425, + 122.94065211828638 + ], + [ + 245.77525460624992, + 192.39968238047692 + ], + [ + 256.9595343340628, + 194.22598846028956 + ], + [ + 282.6461716067475, + -78.85474529623178 + ], + [ + 270.93687205686945, + -80.01308138741331 + ], + [ + 176.35669932735414, + -24.72620710436081 + ], + [ + 189.30257170012288, + -23.246356287115077 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 131.85929608472196, + "ymin": 474.93923746151927, + "xmax": 275.835447806166, + "ymax": 582.280752309225 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 218.56562690387875, + 582.280752309225 + ], + [ + 275.835447806166, + 502.38761786383577 + ], + [ + 199.48334356994593, + 484.5031685468163 + ], + [ + 137.3698953194799, + 561.4763459952719 + ], + [ + 213.85407759165145, + 572.8543220232317 + ], + [ + 272.0664188486467, + 492.8341359922896 + ], + [ + 195.00585135638732, + 474.93923746151927 + ], + [ + 131.85929608472196, + 552.0041739776169 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 131.77234030030502, + "ymin": 474.88960713327896, + "xmax": 275.9375530233325, + "ymax": 582.4039037238194 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 218.61407573904012, + 582.4039037238194 + ], + [ + 275.9375530233325, + 502.42189810457444 + ], + [ + 199.4983258314432, + 484.51685740225633 + ], + [ + 137.32050522602304, + 561.5723073685407 + ], + [ + 213.87130073342274, + 572.9152950755866 + ], + [ + 272.14449730929573, + 492.8051755202025 + ], + [ + 194.99127755135737, + 474.88960713327896 + ], + [ + 131.77234030030502, + 552.0375598272512 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 400.8041043977688, + "ymin": 0.0, + "xmax": 480.2575906199711, + "ymax": 24.548402070827024 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 480.2575906199711, + -16.48236850792739 + ], + [ + 472.02979632832944, + -17.37453408302025 + ], + [ + 427.943894503056, + 23.50023321994132 + ], + [ + 436.775323260992, + 24.548402070827024 + ], + [ + 461.54105915961003, + -185.42889913359102 + ], + [ + 452.3893848672287, + -186.0807564460024 + ], + [ + 400.8041043977688, + -155.92659644312812 + ], + [ + 410.7076124178111, + -155.14548818815342 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00085/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00085/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c95811d99a25735744df4fd983792b39c1ea86d5 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00085/meta.json @@ -0,0 +1,1888 @@ +{ + "frame_id": 85, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 42.5, + "sim_timestamp": 14124.77688259189 + }, + "drone_pose": { + "x": -48.44095601722676, + "y": -67.51099062598357, + "z": 20.0, + "pitch": -41.9692356546441, + "yaw": 74.14029736022339, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.20318686962127686, + -0.7152015566825867, + 0.6687314510345459, + 44.75189971923828 + ], + [ + 0.9619336724281311, + 0.2732827663421631, + -2.9802322387695312e-08, + -28.147397994995117 + ], + [ + -0.18275274336338043, + 0.6432753801345825, + 0.7435040473937988, + -67.15095520019531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -48.242742786465634, + "y": -67.01592333098908, + "z": 20.0 + }, + "t1_image_uv": [ + 505.1957946241963, + -503.4549730811692 + ], + "t1_depth": 0.39434723225337304 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -42.66718292236328, + "y": -47.18776321411133, + "z": 0.9972709906101227 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 28.416082382868193, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 706, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -42.66718292236328, + "y": -47.18776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.47722166776657104, + "y": 0.5227343440055847, + "z": 0.8898334503173828 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 617.9625475197354, + "ymin": 323.86276591794285, + "xmax": 661.6681252177241, + "ymax": 395.76392542149455 + }, + "corners_3d": [ + [ + -42.144447326660156, + -47.66498565673828, + 0.10743749141693115 + ], + [ + -43.189918518066406, + -47.66498565673828, + 0.10743749141693115 + ], + [ + -43.189918518066406, + -46.710540771484375, + 0.10743749141693115 + ], + [ + -42.144447326660156, + -46.710540771484375, + 0.10743749141693115 + ], + [ + -42.144447326660156, + -47.66498565673828, + 1.8871043920516968 + ], + [ + -43.189918518066406, + -47.66498565673828, + 1.8871043920516968 + ], + [ + -43.189918518066406, + -46.710540771484375, + 1.8871043920516968 + ], + [ + -42.144447326660156, + -46.710540771484375, + 1.8871043920516968 + ] + ], + "corners_2d": [ + [ + 618.8739721971567, + 389.1258542534738 + ], + [ + 652.5167453641844, + 395.76392542149455 + ], + [ + 660.7863826612964, + 374.77574810615937 + ], + [ + 627.8635525378214, + 368.44284069900164 + ], + [ + 617.9625475197354, + 344.33494660991283 + ], + [ + 653.060936657874, + 350.91403172208607 + ], + [ + 661.6681252177241, + 330.126773930729 + ], + [ + 627.352602301518, + 323.86276591794285 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 85, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 97, + "semantic_pixel_counts": { + "1": 338158, + "2": 255552, + "3": 16257, + "4": 15540, + "5": 2595, + "6": 4081, + "9": 15894, + "10": 373, + "12": 3391, + "14": 33432, + "15": 2499, + "20": 2671, + "21": 16616, + "24": 19684, + "25": 194857 + }, + "instance_pixel_counts": { + "70": 216, + "143": 16970, + "620": 472, + "883": 1664, + "1132": 329, + "2214": 262, + "2470": 302, + "2703": 11148, + "3180": 94, + "4166": 282, + "4678": 332, + "5228": 563, + "6053": 37, + "6508": 1403, + "6565": 5705, + "7539": 5799, + "8018": 6504, + "8064": 77, + "8298": 289, + "8337": 165, + "8780": 98, + "8808": 8178, + "8810": 2604, + "9068": 263, + "9320": 88998, + "10346": 321, + "10624": 1142, + "10856": 9044, + "11116": 384, + "11136": 173, + "11368": 95146, + "11370": 2797, + "11596": 15540, + "17516": 82, + "20308": 6355, + "20820": 3491, + "20866": 670, + "21332": 748, + "22356": 4290, + "22868": 1781, + "22893": 8058, + "23380": 2643, + "24916": 2499, + "25698": 199, + "25928": 2497, + "25965": 4823, + "26987": 2671, + "27460": 627, + "27476": 3241, + "27559": 212, + "27719": 111527, + "27746": 144, + "28002": 34, + "28258": 87, + "29095": 41, + "30351": 1732, + "30630": 3249, + "30863": 22305, + "31142": 3409, + "31654": 4035, + "31887": 4, + "32399": 7222, + "32911": 51101, + "34372": 111, + "34884": 531, + "36753": 203, + "37286": 105, + "37798": 113, + "39239": 194857, + "41796": 140, + "41879": 669, + "42391": 7818, + "44439": 1301, + "44951": 10874, + "46672": 135, + "47184": 162, + "48708": 251, + "50756": 30, + "52327": 80955, + "54375": 55837, + "54950": 396, + "55401": 2429, + "56173": 15894, + "56320": 706, + "56576": 610, + "56832": 505, + "56937": 1379, + "57088": 649, + "57344": 89, + "57600": 832, + "58368": 6145, + "58624": 2588, + "58880": 2150, + "59522": 3114, + "60833": 348, + "64837": 196, + "64850": 2027 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 706, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -42.66718292236328, + "y": -47.18776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.47499510645866394, + "y": 0.5707861185073853, + "z": 0.8677979707717896 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 616.397557078459, + "ymin": 324.19861372993654, + "xmax": 663.226040582396, + "ymax": 395.4887156990926 + }, + "corners_3d": [ + [ + -42.096397399902344, + -47.662757873535156, + 0.12947297096252441 + ], + [ + -43.23796844482422, + -47.662757873535156, + 0.12947297096252441 + ], + [ + -43.23796844482422, + -46.7127685546875, + 0.12947297096252441 + ], + [ + -42.096397399902344, + -46.7127685546875, + 0.12947297096252441 + ], + [ + -42.096397399902344, + -47.662757873535156, + 1.8650689125061035 + ], + [ + -43.23796844482422, + -47.662757873535156, + 1.8650689125061035 + ], + [ + -43.23796844482422, + -46.7127685546875, + 1.8650689125061035 + ], + [ + -42.096397399902344, + -46.7127685546875, + 1.8650689125061035 + ] + ], + "corners_2d": [ + [ + 617.3496454451517, + 388.24183942887095 + ], + [ + 654.1019607739843, + 395.4887156990926 + ], + [ + 662.3034836416607, + 374.58626123945794 + ], + [ + 626.334420016575, + 367.6711828137305 + ], + [ + 616.397557078459, + 344.5642345601 + ], + [ + 654.6997463288999, + 351.74828973832365 + ], + [ + 663.226040582396, + 331.04036271102643 + ], + [ + 625.7737940168554, + 324.19861372993654 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 610, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -38.54119110107422, + "y": -44.19005584716797, + "z": 1.148882269859314 + }, + "extent": { + "x": 0.45335695147514343, + "y": 0.49534186720848083, + "z": 0.9160677790641785 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 523.8613516601288, + "ymin": 242.46428303563522, + "xmax": 561.791208517299, + "ymax": 305.5550096347308 + }, + "corners_3d": [ + [ + -38.15093231201172, + -44.73649215698242, + 0.2328144907951355 + ], + [ + -39.11996841430664, + -44.530517578125, + 0.2328144907951355 + ], + [ + -38.93144989013672, + -43.643619537353516, + 0.2328144907951355 + ], + [ + -37.9624137878418, + -43.84959411621094, + 0.2328144907951355 + ], + [ + -38.15093231201172, + -44.73649215698242, + 2.0649499893188477 + ], + [ + -39.11996841430664, + -44.530517578125, + 2.0649499893188477 + ], + [ + -38.93144989013672, + -43.643619537353516, + 2.0649499893188477 + ], + [ + -37.9624137878418, + -43.84959411621094, + 2.0649499893188477 + ] + ], + "corners_2d": [ + [ + 528.3645931968567, + 304.28555528703663 + ], + [ + 558.2666440496193, + 305.5550096347308 + ], + [ + 561.791208517299, + 288.6669429342638 + ], + [ + 532.506988024708, + 287.4498952042693 + ], + [ + 523.8613516601288, + 258.982856020268 + ], + [ + 554.964225205574, + 260.22952740499346 + ], + [ + 558.6997715543425, + 243.65747788918014 + ], + [ + 528.264790395863, + 242.46428303563522 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 505, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -44.22328186035156, + "y": -39.882484436035156, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4589819312095642, + "y": 0.49464720487594604, + "z": 0.9340131878852844 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 723.4493219170091, + "ymin": 201.39588882010977, + "xmax": 758.1817038103887, + "ymax": 263.81597352546294 + }, + "corners_3d": [ + [ + -43.779319763183594, + -40.390655517578125, + 0.06325775384902954 + ], + [ + -44.7631950378418, + -40.28724670410156, + 0.06325775384902954 + ], + [ + -44.66724395751953, + -39.37431335449219, + 0.06325775384902954 + ], + [ + -43.68336868286133, + -39.47772216796875, + 0.06325775384902954 + ], + [ + -43.779319763183594, + -40.390655517578125, + 1.9312841892242432 + ], + [ + -44.7631950378418, + -40.28724670410156, + 1.9312841892242432 + ], + [ + -44.66724395751953, + -39.37431335449219, + 1.9312841892242432 + ], + [ + -43.68336868286133, + -39.47772216796875, + 1.9312841892242432 + ] + ], + "corners_2d": [ + [ + 723.4493219170091, + 260.9462884847864 + ], + [ + 751.6521290667492, + 263.81597352546294 + ], + [ + 753.8677707363759, + 248.74009917019026 + ], + [ + 726.2089554545046, + 245.98187467254638 + ], + [ + 726.6641176809692, + 216.01222117964025 + ], + [ + 755.9701799636758, + 218.81767521052123 + ], + [ + 758.1817038103887, + 204.08829905488892 + ], + [ + 729.4625931978236, + 201.39588882010977 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 649, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -52.16718292236328, + "y": -47.18776321411133, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.3105712831020355, + "y": 0.38570311665534973, + "z": 0.8902765512466431 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 949.4275369170332, + "ymin": 389.46801526253796, + "xmax": 993.7844706966732, + "ymax": 455.6513970907994 + }, + "corners_3d": [ + [ + -51.78147888183594, + -47.49833297729492, + 0.10699933767318726 + ], + [ + -52.552886962890625, + -47.49833297729492, + 0.10699933767318726 + ], + [ + -52.552886962890625, + -46.877193450927734, + 0.10699933767318726 + ], + [ + -51.78147888183594, + -46.877193450927734, + 0.10699933767318726 + ], + [ + -51.78147888183594, + -47.49833297729492, + 1.8875524997711182 + ], + [ + -52.552886962890625, + -47.49833297729492, + 1.8875524997711182 + ], + [ + -52.552886962890625, + -46.877193450927734, + 1.8875524997711182 + ], + [ + -51.78147888183594, + -46.877193450927734, + 1.8875524997711182 + ] + ], + "corners_2d": [ + [ + 949.4275369170332, + 450.0706720401455 + ], + [ + 977.8383785882625, + 455.6513970907994 + ], + [ + 978.3113104458617, + 440.00126683481517 + ], + [ + 950.3586991676691, + 434.60066904793723 + ], + [ + 963.7376851143665, + 404.8747320216606 + ], + [ + 993.5581461471113, + 410.43830295583723 + ], + [ + 993.7844706966732, + 394.8438942805019 + ], + [ + 964.4684576794477, + 389.46801526253796 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 89, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -46.28268051147461, + "y": -58.31512451171875, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.47715821862220764, + "y": 0.4762280583381653, + "z": 0.9309388995170593 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 630.7218033986413, + "ymin": 689.3856418499367, + "xmax": 692.5617360412983, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -45.759185791015625, + -58.739891052246094, + 0.066336989402771 + ], + [ + -46.706424713134766, + -58.839447021484375, + 0.066336989402771 + ], + [ + -46.806175231933594, + -57.890357971191406, + 0.066336989402771 + ], + [ + -45.85893630981445, + -57.790802001953125, + 0.066336989402771 + ], + [ + -45.759185791015625, + -58.739891052246094, + 1.9282147884368896 + ], + [ + -46.706424713134766, + -58.839447021484375, + 1.9282147884368896 + ], + [ + -46.806175231933594, + -57.890357971191406, + 1.9282147884368896 + ], + [ + -45.85893630981445, + -57.790802001953125, + 1.9282147884368896 + ] + ], + "corners_2d": [ + [ + 631.2951651172756, + 773.9753244867945 + ], + [ + 673.8567374220496, + 790.9139985422532 + ], + [ + 689.3760269069801, + 749.4222378475811 + ], + [ + 647.9648372647061, + 733.5454564414661 + ], + [ + 630.7218033986413, + 730.940128790372 + ], + [ + 676.1183260839459, + 748.4015222224916 + ], + [ + 692.5617360412983, + 705.683427168944 + ], + [ + 648.4717967937327, + 689.3856418499367 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 832, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -31.421844482421875, + "y": -55.35797882080078, + "z": 1.141494631767273 + }, + "extent": { + "x": 0.39912596344947815, + "y": 0.5248730182647705, + "z": 0.9447479844093323 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 93.10196701560778, + "ymin": 437.7766606881605, + "xmax": 172.69992008826148, + "ymax": 521.4518159451643 + }, + "corners_3d": [ + [ + -30.825458526611328, + -55.63925552368164, + 0.19674664735794067 + ], + [ + -31.852264404296875, + -55.85750961303711, + 0.19674664735794067 + ], + [ + -32.01823043823242, + -55.07670211791992, + 0.19674664735794067 + ], + [ + -30.991424560546875, + -54.85844802856445, + 0.19674664735794067 + ], + [ + -30.825458526611328, + -55.63925552368164, + 2.08624267578125 + ], + [ + -31.852264404296875, + -55.85750961303711, + 2.08624267578125 + ], + [ + -32.01823043823242, + -55.07670211791992, + 2.08624267578125 + ], + [ + -30.991424560546875, + -54.85844802856445, + 2.08624267578125 + ] + ], + "corners_2d": [ + [ + 120.40185385908865, + 506.6841624454895 + ], + [ + 148.51759824700002, + 521.4518159451643 + ], + [ + 172.69992008826148, + 500.3399586702716 + ], + [ + 144.81378950666942, + 486.1702255592623 + ], + [ + 93.10196701560778, + 458.31255181799264 + ], + [ + 122.29727068533532, + 473.1231598324985 + ], + [ + 148.31004223540378, + 451.9568791999334 + ], + [ + 119.35204225896541, + 437.7766606881605 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 6145, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 787.1000161173381, + "ymin": 221.74607720258433, + "xmax": 877.625834350127, + "ymax": 355.091116905683 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 870.5559181133842, + 266.95122147946796 + ], + [ + 808.5385255034664, + 257.1593772875275 + ], + [ + 787.1000161173381, + 342.9482742677248 + ], + [ + 855.9049480267587, + 355.091116905683 + ], + [ + 877.625834350127, + 231.36830832000615 + ], + [ + 813.6390249021204, + 221.74607720258433 + ], + [ + 792.0707895583605, + 306.3047336758987 + ], + [ + 863.309021693251, + 318.320262294663 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 229, + "instance_id": 58624, + "pixel_count": 2588, + "type_id": "vehicle.dodge.charger_police_2020", + "bbox_3d": { + "center_world": { + "x": -54.599266052246094, + "y": -22.700984954833984, + "z": 0.8727232813835144 + }, + "extent": { + "x": 2.6187572479248047, + "y": 0.9648797512054443, + "z": 0.819191575050354 + }, + "yaw": 89.66251373291016 + }, + "bbox_2d": { + "xmin": 1012.7657370780794, + "ymin": 20.599164948339535, + "xmax": 1071.0893508526422, + "ymax": 108.76162054377266 + }, + "corners_3d": [ + [ + -53.64982986450195, + -25.325380325317383, + 0.05353168025612831 + ], + [ + -55.57955551147461, + -25.314014434814453, + 0.05353168025612831 + ], + [ + -55.5487060546875, + -20.076589584350586, + 0.05353168025612831 + ], + [ + -53.61897659301758, + -20.08795738220215, + 0.05353168025612831 + ], + [ + -53.64982986450195, + -25.325380325317383, + 1.6919147968292236 + ], + [ + -55.57955551147461, + -25.314014434814453, + 1.6919147968292236 + ], + [ + -55.5487060546875, + -20.076589584350586, + 1.6919147968292236 + ], + [ + -53.61897659301758, + -20.08795738220215, + 1.6919147968292236 + ] + ], + "corners_2d": [ + [ + 1014.016428785949, + 103.22425826441531 + ], + [ + 1059.8617828981437, + 108.76162054377266 + ], + [ + 1054.8465172854253, + 58.62853670557507 + ], + [ + 1012.7657370780794, + 53.957475531051216 + ], + [ + 1023.9251823657482, + 68.14468627022603 + ], + [ + 1071.0893508526422, + 73.50137881897666 + ], + [ + 1065.0092985233332, + 25.09826891930453 + ], + [ + 1021.8199046790446, + 20.599164948339535 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 2150, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 856.168424676237, + "ymin": 12.112309947814992, + "xmax": 909.2147130351394, + "ymax": 87.26846567784685 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 903.6851217033892, + 45.13963308418977 + ], + [ + 866.249959343956, + 40.95916080992964 + ], + [ + 856.168424676237, + 82.42411372724297 + ], + [ + 896.3949427051045, + 87.26846567784685 + ], + [ + 909.2147130351394, + 16.154292842224663 + ], + [ + 870.9576116852932, + 12.112309947814992 + ], + [ + 861.0165690022066, + 52.26084562357295 + ], + [ + 902.1938943667947, + 56.959717148062566 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 94.32049042387382, + "ymin": 475.20235809570215, + "xmax": 309.5715679052591, + "ymax": 712.9981910166057 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 255.03760173391896, + 712.9981910166057 + ], + [ + 309.5715679052591, + 624.7574043962352 + ], + [ + 233.3295471406318, + 604.3472709300046 + ], + [ + 174.0108347962394, + 689.304056511269 + ], + [ + 187.66725822926497, + 587.9848108750056 + ], + [ + 256.61195943349543, + 496.1230194538268 + ], + [ + 169.51437524362552, + 475.20235809570215 + ], + [ + 94.32049042387382, + 563.0901012749284 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 128.88152985666528, + "ymax": 63.024822473007134 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 128.88152985666528, + 16.332778190392332 + ], + [ + 120.84568685144609, + 15.297280839165921 + ], + [ + 41.43225435663544, + 61.79518807239327 + ], + [ + 50.01724867153757, + 63.024822473007134 + ], + [ + 64.69225684222397, + -160.8698289830287 + ], + [ + 55.793385857031694, + -161.63782944352272 + ], + [ + -41.22207451658278, + -126.76857573416964 + ], + [ + -31.653364404868512, + -125.83570573396793 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 174.35610113013166, + "ymin": 0.0, + "xmax": 332.8836253072292, + "ymax": 209.07333987992573 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 332.8836253072292, + 136.73873752091018 + ], + [ + 322.4904874334504, + 135.16870366111937 + ], + [ + 245.38016643964346, + 207.12900915436472 + ], + [ + 256.7366179880944, + 209.07333987992573 + ], + [ + 283.95637439955726, + -68.86921841901358 + ], + [ + 272.0512456700965, + -70.10432290056963 + ], + [ + 174.35610113013166, + -12.485757229693093 + ], + [ + 187.53367108907486, + -10.899776426033554 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 119.59379001791126, + "ymin": 510.9509528379485, + "xmax": 269.9003698709769, + "ymax": 626.1135953355817 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 209.1982247766946, + 626.1135953355817 + ], + [ + 269.9003698709769, + 540.1492738048439 + ], + [ + 191.26084404687435, + 520.4908673239124 + ], + [ + 125.4485675311912, + 603.118861393385 + ], + [ + 204.193341079812, + 616.8052660265059 + ], + [ + 265.93142851607354, + 530.6350578103396 + ], + [ + 186.54017641942255, + 510.9509528379485 + ], + [ + 119.59379001791126, + 593.7405351974114 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 119.50297442787758, + "ymin": 510.89744975721635, + "xmax": 270.0069434197048, + "ymax": 626.2410665054981 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 209.24814738930593, + 626.2410665054981 + ], + [ + 270.0069434197048, + 540.1814322939749 + ], + [ + 191.2778891997168, + 520.5005415504027 + ], + [ + 125.39767265516844, + 603.2163331665672 + ], + [ + 204.21008599098553, + 616.8714366178513 + ], + [ + 266.0127343118428, + 530.6042344926295 + ], + [ + 186.52608914302152, + 510.89744975721635 + ], + [ + 119.50297442787758, + 593.7761113712263 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 405.39301668271685, + "ymin": 0.0, + "xmax": 485.7238375245048, + "ymax": 33.71673012901465 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 485.7238375245048, + -8.448676679662015 + ], + [ + 477.3933283104134, + -9.387879972687927 + ], + [ + 432.388759365013, + 32.610885202734096 + ], + [ + 441.3360348428911, + 33.71673012901465 + ], + [ + 467.38246507249676, + -179.1447440498448 + ], + [ + 458.1026003718963, + -179.83307557491798 + ], + [ + 405.39301668271685, + -148.74609340397274 + ], + [ + 415.4434740572699, + -147.9189996833751 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00087/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00087/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1991f0b8b72b299683f161d8bf23779d9fdaa9de --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00087/meta.json @@ -0,0 +1,2204 @@ +{ + "frame_id": 87, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 43.5, + "sim_timestamp": 14147.844509004848 + }, + "drone_pose": { + "x": -48.03118039795417, + "y": -66.52053654809299, + "z": 20.0, + "pitch": -41.92342262976365, + "yaw": 73.91237202758006, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2061784267425537, + -0.7149012088775635, + 0.6681368350982666, + 44.09587097167969 + ], + [ + 0.960839033126831, + 0.27710723876953125, + 0.0, + -27.71690559387207 + ], + [ + -0.1851455569267273, + 0.6419719457626343, + 0.744038462638855, + -66.47784423828125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.81433221711359, + "y": -66.02684510806468, + "z": 20.0 + }, + "t1_image_uv": [ + 467.2633826485014, + -502.0673905628191 + ], + "t1_depth": 0.3976500110167523 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -42.16718292236328, + "y": -46.18776321411133, + "z": 0.9972709906101227 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 28.44137562863512, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 733, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -42.16718292236328, + "y": -46.18776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.5140820145606995, + "y": 0.32781982421875, + "z": 0.8830834627151489 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 624.0610470816547, + "ymin": 324.4403503294981, + "xmax": 655.5993189065935, + "ymax": 395.17437741698666 + }, + "corners_3d": [ + [ + -41.83936309814453, + -46.701847076416016, + 0.11418747901916504 + ], + [ + -42.49500274658203, + -46.70184326171875, + 0.11418747901916504 + ], + [ + -42.49500274658203, + -45.67367935180664, + 0.11418747901916504 + ], + [ + -41.83936309814453, + -45.673683166503906, + 0.11418747901916504 + ], + [ + -41.83936309814453, + -46.701847076416016, + 1.880354404449463 + ], + [ + -42.49500274658203, + -46.70184326171875, + 1.880354404449463 + ], + [ + -42.49500274658203, + -45.67367935180664, + 1.880354404449463 + ], + [ + -41.83936309814453, + -45.673683166503906, + 1.880354404449463 + ] + ], + "corners_2d": [ + [ + 624.7156819294612, + 390.95302788269936 + ], + [ + 645.7918606931138, + 395.17437741698666 + ], + [ + 654.9717360604162, + 372.6897258374356 + ], + [ + 634.3791858886924, + 368.67682410925073 + ], + [ + 624.0610470816547, + 346.4904842089431 + ], + [ + 646.0411520326859, + 350.6743047800277 + ], + [ + 655.5993189065935, + 328.4090508369521 + ], + [ + 634.144699448624, + 324.4403503294981 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 87, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 101, + "semantic_pixel_counts": { + "1": 337693, + "2": 244930, + "3": 11650, + "4": 12787, + "5": 2705, + "6": 4651, + "9": 13620, + "10": 402, + "12": 2675, + "14": 35959, + "15": 2409, + "20": 2505, + "21": 17846, + "24": 20753, + "25": 211015 + }, + "instance_pixel_counts": { + "70": 230, + "143": 15790, + "620": 506, + "883": 631, + "1132": 352, + "2214": 272, + "2470": 316, + "2703": 5684, + "3180": 101, + "4166": 297, + "4678": 346, + "5228": 602, + "6053": 38, + "6508": 1517, + "6565": 6080, + "7539": 4279, + "8018": 5476, + "8064": 85, + "8298": 346, + "8337": 177, + "8780": 122, + "8808": 10049, + "8810": 2962, + "9320": 96361, + "9834": 37, + "10344": 65, + "10346": 387, + "10624": 1234, + "10856": 10651, + "11116": 405, + "11136": 186, + "11368": 103323, + "11370": 3023, + "11596": 12787, + "17516": 88, + "20308": 6659, + "20820": 3690, + "20866": 900, + "21332": 1571, + "22356": 4454, + "22868": 1885, + "22893": 7290, + "23380": 2766, + "24916": 2409, + "25698": 210, + "25928": 2583, + "25965": 3679, + "26987": 2500, + "27234": 94, + "27243": 5, + "27460": 674, + "27476": 3346, + "27559": 206, + "27719": 107338, + "27746": 164, + "28002": 40, + "28258": 86, + "29095": 24, + "30351": 2178, + "30630": 3575, + "30863": 23943, + "31142": 3609, + "31654": 4278, + "31887": 532, + "32399": 7851, + "32911": 48558, + "34372": 115, + "34884": 560, + "36753": 212, + "37286": 151, + "37798": 153, + "39239": 211015, + "41796": 150, + "41879": 820, + "42391": 7873, + "43927": 58, + "44439": 1451, + "44951": 11885, + "46672": 175, + "47184": 195, + "48708": 261, + "50756": 38, + "52327": 71478, + "54375": 45766, + "54950": 428, + "55401": 2371, + "56173": 13620, + "56320": 733, + "56576": 585, + "56832": 511, + "56937": 1025, + "57088": 624, + "57344": 83, + "57600": 139, + "58368": 6593, + "58624": 2736, + "58880": 2259, + "59522": 3381, + "60833": 386, + "64837": 202, + "64850": 1264 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 733, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -42.16718292236328, + "y": -46.18776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.47801756858825684, + "y": 0.45064207911491394, + "z": 0.8697936534881592 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 620.3401052647489, + "ymin": 324.8004084172752, + "xmax": 659.311835680945, + "ymax": 394.83884356293635 + }, + "corners_3d": [ + [ + -41.7165412902832, + -46.66577911376953, + 0.12747728824615479 + ], + [ + -42.61782455444336, + -46.66577911376953, + 0.12747728824615479 + ], + [ + -42.61782455444336, + -45.709747314453125, + 0.12747728824615479 + ], + [ + -41.7165412902832, + -45.709747314453125, + 0.12747728824615479 + ], + [ + -41.7165412902832, + -46.66577911376953, + 1.8670645952224731 + ], + [ + -42.61782455444336, + -46.66577911376953, + 1.8670645952224731 + ], + [ + -42.61782455444336, + -45.709747314453125, + 1.8670645952224731 + ], + [ + -41.7165412902832, + -45.709747314453125, + 1.8670645952224731 + ] + ], + "corners_2d": [ + [ + 621.1342454193046, + 389.0464790151406 + ], + [ + 650.0920818454263, + 394.83884356293635 + ], + [ + 658.5450171760546, + 373.89661853406346 + ], + [ + 630.2057397806406, + 368.37075926000267 + ], + [ + 620.3401052647489, + 345.26795591146157 + ], + [ + 650.5197790642959, + 351.0091715853375 + ], + [ + 659.311835680945, + 330.26671895951324 + ], + [ + 629.8034163091442, + 324.8004084172752 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 585, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -38.04119110107422, + "y": -43.19005584716797, + "z": 1.1483696699142456 + }, + "extent": { + "x": 0.4490344524383545, + "y": 0.44260990619659424, + "z": 0.8905357122421265 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 526.1979044439929, + "ymin": 243.1886501901579, + "xmax": 560.7844106496647, + "ymax": 304.7260029658495 + }, + "corners_3d": [ + [ + -37.70161437988281, + -43.7213020324707, + 0.25783395767211914 + ], + [ + -38.56748962402344, + -43.537254333496094, + 0.25783395767211914 + ], + [ + -38.380767822265625, + -42.658809661865234, + 0.25783395767211914 + ], + [ + -37.514892578125, + -42.842857360839844, + 0.25783395767211914 + ], + [ + -37.70161437988281, + -43.7213020324707, + 2.038905382156372 + ], + [ + -38.56748962402344, + -43.537254333496094, + 2.038905382156372 + ], + [ + -38.380767822265625, + -42.658809661865234, + 2.038905382156372 + ], + [ + -37.514892578125, + -42.842857360839844, + 2.038905382156372 + ] + ], + "corners_2d": [ + [ + 530.4808577533579, + 303.52806664659954 + ], + [ + 557.1657398151015, + 304.7260029658495 + ], + [ + 560.7844106496647, + 288.0465796611252 + ], + [ + 534.6451401029624, + 286.8976276793684 + ], + [ + 526.1979044439929, + 259.5120905063602 + ], + [ + 553.9213436087255, + 260.68893055619503 + ], + [ + 557.7483500815038, + 244.31554556582995 + ], + [ + 530.6133478080648, + 243.1886501901579 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 511, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -44.42300796508789, + "y": -39.24504852294922, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.4849194288253784, + "y": 0.2966857850551605, + "z": 0.9321833848953247 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 747.2539097528897, + "ymin": 210.71562449707525, + "xmax": 771.4501851437864, + "ymax": 273.3997326185384 + }, + "corners_3d": [ + [ + -44.17863464355469, + -39.758323669433594, + 0.06509250402450562 + ], + [ + -44.76875686645508, + -39.6963005065918, + 0.06509250402450562 + ], + [ + -44.667381286621094, + -38.731773376464844, + 0.06509250402450562 + ], + [ + -44.0772590637207, + -38.79379653930664, + 0.06509250402450562 + ], + [ + -44.17863464355469, + -39.758323669433594, + 1.9294593334197998 + ], + [ + -44.76875686645508, + -39.6963005065918, + 1.9294593334197998 + ], + [ + -44.667381286621094, + -38.731773376464844, + 1.9294593334197998 + ], + [ + -44.0772590637207, + -38.79379653930664, + 1.9294593334197998 + ] + ], + "corners_2d": [ + [ + 747.2539097528897, + 271.5959943307474 + ], + [ + 764.4124903272901, + 273.3997326185384 + ], + [ + 766.617068597277, + 257.13818100933884 + ], + [ + 749.812463601949, + 255.40921402274313 + ], + [ + 751.4289109932758, + 226.5402464820518 + ], + [ + 769.2671436505668, + 228.30522477665335 + ], + [ + 771.4501851437864, + 212.40467940105484 + ], + [ + 753.9942200419848, + 210.71562449707525 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 624, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -51.66718292236328, + "y": -46.18776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.32960692048072815, + "y": 0.3443676829338074, + "z": 0.8851438164710999 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 950.5795196302147, + "ymin": 390.2294215836556, + "xmax": 991.865608669532, + "ymax": 456.5765057424643 + }, + "corners_3d": [ + [ + -51.32281494140625, + -46.517372131347656, + 0.11212712526321411 + ], + [ + -52.01155090332031, + -46.51736831665039, + 0.11212712526321411 + ], + [ + -52.01155090332031, + -45.858154296875, + 0.11212712526321411 + ], + [ + -51.32281494140625, + -45.858158111572266, + 0.11212712526321411 + ], + [ + -51.32281494140625, + -46.517372131347656, + 1.8824148178100586 + ], + [ + -52.01155090332031, + -46.51736831665039, + 1.8824148178100586 + ], + [ + -52.01155090332031, + -45.858154296875, + 1.8824148178100586 + ], + [ + -51.32281494140625, + -45.858158111572266, + 1.8824148178100586 + ] + ], + "corners_2d": [ + [ + 950.5795196302147, + 451.5177905969034 + ], + [ + 975.960990401556, + 456.5765057424643 + ], + [ + 976.5864500298851, + 439.9904485051859 + ], + [ + 951.6385977468123, + 435.1048205669391 + ], + [ + 964.8585544364591, + 406.5749366003512 + ], + [ + 991.4926779526028, + 411.61807776639023 + ], + [ + 991.865608669532, + 395.0922676459417 + ], + [ + 965.7085834982181, + 390.2294215836556 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 83, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -45.78268051147461, + "y": -57.31512451171875, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.48099616169929504, + "y": 0.3024023771286011, + "z": 0.9322753548622131 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 636.40661201321, + "ymin": 691.4999393561786, + "xmax": 682.2127840774597, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -45.43165588378906, + -57.76187515258789, + 0.06499069929122925 + ], + [ + -46.03314971923828, + -57.825096130371094, + 0.06499069929122925 + ], + [ + -46.133705139160156, + -56.86837387084961, + 0.06499069929122925 + ], + [ + -45.53221130371094, + -56.805152893066406, + 0.06499069929122925 + ], + [ + -45.43165588378906, + -57.76187515258789, + 1.9295413494110107 + ], + [ + -46.03314971923828, + -57.825096130371094, + 1.9295413494110107 + ], + [ + -46.133705139160156, + -56.86837387084961, + 1.9295413494110107 + ], + [ + -45.53221130371094, + -56.805152893066406, + 1.9295413494110107 + ] + ], + "corners_2d": [ + [ + 636.62913944921, + 776.5251697556541 + ], + [ + 663.5712970035569, + 787.3712092697745 + ], + [ + 679.6613335419676, + 745.8788514533569 + ], + [ + 653.4480570304829, + 735.7168519440665 + ], + [ + 636.40661201321, + 733.4482032070632 + ], + [ + 665.1414357135576, + 744.6269684225483 + ], + [ + 682.2127840774597, + 701.9293033898653 + ], + [ + 654.3056890981504, + 691.4999393561786 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 139, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -30.921844482421875, + "y": -54.35797882080078, + "z": 1.1409868001937866 + }, + "extent": { + "x": 0.3872619569301605, + "y": 0.49641600251197815, + "z": 0.9319007396697998 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 95.15487419828048, + "ymin": 437.11249753334437, + "xmax": 171.81932329263998, + "ymax": 518.6302945153095 + }, + "corners_3d": [ + [ + -30.35576057434082, + -54.633567810058594, + 0.20908606052398682 + ], + [ + -31.32689666748047, + -54.839988708496094, + 0.20908606052398682 + ], + [ + -31.48792839050293, + -54.08238983154297, + 0.20908606052398682 + ], + [ + -30.51679229736328, + -53.87596893310547, + 0.20908606052398682 + ], + [ + -30.35576057434082, + -54.633567810058594, + 2.072887420654297 + ], + [ + -31.32689666748047, + -54.839988708496094, + 2.072887420654297 + ], + [ + -31.48792839050293, + -54.08238983154297, + 2.072887420654297 + ], + [ + -30.51679229736328, + -53.87596893310547, + 2.072887420654297 + ] + ], + "corners_2d": [ + [ + 121.90325280140576, + 504.6349563231994 + ], + [ + 148.31175171116234, + 518.6302945153095 + ], + [ + 171.81932329263998, + 498.30078535672806 + ], + [ + 145.6137476808072, + 484.85372070077403 + ], + [ + 95.15487419828048, + 456.90870356972687 + ], + [ + 122.55540296222932, + 470.93891208526816 + ], + [ + 147.80790507260838, + 450.5653688217096 + ], + [ + 120.61639690363847, + 437.11249753334437 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 6593, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 797.9282741055515, + "ymin": 240.84009358671406, + "xmax": 890.6151918580873, + "ymax": 379.7421142038418 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 882.9795835105845, + 286.9920406009761 + ], + [ + 819.3055493457131, + 276.5636186399844 + ], + [ + 797.9282741055515, + 366.7382091425602 + ], + [ + 868.7667881533355, + 379.7421142038418 + ], + [ + 890.6151918580873, + 251.1027371089795 + ], + [ + 824.8634302763594, + 240.84009358671406 + ], + [ + 803.4101366286976, + 329.8639329874617 + ], + [ + 876.830575789097, + 342.7548392759454 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 229, + "instance_id": 58624, + "pixel_count": 2736, + "type_id": "vehicle.dodge.charger_police_2020", + "bbox_3d": { + "center_world": { + "x": -54.599266052246094, + "y": -22.700984954833984, + "z": 0.8727232813835144 + }, + "extent": { + "x": 2.6187572479248047, + "y": 0.9648797512054443, + "z": 0.819191575050354 + }, + "yaw": 89.66251373291016 + }, + "bbox_2d": { + "xmin": 1025.8607045902572, + "ymin": 31.465133170406318, + "xmax": 1086.610841433794, + "ymax": 122.15081284697371 + }, + "corners_3d": [ + [ + -53.64982986450195, + -25.325380325317383, + 0.05353168025612831 + ], + [ + -55.57955551147461, + -25.314014434814453, + 0.05353168025612831 + ], + [ + -55.5487060546875, + -20.076589584350586, + 0.05353168025612831 + ], + [ + -53.61897659301758, + -20.08795738220215, + 0.05353168025612831 + ], + [ + -53.64982986450195, + -25.325380325317383, + 1.6919147968292236 + ], + [ + -55.57955551147461, + -25.314014434814453, + 1.6919147968292236 + ], + [ + -55.5487060546875, + -20.076589584350586, + 1.6919147968292236 + ], + [ + -53.61897659301758, + -20.08795738220215, + 1.6919147968292236 + ] + ], + "corners_2d": [ + [ + 1027.8404359547776, + 116.3053030963151 + ], + [ + 1074.7530261822296, + 122.15081284697371 + ], + [ + 1068.8444639613435, + 70.10097586392698 + ], + [ + 1025.8607045902572, + 65.18583655159063 + ], + [ + 1038.3169817300443, + 80.84455183236179 + ], + [ + 1086.610841433794, + 86.50514165681727 + ], + [ + 1079.5414812962977, + 36.20340328294117 + ], + [ + 1035.4008177782543, + 31.465133170406318 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 2259, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 866.5333102606055, + "ymin": 22.322364408583326, + "xmax": 920.444612574974, + "ymax": 99.50992059131806 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 914.5873409891392, + 55.86279796488424 + ], + [ + 876.4209113440481, + 51.471736102305044 + ], + [ + 866.5333102606055, + 94.40810808368934 + ], + [ + 907.6008585278905, + 99.50992059131806 + ], + [ + 920.444612574974, + 26.570926988321105 + ], + [ + 881.4235173049974, + 22.322364408583326 + ], + [ + 871.7069973359394, + 63.92667184202821 + ], + [ + 913.7659464266567, + 68.87929955663446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1358148318300121759, + "instance_id": 40874, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 177.47365882690048, + "ymin": 0.0, + "xmax": 281.6914909247511, + "ymax": 10.398246323668786 + }, + "corners_3d": [ + [ + -26.246047973632812, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246047973632812, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.197628021240234 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 281.6914909247511, + -48.69893269084196 + ], + [ + 274.3816177613715, + -49.504194552355955 + ], + [ + 178.4109028079389, + 9.369606138326674 + ], + [ + 186.48060416991552, + 10.398246323668786 + ], + [ + 281.0467083535268, + -51.35818263980843 + ], + [ + 273.7248516529645, + -52.160159227364545 + ], + [ + 177.47365882690048, + 6.486967951580084 + ], + [ + 185.5578896280236, + 7.511891399301817 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 79.47284530001411, + "ymin": 514.8773797003744, + "xmax": 305.32937706247264, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 247.96301347908104, + 759.9317720489953 + ], + [ + 305.32937706247264, + 665.190616520148 + ], + [ + 226.73260791424713, + 643.025997886939 + ], + [ + 164.29356873660015, + 734.0629981973955 + ], + [ + 176.3308047209228, + 637.6703836202213 + ], + [ + 249.53506412823032, + 537.8431581624785 + ], + [ + 159.35666360907385, + 514.8773797003744 + ], + [ + 79.47284530001411, + 610.1420860833778 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 127.66182011647936, + "ymax": 72.91891856620566 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 127.66182011647936, + 24.860371014785017 + ], + [ + 119.53837646934801, + 23.779849586941737 + ], + [ + 38.31340374440549, + 71.63258633505785 + ], + [ + 46.99568230972227, + 72.91891856620566 + ], + [ + 62.33542383411475, + -154.18380587575848 + ], + [ + 53.329583177112454, + -154.98792745539322 + ], + [ + -46.171561893070134, + -118.96836136978618 + ], + [ + -36.48315139109491, + -117.98846872063245 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 170.55890119912607, + "ymin": 0.0, + "xmax": 333.4477983953814, + "ymax": 225.06492839341192 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 333.4477983953814, + 149.87108803790923 + ], + [ + 322.8800641058449, + 148.21789688371118 + ], + [ + 243.6099999256951, + 223.0089917019973 + ], + [ + 255.17183626620925, + 225.06492839341192 + ], + [ + 283.5786155561823, + -58.223987861028945 + ], + [ + 271.44378394580946, + -59.53204411766916 + ], + [ + 170.55890119912607, + 0.7450553450030952 + ], + [ + 184.01320250454074, + 2.4343967131855493 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 106.39274252523228, + "ymin": 550.7277194099784, + "xmax": 263.64817168845656, + "ymax": 674.7557090578164 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 199.39691713015412, + 674.7557090578164 + ], + [ + 263.64817168845656, + 581.7190154029686 + ], + [ + 182.33774032850874, + 560.21212129882 + ], + [ + 112.63874341418875, + 649.4409743896224 + ], + [ + 194.06235798709145, + 665.6230677098608 + ], + [ + 259.45577718174593, + 572.2800308131708 + ], + [ + 177.3418565466651, + 550.7277194099784 + ], + [ + 106.39274252523228, + 640.2072882184514 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13681264316117260208, + "instance_id": 45207, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 177.36308195780015, + "ymin": 0.0, + "xmax": 281.78342913988837, + "ymax": 10.455457750986852 + }, + "corners_3d": [ + [ + -26.24793815612793, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.24793815612793, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.198223114013672 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 281.78342913988837, + -48.70178227868689 + ], + [ + 274.3793681298019, + -49.51739660677606 + ], + [ + 178.31272789472462, + 9.41335095471453 + ], + [ + 186.48717584160147, + 10.455457750986852 + ], + [ + 281.1304831120149, + -51.39539677859153 + ], + [ + 273.7141273343045, + -52.207640417194284 + ], + [ + 177.36308195780015, + 6.493279707854697 + ], + [ + 185.5524394531709, + 7.53157268645009 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 106.29763857120088, + "ymin": 550.669839568247, + "xmax": 263.7596459285053, + "ymax": 674.8878358042463 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 199.44874288254255, + 674.8878358042463 + ], + [ + 263.7596459285053, + 581.7483868291882 + ], + [ + 182.35689819645194, + 560.2170771989454 + ], + [ + 112.5862387431257, + 649.5401394464855 + ], + [ + 194.07881553903496, + 665.6951739535292 + ], + [ + 259.5406001473831, + 572.2469130711333 + ], + [ + 177.32809768292287, + 550.669839568247 + ], + [ + 106.29763857120088, + 640.2455851190523 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14568560350539926722, + "instance_id": 49868, + "pixel_count": null, + "type_id": "AmericanLights_Town04_28_Poles_4", + "bbox_3d": { + "center_world": { + "x": -60.752010345458984, + "y": -3.6481895446777344, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1138.2891844534884, + "ymin": 0.0, + "xmax": 1230.929098033067, + "ymax": 0.5271653515708294 + }, + "corners_3d": [ + [ + -60.482032775878906, + -9.673303604125977, + 0.0 + ], + [ + -60.91484832763672, + -9.67715072631836, + 0.0 + ], + [ + -61.02198791503906, + 2.376924991607666, + 0.0 + ], + [ + -60.58917236328125, + 2.3807718753814697, + 0.0 + ], + [ + -60.482032775878906, + -9.673303604125977, + 8.446706771850586 + ], + [ + -60.91484832763672, + -9.67715072631836, + 8.446706771850586 + ], + [ + -61.02198791503906, + 2.376924991607666, + 8.446706771850586 + ], + [ + -60.58917236328125, + 2.3807718753814697, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1157.2934642762175, + -0.3716724068943904 + ], + [ + 1165.9759634756067, + 0.5271653515708294 + ], + [ + 1145.697432404132, + -71.5457621490753 + ], + [ + 1138.2891844534884, + -72.20546184830971 + ], + [ + 1221.046066893567, + -176.53832669219753 + ], + [ + 1230.929098033067, + -175.88308705572297 + ], + [ + 1198.2602502012069, + -227.52037189925113 + ], + [ + 1189.9943811197038, + -227.9847212425725 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 408.2119194587399, + "ymin": 0.0, + "xmax": 489.5697996988614, + "ymax": 43.32227304318991 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 489.5697996988614, + -0.1029384306287966 + ], + [ + 481.1234130782865, + -1.0836004175650373 + ], + [ + 435.2849705817772, + 42.164792159344245 + ], + [ + 444.3645687339011, + 43.32227304318991 + ], + [ + 471.4073940756256, + -172.65472498085046 + ], + [ + 461.9832108537383, + -173.37581209366544 + ], + [ + 408.2119194587399, + -141.2483629733169 + ], + [ + 418.42995168039795, + -140.37923729870158 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00089/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00089/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5788dc5fce64fe3434ea7b0a0607d3bec5e3b957 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00089/meta.json @@ -0,0 +1,2210 @@ +{ + "frame_id": 89, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 44.5, + "sim_timestamp": 14173.13437908073 + }, + "drone_pose": { + "x": -47.60174697992321, + "y": -65.53157227237017, + "z": 20.0, + "pitch": -41.88272968746293, + "yaw": 73.73732153072146, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2084944248199463, + -0.7147233486175537, + 0.6676081418991089, + 43.40947723388672 + ], + [ + 0.9599878787994385, + 0.2800413966178894, + 2.9802322387695312e-08, + -27.34554672241211 + ], + [ + -0.1869579553604126, + 0.6408957242965698, + 0.7445127964019775, + -65.78868865966797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.407579995777816, + "y": -65.03746397962492, + "z": 20.0 + }, + "t1_image_uv": [ + 522.8705496026807, + -500.83655485311124 + ], + "t1_depth": 0.39363344708226844 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -41.66718292236328, + "y": -45.18776321411133, + "z": 0.9972709906101227 + }, + "image_uv": [ + 639.9999999999999, + 359.99999999999994 + ], + "depth": 28.463895154326373, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 689, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -41.66718292236328, + "y": -45.18776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4978393316268921, + "y": 0.4201635718345642, + "z": 0.8886326551437378 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 621.1228127771822, + "ymin": 324.0868650564651, + "xmax": 658.5173159632463, + "ymax": 395.53701248734666 + }, + "corners_3d": [ + [ + -41.24702072143555, + -45.685604095458984, + 0.10863828659057617 + ], + [ + -42.087345123291016, + -45.685604095458984, + 0.10863828659057617 + ], + [ + -42.087345123291016, + -44.68992233276367, + 0.10863828659057617 + ], + [ + -41.24702072143555, + -44.68992233276367, + 0.10863828659057617 + ], + [ + -41.24702072143555, + -45.685604095458984, + 1.8859035968780518 + ], + [ + -42.087345123291016, + -45.685604095458984, + 1.8859035968780518 + ], + [ + -42.087345123291016, + -44.68992233276367, + 1.8859035968780518 + ], + [ + -41.24702072143555, + -44.68992233276367, + 1.8859035968780518 + ] + ], + "corners_2d": [ + [ + 621.90082347344, + 390.08188526111906 + ], + [ + 648.855089409484, + 395.53701248734666 + ], + [ + 657.7680975608738, + 373.78477057024656 + ], + [ + 631.4111103920912, + 368.5904222577928 + ], + [ + 621.1228127771822, + 345.3547826933826 + ], + [ + 649.2381655641829, + 350.7601884728032 + ], + [ + 658.5173159632463, + 329.22314513070717 + ], + [ + 631.0511880292852, + 324.0868650564651 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 89, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 107, + "semantic_pixel_counts": { + "1": 337243, + "2": 232223, + "3": 7144, + "4": 10302, + "5": 2764, + "6": 4831, + "9": 11540, + "10": 442, + "12": 3023, + "14": 38861, + "15": 2328, + "20": 2078, + "21": 19186, + "24": 21690, + "25": 227945 + }, + "instance_pixel_counts": { + "70": 241, + "143": 14485, + "620": 535, + "883": 51, + "1132": 367, + "2214": 290, + "2470": 331, + "2703": 1886, + "3180": 109, + "4166": 318, + "4678": 363, + "5228": 652, + "6053": 43, + "6508": 1639, + "6565": 6525, + "7539": 2971, + "7825": 95, + "8018": 4122, + "8064": 88, + "8298": 401, + "8337": 153, + "8780": 157, + "8808": 12010, + "8810": 3210, + "9320": 104445, + "9834": 265, + "10344": 697, + "10346": 402, + "10624": 1307, + "10856": 11639, + "11116": 430, + "11136": 189, + "11368": 112361, + "11370": 3329, + "11596": 10302, + "17516": 93, + "20308": 6992, + "20820": 3915, + "20866": 1244, + "21332": 2414, + "21844": 63, + "22356": 4617, + "22868": 2023, + "22893": 6455, + "23380": 2891, + "24916": 2265, + "25428": 210, + "25698": 219, + "25928": 2607, + "25965": 2396, + "26368": 40, + "26987": 2073, + "27234": 179, + "27243": 5, + "27460": 728, + "27476": 3455, + "27559": 193, + "27719": 101617, + "27746": 179, + "28002": 37, + "28258": 76, + "29095": 1, + "30351": 2641, + "30630": 3881, + "30863": 25494, + "31142": 3823, + "31654": 4549, + "31887": 1281, + "32324": 103, + "32399": 8293, + "32911": 43381, + "34372": 126, + "34447": 6, + "34884": 601, + "36753": 221, + "37286": 210, + "37798": 198, + "39239": 227945, + "41796": 159, + "41879": 979, + "42391": 8558, + "43927": 183, + "44439": 1543, + "44951": 13025, + "46672": 206, + "46917": 4, + "47184": 233, + "48708": 277, + "50756": 39, + "52327": 61602, + "54375": 34489, + "54950": 485, + "55401": 1747, + "56173": 11540, + "56320": 689, + "56576": 588, + "56832": 505, + "56937": 813, + "57088": 619, + "57344": 65, + "57600": 557, + "58368": 7094, + "58624": 2909, + "58880": 2341, + "59522": 3108, + "60833": 437, + "64837": 216 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 689, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -41.66718292236328, + "y": -45.18776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.47514647245407104, + "y": 0.572436511516571, + "z": 0.8686093091964722 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 616.3123253212211, + "ymin": 324.15676975427965, + "xmax": 663.3164011796006, + "ymax": 395.5399287197959 + }, + "corners_3d": [ + [ + -41.09474563598633, + -45.66291046142578, + 0.1286616325378418 + ], + [ + -42.239620208740234, + -45.66291046142578, + 0.1286616325378418 + ], + [ + -42.239620208740234, + -44.712615966796875, + 0.1286616325378418 + ], + [ + -41.09474563598633, + -44.712615966796875, + 0.1286616325378418 + ], + [ + -41.09474563598633, + -45.66291046142578, + 1.8658802509307861 + ], + [ + -42.239620208740234, + -45.66291046142578, + 1.8658802509307861 + ], + [ + -42.239620208740234, + -44.712615966796875, + 1.8658802509307861 + ], + [ + -41.09474563598633, + -44.712615966796875, + 1.8658802509307861 + ] + ], + "corners_2d": [ + [ + 617.2654534254787, + 388.11665317399303 + ], + [ + 653.9868935473107, + 395.5399287197959 + ], + [ + 662.3923342337187, + 374.7356623903966 + ], + [ + 626.4482707267094, + 367.6516045251887 + ], + [ + 616.3123253212211, + 344.41191897710087 + ], + [ + 654.5783869027397, + 351.768724535301 + ], + [ + 663.3164011796006, + 331.16374823811515 + ], + [ + 625.8937398476686, + 324.15676975427965 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 588, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -37.541194915771484, + "y": -42.19005584716797, + "z": 1.1478667259216309 + }, + "extent": { + "x": 0.45317140221595764, + "y": 0.49436041712760925, + "z": 0.9148226976394653 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 524.9722840201467, + "ymin": 242.4014044286586, + "xmax": 562.8472418399878, + "ymax": 305.4182392057157 + }, + "corners_3d": [ + [ + -37.151859283447266, + -42.736106872558594, + 0.23304402828216553 + ], + [ + -38.11897277832031, + -42.530540466308594, + 0.23304402828216553 + ], + [ + -37.9305305480957, + -41.644004821777344, + 0.23304402828216553 + ], + [ + -36.963417053222656, + -41.849571228027344, + 0.23304402828216553 + ], + [ + -37.151859283447266, + -42.736106872558594, + 2.0626893043518066 + ], + [ + -38.11897277832031, + -42.530540466308594, + 2.0626893043518066 + ], + [ + -37.9305305480957, + -41.644004821777344, + 2.0626893043518066 + ], + [ + -36.963417053222656, + -41.849571228027344, + 2.0626893043518066 + ] + ], + "corners_2d": [ + [ + 529.4091211511301, + 304.0252148175244 + ], + [ + 559.1592953747688, + 305.4182392057157 + ], + [ + 562.8472418399878, + 288.6139646116731 + ], + [ + 533.7098438788297, + 287.27835489741784 + ], + [ + 524.9722840201467, + 258.82827794835714 + ], + [ + 555.9101777374099, + 260.1959210742334 + ], + [ + 559.8135200198667, + 243.71048868699606 + ], + [ + 529.5377595072367, + 242.4014044286586 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 505, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -43.92300796508789, + "y": -38.24504852294922, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.4825097620487213, + "y": 0.40748533606529236, + "z": 0.9178628921508789 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 744.5406948265407, + "ymin": 211.19154807614453, + "xmax": 775.1885594225945, + "ymax": 273.75851725309343 + }, + "corners_3d": [ + [ + -43.56819152832031, + -38.76750946044922, + 0.07940316200256348 + ], + [ + -44.37869644165039, + -38.68231964111328, + 0.07940316200256348 + ], + [ + -44.27782440185547, + -37.72258758544922, + 0.07940316200256348 + ], + [ + -43.46731948852539, + -37.807777404785156, + 0.07940316200256348 + ], + [ + -43.56819152832031, + -38.76750946044922, + 1.9151289463043213 + ], + [ + -44.37869644165039, + -38.68231964111328, + 1.9151289463043213 + ], + [ + -44.27782440185547, + -37.72258758544922, + 1.9151289463043213 + ], + [ + -43.46731948852539, + -37.807777404785156, + 1.9151289463043213 + ] + ], + "corners_2d": [ + [ + 744.5406948265407, + 271.2416819053261 + ], + [ + 768.0971840841094, + 273.75851725309343 + ], + [ + 770.2966196811155, + 257.5892643775577 + ], + [ + 747.2232971315117, + 255.17624382240717 + ], + [ + 748.5389927081609, + 226.90099750226872 + ], + [ + 773.013014766334, + 229.36432885098776 + ], + [ + 775.1885594225945, + 213.54950463675632 + ], + [ + 751.2356698754421, + 211.19154807614453 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 619, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -51.16718292236328, + "y": -45.18776321411133, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.31964111328125, + "y": 0.31069090962409973, + "z": 0.8849312663078308 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 951.5098693035624, + "ymin": 391.32043686494694, + "xmax": 990.2962853305742, + "ymax": 456.7102758137717 + }, + "corners_3d": [ + [ + -50.85649108886719, + -45.50740432739258, + 0.11233478784561157 + ], + [ + -51.477874755859375, + -45.50740432739258, + 0.11233478784561157 + ], + [ + -51.477874755859375, + -44.86812210083008, + 0.11233478784561157 + ], + [ + -50.85649108886719, + -44.86812210083008, + 0.11233478784561157 + ], + [ + -50.85649108886719, + -45.50740432739258, + 1.882197380065918 + ], + [ + -51.477874755859375, + -45.50740432739258, + 1.882197380065918 + ], + [ + -51.477874755859375, + -44.86812210083008, + 1.882197380065918 + ], + [ + -50.85649108886719, + -44.86812210083008, + 1.882197380065918 + ] + ], + "corners_2d": [ + [ + 951.5098693035624, + 452.1003320358135 + ], + [ + 974.4000987008613, + 456.7102758137717 + ], + [ + 975.1003710078021, + 440.6474960953464 + ], + [ + 952.5889907693361, + 436.19055810055573 + ], + [ + 965.815748300207, + 407.1640196028513 + ], + [ + 989.8349167440708, + 411.7593249111174 + ], + [ + 990.2962853305742, + 395.7563837909523 + ], + [ + 966.6939415529023, + 391.32043686494694 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 65, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -45.28268051147461, + "y": -56.31512451171875, + "z": 0.9972611665725708 + }, + "extent": { + "x": 0.46549564599990845, + "y": 0.3615747392177582, + "z": 0.9376952052116394 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 632.0678505781386, + "ymin": 690.4236457034244, + "xmax": 682.949285440488, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -44.874427795410156, + -56.74027633666992, + 0.059565961360931396 + ], + [ + -45.5936164855957, + -56.81586456298828, + 0.059565961360931396 + ], + [ + -45.69093322753906, + -55.88997268676758, + 0.059565961360931396 + ], + [ + -44.971744537353516, + -55.81438446044922, + 0.059565961360931396 + ], + [ + -44.874427795410156, + -56.74027633666992, + 1.9349563121795654 + ], + [ + -45.5936164855957, + -56.81586456298828, + 1.9349563121795654 + ], + [ + -45.69093322753906, + -55.88997268676758, + 1.9349563121795654 + ], + [ + -44.971744537353516, + -55.81438446044922, + 1.9349563121795654 + ] + ], + "corners_2d": [ + [ + 632.5603656376992, + 774.2773172018053 + ], + [ + 664.6718137437236, + 787.3074621596066 + ], + [ + 680.3391521102473, + 747.1993863228761 + ], + [ + 649.0641388190367, + 734.9641772034282 + ], + [ + 632.0678505781386, + 730.828655109385 + ], + [ + 666.3229326508405, + 744.2571131324137 + ], + [ + 682.949285440488, + 702.9810176478013 + ], + [ + 649.644513461336, + 690.4236457034244 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 557, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -30.421844482421875, + "y": -53.35797882080078, + "z": 1.1404789686203003 + }, + "extent": { + "x": 0.39000609517097473, + "y": 0.5299780368804932, + "z": 0.9348796606063843 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 94.70427530548147, + "ymin": 435.20520380183916, + "xmax": 173.19185806415663, + "ymax": 517.8658028923545 + }, + "corners_3d": [ + [ + -29.82236099243164, + -53.6292724609375, + 0.20559930801391602 + ], + [ + -30.859153747558594, + -53.84965133666992, + 0.20559930801391602 + ], + [ + -31.02132797241211, + -53.08668518066406, + 0.20559930801391602 + ], + [ + -29.984535217285156, + -52.86630630493164, + 0.20559930801391602 + ], + [ + -29.82236099243164, + -53.6292724609375, + 2.0753586292266846 + ], + [ + -30.859153747558594, + -53.84965133666992, + 2.0753586292266846 + ], + [ + -31.02132797241211, + -53.08668518066406, + 2.0753586292266846 + ], + [ + -29.984535217285156, + -52.86630630493164, + 2.0753586292266846 + ] + ], + "corners_2d": [ + [ + 121.47228030816984, + 502.89591883024707 + ], + [ + 149.51015590953432, + 517.8658028923545 + ], + [ + 173.19185806415663, + 497.48507492277633 + ], + [ + 145.36570154961066, + 483.10396268195313 + ], + [ + 94.70427530548147, + 455.0056607960233 + ], + [ + 123.79211502665987, + 470.00877046854316 + ], + [ + 149.2303518919714, + 449.5884902117533 + ], + [ + 120.36010208206119, + 435.20520380183916 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 7094, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 809.0891761651274, + "ymin": 260.78111115972456, + "xmax": 903.9059605241521, + "ymax": 405.64730424341656 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 895.6663176926149, + 307.88608480736855 + ], + [ + 830.2382257373694, + 296.8041646428861 + ], + [ + 809.0891761651274, + 391.747253120343 + ], + [ + 882.0969649197261, + 405.64730424341656 + ], + [ + 903.9059605241521, + 271.70356938749364 + ], + [ + 836.2825620502337, + 260.78111115972456 + ], + [ + 815.1238512189923, + 354.6718029346333 + ], + [ + 890.8766702170701, + 368.47763486227063 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 229, + "instance_id": 58624, + "pixel_count": 2909, + "type_id": "vehicle.dodge.charger_police_2020", + "bbox_3d": { + "center_world": { + "x": -54.599266052246094, + "y": -22.700984954833984, + "z": 0.8727232813835144 + }, + "extent": { + "x": 2.6187572479248047, + "y": 0.9648797512054443, + "z": 0.819191575050354 + }, + "yaw": 89.66251373291016 + }, + "bbox_2d": { + "xmin": 1038.7847325806697, + "ymin": 42.50810539440232, + "xmax": 1102.153038862831, + "ymax": 135.8275146767454 + }, + "corners_3d": [ + [ + -53.64982986450195, + -25.325380325317383, + 0.05353168025612831 + ], + [ + -55.57955551147461, + -25.314014434814453, + 0.05353168025612831 + ], + [ + -55.5487060546875, + -20.076589584350586, + 0.05353168025612831 + ], + [ + -53.61897659301758, + -20.08795738220215, + 0.05353168025612831 + ], + [ + -53.64982986450195, + -25.325380325317383, + 1.6919147968292236 + ], + [ + -55.57955551147461, + -25.314014434814453, + 1.6919147968292236 + ], + [ + -55.5487060546875, + -20.076589584350586, + 1.6919147968292236 + ], + [ + -53.61897659301758, + -20.08795738220215, + 1.6919147968292236 + ] + ], + "corners_2d": [ + [ + 1041.6222134832462, + 129.67475753370408 + ], + [ + 1089.6398444023507, + 135.8275146767454 + ], + [ + 1082.6986329235892, + 81.75110101973672 + ], + [ + 1038.7847325806697, + 76.59492589318296 + ], + [ + 1052.6881171913205, + 93.83071389169595 + ], + [ + 1102.153038862831, + 99.79518514259257 + ], + [ + 1093.945645282651, + 47.48316489231752 + ], + [ + 1048.8241625084363, + 42.50810539440232 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 2341, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 876.7174662566345, + "ymin": 32.72542098742298, + "xmax": 931.4437860826251, + "ymax": 112.03869115457752 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 925.2520520620235, + 66.7812919449824 + ], + [ + 886.3273470066672, + 62.18241974503866 + ], + [ + 876.7174662566345, + 106.68069951120748 + ], + [ + 918.660879599777, + 112.03869115457752 + ], + [ + 931.4437860826251, + 37.17828266279747 + ], + [ + 891.6299213153304, + 32.72542098742298 + ], + [ + 882.2252837409019, + 75.87675560698614 + ], + [ + 925.2031401076993, + 81.08248620366976 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1358148318300121759, + "instance_id": 40874, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 172.92772418075208, + "ymin": 0.0, + "xmax": 280.5013543463223, + "ymax": 24.577377359147135 + }, + "corners_3d": [ + [ + -26.246047973632812, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246047973632812, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.197628021240234 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 280.5013543463223, + -37.38465522313703 + ], + [ + 273.04129198687826, + -38.23607833861911 + ], + [ + 173.8978711339808, + 23.48333883504705 + ], + [ + 182.14844863561927, + 24.577377359147135 + ], + [ + 279.8401174156116, + -40.08473979130031 + ], + [ + 272.367575799207, + -40.932756549738485 + ], + [ + 172.92772418075208, + 20.55458831766299 + ], + [ + 181.19348185953476, + 21.644784903622906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 63.03365484145377, + "ymin": 558.3025490649865, + "xmax": 300.6764814018887, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 240.28427492722147, + 811.0876695602835 + ], + [ + 300.6764814018887, + 708.9688636061618 + ], + [ + 219.4827849801447, + 684.8984388122972 + ], + [ + 153.68550615674417, + 782.8296671918346 + ], + [ + 163.82096264164505, + 692.5811158657264 + ], + [ + 241.69664349854025, + 583.5402113663571 + ], + [ + 148.09133687962583, + 558.3025490649865 + ], + [ + 63.03365484145377, + 662.0840232999883 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 125.50871801197479, + "ymax": 83.31129750538798 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 125.50871801197479, + 33.75742379941278 + ], + [ + 117.28704481871898, + 32.63208379202206 + ], + [ + 34.15972155035149, + 81.96796123397621 + ], + [ + 42.95194950156383, + 83.31129750538798 + ], + [ + 58.841281580583995, + -147.24275510007516 + ], + [ + 49.715261004027184, + -148.0833033116544 + ], + [ + -52.43623868128293, + -110.79723130097608 + ], + [ + -42.61218371457812, + -109.76936890357115 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 165.8005384048716, + "ymin": 0.0, + "xmax": 333.4135910228542, + "ymax": 241.91999673771772 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 333.4135910228542, + 163.6067338515715 + ], + [ + 322.6563878966794, + 161.8692552672121 + ], + [ + 241.15891103329852, + 239.7494818269038 + ], + [ + 252.94513673077785, + 241.91999673771772 + ], + [ + 282.432258067728, + -47.075526515348656 + ], + [ + 270.0471386733259, + -48.45879143933962 + ], + [ + 165.8005384048716, + 14.748741597591845 + ], + [ + 179.5587207319217, + 16.546326869081554 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 91.83051630732348, + "ymin": 594.1524683556289, + "xmax": 256.748274464296, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 188.6367201444673, + 728.2523158391641 + ], + [ + 256.748274464296, + 627.0871392824274 + ], + [ + 172.47475247386, + 603.5409554484797 + ], + [ + 98.52273068316094, + 700.3451861510557 + ], + [ + 182.92699601710336, + 719.367821567384 + ], + [ + 252.3038288776071, + 617.7692185035473 + ], + [ + 167.16748161561702, + 594.1524683556289 + ], + [ + 91.83051630732348, + 691.3200031205703 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13681264316117260208, + "instance_id": 45207, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 172.8138732098941, + "ymin": 0.0, + "xmax": 280.5955850130875, + "ymax": 24.636962442288393 + }, + "corners_3d": [ + [ + -26.24793815612793, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.24793815612793, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.198223114013672 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 280.5955850130875, + -37.38808333923805 + ], + [ + 273.0394073911782, + -38.25044977880748 + ], + [ + 173.79686287913995, + 23.528598304174466 + ], + [ + 182.15454054603214, + 24.636962442288393 + ], + [ + 279.9259804045099, + -40.12305962138299 + ], + [ + 272.35699943987987, + -40.98193113776438 + ], + [ + 172.8138732098941, + 20.561815634260483 + ], + [ + 181.1871282127853, + 21.666237493858148 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 91.73065740868674, + "ymin": 594.0896271837366, + "xmax": 256.8651600097514, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 188.69075975122377, + 728.3894692305124 + ], + [ + 256.8651600097514, + 627.1130467781987 + ], + [ + 172.4962496497959, + 603.5403525624117 + ], + [ + 98.4685266015407, + 700.4460807593564 + ], + [ + 182.94317534220528, + 719.4467390933517 + ], + [ + 252.39250539668922, + 617.7334265991385 + ], + [ + 167.15404530415424, + 594.0896271837366 + ], + [ + 91.73065740868674, + 691.3614921005525 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14568560350539926722, + "instance_id": 49868, + "pixel_count": null, + "type_id": "AmericanLights_Town04_28_Poles_4", + "bbox_3d": { + "center_world": { + "x": -60.752010345458984, + "y": -3.6481895446777344, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1150.732067868346, + "ymin": 0.0, + "xmax": 1248.2571465922933, + "ymax": 9.861530672359265 + }, + "corners_3d": [ + [ + -60.482032775878906, + -9.673303604125977, + 0.0 + ], + [ + -60.91484832763672, + -9.67715072631836, + 0.0 + ], + [ + -61.02198791503906, + 2.376924991607666, + 0.0 + ], + [ + -60.58917236328125, + 2.3807718753814697, + 0.0 + ], + [ + -60.482032775878906, + -9.673303604125977, + 8.446706771850586 + ], + [ + -60.91484832763672, + -9.67715072631836, + 8.446706771850586 + ], + [ + -61.02198791503906, + 2.376924991607666, + 8.446706771850586 + ], + [ + -60.58917236328125, + 2.3807718753814697, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1171.4745896061952, + 8.922816836672723 + ], + [ + 1180.3318630991207, + 9.861530672359265 + ], + [ + 1158.2686533893816, + -64.4053695942788 + ], + [ + 1150.732067868346, + -65.09109717671845 + ], + [ + 1238.1482096129166, + -169.42524811559736 + ], + [ + 1248.2571465922933, + -168.7382398485339 + ], + [ + 1212.9462847718062, + -222.12784459023646 + ], + [ + 1204.521007942366, + -222.61187580046771 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 410.350417951747, + "ymin": 0.0, + "xmax": 492.8282044714766, + "ymax": 53.24141757094395 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 492.8282044714766, + 8.462410471231067 + ], + [ + 484.25806181301016, + 7.440943143426978 + ], + [ + 437.5951782932334, + 52.0326464237873 + ], + [ + 446.8168102949859, + 53.24141757094395 + ], + [ + 474.77083719111636, + -166.02630205372827 + ], + [ + 465.19219089022226, + -166.78001450459362 + ], + [ + 410.350417951747, + -133.52799991451292 + ], + [ + 420.74880576137474, + -132.6165656188199 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00090/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00090/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..25616188ebc80af8177407b4c5707e51aac6e7c0 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00090/meta.json @@ -0,0 +1,2210 @@ +{ + "frame_id": 90, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 45.0, + "sim_timestamp": 14183.901067539351 + }, + "drone_pose": { + "x": -47.407579995777816, + "y": -65.03746397962492, + "z": 20.0, + "pitch": -41.94715725084427, + "yaw": 74.24690189759028, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.20192569494247437, + -0.7158263325691223, + 0.6684449315071106, + 42.75943374633789 + ], + [ + 0.962440550327301, + 0.27149248123168945, + -2.9802322387695312e-08, + -27.969799041748047 + ], + [ + -0.18147777020931244, + 0.6433385610580444, + 0.7437616586685181, + -65.31976318359375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.2426531245638, + "y": -64.54336557244602, + "z": 20.0 + }, + "t1_image_uv": [ + 579.0044439492099, + -502.7860145764404 + ], + "t1_depth": 0.3869916395138555 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -41.66718292236328, + "y": -44.68776321411133, + "z": 0.9972709906101227 + }, + "image_uv": [ + 640.0, + 359.9999999999999 + ], + "depth": 28.428263921856328, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 678, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -41.66718292236328, + "y": -44.68776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4201684594154358, + "y": 0.4295409917831421, + "z": 0.8837621212005615 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 620.0793711381735, + "ymin": 324.5889071346183, + "xmax": 660.0881816240668, + "ymax": 395.0098188561131 + }, + "corners_3d": [ + [ + -41.66055679321289, + -45.288597106933594, + 0.11350882053375244 + ], + [ + -42.26801681518555, + -44.68113708496094, + 0.11350882053375244 + ], + [ + -41.67380905151367, + -44.08692932128906, + 0.11350882053375244 + ], + [ + -41.066349029541016, + -44.69438934326172, + 0.11350882053375244 + ], + [ + -41.66055679321289, + -45.288597106933594, + 1.8810330629348755 + ], + [ + -42.26801681518555, + -44.68113708496094, + 1.8810330629348755 + ], + [ + -41.67380905151367, + -44.08692932128906, + 1.8810330629348755 + ], + [ + -41.066349029541016, + -44.69438934326172, + 1.8810330629348755 + ] + ], + "corners_2d": [ + [ + 634.3085790184061, + 395.0098188561131 + ], + [ + 659.2670036549146, + 385.31275817801463 + ], + [ + 645.5256886210275, + 368.86629103368017 + ], + [ + 620.8871830056883, + 378.2056341794445 + ], + [ + 634.0632424466913, + 350.47412733451927 + ], + [ + 660.0881816240668, + 340.8652990312933 + ], + [ + 645.7566550628811, + 324.5889071346183 + ], + [ + 620.0793711381735, + 333.8285193661157 + ] + ], + "center_offset_px": [ + 0.0, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 90, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 107, + "semantic_pixel_counts": { + "1": 336565, + "2": 226912, + "3": 5615, + "4": 10841, + "5": 2842, + "6": 4314, + "9": 10337, + "10": 469, + "12": 3214, + "14": 40640, + "15": 1681, + "20": 1944, + "21": 20034, + "24": 21916, + "25": 234276 + }, + "instance_pixel_counts": { + "70": 248, + "143": 13822, + "620": 554, + "883": 67, + "1132": 381, + "2214": 301, + "2470": 298, + "2703": 1261, + "3180": 112, + "4166": 329, + "4678": 385, + "5228": 679, + "6053": 40, + "6508": 1693, + "6565": 6796, + "7539": 3460, + "7825": 160, + "8018": 2088, + "8064": 90, + "8296": 12, + "8298": 419, + "8337": 150, + "8780": 157, + "8808": 12543, + "8810": 3315, + "9320": 108245, + "9834": 303, + "10344": 853, + "10346": 429, + "10624": 1345, + "10856": 11845, + "11116": 449, + "11136": 202, + "11368": 116017, + "11370": 3432, + "11596": 10841, + "17516": 95, + "20308": 7206, + "20820": 4056, + "20866": 1358, + "21332": 2753, + "21844": 121, + "22356": 4758, + "22868": 2103, + "22893": 6034, + "23380": 2977, + "24916": 1560, + "25428": 534, + "25698": 227, + "25928": 2685, + "25965": 1930, + "26368": 48, + "26987": 1938, + "27234": 184, + "27243": 6, + "27460": 759, + "27476": 3569, + "27559": 136, + "27719": 96175, + "27746": 189, + "28002": 40, + "28258": 29, + "30351": 2791, + "30630": 4050, + "30863": 26550, + "31142": 3989, + "31654": 4735, + "31887": 1362, + "32324": 164, + "32399": 8439, + "32911": 43471, + "34372": 131, + "34447": 9, + "34884": 633, + "36753": 227, + "37286": 240, + "37798": 224, + "39239": 234276, + "41796": 167, + "41879": 1026, + "42391": 8812, + "43927": 201, + "44439": 1573, + "44951": 13456, + "46672": 233, + "46917": 37, + "47184": 259, + "48708": 286, + "50756": 40, + "52327": 56936, + "54375": 30114, + "54950": 468, + "55401": 1499, + "56173": 10337, + "56320": 678, + "56576": 582, + "56832": 483, + "56937": 641, + "57088": 669, + "57344": 67, + "57600": 735, + "58368": 7329, + "58624": 2962, + "58880": 2393, + "59522": 2416, + "60833": 432, + "64837": 218 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 678, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -41.66718292236328, + "y": -44.68776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4751952886581421, + "y": 0.4521728456020355, + "z": 0.8694851994514465 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 618.5064046801797, + "ymin": 323.6772592903692, + "xmax": 661.7171414465314, + "ymax": 396.04649776581357 + }, + "corners_3d": [ + [ + -41.68346405029297, + -45.343509674072266, + 0.12778574228286743 + ], + [ + -42.32292938232422, + -44.70404052734375, + 0.12778574228286743 + ], + [ + -41.650901794433594, + -44.03201675415039, + 0.12778574228286743 + ], + [ + -41.011436462402344, + -44.671485900878906, + 0.12778574228286743 + ], + [ + -41.68346405029297, + -45.343509674072266, + 1.8667562007904053 + ], + [ + -42.32292938232422, + -44.70404052734375, + 1.8667562007904053 + ], + [ + -41.650901794433594, + -44.03201675415039, + 1.8667562007904053 + ], + [ + -41.011436462402344, + -44.671485900878906, + 1.8667562007904053 + ] + ], + "corners_2d": [ + [ + 634.5380591554947, + 396.04649776581357 + ], + [ + 660.84259501232, + 385.8135457492497 + ], + [ + 645.2867979571873, + 367.2244863400927 + ], + [ + 619.363394671077, + 377.0314175166599 + ], + [ + 634.3061271644888, + 352.21924091006423 + ], + [ + 661.7171414465314, + 342.07681558768286 + ], + [ + 645.5037986660566, + 323.6772592903692 + ], + [ + 618.5064046801797, + 333.3801915982746 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 582, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -37.541194915771484, + "y": -41.69005584716797, + "z": 1.1478667259216309 + }, + "extent": { + "x": 0.3968603312969208, + "y": 0.42866453528404236, + "z": 0.8842605948448181 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 523.117543737431, + "ymin": 241.79004587735804, + "xmax": 562.5276088809251, + "ymax": 306.8135369101866 + }, + "corners_3d": [ + [ + -37.64056396484375, + -42.265708923339844, + 0.26360613107681274 + ], + [ + -38.10749816894531, + -41.54669189453125, + 0.26360613107681274 + ], + [ + -37.44182586669922, + -41.114402770996094, + 0.26360613107681274 + ], + [ + -36.974891662597656, + -41.83341979980469, + 0.26360613107681274 + ], + [ + -37.64056396484375, + -42.265708923339844, + 2.0321273803710938 + ], + [ + -38.10749816894531, + -41.54669189453125, + 2.0321273803710938 + ], + [ + -37.44182586669922, + -41.114402770996094, + 2.0321273803710938 + ], + [ + -36.974891662597656, + -41.83341979980469, + 2.0321273803710938 + ] + ], + "corners_2d": [ + [ + 541.8259124442787, + 306.8135369101866 + ], + [ + 562.5276088809251, + 296.13923810086294 + ], + [ + 548.0521808462445, + 285.1706801737373 + ], + [ + 527.4477320951812, + 295.5519887839379 + ], + [ + 537.9935319208337, + 263.03971346179674 + ], + [ + 559.5447608071413, + 252.55379637038777 + ], + [ + 544.5624470448147, + 241.79004587735804 + ], + [ + 523.117543737431, + 251.97722400114571 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 483, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -43.92300796508789, + "y": -37.74504852294922, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.3902026414871216, + "y": 0.44309201836586, + "z": 0.9326191544532776 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 739.0750409246356, + "ymin": 209.4692260055515, + "xmax": 778.115943781643, + "ymax": 273.68511121500956 + }, + "corners_3d": [ + [ + -43.94740676879883, + -38.334957122802734, + 0.06465178728103638 + ], + [ + -44.50510025024414, + -37.646263122558594, + 0.06465178728103638 + ], + [ + -43.89860916137695, + -37.1551399230957, + 0.06465178728103638 + ], + [ + -43.34091567993164, + -37.843833923339844, + 0.06465178728103638 + ], + [ + -43.94740676879883, + -38.334957122802734, + 1.9298901557922363 + ], + [ + -44.50510025024414, + -37.646263122558594, + 1.9298901557922363 + ], + [ + -43.89860916137695, + -37.1551399230957, + 1.9298901557922363 + ], + [ + -43.34091567993164, + -37.843833923339844, + 1.9298901557922363 + ] + ], + "corners_2d": [ + [ + 753.5392123803325, + 273.68511121500956 + ], + [ + 772.9784501730165, + 264.8737678846885 + ], + [ + 758.4050534188781, + 254.16896038884926 + ], + [ + 739.0750409246356, + 262.7349024797961 + ], + [ + 757.9780070583064, + 228.55083313208755 + ], + [ + 778.115943781643, + 219.93104052042528 + ], + [ + 762.9132995159207, + 209.4692260055515 + ], + [ + 742.891633622452, + 217.8398250974701 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 669, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -51.16718292236328, + "y": -44.68776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.38221922516822815, + "y": 0.27797606587409973, + "z": 0.8880425691604614 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 946.9784028394256, + "ymin": 387.40669778809337, + "xmax": 996.6086892129053, + "ymax": 456.817508528923 + }, + "corners_3d": [ + [ + -51.24089431762695, + -45.15459060668945, + 0.10922837257385254 + ], + [ + -51.634010314941406, + -44.761474609375, + 0.10922837257385254 + ], + [ + -51.09347152709961, + -44.2209358215332, + 0.10922837257385254 + ], + [ + -50.700355529785156, + -44.614051818847656, + 0.10922837257385254 + ], + [ + -51.24089431762695, + -45.15459060668945, + 1.8853135108947754 + ], + [ + -51.634010314941406, + -44.761474609375, + 1.8853135108947754 + ], + [ + -51.09347152709961, + -44.2209358215332, + 1.8853135108947754 + ], + [ + -50.700355529785156, + -44.614051818847656, + 1.8853135108947754 + ] + ], + "corners_2d": [ + [ + 966.0716542537191, + 456.817508528923 + ], + [ + 980.9029979716538, + 449.62587668071046 + ], + [ + 961.6822442350145, + 432.4153919866056 + ], + [ + 946.9784028394256, + 439.348514529216 + ], + [ + 981.2127537996151, + 411.71298297468246 + ], + [ + 996.6086892129053, + 404.5436302528994 + ], + [ + 976.2225071278444, + 387.40669778809337 + ], + [ + 960.9615946557502, + 394.3067600016617 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 67, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -45.28268051147461, + "y": -55.81512451171875, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.3574243187904358, + "y": 0.38652586936950684, + "z": 0.9293062090873718 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 638.1285492156113, + "ymin": 695.3982154880161, + "xmax": 688.2972229887241, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -45.20722579956055, + -56.336143493652344, + 0.06796473264694214 + ], + [ + -45.80800247192383, + -55.849647521972656, + 0.06796473264694214 + ], + [ + -45.35813522338867, + -55.294105529785156, + 0.06796473264694214 + ], + [ + -44.75735855102539, + -55.780601501464844, + 0.06796473264694214 + ], + [ + -45.20722579956055, + -56.336143493652344, + 1.926577091217041 + ], + [ + -45.80800247192383, + -55.849647521972656, + 1.926577091217041 + ], + [ + -45.35813522338867, + -55.294105529785156, + 1.926577091217041 + ], + [ + -44.75735855102539, + -55.780601501464844, + 1.926577091217041 + ] + ], + "corners_2d": [ + [ + 651.7444945212752, + 783.7947679797982 + ], + [ + 685.3301814577719, + 769.3575209665069 + ], + [ + 671.1835251363422, + 739.3526503581916 + ], + [ + 638.2420499188466, + 753.1132095974715 + ], + [ + 652.5225206196114, + 741.1076332127795 + ], + [ + 688.2972229887241, + 726.235773513914 + ], + [ + 673.1733982927252, + 695.3982154880161 + ], + [ + 638.1285492156113, + 709.5288438606092 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 735, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -30.421844482421875, + "y": -52.85797882080078, + "z": 1.1404789686203003 + }, + "extent": { + "x": 0.35255613923072815, + "y": 0.45452880859375, + "z": 0.9325166344642639 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 100.24308148930857, + "ymin": 442.3537567655554, + "xmax": 165.7027875262071, + "ymax": 517.9438346862435 + }, + "corners_3d": [ + [ + -30.2326602935791, + -53.40121078491211, + 0.20796233415603638 + ], + [ + -30.995059967041016, + -52.90610122680664, + 0.20796233415603638 + ], + [ + -30.61102867126465, + -52.31474685668945, + 0.20796233415603638 + ], + [ + -29.848628997802734, + -52.80985641479492, + 0.20796233415603638 + ], + [ + -30.2326602935791, + -53.40121078491211, + 2.072995662689209 + ], + [ + -30.995059967041016, + -52.90610122680664, + 2.072995662689209 + ], + [ + -30.61102867126465, + -52.31474685668945, + 2.072995662689209 + ], + [ + -29.848628997802734, + -52.80985641479492, + 2.072995662689209 + ] + ], + "corners_2d": [ + [ + 127.12952121687749, + 517.9438346862435 + ], + [ + 164.24185046167133, + 509.8329887998002 + ], + [ + 165.7027875262071, + 490.1207162118899 + ], + [ + 129.3300553400477, + 497.9176384162479 + ], + [ + 100.24308148930857, + 470.2267689850474 + ], + [ + 139.50945301599666, + 462.09315563459734 + ], + [ + 141.55075635704304, + 442.3537567655554 + ], + [ + 103.11117674046841, + 450.1566353571908 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 7329, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 806.7469317001232, + "ymin": 268.35922364794385, + "xmax": 901.5496131815787, + "ymax": 415.76880653780205 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 893.285085331037, + 315.4880580008644 + ], + [ + 827.1208685268546, + 304.51580131182305 + ], + [ + 806.7469317001232, + 401.96513296436274 + ], + [ + 880.7087017978398, + 415.76880653780205 + ], + [ + 901.5496131815787, + 279.18204963669183 + ], + [ + 833.1419959681419, + 268.35922364794385 + ], + [ + 812.7835931276683, + 364.8140062771292 + ], + [ + 889.5608084910597, + 378.5376579064605 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 229, + "instance_id": 58624, + "pixel_count": 2962, + "type_id": "vehicle.dodge.charger_police_2020", + "bbox_3d": { + "center_world": { + "x": -54.599266052246094, + "y": -22.700984954833984, + "z": 0.8727232813835144 + }, + "extent": { + "x": 2.6187572479248047, + "y": 0.9648797512054443, + "z": 0.819191575050354 + }, + "yaw": 89.66251373291016 + }, + "bbox_2d": { + "xmin": 1034.403438344903, + "ymin": 44.73587248563172, + "xmax": 1098.7990443724727, + "ymax": 138.96028406941866 + }, + "corners_3d": [ + [ + -53.64982986450195, + -25.325380325317383, + 0.05353168025612831 + ], + [ + -55.57955551147461, + -25.314014434814453, + 0.05353168025612831 + ], + [ + -55.5487060546875, + -20.076589584350586, + 0.05353168025612831 + ], + [ + -53.61897659301758, + -20.08795738220215, + 0.05353168025612831 + ], + [ + -53.64982986450195, + -25.325380325317383, + 1.6919147968292236 + ], + [ + -55.57955551147461, + -25.314014434814453, + 1.6919147968292236 + ], + [ + -55.5487060546875, + -20.076589584350586, + 1.6919147968292236 + ], + [ + -53.61897659301758, + -20.08795738220215, + 1.6919147968292236 + ] + ], + "corners_2d": [ + [ + 1037.973148487357, + 132.9147336405883 + ], + [ + 1086.274454726517, + 138.96028406941866 + ], + [ + 1078.5394678711018, + 84.03040363896031 + ], + [ + 1034.403438344903, + 78.97142000978323 + ], + [ + 1049.034031362992, + 96.91572352894957 + ], + [ + 1098.7990443724727, + 102.77898024576064 + ], + [ + 1089.766553660049, + 49.619036234485975 + ], + [ + 1044.4113368468495, + 44.73587248563172 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 2393, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 871.8920894363778, + "ymin": 35.33171889377445, + "xmax": 926.3788489931181, + "ymax": 115.50639445188312 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 920.2436721828253, + 69.45516236542824 + ], + [ + 881.0558362022376, + 64.93514972196039 + ], + [ + 871.8920894363778, + 110.23297438160176 + ], + [ + 914.1546558652649, + 115.50639445188312 + ], + [ + 926.3788489931181, + 39.709832162598445 + ], + [ + 886.2905121922183, + 35.33171889377445 + ], + [ + 877.3389978180362, + 79.27603766005058 + ], + [ + 920.6509774028964, + 84.40180228814893 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1358148318300121759, + "instance_id": 40874, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 158.06406045845733, + "ymin": 0.0, + "xmax": 267.8031756056176, + "ymax": 32.275078240690334 + }, + "corners_3d": [ + [ + -26.246047973632812, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246047973632812, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.197628021240234 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 267.8031756056176, + -31.87445047162248 + ], + [ + 260.21120200618384, + -32.724975322240994 + ], + [ + 159.08373936422555, + 31.177316220683565 + ], + [ + 167.50201768082712, + 32.275078240690334 + ], + [ + 267.1073733395516, + -34.60392167356008 + ], + [ + 259.502491679555, + -35.45109469455474 + ], + [ + 158.06406045845733, + 28.21530066426908 + ], + [ + 166.4981239002276, + 29.309292573794835 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 45.42603745828717, + "ymin": 584.0492297467022, + "xmax": 291.64496251000503, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 230.0337103158231, + 840.5647461267156 + ], + [ + 291.64496251000503, + 733.6417837042932 + ], + [ + 208.46087524447762, + 709.3115855782601 + ], + [ + 141.1245991753393, + 811.8933678131356 + ], + [ + 149.33776130153944, + 724.903617614715 + ], + [ + 229.50747555784272, + 609.7564385420704 + ], + [ + 133.26415696978466, + 584.0492297467022 + ], + [ + 45.42603745828717, + 693.6743693024598 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 111.86053201347931, + "ymax": 89.92753060113671 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 111.86053201347931, + 38.948297815181775 + ], + [ + 103.50666796754956, + 37.8301868557715 + ], + [ + 18.94894295046163, + 88.58937859188597 + ], + [ + 27.897658534245352, + 89.92753060113671 + ], + [ + 42.37115490805331, + -143.83671346874968 + ], + [ + 33.08295563239517, + -144.6748150850142 + ], + [ + -71.34153251676173, + -106.16296294905175 + ], + [ + -61.322537156804174, + -105.13467698714044 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 150.71712186764478, + "ymin": 0.0, + "xmax": 323.23070719386004, + "ymax": 251.47748329433122 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 323.23070719386004, + 170.81226632414402 + ], + [ + 312.3063716716899, + 169.08449757779405 + ], + [ + 229.70034724475022, + 249.31179237232124 + ], + [ + 241.69503468347222, + 251.47748329433122 + ], + [ + 269.69247433317327, + -41.6975319580597 + ], + [ + 257.08777924579374, + -43.07950683510626 + ], + [ + 150.71712186764478, + 22.380506353249984 + ], + [ + 164.75736883265358, + 24.184848348769606 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 75.78185086279495, + "ymin": 619.7916576978881, + "xmax": 245.54466392632128, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 175.6311606603441, + 759.545716727625 + ], + [ + 245.54466392632128, + 653.0192483768428 + ], + [ + 158.99211674649746, + 629.0934247722346 + ], + [ + 82.8590287677431, + 731.0606876085785 + ], + [ + 169.59448615849675, + 750.853806618929 + ], + [ + 240.85472037410284, + 643.802991630535 + ], + [ + 153.39285717680235, + 619.7916576978881 + ], + [ + 75.78185086279495, + 722.2055695199888 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13681264316117260208, + "instance_id": 45207, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 157.94758473459956, + "ymin": 0.0, + "xmax": 267.8992112131266, + "ymax": 32.33616727964545 + }, + "corners_3d": [ + [ + -26.24793815612793, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.24793815612793, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.198223114013672 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 267.8992112131266, + -31.878562669024973 + ], + [ + 260.209432746896, + -32.74001734366368 + ], + [ + 158.98076111686686, + 31.224028744792577 + ], + [ + 167.50832642271064, + 32.33616727964545 + ], + [ + 267.1946016435718, + -34.64330403721959 + ], + [ + 259.4915799250483, + -35.50131973150826 + ], + [ + 157.94758473459956, + 28.223547872354743 + ], + [ + 166.4913481977772, + 29.33181784081222 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 75.67889279826784, + "ymin": 619.7260446813923, + "xmax": 245.6654255342135, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 175.68785513314373, + 759.6852809954335 + ], + [ + 245.6654255342135, + 653.0421196876249 + ], + [ + 159.01516942853436, + 629.089504355055 + ], + [ + 82.80434803854257, + 731.1632954164853 + ], + [ + 169.6111589218816, + 750.93650379521 + ], + [ + 240.94572636485492, + 643.7648233036091 + ], + [ + 153.37907137544516, + 619.7260446813923 + ], + [ + 75.67889279826784, + 722.2499587673673 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14568560350539926722, + "instance_id": 49868, + "pixel_count": null, + "type_id": "AmericanLights_Town04_28_Poles_4", + "bbox_3d": { + "center_world": { + "x": -60.752010345458984, + "y": -3.6481895446777344, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1144.5274291895134, + "ymin": 0.0, + "xmax": 1243.0134179805991, + "ymax": 10.737398084013932 + }, + "corners_3d": [ + [ + -60.482032775878906, + -9.673303604125977, + 0.0 + ], + [ + -60.91484832763672, + -9.67715072631836, + 0.0 + ], + [ + -61.02198791503906, + 2.376924991607666, + 0.0 + ], + [ + -60.58917236328125, + 2.3807718753814697, + 0.0 + ], + [ + -60.482032775878906, + -9.673303604125977, + 8.446706771850586 + ], + [ + -60.91484832763672, + -9.67715072631836, + 8.446706771850586 + ], + [ + -61.02198791503906, + 2.376924991607666, + 8.446706771850586 + ], + [ + -60.58917236328125, + 2.3807718753814697, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1166.405619732124, + 9.818128638548103 + ], + [ + 1175.2847049849, + 10.737398084013932 + ], + [ + 1152.0750126704486, + -64.3327757161345 + ], + [ + 1144.5274291895134, + -65.00309503789822 + ], + [ + 1232.8765890713064, + -169.28151537265444 + ], + [ + 1243.0134179805991, + -168.6077564149781 + ], + [ + 1206.390660568252, + -222.6418490007734 + ], + [ + 1197.952028327482, + -223.11549308359588 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 399.46663933248533, + "ymin": 0.0, + "xmax": 483.94963241484777, + "ymax": 57.59350894978229 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 483.94963241484777, + 11.809833221234328 + ], + [ + 475.2838633319901, + 10.800836679034205 + ], + [ + 428.33552125042576, + 56.397193029078835 + ], + [ + 437.671843978978, + 57.59350894978229 + ], + [ + 464.5737554589016, + -164.05115798234965 + ], + [ + 454.87707688494083, + -164.79761935794204 + ], + [ + 399.46663933248533, + -130.698326758179 + ], + [ + 410.00923199278657, + -129.79344644198943 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00091/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00091/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..53a1688f474bbe89a43cad4548182eb23ae1854b --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00091/meta.json @@ -0,0 +1,2425 @@ +{ + "frame_id": 91, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 45.5, + "sim_timestamp": 14200.627070679562 + }, + "drone_pose": { + "x": -47.2426531245638, + "y": -64.54336557244602, + "z": 20.0, + "pitch": -41.58487584668782, + "yaw": 73.38138564349113, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.21392011642456055, + -0.7167302966117859, + 0.6637287735939026, + 43.091766357421875 + ], + [ + 0.9582297205924988, + 0.2859996557235718, + 2.9802322387695312e-08, + -26.809932708740234 + ], + [ + -0.18982619047164917, + 0.6360046863555908, + 0.7479733228683472, + -64.97723388671875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.11601170439279, + "y": -64.05290348893482, + "z": 20.0 + }, + "t1_image_uv": [ + 687.9731902093822, + -491.87483080971526 + ], + "t1_depth": 0.378620164705627 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -41.16718292236328, + "y": -44.18776321411133, + "z": 1.149673331975937 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.40064613771466, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 711, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -41.16718292236328, + "y": -44.18776321411133, + "z": 1.149673342704773 + }, + "extent": { + "x": 0.4844909608364105, + "y": 0.4874829053878784, + "z": 0.8715886473655701 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 618.9167770791158, + "ymin": 324.2601932125363, + "xmax": 660.7181791136959, + "ymax": 395.4216741037888 + }, + "corners_3d": [ + [ + -40.6796989440918, + -44.6722526550293, + 0.2780846953392029 + ], + [ + -41.654666900634766, + -44.6722526550293, + 0.2780846953392029 + ], + [ + -41.654666900634766, + -43.70327377319336, + 0.2780846953392029 + ], + [ + -40.6796989440918, + -43.70327377319336, + 0.2780846953392029 + ], + [ + -40.6796989440918, + -44.6722526550293, + 2.0212619304656982 + ], + [ + -41.654666900634766, + -44.6722526550293, + 2.0212619304656982 + ], + [ + -41.654666900634766, + -43.70327377319336, + 2.0212619304656982 + ], + [ + -40.6796989440918, + -43.70327377319336, + 2.0212619304656982 + ] + ], + "corners_2d": [ + [ + 619.765645125579, + 388.981734904137 + ], + [ + 651.0564973929713, + 395.4216741037888 + ], + [ + 659.8978800523356, + 374.3340696797857 + ], + [ + 629.2827642741005, + 368.19553903181105 + ], + [ + 618.9167770791158, + 344.81203194184536 + ], + [ + 651.5238720818411, + 351.1876219638765 + ], + [ + 660.7181791136959, + 330.32528297801844 + ], + [ + 628.8442005839531, + 324.2601932125363 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 91, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 114, + "semantic_pixel_counts": { + "1": 335095, + "2": 215571, + "3": 4336, + "4": 7970, + "5": 2945, + "6": 4355, + "9": 9119, + "10": 483, + "12": 3305, + "14": 42519, + "15": 3082, + "20": 1536, + "21": 20555, + "24": 22881, + "25": 247848 + }, + "instance_pixel_counts": { + "70": 252, + "143": 12891, + "620": 569, + "883": 65, + "1132": 393, + "2214": 300, + "2470": 347, + "2703": 41, + "3180": 118, + "4166": 332, + "4678": 389, + "5228": 688, + "6053": 46, + "6508": 1749, + "6565": 6998, + "7539": 1610, + "7786": 245, + "7825": 162, + "8018": 2661, + "8064": 91, + "8296": 650, + "8298": 467, + "8337": 160, + "8780": 182, + "8808": 13662, + "8810": 3461, + "9320": 113169, + "9834": 594, + "10344": 2885, + "10346": 417, + "10624": 1395, + "10856": 12273, + "11116": 451, + "11136": 203, + "11368": 122848, + "11370": 3636, + "11596": 7970, + "11880": 66, + "11882": 12, + "17516": 98, + "20308": 7301, + "20820": 4128, + "20866": 1460, + "21332": 3307, + "21844": 551, + "22356": 4765, + "22868": 2140, + "22893": 5438, + "23380": 2994, + "24916": 2260, + "25428": 1144, + "25698": 230, + "25928": 2763, + "25965": 751, + "26210": 21, + "26368": 149, + "26987": 1536, + "27234": 184, + "27460": 777, + "27476": 3548, + "27559": 186, + "27719": 92862, + "27746": 199, + "28002": 40, + "28258": 76, + "30351": 3295, + "30630": 4118, + "30863": 27035, + "31142": 4065, + "31654": 4842, + "31812": 7, + "31887": 1893, + "32324": 170, + "32399": 8778, + "32911": 35241, + "34372": 134, + "34447": 68, + "34884": 640, + "35399": 25, + "36753": 228, + "37286": 279, + "37798": 253, + "39239": 247823, + "41796": 172, + "41879": 1201, + "42391": 9642, + "43927": 424, + "44439": 1634, + "44951": 14362, + "45463": 15, + "46672": 267, + "46917": 38, + "47184": 285, + "48708": 298, + "50756": 40, + "52327": 48933, + "54375": 20609, + "54950": 556, + "55401": 1327, + "56173": 9119, + "56320": 711, + "56576": 596, + "56832": 501, + "56937": 250, + "57088": 631, + "57344": 43, + "57600": 823, + "58368": 7656, + "58624": 3081, + "58880": 2455, + "59522": 2194, + "60833": 512, + "61440": 271, + "64837": 221 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 711, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -41.16718292236328, + "y": -44.18776321411133, + "z": 1.149673342704773 + }, + "extent": { + "x": 0.5139367580413818, + "y": 0.32847166061401367, + "z": 0.8831099271774292 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 623.8907952434262, + "ymin": 324.33066577425336, + "xmax": 655.7675834877499, + "ymax": 395.30068317865465 + }, + "corners_3d": [ + [ + -40.83871078491211, + -44.701698303222656, + 0.26656341552734375 + ], + [ + -41.49565505981445, + -44.701698303222656, + 0.26656341552734375 + ], + [ + -41.49565505981445, + -43.673828125, + 0.26656341552734375 + ], + [ + -40.83871078491211, + -43.673828125, + 0.26656341552734375 + ], + [ + -40.83871078491211, + -44.701698303222656, + 2.032783269882202 + ], + [ + -41.49565505981445, + -44.701698303222656, + 2.032783269882202 + ], + [ + -41.49565505981445, + -43.673828125, + 2.032783269882202 + ], + [ + -40.83871078491211, + -43.673828125, + 2.032783269882202 + ] + ], + "corners_2d": [ + [ + 624.5490569180974, + 390.95479247726587 + ], + [ + 645.6415459202043, + 395.30068317865465 + ], + [ + 655.1363977923232, + 372.98243324754003 + ], + [ + 634.5266415543354, + 368.8519382279535 + ], + [ + 623.8907952434262, + 346.183193203019 + ], + [ + 645.883128405871, + 350.48534956491466 + ], + [ + 655.7675834877499, + 328.4108419394021 + ], + [ + 634.299538541998, + 324.33066577425336 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 596, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -37.041194915771484, + "y": -41.19005584716797, + "z": 1.147358775138855 + }, + "extent": { + "x": 0.43622317910194397, + "y": 0.4431445598602295, + "z": 0.8612338304519653 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 527.76673957575, + "ymin": 247.9104628027604, + "xmax": 562.1543116093463, + "ymax": 307.48303251692766 + }, + "corners_3d": [ + [ + -36.698429107666016, + -41.70888137817383, + 0.28612494468688965 + ], + [ + -37.56535339355469, + -41.52461242675781, + 0.28612494468688965 + ], + [ + -37.38396072387695, + -40.67123031616211, + 0.28612494468688965 + ], + [ + -36.51703643798828, + -40.855499267578125, + 0.28612494468688965 + ], + [ + -36.698429107666016, + -41.70888137817383, + 2.0085926055908203 + ], + [ + -37.56535339355469, + -41.52461242675781, + 2.0085926055908203 + ], + [ + -37.38396072387695, + -40.67123031616211, + 2.0085926055908203 + ], + [ + -36.51703643798828, + -40.855499267578125, + 2.0085926055908203 + ] + ], + "corners_2d": [ + [ + 531.8135759116315, + 306.1372223746212 + ], + [ + 558.4240030579022, + 307.48303251692766 + ], + [ + 562.1543116093463, + 291.38754305810716 + ], + [ + 536.0726612375772, + 290.0953406500942 + ], + [ + 527.76673957575, + 263.6546277069373 + ], + [ + 555.3672210890549, + 264.9765379245127 + ], + [ + 559.2982005334655, + 249.1778073706995 + ], + [ + 532.2661512608499, + 247.9104628027604 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 501, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -43.42300796508789, + "y": -37.245052337646484, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.4826928675174713, + "y": 0.4028246998786926, + "z": 0.9100075960159302 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 745.5811370935412, + "ymin": 216.05960787074787, + "xmax": 776.026810164997, + "ymax": 278.1826065752917 + }, + "corners_3d": [ + [ + -43.072845458984375, + -37.767208099365234, + 0.08726829290390015 + ], + [ + -43.874080657958984, + -37.6829948425293, + 0.08726829290390015 + ], + [ + -43.773170471191406, + -36.722896575927734, + 0.08726829290390015 + ], + [ + -42.9719352722168, + -36.80710983276367, + 0.08726829290390015 + ], + [ + -43.072845458984375, + -37.767208099365234, + 1.9072835445404053 + ], + [ + -43.874080657958984, + -37.6829948425293, + 1.9072835445404053 + ], + [ + -43.773170471191406, + -36.722896575927734, + 1.9072835445404053 + ], + [ + -42.9719352722168, + -36.80710983276367, + 1.9072835445404053 + ] + ], + "corners_2d": [ + [ + 745.5811370935412, + 275.6147690630765 + ], + [ + 768.8389798356703, + 278.1826065752917 + ], + [ + 771.1794173508106, + 262.0603037698272 + ], + [ + 748.3992808589122, + 259.59869185129645 + ], + [ + 749.5553944248766, + 231.71568463740775 + ], + [ + 773.7055416674357, + 234.22809187525698 + ], + [ + 776.026810164997, + 218.46429045961887 + ], + [ + 752.3913331765667, + 216.05960787074787 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 631, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -50.66718292236328, + "y": -44.18776321411133, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.31370359659194946, + "y": 0.4339941442012787, + "z": 0.8834807872772217 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 946.555763197143, + "ymin": 395.71034822290846, + "xmax": 994.57836987034, + "ymax": 462.68659975975186 + }, + "corners_3d": [ + [ + -50.23318862915039, + -44.501468658447266, + 0.1137852668762207 + ], + [ + -51.10117721557617, + -44.50146484375, + 0.1137852668762207 + ], + [ + -51.10117721557617, + -43.87405776977539, + 0.1137852668762207 + ], + [ + -50.23318862915039, + -43.874061584472656, + 0.1137852668762207 + ], + [ + -50.23318862915039, + -44.501468658447266, + 1.880746841430664 + ], + [ + -51.10117721557617, + -44.50146484375, + 1.880746841430664 + ], + [ + -51.10117721557617, + -43.87405776977539, + 1.880746841430664 + ], + [ + -50.23318862915039, + -43.874061584472656, + 1.880746841430664 + ] + ], + "corners_2d": [ + [ + 946.555763197143, + 456.10359184477755 + ], + [ + 978.5467851383924, + 462.68659975975186 + ], + [ + 979.2832300254272, + 446.8984048525165 + ], + [ + 947.8127467228595, + 440.5306321741017 + ], + [ + 960.5172064290657, + 411.20986843892126 + ], + [ + 994.0771738691767, + 417.7688082459571 + ], + [ + 994.57836987034, + 402.0452900128556 + ], + [ + 961.5908357753502, + 395.71034822290846 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 43, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -44.78268051147461, + "y": -55.31512451171875, + "z": 0.9972807765007019 + }, + "extent": { + "x": 0.4678955376148224, + "y": 0.4372290372848511, + "z": 0.9037843346595764 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 624.73118354422, + "ymin": 693.1773066435032, + "xmax": 682.9437005772766, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -44.2989387512207, + -55.7347526550293, + 0.09349644184112549 + ], + [ + -45.16860580444336, + -55.8261604309082, + 0.09349644184112549 + ], + [ + -45.266422271728516, + -54.8954963684082, + 0.09349644184112549 + ], + [ + -44.39675521850586, + -54.8040885925293, + 0.09349644184112549 + ], + [ + -44.2989387512207, + -55.7347526550293, + 1.9010651111602783 + ], + [ + -45.16860580444336, + -55.8261604309082, + 1.9010651111602783 + ], + [ + -45.266422271728516, + -54.8954963684082, + 1.9010651111602783 + ], + [ + -44.39675521850586, + -54.8040885925293, + 1.9010651111602783 + ] + ], + "corners_2d": [ + [ + 625.6400378568038, + 775.729007072676 + ], + [ + 664.3907759329136, + 791.7493787647464 + ], + [ + 680.4366160051309, + 751.3914810245908 + ], + [ + 642.6954493257492, + 736.3567532076726 + ], + [ + 624.73118354422, + 733.569696844554 + ], + [ + 665.9552503814882, + 750.0506492631731 + ], + [ + 682.9437005772766, + 708.5828644963044 + ], + [ + 642.8604234949815, + 693.1773066435032 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 823, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -29.921844482421875, + "y": -52.35797882080078, + "z": 1.139971137046814 + }, + "extent": { + "x": 0.35038328170776367, + "y": 0.5117651224136353, + "z": 0.9161890745162964 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 97.65081994035404, + "ymin": 438.1876496846936, + "xmax": 171.6422780867464, + "ymax": 517.2936236088399 + }, + "corners_3d": [ + [ + -29.348413467407227, + -52.594303131103516, + 0.22378206253051758 + ], + [ + -30.349576950073242, + -52.807106018066406, + 0.22378206253051758 + ], + [ + -30.495275497436523, + -52.12165451049805, + 0.22378206253051758 + ], + [ + -29.494112014770508, + -51.908851623535156, + 0.22378206253051758 + ], + [ + -29.348413467407227, + -52.594303131103516, + 2.0561602115631104 + ], + [ + -30.349576950073242, + -52.807106018066406, + 2.0561602115631104 + ], + [ + -30.495275497436523, + -52.12165451049805, + 2.0561602115631104 + ], + [ + -29.494112014770508, + -51.908851623535156, + 2.0561602115631104 + ] + ], + "corners_2d": [ + [ + 123.49924376106458, + 502.7921015875211 + ], + [ + 150.26290092146178, + 517.2936236088399 + ], + [ + 171.6422780867464, + 499.16381548955474 + ], + [ + 145.05087028145505, + 485.17504438627077 + ], + [ + 97.65081994035404, + 455.7967343662347 + ], + [ + 125.37839156833297, + 470.31513476797386 + ], + [ + 148.29294797097162, + 452.16753817408227 + ], + [ + 120.74126292699191, + 438.1876496846936 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 7656, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 820.5427946602282, + "ymin": 286.0994468184866, + "xmax": 917.931658521502, + "ymax": 437.4653639969664 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 909.0773227203265, + 334.30661522997343 + ], + [ + 841.8004207355739, + 322.3881095638674 + ], + [ + 820.5427946602282, + 422.411845127669 + ], + [ + 895.8698965451284, + 437.4653639969664 + ], + [ + 917.931658521502, + 297.86150429552623 + ], + [ + 848.3420221121289, + 286.0994468184866 + ], + [ + 827.1404967344548, + 385.15783476224595 + ], + [ + 905.3800045769608, + 400.1346824615597 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 229, + "instance_id": 58624, + "pixel_count": 3081, + "type_id": "vehicle.dodge.charger_police_2020", + "bbox_3d": { + "center_world": { + "x": -54.599266052246094, + "y": -22.700984954833984, + "z": 0.8727232813835144 + }, + "extent": { + "x": 2.6187572479248047, + "y": 0.9648797512054443, + "z": 0.819191575050354 + }, + "yaw": 89.66251373291016 + }, + "bbox_2d": { + "xmin": 1053.1745835313632, + "ymin": 59.06965554422072, + "xmax": 1119.1452060053582, + "ymax": 155.0560819132712 + }, + "corners_3d": [ + [ + -53.64982986450195, + -25.325380325317383, + 0.05353168025612831 + ], + [ + -55.57955551147461, + -25.314014434814453, + 0.05353168025612831 + ], + [ + -55.5487060546875, + -20.076589584350586, + 0.05353168025612831 + ], + [ + -53.61897659301758, + -20.08795738220215, + 0.05353168025612831 + ], + [ + -53.64982986450195, + -25.325380325317383, + 1.6919147968292236 + ], + [ + -55.57955551147461, + -25.314014434814453, + 1.6919147968292236 + ], + [ + -55.5487060546875, + -20.076589584350586, + 1.6919147968292236 + ], + [ + -53.61897659301758, + -20.08795738220215, + 1.6919147968292236 + ] + ], + "corners_2d": [ + [ + 1056.7793049876416, + 148.50764794210556 + ], + [ + 1105.978412135577, + 155.0560819132712 + ], + [ + 1098.0706273709811, + 98.91554629951105 + ], + [ + 1053.1745835313632, + 93.44954737317511 + ], + [ + 1068.4333777209335, + 112.34295619607147 + ], + [ + 1119.1452060053582, + 118.69616118104179 + ], + [ + 1109.8618428529498, + 64.34703720909573 + ], + [ + 1063.7092189781556, + 59.06965554422072 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 2455, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 888.1497252748944, + "ymin": 48.41941487727689, + "xmax": 943.8320307067542, + "ymax": 129.81583749154663 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 937.3026609411233, + 82.97354918011513 + ], + [ + 897.6156332821344, + 78.11100889649805 + ], + [ + 888.1497252748944, + 124.13247816578135 + ], + [ + 930.9832794551389, + 129.81583749154663 + ], + [ + 943.8320307067542, + 53.129884939515364 + ], + [ + 903.2244954027824, + 48.41941487727689 + ], + [ + 893.9990034216617, + 93.07183161232734 + ], + [ + 937.9069987245914, + 98.59703397754004 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 271, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 842.0856859009627, + "ymin": 0.0, + "xmax": 890.5140435681594, + "ymax": 17.6656974776908 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 884.3316536555806, + -12.752904459456317 + ], + [ + 852.2517414923544, + -16.055304321929498 + ], + [ + 842.0856859009627, + 13.932294939698352 + ], + [ + 876.1270836899077, + 17.6656974776908 + ], + [ + 890.5140435681594, + -49.56059427231094 + ], + [ + 857.5843971510781, + -52.68587415659391 + ], + [ + 847.4914193413052, + -24.266172931683343 + ], + [ + 882.4913741807126, + -20.721700716976784 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1358148318300121759, + "instance_id": 40874, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 170.079561000799, + "ymin": 0.0, + "xmax": 281.2542241073633, + "ymax": 43.36153029637046 + }, + "corners_3d": [ + [ + -26.246047973632812, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246047973632812, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.197628021240234 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 281.2542241073633, + -21.21881473388953 + ], + [ + 273.6748987224634, + -22.1238741586713 + ], + [ + 171.0725843736928, + 42.19136690134411 + ], + [ + 179.4670889432429, + 43.36153029637046 + ], + [ + 280.5848945798383, + -23.948532007135668 + ], + [ + 272.99274482104516, + -24.850017841363695 + ], + [ + 170.079561000799, + 39.227384044880296 + ], + [ + 178.48970083410433, + 40.39352287114002 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 42.47258711048016, + "ymin": 607.8067022174005, + "xmax": 293.49890560083844, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 229.11446967803545, + 869.565346886523 + ], + [ + 293.49890560083844, + 759.1620938141973 + ], + [ + 209.75969346165556, + 732.6652086244317 + ], + [ + 139.6365677143819, + 838.2439801834415 + ], + [ + 147.07191955925776, + 755.2960110255046 + ], + [ + 230.93574363802236, + 635.8982512719158 + ], + [ + 134.0118311436151, + 607.8067022174005 + ], + [ + 42.47258711048016, + 721.0318295742431 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 126.2744814671322, + "ymax": 97.58880798447171 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 126.2744814671322, + 46.82370069989787 + ], + [ + 117.99595967678317, + 45.64592403443265 + ], + [ + 32.908843617508865, + 96.17892044186789 + ], + [ + 41.76356188155319, + 97.58880798447171 + ], + [ + 59.218687941058874, + -135.26679367295475 + ], + [ + 50.027949321249366, + -136.14797615421458 + ], + [ + -54.640987158397365, + -97.88286633715182 + ], + [ + -44.74606683604895, + -96.80165274355465 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 162.76878188434625, + "ymin": 0.0, + "xmax": 334.7421037711148, + "ymax": 262.8061790064231 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 334.7421037711148, + 181.5568793219148 + ], + [ + 323.8291505325695, + 179.7173304809157 + ], + [ + 239.72418170030505, + 260.49673234329407 + ], + [ + 251.69561400675394, + 262.8061790064231 + ], + [ + 283.25072200629376, + -31.031189723811224 + ], + [ + 270.66713263909327, + -32.501698062990044 + ], + [ + 162.76878188434625, + 33.37473820396946 + ], + [ + 176.7684214003234, + 35.298127215346256 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 73.36774711851103, + "ymin": 643.6308673817853, + "xmax": 247.03634337421028, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 173.94002793239406, + 789.3140619789824 + ], + [ + 247.03634337421028, + 679.024958004984 + ], + [ + 159.88302769401224, + 652.9071446596486 + ], + [ + 80.55785196248223, + 758.1099309490388 + ], + [ + 167.79859586213985, + 780.7153843140949 + ], + [ + 242.30924621276301, + 669.8486800720455 + ], + [ + 154.23787438857647, + 643.6308673817853 + ], + [ + 73.36774711851103, + 749.3223267828502 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 766.937249524728, + "ymin": 0.0, + "xmax": 1029.6805553838344, + "ymax": 4.673069740646611 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 768.4575057385607, + -22.259838099335127 + ], + [ + 766.937249524728, + -19.586588935361192 + ], + [ + 987.3852579695001, + 4.673069740646611 + ], + [ + 987.6716455828839, + 1.7189967436297025 + ], + [ + 783.1387223071633, + -189.59066045040674 + ], + [ + 781.5367991505497, + -187.67202185128303 + ], + [ + 1029.6413298111534, + -170.14555381017442 + ], + [ + 1029.6805553838344, + -172.29086411159255 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13681264316117260208, + "instance_id": 45207, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 169.96256958042886, + "ymin": 0.0, + "xmax": 281.3506043704287, + "ymax": 43.42336983810128 + }, + "corners_3d": [ + [ + -26.24793815612793, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.24793815612793, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.198223114013672 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 281.3506043704287, + -21.222729356335435 + ], + [ + 273.6736331078749, + -22.13941879184364 + ], + [ + 170.96874451952573, + 42.237880588614814 + ], + [ + 179.47222243052244, + 43.42336983810128 + ], + [ + 280.6728095861051, + -23.98772060398875 + ], + [ + 272.982680915827, + -24.900743534431513 + ], + [ + 169.96256958042886, + 39.235407524132256 + ], + [ + 178.48209183681422, + 40.41676710143685 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 73.26249296165633, + "ymin": 643.5623826845703, + "xmax": 247.15934641570652, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 173.99591562222042, + 789.4571233248347 + ], + [ + 247.15934641570652, + 679.0471727653412 + ], + [ + 159.90764376485623, + 652.9002024556235 + ], + [ + 80.50166122964004, + 758.2125079363417 + ], + [ + 167.81373965964104, + 780.8022595725024 + ], + [ + 242.4022901455536, + 669.8101155730849 + ], + [ + 154.22537963237016, + 643.5623826845703 + ], + [ + 73.26249296165633, + 749.3671551989042 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14568560350539926722, + "instance_id": 49868, + "pixel_count": null, + "type_id": "AmericanLights_Town04_28_Poles_4", + "bbox_3d": { + "center_world": { + "x": -60.752010345458984, + "y": -3.6481895446777344, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1164.9909241843134, + "ymin": 0.0, + "xmax": 1267.2409578259376, + "ymax": 24.880738772529753 + }, + "corners_3d": [ + [ + -60.482032775878906, + -9.673303604125977, + 0.0 + ], + [ + -60.91484832763672, + -9.67715072631836, + 0.0 + ], + [ + -61.02198791503906, + 2.376924991607666, + 0.0 + ], + [ + -60.58917236328125, + 2.3807718753814697, + 0.0 + ], + [ + -60.482032775878906, + -9.673303604125977, + 8.446706771850586 + ], + [ + -60.91484832763672, + -9.67715072631836, + 8.446706771850586 + ], + [ + -61.02198791503906, + 2.376924991607666, + 8.446706771850586 + ], + [ + -60.58917236328125, + 2.3807718753814697, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1187.4046040933304, + 23.89076939179398 + ], + [ + 1196.4492269896173, + 24.880738772529753 + ], + [ + 1172.6618977619698, + -51.506697378724255 + ], + [ + 1164.9909241843134, + -52.225824098525266 + ], + [ + 1256.8953232118783, + -156.11309207632723 + ], + [ + 1267.2409578259376, + -155.386635832955 + ], + [ + 1229.344253727945, + -210.41974143291782 + ], + [ + 1220.7560653425057, + -210.92818248189974 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 414.7928942198199, + "ymin": 0.0, + "xmax": 498.05040047750174, + "ymax": 67.73746552000426 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 498.05040047750174, + 21.783392967886186 + ], + [ + 489.38076299304305, + 20.712455798258247 + ], + [ + 441.74295842388506, + 66.46657248835879 + ], + [ + 451.07978608474684, + 67.73746552000426 + ], + [ + 480.4897443879205, + -153.8936444983625 + ], + [ + 470.7912251677993, + -154.68527899351227 + ], + [ + 414.7928942198199, + -120.4960015774218 + ], + [ + 425.33250204277147, + -119.53546441230952 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00093/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00093/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..080c141796b7431e6457e0d1d9c14bc8f3384377 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00093/meta.json @@ -0,0 +1,2428 @@ +{ + "frame_id": 93, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 46.5, + "sim_timestamp": 14223.797609574394 + }, + "drone_pose": { + "x": -47.02846875469533, + "y": -63.56235036563752, + "z": 20.0, + "pitch": -41.64120107560861, + "yaw": 73.95072710743975, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.20660704374313354, + -0.7181931734085083, + 0.6644637584686279, + 42.077186584472656 + ], + [ + 0.961024284362793, + 0.27646374702453613, + 2.9802322387695312e-08, + -27.622812271118164 + ], + [ + -0.18370018899440765, + 0.6385658979415894, + 0.7473204731941223, + -64.1742935180664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -46.97814077677442, + "y": -63.06898760811835, + "z": 20.0 + }, + "t1_image_uv": [ + 871.7052630682226, + -493.56316537101657 + ], + "t1_depth": 0.36472786408299 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -41.16718292236328, + "y": -43.18776321411133, + "z": 1.149673331975937 + }, + "image_uv": [ + 639.9999999999999, + 360.00000000000006 + ], + "depth": 28.36923137299726, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 693, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -41.16718292236328, + "y": -43.18776321411133, + "z": 1.149673342704773 + }, + "extent": { + "x": 0.4937231242656708, + "y": 0.44114744663238525, + "z": 0.8888810276985168 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 620.4459791249818, + "ymin": 323.92581591618523, + "xmax": 659.1866138649088, + "ymax": 395.7075579268668 + }, + "corners_3d": [ + [ + -40.726036071777344, + -43.681488037109375, + 0.2607923150062561 + ], + [ + -41.60832977294922, + -43.681488037109375, + 0.2607923150062561 + ], + [ + -41.60832977294922, + -42.69403839111328, + 0.2607923150062561 + ], + [ + -40.726036071777344, + -42.69403839111328, + 0.2607923150062561 + ], + [ + -40.726036071777344, + -43.681488037109375, + 2.0385544300079346 + ], + [ + -41.60832977294922, + -43.681488037109375, + 2.0385544300079346 + ], + [ + -41.60832977294922, + -42.69403839111328, + 2.0385544300079346 + ], + [ + -40.726036071777344, + -42.69403839111328, + 2.0385544300079346 + ] + ], + "corners_2d": [ + [ + 621.2509003687675, + 390.0586452459147 + ], + [ + 649.6779227594603, + 395.7075579268668 + ], + [ + 658.4110564691691, + 374.12709030172533 + ], + [ + 630.6154756919648, + 368.74819282361216 + ], + [ + 620.4459791249818, + 344.9958931993062 + ], + [ + 650.0961784925522, + 350.58840562367664 + ], + [ + 659.1866138649088, + 329.23992779052446 + ], + [ + 630.2227100507022, + 323.92581591618523 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 93, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 117, + "semantic_pixel_counts": { + "1": 333605, + "2": 203931, + "3": 2356, + "4": 8563, + "5": 3034, + "6": 2659, + "9": 6666, + "10": 535, + "12": 3335, + "14": 45733, + "15": 2702, + "20": 1043, + "21": 22307, + "24": 24042, + "25": 261089 + }, + "instance_pixel_counts": { + "70": 267, + "143": 11492, + "620": 618, + "883": 96, + "1132": 413, + "2214": 321, + "2470": 276, + "3180": 126, + "4166": 353, + "4678": 411, + "5228": 749, + "6053": 48, + "6508": 1897, + "6565": 7595, + "7539": 1998, + "7786": 315, + "7825": 170, + "8018": 262, + "8064": 99, + "8296": 1213, + "8298": 482, + "8337": 166, + "8780": 205, + "8808": 14316, + "8810": 3718, + "9320": 121695, + "9834": 760, + "10344": 3812, + "10346": 448, + "10624": 1545, + "10856": 12782, + "11116": 488, + "11136": 214, + "11368": 131687, + "11370": 3883, + "11596": 8563, + "11880": 144, + "11882": 14, + "12652": 111, + "17516": 105, + "20308": 7739, + "20820": 4403, + "20866": 1624, + "21332": 3446, + "21844": 1194, + "22356": 5015, + "22868": 2317, + "22893": 4545, + "23380": 3165, + "24916": 1048, + "25428": 1830, + "25698": 244, + "25928": 2829, + "25940": 102, + "26210": 19, + "26368": 184, + "26987": 1036, + "27234": 198, + "27243": 7, + "27460": 848, + "27476": 3736, + "27559": 93, + "27719": 80618, + "27746": 210, + "27988": 21, + "28002": 44, + "28258": 1, + "30351": 3681, + "30630": 4430, + "30863": 29128, + "31142": 4358, + "31654": 5219, + "31812": 112, + "31887": 1961, + "32324": 179, + "32399": 9132, + "32911": 34514, + "34372": 145, + "34447": 77, + "34884": 692, + "35399": 4, + "36753": 245, + "37286": 381, + "37798": 324, + "39239": 261085, + "41367": 17, + "41796": 189, + "41879": 1308, + "42391": 10344, + "43927": 446, + "44439": 1704, + "44951": 14946, + "45463": 18, + "46672": 304, + "46917": 40, + "47184": 335, + "48708": 306, + "50756": 44, + "52327": 38057, + "54375": 9899, + "54950": 536, + "55401": 1101, + "56173": 6666, + "56320": 693, + "56576": 607, + "56832": 506, + "56937": 70, + "57088": 641, + "57344": 26, + "57600": 862, + "58368": 8176, + "58624": 3218, + "58880": 2565, + "59522": 212, + "60833": 498, + "61440": 460, + "64837": 231 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 693, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -41.16718292236328, + "y": -43.18776321411133, + "z": 1.149673342704773 + }, + "extent": { + "x": 0.474395751953125, + "y": 0.551867663860321, + "z": 0.8717197775840759 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 616.960255328852, + "ymin": 324.115975735626, + "xmax": 662.6669077154986, + "ymax": 395.57044704768566 + }, + "corners_3d": [ + [ + -40.61531448364258, + -43.66215896606445, + 0.277953565120697 + ], + [ + -41.719051361083984, + -43.66215896606445, + 0.277953565120697 + ], + [ + -41.719051361083984, + -42.7133674621582, + 0.277953565120697 + ], + [ + -40.61531448364258, + -42.7133674621582, + 0.277953565120697 + ], + [ + -40.61531448364258, + -43.66215896606445, + 2.021393060684204 + ], + [ + -41.719051361083984, + -43.66215896606445, + 2.021393060684204 + ], + [ + -41.719051361083984, + -42.7133674621582, + 2.021393060684204 + ], + [ + -40.61531448364258, + -42.7133674621582, + 2.021393060684204 + ] + ], + "corners_2d": [ + [ + 617.8895311916025, + 388.51106450860146 + ], + [ + 653.4498869897736, + 395.57044704768566 + ], + [ + 661.7668767758839, + 374.80381659366526 + ], + [ + 626.9661248502357, + 368.06909254576817 + ], + [ + 616.960255328852, + 344.3304973710311 + ], + [ + 654.0198850011592, + 351.32048334005304 + ], + [ + 662.6669077154986, + 330.77141818705536 + ], + [ + 626.4315429187786, + 324.115975735626 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 607, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -37.041194915771484, + "y": -40.19005584716797, + "z": 1.1473637819290161 + }, + "extent": { + "x": 0.452385276556015, + "y": 0.48328620195388794, + "z": 0.9063328504562378 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 524.9582758393957, + "ymin": 246.8382211598274, + "xmax": 562.03508169233, + "ymax": 309.27232521762835 + }, + "corners_3d": [ + [ + -36.66252517700195, + -40.733036041259766, + 0.24103093147277832 + ], + [ + -37.607975006103516, + -40.532073974609375, + 0.24103093147277832 + ], + [ + -37.419864654541016, + -39.64707565307617, + 0.24103093147277832 + ], + [ + -36.47441482543945, + -39.84803771972656, + 0.24103093147277832 + ], + [ + -36.66252517700195, + -40.733036041259766, + 2.053696632385254 + ], + [ + -37.607975006103516, + -40.532073974609375, + 2.053696632385254 + ], + [ + -37.419864654541016, + -39.64707565307617, + 2.053696632385254 + ], + [ + -36.47441482543945, + -39.84803771972656, + 2.053696632385254 + ] + ], + "corners_2d": [ + [ + 529.3339223875081, + 307.9791567201457 + ], + [ + 558.4317898070541, + 309.27232521762835 + ], + [ + 562.03508169233, + 292.5029757291911 + ], + [ + 533.5383589000593, + 291.263223829541 + ], + [ + 524.9582758393957, + 263.231472952547 + ], + [ + 555.2012398705137, + 264.5008050843901 + ], + [ + 559.0142387081311, + 248.0531136548915 + ], + [ + 529.4201340989305, + 246.8382211598274 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 506, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -43.42300796508789, + "y": -36.245052337646484, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4739990234375, + "y": 0.3611718714237213, + "z": 0.9496578574180603 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 745.1325628263631, + "ymin": 214.43316877346976, + "xmax": 773.0205511713408, + "ymax": 277.84523436661294 + }, + "corners_3d": [ + [ + -43.11336135864258, + -36.754207611083984, + 0.04761308431625366 + ], + [ + -43.831748962402344, + -36.67870330810547, + 0.04761308431625366 + ], + [ + -43.7326545715332, + -35.735897064208984, + 0.04761308431625366 + ], + [ + -43.01426696777344, + -35.8114013671875, + 0.04761308431625366 + ], + [ + -43.11336135864258, + -36.754207611083984, + 1.9469287395477295 + ], + [ + -43.831748962402344, + -36.67870330810547, + 1.9469287395477295 + ], + [ + -43.7326545715332, + -35.735897064208984, + 1.9469287395477295 + ], + [ + -43.01426696777344, + -35.8114013671875, + 1.9469287395477295 + ] + ], + "corners_2d": [ + [ + 745.1325628263631, + 275.6644203348237 + ], + [ + 765.9812958623331, + 277.84523436661294 + ], + [ + 768.0718806979651, + 261.98219860343124 + ], + [ + 747.6448992439529, + 259.89003210102135 + ], + [ + 749.2713233744805, + 229.8393926839342 + ], + [ + 770.9554255854188, + 231.97126528329144 + ], + [ + 773.0205511713408, + 216.4750756374447 + ], + [ + 751.7923140493693, + 214.43316877346976 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 641, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -51.21603775024414, + "y": -43.46590805053711, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.3198168873786926, + "y": 0.3088110387325287, + "z": 0.8847836256027222 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 971.6465354616444, + "ymin": 405.04614800271906, + "xmax": 1011.2339244946988, + "ymax": 470.8863892821786 + }, + "corners_3d": [ + [ + -50.9072265625, + -43.78572463989258, + 0.1124873161315918 + ], + [ + -51.52484893798828, + -43.78572463989258, + 0.1124873161315918 + ], + [ + -51.52484893798828, + -43.14609146118164, + 0.1124873161315918 + ], + [ + -50.9072265625, + -43.14609146118164, + 0.1124873161315918 + ], + [ + -50.9072265625, + -43.78572463989258, + 1.8820545673370361 + ], + [ + -51.52484893798828, + -43.78572463989258, + 1.8820545673370361 + ], + [ + -51.52484893798828, + -43.14609146118164, + 1.8820545673370361 + ], + [ + -50.9072265625, + -43.14609146118164, + 1.8820545673370361 + ] + ], + "corners_2d": [ + [ + 971.6465354616444, + 466.26262737741047 + ], + [ + 994.7553084888967, + 470.8863892821786 + ], + [ + 995.0074396847774, + 454.4457259811502 + ], + [ + 972.2895497408202, + 449.977894909085 + ], + [ + 986.974464852755, + 421.2721972294475 + ], + [ + 1011.2339244946988, + 425.8839364745554 + ], + [ + 1011.2038372198747, + 409.4953472791196 + ], + [ + 987.3748056226663, + 405.04614800271906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 26, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -44.78268051147461, + "y": -54.31512451171875, + "z": 0.9973050951957703 + }, + "extent": { + "x": 0.48334479331970215, + "y": 0.4489746391773224, + "z": 0.9426612854003906 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 629.874005938075, + "ymin": 692.1363290023389, + "xmax": 689.4979182289572, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -44.285640716552734, + -54.7488899230957, + 0.05464380979537964 + ], + [ + -45.178672790527344, + -54.842750549316406, + 0.05464380979537964 + ], + [ + -45.279720306396484, + -53.8813591003418, + 0.05464380979537964 + ], + [ + -44.386688232421875, + -53.787498474121094, + 0.05464380979537964 + ], + [ + -44.285640716552734, + -54.7488899230957, + 1.9399664402008057 + ], + [ + -45.178672790527344, + -54.842750549316406, + 1.9399664402008057 + ], + [ + -45.279720306396484, + -53.8813591003418, + 1.9399664402008057 + ], + [ + -44.386688232421875, + -53.787498474121094, + 1.9399664402008057 + ] + ], + "corners_2d": [ + [ + 630.5035586244865, + 778.0164918336202 + ], + [ + 670.5383818629896, + 794.1156140788044 + ], + [ + 686.4830312712029, + 752.193608931944 + ], + [ + 647.5428852634711, + 737.1195418480388 + ], + [ + 629.874005938075, + 734.1505420805645 + ], + [ + 672.5902329825378, + 750.738662341741 + ], + [ + 689.4979182289572, + 707.6013841245858 + ], + [ + 648.025817528011, + 692.1363290023389 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 862, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -29.921844482421875, + "y": -51.35797882080078, + "z": 1.1399809122085571 + }, + "extent": { + "x": 0.39076048135757446, + "y": 0.5322290062904358, + "z": 0.9383243918418884 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 94.34536807170718, + "ymin": 440.297602319626, + "xmax": 173.17688221337676, + "ymax": 523.3408851198706 + }, + "corners_3d": [ + [ + -29.32000160217285, + -51.62954330444336, + 0.2016565203666687 + ], + [ + -30.36119842529297, + -51.85085678100586, + 0.2016565203666687 + ], + [ + -30.5236873626709, + -51.0864143371582, + 0.2016565203666687 + ], + [ + -29.48249053955078, + -50.8651008605957, + 0.2016565203666687 + ], + [ + -29.32000160217285, + -51.62954330444336, + 2.078305244445801 + ], + [ + -30.36119842529297, + -51.85085678100586, + 2.078305244445801 + ], + [ + -30.5236873626709, + -51.0864143371582, + 2.078305244445801 + ], + [ + -29.48249053955078, + -50.8651008605957, + 2.078305244445801 + ] + ], + "corners_2d": [ + [ + 121.15009802706561, + 508.35557328231374 + ], + [ + 149.44959656977107, + 523.3408851198706 + ], + [ + 173.17688221337676, + 502.8060976574476 + ], + [ + 145.09790257726104, + 488.41560282734287 + ], + [ + 94.34536807170718, + 460.2401505255526 + ], + [ + 123.70793860644403, + 475.2544102300798 + ], + [ + 149.20039140817488, + 454.68584033842455 + ], + [ + 120.06493744728948, + 440.297602319626 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 8176, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 816.0232200989922, + "ymin": 303.48445307461475, + "xmax": 914.5685010536201, + "ymax": 460.57997407189305 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 905.6134143663573, + 352.05659911478307 + ], + [ + 836.8037253031845, + 340.0148553009642 + ], + [ + 816.0232200989922, + 445.2771188362964 + ], + [ + 893.3248089632123, + 460.57997407189305 + ], + [ + 914.5685010536201, + 315.38667668532906 + ], + [ + 843.3412866703529, + 303.48445307461475 + ], + [ + 822.6366002388799, + 407.9152449114129 + ], + [ + 903.0035552952681, + 423.17051774873784 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 229, + "instance_id": 58624, + "pixel_count": 3218, + "type_id": "vehicle.dodge.charger_police_2020", + "bbox_3d": { + "center_world": { + "x": -54.599266052246094, + "y": -22.700984954833984, + "z": 0.8727232813835144 + }, + "extent": { + "x": 2.6187572479248047, + "y": 0.9648797512054443, + "z": 0.819191575050354 + }, + "yaw": 89.66251373291016 + }, + "bbox_2d": { + "xmin": 1048.6420219461766, + "ymin": 66.04602907302774, + "xmax": 1116.4018739143698, + "ymax": 164.16797147350584 + }, + "corners_3d": [ + [ + -53.64982986450195, + -25.325380325317383, + 0.05353168025612831 + ], + [ + -55.57955551147461, + -25.314014434814453, + 0.05353168025612831 + ], + [ + -55.5487060546875, + -20.076589584350586, + 0.05353168025612831 + ], + [ + -53.61897659301758, + -20.08795738220215, + 0.05353168025612831 + ], + [ + -53.64982986450195, + -25.325380325317383, + 1.6919147968292236 + ], + [ + -55.57955551147461, + -25.314014434814453, + 1.6919147968292236 + ], + [ + -55.5487060546875, + -20.076589584350586, + 1.6919147968292236 + ], + [ + -53.61897659301758, + -20.08795738220215, + 1.6919147968292236 + ] + ], + "corners_2d": [ + [ + 1053.1691219699655, + 157.63980450033515 + ], + [ + 1103.0888021588003, + 164.16797147350584 + ], + [ + 1094.118017612061, + 106.16298240355184 + ], + [ + 1048.6420219461766, + 100.73072819608234 + ], + [ + 1064.925835037583, + 121.1585642994794 + ], + [ + 1116.4018739143698, + 127.49817556079427 + ], + [ + 1105.9917602586952, + 71.29498785763826 + ], + [ + 1059.2274241082498, + 66.04602907302774 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 2565, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 881.8973473334818, + "ymin": 55.63527926022755, + "xmax": 937.7383642103375, + "ymax": 138.91861687538685 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 931.2364188321781, + 90.45008207455498 + ], + [ + 890.9766606209956, + 85.60988287612315 + ], + [ + 881.8973473334818, + 133.24559655729277 + ], + [ + 925.4160854512805, + 138.91861687538685 + ], + [ + 937.7383642103375, + 60.327444588537276 + ], + [ + 896.5323283919276, + 55.63527926022755 + ], + [ + 887.7030149965356, + 101.88976085867239 + ], + [ + 932.3297263973079, + 107.40953425386112 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 460, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 834.0614579262505, + "ymin": 0.0, + "xmax": 882.5872795489685, + "ymax": 23.381480193107507 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 876.5177726254983, + -7.932515744228908 + ], + [ + 844.0502264373447, + -11.204046870582147 + ], + [ + 834.0614579262505, + 19.676053568042732 + ], + [ + 868.55025446236, + 23.381480193107507 + ], + [ + 882.5872795489685, + -45.0833689928034 + ], + [ + 849.2503165837977, + -48.18160695068099 + ], + [ + 839.3321466508919, + -18.894090521045996 + ], + [ + 874.8037826498477, + -15.37337159371765 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1358148318300121759, + "instance_id": 40874, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 143.63460501789183, + "ymin": 0.0, + "xmax": 259.6885746430643, + "ymax": 58.81069566284714 + }, + "corners_3d": [ + [ + -26.246047973632812, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246047973632812, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.197628021240234 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 259.6885746430643, + -9.776690750621867 + ], + [ + 251.89662457184085, + -10.699471471692675 + ], + [ + 144.71735825046204, + 57.60804393192922 + ], + [ + 153.38012442273345, + 58.81069566284714 + ], + [ + 258.9590047662073, + -12.557309922790182 + ], + [ + 251.1535298404254, + -13.476543531072252 + ], + [ + 143.63460501789183, + 54.586588372533356 + ], + [ + 152.31398281736028, + 55.78526776907887 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1.2351817188987297, + "ymin": 660.2377414645848, + "xmax": 271.5139336417897, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 203.3357760458979, + 929.9143158153354 + ], + [ + 271.5139336417897, + 809.5361859073776 + ], + [ + 184.30598231630142, + 781.7980751124746 + ], + [ + 109.8408706795251, + 896.8796536003928 + ], + [ + 111.3098301801839, + 822.4762579695403 + ], + [ + 201.6683765109409, + 690.0885620281213 + ], + [ + 100.10871770800668, + 660.2377414645848 + ], + [ + 1.2351817188987297, + 785.6783683541908 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 104.95841685682956, + "ymax": 109.87261936291802 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 104.95841685682956, + 56.72430944787254 + ], + [ + 96.4876834264926, + 55.53832608352883 + ], + [ + 8.510529515313124, + 108.44681748978203 + ], + [ + 17.59108422189479, + 109.87261936291802 + ], + [ + 33.398016916098186, + -128.2462700248392 + ], + [ + 23.971917329548205, + -129.138650065406 + ], + [ + -85.06441782054958, + -88.8214076974972 + ], + [ + -74.88918698186899, + -87.7203846137918 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 135.91535027559513, + "ymin": 0.0, + "xmax": 317.5523256097646, + "ymax": 281.4406629757284 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 317.5523256097646, + 195.91555505915127 + ], + [ + 306.3709024568922, + 194.05477857153414 + ], + [ + 219.4117204877861, + 279.09040893950277 + ], + [ + 231.7156104844264, + 281.4406629757284 + ], + [ + 261.62521849078996, + -19.81488984695187 + ], + [ + 248.68759990608925, + -21.314507949862104 + ], + [ + 135.91535027559513, + 48.68109718197496 + ], + [ + 150.36617006494987, + 50.65913046990903 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 10234443874856298034, + "instance_id": 12902, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -36.43667221069336, + "y": -58.59589385986328, + "z": 3.6327226161956787 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 35.65785239264028, + "ymin": 695.7013939501063, + "xmax": 220.05750804544527, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.4028434753418, + -59.6839714050293, + 3.470482349395752 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.4704859256744385 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.4704859256744385 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.470482349395752 + ], + [ + -37.4028434753418, + -59.6839714050293, + 3.794959306716919 + ], + [ + -37.40284729003906, + -57.50782012939453, + 3.7949628829956055 + ], + [ + -35.47050094604492, + -57.507816314697266, + 3.7949628829956055 + ], + [ + -35.470497131347656, + -59.68396759033203, + 3.794959306716919 + ] + ], + "corners_2d": [ + [ + 141.75206838301682, + 853.9704063533347 + ], + [ + 220.05750804544527, + 732.3757772265258 + ], + [ + 128.9100325748376, + 704.7541340327682 + ], + [ + 43.72252339380327, + 820.6721513848664 + ], + [ + 134.84014264240727, + 845.8447669507877 + ], + [ + 214.76417255018453, + 723.4599061956108 + ], + [ + 122.61472981941643, + 695.7013939501063 + ], + [ + 35.65785239264028, + 812.2996565188075 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 757.6937404931194, + "ymin": 0.0, + "xmax": 1022.9197026742065, + "ymax": 9.555985311803 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 759.2125446368568, + -17.28200840123918 + ], + [ + 757.6937404931194, + -14.528612776027842 + ], + [ + 980.8331899840277, + 9.555985311803 + ], + [ + 981.081238802617, + 6.519640082063063 + ], + [ + 773.0566310966052, + -186.48158619898913 + ], + [ + 771.4496975367263, + -184.49884875223995 + ], + [ + 1022.9197026742065, + -167.04113922812496 + ], + [ + 1022.9130284898195, + -169.2533937665595 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13681264316117260208, + "instance_id": 45207, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 143.5125357123568, + "ymin": 0.0, + "xmax": 259.78844680732664, + "ymax": 58.87544961618062 + }, + "corners_3d": [ + [ + -26.24793815612793, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.24793815612793, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.198223114013672 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 259.78844680732664, + -9.781741260324736 + ], + [ + 251.89612674803232, + -10.716375934977918 + ], + [ + 144.60962754287794, + 57.6570422648839 + ], + [ + 153.38486405697108, + 58.87544961618062 + ], + [ + 259.04964638870024, + -12.598290371209941 + ], + [ + 251.14345029505415, + -13.529285701920799 + ], + [ + 143.5125357123568, + 54.596348693148684 + ], + [ + 152.30481854730544, + 55.81067998929876 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14170027072472821395, + "instance_id": 37678, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -36.436668395996094, + "y": -58.59589385986328, + "z": 3.631622314453125 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 35.54590278764533, + "ymin": 695.6267597587532, + "xmax": 220.18922076016725, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.40403366088867, + -59.68516540527344, + 3.468297243118286 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.4683005809783936 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.4683005809783936 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.468297243118286 + ], + [ + -37.40403366088867, + -59.68516540527344, + 3.7949440479278564 + ], + [ + -37.40403747558594, + -57.50662612915039, + 3.794947385787964 + ], + [ + -35.469303131103516, + -57.506622314453125, + 3.794947385787964 + ], + [ + -35.46929931640625, + -59.68516159057617, + 3.7949440479278564 + ] + ], + "corners_2d": [ + [ + 141.81266016284758, + 854.1187363321606 + ], + [ + 220.18922076016725, + 732.3917851532749 + ], + [ + 128.9393016206771, + 704.7396365900645 + ], + [ + 43.665584798067925, + 820.7773990281271 + ], + [ + 134.8548696162772, + 845.9402551732945 + ], + [ + 214.8623525984289, + 723.4168212206343 + ], + [ + 122.60266749653283, + 695.6267597587532 + ], + [ + 35.54590278764533, + 812.35003133178 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14568560350539926722, + "instance_id": 49868, + "pixel_count": null, + "type_id": "AmericanLights_Town04_28_Poles_4", + "bbox_3d": { + "center_world": { + "x": -60.752010345458984, + "y": -3.6481895446777344, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1158.8222615458294, + "ymin": 0.0, + "xmax": 1263.1715982966625, + "ymax": 29.475688651271128 + }, + "corners_3d": [ + [ + -60.482032775878906, + -9.673303604125977, + 0.0 + ], + [ + -60.91484832763672, + -9.67715072631836, + 0.0 + ], + [ + -61.02198791503906, + 2.376924991607666, + 0.0 + ], + [ + -60.58917236328125, + 2.3807718753814697, + 0.0 + ], + [ + -60.482032775878906, + -9.673303604125977, + 8.446706771850586 + ], + [ + -60.91484832763672, + -9.67715072631836, + 8.446706771850586 + ], + [ + -61.02198791503906, + 2.376924991607666, + 8.446706771850586 + ], + [ + -60.58917236328125, + 2.3807718753814697, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1182.840151023536, + 28.495920975759873 + ], + [ + 1191.967337342821, + 29.475688651271128 + ], + [ + 1166.5465008155738, + -48.72413364777299 + ], + [ + 1158.8222615458294, + -49.433028495910094 + ], + [ + 1252.7189352846008, + -153.16689060188048 + ], + [ + 1263.1715982966625, + -152.44564609369695 + ], + [ + 1223.222839879954, + -208.93591361475546 + ], + [ + 1214.5686233753213, + -209.43823158631028 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 397.8571682497608, + "ymin": 0.0, + "xmax": 484.84473961125076, + "ymax": 76.97105038940941 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 484.84473961125076, + 29.231166837479748 + ], + [ + 476.0184371118752, + 28.160614636127548 + ], + [ + 427.40741937740995, + 75.69629078011411 + ], + [ + 436.93085511078567, + 76.97105038940941 + ], + [ + 465.26077674724047, + -148.80178735912835 + ], + [ + 455.36812512075255, + -149.59667774579634 + ], + [ + 397.8571682497608, + -113.90074880875079 + ], + [ + 408.6323394915081, + -112.93208212313067 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00097/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00097/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..db198c5ff9339d1b4075e16c23b0f00103c5a729 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00097/meta.json @@ -0,0 +1,2111 @@ +{ + "frame_id": 97, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 48.5, + "sim_timestamp": 14278.377209191443 + }, + "drone_pose": { + "x": -47.02208982347524, + "y": -61.55772756733541, + "z": 20.0, + "pitch": -41.64953024847493, + "yaw": 73.96384428430181, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2064160704612732, + -0.7181475758552551, + 0.6645723581314087, + 40.62220001220703 + ], + [ + 0.9610875248908997, + 0.2762439250946045, + -5.960464477539063e-08, + -28.18740463256836 + ], + [ + -0.1835840344429016, + 0.6387122273445129, + 0.7472239136695862, + -62.894657135009766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.092985505203714, + "y": -61.040492947633396, + "z": 20.0 + }, + "t1_image_uv": [ + 1207.7397452434357, + -493.81308067914824 + ], + "t1_depth": 0.3568167806727765 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -41.16718292236328, + "y": -41.18776321411133, + "z": 1.149673331975937 + }, + "image_uv": [ + 640.0000000000001, + 359.99999999999994 + ], + "depth": 28.364594093050716, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 740, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -41.16718292236328, + "y": -41.18776321411133, + "z": 1.149673342704773 + }, + "extent": { + "x": 0.49565061926841736, + "y": 0.5910961627960205, + "z": 0.9039517045021057 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 615.4153215151227, + "ymin": 322.5899906094763, + "xmax": 664.1738374071066, + "ymax": 397.08753677307254 + }, + "corners_3d": [ + [ + -40.576087951660156, + -41.683414459228516, + 0.24572163820266724 + ], + [ + -41.758277893066406, + -41.683414459228516, + 0.24572163820266724 + ], + [ + -41.758277893066406, + -40.69211196899414, + 0.24572163820266724 + ], + [ + -40.576087951660156, + -40.69211196899414, + 0.24572163820266724 + ], + [ + -40.576087951660156, + -41.683414459228516, + 2.0536251068115234 + ], + [ + -41.758277893066406, + -41.683414459228516, + 2.0536251068115234 + ], + [ + -41.758277893066406, + -40.69211196899414, + 2.0536251068115234 + ], + [ + -40.576087951660156, + -40.69211196899414, + 2.0536251068115234 + ] + ], + "corners_2d": [ + [ + 616.4433978158227, + 389.5208943733159 + ], + [ + 654.5301730407534, + 397.08753677307254 + ], + [ + 663.1791397880213, + 375.3666731395997 + ], + [ + 625.9415726019317, + 368.1630027589438 + ], + [ + 615.4153215151227, + 343.7015190842586 + ], + [ + 655.1699818282249, + 351.19157285730336 + ], + [ + 664.1738374071066, + 329.7055906434107 + ], + [ + 625.343489288345, + 322.5899906094763 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 97, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 112, + "semantic_pixel_counts": { + "1": 332906, + "2": 179756, + "3": 1699, + "4": 8061, + "5": 3104, + "6": 2951, + "9": 1265, + "10": 631, + "12": 3284, + "14": 52904, + "15": 3628, + "20": 452, + "21": 19397, + "24": 25537, + "25": 286025 + }, + "instance_pixel_counts": { + "70": 294, + "143": 8516, + "620": 705, + "883": 24, + "1132": 468, + "2214": 313, + "2470": 156, + "3180": 146, + "4166": 397, + "4678": 461, + "5228": 700, + "6053": 50, + "6508": 2128, + "6565": 4618, + "7539": 1675, + "7786": 585, + "7825": 200, + "8064": 111, + "8296": 2853, + "8298": 539, + "8337": 181, + "8780": 242, + "8808": 15762, + "8810": 4328, + "9320": 141720, + "9834": 1043, + "10344": 7117, + "10346": 489, + "10624": 1730, + "10856": 14142, + "11116": 552, + "11136": 236, + "11368": 137635, + "11370": 3744, + "11596": 8061, + "11880": 747, + "11882": 26, + "12652": 152, + "17516": 121, + "20308": 8572, + "20820": 4949, + "20866": 2022, + "21332": 3672, + "21844": 2603, + "22356": 5437, + "22868": 2696, + "22893": 2595, + "23380": 3476, + "25428": 2480, + "25698": 268, + "25928": 2862, + "25940": 863, + "26210": 25, + "26368": 305, + "26987": 340, + "27234": 218, + "27243": 112, + "27460": 977, + "27476": 4034, + "27719": 54920, + "27746": 149, + "27988": 949, + "28002": 42, + "29839": 387, + "30351": 4190, + "30630": 3683, + "30863": 33775, + "31142": 4902, + "31654": 5049, + "31812": 175, + "31887": 2153, + "32324": 197, + "32399": 10104, + "32911": 32494, + "34372": 169, + "34447": 95, + "34884": 797, + "35399": 4, + "36753": 224, + "37286": 656, + "37798": 489, + "39239": 286021, + "41367": 166, + "41796": 218, + "41879": 1446, + "42391": 11983, + "43927": 491, + "44439": 1884, + "44951": 14535, + "45463": 22, + "46672": 379, + "46917": 43, + "47184": 245, + "48708": 342, + "50756": 47, + "52327": 12930, + "54950": 524, + "55401": 496, + "55462": 36, + "56173": 1265, + "56320": 740, + "56576": 585, + "56832": 503, + "57088": 642, + "57344": 26, + "57600": 788, + "58368": 9412, + "58624": 3555, + "58880": 2809, + "60833": 477, + "61440": 1025, + "64837": 258 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 740, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -41.16718292236328, + "y": -41.18776321411133, + "z": 1.149673342704773 + }, + "extent": { + "x": 0.4796459972858429, + "y": 0.5435962080955505, + "z": 0.904324471950531 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 617.1626542992979, + "ymin": 323.1963660812414, + "xmax": 662.458435746193, + "ymax": 396.4309992240088 + }, + "corners_3d": [ + [ + -40.62358856201172, + -41.66740798950195, + 0.24534887075424194 + ], + [ + -41.71078109741211, + -41.66740798950195, + 0.24534887075424194 + ], + [ + -41.710777282714844, + -40.7081184387207, + 0.24534887075424194 + ], + [ + -40.62358474731445, + -40.7081184387207, + 0.24534887075424194 + ], + [ + -40.62358856201172, + -41.66740798950195, + 2.053997755050659 + ], + [ + -41.71078109741211, + -41.66740798950195, + 2.053997755050659 + ], + [ + -41.710777282714844, + -40.7081184387207, + 2.053997755050659 + ], + [ + -40.62358474731445, + -40.7081184387207, + 2.053997755050659 + ] + ], + "corners_2d": [ + [ + 618.1179903723438, + 389.4779876049191 + ], + [ + 653.1309304922192, + 396.4309992240088 + ], + [ + 661.5338962555749, + 375.42601351561063 + ], + [ + 627.2766802296281, + 368.7960169015727 + ], + [ + 617.1626542992979, + 343.64024894262286 + ], + [ + 653.7089187403305, + 350.52260963580784 + ], + [ + 662.458435746193, + 329.7454904540779 + ], + [ + 626.7347593567406, + 323.1963660812414 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 585, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -37.041194915771484, + "y": -38.19005584716797, + "z": 1.1473784446716309 + }, + "extent": { + "x": 0.4731470048427582, + "y": 0.5417554378509521, + "z": 0.9313760995864868 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 522.9145103647261, + "ymin": 245.74240982641294, + "xmax": 563.8380703352378, + "ymax": 310.327863969612 + }, + "corners_3d": [ + [ + -36.609649658203125, + -38.7655029296875, + 0.21600234508514404 + ], + [ + -37.66948318481445, + -38.540225982666016, + 0.21600234508514404 + ], + [ + -37.472740173339844, + -37.61460876464844, + 0.21600234508514404 + ], + [ + -36.412906646728516, + -37.83988571166992, + 0.21600234508514404 + ], + [ + -36.609649658203125, + -38.7655029296875, + 2.078754425048828 + ], + [ + -37.66948318481445, + -38.540225982666016, + 2.078754425048828 + ], + [ + -37.472740173339844, + -37.61460876464844, + 2.078754425048828 + ], + [ + -36.412906646728516, + -37.83988571166992, + 2.078754425048828 + ] + ], + "corners_2d": [ + [ + 527.4918782124157, + 308.880743889442 + ], + [ + 560.1154956036241, + 310.327863969612 + ], + [ + 563.8380703352378, + 292.77516104501194 + ], + [ + 531.918751100354, + 291.390472248347 + ], + [ + 522.9145103647261, + 262.88609828547374 + ], + [ + 556.8593141757113, + 264.305904158355 + ], + [ + 560.8040881226883, + 247.0985529080977 + ], + [ + 527.6211134336116, + 245.74240982641294 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 503, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -43.42300796508789, + "y": -34.245052337646484, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.474853515625, + "y": 0.34950560331344604, + "z": 0.9503130316734314 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 745.4414948945463, + "ymin": 214.379544386998, + "xmax": 772.6554588988937, + "ymax": 277.7895369771833 + }, + "corners_3d": [ + [ + -43.12505340576172, + -34.75383758544922, + 0.04695791006088257 + ], + [ + -43.82023620605469, + -34.68077087402344, + 0.04695791006088257 + ], + [ + -43.72096252441406, + -33.73626708984375, + 0.04695791006088257 + ], + [ + -43.025779724121094, + -33.80933380126953, + 0.04695791006088257 + ], + [ + -43.12505340576172, + -34.75383758544922, + 1.9475839138031006 + ], + [ + -43.82023620605469, + -34.68077087402344, + 1.9475839138031006 + ], + [ + -43.72096252441406, + -33.73626708984375, + 1.9475839138031006 + ], + [ + -43.025779724121094, + -33.80933380126953, + 1.9475839138031006 + ] + ], + "corners_2d": [ + [ + 745.4414948945463, + 275.68126641346765 + ], + [ + 765.6198468687089, + 277.7895369771833 + ], + [ + 767.7158988459753, + 261.8945089879677 + ], + [ + 747.9464994294373, + 259.8720907472611 + ], + [ + 749.5968969599865, + 229.8199021099836 + ], + [ + 770.5845685861988, + 231.8808777746726 + ], + [ + 772.6554588988937, + 216.3533872007252 + ], + [ + 752.1098511947005, + 214.379544386998 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 642, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -51.58483123779297, + "y": -41.03184127807617, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.3269921839237213, + "y": 0.5836413502693176, + "z": 0.878626823425293 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 975.6473963541742, + "ymin": 394.9673173584404, + "xmax": 1036.4532129336835, + "ymax": 464.41761153939626 + }, + "corners_3d": [ + [ + -51.001190185546875, + -41.35883331298828, + 0.11863923072814941 + ], + [ + -52.16847229003906, + -41.35883331298828, + 0.11863923072814941 + ], + [ + -52.16847229003906, + -40.70484924316406, + 0.11863923072814941 + ], + [ + -51.001190185546875, + -40.70484924316406, + 0.11863923072814941 + ], + [ + -51.001190185546875, + -41.35883331298828, + 1.8758928775787354 + ], + [ + -52.16847229003906, + -41.35883331298828, + 1.8758928775787354 + ], + [ + -52.16847229003906, + -40.70484924316406, + 1.8758928775787354 + ], + [ + -51.001190185546875, + -40.70484924316406, + 1.8758928775787354 + ] + ], + "corners_2d": [ + [ + 975.6473963541742, + 455.83370803489555 + ], + [ + 1019.0843184211292, + 464.41761153939626 + ], + [ + 1018.9144838570047, + 447.8267416658338 + ], + [ + 976.2245053476834, + 439.5362235912575 + ], + [ + 990.8820804010942, + 411.19097381732087 + ], + [ + 1036.4532129336835, + 419.74615812696396 + ], + [ + 1035.9614820999395, + 403.21712200987145 + ], + [ + 991.2118079230497, + 394.9673173584404 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 26, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -44.78268051147461, + "y": -52.31512451171875, + "z": 0.9973246455192566 + }, + "extent": { + "x": 0.4829883575439453, + "y": 0.45664554834365845, + "z": 0.9418376088142395 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 629.6584629429026, + "ymin": 692.1643505169335, + "xmax": 689.9883075626766, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -44.27804946899414, + -52.74773406982422, + 0.05548703670501709 + ], + [ + -45.186336517333984, + -52.84320068359375, + 0.05548703670501709 + ], + [ + -45.28731155395508, + -51.88251495361328, + 0.05548703670501709 + ], + [ + -44.379024505615234, + -51.78704833984375, + 0.05548703670501709 + ], + [ + -44.27804946899414, + -52.74773406982422, + 1.939162254333496 + ], + [ + -45.186336517333984, + -52.84320068359375, + 1.939162254333496 + ], + [ + -45.28731155395508, + -51.88251495361328, + 1.939162254333496 + ], + [ + -44.379024505615234, + -51.78704833984375, + 1.939162254333496 + ] + ], + "corners_2d": [ + [ + 630.3010092738575, + 777.9756008356117 + ], + [ + 671.032584791405, + 794.3458498188027 + ], + [ + 686.9447966368319, + 752.4279107229263 + ], + [ + 647.3266462996897, + 737.099395618075 + ], + [ + 629.6584629429026, + 734.1574924911931 + ], + [ + 673.1166957991328, + 751.0252495325474 + ], + [ + 689.9883075626766, + 707.8907863880681 + ], + [ + 647.7954290202215, + 692.1643505169335 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 788, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -29.921844482421875, + "y": -49.35797882080078, + "z": 1.1399906873703003 + }, + "extent": { + "x": 0.34609130024909973, + "y": 0.48161619901657104, + "z": 0.9323800206184387 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 97.20389112505529, + "ymin": 442.37316102812144, + "xmax": 170.34511819202305, + "ymax": 521.4116364476964 + }, + "corners_3d": [ + [ + -29.378795623779297, + -49.59637451171875, + 0.20761066675186157 + ], + [ + -30.320980072021484, + -49.7966423034668, + 0.20761066675186157 + ], + [ + -30.464893341064453, + -49.11958312988281, + 0.20761066675186157 + ], + [ + -29.522708892822266, + -48.919315338134766, + 0.20761066675186157 + ], + [ + -29.378795623779297, + -49.59637451171875, + 2.072370767593384 + ], + [ + -30.320980072021484, + -49.7966423034668, + 2.072370767593384 + ], + [ + -30.464893341064453, + -49.11958312988281, + 2.072370767593384 + ], + [ + -29.522708892822266, + -48.919315338134766, + 2.072370767593384 + ] + ], + "corners_2d": [ + [ + 123.7022406450701, + 507.88200759280903 + ], + [ + 149.31506191744973, + 521.4116364476964 + ], + [ + 170.34511819202305, + 503.23877586027106 + ], + [ + 144.90946203531024, + 490.18606777939783 + ], + [ + 97.20389112505529, + 460.07333967638425 + ], + [ + 123.77340222666237, + 473.6278756653694 + ], + [ + 146.3580970087981, + 455.42589040902647 + ], + [ + 119.97104986383636, + 442.37316102812144 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 9412, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 805.3331063147975, + "ymin": 343.8778483035227, + "xmax": 909.7101890299507, + "ymax": 514.4821403625264 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 900.47339889018, + 394.0886713341202 + ], + [ + 828.358796404257, + 380.8360766631266 + ], + [ + 805.3331063147975, + 497.4265134062201 + ], + [ + 886.8296282528308, + 514.4821403625264 + ], + [ + 909.7101890299507, + 357.0205551897396 + ], + [ + 834.9351138409795, + 343.8778483035227 + ], + [ + 811.9055574890185, + 459.98071723987346 + ], + [ + 896.8174563542416, + 477.0561135603739 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 229, + "instance_id": 58624, + "pixel_count": 3555, + "type_id": "vehicle.dodge.charger_police_2020", + "bbox_3d": { + "center_world": { + "x": -54.599266052246094, + "y": -22.700984954833984, + "z": 0.8727232813835144 + }, + "extent": { + "x": 2.6187572479248047, + "y": 0.9648797512054443, + "z": 0.819191575050354 + }, + "yaw": 89.66251373291016 + }, + "bbox_2d": { + "xmin": 1049.9311066941264, + "ymin": 85.72107819983779, + "xmax": 1120.5820209294131, + "ymax": 189.2314841269563 + }, + "corners_3d": [ + [ + -53.64982986450195, + -25.325380325317383, + 0.05353168025612831 + ], + [ + -55.57955551147461, + -25.314014434814453, + 0.05353168025612831 + ], + [ + -55.5487060546875, + -20.076589584350586, + 0.05353168025612831 + ], + [ + -53.61897659301758, + -20.08795738220215, + 0.05353168025612831 + ], + [ + -53.64982986450195, + -25.325380325317383, + 1.6919147968292236 + ], + [ + -55.57955551147461, + -25.314014434814453, + 1.6919147968292236 + ], + [ + -55.5487060546875, + -20.076589584350586, + 1.6919147968292236 + ], + [ + -53.61897659301758, + -20.08795738220215, + 1.6919147968292236 + ] + ], + "corners_2d": [ + [ + 1054.784802074787, + 182.20131805549678 + ], + [ + 1106.6347954193654, + 189.2314841269563 + ], + [ + 1097.0036122213319, + 126.89842110911923 + ], + [ + 1049.9311066941264, + 121.08737186716019 + ], + [ + 1067.050912328798, + 145.0233557048045 + ], + [ + 1120.5820209294131, + 151.865460415073 + ], + [ + 1109.3826851573033, + 91.3462554853453 + ], + [ + 1060.9283609146291, + 85.72107819983779 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 2809, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 877.1967958632412, + "ymin": 74.3719917259906, + "xmax": 935.1872027866518, + "ymax": 162.06728391741783 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 928.5210585747561, + 110.10287653462586 + ], + [ + 886.9291070599335, + 104.93411721114168 + ], + [ + 877.1967958632412, + 155.97525552739688 + ], + [ + 922.2762190380643, + 162.06728391741783 + ], + [ + 935.1872027866518, + 79.3902457857892 + ], + [ + 892.5843412099869, + 74.3719917259906 + ], + [ + 883.1037589864651, + 124.0140217707415 + ], + [ + 929.3733670239617, + 129.9520359298725 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 1025, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 828.767386926768, + "ymin": 0.0, + "xmax": 878.8366045515909, + "ymax": 38.68081856436987 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 872.692112317904, + 5.521239024531781 + ], + [ + 839.3447804085401, + 2.066811081897299 + ], + [ + 828.767386926768, + 34.754161514596774 + ], + [ + 864.2504740211521, + 38.68081856436987 + ], + [ + 878.8366045515909, + -32.343340758220165 + ], + [ + 844.571262328118, + -35.61950552716888 + ], + [ + 834.0518652446494, + -4.570544286912366 + ], + [ + 870.5763349936462, + -0.8335100134067943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1358148318300121759, + "instance_id": 40874, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 96.00263406995452, + "ymin": 9.357501680227756, + "xmax": 223.77795397481293, + "ymax": 89.07570801047387 + }, + "corners_3d": [ + [ + -26.246047973632812, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246047973632812, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.197628021240234 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 223.77795397481293, + 13.234060566596725 + ], + [ + 215.68356769417198, + 12.221570480424475 + ], + [ + 97.25473992172329, + 87.73807858960208 + ], + [ + 106.2874462886216, + 89.07570801047387 + ], + [ + 222.94099887525488, + 10.366285677612836 + ], + [ + 214.83204327811154, + 9.357501680227756 + ], + [ + 96.00263406995452, + 84.61982890110033 + ], + [ + 105.05334017163057, + 85.95336243898078 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 75.70090246953794, + "ymax": 131.15982925903216 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 75.70090246953794, + 74.33860729180964 + ], + [ + 67.02017675672084, + 73.07578998563991 + ], + [ + -26.984808960562987, + 129.63217217376402 + ], + [ + -17.666199585864547, + 131.15982925903216 + ], + [ + -2.565601137865997, + -114.99015047937371 + ], + [ + -12.249241890183725, + -115.94863860433378 + ], + [ + -129.88559041003248, + -72.43454275691857 + ], + [ + -119.41641366661656, + -71.24227328052166 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 87.49971036440297, + "ymin": 1.1768129444211013, + "xmax": 289.3867341460229, + "ymax": 316.95840213994336 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 289.3867341460229, + 223.84707418930066 + ], + [ + 277.82840570513565, + 221.8334173440977 + ], + [ + 183.229427995692, + 314.3892687627123 + ], + [ + 195.98665423955975, + 316.95840213994336 + ], + [ + 225.63429635366577, + 2.8228465688608253 + ], + [ + 212.19256760525116, + 1.1768129444211013 + ], + [ + 87.49971036440297, + 78.6115905752398 + ], + [ + 102.57254596603423, + 80.8140540274635 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 750.646759242721, + "ymin": 0.0, + "xmax": 1023.2633541126554, + "ymax": 23.977974007732143 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 752.2472263006676, + -4.378819928564553 + ], + [ + 750.646759242721, + -1.4713403993471843 + ], + [ + 979.9091644811349, + 23.977974007732143 + ], + [ + 980.1684097844152, + 20.76313010769485 + ], + [ + 765.6860299609089, + -177.2344781074196 + ], + [ + 763.9821261640409, + -175.12718843930975 + ], + [ + 1023.2633541126554, + -156.55313498708654 + ], + [ + 1023.2521655924886, + -158.91231320816723 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13681264316117260208, + "instance_id": 45207, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 95.8704183626445, + "ymin": 9.300798713646145, + "xmax": 223.88484336125128, + "ymax": 89.14621646003843 + }, + "corners_3d": [ + [ + -26.24793815612793, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.24793815612793, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.198223114013672 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 223.88484336125128, + 13.227315399155202 + ], + [ + 215.68620846141368, + 12.201826009348224 + ], + [ + 97.13910463331536, + 87.79105507420473 + ], + [ + 106.28909738120899, + 89.14621646003843 + ], + [ + 223.03729558455763, + 10.322485636783028 + ], + [ + 214.82371311052765, + 9.300798713646145 + ], + [ + 95.8704183626445, + 84.63231026545554 + ], + [ + 105.03888191330373, + 85.98326886577252 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14568560350539926722, + "instance_id": 49868, + "pixel_count": null, + "type_id": "AmericanLights_Town04_28_Poles_4", + "bbox_3d": { + "center_world": { + "x": -60.752010345458984, + "y": -3.6481895446777344, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1162.5068413819972, + "ymin": 0.0, + "xmax": 1271.7475424081076, + "ymax": 45.07556189534449 + }, + "corners_3d": [ + [ + -60.482032775878906, + -9.673303604125977, + 0.0 + ], + [ + -60.91484832763672, + -9.67715072631836, + 0.0 + ], + [ + -61.02198791503906, + 2.376924991607666, + 0.0 + ], + [ + -60.58917236328125, + 2.3807718753814697, + 0.0 + ], + [ + -60.482032775878906, + -9.673303604125977, + 8.446706771850586 + ], + [ + -60.91484832763672, + -9.67715072631836, + 8.446706771850586 + ], + [ + -61.02198791503906, + 2.376924991607666, + 8.446706771850586 + ], + [ + -60.58917236328125, + 2.3807718753814697, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1187.9613537060382, + 44.036640603953686 + ], + [ + 1197.3734249456802, + 45.07556189534449 + ], + [ + 1170.434207463579, + -37.54776510705534 + ], + [ + 1162.5068413819972, + -38.292749341592696 + ], + [ + 1260.9198216272453, + -141.74849412959855 + ], + [ + 1271.7475424081076, + -140.9776947715738 + ], + [ + 1229.1601586499962, + -201.0642945982106 + ], + [ + 1220.250237983833, + -201.59511557326255 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 374.43250474275317, + "ymin": 0.0, + "xmax": 468.73789248220794, + "ymax": 95.90305938655041 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 468.73789248220794, + 45.051128445132974 + ], + [ + 459.6750470978581, + 43.915018495549646 + ], + [ + 407.9297492920424, + 94.5426760167752 + ], + [ + 417.72819953266253, + 95.90305938655041 + ], + [ + 446.3687726145677, + -137.06857399963826 + ], + [ + 436.1783264402374, + -137.91871870473892 + ], + [ + 374.43250474275317, + -99.57434431665467 + ], + [ + 385.5603555659164, + -98.5308718028312 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00098/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00098/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d628d4093eff08b4ff902a5c100f7efa2026c0d3 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00098/meta.json @@ -0,0 +1,2111 @@ +{ + "frame_id": 98, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 49.0, + "sim_timestamp": 14290.297726736637 + }, + "drone_pose": { + "x": -47.092985505203714, + "y": -61.040492947633396, + "z": 20.0, + "pitch": -41.64530752530907, + "yaw": 73.76680771390355, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.20889818668365479, + -0.7174805402755737, + 0.664517343044281, + 40.3426513671875 + ], + [ + 0.9601320028305054, + 0.2795473337173462, + 0.0, + -28.15176773071289 + ], + [ + -0.18576407432556152, + 0.6380243301391602, + 0.7472728490829468, + -62.63895797729492 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.18787937527602, + "y": -60.515737479777535, + "z": 20.0 + }, + "t1_image_uv": [ + 1280.0507890773017, + -493.6863705678227 + ], + "t1_depth": 0.35667866002007037 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -41.16718292236328, + "y": -40.68776321411133, + "z": 1.149673331975937 + }, + "image_uv": [ + 640.0000000000001, + 360.00000000000006 + ], + "depth": 28.36694483633743, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 706, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -41.16718292236328, + "y": -40.68776321411133, + "z": 1.149673342704773 + }, + "extent": { + "x": 0.5027929544448853, + "y": 0.5765722393989563, + "z": 0.9102637767791748 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 615.7873675720471, + "ymin": 322.3346824622178, + "xmax": 663.7970769617399, + "ymax": 397.33825811459764 + }, + "corners_3d": [ + [ + -40.59061050415039, + -41.190555572509766, + 0.23940956592559814 + ], + [ + -41.74375534057617, + -41.190555572509766, + 0.23940956592559814 + ], + [ + -41.74375534057617, + -40.18497085571289, + 0.23940956592559814 + ], + [ + -40.59061050415039, + -40.18497085571289, + 0.23940956592559814 + ], + [ + -40.59061050415039, + -41.190555572509766, + 2.059937000274658 + ], + [ + -41.74375534057617, + -41.190555572509766, + 2.059937000274658 + ], + [ + -41.74375534057617, + -40.18497085571289, + 2.059937000274658 + ], + [ + -40.59061050415039, + -40.18497085571289, + 2.059937000274658 + ] + ], + "corners_2d": [ + [ + 616.8068664881705, + 389.86776281623924 + ], + [ + 653.917202515723, + 397.33825811459764 + ], + [ + 662.8115603713946, + 375.3315413415682 + ], + [ + 626.5375420037471, + 368.2240330288882 + ], + [ + 615.7873675720471, + 343.72680733409345 + ], + [ + 654.5343618073629, + 351.12115803921563 + ], + [ + 663.7970769617399, + 329.35449054484917 + ], + [ + 625.9608907052241, + 322.3346824622178 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 98, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 112, + "semantic_pixel_counts": { + "1": 333059, + "2": 177576, + "3": 1323, + "4": 7577, + "5": 3214, + "6": 3040, + "9": 90, + "10": 660, + "12": 3415, + "14": 54726, + "15": 4096, + "20": 157, + "21": 14474, + "24": 25943, + "25": 292250 + }, + "instance_pixel_counts": { + "70": 305, + "143": 7580, + "620": 719, + "1132": 477, + "2214": 290, + "2470": 125, + "3180": 148, + "4166": 409, + "4678": 478, + "5228": 636, + "6053": 53, + "6508": 2201, + "6565": 2629, + "7539": 1323, + "7786": 663, + "7825": 200, + "8064": 115, + "8296": 3377, + "8298": 552, + "8337": 209, + "8780": 270, + "8808": 16178, + "8810": 4498, + "9320": 145833, + "9834": 1121, + "10344": 8179, + "10346": 506, + "10624": 1689, + "10856": 14547, + "11116": 566, + "11136": 239, + "11368": 136498, + "11370": 3765, + "11596": 7577, + "11880": 1047, + "11882": 34, + "12652": 153, + "17516": 127, + "20308": 8768, + "20820": 5083, + "20866": 2111, + "21332": 3729, + "21844": 2900, + "22356": 5532, + "22868": 2790, + "22893": 2059, + "23380": 3556, + "25428": 2515, + "25698": 272, + "25928": 2944, + "25940": 1100, + "26112": 1, + "26210": 25, + "26368": 346, + "26987": 1, + "27234": 222, + "27243": 156, + "27460": 1015, + "27476": 4102, + "27719": 52400, + "27746": 135, + "27988": 1253, + "28002": 27, + "29839": 534, + "30351": 4293, + "30630": 2517, + "30863": 35112, + "31142": 4513, + "31654": 3534, + "31812": 178, + "31887": 2213, + "32324": 201, + "32399": 10408, + "32911": 31837, + "34372": 176, + "34447": 102, + "34884": 824, + "35399": 7, + "36753": 224, + "37286": 744, + "37798": 537, + "39239": 292243, + "41367": 205, + "41796": 227, + "41879": 1481, + "42391": 12458, + "43927": 507, + "44439": 1947, + "44951": 14418, + "45463": 22, + "46672": 393, + "46917": 44, + "47184": 189, + "48708": 351, + "50756": 48, + "52327": 7400, + "54950": 525, + "55401": 392, + "55462": 37, + "56173": 90, + "56320": 706, + "56576": 590, + "56832": 513, + "57088": 635, + "57344": 37, + "57600": 934, + "58368": 9775, + "58624": 3652, + "58880": 2871, + "60833": 478, + "61440": 1196, + "64837": 264 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 706, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -41.16718292236328, + "y": -40.68776321411133, + "z": 1.149673342704773 + }, + "extent": { + "x": 0.48685789108276367, + "y": 0.5431616306304932, + "z": 0.9061270952224731 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 617.0676405945402, + "ymin": 322.9757272222925, + "xmax": 662.5460473184629, + "ymax": 396.6622680107325 + }, + "corners_3d": [ + [ + -40.624019622802734, + -41.17462158203125, + 0.2435462474822998 + ], + [ + -41.71034622192383, + -41.17462158203125, + 0.2435462474822998 + ], + [ + -41.71034622192383, + -40.200904846191406, + 0.2435462474822998 + ], + [ + -40.624019622802734, + -40.200904846191406, + 0.2435462474822998 + ], + [ + -40.624019622802734, + -41.17462158203125, + 2.055800437927246 + ], + [ + -41.71034622192383, + -41.17462158203125, + 2.055800437927246 + ], + [ + -41.71034622192383, + -40.200904846191406, + 2.055800437927246 + ], + [ + -40.624019622802734, + -40.200904846191406, + 2.055800437927246 + ] + ], + "corners_2d": [ + [ + 618.0287871691231, + 389.63040209535654 + ], + [ + 652.9793075454934, + 396.6622680107325 + ], + [ + 661.6163539995969, + 375.3638816255854 + ], + [ + 627.4288574668697, + 368.66315004554264 + ], + [ + 617.0676405945402, + 343.70076344074334 + ], + [ + 653.5518161331553, + 350.6610379025178 + ], + [ + 662.5460473184629, + 329.5943749246824 + ], + [ + 626.8925344222725, + 322.9757272222925 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 590, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -37.041194915771484, + "y": -37.69005584716797, + "z": 1.1473784446716309 + }, + "extent": { + "x": 0.47827884554862976, + "y": 0.5072754621505737, + "z": 0.9301943778991699 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 524.4045608729382, + "ymin": 245.52091865360293, + "xmax": 563.3165836326722, + "ymax": 310.1883474858393 + }, + "corners_3d": [ + [ + -36.64444351196289, + -38.26335144042969, + 0.21718406677246094 + ], + [ + -37.63682556152344, + -38.05241394042969, + 0.21718406677246094 + ], + [ + -37.43794631958008, + -37.11676025390625, + 0.21718406677246094 + ], + [ + -36.44556427001953, + -37.32769775390625, + 0.21718406677246094 + ], + [ + -36.64444351196289, + -38.26335144042969, + 2.077572822570801 + ], + [ + -37.63682556152344, + -38.05241394042969, + 2.077572822570801 + ], + [ + -37.43794631958008, + -37.11676025390625, + 2.077572822570801 + ], + [ + -36.44556427001953, + -37.32769775390625, + 2.077572822570801 + ] + ], + "corners_2d": [ + [ + 528.9167870640681, + 308.76787975466294 + ], + [ + 559.44343162315, + 310.1883474858393 + ], + [ + 563.3165836326722, + 292.4621200275161 + ], + [ + 533.4552249999845, + 291.10355408233556 + ], + [ + 524.4045608729382, + 262.83510755690565 + ], + [ + 556.1651768358452, + 264.22876438894144 + ], + [ + 560.2674962698894, + 246.851457303828 + ], + [ + 529.2264014503812, + 245.52091865360293 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 513, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -43.42300796508789, + "y": -33.745052337646484, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.4695824980735779, + "y": 0.41362670063972473, + "z": 0.9446821212768555 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 744.2029948264156, + "ymin": 214.6540713330656, + "xmax": 775.2074177920648, + "ymax": 278.0432716570471 + }, + "corners_3d": [ + [ + -43.06072998046875, + -34.25529861450195, + 0.052583932876586914 + ], + [ + -43.883453369140625, + -34.168827056884766, + 0.052583932876586914 + ], + [ + -43.78528594970703, + -33.234806060791016, + 0.052583932876586914 + ], + [ + -42.962562561035156, + -33.3212776184082, + 0.052583932876586914 + ], + [ + -43.06072998046875, + -34.25529861450195, + 1.9419481754302979 + ], + [ + -43.883453369140625, + -34.168827056884766, + 1.9419481754302979 + ], + [ + -43.78528594970703, + -33.234806060791016, + 1.9419481754302979 + ], + [ + -42.962562561035156, + -33.3212776184082, + 1.9419481754302979 + ] + ], + "corners_2d": [ + [ + 744.2029948264156, + 275.4992902305601 + ], + [ + 768.0836669305346, + 278.0432716570471 + ], + [ + 770.1993665005552, + 262.31906612237356 + ], + [ + 746.7968656222714, + 259.87753322254173 + ], + [ + 748.2837232262216, + 229.91337824780214 + ], + [ + 773.1168357612149, + 232.4006337329388 + ], + [ + 775.2074177920648, + 217.0373574278087 + ], + [ + 750.8909767530706, + 214.6540713330656 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 635, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -51.43226623535156, + "y": -40.4283332824707, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.32890868186950684, + "y": 0.5892553329467773, + "z": 0.8742919564247131 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 969.890740942001, + "ymin": 392.23114203294085, + "xmax": 1030.5402150232064, + "ymax": 461.5557935580024 + }, + "corners_3d": [ + [ + -50.84300994873047, + -40.757240295410156, + 0.12297898530960083 + ], + [ + -52.021522521972656, + -40.757240295410156, + 0.12297898530960083 + ], + [ + -52.021522521972656, + -40.09942626953125, + 0.12297898530960083 + ], + [ + -50.84300994873047, + -40.09942626953125, + 0.12297898530960083 + ], + [ + -50.84300994873047, + -40.757240295410156, + 1.8715629577636719 + ], + [ + -52.021522521972656, + -40.757240295410156, + 1.8715629577636719 + ], + [ + -52.021522521972656, + -40.09942626953125, + 1.8715629577636719 + ], + [ + -50.84300994873047, + -40.09942626953125, + 1.8715629577636719 + ] + ], + "corners_2d": [ + [ + 969.890740942001, + 452.8387118281825 + ], + [ + 1013.5644745619813, + 461.5557935580024 + ], + [ + 1013.5727021366179, + 444.98298827271645 + ], + [ + 970.6498088482293, + 436.56442080977104 + ], + [ + 984.7388746059852, + 408.4274285014375 + ], + [ + 1030.5402150232064, + 417.11304218753753 + ], + [ + 1030.2411510039801, + 400.6062297681864 + ], + [ + 985.2649151615979, + 392.23114203294085 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 37, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -44.78268051147461, + "y": -51.81512451171875, + "z": 0.9973344206809998 + }, + "extent": { + "x": 0.48026373982429504, + "y": 0.4974561333656311, + "z": 0.9374180436134338 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 625.7146029660641, + "ymin": 691.6499677741599, + "xmax": 689.8918723956456, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -44.23774719238281, + -52.240760803222656, + 0.05991637706756592 + ], + [ + -45.227210998535156, + -52.344757080078125, + 0.05991637706756592 + ], + [ + -45.327613830566406, + -51.389488220214844, + 0.05991637706756592 + ], + [ + -44.33815002441406, + -51.285491943359375, + 0.05991637706756592 + ], + [ + -44.23774719238281, + -52.240760803222656, + 1.9347524642944336 + ], + [ + -45.227210998535156, + -52.344757080078125, + 1.9347524642944336 + ], + [ + -45.327613830566406, + -51.389488220214844, + 1.9347524642944336 + ], + [ + -44.33815002441406, + -51.285491943359375, + 1.9347524642944336 + ] + ], + "corners_2d": [ + [ + 626.5973942151136, + 776.931882018046 + ], + [ + 670.8814184436889, + 794.9124243474491 + ], + [ + 686.8662111882876, + 753.237329960047 + ], + [ + 643.7791190325432, + 736.3934112730251 + ], + [ + 625.7146029660641, + 733.2869026610026 + ], + [ + 672.9461977357564, + 751.8107358024538 + ], + [ + 689.8918723956456, + 708.9290794781202 + ], + [ + 644.0195917675476, + 691.6499677741599 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 934, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -29.921844482421875, + "y": -48.85797882080078, + "z": 1.1399955749511719 + }, + "extent": { + "x": 0.3540624976158142, + "y": 0.4448584020137787, + "z": 0.9316673278808594 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 98.12269502558877, + "ymin": 441.36627158855913, + "xmax": 169.62425097096207, + "ymax": 519.7261899755858 + }, + "corners_3d": [ + [ + -29.41309356689453, + -49.111812591552734, + 0.2083282470703125 + ], + [ + -30.283367156982422, + -49.29679489135742, + 0.2083282470703125 + ], + [ + -30.43059539794922, + -48.60414505004883, + 0.2083282470703125 + ], + [ + -29.560321807861328, + -48.41916275024414, + 0.2083282470703125 + ], + [ + -29.41309356689453, + -49.111812591552734, + 2.0716629028320312 + ], + [ + -30.283367156982422, + -49.29679489135742, + 2.0716629028320312 + ], + [ + -30.43059539794922, + -48.60414505004883, + 2.0716629028320312 + ], + [ + -29.560321807861328, + -48.41916275024414, + 2.0716629028320312 + ] + ], + "corners_2d": [ + [ + 124.5345820142295, + 507.17931740844676 + ], + [ + 148.06604182672322, + 519.7261899755858 + ], + [ + 169.62425097096207, + 501.2385734880312 + ], + [ + 146.25475669913413, + 489.14257672162756 + ], + [ + 98.12269502558877, + 459.40548563918094 + ], + [ + 122.52749205816451, + 471.9737389056819 + ], + [ + 145.67305116057662, + 453.4602488800137 + ], + [ + 121.4346225861126, + 441.36627158855913 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 9775, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 801.8944430059983, + "ymin": 355.0737430207114, + "xmax": 908.4854310044959, + "ymax": 529.5755186689046 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 899.1698236643299, + 405.8923337653079 + ], + [ + 826.1687628525896, + 392.12597830904286 + ], + [ + 801.8944430059983, + 511.80088450763736 + ], + [ + 884.5031696985167, + 529.5755186689046 + ], + [ + 908.4854310044959, + 368.7383926963589 + ], + [ + 832.754392411185, + 355.0737430207114 + ], + [ + 808.4263171279705, + 474.369318900418 + ], + [ + 894.5495693415448, + 492.18540551653524 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 229, + "instance_id": 58624, + "pixel_count": 3652, + "type_id": "vehicle.dodge.charger_police_2020", + "bbox_3d": { + "center_world": { + "x": -54.599266052246094, + "y": -22.700984954833984, + "z": 0.8727232813835144 + }, + "extent": { + "x": 2.6187572479248047, + "y": 0.9648797512054443, + "z": 0.819191575050354 + }, + "yaw": 89.66251373291016 + }, + "bbox_2d": { + "xmin": 1052.0115272677103, + "ymin": 91.59737652266045, + "xmax": 1123.2599776593383, + "ymax": 196.7260810966621 + }, + "corners_3d": [ + [ + -53.64982986450195, + -25.325380325317383, + 0.05353168025612831 + ], + [ + -55.57955551147461, + -25.314014434814453, + 0.05353168025612831 + ], + [ + -55.5487060546875, + -20.076589584350586, + 0.05353168025612831 + ], + [ + -53.61897659301758, + -20.08795738220215, + 0.05353168025612831 + ], + [ + -53.64982986450195, + -25.325380325317383, + 1.6919147968292236 + ], + [ + -55.57955551147461, + -25.314014434814453, + 1.6919147968292236 + ], + [ + -55.5487060546875, + -20.076589584350586, + 1.6919147968292236 + ], + [ + -53.61897659301758, + -20.08795738220215, + 1.6919147968292236 + ] + ], + "corners_2d": [ + [ + 1056.6445930610184, + 189.45637898726144 + ], + [ + 1109.0839946952829, + 196.7260810966621 + ], + [ + 1099.5775888353255, + 133.1522498417287 + ], + [ + 1052.0115272677103, + 127.1539035290003 + ], + [ + 1069.0992850630207, + 152.08742405482798 + ], + [ + 1123.2599776593383, + 159.16713919557117 + ], + [ + 1112.152406351863, + 97.40691300641527 + ], + [ + 1063.1740576922186, + 91.59737652266045 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 2871, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 877.2431655039077, + "ymin": 79.72170112497122, + "xmax": 936.1442529818244, + "ymax": 168.68415029042177 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 929.3952721033831, + 115.76876436886553 + ], + [ + 887.4269686948153, + 110.44066560692636 + ], + [ + 877.2431655039077, + 162.39545827701033 + ], + [ + 922.7576185276719, + 168.68415029042177 + ], + [ + 936.1442529818244, + 84.89681217930774 + ], + [ + 893.1455960365747, + 79.72170112497122 + ], + [ + 883.2098393445336, + 130.27489245107873 + ], + [ + 929.9388776413871, + 136.40759757202713 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 1196, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 829.2486382378252, + "ymin": 0.0, + "xmax": 879.9734338986857, + "ymax": 43.05689812679782 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 873.7532997004612, + 9.409174820131284 + ], + [ + 840.1607164659574, + 5.859494407152738 + ], + [ + 829.2486382378252, + 39.018431730596376 + ], + [ + 865.005030999911, + 43.05689812679782 + ], + [ + 879.9734338986857, + -28.648329727637645 + ], + [ + 845.4483175937173, + -32.016151557655235 + ], + [ + 834.5891341509632, + -0.5062602036716726 + ], + [ + 871.4041533124127, + 3.3388888166013544 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1358148318300121759, + "instance_id": 40874, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 84.58333949489008, + "ymin": 14.873785189678415, + "xmax": 215.73117659027628, + "ymax": 96.33071051235021 + }, + "corners_3d": [ + [ + -26.246047973632812, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246047973632812, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.197628021240234 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 215.73117659027628, + 18.804383243149346 + ], + [ + 207.5852370620526, + 17.757577919953576 + ], + [ + 85.8772675300878, + 94.94367094046925 + ], + [ + 94.96868179911962, + 96.33071051235021 + ], + [ + 214.86887789266, + 15.916803635432302 + ], + [ + 206.70818104951377, + 14.873785189678415 + ], + [ + 84.58333949489008, + 91.80388243029654 + ], + [ + 93.69297707158796, + 93.18675264754665 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 70.60295857723622, + "ymax": 135.63820742224942 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 70.60295857723622, + 78.10456033591788 + ], + [ + 61.90308010855745, + 76.81010169726619 + ], + [ + -33.66201116054981, + 134.0705456258444 + ], + [ + -24.32533507004348, + 135.63820742224942 + ], + [ + -8.945573629864725, + -112.09884215193887 + ], + [ + -18.65256586776809, + -113.08308171896442 + ], + [ + -138.42138613414, + -68.94159201412322 + ], + [ + -127.93100659387073, + -67.71547955513381 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 75.88670598558235, + "ymin": 6.610419424242764, + "xmax": 283.15723714890333, + "ymax": 325.3600440700588 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 283.15723714890333, + 230.52208489857261 + ], + [ + 271.53575181448315, + 228.4468426470971 + ], + [ + 174.6174183950036, + 322.7066869507847 + ], + [ + 187.44578911664598, + 325.3600440700588 + ], + [ + 217.5725670175553, + 8.312399290107692 + ], + [ + 204.04475170830506, + 6.610419424242764 + ], + [ + 75.88670598558235, + 85.76814814816873 + ], + [ + 91.05811081798697, + 88.0525448248278 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 750.814057047517, + "ymin": 0.0, + "xmax": 1025.7800101433545, + "ymax": 28.282133337085497 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 752.4518119386967, + -0.8026768143839149 + ], + [ + 750.814057047517, + 2.143393722472183 + ], + [ + 981.7856056730471, + 28.282133337085497 + ], + [ + 982.0649006797548, + 25.01828073721981 + ], + [ + 766.021182707196, + -174.60801554947318 + ], + [ + 764.2754376130354, + -172.46913524877425 + ], + [ + 1025.7752404531775, + -153.35602033360954 + ], + [ + 1025.7800101433545, + -155.75605838074955 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13681264316117260208, + "instance_id": 45207, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 84.44855432556369, + "ymin": 14.816082826028548, + "xmax": 215.83985638374253, + "ymax": 96.4026706122728 + }, + "corners_3d": [ + [ + -26.24793815612793, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.24793815612793, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.198223114013672 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 215.83985638374253, + 18.797331611638924 + ], + [ + 207.58900561686227, + 17.737088005448243 + ], + [ + 85.7596164547034, + 94.99744968998459 + ], + [ + 94.96907895056347, + 96.4026706122728 + ], + [ + 214.96664384333036, + 15.87244107199524 + ], + [ + 206.70065262187575, + 14.816082826028548 + ], + [ + 84.44855432556369, + 91.81688688254263 + ], + [ + 93.67671703975361, + 93.21782964280317 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14568560350539926722, + "instance_id": 49868, + "pixel_count": null, + "type_id": "AmericanLights_Town04_28_Poles_4", + "bbox_3d": { + "center_world": { + "x": -60.752010345458984, + "y": -3.6481895446777344, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1166.3084485897127, + "ymin": 0.0, + "xmax": 1276.953086833385, + "ymax": 50.03022852474294 + }, + "corners_3d": [ + [ + -60.482032775878906, + -9.673303604125977, + 0.0 + ], + [ + -60.91484832763672, + -9.67715072631836, + 0.0 + ], + [ + -61.02198791503906, + 2.376924991607666, + 0.0 + ], + [ + -60.58917236328125, + 2.3807718753814697, + 0.0 + ], + [ + -60.482032775878906, + -9.673303604125977, + 8.446706771850586 + ], + [ + -60.91484832763672, + -9.67715072631836, + 8.446706771850586 + ], + [ + -61.02198791503906, + 2.376924991607666, + 8.446706771850586 + ], + [ + -60.58917236328125, + 2.3807718753814697, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1191.7873010799321, + 48.96027414907826 + ], + [ + 1201.2956287254747, + 50.03022852474294 + ], + [ + 1174.3065306778335, + -33.90113086317115 + ], + [ + 1166.3084485897127, + -34.66648295850513 + ], + [ + 1265.997079868026, + -138.0603513270836 + ], + [ + 1276.953086833385, + -137.2646364971124 + ], + [ + 1233.9673641010477, + -198.42751900612484 + ], + [ + 1224.9674868275024, + -198.97378046859637 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 370.20330182306947, + "ymin": 0.0, + "xmax": 466.3732510946486, + "ymax": 100.53631418107494 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 466.3732510946486, + 48.978889628502316 + ], + [ + 457.26514077294536, + 47.81281115785504 + ], + [ + 404.49189146427597, + 99.13842244447608 + ], + [ + 414.34090288634945, + 100.53631418107494 + ], + [ + 443.5146988679345, + -134.09497215514483 + ], + [ + 433.26595920655336, + -134.96914163917415 + ], + [ + 370.20330182306947, + -96.01807743545305 + ], + [ + 381.39748939343775, + -94.94347446872456 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00103/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00103/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3c50613473de41ff0c9ba5009b2fc826eb575fc1 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00103/meta.json @@ -0,0 +1,2202 @@ +{ + "frame_id": 103, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 51.5, + "sim_timestamp": 14350.417042208137 + }, + "drone_pose": { + "x": -47.71856166653427, + "y": -58.337548548598576, + "z": 20.0, + "pitch": -41.65843116927288, + "yaw": 71.98889852359227, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.23101067543029785, + -0.710509181022644, + 0.6646884679794312, + 39.17909240722656 + ], + [ + 0.9509966373443604, + 0.30920130014419556, + 0.0, + -27.342145919799805 + ], + [ + -0.2055225372314453, + 0.6321164965629578, + 0.7471206188201904, + -61.62577819824219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.84440835639749, + "y": -57.77790221430429, + "z": 20.0 + }, + "t1_image_uv": [ + 1402.4612763014288, + -494.080222619816 + ], + "t1_depth": 0.3685619374795022 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -41.16718292236328, + "y": -38.18776321411133, + "z": 1.149673331975937 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 28.359640829296694, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 732, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -41.16718292236328, + "y": -38.18776321411133, + "z": 1.149673342704773 + }, + "extent": { + "x": 0.49699705839157104, + "y": 0.35796141624450684, + "z": 0.8647204637527466 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 622.7607903915778, + "ymin": 324.8332908685093, + "xmax": 656.9068672361259, + "ymax": 394.82377137975396 + }, + "corners_3d": [ + [ + -40.80922317504883, + -38.68476104736328, + 0.28495287895202637 + ], + [ + -41.525142669677734, + -38.68476104736328, + 0.28495287895202637 + ], + [ + -41.525142669677734, + -37.690765380859375, + 0.28495287895202637 + ], + [ + -40.80922317504883, + -37.690765380859375, + 0.28495287895202637 + ], + [ + -40.80922317504883, + -38.68476104736328, + 2.0143938064575195 + ], + [ + -41.525142669677734, + -38.68476104736328, + 2.0143938064575195 + ], + [ + -41.525142669677734, + -37.690765380859375, + 2.0143938064575195 + ], + [ + -40.80922317504883, + -37.690765380859375, + 2.0143938064575195 + ] + ], + "corners_2d": [ + [ + 623.4521511440046, + 389.6949861679136 + ], + [ + 646.2907065400599, + 394.82377137975396 + ], + [ + 656.2413915322503, + 373.3279412647234 + ], + [ + 633.8959844536294, + 368.44352794010774 + ], + [ + 622.7607903915778, + 345.853232973314 + ], + [ + 646.55511841491, + 350.93247248446994 + ], + [ + 656.9068672361259, + 329.66075759054183 + ], + [ + 633.6473438995806, + 324.8332908685093 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 103, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 102, + "semantic_pixel_counts": { + "1": 336318, + "2": 149503, + "4": 3255, + "5": 3459, + "6": 3637, + "7": 136, + "10": 647, + "12": 3178, + "14": 62661, + "15": 5522, + "24": 27526, + "25": 325758 + }, + "instance_pixel_counts": { + "70": 335, + "143": 20, + "620": 736, + "1132": 542, + "2214": 219, + "3180": 182, + "4166": 459, + "4678": 547, + "5228": 332, + "6053": 68, + "6508": 2448, + "7786": 841, + "7825": 222, + "8064": 131, + "8296": 7100, + "8298": 638, + "8337": 239, + "8780": 490, + "8808": 18671, + "8810": 4585, + "9320": 146488, + "9834": 1604, + "10344": 14449, + "10346": 598, + "10624": 2030, + "10856": 17135, + "11116": 633, + "11136": 266, + "11368": 130606, + "11370": 3581, + "11596": 3255, + "11880": 1515, + "11882": 40, + "12652": 201, + "17516": 146, + "20308": 9778, + "20820": 5736, + "20866": 2456, + "21332": 4022, + "21844": 3376, + "22356": 5959, + "22868": 3260, + "23380": 3918, + "25428": 2613, + "25698": 300, + "25928": 2969, + "25940": 1960, + "26112": 90, + "26210": 27, + "26368": 746, + "27234": 225, + "27460": 1090, + "27476": 3399, + "27719": 26060, + "27746": 105, + "27988": 2459, + "29839": 1319, + "30351": 4886, + "30863": 41685, + "31375": 383, + "31812": 194, + "31887": 2603, + "32324": 221, + "32399": 12329, + "32911": 27147, + "34372": 210, + "34447": 123, + "34884": 961, + "34920": 77, + "35399": 64, + "36456": 277, + "36753": 214, + "39239": 325694, + "41367": 398, + "41796": 285, + "41879": 1705, + "42391": 14270, + "43927": 590, + "44439": 2277, + "44951": 13680, + "45463": 28, + "46672": 481, + "46917": 46, + "48708": 396, + "48744": 30, + "50756": 54, + "50792": 47, + "53926": 62, + "54950": 547, + "55462": 40, + "56320": 732, + "56576": 577, + "56832": 497, + "57088": 635, + "57344": 24, + "57600": 713, + "58368": 11983, + "58624": 4263, + "58880": 3311, + "60833": 555, + "61440": 2146, + "64837": 294 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 732, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -41.16718292236328, + "y": -38.18776321411133, + "z": 1.149673342704773 + }, + "extent": { + "x": 0.5151953101158142, + "y": 0.32600584626197815, + "z": 0.8763182759284973 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 623.6081158523136, + "ymin": 324.367914185882, + "xmax": 656.0522955072976, + "ymax": 395.279229541966 + }, + "corners_3d": [ + [ + -40.84117889404297, + -38.70295715332031, + 0.27335506677627563 + ], + [ + -41.49319076538086, + -38.70295715332031, + 0.27335506677627563 + ], + [ + -41.493186950683594, + -37.672569274902344, + 0.27335506677627563 + ], + [ + -40.8411750793457, + -37.672569274902344, + 0.27335506677627563 + ], + [ + -40.84117889404297, + -38.70295715332031, + 2.025991678237915 + ], + [ + -41.49319076538086, + -38.70295715332031, + 2.025991678237915 + ], + [ + -41.493186950683594, + -37.672569274902344, + 2.025991678237915 + ], + [ + -40.8411750793457, + -37.672569274902344, + 2.025991678237915 + ] + ], + "corners_2d": [ + [ + 624.274605437618, + 390.603824221682 + ], + [ + 645.0772120170187, + 395.279229541966 + ], + [ + 655.4125961909481, + 373.0063179723002 + ], + [ + 635.0753148361359, + 368.56157463471516 + ], + [ + 623.6081158523136, + 346.1672824389765 + ], + [ + 645.2935852489769, + 350.7970897304736 + ], + [ + 656.0522955072976, + 328.7599786011645 + ], + [ + 634.8720069521158, + 324.367914185882 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 577, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -37.041194915771484, + "y": -35.190059661865234, + "z": 1.1473931074142456 + }, + "extent": { + "x": 0.43654054403305054, + "y": 0.4529992938041687, + "z": 0.8590220212936401 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 530.3553707244945, + "ymin": 246.17980034197785, + "xmax": 565.685685075988, + "ymax": 306.04035635334316 + }, + "corners_3d": [ + [ + -36.68885803222656, + -35.711246490478516, + 0.28837108612060547 + ], + [ + -37.57505798339844, + -35.52287673950195, + 0.28837108612060547 + ], + [ + -37.393531799316406, + -34.66887283325195, + 0.28837108612060547 + ], + [ + -36.50733184814453, + -34.857242584228516, + 0.28837108612060547 + ], + [ + -36.68885803222656, + -35.711246490478516, + 2.0064151287078857 + ], + [ + -37.57505798339844, + -35.52287673950195, + 2.0064151287078857 + ], + [ + -37.393531799316406, + -34.66887283325195, + 2.0064151287078857 + ], + [ + -36.50733184814453, + -34.857242584228516, + 2.0064151287078857 + ] + ], + "corners_2d": [ + [ + 534.3019500350183, + 304.25271806917516 + ], + [ + 561.3900568276005, + 306.04035635334316 + ], + [ + 565.685685075988, + 289.97279943452827 + ], + [ + 539.13094989639, + 288.2561598705324 + ], + [ + 530.3553707244945, + 261.8811761216716 + ], + [ + 558.4480813706693, + 263.637286938843 + ], + [ + 562.962370790857, + 247.86363838392845 + ], + [ + 535.442902724392, + 246.17980034197785 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 497, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -43.42300796508789, + "y": -31.24505043029785, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.4854736328125, + "y": 0.29716184735298157, + "z": 0.9570024609565735 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 752.7787939612533, + "ymin": 216.37607064394655, + "xmax": 778.1563090789331, + "ymax": 280.5679745473024 + }, + "corners_3d": [ + [ + -43.178218841552734, + -31.758926391601562, + 0.040273427963256836 + ], + [ + -43.769287109375, + -31.696802139282227, + 0.040273427963256836 + ], + [ + -43.66779708862305, + -30.73117446899414, + 0.040273427963256836 + ], + [ + -43.07672882080078, + -30.793298721313477, + 0.040273427963256836 + ], + [ + -43.178218841552734, + -31.758926391601562, + 1.9542783498764038 + ], + [ + -43.769287109375, + -31.696802139282227, + 1.9542783498764038 + ], + [ + -43.66779708862305, + -30.73117446899414, + 1.9542783498764038 + ], + [ + -43.07672882080078, + -30.793298721313477, + 1.9542783498764038 + ] + ], + "corners_2d": [ + [ + 752.7787939612533, + 278.4119656299959 + ], + [ + 769.9494030686834, + 280.5679745473024 + ], + [ + 772.9588351133995, + 264.3148348807937 + ], + [ + 756.1393056758974, + 262.24822798882724 + ], + [ + 757.2726261777788, + 232.16446354923835 + ], + [ + 775.1424520055521, + 234.27239716499435 + ], + [ + 778.1563090789331, + 218.39322123755474 + ], + [ + 760.6664363517266, + 216.37607064394655 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 635, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -50.66718292236328, + "y": -38.18776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.31153562664985657, + "y": 0.427398681640625, + "z": 0.8793843388557434 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 946.4331305219882, + "ymin": 401.5189619225401, + "xmax": 994.8133715101919, + "ymax": 468.8462563969115 + }, + "corners_3d": [ + [ + -50.239784240722656, + -38.499298095703125, + 0.11788660287857056 + ], + [ + -51.094581604003906, + -38.499298095703125, + 0.11788660287857056 + ], + [ + -51.094581604003906, + -37.87622833251953, + 0.11788660287857056 + ], + [ + -50.239784240722656, + -37.87622833251953, + 0.11788660287857056 + ], + [ + -50.239784240722656, + -38.499298095703125, + 1.8766553401947021 + ], + [ + -51.094581604003906, + -38.499298095703125, + 1.8766553401947021 + ], + [ + -51.094581604003906, + -37.87622833251953, + 1.8766553401947021 + ], + [ + -50.239784240722656, + -37.87622833251953, + 1.8766553401947021 + ] + ], + "corners_2d": [ + [ + 946.4331305219882, + 461.7321903434473 + ], + [ + 978.1285320066486, + 468.8462563969115 + ], + [ + 979.4357194640736, + 453.0424150026953 + ], + [ + 948.2472318545704, + 446.1591144727951 + ], + [ + 960.4488439783772, + 417.03113576671933 + ], + [ + 993.7143516022479, + 424.12507640446773 + ], + [ + 994.8133715101919, + 408.3724938515785 + ], + [ + 962.1058811875935, + 401.5189619225401 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 24, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -44.78268051147461, + "y": -49.31512451171875, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4767968952655792, + "y": 0.28449711203575134, + "z": 0.936063826084137 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 616.7788539186594, + "ymin": 695.8354285887228, + "xmax": 662.4221171031047, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -44.44990158081055, + -49.75957107543945, + 0.061207115650177 + ], + [ + -45.01578140258789, + -49.81904602050781, + 0.061207115650177 + ], + [ + -45.11545944213867, + -48.87067794799805, + 0.061207115650177 + ], + [ + -44.54957962036133, + -48.81120300292969, + 0.061207115650177 + ], + [ + -44.44990158081055, + -49.75957107543945, + 1.9333348274230957 + ], + [ + -45.01578140258789, + -49.81904602050781, + 1.9333348274230957 + ], + [ + -45.11545944213867, + -48.87067794799805, + 1.9333348274230957 + ], + [ + -44.54957962036133, + -48.81120300292969, + 1.9333348274230957 + ] + ], + "corners_2d": [ + [ + 618.2162560430132, + 780.3626663939533 + ], + [ + 643.0633802617177, + 791.4241880227066 + ], + [ + 661.06639869855, + 750.7743590349153 + ], + [ + 636.8483790223065, + 740.3985215256371 + ], + [ + 616.7788539186594, + 736.8987630025749 + ], + [ + 643.2673889484778, + 748.2945693232118 + ], + [ + 662.4221171031047, + 706.4803397045641 + ], + [ + 636.6473562402635, + 695.8354285887228 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 713, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -29.921844482421875, + "y": -46.35797882080078, + "z": 1.140005350112915 + }, + "extent": { + "x": 0.3389965891838074, + "y": 0.4924584925174713, + "z": 0.91676265001297 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 98.93184328553673, + "ymin": 429.8974801361878, + "xmax": 170.31376530284757, + "ymax": 507.77036551494336 + }, + "corners_3d": [ + [ + -29.369665145874023, + -46.587181091308594, + 0.22324270009994507 + ], + [ + -30.333059310913086, + -46.791954040527344, + 0.22324270009994507 + ], + [ + -30.474023818969727, + -46.12877655029297, + 0.22324270009994507 + ], + [ + -29.510629653930664, + -45.92400360107422, + 0.22324270009994507 + ], + [ + -29.369665145874023, + -46.587181091308594, + 2.0567679405212402 + ], + [ + -30.333059310913086, + -46.791954040527344, + 2.0567679405212402 + ], + [ + -30.474023818969727, + -46.12877655029297, + 2.0567679405212402 + ], + [ + -29.510629653930664, + -45.92400360107422, + 2.0567679405212402 + ] + ], + "corners_2d": [ + [ + 124.55708677905557, + 493.44130733287557 + ], + [ + 149.35699320634296, + 507.77036551494336 + ], + [ + 170.31376530284757, + 490.74007372688754 + ], + [ + 145.63478727818904, + 476.8906624056964 + ], + [ + 98.93184328553673, + 446.4300972321198 + ], + [ + 124.5928774167985, + 460.76581496427303 + ], + [ + 147.03035332764847, + 443.72992489462405 + ], + [ + 121.48945109721967, + 429.8974801361878 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 11983, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 777.1842806926644, + "ymin": 417.25641517698267, + "xmax": 898.9646517958372, + "ymax": 614.7620445277457 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 889.3126645540065, + 472.1967032807685 + ], + [ + 811.5505260151091, + 454.6487276345829 + ], + [ + 777.1842806926644, + 591.7157826468901 + ], + [ + 865.6899246588265, + 614.7620445277457 + ], + [ + 898.9646517958372, + 434.7653548951125 + ], + [ + 818.0668064375649, + 417.25641517698267 + ], + [ + 783.1809214906446, + 554.6766105028918 + ], + [ + 875.7741029563821, + 577.9313236182987 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 229, + "instance_id": 58624, + "pixel_count": 4263, + "type_id": "vehicle.dodge.charger_police_2020", + "bbox_3d": { + "center_world": { + "x": -54.599266052246094, + "y": -22.700984954833984, + "z": 0.8727232813835144 + }, + "extent": { + "x": 2.6187572479248047, + "y": 0.9648797512054443, + "z": 0.819191575050354 + }, + "yaw": 89.66251373291016 + }, + "bbox_2d": { + "xmin": 1068.4564889445896, + "ymin": 125.27021851111249, + "xmax": 1142.0956169626984, + "ymax": 240.17946664335233 + }, + "corners_3d": [ + [ + -53.64982986450195, + -25.325380325317383, + 0.05353168025612831 + ], + [ + -55.57955551147461, + -25.314014434814453, + 0.05353168025612831 + ], + [ + -55.5487060546875, + -20.076589584350586, + 0.05353168025612831 + ], + [ + -53.61897659301758, + -20.08795738220215, + 0.05353168025612831 + ], + [ + -53.64982986450195, + -25.325380325317383, + 1.6919147968292236 + ], + [ + -55.57955551147461, + -25.314014434814453, + 1.6919147968292236 + ], + [ + -55.5487060546875, + -20.076589584350586, + 1.6919147968292236 + ], + [ + -53.61897659301758, + -20.08795738220215, + 1.6919147968292236 + ] + ], + "corners_2d": [ + [ + 1070.4644595783952, + 231.08601460306792 + ], + [ + 1126.4308761883035, + 240.17946664335233 + ], + [ + 1118.9992442057764, + 169.32009985620118 + ], + [ + 1068.4564889445896, + 161.88820319161113 + ], + [ + 1084.149752456191, + 192.6823405212625 + ], + [ + 1142.0956169626984, + 201.5715494536779 + ], + [ + 1132.8928605395772, + 132.49077844882012 + ], + [ + 1080.74087223265, + 125.27021851111249 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 3311, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 880.7069917444487, + "ymin": 109.22053341355112, + "xmax": 946.0430931628745, + "ymax": 205.57368180036838 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 938.7025304562571, + 147.32170970852786 + ], + [ + 894.610920157786, + 140.7924466382552 + ], + [ + 880.7069917444487, + 197.81178407878514 + ], + [ + 928.6469111308013, + 205.57368180036838 + ], + [ + 946.0430931628745, + 115.57757549267228 + ], + [ + 900.8026958372302, + 109.22053341355112 + ], + [ + 887.1003369895984, + 164.84348582225493 + ], + [ + 936.4018921662835, + 172.4341327977201 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 2146, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 837.7738157953155, + "ymin": 0.0, + "xmax": 893.0904474227716, + "ymax": 66.92276087267527 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 886.2484880758932, + 30.600787935529638 + ], + [ + 851.2807704541092, + 26.32614056695826 + ], + [ + 837.7738157953155, + 62.03854667513184 + ], + [ + 875.0434156821166, + 66.92276087267527 + ], + [ + 893.0904474227716, + -8.534477364849977 + ], + [ + 857.101941957498, + -12.599260644923788 + ], + [ + 843.60774572912, + 21.416881024331815 + ], + [ + 882.0395336529266, + 26.079079899706528 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17449955051410433482, + "instance_id": 51749, + "pixel_count": null, + "type_id": "AmericanLights_Town04_28_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -60.41596984863281, + "y": -9.395050048828125, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1238.2345379721542, + "ymin": 0.0, + "xmax": 1254.355144036571, + "ymax": 22.000186957526694 + }, + "corners_3d": [ + [ + -60.55530548095703, + -9.205093383789062, + 2.645533323287964 + ], + [ + -60.276634216308594, + -9.205094337463379, + 2.645533323287964 + ], + [ + -60.276634216308594, + -9.585006713867188, + 2.645533323287964 + ], + [ + -60.55530548095703, + -9.585005760192871, + 2.645533323287964 + ], + [ + -60.55530548095703, + -9.205093383789062, + 3.5146729946136475 + ], + [ + -60.276634216308594, + -9.205094337463379, + 3.5146729946136475 + ], + [ + -60.276634216308594, + -9.585006713867188, + 3.5146729946136475 + ], + [ + -60.55530548095703, + -9.585005760192871, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1244.9717441754567, + 18.796194682649684 + ], + [ + 1238.2345379721542, + 18.037947629922712 + ], + [ + 1239.3602082859504, + 21.232443707711866 + ], + [ + 1246.141179606634, + 22.000186957526694 + ], + [ + 1253.1182794003148, + -0.32898419769520615 + ], + [ + 1246.2782801209514, + -1.0687712499666304 + ], + [ + 1247.4700359148694, + 2.0481521916264 + ], + [ + 1254.355144036571, + 2.797330103494346 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1358148318300121759, + "instance_id": 40874, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 25.452320153633536, + "ymin": 41.09782472231814, + "xmax": 176.07374122433663, + "ymax": 130.94437986075485 + }, + "corners_3d": [ + [ + -26.246047973632812, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246047973632812, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.197628021240234 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 176.07374122433663, + 45.357335889209935 + ], + [ + 167.78505314926883, + 44.07547807113258 + ], + [ + 26.96842036277451, + 129.2241439392945 + ], + [ + 36.183554958576224, + 130.94437986075485 + ], + [ + 175.0811040539922, + 42.37531747501407 + ], + [ + 166.77708719241093, + 41.09782472231814 + ], + [ + 25.452320153633536, + 125.98477466879444 + ], + [ + 34.686113321306834, + 127.70031431603542 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 52.45271588145806, + "ymax": 153.69056905548177 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 52.45271588145806, + 93.44451414470706 + ], + [ + 43.80242126571079, + 91.93394325982189 + ], + [ + -59.87767155505742, + 151.8548487167255 + ], + [ + -50.6349415465138, + 153.69056905548177 + ], + [ + -32.220911811131145, + -100.47650381629103 + ], + [ + -41.86518289114815, + -101.63390108588862 + ], + [ + -172.37896830191494, + -55.05523482880659 + ], + [ + -162.0169068412382, + -53.60632329262904 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 15.752567748718661, + "ymin": 32.4176023069208, + "xmax": 252.7776502545022, + "ymax": 365.12577702107296 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 252.7776502545022, + 262.254823178587 + ], + [ + 240.98747353597804, + 259.7533967512812 + ], + [ + 130.31177994396432, + 361.8990771602444 + ], + [ + 143.288363903253, + 365.12577702107296 + ], + [ + 177.83660198174528, + 34.50278419824673 + ], + [ + 164.06924707466953, + 32.4176023069208 + ], + [ + 15.752567748718661, + 119.79382242092757 + ], + [ + 31.129935657256624, + 122.63040131889468 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 758.3149019149445, + "ymin": 0.0, + "xmax": 1047.7093859099982, + "ymax": 52.458836924625984 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 760.2218379894831, + 17.966616358601755 + ], + [ + 758.3149019149445, + 21.11426791903 + ], + [ + 998.879353171684, + 52.458836924625984 + ], + [ + 999.3429531483541, + 48.91784253687075 + ], + [ + 775.364786981782, + -161.03145519122302 + ], + [ + 773.3208854371946, + -158.7244767647304 + ], + [ + 1047.5410986544427, + -135.5548102634628 + ], + [ + 1047.7093859099982, + -138.19032563861253 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13681264316117260208, + "instance_id": 45207, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 25.30419064728119, + "ymin": 41.03490141241974, + "xmax": 176.1918003704473, + "ymax": 131.02390200627227 + }, + "corners_3d": [ + [ + -26.24793815612793, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.24793815612793, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.198223114013672 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 176.1918003704473, + 45.34928044070227 + ], + [ + 167.79635314310724, + 44.05097549404684 + ], + [ + 26.840364467523614, + 129.28110796028926 + ], + [ + 36.17512955796178, + 131.02390200627227 + ], + [ + 175.18659780865903, + 42.32872774559007 + ], + [ + 166.77542374131315, + 41.03490141241974 + ], + [ + 25.30419064728119, + 125.99967669208601 + ], + [ + 34.658102428057305, + 127.73765199212903 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14568560350539926722, + "instance_id": 49868, + "pixel_count": null, + "type_id": "AmericanLights_Town04_28_Poles_4", + "bbox_3d": { + "center_world": { + "x": -60.752010345458984, + "y": -3.6481895446777344, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1196.915820245934, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 79.3081214110826 + }, + "corners_3d": [ + [ + -60.482032775878906, + -9.673303604125977, + 0.0 + ], + [ + -60.91484832763672, + -9.67715072631836, + 0.0 + ], + [ + -61.02198791503906, + 2.376924991607666, + 0.0 + ], + [ + -60.58917236328125, + 2.3807718753814697, + 0.0 + ], + [ + -60.482032775878906, + -9.673303604125977, + 8.446706771850586 + ], + [ + -60.91484832763672, + -9.67715072631836, + 8.446706771850586 + ], + [ + -61.02198791503906, + 2.376924991607666, + 8.446706771850586 + ], + [ + -60.58917236328125, + 2.3807718753814697, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1220.9593495570084, + 77.99700481749727 + ], + [ + 1231.0817461123852, + 79.3081214110826 + ], + [ + 1205.3718954414628, + -12.459639265311182 + ], + [ + 1196.915820245934, + -13.385001818482408 + ], + [ + 1303.9403767797658, + -116.40908547394827 + ], + [ + 1315.7298044995891, + -115.41956228349801 + ], + [ + 1271.856067620697, + -183.1486781127329 + ], + [ + 1262.2650174206665, + -183.81618768353144 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 353.4586679462278, + "ymin": 0.0, + "xmax": 459.6710852052979, + "ymax": 122.73827707285159 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 459.6710852052979, + 67.86827186225463 + ], + [ + 450.3949069637067, + 66.48620061616953 + ], + [ + 391.24902068330766, + 121.07353134916553 + ], + [ + 401.2708851257224, + 122.73827707285159 + ], + [ + 434.9694903181198, + -119.95802638492859 + ], + [ + 424.49525627231253, + -121.00383985252239 + ], + [ + 353.4586679462278, + -79.15484696598992 + ], + [ + 364.88995191456223, + -77.86084394522572 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00104/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00104/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3c34ec876c9e0536199737d9a41910fd89282f44 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00104/meta.json @@ -0,0 +1,2203 @@ +{ + "frame_id": 104, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 52.0, + "sim_timestamp": 14362.229255051585 + }, + "drone_pose": { + "x": -47.84440835639749, + "y": -57.77790221430429, + "z": 20.0, + "pitch": -41.68175563628304, + "yaw": 71.61508527665559, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.23555588722229004, + -0.7087300419807434, + 0.6649925708770752, + 38.91911697387695 + ], + [ + 0.9489590525627136, + 0.3153992295265198, + 0.0, + -27.179277420043945 + ], + [ + -0.20973815023899078, + 0.631050705909729, + 0.7468500137329102, + -61.43258285522461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.93580312406672, + "y": -57.21449634145122, + "z": 20.0 + }, + "t1_image_uv": [ + 1311.963869568241, + -494.78060663723124 + ], + "t1_depth": 0.3777741053674798 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -41.16718292236328, + "y": -37.68776321411133, + "z": 1.149673331975937 + }, + "image_uv": [ + 639.9999999999999, + 360.00000000000006 + ], + "depth": 28.346672468478673, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 715, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -41.16718292236328, + "y": -37.68776321411133, + "z": 1.149673342704773 + }, + "extent": { + "x": 0.4766564965248108, + "y": 0.5449670553207397, + "z": 0.9095149636268616 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 616.725969192302, + "ymin": 322.7555744524965, + "xmax": 662.9252256805937, + "ymax": 396.8819106959023 + }, + "corners_3d": [ + [ + -40.622215270996094, + -38.16442108154297, + 0.24015837907791138 + ], + [ + -41.71215057373047, + -38.16442108154297, + 0.24015837907791138 + ], + [ + -41.71215057373047, + -37.21110534667969, + 0.24015837907791138 + ], + [ + -40.622215270996094, + -37.21110534667969, + 0.24015837907791138 + ], + [ + -40.622215270996094, + -38.16442108154297, + 2.0591883659362793 + ], + [ + -41.71215057373047, + -38.16442108154297, + 2.0591883659362793 + ], + [ + -41.71215057373047, + -37.21110534667969, + 2.0591883659362793 + ], + [ + -40.622215270996094, + -37.21110534667969, + 2.0591883659362793 + ] + ], + "corners_2d": [ + [ + 617.7054831813242, + 388.917061309029 + ], + [ + 652.3622325082525, + 396.8819106959023 + ], + [ + 661.9742515879087, + 376.22256607260556 + ], + [ + 628.0295845258914, + 368.62095032602656 + ], + [ + 616.725969192302, + 342.81786538076216 + ], + [ + 652.910482077094, + 350.70202279784576 + ], + [ + 662.9252256805937, + 330.26487686285327 + ], + [ + 627.5162589438564, + 322.7555744524965 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 104, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 102, + "semantic_pixel_counts": { + "1": 336890, + "2": 141258, + "3": 1, + "4": 2309, + "5": 3456, + "6": 3818, + "7": 139, + "10": 654, + "12": 3229, + "14": 64077, + "15": 5794, + "24": 27910, + "25": 332065 + }, + "instance_pixel_counts": { + "70": 345, + "620": 683, + "1132": 556, + "1395": 1, + "2214": 193, + "3180": 187, + "4166": 474, + "4678": 565, + "5228": 244, + "6053": 68, + "6508": 2514, + "7786": 883, + "7825": 199, + "8064": 136, + "8296": 8005, + "8298": 656, + "8337": 246, + "8780": 555, + "8808": 19248, + "8810": 4527, + "9320": 145034, + "9834": 1668, + "10344": 15579, + "10346": 631, + "10624": 2098, + "10856": 17734, + "11116": 649, + "11136": 272, + "11368": 129262, + "11370": 3607, + "11596": 2309, + "11880": 1340, + "11882": 39, + "12652": 204, + "17516": 152, + "20308": 10014, + "20820": 5874, + "20866": 2539, + "21332": 4081, + "21844": 3459, + "22356": 6042, + "22868": 3367, + "23380": 3990, + "25428": 2637, + "25698": 309, + "25928": 2901, + "25940": 2072, + "26112": 117, + "26210": 24, + "26368": 807, + "27234": 215, + "27460": 1051, + "27476": 3020, + "27719": 18212, + "27746": 96, + "27988": 2652, + "29839": 1403, + "30351": 5021, + "30863": 41535, + "31375": 676, + "31812": 200, + "31887": 2688, + "32324": 224, + "32399": 12611, + "32911": 26034, + "34372": 220, + "34447": 125, + "34884": 993, + "34920": 292, + "35399": 75, + "36456": 396, + "36753": 253, + "39239": 331990, + "41367": 436, + "41796": 304, + "41879": 1753, + "42391": 14222, + "43927": 631, + "44439": 2359, + "44951": 13520, + "45463": 32, + "46672": 494, + "46917": 50, + "48708": 404, + "48744": 86, + "50756": 55, + "50792": 59, + "53926": 89, + "54950": 553, + "55462": 40, + "56320": 715, + "56576": 601, + "56832": 502, + "57088": 661, + "57344": 21, + "57600": 729, + "58368": 12512, + "58624": 4406, + "58880": 3410, + "60833": 589, + "61440": 2335, + "64837": 300 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 715, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -41.16718292236328, + "y": -37.68776321411133, + "z": 1.149673342704773 + }, + "extent": { + "x": 0.4957507252693176, + "y": 0.5909765362739563, + "z": 0.9040488004684448 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 614.9944942499782, + "ymin": 322.19359248140955, + "xmax": 664.6260174009976, + "ymax": 397.5124708670524 + }, + "corners_3d": [ + [ + -40.57620620727539, + -38.18351364135742, + 0.24562454223632812 + ], + [ + -41.75815963745117, + -38.18351364135742, + 0.24562454223632812 + ], + [ + -41.75815963745117, + -37.192012786865234, + 0.24562454223632812 + ], + [ + -40.57620620727539, + -37.192012786865234, + 0.24562454223632812 + ], + [ + -40.57620620727539, + -38.18351364135742, + 2.0537221431732178 + ], + [ + -41.75815963745117, + -38.18351364135742, + 2.0537221431732178 + ], + [ + -41.75815963745117, + -37.192012786865234, + 2.0537221431732178 + ], + [ + -40.57620620727539, + -37.192012786865234, + 2.0537221431732178 + ] + ], + "corners_2d": [ + [ + 616.040784865988, + 388.86717491876595 + ], + [ + 653.6441384123365, + 397.5124708670524 + ], + [ + 663.6105984210158, + 376.00972598609684 + ], + [ + 626.8105929241423, + 367.77416043643433 + ], + [ + 614.9944942499782, + 343.0444234722136 + ], + [ + 654.2460598109682, + 351.6030219277047 + ], + [ + 664.6260174009976, + 330.3294301973026 + ], + [ + 626.2489503437163, + 322.19359248140955 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 601, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -37.041194915771484, + "y": -34.690059661865234, + "z": 1.1473931074142456 + }, + "extent": { + "x": 0.45030641555786133, + "y": 0.4631347954273224, + "z": 0.8936952948570251 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 530.6530967592003, + "ymin": 244.5567896083745, + "xmax": 566.9763911792564, + "ymax": 306.7624023381531 + }, + "corners_3d": [ + [ + -36.68180465698242, + -35.2268180847168, + 0.25369781255722046 + ], + [ + -37.587833404541016, + -35.03423309326172, + 0.25369781255722046 + ], + [ + -37.40058517456055, + -34.15330123901367, + 0.25369781255722046 + ], + [ + -36.49455642700195, + -34.34588623046875, + 0.25369781255722046 + ], + [ + -36.68180465698242, + -35.2268180847168, + 2.041088342666626 + ], + [ + -37.587833404541016, + -35.03423309326172, + 2.041088342666626 + ], + [ + -37.40058517456055, + -34.15330123901367, + 2.041088342666626 + ], + [ + -36.49455642700195, + -34.34588623046875, + 2.041088342666626 + ] + ], + "corners_2d": [ + [ + 534.747514328118, + 304.81986285192033 + ], + [ + 562.3986241573681, + 306.7624023381531 + ], + [ + 566.9763911792564, + 290.192232998463 + ], + [ + 539.88468610276, + 288.3290856025005 + ], + [ + 530.6530967592003, + 260.731455820145 + ], + [ + 559.3722401906589, + 262.638467662125 + ], + [ + 564.1896559933409, + 246.38292285727658 + ], + [ + 536.0734877205786, + 244.5567896083745 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 502, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -43.42300796508789, + "y": -30.74505043029785, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.46891355514526367, + "y": 0.4213220179080963, + "z": 0.9439117312431335 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 750.4416556770038, + "ymin": 216.85308035164823, + "xmax": 783.1103249066466, + "ymax": 280.8707442801337 + }, + "corners_3d": [ + [ + -43.053009033203125, + -31.255435943603516, + 0.05335432291030884 + ], + [ + -43.89103698730469, + -31.167354583740234, + 0.05335432291030884 + ], + [ + -43.793006896972656, + -30.234664916992188, + 0.05335432291030884 + ], + [ + -42.954978942871094, + -30.32274627685547, + 0.05335432291030884 + ], + [ + -43.053009033203125, + -31.255435943603516, + 1.9411778450012207 + ], + [ + -43.89103698730469, + -31.167354583740234, + 1.9411778450012207 + ], + [ + -43.793006896972656, + -30.234664916992188, + 1.9411778450012207 + ], + [ + -42.954978942871094, + -30.32274627685547, + 1.9411778450012207 + ] + ], + "corners_2d": [ + [ + 750.4416556770038, + 277.71636593400206 + ], + [ + 774.7954054979971, + 280.8707442801337 + ], + [ + 777.7854243165318, + 265.1432643542815 + ], + [ + 753.9116011257971, + 262.11525882891675 + ], + [ + 754.7832137649848, + 232.09786364893728 + ], + [ + 780.1168223746316, + 235.18313944616673 + ], + [ + 783.1103249066466, + 219.81003537283974 + ], + [ + 758.2956496907232, + 216.85308035164823 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 661, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -50.66718292236328, + "y": -37.68776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.2996557652950287, + "y": 0.5267577767372131, + "z": 0.8895269632339478 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 942.6151238030251, + "ymin": 402.2542214219129, + "xmax": 998.8560168048898, + "ymax": 471.37015515856854 + }, + "corners_3d": [ + [ + -50.14042663574219, + -37.98741912841797, + 0.10774397850036621 + ], + [ + -51.193939208984375, + -37.98741912841797, + 0.10774397850036621 + ], + [ + -51.193939208984375, + -37.38810729980469, + 0.10774397850036621 + ], + [ + -50.14042663574219, + -37.38810729980469, + 0.10774397850036621 + ], + [ + -50.14042663574219, + -37.98741912841797, + 1.8867979049682617 + ], + [ + -51.193939208984375, + -37.98741912841797, + 1.8867979049682617 + ], + [ + -51.193939208984375, + -37.38810729980469, + 1.8867979049682617 + ], + [ + -50.14042663574219, + -37.38810729980469, + 1.8867979049682617 + ] + ], + "corners_2d": [ + [ + 942.6151238030251, + 462.39487042544636 + ], + [ + 981.7171772363392, + 471.37015515856854 + ], + [ + 983.0677540808305, + 456.1090209815475 + ], + [ + 944.5653511476478, + 447.4137647046442 + ], + [ + 956.6380506629789, + 417.1782180686478 + ], + [ + 997.707489165706, + 426.1296625937562 + ], + [ + 998.8560168048898, + 410.91369555375564 + ], + [ + 958.447688988924, + 402.2542214219129 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 21, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -44.78268051147461, + "y": -48.81512451171875, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.480710506439209, + "y": 0.4922095239162445, + "z": 0.938180685043335 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 603.1771568489709, + "ymin": 692.0430845378687, + "xmax": 668.3177953822695, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -44.242919921875, + -49.24175262451172, + 0.059090256690979004 + ], + [ + -45.221946716308594, + -49.34465026855469, + 0.059090256690979004 + ], + [ + -45.32244110107422, + -48.38849639892578, + 0.059090256690979004 + ], + [ + -44.343414306640625, + -48.28559875488281, + 0.059090256690979004 + ], + [ + -44.242919921875, + -49.24175262451172, + 1.935451626777649 + ], + [ + -45.221946716308594, + -49.34465026855469, + 1.935451626777649 + ], + [ + -45.32244110107422, + -48.38849639892578, + 1.935451626777649 + ], + [ + -44.343414306640625, + -48.28559875488281, + 1.935451626777649 + ] + ], + "corners_2d": [ + [ + 605.4563825370981, + 776.728771362611 + ], + [ + 648.27908483161, + 796.1673501536605 + ], + [ + 666.5949570713973, + 755.0024597508101 + ], + [ + 624.8507144992064, + 736.7750529014221 + ], + [ + 603.1771568489709, + 733.0860630360505 + ], + [ + 648.8342590773605, + 753.1162014802075 + ], + [ + 668.3177953822695, + 710.7463395718729 + ], + [ + 623.8845598188425, + 692.0430845378687 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 729, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -29.921844482421875, + "y": -45.85797882080078, + "z": 1.1400102376937866 + }, + "extent": { + "x": 0.4023986756801605, + "y": 0.4259082078933716, + "z": 0.9170980453491211 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 98.58634253659739, + "ymin": 426.9662080715217, + "xmax": 170.46582041949728, + "ymax": 506.01449259313483 + }, + "corners_3d": [ + [ + -29.421579360961914, + -46.16303253173828, + 0.22291219234466553 + ], + [ + -30.25478172302246, + -46.34013366699219, + 0.22291219234466553 + ], + [ + -30.422109603881836, + -45.55292510986328, + 0.22291219234466553 + ], + [ + -29.58890724182129, + -45.375823974609375, + 0.22291219234466553 + ], + [ + -29.421579360961914, + -46.16303253173828, + 2.0571084022521973 + ], + [ + -30.25478172302246, + -46.34013366699219, + 2.0571084022521973 + ], + [ + -30.422109603881836, + -45.55292510986328, + 2.0571084022521973 + ], + [ + -29.58890724182129, + -45.375823974609375, + 2.0571084022521973 + ] + ], + "corners_2d": [ + [ + 124.25893203165549, + 493.4950316055175 + ], + [ + 145.49679448826203, + 506.01449259313483 + ], + [ + 170.46582041949728, + 485.9944090313106 + ], + [ + 149.34141564059053, + 473.9678116586738 + ], + [ + 98.58634253659739, + 446.4708754599365 + ], + [ + 120.55382819895488, + 458.99607499571687 + ], + [ + 147.27946793008647, + 438.97437893736463 + ], + [ + 125.42349970322164, + 426.9662080715217 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 12512, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 770.937872697057, + "ymin": 430.75868814477735, + "xmax": 896.2041505404418, + "ymax": 633.5554771651773 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 886.5045928234583, + 486.6279538642048 + ], + [ + 807.7210267830342, + 468.18115349584616 + ], + [ + 770.937872697057, + 609.2403152649624 + ], + [ + 860.7059159077098, + 633.5554771651773 + ], + [ + 896.2041505404418, + 449.18625579167724 + ], + [ + 814.1917458046129, + 430.75868814477735 + ], + [ + 776.7623896396714, + 572.3669261910748 + ], + [ + 870.7496560530699, + 596.9395433640289 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 229, + "instance_id": 58624, + "pixel_count": 4406, + "type_id": "vehicle.dodge.charger_police_2020", + "bbox_3d": { + "center_world": { + "x": -54.599266052246094, + "y": -22.700984954833984, + "z": 0.8727232813835144 + }, + "extent": { + "x": 2.6187572479248047, + "y": 0.9648797512054443, + "z": 0.819191575050354 + }, + "yaw": 89.66251373291016 + }, + "bbox_2d": { + "xmin": 1071.7513941287748, + "ymin": 132.3278838139644, + "xmax": 1145.8703059077452, + "ymax": 249.4551405206958 + }, + "corners_3d": [ + [ + -53.64982986450195, + -25.325380325317383, + 0.05353168025612831 + ], + [ + -55.57955551147461, + -25.314014434814453, + 0.05353168025612831 + ], + [ + -55.5487060546875, + -20.076589584350586, + 0.05353168025612831 + ], + [ + -53.61897659301758, + -20.08795738220215, + 0.05353168025612831 + ], + [ + -53.64982986450195, + -25.325380325317383, + 1.6919147968292236 + ], + [ + -55.57955551147461, + -25.314014434814453, + 1.6919147968292236 + ], + [ + -55.5487060546875, + -20.076589584350586, + 1.6919147968292236 + ], + [ + -53.61897659301758, + -20.08795738220215, + 1.6919147968292236 + ] + ], + "corners_2d": [ + [ + 1073.1288139682788, + 239.93268810926642 + ], + [ + 1129.8718489961977, + 249.4551405206958 + ], + [ + 1122.9494506799163, + 176.93778928125224 + ], + [ + 1071.7513941287748, + 169.1709630354421 + ], + [ + 1087.087309883453, + 201.31690090875207 + ], + [ + 1145.8703059077452, + 210.63350618186269 + ], + [ + 1137.1398360292617, + 139.87927131250925 + ], + [ + 1084.286496878668, + 132.3278838139644 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 3410, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 881.1185929001299, + "ymin": 115.30113639007484, + "xmax": 947.903625398267, + "ymax": 213.31415577218095 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 940.4343549695568, + 153.86217370270364 + ], + [ + 895.8825402525977, + 147.05517513503875 + ], + [ + 881.1185929001299, + 205.20998102124625 + ], + [ + 929.5828146939153, + 213.31415577218095 + ], + [ + 947.903625398267, + 121.93222715250658 + ], + [ + 902.1757801372264, + 115.30113639007484 + ], + [ + 887.6004801963239, + 172.06481027003957 + ], + [ + 937.4601245700009, + 179.99525856459485 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 2335, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 839.3938592759212, + "ymin": 0.0, + "xmax": 895.7331795468908, + "ymax": 71.73041075235659 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 888.7543880638966, + 34.81270694389036 + ], + [ + 853.4883164333446, + 30.372550232519075 + ], + [ + 839.3938592759212, + 66.65260742899852 + ], + [ + 876.9906423877756, + 71.73041075235659 + ], + [ + 895.7331795468908, + -4.560122828207227 + ], + [ + 859.4260334455129, + -8.784473315929404 + ], + [ + 845.3340392008058, + 25.790979009875286 + ], + [ + 884.1167568936285, + 30.640779735318745 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17449955051410433482, + "instance_id": 51749, + "pixel_count": null, + "type_id": "AmericanLights_Town04_28_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -60.41596984863281, + "y": -9.395050048828125, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1244.8917858501568, + "ymin": 4.292517930119402, + "xmax": 1261.2962498634424, + "ymax": 27.614005109165134 + }, + "corners_3d": [ + [ + -60.55530548095703, + -9.205093383789062, + 2.645533323287964 + ], + [ + -60.276634216308594, + -9.205094337463379, + 2.645533323287964 + ], + [ + -60.276634216308594, + -9.585006713867188, + 2.645533323287964 + ], + [ + -60.55530548095703, + -9.585005760192871, + 2.645533323287964 + ], + [ + -60.55530548095703, + -9.205093383789062, + 3.5146729946136475 + ], + [ + -60.276634216308594, + -9.205094337463379, + 3.5146729946136475 + ], + [ + -60.276634216308594, + -9.585006713867188, + 3.5146729946136475 + ], + [ + -60.55530548095703, + -9.585005760192871, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1251.7236739271837, + 24.340728346760102 + ], + [ + 1244.8917858501568, + 23.54894314718655 + ], + [ + 1246.0103649615316, + 26.81221106810085 + ], + [ + 1252.887050428517, + 27.614005109165134 + ], + [ + 1260.0636028406288, + 5.065281331861627 + ], + [ + 1253.12582272303, + 4.292517930119402 + ], + [ + 1254.3122750860398, + 7.4775960436371065 + ], + [ + 1261.2962498634424, + 8.260262185755437 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1358148318300121759, + "instance_id": 40874, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 12.007811173544724, + "ymin": 46.38177709083749, + "xmax": 167.0154254613526, + "ymax": 138.10084126594407 + }, + "corners_3d": [ + [ + -26.246047973632812, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246047973632812, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.197628021240234 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 167.0154254613526, + 50.71567751490534 + ], + [ + 158.7017392403397, + 49.37965441343317 + ], + [ + 13.576564698205061, + 136.30319289772706 + ], + [ + 22.808662056008643, + 138.10084126594407 + ], + [ + 165.9919180678005, + 47.71331493772749 + ], + [ + 157.66279790878713, + 46.38177709083749 + ], + [ + 12.007811173544724, + 133.04292162227404 + ], + [ + 21.25861468253686, + 134.8357744626244 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 48.41422528225735, + "ymax": 157.0975796032605 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 48.41422528225735, + 96.27946201810107 + ], + [ + 39.778027225900246, + 94.72124390206966 + ], + [ + -65.63475240999765, + 155.20275146325733 + ], + [ + -56.417145904450194, + 157.0975796032605 + ], + [ + -37.438202672227476, + -98.45929864040642 + ], + [ + -47.064844840533965, + -99.65529508730145 + ], + [ + -179.9000722893976, + -52.55178737097867 + ], + [ + -169.57200498788814, + -51.05313585711593 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 2.079048759671082, + "ymin": 37.60969388805228, + "xmax": 245.89629331380098, + "ymax": 373.3162725988252 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 245.89629331380098, + 268.6995732849879 + ], + [ + 234.0772793201129, + 266.1016991479002 + ], + [ + 120.35695047031334, + 369.9592325904065 + ], + [ + 133.35399957770267, + 373.3162725988252 + ], + [ + 168.75311298129304, + 39.783239363061796 + ], + [ + 154.94367773356004, + 37.60969388805228 + ], + [ + 2.079048759671082, + 126.81945925241493 + ], + [ + 17.484332555537208, + 129.78448021964076 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 759.7378777191626, + "ymin": 0.0, + "xmax": 1052.3047769544387, + "ymax": 57.352088897344345 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 761.7050624790257, + 21.62608275022569 + ], + [ + 759.7378777191626, + 24.818294288549964 + ], + [ + 1002.3841334448589, + 57.352088897344345 + ], + [ + 1002.8902330628364, + 53.74899883513859 + ], + [ + 777.1836193899678, + -158.53139634460365 + ], + [ + 775.0724375019374, + -156.18664789374907 + ], + [ + 1052.0983621541773, + -132.07774676061274 + ], + [ + 1052.3047769544387, + -134.76696296347387 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13681264316117260208, + "instance_id": 45207, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 11.856716707376108, + "ymin": 46.31768481874798, + "xmax": 167.13555714876242, + "ymax": 138.1820650365429 + }, + "corners_3d": [ + [ + -26.24793815612793, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.24793815612793, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.198223114013672 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 167.13555714876242, + 50.70740675642679 + ], + [ + 158.71478662222626, + 49.354243436885326 + ], + [ + 13.446240224304916, + 136.36084146059463 + ], + [ + 22.798181272031798, + 138.1820650365429 + ], + [ + 166.0990929935233, + 47.666246201093486 + ], + [ + 157.6624877219116, + 46.31768481874798 + ], + [ + 11.856716707376108, + 133.05823819811604 + ], + [ + 21.227853214428478, + 134.87454121017194 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14568560350539926722, + "instance_id": 49868, + "pixel_count": null, + "type_id": "AmericanLights_Town04_28_Poles_4", + "bbox_3d": { + "center_world": { + "x": -60.752010345458984, + "y": -3.6481895446777344, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1203.4473538703737, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 85.38448516478303 + }, + "corners_3d": [ + [ + -60.482032775878906, + -9.673303604125977, + 0.0 + ], + [ + -60.91484832763672, + -9.67715072631836, + 0.0 + ], + [ + -61.02198791503906, + 2.376924991607666, + 0.0 + ], + [ + -60.58917236328125, + 2.3807718753814697, + 0.0 + ], + [ + -60.482032775878906, + -9.673303604125977, + 8.446706771850586 + ], + [ + -60.91484832763672, + -9.67715072631836, + 8.446706771850586 + ], + [ + -61.02198791503906, + 2.376924991607666, + 8.446706771850586 + ], + [ + -60.58917236328125, + 2.3807718753814697, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1227.1320430714247, + 84.01716756304091 + ], + [ + 1237.3910259316704, + 85.38448516478303 + ], + [ + 1212.0053162804256, + -8.15746188343337 + ], + [ + 1203.4473538703737, + -9.119774318888972 + ], + [ + 1312.1317919139335, + -112.02522303076154 + ], + [ + 1324.1099436454424, + -110.9897684138516 + ], + [ + 1280.0585587217772, + -180.23168150946333 + ], + [ + 1270.3341284400833, + -180.92755296267467 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 349.52975854837524, + "ymin": 0.0, + "xmax": 458.0118215112494, + "ymax": 127.11308200558597 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 458.0118215112494, + 71.52264238048423 + ], + [ + 448.7017288980062, + 70.0920659196151 + ], + [ + 388.15426138550436, + 125.38828660746663 + ], + [ + 398.20987459543323, + 127.11308200558597 + ], + [ + 432.8603387822474, + -117.35359568464469 + ], + [ + 422.3395456836713, + -118.43843017775083 + ], + [ + 349.52975854837524, + -75.94763916718017 + ], + [ + 361.0085581594372, + -74.60357257784801 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00110/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00110/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..96d126fbe6f212f35538b9e7ca814ec8c357cebe --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00110/meta.json @@ -0,0 +1,1988 @@ +{ + "frame_id": 110, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 55.0, + "sim_timestamp": 14428.865697180154 + }, + "drone_pose": { + "x": -47.47556922593605, + "y": -54.28528631152054, + "z": 20.0, + "pitch": -41.782611549464, + "yaw": 68.27581305413399, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2760046124458313, + -0.6927174925804138, + 0.66630619764328, + 37.3817138671875 + ], + [ + 0.9289763569831848, + 0.3701390027999878, + 2.9802322387695312e-08, + -24.01058006286621 + ], + [ + -0.24662591516971588, + 0.6189826726913452, + 0.7456782460212708, + -60.22392272949219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -47.22163781953389, + "y": -53.69299607216429, + "z": 20.0 + }, + "t1_image_uv": [ + 606.6928987865414, + -497.8149512310056 + ], + "t1_depth": 0.4803760392926836 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -39.66718292236328, + "y": -34.68776321411133, + "z": 1.149673331975937 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.290786905113286, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 690, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -39.66718292236328, + "y": -34.68776321411133, + "z": 1.149673342704773 + }, + "extent": { + "x": 0.4462573230266571, + "y": 0.580090343952179, + "z": 0.9104228615760803 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 615.5255334330146, + "ymin": 322.3386746602924, + "xmax": 664.713889357658, + "ymax": 397.3167667030862 + }, + "corners_3d": [ + [ + -39.572547912597656, + -35.41350173950195, + 0.23925048112869263 + ], + [ + -40.392921447753906, + -34.5931282043457, + 0.23925048112869263 + ], + [ + -39.761817932128906, + -33.9620246887207, + 0.23925048112869263 + ], + [ + -38.941444396972656, + -34.78239822387695, + 0.23925048112869263 + ], + [ + -39.572547912597656, + -35.41350173950195, + 2.060096263885498 + ], + [ + -40.392921447753906, + -34.5931282043457, + 2.060096263885498 + ], + [ + -39.761817932128906, + -33.9620246887207, + 2.060096263885498 + ], + [ + -38.941444396972656, + -34.78239822387695, + 2.060096263885498 + ] + ], + "corners_2d": [ + [ + 627.9568367899087, + 397.3167667030862 + ], + [ + 663.6714299891421, + 386.67762512528077 + ], + [ + 651.6523472990796, + 368.2686078666483 + ], + [ + 616.5483103489158, + 378.4669383257312 + ], + [ + 627.4198073628341, + 351.0729828088727 + ], + [ + 664.713889357658, + 340.5391455053197 + ], + [ + 652.1543612437515, + 322.3386746602924 + ], + [ + 615.5255334330146, + 332.41735315982635 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 110, + "instance_stats": { + "semantic_tags_present": 10, + "instances_present": 98, + "semantic_pixel_counts": { + "1": 344665, + "2": 82657, + "5": 2316, + "6": 3685, + "10": 611, + "12": 3252, + "14": 73430, + "15": 6856, + "24": 31485, + "25": 372643 + }, + "instance_pixel_counts": { + "70": 412, + "108": 1, + "620": 637, + "1132": 647, + "2214": 226, + "3180": 242, + "4166": 574, + "4678": 680, + "6053": 53, + "6508": 2807, + "7786": 1452, + "7825": 260, + "8064": 159, + "8296": 16841, + "8298": 818, + "8337": 281, + "8780": 993, + "8808": 24249, + "8810": 4380, + "9320": 135291, + "9322": 128, + "9832": 1836, + "9834": 1726, + "10344": 18857, + "10346": 814, + "10624": 2598, + "10856": 23107, + "11116": 778, + "11136": 313, + "11368": 117932, + "11370": 3335, + "12652": 228, + "17516": 190, + "20308": 11405, + "20820": 6762, + "20866": 2719, + "21332": 4548, + "21844": 3990, + "22356": 6645, + "22868": 4075, + "23380": 4486, + "25428": 2745, + "25698": 361, + "25928": 1323, + "25940": 2355, + "26112": 327, + "26210": 31, + "27234": 263, + "27460": 1533, + "27476": 3420, + "27746": 146, + "27988": 3212, + "29839": 1680, + "30351": 6152, + "30863": 40356, + "31375": 3223, + "31812": 230, + "31887": 993, + "32324": 258, + "32360": 737, + "32399": 4156, + "32911": 822, + "34372": 292, + "34884": 1022, + "34920": 5815, + "35399": 880, + "36753": 322, + "39239": 371763, + "41367": 566, + "41796": 452, + "41879": 2154, + "42391": 13180, + "42903": 356, + "43927": 654, + "44439": 3137, + "44951": 5228, + "46672": 635, + "46917": 61, + "47184": 4, + "48708": 487, + "48744": 299, + "50756": 66, + "53926": 180, + "54950": 628, + "55462": 44, + "56320": 690, + "56576": 617, + "56832": 500, + "57088": 626, + "57344": 25, + "57600": 794, + "58368": 13687, + "58624": 5821, + "58880": 4269, + "60833": 669, + "61440": 2866, + "62113": 45, + "64837": 357 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 690, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -39.66718292236328, + "y": -34.68776321411133, + "z": 1.149673342704773 + }, + "extent": { + "x": 0.47022703289985657, + "y": 0.4485400319099426, + "z": 0.8689530491828918 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 619.4301587107481, + "ymin": 324.08023454553813, + "xmax": 660.853754054489, + "ymax": 395.6044452641845 + }, + "corners_3d": [ + [ + -39.682518005371094, + -35.33742904663086, + 0.2807202935218811 + ], + [ + -40.31684875488281, + -34.70309829711914, + 0.2807202935218811 + ], + [ + -39.65184783935547, + -34.0380973815918, + 0.2807202935218811 + ], + [ + -39.01751708984375, + -34.672428131103516, + 0.2807202935218811 + ], + [ + -39.682518005371094, + -35.33742904663086, + 2.0186264514923096 + ], + [ + -40.31684875488281, + -34.70309829711914, + 2.0186264514923096 + ], + [ + -39.65184783935547, + -34.0380973815918, + 2.0186264514923096 + ], + [ + -39.01751708984375, + -34.672428131103516, + 2.0186264514923096 + ] + ], + "corners_2d": [ + [ + 632.3572765635741, + 395.6044452641845 + ], + [ + 660.011762632854, + 387.3700565353098 + ], + [ + 647.4059320491393, + 367.9239959996524 + ], + [ + 620.2498302400028, + 375.7989574052857 + ], + [ + 632.0325918732393, + 351.4752491014449 + ], + [ + 660.853754054489, + 343.3182388965186 + ], + [ + 647.7104085034047, + 324.08023454553813 + ], + [ + 619.4301587107481, + 331.8666580771704 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 617, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -35.541194915771484, + "y": -31.6900577545166, + "z": 1.1458745002746582 + }, + "extent": { + "x": 0.40534666180610657, + "y": 0.43370726704597473, + "z": 0.8875530958175659 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 537.3737723685741, + "ymin": 239.98070524605367, + "xmax": 576.0237151409799, + "ymax": 304.79291843333624 + }, + "corners_3d": [ + [ + -35.64493179321289, + -32.27456283569336, + 0.2583214044570923 + ], + [ + -36.11736297607422, + -31.547088623046875, + 0.2583214044570923 + ], + [ + -35.43745803833008, + -31.105552673339844, + 0.2583214044570923 + ], + [ + -34.96502685546875, + -31.833026885986328, + 0.2583214044570923 + ], + [ + -35.64493179321289, + -32.27456283569336, + 2.0334277153015137 + ], + [ + -36.11736297607422, + -31.547088623046875, + 2.0334277153015137 + ], + [ + -35.43745803833008, + -31.105552673339844, + 2.0334277153015137 + ], + [ + -34.96502685546875, + -31.833026885986328, + 2.0334277153015137 + ] + ], + "corners_2d": [ + [ + 553.8010069766365, + 304.79291843333624 + ], + [ + 576.0237151409799, + 295.43566868142625 + ], + [ + 563.1789820681136, + 283.4024936636665 + ], + [ + 541.1481032610056, + 292.47638429976587 + ], + [ + 550.456501926616, + 260.9660174271422 + ], + [ + 573.571495999185, + 251.78064663491452 + ], + [ + 560.2807751704828, + 239.98070524605367 + ], + [ + 537.3737723685741, + 248.87744855662174 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 500, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -41.92300796508789, + "y": -27.74505043029785, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.4035376012325287, + "y": 0.44279539585113525, + "z": 0.9037846922874451 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 757.7363204041761, + "ymin": 221.33134943683447, + "xmax": 798.0818590513996, + "ymax": 284.54504965392664 + }, + "corners_3d": [ + [ + -41.95795440673828, + -28.343120574951172, + 0.09349119663238525 + ], + [ + -42.51527404785156, + -27.654888153076172, + 0.09349119663238525 + ], + [ + -41.8880615234375, + -27.14698028564453, + 0.09349119663238525 + ], + [ + -41.33074188232422, + -27.83521270751953, + 0.09349119663238525 + ], + [ + -41.95795440673828, + -28.343120574951172, + 1.9010605812072754 + ], + [ + -42.51527404785156, + -27.654888153076172, + 1.9010605812072754 + ], + [ + -41.8880615234375, + -27.14698028564453, + 1.9010605812072754 + ], + [ + -41.33074188232422, + -27.83521270751953, + 1.9010605812072754 + ] + ], + "corners_2d": [ + [ + 771.189442724901, + 284.54504965392664 + ], + [ + 792.3263697424928, + 276.90768438983014 + ], + [ + 778.6723425585112, + 264.8056601222204 + ], + [ + 757.7363204041761, + 272.2051413766849 + ], + [ + 776.1970266507591, + 240.65597859937725 + ], + [ + 798.0818590513996, + 233.17467516779638 + ], + [ + 783.8270384483683, + 221.33134943683447 + ], + [ + 762.1568452689514, + 228.57099552221936 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 626, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -49.16718292236328, + "y": -34.68776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.3752783238887787, + "y": 0.26734861731529236, + "z": 0.8861357569694519 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 944.9900582387563, + "ymin": 416.27502603286484, + "xmax": 993.9935828682128, + "ymax": 486.06219756194565 + }, + "corners_3d": [ + [ + -49.243499755859375, + -35.14216995239258, + 0.11113518476486206 + ], + [ + -49.62158966064453, + -34.76408004760742, + 0.11113518476486206 + ], + [ + -49.09086608886719, + -34.23335647583008, + 0.11113518476486206 + ], + [ + -48.71277618408203, + -34.611446380615234, + 0.11113518476486206 + ], + [ + -49.243499755859375, + -35.14216995239258, + 1.883406639099121 + ], + [ + -49.62158966064453, + -34.76408004760742, + 1.883406639099121 + ], + [ + -49.09086608886719, + -34.23335647583008, + 1.883406639099121 + ], + [ + -48.71277618408203, + -34.611446380615234, + 1.883406639099121 + ] + ], + "corners_2d": [ + [ + 961.9556361953831, + 486.06219756194565 + ], + [ + 978.0278334745412, + 480.1416379509815 + ], + [ + 960.8528620947163, + 461.30810818377944 + ], + [ + 944.9900582387563, + 467.0021629252973 + ], + [ + 977.2586995632444, + 440.988209766797 + ], + [ + 993.9935828682128, + 435.0720573399819 + ], + [ + 975.7020487297436, + 416.27502603286484 + ], + [ + 959.1928080744053, + 421.95444185705304 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 25, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -43.28268051147461, + "y": -45.81512451171875, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4511035084724426, + "y": 0.4659692347049713, + "z": 0.9071290493011475 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 573.4030461941336, + "ymin": 696.498068462493, + "xmax": 631.3413032992335, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -43.20444107055664, + -46.45894241333008, + 0.0901418924331665 + ], + [ + -43.92869567871094, + -45.87245559692383, + 0.0901418924331665 + ], + [ + -43.36091995239258, + -45.17130661010742, + 0.0901418924331665 + ], + [ + -42.63666534423828, + -45.75779342651367, + 0.0901418924331665 + ], + [ + -43.20444107055664, + -46.45894241333008, + 1.9043999910354614 + ], + [ + -43.92869567871094, + -45.87245559692383, + 1.9043999910354614 + ], + [ + -43.36091995239258, + -45.17130661010742, + 1.9043999910354614 + ], + [ + -42.63666534423828, + -45.75779342651367, + 1.9043999910354614 + ] + ], + "corners_2d": [ + [ + 588.2489517517221, + 792.4225596799315 + ], + [ + 631.3413032992335, + 779.157347371083 + ], + [ + 619.1932693587798, + 739.5565585096106 + ], + [ + 577.3284811063178, + 752.0077695112943 + ], + [ + 584.8959137984929, + 750.8305035055947 + ], + [ + 630.7864291984405, + 737.1702382647438 + ], + [ + 617.9038262388931, + 696.498068462493 + ], + [ + 573.4030461941336, + 709.2687416696947 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 794, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -28.421844482421875, + "y": -42.85797882080078, + "z": 1.1384868621826172 + }, + "extent": { + "x": 0.3541186451911926, + "y": 0.4565673768520355, + "z": 0.9320871233940125 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 103.80723711332769, + "ymin": 409.27937816012764, + "xmax": 169.07213865939661, + "ymax": 480.86112221502503 + }, + "corners_3d": [ + [ + -28.231801986694336, + -43.40363311767578, + 0.20639973878860474 + ], + [ + -28.997621536254883, + -42.90630340576172, + 0.20639973878860474 + ], + [ + -28.611886978149414, + -42.31232452392578, + 0.20639973878860474 + ], + [ + -27.846067428588867, + -42.809654235839844, + 0.20639973878860474 + ], + [ + -28.231801986694336, + -43.40363311767578, + 2.0705740451812744 + ], + [ + -28.997621536254883, + -42.90630340576172, + 2.0705740451812744 + ], + [ + -28.611886978149414, + -42.31232452392578, + 2.0705740451812744 + ], + [ + -27.846067428588867, + -42.809654235839844, + 2.0705740451812744 + ] + ], + "corners_2d": [ + [ + 129.3857762128676, + 480.86112221502503 + ], + [ + 164.83230984718045, + 475.88232258398835 + ], + [ + 169.07213865939661, + 456.9868090066299 + ], + [ + 134.33818379569732, + 461.77377200333 + ], + [ + 103.80723711332769, + 433.09698749865584 + ], + [ + 141.15654314697878, + 428.12521033031146 + ], + [ + 146.08520379919702, + 409.27937816012764 + ], + [ + 109.52599601239808, + 414.0503104967718 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 13687, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 779.5712756909685, + "ymin": 540.2037669903465, + "xmax": 930.5023324643648, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 918.1450063608104, + 604.4443951365183 + ], + [ + 830.3485445806871, + 577.3025144220843 + ], + [ + 779.5712756909685, + 751.2499229709674 + ], + [ + 880.4954145899708, + 788.0352678105687 + ], + [ + 930.5023324643648, + 567.5733109927628 + ], + [ + 838.5880297851729, + 540.2037669903465 + ], + [ + 786.6397862012852, + 716.6543110162677 + ], + [ + 893.052599213729, + 754.2883097394758 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 229, + "instance_id": 58624, + "pixel_count": 5821, + "type_id": "vehicle.dodge.charger_police_2020", + "bbox_3d": { + "center_world": { + "x": -54.599266052246094, + "y": -22.700984954833984, + "z": 0.8727232813835144 + }, + "extent": { + "x": 2.6187572479248047, + "y": 0.9648797512054443, + "z": 0.819191575050354 + }, + "yaw": 89.66251373291016 + }, + "bbox_2d": { + "xmin": 1139.1484881679567, + "ymin": 191.5270573839749, + "xmax": 1223.4557279933692, + "ymax": 327.2906718364756 + }, + "corners_3d": [ + [ + -53.64982986450195, + -25.325380325317383, + 0.05353168025612831 + ], + [ + -55.57955551147461, + -25.314014434814453, + 0.05353168025612831 + ], + [ + -55.5487060546875, + -20.076589584350586, + 0.05353168025612831 + ], + [ + -53.61897659301758, + -20.08795738220215, + 0.05353168025612831 + ], + [ + -53.64982986450195, + -25.325380325317383, + 1.6919147968292236 + ], + [ + -55.57955551147461, + -25.314014434814453, + 1.6919147968292236 + ], + [ + -55.5487060546875, + -20.076589584350586, + 1.6919147968292236 + ], + [ + -53.61897659301758, + -20.08795738220215, + 1.6919147968292236 + ] + ], + "corners_2d": [ + [ + 1139.1484881679567, + 313.6097316932662 + ], + [ + 1202.9902919596661, + 327.2906718364756 + ], + [ + 1196.838423821302, + 240.9666171290557 + ], + [ + 1139.667911001528, + 229.9795249982296 + ], + [ + 1156.9815878864815, + 273.5687244299612 + ], + [ + 1223.4557279933692, + 287.04733649889545 + ], + [ + 1214.8938293151277, + 202.2710872790663 + ], + [ + 1155.620928407156, + 191.5270573839749 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 4269, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 926.8300832051734, + "ymin": 165.01794289198008, + "xmax": 1004.1750541248482, + "ymax": 276.4928973825826 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 994.5652350932999, + 207.48208379745873 + ], + [ + 945.9437036433023, + 198.06598541615506 + ], + [ + 926.8300832051734, + 265.15881592927747 + ], + [ + 979.925011291725, + 276.4928973825826 + ], + [ + 1004.1750541248482, + 174.2299474321329 + ], + [ + 954.1220658723375, + 165.01794289198008 + ], + [ + 935.2584794052154, + 230.80234132839672 + ], + [ + 990.06639082471, + 241.94896898007755 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 2866, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 888.6103033053996, + "ymin": 22.75087063999763, + "xmax": 952.7848056208193, + "ymax": 111.08072603622526 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 943.636155968485, + 69.57614192461875 + ], + [ + 905.7550738153575, + 63.605914094955665 + ], + [ + 888.6103033053996, + 104.21040845025664 + ], + [ + 929.0665145967362, + 111.08072603622526 + ], + [ + 952.7848056208193, + 28.453421197851924 + ], + [ + 913.6755120408636, + 22.75087063999763 + ], + [ + 896.5727326765848, + 61.60670463701081 + ], + [ + 938.4338520086167, + 68.19770321147337 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1358148318300121759, + "instance_id": 40874, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 84.93737294492621, + "xmax": 154.88936916732882, + "ymax": 189.68366294426053 + }, + "corners_3d": [ + [ + -26.246047973632812, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246047973632812, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.197628021240234 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 154.88936916732882, + 89.8811182598343 + ], + [ + 146.41794461208514, + 88.06811120286858 + ], + [ + -23.8953195664983, + 187.20390028624965 + ], + [ + -14.601810347636729, + 189.68366294426053 + ], + [ + 153.7577662188561, + 86.74489852348273 + ], + [ + 145.27014077532868, + 84.93737294492621 + ], + [ + -25.70112276979171, + 183.811627357397 + ], + [ + -16.388798175293914, + 186.28584595957568 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 60.840358783331794, + "ymax": 178.46448452946407 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 60.840358783331794, + 114.66110685571687 + ], + [ + 52.36951628561974, + 112.70478324196597 + ], + [ + -61.877233290124195, + 176.0801797560748 + ], + [ + -52.92809762627667, + 178.46448452946407 + ], + [ + -26.755172981090027, + -84.93759893635519 + ], + [ + -36.18053436417415, + -86.45510693461796 + ], + [ + -180.4774271173136, + -36.53812036499278 + ], + [ + -170.50066447891027, + -34.6291627124927 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 75.51453055860395, + "xmax": 240.95909948924418, + "ymax": 431.08320444104055 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 240.95909948924418, + 314.8083299834792 + ], + [ + 228.96918645850354, + 311.3681509238656 + ], + [ + 97.39963592574838, + 426.5908321794007 + ], + [ + 110.465741702841, + 431.08320444104055 + ], + [ + 156.71980959140052, + 78.46655602426085 + ], + [ + 142.64325813581604, + 75.51453055860395 + ], + [ + -36.79927126492396, + 177.34441440537972 + ], + [ + -21.29642146700894, + 181.44193825469063 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 805.4813298410246, + "ymin": 0.0, + "xmax": 1130.6874312197576, + "ymax": 98.29048735537702 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 807.7797812489938, + 51.257700220853565 + ], + [ + 805.4813298410246, + 54.77820171558193 + ], + [ + 1066.5062889462172, + 98.29048735537702 + ], + [ + 1067.1914795117082, + 94.19578921656455 + ], + [ + 830.6624395505066, + -137.3764834761369 + ], + [ + 828.2151008637916, + -134.7479632834618 + ], + [ + 1130.4045589740022, + -101.87625915976605 + ], + [ + 1130.6874312197576, + -105.00024533236939 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13681264316117260208, + "instance_id": 45207, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 84.86462286032332, + "xmax": 155.0211324215819, + "ymax": 189.77754795982534 + }, + "corners_3d": [ + [ + -26.24793815612793, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.24793815612793, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.198223114013672 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 155.0211324215819, + 89.87200492503587 + ], + [ + 146.4405569623275, + 88.03575458464246 + ], + [ + -24.03927572892985, + 187.26524837680668 + ], + [ + -14.625197580998474, + 189.77754795982534 + ], + [ + 153.87522242077955, + 86.69524903737931 + ], + [ + 145.27802511336182, + 84.86462286032332 + ], + [ + -25.86900533912035, + 183.8289429357229 + ], + [ + -16.435620213839798, + 186.33555416387665 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 366.6792737438882, + "ymin": 0.0, + "xmax": 483.18402893516, + "ymax": 159.39314303228892 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 483.18402893516, + 98.97684739985311 + ], + [ + 473.614852802875, + 97.11928384850853 + ], + [ + 405.07750337027744, + 157.14115037666716 + ], + [ + 415.3797583545156, + 159.39314303228892 + ], + [ + 460.1627806912376, + -97.06269671223492 + ], + [ + 449.2759584935338, + -98.4925375427353 + ], + [ + 366.6792737438882, + -51.620678186109274 + ], + [ + 378.5184844536104, + -49.83472170325666 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00111/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00111/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fcd2b7e4607c120959fd090b8a137dd0fb6ed0b0 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00111/meta.json @@ -0,0 +1,2092 @@ +{ + "frame_id": 111, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 55.5, + "sim_timestamp": 14439.985764377983 + }, + "drone_pose": { + "x": -47.22163781953389, + "y": -53.69299607216429, + "z": 20.0, + "pitch": -41.77332702456582, + "yaw": 67.56240185017381, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.2846493721008301, + -0.6893270611763, + 0.6661853790283203, + 37.12993621826172 + ], + [ + 0.9242958426475525, + 0.38167697191238403, + 0.0, + -23.153377532958984 + ], + [ + -0.2542676627635956, + 0.6157523393630981, + 0.745786190032959, + -59.98424530029297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -46.935668465689595, + "y": -53.10440452467686, + "z": 20.0 + }, + "t1_image_uv": [ + 561.8249019501128, + -497.53521903159515 + ], + "t1_depth": 0.4871330855752919 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -39.16718292236328, + "y": -34.18776321411133, + "z": 1.1495854449272156 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.296050633180677, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 691, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -39.16718292236328, + "y": -34.18776321411133, + "z": 1.149585485458374 + }, + "extent": { + "x": 0.4278954863548279, + "y": 0.42949095368385315, + "z": 0.8645616173744202 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 620.698160790469, + "ymin": 325.27480959806604, + "xmax": 659.542575465534, + "ymax": 394.33865476727584 + }, + "corners_3d": [ + [ + -39.166053771972656, + -34.79402542114258, + 0.28502386808395386 + ], + [ + -39.77344512939453, + -34.1866340637207, + 0.28502386808395386 + ], + [ + -39.168312072753906, + -33.58150100708008, + 0.28502386808395386 + ], + [ + -38.56092071533203, + -34.18889236450195, + 0.28502386808395386 + ], + [ + -39.166053771972656, + -34.79402542114258, + 2.0141470432281494 + ], + [ + -39.77344512939453, + -34.1866340637207, + 2.0141470432281494 + ], + [ + -39.168312072753906, + -33.58150100708008, + 2.0141470432281494 + ], + [ + -38.56092071533203, + -34.18889236450195, + 2.0141470432281494 + ] + ], + "corners_2d": [ + [ + 632.1578993739203, + 394.33865476727584 + ], + [ + 658.7582114521786, + 386.7003660750486 + ], + [ + 647.6184857809466, + 368.9071731175087 + ], + [ + 621.4636978652627, + 376.23987437792573 + ], + [ + 631.8270342471833, + 350.4445545711085 + ], + [ + 659.542575465534, + 342.8785170520228 + ], + [ + 647.9303756933889, + 325.27480959806604 + ], + [ + 620.698160790469, + 332.5258357140288 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 111, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 97, + "semantic_pixel_counts": { + "1": 344828, + "2": 74478, + "5": 2278, + "6": 3938, + "7": 17, + "10": 630, + "12": 3275, + "14": 72771, + "15": 7054, + "24": 31411, + "25": 380920 + }, + "instance_pixel_counts": { + "70": 425, + "108": 1, + "620": 677, + "1132": 668, + "2214": 256, + "3180": 259, + "4166": 593, + "4678": 706, + "6053": 84, + "6508": 2909, + "7786": 1570, + "7825": 262, + "8064": 167, + "8296": 18312, + "8298": 852, + "8337": 255, + "8780": 1088, + "8808": 25401, + "8810": 4366, + "9320": 135273, + "9322": 166, + "9832": 2838, + "9834": 1282, + "10344": 18816, + "10346": 861, + "10624": 2698, + "10856": 24381, + "11116": 809, + "11136": 321, + "11368": 111620, + "11370": 2543, + "12652": 233, + "17516": 201, + "20308": 11378, + "20820": 6937, + "20866": 2827, + "21332": 4647, + "21844": 4092, + "22356": 6763, + "22868": 4211, + "23380": 4571, + "25428": 2765, + "25698": 370, + "25928": 1190, + "25940": 2372, + "26112": 400, + "26210": 31, + "27234": 265, + "27460": 1626, + "27476": 3705, + "27746": 177, + "27988": 3247, + "29839": 1741, + "30351": 6407, + "30863": 40054, + "31375": 3726, + "31812": 239, + "31887": 333, + "32324": 267, + "32360": 1629, + "32399": 948, + "34372": 308, + "34884": 1230, + "34920": 6558, + "35399": 1323, + "36753": 332, + "39239": 379597, + "41367": 592, + "41796": 491, + "41879": 2232, + "42391": 13268, + "42903": 439, + "43927": 551, + "44439": 3169, + "44951": 1018, + "46672": 665, + "46917": 61, + "47184": 63, + "48708": 502, + "48744": 280, + "50756": 68, + "53926": 181, + "54950": 649, + "55462": 42, + "56320": 691, + "56576": 582, + "56832": 474, + "57088": 736, + "57344": 32, + "57600": 760, + "58368": 11504, + "58624": 6184, + "58880": 4487, + "60833": 690, + "61440": 2962, + "62113": 70, + "64837": 368 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 691, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -39.16718292236328, + "y": -34.18776321411133, + "z": 1.149585485458374 + }, + "extent": { + "x": 0.39423826336860657, + "y": 0.47596555948257446, + "z": 0.8829914927482605 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 619.6298833085086, + "ymin": 325.0794799878774, + "xmax": 660.5700563758053, + "ymax": 394.4777652498507 + }, + "corners_3d": [ + [ + -39.10939407348633, + -34.8030891418457, + 0.2665939927101135 + ], + [ + -39.782508850097656, + -34.129974365234375, + 0.2665939927101135 + ], + [ + -39.224971771240234, + -33.57243728637695, + 0.2665939927101135 + ], + [ + -38.551856994628906, + -34.24555206298828, + 0.2665939927101135 + ], + [ + -39.10939407348633, + -34.8030891418457, + 2.0325770378112793 + ], + [ + -39.782508850097656, + -34.129974365234375, + 2.0325770378112793 + ], + [ + -39.224971771240234, + -33.57243728637695, + 2.0325770378112793 + ], + [ + -38.551856994628906, + -34.24555206298828, + 2.0325770378112793 + ] + ], + "corners_2d": [ + [ + 630.281873969613, + 394.4777652498507 + ], + [ + 659.7282837356095, + 386.02600473051484 + ], + [ + 649.4475955453453, + 369.646156301108 + ], + [ + 620.4556999984899, + 377.78601308036536 + ], + [ + 629.8630805515744, + 349.6500285395904 + ], + [ + 660.5700563758053, + 341.28050822372336 + ], + [ + 649.8429227432345, + 325.0794799878774 + ], + [ + 619.6298833085086, + 333.12727088489714 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 582, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -35.041194915771484, + "y": -31.1900577545166, + "z": 1.1453617811203003 + }, + "extent": { + "x": 0.4285253882408142, + "y": 0.4483093023300171, + "z": 0.8714780807495117 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 538.4780503779882, + "ymin": 239.3962452906626, + "xmax": 578.3744347290752, + "ymax": 304.3008928219772 + }, + "corners_3d": [ + [ + -35.15641784667969, + -31.7994327545166, + 0.2738837003707886 + ], + [ + -35.644752502441406, + -31.047466278076172, + 0.2738837003707886 + ], + [ + -34.92597198486328, + -30.5806827545166, + 0.2738837003707886 + ], + [ + -34.43763732910156, + -31.33264923095703, + 0.2738837003707886 + ], + [ + -35.15641784667969, + -31.7994327545166, + 2.0168399810791016 + ], + [ + -35.644752502441406, + -31.047466278076172, + 2.0168399810791016 + ], + [ + -34.92597198486328, + -30.5806827545166, + 2.0168399810791016 + ], + [ + -34.43763732910156, + -31.33264923095703, + 2.0168399810791016 + ] + ], + "corners_2d": [ + [ + 555.2523695223092, + 304.3008928219772 + ], + [ + 578.3744347290752, + 294.80933584827585 + ], + [ + 565.0407708698334, + 282.00541456184015 + ], + [ + 542.1396367400579, + 291.19091364106384 + ], + [ + 552.0267021127795, + 261.27529441437736 + ], + [ + 576.0576494948663, + 251.9553597494708 + ], + [ + 562.269934407669, + 239.3962452906626 + ], + [ + 538.4780503779882, + 248.4045740161825 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 474, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -41.42300796508789, + "y": -27.24505043029785, + "z": 1.0557963848114014 + }, + "extent": { + "x": 0.3395434617996216, + "y": 0.4304479956626892, + "z": 0.951178789138794 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 761.269865950691, + "ymin": 220.7652744581034, + "xmax": 799.2569430233838, + "ymax": 284.2105802383922 + }, + "corners_3d": [ + [ + -41.415992736816406, + -27.79325294494629, + 0.10461759567260742 + ], + [ + -41.95777130126953, + -27.124210357666016, + 0.10461759567260742 + ], + [ + -41.430023193359375, + -26.696847915649414, + 0.10461759567260742 + ], + [ + -40.88824462890625, + -27.365890502929688, + 0.10461759567260742 + ], + [ + -41.415992736816406, + -27.79325294494629, + 2.0069751739501953 + ], + [ + -41.95777130126953, + -27.124210357666016, + 2.0069751739501953 + ], + [ + -41.430023193359375, + -26.696847915649414, + 2.0069751739501953 + ], + [ + -40.88824462890625, + -27.365890502929688, + 2.0069751739501953 + ] + ], + "corners_2d": [ + [ + 772.4309363429988, + 284.2105802383922 + ], + [ + 793.1532673147295, + 276.9533580247264 + ], + [ + 781.8193776328567, + 266.6732474970504 + ], + [ + 761.269865950691, + 273.7382133128145 + ], + [ + 777.7602022147539, + 237.9124338121278 + ], + [ + 799.2569430233838, + 230.8129178488954 + ], + [ + 787.3933897861373, + 220.7652744581034 + ], + [ + 766.0820207785455, + 227.66933590716175 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 736, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -48.66718292236328, + "y": -34.18776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.25624755024909973, + "y": 0.3696948289871216, + "z": 0.8697342276573181 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 943.9635681281468, + "ymin": 421.55353065321793, + "xmax": 993.456724550887, + "ymax": 486.6892522906596 + }, + "corners_3d": [ + [ + -48.58696365356445, + -34.63037109375, + 0.12753671407699585 + ], + [ + -49.10979080200195, + -34.1075439453125, + 0.12753671407699585 + ], + [ + -48.74740219116211, + -33.745155334472656, + 0.12753671407699585 + ], + [ + -48.22457504272461, + -34.267982482910156, + 0.12753671407699585 + ], + [ + -48.58696365356445, + -34.63037109375, + 1.8670051097869873 + ], + [ + -49.10979080200195, + -34.1075439453125, + 1.8670051097869873 + ], + [ + -48.74740219116211, + -33.745155334472656, + 1.8670051097869873 + ], + [ + -48.22457504272461, + -34.267982482910156, + 1.8670051097869873 + ] + ], + "corners_2d": [ + [ + 955.3546463935404, + 486.6892522906596 + ], + [ + 977.8248029616959, + 478.7418361423417 + ], + [ + 966.2258191119802, + 465.76557955195733 + ], + [ + 943.9635681281468, + 473.5022953161812 + ], + [ + 970.0711542887952, + 442.4485023016577 + ], + [ + 993.456724550887, + 434.5071064531697 + ], + [ + 981.1112352842268, + 421.55353065321793 + ], + [ + 957.9496948151022, + 429.2748061790703 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 32, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -42.78268051147461, + "y": -45.31512451171875, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.36412352323532104, + "y": 0.39610594511032104, + "z": 0.9451772570610046 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 570.7232928534808, + "ymin": 699.8315612588696, + "xmax": 619.9059113628915, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -42.70399856567383, + -45.84737777709961, + 0.052093684673309326 + ], + [ + -43.319664001464844, + -45.34882354736328, + 0.052093684673309326 + ], + [ + -42.86136245727539, + -44.78287124633789, + 0.052093684673309326 + ], + [ + -42.245697021484375, + -45.28142547607422, + 0.052093684673309326 + ], + [ + -42.70399856567383, + -45.84737777709961, + 1.9424481391906738 + ], + [ + -43.319664001464844, + -45.34882354736328, + 1.9424481391906738 + ], + [ + -42.86136245727539, + -44.78287124633789, + 1.9424481391906738 + ], + [ + -42.245697021484375, + -45.28142547607422, + 1.9424481391906738 + ] + ], + "corners_2d": [ + [ + 583.2573177712862, + 787.4271207064448 + ], + [ + 619.9059113628915, + 776.6879575973464 + ], + [ + 610.7713582247187, + 744.5995081422601 + ], + [ + 574.9782265543895, + 754.8024328285611 + ], + [ + 579.4409185233478, + 743.892301040675 + ], + [ + 618.5664712501977, + 732.8253810021488 + ], + [ + 608.8752705662546, + 699.8315612588696 + ], + [ + 570.7232928534808, + 710.3103626266086 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 760, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -27.921844482421875, + "y": -42.35797882080078, + "z": 1.1681596040725708 + }, + "extent": { + "x": 0.42451170086860657, + "y": 0.486884742975235, + "z": 0.9159650802612305 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 102.82542154986697, + "ymin": 402.60634772098973, + "xmax": 171.04348236220295, + "ymax": 476.9672100418529 + }, + "corners_3d": [ + [ + -27.744714736938477, + -42.97917938232422, + 0.25219452381134033 + ], + [ + -28.561386108398438, + -42.44882583618164, + 0.25219452381134033 + ], + [ + -28.098974227905273, + -41.736778259277344, + 0.25219452381134033 + ], + [ + -27.282302856445312, + -42.26713180541992, + 0.25219452381134033 + ], + [ + -27.744714736938477, + -42.97917938232422, + 2.0841245651245117 + ], + [ + -28.561386108398438, + -42.44882583618164, + 2.0841245651245117 + ], + [ + -28.098974227905273, + -41.736778259277344, + 2.0841245651245117 + ], + [ + -27.282302856445312, + -42.26713180541992, + 2.0841245651245117 + ] + ], + "corners_2d": [ + [ + 127.95739656919409, + 476.9672100418529 + ], + [ + 165.60839850061348, + 472.01921548456426 + ], + [ + 171.04348236220295, + 449.5344125311456 + ], + [ + 134.2970825990908, + 454.2550129926243 + ], + [ + 102.82542154986697, + 429.9595614319435 + ], + [ + 142.4483978204919, + 425.0203354259111 + ], + [ + 148.7050629249038, + 402.60634772098973 + ], + [ + 110.08245561049864, + 407.30787531975614 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 11504, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 789.3366974648134, + "ymin": 564.736693888467, + "xmax": 945.5027936896806, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 932.1985817473224, + 630.9575281567247 + ], + [ + 842.246383493885, + 601.6383999218641 + ], + [ + 789.3366974648134, + 783.1258498460147 + ], + [ + 892.9529716166601, + 823.1021879431748 + ], + [ + 945.5027936896806, + 594.3616378546819 + ], + [ + 851.2051021570736, + 564.736693888467 + ], + [ + 797.1007348989289, + 749.2499931299486 + ], + [ + 906.5365951455751, + 790.2588349798948 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 229, + "instance_id": 58624, + "pixel_count": 6184, + "type_id": "vehicle.dodge.charger_police_2020", + "bbox_3d": { + "center_world": { + "x": -54.599266052246094, + "y": -22.700984954833984, + "z": 0.8727232813835144 + }, + "extent": { + "x": 2.6187572479248047, + "y": 0.9648797512054443, + "z": 0.819191575050354 + }, + "yaw": 89.66251373291016 + }, + "bbox_2d": { + "xmin": 1159.0775911869082, + "ymin": 205.1018157930119, + "xmax": 1246.3505987491258, + "ymax": 345.08319149466155 + }, + "corners_3d": [ + [ + -53.64982986450195, + -25.325380325317383, + 0.05353168025612831 + ], + [ + -55.57955551147461, + -25.314014434814453, + 0.05353168025612831 + ], + [ + -55.5487060546875, + -20.076589584350586, + 0.05353168025612831 + ], + [ + -53.61897659301758, + -20.08795738220215, + 0.05353168025612831 + ], + [ + -53.64982986450195, + -25.325380325317383, + 1.6919147968292236 + ], + [ + -55.57955551147461, + -25.314014434814453, + 1.6919147968292236 + ], + [ + -55.5487060546875, + -20.076589584350586, + 1.6919147968292236 + ], + [ + -53.61897659301758, + -20.08795738220215, + 1.6919147968292236 + ] + ], + "corners_2d": [ + [ + 1159.0775911869082, + 330.3717120178319 + ], + [ + 1224.6314697532434, + 345.08319149466155 + ], + [ + 1218.0561071268507, + 255.6298838775107 + ], + [ + 1159.455384403816, + 243.85435643830024 + ], + [ + 1178.0124239260986, + 290.08790062789194 + ], + [ + 1246.3505987491258, + 304.603497865284 + ], + [ + 1237.1757603223436, + 216.63096096906295 + ], + [ + 1176.359405499366, + 205.1018157930119 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 4487, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 941.9120184855033, + "ymin": 176.27038399439914, + "xmax": 1021.3557195848834, + "ymax": 290.6994401791639 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 1011.1239865394014, + 219.60136112834326 + ], + [ + 961.5474848022403, + 209.5614385169166 + ], + [ + 941.9120184855033, + 278.5869237631138 + ], + [ + 996.0970600112632, + 290.6994401791639 + ], + [ + 1021.3557195848834, + 186.10137816622873 + ], + [ + 970.2849328585721, + 176.27038399439914 + ], + [ + 950.9407079798902, + 244.01308106905725 + ], + [ + 1006.9173996881369, + 255.93767687611705 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 2962, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 903.4240911537861, + "ymin": 30.058955604459186, + "xmax": 969.2094667066117, + "ymax": 120.04172833959464 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 959.449810499723, + 77.57149085466534 + ], + [ + 920.9628787822971, + 71.24394969656191 + ], + [ + 903.4240911537861, + 112.7510691966931 + ], + [ + 944.5434516589096, + 120.04172833959464 + ], + [ + 969.2094667066117, + 36.10762735628646 + ], + [ + 929.4493308899712, + 30.058955604459186 + ], + [ + 911.9802056946576, + 69.81144224547546 + ], + [ + 954.5573011582003, + 76.81198727824972 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 831.0358275029096, + "ymin": 0.0, + "xmax": 841.5278462304991, + "ymax": 5.931918991183352 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 836.9502008785557, + 5.931918991183352 + ], + [ + 838.9134769767855, + 2.977783805820934 + ], + [ + 833.0302620587619, + 2.0898227380087633 + ], + [ + 831.0358275029096, + 5.033454524502702 + ], + [ + 839.5542465824635, + -12.959142403703993 + ], + [ + 841.5278462304991, + -15.839802790798672 + ], + [ + 835.5627467300259, + -16.705591269135084 + ], + [ + 833.5571072578391, + -13.835307695935171 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1358148318300121759, + "instance_id": 40874, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 93.1981391073835, + "xmax": 159.7913909952286, + "ymax": 200.52091155033565 + }, + "corners_3d": [ + [ + -26.246047973632812, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246047973632812, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.197628021240234 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 159.7913909952286, + 98.27472131223533 + ], + [ + 151.28560221142828, + 96.35293492220165 + ], + [ + -23.138475583494596, + 197.88439811192916 + ], + [ + -13.834305387044651, + 200.52091155033565 + ], + [ + 158.65576263316046, + 95.11423739010246 + ], + [ + 150.1335954506556, + 93.1981391073835 + ], + [ + -24.96961515435555, + 194.46912843897042 + ], + [ + -15.646617024665943, + 197.09996577074526 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 68.6296970733207, + "ymax": 182.77394088129995 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 68.6296970733207, + 118.52179428951302 + ], + [ + 60.19389350563779, + 116.4804831851973 + ], + [ + -55.29136675985251, + 180.28553230182175 + ], + [ + -46.39963477385754, + 182.77394088129995 + ], + [ + -18.36624785124536, + -81.87865724980236 + ], + [ + -27.749587386101894, + -83.464842022065 + ], + [ + -173.5744725725998, + -33.11707568006682 + ], + [ + -163.6720055194305, + -31.120812463990603 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 83.64757346193772, + "xmax": 246.01252863997485, + "ymax": 442.93060304815225 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 246.01252863997485, + 324.4213046213788 + ], + [ + 233.98628808176034, + 320.7915453130134 + ], + [ + 99.49220355546322, + 438.1817389311034 + ], + [ + 112.56980979286743, + 442.93060304815225 + ], + [ + 161.6840523273952, + 86.7772270457017 + ], + [ + 147.54919502068282, + 83.64757346193772 + ], + [ + -36.22944380635829, + 187.95372559929888 + ], + [ + -20.710030223055128, + 192.31176961558177 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 819.2279214429553, + "ymin": 0.0, + "xmax": 1152.5688907010567, + "ymax": 107.72045189920527 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 821.5742545516516, + 58.05507097504142 + ], + [ + 819.2279214429553, + 61.64221975201576 + ], + [ + 1084.5334623344927, + 107.72045189920527 + ], + [ + 1085.2305795051777, + 103.5199776610454 + ], + [ + 846.6718157548373, + -132.22869140428844 + ], + [ + 844.1833862021649, + -129.54169609183214 + ], + [ + 1152.307831156491, + -94.59445636980303 + ], + [ + 1152.5688907010567, + -97.81380434329458 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13681264316117260208, + "instance_id": 45207, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 93.12361135566061, + "xmax": 159.92499817481269, + "ymax": 200.61742477636963 + }, + "corners_3d": [ + [ + -26.24793815612793, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.24793815612793, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.198223114013672 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 159.92499817481269, + 98.26553182258215 + ], + [ + 151.30960748180564, + 96.31911076483277 + ], + [ + -23.284782479556497, + 197.94631454374965 + ], + [ + -13.85992242575685, + 200.61742477636963 + ], + [ + 158.77501889952475, + 95.06419622172393 + ], + [ + 150.14282418067887, + 93.12361135566061 + ], + [ + -25.140191216750736, + 194.48671682071455 + ], + [ + -15.696011440280017, + 197.1520032760602 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 376.18656500738933, + "ymin": 0.0, + "xmax": 493.0370541570379, + "ymax": 166.37289150025404 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 493.0370541570379, + 105.04177089630048 + ], + [ + 483.4096303903815, + 103.08867322505881 + ], + [ + 413.6202205382017, + 164.00276473889863 + ], + [ + 423.97749865814325, + 166.37289150025404 + ], + [ + 471.2230020016515, + -92.32368961229196 + ], + [ + 460.2530344874708, + -93.83130211523917 + ], + [ + 376.18656500738933, + -46.11822711610091 + ], + [ + 388.1072692353946, + -44.23235892536508 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00112/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00112/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..db52bb8f56d1ccbea35a9e01e3ccdb6bbb7ab6db --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00112/meta.json @@ -0,0 +1,2087 @@ +{ + "frame_id": 112, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 56.0, + "sim_timestamp": 14452.488052738132 + }, + "drone_pose": { + "x": -46.935668465689595, + "y": -53.10440452467686, + "z": 20.0, + "pitch": -41.77264836828047, + "yaw": 66.93349778546643, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.29220157861709595, + -0.6861684322357178, + 0.6661765575408936, + 36.8297119140625 + ], + [ + 0.9200507402420044, + 0.3917992115020752, + 0.0, + -22.376930236816406 + ], + [ + -0.2610074579715729, + 0.6129161715507507, + 0.7457941174507141, + -59.71499252319336 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -46.626075450459005, + "y": -52.520816497869674, + "z": 20.0 + }, + "t1_image_uv": [ + 530.1122909952272, + -497.5147750640393 + ], + "t1_depth": 0.4909032336738488 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -38.66718292236328, + "y": -33.68776321411133, + "z": 1.1490727406740189 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.297195470571914, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 720, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -38.66718292236328, + "y": -33.68776321411133, + "z": 1.1490727663040161 + }, + "extent": { + "x": 0.6131518483161926, + "y": 0.49092283844947815, + "z": 0.8906538486480713 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 616.5269488027731, + "ymin": 320.4209994823798, + "xmax": 663.9652207851306, + "ymax": 399.4884973153752 + }, + "corners_3d": [ + [ + -38.75361251831055, + -34.46846008300781, + 0.2584189176559448 + ], + [ + -39.447879791259766, + -33.774192810058594, + 0.2584189176559448 + ], + [ + -38.580753326416016, + -32.907066345214844, + 0.2584189176559448 + ], + [ + -37.8864860534668, + -33.60133361816406, + 0.2584189176559448 + ], + [ + -38.75361251831055, + -34.46846008300781, + 2.039726734161377 + ], + [ + -39.447879791259766, + -33.774192810058594, + 2.039726734161377 + ], + [ + -38.580753326416016, + -32.907066345214844, + 2.039726734161377 + ], + [ + -37.8864860534668, + -33.60133361816406, + 2.039726734161377 + ] + ], + "corners_2d": [ + [ + 632.3294819268345, + 399.4884973153752 + ], + [ + 662.9709685046348, + 390.9108690818444 + ], + [ + 647.3783266353389, + 365.3191396016479 + ], + [ + 617.4815962229285, + 373.40746649252736 + ], + [ + 631.9941333601893, + 354.22845347312085 + ], + [ + 663.9652207851306, + 345.73109363840143 + ], + [ + 647.6880972006029, + 320.4209994823798 + ], + [ + 616.5269488027731, + 328.41349930360377 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 112, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 92, + "semantic_pixel_counts": { + "1": 341181, + "2": 69969, + "5": 2214, + "6": 4184, + "7": 36, + "10": 633, + "12": 3204, + "14": 72393, + "15": 7266, + "24": 31318, + "25": 389202 + }, + "instance_pixel_counts": { + "70": 442, + "620": 707, + "1132": 697, + "2214": 294, + "3180": 285, + "4166": 615, + "4678": 736, + "6053": 94, + "6508": 3016, + "7786": 1695, + "7825": 272, + "8064": 174, + "8296": 19553, + "8298": 900, + "8337": 249, + "8780": 1162, + "8808": 26608, + "8810": 4412, + "9320": 135238, + "9322": 210, + "9832": 4017, + "9834": 1317, + "10344": 18109, + "10346": 917, + "10624": 2813, + "10856": 25573, + "11116": 840, + "11136": 332, + "11368": 101959, + "11370": 1485, + "12652": 238, + "17516": 206, + "20308": 11731, + "20820": 7120, + "20866": 2898, + "21332": 4742, + "21844": 4208, + "22356": 6901, + "22868": 4356, + "23380": 4669, + "25428": 2792, + "25698": 380, + "25928": 1052, + "25940": 2404, + "26112": 476, + "26210": 34, + "27234": 269, + "27460": 1698, + "27476": 3899, + "27746": 205, + "27988": 3299, + "29839": 1810, + "30351": 6674, + "30863": 39452, + "31375": 4228, + "31812": 247, + "32324": 273, + "32360": 2809, + "34372": 326, + "34884": 1346, + "34920": 7315, + "35399": 1826, + "36753": 336, + "39239": 387376, + "41367": 613, + "41796": 535, + "41879": 2330, + "42391": 13198, + "42903": 534, + "43927": 289, + "44439": 841, + "46672": 703, + "46917": 61, + "47184": 143, + "48708": 522, + "50756": 69, + "53926": 180, + "54950": 665, + "55462": 47, + "56320": 720, + "56576": 583, + "56832": 504, + "57088": 751, + "57344": 38, + "57600": 608, + "58368": 9168, + "58624": 6592, + "58880": 4720, + "60833": 705, + "61440": 3058, + "62113": 95, + "64837": 379 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 720, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -38.66718292236328, + "y": -33.68776321411133, + "z": 1.1490727663040161 + }, + "extent": { + "x": 0.4493981897830963, + "y": 0.5741748213768005, + "z": 0.9078347086906433 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 615.8485307620317, + "ymin": 322.58473432375956, + "xmax": 664.4162042702509, + "ymax": 397.06276743344074 + }, + "corners_3d": [ + [ + -38.57895278930664, + -34.411537170410156, + 0.2412380576133728 + ], + [ + -39.39095687866211, + -33.59953308105469, + 0.2412380576133728 + ], + [ + -38.75541305541992, + -32.9639892578125, + 0.2412380576133728 + ], + [ + -37.94340896606445, + -33.77599334716797, + 0.2412380576133728 + ], + [ + -38.57895278930664, + -34.411537170410156, + 2.0569074153900146 + ], + [ + -39.39095687866211, + -33.59953308105469, + 2.0569074153900146 + ], + [ + -38.75541305541992, + -32.9639892578125, + 2.0569074153900146 + ], + [ + -37.94340896606445, + -33.77599334716797, + 2.0569074153900146 + ] + ], + "corners_2d": [ + [ + 627.6839093066352, + 397.06276743344074 + ], + [ + 663.3890140343045, + 387.1091146489053 + ], + [ + 651.9212339144755, + 368.3823999619952 + ], + [ + 616.8540255941458, + 377.9168220127655 + ], + [ + 627.1366592239268, + 350.9551590557129 + ], + [ + 664.4162042702509, + 341.0999194310954 + ], + [ + 652.4332271955989, + 322.58473432375956 + ], + [ + 615.8485307620317, + 332.0071593213533 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 583, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -34.541194915771484, + "y": -30.6900577545166, + "z": 1.144853949546814 + }, + "extent": { + "x": 0.5067712068557739, + "y": 0.45372068881988525, + "z": 0.930489182472229 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 538.616431465044, + "ymin": 236.2372920313275, + "xmax": 581.2376469663457, + "ymax": 306.4143067258239 + }, + "corners_3d": [ + [ + -34.719093322753906, + -31.346588134765625, + 0.21436476707458496 + ], + [ + -35.213321685791016, + -30.585542678833008, + 0.21436476707458496 + ], + [ + -34.36329650878906, + -30.033527374267578, + 0.21436476707458496 + ], + [ + -33.86906814575195, + -30.794572830200195, + 0.21436476707458496 + ], + [ + -34.719093322753906, + -31.346588134765625, + 2.075343132019043 + ], + [ + -35.213321685791016, + -30.585542678833008, + 2.075343132019043 + ], + [ + -34.36329650878906, + -30.033527374267578, + 2.075343132019043 + ], + [ + -33.86906814575195, + -30.794572830200195, + 2.075343132019043 + ] + ], + "corners_2d": [ + [ + 557.7219432151294, + 306.4143067258239 + ], + [ + 581.2376469663457, + 296.94024078136454 + ], + [ + 565.7472356340467, + 281.6963275394535 + ], + [ + 542.5068840753753, + 290.80822199568564 + ], + [ + 554.3710007780099, + 260.46118897186216 + ], + [ + 578.8737676585429, + 251.16933132161984 + ], + [ + 562.8197857311077, + 236.2372920313275 + ], + [ + 538.616431465044, + 245.15999650631832 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 504, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -40.92300796508789, + "y": -26.74505043029785, + "z": 1.149673342704773 + }, + "extent": { + "x": 0.3731103539466858, + "y": 0.4324877858161926, + "z": 0.90976482629776 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 762.927705500008, + "ymin": 219.84195347155008, + "xmax": 802.0912032554498, + "ymax": 282.4625683903412 + }, + "corners_3d": [ + [ + -40.9407958984375, + -27.315961837768555, + 0.23990851640701294 + ], + [ + -41.48514175415039, + -26.643749237060547, + 0.23990851640701294 + ], + [ + -40.90522003173828, + -26.17413902282715, + 0.23990851640701294 + ], + [ + -40.36087417602539, + -26.846351623535156, + 0.23990851640701294 + ], + [ + -40.9407958984375, + -27.315961837768555, + 2.0594382286071777 + ], + [ + -41.48514175415039, + -26.643749237060547, + 2.0594382286071777 + ], + [ + -40.90522003173828, + -26.17413902282715, + 2.0594382286071777 + ], + [ + -40.36087417602539, + -26.846351623535156, + 2.0594382286071777 + ] + ], + "corners_2d": [ + [ + 775.0717094023668, + 282.4625683903412 + ], + [ + 796.1216376027573, + 275.3011306473439 + ], + [ + 783.7776569834555, + 263.92594425237473 + ], + [ + 762.927705500008, + 270.8771649876703 + ], + [ + 780.2861037938422, + 237.97956015367467 + ], + [ + 802.0912032554498, + 230.9683350088081 + ], + [ + 789.1912639948071, + 219.84195347155008 + ], + [ + 767.6001172674212, + 226.63964505279625 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 751, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -48.16718292236328, + "y": -33.68776321411133, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.3621777296066284, + "y": 0.4157458543777466, + "z": 0.8824169039726257 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 939.516580592307, + "ymin": 420.7504845979362, + "xmax": 997.069433400234, + "ymax": 492.91424968706116 + }, + "corners_3d": [ + [ + -48.129302978515625, + -34.23783874511719, + 0.11485898494720459 + ], + [ + -48.71725845336914, + -33.64988327026367, + 0.11485898494720459 + ], + [ + -48.20506286621094, + -33.13768768310547, + 0.11485898494720459 + ], + [ + -47.61710739135742, + -33.725643157958984, + 0.11485898494720459 + ], + [ + -48.129302978515625, + -34.23783874511719, + 1.879692792892456 + ], + [ + -48.71725845336914, + -33.64988327026367, + 1.879692792892456 + ], + [ + -48.20506286621094, + -33.13768768310547, + 1.879692792892456 + ], + [ + -47.61710739135742, + -33.725643157958984, + 1.879692792892456 + ] + ], + "corners_2d": [ + [ + 955.3748118811131, + 492.91424968706116 + ], + [ + 980.96990969085, + 484.11603313349946 + ], + [ + 964.7672850576027, + 465.6068477703661 + ], + [ + 939.516580592307, + 474.07497089617283 + ], + [ + 970.4056427531235, + 448.02693509222235 + ], + [ + 997.069433400234, + 439.23086665923745 + ], + [ + 979.7992488557531, + 420.7504845979362 + ], + [ + 953.5073912887615, + 429.2013483556809 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 38, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -42.28268051147461, + "y": -44.81512451171875, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.4432763457298279, + "y": 0.44941404461860657, + "z": 0.9038100242614746 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 561.1809315431456, + "ymin": 696.3332459566582, + "xmax": 617.0830653880788, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -42.21238327026367, + -45.442440032958984, + 0.09346091747283936 + ], + [ + -42.91090393066406, + -44.87678909301758, + 0.09346091747283936 + ], + [ + -42.35297775268555, + -44.187808990478516, + 0.09346091747283936 + ], + [ + -41.654457092285156, + -44.75345993041992, + 0.09346091747283936 + ], + [ + -42.21238327026367, + -45.442440032958984, + 1.9010809659957886 + ], + [ + -42.91090393066406, + -44.87678909301758, + 1.9010809659957886 + ], + [ + -42.35297775268555, + -44.187808990478516, + 1.9010809659957886 + ], + [ + -41.654457092285156, + -44.75345993041992, + 1.9010809659957886 + ] + ], + "corners_2d": [ + [ + 575.1739705046124, + 790.2032142528335 + ], + [ + 617.0830653880788, + 778.4036057405526 + ], + [ + 606.5093359497278, + 739.250061341044 + ], + [ + 565.8030544357138, + 750.3334570433465 + ], + [ + 570.9982718149304, + 748.6864810174038 + ], + [ + 615.6212850152556, + 736.5389139706185 + ], + [ + 604.4426982441872, + 696.3332459566582 + ], + [ + 561.1809315431456, + 707.6985229364589 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 608, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -27.421844482421875, + "y": -41.85797882080078, + "z": 1.1374614238739014 + }, + "extent": { + "x": 0.47809934616088867, + "y": 0.4477319121360779, + "z": 0.9257885813713074 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 105.13863610081182, + "ymin": 398.1953034165254, + "xmax": 171.2421660419937, + "ymax": 474.96950494280065 + }, + "corners_3d": [ + [ + -27.30673599243164, + -42.50279998779297, + 0.211672842502594 + ], + [ + -28.057735443115234, + -42.01509475708008, + 0.211672842502594 + ], + [ + -27.53695297241211, + -41.213157653808594, + 0.211672842502594 + ], + [ + -26.785953521728516, + -41.700862884521484, + 0.211672842502594 + ], + [ + -27.30673599243164, + -42.50279998779297, + 2.0632500648498535 + ], + [ + -28.057735443115234, + -42.01509475708008, + 2.0632500648498535 + ], + [ + -27.53695297241211, + -41.213157653808594, + 2.0632500648498535 + ], + [ + -26.785953521728516, + -41.700862884521484, + 2.0632500648498535 + ] + ], + "corners_2d": [ + [ + 130.32663112089148, + 474.96950494280065 + ], + [ + 164.74512223054, + 470.710894213955 + ], + [ + 171.2421660419937, + 445.53090405457135 + ], + [ + 137.75043752454565, + 449.5704313240012 + ], + [ + 105.13863610081182, + 427.5380783698021 + ], + [ + 141.36599658688732, + 423.2878994848479 + ], + [ + 148.81103824731292, + 398.1953034165254 + ], + [ + 113.60875747860314, + 402.2164912871498 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 9168, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 799.7380750248149, + "ymin": 590.4399417821094, + "xmax": 961.0988612903286, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 946.7727001977391, + 658.6428085383773 + ], + [ + 854.5123209328974, + 627.0806541938089 + ], + [ + 799.7380750248149, + 816.7862744129609 + ], + [ + 906.2692433213772, + 860.099833750666 + ], + [ + 961.0988612903286, + 622.3996790970317 + ], + [ + 864.2440796471176, + 590.4399417821094 + ], + [ + 808.2726608387804, + 783.7701944172707 + ], + [ + 920.9904029656886, + 828.3301997032208 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 229, + "instance_id": 58624, + "pixel_count": 6592, + "type_id": "vehicle.dodge.charger_police_2020", + "bbox_3d": { + "center_world": { + "x": -54.599266052246094, + "y": -22.700984954833984, + "z": 0.8727232813835144 + }, + "extent": { + "x": 2.6187572479248047, + "y": 0.9648797512054443, + "z": 0.819191575050354 + }, + "yaw": 89.66251373291016 + }, + "bbox_2d": { + "xmin": 1179.0030855525558, + "ymin": 218.82756758081027, + "xmax": 1269.3567141117446, + "ymax": 363.18265383103784 + }, + "corners_3d": [ + [ + -53.64982986450195, + -25.325380325317383, + 0.05353168025612831 + ], + [ + -55.57955551147461, + -25.314014434814453, + 0.05353168025612831 + ], + [ + -55.5487060546875, + -20.076589584350586, + 0.05353168025612831 + ], + [ + -53.61897659301758, + -20.08795738220215, + 0.05353168025612831 + ], + [ + -53.64982986450195, + -25.325380325317383, + 1.6919147968292236 + ], + [ + -55.57955551147461, + -25.314014434814453, + 1.6919147968292236 + ], + [ + -55.5487060546875, + -20.076589584350586, + 1.6919147968292236 + ], + [ + -53.61897659301758, + -20.08795738220215, + 1.6919147968292236 + ] + ], + "corners_2d": [ + [ + 1179.0030855525558, + 347.43226956254813 + ], + [ + 1246.3298996539834, + 363.18265383103784 + ], + [ + 1239.0984021196305, + 270.4352686704036 + ], + [ + 1179.026116207076, + 257.8716953994016 + ], + [ + 1199.0844582845734, + 306.92321636894457 + ], + [ + 1269.3567141117446, + 322.4879653273775 + ], + [ + 1259.3161059441024, + 231.1438265169337 + ], + [ + 1196.909100838866, + 218.82756758081027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 4720, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 956.7847401313026, + "ymin": 187.68656514727385, + "xmax": 1038.2389770037978, + "ymax": 305.18840951202407 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 1027.3716772098217, + 231.87889136143977 + ], + [ + 976.8025518320412, + 221.21913920699743 + ], + [ + 956.7847401313026, + 292.2971682383134 + ], + [ + 1012.1095947446294, + 305.18840951202407 + ], + [ + 1038.2389770037978, + 198.13408181323933 + ], + [ + 986.1092854888395, + 187.68656514727385 + ], + [ + 966.4303598788795, + 257.5116919469456 + ], + [ + 1023.6304290339405, + 270.21671317605217 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 3058, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 917.6666574754547, + "ymin": 37.36406343831379, + "xmax": 984.9996303888458, + "ymax": 129.05110482269416 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 974.6301404145393, + 85.5615383312142 + ], + [ + 935.5166481175437, + 78.88440640101925 + ], + [ + 917.6666574754547, + 121.34737459494039 + ], + [ + 959.4750659830859, + 129.05110482269416 + ], + [ + 984.9996303888458, + 43.752207537772165 + ], + [ + 944.5659368668702, + 37.36406343831379 + ], + [ + 926.8162842884436, + 78.06702501608777 + ], + [ + 970.1378841001384, + 85.47112537924829 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 844.7674679274883, + "ymin": 0.0, + "xmax": 855.5952585076905, + "ymax": 12.425858955995352 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 850.7667286354313, + 12.425858955995352 + ], + [ + 852.762579062608, + 9.409268348432022 + ], + [ + 846.7950608354822, + 8.474303597849087 + ], + [ + 844.7674679274883, + 11.479743952269644 + ], + [ + 853.5897578890505, + -6.6246647200975985 + ], + [ + 855.5952585076905, + -9.567222483181808 + ], + [ + 849.5431444029678, + -10.479146778735071 + ], + [ + 847.5049858903554, + -7.5476104591173225 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1358148318300121759, + "instance_id": 40874, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 102.09526891360304, + "xmax": 163.70349101984965, + "ymax": 212.37949230518169 + }, + "corners_3d": [ + [ + -26.246047973632812, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246047973632812, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.197628021240234 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 163.70349101984965, + 107.30883435814539 + ], + [ + 155.14553842608132, + 105.27617311990892 + ], + [ + -23.602306193674053, + 209.58088868978123 + ], + [ + -14.265119650722909, + 212.37949230518169 + ], + [ + 162.56003609491808, + 104.12205797943676 + ], + [ + 153.9854595204955, + 102.09526891360304 + ], + [ + -25.465574138580564, + 206.14089476430416 + ], + [ + -16.10946190059599, + 208.93373402805742 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 75.11744376692138, + "ymax": 187.71750447058122 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 75.11744376692138, + 122.84619012347426 + ], + [ + 66.69968616921562, + 120.7215536116185 + ], + [ + -50.12759459349343, + 185.1262634454745 + ], + [ + -41.27297622026117, + 187.71750447058122 + ], + [ + -11.583522570128594, + -78.5087833057973 + ], + [ + -20.94584559382281, + -80.16319697080047 + ], + [ + -168.51000344235626, + -29.227626885789448 + ], + [ + -158.65652630455418, + -27.143776478398024 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 92.40590773982615, + "xmax": 250.33111330601685, + "ymax": 455.83165064985405 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 250.33111330601685, + 334.74890699820725 + ], + [ + 238.24697545490028, + 330.9294332591131 + ], + [ + 100.77494065070493, + 450.82331696236434 + ], + [ + 113.89113876909596, + 455.83165064985405 + ], + [ + 165.65411304422116, + 95.71671038598299 + ], + [ + 151.43126598140776, + 92.40590773982615 + ], + [ + -36.916791886333385, + 199.58068901731795 + ], + [ + -21.343213697684632, + 204.20847858798194 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 832.2718325332305, + "ymin": 0.0, + "xmax": 1173.933954541773, + "ymax": 117.13143826502895 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 834.6596169815117, + 64.87836552907311 + ], + [ + 832.2718325332305, + 68.53684956314555 + ], + [ + 1102.0066512611313, + 117.13143826502895 + ], + [ + 1102.7060319690381, + 112.82023400018016 + ], + [ + 861.9414029950173, + -127.1085489871864 + ], + [ + 859.4190147422487, + -124.35876852344046 + ], + [ + 1173.707247440621, + -87.35233957149887 + ], + [ + 1173.933954541773, + -90.67213751685466 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13681264316117260208, + "instance_id": 45207, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 102.01879638905586, + "xmax": 163.8391420482675, + "ymax": 212.4789143843876 + }, + "corners_3d": [ + [ + -26.24793815612793, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.24793815612793, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.198223114013672 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 163.8391420482675, + 107.29945428636884 + ], + [ + 155.1709086343268, + 105.24074105231901 + ], + [ + -23.75121929908937, + 209.64358296814135 + ], + [ + -14.292930830054274, + 212.4789143843876 + ], + [ + 162.6812444867802, + 104.07148454881448 + ], + [ + 153.99595503264368, + 102.01879638905586 + ], + [ + -25.63918978817503, + 206.1589431502235 + ], + [ + -16.161481419901293, + 208.98836033109208 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 384.7747264628782, + "ymin": 0.0, + "xmax": 502.0844184757349, + "ymax": 173.69761429771805 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 502.0844184757349, + 111.33289226186542 + ], + [ + 492.38711545718604, + 109.28625624385359 + ], + [ + 421.383162625531, + 171.2110841010057 + ], + [ + 431.8097529232105, + 173.69761429771805 + ], + [ + 481.3683208165053, + -87.45320152033469 + ], + [ + 470.3000857750605, + -89.037869914461 + ], + [ + 384.7747264628782, + -40.37182244298947 + ], + [ + 396.7958684559802, + -38.38614721809313 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00115/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00115/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..377e1e7c1849d6052cf46fb0eb3684f95bec5764 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00115/meta.json @@ -0,0 +1,2302 @@ +{ + "frame_id": 115, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 57.5, + "sim_timestamp": 14490.776855017291 + }, + "drone_pose": { + "x": -45.96197552974786, + "y": -51.37293266435414, + "z": 20.0, + "pitch": -41.77351619276485, + "yaw": 65.37251134451145, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.3107808828353882, + -0.6779446601867676, + 0.6661878824234009, + 35.78834915161133 + ], + [ + 0.9090362787246704, + 0.416716992855072, + 0.0, + -20.37312889099121 + ], + [ + -0.27761179208755493, + 0.6055889129638672, + 0.7457839250564575, + -58.78614807128906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -45.618876368387895, + "y": -50.80854245865823, + "z": 20.0 + }, + "t1_image_uv": [ + 489.5042113192826, + -497.54091764653685 + ], + "t1_depth": 0.4892540136467819 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -37.16718292236328, + "y": -32.18776321411133, + "z": 1.1475395452976227 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 28.29901710373619, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 732, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -37.16718292236328, + "y": -32.18776321411133, + "z": 1.147539496421814 + }, + "extent": { + "x": 0.4167431592941284, + "y": 0.4591943323612213, + "z": 0.861681342124939 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 620.1941267498145, + "ymin": 325.55924589128193, + "xmax": 660.0533547700043, + "ymax": 394.04515916484297 + }, + "corners_3d": [ + [ + -37.13716506958008, + -32.80714416503906, + 0.285858154296875 + ], + [ + -37.786563873291016, + -32.157745361328125, + 0.285858154296875 + ], + [ + -37.197200775146484, + -31.568382263183594, + 0.285858154296875 + ], + [ + -36.54780197143555, + -32.21778106689453, + 0.285858154296875 + ], + [ + -37.13716506958008, + -32.80714416503906, + 2.009220838546753 + ], + [ + -37.786563873291016, + -32.157745361328125, + 2.009220838546753 + ], + [ + -37.197200775146484, + -31.568382263183594, + 2.009220838546753 + ], + [ + -36.54780197143555, + -32.21778106689453, + 2.009220838546753 + ] + ], + "corners_2d": [ + [ + 630.3740609586433, + 394.04515916484297 + ], + [ + 659.2511880700897, + 386.63821740526805 + ], + [ + 649.3560142319566, + 369.04383713141146 + ], + [ + 620.9770027783644, + 376.15774283516197 + ], + [ + 629.9694619274379, + 350.304148064819 + ], + [ + 660.0533547700043, + 342.9670951816073 + ], + [ + 649.737790383873, + 325.55924589128193 + ], + [ + 620.1941267498145, + 332.59425717917827 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 115, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 99, + "semantic_pixel_counts": { + "1": 321245, + "2": 70300, + "5": 2305, + "6": 4926, + "7": 113, + "10": 587, + "12": 3071, + "14": 67342, + "15": 7975, + "24": 32951, + "25": 410785 + }, + "instance_pixel_counts": { + "70": 496, + "108": 1, + "620": 793, + "1132": 767, + "2214": 340, + "2470": 12, + "3180": 355, + "4166": 694, + "4678": 836, + "6053": 114, + "6508": 3412, + "7786": 1970, + "7825": 290, + "8064": 193, + "8296": 22452, + "8298": 1028, + "8337": 335, + "8780": 1348, + "8808": 30718, + "8810": 3804, + "9320": 135735, + "9322": 359, + "9832": 8674, + "9834": 1081, + "10344": 14344, + "10346": 371, + "10624": 3153, + "10856": 23026, + "11116": 777, + "11136": 356, + "11368": 70941, + "11370": 903, + "12652": 257, + "17516": 238, + "20308": 13627, + "20820": 7800, + "20866": 3196, + "21332": 5109, + "21844": 4604, + "22356": 7433, + "22868": 4831, + "23380": 4999, + "25428": 2893, + "25698": 420, + "25928": 957, + "25940": 2529, + "26112": 743, + "26210": 42, + "27234": 289, + "27460": 1999, + "27476": 4415, + "27746": 263, + "27988": 3448, + "28002": 29, + "29839": 2028, + "30050": 23, + "30351": 7591, + "30863": 38180, + "31375": 5842, + "31812": 264, + "32324": 301, + "32360": 7721, + "33634": 12, + "34372": 393, + "34408": 116, + "34884": 1569, + "34920": 7518, + "35399": 3686, + "36753": 362, + "39239": 407099, + "41367": 687, + "41796": 771, + "41879": 2624, + "42391": 12550, + "42903": 798, + "46672": 800, + "46696": 161, + "46917": 70, + "47184": 300, + "48232": 6, + "48708": 584, + "50756": 78, + "53926": 202, + "54950": 740, + "55462": 53, + "56320": 732, + "56576": 580, + "56832": 505, + "57088": 641, + "57344": 108, + "57600": 505, + "58368": 1033, + "58624": 3718, + "58880": 5507, + "60833": 756, + "61440": 3371, + "61601": 45, + "62113": 152, + "64837": 432 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 732, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -37.16718292236328, + "y": -32.18776321411133, + "z": 1.147539496421814 + }, + "extent": { + "x": 0.453277587890625, + "y": 0.4076586961746216, + "z": 0.8813918828964233 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 621.4361792273445, + "ymin": 324.685749227591, + "xmax": 658.8487683838109, + "ymax": 394.90619417901803 + }, + "corners_3d": [ + [ + -37.199440002441406, + -32.79653549194336, + 0.2661476135253906 + ], + [ + -37.77595520019531, + -32.22002029418945, + 0.2661476135253906 + ], + [ + -37.134925842285156, + -31.578989028930664, + 0.2661476135253906 + ], + [ + -36.55841064453125, + -32.1555061340332, + 0.2661476135253906 + ], + [ + -37.199440002441406, + -32.79653549194336, + 2.0289313793182373 + ], + [ + -37.77595520019531, + -32.22002029418945, + 2.0289313793182373 + ], + [ + -37.134925842285156, + -31.578989028930664, + 2.0289313793182373 + ], + [ + -36.55841064453125, + -32.1555061340332, + 2.0289313793182373 + ] + ], + "corners_2d": [ + [ + 632.4328091293246, + 394.90619417901803 + ], + [ + 658.0768464771201, + 388.3182811763009 + ], + [ + 647.3489250464678, + 369.161642229766 + ], + [ + 622.1854022363657, + 375.46673455755 + ], + [ + 632.1071666046577, + 350.16021374167707 + ], + [ + 658.8487683838109, + 343.6353952044502 + ], + [ + 647.6556711379204, + 324.685749227591 + ], + [ + 621.4361792273445, + 330.9188518194047 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 580, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -33.041194915771484, + "y": -29.1900577545166, + "z": 1.1433207988739014 + }, + "extent": { + "x": 0.385932594537735, + "y": 0.439582496881485, + "z": 0.8605133891105652 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 544.9778599196177, + "ymin": 238.76011335635812, + "xmax": 582.5120052209406, + "ymax": 301.3214671790091 + }, + "corners_3d": [ + [ + -33.125450134277344, + -29.768917083740234, + 0.2828074097633362 + ], + [ + -33.604278564453125, + -29.031587600708008, + 0.2828074097633362 + ], + [ + -32.956939697265625, + -28.61119842529297, + 0.2828074097633362 + ], + [ + -32.478111267089844, + -29.348527908325195, + 0.2828074097633362 + ], + [ + -33.125450134277344, + -29.768917083740234, + 2.0038342475891113 + ], + [ + -33.604278564453125, + -29.031587600708008, + 2.0038342475891113 + ], + [ + -32.956939697265625, + -28.61119842529297, + 2.0038342475891113 + ], + [ + -32.478111267089844, + -29.348527908325195, + 2.0038342475891113 + ] + ], + "corners_2d": [ + [ + 559.4403397738776, + 301.3214671790091 + ], + [ + 582.5120052209406, + 292.5908083821818 + ], + [ + 571.202272440665, + 280.81014103002315 + ], + [ + 548.3552587096829, + 289.2810012093704 + ], + [ + 556.4243286950224, + 258.8897472527701 + ], + [ + 580.3841487202104, + 250.31682748739303 + ], + [ + 568.6951492025958, + 238.76011335635812 + ], + [ + 544.9778599196177, + 247.06865228840385 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 505, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -39.42300796508789, + "y": -25.24505043029785, + "z": 1.149673342704773 + }, + "extent": { + "x": 0.3925195336341858, + "y": 0.3590454161167145, + "z": 0.9586690068244934 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 769.0551983114954, + "ymin": 221.1410847661472, + "xmax": 805.6724894349564, + "ymax": 285.57543686107306 + }, + "corners_3d": [ + [ + -39.502098083496094, + -25.771100997924805, + 0.19100433588027954 + ], + [ + -39.95400619506836, + -25.21303939819336, + 0.19100433588027954 + ], + [ + -39.34391784667969, + -24.7189998626709, + 0.19100433588027954 + ], + [ + -38.89200973510742, + -25.277061462402344, + 0.19100433588027954 + ], + [ + -39.502098083496094, + -25.771100997924805, + 2.108342409133911 + ], + [ + -39.95400619506836, + -25.21303939819336, + 2.108342409133911 + ], + [ + -39.34391784667969, + -24.7189998626709, + 2.108342409133911 + ], + [ + -38.89200973510742, + -25.277061462402344, + 2.108342409133911 + ] + ], + "corners_2d": [ + [ + 781.4155754222663, + 285.57543686107306 + ], + [ + 799.220554046638, + 279.89544543932095 + ], + [ + 786.6681507096523, + 267.65793049308667 + ], + [ + 769.0551983114954, + 273.15988065838405 + ], + [ + 787.1895938023641, + 238.65647795257024 + ], + [ + 805.6724894349564, + 233.10041791445366 + ], + [ + 792.5141562899821, + 221.1410847661472 + ], + [ + 774.2376456394819, + 226.5160781996147 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 641, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -46.66718292236328, + "y": -32.18776321411133, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.31346189975738525, + "y": 0.3941015601158142, + "z": 0.8822108507156372 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 939.4494211828778, + "ymin": 428.787870513112, + "xmax": 993.6411048184134, + "ymax": 497.9343720669257 + }, + "corners_3d": [ + [ + -46.61016082763672, + -32.688087463378906, + 0.11506009101867676 + ], + [ + -47.16750717163086, + -32.130741119384766, + 0.11506009101867676 + ], + [ + -46.724205017089844, + -31.687440872192383, + 0.11506009101867676 + ], + [ + -46.1668586730957, + -32.24478530883789, + 0.11506009101867676 + ], + [ + -46.61016082763672, + -32.688087463378906, + 1.8794817924499512 + ], + [ + -47.16750717163086, + -32.130741119384766, + 1.8794817924499512 + ], + [ + -46.724205017089844, + -31.687440872192383, + 1.8794817924499512 + ], + [ + -46.1668586730957, + -32.24478530883789, + 1.8794817924499512 + ] + ], + "corners_2d": [ + [ + 952.7021305689113, + 497.9343720669257 + ], + [ + 977.6024778695746, + 490.07440080812114 + ], + [ + 964.0385565248712, + 473.65019420972294 + ], + [ + 939.4494211828778, + 481.24985975618495 + ], + [ + 967.6816989814856, + 453.05985094854464 + ], + [ + 993.6411048184134, + 445.1976208825415 + ], + [ + 979.164837016144, + 428.787870513112 + ], + [ + 953.5423992393987, + 436.37762523629647 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 108, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -40.78268051147461, + "y": -43.31512451171875, + "z": 1.149673342704773 + }, + "extent": { + "x": 0.42872801423072815, + "y": 0.3206762671470642, + "z": 0.943581759929657 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 551.8685656268735, + "ymin": 692.4096667038431, + "xmax": 595.2214592980314, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -40.80327606201172, + -43.85011672973633, + 0.20609158277511597 + ], + [ + -41.301700592041016, + -43.446502685546875, + 0.20609158277511597 + ], + [ + -40.7620849609375, + -42.78013229370117, + 0.20609158277511597 + ], + [ + -40.2636604309082, + -43.183746337890625, + 0.20609158277511597 + ], + [ + -40.80327606201172, + -43.85011672973633, + 2.093255043029785 + ], + [ + -41.301700592041016, + -43.446502685546875, + 2.093255043029785 + ], + [ + -40.7620849609375, + -42.78013229370117, + 2.093255043029785 + ], + [ + -40.2636604309082, + -43.183746337890625, + 2.093255043029785 + ] + ], + "corners_2d": [ + [ + 564.9674634534495, + 783.4930206915603 + ], + [ + 595.2214592980314, + 775.8915589737508 + ], + [ + 586.6607396987081, + 737.6499040396412 + ], + [ + 557.2709844341307, + 744.8003896485823 + ], + [ + 559.9047433525737, + 739.5536392459924 + ], + [ + 592.2192175223943, + 731.7207372169236 + ], + [ + 583.1988971748343, + 692.4096667038431 + ], + [ + 551.8685656268735, + 699.7481006532294 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 505, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -25.921844482421875, + "y": -40.35797882080078, + "z": 1.1359330415725708 + }, + "extent": { + "x": 0.39349365234375, + "y": 0.43242186307907104, + "z": 0.914518415927887 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 109.20330221740073, + "ymin": 391.44328477165016, + "xmax": 172.2785904363683, + "ymax": 461.9506582816384 + }, + "corners_3d": [ + [ + -25.773496627807617, + -40.92350387573242, + 0.22141462564468384 + ], + [ + -26.498815536499023, + -40.452476501464844, + 0.22141462564468384 + ], + [ + -26.070192337036133, + -39.79245376586914, + 0.22141462564468384 + ], + [ + -25.344873428344727, + -40.26348114013672, + 0.22141462564468384 + ], + [ + -25.773496627807617, + -40.92350387573242, + 2.0504515171051025 + ], + [ + -26.498815536499023, + -40.452476501464844, + 2.0504515171051025 + ], + [ + -26.070192337036133, + -39.79245376586914, + 2.0504515171051025 + ], + [ + -25.344873428344727, + -40.26348114013672, + 2.0504515171051025 + ] + ], + "corners_2d": [ + [ + 133.57776987730506, + 461.9506582816384 + ], + [ + 166.21055757310745, + 458.5666542484779 + ], + [ + 172.2785904363683, + 438.16250035688734 + ], + [ + 140.36564342183732, + 441.4033656976769 + ], + [ + 109.20330221740073, + 415.13148642892816 + ], + [ + 143.49101239868656, + 411.75825327289704 + ], + [ + 150.35110899430083, + 391.44328477165016 + ], + [ + 116.85708881263122, + 394.6672092843734 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 228, + "instance_id": 58368, + "pixel_count": 1033, + "type_id": "vehicle.tesla.model3", + "bbox_3d": { + "center_world": { + "x": -47.711753845214844, + "y": -41.71918487548828, + "z": 0.7927369475364685 + }, + "extent": { + "x": 2.3958897590637207, + "y": 1.081725001335144, + "z": 0.7438300251960754 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 834.2889615592982, + "ymin": 675.4608102340009, + "xmax": 1011.5526682506359, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -48.77934646606445, + -39.31696319580078, + 0.048906948417425156 + ], + [ + -46.61593246459961, + -39.329708099365234, + 0.048906948417425156 + ], + [ + -46.644161224365234, + -44.121402740478516, + 0.048906948417425156 + ], + [ + -48.80757141113281, + -44.10865783691406, + 0.048906948417425156 + ], + [ + -48.77934646606445, + -39.31696319580078, + 1.536566972732544 + ], + [ + -46.61593246459961, + -39.329708099365234, + 1.536566972732544 + ], + [ + -46.644161224365234, + -44.121402740478516, + 1.536566972732544 + ], + [ + -48.80757141113281, + -44.10865783691406, + 1.536566972732544 + ] + ], + "corners_2d": [ + [ + 993.6676977317691, + 749.8205475289017 + ], + [ + 893.5486758420492, + 710.866078250403 + ], + [ + 834.2889615592982, + 929.5963082037484 + ], + [ + 950.954677943354, + 984.2479253093799 + ], + [ + 1011.5526682506359, + 715.186157463695 + ], + [ + 905.9506196219543, + 675.4608102340009 + ], + [ + 845.612737586846, + 900.1572125642141 + ], + [ + 969.8142234395141, + 956.9277431059081 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 229, + "instance_id": 58624, + "pixel_count": 3718, + "type_id": "vehicle.dodge.charger_police_2020", + "bbox_3d": { + "center_world": { + "x": -54.599266052246094, + "y": -22.700984954833984, + "z": 0.8727232813835144 + }, + "extent": { + "x": 2.6187572479248047, + "y": 0.9648797512054443, + "z": 0.819191575050354 + }, + "yaw": 89.66251373291016 + }, + "bbox_2d": { + "xmin": 1237.7213834569202, + "ymin": 262.030981620954, + "xmax": 1280.0, + "ymax": 420.5789851399391 + }, + "corners_3d": [ + [ + -53.64982986450195, + -25.325380325317383, + 0.05353168025612831 + ], + [ + -55.57955551147461, + -25.314014434814453, + 0.05353168025612831 + ], + [ + -55.5487060546875, + -20.076589584350586, + 0.05353168025612831 + ], + [ + -53.61897659301758, + -20.08795738220215, + 0.05353168025612831 + ], + [ + -53.64982986450195, + -25.325380325317383, + 1.6919147968292236 + ], + [ + -55.57955551147461, + -25.314014434814453, + 1.6919147968292236 + ], + [ + -55.5487060546875, + -20.076589584350586, + 1.6919147968292236 + ], + [ + -53.61897659301758, + -20.08795738220215, + 1.6919147968292236 + ] + ], + "corners_2d": [ + [ + 1239.8137618938486, + 401.5458419051022 + ], + [ + 1312.8916318949666, + 420.5789851399391 + ], + [ + 1302.5072877339499, + 316.8942291412533 + ], + [ + 1237.7213834569202, + 301.88208991790145 + ], + [ + 1263.649588450607, + 360.4895900363084 + ], + [ + 1340.220536215977, + 379.39131153035004 + ], + [ + 1326.2667971521296, + 276.8063105220469 + ], + [ + 1258.7484526342794, + 262.030981620954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 5507, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 1001.1323754467277, + "ymin": 223.7626920458555, + "xmax": 1088.3366999573252, + "ymax": 351.2190883211337 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 1075.4531151215303, + 270.5542733711601 + ], + [ + 1021.6807216824478, + 257.99155757538017 + ], + [ + 1001.1323754467277, + 335.9054982738628 + ], + [ + 1060.1742311904018, + 351.2190883211337 + ], + [ + 1088.3366999573252, + 236.11111206396947 + ], + [ + 1032.7832918538838, + 223.7626920458555 + ], + [ + 1012.7553960347655, + 300.5408439280118 + ], + [ + 1073.9541329307258, + 315.6855599449733 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 3371, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 958.4665076505376, + "ymin": 60.138980883811996, + "xmax": 1030.2327849859028, + "ymax": 157.2129173230671 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 1018.0037156849119, + 110.38804309071043 + ], + [ + 976.89741789258, + 102.66895219211227 + ], + [ + 958.4665076505376, + 148.26769425017778 + ], + [ + 1002.4834406086078, + 157.2129173230671 + ], + [ + 1030.2327849859028, + 67.54312673146262 + ], + [ + 987.6537394178025, + 60.138980883811996 + ], + [ + 969.4333444950969, + 103.96599353784836 + ], + [ + 1015.1451084462294, + 112.5886063550895 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6996496815942574697, + "instance_id": 27042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.10569763183594, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1162.2484753096285, + "ymin": 0.0, + "xmax": 1178.857003047234, + "ymax": 6.816223090628341 + }, + "corners_3d": [ + [ + -49.24428176879883, + -9.655921936035156, + 5.545533180236816 + ], + [ + -49.24428176879883, + -9.276006698608398, + 5.545533180236816 + ], + [ + -48.96711349487305, + -9.276006698608398, + 5.545533180236816 + ], + [ + -48.96711349487305, + -9.655921936035156, + 5.545533180236816 + ], + [ + -49.24428176879883, + -9.655921936035156, + 6.416468620300293 + ], + [ + -49.24428176879883, + -9.276006698608398, + 6.416468620300293 + ], + [ + -48.96711349487305, + -9.276006698608398, + 6.416468620300293 + ], + [ + -48.96711349487305, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1170.024421828532, + 6.816223090628341 + ], + [ + 1170.44087079256, + 3.3193848389034315 + ], + [ + 1162.717748789747, + 2.1607011460917533 + ], + [ + 1162.2484753096285, + 5.641322815493822 + ], + [ + 1178.4935972122887, + -15.999717643746692 + ], + [ + 1178.857003047234, + -19.3913390914185 + ], + [ + 1170.9918537046483, + -20.514993272831134 + ], + [ + 1170.573650695676, + -17.13935002252697 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 883.409126482613, + "ymin": 9.058312682883184, + "xmax": 895.2387846835967, + "ymax": 32.7939594306809 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 889.6828972069175, + 32.7939594306809 + ], + [ + 891.7516697002004, + 29.57092808867577 + ], + [ + 885.5117301629696, + 28.495959015992412 + ], + [ + 883.409126482613, + 31.705817915522744 + ], + [ + 893.1627982982982, + 13.255186197184287 + ], + [ + 895.2387846835967, + 10.107900094276658 + ], + [ + 888.9053821311495, + 9.058312682883184 + ], + [ + 886.7945307920977, + 12.19255774498464 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1358148318300121759, + "instance_id": 40874, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 132.47387843299455, + "xmax": 171.4446063835332, + "ymax": 253.56409214071476 + }, + "corners_3d": [ + [ + -26.246047973632812, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246047973632812, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.197628021240234 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 171.4446063835332, + 138.12647270775503 + ], + [ + 162.65953211187457, + 135.73942397222228 + ], + [ + -30.3264913518949, + 250.2336133357723 + ], + [ + -20.805573398495767, + 253.56409214071476 + ], + [ + 170.26222262748, + 134.85461079394304 + ], + [ + 161.45951420622555, + 132.47387843299455 + ], + [ + -32.31724699199299, + 246.71594698782357 + ], + [ + -22.776820206639854, + 250.04064702245256 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 89.61551531791667, + "ymax": 205.64729275288 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 89.61551531791667, + 138.23995328991904 + ], + [ + 81.19019416809181, + 135.8672546894391 + ], + [ + -40.116664299022204, + 202.74599989503199 + ], + [ + -31.300559120327648, + 205.64729275288 + ], + [ + 2.708125115461712, + -66.4751884356113 + ], + [ + -6.666508863848662, + -68.33682527612336 + ], + [ + -160.33108514053174, + -15.008913572564325 + ], + [ + -150.5355928880707, + -12.654698702701353 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 122.31914568342958, + "xmax": 260.3099233074171, + "ymax": 499.99132580151365 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 260.3099233074171, + 369.5748865060508 + ], + [ + 247.9667863689407, + 365.1674425575524 + ], + [ + 101.11650963008674, + 494.16285537308767 + ], + [ + 114.45301325586479, + 499.99132580151365 + ], + [ + 173.55640280221922, + 126.20947473731226 + ], + [ + 158.95171426551383, + 122.31914568342958 + ], + [ + -44.48112188993116, + 240.0446372765993 + ], + [ + -28.603006495688078, + 245.55959019731827 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 868.8684397440283, + "ymin": 0.0, + "xmax": 1236.7388714876588, + "ymax": 146.26797652761698 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 871.3542115047695, + 86.25030473099906 + ], + [ + 868.8684397440283, + 90.14469309777638 + ], + [ + 1152.713380938765, + 146.26797652761698 + ], + [ + 1153.3755523892041, + 141.597208077669 + ], + [ + 905.1930674749639, + -110.97984438975283 + ], + [ + 902.599937025558, + -108.02109265572034 + ], + [ + 1236.6772394635846, + -64.7306127827145 + ], + [ + 1236.7388714876588, + -68.38048872942011 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13681264316117260208, + "instance_id": 45207, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 132.3907113031511, + "xmax": 171.5873183047056, + "ymax": 253.67375201638367 + }, + "corners_3d": [ + [ + -26.24793815612793, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.24793815612793, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.198223114013672 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 171.5873183047056, + 138.11601688733907 + ], + [ + 162.68902117109053, + 135.69839089391212 + ], + [ + -30.48448079032596, + 250.29954688221187 + ], + [ + -20.84012462546775, + 253.67375201638367 + ], + [ + 170.39002313119045, + 134.8018563428474 + ], + [ + 161.47363338980773, + 132.3907113031511 + ], + [ + -32.50165518040944, + 246.73623683553384 + ], + [ + -22.837281203867747, + 250.1045133165395 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 407.1065197577473, + "ymin": 0.0, + "xmax": 526.1920819279497, + "ymax": 197.82657305708082 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 526.1920819279497, + 131.83993488284432 + ], + [ + 516.2383210816731, + 129.5146775186069 + ], + [ + 441.7010083464288, + 194.98927767127932 + ], + [ + 452.392979357514, + 197.82657305708082 + ], + [ + 508.4305956396933, + -71.49167545390947 + ], + [ + 497.00584489558366, + -73.31032656827466 + ], + [ + 407.1065197577473, + -21.28610212964645 + ], + [ + 419.50617413786404, + -18.992845993238802 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 911.8333482419564, + "ymin": 0.0, + "xmax": 999.9310676112191, + "ymax": 14.990830346720713 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 965.2318332567552, + -56.473869365514815 + ], + [ + 958.0400056221443, + -57.50759481944914 + ], + [ + 911.8333482419564, + 13.595511469618714 + ], + [ + 920.0643069342493, + 14.990830346720713 + ], + [ + 999.9310676112191, + -215.56845254375526 + ], + [ + 991.8839496568771, + -216.29963372230202 + ], + [ + 946.0223060550163, + -165.13941068327597 + ], + [ + 955.3967740551586, + -164.1175325572067 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00116/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00116/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f2f3b6ac4651a701adb4e4cce25e6d700940ae60 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00116/meta.json @@ -0,0 +1,2613 @@ +{ + "frame_id": 116, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 58.0, + "sim_timestamp": 14501.87859177147 + }, + "drone_pose": { + "x": -45.618876368387895, + "y": -50.80854245865823, + "z": 20.0, + "pitch": -41.764135429795125, + "yaw": 64.91261725206957, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.31625860929489136, + -0.6755271553993225, + 0.6660656929016113, + 35.42859649658203 + ], + [ + 0.9056622385978699, + 0.4239999055862427, + 2.9802322387695312e-08, + -19.772478103637695 + ], + [ + -0.2824118137359619, + 0.6032305955886841, + 0.7458930611610413, + -58.450439453125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -45.27782043861477, + "y": -50.24982217974088, + "z": 20.0 + }, + "t1_image_uv": [ + 497.6019888398712, + -497.2583664706276 + ], + "t1_depth": 0.48529261127228007 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -36.66718292236328, + "y": -31.687763214111328, + "z": 1.147026841044426 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.30497502918162, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 729, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -36.66718292236328, + "y": -31.687763214111328, + "z": 1.1470268964767456 + }, + "extent": { + "x": 0.5537390112876892, + "y": 0.4183337390422821, + "z": 0.8928555250167847 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 620.0430286271022, + "ymin": 322.2992895601707, + "xmax": 660.3674315956364, + "ymax": 397.43501637460366 + }, + "corners_3d": [ + [ + -36.7629280090332, + -32.3751220703125, + 0.25417137145996094 + ], + [ + -37.35454177856445, + -31.78350830078125, + 0.25417137145996094 + ], + [ + -36.57143783569336, + -31.000404357910156, + 0.25417137145996094 + ], + [ + -35.97982406616211, + -31.592018127441406, + 0.25417137145996094 + ], + [ + -36.7629280090332, + -32.3751220703125, + 2.0398824214935303 + ], + [ + -37.35454177856445, + -31.78350830078125, + 2.0398824214935303 + ], + [ + -36.57143783569336, + -31.000404357910156, + 2.0398824214935303 + ], + [ + -35.97982406616211, + -31.592018127441406, + 2.0398824214935303 + ] + ], + "corners_2d": [ + [ + 633.0808697636055, + 397.43501637460366 + ], + [ + 659.5209235183139, + 390.7899669556393 + ], + [ + 646.6862775241542, + 367.3254832828464 + ], + [ + 620.8564428350643, + 373.6227688518073 + ], + [ + 632.7784843640826, + 352.088107114932 + ], + [ + 660.3674315956364, + 345.50630555497105 + ], + [ + 646.9682380649409, + 322.2992895601707 + ], + [ + 620.0430286271022, + 328.5222605431323 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 116, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 98, + "semantic_pixel_counts": { + "1": 313363, + "2": 70744, + "5": 2263, + "6": 5176, + "7": 225, + "10": 596, + "12": 3237, + "14": 66135, + "15": 8232, + "24": 34520, + "25": 417109 + }, + "instance_pixel_counts": { + "70": 511, + "620": 814, + "1132": 803, + "2214": 341, + "2470": 13, + "3180": 384, + "4166": 723, + "4678": 872, + "6053": 122, + "6508": 3539, + "7786": 2068, + "7825": 300, + "8064": 200, + "8296": 23386, + "8298": 1083, + "8337": 343, + "8780": 1468, + "8808": 32245, + "8810": 3859, + "9320": 133454, + "9322": 417, + "9832": 10404, + "9834": 973, + "10344": 12891, + "10346": 338, + "10624": 3284, + "10856": 22203, + "11116": 979, + "11136": 376, + "11368": 61647, + "11370": 907, + "12652": 263, + "17516": 253, + "20308": 14137, + "20820": 8055, + "20866": 3292, + "21332": 5245, + "21844": 4746, + "22356": 7633, + "22868": 4972, + "23380": 5123, + "25428": 2930, + "25698": 438, + "25928": 795, + "25940": 2570, + "26112": 924, + "26210": 37, + "27234": 298, + "27460": 2099, + "27476": 4575, + "27746": 275, + "27988": 3514, + "28002": 45, + "29012": 24, + "29839": 2122, + "30050": 25, + "30351": 7931, + "30863": 37709, + "31375": 6348, + "31812": 273, + "32324": 313, + "32360": 9588, + "33634": 39, + "34372": 420, + "34408": 394, + "34884": 1647, + "34920": 7151, + "35399": 4413, + "36753": 385, + "39239": 412696, + "41367": 717, + "41796": 879, + "41879": 2731, + "42391": 12289, + "42903": 897, + "46672": 845, + "46696": 245, + "46917": 71, + "47184": 340, + "48232": 64, + "48708": 610, + "50756": 81, + "53926": 203, + "54950": 769, + "55462": 49, + "56320": 729, + "56576": 582, + "56832": 519, + "57088": 625, + "57344": 125, + "57600": 657, + "58624": 1551, + "58880": 5806, + "60833": 799, + "61440": 3486, + "61601": 83, + "62113": 170, + "64837": 438 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 729, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -36.66718292236328, + "y": -31.687763214111328, + "z": 1.1470268964767456 + }, + "extent": { + "x": 0.43605345487594604, + "y": 0.5486242771148682, + "z": 0.8880056738853455 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 617.124573163862, + "ymin": 323.8657144065428, + "xmax": 663.1518396367148, + "ymax": 395.76272558611197 + }, + "corners_3d": [ + [ + -36.587581634521484, + -32.384037017822266, + 0.25902122259140015 + ], + [ + -37.36345672607422, + -31.608163833618164, + 0.25902122259140015 + ], + [ + -36.74678421020508, + -30.991491317749023, + 0.25902122259140015 + ], + [ + -35.970909118652344, + -31.767362594604492, + 0.25902122259140015 + ], + [ + -36.587581634521484, + -32.384037017822266, + 2.0350325107574463 + ], + [ + -37.36345672607422, + -31.608163833618164, + 2.0350325107574463 + ], + [ + -36.74678421020508, + -30.991491317749023, + 2.0350325107574463 + ], + [ + -35.970909118652344, + -31.767362594604492, + 2.0350325107574463 + ] + ], + "corners_2d": [ + [ + 627.6061942438599, + 395.76272558611197 + ], + [ + 662.1985772388751, + 387.0983989588614 + ], + [ + 652.0176969699114, + 368.6645560126365 + ], + [ + 618.0556669096225, + 376.96970781009 + ], + [ + 627.0685326976704, + 350.6766907390458 + ], + [ + 663.1518396367148, + 342.0965175144415 + ], + [ + 652.5225578706663, + 323.8657144065428 + ], + [ + 617.124573163862, + 332.07535125721085 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 582, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -32.541194915771484, + "y": -28.6900577545166, + "z": 1.1428080797195435 + }, + "extent": { + "x": 0.4790295362472534, + "y": 0.4506005644798279, + "z": 0.9139288067817688 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 544.4317854914046, + "ymin": 235.6482482582558, + "xmax": 585.3064078529414, + "ymax": 303.8122067657916 + }, + "corners_3d": [ + [ + -32.69752883911133, + -29.328861236572266, + 0.22887927293777466 + ], + [ + -33.188358306884766, + -28.57305145263672, + 0.22887927293777466 + ], + [ + -32.38486099243164, + -28.051254272460938, + 0.22887927293777466 + ], + [ + -31.894031524658203, + -28.807064056396484, + 0.22887927293777466 + ], + [ + -32.69752883911133, + -29.328861236572266, + 2.056736946105957 + ], + [ + -33.188358306884766, + -28.57305145263672, + 2.056736946105957 + ], + [ + -32.38486099243164, + -28.051254272460938, + 2.056736946105957 + ], + [ + -31.894031524658203, + -28.807064056396484, + 2.056736946105957 + ] + ], + "corners_2d": [ + [ + 561.5754650777645, + 303.8122067657916 + ], + [ + 585.3064078529414, + 294.9502491582154 + ], + [ + 571.4641934981041, + 280.2666933903385 + ], + [ + 548.0259880579475, + 288.8014138169009 + ], + [ + 558.4498982581204, + 258.72714081650287 + ], + [ + 583.1516889079942, + 250.0344650973518 + ], + [ + 568.8161230470308, + 235.6482482582558 + ], + [ + 544.4317854914046, + 244.00758627479598 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 519, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -38.92300796508789, + "y": -24.74505043029785, + "z": 1.1493949890136719 + }, + "extent": { + "x": 0.41468381881713867, + "y": 0.4459313750267029, + "z": 0.9321103692054749 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 767.9976703211105, + "ymin": 221.57045997810545, + "xmax": 809.5818217195589, + "ymax": 286.71513409812667 + }, + "corners_3d": [ + [ + -38.96464538574219, + -25.35257339477539, + 0.21728461980819702 + ], + [ + -39.52591323852539, + -24.659465789794922, + 0.21728461980819702 + ], + [ + -38.881370544433594, + -24.137527465820312, + 0.21728461980819702 + ], + [ + -38.32010269165039, + -24.83063507080078, + 0.21728461980819702 + ], + [ + -38.96464538574219, + -25.35257339477539, + 2.081505298614502 + ], + [ + -39.52591323852539, + -24.659465789794922, + 2.081505298614502 + ], + [ + -38.881370544433594, + -24.137527465820312, + 2.081505298614502 + ], + [ + -38.32010269165039, + -24.83063507080078, + 2.081505298614502 + ] + ], + "corners_2d": [ + [ + 780.903933037514, + 286.71513409812667 + ], + [ + 803.155767405275, + 279.75996236949527 + ], + [ + 789.9905486282486, + 266.7858871688809 + ], + [ + 767.9976703211105, + 273.509728462428 + ], + [ + 786.5052265920176, + 241.06566748180526 + ], + [ + 809.5818217195589, + 234.25749819225314 + ], + [ + 795.7956203646108, + 221.57045997810545 + ], + [ + 772.9968520349528, + 228.14346132869878 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 625, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -46.16718292236328, + "y": -31.687763214111328, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.41859617829322815, + "y": 0.40128660202026367, + "z": 0.9079487919807434 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 936.242994321999, + "ymin": 427.2316545700988, + "xmax": 995.9887969458698, + "ymax": 503.3850353644276 + }, + "corners_3d": [ + [ + -46.17942428588867, + -32.26750946044922, + 0.08932709693908691 + ], + [ + -46.74692916870117, + -31.700002670288086, + 0.08932709693908691 + ], + [ + -46.15494155883789, + -31.10801887512207, + 0.08932709693908691 + ], + [ + -45.58743667602539, + -31.67552375793457, + 0.08932709693908691 + ], + [ + -46.17942428588867, + -32.26750946044922, + 1.9052246809005737 + ], + [ + -46.74692916870117, + -31.700002670288086, + 1.9052246809005737 + ], + [ + -46.15494155883789, + -31.10801887512207, + 1.9052246809005737 + ], + [ + -45.58743667602539, + -31.67552375793457, + 1.9052246809005737 + ] + ], + "corners_2d": [ + [ + 953.723398109031, + 503.3850353644276 + ], + [ + 979.3086609705815, + 495.48142266357513 + ], + [ + 961.3942494060336, + 473.40383822994056 + ], + [ + 936.242994321999, + 480.958436575117 + ], + [ + 969.2746539057192, + 457.2021877875163 + ], + [ + 995.9887969458698, + 449.2927487209336 + ], + [ + 976.8254920204489, + 427.2316545700988 + ], + [ + 950.5826989302058, + 434.7751852020879 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 125, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -40.28268051147461, + "y": -42.81512451171875, + "z": 1.149678111076355 + }, + "extent": { + "x": 0.36307981610298157, + "y": 0.3811328113079071, + "z": 0.9266034364700317 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 545.058708475586, + "ymin": 694.4909443324368, + "xmax": 592.8108695165508, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -40.2149772644043, + -43.3371467590332, + 0.22307467460632324 + ], + [ + -40.807369232177734, + -42.85743713378906, + 0.22307467460632324 + ], + [ + -40.35038375854492, + -42.2931022644043, + 0.22307467460632324 + ], + [ + -39.757991790771484, + -42.77281188964844, + 0.22307467460632324 + ], + [ + -40.2149772644043, + -43.3371467590332, + 2.0762815475463867 + ], + [ + -40.807369232177734, + -42.85743713378906, + 2.0762815475463867 + ], + [ + -40.35038375854492, + -42.2931022644043, + 2.0762815475463867 + ], + [ + -39.757991790771484, + -42.77281188964844, + 2.0762815475463867 + ] + ], + "corners_2d": [ + [ + 556.845054542021, + 779.9750519569222 + ], + [ + 592.8108695165508, + 771.2732062153624 + ], + [ + 585.8757737143902, + 738.8843919266585 + ], + [ + 550.7880437851898, + 747.1461032786792 + ], + [ + 551.3545229179639, + 736.7216070120389 + ], + [ + 589.7176982038436, + 727.7633731907496 + ], + [ + 582.4243775405197, + 694.4909443324368 + ], + [ + 545.058708475586, + 702.9674795492347 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 657, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -25.421844482421875, + "y": -39.85797882080078, + "z": 1.1581498384475708 + }, + "extent": { + "x": 0.3536950647830963, + "y": 0.3489099144935608, + "z": 0.9391060471534729 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 113.17644985233983, + "ymin": 388.7413221048962, + "xmax": 169.7547138418076, + "ymax": 457.5805905039312 + }, + "corners_3d": [ + [ + -25.321861267089844, + -40.344642639160156, + 0.2190437912940979 + ], + [ + -25.907100677490234, + -39.96458053588867, + 0.2190437912940979 + ], + [ + -25.521827697753906, + -39.371315002441406, + 0.2190437912940979 + ], + [ + -24.936588287353516, + -39.75137710571289, + 0.2190437912940979 + ], + [ + -25.321861267089844, + -40.344642639160156, + 2.0972559452056885 + ], + [ + -25.907100677490234, + -39.96458053588867, + 2.0972559452056885 + ], + [ + -25.521827697753906, + -39.371315002441406, + 2.0972559452056885 + ], + [ + -24.936588287353516, + -39.75137710571289, + 2.0972559452056885 + ] + ], + "corners_2d": [ + [ + 137.8945501033075, + 457.5805905039312 + ], + [ + 164.05918549093718, + 455.02141125038696 + ], + [ + 169.7547138418076, + 436.76314152838165 + ], + [ + 144.10807307609133, + 439.2249993028689 + ], + [ + 113.17644985233983, + 409.46059194169936 + ], + [ + 140.69502198567994, + 406.9110848781549 + ], + [ + 147.13404313719406, + 388.7413221048962 + ], + [ + 120.18778951989634, + 391.18925264489104 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 229, + "instance_id": 58624, + "pixel_count": 1551, + "type_id": "vehicle.dodge.charger_police_2020", + "bbox_3d": { + "center_world": { + "x": -54.599266052246094, + "y": -22.700984954833984, + "z": 0.8727232813835144 + }, + "extent": { + "x": 2.6187572479248047, + "y": 0.9648797512054443, + "z": 0.819191575050354 + }, + "yaw": 89.66251373291016 + }, + "bbox_2d": { + "xmin": 1257.6205663401067, + "ymin": 277.4227588748331, + "xmax": 1280.0, + "ymax": 441.1248673296464 + }, + "corners_3d": [ + [ + -53.64982986450195, + -25.325380325317383, + 0.05353168025612831 + ], + [ + -55.57955551147461, + -25.314014434814453, + 0.05353168025612831 + ], + [ + -55.5487060546875, + -20.076589584350586, + 0.05353168025612831 + ], + [ + -53.61897659301758, + -20.08795738220215, + 0.05353168025612831 + ], + [ + -53.64982986450195, + -25.325380325317383, + 1.6919147968292236 + ], + [ + -55.57955551147461, + -25.314014434814453, + 1.6919147968292236 + ], + [ + -55.5487060546875, + -20.076589584350586, + 1.6919147968292236 + ], + [ + -53.61897659301758, + -20.08795738220215, + 1.6919147968292236 + ] + ], + "corners_2d": [ + [ + 1260.7022719493293, + 420.90040805182315 + ], + [ + 1335.8708316563293, + 441.1248673296464 + ], + [ + 1324.1002453801527, + 333.40381664479105 + ], + [ + 1257.6205663401067, + 317.51684651337115 + ], + [ + 1285.9116887739826, + 379.71117751391296 + ], + [ + 1364.7815744510217, + 399.83090770776147 + ], + [ + 1349.1398936081932, + 293.0808356079979 + ], + [ + 1279.7790316018932, + 277.4227588748331 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 5806, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 1016.0528671329907, + "ymin": 236.6193254106934, + "xmax": 1105.160356314776, + "ymax": 367.66137395652987 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 1091.5595073195404, + 284.3011359658825 + ], + [ + 1036.6396196439523, + 271.06710895629203 + ], + [ + 1016.0528671329907, + 351.48299566150996 + ], + [ + 1076.4379023436143, + 367.66137395652987 + ], + [ + 1105.160356314776, + 249.64074021141573 + ], + [ + 1048.3780186473819, + 236.6193254106934 + ], + [ + 1028.3850263135448, + 315.94867284185045 + ], + [ + 1091.0322498120236, + 331.96805951435965 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 3486, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 971.8002329821356, + "ymin": 68.2298219435508, + "xmax": 1045.0291186931197, + "ymax": 167.1899480988239 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 1032.1593855342371, + 119.16914647481875 + ], + [ + 990.350831307511, + 111.09242901700267 + ], + [ + 971.8002329821356, + 157.81542250383274 + ], + [ + 1016.6000436394917, + 167.1899480988239 + ], + [ + 1045.0291186931197, + 75.98384867839172 + ], + [ + 1001.6929033981587, + 68.2298219435508 + ], + [ + 983.395465795016, + 113.17895227873896 + ], + [ + 1029.9559976087776, + 122.22450738579698 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6996496815942574697, + "instance_id": 27042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.10569763183594, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1180.6293389893012, + "ymin": 0.0, + "xmax": 1197.8130750778273, + "ymax": 15.508816780062944 + }, + "corners_3d": [ + [ + -49.24428176879883, + -9.655921936035156, + 5.545533180236816 + ], + [ + -49.24428176879883, + -9.276006698608398, + 5.545533180236816 + ], + [ + -48.96711349487305, + -9.276006698608398, + 5.545533180236816 + ], + [ + -48.96711349487305, + -9.655921936035156, + 5.545533180236816 + ], + [ + -49.24428176879883, + -9.655921936035156, + 6.416468620300293 + ], + [ + -49.24428176879883, + -9.276006698608398, + 6.416468620300293 + ], + [ + -48.96711349487305, + -9.276006698608398, + 6.416468620300293 + ], + [ + -48.96711349487305, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1188.5776227677616, + 15.508816780062944 + ], + [ + 1188.956742558774, + 11.907080300883308 + ], + [ + 1181.063247462981, + 10.68846567434207 + ], + [ + 1180.6293389893012, + 14.272921617918769 + ], + [ + 1197.4914608945683, + -7.557392041532864 + ], + [ + 1197.8130750778273, + -11.05260181469896 + ], + [ + 1189.771006228289, + -12.234993491713055 + ], + [ + 1189.3925089892682, + -8.756823680654065 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 895.8770773904744, + "ymin": 16.046790337311904, + "xmax": 908.0462251806852, + "ymax": 40.065763088321376 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 902.2481171248337, + 40.065763088321376 + ], + [ + 904.3362269265685, + 36.76873056967548 + ], + [ + 897.9998071560403, + 35.64583047803603 + ], + [ + 895.8770773904744, + 38.92896959591968 + ], + [ + 905.951853620571, + 20.364294623550336 + ], + [ + 908.0462251806852, + 17.143573091230337 + ], + [ + 901.6131521566111, + 16.046790337311904 + ], + [ + 899.4830823202568, + 19.25374956852187 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18114159193525624905, + "instance_id": 18848, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -46.60569763183594, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1110.6320066691744, + "ymin": 0.0, + "xmax": 1126.662940324249, + "ymax": 4.572700708751938 + }, + "corners_3d": [ + [ + -46.74428176879883, + -9.655922889709473, + 5.545533180236816 + ], + [ + -46.74428176879883, + -9.276007652282715, + 5.545533180236816 + ], + [ + -46.46711349487305, + -9.276007652282715, + 5.545533180236816 + ], + [ + -46.46711349487305, + -9.655922889709473, + 5.545533180236816 + ], + [ + -46.74428176879883, + -9.655922889709473, + 6.416468620300293 + ], + [ + -46.74428176879883, + -9.276007652282715, + 6.416468620300293 + ], + [ + -46.46711349487305, + -9.276007652282715, + 6.416468620300293 + ], + [ + -46.46711349487305, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1118.2452607540386, + 4.572700708751938 + ], + [ + 1119.0999092163443, + 1.1224421462516148 + ], + [ + 1111.5368739471537, + -0.04515540760519343 + ], + [ + 1110.6320066691744, + 3.388899988529829 + ], + [ + 1125.8478962879792, + -18.167590516673727 + ], + [ + 1126.662940324249, + -21.51349928389783 + ], + [ + 1118.9628021506587, + -22.645618347285904 + ], + [ + 1118.0956860467625, + -19.31567072695725 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 406821445578489144, + "instance_id": 14461, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 5.6169775165665214, + "ymax": 0.6925066552336148 + }, + "corners_3d": [ + [ + -9.94604778289795, + -28.27004051208496, + 8.10662841796875 + ], + [ + -9.653939247131348, + -28.270042419433594, + 8.10662841796875 + ], + [ + -9.653950691223145, + -33.729949951171875, + 8.10662841796875 + ], + [ + -9.946059226989746, + -33.729949951171875, + 8.10662841796875 + ], + [ + -9.94604778289795, + -28.27004051208496, + 8.197628021240234 + ], + [ + -9.653939247131348, + -28.270042419433594, + 8.197628021240234 + ], + [ + -9.653950691223145, + -33.729949951171875, + 8.197628021240234 + ], + [ + -9.946059226989746, + -33.729949951171875, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 5.6169775165665214, + -52.65216477467072 + ], + [ + -0.04229293994512773, + -53.84194912928473 + ], + [ + -148.68385849118545, + -0.7994521689933549 + ], + [ + -142.7923281991625, + 0.6925066552336148 + ], + [ + 4.498185815619081, + -55.27587081633163 + ], + [ + -1.1680393212199078, + -56.46071434426432 + ], + [ + -150.23731024239612, + -3.627620620504615 + ], + [ + -144.33881825920344, + -2.1412302776310526 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1358148318300121759, + "instance_id": 40874, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 143.7595343257629, + "xmax": 173.11746987522372, + "ymax": 268.992183850103 + }, + "corners_3d": [ + [ + -26.246047973632812, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246047973632812, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.197628021240234 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 173.11746987522372, + 149.5691514855536 + ], + [ + 164.24292851564184, + 147.05395480998945 + ], + [ + -33.92705969995882, + 265.4650260344236 + ], + [ + -24.330444243421766, + 268.992183850103 + ], + [ + 171.9186145310398, + 146.26829606833076 + ], + [ + 163.02604775609905, + 143.7595343257629 + ], + [ + -35.96856490515677, + 261.92202499321445 + ], + [ + -26.35221341161605, + 265.443482865139 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1764326376764121913, + "instance_id": 14755, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 5.724411151973868, + "ymax": 0.7490095020475565 + }, + "corners_3d": [ + [ + -9.947937965393066, + -28.26742172241211, + 8.10604476928711 + ], + [ + -9.65204906463623, + -28.26742172241211, + 8.10604476928711 + ], + [ + -9.652060508728027, + -33.73257064819336, + 8.10604476928711 + ], + [ + -9.947949409484863, + -33.73257064819336, + 8.10604476928711 + ], + [ + -9.947937965393066, + -28.26742172241211, + 8.198223114013672 + ], + [ + -9.65204906463623, + -28.26742172241211, + 8.198223114013672 + ], + [ + -9.652060508728027, + -33.73257064819336, + 8.198223114013672 + ], + [ + -9.947949409484863, + -33.73257064819336, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 5.724411151973868, + -52.65049222494508 + ], + [ + -0.007886248019758568, + -53.855599449042074 + ], + [ + -148.79180727646644, + -0.7624676320902495 + ], + [ + -142.82397522811652, + 0.7490095020475565 + ], + [ + 4.591344922526446, + -55.30812090157582 + ], + [ + -1.1480881736894162, + -56.508158755286445 + ], + [ + -150.3656769132532, + -3.6273423576743085 + ], + [ + -144.39070188102323, + -2.1215791489093476 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 93.48380964209673, + "ymax": 212.44206121022648 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 93.48380964209673, + 144.05334887576205 + ], + [ + 85.04573378203486, + 141.59652213510506 + ], + [ + -37.86597812784521, + 209.43458888632702 + ], + [ + -29.05106812117731, + 212.44206121022648 + ], + [ + 6.320527750467022, + -61.8471416995294 + ], + [ + -3.0704165725368284, + -63.78002802813501 + ], + [ + -158.96915538581788, + -9.526895801594435 + ], + [ + -149.17944002797788, + -7.078575969497535 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 133.43751140543966, + "xmax": 262.95328265524745, + "ymax": 516.2752199150497 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 262.95328265524745, + 382.32177345025997 + ], + [ + 250.50732468411428, + 377.7068581767699 + ], + [ + 100.33957874932162, + 510.1525293176795 + ], + [ + 113.76829563877163, + 516.2752199150497 + ], + [ + 175.28142508269025, + 137.53754863101057 + ], + [ + 160.5264504623969, + 133.43751140543966 + ], + [ + -48.40686797913895, + 255.2218929320638 + ], + [ + -32.40319467548761, + 261.06553408864653 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 880.6442848174979, + "ymin": 0.0, + "xmax": 1257.7459949872123, + "ymax": 156.54483854219765 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 883.1576646482033, + 93.85096980077327 + ], + [ + 880.6442848174979, + 97.82984266042405 + ], + [ + 1169.4711792307148, + 156.54483854219765 + ], + [ + 1170.1104320023828, + 151.74523846044937 + ], + [ + 919.2333835071199, + -105.1347545101267 + ], + [ + 916.6233635997839, + -102.10066392059008 + ], + [ + 1257.7459949872123, + -56.61173045279128 + ], + [ + 1257.7357674103414, + -60.38124013489619 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1137.6902765525278, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 3.2416719088299715 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1378.2082424312584, + 3.2416719088299715 + ], + [ + 1377.523380012688, + 0.42414938475332065 + ], + [ + 1138.3126461838865, + -34.343359016795546 + ], + [ + 1137.6902765525278, + -31.906707484139474 + ], + [ + 1468.880838734993, + -172.62502222697435 + ], + [ + 1467.5396542291269, + -174.67556781228188 + ], + [ + 1194.4056567449147, + -199.747519020269 + ], + [ + 1194.0415071603784, + -198.00419499502357 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13681264316117260208, + "instance_id": 45207, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 143.67388296471592, + "xmax": 173.2627818162416, + "ymax": 269.10572065354427 + }, + "corners_3d": [ + [ + -26.24793815612793, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.24793815612793, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.198223114013672 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 173.2627818162416, + 149.55821984957848 + ], + [ + 164.27386002614634, + 147.01081105607247 + ], + [ + -34.08842457059893, + 265.53224666021083 + ], + [ + -24.36740580490789, + 269.10572065354427 + ], + [ + 172.0488152704798, + 146.2146891083453 + ], + [ + 163.04139938519558, + 143.67388296471592 + ], + [ + -36.15703127614529, + 261.9432770540582 + ], + [ + -26.415761740737707, + 265.5109034460321 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 413.8913963874528, + "ymin": 0.0, + "xmax": 533.6468224384564, + "ymax": 206.58441370195163 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 533.6468224384564, + 139.26642800728553 + ], + [ + 523.5977916734433, + 136.84607198726894 + ], + [ + 447.881959895721, + 203.62622884702986 + ], + [ + 458.67419269139134, + 206.58441370195163 + ], + [ + 516.8312964146592, + -65.61102886673302 + ], + [ + 505.2744089691254, + -67.51071508429874 + ], + [ + 413.8913963874528, + -14.244836593065372 + ], + [ + 426.43357097620463, + -11.843729907942986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 924.0181989488964, + "ymin": 0.0, + "xmax": 1014.333900810459, + "ymax": 21.1402633653791 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 977.8745798380594, + -51.633332898082585 + ], + [ + 970.5888013264184, + -52.70679406520361 + ], + [ + 924.0181989488964, + 19.688135469515657 + ], + [ + 932.3629740793671, + 21.1402633653791 + ], + [ + 1014.333900810459, + -212.0586945358068 + ], + [ + 1006.1667489101501, + -212.81964528029766 + ], + [ + 960.1959223477375, + -160.59874625474504 + ], + [ + 969.7216180064127, + -159.5322106755159 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00120/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00120/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b1edb77e165e1cbb7e790d7300fa398811cca1f6 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00120/meta.json @@ -0,0 +1,2929 @@ +{ + "frame_id": 120, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 60.0, + "sim_timestamp": 14546.225695091533 + }, + "drone_pose": { + "x": -44.35122657218228, + "y": -48.625158814381, + "z": 20.0, + "pitch": -41.55594046223735, + "yaw": 62.9160937633274, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.3407009243965149, + -0.6662495136260986, + 0.6633510589599609, + 34.23997497558594 + ], + [ + 0.8903408050537109, + 0.4552948474884033, + 5.960464477539063e-08, + -17.348913192749023 + ], + [ + -0.3020203411579132, + 0.5906084179878235, + 0.7483084201812744, + -57.07956314086914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -44.08750097559158, + "y": -48.10670747195415, + "z": 20.0 + }, + "t1_image_uv": [ + 642.7405490277296, + -491.00864492497874 + ], + "t1_depth": 0.4352694913804486 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -34.66718292236328, + "y": -29.687763214111328, + "z": 1.1449907165765763 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.423881307989877, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 707, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -34.66718292236328, + "y": -29.687763214111328, + "z": 1.1449906826019287 + }, + "extent": { + "x": 0.4954211413860321, + "y": 0.43309324979782104, + "z": 0.8891781568527222 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 618.7817469149427, + "ymin": 323.0812795277738, + "xmax": 660.9417941542218, + "ymax": 396.6283857839207 + }, + "corners_3d": [ + [ + -34.23408889770508, + -30.183183670043945, + 0.25581252574920654 + ], + [ + -35.100276947021484, + -30.183183670043945, + 0.25581252574920654 + ], + [ + -35.100276947021484, + -29.19234275817871, + 0.25581252574920654 + ], + [ + -34.23408889770508, + -29.19234275817871, + 0.25581252574920654 + ], + [ + -34.23408889770508, + -30.183183670043945, + 2.0341687202453613 + ], + [ + -35.100276947021484, + -30.183183670043945, + 2.0341687202453613 + ], + [ + -35.100276947021484, + -29.19234275817871, + 2.0341687202453613 + ], + [ + -34.23408889770508, + -29.19234275817871, + 2.0341687202453613 + ] + ], + "corners_2d": [ + [ + 619.6499254040693, + 387.54268916675665 + ], + [ + 645.383965394594, + 396.6283857839207 + ], + [ + 660.0956406958414, + 376.558294917597 + ], + [ + 634.7904273734433, + 367.87681190619435 + ], + [ + 618.7817469149427, + 342.5167059948433 + ], + [ + 645.6161349112143, + 351.5084756653291 + ], + [ + 660.9417941542218, + 331.65645626477635 + ], + [ + 634.5733579367698, + 323.0812795277738 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 120, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 102, + "semantic_pixel_counts": { + "1": 272926, + "2": 71800, + "5": 2329, + "6": 8410, + "7": 632, + "10": 590, + "12": 3271, + "14": 73524, + "15": 9502, + "24": 37429, + "25": 441187 + }, + "instance_pixel_counts": { + "70": 517, + "108": 1, + "620": 865, + "1132": 842, + "2214": 444, + "2470": 52, + "3180": 518, + "4166": 862, + "4678": 1042, + "6053": 172, + "6508": 4109, + "7786": 2514, + "7825": 333, + "8064": 242, + "8296": 27574, + "8298": 1317, + "8337": 383, + "8780": 1815, + "8808": 39291, + "8810": 3707, + "9320": 117353, + "9322": 628, + "9832": 17991, + "9834": 472, + "10344": 5951, + "10624": 3723, + "10856": 12655, + "11116": 1253, + "11136": 428, + "11368": 27555, + "12652": 287, + "17516": 310, + "20308": 16462, + "20820": 9165, + "20866": 3688, + "21332": 5787, + "21844": 5344, + "22356": 8575, + "22868": 5544, + "23380": 5614, + "24916": 112, + "25428": 3076, + "25698": 496, + "25928": 514, + "25940": 2734, + "26112": 3407, + "26210": 40, + "26964": 52, + "27234": 321, + "27460": 505, + "27476": 5032, + "27746": 345, + "27988": 3737, + "28002": 116, + "29012": 487, + "29839": 2473, + "30050": 29, + "30351": 9459, + "30863": 34881, + "31375": 8546, + "31812": 310, + "32324": 352, + "32360": 16989, + "33634": 151, + "34372": 862, + "34408": 4215, + "34884": 2025, + "34920": 3352, + "35170": 26, + "35399": 8310, + "35682": 9, + "36753": 357, + "39239": 432877, + "41367": 848, + "41796": 1259, + "41879": 3226, + "42391": 11080, + "42903": 1287, + "44869": 120, + "46672": 1419, + "46696": 704, + "46917": 80, + "47184": 528, + "48232": 364, + "48708": 722, + "48744": 103, + "50756": 92, + "53926": 220, + "54950": 907, + "55462": 57, + "56320": 707, + "56576": 580, + "56832": 518, + "57088": 700, + "57344": 250, + "57600": 516, + "58880": 7259, + "60833": 946, + "61440": 4046, + "61601": 178, + "62113": 198, + "64837": 514 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 707, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -34.66718292236328, + "y": -29.687763214111328, + "z": 1.1449906826019287 + }, + "extent": { + "x": 0.487556129693985, + "y": 0.5980505347251892, + "z": 0.895220935344696 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 613.8614672859235, + "ymin": 321.46004664566584, + "xmax": 665.9120795439543, + "ymax": 398.3633988517685 + }, + "corners_3d": [ + [ + -34.06913375854492, + -30.17531967163086, + 0.24976974725723267 + ], + [ + -35.26523208618164, + -30.17531967163086, + 0.24976974725723267 + ], + [ + -35.26523208618164, + -29.200206756591797, + 0.24976974725723267 + ], + [ + -34.06913375854492, + -29.200206756591797, + 0.24976974725723267 + ], + [ + -34.06913375854492, + -30.17531967163086, + 2.0402116775512695 + ], + [ + -35.26523208618164, + -30.17531967163086, + 2.0402116775512695 + ], + [ + -35.26523208618164, + -29.200206756591797, + 2.0402116775512695 + ], + [ + -34.06913375854492, + -29.200206756591797, + 2.0402116775512695 + ] + ], + "corners_2d": [ + [ + 614.9357963777296, + 385.8211262411145 + ], + [ + 650.4624498417837, + 398.3633988517685 + ], + [ + 664.8559087932932, + 378.5342756401696 + ], + [ + 629.9119012433204, + 366.5412735671737 + ], + [ + 613.8614672859235, + 340.50931193851005 + ], + [ + 650.9175964989693, + 352.9208679550804 + ], + [ + 665.9120795439543, + 333.30539275126637 + ], + [ + 629.4894002316111, + 321.46004664566584 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 580, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -30.541194915771484, + "y": -26.6900577545166, + "z": 1.1407573223114014 + }, + "extent": { + "x": 0.4522046148777008, + "y": 0.5010120272636414, + "z": 0.9219440817832947 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 549.8477720074588, + "ymin": 236.23308321261453, + "xmax": 589.8329372798443, + "ymax": 301.6084795607578 + }, + "corners_3d": [ + [ + -30.145151138305664, + -27.236547470092773, + 0.2188132405281067 + ], + [ + -31.12527847290039, + -27.028213500976562, + 0.2188132405281067 + ], + [ + -30.937238693237305, + -26.14356803894043, + 0.2188132405281067 + ], + [ + -29.957111358642578, + -26.35190200805664, + 0.2188132405281067 + ], + [ + -30.145151138305664, + -27.236547470092773, + 2.062701463699341 + ], + [ + -31.12527847290039, + -27.028213500976562, + 2.062701463699341 + ], + [ + -30.937238693237305, + -26.14356803894043, + 2.062701463699341 + ], + [ + -29.957111358642578, + -26.35190200805664, + 2.062701463699341 + ] + ], + "corners_2d": [ + [ + 553.2710025135424, + 296.80711584543707 + ], + [ + 581.7521152049305, + 301.6084795607578 + ], + [ + 589.8329372798443, + 285.75486625707094 + ], + [ + 561.8701331170954, + 281.14309286204127 + ], + [ + 549.8477720074588, + 251.56835885259494 + ], + [ + 579.438478070473, + 256.2737752168315 + ], + [ + 587.881681388627, + 240.7455687103811 + ], + [ + 558.8499992317246, + 236.23308321261453 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 518, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -36.92300796508789, + "y": -22.74505043029785, + "z": 1.1473833322525024 + }, + "extent": { + "x": 0.48331907391548157, + "y": 0.4212292432785034, + "z": 0.9087290167808533 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 775.2939504217718, + "ymin": 225.51769575253067, + "xmax": 812.6262782177351, + "ymax": 290.69693546437463 + }, + "corners_3d": [ + [ + -36.55460739135742, + -23.269752502441406, + 0.23865431547164917 + ], + [ + -37.39244842529297, + -23.181692123413086, + 0.23865431547164917 + ], + [ + -37.29140853881836, + -22.220348358154297, + 0.23865431547164917 + ], + [ + -36.45356750488281, + -22.308408737182617, + 0.23865431547164917 + ], + [ + -36.55460739135742, + -23.269752502441406, + 2.056112289428711 + ], + [ + -37.39244842529297, + -23.181692123413086, + 2.056112289428711 + ], + [ + -37.29140853881836, + -22.220348358154297, + 2.056112289428711 + ], + [ + -36.45356750488281, + -22.308408737182617, + 2.056112289428711 + ] + ], + "corners_2d": [ + [ + 775.2939504217718, + 285.2686385829371 + ], + [ + 799.5081610352566, + 290.69693546437463 + ], + [ + 806.3398275524816, + 274.76069692665044 + ], + [ + 782.569421643783, + 269.5507343514663 + ], + [ + 780.4799422326873, + 240.89320873724944 + ], + [ + 805.6667201686355, + 246.20880426869638 + ], + [ + 812.6262782177351, + 230.61152400690142 + ], + [ + 787.9194877707017, + 225.51769575253067 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 700, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -44.16718292236328, + "y": -29.687763214111328, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.3102758824825287, + "y": 0.38791623711586, + "z": 0.8904531598091125 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 936.6019972054137, + "ymin": 437.1955861765729, + "xmax": 986.685634742455, + "ymax": 508.35790543599285 + }, + "corners_3d": [ + [ + -43.779266357421875, + -29.99803924560547, + 0.10681778192520142 + ], + [ + -44.55509948730469, + -29.99803924560547, + 0.10681778192520142 + ], + [ + -44.55509948730469, + -29.377487182617188, + 0.10681778192520142 + ], + [ + -43.779266357421875, + -29.377487182617188, + 0.10681778192520142 + ], + [ + -43.779266357421875, + -29.99803924560547, + 1.8877241611480713 + ], + [ + -44.55509948730469, + -29.99803924560547, + 1.8877241611480713 + ], + [ + -44.55509948730469, + -29.377487182617188, + 1.8877241611480713 + ], + [ + -43.779266357421875, + -29.377487182617188, + 1.8877241611480713 + ] + ], + "corners_2d": [ + [ + 936.6019972054137, + 498.11968991399215 + ], + [ + 965.6392858582894, + 508.35790543599285 + ], + [ + 970.903150516993, + 492.4360028782555 + ], + [ + 942.2707428710123, + 482.5198004876381 + ], + [ + 950.8341626494882, + 452.78289326343867 + ], + [ + 981.4343584906749, + 463.0256800402075 + ], + [ + 986.685634742455, + 447.1010593203142 + ], + [ + 956.5353721859861, + 437.1955861765729 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 250, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -38.28268051147461, + "y": -40.81512451171875, + "z": 1.148638129234314 + }, + "extent": { + "x": 0.4661206305027008, + "y": 0.4547339081764221, + "z": 0.9037331938743591 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 515.0215327245496, + "ymin": 680.4694987184446, + "xmax": 583.2045770322695, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.781715393066406, + -41.23115921020508, + 0.24490493535995483 + ], + [ + -38.68619918823242, + -41.32622528076172, + 0.24490493535995483 + ], + [ + -38.78364562988281, + -40.39908981323242, + 0.24490493535995483 + ], + [ + -37.8791618347168, + -40.30402374267578, + 0.24490493535995483 + ], + [ + -37.781715393066406, + -41.23115921020508, + 2.0523712635040283 + ], + [ + -38.68619918823242, + -41.32622528076172, + 2.0523712635040283 + ], + [ + -38.78364562988281, + -40.39908981323242, + 2.0523712635040283 + ], + [ + -37.8791618347168, + -40.30402374267578, + 2.0523712635040283 + ] + ], + "corners_2d": [ + [ + 522.4144426854033, + 759.3550748618684 + ], + [ + 556.9841446135724, + 782.6999256701743 + ], + [ + 583.2045770322695, + 746.3516697993805 + ], + [ + 549.1367232905944, + 724.3086779969523 + ], + [ + 515.0215327245496, + 716.3756692301511 + ], + [ + 551.6610242086085, + 740.3635333930229 + ], + [ + 579.6731460812725, + 703.0385020264182 + ], + [ + 543.5938048260347, + 680.4694987184446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 516, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -23.421844482421875, + "y": -37.85797882080078, + "z": 1.133379340171814 + }, + "extent": { + "x": 0.39332395792007446, + "y": 0.5314733982086182, + "z": 0.9412422180175781 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 112.98866176742126, + "ymin": 371.10756025301987, + "xmax": 182.38010823585893, + "ymax": 451.38723991552683 + }, + "corners_3d": [ + [ + -22.820207595825195, + -38.13220977783203, + 0.19213712215423584 + ], + [ + -23.859926223754883, + -38.353206634521484, + 0.19213712215423584 + ], + [ + -24.023481369018555, + -37.58374786376953, + 0.19213712215423584 + ], + [ + -22.983762741088867, + -37.36275100708008, + 0.19213712215423584 + ], + [ + -22.820207595825195, + -38.13220977783203, + 2.0746216773986816 + ], + [ + -23.859926223754883, + -38.353206634521484, + 2.0746216773986816 + ], + [ + -24.023481369018555, + -37.58374786376953, + 2.0746216773986816 + ], + [ + -22.983762741088867, + -37.36275100708008, + 2.0746216773986816 + ] + ], + "corners_2d": [ + [ + 136.94924300821117, + 434.18112507462325 + ], + [ + 156.9686270299993, + 451.38723991552683 + ], + [ + 182.38010823585893, + 435.6840187946419 + ], + [ + 162.23195134872753, + 419.0414771890863 + ], + [ + 112.98866176742126, + 386.13290421913956 + ], + [ + 133.51293177375044, + 403.2375742611238 + ], + [ + 160.54632760420668, + 387.62572917478883 + ], + [ + 139.86541321760348, + 371.10756025301987 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 7259, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 1077.1039197505506, + "ymin": 294.8332985806056, + "xmax": 1174.813940760967, + "ymax": 441.81226180675003 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 1158.0719746350846, + 346.4668527595307 + ], + [ + 1098.090717761332, + 330.0706153427497 + ], + [ + 1077.1039197505506, + 421.5154103125758 + ], + [ + 1143.4470182421092, + 441.81226180675003 + ], + [ + 1174.813940760967, + 311.0329974158822 + ], + [ + 1112.595330521874, + 294.8332985806056 + ], + [ + 1092.539849003283, + 385.4443645957254 + ], + [ + 1161.635525687946, + 405.6432021772787 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 4046, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 1026.4785407053932, + "ymin": 105.64931781286452, + "xmax": 1106.1578281145412, + "ymax": 212.61328267807298 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 1090.5400380494025, + 159.50003312492058 + ], + [ + 1045.7047668473024, + 149.78490667025545 + ], + [ + 1026.4785407053932, + 201.260803021599 + ], + [ + 1074.6590172896558, + 212.61328267807298 + ], + [ + 1106.1578281145412, + 115.0088651228013 + ], + [ + 1059.551073766425, + 105.64931781286452 + ], + [ + 1040.7673194879305, + 155.35216336834105 + ], + [ + 1091.0026654985068, + 166.35034651687073 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 274752244277470567, + "instance_id": 26469, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -43.60569763183594, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1093.9980354199279, + "ymin": 0.0, + "xmax": 1110.7392663522942, + "ymax": 27.569921975598504 + }, + "corners_3d": [ + [ + -43.74428176879883, + -9.655923843383789, + 5.545533180236816 + ], + [ + -43.74428176879883, + -9.276008605957031, + 5.545533180236816 + ], + [ + -43.46711349487305, + -9.276008605957031, + 5.545533180236816 + ], + [ + -43.46711349487305, + -9.655923843383789, + 5.545533180236816 + ], + [ + -43.74428176879883, + -9.655923843383789, + 6.416468620300293 + ], + [ + -43.74428176879883, + -9.276008605957031, + 6.416468620300293 + ], + [ + -43.46711349487305, + -9.276008605957031, + 6.416468620300293 + ], + [ + -43.46711349487305, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1101.822069058596, + 27.569921975598504 + ], + [ + 1103.187156661175, + 23.924929160952104 + ], + [ + 1095.4144026274612, + 22.57817206519394 + ], + [ + 1093.9980354199279, + 26.204056459749836 + ], + [ + 1109.4060973387732, + 4.326588810410954 + ], + [ + 1110.7392663522942, + 0.78820245451152 + ], + [ + 1102.8200440666956, + -0.5189589065398081 + ], + [ + 1101.433619153665, + 3.0005755783376458 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6996496815942574697, + "instance_id": 27042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.10569763183594, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1257.3851005694282, + "ymin": 26.791201865363632, + "xmax": 1277.1012427079827, + "ymax": 56.24790511098479 + }, + "corners_3d": [ + [ + -49.24428176879883, + -9.655921936035156, + 5.545533180236816 + ], + [ + -49.24428176879883, + -9.276006698608398, + 5.545533180236816 + ], + [ + -48.96711349487305, + -9.276006698608398, + 5.545533180236816 + ], + [ + -48.96711349487305, + -9.655921936035156, + 5.545533180236816 + ], + [ + -49.24428176879883, + -9.655921936035156, + 6.416468620300293 + ], + [ + -49.24428176879883, + -9.276006698608398, + 6.416468620300293 + ], + [ + -48.96711349487305, + -9.276006698608398, + 6.416468620300293 + ], + [ + -48.96711349487305, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1266.0971490344614, + 56.24790511098479 + ], + [ + 1266.3191281379204, + 52.19019788290717 + ], + [ + 1257.6708857888348, + 50.691748136359365 + ], + [ + 1257.3851005694282, + 54.72701618465754 + ], + [ + 1276.9573528964352, + 32.194337915469816 + ], + [ + 1277.1012427079827, + 28.248195740809706 + ], + [ + 1268.2742844213135, + 26.791201865363632 + ], + [ + 1268.0639097478693, + 30.71514630563223 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 947.0215089130278, + "ymin": 48.64645056442362, + "xmax": 960.6471471890779, + "ymax": 73.80519191011933 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 953.8035980931511, + 73.80519191011933 + ], + [ + 955.9871684933639, + 70.20145964315623 + ], + [ + 949.2430350031384, + 68.86154695569871 + ], + [ + 947.0215089130278, + 72.44803665560414 + ], + [ + 958.461532594875, + 53.482327841328186 + ], + [ + 960.6471471890779, + 49.95703005927584 + ], + [ + 953.7925068672971, + 48.64645056442362 + ], + [ + 951.567661166239, + 52.154632408643806 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18114159193525624905, + "instance_id": 18848, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -46.60569763183594, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1180.9389039925336, + "ymin": 14.009788019429038, + "xmax": 1199.2361104707197, + "ymax": 42.828896148208116 + }, + "corners_3d": [ + [ + -46.74428176879883, + -9.655922889709473, + 5.545533180236816 + ], + [ + -46.74428176879883, + -9.276007652282715, + 5.545533180236816 + ], + [ + -46.46711349487305, + -9.276007652282715, + 5.545533180236816 + ], + [ + -46.46711349487305, + -9.655922889709473, + 5.545533180236816 + ], + [ + -46.74428176879883, + -9.655922889709473, + 6.416468620300293 + ], + [ + -46.74428176879883, + -9.276007652282715, + 6.416468620300293 + ], + [ + -46.46711349487305, + -9.276007652282715, + 6.416468620300293 + ], + [ + -46.46711349487305, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1189.2295077128344, + 42.828896148208116 + ], + [ + 1190.0021543543553, + 38.96704116605923 + ], + [ + 1181.7692849330683, + 37.54056156112739 + ], + [ + 1180.9389039925336, + 41.38158009159088 + ], + [ + 1198.5188203057064, + 19.14814981025995 + ], + [ + 1199.2361104707197, + 15.395644277814881 + ], + [ + 1190.8401279225095, + 14.009788019429038 + ], + [ + 1190.0627717065277, + 17.74170731421043 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 406821445578489144, + "instance_id": 14461, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 21.720182331430237, + "ymax": 25.591503583733356 + }, + "corners_3d": [ + [ + -9.94604778289795, + -28.27004051208496, + 8.10662841796875 + ], + [ + -9.653939247131348, + -28.270042419433594, + 8.10662841796875 + ], + [ + -9.653950691223145, + -33.729949951171875, + 8.10662841796875 + ], + [ + -9.946059226989746, + -33.729949951171875, + 8.10662841796875 + ], + [ + -9.94604778289795, + -28.27004051208496, + 8.197628021240234 + ], + [ + -9.653939247131348, + -28.270042419433594, + 8.197628021240234 + ], + [ + -9.653950691223145, + -33.729949951171875, + 8.197628021240234 + ], + [ + -9.946059226989746, + -33.729949951171875, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 21.720182331430237, + -31.057632532195385 + ], + [ + 16.06558255798575, + -32.433379849583105 + ], + [ + -141.04994591697618, + 23.8566208052859 + ], + [ + -135.22837569353328, + 25.591503583733356 + ], + [ + 20.593049937098158, + -33.744768604913645 + ], + [ + 14.931550105226506, + -35.114964382723485 + ], + [ + -142.6441547780821, + 20.960094656325793 + ], + [ + -136.8160447937322, + 22.688750395229306 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1358148318300121759, + "instance_id": 40874, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 193.27700380051962, + "xmax": 177.88667809420997, + "ymax": 335.9714929571747 + }, + "corners_3d": [ + [ + -26.246047973632812, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246047973632812, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.197628021240234 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 177.88667809420997, + 199.77548274743125 + ], + [ + 168.70655097234004, + 196.6769627700331 + ], + [ + -52.36616001329389, + 331.5346316730185 + ], + [ + -42.56854867964739, + 335.9714929571747 + ], + [ + 176.62029051679298, + 196.36865379377008 + ], + [ + 167.42081497595592, + 193.27700380051962 + ], + [ + -54.626623312166544, + 327.90603990422153 + ], + [ + -44.80908439115899, + 332.33782806503604 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1764326376764121913, + "instance_id": 14755, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 21.831116699158883, + "ymax": 25.651890973940567 + }, + "corners_3d": [ + [ + -9.947937965393066, + -28.26742172241211, + 8.10604476928711 + ], + [ + -9.65204906463623, + -28.26742172241211, + 8.10604476928711 + ], + [ + -9.652060508728027, + -33.73257064819336, + 8.10604476928711 + ], + [ + -9.947949409484863, + -33.73257064819336, + 8.10604476928711 + ], + [ + -9.947937965393066, + -28.26742172241211, + 8.198223114013672 + ], + [ + -9.65204906463623, + -28.26742172241211, + 8.198223114013672 + ], + [ + -9.652060508728027, + -33.73257064819336, + 8.198223114013672 + ], + [ + -9.947949409484863, + -33.73257064819336, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 21.831116699158883, + -31.055691950839844 + ], + [ + 16.103528361525377, + -32.449151066138484 + ], + [ + -141.16195932858864, + 23.89430813808235 + ], + [ + -135.26503084763112, + 25.651890973940567 + ], + [ + 20.689613460203987, + -33.77757357445216 + ], + [ + 14.954945357115776, + -35.165336716129445 + ], + [ + -142.77713172992094, + 20.960191955321875 + ], + [ + -136.87349344657684, + 22.711385128185896 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 109.93834806343648, + "ymax": 241.4560296753943 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 109.93834806343648, + 169.52444868585823 + ], + [ + 101.50401470024144, + 166.7088413173615 + ], + [ + -27.964712636756076, + 237.9954562035038 + ], + [ + -19.22638531212965, + 241.4560296753943 + ], + [ + 22.534068598976205, + -40.45652553525878 + ], + [ + 13.149562911834437, + -42.69217655460545 + ], + [ + -151.63996246276315, + 14.895225409481611 + ], + [ + -141.97099995815915, + 17.74389559548149 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7806990106475075983, + "instance_id": 36761, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 446.51358787124127, + "ymin": 0.0, + "xmax": 547.6793135725544, + "ymax": 28.722572863994287 + }, + "corners_3d": [ + [ + -26.247940063476562, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.247940063476562, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.198223114013672 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 547.6793135725544, + -28.623640610672567 + ], + [ + 540.3200409326572, + -30.031852260753453 + ], + [ + 446.9151899573304, + 26.944072127896902 + ], + [ + 454.8664536833702, + 28.722572863994287 + ], + [ + 547.5079322054794, + -31.355426409665483 + ], + [ + 540.135562629865, + -32.75790908742704 + ], + [ + 446.51358787124127, + 23.998884346777118 + ], + [ + 454.48006467739685, + 25.770962926128618 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 182.27733131544016, + "xmax": 271.70171762924525, + "ymax": 585.6088475706387 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 271.70171762924525, + 437.0568358027264 + ], + [ + 258.90439979968636, + 431.5082020645386 + ], + [ + 94.04553012029578, + 578.1488915650791 + ], + [ + 107.7409785445576, + 585.6088475706387 + ], + [ + 180.26745056271943, + 187.33228150831246 + ], + [ + 164.99808929563994, + 182.27733131544016 + ], + [ + -68.22423177204678, + 321.11078026524257 + ], + [ + -51.89306985308622, + 328.4767581842091 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 928.8367730289904, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 203.71220783286182 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 931.4830772643448, + 128.7779292517736 + ], + [ + 928.8367730289904, + 133.1055360800925 + ], + [ + 1239.2109948910354, + 203.71220783286182 + ], + [ + 1239.7606394872946, + 198.35424351647254 + ], + [ + 977.1103414643114, + -76.93585323457734 + ], + [ + 974.4153113878933, + -73.58838860510843 + ], + [ + 1346.377009543514, + -17.91957161944697 + ], + [ + 1346.0510811284657, + -22.214842532328248 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1199.8574400690295, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 37.37926726244541 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1459.240491888785, + 37.37926726244541 + ], + [ + 1458.3662608056575, + 34.27408157433416 + ], + [ + 1200.4563033846287, + -7.117453248774552 + ], + [ + 1199.8574400690295, + -4.4835821524727635 + ], + [ + 1566.1021631288445, + -145.96330752255938 + ], + [ + 1564.4052867562295, + -148.25378259456568 + ], + [ + 1266.6783498075924, + -178.4536453002952 + ], + [ + 1266.4115986939742, + -176.55013344248562 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13681264316117260208, + "instance_id": 45207, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 193.1808053377532, + "xmax": 178.04282763179327, + "ymax": 336.1018627990473 + }, + "corners_3d": [ + [ + -26.24793815612793, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.24793815612793, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.198223114013672 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 178.04282763179327, + 199.76280844087978 + ], + [ + 168.74434897735802, + 196.62463890843438 + ], + [ + -52.54169611159148, + 331.6066994877351 + ], + [ + -42.617169320382345, + 336.1018627990473 + ], + [ + 176.760510841788, + 196.31192557238094 + ], + [ + 167.44218038286772, + 193.1808053377532 + ], + [ + -54.83220572654466, + 327.9310464034832 + ], + [ + -44.88723269384093, + 332.4210061921524 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 15.75118201778082, + "ymax": 64.2494337417537 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 15.75118201778082, + 21.906686297541 + ], + [ + 9.507582823193047, + 20.207313604748435 + ], + [ + -96.31816264413908, + 62.25844741344366 + ], + [ + -89.93995942676133, + 64.2494337417537 + ], + [ + -61.338943051256706, + -153.5817097627098 + ], + [ + -68.06387541620961, + -154.8372055854984 + ], + [ + -195.36386607280656, + -123.46505481687973 + ], + [ + -188.52876167945294, + -121.96377121340436 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15102510933830370440, + "instance_id": 34948, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 446.61731543222163, + "ymin": 0.0, + "xmax": 547.5915037955593, + "ymax": 28.661617128221565 + }, + "corners_3d": [ + [ + -26.246049880981445, + -20.196584701538086, + 8.10662841796875 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.10662841796875 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.10662841796875 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.10662841796875 + ], + [ + -26.246049880981445, + -20.196584701538086, + 8.197628021240234 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.197628021240234 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.197628021240234 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 547.5915037955593, + -28.625481789095943 + ], + [ + 540.3258811056936, + -30.01579506815915 + ], + [ + 447.0135598411333, + 26.90610991324229 + ], + [ + 454.86307055915285, + 28.661617128221565 + ], + [ + 547.4221494349396, + -31.322395736048065 + ], + [ + 540.1437615129398, + -32.70712531458662 + ], + [ + 446.61731543222163, + 23.998654025229598 + ], + [ + 454.4816518319641, + 25.747902610252538 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 441.10550035752226, + "ymin": 0.0, + "xmax": 563.6619532189221, + "ymax": 245.16026393916758 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 563.6619532189221, + 172.53537619444182 + ], + [ + 553.246504407473, + 169.69409659716092 + ], + [ + 472.33451193974787, + 241.66463001288525 + ], + [ + 483.5038949312543, + 245.16026393916758 + ], + [ + 551.0073342962776, + -38.062306234943605 + ], + [ + 538.9370453970224, + -40.32172116234352 + ], + [ + 441.10550035752226, + 17.915771109070192 + ], + [ + 454.1901487942972, + 20.798701023580804 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 974.245947649905, + "ymin": 0.0, + "xmax": 1074.2195822906501, + "ymax": 50.123334033382946 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1030.3104838504164, + -27.95114218768208 + ], + [ + 1022.6283498198882, + -29.201518594780907 + ], + [ + 974.245947649905, + 48.41654287890634 + ], + [ + 983.0702510561738, + 50.123334033382946 + ], + [ + 1074.2195822906501, + -193.42441390221416 + ], + [ + 1065.5439554821685, + -194.3180959640937 + ], + [ + 1018.877294226743, + -137.7933912547888 + ], + [ + 1029.0442630718035, + -136.52601791380755 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00122/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00122/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b428d20ec5a0d2aa0a6df821a2a9048f2336c280 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00122/meta.json @@ -0,0 +1,2926 @@ +{ + "frame_id": 122, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 61.0, + "sim_timestamp": 14567.30209195544 + }, + "drone_pose": { + "x": -43.838450076113176, + "y": -47.59283307740313, + "z": 20.0, + "pitch": -41.60301875844485, + "yaw": 62.90707572899817, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.3405574560165405, + -0.6657103300094604, + 0.66396564245224, + 33.3332405090332 + ], + [ + 0.8902690410614014, + 0.45543497800827026, + 0.0, + -17.352571487426758 + ], + [ + -0.30239319801330566, + 0.5911080241203308, + 0.7477630972862244, + -56.34421920776367 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -43.60127647374183, + "y": -47.085840491770604, + "z": 20.0 + }, + "t1_image_uv": [ + 685.3371266574728, + -492.41833818296686 + ], + "t1_depth": 0.4182814562250181 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -34.16718292236328, + "y": -28.687763214111328, + "z": 1.1444780123233795 + }, + "image_uv": [ + 639.9999999999999, + 360.0 + ], + "depth": 28.39834122484801, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 715, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -34.16718292236328, + "y": -28.687763214111328, + "z": 1.1444779634475708 + }, + "extent": { + "x": 0.4866271913051605, + "y": 0.5250903367996216, + "z": 0.9045907258987427 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 616.0769634652526, + "ymin": 321.91098018005056, + "xmax": 663.6745329945813, + "ymax": 397.8274665775902 + }, + "corners_3d": [ + [ + -33.642093658447266, + -29.17439079284668, + 0.23988723754882812 + ], + [ + -34.6922721862793, + -29.17439079284668, + 0.23988723754882812 + ], + [ + -34.6922721862793, + -28.201135635375977, + 0.23988723754882812 + ], + [ + -33.642093658447266, + -28.201135635375977, + 0.23988723754882812 + ], + [ + -33.642093658447266, + -29.17439079284668, + 2.0490686893463135 + ], + [ + -34.6922721862793, + -29.17439079284668, + 2.0490686893463135 + ], + [ + -34.6922721862793, + -28.201135635375977, + 2.0490686893463135 + ], + [ + -33.642093658447266, + -28.201135635375977, + 2.0490686893463135 + ] + ], + "corners_2d": [ + [ + 617.0729204262683, + 386.7927792484837 + ], + [ + 648.2821538955828, + 397.8274665775902 + ], + [ + 662.6987378354352, + 378.0362957095217 + ], + [ + 632.0001392654358, + 367.4838741404211 + ], + [ + 616.0769634652526, + 340.99088562816644 + ], + [ + 648.6466465138757, + 351.9110599762671 + ], + [ + 663.6745329945813, + 332.3337428685825 + ], + [ + 631.660579653958, + 321.91098018005056 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 122, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 99, + "semantic_pixel_counts": { + "1": 265404, + "2": 72353, + "5": 2301, + "6": 8755, + "7": 506, + "10": 586, + "12": 3421, + "14": 78466, + "15": 9959, + "24": 38848, + "25": 441001 + }, + "instance_pixel_counts": { + "70": 630, + "620": 650, + "1132": 979, + "2214": 343, + "3180": 622, + "4166": 932, + "4678": 1149, + "6053": 231, + "6508": 4261, + "7786": 2697, + "7825": 355, + "8064": 266, + "8296": 29408, + "8298": 1419, + "8337": 406, + "8780": 1926, + "8808": 42558, + "8810": 3488, + "9320": 110056, + "9322": 721, + "9832": 20878, + "9834": 368, + "10344": 4550, + "10624": 3820, + "10856": 10076, + "11116": 1391, + "11136": 458, + "11368": 19212, + "12652": 310, + "17516": 364, + "20308": 18080, + "20820": 9885, + "20866": 3820, + "21332": 6096, + "21844": 5668, + "22356": 8911, + "22868": 5900, + "23380": 5952, + "25428": 3225, + "25698": 538, + "25928": 375, + "25940": 2869, + "26112": 3460, + "26210": 43, + "26964": 136, + "27234": 348, + "27476": 5392, + "27746": 346, + "27988": 3907, + "28002": 58, + "29012": 171, + "29839": 2640, + "30050": 30, + "30351": 10200, + "30863": 33408, + "31375": 9678, + "31812": 330, + "32324": 373, + "32360": 19739, + "33384": 2, + "33634": 135, + "34372": 1165, + "34408": 6263, + "34884": 1931, + "34920": 2604, + "35170": 54, + "35399": 9437, + "35432": 58, + "36753": 477, + "39239": 431564, + "41367": 910, + "41796": 1406, + "41879": 3461, + "42391": 10517, + "42903": 1539, + "44869": 119, + "46672": 1592, + "46696": 983, + "46917": 84, + "47184": 389, + "48232": 472, + "48708": 776, + "48744": 113, + "50756": 97, + "53926": 233, + "54950": 914, + "55462": 60, + "56320": 715, + "56576": 559, + "56832": 525, + "57088": 686, + "57344": 200, + "57600": 736, + "58880": 7942, + "60833": 953, + "61440": 4291, + "61601": 189, + "62113": 212, + "64837": 549 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 715, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -34.16718292236328, + "y": -28.687763214111328, + "z": 1.1444779634475708 + }, + "extent": { + "x": 0.4840795695781708, + "y": 0.5446361899375916, + "z": 0.9058178663253784 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 615.519803404194, + "ymin": 321.73605179681294, + "xmax": 664.2404627836837, + "ymax": 398.0122902171834 + }, + "corners_3d": [ + [ + -33.6225471496582, + -29.171842575073242, + 0.23866009712219238 + ], + [ + -34.71181869506836, + -29.171842575073242, + 0.23866009712219238 + ], + [ + -34.71181869506836, + -28.203683853149414, + 0.23866009712219238 + ], + [ + -33.6225471496582, + -28.203683853149414, + 0.23866009712219238 + ], + [ + -33.6225471496582, + -29.171842575073242, + 2.050295829772949 + ], + [ + -34.71181869506836, + -29.171842575073242, + 2.050295829772949 + ], + [ + -34.71181869506836, + -28.203683853149414, + 2.050295829772949 + ], + [ + -33.6225471496582, + -28.203683853149414, + 2.050295829772949 + ] + ], + "corners_2d": [ + [ + 616.5400142872808, + 386.5680954026855 + ], + [ + 648.9087867229282, + 398.0122902171834 + ], + [ + 663.2397274260793, + 378.3155735038283 + ], + [ + 631.3978006894174, + 367.3689679865488 + ], + [ + 615.519803404194, + 340.7067969016532 + ], + [ + 649.301472031408, + 352.03201122958745 + ], + [ + 664.2404627836837, + 332.5480280851162 + ], + [ + 631.03223263166, + 321.73605179681294 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 559, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -30.041194915771484, + "y": -25.6900577545166, + "z": 1.1681596040725708 + }, + "extent": { + "x": 0.47437867522239685, + "y": 0.53868168592453, + "z": 0.9323316216468811 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 548.3790348599183, + "ymin": 234.5250196250932, + "xmax": 591.0482476822344, + "ymax": 301.62955028602846 + }, + "corners_3d": [ + [ + -29.6129150390625, + -26.266069412231445, + 0.2358279824256897 + ], + [ + -30.66673469543457, + -26.042070388793945, + 0.2358279824256897 + ], + [ + -30.46947479248047, + -25.114046096801758, + 0.2358279824256897 + ], + [ + -29.4156551361084, + -25.338045120239258, + 0.2358279824256897 + ], + [ + -29.6129150390625, + -26.266069412231445, + 2.1004912853240967 + ], + [ + -30.66673469543457, + -26.042070388793945, + 2.1004912853240967 + ], + [ + -30.46947479248047, + -25.114046096801758, + 2.1004912853240967 + ], + [ + -29.4156551361084, + -25.338045120239258, + 2.1004912853240967 + ] + ], + "corners_2d": [ + [ + 551.90566690984, + 296.4510434502848 + ], + [ + 582.5772983602848, + 301.62955028602846 + ], + [ + 591.0482476822344, + 284.9658862106194 + ], + [ + 560.962079494112, + 280.00176871704 + ], + [ + 548.3790348599183, + 250.62556720696767 + ], + [ + 580.2628284531198, + 255.69985347266473 + ], + [ + 589.1182446275188, + 239.3810668013699 + ], + [ + 557.8665583155168, + 234.5250196250932 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 525, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -36.42300796508789, + "y": -21.74505043029785, + "z": 1.1465824842453003 + }, + "extent": { + "x": 0.48445555567741394, + "y": 0.33460813760757446, + "z": 0.9537022709846497 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 777.7738219975242, + "ymin": 224.69588865866135, + "xmax": 810.4209901451914, + "ymax": 291.0781618522763 + }, + "corners_3d": [ + [ + -36.140872955322266, + -22.26182746887207, + 0.19288021326065063 + ], + [ + -36.80642318725586, + -22.191875457763672, + 0.19288021326065063 + ], + [ + -36.705142974853516, + -21.228273391723633, + 0.19288021326065063 + ], + [ + -36.03959274291992, + -21.29822540283203, + 0.19288021326065063 + ], + [ + -36.140872955322266, + -22.26182746887207, + 2.1002848148345947 + ], + [ + -36.80642318725586, + -22.191875457763672, + 2.1002848148345947 + ], + [ + -36.705142974853516, + -21.228273391723633, + 2.1002848148345947 + ], + [ + -36.03959274291992, + -21.29822540283203, + 2.1002848148345947 + ] + ], + "corners_2d": [ + [ + 777.7738219975242, + 286.75468815386404 + ], + [ + 797.006601106769, + 291.0781618522763 + ], + [ + 803.9066913615911, + 275.0928286629983 + ], + [ + 785.0268854866279, + 270.9435079555562 + ], + [ + 783.3360558815838, + 240.14882163532437 + ], + [ + 803.3819051814751, + 244.37874404913023 + ], + [ + 810.4209901451914, + 228.74874577575252 + ], + [ + 790.7584337414896, + 224.69588865866135 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 686, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -43.66718292236328, + "y": -28.687763214111328, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.3327710032463074, + "y": 0.4007531702518463, + "z": 0.8890405297279358 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 936.1750389885933, + "ymin": 436.7174159994342, + "xmax": 987.6900179901731, + "ymax": 509.3295572113062 + }, + "corners_3d": [ + [ + -43.26642990112305, + -29.02053451538086, + 0.10823535919189453 + ], + [ + -44.067935943603516, + -29.02053451538086, + 0.10823535919189453 + ], + [ + -44.067935943603516, + -28.354991912841797, + 0.10823535919189453 + ], + [ + -43.26642990112305, + -28.354991912841797, + 0.10823535919189453 + ], + [ + -43.26642990112305, + -29.02053451538086, + 1.8863164186477661 + ], + [ + -44.067935943603516, + -29.02053451538086, + 1.8863164186477661 + ], + [ + -44.067935943603516, + -28.354991912841797, + 1.8863164186477661 + ], + [ + -43.26642990112305, + -28.354991912841797, + 1.8863164186477661 + ] + ], + "corners_2d": [ + [ + 936.1750389885933, + 498.71728884156164 + ], + [ + 966.216831065488, + 509.3295572113062 + ], + [ + 971.8635399268431, + 492.21701516955903 + ], + [ + 942.27078893053, + 481.96236620664564 + ], + [ + 950.3972660293039, + 453.4615371393265 + ], + [ + 982.0575256664433, + 464.081033183208 + ], + [ + 987.6900179901731, + 446.9622276113639 + ], + [ + 956.5287859523532, + 436.7174159994342 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 200, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -37.78268051147461, + "y": -39.81512451171875, + "z": 1.1481304168701172 + }, + "extent": { + "x": 0.48224005103111267, + "y": 0.30997684597969055, + "z": 0.9369657635688782 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 519.8936198968981, + "ymin": 683.2187833549885, + "xmax": 578.0684296764526, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.42399215698242, + -40.26232147216797, + 0.211164653301239 + ], + [ + -38.040550231933594, + -40.327125549316406, + 0.211164653301239 + ], + [ + -38.1413688659668, + -39.36792755126953, + 0.211164653301239 + ], + [ + -37.524810791015625, + -39.303123474121094, + 0.211164653301239 + ], + [ + -37.42399215698242, + -40.26232147216797, + 2.0850961208343506 + ], + [ + -38.040550231933594, + -40.327125549316406, + 2.0850961208343506 + ], + [ + -38.1413688659668, + -39.36792755126953, + 2.0850961208343506 + ], + [ + -37.524810791015625, + -39.303123474121094, + 2.0850961208343506 + ] + ], + "corners_2d": [ + [ + 527.2902978514607, + 765.0549676615551 + ], + [ + 550.8528658333626, + 781.0086858677369 + ], + [ + 578.0684296764526, + 743.5757868814258 + ], + [ + 554.8590068108319, + 728.5406781539436 + ], + [ + 519.8936198968981, + 720.6849995508538 + ], + [ + 544.9233418759896, + 737.0994921235877 + ], + [ + 574.0780099988688, + 698.6285830840385 + ], + [ + 549.4441171266792, + 683.2187833549885 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 736, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -22.921844482421875, + "y": -36.85797882080078, + "z": 1.1581255197525024 + }, + "extent": { + "x": 0.3883752226829529, + "y": 0.32987913489341736, + "z": 0.905046820640564 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 116.66047164427846, + "ymin": 374.5933149642953, + "xmax": 177.27316332149542, + "ymax": 446.53440372290413 + }, + "corners_3d": [ + [ + -22.5184268951416, + -37.169281005859375, + 0.2530786991119385 + ], + [ + -23.163766860961914, + -37.306453704833984, + 0.2530786991119385 + ], + [ + -23.32526206970215, + -36.54667663574219, + 0.2530786991119385 + ], + [ + -22.679922103881836, + -36.40950393676758, + 0.2530786991119385 + ], + [ + -22.5184268951416, + -37.169281005859375, + 2.0631723403930664 + ], + [ + -23.163766860961914, + -37.306453704833984, + 2.0631723403930664 + ], + [ + -23.32526206970215, + -36.54667663574219, + 2.0631723403930664 + ], + [ + -22.679922103881836, + -36.40950393676758, + 2.0631723403930664 + ] + ], + "corners_2d": [ + [ + 139.690368240606, + 435.83904691388955 + ], + [ + 152.13217938285675, + 446.53440372290413 + ], + [ + 177.27316332149542, + 431.1150221772574 + ], + [ + 164.75165668717074, + 420.766121233948 + ], + [ + 116.66047164427846, + 389.5628618641402 + ], + [ + 129.40419002754572, + 400.1984439989903 + ], + [ + 156.08661239796731, + 384.8688300668145 + ], + [ + 143.24666185677364, + 374.5933149642953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 7942, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 1090.592439382042, + "ymin": 317.1868909888499, + "xmax": 1190.5805769759845, + "ymax": 471.3546482692618 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 1172.8269732025508, + 370.06037484451355 + ], + [ + 1110.8460190650494, + 352.70014738887113 + ], + [ + 1090.592439382042, + 449.7283701332755 + ], + [ + 1159.387728199808, + 471.3546482692618 + ], + [ + 1190.5805769759845, + 334.3717430973363 + ], + [ + 1126.2083554548763, + 317.1868909888499 + ], + [ + 1107.0434692255853, + 413.53144776423 + ], + [ + 1178.8020043802308, + 435.1041671492584 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 4291, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 1035.5471741339159, + "ymin": 118.47112212240523, + "xmax": 1116.887833166582, + "ymax": 228.93800306642135 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 1100.5337765780928, + 173.2986923272376 + ], + [ + 1054.552354921873, + 163.13899798945954 + ], + [ + 1035.5471741339159, + 217.0243099176006 + ], + [ + 1085.0522199413058, + 228.93800306642135 + ], + [ + 1116.887833166582, + 128.27475128534715 + ], + [ + 1069.0409590740614, + 118.47112212240523 + ], + [ + 1050.550865117867, + 170.58988295346546 + ], + [ + 1102.228259111953, + 182.15349559161467 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 274752244277470567, + "instance_id": 26469, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -43.60569763183594, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1105.1203815615354, + "ymin": 10.820860342245794, + "xmax": 1122.4306111787882, + "ymax": 39.54152204358962 + }, + "corners_3d": [ + [ + -43.74428176879883, + -9.655923843383789, + 5.545533180236816 + ], + [ + -43.74428176879883, + -9.276008605957031, + 5.545533180236816 + ], + [ + -43.46711349487305, + -9.276008605957031, + 5.545533180236816 + ], + [ + -43.46711349487305, + -9.655923843383789, + 5.545533180236816 + ], + [ + -43.74428176879883, + -9.655923843383789, + 6.416468620300293 + ], + [ + -43.74428176879883, + -9.276008605957031, + 6.416468620300293 + ], + [ + -43.46711349487305, + -9.276008605957031, + 6.416468620300293 + ], + [ + -43.46711349487305, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1113.16948736744, + 39.54152204358962 + ], + [ + 1114.4910098901141, + 35.71254135509099 + ], + [ + 1106.4961447311603, + 34.29758625143029 + ], + [ + 1105.1203815615354, + 38.10600342942655 + ], + [ + 1121.1453456321485, + 15.91551718180034 + ], + [ + 1122.4306111787882, + 12.195369196256138 + ], + [ + 1114.280706743688, + 10.820860342245794 + ], + [ + 1112.9390494246522, + 14.52069513445906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6996496815942574697, + "instance_id": 27042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.10569763183594, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1273.424600285628, + "ymin": 39.57592336116619, + "xmax": 1280.0, + "ymax": 69.72501311265006 + }, + "corners_3d": [ + [ + -49.24428176879883, + -9.655921936035156, + 5.545533180236816 + ], + [ + -49.24428176879883, + -9.276006698608398, + 5.545533180236816 + ], + [ + -48.96711349487305, + -9.276006698608398, + 5.545533180236816 + ], + [ + -48.96711349487305, + -9.655921936035156, + 5.545533180236816 + ], + [ + -49.24428176879883, + -9.655921936035156, + 6.416468620300293 + ], + [ + -49.24428176879883, + -9.276006698608398, + 6.416468620300293 + ], + [ + -48.96711349487305, + -9.276006698608398, + 6.416468620300293 + ], + [ + -48.96711349487305, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1282.4116592499165, + 69.72501311265006 + ], + [ + 1282.5208166021137, + 65.45093679137096 + ], + [ + 1273.6015856321183, + 63.872384727403016 + ], + [ + 1273.424600285628, + 68.12221520659341 + ], + [ + 1293.865678152532, + 45.27272643033348 + ], + [ + 1293.8881390170334, + 41.1122384563688 + ], + [ + 1284.778833057739, + 39.57592336116619 + ], + [ + 1284.6856088590825, + 43.71239248416498 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 953.7660065615634, + "ymin": 59.946552342038444, + "xmax": 967.7835458480456, + "ymax": 85.60973070313418 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 960.7174997398432, + 85.60973070313418 + ], + [ + 962.9081211081602, + 81.84172890170868 + ], + [ + 955.9964867921794, + 80.44046371117099 + ], + [ + 953.7660065615634, + 84.19003913854408 + ], + [ + 965.5921053570971, + 65.00664708185724 + ], + [ + 967.7835458480456, + 61.31808764510953 + ], + [ + 960.7557389592785, + 59.946552342038444 + ], + [ + 958.5230654200557, + 63.61680165907876 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18114159193525624905, + "instance_id": 18848, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -46.60569763183594, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1194.6209560578693, + "ymin": 26.108382775117263, + "xmax": 1213.5786999653128, + "ymax": 55.591305677318985 + }, + "corners_3d": [ + [ + -46.74428176879883, + -9.655922889709473, + 5.545533180236816 + ], + [ + -46.74428176879883, + -9.276007652282715, + 5.545533180236816 + ], + [ + -46.46711349487305, + -9.276007652282715, + 5.545533180236816 + ], + [ + -46.46711349487305, + -9.655922889709473, + 5.545533180236816 + ], + [ + -46.74428176879883, + -9.655922889709473, + 6.416468620300293 + ], + [ + -46.74428176879883, + -9.276007652282715, + 6.416468620300293 + ], + [ + -46.46711349487305, + -9.276007652282715, + 6.416468620300293 + ], + [ + -46.46711349487305, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1203.1623934666309, + 55.591305677318985 + ], + [ + 1203.8563357671123, + 51.528673091038684 + ], + [ + 1195.3761302964986, + 50.0278210388621 + ], + [ + 1194.6209560578693, + 54.067982161543114 + ], + [ + 1212.9465773485388, + 31.51893856612918 + ], + [ + 1213.5786999653128, + 27.567791495535005 + ], + [ + 1204.9253967874643, + 26.108382775117263 + ], + [ + 1204.2294950250566, + 30.037298363579453 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 406821445578489144, + "instance_id": 14461, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 4.811740025629888, + "ymax": 40.20280752686887 + }, + "corners_3d": [ + [ + -9.94604778289795, + -28.27004051208496, + 8.10662841796875 + ], + [ + -9.653939247131348, + -28.270042419433594, + 8.10662841796875 + ], + [ + -9.653950691223145, + -33.729949951171875, + 8.10662841796875 + ], + [ + -9.946059226989746, + -33.729949951171875, + 8.10662841796875 + ], + [ + -9.94604778289795, + -28.27004051208496, + 8.197628021240234 + ], + [ + -9.653939247131348, + -28.270042419433594, + 8.197628021240234 + ], + [ + -9.653950691223145, + -33.729949951171875, + 8.197628021240234 + ], + [ + -9.946059226989746, + -33.729949951171875, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 4.811740025629888, + -19.72849396294214 + ], + [ + -0.943042912770693, + -21.1797167014318 + ], + [ + -164.90755935697518, + 38.36095503637728 + ], + [ + -158.9921694819102, + 40.20280752686887 + ], + [ + 3.6214172959161033, + -22.466151500081423 + ], + [ + -2.1404554712823938, + -23.911664732310328 + ], + [ + -166.60168648802346, + 35.40841883454249 + ], + [ + -160.6796941077497, + 37.243894231188506 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1358148318300121759, + "instance_id": 40874, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 220.18323546121087, + "xmax": 158.6003337319206, + "ymax": 375.660816064046 + }, + "corners_3d": [ + [ + -26.246047973632812, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246047973632812, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.197628021240234 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 158.6003337319206, + 226.99911419283006 + ], + [ + 149.13838709427387, + 223.64286973923382 + ], + [ + -86.67566894912966, + 370.77888289057154 + ], + [ + -76.59216835852692, + 375.660816064046 + ], + [ + 157.22598243049873, + 223.53279976399486 + ], + [ + 147.7435790718315, + 220.18323546121087 + ], + [ + -89.16630071386089, + 367.11022637605964 + ], + [ + -79.06217814169804, + 371.9881668844333 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1764326376764121913, + "instance_id": 14755, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_0", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 4.9264339456086645, + "ymax": 40.26612289713603 + }, + "corners_3d": [ + [ + -9.947937965393066, + -28.26742172241211, + 8.10604476928711 + ], + [ + -9.65204906463623, + -28.26742172241211, + 8.10604476928711 + ], + [ + -9.652060508728027, + -33.73257064819336, + 8.10604476928711 + ], + [ + -9.947949409484863, + -33.73257064819336, + 8.10604476928711 + ], + [ + -9.947937965393066, + -28.26742172241211, + 8.198223114013672 + ], + [ + -9.65204906463623, + -28.26742172241211, + 8.198223114013672 + ], + [ + -9.652060508728027, + -33.73257064819336, + 8.198223114013672 + ], + [ + -9.947949409484863, + -33.73257064819336, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 4.9264339456086645, + -19.727059507204444 + ], + [ + -0.9026313815984395, + -21.196960753549604 + ], + [ + -165.02350957970134, + 38.400165748462086 + ], + [ + -159.0315541949974, + 40.26612289713603 + ], + [ + 3.7209367150333037, + -22.500115315482446 + ], + [ + -2.115403116991729, + -23.96415850500216 + ], + [ + -166.73991783494387, + 35.40931231167019 + ], + [ + -160.7411883709558, + 37.268725845472716 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 97.51872503870311, + "ymax": 259.2785313408671 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 97.51872503870311, + 183.81931695717662 + ], + [ + 88.94502253465896, + 180.8719090015344 + ], + [ + -45.1792365018315, + 255.63846587619543 + ], + [ + -36.30138345108719, + 259.2785313408671 + ], + [ + 5.5580927109816685, + -29.323115303146324 + ], + [ + -3.99319493548262, + -31.681950237312776 + ], + [ + -176.021093496062, + 29.251358594311228 + ], + [ + -166.1970572072031, + 32.27737417117129 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7806990106475075983, + "instance_id": 36761, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 440.3090598330769, + "ymin": 0.0, + "xmax": 544.9221889852395, + "ymax": 43.5663158430325 + }, + "corners_3d": [ + [ + -26.247940063476562, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.247940063476562, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.198223114013672 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 544.9221889852395, + -17.130152781131812 + ], + [ + 537.3728090363585, + -18.616223911950385 + ], + [ + 440.7365423050146, + 41.67720737163421 + ], + [ + 448.90820775713104, + 43.5663158430325 + ], + [ + 544.7407187870687, + -19.91351590466951 + ], + [ + 537.1775433354005, + -21.393695311842066 + ], + [ + 440.3090598330769, + 38.6748803801197 + ], + [ + 448.4968029342338, + 40.55741378234006 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 208.78231542534712, + "xmax": 259.3844232902636, + "ymax": 625.5358190660199 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 259.3844232902636, + 466.4117163670014 + ], + [ + 246.2513140851986, + 460.4970592538851 + ], + [ + 73.16431029771547, + 617.5033341919006 + ], + [ + 87.2243168547243, + 625.5358190660199 + ], + [ + 160.92540066276115, + 214.26046804783846 + ], + [ + 145.18455824612784, + 208.78231542534712 + ], + [ + -103.78586060337807, + 360.38109631416836 + ], + [ + -86.97909387637162, + 368.4977586743135 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 934.9051124012237, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 219.5719367892762 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 937.5684684763485, + 141.158858483621 + ], + [ + 934.9051124012237, + 145.67488339836456 + ], + [ + 1253.4278963250965, + 219.5719367892762 + ], + [ + 1253.8839453267651, + 213.95395434860063 + ], + [ + 985.3620992963951, + -67.639273627514 + ], + [ + 982.6632614197406, + -64.12119826782373 + ], + [ + 1366.3921430717928, + -5.3863595582114385 + ], + [ + 1365.8774305291786, + -9.930385597844975 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1209.280502936153, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 46.11622581581315 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1474.2385805754352, + 46.11622581581315 + ], + [ + 1473.2638028806318, + 42.89593520567661 + ], + [ + 1209.8412752655715, + 0.018606565998652513 + ], + [ + 1209.280502936153, + 2.742370494103284 + ], + [ + 1585.449586635465, + -139.85472492520773 + ], + [ + 1583.592679835805, + -142.2421019965359 + ], + [ + 1278.519773506596, + -173.6707728488608 + ], + [ + 1278.316937759155, + -171.6939135011088 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13681264316117260208, + "instance_id": 45207, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 220.0805153303403, + "xmax": 158.76418267041385, + "ymax": 375.80217654797224 + }, + "corners_3d": [ + [ + -26.24793815612793, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.24793815612793, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.198223114013672 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 158.76418267041385, + 226.983967502072 + ], + [ + 149.1802562050887, + 223.58480179627085 + ], + [ + -86.86108454712792, + 370.8560583772817 + ], + [ + -76.64698722340984, + 375.80217654797224 + ], + [ + 157.3725492823521, + 223.4728262938304 + ], + [ + 147.76763380635498, + 220.0805153303403 + ], + [ + -89.38483601811765, + 367.13983336954817 + ], + [ + -79.14958047568791, + 372.08185740146735 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14371372834096998302, + "instance_id": 40679, + "pixel_count": null, + "type_id": "BP_StreetLight_doble7_23_SM_2", + "bbox_3d": { + "center_world": { + "x": 6.700000286102295, + "y": -22.826539993286133, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 4.438248834006458, + "ymax": 74.00939951995201 + }, + "corners_3d": [ + [ + 6.4584197998046875, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941591739654541, + -19.992488861083984, + 0.20087909698486328 + ], + [ + 6.941580772399902, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.458408832550049, + -25.66059112548828, + 0.20087909698486328 + ], + [ + 6.4584197998046875, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941591739654541, + -19.992488861083984, + 8.406628608703613 + ], + [ + 6.941580772399902, + -25.66059112548828, + 8.406628608703613 + ], + [ + 6.458408832550049, + -25.66059112548828, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 4.438248834006458, + 30.075850090111146 + ], + [ + -1.879018288461907, + 28.314541428518396 + ], + [ + -110.67566562720287, + 71.94002791204764 + ], + [ + -104.22614776947319, + 74.00939951995201 + ], + [ + -75.71732570310394, + -147.88672103782494 + ], + [ + -82.52413939877817, + -149.1940421386601 + ], + [ + -213.97860917381695, + -116.48273037038007 + ], + [ + -207.0689796754915, + -114.91377411455738 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15102510933830370440, + "instance_id": 34948, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 440.416276699714, + "ymin": 0.0, + "xmax": 544.8318621780569, + "ymax": 43.50237647799179 + }, + "corners_3d": [ + [ + -26.246049880981445, + -20.196584701538086, + 8.10662841796875 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.10662841796875 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.10662841796875 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.10662841796875 + ], + [ + -26.246049880981445, + -20.196584701538086, + 8.197628021240234 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.197628021240234 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.197628021240234 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 544.8318621780569, + -17.131474903042488 + ], + [ + 537.3785425867331, + -18.598663109564654 + ], + [ + 440.83805559719974, + 41.637696546043344 + ], + [ + 448.9051434692931, + 43.50237647799179 + ], + [ + 544.6525384139939, + -19.879308305400343 + ], + [ + 537.1857726935866, + -21.340754193992723 + ], + [ + 440.416276699714, + 38.67383377675009 + ], + [ + 448.49903278460914, + 40.532106038029156 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 434.6961631380381, + "ymin": 0.0, + "xmax": 561.6770223284917, + "ymax": 263.2227297981649 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 561.6770223284917, + 187.0097156583406 + ], + [ + 551.0304928030448, + 184.0344923259594 + ], + [ + 467.78672369997605, + 259.54440180225083 + ], + [ + 479.220300817399, + 263.2227297981649 + ], + [ + 548.3265083849334, + -26.765881164382165 + ], + [ + 535.9428992319534, + -29.150772146461804 + ], + [ + 434.6961631380381, + 32.49861501164037 + ], + [ + 448.14636008200364, + 35.5625783305934 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 980.3886142269242, + "ymin": 0.0, + "xmax": 1082.009006588628, + "ymax": 59.30662726974657 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1036.5463852448345, + -21.519581942104594 + ], + [ + 1028.7240988499962, + -22.81111373411636 + ], + [ + 980.3886142269242, + 57.534513379877296 + ], + [ + 989.3977839173693, + 59.30662726974657 + ], + [ + 1082.009006588628, + -189.21046980463234 + ], + [ + 1073.1537221694266, + -190.13712595011316 + ], + [ + 1026.8587198561859, + -131.35896467691708 + ], + [ + 1037.272592640209, + -130.03610659755424 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00123/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00123/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7eefef1061f4e772064b06906afc4e9a2f941ebc --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00123/meta.json @@ -0,0 +1,2612 @@ +{ + "frame_id": 123, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 61.5, + "sim_timestamp": 14579.182440267177 + }, + "drone_pose": { + "x": -43.60127647374183, + "y": -47.085840491770604, + "z": 20.0, + "pitch": -41.755139606761624, + "yaw": 63.47120907373199, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.33319783210754395, + -0.6674516797065735, + 0.6659486293792725, + 32.63640594482422 + ], + [ + 0.894710123538971, + 0.4466473460197449, + 2.9802322387695312e-08, + -17.979732513427734 + ], + [ + -0.2974441945552826, + 0.5958309173583984, + 0.7459976673126221, + -55.944095611572266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -43.369001386303566, + "y": -46.581219233501486, + "z": 20.0 + }, + "t1_image_uv": [ + 680.7195467364321, + -496.9874873851336 + ], + "t1_depth": 0.41420383684189127 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -34.16718292236328, + "y": -28.187763214111328, + "z": 1.1444780123233795 + }, + "image_uv": [ + 639.9999999999999, + 360.0 + ], + "depth": 28.313780308469948, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 707, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -34.16718292236328, + "y": -28.187763214111328, + "z": 1.1444779634475708 + }, + "extent": { + "x": 0.43998777866363525, + "y": 0.5216991901397705, + "z": 0.8736681938171387 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 618.1928624662406, + "ymin": 324.5625069256744, + "xmax": 662.1048484388078, + "ymax": 395.07095361508834 + }, + "corners_3d": [ + [ + -34.109405517578125, + -28.867778778076172, + 0.27080976963043213 + ], + [ + -34.847198486328125, + -28.12998390197754, + 0.27080976963043213 + ], + [ + -34.22496032714844, + -27.507747650146484, + 0.27080976963043213 + ], + [ + -33.48716735839844, + -28.245542526245117, + 0.27080976963043213 + ], + [ + -34.109405517578125, + -28.867778778076172, + 2.01814603805542 + ], + [ + -34.847198486328125, + -28.12998390197754, + 2.01814603805542 + ], + [ + -34.22496032714844, + -27.507747650146484, + 2.01814603805542 + ], + [ + -33.48716735839844, + -28.245542526245117, + 2.01814603805542 + ] + ], + "corners_2d": [ + [ + 628.0114989178004, + 395.07095361508834 + ], + [ + 661.208848257918, + 387.4077643736607 + ], + [ + 651.6332009708455, + 368.63324791289097 + ], + [ + 619.0653666007171, + 375.9731821658206 + ], + [ + 627.5004507781073, + 350.72382216335126 + ], + [ + 662.1048484388078, + 343.1339462204953 + ], + [ + 652.113799210256, + 324.5625069256744 + ], + [ + 618.1928624662406, + 331.8190840968367 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 123, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 97, + "semantic_pixel_counts": { + "1": 267187, + "2": 72620, + "5": 2363, + "6": 8744, + "7": 594, + "10": 594, + "12": 3321, + "14": 80217, + "15": 10222, + "24": 38644, + "25": 437094 + }, + "instance_pixel_counts": { + "70": 680, + "108": 1, + "620": 413, + "1132": 1063, + "2214": 207, + "3180": 686, + "4166": 980, + "4678": 1205, + "6053": 268, + "6508": 4263, + "7786": 2775, + "7825": 371, + "8064": 278, + "8296": 30078, + "8298": 1466, + "8337": 429, + "8780": 1984, + "8808": 43816, + "8810": 3298, + "9320": 107523, + "9322": 759, + "9832": 21828, + "9834": 411, + "10344": 5215, + "10624": 3768, + "10856": 10763, + "11116": 1378, + "11136": 478, + "11368": 18294, + "12652": 321, + "17516": 400, + "20308": 19096, + "20820": 10339, + "20866": 3875, + "21332": 6273, + "21844": 5842, + "22356": 9167, + "22868": 6135, + "23380": 6173, + "25428": 3331, + "25698": 558, + "25928": 379, + "25940": 2972, + "26112": 3631, + "26210": 50, + "26964": 11, + "27234": 359, + "27476": 4502, + "27746": 285, + "27988": 4020, + "29839": 2703, + "30050": 11, + "30351": 10523, + "30863": 32808, + "31375": 10184, + "31812": 341, + "32324": 389, + "32360": 19923, + "33634": 106, + "34372": 1335, + "34408": 6514, + "34884": 1371, + "34920": 3178, + "35170": 53, + "35399": 9112, + "35432": 55, + "36753": 500, + "39239": 427982, + "41367": 931, + "41796": 1487, + "41879": 3557, + "42391": 10290, + "42903": 1624, + "44869": 82, + "46672": 1661, + "46696": 964, + "46917": 88, + "47184": 171, + "48232": 494, + "48708": 811, + "48744": 147, + "50756": 100, + "53926": 242, + "54950": 968, + "55462": 70, + "56320": 707, + "56576": 576, + "56832": 518, + "57088": 735, + "57344": 171, + "57600": 614, + "58880": 8198, + "60833": 992, + "61440": 4380, + "61601": 197, + "62113": 181, + "64837": 565 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 707, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -34.16718292236328, + "y": -28.187763214111328, + "z": 1.1444779634475708 + }, + "extent": { + "x": 0.4231848120689392, + "y": 0.4261254668235779, + "z": 0.8832683563232422 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 621.4957401646712, + "ymin": 325.31711899318515, + "xmax": 658.7714224092732, + "ymax": 394.2251906171044 + }, + "corners_3d": [ + [ + -34.165103912353516, + -28.78831672668457, + 0.2612096071243286 + ], + [ + -34.76773452758789, + -28.185684204101562, + 0.2612096071243286 + ], + [ + -34.16926193237305, + -27.587209701538086, + 0.2612096071243286 + ], + [ + -33.56663131713867, + -28.189842224121094, + 0.2612096071243286 + ], + [ + -34.165103912353516, + -28.78831672668457, + 2.0277462005615234 + ], + [ + -34.76773452758789, + -28.185684204101562, + 2.0277462005615234 + ], + [ + -34.16926193237305, + -27.587209701538086, + 2.0277462005615234 + ], + [ + -33.56663131713867, + -28.189842224121094, + 2.0277462005615234 + ] + ], + "corners_2d": [ + [ + 630.9026244535976, + 394.2251906171044 + ], + [ + 658.0020633987331, + 387.97087288199737 + ], + [ + 648.848909483593, + 369.8845327977778 + ], + [ + 622.2437917093367, + 375.8849509250719 + ], + [ + 630.5109614102447, + 349.4004269094496 + ], + [ + 658.7714224092732, + 343.20683004743165 + ], + [ + 649.2190353981608, + 325.31711899318515 + ], + [ + 621.4957401646712, + 331.24884031363155 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 576, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -30.041194915771484, + "y": -25.1900577545166, + "z": 1.1402592658996582 + }, + "extent": { + "x": 0.3870776295661926, + "y": 0.44099974632263184, + "z": 0.8612494468688965 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 549.8781605997989, + "ymin": 237.5028750334498, + "xmax": 587.0161309611622, + "ymax": 299.8187369198813 + }, + "corners_3d": [ + [ + -30.125638961791992, + -25.770729064941406, + 0.2790098190307617 + ], + [ + -30.60601043701172, + -25.031023025512695, + 0.2790098190307617 + ], + [ + -29.956750869750977, + -24.609386444091797, + 0.2790098190307617 + ], + [ + -29.47637939453125, + -25.349092483520508, + 0.2790098190307617 + ], + [ + -30.125638961791992, + -25.770729064941406, + 2.0015087127685547 + ], + [ + -30.60601043701172, + -25.031023025512695, + 2.0015087127685547 + ], + [ + -29.956750869750977, + -24.609386444091797, + 2.0015087127685547 + ], + [ + -29.47637939453125, + -25.349092483520508, + 2.0015087127685547 + ] + ], + "corners_2d": [ + [ + 563.5482588074535, + 299.8187369198813 + ], + [ + 587.0161309611622, + 291.5579765198684 + ], + [ + 576.2913836201895, + 279.54805140120413 + ], + [ + 553.0740021085187, + 287.55781936566166 + ], + [ + 560.6919364368794, + 257.39234300786654 + ], + [ + 585.0578755119244, + 249.28237471701948 + ], + [ + 573.973914015221, + 237.5028750334498 + ], + [ + 549.8781605997989, + 245.35749292597887 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 518, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -36.42300796508789, + "y": -21.24505043029785, + "z": 1.1464555263519287 + }, + "extent": { + "x": 0.3403332531452179, + "y": 0.41972288489341736, + "z": 0.9499921202659607 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 773.9984925617036, + "ymin": 224.7359355135099, + "xmax": 812.1690001105218, + "ymax": 287.95806403653455 + }, + "corners_3d": [ + [ + -36.42335510253906, + -21.785415649414062, + 0.19646340608596802 + ], + [ + -36.951637268066406, + -21.13304328918457, + 0.19646340608596802 + ], + [ + -36.42266082763672, + -20.70468521118164, + 0.19646340608596802 + ], + [ + -35.894378662109375, + -21.357057571411133, + 0.19646340608596802 + ], + [ + -36.42335510253906, + -21.785415649414062, + 2.096447706222534 + ], + [ + -36.951637268066406, + -21.13304328918457, + 2.096447706222534 + ], + [ + -36.42266082763672, + -20.70468521118164, + 2.096447706222534 + ], + [ + -35.894378662109375, + -21.357057571411133, + 2.096447706222534 + ] + ], + "corners_2d": [ + [ + 784.2430561205416, + 287.95806403653455 + ], + [ + 805.5123995609408, + 281.73615384431986 + ], + [ + 795.05172291731, + 270.8920348070872 + ], + [ + 773.9984925617036, + 276.94119203354444 + ], + [ + 790.0924737209659, + 241.42662199395556 + ], + [ + 812.1690001105218, + 235.33814577079738 + ], + [ + 801.1973346981275, + 224.7359355135099 + ], + [ + 779.3531527963337, + 230.6486849167725 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 735, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -43.66718292236328, + "y": -28.187763214111328, + "z": 0.997270941734314 + }, + "extent": { + "x": 0.3172973692417145, + "y": 0.39577391743659973, + "z": 0.8841496109962463 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 936.6501917733651, + "ymin": 436.56883224329204, + "xmax": 991.3169443480465, + "ymax": 505.935834945241 + }, + "corners_3d": [ + [ + -43.611690521240234, + -28.691980361938477, + 0.11312133073806763 + ], + [ + -44.17140197753906, + -28.132272720336914, + 0.11312133073806763 + ], + [ + -43.72267532348633, + -27.68354606628418, + 0.11312133073806763 + ], + [ + -43.1629638671875, + -28.243253707885742, + 0.11312133073806763 + ], + [ + -43.611690521240234, + -28.691980361938477, + 1.881420612335205 + ], + [ + -44.17140197753906, + -28.132272720336914, + 1.881420612335205 + ], + [ + -43.72267532348633, + -27.68354606628418, + 1.881420612335205 + ], + [ + -43.1629638671875, + -28.243253707885742, + 1.881420612335205 + ] + ], + "corners_2d": [ + [ + 949.4343877269444, + 505.935834945241 + ], + [ + 975.2219652634744, + 498.63626976440366 + ], + [ + 962.0864794184024, + 481.54269350965865 + ], + [ + 936.6501917733651, + 488.5928746569943 + ], + [ + 964.4054255865293, + 460.96679507686224 + ], + [ + 991.3169443480465, + 453.65976874492196 + ], + [ + 977.2727651651813, + 436.56883224329204 + ], + [ + 950.7427254357112, + 443.6145121854953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 171, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -37.78268051147461, + "y": -39.31512451171875, + "z": 1.1481353044509888 + }, + "extent": { + "x": 0.3673498332500458, + "y": 0.38527464866638184, + "z": 0.9506231546401978 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 530.7617444553493, + "ymin": 691.9163689040809, + "xmax": 578.9032968706679, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.714447021484375, + -39.84307098388672, + 0.19751214981079102 + ], + [ + -38.31327438354492, + -39.35814666748047, + 0.19751214981079102 + ], + [ + -37.850914001464844, + -38.78717803955078, + 0.19751214981079102 + ], + [ + -37.2520866394043, + -39.27210235595703, + 0.19751214981079102 + ], + [ + -37.714447021484375, + -39.84307098388672, + 2.0987584590911865 + ], + [ + -38.31327438354492, + -39.35814666748047, + 2.0987584590911865 + ], + [ + -37.850914001464844, + -38.78717803955078, + 2.0987584590911865 + ], + [ + -37.2520866394043, + -39.27210235595703, + 2.0987584590911865 + ] + ], + "corners_2d": [ + [ + 542.3796316051601, + 778.2477961427421 + ], + [ + 578.9032968706679, + 770.3749198338464 + ], + [ + 573.1086940460912, + 737.5187249642161 + ], + [ + 537.5025709825499, + 744.9874833540941 + ], + [ + 535.7759874853647, + 733.7943087677168 + ], + [ + 574.7975690068863, + 725.685254915478 + ], + [ + 568.7377166085977, + 691.9163689040809 + ], + [ + 530.7617444553493, + 699.5822777470089 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 614, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -22.921844482421875, + "y": -36.35797882080078, + "z": 1.1328716278076172 + }, + "extent": { + "x": 0.36033323407173157, + "y": 0.4116906523704529, + "z": 0.9076482653617859 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 114.27777657445722, + "ymin": 381.35903264422734, + "xmax": 174.60218728470892, + "ymax": 448.38600110360835 + }, + "corners_3d": [ + [ + -22.772823333740234, + -36.884403228759766, + 0.2252233624458313 + ], + [ + -23.463369369506836, + -36.43595504760742, + 0.2252233624458313 + ], + [ + -23.070865631103516, + -35.8315544128418, + 0.2252233624458313 + ], + [ + -22.380319595336914, + -36.28000259399414, + 0.2252233624458313 + ], + [ + -22.772823333740234, + -36.884403228759766, + 2.040519952774048 + ], + [ + -23.463369369506836, + -36.43595504760742, + 2.040519952774048 + ], + [ + -23.070865631103516, + -35.8315544128418, + 2.040519952774048 + ], + [ + -22.380319595336914, + -36.28000259399414, + 2.040519952774048 + ] + ], + "corners_2d": [ + [ + 137.88814058112274, + 448.38600110360835 + ], + [ + 168.27931157084203, + 445.9608794310094 + ], + [ + 174.60218728470892, + 427.6582558692056 + ], + [ + 144.81834143677594, + 429.99003159853254 + ], + [ + 114.27777657445722, + 401.9747489507719 + ], + [ + 146.15757390292225, + 399.5605389988265 + ], + [ + 153.22005666696407, + 381.35903264422734 + ], + [ + 122.00781342113419, + 383.6760855307142 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 8198, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 1088.833007584636, + "ymin": 323.2737568834221, + "xmax": 1188.556676612349, + "ymax": 480.2614371801592 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 1170.6365844465108, + 376.2511604381024 + ], + [ + 1108.041624003667, + 358.8815630059912 + ], + [ + 1088.833007584636, + 458.559143107851 + ], + [ + 1158.447157422836, + 480.2614371801592 + ], + [ + 1188.556676612349, + 340.4828878679491 + ], + [ + 1123.5230252550245, + 323.2737568834221 + ], + [ + 1105.472167211067, + 422.34583808902204 + ], + [ + 1178.1201412000482, + 444.0179638327346 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 4380, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 1030.6489030961875, + "ymin": 120.5842042574202, + "xmax": 1111.812626942892, + "ymax": 232.45666452681058 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 1095.4554375830867, + 175.6032856280938 + ], + [ + 1049.138184141585, + 165.4819674096902 + ], + [ + 1030.6489030961875, + 220.56709034237997 + ], + [ + 1080.5746857961412, + 232.45666452681058 + ], + [ + 1111.812626942892, + 130.3584171285211 + ], + [ + 1063.6029199697027, + 120.5842042574202 + ], + [ + 1045.6523625996592, + 173.9086396118524 + ], + [ + 1097.7870646266404, + 185.45940084044375 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 274752244277470567, + "instance_id": 26469, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -43.60569763183594, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1099.812672995309, + "ymin": 12.240525953834663, + "xmax": 1117.1496953324545, + "ymax": 41.220719320293824 + }, + "corners_3d": [ + [ + -43.74428176879883, + -9.655923843383789, + 5.545533180236816 + ], + [ + -43.74428176879883, + -9.276008605957031, + 5.545533180236816 + ], + [ + -43.46711349487305, + -9.276008605957031, + 5.545533180236816 + ], + [ + -43.46711349487305, + -9.655923843383789, + 5.545533180236816 + ], + [ + -43.74428176879883, + -9.655923843383789, + 6.416468620300293 + ], + [ + -43.74428176879883, + -9.276008605957031, + 6.416468620300293 + ], + [ + -43.46711349487305, + -9.276008605957031, + 6.416468620300293 + ], + [ + -43.46711349487305, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1107.9296514395023, + 41.220719320293824 + ], + [ + 1109.2005402098494, + 37.30062562937678 + ], + [ + 1101.1391638349992, + 35.88707787372891 + ], + [ + 1099.812672995309, + 39.78638079761606 + ], + [ + 1115.916433358743, + 17.42448124663457 + ], + [ + 1117.1496953324545, + 13.614232374779476 + ], + [ + 1108.9307251001464, + 12.240525953834663 + ], + [ + 1107.6396397903222, + 16.030224379933657 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6996496815942574697, + "instance_id": 27042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -49.10569763183594, + "y": -9.465964317321777, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1269.422585867472, + "ymin": 40.959575733003305, + "xmax": 1280.0, + "ymax": 71.35708559743978 + }, + "corners_3d": [ + [ + -49.24428176879883, + -9.655921936035156, + 5.545533180236816 + ], + [ + -49.24428176879883, + -9.276006698608398, + 5.545533180236816 + ], + [ + -48.96711349487305, + -9.276006698608398, + 5.545533180236816 + ], + [ + -48.96711349487305, + -9.655921936035156, + 5.545533180236816 + ], + [ + -49.24428176879883, + -9.655921936035156, + 6.416468620300293 + ], + [ + -49.24428176879883, + -9.276006698608398, + 6.416468620300293 + ], + [ + -48.96711349487305, + -9.276006698608398, + 6.416468620300293 + ], + [ + -48.96711349487305, + -9.655921936035156, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1278.472665696997, + 71.35708559743978 + ], + [ + 1278.5029831093066, + 66.98748074672307 + ], + [ + 1269.522204090173, + 65.41271746244422 + ], + [ + 1269.422585867472, + 69.7578602555842 + ], + [ + 1289.9915451701297, + 46.748064124838436 + ], + [ + 1289.9322593954532, + 42.492831173414686 + ], + [ + 1280.75869718078, + 40.959575733003305 + ], + [ + 1280.7456625345192, + 45.19056063782267 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 947.3543670918024, + "ymin": 61.886594642589614, + "xmax": 961.3709221989584, + "ymax": 87.77184763503567 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 954.3688791280637, + 87.77184763503567 + ], + [ + 956.5325978647387, + 83.91491759004498 + ], + [ + 949.5590271509141, + 82.51530395512975 + ], + [ + 947.3543670918024, + 86.35360938099228 + ], + [ + 959.2065258405565, + 67.03403033655621 + ], + [ + 961.3709221989584, + 63.2570179583214 + ], + [ + 954.279183370112, + 61.886594642589614 + ], + [ + 952.072424191651, + 65.64508961462377 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18114159193525624905, + "instance_id": 18848, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -46.60569763183594, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1190.0372575318202, + "ymin": 27.513927870857174, + "xmax": 1209.0325890913452, + "ymax": 57.25074581685635 + }, + "corners_3d": [ + [ + -46.74428176879883, + -9.655922889709473, + 5.545533180236816 + ], + [ + -46.74428176879883, + -9.276007652282715, + 5.545533180236816 + ], + [ + -46.46711349487305, + -9.276007652282715, + 5.545533180236816 + ], + [ + -46.46711349487305, + -9.655922889709473, + 5.545533180236816 + ], + [ + -46.74428176879883, + -9.655922889709473, + 6.416468620300293 + ], + [ + -46.74428176879883, + -9.276007652282715, + 6.416468620300293 + ], + [ + -46.46711349487305, + -9.276007652282715, + 6.416468620300293 + ], + [ + -46.46711349487305, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1198.6442666284493, + 57.25074581685635 + ], + [ + 1199.2724631180092, + 53.094563645370044 + ], + [ + 1190.7281104131841, + 51.59632689343397 + ], + [ + 1190.0372575318202, + 55.72981477622187 + ], + [ + 1208.468385478042, + 33.01519364627734 + ], + [ + 1209.0325890913452, + 28.971391829082336 + ], + [ + 1200.3124921772967, + 27.513927870857174 + ], + [ + 1199.6830072828698, + 31.535263824183176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1358148318300121759, + "instance_id": 40874, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 234.7285237077237, + "xmax": 138.12137839910997, + "ymax": 399.31880101503896 + }, + "corners_3d": [ + [ + -26.246047973632812, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246047973632812, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.197628021240234 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 138.12137839910997, + 241.67731782896607 + ], + [ + 128.41553391922685, + 238.22375510753946 + ], + [ + -116.46802956389297, + 394.2389345246698 + ], + [ + -106.08662324698855, + 399.31880101503896 + ], + [ + 136.64920284644876, + 238.17575029552782 + ], + [ + 126.92192454633641, + 234.7285237077237 + ], + [ + -119.14692228914816, + 390.551871600351 + ], + [ + -108.74386552974602, + 395.6287398138468 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 80.12808973101164, + "ymax": 270.16684270092094 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 80.12808973101164, + 191.71673715947747 + ], + [ + 71.38471502647212, + 188.73270434456856 + ], + [ + -65.8977916641021, + 266.46615485884666 + ], + [ + -56.82381806763385, + 270.16684270092094 + ], + [ + -16.903617037516938, + -23.825810378800327 + ], + [ + -26.661698688882893, + -26.229439100394416 + ], + [ + -204.11554901208603, + 37.584982729462126 + ], + [ + -194.0564741233418, + 40.686533125464905 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7806990106475075983, + "instance_id": 36761, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 427.0320407204978, + "ymin": 0.0, + "xmax": 533.389718419213, + "ymax": 49.57214023240061 + }, + "corners_3d": [ + [ + -26.247940063476562, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.247940063476562, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.198223114013672 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 533.389718419213, + -13.41617462131751 + ], + [ + 525.7162982388256, + -14.917729924845958 + ], + [ + 427.4972357686522, + 47.654709205236884 + ], + [ + 435.82438544725443, + 49.57214023240061 + ], + [ + 533.1825553954939, + -16.231476157161012 + ], + [ + 525.4949152800172, + -17.72718134407785 + ], + [ + 427.0320407204978, + 44.61677282020963 + ], + [ + 435.37584255290824, + 46.527697500811655 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 223.08490124792212, + "xmax": 245.25491167672294, + "ymax": 648.6767620600489 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 245.25491167672294, + 482.1188023405565 + ], + [ + 231.831984206266, + 476.09875469445984 + ], + [ + 54.39976834886136, + 640.4429497613592 + ], + [ + 68.82167548233815, + 648.6767620600489 + ], + [ + 140.32578759880556, + 228.7238085583676 + ], + [ + 124.177888356234, + 223.08490124792212 + ], + [ + -134.5541493716937, + 383.9381139262856 + ], + [ + -117.24752646527361, + 392.39248865839204 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 928.6060691042999, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 221.9386566319058 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 931.2415820426111, + 143.63984310620114 + ], + [ + 928.6060691042999, + 148.2589660762892 + ], + [ + 1249.4846261100986, + 221.9386566319058 + ], + [ + 1249.8614051822062, + 216.2090875331662 + ], + [ + 978.6583052313254, + -66.66938886608921 + ], + [ + 975.9881247890017, + -63.05726909704191 + ], + [ + 1363.103067011377, + -4.270511093104972 + ], + [ + 1362.476718749131, + -8.922384813688836 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1202.2405653421688, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 44.597195190010666 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1467.5045574991677, + 44.597195190010666 + ], + [ + 1466.4774465351102, + 41.33927247945951 + ], + [ + 1202.764372474578, + -1.0638637492140788 + ], + [ + 1202.2405653421688, + 1.6997125096365266 + ], + [ + 1578.6043594083635, + -142.1296953890573 + ], + [ + 1576.6828480979912, + -144.548998652176 + ], + [ + 1271.1759462393034, + -175.68473815831385 + ], + [ + 1271.0159277212979, + -173.67523245502264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13681264316117260208, + "instance_id": 45207, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 234.6217461362767, + "xmax": 138.29048177726622, + "ymax": 399.46727410907545 + }, + "corners_3d": [ + [ + -26.24793815612793, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.24793815612793, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.198223114013672 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 138.29048177726622, + 241.65980589818338 + ], + [ + 128.45953386707288, + 238.16209634924272 + ], + [ + -116.66019661998985, + 394.32059443322976 + ], + [ + -106.14432162705964, + 399.46727410907545 + ], + [ + 136.79979138845232, + 238.11295375888506 + ], + [ + 126.946852001391, + 234.6217461362767 + ], + [ + -119.37471950568681, + 390.5857341546324 + ], + [ + -108.83663114961553, + 395.72934055532204 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15102510933830370440, + "instance_id": 34948, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 427.14147772785725, + "ymin": 0.0, + "xmax": 533.2978696936517, + "ymax": 49.50647953378757 + }, + "corners_3d": [ + [ + -26.246049880981445, + -20.196584701538086, + 8.10662841796875 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.10662841796875 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.10662841796875 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.10662841796875 + ], + [ + -26.246049880981445, + -20.196584701538086, + 8.197628021240234 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.197628021240234 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.197628021240234 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 533.2978696936517, + -13.416883548974681 + ], + [ + 525.7220785663313, + -14.89936219793725 + ], + [ + 427.6004761346833, + 47.6138474661401 + ], + [ + 435.8210490854571, + 49.50647953378757 + ], + [ + 533.0931749181361, + -16.196248949874985 + ], + [ + 525.5035239479937, + -17.673025839917273 + ], + [ + 427.14147772785725, + 44.614832709204904 + ], + [ + 435.3782787267625, + 46.501124064538885 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 421.24439648895304, + "ymin": 0.0, + "xmax": 552.0372417902648, + "ymax": 271.14946358893366 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 552.0372417902648, + 192.50857382260537 + ], + [ + 541.2368189631047, + 189.51769018796398 + ], + [ + 457.1096849509564, + 267.4392540444585 + ], + [ + 468.7336384005457, + 271.14946358893366 + ], + [ + 536.7717984712797, + -23.187382352482132 + ], + [ + 524.1842087066353, + -25.597485271347125 + ], + [ + 421.24439648895304, + 38.399967522988334 + ], + [ + 434.9526745780379, + 41.51105909910302 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 973.4384048126653, + "ymin": 0.0, + "xmax": 1073.963610874288, + "ymax": 60.03464999701498 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1028.9377958618618, + -22.260497226570408 + ], + [ + 1021.0793894911349, + -23.542312364073155 + ], + [ + 973.4384048126653, + 58.27072551167646 + ], + [ + 982.5077405372429, + 60.03464999701498 + ], + [ + 1073.963610874288, + -191.00759346820996 + ], + [ + 1065.062600786499, + -191.92912838737914 + ], + [ + 1019.4918095023099, + -131.93309454971597 + ], + [ + 1029.984883126101, + -130.61265063718213 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00124/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00124/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4159faee59b00d74fe751fbdc87ffd251192b4a6 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00124/meta.json @@ -0,0 +1,2511 @@ +{ + "frame_id": 124, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 62.0, + "sim_timestamp": 14589.378989155637 + }, + "drone_pose": { + "x": -43.369001386303566, + "y": -46.581219233501486, + "z": 20.0, + "pitch": -41.59896335414082, + "yaw": 62.819432509333765, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.34159690141677856, + -0.665230393409729, + 0.6639126539230347, + 32.523704528808594 + ], + [ + 0.8895713090896606, + 0.4567962884902954, + 0.0, + -17.30168914794922 + ], + [ + -0.30327287316322327, + 0.5905976891517639, + 0.7478101253509521, + -55.61960220336914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -43.14041066137969, + "y": -46.08232479480889, + "z": 20.0 + }, + "t1_image_uv": [ + 697.4768467521217, + -492.2968238815208 + ], + "t1_depth": 0.4099656399291835 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -33.66718292236328, + "y": -27.687763214111328, + "z": 1.1439702105522156 + }, + "image_uv": [ + 640.0000000000001, + 359.9999999999999 + ], + "depth": 28.401370059988743, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 725, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -33.66718292236328, + "y": -27.687763214111328, + "z": 1.143970251083374 + }, + "extent": { + "x": 0.5023083090782166, + "y": 0.35545653104782104, + "z": 0.8787294626235962 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 621.0242309042594, + "ymin": 323.95492880757354, + "xmax": 658.6877515661215, + "ymax": 395.72206370626503 + }, + "corners_3d": [ + [ + -33.31172561645508, + -28.19007110595703, + 0.26524078845977783 + ], + [ + -34.022640228271484, + -28.19007110595703, + 0.26524078845977783 + ], + [ + -34.022640228271484, + -27.185455322265625, + 0.26524078845977783 + ], + [ + -33.31172561645508, + -27.185455322265625, + 0.26524078845977783 + ], + [ + -33.31172561645508, + -28.19007110595703, + 2.0226998329162598 + ], + [ + -34.022640228271484, + -28.19007110595703, + 2.0226998329162598 + ], + [ + -34.022640228271484, + -27.185455322265625, + 2.0226998329162598 + ], + [ + -33.31172561645508, + -27.185455322265625, + 2.0226998329162598 + ] + ], + "corners_2d": [ + [ + 621.7937596998313, + 388.2268709264072 + ], + [ + 642.9191914833269, + 395.72206370626503 + ], + [ + 657.940945896268, + 375.3962147951437 + ], + [ + 637.171154376588, + 368.2388271738402 + ], + [ + 621.0242309042594, + 343.71573538926566 + ], + [ + 643.0436729297761, + 351.1354971446191 + ], + [ + 658.6877515661215, + 331.0265911002014 + ], + [ + 637.0544129011805, + 323.95492880757354 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 124, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 100, + "semantic_pixel_counts": { + "1": 258941, + "2": 73032, + "5": 2368, + "6": 9110, + "7": 460, + "10": 603, + "12": 2791, + "14": 82163, + "15": 10565, + "24": 39438, + "25": 442129 + }, + "instance_pixel_counts": { + "70": 700, + "620": 406, + "1132": 1185, + "2214": 282, + "3180": 731, + "4166": 1015, + "4678": 1239, + "6053": 304, + "6508": 4410, + "7786": 2904, + "7825": 374, + "8064": 287, + "8088": 133, + "8296": 31356, + "8298": 1544, + "8337": 436, + "8780": 2073, + "8808": 46119, + "8810": 2997, + "9320": 102149, + "9322": 835, + "9832": 24106, + "9834": 239, + "10344": 2926, + "10624": 3661, + "10856": 7060, + "11116": 1418, + "11136": 493, + "11368": 11895, + "12652": 326, + "17516": 499, + "20308": 18625, + "20820": 10667, + "20866": 3978, + "21332": 6422, + "21844": 6002, + "22356": 9802, + "22868": 6267, + "23380": 6298, + "25428": 3354, + "25698": 570, + "25928": 295, + "25940": 2991, + "26112": 3597, + "26210": 50, + "26964": 142, + "27234": 364, + "27476": 4819, + "27746": 326, + "27988": 4072, + "29012": 11, + "29839": 2814, + "30050": 33, + "30351": 11000, + "30863": 31784, + "31375": 10933, + "31812": 348, + "32324": 405, + "32360": 22406, + "33384": 268, + "33634": 127, + "34372": 1520, + "34408": 9004, + "34884": 877, + "34920": 1538, + "35170": 56, + "35399": 10820, + "35432": 114, + "36753": 502, + "39239": 431309, + "41367": 974, + "41796": 1560, + "41879": 3717, + "42391": 9913, + "42903": 1764, + "44869": 98, + "46672": 1725, + "46696": 1383, + "46917": 90, + "47184": 270, + "47208": 17, + "48232": 607, + "48708": 847, + "48744": 62, + "50756": 103, + "53926": 249, + "54950": 973, + "55462": 68, + "56320": 725, + "56576": 567, + "56832": 512, + "57088": 678, + "57344": 262, + "57600": 47, + "58880": 8693, + "60833": 991, + "61440": 4563, + "61601": 196, + "62113": 209, + "64837": 522 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 725, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -33.66718292236328, + "y": -27.687763214111328, + "z": 1.143970251083374 + }, + "extent": { + "x": 0.49064940214157104, + "y": 0.4539880156517029, + "z": 0.8878815770149231 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 618.1892468945007, + "ymin": 322.9676992279265, + "xmax": 661.543699657199, + "ymax": 396.75172709612974 + }, + "corners_3d": [ + [ + -33.21319580078125, + -28.17841339111328, + 0.2560886740684509 + ], + [ + -34.12117004394531, + -28.17841339111328, + 0.2560886740684509 + ], + [ + -34.12117004394531, + -27.197113037109375, + 0.2560886740684509 + ], + [ + -33.21319580078125, + -27.197113037109375, + 0.2560886740684509 + ], + [ + -33.21319580078125, + -28.17841339111328, + 2.0318517684936523 + ], + [ + -34.12117004394531, + -28.17841339111328, + 2.0318517684936523 + ], + [ + -34.12117004394531, + -27.197113037109375, + 2.0318517684936523 + ], + [ + -33.21319580078125, + -27.197113037109375, + 2.0318517684936523 + ] + ], + "corners_2d": [ + [ + 619.0814828970522, + 387.1836216740699 + ], + [ + 646.0519649728886, + 396.75172709612974 + ], + [ + 660.6727429311911, + 376.8505002095338 + ], + [ + 634.145771461086, + 367.7037582317715 + ], + [ + 618.1892468945007, + 342.22189902332934 + ], + [ + 646.3130284505764, + 351.69249238052225 + ], + [ + 661.543699657199, + 332.00395278621585 + ], + [ + 633.901832606211, + 322.9676992279265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 567, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -29.541194915771484, + "y": -24.6900577545166, + "z": 1.1397416591644287 + }, + "extent": { + "x": 0.4267273247241974, + "y": 0.5117822885513306, + "z": 0.875908613204956 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 550.0400995920395, + "ymin": 237.52116296445342, + "xmax": 590.0709736271591, + "ymax": 299.92961928777623 + }, + "corners_3d": [ + [ + -29.129318237304688, + -25.213865280151367, + 0.26383304595947266 + ], + [ + -30.130516052246094, + -25.001054763793945, + 0.26383304595947266 + ], + [ + -29.95307159423828, + -24.166250228881836, + 0.26383304595947266 + ], + [ + -28.951873779296875, + -24.379060745239258, + 0.26383304595947266 + ], + [ + -29.129318237304688, + -25.213865280151367, + 2.0156502723693848 + ], + [ + -30.130516052246094, + -25.001054763793945, + 2.0156502723693848 + ], + [ + -29.95307159423828, + -24.166250228881836, + 2.0156502723693848 + ], + [ + -28.951873779296875, + -24.379060745239258, + 2.0156502723693848 + ] + ], + "corners_2d": [ + [ + 553.2912865520577, + 294.9953530631109 + ], + [ + 582.4008023813922, + 299.92961928777623 + ], + [ + 590.0709736271591, + 284.9597572731796 + ], + [ + 561.4612724915487, + 280.20964537391285 + ], + [ + 550.0400995920395, + 252.01357847660717 + ], + [ + 580.2270448255555, + 256.85451095121783 + ], + [ + 588.2236063444179, + 242.17482648030273 + ], + [ + 558.5737622285507, + 237.52116296445342 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 512, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -35.92300796508789, + "y": -20.74505043029785, + "z": 1.1458110809326172 + }, + "extent": { + "x": 0.4844079613685608, + "y": 0.33638671040534973, + "z": 0.9527438282966614 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 777.9512371423946, + "ymin": 224.867476630585, + "xmax": 810.7382380789034, + "ymax": 291.2345552005468 + }, + "corners_3d": [ + [ + -35.63909912109375, + -21.261966705322266, + 0.1930672526359558 + ], + [ + -36.30818557739258, + -21.19164276123047, + 0.1930672526359558 + ], + [ + -36.20691680908203, + -20.228134155273438, + 0.1930672526359558 + ], + [ + -35.5378303527832, + -20.298458099365234, + 0.1930672526359558 + ], + [ + -35.63909912109375, + -21.261966705322266, + 2.098554849624634 + ], + [ + -36.30818557739258, + -21.19164276123047, + 2.098554849624634 + ], + [ + -36.20691680908203, + -20.228134155273438, + 2.098554849624634 + ], + [ + -35.5378303527832, + -20.298458099365234, + 2.098554849624634 + ] + ], + "corners_2d": [ + [ + 777.9512371423946, + 286.87013258626644 + ], + [ + 797.2815775609313, + 291.2345552005468 + ], + [ + 804.2180622928041, + 275.2564877844587 + ], + [ + 785.241908313941, + 271.0677763397396 + ], + [ + 783.5147223921537, + 240.31217213029737 + ], + [ + 803.6616143649065, + 244.58226669072178 + ], + [ + 810.7382380789034, + 228.95892393354563 + ], + [ + 790.9759349150777, + 224.867476630585 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 678, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -43.16718292236328, + "y": -27.687763214111328, + "z": 0.9972660541534424 + }, + "extent": { + "x": 0.3178808391094208, + "y": 0.3283923268318176, + "z": 0.8732641935348511 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 938.9439756276779, + "ymin": 438.74451868854385, + "xmax": 984.4351902134324, + "ymax": 507.94041188966463 + }, + "corners_3d": [ + [ + -42.83879089355469, + -28.005643844604492, + 0.12400186061859131 + ], + [ + -43.495574951171875, + -28.005643844604492, + 0.12400186061859131 + ], + [ + -43.495574951171875, + -27.369882583618164, + 0.12400186061859131 + ], + [ + -42.83879089355469, + -27.369882583618164, + 0.12400186061859131 + ], + [ + -42.83879089355469, + -28.005643844604492, + 1.8705302476882935 + ], + [ + -43.495574951171875, + -28.005643844604492, + 1.8705302476882935 + ], + [ + -43.495574951171875, + -27.369882583618164, + 1.8705302476882935 + ], + [ + -42.83879089355469, + -27.369882583618164, + 1.8705302476882935 + ] + ], + "corners_2d": [ + [ + 938.9439756276779, + 499.2201251833993 + ], + [ + 963.5602986906097, + 507.94041188966463 + ], + [ + 969.0342537707788, + 491.6278491687925 + ], + [ + 944.768995845804, + 483.1884761341354 + ], + [ + 953.0495572323707, + 454.7677359717844 + ], + [ + 978.9680605684157, + 463.49370681464484 + ], + [ + 984.4351902134324, + 447.1764066002477 + ], + [ + 958.9061292758281, + 438.74451868854385 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 262, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -37.28268051147461, + "y": -38.81512451171875, + "z": 1.1476176977157593 + }, + "extent": { + "x": 0.4777502715587616, + "y": 0.28735965490341187, + "z": 0.9320372343063354 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 520.0769020137802, + "ymin": 683.8705064860003, + "xmax": 576.2831216936082, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -36.946956634521484, + -39.26021957397461, + 0.21558046340942383 + ], + [ + -37.51852798461914, + -39.32029342651367, + 0.21558046340942383 + ], + [ + -37.618404388427734, + -38.37002944946289, + 0.21558046340942383 + ], + [ + -37.04683303833008, + -38.30995559692383, + 0.21558046340942383 + ], + [ + -36.946956634521484, + -39.26021957397461, + 2.0796549320220947 + ], + [ + -37.51852798461914, + -39.32029342651367, + 2.0796549320220947 + ], + [ + -37.618404388427734, + -38.37002944946289, + 2.0796549320220947 + ], + [ + -37.04683303833008, + -38.30995559692383, + 2.0796549320220947 + ] + ], + "corners_2d": [ + [ + 527.4245199655143, + 765.1010509619241 + ], + [ + 549.2285963166657, + 779.9154739283629 + ], + [ + 576.2831216936082, + 742.9140600752421 + ], + [ + 554.8000491779458, + 728.9441088224092 + ], + [ + 520.0769020137802, + 720.9657721555657 + ], + [ + 543.2296804676736, + 736.2048943182092 + ], + [ + 572.2025053901993, + 698.1865103060816 + ], + [ + 549.409209621862, + 683.8705064860003 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 47, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -22.421844482421875, + "y": -35.85797882080078, + "z": 1.1323637962341309 + }, + "extent": { + "x": 0.38715696334838867, + "y": 0.506274402141571, + "z": 0.9307340979576111 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 113.61224621469876, + "ymin": 371.3775598807724, + "xmax": 181.38061144775673, + "ymax": 450.09908429476707 + }, + "corners_3d": [ + [ + -21.84613800048828, + -36.13141632080078, + 0.20162969827651978 + ], + [ + -22.83656120300293, + -36.34193420410156, + 0.20162969827651978 + ], + [ + -22.99755096435547, + -35.58454132080078, + 0.20162969827651978 + ], + [ + -22.00712776184082, + -35.3740234375, + 0.20162969827651978 + ], + [ + -21.84613800048828, + -36.13141632080078, + 2.0630979537963867 + ], + [ + -22.83656120300293, + -36.34193420410156, + 2.0630979537963867 + ], + [ + -22.99755096435547, + -35.58454132080078, + 2.0630979537963867 + ], + [ + -22.00712776184082, + -35.3740234375, + 2.0630979537963867 + ] + ], + "corners_2d": [ + [ + 137.31292294442704, + 433.67488529858593 + ], + [ + 156.3351366595083, + 450.09908429476707 + ], + [ + 181.38061144775673, + 434.6718655234486 + ], + [ + 162.2349827952881, + 418.77646528466056 + ], + [ + 113.61224621469876, + 386.1667705239075 + ], + [ + 133.1074167702031, + 402.4965998833028 + ], + [ + 159.73325686783022, + 387.15724365177385 + ], + [ + 140.08855710172764, + 371.3775598807724 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 8693, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 1104.5217077071393, + "ymin": 341.414572589834, + "xmax": 1207.0334910946103, + "ymax": 503.26356551020046 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 1188.2105538913272, + 395.61279325372226 + ], + [ + 1124.1270489498231, + 377.1677431532092 + ], + [ + 1104.5217077071393, + 480.1331095480035 + ], + [ + 1175.9082522126419, + 503.26356551020046 + ], + [ + 1207.0334910946103, + 359.70841812848164 + ], + [ + 1140.3927512946634, + 341.414572589834 + ], + [ + 1122.0466799021933, + 443.87073887822197 + ], + [ + 1196.6259245975662, + 466.9995041822821 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 4563, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 1045.145332468386, + "ymin": 132.6584796991324, + "xmax": 1128.2922186905173, + "ymax": 246.74433372599316 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 1111.1683217627228, + 188.48840184423102 + ], + [ + 1064.0036927748279, + 177.83414282063154 + ], + [ + 1045.145332468386, + 234.20547451690538 + ], + [ + 1096.0201731185384, + 246.74433372599316 + ], + [ + 1128.2922186905173, + 142.95560062786686 + ], + [ + 1079.1635900511392, + 132.6584796991324 + ], + [ + 1060.8967487238108, + 187.27389944936473 + ], + [ + 1114.0677481737528, + 199.46694134485037 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 274752244277470567, + "instance_id": 26469, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -43.60569763183594, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1116.9395327803068, + "ymin": 23.595255598289384, + "xmax": 1134.849890016034, + "ymax": 52.94947167458247 + }, + "corners_3d": [ + [ + -43.74428176879883, + -9.655923843383789, + 5.545533180236816 + ], + [ + -43.74428176879883, + -9.276008605957031, + 5.545533180236816 + ], + [ + -43.46711349487305, + -9.276008605957031, + 5.545533180236816 + ], + [ + -43.46711349487305, + -9.655923843383789, + 5.545533180236816 + ], + [ + -43.74428176879883, + -9.655923843383789, + 6.416468620300293 + ], + [ + -43.74428176879883, + -9.276008605957031, + 6.416468620300293 + ], + [ + -43.46711349487305, + -9.276008605957031, + 6.416468620300293 + ], + [ + -43.46711349487305, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1125.2215586056222, + 52.94947167458247 + ], + [ + 1126.5040916966707, + 48.930184552416506 + ], + [ + 1118.279416713316, + 47.43966858669984 + ], + [ + 1116.9395327803068, + 51.4367665566574 + ], + [ + 1133.6082385580519, + 28.95267279027246 + ], + [ + 1134.849890016034, + 25.04436338786479 + ], + [ + 1126.4611418242723, + 23.595255598289384 + ], + [ + 1125.1597996714258, + 27.48161854605138 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 961.0765898089516, + "ymin": 72.52123756651645, + "xmax": 975.5058969517956, + "ymax": 98.68592670804873 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 968.2002454261126, + 98.68592670804873 + ], + [ + 970.4045780452918, + 94.75028629486548 + ], + [ + 963.3227282044933, + 93.28145209355824 + ], + [ + 961.0765898089516, + 97.19735694682385 + ], + [ + 973.3020301098279, + 77.81514274105825 + ], + [ + 975.5058969517956, + 73.95987215352392 + ], + [ + 968.302023444327, + 72.52123756651645 + ], + [ + 966.0548727831574, + 76.35687725292422 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18114159193525624905, + "instance_id": 18848, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -46.60569763183594, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1209.1009122966648, + "ymin": 39.725117448271135, + "xmax": 1228.7577475165826, + "ymax": 69.87791035399891 + }, + "corners_3d": [ + [ + -46.74428176879883, + -9.655922889709473, + 5.545533180236816 + ], + [ + -46.74428176879883, + -9.276007652282715, + 5.545533180236816 + ], + [ + -46.46711349487305, + -9.276007652282715, + 5.545533180236816 + ], + [ + -46.46711349487305, + -9.655922889709473, + 5.545533180236816 + ], + [ + -46.74428176879883, + -9.655922889709473, + 6.416468620300293 + ], + [ + -46.74428176879883, + -9.276007652282715, + 6.416468620300293 + ], + [ + -46.46711349487305, + -9.276007652282715, + 6.416468620300293 + ], + [ + -46.46711349487305, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1217.904432826548, + 69.87791035399891 + ], + [ + 1218.522219332002, + 65.60615033047497 + ], + [ + 1209.7836500168319, + 64.02250394284391 + ], + [ + 1209.1009122966648, + 68.2699546944205 + ], + [ + 1228.2087145618252, + 45.42463201040425 + ], + [ + 1228.7577475165826, + 41.26639268569966 + ], + [ + 1219.83545049306, + 39.725117448271135 + ], + [ + 1219.2186837550576, + 43.85927503892361 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1358148318300121759, + "instance_id": 40874, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 248.86467115610563, + "xmax": 138.4204679491213, + "ymax": 418.0821752677497 + }, + "corners_3d": [ + [ + -26.246047973632812, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246047973632812, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.197628021240234 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 138.4204679491213, + 256.0203137765478 + ], + [ + 128.6946821959158, + 252.37843216901896 + ], + [ + -123.30135204535623, + 412.697724598365 + ], + [ + -112.96857030803119, + 418.0821752677497 + ], + [ + 136.9308360614923, + 252.50013341475727 + ], + [ + 127.18357797387205, + 248.86467115610563 + ], + [ + -126.04460333373174, + 409.0009522226088 + ], + [ + -115.6908451087769, + 414.3827955545495 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 85.7373037206064, + "ymax": 277.7025399809762 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 85.7373037206064, + 198.76370057588682 + ], + [ + 77.04484370466275, + 195.6764139830931 + ], + [ + -61.86609439617155, + 273.8716710292382 + ], + [ + -52.875172839942024, + 277.7025399809762 + ], + [ + -10.63621769045983, + -17.287088209994522 + ], + [ + -20.32716164104386, + -19.776224822130075 + ], + [ + -199.77436443708666, + 44.483367030096986 + ], + [ + -189.832100536006, + 47.697802540913244 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7806990106475075983, + "instance_id": 36761, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 434.281170955338, + "ymin": 0.0, + "xmax": 542.5601779401046, + "ymax": 59.6609745155219 + }, + "corners_3d": [ + [ + -26.247940063476562, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.247940063476562, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.198223114013672 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 542.5601779401046, + -4.453278066191558 + ], + [ + 534.8264478455721, + -6.02363080327234 + ], + [ + 434.7346212194402, + 57.65158493028275 + ], + [ + 443.1190341626151, + 59.6609745155219 + ], + [ + 542.3692802293112, + -7.285729405146242 + ], + [ + 534.6210632786082, + -8.850013376747256 + ], + [ + 434.281170955338, + 54.594947558050876 + ], + [ + 442.6825131894592, + 56.5975992885821 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 237.05561193276904, + "xmax": 246.57173434802587, + "ymax": 667.3483117210211 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 246.57173434802587, + 497.1343662746226 + ], + [ + 233.12327183656328, + 490.8179004407705 + ], + [ + 51.09396162780581, + 658.6811583761548 + ], + [ + 65.48526522504778, + 667.3483117210211 + ], + [ + 140.67817266855252, + 243.0029466479172 + ], + [ + 124.49575416334574, + 237.05561193276904 + ], + [ + -141.76902201222174, + 402.3740657186262 + ], + [ + -124.55012222066432, + 411.3396286170344 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 941.5042908746142, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 237.02745155124234 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 944.1926002979078, + 154.7651919639215 + ], + [ + 941.5042908746142, + 159.47300741528193 + ], + [ + 1268.4587265726009, + 237.02745155124234 + ], + [ + 1268.8239604834102, + 231.13767049001416 + ], + [ + 994.2601974271932, + -56.9900535228395 + ], + [ + 991.5504019341203, + -53.29719179201629 + ], + [ + 1387.5400383136525, + 8.837520087679934 + ], + [ + 1386.8316830014753, + 4.031049364549972 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1219.6098699061963, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 56.32575114389158 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1490.449029455043, + 56.32575114389158 + ], + [ + 1489.373072846789, + 52.98630071692003 + ], + [ + 1220.1357219828355, + 8.438959034229299 + ], + [ + 1219.6098699061963, + 11.253651216271692 + ], + [ + 1606.2316623661848, + -132.23054580106356 + ], + [ + 1604.2101825020732, + -134.71858375485021 + ], + [ + 1291.3765998847507, + -167.5185474575046 + ], + [ + 1291.2357044894434, + -165.46733010004914 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13681264316117260208, + "instance_id": 45207, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 248.75501902720646, + "xmax": 138.59240697040076, + "ymax": 418.23551839847846 + }, + "corners_3d": [ + [ + -26.24793815612793, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.24793815612793, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.198223114013672 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 138.59240697040076, + 256.0025665798575 + ], + [ + 128.741239988798, + 252.3141400126525 + ], + [ + -123.49729065631595, + 412.78023574737654 + ], + [ + -113.0307174535626, + 418.23551839847846 + ], + [ + 137.08404884313876, + 252.4368581712294 + ], + [ + 127.21085069363153, + 248.75501902720646 + ], + [ + -126.27703614295638, + 409.03554597176253 + ], + [ + -115.78894172385856, + 414.48815689744623 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15102510933830370440, + "instance_id": 34948, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 434.3919629105967, + "ymin": 0.0, + "xmax": 542.4672880934684, + "ymax": 59.59395742109592 + }, + "corners_3d": [ + [ + -26.246049880981445, + -20.196584701538086, + 8.10662841796875 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.10662841796875 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.10662841796875 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.10662841796875 + ], + [ + -26.246049880981445, + -20.196584701538086, + 8.197628021240234 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.197628021240234 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.197628021240234 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 542.4672880934684, + -4.454087792090888 + ], + [ + 534.8319558964545, + -6.004492042556308 + ], + [ + 434.8393621147668, + 57.61055712000871 + ], + [ + 443.1164718612834, + 59.59395742109592 + ], + [ + 542.2786476178406, + -7.250383172659895 + ], + [ + 534.6291954266052, + -8.794872560878957 + ], + [ + 434.3919629105967, + 54.59307984239399 + ], + [ + 442.6855708071206, + 56.5699138055424 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 428.46044469115475, + "ymin": 0.0, + "xmax": 560.036472217765, + "ymax": 282.3330625327575 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 560.036472217765, + 202.4911803449588 + ], + [ + 549.1670456628947, + 199.37057438040736 + ], + [ + 463.4074640222343, + 278.4560365560807 + ], + [ + 475.0945695435228, + 282.3330625327575 + ], + [ + 546.0445381013152, + -14.276635519563342 + ], + [ + 533.3570024262095, + -16.797339025686767 + ], + [ + 428.46044469115475, + 48.330796547654586 + ], + [ + 442.26354818755465, + 51.591667220716715 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 987.2091277698673, + "ymin": 0.0, + "xmax": 1090.6881776127252, + "ymax": 69.67812319463604 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1043.595891537632, + -13.903483336717386 + ], + [ + 1035.6315023191798, + -15.240449604486912 + ], + [ + 987.2091277698673, + 67.83407252837924 + ], + [ + 996.4055839333711, + 69.67812319463604 + ], + [ + 1090.6881776127252, + -183.70077936976895 + ], + [ + 1081.6504712081862, + -184.66352933716826 + ], + [ + 1035.608994786061, + -123.62465600212096 + ], + [ + 1046.2738551173845, + -122.24109583912639 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00125/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00125/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a707d5feeb3e90572a389c0fa73c334942e01dc8 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00125/meta.json @@ -0,0 +1,2508 @@ +{ + "frame_id": 125, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 62.5, + "sim_timestamp": 14601.665044456022 + }, + "drone_pose": { + "x": -43.14041066137969, + "y": -46.08232479480889, + "z": 20.0, + "pitch": -41.73655454127273, + "yaw": 63.372038281057634, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.33444952964782715, + -0.6670669913291931, + 0.6657065749168396, + 31.85415267944336 + ], + [ + 0.8939356207847595, + 0.4481953978538513, + 0.0, + -17.910863876342773 + ], + [ + -0.29836660623550415, + 0.5950987935066223, + 0.7462136149406433, + -55.21946716308594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -42.91100574939403, + "y": -45.58401763122955, + "z": 20.0 + }, + "t1_image_uv": [ + 682.8597012999846, + -496.4281007756106 + ], + "t1_depth": 0.40912858861502743 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -33.66718292236328, + "y": -27.187763214111328, + "z": 1.1439702105522156 + }, + "image_uv": [ + 640.0000000000001, + 360.0 + ], + "depth": 28.324836461003343, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 734, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -33.66718292236328, + "y": -27.187763214111328, + "z": 1.143970251083374 + }, + "extent": { + "x": 0.5095776319503784, + "y": 0.47714963555336, + "z": 0.8734516501426697 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 618.9616886952496, + "ymin": 323.4652047118006, + "xmax": 661.4188322294625, + "ymax": 396.25630377832744 + }, + "corners_3d": [ + [ + -33.69011306762695, + -27.88548469543457, + 0.27051860094070435 + ], + [ + -34.364906311035156, + -27.210693359375, + 0.27051860094070435 + ], + [ + -33.64425277709961, + -26.490041732788086, + 0.27051860094070435 + ], + [ + -32.969459533691406, + -27.164833068847656, + 0.27051860094070435 + ], + [ + -33.69011306762695, + -27.88548469543457, + 2.0174219608306885 + ], + [ + -34.364906311035156, + -27.210693359375, + 2.0174219608306885 + ], + [ + -33.64425277709961, + -26.490041732788086, + 2.0174219608306885 + ], + [ + -32.969459533691406, + -27.164833068847656, + 2.0174219608306885 + ] + ], + "corners_2d": [ + [ + 630.1337606120591, + 396.25630377832744 + ], + [ + 660.5496577957424, + 389.2647995808153 + ], + [ + 649.5484876150704, + 367.50653996176067 + ], + [ + 619.8008594278477, + 374.1574620537343 + ], + [ + 629.713020606585, + 351.9128913081383 + ], + [ + 661.4188322294625, + 344.9876593773318 + ], + [ + 649.9420228623296, + 323.4652047118006 + ], + [ + 618.9616886952496, + 330.0393045982056 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 125, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 97, + "semantic_pixel_counts": { + "1": 261123, + "2": 73304, + "5": 2331, + "6": 8882, + "7": 474, + "10": 624, + "12": 2732, + "14": 81339, + "15": 10855, + "24": 39220, + "25": 440716 + }, + "instance_pixel_counts": { + "70": 730, + "620": 114, + "1132": 1284, + "2214": 181, + "3180": 803, + "4166": 1065, + "4678": 1313, + "6053": 315, + "6508": 4421, + "7786": 2975, + "7825": 393, + "8064": 300, + "8088": 125, + "8296": 32064, + "8298": 1587, + "8337": 456, + "8780": 2152, + "8808": 47483, + "8810": 2938, + "9320": 99269, + "9322": 865, + "9832": 25221, + "9834": 284, + "10344": 3563, + "10624": 3512, + "10856": 7649, + "11116": 1275, + "11136": 512, + "11368": 11147, + "12652": 339, + "17516": 623, + "20308": 16824, + "20820": 11185, + "20866": 3817, + "21332": 6582, + "21844": 6203, + "22356": 10217, + "22868": 6529, + "23380": 6538, + "25428": 3475, + "25698": 601, + "25928": 179, + "25940": 3101, + "26112": 3690, + "26210": 52, + "27234": 388, + "27476": 3706, + "27746": 242, + "27988": 4188, + "29839": 2886, + "30351": 11347, + "30863": 31142, + "31375": 11447, + "31812": 361, + "32324": 422, + "32360": 22718, + "33384": 219, + "33634": 88, + "34372": 1731, + "34408": 9426, + "34884": 253, + "34920": 2185, + "35170": 32, + "35399": 10436, + "35432": 179, + "36753": 532, + "39239": 430280, + "41367": 996, + "41796": 1653, + "41879": 3821, + "42391": 9667, + "42903": 1873, + "44869": 62, + "46672": 1828, + "46696": 1395, + "46917": 93, + "47184": 21, + "47208": 15, + "48232": 633, + "48708": 883, + "48744": 95, + "50756": 105, + "53926": 262, + "54950": 1031, + "55462": 76, + "56320": 734, + "56576": 579, + "56832": 500, + "57088": 660, + "57344": 206, + "57600": 53, + "58880": 8994, + "60833": 1037, + "61440": 4652, + "61601": 205, + "62113": 156, + "64837": 532 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 734, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -33.66718292236328, + "y": -27.187763214111328, + "z": 1.143970251083374 + }, + "extent": { + "x": 0.45244261622428894, + "y": 0.5652087330818176, + "z": 0.9006309509277344 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 616.647066571143, + "ymin": 323.3254837046124, + "xmax": 663.6709034021575, + "ymax": 396.2978341317236 + }, + "corners_3d": [ + [ + -33.58744430541992, + -27.907350540161133, + 0.24333930015563965 + ], + [ + -34.38677215576172, + -27.10802459716797, + 0.24333930015563965 + ], + [ + -33.74692153930664, + -26.468175888061523, + 0.24333930015563965 + ], + [ + -32.947593688964844, + -27.267501831054688, + 0.24333930015563965 + ], + [ + -33.58744430541992, + -27.907350540161133, + 2.0446012020111084 + ], + [ + -34.38677215576172, + -27.10802459716797, + 2.0446012020111084 + ], + [ + -33.74692153930664, + -26.468175888061523, + 2.0446012020111084 + ], + [ + -32.947593688964844, + -27.267501831054688, + 2.0446012020111084 + ] + ], + "corners_2d": [ + [ + 626.721772791826, + 396.2978341317236 + ], + [ + 662.6831822235475, + 388.0384849851476 + ], + [ + 652.8684196372283, + 368.745523031072 + ], + [ + 617.608969132383, + 376.646868510943 + ], + [ + 626.1379462530294, + 350.5791898989573 + ], + [ + 663.6709034021575, + 342.40159347652826 + ], + [ + 653.4160217656295, + 323.3254837046124 + ], + [ + 616.647066571143, + 331.1336392732875 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 579, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -29.541194915771484, + "y": -24.1900577545166, + "z": 1.1397465467453003 + }, + "extent": { + "x": 0.5084704756736755, + "y": 0.449493408203125, + "z": 0.9191358685493469 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 548.1655063353946, + "ymin": 234.16567605144846, + "xmax": 589.2584213668913, + "ymax": 303.205434780215 + }, + "corners_3d": [ + [ + -29.722822189331055, + -24.84396743774414, + 0.22061067819595337 + ], + [ + -30.212446212768555, + -24.09001350402832, + 0.22061067819595337 + ], + [ + -29.359567642211914, + -23.536148071289062, + 0.22061067819595337 + ], + [ + -28.869943618774414, + -24.290102005004883, + 0.22061067819595337 + ], + [ + -29.722822189331055, + -24.84396743774414, + 2.058882474899292 + ], + [ + -30.212446212768555, + -24.09001350402832, + 2.058882474899292 + ], + [ + -29.359567642211914, + -23.536148071289062, + 2.058882474899292 + ], + [ + -28.869943618774414, + -24.290102005004883, + 2.058882474899292 + ] + ], + "corners_2d": [ + [ + 565.3192298316776, + 303.205434780215 + ], + [ + 589.2584213668913, + 294.7722640990454 + ], + [ + 575.2290036216601, + 278.9871068382004 + ], + [ + 551.625887610162, + 287.08541348849513 + ], + [ + 562.3324570030838, + 257.8967060589987 + ], + [ + 587.2513181067837, + 249.62669827892694 + ], + [ + 572.7200562013397, + 234.16567605144846 + ], + [ + 548.1655063353946, + 242.09464364838962 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 500, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -35.92300796508789, + "y": -20.24505043029785, + "z": 1.1456841230392456 + }, + "extent": { + "x": 0.39415037631988525, + "y": 0.35726621747016907, + "z": 0.9588397145271301 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 775.0004618561875, + "ymin": 224.37218397186263, + "xmax": 811.6860950925895, + "ymax": 288.8102904038968 + }, + "corners_3d": [ + [ + -36.004486083984375, + -20.77074432373047, + 0.18684440851211548 + ], + [ + -36.45415496826172, + -20.2154483795166, + 0.18684440851211548 + ], + [ + -35.841529846191406, + -19.719356536865234, + 0.18684440851211548 + ], + [ + -35.39186096191406, + -20.2746524810791, + 0.18684440851211548 + ], + [ + -36.004486083984375, + -20.77074432373047, + 2.1045238971710205 + ], + [ + -36.45415496826172, + -20.2154483795166, + 2.1045238971710205 + ], + [ + -35.841529846191406, + -19.719356536865234, + 2.1045238971710205 + ], + [ + -35.39186096191406, + -20.2746524810791, + 2.1045238971710205 + ] + ], + "corners_2d": [ + [ + 786.8493436057048, + 288.8102904038968 + ], + [ + 804.9795326138346, + 283.5235802800261 + ], + [ + 792.9166800903381, + 270.94218591113065 + ], + [ + 775.0004618561875, + 276.0591524371896 + ], + [ + 792.8610176448362, + 241.84300002251067 + ], + [ + 811.6860950925895, + 236.670447655052 + ], + [ + 799.0285958052026, + 224.37218397186263 + ], + [ + 780.4337139599384, + 229.37205352599042 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 660, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -43.16718292236328, + "y": -27.187763214111328, + "z": 0.9972562789916992 + }, + "extent": { + "x": 0.2900732457637787, + "y": 0.3887622058391571, + "z": 0.8753442764282227 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 937.2302872124321, + "ymin": 437.92261260812813, + "xmax": 990.1087821549568, + "ymax": 505.21542947048573 + }, + "corners_3d": [ + [ + -43.0974006652832, + -27.66777229309082, + 0.12191200256347656 + ], + [ + -43.647193908691406, + -27.117979049682617, + 0.12191200256347656 + ], + [ + -43.23696517944336, + -26.707754135131836, + 0.12191200256347656 + ], + [ + -42.687171936035156, + -27.25754737854004, + 0.12191200256347656 + ], + [ + -43.0974006652832, + -27.66777229309082, + 1.8726005554199219 + ], + [ + -43.647193908691406, + -27.117979049682617, + 1.8726005554199219 + ], + [ + -43.23696517944336, + -26.707754135131836, + 1.8726005554199219 + ], + [ + -42.687171936035156, + -27.25754737854004, + 1.8726005554199219 + ] + ], + "corners_2d": [ + [ + 948.8889875141498, + 505.21542947048573 + ], + [ + 974.2406562233689, + 498.09201084216073 + ], + [ + 962.264876055117, + 482.45182947030554 + ], + [ + 937.2302872124321, + 489.35218168417 + ], + [ + 963.6636005449348, + 460.68998330179295 + ], + [ + 990.1087821549568, + 453.56006540342594 + ], + [ + 977.312608587391, + 437.92261260812813 + ], + [ + 951.2114993959392, + 444.81888379062565 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 206, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -37.28268051147461, + "y": -38.31512451171875, + "z": 1.1476225852966309 + }, + "extent": { + "x": 0.432098388671875, + "y": 0.3180175721645355, + "z": 0.9512736797332764 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 532.7566870342152, + "ymin": 689.2609172243078, + "xmax": 575.2971292284161, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -37.30746078491211, + -38.8510627746582, + 0.1963489055633545 + ], + [ + -37.801753997802734, + -38.4507942199707, + 0.1963489055633545 + ], + [ + -37.25790023803711, + -37.7791862487793, + 0.1963489055633545 + ], + [ + -36.763607025146484, + -38.1794548034668, + 0.1963489055633545 + ], + [ + -37.30746078491211, + -38.8510627746582, + 2.0988962650299072 + ], + [ + -37.801753997802734, + -38.4507942199707, + 2.0988962650299072 + ], + [ + -37.25790023803711, + -37.7791862487793, + 2.0988962650299072 + ], + [ + -36.763607025146484, + -38.1794548034668, + 2.0988962650299072 + ] + ], + "corners_2d": [ + [ + 545.0839638534707, + 780.1184832611308 + ], + [ + 575.2971292284161, + 773.6472037166352 + ], + [ + 568.6756287811831, + 734.9794508473442 + ], + [ + 539.3541484130413, + 741.0617458191091 + ], + [ + 538.6524230668181, + 735.669147458913 + ], + [ + 570.9365655426479, + 729.002260337342 + ], + [ + 564.0247052769017, + 689.2609172243078 + ], + [ + 532.7566870342152, + 695.501293913859 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 53, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -22.421844482421875, + "y": -35.35797882080078, + "z": 1.1323637962341309 + }, + "extent": { + "x": 0.4728417992591858, + "y": 0.520275890827179, + "z": 0.9048922657966614 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 109.26722567067338, + "ymin": 377.7584483054859, + "xmax": 179.79533186645614, + "ymax": 450.8808142532866 + }, + "corners_3d": [ + [ + -22.243032455444336, + -36.037899017333984, + 0.22747153043746948 + ], + [ + -23.115713119506836, + -35.47117614746094, + 0.22747153043746948 + ], + [ + -22.600656509399414, + -34.67805862426758, + 0.22747153043746948 + ], + [ + -21.727975845336914, + -35.244781494140625, + 0.22747153043746948 + ], + [ + -22.243032455444336, + -36.037899017333984, + 2.0372560024261475 + ], + [ + -23.115713119506836, + -35.47117614746094, + 2.0372560024261475 + ], + [ + -22.600656509399414, + -34.67805862426758, + 2.0372560024261475 + ], + [ + -21.727975845336914, + -35.244781494140625, + 2.0372560024261475 + ] + ], + "corners_2d": [ + [ + 133.0798335403365, + 450.8808142532866 + ], + [ + 171.5544815979755, + 447.85041374550326 + ], + [ + 179.79533186645614, + 423.8904567763584 + ], + [ + 142.3257595929544, + 426.7687882673561 + ], + [ + 109.26722567067338, + 404.60020378496296 + ], + [ + 149.62291238994646, + 401.5829077559856 + ], + [ + 158.82119502881517, + 377.7584483054859 + ], + [ + 119.5697398828404, + 380.6175139559188 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 8994, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 1103.1008694594034, + "ymin": 348.0925689424581, + "xmax": 1205.3297774959524, + "ymax": 512.9310825849483 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 1186.3222375996095, + 402.3870948795871 + ], + [ + 1121.6002558232908, + 383.9219955816581 + ], + [ + 1103.1008694594034, + 489.7034215253548 + ], + [ + 1175.3470211835152, + 512.9310825849483 + ], + [ + 1205.3297774959524, + 366.4224437127557 + ], + [ + 1138.0000518733705, + 348.0925689424581 + ], + [ + 1120.8381655646697, + 453.45544565765414 + ], + [ + 1196.3533464735367, + 476.7072316908966 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 4652, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 1040.4439476048924, + "ymin": 135.17077860165426, + "xmax": 1123.4057700319727, + "ymax": 250.69824943478017 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 1106.2736559436437, + 191.1826027352291 + ], + [ + 1058.7677984871493, + 180.5649763085769 + ], + [ + 1040.4439476048924, + 238.1798371836408 + ], + [ + 1091.7491185394838, + 250.69824943478017 + ], + [ + 1123.4057700319727, + 145.44041536758257 + ], + [ + 1073.908153845342, + 135.17077860165426 + ], + [ + 1056.202305205568, + 191.03803492058637 + ], + [ + 1109.841645640186, + 203.22229486217836 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 274752244277470567, + "instance_id": 26469, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -43.60569763183594, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1111.828395056799, + "ymin": 25.441421194152042, + "xmax": 1129.7677503799341, + "ymax": 55.053945577748095 + }, + "corners_3d": [ + [ + -43.74428176879883, + -9.655923843383789, + 5.545533180236816 + ], + [ + -43.74428176879883, + -9.276008605957031, + 5.545533180236816 + ], + [ + -43.46711349487305, + -9.276008605957031, + 5.545533180236816 + ], + [ + -43.46711349487305, + -9.655923843383789, + 5.545533180236816 + ], + [ + -43.74428176879883, + -9.655923843383789, + 6.416468620300293 + ], + [ + -43.74428176879883, + -9.276008605957031, + 6.416468620300293 + ], + [ + -43.46711349487305, + -9.276008605957031, + 6.416468620300293 + ], + [ + -43.46711349487305, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1120.1796227808968, + 55.053945577748095 + ], + [ + 1121.4092503410234, + 50.940015981243164 + ], + [ + 1113.1168052756057, + 49.45051934954347 + ], + [ + 1111.828395056799, + 53.54200610187547 + ], + [ + 1128.5805302649699, + 30.89211690705315 + ], + [ + 1129.7677503799341, + 26.890130094499114 + ], + [ + 1121.3085868155217, + 25.441421194152042 + ], + [ + 1120.0601688005304, + 29.42119691561527 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 954.8353168184328, + "ymin": 74.86339698796417, + "xmax": 969.2649073384832, + "ymax": 101.24851839176705 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 962.0228429598992, + 101.24851839176705 + ], + [ + 964.1993367177963, + 97.22104298611657 + ], + [ + 957.0547439549073, + 95.7535089539112 + ], + [ + 954.8353168184328, + 99.76102947030995 + ], + [ + 967.0890786763108, + 80.24796232219279 + ], + [ + 969.2649073384832, + 76.30128264122203 + ], + [ + 961.9962440041859, + 74.86339698796417 + ], + [ + 959.7759537293198, + 78.79021666166187 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18114159193525624905, + "instance_id": 18848, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -46.60569763183594, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1204.7289378570931, + "ymin": 41.56147880776393, + "xmax": 1224.425957748123, + "ymax": 71.9670426907872 + }, + "corners_3d": [ + [ + -46.74428176879883, + -9.655922889709473, + 5.545533180236816 + ], + [ + -46.74428176879883, + -9.276007652282715, + 5.545533180236816 + ], + [ + -46.46711349487305, + -9.276007652282715, + 5.545533180236816 + ], + [ + -46.46711349487305, + -9.655922889709473, + 5.545533180236816 + ], + [ + -46.74428176879883, + -9.655922889709473, + 6.416468620300293 + ], + [ + -46.74428176879883, + -9.276007652282715, + 6.416468620300293 + ], + [ + -46.46711349487305, + -9.276007652282715, + 6.416468620300293 + ], + [ + -46.46711349487305, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1213.5995130385195, + 71.9670426907872 + ], + [ + 1214.1484622560745, + 67.59790764033255 + ], + [ + 1205.3443430268223, + 66.01650365455333 + ], + [ + 1204.7289378570931, + 70.36107851799028 + ], + [ + 1223.9481538977147, + 47.35597835537175 + ], + [ + 1224.425957748123, + 43.10120050307097 + ], + [ + 1215.4353607262544, + 41.56147880776393 + ], + [ + 1214.8882344177086, + 45.791911329500124 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1358148318300121759, + "instance_id": 40874, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 264.71855302723765, + "xmax": 117.34707283135913, + "ymax": 444.04601287928995 + }, + "corners_3d": [ + [ + -26.246047973632812, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246047973632812, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.197628021240234 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 117.34707283135913, + 272.0169937727825 + ], + [ + 107.37055836277762, + 268.2650028504581 + ], + [ + -154.6899524076165, + 438.43223348241634 + ], + [ + -144.05368920563808, + 444.04601287928995 + ], + [ + 115.75207957705652, + 268.46454012515255 + ], + [ + 105.75307995323897, + 264.71855302723765 + ], + [ + -157.64227758236905, + 434.725842333176 + ], + [ + -146.98405659070693, + 440.33826315575595 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 68.31834348410234, + "ymax": 289.2260956559183 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 68.31834348410234, + 207.17022820776248 + ], + [ + 59.455964187592826, + 204.04347798602078 + ], + [ + -82.76336908130577, + 285.3295960852573 + ], + [ + -73.57619586229418, + 289.2260956559183 + ], + [ + -33.27476936685002, + -11.221474927987913 + ], + [ + -43.17255378733876, + -13.758883224229578 + ], + [ + -228.3470224193179, + 53.534544932055155 + ], + [ + -218.17088386658588, + 56.83116638957915 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7806990106475075983, + "instance_id": 36761, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 420.99571129177605, + "ymin": 0.0, + "xmax": 531.1098179658557, + "ymax": 66.30939118196846 + }, + "corners_3d": [ + [ + -26.247940063476562, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.247940063476562, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.198223114013672 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 531.1098179658557, + -0.21911186143591976 + ], + [ + 523.2500013948234, + -1.80642514031274 + ], + [ + 421.48815676634945, + 64.26878652478382 + ], + [ + 430.0314140278448, + 66.30939118196846 + ], + [ + 530.8926999696445, + -3.0830077961954885 + ], + [ + 523.0179577227982, + -4.664296432456126 + ], + [ + 420.99571129177605, + 61.17718859401083 + ], + [ + 429.556495884432, + 63.21113176437797 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 252.65720073204653, + "xmax": 232.25562781433086, + "ymax": 692.121233109197 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 232.25562781433086, + 513.8742703489294 + ], + [ + 218.51043423986732, + 507.43997838211186 + ], + [ + 31.756668557795933, + 683.2262580129477 + ], + [ + 46.51873357412137, + 692.121233109197 + ], + [ + 119.47314828225137, + 258.7864961915696 + ], + [ + 102.87221619729587, + 252.65720073204653 + ], + [ + -174.23628022151001, + 428.25242445551254 + ], + [ + -156.50878801094598, + 437.6100406354169 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 935.3721655648071, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 239.79641489522618 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 938.0318099029113, + 157.63046413997836 + ], + [ + 935.3721655648071, + 162.44454659544857 + ], + [ + 1264.7242519613997, + 239.79641489522618 + ], + [ + 1265.0069560016466, + 233.7907825280809 + ], + [ + 987.7367334179589, + -55.58871617282546 + ], + [ + 985.0570903842632, + -51.798197296522005 + ], + [ + 1384.5125848573643, + 10.410581305432174 + ], + [ + 1383.6862694805604, + 5.491056736233702 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1212.6924628251995, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 55.11379681317305 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1483.8166925250266, + 55.11379681317305 + ], + [ + 1482.6872813749105, + 51.73637885448858 + ], + [ + 1213.180634180111, + 7.672149008640531 + ], + [ + 1212.6924628251995, + 10.526989247468691 + ], + [ + 1599.4651717567162, + -134.15556449905813 + ], + [ + 1597.3774786941387, + -136.67590070704875 + ], + [ + 1284.1436097892552, + -169.17489684079692 + ], + [ + 1284.0465673745593, + -167.0906718140858 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13681264316117260208, + "instance_id": 45207, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 264.6044779682604, + "xmax": 117.52465033874466, + "ymax": 444.2073256712369 + }, + "corners_3d": [ + [ + -26.24793815612793, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.24793815612793, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.198223114013672 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 117.52465033874466, + 271.99663997073776 + ], + [ + 107.41954346998932, + 268.1967186196304 + ], + [ + -154.89328822428888, + 438.51966657776455 + ], + [ + -144.1192920572255, + 444.2073256712369 + ], + [ + 115.9096042274939, + 268.3982380408772 + ], + [ + 105.7814270641577, + 264.6044779682604 + ], + [ + -157.88489825038675, + 434.76524644385523 + ], + [ + -147.08837421316946, + 440.4515158498724 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15102510933830370440, + "instance_id": 34948, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 421.1088126643265, + "ymin": 0.0, + "xmax": 531.0153618352186, + "ymax": 66.2405604306444 + }, + "corners_3d": [ + [ + -26.246049880981445, + -20.196584701538086, + 8.10662841796875 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.10662841796875 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.10662841796875 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.10662841796875 + ], + [ + -26.246049880981445, + -20.196584701538086, + 8.197628021240234 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.197628021240234 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.197628021240234 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 531.0153618352186, + -0.21927148087451087 + ], + [ + 523.2555373731988, + -1.7864241259889013 + ], + [ + 421.59469694106, + 64.226353385538 + ], + [ + 430.0286083844305, + 66.2405604306444 + ], + [ + 530.8008293225417, + -3.0466113386956977 + ], + [ + 523.0264571269951, + -4.607892133809571 + ], + [ + 421.1088126643265, + 61.17436457337544 + ], + [ + 429.5598050260089, + 63.18207968595664 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 414.993834329313, + "ymin": 0.0, + "xmax": 550.5094725193549, + "ymax": 290.8285420948119 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 550.5094725193549, + 208.4551656224989 + ], + [ + 539.4842551299128, + 205.31701006600966 + ], + [ + 452.79404194972835, + 286.9161097274149 + ], + [ + 464.6747010223154, + 290.8285420948119 + ], + [ + 534.5719633375405, + -10.177565188383653 + ], + [ + 521.677062013073, + -12.725874897366339 + ], + [ + 414.993834329313, + 54.87601068555108 + ], + [ + 429.06068067641286, + 58.18883487455895 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 980.4091836825431, + "ymin": 0.0, + "xmax": 1082.772275170651, + "ymax": 70.7464779456534 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1036.1221386787556, + -14.3245866984945 + ], + [ + 1028.1221524461025, + -15.65172551795041 + ], + [ + 980.4091836825431, + 68.91053524640245 + ], + [ + 989.6658824033962, + 70.7464779456534 + ], + [ + 1082.772275170651, + -185.1365009595595 + ], + [ + 1073.6895562470988, + -186.09403448765988 + ], + [ + 1028.3952032810844, + -123.81591247702625 + ], + [ + 1039.139500104246, + -122.4346412596775 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00129/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00129/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2e1be604db06cae8485276edc238624367f93b34 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00129/meta.json @@ -0,0 +1,2503 @@ +{ + "frame_id": 129, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 64.5, + "sim_timestamp": 14647.777261802228 + }, + "drone_pose": { + "x": -42.23586064866021, + "y": -44.1011775024544, + "z": 20.0, + "pitch": -41.65771637580373, + "yaw": 63.16423142607726, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.33727991580963135, + -0.6666662693023682, + 0.6646791100502014, + 30.352489471435547 + ], + [ + 0.8923041820526123, + 0.4514346718788147, + 0.0, + -17.778430938720703 + ], + [ + -0.3000591993331909, + 0.5930959582328796, + 0.747128963470459, + -53.772071838378906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -42.01836652893442, + "y": -43.61140263710966, + "z": 20.0 + }, + "t1_image_uv": [ + 704.8937155614344, + -494.0587669087623 + ], + "t1_depth": 0.3998727642389126 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -32.66718292236328, + "y": -25.187763214111328, + "z": 1.142959464788437 + }, + "image_uv": [ + 639.9999999999999, + 359.99999999999994 + ], + "depth": 28.370139428963736, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 709, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -32.66718292236328, + "y": -25.187763214111328, + "z": 1.142959475517273 + }, + "extent": { + "x": 0.6103003025054932, + "y": 0.4908789098262787, + "z": 0.889092743396759 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 617.5640796293276, + "ymin": 320.97812500634615, + "xmax": 662.9570558621834, + "ymax": 398.90272148455404 + }, + "corners_3d": [ + [ + -32.751625061035156, + -25.966415405273438, + 0.2538667321205139 + ], + [ + -33.44583511352539, + -25.272207260131836, + 0.2538667321205139 + ], + [ + -32.582740783691406, + -24.40911102294922, + 0.2538667321205139 + ], + [ + -31.888530731201172, + -25.10331916809082, + 0.2538667321205139 + ], + [ + -32.751625061035156, + -25.966415405273438, + 2.0320522785186768 + ], + [ + -33.44583511352539, + -25.272207260131836, + 2.0320522785186768 + ], + [ + -32.582740783691406, + -24.40911102294922, + 2.0320522785186768 + ], + [ + -31.888530731201172, + -25.10331916809082, + 2.0320522785186768 + ] + ], + "corners_2d": [ + [ + 630.6693702707043, + 398.90272148455404 + ], + [ + 662.0097303252994, + 391.77385110884455 + ], + [ + 648.9843396027236, + 365.76200581896296 + ], + [ + 618.4697322595719, + 372.4767679315066 + ], + [ + 630.2643964053335, + 353.7561772788733 + ], + [ + 662.9570558621834, + 346.6964077074078 + ], + [ + 649.3592076302896, + 320.97812500634615 + ], + [ + 617.5640796293276, + 327.6108871687802 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 129, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 92, + "semantic_pixel_counts": { + "1": 248943, + "2": 77015, + "5": 2430, + "6": 8814, + "7": 522, + "10": 622, + "12": 3135, + "14": 71273, + "15": 12285, + "24": 41586, + "25": 454975 + }, + "instance_pixel_counts": { + "70": 857, + "108": 1, + "1132": 1560, + "3180": 1010, + "4166": 1283, + "4678": 1613, + "6053": 466, + "6508": 4715, + "7786": 3377, + "7825": 449, + "8064": 375, + "8088": 846, + "8296": 36179, + "8298": 1879, + "8337": 521, + "8780": 2430, + "8808": 55868, + "8810": 2415, + "9320": 79627, + "9322": 1100, + "9624": 590, + "9832": 32614, + "10624": 3778, + "10856": 10, + "11116": 927, + "11136": 589, + "11368": 275, + "12652": 385, + "17516": 1096, + "20308": 1700, + "20820": 12217, + "20866": 2888, + "21332": 6940, + "21844": 6976, + "22356": 11774, + "22868": 7040, + "23380": 7347, + "25428": 3775, + "25698": 695, + "25856": 5, + "25940": 3379, + "26112": 4311, + "26210": 61, + "27234": 430, + "27476": 1665, + "27746": 120, + "27988": 4547, + "29327": 266, + "29839": 3296, + "30351": 13251, + "30863": 27308, + "31375": 14026, + "31812": 411, + "32324": 476, + "32360": 26014, + "33384": 2040, + "33634": 49, + "34372": 530, + "34408": 16316, + "35399": 13111, + "36753": 610, + "39239": 441864, + "41367": 1152, + "41796": 2042, + "41879": 4416, + "42391": 8243, + "42903": 2448, + "44869": 25, + "46672": 2132, + "46696": 1802, + "46917": 106, + "47208": 52, + "48232": 1037, + "48708": 1043, + "50756": 123, + "53926": 290, + "54950": 1105, + "55462": 80, + "56320": 709, + "56576": 388, + "56832": 496, + "57088": 741, + "57344": 234, + "57487": 865, + "57600": 567, + "58880": 10889, + "59023": 308, + "60833": 1053, + "61440": 5309, + "61601": 229, + "62113": 103, + "64837": 718 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 709, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -32.66718292236328, + "y": -25.187763214111328, + "z": 1.142959475517273 + }, + "extent": { + "x": 0.4510583281517029, + "y": 0.5732531547546387, + "z": 0.9072854518890381 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 616.4651223774823, + "ymin": 323.2097302201929, + "xmax": 663.8534269259101, + "ymax": 396.40499843031216 + }, + "corners_3d": [ + [ + -32.580780029296875, + -25.91206169128418, + 0.23567402362823486 + ], + [ + -33.3914794921875, + -25.10135841369629, + 0.23567402362823486 + ], + [ + -32.75358581542969, + -24.463464736938477, + 0.23567402362823486 + ], + [ + -31.94288444519043, + -25.274168014526367, + 0.23567402362823486 + ], + [ + -32.580780029296875, + -25.91206169128418, + 2.0502448081970215 + ], + [ + -33.3914794921875, + -25.10135841369629, + 2.0502448081970215 + ], + [ + -32.75358581542969, + -24.463464736938477, + 2.0502448081970215 + ], + [ + -31.94288444519043, + -25.274168014526367, + 2.0502448081970215 + ] + ], + "corners_2d": [ + [ + 626.3984755413106, + 396.40499843031216 + ], + [ + 662.8540074458373, + 388.14467759277926 + ], + [ + 653.1820901135426, + 368.94549656151224 + ], + [ + 617.4385690639439, + 376.84856525558155 + ], + [ + 625.7978574648783, + 350.3622883562374 + ], + [ + 663.8534269259101, + 342.1865283516321 + ], + [ + 653.7454692932159, + 323.2097302201929 + ], + [ + 616.4651223774823, + 331.01688658785184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 388, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -28.541194915771484, + "y": -22.1900577545166, + "z": 1.1388920545578003 + }, + "extent": { + "x": 0.5077770948410034, + "y": 0.4533007740974426, + "z": 0.9299060106277466 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 548.7484218042474, + "ymin": 234.068382732651, + "xmax": 589.9103099030111, + "ymax": 303.5443077857947 + }, + "corners_3d": [ + [ + -28.72016716003418, + -22.846782684326172, + 0.2089860439300537 + ], + [ + -29.213937759399414, + -22.086442947387695, + 0.2089860439300537 + ], + [ + -28.36222267150879, + -21.53333282470703, + 0.2089860439300537 + ], + [ + -27.868452072143555, + -22.293672561645508, + 0.2089860439300537 + ], + [ + -28.72016716003418, + -22.846782684326172, + 2.068798065185547 + ], + [ + -29.213937759399414, + -22.086442947387695, + 2.068798065185547 + ], + [ + -28.36222267150879, + -21.53333282470703, + 2.068798065185547 + ], + [ + -27.868452072143555, + -22.293672561645508, + 2.068798065185547 + ] + ], + "corners_2d": [ + [ + 565.7740608212015, + 303.5443077857947 + ], + [ + 589.9103099030111, + 295.119711499782 + ], + [ + 576.0101864980558, + 279.37400938688904 + ], + [ + 552.2151471174359, + 287.46406088523236 + ], + [ + 562.78004749587, + 257.74068475910383 + ], + [ + 587.9120600290508, + 249.48309847204183 + ], + [ + 573.5103356810423, + 234.068382732651 + ], + [ + 548.7484218042474, + 241.9853114965717 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 496, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -34.92300796508789, + "y": -18.24505043029785, + "z": 1.1441704034805298 + }, + "extent": { + "x": 0.36384397745132446, + "y": 0.3858117461204529, + "z": 0.9277439713478088 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 775.2268407765371, + "ymin": 226.12817356397358, + "xmax": 812.1828870252068, + "ymax": 288.4024616570914 + }, + "corners_3d": [ + [ + -34.96297073364258, + -18.77385711669922, + 0.21642643213272095 + ], + [ + -35.44856643676758, + -18.174192428588867, + 0.21642643213272095 + ], + [ + -34.8830451965332, + -17.716243743896484, + 0.21642643213272095 + ], + [ + -34.3974494934082, + -18.315908432006836, + 0.21642643213272095 + ], + [ + -34.96297073364258, + -18.77385711669922, + 2.0719144344329834 + ], + [ + -35.44856643676758, + -18.174192428588867, + 2.0719144344329834 + ], + [ + -34.8830451965332, + -17.716243743896484, + 2.0719144344329834 + ], + [ + -34.3974494934082, + -18.315908432006836, + 2.0719144344329834 + ] + ], + "corners_2d": [ + [ + 786.0939216820268, + 288.4024616570914 + ], + [ + 805.6935665710112, + 282.7595429262194 + ], + [ + 794.611022869693, + 271.1600369541151 + ], + [ + 775.2268407765371, + 276.63509907177473 + ], + [ + 791.8588335022949, + 242.99626159104133 + ], + [ + 812.1828870252068, + 237.4726234335427 + ], + [ + 800.5723959648955, + 226.12817356397358 + ], + [ + 780.4795679896195, + 231.48119423194254 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 741, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -42.16718292236328, + "y": -25.187763214111328, + "z": 0.9972758889198303 + }, + "extent": { + "x": 0.3620581030845642, + "y": 0.4156286418437958, + "z": 0.8824792504310608 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 934.1352692177902, + "ymin": 436.1438933817335, + "xmax": 991.8224004735084, + "ymax": 508.11110210960203 + }, + "corners_3d": [ + [ + -42.129302978515625, + -25.7376708984375, + 0.11479663848876953 + ], + [ + -42.71709060668945, + -25.149883270263672, + 0.11479663848876953 + ], + [ + -42.20506286621094, + -24.637855529785156, + 0.11479663848876953 + ], + [ + -41.61727523803711, + -25.225643157958984, + 0.11479663848876953 + ], + [ + -42.129302978515625, + -25.7376708984375, + 1.8797551393508911 + ], + [ + -42.71709060668945, + -25.149883270263672, + 1.8797551393508911 + ], + [ + -42.20506286621094, + -24.637855529785156, + 1.8797551393508911 + ], + [ + -41.61727523803711, + -25.225643157958984, + 1.8797551393508911 + ] + ], + "corners_2d": [ + [ + 948.5655380984808, + 508.11110210960203 + ], + [ + 975.7559418926915, + 500.5581369228504 + ], + [ + 960.8988799547349, + 481.045979792228 + ], + [ + 934.1352692177902, + 488.3044259277143 + ], + [ + 963.4484262877681, + 463.2080141482809 + ], + [ + 991.8224004735084, + 455.6482384430966 + ], + [ + 975.9390445329408, + 436.1438933817335 + ], + [ + 948.0285190429449, + 443.39515859660935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 234, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -36.28268051147461, + "y": -36.31512451171875, + "z": 1.1466069221496582 + }, + "extent": { + "x": 0.397918701171875, + "y": 0.35111936926841736, + "z": 0.9435496926307678 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 529.58320033385, + "ymin": 689.1870895785905, + "xmax": 574.6348390162877, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -36.26022720336914, + -36.845333099365234, + 0.20305722951889038 + ], + [ + -36.80596923828125, + -36.40340042114258, + 0.20305722951889038 + ], + [ + -36.30513381958008, + -35.784915924072266, + 0.20305722951889038 + ], + [ + -35.75939178466797, + -36.22684860229492, + 0.20305722951889038 + ], + [ + -36.26022720336914, + -36.845333099365234, + 2.0901565551757812 + ], + [ + -36.80596923828125, + -36.40340042114258, + 2.0901565551757812 + ], + [ + -36.30513381958008, + -35.784915924072266, + 2.0901565551757812 + ], + [ + -35.75939178466797, + -36.22684860229492, + 2.0901565551757812 + ] + ], + "corners_2d": [ + [ + 541.3416980195774, + 777.096063173703 + ], + [ + 574.6348390162877, + 770.11206688759 + ], + [ + 568.6941174320568, + 734.620172124022 + ], + [ + 536.308813820707, + 741.2164955241585 + ], + [ + 534.744228758517, + 732.8277543762019 + ], + [ + 570.2893580285789, + 725.6388502769552 + ], + [ + 564.0953685466226, + 689.1870895785905 + ], + [ + 529.58320033385, + 695.9515292953404 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 567, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -21.421844482421875, + "y": -33.35797882080078, + "z": 1.1313481330871582 + }, + "extent": { + "x": 0.47724729776382446, + "y": 0.4452160596847534, + "z": 0.9263404011726379 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 113.15301179821756, + "ymin": 375.97234499234185, + "xmax": 178.47737229824457, + "ymax": 449.7463456296692 + }, + "corners_3d": [ + [ + -21.308382034301758, + -34.00071334838867, + 0.20500773191452026 + ], + [ + -22.05516242980957, + -33.515750885009766, + 0.20500773191452026 + ], + [ + -21.535306930541992, + -32.71524429321289, + 0.20500773191452026 + ], + [ + -20.78852653503418, + -33.2002067565918, + 0.20500773191452026 + ], + [ + -21.308382034301758, + -34.00071334838867, + 2.0576884746551514 + ], + [ + -22.05516242980957, + -33.515750885009766, + 2.0576884746551514 + ], + [ + -21.535306930541992, + -32.71524429321289, + 2.0576884746551514 + ], + [ + -20.78852653503418, + -33.2002067565918, + 2.0576884746551514 + ] + ], + "corners_2d": [ + [ + 137.22702264939426, + 449.7463456296692 + ], + [ + 170.0087164627904, + 447.25123687860383 + ], + [ + 178.47737229824457, + 423.18342978700247 + ], + [ + 146.55789153396313, + 425.5524171814508 + ], + [ + 113.15301179821756, + 402.3744818429283 + ], + [ + 147.5667088807039, + 399.8914475802505 + ], + [ + 157.02939457215007, + 375.97234499234185 + ], + [ + 123.56455969291324, + 378.32410682263696 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 10889, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 1133.7536994539191, + "ymin": 402.3798712491357, + "xmax": 1241.2736908738298, + "ymax": 584.9382882465047 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 1219.8334186216082, + 459.48988818387727 + ], + [ + 1150.4500776818932, + 438.53431548736995 + ], + [ + 1133.7536994539191, + 558.1836174252121 + ], + [ + 1211.8403862055693, + 584.9382882465047 + ], + [ + 1241.2736908738298, + 423.26787182692857 + ], + [ + 1168.895002507944, + 402.3798712491357 + ], + [ + 1153.9780992398137, + 522.1015500182239 + ], + [ + 1235.8838544373368, + 549.0251324178744 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 5309, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 1060.9291290558454, + "ymin": 166.72882232630715, + "xmax": 1147.657228327557, + "ymax": 290.1479197475389 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 1128.8540460562492, + 224.7971747019326 + ], + [ + 1078.814503898649, + 213.0887296663767 + ], + [ + 1060.9291290558454, + 276.23452877726106 + ], + [ + 1115.1944004714771, + 290.1479197475389 + ], + [ + 1147.657228327557, + 178.09049063503673 + ], + [ + 1095.4075754457504, + 166.72882232630715 + ], + [ + 1078.3258200495136, + 228.17391942168655 + ], + [ + 1135.2036388762165, + 241.76852497115937 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 274752244277470567, + "instance_id": 26469, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -43.60569763183594, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1137.0331826592428, + "ymin": 54.280458341301426, + "xmax": 1156.2657635050532, + "ymax": 85.21378349029527 + }, + "corners_3d": [ + [ + -43.74428176879883, + -9.655923843383789, + 5.545533180236816 + ], + [ + -43.74428176879883, + -9.276008605957031, + 5.545533180236816 + ], + [ + -43.46711349487305, + -9.276008605957031, + 5.545533180236816 + ], + [ + -43.46711349487305, + -9.655923843383789, + 5.545533180236816 + ], + [ + -43.74428176879883, + -9.655923843383789, + 6.416468620300293 + ], + [ + -43.74428176879883, + -9.276008605957031, + 6.416468620300293 + ], + [ + -43.46711349487305, + -9.276008605957031, + 6.416468620300293 + ], + [ + -43.46711349487305, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1145.8875029021103, + 85.21378349029527 + ], + [ + 1147.0175190742036, + 80.67367664344994 + ], + [ + 1138.2291357751913, + 79.01587291729965 + ], + [ + 1137.0331826592428, + 83.52972299962676 + ], + [ + 1155.1893694159958, + 60.31989417876099 + ], + [ + 1156.2657635050532, + 55.895640820948756 + ], + [ + 1147.29038512549, + 54.280458341301426 + ], + [ + 1146.1451866588982, + 58.678658421452496 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 970.3377050690373, + "ymin": 102.98275318458366, + "xmax": 985.6430717136834, + "ymax": 130.4041439441217 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 977.8921040194017, + 130.4041439441217 + ], + [ + 980.0906849583623, + 126.00617617198372 + ], + [ + 972.58362029414, + 124.38982223713089 + ], + [ + 970.3377050690373, + 128.76481020486187 + ], + [ + 983.4483668362772, + 108.88436987268094 + ], + [ + 985.6430717136834, + 104.5686338897944 + ], + [ + 977.9990605847356, + 102.98275318458366 + ], + [ + 975.7552501300955, + 107.27557101528743 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18114159193525624905, + "instance_id": 18848, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -46.60569763183594, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1235.6961181658562, + "ymin": 72.28373380645121, + "xmax": 1256.9078731597515, + "ymax": 104.09048845378544 + }, + "corners_3d": [ + [ + -46.74428176879883, + -9.655922889709473, + 5.545533180236816 + ], + [ + -46.74428176879883, + -9.276007652282715, + 5.545533180236816 + ], + [ + -46.46711349487305, + -9.276007652282715, + 5.545533180236816 + ], + [ + -46.46711349487305, + -9.655922889709473, + 5.545533180236816 + ], + [ + -46.74428176879883, + -9.655922889709473, + 6.416468620300293 + ], + [ + -46.74428176879883, + -9.276007652282715, + 6.416468620300293 + ], + [ + -46.46711349487305, + -9.276007652282715, + 6.416468620300293 + ], + [ + -46.46711349487305, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1245.1360167151345, + 104.09048845378544 + ], + [ + 1245.4995451871048, + 99.25090033656647 + ], + [ + 1236.1347144722342, + 97.48435802657855 + ], + [ + 1235.6961181658562, + 102.29505307122139 + ], + [ + 1256.6322633119014, + 78.72858847714997 + ], + [ + 1256.9078731597515, + 74.00688457493169 + ], + [ + 1247.3325275437442, + 72.28373380645121 + ], + [ + 1246.9784147743972, + 76.97671752243383 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1358148318300121759, + "instance_id": 40874, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 332.13796050644436, + "xmax": 70.35065879675403, + "ymax": 547.1402737792898 + }, + "corners_3d": [ + [ + -26.246047973632812, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246047973632812, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.197628021240234 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 70.35065879675403, + 340.2370399203327 + ], + [ + 59.8107619580677, + 335.77365351851125 + ], + [ + -243.25444677698317, + 540.1977710167068 + ], + [ + -232.13502393404258, + 547.1402737792898 + ], + [ + 68.46338458976231, + 336.5965143671557 + ], + [ + 57.89888599272376, + 332.13796050644436 + ], + [ + -246.88494679803296, + 536.5030241690558 + ], + [ + -235.74398175063845, + 543.4493516937815 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 13.475614775706731, + "xmax": 43.267045631112296, + "ymax": 330.2298990891403 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 43.267045631112296, + 240.31690654523322 + ], + [ + 34.16937172857968, + 236.87841097077913 + ], + [ + -118.78794672309982, + 325.9004271794886 + ], + [ + -109.38393019953162, + 330.2298990891403 + ], + [ + -68.24156809212127, + 16.309323948025394 + ], + [ + -78.41071378985453, + 13.475614775706731 + ], + [ + -280.6276058737641, + 88.47305003838198 + ], + [ + -270.24293018880064, + 92.2091223701184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7806990106475075983, + "instance_id": 36761, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 407.6071167631418, + "ymin": 23.941789189302824, + "xmax": 525.9426934413855, + "ymax": 103.09303185483367 + }, + "corners_3d": [ + [ + -26.247940063476562, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.247940063476562, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.198223114013672 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 525.9426934413855, + 28.67562605427611 + ], + [ + 517.6907371122661, + 26.897349272304837 + ], + [ + 408.16130376805944, + 100.77352093756298 + ], + [ + 417.1609202977216, + 103.09303185483367 + ], + [ + 525.7031665638203, + 25.713690502320162 + ], + [ + 517.4347562758827, + 23.941789189302824 + ], + [ + 407.6071167631418, + 97.57442802685807 + ], + [ + 416.6261638533623, + 99.88700057679091 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 319.15992266229813, + "xmax": 203.4135457921535, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 203.4135457921535, + 583.4970485467413 + ], + [ + 188.99557770880716, + 576.1102336868183 + ], + [ + -19.104703174147176, + 778.3707378970189 + ], + [ + -3.64948223997294, + 788.8272507351185 + ], + [ + 72.25294908049045, + 326.45948511731757 + ], + [ + 54.70886820358453, + 319.15992266229813 + ], + [ + -266.35810482470697, + 530.5144144183124 + ], + [ + -247.84209811938217, + 542.1284308864174 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 949.3525755888099, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 278.43427048890345 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 952.0589398945139, + 187.75698718571996 + ], + [ + 949.3525755888099, + 192.99306085748137 + ], + [ + 1296.816988302537, + 278.43427048890345 + ], + [ + 1296.8824897149134, + 271.8211796341837 + ], + [ + 1006.6782156491338, + -31.260938152882034 + ], + [ + 1003.9874138797923, + -27.079143915076372 + ], + [ + 1430.1722453501088, + 42.78481844067869 + ], + [ + 1428.879890642325, + 37.265558046946296 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1234.181194904258, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 77.85498092669599 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1517.6497303241176, + 77.85498092669599 + ], + [ + 1516.2955967615817, + 74.22216961503568 + ], + [ + 1234.5902398836115, + 26.59098316677057 + ], + [ + 1234.181194904258, + 29.638705230859046 + ], + [ + 1642.9670171782589, + -116.51112295164796 + ], + [ + 1640.5120769191021, + -119.24926374227493 + ], + [ + 1310.9034029846334, + -154.69639753205058 + ], + [ + 1310.9459381425672, + -152.45322848555395 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13681264316117260208, + "instance_id": 45207, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 332.0067843952057, + "xmax": 70.54761431452243, + "ymax": 547.3330405341014 + }, + "corners_3d": [ + [ + -26.24793815612793, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.24793815612793, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.198223114013672 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 70.54761431452243, + 340.2097751136661 + ], + [ + 59.871853835910656, + 335.6894534578363 + ], + [ + -243.48404362326278, + 540.2990448522413 + ], + [ + -232.2207460177782, + 547.3330405341014 + ], + [ + 68.63662947323712, + 336.52214562102347 + ], + [ + 57.93562658966937, + 332.0067843952057 + ], + [ + -247.16290269481033, + 536.5564778483453 + ], + [ + -235.8775064539616, + 543.5944058860767 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15102510933830370440, + "instance_id": 34948, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 407.72819479479574, + "ymin": 24.003109158035613, + "xmax": 525.8426500674489, + "ymax": 103.01714597603541 + }, + "corners_3d": [ + [ + -26.246049880981445, + -20.196584701538086, + 8.10662841796875 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.10662841796875 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.10662841796875 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.10662841796875 + ], + [ + -26.246049880981445, + -20.196584701538086, + 8.197628021240234 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.197628021240234 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.197628021240234 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 525.8426500674489, + 28.67672797738868 + ], + [ + 517.6956560743284, + 26.92102401375257 + ], + [ + 408.27499469379654, + 100.72765456570602 + ], + [ + 417.15941776179136, + 103.01714597603541 + ], + [ + 525.6059729754857, + 25.75259936880275 + ], + [ + 517.4429416153471, + 24.003109158035613 + ], + [ + 407.72819479479574, + 97.56954749394123 + ], + [ + 416.63155349956713, + 99.85227705469111 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 401.1347344145987, + "ymin": 15.478337428854957, + "xmax": 547.0165007243777, + "ymax": 333.32251445753525 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 547.0165007243777, + 242.77064689864653 + ], + [ + 535.5220711307087, + 239.3091892712139 + ], + [ + 443.28222597076365, + 328.96051270733557 + ], + [ + 455.70038013978996, + 333.32251445753525 + ], + [ + 529.5721746642032, + 18.33451719361517 + ], + [ + 516.0305716728238, + 15.478337428854957 + ], + [ + 401.1347344145987, + 91.11284609709179 + ], + [ + 415.9591145600884, + 94.88302464224279 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 994.7352482008826, + "ymin": 0.0, + "xmax": 1100.8411392559933, + "ymax": 93.83029774703641 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1050.808647498622, + 2.8848251970654815 + ], + [ + 1042.5151043748606, + 1.4614295202131302 + ], + [ + 994.7352482008826, + 91.83927888712418 + ], + [ + 1004.3842211329988, + 93.83029774703641 + ], + [ + 1100.8411392559933, + -172.03008085037095 + ], + [ + 1091.3800621931562, + -173.0644446139728 + ], + [ + 1046.807285215502, + -105.92428478314537 + ], + [ + 1058.0811950372843, + -104.41094439352958 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00130/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00130/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4ad41bf92cf1b9f01d42b656f4f2916a199e967d --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00130/meta.json @@ -0,0 +1,2507 @@ +{ + "frame_id": 130, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 65.0, + "sim_timestamp": 14659.501935162814 + }, + "drone_pose": { + "x": -42.01836652893442, + "y": -43.61140263710966, + "z": 20.0, + "pitch": -41.473797863415676, + "yaw": 62.49961778794304, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.34597349166870117, + -0.6645983457565308, + 0.6622775197029114, + 30.275760650634766 + ], + [ + 0.8870078325271606, + 0.4617544412612915, + 2.9802322387695312e-08, + -17.132856369018555 + ], + [ + -0.3058096170425415, + 0.5874452590942383, + 0.7492586374282837, + -53.45410919189453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -41.80339242647968, + "y": -43.127030141967175, + "z": 20.0 + }, + "t1_image_uv": [ + 719.8872557805348, + -488.5539106629584 + ], + "t1_depth": 0.39628847193402184 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -32.16718292236328, + "y": -24.687763214111328, + "z": 1.1424418878555298 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.473802791600182, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 726, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -32.16718292236328, + "y": -24.687763214111328, + "z": 1.1424418687820435 + }, + "extent": { + "x": 0.4846252202987671, + "y": 0.48338010907173157, + "z": 0.8842319846153259 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 617.4121274595798, + "ymin": 322.95553441497634, + "xmax": 662.3384270984413, + "ymax": 396.7947666519354 + }, + "corners_3d": [ + [ + -31.68380355834961, + -25.172388076782227, + 0.25820988416671753 + ], + [ + -32.65056228637695, + -25.172388076782227, + 0.25820988416671753 + ], + [ + -32.65056228637695, + -24.20313835144043, + 0.25820988416671753 + ], + [ + -31.68380355834961, + -24.20313835144043, + 0.25820988416671753 + ], + [ + -31.68380355834961, + -25.172388076782227, + 2.0266737937927246 + ], + [ + -32.65056228637695, + -25.172388076782227, + 2.0266737937927246 + ], + [ + -32.65056228637695, + -24.20313835144043, + 2.0266737937927246 + ], + [ + -31.68380355834961, + -24.20313835144043, + 2.0266737937927246 + ] + ], + "corners_2d": [ + [ + 618.3273886932636, + 386.5498379212397 + ], + [ + 646.8877683047543, + 396.7947666519354 + ], + [ + 661.4428685754011, + 377.2732111891872 + ], + [ + 633.3403501084823, + 367.4725934175713 + ], + [ + 617.4121274595798, + 341.8044382928692 + ], + [ + 647.1821982137891, + 351.9410733476737 + ], + [ + 662.3384270984413, + 332.63451292759 + ], + [ + 633.0654890299286, + 322.95553441497634 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 130, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 96, + "semantic_pixel_counts": { + "1": 240627, + "2": 78231, + "5": 2522, + "6": 9622, + "7": 543, + "10": 609, + "12": 2775, + "14": 70368, + "15": 12726, + "24": 42697, + "25": 460880 + }, + "instance_pixel_counts": { + "70": 896, + "108": 1, + "1132": 1617, + "3180": 1039, + "4166": 1326, + "4678": 1673, + "6053": 551, + "6508": 4857, + "7784": 5, + "7786": 3295, + "7825": 452, + "8064": 381, + "8088": 880, + "8296": 35005, + "8298": 1976, + "8337": 530, + "8600": 62, + "8780": 2522, + "8808": 54076, + "8810": 2523, + "9320": 69411, + "9322": 1173, + "9624": 964, + "9832": 35070, + "10624": 4030, + "11116": 912, + "11136": 608, + "12652": 392, + "17516": 1213, + "20308": 173, + "20820": 10355, + "20866": 2851, + "21332": 7359, + "21602": 291, + "21844": 7182, + "22356": 12065, + "22868": 7513, + "23380": 7505, + "25428": 3797, + "25698": 711, + "25856": 34, + "25940": 3407, + "26112": 5097, + "26210": 59, + "27234": 443, + "27476": 1976, + "27746": 150, + "27988": 4603, + "29327": 642, + "29839": 3433, + "30351": 13887, + "30863": 25965, + "31375": 14416, + "31812": 421, + "32324": 490, + "32360": 24934, + "33384": 2932, + "33634": 71, + "34372": 32, + "34408": 19194, + "35170": 7, + "35399": 15007, + "36753": 620, + "39239": 445873, + "40855": 26, + "41367": 1201, + "41796": 2138, + "41879": 4602, + "42391": 7181, + "42903": 2588, + "44869": 45, + "46672": 2183, + "46696": 1777, + "46917": 108, + "47208": 60, + "48232": 1211, + "48708": 1088, + "50756": 128, + "53926": 291, + "54950": 1146, + "55462": 82, + "56320": 726, + "56576": 122, + "56832": 510, + "57088": 671, + "57344": 349, + "57487": 1027, + "57600": 397, + "57999": 50, + "58880": 11615, + "59023": 1016, + "60833": 1099, + "61440": 5544, + "61601": 230, + "62113": 135, + "64837": 710 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 726, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -32.16718292236328, + "y": -24.687763214111328, + "z": 1.1424418687820435 + }, + "extent": { + "x": 0.4807690382003784, + "y": 0.4412194788455963, + "z": 0.8690409660339355 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 618.7667232610286, + "ymin": 323.8443596100703, + "xmax": 660.9807804403393, + "ymax": 395.8940574753095 + }, + "corners_3d": [ + [ + -31.725963592529297, + -25.168533325195312, + 0.2734009027481079 + ], + [ + -32.608402252197266, + -25.16853141784668, + 0.2734009027481079 + ], + [ + -32.608402252197266, + -24.206993103027344, + 0.2734009027481079 + ], + [ + -31.725963592529297, + -24.206995010375977, + 0.2734009027481079 + ], + [ + -31.725963592529297, + -25.168533325195312, + 2.0114827156066895 + ], + [ + -32.608402252197266, + -25.16853141784668, + 2.0114827156066895 + ], + [ + -32.608402252197266, + -24.206993103027344, + 2.0114827156066895 + ], + [ + -31.725963592529297, + -24.206995010375977, + 2.0114827156066895 + ] + ], + "corners_2d": [ + [ + 619.6129616660068, + 386.54509393013086 + ], + [ + 645.6896216139539, + 395.8940574753095 + ], + [ + 660.1541567594296, + 376.5488192996537 + ], + [ + 634.4923783088877, + 367.60228820123996 + ], + [ + 618.7667232610286, + 342.56510645279127 + ], + [ + 645.9284190754402, + 351.8168802819933 + ], + [ + 660.9807804403393, + 332.6818238052632 + ], + [ + 634.2689138482244, + 323.8443596100703 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 122, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -28.041194915771484, + "y": -21.6900577545166, + "z": 1.1382231712341309 + }, + "extent": { + "x": 0.44962772727012634, + "y": 0.44532597064971924, + "z": 0.8926251530647278 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 552.7164983066247, + "ymin": 237.29746640965044, + "xmax": 589.3555196128792, + "ymax": 300.5862397403252 + }, + "corners_3d": [ + [ + -27.69908332824707, + -22.222448348999023, + 0.24559801816940308 + ], + [ + -28.57027244567871, + -22.03727149963379, + 0.24559801816940308 + ], + [ + -28.3833065032959, + -21.15766716003418, + 0.24559801816940308 + ], + [ + -27.512117385864258, + -21.342844009399414, + 0.24559801816940308 + ], + [ + -27.69908332824707, + -22.222448348999023, + 2.030848264694214 + ], + [ + -28.57027244567871, + -22.03727149963379, + 2.030848264694214 + ], + [ + -28.3833065032959, + -21.15766716003418, + 2.030848264694214 + ], + [ + -27.512117385864258, + -21.342844009399414, + 2.030848264694214 + ] + ], + "corners_2d": [ + [ + 555.916232568931, + 296.2226281607429 + ], + [ + 581.1372597754203, + 300.5862397403252 + ], + [ + 589.3555196128792, + 284.9286170393999 + ], + [ + 564.5876529363372, + 280.7359876761175 + ], + [ + 552.7164983066247, + 252.46569590198658 + ], + [ + 578.8843579971092, + 256.743704724493 + ], + [ + 587.4570633819449, + 241.4016461213987 + ], + [ + 561.7766440860173, + 237.29746640965044 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 510, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -34.42300796508789, + "y": -17.74505043029785, + "z": 1.1435356140136719 + }, + "extent": { + "x": 0.4747875928878784, + "y": 0.3024395704269409, + "z": 0.9206590056419373 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 779.6236442025845, + "ymin": 227.10476029345958, + "xmax": 810.1579640762246, + "ymax": 291.0728123480293 + }, + "corners_3d": [ + [ + -34.171852111816406, + -18.248849868774414, + 0.22287660837173462 + ], + [ + -34.77341842651367, + -18.185623168945312, + 0.22287660837173462 + ], + [ + -34.674163818359375, + -17.24125099182129, + 0.22287660837173462 + ], + [ + -34.07259750366211, + -17.30447769165039, + 0.22287660837173462 + ], + [ + -34.171852111816406, + -18.248849868774414, + 2.064194679260254 + ], + [ + -34.77341842651367, + -18.185623168945312, + 2.064194679260254 + ], + [ + -34.674163818359375, + -17.24125099182129, + 2.064194679260254 + ], + [ + -34.07259750366211, + -17.30447769165039, + 2.064194679260254 + ] + ], + "corners_2d": [ + [ + 779.6236442025845, + 287.10874017922254 + ], + [ + 796.9598825611969, + 291.0728123480293 + ], + [ + 803.9012121809468, + 275.5113185529534 + ], + [ + 786.8746910885029, + 271.7035278423309 + ], + [ + 785.0376646953255, + 242.16856850485073 + ], + [ + 803.078446449671, + 246.04854451702622 + ], + [ + 810.1579640762246, + 230.82600684036723 + ], + [ + 792.4524708526105, + 227.10476029345958 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 671, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -41.66718292236328, + "y": -24.687763214111328, + "z": 0.9972611665725708 + }, + "extent": { + "x": 0.3257128894329071, + "y": 0.298004150390625, + "z": 0.8825870156288147 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 938.6434287588343, + "ymin": 439.43816009472187, + "xmax": 982.0778108401123, + "ymax": 508.715919372047 + }, + "corners_3d": [ + [ + -41.369178771972656, + -25.01347541809082, + 0.1146741509437561 + ], + [ + -41.965187072753906, + -25.01347541809082, + 0.1146741509437561 + ], + [ + -41.965187072753906, + -24.362051010131836, + 0.1146741509437561 + ], + [ + -41.369178771972656, + -24.362051010131836, + 0.1146741509437561 + ], + [ + -41.369178771972656, + -25.01347541809082, + 1.8798482418060303 + ], + [ + -41.965187072753906, + -25.01347541809082, + 1.8798482418060303 + ], + [ + -41.965187072753906, + -24.362051010131836, + 1.8798482418060303 + ], + [ + -41.369178771972656, + -24.362051010131836, + 1.8798482418060303 + ] + ], + "corners_2d": [ + [ + 938.6434287588343, + 500.7312442088833 + ], + [ + 960.9189591792679, + 508.715919372047 + ], + [ + 966.6858089761232, + 492.0979262076431 + ], + [ + 944.7331346326116, + 484.376108771854 + ], + [ + 952.8439610962557, + 455.7796488571711 + ], + [ + 976.3077654755052, + 463.7669986629655 + ], + [ + 982.0778108401123, + 447.1503342137512 + ], + [ + 958.972485210764, + 439.43816009472187 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 349, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -35.78268051147461, + "y": -35.81512451171875, + "z": 1.1460990905761719 + }, + "extent": { + "x": 0.4757715165615082, + "y": 0.36817994713783264, + "z": 0.9108216762542725 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 514.1567020134974, + "ymin": 680.1296348510004, + "xmax": 576.4688902800191, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -35.36678695678711, + -36.24980545043945, + 0.23527741432189941 + ], + [ + -36.09911346435547, + -36.32677459716797, + 0.23527741432189941 + ], + [ + -36.19857406616211, + -35.38044357299805, + 0.23527741432189941 + ], + [ + -35.46624755859375, + -35.30347442626953, + 0.23527741432189941 + ], + [ + -35.36678695678711, + -36.24980545043945, + 2.0569207668304443 + ], + [ + -36.09911346435547, + -36.32677459716797, + 2.0569207668304443 + ], + [ + -36.19857406616211, + -35.38044357299805, + 2.0569207668304443 + ], + [ + -35.46624755859375, + -35.30347442626953, + 2.0569207668304443 + ] + ], + "corners_2d": [ + [ + 521.6416778684436, + 759.9420958818944 + ], + [ + 549.3425081424958, + 778.9716389568271 + ], + [ + 576.4688902800191, + 742.3435466251906 + ], + [ + 549.1612088578786, + 724.3901295475573 + ], + [ + 514.1567020134974, + 716.5505691079068 + ], + [ + 543.5163309701659, + 736.099185045891 + ], + [ + 572.511345872096, + 698.5054921965062 + ], + [ + 543.5901829451988, + 680.1296348510004 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 397, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -20.921844482421875, + "y": -32.85797882080078, + "z": 1.1308403015136719 + }, + "extent": { + "x": 0.39167967438697815, + "y": 0.5324023365974426, + "z": 0.9397897124290466 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 115.04578267902218, + "ymin": 368.6231278820709, + "xmax": 183.74977208592298, + "ymax": 448.5375158114052 + }, + "corners_3d": [ + [ + -20.31964111328125, + -33.13040542602539, + 0.19105058908462524 + ], + [ + -21.361177444458008, + -33.35179138183594, + 0.19105058908462524 + ], + [ + -21.5240478515625, + -32.58555221557617, + 0.19105058908462524 + ], + [ + -20.482511520385742, + -32.364166259765625, + 0.19105058908462524 + ], + [ + -20.31964111328125, + -33.13040542602539, + 2.0706300735473633 + ], + [ + -21.361177444458008, + -33.35179138183594, + 2.0706300735473633 + ], + [ + -21.5240478515625, + -32.58555221557617, + 2.0706300735473633 + ], + [ + -20.482511520385742, + -32.364166259765625, + 2.0706300735473633 + ] + ], + "corners_2d": [ + [ + 138.72902417059487, + 431.3022822647762 + ], + [ + 158.45908315033824, + 448.5375158114052 + ], + [ + 183.74977208592298, + 433.12562259967416 + ], + [ + 163.88069085310207, + 416.44760145318446 + ], + [ + 115.04578267902218, + 383.3575605450513 + ], + [ + 135.26119571247085, + 400.48147804462064 + ], + [ + 162.1488465341576, + 385.16769042938034 + ], + [ + 141.76591629452946, + 368.6231278820709 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 11615, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 1150.2342042661508, + "ymin": 423.65393686616704, + "xmax": 1260.9717494933254, + "ymax": 612.5194710758744 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 1238.446625509876, + 482.21522511185856 + ], + [ + 1167.2534270487195, + 459.88854518890736 + ], + [ + 1150.2342042661508, + 583.885260972299 + ], + [ + 1230.5289275942328, + 612.5194710758744 + ], + [ + 1260.9717494933254, + 445.93589656479344 + ], + [ + 1186.6256926263745, + 423.65393686616704 + ], + [ + 1171.534391721266, + 547.8920369006961 + ], + [ + 1255.8675483558222, + 576.7526358857579 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 5544, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 1075.712639854834, + "ymin": 180.3890068440628, + "xmax": 1164.656857921286, + "ymax": 306.4403461944785 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 1144.9941938439379, + 239.36611943383915 + ], + [ + 1093.9780565118886, + 227.01969010381254 + ], + [ + 1075.712639854834, + 291.73677728324617 + ], + [ + 1131.0851872454828, + 306.4403461944785 + ], + [ + 1164.656857921286, + 192.38026616396573 + ], + [ + 1111.3429588845383, + 180.3890068440628 + ], + [ + 1093.9491452692428, + 243.4213637496392 + ], + [ + 1152.043256566743, + 257.80314520403067 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 274752244277470567, + "instance_id": 26469, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -43.60569763183594, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1154.7410938956946, + "ymin": 67.23832145834945, + "xmax": 1174.6244555379021, + "ymax": 98.59119503190493 + }, + "corners_3d": [ + [ + -43.74428176879883, + -9.655923843383789, + 5.545533180236816 + ], + [ + -43.74428176879883, + -9.276008605957031, + 5.545533180236816 + ], + [ + -43.46711349487305, + -9.276008605957031, + 5.545533180236816 + ], + [ + -43.46711349487305, + -9.655923843383789, + 5.545533180236816 + ], + [ + -43.74428176879883, + -9.655923843383789, + 6.416468620300293 + ], + [ + -43.74428176879883, + -9.276008605957031, + 6.416468620300293 + ], + [ + -43.46711349487305, + -9.276008605957031, + 6.416468620300293 + ], + [ + -43.46711349487305, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1163.7884561333703, + 98.59119503190493 + ], + [ + 1164.9256984469146, + 93.92854665706557 + ], + [ + 1155.9465476831372, + 92.17707636915708 + ], + [ + 1154.7410938956946, + 96.81161505413024 + ], + [ + 1173.5451123392, + 73.49133956110143 + ], + [ + 1174.6244555379021, + 68.94554831144364 + ], + [ + 1165.4502096562937, + 67.23832145834945 + ], + [ + 1164.2996237056536, + 71.75620143499043 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 984.1595991823588, + "ymin": 114.96692617290515, + "xmax": 999.9208095129516, + "ymax": 142.6967022555243 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 991.8382067582963, + 142.6967022555243 + ], + [ + 994.0811747622026, + 138.20411119505587 + ], + [ + 986.4509885365195, + 136.50545468509912 + ], + [ + 984.1595991823588, + 140.97364005917652 + ], + [ + 997.683133887113, + 121.04414166540249 + ], + [ + 999.9208095129516, + 116.63409925482463 + ], + [ + 992.1490431241359, + 114.96692617290515 + ], + [ + 989.8611004523771, + 119.35261642439266 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18114159193525624905, + "instance_id": 18848, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -46.60569763183594, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1255.682117847725, + "ymin": 86.29185785941672, + "xmax": 1277.6546936577597, + "ymax": 118.56884276052003 + }, + "corners_3d": [ + [ + -46.74428176879883, + -9.655922889709473, + 5.545533180236816 + ], + [ + -46.74428176879883, + -9.276007652282715, + 5.545533180236816 + ], + [ + -46.46711349487305, + -9.276007652282715, + 5.545533180236816 + ], + [ + -46.46711349487305, + -9.655922889709473, + 5.545533180236816 + ], + [ + -46.74428176879883, + -9.655922889709473, + 6.416468620300293 + ], + [ + -46.74428176879883, + -9.276007652282715, + 6.416468620300293 + ], + [ + -46.46711349487305, + -9.276007652282715, + 6.416468620300293 + ], + [ + -46.46711349487305, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1265.354631063772, + 118.56884276052003 + ], + [ + 1265.6964731944709, + 113.5848493071571 + ], + [ + 1256.1020543377049, + 111.7133650600895 + ], + [ + 1255.682117847725, + 116.6662981249255 + ], + [ + 1277.407150818618, + 92.98353462091666 + ], + [ + 1277.6546936577597, + 88.1183369320351 + ], + [ + 1267.8396134681077, + 86.29185785941672 + ], + [ + 1267.510319070846, + 91.12615634630515 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1358148318300121759, + "instance_id": 40874, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 349.12764623148394, + "xmax": 67.5600855259039, + "ymax": 570.9503941490453 + }, + "corners_3d": [ + [ + -26.246047973632812, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246047973632812, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.197628021240234 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 67.5600855259039, + 357.4983395783293 + ], + [ + 57.02111522637449, + 352.7776319920186 + ], + [ + -256.1361538499367, + 563.5576231988457 + ], + [ + -245.13871971678998, + 570.9503941490453 + ], + [ + 65.63824327971656, + 353.8436537532393 + ], + [ + 55.074847845344834, + 349.12764623148394 + ], + [ + -259.8805490692064, + 559.8700988318466 + ], + [ + -248.8632603548948, + 567.2679577322787 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 20.61635938071305, + "xmax": 48.18838531121514, + "ymax": 338.47361573640086 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 48.18838531121514, + 248.01588576735355 + ], + [ + 39.15852460105771, + 244.458066937153 + ], + [ + -115.69966240197584, + 333.9909965296424 + ], + [ + -106.40467464602762, + 338.47361573640086 + ], + [ + -62.69110922639868, + 23.55074219387012 + ], + [ + -72.7677304920926, + 20.61635938071305 + ], + [ + -277.34590625981673, + 96.11144130526787 + ], + [ + -267.1201293371133, + 99.98375062235192 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7806990106475075983, + "instance_id": 36761, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 413.84733553969875, + "ymin": 33.989001142137454, + "xmax": 534.5071419473406, + "ymax": 114.64197963680738 + }, + "corners_3d": [ + [ + -26.247940063476562, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.247940063476562, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.198223114013672 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 534.5071419473406, + 38.82342392171756 + ], + [ + 526.1909982989249, + 36.9617099890105 + ], + [ + 414.39159630548374, + 112.20772267010182 + ], + [ + 423.4503070132754, + 114.64197963680738 + ], + [ + 534.2838021456463, + 35.84410298453599 + ], + [ + 525.9509046873328, + 33.989001142137454 + ], + [ + 413.84733553969875, + 108.98986383685772 + ], + [ + 422.9257777070543, + 111.41694690044775 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 335.9462619692549, + "xmax": 202.65067078400432, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 202.65067078400432, + 600.9790876409007 + ], + [ + 188.2233117960621, + 593.2125423885317 + ], + [ + -25.886313750776935, + 800.2405656735132 + ], + [ + -10.508112352759099, + 811.2794536475543 + ], + [ + 69.48978098695318, + 343.66808922485603 + ], + [ + 51.945986891664575, + 335.9462619692549 + ], + [ + -279.85155828931295, + 553.9199321399777 + ], + [ + -261.55334764940903, + 566.2949416130813 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 962.2771515311746, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 295.6757325317757 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 965.0419523351152, + 200.2301133872478 + ], + [ + 962.2771515311746, + 205.5720747230837 + ], + [ + 1316.7857406371513, + 295.6757325317757 + ], + [ + 1316.8269591414073, + 288.86369553322925 + ], + [ + 1022.5656795976042, + -20.252512643336672 + ], + [ + 1019.8329192327988, + -15.971897198196643 + ], + [ + 1456.584117739541, + 58.04502736331517 + ], + [ + 1455.1712236733233, + 52.32663805711928 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1252.005062169637, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 90.99146057045147 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1541.779971555181, + 90.99146057045147 + ], + [ + 1540.3629463719824, + 87.2628151192153 + ], + [ + 1252.4134500323205, + 37.15664711267732 + ], + [ + 1252.005062169637, + 40.26286052871927 + ], + [ + 1672.3943566435055, + -105.28086448799013 + ], + [ + 1669.8124400923393, + -108.1012757890752 + ], + [ + 1331.80790381541, + -145.49926999433535 + ], + [ + 1331.876550751832, + -143.2077614127473 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13681264316117260208, + "instance_id": 45207, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 348.9925456257039, + "xmax": 67.7607865984171, + "ymax": 571.1504178523929 + }, + "corners_3d": [ + [ + -26.24793815612793, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.24793815612793, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.198223114013672 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 67.7607865984171, + 357.47060823496287 + ], + [ + 57.085930077525404, + 352.68969804305766 + ], + [ + -256.3708856439507, + 563.6601959094893 + ], + [ + -245.23124123668947, + 571.1504178523929 + ], + [ + 65.81480796311314, + 353.768631055246 + ], + [ + 55.114889917195455, + 348.9925456257039 + ], + [ + -260.16516631223715, + 559.9249564639808 + ], + [ + -249.0051562719376, + 567.4204079123052 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15102510933830370440, + "instance_id": 34948, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 413.97003836510817, + "ymin": 34.05149706177599, + "xmax": 534.4058853893919, + "ymax": 114.56441762335098 + }, + "corners_3d": [ + [ + -26.246049880981445, + -20.196584701538086, + 8.10662841796875 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.10662841796875 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.10662841796875 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.10662841796875 + ], + [ + -26.246049880981445, + -20.196584701538086, + 8.197628021240234 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.197628021240234 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.197628021240234 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 534.4058853893919, + 38.824428652914264 + ], + [ + 526.1955226690925, + 36.9863437358722 + ], + [ + 414.50703299323555, + 112.16166689996078 + ], + [ + 423.4498022871645, + 114.56441762335098 + ], + [ + 534.1851846426559, + 35.883137609506946 + ], + [ + 525.9584923107635, + 34.05149706177599 + ], + [ + 413.97003836510817, + 108.9850329928747 + ], + [ + 422.93203656652975, + 111.38079230374376 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 407.32748734393056, + "ymin": 25.439727413774676, + "xmax": 554.4304252191516, + "ymax": 345.92137749226697 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 554.4304252191516, + 253.91772306671544 + ], + [ + 542.8637891281687, + 250.30280098588537 + ], + [ + 448.6940897147035, + 341.3578125893557 + ], + [ + 461.17618431005246, + 345.92137749226697 + ], + [ + 538.2456920670407, + 28.430131602734946 + ], + [ + 524.5976006984599, + 25.439727413774676 + ], + [ + 407.32748734393056, + 102.48004549947768 + ], + [ + 422.24970731650876, + 106.43752026844066 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1008.6114380318845, + "ymin": 0.0, + "xmax": 1117.866673121486, + "ymax": 104.56123888050473 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1065.633662006208, + 12.149295618124938 + ], + [ + 1057.2239958457844, + 10.663685113491965 + ], + [ + 1008.6114380318845, + 102.47777861106158 + ], + [ + 1018.4018616438218, + 104.56123888050473 + ], + [ + 1117.866673121486, + -163.8205188582201 + ], + [ + 1108.2544910198603, + -164.90186369563594 + ], + [ + 1063.2162691328376, + -96.55928343729539 + ], + [ + 1074.6840043464022, + -94.97192514380941 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00131/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00131/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..430798b6be24357819472214dc8f085997cd8d79 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00131/meta.json @@ -0,0 +1,2505 @@ +{ + "frame_id": 131, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 65.5, + "sim_timestamp": 14669.591992463218 + }, + "drone_pose": { + "x": -41.80339242647968, + "y": -43.127030141967175, + "z": 20.0, + "pitch": -41.58662639781219, + "yaw": 63.03322308482101, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.33917713165283203, + -0.666627824306488, + 0.6637516617774963, + 29.653396606445312 + ], + [ + 0.8912696242332458, + 0.4534738063812256, + 0.0, + -17.70111656188965 + ], + [ + -0.30099397897720337, + 0.5915817022323608, + 0.7479530572891235, + -53.05479049682617 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -41.58314820257673, + "y": -42.64079762206403, + "z": 20.0 + }, + "t1_image_uv": [ + 698.2413028221612, + -491.9272587700069 + ], + "t1_depth": 0.3988379199613237 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -32.16718292236328, + "y": -24.187763214111328, + "z": 1.1424467754364014 + }, + "image_uv": [ + 640.0000000000001, + 360.00000000000006 + ], + "depth": 28.41055576698644, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 689, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -32.16718292236328, + "y": -24.187763214111328, + "z": 1.142446756362915 + }, + "extent": { + "x": 0.528552234172821, + "y": 0.4609973132610321, + "z": 0.8930418491363525 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 617.3897891756808, + "ymin": 322.06319481912203, + "xmax": 662.2939007469564, + "ymax": 397.71302241602945 + }, + "corners_3d": [ + [ + -31.706186294555664, + -24.71631622314453, + 0.2494049072265625 + ], + [ + -32.62818145751953, + -24.71631622314453, + 0.2494049072265625 + ], + [ + -32.62818145751953, + -23.659210205078125, + 0.2494049072265625 + ], + [ + -31.706186294555664, + -23.659210205078125, + 0.2494049072265625 + ], + [ + -31.706186294555664, + -24.71631622314453, + 2.0354886054992676 + ], + [ + -32.62818145751953, + -24.71631622314453, + 2.0354886054992676 + ], + [ + -32.62818145751953, + -23.659210205078125, + 2.0354886054992676 + ], + [ + -31.706186294555664, + -23.659210205078125, + 2.0354886054992676 + ] + ], + "corners_2d": [ + [ + 618.3202735768834, + 388.0554794012475 + ], + [ + 645.7674601311825, + 397.71302241602945 + ], + [ + 661.3887497876992, + 376.2424336989803 + ], + [ + 634.4314262009134, + 367.0430060089473 + ], + [ + 617.3897891756808, + 342.8299753121111 + ], + [ + 646.017831578376, + 352.3888796940442 + ], + [ + 662.2939007469564, + 331.1498208574648 + ], + [ + 634.1983712146324, + 322.06319481912203 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 131, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 94, + "semantic_pixel_counts": { + "1": 243722, + "2": 78849, + "5": 2628, + "6": 9282, + "7": 550, + "10": 605, + "12": 2659, + "14": 68079, + "15": 13083, + "24": 42622, + "25": 459521 + }, + "instance_pixel_counts": { + "70": 934, + "108": 1, + "1132": 1701, + "3180": 1095, + "4166": 1404, + "4678": 1781, + "6053": 472, + "6508": 4840, + "7274": 5, + "7784": 53, + "7786": 3439, + "7825": 475, + "8064": 415, + "8088": 859, + "8296": 36354, + "8298": 2044, + "8337": 554, + "8600": 89, + "8780": 2628, + "8808": 56004, + "8810": 2488, + "9320": 65453, + "9322": 1220, + "9624": 1013, + "9832": 36638, + "10624": 3786, + "11116": 563, + "11136": 617, + "12652": 409, + "17516": 1359, + "20820": 6903, + "20866": 2334, + "21332": 7618, + "21602": 354, + "21844": 7404, + "22356": 12679, + "22868": 7877, + "23380": 7809, + "25428": 3937, + "25698": 751, + "25856": 54, + "25940": 3525, + "26112": 5192, + "26210": 61, + "27234": 399, + "27476": 966, + "27746": 42, + "27988": 4737, + "29327": 907, + "29839": 3525, + "30351": 14346, + "30863": 25116, + "31375": 14895, + "31812": 436, + "32324": 507, + "32360": 25964, + "33384": 3174, + "33634": 34, + "34408": 20082, + "35399": 14067, + "36753": 656, + "39239": 445454, + "40855": 74, + "41367": 1232, + "41796": 1975, + "41879": 4595, + "42391": 7034, + "42903": 2685, + "44869": 6, + "46672": 2252, + "46696": 1864, + "46917": 113, + "47208": 76, + "48232": 1255, + "48708": 1148, + "50756": 129, + "53926": 299, + "54950": 1109, + "55462": 88, + "56320": 689, + "56576": 117, + "56832": 527, + "57088": 668, + "57344": 230, + "57487": 992, + "57600": 428, + "57999": 49, + "58880": 12028, + "59023": 1084, + "60833": 1064, + "61440": 5679, + "61601": 235, + "62113": 72, + "64837": 701 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 689, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -32.16718292236328, + "y": -24.187763214111328, + "z": 1.142446756362915 + }, + "extent": { + "x": 0.4979565441608429, + "y": 0.4143969714641571, + "z": 0.8722673654556274 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 619.3292512492613, + "ymin": 323.64981067706685, + "xmax": 660.3884429203032, + "ymax": 396.0787938624828 + }, + "corners_3d": [ + [ + -31.75278663635254, + -24.685720443725586, + 0.2701793909072876 + ], + [ + -32.581581115722656, + -24.685720443725586, + 0.2701793909072876 + ], + [ + -32.581581115722656, + -23.68980598449707, + 0.2701793909072876 + ], + [ + -31.75278663635254, + -23.68980598449707, + 0.2701793909072876 + ], + [ + -31.75278663635254, + -24.685720443725586, + 2.014714241027832 + ], + [ + -32.581581115722656, + -24.685720443725586, + 2.014714241027832 + ], + [ + -32.581581115722656, + -23.68980598449707, + 2.014714241027832 + ], + [ + -31.75278663635254, + -23.68980598449707, + 2.014714241027832 + ] + ], + "corners_2d": [ + [ + 620.1603970961189, + 387.4106712057035 + ], + [ + 644.8318087905918, + 396.0787938624828 + ], + [ + 659.579402340378, + 375.87549060836153 + ], + [ + 635.3232297800581, + 367.5954646201943 + ], + [ + 619.3292512492613, + 343.2395871887195 + ], + [ + 645.0363088827769, + 351.82072951911243 + ], + [ + 660.3884429203032, + 331.831141847716 + ], + [ + 635.1319002267817, + 323.64981067706685 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 117, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -28.041194915771484, + "y": -21.1900577545166, + "z": 1.1380473375320435 + }, + "extent": { + "x": 0.45408329367637634, + "y": 0.4389917254447937, + "z": 0.880854070186615 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 551.4043877413593, + "ymin": 237.50231695600027, + "xmax": 587.7453846580721, + "ymax": 300.36641519501296 + }, + "corners_3d": [ + [ + -27.706205368041992, + -21.72549057006836, + 0.25719326734542847 + ], + [ + -28.56500244140625, + -21.542945861816406, + 0.25719326734542847 + ], + [ + -28.376184463500977, + -20.654624938964844, + 0.25719326734542847 + ], + [ + -27.51738739013672, + -20.837169647216797, + 0.25719326734542847 + ], + [ + -27.706205368041992, + -21.72549057006836, + 2.0189013481140137 + ], + [ + -28.56500244140625, + -21.542945861816406, + 2.0189013481140137 + ], + [ + -28.376184463500977, + -20.654624938964844, + 2.0189013481140137 + ], + [ + -27.51738739013672, + -20.837169647216797, + 2.0189013481140137 + ] + ], + "corners_2d": [ + [ + 554.6264604527015, + 296.18731716655225 + ], + [ + 579.6332249632577, + 300.36641519501296 + ], + [ + 587.7453846580721, + 284.43710799310844 + ], + [ + 563.1968566803178, + 280.42393917663935 + ], + [ + 551.4043877413593, + 252.95154414902407 + ], + [ + 577.3423901422441, + 257.0512685559102 + ], + [ + 585.8037449953811, + 241.43329479342634 + ], + [ + 560.3583573455765, + 237.50231695600027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 527, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -34.42300796508789, + "y": -17.24505043029785, + "z": 1.1434037685394287 + }, + "extent": { + "x": 0.4701330363750458, + "y": 0.30052733421325684, + "z": 0.9254260063171387 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 778.5331143003712, + "ymin": 225.76778573454837, + "xmax": 808.7243905341552, + "ymax": 289.83023179211693 + }, + "corners_3d": [ + [ + -34.17326736450195, + -17.744022369384766, + 0.21797776222229004 + ], + [ + -34.77103042602539, + -17.681194305419922, + 0.21797776222229004 + ], + [ + -34.67274856567383, + -16.746078491210938, + 0.21797776222229004 + ], + [ + -34.07498550415039, + -16.80890655517578, + 0.21797776222229004 + ], + [ + -34.17326736450195, + -17.744022369384766, + 2.0688297748565674 + ], + [ + -34.77103042602539, + -17.681194305419922, + 2.0688297748565674 + ], + [ + -34.67274856567383, + -16.746078491210938, + 2.0688297748565674 + ], + [ + -34.07498550415039, + -16.80890655517578, + 2.0688297748565674 + ] + ], + "corners_2d": [ + [ + 778.5331143003712, + 285.97730056127966 + ], + [ + 795.8089800257818, + 289.83023179211693 + ], + [ + 802.4688350785983, + 274.336507030951 + ], + [ + 785.5015310933843, + 270.63442397333216 + ], + [ + 783.9512707443857, + 240.7727050954453 + ], + [ + 801.9341803873393, + 244.54440519906842 + ], + [ + 808.7243905341552, + 229.38620534235315 + ], + [ + 791.075689213221, + 225.76778573454837 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 668, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -41.66718292236328, + "y": -24.187763214111328, + "z": 0.9972611665725708 + }, + "extent": { + "x": 0.3336743116378784, + "y": 0.5541052222251892, + "z": 0.9067792892456055 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 930.4603977087829, + "ymin": 433.66940891304705, + "xmax": 993.9107866770623, + "ymax": 511.1220726224639 + }, + "corners_3d": [ + [ + -41.11307907104492, + -24.521438598632812, + 0.09048187732696533 + ], + [ + -42.22128677368164, + -24.52143669128418, + 0.09048187732696533 + ], + [ + -42.22128677368164, + -23.854087829589844, + 0.09048187732696533 + ], + [ + -41.11307907104492, + -23.854089736938477, + 0.09048187732696533 + ], + [ + -41.11307907104492, + -24.521438598632812, + 1.9040404558181763 + ], + [ + -42.22128677368164, + -24.52143669128418, + 1.9040404558181763 + ], + [ + -42.22128677368164, + -23.854087829589844, + 1.9040404558181763 + ], + [ + -41.11307907104492, + -23.854089736938477, + 1.9040404558181763 + ] + ], + "corners_2d": [ + [ + 930.4603977087829, + 496.5382173064343 + ], + [ + 971.9650172109287, + 511.1220726224639 + ], + [ + 977.4754984868437, + 493.9071539273841 + ], + [ + 936.5942594974549, + 479.81607993986097 + ], + [ + 944.645614801437, + 450.37531363858466 + ], + [ + 988.4282533222151, + 464.9675636692618 + ], + [ + 993.9107866770623, + 447.7449745851332 + ], + [ + 950.822238180378, + 433.66940891304705 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 230, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -35.78268051147461, + "y": -35.31512451171875, + "z": 1.1460990905761719 + }, + "extent": { + "x": 0.47910159826278687, + "y": 0.31688356399536133, + "z": 0.9163832068443298 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 521.1562912434601, + "ymin": 683.5841507759424, + "xmax": 579.3914793058055, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -35.41745376586914, + -35.75847625732422, + 0.22971588373184204 + ], + [ + -36.04774856567383, + -35.82472610473633, + 0.22971588373184204 + ], + [ + -36.14790725708008, + -34.87177276611328, + 0.22971588373184204 + ], + [ + -35.51761245727539, + -34.80552291870117, + 0.22971588373184204 + ], + [ + -35.41745376586914, + -35.75847625732422, + 2.0624823570251465 + ], + [ + -36.04774856567383, + -35.82472610473633, + 2.0624823570251465 + ], + [ + -36.14790725708008, + -34.87177276611328, + 2.0624823570251465 + ], + [ + -35.51761245727539, + -34.80552291870117, + 2.0624823570251465 + ] + ], + "corners_2d": [ + [ + 528.313184629266, + 764.2340692959228 + ], + [ + 552.4645323565451, + 780.4817120102613 + ], + [ + 579.3914793058055, + 743.2400266344798 + ], + [ + 555.6043467155829, + 727.9238340355184 + ], + [ + 521.1562912434601, + 720.8167521509588 + ], + [ + 546.7779922474534, + 737.5218289185242 + ], + [ + 575.5766788822788, + 699.272609288314 + ], + [ + 550.3623055212054, + 683.5841507759424 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 428, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -20.921844482421875, + "y": -32.35797882080078, + "z": 1.1308354139328003 + }, + "extent": { + "x": 0.3801245093345642, + "y": 0.3277380168437958, + "z": 0.9327404499053955 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 116.90968155909309, + "ymin": 375.43098981791644, + "xmax": 177.5503500897699, + "ymax": 448.36016768532136 + }, + "corners_3d": [ + [ + -20.522235870361328, + -32.66165542602539, + 0.19809496402740479 + ], + [ + -21.163387298583984, + -32.797935485839844, + 0.19809496402740479 + ], + [ + -21.321453094482422, + -32.05430221557617, + 0.19809496402740479 + ], + [ + -20.680301666259766, + -31.918020248413086, + 0.19809496402740479 + ], + [ + -20.522235870361328, + -32.66165542602539, + 2.0635757446289062 + ], + [ + -21.163387298583984, + -32.797935485839844, + 2.0635757446289062 + ], + [ + -21.321453094482422, + -32.05430221557617, + 2.0635757446289062 + ], + [ + -20.680301666259766, + -31.918020248413086, + 2.0635757446289062 + ] + ], + "corners_2d": [ + [ + 140.60181372081297, + 437.7558662835984 + ], + [ + 153.00601332235192, + 448.36016768532136 + ], + [ + 177.5503500897699, + 433.22783463670044 + ], + [ + 165.0712122276745, + 422.96019790893143 + ], + [ + 116.90968155909309, + 390.12347121544497 + ], + [ + 129.62617303543914, + 400.66747309862683 + ], + [ + 155.7230057929255, + 385.6246632812773 + ], + [ + 142.9152492779208, + 375.43098981791644 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 12028, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 1150.1249644288691, + "ymin": 432.182792014735, + "xmax": 1260.5048278440668, + "ymax": 624.7705666608049 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 1237.7079667740327, + 490.8210701860347 + ], + [ + 1165.7649170472814, + 468.42957096525424 + ], + [ + 1150.1249644288691, + 595.9486838804653 + ], + [ + 1231.4593850676736, + 624.7705666608049 + ], + [ + 1260.5048278440668, + 454.5509570059975 + ], + [ + 1185.34392498502, + 432.182792014735 + ], + [ + 1171.7509142906947, + 560.090882402094 + ], + [ + 1257.2266246515621, + 589.1770115216403 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 5679, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 1071.6752922206724, + "ymin": 183.91641759731127, + "xmax": 1160.4124263172823, + "ymax": 311.5932637524939 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 1140.710086008377, + 243.05781117823574 + ], + [ + 1089.3197990691963, + 230.74057441986605 + ], + [ + 1071.6752922206724, + 296.89482991773326 + ], + [ + 1127.5285249008803, + 311.5932637524939 + ], + [ + 1160.4124263172823, + 195.88883466936628 + ], + [ + 1106.6921465340413, + 183.91641759731127 + ], + [ + 1089.9578606012649, + 248.4049858984991 + ], + [ + 1148.5781131985318, + 262.795503710525 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 274752244277470567, + "instance_id": 26469, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -43.60569763183594, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1150.3157746997151, + "ymin": 70.15283882200436, + "xmax": 1170.2446603148496, + "ymax": 101.77381428131895 + }, + "corners_3d": [ + [ + -43.74428176879883, + -9.655923843383789, + 5.545533180236816 + ], + [ + -43.74428176879883, + -9.276008605957031, + 5.545533180236816 + ], + [ + -43.46711349487305, + -9.276008605957031, + 5.545533180236816 + ], + [ + -43.46711349487305, + -9.655923843383789, + 5.545533180236816 + ], + [ + -43.74428176879883, + -9.655923843383789, + 6.416468620300293 + ], + [ + -43.74428176879883, + -9.276008605957031, + 6.416468620300293 + ], + [ + -43.46711349487305, + -9.276008605957031, + 6.416468620300293 + ], + [ + -43.46711349487305, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1159.4401628754435, + 101.77381428131895 + ], + [ + 1160.5142516783771, + 97.00070715933782 + ], + [ + 1151.459805690114, + 95.24843608740315 + ], + [ + 1150.3157746997151, + 99.99306765271433 + ], + [ + 1169.2306757013955, + 76.51706063722156 + ], + [ + 1170.2446603148496, + 71.86157536572989 + ], + [ + 1160.991973975275, + 70.15283882200436 + ], + [ + 1159.90491728715, + 74.78003127578279 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 978.4426508026188, + "ymin": 118.3154205710905, + "xmax": 994.2138995271641, + "ymax": 146.27156530665079 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 986.1907585012095, + 146.27156530665079 + ], + [ + 988.4013241318672, + 141.67393590515024 + ], + [ + 980.7029572839735, + 139.97500226478078 + ], + [ + 978.4426508026188, + 144.54791964670278 + ], + [ + 992.0090686028805, + 124.49835451361844 + ], + [ + 994.2138995271641, + 119.98349293396925 + ], + [ + 986.3716014945428, + 118.3154205710905 + ], + [ + 984.11512123847, + 122.80561030941996 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18114159193525624905, + "instance_id": 18848, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -46.60569763183594, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1252.0835115507352, + "ymin": 89.21710683094818, + "xmax": 1274.1156947957306, + "ymax": 121.75683839035153 + }, + "corners_3d": [ + [ + -46.74428176879883, + -9.655922889709473, + 5.545533180236816 + ], + [ + -46.74428176879883, + -9.276007652282715, + 5.545533180236816 + ], + [ + -46.46711349487305, + -9.276007652282715, + 5.545533180236816 + ], + [ + -46.46711349487305, + -9.655922889709473, + 5.545533180236816 + ], + [ + -46.74428176879883, + -9.655922889709473, + 6.416468620300293 + ], + [ + -46.74428176879883, + -9.276007652282715, + 6.416468620300293 + ], + [ + -46.46711349487305, + -9.276007652282715, + 6.416468620300293 + ], + [ + -46.46711349487305, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1261.83147722093, + 121.75683839035153 + ], + [ + 1262.0907578072881, + 116.65839327940867 + ], + [ + 1252.4227314607579, + 114.78737847023018 + ], + [ + 1252.0835115507352, + 119.85439229753194 + ], + [ + 1273.9540627328115, + 96.02297873603607 + ], + [ + 1274.1156947957306, + 91.04390907774166 + ], + [ + 1264.2236908952154, + 89.21710683094818 + ], + [ + 1263.9783505084565, + 94.16488807021472 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1358148318300121759, + "instance_id": 40874, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 369.81035015654135, + "xmax": 43.77813685027604, + "ymax": 606.2496475107907 + }, + "corners_3d": [ + [ + -26.246047973632812, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246047973632812, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.197628021240234 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 43.77813685027604, + 378.36933345127096 + ], + [ + 32.95785471509464, + 373.4810407649389 + ], + [ + -294.6490343495245, + 598.4777154923912 + ], + [ + -283.3305857876743, + 606.2496475107907 + ], + [ + 41.7179030287632, + 374.6947285636704 + ], + [ + 30.872054043503226, + 369.81035015654135 + ], + [ + -298.69905677304337, + 594.8235060913245 + ], + [ + -287.36020477517116, + 602.6031972579892 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 28.25952088471638, + "xmax": 30.259340458891756, + "ymax": 352.065531958025 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 30.259340458891756, + 257.9603540671706 + ], + [ + 21.053229574179795, + 254.35139323300808 + ], + [ + -137.707055415554, + 347.4967717309008 + ], + [ + -128.20963009795662, + 352.065531958025 + ], + [ + -86.5067989491381, + 31.25685383425207 + ], + [ + -96.79683632503622, + 28.25952088471638 + ], + [ + -308.32258110416706, + 107.42934078751506 + ], + [ + -297.86142995722014, + 111.4118903476083 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7806990106475075983, + "instance_id": 36761, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 400.27199037308776, + "ymin": 39.61134026034125, + "xmax": 523.1289005328961, + "ymax": 123.25526574545111 + }, + "corners_3d": [ + [ + -26.247940063476562, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.247940063476562, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.198223114013672 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 523.1289005328961, + 44.50036464169091 + ], + [ + 514.6748145578583, + 42.61530366797291 + ], + [ + 400.860673029587, + 120.7773467092311 + ], + [ + 410.09564358944033, + 123.25526574545111 + ], + [ + 522.8770955708832, + 41.48984641540926 + ], + [ + 514.4057457345968, + 39.61134026034125 + ], + [ + 400.27199037308776, + 117.5254649176776 + ], + [ + 409.5273999176373, + 119.99632464146606 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 356.33237633500227, + "xmax": 187.38426826973802, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 187.38426826973802, + 621.4405992538093 + ], + [ + 172.62735282132678, + 613.5037112273994 + ], + [ + -47.751950313574184, + 830.9367754616217 + ], + [ + -31.963655629069763, + 842.3191057435814 + ], + [ + 45.52687972080719, + 364.331639863839 + ], + [ + 27.513353568799857, + 356.33237633500227 + ], + [ + -319.91489806402546, + 589.2078018165344 + ], + [ + -301.0830860979213, + 602.2358126105804 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 956.6467011877573, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 299.4979408607571 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 959.3786744678566, + 204.07118699061618 + ], + [ + 956.6467011877573, + 209.53384100242621 + ], + [ + 1313.7973954311985, + 299.4979408607571 + ], + [ + 1313.7417707870882, + 292.55117413055564 + ], + [ + 1016.6305856003869, + -17.80129159910973 + ], + [ + 1013.9349868623095, + -13.406783190687406 + ], + [ + 1454.6038118370757, + 60.789693529856834 + ], + [ + 1453.0452093718618, + 54.9350986615583 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1245.4259801826238, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 90.37229791691482 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1535.4535408752895, + 90.37229791691482 + ], + [ + 1533.9776985069236, + 86.60296631345079 + ], + [ + 1245.7931192268425, + 37.01362925276169 + ], + [ + 1245.4259801826238, + 40.1627118061142 + ], + [ + 1665.9293666257918, + -106.54061160280281 + ], + [ + 1663.273326611171, + -109.39609420388166 + ], + [ + 1324.9177496058414, + -146.46785007680188 + ], + [ + 1325.0353506402312, + -144.14069212627487 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13681264316117260208, + "instance_id": 45207, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 369.66920987597206, + "xmax": 43.986127394280516, + "ymax": 606.4616333636391 + }, + "corners_3d": [ + [ + -26.24793815612793, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.24793815612793, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.198223114013672 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 43.986127394280516, + 378.3379501067219 + ], + [ + 33.02635416152236, + 373.3873524017892 + ], + [ + -294.8940351822986, + 598.5871959395902 + ], + [ + -283.4292259695626, + 606.4616333636391 + ], + [ + 41.90001969212244, + 374.6157886457547 + ], + [ + 30.91401348939803, + 369.66920987597206 + ], + [ + -298.9980358897957, + 594.8857346026796 + ], + [ + -287.5122987943072, + 602.7681441004713 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15102510933830370440, + "instance_id": 34948, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 400.3973861927798, + "ymin": 39.675323119269876, + "xmax": 523.0258783493165, + "ymax": 123.17548528871646 + }, + "corners_3d": [ + [ + -26.246049880981445, + -20.196584701538086, + 8.10662841796875 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.10662841796875 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.10662841796875 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.10662841796875 + ], + [ + -26.246049880981445, + -20.196584701538086, + 8.197628021240234 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.197628021240234 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.197628021240234 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 523.0258783493165, + 44.50216601042115 + ], + [ + 514.6793162522625, + 42.64102589476744 + ], + [ + 400.9782202919679, + 120.72964393065047 + ], + [ + 410.0949820901552, + 123.17548528871646 + ], + [ + 522.7770680267939, + 41.530074699080444 + ], + [ + 514.4136791409072, + 39.675323119269876 + ], + [ + 400.3973861927798, + 117.51942372937242 + ], + [ + 409.5340663515987, + 119.9583853125103 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 393.543451986728, + "ymin": 30.93911040748793, + "xmax": 545.111415700133, + "ymax": 356.1948394659879 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 545.111415700133, + 261.2184003505242 + ], + [ + 533.3769742881384, + 257.578087713018 + ], + [ + 438.09993685368613, + 351.58131475468616 + ], + [ + 450.7930530458443, + 356.1948394659879 + ], + [ + 526.8459806209476, + 33.96749253968346 + ], + [ + 512.9709250881131, + 30.93911040748793 + ], + [ + 393.543451986728, + 110.9893512591683 + ], + [ + 408.75864408306666, + 115.01957380174693 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1002.228199275781, + "ymin": 0.0, + "xmax": 1110.3017361233656, + "ymax": 106.39447182918028 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1058.5018200238108, + 12.369690802933803 + ], + [ + 1050.0562444953366, + 10.894222775555193 + ], + [ + 1002.228199275781, + 104.31864760299092 + ], + [ + 1012.0819148337791, + 106.39447182918028 + ], + [ + 1110.3017361233656, + -164.55537871135164 + ], + [ + 1100.6439953382596, + -165.63136520234866 + ], + [ + 1056.4615524703074, + -95.92846084702438 + ], + [ + 1068.013685034785, + -94.3425523463743 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00133/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00133/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..626614b54a974a3f285d63ef136c64ba50313d59 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00133/meta.json @@ -0,0 +1,2611 @@ +{ + "frame_id": 133, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 66.5, + "sim_timestamp": 14692.101282148855 + }, + "drone_pose": { + "x": -41.35453678452745, + "y": -42.149967031130764, + "z": 20.0, + "pitch": -41.52894387821708, + "yaw": 62.938555897342425, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.34058189392089844, + -0.666661262512207, + 0.6629982590675354, + 28.924392700195312 + ], + [ + 0.8905191421508789, + 0.45494580268859863, + 2.9802322387695312e-08, + -17.651058197021484 + ], + [ + -0.3016282916069031, + 0.5904126167297363, + 0.7486209273338318, + -52.33198928833008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -41.121161103809115, + "y": -41.65986193741351, + "z": 20.0 + }, + "t1_image_uv": [ + 675.7933534106959, + -490.2011964372655 + ], + "t1_depth": 0.4062176025321198 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -31.66718292236328, + "y": -23.187763214111328, + "z": 1.141982902288437 + }, + "image_uv": [ + 639.9999999999999, + 360.0 + ], + "depth": 28.443537179938698, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 711, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -31.66718101501465, + "y": -23.187763214111328, + "z": 1.141982913017273 + }, + "extent": { + "x": 0.4978967308998108, + "y": 0.39036741852760315, + "z": 0.868251621723175 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 620.079400873965, + "ymin": 324.02631978605217, + "xmax": 659.6380345019222, + "ymax": 395.6945379916646 + }, + "corners_3d": [ + [ + -31.276813507080078, + -23.685659408569336, + 0.2737312912940979 + ], + [ + -32.05754852294922, + -23.685659408569336, + 0.2737312912940979 + ], + [ + -32.05754852294922, + -22.68986701965332, + 0.2737312912940979 + ], + [ + -31.276813507080078, + -22.68986701965332, + 0.2737312912940979 + ], + [ + -31.276813507080078, + -23.685659408569336, + 2.0102345943450928 + ], + [ + -32.05754852294922, + -23.685659408569336, + 2.0102345943450928 + ], + [ + -32.05754852294922, + -22.68986701965332, + 2.0102345943450928 + ], + [ + -31.276813507080078, + -22.68986701965332, + 2.0102345943450928 + ] + ], + "corners_2d": [ + [ + 620.875181336679, + 387.52098899951847 + ], + [ + 644.0718127685891, + 395.6945379916646 + ], + [ + 658.8642266288383, + 375.56639495712153 + ], + [ + 636.0564785236415, + 367.7584067606376 + ], + [ + 620.079400873965, + 343.5619621216733 + ], + [ + 644.2428842414047, + 351.6523562410903 + ], + [ + 659.6380345019222, + 331.7402747112989 + ], + [ + 635.8962339873265, + 324.02631978605217 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 133, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 95, + "semantic_pixel_counts": { + "1": 239775, + "2": 82384, + "5": 2765, + "6": 7744, + "7": 467, + "10": 601, + "12": 3184, + "14": 65573, + "15": 13762, + "20": 47, + "24": 41722, + "25": 463576 + }, + "instance_pixel_counts": { + "70": 1016, + "108": 2, + "1132": 1716, + "3180": 1211, + "4166": 1550, + "4678": 1958, + "6053": 380, + "6508": 4870, + "7274": 49, + "7784": 478, + "7786": 3458, + "7825": 502, + "8064": 517, + "8088": 864, + "8296": 36530, + "8298": 1689, + "8337": 595, + "8600": 215, + "8780": 2765, + "8808": 56557, + "8810": 1651, + "9320": 51503, + "9322": 1311, + "9624": 1434, + "9832": 40486, + "10316": 3, + "10624": 4109, + "10828": 20, + "11136": 680, + "12652": 433, + "17516": 1501, + "20820": 950, + "20866": 453, + "21332": 8100, + "21602": 1388, + "21844": 7659, + "22356": 13223, + "22868": 8493, + "23380": 8303, + "25428": 4116, + "25698": 807, + "25856": 136, + "25940": 3668, + "26112": 5241, + "26210": 70, + "27234": 347, + "27476": 389, + "27988": 4957, + "29327": 1606, + "29839": 3779, + "30351": 15192, + "30863": 22656, + "31375": 15827, + "31812": 463, + "32324": 544, + "32360": 25742, + "33384": 4591, + "33634": 16, + "34408": 23888, + "35399": 14587, + "36753": 708, + "39239": 448989, + "40855": 205, + "41367": 1332, + "41796": 951, + "41879": 4936, + "42391": 6622, + "42903": 2900, + "46672": 2381, + "46696": 1893, + "46917": 119, + "47208": 97, + "48232": 1480, + "48708": 1255, + "50756": 139, + "53926": 316, + "54950": 1103, + "55462": 100, + "56320": 711, + "56576": 328, + "56832": 509, + "57088": 696, + "57344": 293, + "57487": 1132, + "57600": 647, + "57999": 415, + "58880": 13324, + "58951": 24, + "59023": 1881, + "60833": 1066, + "60928": 50, + "61440": 6103, + "61601": 212, + "62113": 32, + "64837": 806 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 711, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -31.66718101501465, + "y": -23.187763214111328, + "z": 1.141982913017273 + }, + "extent": { + "x": 0.5190392732620239, + "y": 0.3433496057987213, + "z": 0.8810528516769409 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 621.1721375373776, + "ymin": 323.7458604284596, + "xmax": 658.52057450785, + "ymax": 395.94653240974384 + }, + "corners_3d": [ + [ + -31.32383155822754, + -23.706802368164062, + 0.26093006134033203 + ], + [ + -32.01053237915039, + -23.706802368164062, + 0.26093006134033203 + ], + [ + -32.010528564453125, + -22.668724060058594, + 0.26093006134033203 + ], + [ + -31.32383155822754, + -22.668724060058594, + 0.26093006134033203 + ], + [ + -31.32383155822754, + -23.706802368164062, + 2.023035764694214 + ], + [ + -32.01053237915039, + -23.706802368164062, + 2.023035764694214 + ], + [ + -32.010528564453125, + -22.668724060058594, + 2.023035764694214 + ], + [ + -31.32383155822754, + -22.668724060058594, + 2.023035764694214 + ] + ], + "corners_2d": [ + [ + 621.9359279021169, + 388.7499875711143 + ], + [ + 642.3399368769012, + 395.94653240974384 + ], + [ + 657.7810158794697, + 374.98533720871967 + ], + [ + 637.7334753797575, + 368.12394376627566 + ], + [ + 621.1721375373776, + 344.132498785939 + ], + [ + 642.4397193831912, + 351.25503716635995 + ], + [ + 658.52057450785, + 330.52312643104005 + ], + [ + 637.6399831899022, + 323.7458604284596 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 328, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -27.541194915771484, + "y": -20.1900577545166, + "z": 1.1681596040725708 + }, + "extent": { + "x": 0.43861696124076843, + "y": 0.4379919767379761, + "z": 0.8605421185493469 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 551.900481929132, + "ymin": 237.67186695747813, + "xmax": 587.8242680866268, + "ymax": 298.991346018815 + }, + "corners_3d": [ + [ + -27.203968048095703, + -20.710153579711914, + 0.3076174855232239 + ], + [ + -28.060810089111328, + -20.528026580810547, + 0.3076174855232239 + ], + [ + -27.878421783447266, + -19.66996192932129, + 0.3076174855232239 + ], + [ + -27.02157974243164, + -19.852088928222656, + 0.3076174855232239 + ], + [ + -27.203968048095703, + -20.710153579711914, + 2.0287017822265625 + ], + [ + -28.060810089111328, + -20.528026580810547, + 2.0287017822265625 + ], + [ + -27.878421783447266, + -19.66996192932129, + 2.0287017822265625 + ], + [ + -27.02157974243164, + -19.852088928222656, + 2.0287017822265625 + ] + ], + "corners_2d": [ + [ + 555.0255306508552, + 294.81071985313895 + ], + [ + 579.9512428945579, + 298.991346018815 + ], + [ + 587.8242680866268, + 283.65464323129027 + ], + [ + 563.3395312039484, + 279.6345120169541 + ], + [ + 551.900481929132, + 252.5485439278877 + ], + [ + 577.7306745493703, + 256.6503746365838 + ], + [ + 585.9336936747956, + 241.61059481701716 + ], + [ + 560.5767089772753, + 237.67186695747813 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 509, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -33.92300796508789, + "y": -16.24505043029785, + "z": 1.1426517963409424 + }, + "extent": { + "x": 0.48218992352485657, + "y": 0.4565478265285492, + "z": 0.911174476146698 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 774.1362240483256, + "ymin": 225.41649398465364, + "xmax": 813.4730934369195, + "ymax": 291.06700833473246 + }, + "corners_3d": [ + [ + -33.51936340332031, + -16.772321701049805, + 0.23147732019424438 + ], + [ + -34.42745590209961, + -16.676876068115234, + 0.23147732019424438 + ], + [ + -34.32665252685547, + -15.717780113220215, + 0.23147732019424438 + ], + [ + -33.41856002807617, + -15.813223838806152, + 0.23147732019424438 + ], + [ + -33.51936340332031, + -16.772321701049805, + 2.053826332092285 + ], + [ + -34.42745590209961, + -16.676876068115234, + 2.053826332092285 + ], + [ + -34.32665252685547, + -15.717780113220215, + 2.053826332092285 + ], + [ + -33.41856002807617, + -15.813223838806152, + 2.053826332092285 + ] + ], + "corners_2d": [ + [ + 774.1362240483256, + 285.19673954940197 + ], + [ + 800.3619397278808, + 291.06700833473246 + ], + [ + 807.1450762085207, + 275.1751875091031 + ], + [ + 781.3989736898415, + 269.54041463435834 + ], + [ + 779.2835902378599, + 240.72944369893818 + ], + [ + 806.5640857604598, + 246.4770839637546 + ], + [ + 813.4730934369195, + 230.9249527828924 + ], + [ + 786.7113660868126, + 225.41649398465364 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 696, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -41.16718292236328, + "y": -23.187763214111328, + "z": 1.149673342704773 + }, + "extent": { + "x": 0.3105407655239105, + "y": 0.461334228515625, + "z": 0.8885744214057922 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 934.9061537453508, + "ymin": 431.94857148174736, + "xmax": 990.7811082917929, + "ymax": 505.2546611449295 + }, + "corners_3d": [ + [ + -40.705848693847656, + -23.49830436706543, + 0.2610989212989807 + ], + [ + -41.628517150878906, + -23.49830436706543, + 0.2610989212989807 + ], + [ + -41.628517150878906, + -22.877222061157227, + 0.2610989212989807 + ], + [ + -40.705848693847656, + -22.877222061157227, + 0.2610989212989807 + ], + [ + -40.705848693847656, + -23.49830436706543, + 2.03824782371521 + ], + [ + -41.628517150878906, + -23.49830436706543, + 2.03824782371521 + ], + [ + -41.628517150878906, + -22.877222061157227, + 2.03824782371521 + ], + [ + -40.705848693847656, + -22.877222061157227, + 2.03824782371521 + ] + ], + "corners_2d": [ + [ + 934.9061537453508, + 493.1027451025026 + ], + [ + 969.571257960773, + 505.2546611449295 + ], + [ + 974.7874664944117, + 489.3050059087615 + ], + [ + 940.6084414592356, + 477.5370757811381 + ], + [ + 949.051808291641, + 447.49242870535454 + ], + [ + 985.5845376091895, + 459.6437335645044 + ], + [ + 990.7811082917929, + 443.6978346223515 + ], + [ + 954.788593344804, + 431.94857148174736 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 293, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -35.28268051147461, + "y": -34.31512451171875, + "z": 1.1455912590026855 + }, + "extent": { + "x": 0.46345582604408264, + "y": 0.3867090046405792, + "z": 0.9255053400993347 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 518.0360098219523, + "ymin": 681.2276502775068, + "xmax": 580.8358156053501, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -34.84964370727539, + -34.735618591308594, + 0.22008591890335083 + ], + [ + -35.61882781982422, + -34.816463470458984, + 0.22008591890335083 + ], + [ + -35.71571731567383, + -33.894630432128906, + 0.22008591890335083 + ], + [ + -34.946533203125, + -33.813785552978516, + 0.22008591890335083 + ], + [ + -34.84964370727539, + -34.735618591308594, + 2.071096658706665 + ], + [ + -35.61882781982422, + -34.816463470458984, + 2.071096658706665 + ], + [ + -35.71571731567383, + -33.894630432128906, + 2.071096658706665 + ], + [ + -34.946533203125, + -33.813785552978516, + 2.071096658706665 + ] + ], + "corners_2d": [ + [ + 525.4192795605329, + 761.0065982436495 + ], + [ + 554.7868289583666, + 780.8104014102745 + ], + [ + 580.8358156053501, + 744.8206634417838 + ], + [ + 551.8926828533728, + 726.1142506606791 + ], + [ + 518.0360098219523, + 716.9977341076992 + ], + [ + 549.2033208976019, + 737.3569589829342 + ], + [ + 577.075888675602, + 700.3886610182308 + ], + [ + 546.3835120632269, + 681.2276502775068 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 647, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -20.421846389770508, + "y": -31.35797691345215, + "z": 1.1303324699401855 + }, + "extent": { + "x": 0.3501379191875458, + "y": 0.4070971608161926, + "z": 0.909827709197998 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 117.59951456163742, + "ymin": 374.75179477349565, + "xmax": 178.54042880498378, + "ymax": 447.7585375248 + }, + "corners_3d": [ + [ + -19.950847625732422, + -31.61582374572754, + 0.2205047607421875 + ], + [ + -20.747249603271484, + -31.785104751586914, + 0.2205047607421875 + ], + [ + -20.892845153808594, + -31.100130081176758, + 0.2205047607421875 + ], + [ + -20.09644317626953, + -30.930849075317383, + 0.2205047607421875 + ], + [ + -19.950847625732422, + -31.61582374572754, + 2.0401601791381836 + ], + [ + -20.747249603271484, + -31.785104751586914, + 2.0401601791381836 + ], + [ + -20.892845153808594, + -31.100130081176758, + 2.0401601791381836 + ], + [ + -20.09644317626953, + -30.930849075317383, + 2.0401601791381836 + ] + ], + "corners_2d": [ + [ + 140.57896991169662, + 434.6227723659232 + ], + [ + 155.92857418559385, + 447.7585375248 + ], + [ + 178.54042880498378, + 433.8490069192225 + ], + [ + 163.1032721505669, + 421.09729994134733 + ], + [ + 117.59951456163742, + 388.18009492998334 + ], + [ + 133.32425714422754, + 401.2387978273207 + ], + [ + 157.3262446480918, + 387.411401163293 + ], + [ + 141.49566500275648, + 374.75179477349565 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 13324, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 1167.737582347875, + "ymin": 463.6766377449334, + "xmax": 1280.0, + "ymax": 667.3102467825532 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 1256.6981192646385, + 523.89878544215 + ], + [ + 1181.9991821237254, + 499.9548225580129 + ], + [ + 1167.737582347875, + 636.2191196407523 + ], + [ + 1252.606430761483, + 667.3102467825532 + ], + [ + 1280.9930747003368, + 487.652038166587 + ], + [ + 1202.8278355772882, + 463.6766377449334 + ], + [ + 1190.9318324326998, + 600.7178048229534 + ], + [ + 1280.307456236749, + 632.1906138006215 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 50, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -19.1251277923584, + "y": 6.095887660980225, + "z": 0.8948460817337036 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 633.5083505953783, + "ymin": 0.0, + "xmax": 726.4184754097147, + "ymax": 7.3707243927206605 + }, + "corners_3d": [ + [ + -21.404022216796875, + 5.052896022796631, + 0.011262890882790089 + ], + [ + -21.39891815185547, + 7.149961948394775, + 0.011262890882790089 + ], + [ + -16.846233367919922, + 7.138879776000977, + 0.011262890882790089 + ], + [ + -16.851337432861328, + 5.041813850402832, + 0.011262890882790089 + ], + [ + -21.404022216796875, + 5.052896022796631, + 1.7784292697906494 + ], + [ + -21.39891815185547, + 7.149961948394775, + 1.7784292697906494 + ], + [ + -16.846233367919922, + 7.138879776000977, + 1.7784292697906494 + ], + [ + -16.851337432861328, + 5.041813850402832, + 1.7784292697906494 + ] + ], + "corners_2d": [ + [ + 709.1070210327291, + 7.3707243927206605 + ], + [ + 724.5050365121408, + -5.79155086825773 + ], + [ + 650.5528441607231, + -19.51810790144009 + ], + [ + 633.6516972920001, + -7.100774735542188 + ], + [ + 710.7153116930436, + -26.062683364294628 + ], + [ + 726.4184754097147, + -38.61855068793386 + ], + [ + 650.7848712954877, + -51.69625525891087 + ], + [ + 633.5083505953783, + -39.86661166686474 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 6103, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 1082.7933444923365, + "ymin": 201.63899259855646, + "xmax": 1173.5634762184523, + "ymax": 333.8764867393333 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 1152.898288391967, + 261.8835839365826 + ], + [ + 1100.080947322431, + 248.92702516727624 + ], + [ + 1082.7933444923365, + 318.34633267904934 + ], + [ + 1140.3342489563665, + 333.8764867393333 + ], + [ + 1173.5634762184523, + 214.2552417260204 + ], + [ + 1118.2859853539799, + 201.63899259855646 + ], + [ + 1102.0312657422069, + 269.4404867270306 + ], + [ + 1162.508307780039, + 284.67793067316086 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 274752244277470567, + "instance_id": 26469, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -43.60569763183594, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1164.0642956103425, + "ymin": 86.54423697948766, + "xmax": 1184.7309456729076, + "ymax": 118.88991859884482 + }, + "corners_3d": [ + [ + -43.74428176879883, + -9.655923843383789, + 5.545533180236816 + ], + [ + -43.74428176879883, + -9.276008605957031, + 5.545533180236816 + ], + [ + -43.46711349487305, + -9.276008605957031, + 5.545533180236816 + ], + [ + -43.46711349487305, + -9.655923843383789, + 5.545533180236816 + ], + [ + -43.74428176879883, + -9.655923843383789, + 6.416468620300293 + ], + [ + -43.74428176879883, + -9.276008605957031, + 6.416468620300293 + ], + [ + -43.46711349487305, + -9.276008605957031, + 6.416468620300293 + ], + [ + -43.46711349487305, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1173.4761814648537, + 118.88991859884482 + ], + [ + 1174.480286400514, + 113.86249419622109 + ], + [ + 1165.1427682760282, + 112.00987917220908 + ], + [ + 1164.0642956103425, + 117.00638591002297 + ], + [ + 1183.794382851624, + 93.26078364073771 + ], + [ + 1184.7309456729076, + 88.35253898519335 + ], + [ + 1175.182866424038, + 86.54423697948766 + ], + [ + 1174.1685084395963, + 91.42171826686479 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 986.6761780962523, + "ymin": 134.09902526092634, + "xmax": 1002.9354626214672, + "ymax": 162.61681612115837 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 994.6297683294429, + 162.61681612115837 + ], + [ + 996.8458695130992, + 157.80242995263717 + ], + [ + 988.9446660932808, + 156.01656131035662 + ], + [ + 986.6761780962523, + 160.80434955251013 + ], + [ + 1000.727278703504, + 140.58505746413036 + ], + [ + 1002.9354626214672, + 135.85376553527172 + ], + [ + 994.8827344435649, + 134.09902526092634 + ], + [ + 992.6201012720544, + 138.8037324682126 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 18114159193525624905, + "instance_id": 18848, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -46.60569763183594, + "y": -9.465965270996094, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1269.138091508118, + "ymin": 106.73884561579274, + "xmax": 1280.0, + "ymax": 140.05049345845703 + }, + "corners_3d": [ + [ + -46.74428176879883, + -9.655922889709473, + 5.545533180236816 + ], + [ + -46.74428176879883, + -9.276007652282715, + 5.545533180236816 + ], + [ + -46.46711349487305, + -9.276007652282715, + 5.545533180236816 + ], + [ + -46.46711349487305, + -9.655922889709473, + 5.545533180236816 + ], + [ + -46.74428176879883, + -9.655922889709473, + 6.416468620300293 + ], + [ + -46.74428176879883, + -9.276007652282715, + 6.416468620300293 + ], + [ + -46.46711349487305, + -9.276007652282715, + 6.416468620300293 + ], + [ + -46.46711349487305, + -9.655922889709473, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1279.2142157750982, + 140.05049345845703 + ], + [ + 1279.350085492791, + 134.66922646604263 + ], + [ + 1269.359290097174, + 132.6869976760903 + ], + [ + 1269.138091508118, + 138.0340315809426 + ], + [ + 1292.0156628729328, + 113.93691880791303 + ], + [ + 1292.042757645703, + 108.67621191002706 + ], + [ + 1281.813201267505, + 106.73884561579274 + ], + [ + 1281.6966288648796, + 111.9654223074557 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1358148318300121759, + "instance_id": 40874, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 411.31534379512885, + "xmax": 14.270727990024739, + "ymax": 673.2262835590795 + }, + "corners_3d": [ + [ + -26.246047973632812, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.10662841796875 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.10662841796875 + ], + [ + -26.246047973632812, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.95393943786621, + -36.57275390625, + 8.197628021240234 + ], + [ + -25.953948974609375, + -42.03266143798828, + 8.197628021240234 + ], + [ + -26.246057510375977, + -42.03266143798828, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 14.270727990024739, + 420.39001312096457 + ], + [ + 3.143887270825644, + 415.0131816080285 + ], + [ + -352.8876080095408, + 664.4634068599283 + ], + [ + -341.373232366303, + 673.2262835590795 + ], + [ + 12.008612444470941, + 416.6895694670231 + ], + [ + 0.8551899921569657, + 411.31534379512885 + ], + [ + -357.4435883203736, + 660.8865101748894 + ], + [ + -345.910710500503, + 669.6626319461782 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7471037581747075579, + "instance_id": 64441, + "pixel_count": null, + "type_id": "BP_StreetLight_doble2_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -9.799999237060547, + "y": -30.999996185302734, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 43.84428646504091, + "xmax": 16.037492013431006, + "ymax": 375.2937400655159 + }, + "corners_3d": [ + [ + -10.041579246520996, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.5584077835083, + -28.165945053100586, + 0.20087909698486328 + ], + [ + -9.558419227600098, + -33.834049224853516, + 0.20087909698486328 + ], + [ + -10.041590690612793, + -33.83404541015625, + 0.20087909698486328 + ], + [ + -10.041579246520996, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.5584077835083, + -28.165945053100586, + 8.406628608703613 + ], + [ + -9.558419227600098, + -33.834049224853516, + 8.406628608703613 + ], + [ + -10.041590690612793, + -33.83404541015625, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 16.037492013431006, + 276.53037755032113 + ], + [ + 6.710663168534211, + 272.73896134676 + ], + [ + -158.32531572445578, + 370.46581394653754 + ], + [ + -148.7227503389115, + 375.2937400655159 + ], + [ + -106.6282349510368, + 47.019954864319686 + ], + [ + -117.05268798736154, + 43.84428646504091 + ], + [ + -338.8449988818047, + 127.71989964275002 + ], + [ + -328.2993030994744, + 131.97533240246187 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7806990106475075983, + "instance_id": 36761, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 392.11244609647446, + "ymin": 56.0068331891992, + "xmax": 519.8114516021118, + "ymax": 144.6631655244991 + }, + "corners_3d": [ + [ + -26.247940063476562, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.247940063476562, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.198223114013672 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 519.8114516021118, + 61.06208921939185 + ], + [ + 511.13826711996865, + 59.06151883978339 + ], + [ + 392.7403938416917, + 142.01125638378545 + ], + [ + 402.2322607172152, + 144.6631655244991 + ], + [ + 519.5453862972762, + 58.000681636237346 + ], + [ + 510.8540392343124, + 56.0068331891992 + ], + [ + 392.11244609647446, + 138.70474165464162 + ], + [ + 401.6258794309872, + 141.3495089443661 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 397.28756361439605, + "xmax": 169.9838074005603, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 169.9838074005603, + 662.432335737502 + ], + [ + 154.85578018062012, + 653.8853540797799 + ], + [ + -79.14593823306029, + 888.6706659420814 + ], + [ + -62.995503012598306, + 901.104616926668 + ], + [ + 15.8227573284463, + 406.0922088850783 + ], + [ + -2.7039983155169693, + 397.28756361439605 + ], + [ + -380.73185516070873, + 655.7929173448134 + ], + [ + -361.5961319258861, + 670.5163041019996 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 964.025054007899, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 321.29331635547396 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 966.7766833021533, + 220.85874891254696 + ], + [ + 964.025054007899, + 226.56666906412164 + ], + [ + 1331.42475559332, + 321.29331635547396 + ], + [ + 1331.2278234599803, + 313.9846996365242 + ], + [ + 1026.838171826148, + -3.9504542277381347 + ], + [ + 1024.1475739912164, + 0.6770993358204578 + ], + [ + 1480.3241728955877, + 79.52123595395045 + ], + [ + 1478.4586110989626, + 73.29718216030335 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1256.6253679875128, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 102.91685649284034 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1553.419700150696, + 102.91685649284034 + ], + [ + 1551.8105333997632, + 99.0030427557544 + ], + [ + 1256.944078549628, + 47.415374265957155 + ], + [ + 1256.6253679875128, + 50.67195023491678 + ], + [ + 1689.3161293997955, + -96.60316467420648 + ], + [ + 1686.440221927825, + -99.58388855847232 + ], + [ + 1339.0000961695966, + -138.3331077114372 + ], + [ + 1339.2023169903603, + -135.91625646739124 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13681264316117260208, + "instance_id": 45207, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 411.1627044088089, + "xmax": 14.491199989134543, + "ymax": 673.461259216815 + }, + "corners_3d": [ + [ + -26.24793815612793, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.10604476928711 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.10604476928711 + ], + [ + -26.24793815612793, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952049255371094, + -36.570133209228516, + 8.198223114013672 + ], + [ + -25.952058792114258, + -42.035282135009766, + 8.198223114013672 + ], + [ + -26.247947692871094, + -42.035282135009766, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 14.491199989134543, + 420.35367884798507 + ], + [ + 3.220899106736624, + 414.9083773837582 + ], + [ + -353.1504651616874, + 664.5827022025109 + ], + [ + -341.4873123463568, + 673.461259216815 + ], + [ + 12.20068732511345, + 416.6053285331979 + ], + [ + 0.9031116988718395, + 411.1627044088089 + ], + [ + -357.7672079958779, + 660.9596147841391 + ], + [ + -346.0850813511697, + 669.8517767211065 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15102510933830370440, + "instance_id": 34948, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 392.2425343224993, + "ymin": 56.073734337152985, + "xmax": 519.7052351325059, + "ymax": 144.5790640976122 + }, + "corners_3d": [ + [ + -26.246049880981445, + -20.196584701538086, + 8.10662841796875 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.10662841796875 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.10662841796875 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.10662841796875 + ], + [ + -26.246049880981445, + -20.196584701538086, + 8.197628021240234 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.197628021240234 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.197628021240234 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 519.7052351325059, + 61.06470637909223 + ], + [ + 511.1423502937963, + 59.08951416275761 + ], + [ + 392.8621084214039, + 141.96149440165888 + ], + [ + 402.23247455530486, + 144.5790640976122 + ], + [ + 519.4423333031503, + 58.04237516639972 + ], + [ + 510.8617456791761, + 56.073734337152985 + ], + [ + 392.2425343224993, + 138.6973403669939 + ], + [ + 401.6339175539101, + 141.30794977315875 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 385.1016885708164, + "ymin": 47.11055224331341, + "xmax": 542.8376354315571, + "ymax": 380.31543870897747 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 542.8376354315571, + 280.4688025501774 + ], + [ + 530.844844165498, + 276.638433312547 + ], + [ + 432.38153361457876, + 375.43140874014716 + ], + [ + 445.3725447373062, + 380.31543870897747 + ], + [ + 523.6188161435069, + 50.325301644437616 + ], + [ + 509.3822492137541, + 47.11055224331341 + ], + [ + 385.1016885708164, + 132.09683489950638 + ], + [ + 400.7436631397167, + 136.41304409595952 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1009.6752240681308, + "ymin": 0.0, + "xmax": 1119.6573312176665, + "ymax": 119.14006087698678 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1066.0301976629694, + 21.825898611405478 + ], + [ + 1057.4267935792, + 20.29738469887161 + ], + [ + 1009.6752240681308, + 116.97654995679335 + ], + [ + 1019.7436113984095, + 119.14006087698678 + ], + [ + 1119.6573312176665, + -157.1895313098662 + ], + [ + 1109.7944278211323, + -158.30835959950673 + ], + [ + 1066.177646326833, + -85.84698745915847 + ], + [ + 1078.0234746784754, + -84.18505977035102 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00137/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00137/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ca99e34d0ba0b951b822b2c57686abad890e15b3 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00137/meta.json @@ -0,0 +1,2397 @@ +{ + "frame_id": 137, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 68.5, + "sim_timestamp": 14735.97954445635 + }, + "drone_pose": { + "x": -40.40116402879316, + "y": -40.18390033774883, + "z": 20.0, + "pitch": -41.462337598328304, + "yaw": 62.868537202555736, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.34174758195877075, + -0.666930079460144, + 0.6621276140213013, + 27.364299774169922 + ], + [ + 0.8899625539779663, + 0.45603370666503906, + 0.0, + -17.63031005859375 + ], + [ + -0.3019524812698364, + 0.5892687439918518, + 0.7493911385536194, + -50.86616897583008 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -40.16453020713206, + "y": -39.691384859167755, + "z": 20.0 + }, + "t1_image_uv": [ + 672.8528843670817, + -488.2119289034913 + ], + "t1_depth": 0.40934239078721635 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -30.66718292236328, + "y": -21.187763214111328, + "z": 1.1406498891115189 + }, + "image_uv": [ + 640.0000000000001, + 359.99999999999994 + ], + "depth": 28.482954558918955, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 222, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -30.66718101501465, + "y": -21.187763214111328, + "z": 1.1406499147415161 + }, + "extent": { + "x": 0.5271337628364563, + "y": 0.41297727823257446, + "z": 0.8852472305297852 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 618.9206939210212, + "ymin": 322.84643901995855, + "xmax": 660.7635656986561, + "ymax": 396.9105232858635 + }, + "corners_3d": [ + [ + -30.25420379638672, + -21.71489715576172, + 0.25540268421173096 + ], + [ + -31.080158233642578, + -21.71489715576172, + 0.25540268421173096 + ], + [ + -31.080158233642578, + -20.660629272460938, + 0.25540268421173096 + ], + [ + -30.25420379638672, + -20.660629272460938, + 0.25540268421173096 + ], + [ + -30.25420379638672, + -21.71489715576172, + 2.0258970260620117 + ], + [ + -31.080158233642578, + -21.71489715576172, + 2.0258970260620117 + ], + [ + -31.080158233642578, + -20.660629272460938, + 2.0258970260620117 + ], + [ + -30.25420379638672, + -20.660629272460938, + 2.0258970260620117 + ] + ], + "corners_2d": [ + [ + 619.7769746337002, + 388.2531023783638 + ], + [ + 644.2712175112133, + 396.9105232858635 + ], + [ + 659.9322345080534, + 375.65506357534804 + ], + [ + 635.8710458087708, + 367.40651380352375 + ], + [ + 618.9206939210212, + 343.44406420199357 + ], + [ + 644.4539316537035, + 352.01029005515215 + ], + [ + 660.7635656986561, + 330.99152212460245 + ], + [ + 635.7005481233006, + 322.84643901995855 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 137, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 89, + "semantic_pixel_counts": { + "1": 235703, + "2": 91102, + "5": 3036, + "6": 8037, + "7": 368, + "10": 583, + "12": 2602, + "14": 64424, + "15": 16020, + "20": 312, + "24": 41657, + "25": 457756 + }, + "instance_pixel_counts": { + "70": 1207, + "108": 3, + "1132": 551, + "3180": 1454, + "4166": 1900, + "4678": 1147, + "6053": 105, + "6508": 4581, + "7274": 140, + "7784": 2727, + "7786": 3543, + "7825": 585, + "8064": 852, + "8088": 764, + "8296": 36667, + "8298": 2022, + "8337": 697, + "8600": 465, + "8780": 3036, + "8808": 59307, + "8810": 1129, + "9320": 26714, + "9322": 1494, + "9624": 2266, + "9832": 47593, + "10316": 198, + "10624": 4052, + "10828": 57, + "11136": 795, + "12652": 496, + "17516": 1869, + "21332": 8930, + "21602": 4670, + "21844": 8889, + "22356": 11706, + "22868": 9912, + "23380": 9531, + "25428": 3835, + "25698": 955, + "25856": 306, + "25940": 4005, + "26112": 5416, + "26210": 81, + "27234": 213, + "27988": 5425, + "29327": 3074, + "29839": 4384, + "30351": 17823, + "30863": 17214, + "31375": 17876, + "31812": 536, + "32324": 632, + "32360": 25365, + "33384": 6483, + "34408": 30847, + "35399": 14080, + "36753": 695, + "39239": 443676, + "40855": 499, + "41367": 1543, + "41879": 6068, + "42391": 4779, + "42903": 3343, + "46672": 2683, + "46696": 2236, + "46917": 136, + "47208": 175, + "48232": 1920, + "48708": 1511, + "50756": 167, + "53926": 356, + "54950": 1115, + "55462": 118, + "56320": 222, + "56576": 95, + "56832": 515, + "57088": 674, + "57344": 301, + "57487": 1641, + "57600": 795, + "57999": 1188, + "58880": 9868, + "58951": 57, + "59023": 3505, + "60833": 1053, + "60928": 1212, + "61440": 7131, + "61601": 151, + "64837": 985 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 222, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -30.66718101501465, + "y": -21.187763214111328, + "z": 1.1406499147415161 + }, + "extent": { + "x": 0.4984802007675171, + "y": 0.35652709007263184, + "z": 0.863085925579071 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 621.1256347141556, + "ymin": 324.5257336283877, + "xmax": 658.5915458338244, + "ymax": 395.1835400894181 + }, + "corners_3d": [ + [ + -30.310653686523438, + -21.686243057250977, + 0.27756398916244507 + ], + [ + -31.02370834350586, + -21.686243057250977, + 0.27756398916244507 + ], + [ + -31.02370834350586, + -20.68928337097168, + 0.27756398916244507 + ], + [ + -30.310653686523438, + -20.68928337097168, + 0.27756398916244507 + ], + [ + -30.310653686523438, + -21.686243057250977, + 2.0037357807159424 + ], + [ + -31.02370834350586, + -21.686243057250977, + 2.0037357807159424 + ], + [ + -31.02370834350586, + -20.68928337097168, + 2.0037357807159424 + ], + [ + -30.310653686523438, + -20.68928337097168, + 2.0037357807159424 + ] + ], + "corners_2d": [ + [ + 621.8735377389416, + 387.72024381333785 + ], + [ + 643.0199800859731, + 395.1835400894181 + ], + [ + 657.8654530423795, + 375.1127741722893 + ], + [ + 637.0728960359711, + 367.98338940852506 + ], + [ + 621.1256347141556, + 344.0338249056678 + ], + [ + 643.1456912106661, + 351.42007148850706 + ], + [ + 658.5915458338244, + 331.56830177866124 + ], + [ + 636.9549538470004, + 324.5257336283877 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 95, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -26.541194915771484, + "y": -18.1900577545166, + "z": 1.1681596040725708 + }, + "extent": { + "x": 0.4417761564254761, + "y": 0.4391760528087616, + "z": 0.8811138868331909 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 552.0834563079147, + "ymin": 237.2898181860017, + "xmax": 588.1502867521708, + "ymax": 299.66758561486535 + }, + "corners_3d": [ + [ + -26.203466415405273, + -18.713489532470703, + 0.2870457172393799 + ], + [ + -27.062623977661133, + -18.53087043762207, + 0.2870457172393799 + ], + [ + -26.878923416137695, + -17.6666259765625, + 0.2870457172393799 + ], + [ + -26.019765853881836, + -17.849245071411133, + 0.2870457172393799 + ], + [ + -26.203466415405273, + -18.713489532470703, + 2.0492734909057617 + ], + [ + -27.062623977661133, + -18.53087043762207, + 2.0492734909057617 + ], + [ + -26.878923416137695, + -17.6666259765625, + 2.0492734909057617 + ], + [ + -26.019765853881836, + -17.849245071411133, + 2.0492734909057617 + ] + ], + "corners_2d": [ + [ + 555.2669048498645, + 295.46652227193493 + ], + [ + 580.2083943500477, + 299.66758561486535 + ], + [ + 588.1502867521708, + 284.2631385177225 + ], + [ + 563.6523746940719, + 280.22432470396745 + ], + [ + 552.0834563079147, + 252.22105345492918 + ], + [ + 577.9495081084552, + 256.34024600312546 + ], + [ + 586.2311563264126, + 241.2441106543065 + ], + [ + 560.841813772204, + 237.2898181860017 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 515, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -32.92300796508789, + "y": -14.245049476623535, + "z": 1.1411186456680298 + }, + "extent": { + "x": 0.48518919944763184, + "y": 0.29318052530288696, + "z": 0.9372666478157043 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 778.7138955428406, + "ymin": 226.11466990823826, + "xmax": 808.7610238546481, + "ymax": 291.02394083099347 + }, + "corners_3d": [ + [ + -32.68214797973633, + -14.75822639465332, + 0.20385199785232544 + ], + [ + -33.265296936035156, + -14.696934700012207, + 0.20385199785232544 + ], + [ + -33.16386795043945, + -13.73187255859375, + 0.20385199785232544 + ], + [ + -32.580718994140625, + -13.793164253234863, + 0.20385199785232544 + ], + [ + -32.68214797973633, + -14.75822639465332, + 2.078385353088379 + ], + [ + -33.265296936035156, + -14.696934700012207, + 2.078385353088379 + ], + [ + -33.16386795043945, + -13.73187255859375, + 2.078385353088379 + ], + [ + -32.580718994140625, + -13.793164253234863, + 2.078385353088379 + ] + ], + "corners_2d": [ + [ + 778.7138955428406, + 287.24930515420755 + ], + [ + 795.522649950551, + 291.02394083099347 + ], + [ + 802.4561852220817, + 275.11458465570263 + ], + [ + 785.9560763091243, + 271.4921478554275 + ], + [ + 784.1862656577406, + 241.51514650478458 + ], + [ + 801.6891876568379, + 245.20800562838795 + ], + [ + 808.7610238546481, + 229.65292453073113 + ], + [ + 791.5926350271044, + 226.11466990823826 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 674, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -40.16718292236328, + "y": -21.187763214111328, + "z": 1.1472759246826172 + }, + "extent": { + "x": 0.3323022425174713, + "y": 0.522369384765625, + "z": 0.9090416431427002 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 931.7589237450982, + "ymin": 430.1415374451309, + "xmax": 992.9433794405218, + "ymax": 507.14409227889496 + }, + "corners_3d": [ + [ + -39.644813537597656, + -21.520065307617188, + 0.238234281539917 + ], + [ + -40.689552307128906, + -21.520065307617188, + 0.238234281539917 + ], + [ + -40.689552307128906, + -20.85546112060547, + 0.238234281539917 + ], + [ + -39.644813537597656, + -20.85546112060547, + 0.238234281539917 + ], + [ + -39.644813537597656, + -21.520065307617188, + 2.0563175678253174 + ], + [ + -40.689552307128906, + -21.520065307617188, + 2.0563175678253174 + ], + [ + -40.689552307128906, + -20.85546112060547, + 2.0563175678253174 + ], + [ + -39.644813537597656, + -20.85546112060547, + 2.0563175678253174 + ] + ], + "corners_2d": [ + [ + 931.7589237450982, + 493.3647835290036 + ], + [ + 970.9492464673904, + 507.14409227889496 + ], + [ + 976.5243655704083, + 490.09472173979316 + ], + [ + 937.9203189073776, + 476.78026220924846 + ], + [ + 946.043743884529, + 446.6972687553132 + ], + [ + 987.3916319139626, + 460.47350474263806 + ], + [ + 992.9433794405218, + 443.4307160448418 + ], + [ + 952.2485042153339, + 430.1415374451309 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 301, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -34.28268051147461, + "y": -32.31512451171875, + "z": 1.1445757150650024 + }, + "extent": { + "x": 0.47947269678115845, + "y": 0.29399293661117554, + "z": 0.9283240437507629 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 520.6813278047917, + "ymin": 681.6838323446173, + "xmax": 577.2127320011145, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -33.94017791748047, + -32.76123809814453, + 0.2162516713142395 + ], + [ + -34.52494430541992, + -32.82270050048828, + 0.2162516713142395 + ], + [ + -34.62518310546875, + -31.869009017944336, + 0.2162516713142395 + ], + [ + -34.0404167175293, + -31.80754852294922, + 0.2162516713142395 + ], + [ + -33.94017791748047, + -32.76123809814453, + 2.07289981842041 + ], + [ + -34.52494430541992, + -32.82270050048828, + 2.07289981842041 + ], + [ + -34.62518310546875, + -31.869009017944336, + 2.07289981842041 + ], + [ + -34.0404167175293, + -31.80754852294922, + 2.07289981842041 + ] + ], + "corners_2d": [ + [ + 527.9221465905828, + 762.8512465606348 + ], + [ + 550.1884445206629, + 777.9033903517393 + ], + [ + 577.2127320011145, + 740.9499072488443 + ], + [ + 555.2767531067368, + 726.7587302243769 + ], + [ + 520.6813278047917, + 718.682590412437 + ], + [ + 544.3117675111271, + 734.1534607726496 + ], + [ + 573.2318584634033, + 696.2148990527355 + ], + [ + 549.9709843549856, + 681.6838323446173 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 795, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -19.421846389770508, + "y": -29.35797691345215, + "z": 1.129321813583374 + }, + "extent": { + "x": 0.38109251856803894, + "y": 0.36235105991363525, + "z": 0.9351470470428467 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 117.96772577261527, + "ymin": 373.66425757137864, + "xmax": 179.67518495630304, + "ymax": 447.6516540533478 + }, + "corners_3d": [ + [ + -18.98818016052246, + -29.655405044555664, + 0.19417476654052734 + ], + [ + -19.697046279907227, + -29.80607795715332, + 0.19417476654052734 + ], + [ + -19.855512619018555, + -29.060548782348633, + 0.19417476654052734 + ], + [ + -19.14664649963379, + -28.909875869750977, + 0.19417476654052734 + ], + [ + -18.98818016052246, + -29.655405044555664, + 2.0644688606262207 + ], + [ + -19.697046279907227, + -29.80607795715332, + 2.0644688606262207 + ], + [ + -19.855512619018555, + -29.060548782348633, + 2.0644688606262207 + ], + [ + -19.14664649963379, + -28.909875869750977, + 2.0644688606262207 + ] + ], + "corners_2d": [ + [ + 141.51549780814133, + 435.96795888882843 + ], + [ + 155.11945849301122, + 447.6516540533478 + ], + [ + 179.67518495630304, + 432.6031897157455 + ], + [ + 165.98559055815576, + 421.28994463008996 + ], + [ + 117.96772577261527, + 388.23072632695073 + ], + [ + 131.91088794540127, + 399.84126428558375 + ], + [ + 158.01292362688298, + 384.8895970837593 + ], + [ + 143.96590659760665, + 373.66425757137864 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 9868, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 1207.7639754927511, + "ymin": 532.533159961798, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 1298.8943108955991, + 596.0726201946529 + ], + [ + 1218.0004683944385, + 568.6247583865741 + ], + [ + 1207.7639754927511, + 725.5716411365026 + ], + [ + 1300.7240631792579, + 761.9173052673875 + ], + [ + 1326.7156528725855, + 560.1630480280903 + ], + [ + 1241.762915317644, + 532.533159961798 + ], + [ + 1234.7366372398283, + 691.3216328497492 + ], + [ + 1333.0989306049164, + 728.3723622311775 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 1212, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -19.1251277923584, + "y": 6.095887660980225, + "z": 0.8948460817337036 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 633.6220707608085, + "ymin": 0.0, + "xmax": 729.5233227610019, + "ymax": 24.9716501777055 + }, + "corners_3d": [ + [ + -21.404022216796875, + 5.052896022796631, + 0.011262890882790089 + ], + [ + -21.39891815185547, + 7.149961948394775, + 0.011262890882790089 + ], + [ + -16.846233367919922, + 7.138879776000977, + 0.011262890882790089 + ], + [ + -16.851337432861328, + 5.041813850402832, + 0.011262890882790089 + ], + [ + -21.404022216796875, + 5.052896022796631, + 1.7784292697906494 + ], + [ + -21.39891815185547, + 7.149961948394775, + 1.7784292697906494 + ], + [ + -16.846233367919922, + 7.138879776000977, + 1.7784292697906494 + ], + [ + -16.851337432861328, + 5.041813850402832, + 1.7784292697906494 + ] + ], + "corners_2d": [ + [ + 711.6243696521827, + 24.9716501777055 + ], + [ + 727.4813044447865, + 10.962534747037466 + ], + [ + 651.222534976907, + -3.6641521674694673 + ], + [ + 633.7671317991733, + 9.525161989290098 + ], + [ + 713.344297322801, + -9.164244146323085 + ], + [ + 729.5233227610019, + -22.546756437117836 + ], + [ + 651.4766455012846, + -36.50052009052456 + ], + [ + 633.6220707608085, + -23.91884631506241 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 7131, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 1106.557326447779, + "ymin": 238.8582163354015, + "xmax": 1201.4416574821857, + "ymax": 381.2551063580272 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 1178.6184076311065, + 301.3926737588277 + ], + [ + 1122.6906320009641, + 287.06037536352875 + ], + [ + 1106.557326447779, + 363.90887404437433 + ], + [ + 1167.8130338750912, + 381.2551063580272 + ], + [ + 1201.4416574821857, + 252.86895867627703 + ], + [ + 1142.7572198340963, + 238.8582163354015 + ], + [ + 1127.963892882768, + 314.2358814459068 + ], + [ + 1192.5463597598923, + 331.3364132923838 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 274752244277470567, + "instance_id": 26469, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -43.60569763183594, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1193.4183397698569, + "ymin": 121.07588322365109, + "xmax": 1215.7076559600828, + "ymax": 154.99381781000565 + }, + "corners_3d": [ + [ + -43.74428176879883, + -9.655923843383789, + 5.545533180236816 + ], + [ + -43.74428176879883, + -9.276008605957031, + 5.545533180236816 + ], + [ + -43.46711349487305, + -9.276008605957031, + 5.545533180236816 + ], + [ + -43.46711349487305, + -9.655923843383789, + 5.545533180236816 + ], + [ + -43.74428176879883, + -9.655923843383789, + 6.416468620300293 + ], + [ + -43.74428176879883, + -9.276008605957031, + 6.416468620300293 + ], + [ + -43.46711349487305, + -9.276008605957031, + 6.416468620300293 + ], + [ + -43.46711349487305, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1203.4649227048758, + 154.99381781000565 + ], + [ + 1204.2760005691057, + 149.38209311048436 + ], + [ + 1194.3141484819607, + 147.3092878449521 + ], + [ + 1193.4183397698569, + 152.88442512463763 + ], + [ + 1214.9826702221012, + 128.59380176169375 + ], + [ + 1215.7076559600828, + 123.10338556978468 + ], + [ + 1205.5067417863154, + 121.07588322365109 + ], + [ + 1204.6928710204047, + 126.52977807172081 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12937619472667703847, + "instance_id": 10234, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -38.7340087890625, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1077.4837185140584, + "ymin": 0.0, + "xmax": 1093.2479853519114, + "ymax": 5.619855293923308 + }, + "corners_3d": [ + [ + -38.59542465209961, + 0.9043415784835815, + 5.545533180236816 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 5.545533180236816 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 5.545533180236816 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 5.545533180236816 + ], + [ + -38.59542465209961, + 0.9043415784835815, + 6.416468620300293 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 6.416468620300293 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 6.416468620300293 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1077.4837185140584, + 4.37548909307543 + ], + [ + 1084.9042745861755, + 5.619855293923308 + ], + [ + 1086.3240508781498, + 2.3052073826728474 + ], + [ + 1078.9496242523596, + 1.0774684599700777 + ], + [ + 1084.2996014215894, + -18.092762715496747 + ], + [ + 1091.853551561815, + -16.886605356834707 + ], + [ + 1093.2479853519114, + -20.0992651005285 + ], + [ + 1085.741849794832, + -21.289056868882824 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1003.8195246092926, + "ymin": 167.17426959055913, + "xmax": 1021.1332370173378, + "ymax": 196.9038913293391 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1012.2243970950979, + 196.9038913293391 + ], + [ + 1014.4263624777541, + 191.5957427960616 + ], + [ + 1006.0800265032645, + 189.621807420668 + ], + [ + 1003.8195246092926, + 194.8990548631195 + ], + [ + 1018.9448304799034, + 174.3423182006757 + ], + [ + 1021.1332370173378, + 169.11702195468092 + ], + [ + 1012.6180176616253, + 167.17426959055913 + ], + [ + 1010.3686420025163, + 172.36860245206867 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 741.9655921062636, + "ymin": 0.0, + "xmax": 789.9450515245488, + "ymax": 8.649371389731925 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 775.6179041699307, + -14.993265208431353 + ], + [ + 768.2755194359215, + -16.31157276409158 + ], + [ + 741.9655921062636, + 7.196243528951584 + ], + [ + 749.5976368090197, + 8.649371389731925 + ], + [ + 789.9450515245488, + -169.39270922128878 + ], + [ + 781.7852636095589, + -170.37442706290267 + ], + [ + 753.2988390361766, + -152.7814662294361 + ], + [ + 761.8188835242264, + -151.6878710447911 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7806990106475075983, + "instance_id": 36761, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 373.2371260731511, + "ymin": 91.39547043540546, + "xmax": 511.7339512863616, + "ymax": 192.02039815197313 + }, + "corners_3d": [ + [ + -26.247940063476562, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.247940063476562, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.198223114013672 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 511.7339512863616, + 96.82158834191125 + ], + [ + 502.56105954493523, + 94.55890539539558 + ], + [ + 373.9607419364103, + 188.9633413798856 + ], + [ + 384.04572397334164, + 192.02039815197313 + ], + [ + 511.43265552403074, + 93.65115710754895 + ], + [ + 502.2394682972299, + 91.39547043540546 + ], + [ + 373.2371260731511, + 185.54283639534677 + ], + [ + 383.34638738479583, + 188.59276207380867 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 493.7719031084377, + "xmax": 130.71183528107133, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 130.71183528107133, + 755.5718642576792 + ], + [ + 114.72172481118662, + 745.5815185610379 + ], + [ + -151.54139086920327, + 1023.5814479469884 + ], + [ + -134.55917889844443, + 1038.6084920749968 + ], + [ + -54.26741787585104, + 504.61131188531243 + ], + [ + -73.98235060384593, + 493.7719031084377 + ], + [ + -530.659301805189, + 821.0096954691542 + ], + [ + -511.02307697007177, + 840.3482370824154 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 979.2933762553891, + "ymin": 25.081368928222275, + "xmax": 1280.0, + "ymax": 367.28602778059104 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 982.0608464309319, + 256.0018998670652 + ], + [ + 979.2933762553891, + 262.26579334066673 + ], + [ + 1369.0840359203012, + 367.28602778059104 + ], + [ + 1368.5307478853902, + 359.1558555066988 + ], + [ + 1048.409112484393, + 25.081368928222275 + ], + [ + 1045.7672915193662, + 30.24807643076889 + ], + [ + 1536.5041810891307, + 119.46046533615257 + ], + [ + 1533.8731576640664, + 112.3748382991455 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12804233316843132162, + "instance_id": 533, + "pixel_count": null, + "type_id": "AmericanLights_Town04_29_Poles_4", + "bbox_3d": { + "center_world": { + "x": -53.74818801879883, + "y": 12.50201416015625, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1278.9765069452678, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 127.9699687015372 + }, + "corners_3d": [ + [ + -59.7733039855957, + 12.232034683227539, + 0.0 + ], + [ + -59.77714920043945, + 12.664850234985352, + 0.0 + ], + [ + -47.72307205200195, + 12.771993637084961, + 0.0 + ], + [ + -47.7192268371582, + 12.339178085327148, + 0.0 + ], + [ + -59.7733039855957, + 12.232034683227539, + 8.446706771850586 + ], + [ + -59.77714920043945, + 12.664850234985352, + 8.446706771850586 + ], + [ + -47.72307205200195, + 12.771993637084961, + 8.446706771850586 + ], + [ + -47.7192268371582, + 12.339178085327148, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1589.9331558621807, + 127.9699687015372 + ], + [ + 1588.0178494574852, + 123.74098738092482 + ], + [ + 1279.1754453697285, + 68.05839533919601 + ], + [ + 1278.9765069452678, + 71.55059069518637 + ], + [ + 1737.563255448576, + -76.94740481889846 + ], + [ + 1734.1832143376912, + -80.20518377680918 + ], + [ + 1367.5170968904415, + -122.46152577666214 + ], + [ + 1367.9222641923177, + -119.84576776591831 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15102510933830370440, + "instance_id": 34948, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 373.3779457097843, + "ymin": 91.46913826212142, + "xmax": 511.6205934795111, + "ymax": 191.9260667818173 + }, + "corners_3d": [ + [ + -26.246049880981445, + -20.196584701538086, + 8.10662841796875 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.10662841796875 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.10662841796875 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.10662841796875 + ], + [ + -26.246049880981445, + -20.196584701538086, + 8.197628021240234 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.197628021240234 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.197628021240234 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 511.6205934795111, + 96.82628402045316 + ], + [ + 502.56432895207513, + 94.59228276229771 + ], + [ + 374.0919084894732, + 188.90862062447613 + ], + [ + 384.0477865274903, + 191.9260667818173 + ], + [ + 511.322879605133, + 93.69632082527414 + ], + [ + 502.24683330153556, + 91.46913826212142 + ], + [ + 373.3779457097843, + 185.53193372701583 + ], + [ + 383.3574845016363, + 188.54242984154206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 365.5680052897002, + "ymin": 81.9977912855831, + "xmax": 537.2937923535052, + "ymax": 432.96677833890084 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 537.2937923535052, + 321.7617646260258 + ], + [ + 524.7189193412586, + 317.5130663444426 + ], + [ + 419.3991039840995, + 427.47530108647436 + ], + [ + 433.06882460619534, + 432.96677833890084 + ], + [ + 515.7321977902739, + 85.6358155791886 + ], + [ + 500.6708531704893, + 81.9977912855831 + ], + [ + 365.5680052897002, + 178.80747635325227 + ], + [ + 382.1961408851042, + 183.79108567637644 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1024.5840803014264, + "ymin": 0.0, + "xmax": 1138.16293745988, + "ymax": 145.18371054701353 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1080.6607682024242, + 40.56974690141578 + ], + [ + 1071.7228026447, + 38.93256802039838 + ], + [ + 1024.5840803014264, + 142.83608795102447 + ], + [ + 1035.1149627889704, + 145.18371054701353 + ], + [ + 1138.16293745988, + -142.89392355539644 + ], + [ + 1127.8615454361352, + -144.10210054477358 + ], + [ + 1086.0250522443503, + -65.43998717467434 + ], + [ + 1098.5108534600315, + -63.61483880348288 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00139/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00139/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5a5738fcbf9df395908b61b107f608dfd95dd8ed --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00139/meta.json @@ -0,0 +1,2603 @@ +{ + "frame_id": 139, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 69.5, + "sim_timestamp": 14755.96947064926 + }, + "drone_pose": { + "x": -39.93346075984428, + "y": -39.195952781145905, + "z": 20.0, + "pitch": -41.38694959619151, + "yaw": 62.8062110999262, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.34287065267562866, + -0.6673322319984436, + 0.661141037940979, + 26.625911712646484 + ], + [ + 0.8894659876823425, + 0.4570014476776123, + 0.0, + -17.606842041015625 + ], + [ + -0.3021424412727356, + 0.5880624651908875, + 0.750261664390564, + -50.1204948425293 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -39.71263469797272, + "y": -38.70320652608805, + "z": 20.0 + }, + "t1_image_uv": [ + 708.2695623114848, + -485.96531003577763 + ], + "t1_depth": 0.40454022995998157 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -30.16718292236328, + "y": -20.187763214111328, + "z": 1.1681596529483795 + }, + "image_uv": [ + 639.9999999999999, + 359.99999999999994 + ], + "depth": 28.483849182862137, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 319, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -30.16718101501465, + "y": -20.187763214111328, + "z": 1.1681596040725708 + }, + "extent": { + "x": 0.5111022591590881, + "y": 0.581402599811554, + "z": 0.9094419479370117 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 614.0208056521603, + "ymin": 320.8695448679221, + "xmax": 665.7163047575345, + "ymax": 398.96359581438765 + }, + "corners_3d": [ + [ + -29.585779190063477, + -20.69886589050293, + 0.2587176561355591 + ], + [ + -30.748584747314453, + -20.69886589050293, + 0.2587176561355591 + ], + [ + -30.74858283996582, + -19.676660537719727, + 0.2587176561355591 + ], + [ + -29.585777282714844, + -19.676660537719727, + 0.2587176561355591 + ], + [ + -29.585779190063477, + -20.69886589050293, + 2.077601432800293 + ], + [ + -30.748584747314453, + -20.69886589050293, + 2.077601432800293 + ], + [ + -30.74858283996582, + -19.676660537719727, + 2.077601432800293 + ], + [ + -29.585777282714844, + -19.676660537719727, + 2.077601432800293 + ] + ], + "corners_2d": [ + [ + 615.1001880300593, + 386.7737984310949 + ], + [ + 649.5366194379897, + 398.96359581438765 + ], + [ + 664.6582074581285, + 378.30945982305724 + ], + [ + 630.8111997881949, + 366.67829943704135 + ], + [ + 614.0208056521603, + 340.70972066050825 + ], + [ + 649.9560505898119, + 352.7639517184402 + ], + [ + 665.7163047575345, + 332.3480997750164 + ], + [ + 630.4224341285557, + 320.8695448679221 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 139, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 87, + "semantic_pixel_counts": { + "1": 238384, + "2": 96570, + "5": 3074, + "6": 8287, + "7": 506, + "10": 567, + "12": 2920, + "14": 58561, + "15": 16891, + "20": 439, + "24": 41158, + "25": 454243 + }, + "instance_pixel_counts": { + "70": 1324, + "108": 3, + "3180": 1615, + "4166": 2115, + "4678": 33, + "6508": 4425, + "7274": 215, + "7784": 4732, + "7786": 3562, + "7825": 628, + "8064": 1056, + "8088": 1023, + "8296": 36590, + "8298": 2228, + "8337": 744, + "8600": 603, + "8780": 3074, + "8808": 61369, + "8810": 754, + "9320": 17490, + "9322": 1596, + "9624": 2478, + "9832": 50875, + "10316": 319, + "10624": 3833, + "10828": 61, + "11136": 862, + "12652": 529, + "17516": 2090, + "21332": 9740, + "21602": 7316, + "21844": 9147, + "22356": 7860, + "22868": 10789, + "23380": 10254, + "25428": 3318, + "25698": 1038, + "25856": 463, + "25940": 4194, + "26112": 5486, + "26210": 90, + "27234": 126, + "27988": 5693, + "29327": 3823, + "29839": 4732, + "30351": 19560, + "30863": 13948, + "31375": 18969, + "31812": 577, + "32324": 678, + "32360": 25171, + "33384": 7248, + "34408": 34909, + "35399": 13313, + "36753": 606, + "39239": 440930, + "40855": 680, + "41367": 1670, + "41879": 6616, + "42391": 3673, + "42903": 3622, + "46672": 2844, + "46696": 2227, + "46917": 147, + "47208": 213, + "48232": 2140, + "48708": 1676, + "50756": 182, + "53926": 379, + "54950": 1111, + "55462": 125, + "56320": 319, + "56576": 363, + "56832": 498, + "57088": 701, + "57344": 325, + "57487": 1791, + "57600": 714, + "57999": 1639, + "58880": 4647, + "58951": 59, + "59023": 4427, + "60833": 1040, + "60928": 2066, + "61440": 7744, + "61601": 113, + "64837": 1078 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 319, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -30.16718101501465, + "y": -20.187763214111328, + "z": 1.1681596040725708 + }, + "extent": { + "x": 0.49760740995407104, + "y": 0.4330889880657196, + "z": 0.8751572370529175 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 618.784770649279, + "ymin": 323.4721223146651, + "xmax": 660.9378058697249, + "ymax": 396.2772520493901 + }, + "corners_3d": [ + [ + -29.734092712402344, + -20.68537139892578, + 0.2930023670196533 + ], + [ + -30.600269317626953, + -20.68537139892578, + 0.2930023670196533 + ], + [ + -30.600269317626953, + -19.690155029296875, + 0.2930023670196533 + ], + [ + -29.734092712402344, + -19.690155029296875, + 0.2930023670196533 + ], + [ + -29.734092712402344, + -20.68537139892578, + 2.0433168411254883 + ], + [ + -30.600269317626953, + -20.68537139892578, + 2.0433168411254883 + ], + [ + -30.600269317626953, + -19.690155029296875, + 2.0433168411254883 + ], + [ + -29.734092712402344, + -19.690155029296875, + 2.0433168411254883 + ] + ], + "corners_2d": [ + [ + 619.6348855381599, + 387.204384435311 + ], + [ + 645.3004048238408, + 396.2772520493901 + ], + [ + 660.1093403560908, + 376.24265143988924 + ], + [ + 634.8719236346815, + 367.5751473689907 + ], + [ + 618.784770649279, + 342.86416100669305 + ], + [ + 645.5240592895423, + 351.8396970578027 + ], + [ + 660.9378058697249, + 332.03040389898496 + ], + [ + 634.6628672910633, + 323.4721223146651 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 363, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -26.041194915771484, + "y": -17.1900577545166, + "z": 1.1349174976348877 + }, + "extent": { + "x": 0.4587707817554474, + "y": 0.43895143270492554, + "z": 0.886671781539917 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 552.1853472158862, + "ymin": 238.50698133420798, + "xmax": 588.5275055308832, + "ymax": 301.6458948337019 + }, + "corners_3d": [ + [ + -25.70722007751465, + -17.730066299438477, + 0.2482457160949707 + ], + [ + -26.56593894958496, + -17.54753875732422, + 0.2482457160949707 + ], + [ + -26.37516975402832, + -16.650049209594727, + 0.2482457160949707 + ], + [ + -25.516450881958008, + -16.832576751708984, + 0.2482457160949707 + ], + [ + -25.70722007751465, + -17.730066299438477, + 2.0215892791748047 + ], + [ + -26.56593894958496, + -17.54753875732422, + 2.0215892791748047 + ], + [ + -26.37516975402832, + -16.650049209594727, + 2.0215892791748047 + ], + [ + -25.516450881958008, + -16.832576751708984, + 2.0215892791748047 + ] + ], + "corners_2d": [ + [ + 555.3766767418675, + 297.4315664944205 + ], + [ + 580.2676723058581, + 301.6458948337019 + ], + [ + 588.5275055308832, + 285.67070764243454 + ], + [ + 564.0954245492477, + 281.6251656327967 + ], + [ + 552.1853472158862, + 253.9880916779734 + ], + [ + 578.002458606992, + 258.11966944982737 + ], + [ + 586.6165893655356, + 242.46702540677904 + ], + [ + 561.2927869891962, + 238.50698133420798 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 498, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -32.42300796508789, + "y": -13.245049476623535, + "z": 1.1403617858886719 + }, + "extent": { + "x": 0.4847692847251892, + "y": 0.29746153950691223, + "z": 0.9307236075401306 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 778.6862214887203, + "ymin": 227.2344080307925, + "xmax": 808.9310819213665, + "ymax": 291.8244353574946 + }, + "corners_3d": [ + [ + -32.17784881591797, + -13.758255958557129, + 0.20963817834854126 + ], + [ + -32.76951217651367, + -13.696069717407227, + 0.20963817834854126 + ], + [ + -32.66816711425781, + -12.731842994689941, + 0.20963817834854126 + ], + [ + -32.07650375366211, + -12.794029235839844, + 0.20963817834854126 + ], + [ + -32.17784881591797, + -13.758255958557129, + 2.0710854530334473 + ], + [ + -32.76951217651367, + -13.696069717407227, + 2.0710854530334473 + ], + [ + -32.66816711425781, + -12.731842994689941, + 2.0710854530334473 + ], + [ + -32.07650375366211, + -12.794029235839844, + 2.0710854530334473 + ] + ], + "corners_2d": [ + [ + 778.6862214887203, + 287.9884688163345 + ], + [ + 795.7291988316313, + 291.8244353574946 + ], + [ + 802.6757480486584, + 275.95282139778124 + ], + [ + 785.9453062917128, + 272.27144086508156 + ], + [ + 784.1066246979864, + 242.59568742116082 + ], + [ + 801.8470604814111, + 246.34853106168282 + ], + [ + 808.9310819213665, + 230.8302764777688 + ], + [ + 791.5291551544277, + 227.2344080307925 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 701, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -39.66718292236328, + "y": -20.187763214111328, + "z": 1.1461821794509888 + }, + "extent": { + "x": 0.3310473561286926, + "y": 0.5742767453193665, + "z": 0.8969603776931763 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 929.6665342481854, + "ymin": 430.68841776215226, + "xmax": 994.5515528326234, + "ymax": 508.36409504985625 + }, + "corners_3d": [ + [ + -39.0929069519043, + -20.518810272216797, + 0.2492218017578125 + ], + [ + -40.241458892822266, + -20.518810272216797, + 0.2492218017578125 + ], + [ + -40.241458892822266, + -19.85671615600586, + 0.2492218017578125 + ], + [ + -39.0929069519043, + -19.85671615600586, + 0.2492218017578125 + ], + [ + -39.0929069519043, + -20.518810272216797, + 2.043142557144165 + ], + [ + -40.241458892822266, + -20.518810272216797, + 2.043142557144165 + ], + [ + -40.241458892822266, + -19.85671615600586, + 2.043142557144165 + ], + [ + -39.0929069519043, + -19.85671615600586, + 2.043142557144165 + ] + ], + "corners_2d": [ + [ + 929.6665342481854, + 493.1928409011359 + ], + [ + 972.7414822419723, + 508.36409504985625 + ], + [ + 978.2893476311608, + 491.3740397413935 + ], + [ + 935.8561546434437, + 476.7129947476929 + ], + [ + 943.6185112003798, + 447.1361944391507 + ], + [ + 989.02866774171, + 462.3015180634586 + ], + [ + 994.5515528326234, + 445.3196236019115 + ], + [ + 949.855072156367, + 430.68841776215226 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 325, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -33.78268051147461, + "y": -31.31512451171875, + "z": 1.1440678834915161 + }, + "extent": { + "x": 0.480764240026474, + "y": 0.30112552642822266, + "z": 0.9315811991691589 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 519.7731420809729, + "ymin": 681.5690657655736, + "xmax": 576.9805572238083, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -33.432952880859375, + -31.76177978515625, + 0.21248668432235718 + ], + [ + -34.03190231323242, + -31.824731826782227, + 0.21248668432235718 + ], + [ + -34.132408142089844, + -30.86846923828125, + 0.21248668432235718 + ], + [ + -33.5334587097168, + -30.805517196655273, + 0.21248668432235718 + ], + [ + -33.432952880859375, + -31.76177978515625, + 2.0756490230560303 + ], + [ + -34.03190231323242, + -31.824731826782227, + 2.0756490230560303 + ], + [ + -34.132408142089844, + -30.86846923828125, + 2.0756490230560303 + ], + [ + -33.5334587097168, + -30.805517196655273, + 2.0756490230560303 + ] + ], + "corners_2d": [ + [ + 527.078553701217, + 762.9934532818277 + ], + [ + 549.8444183576698, + 778.422155248114 + ], + [ + 576.9805572238083, + 741.420473208598 + ], + [ + 554.5514763443949, + 726.8763910876378 + ], + [ + 519.7731420809729, + 718.5862207889816 + ], + [ + 543.9350619643498, + 734.4416849973471 + ], + [ + 572.9784310809397, + 696.4589700106878 + ], + [ + 549.193298611926, + 681.5690657655736 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 714, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -18.921846389770508, + "y": -28.35797882080078, + "z": 1.1288090944290161 + }, + "extent": { + "x": 0.3684716820716858, + "y": 0.4126245081424713, + "z": 0.9315723776817322 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 118.01126891492163, + "ymin": 373.5263592385088, + "xmax": 180.5750348756323, + "ymax": 448.3755726736978 + }, + "corners_3d": [ + [ + -18.44162940979004, + -28.63260841369629, + 0.19723671674728394 + ], + [ + -19.248844146728516, + -28.804187774658203, + 0.19723671674728394 + ], + [ + -19.402063369750977, + -28.083349227905273, + 0.19723671674728394 + ], + [ + -18.5948486328125, + -27.91176986694336, + 0.19723671674728394 + ], + [ + -18.44162940979004, + -28.63260841369629, + 2.0603814125061035 + ], + [ + -19.248844146728516, + -28.804187774658203, + 2.0603814125061035 + ], + [ + -19.402063369750977, + -28.083349227905273, + 2.0603814125061035 + ], + [ + -18.5948486328125, + -27.91176986694336, + 2.0603814125061035 + ] + ], + "corners_2d": [ + [ + 141.38358584467585, + 435.0868670859529 + ], + [ + 156.83016534628007, + 448.3755726736978 + ], + [ + 180.5750348756323, + 433.8419727563212 + ], + [ + 165.03282791526556, + 420.9606117087974 + ], + [ + 118.01126891492163, + 387.54130644104004 + ], + [ + 133.83958492555615, + 400.743710199141 + ], + [ + 159.070260861775, + 386.3054116650848 + ], + [ + 143.12626404377033, + 373.5263592385088 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 4647, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 1230.2261804752934, + "ymin": 571.7176420437413, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 1322.3990030746518, + 637.1164761245088 + ], + [ + 1237.9599175216717, + 607.5674471874929 + ], + [ + 1230.2261804752934, + 776.8196370346277 + ], + [ + 1327.9013478451152, + 816.3888681303397 + ], + [ + 1352.2786736851203, + 601.5493746980419 + ], + [ + 1263.4241077275854, + 571.7176420437413 + ], + [ + 1259.4438676115537, + 743.5248943234433 + ], + [ + 1363.0758061823763, + 784.0207852390843 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 2066, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -19.1251277923584, + "y": 6.095887660980225, + "z": 0.8948460817337036 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 633.9074508534349, + "ymin": 0.0, + "xmax": 731.3547013938231, + "ymax": 34.97336056344193 + }, + "corners_3d": [ + [ + -21.404022216796875, + 5.052896022796631, + 0.011262890882790089 + ], + [ + -21.39891815185547, + 7.149961948394775, + 0.011262890882790089 + ], + [ + -16.846233367919922, + 7.138879776000977, + 0.011262890882790089 + ], + [ + -16.851337432861328, + 5.041813850402832, + 0.011262890882790089 + ], + [ + -21.404022216796875, + 5.052896022796631, + 1.7784292697906494 + ], + [ + -21.39891815185547, + 7.149961948394775, + 1.7784292697906494 + ], + [ + -16.846233367919922, + 7.138879776000977, + 1.7784292697906494 + ], + [ + -16.851337432861328, + 5.041813850402832, + 1.7784292697906494 + ] + ], + "corners_2d": [ + [ + 713.1378352678901, + 34.97336056344193 + ], + [ + 729.2410935521534, + 20.518779880560373 + ], + [ + 651.799634267684, + 5.40184871874709 + ], + [ + 634.0479856549607, + 18.994881396278174 + ], + [ + 714.9206904601828, + 0.49422632400671773 + ], + [ + 731.3547013938231, + -13.32334263547898 + ], + [ + 652.0705670142064, + -27.754103648083458 + ], + [ + 633.9074508534349, + -14.778994707624179 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 7744, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 1119.4982032682774, + "ymin": 259.7698136168742, + "xmax": 1216.6159448860178, + "ymax": 407.84470237764504 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 1192.593307433307, + 323.52903656123095 + ], + [ + 1134.952724175351, + 308.4061566982277 + ], + [ + 1119.4982032682774, + 389.44325357268985 + ], + [ + 1182.8173550534775, + 407.84470237764504 + ], + [ + 1216.6159448860178, + 274.5839504997865 + ], + [ + 1156.05035748498, + 259.7698136168742 + ], + [ + 1142.1203554783224, + 339.4349297012837 + ], + [ + 1208.9912640300583, + 357.6217989135972 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 274752244277470567, + "instance_id": 26469, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -43.60569763183594, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1209.43692448834, + "ymin": 140.6973569282669, + "xmax": 1232.6268234971944, + "ymax": 175.4577946225488 + }, + "corners_3d": [ + [ + -43.74428176879883, + -9.655923843383789, + 5.545533180236816 + ], + [ + -43.74428176879883, + -9.276008605957031, + 5.545533180236816 + ], + [ + -43.46711349487305, + -9.276008605957031, + 5.545533180236816 + ], + [ + -43.46711349487305, + -9.655923843383789, + 5.545533180236816 + ], + [ + -43.74428176879883, + -9.655923843383789, + 6.416468620300293 + ], + [ + -43.74428176879883, + -9.276008605957031, + 6.416468620300293 + ], + [ + -43.46711349487305, + -9.276008605957031, + 6.416468620300293 + ], + [ + -43.46711349487305, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1219.8359312133016, + 175.4577946225488 + ], + [ + 1220.533092320214, + 169.51477577441443 + ], + [ + 1210.2248689482153, + 167.3145252922116 + ], + [ + 1209.43692448834, + 173.2175335788998 + ], + [ + 1232.0269598059215, + 148.67307379516998 + ], + [ + 1232.6268234971944, + 142.85192895999182 + ], + [ + 1222.063156018285, + 140.6973569282669 + ], + [ + 1221.36791386007, + 146.47849572695995 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1102.683657236867, + "ymin": 0.0, + "xmax": 1115.9056018063918, + "ymax": 2.0360473115115383 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1102.683657236867, + 1.013498757860873 + ], + [ + 1108.8844969179938, + 2.0360473115115383 + ], + [ + 1109.9291591908734, + -0.6678505174354541 + ], + [ + 1103.760428411516, + -1.6791108142135727 + ], + [ + 1108.5886001180963, + -17.471435943373535 + ], + [ + 1114.8813032058754, + -16.475120207133443 + ], + [ + 1115.9056018063918, + -19.109535215998847 + ], + [ + 1109.645972462423, + -20.09471295010053 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12937619472667703847, + "instance_id": 10234, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -38.7340087890625, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1087.3184015543789, + "ymin": 0.0, + "xmax": 1103.5464136862404, + "ymax": 18.262162469463703 + }, + "corners_3d": [ + [ + -38.59542465209961, + 0.9043415784835815, + 5.545533180236816 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 5.545533180236816 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 5.545533180236816 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 5.545533180236816 + ], + [ + -38.59542465209961, + 0.9043415784835815, + 6.416468620300293 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 6.416468620300293 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 6.416468620300293 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1087.3184015543789, + 16.959162878206996 + ], + [ + 1094.9295606919277, + 18.262162469463703 + ], + [ + 1096.3195849078816, + 14.800922102400534 + ], + [ + 1088.7569708312776, + 13.51572650966989 + ], + [ + 1094.4336947256465, + -5.826132375035456 + ], + [ + 1102.1849684550004, + -4.562326663746148 + ], + [ + 1103.5464136862404, + -7.919224698798359 + ], + [ + 1095.8455008231435, + -9.165489768884981 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1013.1021111151367, + "ymin": 185.78380984532245, + "xmax": 1030.9927306199593, + "ymax": 216.15666424782563 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1021.7530615419978, + 216.15666424782563 + ], + [ + 1023.94535156537, + 210.57303410097614 + ], + [ + 1015.3564414838924, + 208.49169311360205 + ], + [ + 1013.1021111151367, + 214.0418710423611 + ], + [ + 1028.8174112311617, + 193.33534839316292 + ], + [ + 1030.9927306199593, + 187.83404771049044 + ], + [ + 1022.2252056270672, + 185.78380984532245 + ], + [ + 1019.9851954525436, + 191.25154689150764 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 743.9575628635752, + "ymin": 0.0, + "xmax": 792.8954187837761, + "ymax": 18.199758455837866 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 778.0881281712666, + -6.166926251512962 + ], + [ + 770.6310640976142, + -7.528112183925657 + ], + [ + 743.9575628635752, + 16.69701881819816 + ], + [ + 751.7135904762841, + 18.199758455837866 + ], + [ + 792.8954187837761, + -162.249111836079 + ], + [ + 784.5947406792916, + -163.2656627493485 + ], + [ + 755.6962030847642, + -145.08110665686178 + ], + [ + 764.3700069413197, + -143.94655590584318 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7806990106475075983, + "instance_id": 36761, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 362.6243085870828, + "ymin": 111.4533160299934, + "xmax": 507.2834252550651, + "ymax": 218.95813060460875 + }, + "corners_3d": [ + [ + -26.247940063476562, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.247940063476562, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.198223114013672 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 507.2834252550651, + 117.08592539056781 + ], + [ + 497.8434092471486, + 114.67135231706328 + ], + [ + 363.4036227208084, + 215.6611060004205 + ], + [ + 373.8065729390402, + 218.95813060460875 + ], + [ + 506.9621571371178, + 113.8607661857385 + ], + [ + 497.5006707556605, + 111.4533160299934 + ], + [ + 362.6243085870828, + 212.18501157949973 + ], + [ + 373.0530349302811, + 215.4749885578167 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 550.6190539919859, + "xmax": 108.10116565315718, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 108.10116565315718, + 808.5502731058457 + ], + [ + 91.6610581972817, + 797.6841142065457 + ], + [ + -194.22134925902344, + 1102.0335016048598 + ], + [ + -176.8422479270439, + 1118.696611499117 + ], + [ + -95.9009112623437, + 562.7592186448278 + ], + [ + -116.21183837582976, + 550.6190539919859 + ], + [ + -624.090539981479, + 923.0343724258735 + ], + [ + -604.4850945474086, + 945.5595533623207 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 312.2990206585312, + "ymin": 0.0, + "xmax": 323.5229367569892, + "ymax": 1.6851133832818164 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 322.8562998333947, + 1.6851133832818164 + ], + [ + 323.5229367569892, + 1.3515448128261482 + ], + [ + 322.4338109724764, + 1.1074018918898787 + ], + [ + 321.7667631253551, + 1.4406361999509727 + ], + [ + 313.4160985984825, + -41.40822258605846 + ], + [ + 314.10921435251305, + -41.72135923377107 + ], + [ + 312.99256528217325, + -41.95053969853751 + ], + [ + 312.2990206585312, + -41.63772616859626 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 987.5466047136124, + "ymin": 41.67307728186546, + "xmax": 1280.0, + "ymax": 393.1551507380217 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 990.3215862173581, + 275.6313864055718 + ], + [ + 987.5466047136124, + 282.20420514250674 + ], + [ + 1389.7152353692477, + 393.1551507380217 + ], + [ + 1388.9537969980545, + 384.55714163906083 + ], + [ + 1060.1481261457368, + 41.67307728186546 + ], + [ + 1057.5382833115725, + 47.14381935221917 + ], + [ + 1567.6828379332787, + 142.42195385988015 + ], + [ + 1564.5940782384196, + 134.83490349057934 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15102510933830370440, + "instance_id": 34948, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 362.7711790944721, + "ymin": 111.53079925337616, + "xmax": 507.16612602060616, + "ymax": 218.8578841316378 + }, + "corners_3d": [ + [ + -26.246049880981445, + -20.196584701538086, + 8.10662841796875 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.10662841796875 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.10662841796875 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.10662841796875 + ], + [ + -26.246049880981445, + -20.196584701538086, + 8.197628021240234 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.197628021240234 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.197628021240234 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 507.16612602060616, + 117.09182810677333 + ], + [ + 497.8461188341645, + 114.70784947343083 + ], + [ + 363.54009498891014, + 215.60359460162087 + ], + [ + 373.80986552961986, + 218.8578841316378 + ], + [ + 506.84867693722947, + 113.90783581368038 + ], + [ + 497.5077427803106, + 111.53079925337616 + ], + [ + 362.7711790944721, + 212.17202803578354 + ], + [ + 373.06606908490517, + 215.4194486959619 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 354.5813252505371, + "ymin": 101.78626285402726, + "xmax": 534.2629744939815, + "ymax": 462.30263632330684 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 534.2629744939815, + 344.6962780871324 + ], + [ + 521.3796821389082, + 340.2085876101683 + ], + [ + 412.18321048386474, + 456.4587102280131 + ], + [ + 426.2134173099827, + 462.30263632330684 + ], + [ + 511.384606303135, + 105.669653570522 + ], + [ + 495.88221692306865, + 101.78626285402726 + ], + [ + 354.5813252505371, + 205.39882377692723 + ], + [ + 371.7383732846733, + 210.77834125007666 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 117.69346347963165, + "ymax": 0.3987439163942099 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -68.9949503358988, + -0.9927216862362229 + ], + [ + -64.03738092077094, + 0.3987439163942099 + ], + [ + 117.69346347963165, + -63.84070909227387 + ], + [ + 112.93764290448757, + -64.88927213412666 + ], + [ + -152.9087620261962, + -172.6561678655071 + ], + [ + -147.63190067552364, + -171.65049685959332 + ], + [ + 64.69922417564032, + -217.37770773503507 + ], + [ + 59.607146817422745, + -218.1123905841947 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1032.622096965526, + "ymin": 0.0, + "xmax": 1148.0950525566145, + "ymax": 159.80852021033724 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1088.529870853868, + 51.257525852826916 + ], + [ + 1079.4142869226432, + 49.56032151282653 + ], + [ + 1032.622096965526, + 157.35770998447745 + ], + [ + 1043.4013100649433, + 159.80852021033724 + ], + [ + 1148.0950525566145, + -134.4179342072461 + ], + [ + 1137.5601607040987, + -135.67551227651137 + ], + [ + 1096.7420384965112, + -53.649478253843256 + ], + [ + 1109.5737755134085, + -51.73236282588488 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00140/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00140/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..aa29270bc9ef93aa311830665464e4f6cefbc223 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00140/meta.json @@ -0,0 +1,4682 @@ +{ + "frame_id": 140, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 70.0, + "sim_timestamp": 14766.518599967705 + }, + "drone_pose": { + "x": -39.71263469797272, + "y": -38.70320652608805, + "z": 20.0, + "pitch": -41.5545440175572, + "yaw": 63.34407277508984, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.33572202920913696, + -0.6687902212142944, + 0.6633327007293701, + 25.950077056884766 + ], + [ + 0.8937168121337891, + 0.4486315846443176, + 2.9802322387695312e-08, + -18.128366470336914 + ], + [ + -0.29759201407432556, + 0.5928316116333008, + 0.7483245730400085, + -49.72913360595703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -39.49894314492842, + "y": -38.21122259511576, + "z": 20.0 + }, + "t1_image_uv": [ + 711.2376222877783, + -490.96686172552677 + ], + "t1_depth": 0.40077501740332555 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -30.16718292236328, + "y": -19.687763214111328, + "z": 1.1397270452976227 + }, + "image_uv": [ + 640.0000000000001, + 360.0 + ], + "depth": 28.432598014908233, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 629, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -30.16718101501465, + "y": -19.687763214111328, + "z": 1.139726996421814 + }, + "extent": { + "x": 0.563122570514679, + "y": 0.4295831322669983, + "z": 0.8953070640563965 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 620.0415171166047, + "ymin": 322.2563556557569, + "xmax": 660.3914682261367, + "ymax": 397.4982140254297 + }, + "corners_3d": [ + [ + -30.261608123779297, + -20.389711380004883, + 0.24441993236541748 + ], + [ + -30.869129180908203, + -19.782190322875977, + 0.24441993236541748 + ], + [ + -30.07275390625, + -18.985815048217773, + 0.24441993236541748 + ], + [ + -29.465232849121094, + -19.59333610534668, + 0.24441993236541748 + ], + [ + -30.261608123779297, + -20.389711380004883, + 2.0350341796875 + ], + [ + -30.869129180908203, + -19.782190322875977, + 2.0350341796875 + ], + [ + -30.07275390625, + -18.985815048217773, + 2.0350341796875 + ], + [ + -29.465232849121094, + -19.59333610534668, + 2.0350341796875 + ] + ], + "corners_2d": [ + [ + 632.2417816094008, + 397.4982140254297 + ], + [ + 659.5483635426185, + 391.2402324124833 + ], + [ + 647.4947551306731, + 367.33930194054494 + ], + [ + 620.8499027318342, + 373.2616537043326 + ], + [ + 631.904699425775, + 352.07268569657134 + ], + [ + 660.3914682261367, + 345.8785607760076 + ], + [ + 647.8088733068378, + 322.2563556557569 + ], + [ + 620.0415171166047, + 328.1045026310409 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 140, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 86, + "semantic_pixel_counts": { + "1": 243941, + "2": 97517, + "5": 3059, + "6": 8527, + "7": 514, + "10": 557, + "12": 3209, + "14": 54952, + "15": 17134, + "20": 449, + "24": 41506, + "25": 450235 + }, + "instance_pixel_counts": { + "70": 1401, + "108": 3, + "3180": 1716, + "4166": 2016, + "6508": 4362, + "7274": 244, + "7784": 5441, + "7786": 3668, + "7825": 656, + "8064": 1173, + "8088": 1111, + "8296": 38041, + "8298": 2306, + "8337": 781, + "8600": 596, + "8780": 3059, + "8808": 63598, + "8810": 677, + "9320": 14328, + "9322": 1648, + "9624": 2527, + "9832": 52508, + "10316": 328, + "10624": 3720, + "10828": 61, + "11136": 901, + "12652": 554, + "17516": 2146, + "21332": 10046, + "21602": 7332, + "21844": 9166, + "22356": 4107, + "22868": 11354, + "23380": 10759, + "25428": 2318, + "25698": 1094, + "25856": 443, + "25940": 4355, + "26112": 5649, + "26210": 102, + "27234": 14, + "27988": 5899, + "29327": 3948, + "29839": 4886, + "30351": 20367, + "30863": 12747, + "31375": 19559, + "31812": 594, + "32324": 707, + "32360": 26242, + "33384": 7620, + "34408": 36163, + "35399": 11374, + "36753": 477, + "39239": 438861, + "40855": 749, + "41367": 1716, + "41879": 6849, + "42391": 3282, + "42903": 3839, + "46672": 2949, + "46696": 2265, + "46917": 151, + "47208": 212, + "48232": 2215, + "48708": 1759, + "50756": 189, + "53926": 402, + "54950": 1064, + "55462": 139, + "56320": 629, + "56576": 396, + "56832": 515, + "57088": 650, + "57344": 290, + "57487": 1850, + "57600": 729, + "57999": 1624, + "58880": 3952, + "58951": 60, + "59023": 4535, + "60833": 975, + "60928": 2162, + "61440": 7968, + "61601": 42, + "64837": 1133 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 629, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -30.16718101501465, + "y": -19.687763214111328, + "z": 1.139726996421814 + }, + "extent": { + "x": 0.44178831577301025, + "y": 0.5319176912307739, + "z": 0.8771899342536926 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 617.9532721373841, + "ymin": 324.5170500969537, + "xmax": 662.347119607223, + "ymax": 395.12829280194654 + }, + "corners_3d": [ + [ + -30.103450775146484, + -20.376277923583984, + 0.26253706216812134 + ], + [ + -30.855695724487305, + -19.62403106689453, + 0.26253706216812134 + ], + [ + -30.230911254882812, + -18.999248504638672, + 0.26253706216812134 + ], + [ + -29.478666305541992, + -19.751495361328125, + 0.26253706216812134 + ], + [ + -30.103450775146484, + -20.376277923583984, + 2.0169169902801514 + ], + [ + -30.855695724487305, + -19.62403106689453, + 2.0169169902801514 + ], + [ + -30.230911254882812, + -18.999248504638672, + 2.0169169902801514 + ], + [ + -29.478666305541992, + -19.751495361328125, + 2.0169169902801514 + ] + ], + "corners_2d": [ + [ + 627.7092121198712, + 395.12829280194654 + ], + [ + 661.4449397341197, + 387.4265076193098 + ], + [ + 651.9242289670684, + 368.709513415038 + ], + [ + 618.8318329861667, + 376.08519492954906 + ], + [ + 627.1874175356606, + 350.64167742657554 + ], + [ + 662.347119607223, + 343.0188182614994 + ], + [ + 652.4147474931614, + 324.5170500969537 + ], + [ + 617.9532721373841, + 331.80396082305094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 396, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -26.041194915771484, + "y": -16.6900577545166, + "z": 1.1347905397415161 + }, + "extent": { + "x": 0.43886473774909973, + "y": 0.43462157249450684, + "z": 0.8907279968261719 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 550.0018968975181, + "ymin": 236.83702486380122, + "xmax": 588.1084167806746, + "ymax": 301.80758062910814 + }, + "corners_3d": [ + [ + -26.17254638671875, + -17.2935848236084, + 0.24406254291534424 + ], + [ + -26.64596939086914, + -16.564577102661133, + 0.24406254291534424 + ], + [ + -25.90984344482422, + -16.086530685424805, + 0.24406254291534424 + ], + [ + -25.436420440673828, + -16.81553840637207, + 0.24406254291534424 + ], + [ + -26.17254638671875, + -17.2935848236084, + 2.0255184173583984 + ], + [ + -26.64596939086914, + -16.564577102661133, + 2.0255184173583984 + ], + [ + -25.90984344482422, + -16.086530685424805, + 2.0255184173583984 + ], + [ + -25.436420440673828, + -16.81553840637207, + 2.0255184173583984 + ] + ], + "corners_2d": [ + [ + 565.0483402784051, + 301.80758062910814 + ], + [ + 588.1084167806746, + 293.74143685666473 + ], + [ + 576.0507185319971, + 280.2067862302614 + ], + [ + 553.2706158188013, + 287.99569895889465 + ], + [ + 562.1714987139371, + 258.0054878772844 + ], + [ + 586.1377161941839, + 250.09560695934846 + ], + [ + 573.6655506903514, + 236.83702486380122 + ], + [ + 550.0018968975181, + 244.46494470714987 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 515, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -32.42300796508789, + "y": -12.745049476623535, + "z": 1.1402348279953003 + }, + "extent": { + "x": 0.4121142625808716, + "y": 0.43378782272338867, + "z": 0.9086058735847473 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 772.5469260582721, + "ymin": 225.77028731814013, + "xmax": 813.2135553405121, + "ymax": 289.2002014701069 + }, + "corners_3d": [ + [ + -32.47029113769531, + -13.341517448425293, + 0.23162895441055298 + ], + [ + -33.016273498535156, + -12.66728401184082, + 0.23162895441055298 + ], + [ + -32.37572479248047, + -12.148581504821777, + 0.23162895441055298 + ], + [ + -31.829744338989258, + -12.82281494140625, + 0.23162895441055298 + ], + [ + -32.47029113769531, + -13.341517448425293, + 2.0488407611846924 + ], + [ + -33.016273498535156, + -12.66728401184082, + 2.0488407611846924 + ], + [ + -32.37572479248047, + -12.148581504821777, + 2.0488407611846924 + ], + [ + -31.829744338989258, + -12.82281494140625, + 2.0488407611846924 + ] + ], + "corners_2d": [ + [ + 784.8724751302585, + 289.2002014701069 + ], + [ + 806.842762896865, + 282.82953845730947 + ], + [ + 794.2457530006698, + 269.7854070579965 + ], + [ + 772.5469260582721, + 275.9422562085633 + ], + [ + 790.4516429012422, + 244.76621507090897 + ], + [ + 813.2135553405121, + 238.52898440185749 + ], + [ + 800.0325252453661, + 225.77028731814013 + ], + [ + 777.561399817853, + 231.7903650355745 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 650, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -39.66718292236328, + "y": -19.687763214111328, + "z": 1.1462944746017456 + }, + "extent": { + "x": 0.4138500988483429, + "y": 0.4406481981277466, + "z": 0.8995130062103271 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 932.9459147047867, + "ymin": 428.8763149114302, + "xmax": 994.8687512888546, + "ymax": 505.2162316612571 + }, + "corners_3d": [ + [ + -39.64823532104492, + -20.29198455810547, + 0.24678146839141846 + ], + [ + -40.27140426635742, + -19.668813705444336, + 0.24678146839141846 + ], + [ + -39.68613052368164, + -19.083541870117188, + 0.24678146839141846 + ], + [ + -39.06296157836914, + -19.70671272277832, + 0.24678146839141846 + ], + [ + -39.64823532104492, + -20.29198455810547, + 2.045807361602783 + ], + [ + -40.27140426635742, + -19.668813705444336, + 2.045807361602783 + ], + [ + -39.68613052368164, + -19.083541870117188, + 2.045807361602783 + ], + [ + -39.06296157836914, + -19.70671272277832, + 2.045807361602783 + ] + ], + "corners_2d": [ + [ + 949.5473517480134, + 505.2162316612571 + ], + [ + 978.355695456131, + 497.1536981510461 + ], + [ + 961.2399869583924, + 475.0089638775152 + ], + [ + 932.9459147047867, + 482.71275978236434 + ], + [ + 964.7837830628906, + 459.0568004257405 + ], + [ + 994.8687512888546, + 450.9926047876893 + ], + [ + 976.5496324282493, + 428.8763149114302 + ], + [ + 947.0238154953081, + 436.5647317355098 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 290, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -33.78268051147461, + "y": -30.81512451171875, + "z": 1.1440727710723877 + }, + "extent": { + "x": 0.4533007740974426, + "y": 0.40568479895591736, + "z": 0.9204069972038269 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 528.6305276404557, + "ymin": 685.3687050488697, + "xmax": 579.5103656661655, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -33.7526741027832, + -31.422710418701172, + 0.2236657738685608 + ], + [ + -34.38322830200195, + -30.912099838256836, + 0.2236657738685608 + ], + [ + -33.812686920166016, + -30.207538604736328, + 0.2236657738685608 + ], + [ + -33.182132720947266, + -30.718149185180664, + 0.2236657738685608 + ], + [ + -33.7526741027832, + -31.422710418701172, + 2.0644798278808594 + ], + [ + -34.38322830200195, + -30.912099838256836, + 2.0644798278808594 + ], + [ + -33.812686920166016, + -30.207538604736328, + 2.0644798278808594 + ], + [ + -33.182132720947266, + -30.718149185180664, + 2.0644798278808594 + ] + ], + "corners_2d": [ + [ + 541.0498764680649, + 778.2944612983165 + ], + [ + 579.5103656661655, + 770.1052908207857 + ], + [ + 572.4860135715336, + 729.8869306121185 + ], + [ + 535.2156725036928, + 737.5604999233648 + ], + [ + 534.6117804169935, + 735.0458042345604 + ], + [ + 575.6016985422181, + 726.6245403542723 + ], + [ + 568.2712702189601, + 685.3687050488697 + ], + [ + 528.6305276404557, + 693.2271175784881 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 729, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -18.921846389770508, + "y": -27.85797882080078, + "z": 1.1288139820098877 + }, + "extent": { + "x": 0.3709765672683716, + "y": 0.32275390625, + "z": 0.930856466293335 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 119.86617310265683, + "ymin": 379.62374768717234, + "xmax": 173.8685722242069, + "ymax": 447.6092258173403 + }, + "corners_3d": [ + [ + -18.85321044921875, + -28.344890594482422, + 0.19795751571655273 + ], + [ + -19.39457893371582, + -27.99332046508789, + 0.19795751571655273 + ], + [ + -18.990482330322266, + -27.37106704711914, + 0.19795751571655273 + ], + [ + -18.449113845825195, + -27.722637176513672, + 0.19795751571655273 + ], + [ + -18.85321044921875, + -28.344890594482422, + 2.0596704483032227 + ], + [ + -19.39457893371582, + -27.99332046508789, + 2.0596704483032227 + ], + [ + -18.990482330322266, + -27.37106704711914, + 2.0596704483032227 + ], + [ + -18.449113845825195, + -27.722637176513672, + 2.0596704483032227 + ] + ], + "corners_2d": [ + [ + 143.5983469756087, + 447.6092258173403 + ], + [ + 167.2859633682673, + 445.76187802913563 + ], + [ + 173.8685722242069, + 427.0814625962363 + ], + [ + 150.66697393842026, + 428.8557949822395 + ], + [ + 119.86617310265683, + 400.0210130396502 + ], + [ + 144.73286075626226, + 398.18366263701864 + ], + [ + 152.0937372579084, + 379.62374768717234 + ], + [ + 127.76205349362942, + 381.385117850406 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 3952, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 1233.4475186040022, + "ymin": 583.257283219352, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 1324.5047055126806, + 648.6381902325338 + ], + [ + 1239.0356077547235, + 618.92539456089 + ], + [ + 1233.4475186040022, + 793.5887486794325 + ], + [ + 1332.6112729336837, + 833.5574700485565 + ], + [ + 1354.960174296501, + 613.2947302214543 + ], + [ + 1264.9633339555508, + 583.257283219352 + ], + [ + 1263.3794299242577, + 760.8340046043783 + ], + [ + 1368.6883058639464, + 801.8123894369833 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 2162, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -19.1251277923584, + "y": 6.095887660980225, + "z": 0.8948460817337036 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 624.2124566990975, + "ymin": 0.0, + "xmax": 722.5282969193987, + "ymax": 35.91130385500196 + }, + "corners_3d": [ + [ + -21.404022216796875, + 5.052896022796631, + 0.011262890882790089 + ], + [ + -21.39891815185547, + 7.149961948394775, + 0.011262890882790089 + ], + [ + -16.846233367919922, + 7.138879776000977, + 0.011262890882790089 + ], + [ + -16.851337432861328, + 5.041813850402832, + 0.011262890882790089 + ], + [ + -21.404022216796875, + 5.052896022796631, + 1.7784292697906494 + ], + [ + -21.39891815185547, + 7.149961948394775, + 1.7784292697906494 + ], + [ + -16.846233367919922, + 7.138879776000977, + 1.7784292697906494 + ], + [ + -16.851337432861328, + 5.041813850402832, + 1.7784292697906494 + ] + ], + "corners_2d": [ + [ + 704.4542703604598, + 35.91130385500196 + ], + [ + 720.5963176052556, + 21.136109428319514 + ], + [ + 642.4211979916896, + 6.039173310767978 + ], + [ + 624.581181353896, + 19.944227937529263 + ], + [ + 706.0449852356112, + 1.1846316415231968 + ], + [ + 722.5282969193987, + -12.947559207723373 + ], + [ + 642.4774859049086, + -27.36731292794542 + ], + [ + 624.2124566990975, + -14.086719053577042 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 7968, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 1117.0186547758476, + "ymin": 263.98986864774275, + "xmax": 1213.9581991570908, + "ymax": 414.24912345810395 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 1189.7516088188463, + 327.90956813710966 + ], + [ + 1131.6285995769235, + 312.79717008639204 + ], + [ + 1117.0186547758476, + 395.8178289125874 + ], + [ + 1180.9659713758892, + 414.24912345810395 + ], + [ + 1213.9581991570908, + 278.809605577015 + ], + [ + 1152.8590580682521, + 263.98986864774275 + ], + [ + 1139.8476026801868, + 345.7015989212025 + ], + [ + 1207.4198474330578, + 363.94164286967737 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 274752244277470567, + "instance_id": 26469, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -43.60569763183594, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1206.8148930873276, + "ymin": 144.30440523002997, + "xmax": 1230.1385525385394, + "ymax": 179.4009016610014 + }, + "corners_3d": [ + [ + -43.74428176879883, + -9.655923843383789, + 5.545533180236816 + ], + [ + -43.74428176879883, + -9.276008605957031, + 5.545533180236816 + ], + [ + -43.46711349487305, + -9.276008605957031, + 5.545533180236816 + ], + [ + -43.46711349487305, + -9.655923843383789, + 5.545533180236816 + ], + [ + -43.74428176879883, + -9.655923843383789, + 6.416468620300293 + ], + [ + -43.74428176879883, + -9.276008605957031, + 6.416468620300293 + ], + [ + -43.46711349487305, + -9.276008605957031, + 6.416468620300293 + ], + [ + -43.46711349487305, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1217.318597941609, + 179.4009016610014 + ], + [ + 1217.9253328284499, + 173.2992342054054 + ], + [ + 1207.5148990116127, + 171.09235234427015 + ], + [ + 1206.8148930873276, + 177.1533592160157 + ], + [ + 1229.6334538272858, + 152.44683738234505 + ], + [ + 1230.1385525385394, + 146.46674392042664 + ], + [ + 1219.4674323220195, + 144.30440523002997 + ], + [ + 1218.8642945500133, + 150.24380645946164 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1096.1849087808355, + "ymin": 0.0, + "xmax": 1109.3857764726074, + "ymax": 1.5325210873928654 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1096.1849087808355, + 0.5153520386845685 + ], + [ + 1102.4180626355142, + 1.5325210873928654 + ], + [ + 1103.4328582897322, + -1.2202080451198754 + ], + [ + 1097.2323876912847, + -2.2260499461037284 + ], + [ + 1102.0657587966073, + -18.080299998396924 + ], + [ + 1108.391763220009, + -17.088973390942158 + ], + [ + 1109.3857764726074, + -19.77164390244218 + ], + [ + 1103.0934420303372, + -20.751789887802488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12937619472667703847, + "instance_id": 10234, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -38.7340087890625, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1081.6699919254224, + "ymin": 0.0, + "xmax": 1097.9168092246114, + "ymax": 19.030582703371635 + }, + "corners_3d": [ + [ + -38.59542465209961, + 0.9043415784835815, + 5.545533180236816 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 5.545533180236816 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 5.545533180236816 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 5.545533180236816 + ], + [ + -38.59542465209961, + 0.9043415784835815, + 6.416468620300293 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 6.416468620300293 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 6.416468620300293 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1081.6699919254224, + 17.728712169168716 + ], + [ + 1089.3406473302541, + 19.030582703371635 + ], + [ + 1090.6913689669882, + 15.491367796825443 + ], + [ + 1083.070386547365, + 14.207480381820744 + ], + [ + 1088.7825864684653, + -5.223720901722174 + ], + [ + 1096.5955870070138, + -3.960519734256877 + ], + [ + 1097.9168092246114, + -7.394366382748899 + ], + [ + 1090.1553530228753, + -8.639840180398664 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1008.5608512084519, + "ymin": 189.75197394992145, + "xmax": 1026.5124276745478, + "ymax": 220.39992151440802 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1017.302090336158, + 220.39992151440802 + ], + [ + 1019.4496756898362, + 214.67117382088952 + ], + [ + 1010.772273699451, + 212.58496528670165 + ], + [ + 1008.5608512084519, + 218.2797524483367 + ], + [ + 1024.382953682643, + 197.45520866472273 + ], + [ + 1026.5124276745478, + 191.80804759759857 + ], + [ + 1017.652729901285, + 189.75197394992145 + ], + [ + 1015.4566662108045, + 195.36503527728237 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 297.98981829386344, + "ymin": 0.0, + "xmax": 309.8184448663533, + "ymax": 0.46499466606866235 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 309.1413417667335, + 0.46499466606866235 + ], + [ + 309.8184448663533, + 0.12365551120035434 + ], + [ + 308.712350545306, + -0.12043110794047607 + ], + [ + 308.03481579635877, + 0.22056870198707657 + ], + [ + 299.1246940602665, + -43.207427367685796 + ], + [ + 299.8294494395679, + -43.52784134488468 + ], + [ + 298.69502449147393, + -43.75695641355168 + ], + [ + 297.98981829386344, + -43.43687061127656 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 297.98981829386344, + "ymin": 0.0, + "xmax": 309.8184448663533, + "ymax": 0.46499466606866235 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 309.1413417667335, + 0.46499466606866235 + ], + [ + 309.8184448663533, + 0.12365551120035434 + ], + [ + 308.712350545306, + -0.12043110794047607 + ], + [ + 308.03481579635877, + 0.22056870198707657 + ], + [ + 299.1246940602665, + -43.207427367685796 + ], + [ + 299.8294494395679, + -43.52784134488468 + ], + [ + 298.69502449147393, + -43.75695641355168 + ], + [ + 297.98981829386344, + -43.43687061127656 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 297.98981829386344, + "ymin": 0.0, + "xmax": 309.8184448663533, + "ymax": 0.46499466606866235 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 309.1413417667335, + 0.46499466606866235 + ], + [ + 309.8184448663533, + 0.12365551120035434 + ], + [ + 308.712350545306, + -0.12043110794047607 + ], + [ + 308.03481579635877, + 0.22056870198707657 + ], + [ + 299.1246940602665, + -43.207427367685796 + ], + [ + 299.8294494395679, + -43.52784134488468 + ], + [ + 298.69502449147393, + -43.75695641355168 + ], + [ + 297.98981829386344, + -43.43687061127656 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 297.98981829386344, + "ymin": 0.0, + "xmax": 309.8184448663533, + "ymax": 0.46499466606866235 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 309.1413417667335, + 0.46499466606866235 + ], + [ + 309.8184448663533, + 0.12365551120035434 + ], + [ + 308.712350545306, + -0.12043110794047607 + ], + [ + 308.03481579635877, + 0.22056870198707657 + ], + [ + 299.1246940602665, + -43.207427367685796 + ], + [ + 299.8294494395679, + -43.52784134488468 + ], + [ + 298.69502449147393, + -43.75695641355168 + ], + [ + 297.98981829386344, + -43.43687061127656 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 258.64299419460343, + "ymin": 0.0, + "xmax": 271.62313275259896, + "ymax": 0.023728119933082326 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 270.92011354336614, + 0.023728119933082326 + ], + [ + 271.62313275259896, + -0.3169984159058572 + ], + [ + 270.5369976156818, + -0.5606473039719049 + ], + [ + 269.83357387679, + -0.22025920020826106 + ], + [ + 259.7566661288484, + -43.621640318851405 + ], + [ + 260.48891525348165, + -43.941461856309104 + ], + [ + 259.3756645037838, + -44.1701536330084 + ], + [ + 258.64299419460343, + -43.85065936099937 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 297.98981829386344, + "ymin": 0.0, + "xmax": 309.8184448663533, + "ymax": 0.46499466606866235 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 309.1413417667335, + 0.46499466606866235 + ], + [ + 309.8184448663533, + 0.12365551120035434 + ], + [ + 308.712350545306, + -0.12043110794047607 + ], + [ + 308.03481579635877, + 0.22056870198707657 + ], + [ + 299.1246940602665, + -43.207427367685796 + ], + [ + 299.8294494395679, + -43.52784134488468 + ], + [ + 298.69502449147393, + -43.75695641355168 + ], + [ + 297.98981829386344, + -43.43687061127656 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 297.98981829386344, + "ymin": 0.0, + "xmax": 309.8184448663533, + "ymax": 0.46499466606866235 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 309.1413417667335, + 0.46499466606866235 + ], + [ + 309.8184448663533, + 0.12365551120035434 + ], + [ + 308.712350545306, + -0.12043110794047607 + ], + [ + 308.03481579635877, + 0.22056870198707657 + ], + [ + 299.1246940602665, + -43.207427367685796 + ], + [ + 299.8294494395679, + -43.52784134488468 + ], + [ + 298.69502449147393, + -43.75695641355168 + ], + [ + 297.98981829386344, + -43.43687061127656 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 735.4036722180392, + "ymin": 0.0, + "xmax": 783.6973474241507, + "ymax": 18.720770853891793 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 769.6253905203546, + -6.1599457857236075 + ], + [ + 762.1075507893628, + -7.517260313944348 + ], + [ + 735.4036722180392, + 17.22077652841341 + ], + [ + 743.2285101308723, + 18.720770853891793 + ], + [ + 783.6973474241507, + -163.47915610081384 + ], + [ + 775.3222524571629, + -164.49524893688965 + ], + [ + 746.3171833956083, + -145.87875809227046 + ], + [ + 755.0759831438231, + -144.74327533913493 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7806990106475075983, + "instance_id": 36761, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 347.7165733251211, + "ymin": 118.85606040844334, + "xmax": 495.5559990774793, + "ymax": 231.02089649993457 + }, + "corners_3d": [ + [ + -26.247940063476562, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.247940063476562, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.198223114013672 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 495.5559990774793, + 124.56598834259395 + ], + [ + 485.9323677650531, + 122.10920591455738 + ], + [ + 348.55825967162497, + 227.6431721138992 + ], + [ + 359.2005671135549, + 231.02089649993457 + ], + [ + 495.19882812886146, + 121.30584921529541 + ], + [ + 485.55292448359296, + 118.85606040844334 + ], + [ + 347.7165733251211, + 224.13320094691278 + ], + [ + 358.38579302436847, + 227.50418022346187 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 297.98981829386344, + "ymin": 0.0, + "xmax": 309.8184448663533, + "ymax": 0.46499466606866235 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 309.1413417667335, + 0.46499466606866235 + ], + [ + 309.8184448663533, + 0.12365551120035434 + ], + [ + 308.712350545306, + -0.12043110794047607 + ], + [ + 308.03481579635877, + 0.22056870198707657 + ], + [ + 299.1246940602665, + -43.207427367685796 + ], + [ + 299.8294494395679, + -43.52784134488468 + ], + [ + 298.69502449147393, + -43.75695641355168 + ], + [ + 297.98981829386344, + -43.43687061127656 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 297.98981829386344, + "ymin": 0.0, + "xmax": 309.8184448663533, + "ymax": 0.46499466606866235 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 309.1413417667335, + 0.46499466606866235 + ], + [ + 309.8184448663533, + 0.12365551120035434 + ], + [ + 308.712350545306, + -0.12043110794047607 + ], + [ + 308.03481579635877, + 0.22056870198707657 + ], + [ + 299.1246940602665, + -43.207427367685796 + ], + [ + 299.8294494395679, + -43.52784134488468 + ], + [ + 298.69502449147393, + -43.75695641355168 + ], + [ + 297.98981829386344, + -43.43687061127656 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 583.9732288103677, + "xmax": 90.2457634825812, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 90.2457634825812, + 837.686517647383 + ], + [ + 73.36867882658282, + 826.5075203376828 + ], + [ + -222.92937407361796, + 1148.9616986061224 + ], + [ + -205.01386724898555, + 1166.3185608131798 + ], + [ + -128.59752735288657, + 596.7251415151375 + ], + [ + -149.5485080677006, + 583.9732288103677 + ], + [ + -690.5251428273777, + 989.6292467887075 + ], + [ + -670.4171394856048, + 1013.9304970832901 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 297.98981829386344, + "ymin": 0.0, + "xmax": 309.8184448663533, + "ymax": 0.46499466606866235 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 309.1413417667335, + 0.46499466606866235 + ], + [ + 309.8184448663533, + 0.12365551120035434 + ], + [ + 308.712350545306, + -0.12043110794047607 + ], + [ + 308.03481579635877, + 0.22056870198707657 + ], + [ + 299.1246940602665, + -43.207427367685796 + ], + [ + 299.8294494395679, + -43.52784134488468 + ], + [ + 298.69502449147393, + -43.75695641355168 + ], + [ + 297.98981829386344, + -43.43687061127656 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 298.7064400893148, + "ymin": 0.0, + "xmax": 310.4898713917547, + "ymax": 3.400441454327165 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 309.81461187564423, + 3.400441454327165 + ], + [ + 310.4898713917547, + 3.0577616560547085 + ], + [ + 309.3856921649475, + 2.812715768472458 + ], + [ + 308.7100022901012, + 3.1550555814885115 + ], + [ + 299.8393033410089, + -40.09174245868485 + ], + [ + 300.5420720308408, + -40.413710096099294 + ], + [ + 299.4096582322997, + -40.64393671665812 + ], + [ + 298.7064400893148, + -40.3222981549161 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 982.9797193044869, + "ymin": 44.64679855351494, + "xmax": 1280.0, + "ymax": 397.81387945580155 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 985.7106193109134, + 280.11015109364104 + ], + [ + 982.9797193044869, + 286.84632742236215 + ], + [ + 1388.5645672202602, + 397.81387945580155 + ], + [ + 1387.6725289301962, + 389.02940363006326 + ], + [ + 1055.710322105094, + 44.64679855351494 + ], + [ + 1053.157294767889, + 50.283360962378424 + ], + [ + 1568.8434149477478, + 146.09803594575916 + ], + [ + 1565.5334718163303, + 138.3035837420917 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 297.98981829386344, + "ymin": 0.0, + "xmax": 309.8184448663533, + "ymax": 0.46499466606866235 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 309.1413417667335, + 0.46499466606866235 + ], + [ + 309.8184448663533, + 0.12365551120035434 + ], + [ + 308.712350545306, + -0.12043110794047607 + ], + [ + 308.03481579635877, + 0.22056870198707657 + ], + [ + 299.1246940602665, + -43.207427367685796 + ], + [ + 299.8294494395679, + -43.52784134488468 + ], + [ + 298.69502449147393, + -43.75695641355168 + ], + [ + 297.98981829386344, + -43.43687061127656 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 297.98981829386344, + "ymin": 0.0, + "xmax": 309.8184448663533, + "ymax": 0.46499466606866235 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 309.1413417667335, + 0.46499466606866235 + ], + [ + 309.8184448663533, + 0.12365551120035434 + ], + [ + 308.712350545306, + -0.12043110794047607 + ], + [ + 308.03481579635877, + 0.22056870198707657 + ], + [ + 299.1246940602665, + -43.207427367685796 + ], + [ + 299.8294494395679, + -43.52784134488468 + ], + [ + 298.69502449147393, + -43.75695641355168 + ], + [ + 297.98981829386344, + -43.43687061127656 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 297.98981829386344, + "ymin": 0.0, + "xmax": 309.8184448663533, + "ymax": 0.46499466606866235 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 309.1413417667335, + 0.46499466606866235 + ], + [ + 309.8184448663533, + 0.12365551120035434 + ], + [ + 308.712350545306, + -0.12043110794047607 + ], + [ + 308.03481579635877, + 0.22056870198707657 + ], + [ + 299.1246940602665, + -43.207427367685796 + ], + [ + 299.8294494395679, + -43.52784134488468 + ], + [ + 298.69502449147393, + -43.75695641355168 + ], + [ + 297.98981829386344, + -43.43687061127656 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 297.98981829386344, + "ymin": 0.0, + "xmax": 309.8184448663533, + "ymax": 0.46499466606866235 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 309.1413417667335, + 0.46499466606866235 + ], + [ + 309.8184448663533, + 0.12365551120035434 + ], + [ + 308.712350545306, + -0.12043110794047607 + ], + [ + 308.03481579635877, + 0.22056870198707657 + ], + [ + 299.1246940602665, + -43.207427367685796 + ], + [ + 299.8294494395679, + -43.52784134488468 + ], + [ + 298.69502449147393, + -43.75695641355168 + ], + [ + 297.98981829386344, + -43.43687061127656 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 297.98981829386344, + "ymin": 0.0, + "xmax": 309.8184448663533, + "ymax": 0.46499466606866235 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 309.1413417667335, + 0.46499466606866235 + ], + [ + 309.8184448663533, + 0.12365551120035434 + ], + [ + 308.712350545306, + -0.12043110794047607 + ], + [ + 308.03481579635877, + 0.22056870198707657 + ], + [ + 299.1246940602665, + -43.207427367685796 + ], + [ + 299.8294494395679, + -43.52784134488468 + ], + [ + 298.69502449147393, + -43.75695641355168 + ], + [ + 297.98981829386344, + -43.43687061127656 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15102510933830370440, + "instance_id": 34948, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 347.8672996917876, + "ymin": 118.93575869520782, + "xmax": 495.43630746094675, + "ymax": 230.91714816330264 + }, + "corners_3d": [ + [ + -26.246049880981445, + -20.196584701538086, + 8.10662841796875 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.10662841796875 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.10662841796875 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.10662841796875 + ], + [ + -26.246049880981445, + -20.196584701538086, + 8.197628021240234 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.197628021240234 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.197628021240234 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 495.43630746094675, + 124.5731297837892 + ], + [ + 485.9350025800448, + 122.14746894919122 + ], + [ + 348.6977658401644, + 227.58321570598437 + ], + [ + 359.20381348637056, + 230.91714816330264 + ], + [ + 495.0834013920591, + 121.3546035154618 + ], + [ + 485.56038781521056, + 118.93575869520782 + ], + [ + 347.8672996917876, + 224.1182051557067 + ], + [ + 358.39957389212714, + 227.44556344136794 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 297.98981829386344, + "ymin": 0.0, + "xmax": 309.8184448663533, + "ymax": 0.46499466606866235 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 309.1413417667335, + 0.46499466606866235 + ], + [ + 309.8184448663533, + 0.12365551120035434 + ], + [ + 308.712350545306, + -0.12043110794047607 + ], + [ + 308.03481579635877, + 0.22056870198707657 + ], + [ + 299.1246940602665, + -43.207427367685796 + ], + [ + 299.8294494395679, + -43.52784134488468 + ], + [ + 298.69502449147393, + -43.75695641355168 + ], + [ + 297.98981829386344, + -43.43687061127656 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 339.37744475596634, + "ymin": 109.02832329806304, + "xmax": 525.0460369547677, + "ymax": 475.59709230846204 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 525.0460369547677, + 353.74331373412673 + ], + [ + 511.9503501003095, + 349.21086415493545 + ], + [ + 401.2648288924659, + 469.66725614870643 + ], + [ + 415.5663923051203, + 475.59709230846204 + ], + [ + 499.6373771808522, + 112.98050687983405 + ], + [ + 483.83232093963124, + 109.02832329806304 + ], + [ + 339.37744475596634, + 217.3490609740165 + ], + [ + 356.93344731578145, + 222.8636399023995 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 297.98981829386344, + "ymin": 0.0, + "xmax": 309.8184448663533, + "ymax": 0.46499466606866235 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 309.1413417667335, + 0.46499466606866235 + ], + [ + 309.8184448663533, + 0.12365551120035434 + ], + [ + 308.712350545306, + -0.12043110794047607 + ], + [ + 308.03481579635877, + 0.22056870198707657 + ], + [ + 299.1246940602665, + -43.207427367685796 + ], + [ + 299.8294494395679, + -43.52784134488468 + ], + [ + 298.69502449147393, + -43.75695641355168 + ], + [ + 297.98981829386344, + -43.43687061127656 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 297.98981829386344, + "ymin": 0.0, + "xmax": 309.8184448663533, + "ymax": 0.46499466606866235 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 309.1413417667335, + 0.46499466606866235 + ], + [ + 309.8184448663533, + 0.12365551120035434 + ], + [ + 308.712350545306, + -0.12043110794047607 + ], + [ + 308.03481579635877, + 0.22056870198707657 + ], + [ + 299.1246940602665, + -43.207427367685796 + ], + [ + 299.8294494395679, + -43.52784134488468 + ], + [ + 298.69502449147393, + -43.75695641355168 + ], + [ + 297.98981829386344, + -43.43687061127656 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 297.98981829386344, + "ymin": 0.0, + "xmax": 309.8184448663533, + "ymax": 0.46499466606866235 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 309.1413417667335, + 0.46499466606866235 + ], + [ + 309.8184448663533, + 0.12365551120035434 + ], + [ + 308.712350545306, + -0.12043110794047607 + ], + [ + 308.03481579635877, + 0.22056870198707657 + ], + [ + 299.1246940602665, + -43.207427367685796 + ], + [ + 299.8294494395679, + -43.52784134488468 + ], + [ + 298.69502449147393, + -43.75695641355168 + ], + [ + 297.98981829386344, + -43.43687061127656 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 101.59036057567891, + "ymax": 3.5581003020419644 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -88.57873438670879, + 2.152587956901016 + ], + [ + -83.52997029214043, + 3.5581003020419644 + ], + [ + 101.59036057567891, + -62.69131777190648 + ], + [ + 96.76046146624174, + -63.74587390262002 + ], + [ + -176.50499643986882, + -171.73201727682329 + ], + [ + -171.12594354425983, + -170.71195993110928 + ], + [ + 46.03982738095442, + -218.04170153180632 + ], + [ + 40.86381383688524, + -218.78288236207118 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 297.98981829386344, + "ymin": 0.0, + "xmax": 309.8184448663533, + "ymax": 0.46499466606866235 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 309.1413417667335, + 0.46499466606866235 + ], + [ + 309.8184448663533, + 0.12365551120035434 + ], + [ + 308.712350545306, + -0.12043110794047607 + ], + [ + 308.03481579635877, + 0.22056870198707657 + ], + [ + 299.1246940602665, + -43.207427367685796 + ], + [ + 299.8294494395679, + -43.52784134488468 + ], + [ + 298.69502449147393, + -43.75695641355168 + ], + [ + 297.98981829386344, + -43.43687061127656 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1027.081824893977, + "ymin": 0.0, + "xmax": 1141.4265400220784, + "ymax": 161.6198513637295 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1082.0821597619429, + 50.98991372153682 + ], + [ + 1072.9209808904789, + 49.302293300903045 + ], + [ + 1027.081824893977, + 159.1744693571076 + ], + [ + 1037.940663707328, + 161.6198513637295 + ], + [ + 1141.4265400220784, + -135.87168093112803 + ], + [ + 1130.8304075561737, + -137.12533503347186 + ], + [ + 1091.131780025757, + -53.259129367563105 + ], + [ + 1104.0762489370263, + -51.33916054202274 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00143/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00143/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bfc64547c9251fc9abb86bc433e1cc56ec144efe --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00143/meta.json @@ -0,0 +1,5201 @@ +{ + "frame_id": 143, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 71.5, + "sim_timestamp": 14797.784409287618 + }, + "drone_pose": { + "x": -39.07758031481219, + "y": -37.23413355654174, + "z": 20.0, + "pitch": -41.59940336277303, + "yaw": 63.70702411698839, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.3312486410140991, + -0.6704376935958862, + 0.6639184355735779, + 24.629192352294922 + ], + [ + 0.8965407609939575, + 0.4429612159729004, + 2.9802322387695312e-08, + -18.54136085510254 + ], + [ + -0.2940901517868042, + 0.595229983329773, + 0.7478049993515015, + -48.61130142211914 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -38.85639581612538, + "y": -36.7396803652868, + "z": 20.0 + }, + "t1_image_uv": [ + 689.1487506778511, + -492.3100073626607 + ], + "t1_depth": 0.4047671068156449 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -29.66718292236328, + "y": -18.187763214111328, + "z": 1.1388334822654724 + }, + "image_uv": [ + 639.9999999999999, + 360.0 + ], + "depth": 28.40886137659396, + "visible": false, + "in_view": true, + "lost_reason": "occluded", + "pixel_count": 0, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -29.66718101501465, + "y": -18.187763214111328, + "z": 1.1388335227966309 + }, + "extent": { + "x": 0.6256628036499023, + "y": 0.47900938987731934, + "z": 0.9055688381195068 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 617.6727143717362, + "ymin": 320.31374404503896, + "xmax": 662.8606097234449, + "ymax": 399.56575514728746 + }, + "corners_3d": [ + [ + -29.77088165283203, + -18.968883514404297, + 0.23326468467712402 + ], + [ + -30.448301315307617, + -18.291461944580078, + 0.23326468467712402 + ], + [ + -29.563480377197266, + -17.40664291381836, + 0.23326468467712402 + ], + [ + -28.88606071472168, + -18.084064483642578, + 0.23326468467712402 + ], + [ + -29.77088165283203, + -18.968883514404297, + 2.0444023609161377 + ], + [ + -30.448301315307617, + -18.291461944580078, + 2.0444023609161377 + ], + [ + -29.563480377197266, + -17.40664291381836, + 2.0444023609161377 + ], + [ + -28.88606071472168, + -18.084064483642578, + 2.0444023609161377 + ] + ], + "corners_2d": [ + [ + 631.4623185217127, + 399.56575514728746 + ], + [ + 661.9022085600645, + 392.42079752229284 + ], + [ + 648.2153048843858, + 365.90077973288703 + ], + [ + 618.58780975535, + 372.6221864878469 + ], + [ + 631.0855747482819, + 353.59711028789314 + ], + [ + 662.8606097234449, + 346.52387875777595 + ], + [ + 648.563559317208, + 320.31374404503896 + ], + [ + 617.6727143717362, + 326.9501134999273 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 143, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 85, + "semantic_pixel_counts": { + "1": 251828, + "2": 103867, + "5": 3205, + "6": 9090, + "7": 724, + "10": 427, + "12": 2747, + "14": 48464, + "15": 19522, + "20": 658, + "24": 39656, + "25": 441412 + }, + "instance_pixel_counts": { + "70": 1620, + "108": 5, + "3180": 1989, + "4166": 451, + "6508": 4136, + "7274": 368, + "7784": 9026, + "7786": 3784, + "7825": 741, + "8064": 1537, + "8088": 1281, + "8296": 39252, + "8298": 2458, + "8337": 818, + "8600": 754, + "8780": 3205, + "8808": 65162, + "8810": 228, + "9320": 2668, + "9322": 1820, + "9624": 2832, + "9832": 57182, + "10316": 486, + "10624": 3317, + "10828": 110, + "11136": 1029, + "12652": 619, + "17516": 14, + "21332": 11063, + "21602": 11100, + "21844": 10588, + "22868": 10761, + "23380": 12256, + "25168": 47, + "25428": 589, + "25698": 1258, + "25856": 653, + "25940": 3867, + "26112": 5834, + "26210": 121, + "27988": 6398, + "29327": 3838, + "29839": 5418, + "30351": 23586, + "30863": 7572, + "31375": 21576, + "31812": 670, + "31848": 237, + "32324": 801, + "32360": 27120, + "33384": 8756, + "34408": 42425, + "35399": 8939, + "36753": 186, + "39239": 432473, + "40855": 887, + "41367": 1930, + "41879": 7760, + "42391": 1587, + "42903": 4331, + "46184": 43, + "46672": 3280, + "46696": 2527, + "46917": 170, + "47208": 281, + "48232": 2546, + "48708": 2083, + "50756": 214, + "53926": 443, + "54950": 1005, + "55462": 167, + "56576": 569, + "56832": 490, + "57088": 749, + "57344": 208, + "57487": 1983, + "57600": 731, + "57999": 2029, + "58880": 489, + "58951": 62, + "59023": 5403, + "60833": 901, + "60928": 3041, + "61440": 8934, + "64837": 1306 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 0, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -29.66718101501465, + "y": -18.187763214111328, + "z": 1.1388335227966309 + }, + "extent": { + "x": 0.4325512647628784, + "y": 0.5606493949890137, + "z": 0.893581748008728 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 617.0263788257047, + "ymin": 323.9999866853676, + "xmax": 663.2592338590548, + "ymax": 395.6157317594311 + }, + "corners_3d": [ + [ + -29.576602935791016, + -18.89006233215332, + 0.24525177478790283 + ], + [ + -30.36948013305664, + -18.097183227539062, + 0.24525177478790283 + ], + [ + -29.75775909423828, + -17.485464096069336, + 0.24525177478790283 + ], + [ + -28.964881896972656, + -18.278343200683594, + 0.24525177478790283 + ], + [ + -29.576602935791016, + -18.89006233215332, + 2.0324153900146484 + ], + [ + -30.36948013305664, + -18.097183227539062, + 2.0324153900146484 + ], + [ + -29.75775909423828, + -17.485464096069336, + 2.0324153900146484 + ], + [ + -28.964881896972656, + -18.278343200683594, + 2.0324153900146484 + ] + ], + "corners_2d": [ + [ + 626.8140390484583, + 395.6157317594311 + ], + [ + 662.3019814118829, + 387.3329078743571 + ], + [ + 652.790987762717, + 369.0262516322733 + ], + [ + 617.9607339997311, + 376.96635161090677 + ], + [ + 626.242506960954, + 350.2917519635894 + ], + [ + 663.2592338590548, + 342.094352497764 + ], + [ + 653.3281007678979, + 323.9999866853676 + ], + [ + 617.0263788257047, + 331.8440426510557 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 569, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -25.541194915771484, + "y": -15.190058708190918, + "z": 1.1338920593261719 + }, + "extent": { + "x": 0.4845593273639679, + "y": 0.45288267731666565, + "z": 0.9188423156738281 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 547.7903486392335, + "ymin": 235.34874846364582, + "xmax": 588.3866925021015, + "ymax": 303.5450723552848 + }, + "corners_3d": [ + [ + -25.7009220123291, + -15.83378791809082, + 0.21504974365234375 + ], + [ + -26.194238662719727, + -15.074150085449219, + 0.21504974365234375 + ], + [ + -25.381467819213867, + -14.546329498291016, + 0.21504974365234375 + ], + [ + -24.888151168823242, + -15.305967330932617, + 0.21504974365234375 + ], + [ + -25.7009220123291, + -15.83378791809082, + 2.052734375 + ], + [ + -26.194238662719727, + -15.074150085449219, + 2.052734375 + ], + [ + -25.381467819213867, + -14.546329498291016, + 2.052734375 + ], + [ + -24.888151168823242, + -15.305967330932617, + 2.052734375 + ] + ], + "corners_2d": [ + [ + 564.4014420996787, + 303.5450723552848 + ], + [ + 588.3866925021015, + 295.01223853013124 + ], + [ + 574.9171057699888, + 280.0933444289857 + ], + [ + 551.2479959858417, + 288.3041801419323 + ], + [ + 561.396444999839, + 258.3201310041922 + ], + [ + 586.3579556423562, + 249.95584405691488 + ], + [ + 572.4092695777181, + 235.34874846364582 + ], + [ + 547.7903486392335, + 243.38528982536081 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 490, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -31.923004150390625, + "y": -11.245049476623535, + "z": 1.1399370431900024 + }, + "extent": { + "x": 0.3427087366580963, + "y": 0.4061608910560608, + "z": 0.9441983103752136 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 773.2033341421675, + "ymin": 225.34155386633304, + "xmax": 810.5235022009404, + "ymax": 287.97838960309264 + }, + "corners_3d": [ + [ + -31.933734893798828, + -11.776369094848633, + 0.19573873281478882 + ], + [ + -32.444942474365234, + -11.145076751708984, + 0.19573873281478882 + ], + [ + -31.912273406982422, + -10.713729858398438, + 0.19573873281478882 + ], + [ + -31.401063919067383, + -11.345022201538086, + 0.19573873281478882 + ], + [ + -31.933734893798828, + -11.776369094848633, + 2.0841352939605713 + ], + [ + -32.444942474365234, + -11.145076751708984, + 2.0841352939605713 + ], + [ + -31.912273406982422, + -10.713729858398438, + 2.0841352939605713 + ], + [ + -31.401063919067383, + -11.345022201538086, + 2.0841352939605713 + ] + ], + "corners_2d": [ + [ + 783.5479849803977, + 287.97838960309264 + ], + [ + 804.0126983283546, + 281.94488829895073 + ], + [ + 793.4608286117193, + 271.11911912608133 + ], + [ + 773.2033341421675, + 276.98442323613955 + ], + [ + 789.2925850124033, + 241.82411990070813 + ], + [ + 810.5235022009404, + 235.92215740713215 + ], + [ + 799.4642448450371, + 225.34155386633304 + ], + [ + 778.4558869052394, + 231.07257188481807 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 749, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -39.16718292236328, + "y": -18.187763214111328, + "z": 1.1484428644180298 + }, + "extent": { + "x": 0.41822507977485657, + "y": 0.458740234375, + "z": 0.878852367401123 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 933.1974294337869, + "ymin": 427.70881558585603, + "xmax": 996.2188407674903, + "ymax": 503.60873603967246 + }, + "corners_3d": [ + [ + -39.13853454589844, + -18.807870864868164, + 0.26959049701690674 + ], + [ + -39.78729248046875, + -18.159114837646484, + 0.26959049701690674 + ], + [ + -39.195831298828125, + -17.567655563354492, + 0.26959049701690674 + ], + [ + -38.54707336425781, + -18.216411590576172, + 0.26959049701690674 + ], + [ + -39.13853454589844, + -18.807870864868164, + 2.0272951126098633 + ], + [ + -39.78729248046875, + -18.159114837646484, + 2.0272951126098633 + ], + [ + -39.195831298828125, + -17.567655563354492, + 2.0272951126098633 + ], + [ + -38.54707336425781, + -18.216411590576172, + 2.0272951126098633 + ] + ], + "corners_2d": [ + [ + 950.1539008519635, + 503.60873603967246 + ], + [ + 980.0141406270017, + 495.0657576562088 + ], + [ + 962.5257793375534, + 472.7769420271838 + ], + [ + 933.1974294337869, + 480.9369851024635 + ], + [ + 965.0695387182019, + 458.5143035897649 + ], + [ + 996.2188407674903, + 449.9694311103406 + ], + [ + 977.5338702462356, + 427.70881558585603 + ], + [ + 946.9615576671154, + 435.8529803813573 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 208, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -33.28268051147461, + "y": -29.31512451171875, + "z": 1.143569827079773 + }, + "extent": { + "x": 0.3798010051250458, + "y": 0.3730725049972534, + "z": 0.9513316750526428 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 533.9773219958953, + "ymin": 689.1930821868731, + "xmax": 580.9601746324108, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -33.23176574707031, + -29.845067977905273, + 0.19223815202713013 + ], + [ + -33.81163024902344, + -29.375503540039062, + 0.19223815202713013 + ], + [ + -33.333595275878906, + -28.785181045532227, + 0.19223815202713013 + ], + [ + -32.75373077392578, + -29.254745483398438, + 0.19223815202713013 + ], + [ + -33.23176574707031, + -29.845067977905273, + 2.0949015617370605 + ], + [ + -33.81163024902344, + -29.375503540039062, + 2.0949015617370605 + ], + [ + -33.333595275878906, + -28.785181045532227, + 2.0949015617370605 + ], + [ + -32.75373077392578, + -29.254745483398438, + 2.0949015617370605 + ] + ], + "corners_2d": [ + [ + 545.7323850331502, + 776.5026266858087 + ], + [ + 580.9601746324108, + 768.7795342983529 + ], + [ + 574.7969603384327, + 735.0503512202522 + ], + [ + 540.4802615687556, + 742.3646456151116 + ], + [ + 539.3908656703206, + 731.7809637683463 + ], + [ + 577.0142707490218, + 723.8321096242582 + ], + [ + 570.5632629487525, + 689.1930821868731 + ], + [ + 533.9773219958953, + 696.6941786351446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 731, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -18.421846389770508, + "y": -26.35797882080078, + "z": 1.1283061504364014 + }, + "extent": { + "x": 0.4384539723396301, + "y": 0.36943724751472473, + "z": 0.9321832656860352 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 116.14287266996507, + "ymin": 379.9635281020624, + "xmax": 175.09888467166712, + "ymax": 451.9461842088951 + }, + "corners_3d": [ + [ + -18.35080909729004, + -26.92690658569336, + 0.1961228847503662 + ], + [ + -18.970481872558594, + -26.524486541748047, + 0.1961228847503662 + ], + [ + -18.492883682250977, + -25.789051055908203, + 0.1961228847503662 + ], + [ + -17.873210906982422, + -26.191471099853516, + 0.1961228847503662 + ], + [ + -18.35080909729004, + -26.92690658569336, + 2.0604894161224365 + ], + [ + -18.970481872558594, + -26.524486541748047, + 2.0604894161224365 + ], + [ + -18.492883682250977, + -25.789051055908203, + 2.0604894161224365 + ], + [ + -17.873210906982422, + -26.191471099853516, + 2.0604894161224365 + ] + ], + "corners_2d": [ + [ + 140.22615234611993, + 451.9461842088951 + ], + [ + 167.52332979451376, + 449.6884100092148 + ], + [ + 175.09888467166712, + 427.49259680849315 + ], + [ + 148.46412964133555, + 429.6451054490415 + ], + [ + 116.14287266996507, + 404.2710100709264 + ], + [ + 144.81251234602252, + 402.0241837758285 + ], + [ + 153.303434307952, + 379.9635281020624 + ], + [ + 125.36352921940681, + 382.1007435697828 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 230, + "instance_id": 58880, + "pixel_count": 489, + "type_id": "vehicle.mercedes.coupe_2020", + "bbox_3d": { + "center_world": { + "x": -47.600013732910156, + "y": -22.847715377807617, + "z": 0.7742976546287537 + }, + "extent": { + "x": 2.3368194103240967, + "y": 0.9059062600135803, + "z": 0.7209736704826355 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 1262.073367477536, + "ymin": 640.2290241157049, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -48.49214172363281, + -20.505599975585938, + 0.05332399904727936 + ], + [ + -46.68035888671875, + -20.516271591186523, + 0.05332399904727936 + ], + [ + -46.707889556884766, + -25.189828872680664, + 0.05332399904727936 + ], + [ + -48.51966857910156, + -25.179157257080078, + 0.05332399904727936 + ], + [ + -48.49214172363281, + -20.505599975585938, + 1.4952713251113892 + ], + [ + -46.68035888671875, + -20.516271591186523, + 1.4952713251113892 + ], + [ + -46.707889556884766, + -25.189828872680664, + 1.4952713251113892 + ], + [ + -48.51966857910156, + -25.179157257080078, + 1.4952713251113892 + ] + ], + "corners_2d": [ + [ + 1353.0607712750784, + 707.6372758720639 + ], + [ + 1262.4777056305707, + 675.1944211210352 + ], + [ + 1262.073367477536, + 870.4443340765921 + ], + [ + 1368.2855172981942, + 914.8521226234182 + ], + [ + 1386.5521507520994, + 673.1784089206221 + ], + [ + 1290.8879853660605, + 640.2290241157049 + ], + [ + 1295.4682526288634, + 839.7991557742513 + ], + [ + 1408.726992372551, + 885.6188139454727 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 3041, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -19.1251277923584, + "y": 6.095887660980225, + "z": 0.8948460817337036 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 615.8988171852949, + "ymin": 0.0, + "xmax": 716.678465780039, + "ymax": 48.18743277348017 + }, + "corners_3d": [ + [ + -21.404022216796875, + 5.052896022796631, + 0.011262890882790089 + ], + [ + -21.39891815185547, + 7.149961948394775, + 0.011262890882790089 + ], + [ + -16.846233367919922, + 7.138879776000977, + 0.011262890882790089 + ], + [ + -16.851337432861328, + 5.041813850402832, + 0.011262890882790089 + ], + [ + -21.404022216796875, + 5.052896022796631, + 1.7784292697906494 + ], + [ + -21.39891815185547, + 7.149961948394775, + 1.7784292697906494 + ], + [ + -16.846233367919922, + 7.138879776000977, + 1.7784292697906494 + ], + [ + -16.851337432861328, + 5.041813850402832, + 1.7784292697906494 + ] + ], + "corners_2d": [ + [ + 698.3661430838353, + 48.18743277348017 + ], + [ + 714.8381109324976, + 32.62340282199415 + ], + [ + 634.7453889445571, + 16.98885018439023 + ], + [ + 616.476169722227, + 31.62664601196451 + ], + [ + 699.8450673722067, + 12.887804843964318 + ], + [ + 716.678465780039, + -2.0174867241121888 + ], + [ + 634.6201123769634, + -16.96844883987694 + ], + [ + 615.8988171852949, + -2.971315860004779 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 8934, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 1128.9932790090966, + "ymin": 291.96917273418046, + "xmax": 1228.3146909742395, + "ymax": 450.85886170630226 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 1202.5647842355393, + 357.3570287158725 + ], + [ + 1142.0697404743037, + 341.3250034695153 + ], + [ + 1128.9932790090966, + 431.14516993305796 + ], + [ + 1195.866022482048, + 450.85886170630226 + ], + [ + 1228.3146909742395, + 307.74238641249804 + ], + [ + 1164.5974552506912, + 291.96917273418046 + ], + [ + 1153.4162130328496, + 380.69247276962255 + ], + [ + 1224.2520473767568, + 400.28083052930975 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 274752244277470567, + "instance_id": 26469, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -43.60569763183594, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1222.2092984998883, + "ymin": 170.5156535122007, + "xmax": 1246.6944363432967, + "ymax": 206.8562328327675 + }, + "corners_3d": [ + [ + -43.74428176879883, + -9.655923843383789, + 5.545533180236816 + ], + [ + -43.74428176879883, + -9.276008605957031, + 5.545533180236816 + ], + [ + -43.46711349487305, + -9.276008605957031, + 5.545533180236816 + ], + [ + -43.46711349487305, + -9.655923843383789, + 5.545533180236816 + ], + [ + -43.74428176879883, + -9.655923843383789, + 6.416468620300293 + ], + [ + -43.74428176879883, + -9.276008605957031, + 6.416468620300293 + ], + [ + -43.46711349487305, + -9.276008605957031, + 6.416468620300293 + ], + [ + -43.46711349487305, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1233.2117144722486, + 206.8562328327675 + ], + [ + 1233.602071344108, + 200.21003956100932 + ], + [ + 1222.7025529489256, + 197.8452534643805 + ], + [ + 1222.2092984998883, + 204.44591767919567 + ], + [ + 1246.423832756674, + 179.36255208581065 + ], + [ + 1246.6944363432967, + 172.83688780831193 + ], + [ + 1235.5096695296384, + 170.5156535122007 + ], + [ + 1235.1306740158882, + 176.99562878481152 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1099.6247085655432, + "ymin": 0.0, + "xmax": 1113.14745549488, + "ymax": 12.892449119170294 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1099.6247085655432, + 11.837151485454797 + ], + [ + 1106.0256313414409, + 12.892449119170294 + ], + [ + 1106.99184826825, + 9.99121457336804 + ], + [ + 1100.6256011079424, + 8.947990173495441 + ], + [ + 1105.705765874268, + -7.075290088904126 + ], + [ + 1112.2044534173524, + -6.0461137777039085 + ], + [ + 1113.14745549488, + -8.875398268550725 + ], + [ + 1106.6845161666315, + -9.892645601416916 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10755311745963632187, + "instance_id": 15270, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -38.73401641845703, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1095.8215389242187, + "ymin": 0.0, + "xmax": 1111.9320232125485, + "ymax": 10.426372614232491 + }, + "corners_3d": [ + [ + -38.59543228149414, + 3.404341459274292, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.404340982437134, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.404341459274292, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.404340982437134, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 6.416468620300293 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1095.8215389242187, + 9.178943415788865 + ], + [ + 1103.4184564012212, + 10.426372614232491 + ], + [ + 1104.5894413764863, + 6.98084078354367 + ], + [ + 1097.0415758143376, + 5.750430719203905 + ], + [ + 1103.0577676338014, + -13.556120101097065 + ], + [ + 1110.7938782068666, + -12.346290153638165 + ], + [ + 1111.9320232125485, + -15.687736354524077 + ], + [ + 1104.2467866752222, + -16.880800512535302 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12937619472667703847, + "instance_id": 10234, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -38.7340087890625, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1087.3542081907365, + "ymin": 5.885247048801375, + "xmax": 1104.1374388727604, + "ymax": 34.34171601075559 + }, + "corners_3d": [ + [ + -38.59542465209961, + 0.9043415784835815, + 5.545533180236816 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 5.545533180236816 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 5.545533180236816 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 5.545533180236816 + ], + [ + -38.59542465209961, + 0.9043415784835815, + 6.416468620300293 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 6.416468620300293 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 6.416468620300293 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1087.3542081907365, + 32.9729436503722 + ], + [ + 1095.2904494460718, + 34.34171601075559 + ], + [ + 1096.5750748505611, + 30.561810989459104 + ], + [ + 1088.6923322680736, + 29.21259037750474 + ], + [ + 1094.7985815990905, + 9.537179004190762 + ], + [ + 1102.8869609406627, + 10.866701904790716 + ], + [ + 1104.1374388727604, + 7.195465842933288 + ], + [ + 1096.1046386583214, + 5.885247048801375 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1014.5470896252962, + "ymin": 214.8794623337427, + "xmax": 1033.207514534587, + "ymax": 246.48529477679546 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1023.6472069174397, + 246.48529477679546 + ], + [ + 1025.7464079754486, + 240.29735080185176 + ], + [ + 1016.7159273306298, + 238.08028564980748 + ], + [ + 1014.5470896252962, + 244.23067634809604 + ], + [ + 1031.1316105125193, + 223.17624774074665 + ], + [ + 1033.207514534587, + 217.06762279634594 + ], + [ + 1023.9798904481067, + 214.8794623337427 + ], + [ + 1021.8312306462137, + 220.95029857088602 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 281.08054921909826, + "ymin": 0.0, + "xmax": 293.731872117516, + "ymax": 11.9142726370103 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 293.0313542700072, + 11.9142726370103 + ], + [ + 293.731872117516, + 11.55430334981321 + ], + [ + 292.59953291999426, + 11.300954984754014 + ], + [ + 291.89855899640617, + 11.660562240964964 + ], + [ + 282.24295147386374, + -32.529954779308014 + ], + [ + 282.97317592419023, + -32.868393579641804 + ], + [ + 281.81125029004306, + -33.106579661230285 + ], + [ + 281.08054921909826, + -32.76849180941059 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 281.08054921909826, + "ymin": 0.0, + "xmax": 293.731872117516, + "ymax": 11.9142726370103 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 293.0313542700072, + 11.9142726370103 + ], + [ + 293.731872117516, + 11.55430334981321 + ], + [ + 292.59953291999426, + 11.300954984754014 + ], + [ + 291.89855899640617, + 11.660562240964964 + ], + [ + 282.24295147386374, + -32.529954779308014 + ], + [ + 282.97317592419023, + -32.868393579641804 + ], + [ + 281.81125029004306, + -33.106579661230285 + ], + [ + 281.08054921909826, + -32.76849180941059 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 238.69876374172685, + "ymin": 0.0, + "xmax": 252.38024274588543, + "ymax": 2.649214628629693 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 251.66359735063327, + 2.649214628629693 + ], + [ + 252.38024274588543, + 2.3023480338115405 + ], + [ + 251.28909574212452, + 2.058215959286372 + ], + [ + 250.5720394862484, + 2.4047401039997 + ], + [ + 239.81757264788132, + -41.236070286947836 + ], + [ + 240.56461792689146, + -41.56181803183796 + ], + [ + 239.44623660666207, + -41.791077860918506 + ], + [ + 238.69876374172685, + -41.46566151542055 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 281.08054921909826, + "ymin": 0.0, + "xmax": 293.731872117516, + "ymax": 11.9142726370103 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 293.0313542700072, + 11.9142726370103 + ], + [ + 293.731872117516, + 11.55430334981321 + ], + [ + 292.59953291999426, + 11.300954984754014 + ], + [ + 291.89855899640617, + 11.660562240964964 + ], + [ + 282.24295147386374, + -32.529954779308014 + ], + [ + 282.97317592419023, + -32.868393579641804 + ], + [ + 281.81125029004306, + -33.106579661230285 + ], + [ + 281.08054921909826, + -32.76849180941059 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 229.55310392955778, + "ymin": 0.0, + "xmax": 243.45064631771754, + "ymax": 0.6484734574215167 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 242.7306608497194, + 0.6484734574215167 + ], + [ + 243.45064631771754, + 0.3044044523778666 + ], + [ + 242.36829443951342, + 0.062240212115341365 + ], + [ + 241.64790755393892, + 0.40597090063107544 + ], + [ + 230.66261496247967, + -43.11480554619442 + ], + [ + 231.41313484660344, + -43.43784641712978 + ], + [ + 230.30404117775447, + -43.665202325367545 + ], + [ + 229.55310392955778, + -43.3424887327011 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 281.08054921909826, + "ymin": 0.0, + "xmax": 293.731872117516, + "ymax": 11.9142726370103 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 293.0313542700072, + 11.9142726370103 + ], + [ + 293.731872117516, + 11.55430334981321 + ], + [ + 292.59953291999426, + 11.300954984754014 + ], + [ + 291.89855899640617, + 11.660562240964964 + ], + [ + 282.24295147386374, + -32.529954779308014 + ], + [ + 282.97317592419023, + -32.868393579641804 + ], + [ + 281.81125029004306, + -33.106579661230285 + ], + [ + 281.08054921909826, + -32.76849180941059 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 240.63537658210214, + "ymin": 0.0, + "xmax": 254.50394912470358, + "ymax": 11.548587864901208 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 253.7759347961441, + 11.548587864901208 + ], + [ + 254.50394912470358, + 11.189140454703022 + ], + [ + 253.39214008084565, + 10.936159080011919 + ], + [ + 252.66369848153147, + 11.295245245978379 + ], + [ + 241.7759311961364, + -32.873767088735406 + ], + [ + 242.53537479480343, + -33.21169999655882 + ], + [ + 241.39526524705974, + -33.44953034591566 + ], + [ + 240.63537658210214, + -33.11194760027621 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 281.08054921909826, + "ymin": 0.0, + "xmax": 293.731872117516, + "ymax": 11.9142726370103 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 293.0313542700072, + 11.9142726370103 + ], + [ + 293.731872117516, + 11.55430334981321 + ], + [ + 292.59953291999426, + 11.300954984754014 + ], + [ + 291.89855899640617, + 11.660562240964964 + ], + [ + 282.24295147386374, + -32.529954779308014 + ], + [ + 282.97317592419023, + -32.868393579641804 + ], + [ + 281.81125029004306, + -33.106579661230285 + ], + [ + 281.08054921909826, + -32.76849180941059 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 281.08054921909826, + "ymin": 0.0, + "xmax": 293.731872117516, + "ymax": 11.9142726370103 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 293.0313542700072, + 11.9142726370103 + ], + [ + 293.731872117516, + 11.55430334981321 + ], + [ + 292.59953291999426, + 11.300954984754014 + ], + [ + 291.89855899640617, + 11.660562240964964 + ], + [ + 282.24295147386374, + -32.529954779308014 + ], + [ + 282.97317592419023, + -32.868393579641804 + ], + [ + 281.81125029004306, + -33.106579661230285 + ], + [ + 281.08054921909826, + -32.76849180941059 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 729.9819689415516, + "ymin": 0.0, + "xmax": 778.7588425308857, + "ymax": 30.119025267565632 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 764.8464039434151, + 3.9668313698429074 + ], + [ + 757.1515697035127, + 2.564495359179432 + ], + [ + 729.9819689415516, + 28.565225805076693 + ], + [ + 738.001244404642, + 30.119025267565632 + ], + [ + 778.7588425308857, + -156.20409004046064 + ], + [ + 770.1655358811712, + -157.25933220594243 + ], + [ + 740.5647026005381, + -137.58540547769667 + ], + [ + 749.5655604744427, + -136.40237742420163 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7806990106475075983, + "instance_id": 36761, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 320.36444520780805, + "ymin": 149.45850804327745, + "xmax": 478.95343896923936, + "ymax": 274.71396977594605 + }, + "corners_3d": [ + [ + -26.247940063476562, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.247940063476562, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.198223114013672 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 478.95343896923936, + 155.48124322884007 + ], + [ + 468.86079502179416, + 152.79873138678528 + ], + [ + 321.3422798950128, + 270.9559550223905 + ], + [ + 332.56625821423364, + 274.71396977594605 + ], + [ + 478.53421118490553, + 152.13407727651136 + ], + [ + 468.41714421246627, + 149.45850804327745 + ], + [ + 320.36444520780805, + 267.36464150324025 + ], + [ + 331.61820627324903, + 271.116508361554 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 281.08054921909826, + "ymin": 0.0, + "xmax": 293.731872117516, + "ymax": 11.9142726370103 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 293.0313542700072, + 11.9142726370103 + ], + [ + 293.731872117516, + 11.55430334981321 + ], + [ + 292.59953291999426, + 11.300954984754014 + ], + [ + 291.89855899640617, + 11.660562240964964 + ], + [ + 282.24295147386374, + -32.529954779308014 + ], + [ + 282.97317592419023, + -32.868393579641804 + ], + [ + 281.81125029004306, + -33.106579661230285 + ], + [ + 281.08054921909826, + -32.76849180941059 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 281.08054921909826, + "ymin": 0.0, + "xmax": 293.731872117516, + "ymax": 11.9142726370103 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 293.0313542700072, + 11.9142726370103 + ], + [ + 293.731872117516, + 11.55430334981321 + ], + [ + 292.59953291999426, + 11.300954984754014 + ], + [ + 291.89855899640617, + 11.660562240964964 + ], + [ + 282.24295147386374, + -32.529954779308014 + ], + [ + 282.97317592419023, + -32.868393579641804 + ], + [ + 281.81125029004306, + -33.106579661230285 + ], + [ + 281.08054921909826, + -32.76849180941059 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9800544056613091847, + "instance_id": 1850, + "pixel_count": null, + "type_id": "BP_StreetLight_doble4_14_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -39.30270767211914, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 689.9099191123785, + "xmax": 45.039926310335204, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -26.34157943725586, + -36.46865463256836, + 0.20087909698486328 + ], + [ + -25.85840606689453, + -36.468658447265625, + 0.20087909698486328 + ], + [ + -25.858417510986328, + -42.13676071166992, + 0.20087909698486328 + ], + [ + -26.341590881347656, + -42.136756896972656, + 0.20087909698486328 + ], + [ + -26.34157943725586, + -36.46865463256836, + 8.406628608703613 + ], + [ + -25.85840606689453, + -36.468658447265625, + 8.406628608703613 + ], + [ + -25.858417510986328, + -42.13676071166992, + 8.406628608703613 + ], + [ + -26.341590881347656, + -42.136756896972656, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 45.039926310335204, + 929.4764325777023 + ], + [ + 27.263355240797182, + 916.8605009546465 + ], + [ + -305.58790032853494, + 1292.9955855389926 + ], + [ + -286.79684230538123, + 1313.2937339975938 + ], + [ + -215.74539448457142, + 705.1332891634393 + ], + [ + -237.89938100875918, + 689.9099191123785 + ], + [ + -891.7214120534272, + 1201.0694366063026 + ], + [ + -871.9379678201358, + 1232.4779636822416 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 281.08054921909826, + "ymin": 0.0, + "xmax": 293.731872117516, + "ymax": 11.9142726370103 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 293.0313542700072, + 11.9142726370103 + ], + [ + 293.731872117516, + 11.55430334981321 + ], + [ + 292.59953291999426, + 11.300954984754014 + ], + [ + 291.89855899640617, + 11.660562240964964 + ], + [ + 282.24295147386374, + -32.529954779308014 + ], + [ + 282.97317592419023, + -32.868393579641804 + ], + [ + 281.81125029004306, + -33.106579661230285 + ], + [ + 281.08054921909826, + -32.76849180941059 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 281.85288761699746, + "ymin": 0.0, + "xmax": 294.4544235384774, + "ymax": 14.899065440788092 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 293.7558836161594, + 14.899065440788092 + ], + [ + 294.4544235384774, + 14.537720876671983 + ], + [ + 293.3240834381803, + 14.283403938193942 + ], + [ + 292.6250888230054, + 14.64438584619927 + ], + [ + 283.0131873080405, + -29.356868157941904 + ], + [ + 283.7412750286981, + -29.696909496607134 + ], + [ + 282.5814504952215, + -29.93622405700745 + ], + [ + 281.85288761699746, + -29.596534570342044 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 987.7845850545889, + "ymin": 66.83320242913112, + "xmax": 1280.0, + "ymax": 431.9241871246338 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 990.4884726806961, + 306.70360754534994 + ], + [ + 987.7845850545889, + 313.9524470380995 + ], + [ + 1410.4921880323718, + 431.9241871246338 + ], + [ + 1409.2368580986217, + 422.41137908566503 + ], + [ + 1064.5871185697913, + 66.83320242913112 + ], + [ + 1062.1212202381537, + 72.99013241883597 + ], + [ + 1605.3715257870085, + 176.62523628233978 + ], + [ + 1601.296144820782, + 168.02108784995417 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 281.08054921909826, + "ymin": 0.0, + "xmax": 293.731872117516, + "ymax": 11.9142726370103 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 293.0313542700072, + 11.9142726370103 + ], + [ + 293.731872117516, + 11.55430334981321 + ], + [ + 292.59953291999426, + 11.300954984754014 + ], + [ + 291.89855899640617, + 11.660562240964964 + ], + [ + 282.24295147386374, + -32.529954779308014 + ], + [ + 282.97317592419023, + -32.868393579641804 + ], + [ + 281.81125029004306, + -33.106579661230285 + ], + [ + 281.08054921909826, + -32.76849180941059 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 281.08054921909826, + "ymin": 0.0, + "xmax": 293.731872117516, + "ymax": 11.9142726370103 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 293.0313542700072, + 11.9142726370103 + ], + [ + 293.731872117516, + 11.55430334981321 + ], + [ + 292.59953291999426, + 11.300954984754014 + ], + [ + 291.89855899640617, + 11.660562240964964 + ], + [ + 282.24295147386374, + -32.529954779308014 + ], + [ + 282.97317592419023, + -32.868393579641804 + ], + [ + 281.81125029004306, + -33.106579661230285 + ], + [ + 281.08054921909826, + -32.76849180941059 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 281.08054921909826, + "ymin": 0.0, + "xmax": 293.731872117516, + "ymax": 11.9142726370103 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 293.0313542700072, + 11.9142726370103 + ], + [ + 293.731872117516, + 11.55430334981321 + ], + [ + 292.59953291999426, + 11.300954984754014 + ], + [ + 291.89855899640617, + 11.660562240964964 + ], + [ + 282.24295147386374, + -32.529954779308014 + ], + [ + 282.97317592419023, + -32.868393579641804 + ], + [ + 281.81125029004306, + -33.106579661230285 + ], + [ + 281.08054921909826, + -32.76849180941059 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 281.08054921909826, + "ymin": 0.0, + "xmax": 293.731872117516, + "ymax": 11.9142726370103 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 293.0313542700072, + 11.9142726370103 + ], + [ + 293.731872117516, + 11.55430334981321 + ], + [ + 292.59953291999426, + 11.300954984754014 + ], + [ + 291.89855899640617, + 11.660562240964964 + ], + [ + 282.24295147386374, + -32.529954779308014 + ], + [ + 282.97317592419023, + -32.868393579641804 + ], + [ + 281.81125029004306, + -33.106579661230285 + ], + [ + 281.08054921909826, + -32.76849180941059 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 281.08054921909826, + "ymin": 0.0, + "xmax": 293.731872117516, + "ymax": 11.9142726370103 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 293.0313542700072, + 11.9142726370103 + ], + [ + 293.731872117516, + 11.55430334981321 + ], + [ + 292.59953291999426, + 11.300954984754014 + ], + [ + 291.89855899640617, + 11.660562240964964 + ], + [ + 282.24295147386374, + -32.529954779308014 + ], + [ + 282.97317592419023, + -32.868393579641804 + ], + [ + 281.81125029004306, + -33.106579661230285 + ], + [ + 281.08054921909826, + -32.76849180941059 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15102510933830370440, + "instance_id": 34948, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 320.52628023609293, + "ymin": 149.5449204110174, + "xmax": 478.82680002608595, + "ymax": 274.59944889727444 + }, + "corners_3d": [ + [ + -26.246049880981445, + -20.196584701538086, + 8.10662841796875 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.10662841796875 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.10662841796875 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.10662841796875 + ], + [ + -26.246049880981445, + -20.196584701538086, + 8.197628021240234 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.197628021240234 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.197628021240234 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 478.82680002608595, + 155.49115050889924 + ], + [ + 468.86241103588304, + 152.84259570104516 + ], + [ + 321.49108619779423, + 270.89018821235004 + ], + [ + 332.57133733452525, + 274.59944889727444 + ], + [ + 478.41259478111664, + 152.18670905396954 + ], + [ + 468.4244007136023, + 149.5449204110174 + ], + [ + 320.52628023609293, + 267.344870850309 + ], + [ + 331.6355551845355, + 271.04813896285737 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 238.1723607989503, + "ymin": 0.0, + "xmax": 251.89639795634486, + "ymax": 3.6211479438266565 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 251.1780052800214, + 3.6211479438266565 + ], + [ + 251.89639795634486, + 3.272918208483759 + ], + [ + 250.80335015638497, + 3.0278273181083364 + ], + [ + 250.08454534275302, + 3.375712583200425 + ], + [ + 239.29316521050822, + -40.32323859612302 + ], + [ + 240.04210070328878, + -40.65030564120303 + ], + [ + 238.921725221852, + -40.88049339907252 + ], + [ + 238.1723607989503, + -40.553759768180385 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 281.08054921909826, + "ymin": 0.0, + "xmax": 293.731872117516, + "ymax": 11.9142726370103 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 293.0313542700072, + 11.9142726370103 + ], + [ + 293.731872117516, + 11.55430334981321 + ], + [ + 292.59953291999426, + 11.300954984754014 + ], + [ + 291.89855899640617, + 11.660562240964964 + ], + [ + 282.24295147386374, + -32.529954779308014 + ], + [ + 282.97317592419023, + -32.868393579641804 + ], + [ + 281.81125029004306, + -33.106579661230285 + ], + [ + 281.08054921909826, + -32.76849180941059 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 223.27520044069115, + "ymin": 0.0, + "xmax": 237.34912396273955, + "ymax": 0.3028207460648673 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 236.6253846341985, + 0.3028207460648673 + ], + [ + 237.34912396273955, + -0.04076611099304728 + ], + [ + 236.27052745211978, + -0.282591188763206 + ], + [ + 235.5463914524601, + 0.06065806248517447 + ], + [ + 224.3807285016976, + -43.439333301918055 + ], + [ + 225.13522098977097, + -43.76190775969246 + ], + [ + 224.03010512018216, + -43.988935592189534 + ], + [ + 223.27520044069115, + -43.666687704311016 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 311.2687745492568, + "ymin": 139.17719809070377, + "xmax": 512.7397065342343, + "ymax": 522.1050961296789 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 512.7397065342343, + 388.5153745582786 + ], + [ + 499.10983505193866, + 383.65685298424273 + ], + [ + 382.2912102986967, + 515.6664768525104 + ], + [ + 397.2420474190245, + 522.1050961296789 + ], + [ + 483.1216096858224, + 143.4948857184667 + ], + [ + 466.54224700380746, + 139.17719809070377 + ], + [ + 311.2687745492568, + 260.57035356582094 + ], + [ + 329.7938566406854, + 266.71568403402887 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 281.08054921909826, + "ymin": 0.0, + "xmax": 293.731872117516, + "ymax": 11.9142726370103 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 293.0313542700072, + 11.9142726370103 + ], + [ + 293.731872117516, + 11.55430334981321 + ], + [ + 292.59953291999426, + 11.300954984754014 + ], + [ + 291.89855899640617, + 11.660562240964964 + ], + [ + 282.24295147386374, + -32.529954779308014 + ], + [ + 282.97317592419023, + -32.868393579641804 + ], + [ + 281.81125029004306, + -33.106579661230285 + ], + [ + 281.08054921909826, + -32.76849180941059 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 281.08054921909826, + "ymin": 0.0, + "xmax": 293.731872117516, + "ymax": 11.9142726370103 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 293.0313542700072, + 11.9142726370103 + ], + [ + 293.731872117516, + 11.55430334981321 + ], + [ + 292.59953291999426, + 11.300954984754014 + ], + [ + 291.89855899640617, + 11.660562240964964 + ], + [ + 282.24295147386374, + -32.529954779308014 + ], + [ + 282.97317592419023, + -32.868393579641804 + ], + [ + 281.81125029004306, + -33.106579661230285 + ], + [ + 281.08054921909826, + -32.76849180941059 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 281.08054921909826, + "ymin": 0.0, + "xmax": 293.731872117516, + "ymax": 11.9142726370103 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 293.0313542700072, + 11.9142726370103 + ], + [ + 293.731872117516, + 11.55430334981321 + ], + [ + 292.59953291999426, + 11.300954984754014 + ], + [ + 291.89855899640617, + 11.660562240964964 + ], + [ + 282.24295147386374, + -32.529954779308014 + ], + [ + 282.97317592419023, + -32.868393579641804 + ], + [ + 281.81125029004306, + -33.106579661230285 + ], + [ + 281.08054921909826, + -32.76849180941059 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 81.13327948466895, + "ymax": 16.245992248761468 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -116.44977479856527, + 14.780067604503756 + ], + [ + -111.29043328907005, + 16.245992248761468 + ], + [ + 81.13327948466895, + -53.661469893761534 + ], + [ + 76.20277784505686, + -54.752505934719125 + ], + [ + -210.66789391808948, + -162.89691592888676 + ], + [ + -205.17025693921687, + -161.82563410425087 + ], + [ + 21.915243960071393, + -212.06862293802135 + ], + [ + 16.626593803307514, + -212.83931346415227 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 281.08054921909826, + "ymin": 0.0, + "xmax": 293.731872117516, + "ymax": 11.9142726370103 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 293.0313542700072, + 11.9142726370103 + ], + [ + 293.731872117516, + 11.55430334981321 + ], + [ + 292.59953291999426, + 11.300954984754014 + ], + [ + 291.89855899640617, + 11.660562240964964 + ], + [ + 282.24295147386374, + -32.529954779308014 + ], + [ + 282.97317592419023, + -32.868393579641804 + ], + [ + 281.81125029004306, + -33.106579661230285 + ], + [ + 281.08054921909826, + -32.76849180941059 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1030.860617318617, + "ymin": 0.0, + "xmax": 1146.371406832889, + "ymax": 179.96626859969504 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1084.9558630282277, + 62.97998854776739 + ], + [ + 1075.5597275375585, + 61.23270092865147 + ], + [ + 1030.860617318617, + 177.40689764999814 + ], + [ + 1042.0654709410237, + 179.96626859969504 + ], + [ + 1146.371406832889, + -127.26375812978893 + ], + [ + 1135.463171327316, + -128.57039858840756 + ], + [ + 1097.8315336640076, + -39.15075641661963 + ], + [ + 1111.2648340379333, + -37.12091980842035 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00144/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00144/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0991e2d3c1045575f54560ecac7a311ff21ffe5e --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00144/meta.json @@ -0,0 +1,4993 @@ +{ + "frame_id": 144, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 72.0, + "sim_timestamp": 14809.51296940376 + }, + "drone_pose": { + "x": -38.85639581612538, + "y": -36.7396803652868, + "z": 20.0, + "pitch": -41.426994554530694, + "yaw": 63.043526285527676, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.33989417552948, + -0.6683346033096313, + 0.6616652011871338, + 24.528160095214844 + ], + [ + 0.8913512229919434, + 0.4533134698867798, + 0.0, + -17.980100631713867 + ], + [ + -0.299941748380661, + 0.5897760391235352, + 0.7497994303703308, + -48.318824768066406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -38.629362313091676, + "y": -36.24595175483341, + "z": 20.0 + }, + "t1_image_uv": [ + 690.5703436096693, + -487.1580301700393 + ], + "t1_depth": 0.40714326807586615 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -29.16718292236328, + "y": -17.687763214111328, + "z": 1.1382036101818085 + }, + "image_uv": [ + 639.9999999999999, + 359.99999999999994 + ], + "depth": 28.506556380714564, + "visible": false, + "in_view": true, + "lost_reason": "occluded", + "pixel_count": 20, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -29.16718101501465, + "y": -17.687763214111328, + "z": 1.138203501701355 + }, + "extent": { + "x": 0.5192089676856995, + "y": 0.44281187653541565, + "z": 0.8899242281913757 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 618.1804633216459, + "ymin": 322.624003837802, + "xmax": 661.5144181542, + "ymax": 397.13727014467116 + }, + "corners_3d": [ + [ + -28.724369049072266, + -18.206972122192383, + 0.24827927350997925 + ], + [ + -29.60999298095703, + -18.206972122192383, + 0.24827927350997925 + ], + [ + -29.60999298095703, + -17.168554306030273, + 0.24827927350997925 + ], + [ + -28.724369049072266, + -17.168554306030273, + 0.24827927350997925 + ], + [ + -28.724369049072266, + -18.206972122192383, + 2.028127670288086 + ], + [ + -29.60999298095703, + -18.206972122192383, + 2.028127670288086 + ], + [ + -29.60999298095703, + -17.168554306030273, + 2.028127670288086 + ], + [ + -28.724369049072266, + -17.168554306030273, + 2.028127670288086 + ] + ], + "corners_2d": [ + [ + 619.0696350078625, + 387.926218959218 + ], + [ + 645.348700272405, + 397.13727014467116 + ], + [ + 660.6494430831885, + 376.1857251685005 + ], + [ + 634.8310336095719, + 367.4038095577136 + ], + [ + 618.1804633216459, + 342.89717613314554 + ], + [ + 645.578420257767, + 352.0095026704387 + ], + [ + 661.5144181542, + 331.2943245701356 + ], + [ + 634.6168068637074, + 322.624003837802 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 144, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 84, + "semantic_pixel_counts": { + "1": 245693, + "2": 109402, + "3": 40, + "5": 3306, + "6": 9213, + "7": 860, + "10": 410, + "12": 2766, + "14": 47648, + "15": 20381, + "20": 756, + "24": 39641, + "25": 441484 + }, + "instance_pixel_counts": { + "70": 1704, + "108": 4, + "3180": 2076, + "6508": 4059, + "7274": 377, + "7784": 10354, + "7786": 3676, + "7825": 756, + "8064": 1588, + "8088": 1327, + "8296": 37403, + "8298": 2433, + "8337": 865, + "8600": 903, + "8780": 3306, + "8808": 58715, + "8810": 41, + "9320": 305, + "9322": 1848, + "9624": 3187, + "9832": 58750, + "10316": 587, + "10624": 3229, + "10828": 103, + "11136": 1064, + "12652": 634, + "21332": 11409, + "21602": 14642, + "21844": 10912, + "22868": 9035, + "23380": 12661, + "24946": 40, + "25168": 96, + "25428": 758, + "25698": 1306, + "25856": 843, + "25940": 4133, + "26112": 5763, + "26210": 117, + "27988": 6491, + "29327": 4080, + "29839": 5700, + "30351": 25464, + "30863": 4937, + "31375": 22212, + "31812": 690, + "31848": 605, + "32324": 824, + "32360": 25845, + "33384": 8545, + "34408": 45171, + "35399": 10021, + "36753": 199, + "39239": 431463, + "40855": 945, + "41367": 2033, + "41879": 8234, + "42391": 708, + "42903": 4494, + "46184": 100, + "46672": 3371, + "46696": 2501, + "46917": 176, + "47208": 323, + "48232": 2666, + "48708": 2163, + "50756": 224, + "53926": 449, + "54950": 1060, + "55462": 167, + "56320": 20, + "56576": 566, + "56832": 503, + "57088": 697, + "57344": 334, + "57487": 2052, + "57600": 646, + "57999": 2375, + "58951": 66, + "59023": 6109, + "60833": 966, + "60928": 3161, + "61440": 9469, + "64837": 1356 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 20, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -29.16718101501465, + "y": -17.687763214111328, + "z": 1.138203501701355 + }, + "extent": { + "x": 0.49983397126197815, + "y": 0.33861875534057617, + "z": 0.8648273944854736 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 621.6969643775769, + "ymin": 324.66213949851584, + "xmax": 658.0182166873233, + "ymax": 395.0340048655207 + }, + "corners_3d": [ + [ + -28.828561782836914, + -18.187597274780273, + 0.27337610721588135 + ], + [ + -29.505800247192383, + -18.187597274780273, + 0.27337610721588135 + ], + [ + -29.505800247192383, + -17.187929153442383, + 0.27337610721588135 + ], + [ + -28.828561782836914, + -17.187929153442383, + 0.27337610721588135 + ], + [ + -28.828561782836914, + -18.187597274780273, + 2.003030776977539 + ], + [ + -29.505800247192383, + -18.187597274780273, + 2.003030776977539 + ], + [ + -29.505800247192383, + -17.187929153442383, + 2.003030776977539 + ], + [ + -28.828561782836914, + -17.187929153442383, + 2.003030776977539 + ] + ], + "corners_2d": [ + [ + 622.4227814534096, + 387.99753475241323 + ], + [ + 642.52310621373, + 395.0340048655207 + ], + [ + 657.3143744744276, + 374.91628723416693 + ], + [ + 637.5535414640283, + 368.1958582340883 + ], + [ + 621.6969643775769, + 344.2320543979107 + ], + [ + 642.6281655488857, + 351.1949777463145 + ], + [ + 658.0182166873233, + 331.2998147335206 + ], + [ + 637.4548976434116, + 324.66213949851584 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 566, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -25.041194915771484, + "y": -14.690058708190918, + "z": 1.1332621574401855 + }, + "extent": { + "x": 0.439262717962265, + "y": 0.43934208154678345, + "z": 0.8749434947967529 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 551.8312666909492, + "ymin": 238.60321205882906, + "xmax": 587.7587857127745, + "ymax": 300.47091986477164 + }, + "corners_3d": [ + [ + -24.702781677246094, + -15.211067199707031, + 0.2583186626434326 + ], + [ + -25.562265396118164, + -15.028377532958984, + 0.2583186626434326 + ], + [ + -25.379608154296875, + -14.169050216674805, + 0.2583186626434326 + ], + [ + -24.520124435424805, + -14.351739883422852, + 0.2583186626434326 + ], + [ + -24.702781677246094, + -15.211067199707031, + 2.0082056522369385 + ], + [ + -25.562265396118164, + -15.028377532958984, + 2.0082056522369385 + ], + [ + -25.379608154296875, + -14.169050216674805, + 2.0082056522369385 + ], + [ + -24.520124435424805, + -14.351739883422852, + 2.0082056522369385 + ] + ], + "corners_2d": [ + [ + 554.9955784724184, + 296.3196768316873 + ], + [ + 579.940177944262, + 300.47091986477164 + ], + [ + 587.7587857127745, + 285.15522800618226 + ], + [ + 563.2563234937546, + 281.16345064081247 + ], + [ + 551.8312666909492, + 253.45281904863515 + ], + [ + 577.6921459507247, + 257.52381188977927 + ], + [ + 585.8428208100049, + 242.51215994459267 + ], + [ + 560.4568003967233, + 238.60321205882906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 503, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -31.423004150390625, + "y": -10.745049476623535, + "z": 1.1415092945098877 + }, + "extent": { + "x": 0.48405882716178894, + "y": 0.3488513231277466, + "z": 0.9456548690795898 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 776.5372778354086, + "ymin": 225.43922215803073, + "xmax": 809.719737018537, + "ymax": 291.33098052168475 + }, + "corners_3d": [ + [ + -31.12666130065918, + -11.262921333312988, + 0.19585442543029785 + ], + [ + -31.820541381835938, + -11.18999195098877, + 0.19585442543029785 + ], + [ + -31.71934700012207, + -10.227177619934082, + 0.19585442543029785 + ], + [ + -31.025466918945312, + -10.3001070022583, + 0.19585442543029785 + ], + [ + -31.12666130065918, + -11.262921333312988, + 2.0871641635894775 + ], + [ + -31.820541381835938, + -11.18999195098877, + 2.0871641635894775 + ], + [ + -31.71934700012207, + -10.227177619934082, + 2.0871641635894775 + ], + [ + -31.025466918945312, + -10.3001070022583, + 2.0871641635894775 + ] + ], + "corners_2d": [ + [ + 776.5372778354086, + 286.8844685505294 + ], + [ + 796.525531287783, + 291.33098052168475 + ], + [ + 803.3318441901233, + 275.45911358740074 + ], + [ + 783.710744043883, + 271.19156771427765 + ], + [ + 781.960417396314, + 240.77105023503708 + ], + [ + 802.779727624465, + 245.11974434439156 + ], + [ + 809.719737018537, + 229.606134507436 + ], + [ + 789.2985826338534, + 225.43922215803073 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 697, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -38.66718292236328, + "y": -17.687763214111328, + "z": 1.1478227376937866 + }, + "extent": { + "x": 0.33936765789985657, + "y": 0.5373675227165222, + "z": 0.9084377288818359 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 931.217968204465, + "ymin": 428.89144109305164, + "xmax": 993.5055191002446, + "ymax": 506.4614642057179 + }, + "corners_3d": [ + [ + -38.12981414794922, + -18.027130126953125, + 0.23938500881195068 + ], + [ + -39.204551696777344, + -18.027130126953125, + 0.23938500881195068 + ], + [ + -39.204551696777344, + -17.34839630126953, + 0.23938500881195068 + ], + [ + -38.12981414794922, + -17.34839630126953, + 0.23938500881195068 + ], + [ + -38.12981414794922, + -18.027130126953125, + 2.056260585784912 + ], + [ + -39.204551696777344, + -18.027130126953125, + 2.056260585784912 + ], + [ + -39.204551696777344, + -17.34839630126953, + 2.056260585784912 + ], + [ + -38.12981414794922, + -17.34839630126953, + 2.056260585784912 + ] + ], + "corners_2d": [ + [ + 931.217968204465, + 492.4083190775577 + ], + [ + 971.5132261461476, + 506.4614642057179 + ], + [ + 977.1077666911403, + 489.0699190810142 + ], + [ + 937.4302425359718, + 475.5010602633187 + ], + [ + 945.4343343916664, + 445.7654898904882 + ], + [ + 987.9403601955084, + 459.81268662719305 + ], + [ + 993.5055191002446, + 442.431394691319 + ], + [ + 951.687252246191, + 428.89144109305164 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 334, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -32.78268051147461, + "y": -28.81512451171875, + "z": 1.143057107925415 + }, + "extent": { + "x": 0.4701477289199829, + "y": 0.3133240044116974, + "z": 0.9572368264198303 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 521.9852156006184, + "ymin": 680.4541402438706, + "xmax": 579.39997671385, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -32.42192840576172, + -29.24994468688965, + 0.18582028150558472 + ], + [ + -33.045143127441406, + -29.315448760986328, + 0.18582028150558472 + ], + [ + -33.1434326171875, + -28.38030433654785, + 0.18582028150558472 + ], + [ + -32.52021789550781, + -28.314800262451172, + 0.18582028150558472 + ], + [ + -32.42192840576172, + -29.24994468688965, + 2.1002938747406006 + ], + [ + -33.045143127441406, + -29.315448760986328, + 2.1002938747406006 + ], + [ + -33.1434326171875, + -28.38030433654785, + 2.1002938747406006 + ], + [ + -32.52021789550781, + -28.314800262451172, + 2.1002938747406006 + ] + ], + "corners_2d": [ + [ + 529.3483547795397, + 762.3560414187027 + ], + [ + 553.1166682862423, + 778.2874022608814 + ], + [ + 579.39997671385, + 742.0156210126202 + ], + [ + 555.9830802794744, + 726.9790344153729 + ], + [ + 521.9852156006184, + 716.7394241244231 + ], + [ + 547.2564674876733, + 733.1244973446842 + ], + [ + 575.4373804466751, + 695.860091083282 + ], + [ + 550.5608119417672, + 680.4541402438706 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 646, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -17.921846389770508, + "y": -25.85797882080078, + "z": 1.127798318862915 + }, + "extent": { + "x": 0.3850451707839966, + "y": 0.3737451136112213, + "z": 0.9402654767036438 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 117.59373790229199, + "ymin": 374.2213294232118, + "xmax": 180.15623571392746, + "ymax": 448.99904416090834 + }, + "corners_3d": [ + [ + -17.476213455200195, + -26.156904220581055, + 0.18753284215927124 + ], + [ + -18.207368850708008, + -26.312314987182617, + 0.18753284215927124 + ], + [ + -18.36747932434082, + -25.559053421020508, + 0.18753284215927124 + ], + [ + -17.636323928833008, + -25.403642654418945, + 0.18753284215927124 + ], + [ + -17.476213455200195, + -26.156904220581055, + 2.068063735961914 + ], + [ + -18.207368850708008, + -26.312314987182617, + 2.068063735961914 + ], + [ + -18.36747932434082, + -25.559053421020508, + 2.068063735961914 + ], + [ + -17.636323928833008, + -25.403642654418945, + 2.068063735961914 + ] + ], + "corners_2d": [ + [ + 141.27472188935366, + 436.9809703112726 + ], + [ + 155.38250583964117, + 448.99904416090834 + ], + [ + 180.15623571392746, + 433.7391574480337 + ], + [ + 165.9625936540287, + 422.1072589139237 + ], + [ + 117.59373790229199, + 388.98078003128126 + ], + [ + 132.05774848929389, + 400.923018533377 + ], + [ + 158.40168194738686, + 385.76194869245734 + ], + [ + 143.833046925061, + 374.2213294232118 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 3161, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -19.1251277923584, + "y": 6.095887660980225, + "z": 0.8948460817337036 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 626.3642111800133, + "ymin": 0.0, + "xmax": 727.9403693971981, + "ymax": 56.32983331304263 + }, + "corners_3d": [ + [ + -21.404022216796875, + 5.052896022796631, + 0.011262890882790089 + ], + [ + -21.39891815185547, + 7.149961948394775, + 0.011262890882790089 + ], + [ + -16.846233367919922, + 7.138879776000977, + 0.011262890882790089 + ], + [ + -16.851337432861328, + 5.041813850402832, + 0.011262890882790089 + ], + [ + -21.404022216796875, + 5.052896022796631, + 1.7784292697906494 + ], + [ + -21.39891815185547, + 7.149961948394775, + 1.7784292697906494 + ], + [ + -16.846233367919922, + 7.138879776000977, + 1.7784292697906494 + ], + [ + -16.851337432861328, + 5.041813850402832, + 1.7784292697906494 + ] + ], + "corners_2d": [ + [ + 709.0898359635598, + 56.32983331304263 + ], + [ + 725.8199130501915, + 40.602379523807826 + ], + [ + 645.2182291266802, + 24.35767123610458 + ], + [ + 626.6920786566756, + 39.11828980390675 + ], + [ + 710.8490892238895, + 20.896602121008414 + ], + [ + 727.9403693971981, + 5.831253072537265 + ], + [ + 645.3430986354538, + -9.706300326046971 + ], + [ + 626.3642111800133, + 4.410786989312101 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 9469, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 1145.5553382011797, + "ymin": 309.6741866716939, + "xmax": 1247.8063380132585, + "ymax": 472.98268127542156 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 1220.791663146894, + 376.29119043834663 + ], + [ + 1158.847865535644, + 359.26537612186837 + ], + [ + 1145.5553382011797, + 451.9765951531409 + ], + [ + 1214.1381083509377, + 472.98268127542156 + ], + [ + 1247.8063380132585, + 326.44800423402194 + ], + [ + 1182.4836431090785, + 309.6741866716939 + ], + [ + 1171.2361344541907, + 401.38758482933247 + ], + [ + 1243.9891460030044, + 422.2954698666896 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 274752244277470567, + "instance_id": 26469, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -43.60569763183594, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1242.7967528977606, + "ymin": 187.57422616332678, + "xmax": 1268.2474836648526, + "ymax": 224.53655131520145 + }, + "corners_3d": [ + [ + -43.74428176879883, + -9.655923843383789, + 5.545533180236816 + ], + [ + -43.74428176879883, + -9.276008605957031, + 5.545533180236816 + ], + [ + -43.46711349487305, + -9.276008605957031, + 5.545533180236816 + ], + [ + -43.46711349487305, + -9.655923843383789, + 5.545533180236816 + ], + [ + -43.74428176879883, + -9.655923843383789, + 6.416468620300293 + ], + [ + -43.74428176879883, + -9.276008605957031, + 6.416468620300293 + ], + [ + -43.46711349487305, + -9.276008605957031, + 6.416468620300293 + ], + [ + -43.46711349487305, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1254.1013249151447, + 224.53655131520145 + ], + [ + 1254.4595113779917, + 217.65447182759266 + ], + [ + 1243.2625831362611, + 215.13476011864117 + ], + [ + 1242.7967528977606, + 221.96748204293567 + ], + [ + 1268.0188621554785, + 196.8117701135253 + ], + [ + 1268.2474836648526, + 190.04937661916532 + ], + [ + 1256.7498295808605, + 187.57422616332678 + ], + [ + 1256.4076636044165, + 194.28703275008303 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1115.8500261831891, + "ymin": 0.0, + "xmax": 1129.7677685404142, + "ymax": 23.01633466438676 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1115.8500261831891, + 21.909220740987337 + ], + [ + 1122.36001755355, + 23.01633466438676 + ], + [ + 1123.3383050464317, + 20.05928841320724 + ], + [ + 1116.863854468128, + 18.964957524257443 + ], + [ + 1122.2032736735653, + 2.8706630117230816 + ], + [ + 1128.8143757279713, + 3.9506321162338622 + ], + [ + 1129.7677685404142, + 1.0662282734723476 + ], + [ + 1123.1933259889975, + -0.0011060132168267955 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10755311745963632187, + "instance_id": 15270, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -38.73401641845703, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1112.7383343057638, + "ymin": 0.0, + "xmax": 1129.358804664977, + "ymax": 21.43250207448972 + }, + "corners_3d": [ + [ + -38.59543228149414, + 3.404341459274292, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.404340982437134, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.404341459274292, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.404340982437134, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 6.416468620300293 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1112.7383343057638, + 20.119171273367897 + ], + [ + 1120.4800781051945, + 21.43250207448972 + ], + [ + 1121.6626852698905, + 17.90821544279129 + ], + [ + 1113.9714177071546, + 16.612999896894678 + ], + [ + 1120.3254549883738, + -2.7952756902596434 + ], + [ + 1128.2117342265701, + -1.5210910843375132 + ], + [ + 1129.358804664977, + -4.940090830564486 + ], + [ + 1121.524913580615, + -6.196420671638123 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12937619472667703847, + "instance_id": 10234, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -38.7340087890625, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1104.1753162002872, + "ymin": 17.10385109232874, + "xmax": 1121.4994644125904, + "ymax": 45.909345706947306 + }, + "corners_3d": [ + [ + -38.59542465209961, + 0.9043415784835815, + 5.545533180236816 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 5.545533180236816 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 5.545533180236816 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 5.545533180236816 + ], + [ + -38.59542465209961, + 0.9043415784835815, + 6.416468620300293 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 6.416468620300293 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 6.416468620300293 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1104.1753162002872, + 44.46673879372196 + ], + [ + 1112.2664088406354, + 45.909345706947306 + ], + [ + 1113.565153373219, + 42.03896332259558 + ], + [ + 1105.5291599402121, + 40.61720017286342 + ], + [ + 1111.9885846674956, + 20.843796561874456 + ], + [ + 1120.2378068946184, + 22.24556851645758 + ], + [ + 1121.4994644125904, + 18.485031661288303 + ], + [ + 1113.3075274830408, + 17.10385109232874 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1029.28452998973, + "ymin": 230.07074482395478, + "xmax": 1048.5691733943004, + "ymax": 262.1188304691194 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1038.5690532579263, + 262.1188304691194 + ], + [ + 1040.7132780703596, + 255.75783357295427 + ], + [ + 1031.500557898361, + 253.4125002222378 + ], + [ + 1029.28452998973, + 259.73322721901064 + ], + [ + 1046.45113846119, + 238.66941290294068 + ], + [ + 1048.5691733943004, + 232.38668704690065 + ], + [ + 1039.1511360489058, + 230.07074482395478 + ], + [ + 1036.95801071312, + 236.31291690399777 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 290.61057871227075, + "ymin": 0.0, + "xmax": 302.98091033166736, + "ymax": 17.61384420271014 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 302.2745221714363, + 17.61384420271014 + ], + [ + 302.98091033166736, + 17.253265305163836 + ], + [ + 301.8516977793968, + 16.992048982970232 + ], + [ + 301.14486889300315, + 17.35225438239513 + ], + [ + 291.76973735027434, + -26.873650358181635 + ], + [ + 292.50581841074745, + -27.21266966478902 + ], + [ + 291.347120055873, + -27.458258034016126 + ], + [ + 290.61057871227075, + -27.119600803557148 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 290.61057871227075, + "ymin": 0.0, + "xmax": 302.98091033166736, + "ymax": 17.61384420271014 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 302.2745221714363, + 17.61384420271014 + ], + [ + 302.98091033166736, + 17.253265305163836 + ], + [ + 301.8516977793968, + 16.992048982970232 + ], + [ + 301.14486889300315, + 17.35225438239513 + ], + [ + 291.76973735027434, + -26.873650358181635 + ], + [ + 292.50581841074745, + -27.21266966478902 + ], + [ + 291.347120055873, + -27.458258034016126 + ], + [ + 290.61057871227075, + -27.119600803557148 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 248.37165528750023, + "ymin": 0.0, + "xmax": 261.76550950516963, + "ymax": 8.066154213994992 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 261.0435769963397, + 8.066154213994992 + ], + [ + 261.76550950516963, + 7.719082221573672 + ], + [ + 260.6785707697769, + 7.467644928769062 + ], + [ + 259.9562434029403, + 7.814364206380731 + ], + [ + 249.48607787856844, + -35.845389687880925 + ], + [ + 250.23835893942345, + -36.171326330304 + ], + [ + 249.1243468980024, + -36.40744335560413 + ], + [ + 248.37165528750023, + -36.081848039541114 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 290.61057871227075, + "ymin": 0.0, + "xmax": 302.98091033166736, + "ymax": 17.61384420271014 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 302.2745221714363, + 17.61384420271014 + ], + [ + 302.98091033166736, + 17.253265305163836 + ], + [ + 301.8516977793968, + 16.992048982970232 + ], + [ + 301.14486889300315, + 17.35225438239513 + ], + [ + 291.76973735027434, + -26.873650358181635 + ], + [ + 292.50581841074745, + -27.21266966478902 + ], + [ + 291.347120055873, + -27.458258034016126 + ], + [ + 290.61057871227075, + -27.119600803557148 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 239.2631016625425, + "ymin": 0.0, + "xmax": 252.8712796739385, + "ymax": 6.00576002454369 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 252.1461389510648, + 6.00576002454369 + ], + [ + 252.8712796739385, + 5.6615690263272995 + ], + [ + 251.79335793901492, + 5.412217624171433 + ], + [ + 251.06783191890077, + 5.756060289099423 + ], + [ + 240.367992545457, + -37.78010965602988 + ], + [ + 241.1236078370447, + -38.10325879076362 + ], + [ + 240.0191171570923, + -38.337357722414595 + ], + [ + 239.2631016625425, + -38.014545545862404 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 290.61057871227075, + "ymin": 0.0, + "xmax": 302.98091033166736, + "ymax": 17.61384420271014 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 302.2745221714363, + 17.61384420271014 + ], + [ + 302.98091033166736, + 17.253265305163836 + ], + [ + 301.8516977793968, + 16.992048982970232 + ], + [ + 301.14486889300315, + 17.35225438239513 + ], + [ + 291.76973735027434, + -26.873650358181635 + ], + [ + 292.50581841074745, + -27.21266966478902 + ], + [ + 291.347120055873, + -27.458258034016126 + ], + [ + 290.61057871227075, + -27.119600803557148 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 250.16539084622673, + "ymin": 0.0, + "xmax": 263.74807891199674, + "ymax": 17.064589690158243 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 263.0144445301483, + 17.064589690158243 + ], + [ + 263.74807891199674, + 16.704794917951688 + ], + [ + 262.640388751551, + 16.444146206001733 + ], + [ + 261.906343588287, + 16.803568697375965 + ], + [ + 251.30165002745775, + -27.390058058176862 + ], + [ + 252.06667867816077, + -27.72831724261897 + ], + [ + 250.9308469861988, + -27.97335540593656 + ], + [ + 250.16539084622673, + -27.635457080983883 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 290.61057871227075, + "ymin": 0.0, + "xmax": 302.98091033166736, + "ymax": 17.61384420271014 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 302.2745221714363, + 17.61384420271014 + ], + [ + 302.98091033166736, + 17.253265305163836 + ], + [ + 301.8516977793968, + 16.992048982970232 + ], + [ + 301.14486889300315, + 17.35225438239513 + ], + [ + 291.76973735027434, + -26.873650358181635 + ], + [ + 292.50581841074745, + -27.21266966478902 + ], + [ + 291.347120055873, + -27.458258034016126 + ], + [ + 290.61057871227075, + -27.119600803557148 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 290.61057871227075, + "ymin": 0.0, + "xmax": 302.98091033166736, + "ymax": 17.61384420271014 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 302.2745221714363, + 17.61384420271014 + ], + [ + 302.98091033166736, + 17.253265305163836 + ], + [ + 301.8516977793968, + 16.992048982970232 + ], + [ + 301.14486889300315, + 17.35225438239513 + ], + [ + 291.76973735027434, + -26.873650358181635 + ], + [ + 292.50581841074745, + -27.21266966478902 + ], + [ + 291.347120055873, + -27.458258034016126 + ], + [ + 290.61057871227075, + -27.119600803557148 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 741.1288326243305, + "ymin": 0.0, + "xmax": 791.7571189902786, + "ymax": 38.20149230932407 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 776.4712619943807, + 11.774512750354631 + ], + [ + 768.7149535455982, + 10.316397063872103 + ], + [ + 741.1288326243305, + 36.585068500377076 + ], + [ + 749.2108275176388, + 38.20149230932407 + ], + [ + 791.7571189902786, + -149.07979102417056 + ], + [ + 783.0852053866649, + -150.17812165363023 + ], + [ + 753.0859302655351, + -130.28032735697929 + ], + [ + 762.1680907809939, + -129.0482203452301 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7806990106475075983, + "instance_id": 36761, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 322.6526286753719, + "ymin": 162.66389609661792, + "xmax": 485.40676131949505, + "ymax": 291.3516955931047 + }, + "corners_3d": [ + [ + -26.247940063476562, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.247940063476562, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.198223114013672 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 485.40676131949505, + 168.85598453281867 + ], + [ + 475.2135863299337, + 166.02609996160433 + ], + [ + 323.6370625220863, + 287.36951556676274 + ], + [ + 334.9542610715258, + 291.3516955931047 + ], + [ + 484.9995114549564, + 165.4866305845928 + ], + [ + 474.78136178396903, + 162.66389609661792 + ], + [ + 322.6526286753719, + 283.7583513946655 + ], + [ + 334.0001476096469, + 287.7343621476333 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 290.61057871227075, + "ymin": 0.0, + "xmax": 302.98091033166736, + "ymax": 17.61384420271014 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 302.2745221714363, + 17.61384420271014 + ], + [ + 302.98091033166736, + 17.253265305163836 + ], + [ + 301.8516977793968, + 16.992048982970232 + ], + [ + 301.14486889300315, + 17.35225438239513 + ], + [ + 291.76973735027434, + -26.873650358181635 + ], + [ + 292.50581841074745, + -27.21266966478902 + ], + [ + 291.347120055873, + -27.458258034016126 + ], + [ + 290.61057871227075, + -27.119600803557148 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 290.61057871227075, + "ymin": 0.0, + "xmax": 302.98091033166736, + "ymax": 17.61384420271014 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 302.2745221714363, + 17.61384420271014 + ], + [ + 302.98091033166736, + 17.253265305163836 + ], + [ + 301.8516977793968, + 16.992048982970232 + ], + [ + 301.14486889300315, + 17.35225438239513 + ], + [ + 291.76973735027434, + -26.873650358181635 + ], + [ + 292.50581841074745, + -27.21266966478902 + ], + [ + 291.347120055873, + -27.458258034016126 + ], + [ + 290.61057871227075, + -27.119600803557148 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 290.61057871227075, + "ymin": 0.0, + "xmax": 302.98091033166736, + "ymax": 17.61384420271014 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 302.2745221714363, + 17.61384420271014 + ], + [ + 302.98091033166736, + 17.253265305163836 + ], + [ + 301.8516977793968, + 16.992048982970232 + ], + [ + 301.14486889300315, + 17.35225438239513 + ], + [ + 291.76973735027434, + -26.873650358181635 + ], + [ + 292.50581841074745, + -27.21266966478902 + ], + [ + 291.347120055873, + -27.458258034016126 + ], + [ + 290.61057871227075, + -27.119600803557148 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 291.36266855649944, + "ymin": 0.0, + "xmax": 303.68440681964313, + "ymax": 20.60150811484715 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 302.97999607651303, + 20.60150811484715 + ], + [ + 303.68440681964313, + 20.23955213892856 + ], + [ + 302.55718662180254, + 19.97733753690909 + ], + [ + 301.85233647056725, + 20.33891937058121 + ], + [ + 292.51973190177534, + -23.69744264915886 + ], + [ + 293.25367759179323, + -24.038066715038326 + ], + [ + 292.09707313817574, + -24.284818260036275 + ], + [ + 291.36266855649944, + -23.94455720161261 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1001.3174965825983, + "ymin": 80.87350975964699, + "xmax": 1280.0, + "ymax": 455.19463338306423 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1004.0869852928506, + 322.41665917584965 + ], + [ + 1001.3174965825983, + 329.8547199515264 + ], + [ + 1434.6190635698777, + 455.19463338306423 + ], + [ + 1433.2653758058657, + 445.3131341859246 + ], + [ + 1082.226621612028, + 80.87350975964699 + ], + [ + 1079.7298222344948, + 87.22494945567666 + ], + [ + 1640.3711223403254, + 198.15885041267995 + ], + [ + 1635.9627289808104, + 189.1363814983405 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 290.61057871227075, + "ymin": 0.0, + "xmax": 302.98091033166736, + "ymax": 17.61384420271014 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 302.2745221714363, + 17.61384420271014 + ], + [ + 302.98091033166736, + 17.253265305163836 + ], + [ + 301.8516977793968, + 16.992048982970232 + ], + [ + 301.14486889300315, + 17.35225438239513 + ], + [ + 291.76973735027434, + -26.873650358181635 + ], + [ + 292.50581841074745, + -27.21266966478902 + ], + [ + 291.347120055873, + -27.458258034016126 + ], + [ + 290.61057871227075, + -27.119600803557148 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 290.61057871227075, + "ymin": 0.0, + "xmax": 302.98091033166736, + "ymax": 17.61384420271014 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 302.2745221714363, + 17.61384420271014 + ], + [ + 302.98091033166736, + 17.253265305163836 + ], + [ + 301.8516977793968, + 16.992048982970232 + ], + [ + 301.14486889300315, + 17.35225438239513 + ], + [ + 291.76973735027434, + -26.873650358181635 + ], + [ + 292.50581841074745, + -27.21266966478902 + ], + [ + 291.347120055873, + -27.458258034016126 + ], + [ + 290.61057871227075, + -27.119600803557148 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 290.61057871227075, + "ymin": 0.0, + "xmax": 302.98091033166736, + "ymax": 17.61384420271014 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 302.2745221714363, + 17.61384420271014 + ], + [ + 302.98091033166736, + 17.253265305163836 + ], + [ + 301.8516977793968, + 16.992048982970232 + ], + [ + 301.14486889300315, + 17.35225438239513 + ], + [ + 291.76973735027434, + -26.873650358181635 + ], + [ + 292.50581841074745, + -27.21266966478902 + ], + [ + 291.347120055873, + -27.458258034016126 + ], + [ + 290.61057871227075, + -27.119600803557148 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 290.61057871227075, + "ymin": 0.0, + "xmax": 302.98091033166736, + "ymax": 17.61384420271014 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 302.2745221714363, + 17.61384420271014 + ], + [ + 302.98091033166736, + 17.253265305163836 + ], + [ + 301.8516977793968, + 16.992048982970232 + ], + [ + 301.14486889300315, + 17.35225438239513 + ], + [ + 291.76973735027434, + -26.873650358181635 + ], + [ + 292.50581841074745, + -27.21266966478902 + ], + [ + 291.347120055873, + -27.458258034016126 + ], + [ + 290.61057871227075, + -27.119600803557148 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 290.61057871227075, + "ymin": 0.0, + "xmax": 302.98091033166736, + "ymax": 17.61384420271014 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 302.2745221714363, + 17.61384420271014 + ], + [ + 302.98091033166736, + 17.253265305163836 + ], + [ + 301.8516977793968, + 16.992048982970232 + ], + [ + 301.14486889300315, + 17.35225438239513 + ], + [ + 291.76973735027434, + -26.873650358181635 + ], + [ + 292.50581841074745, + -27.21266966478902 + ], + [ + 291.347120055873, + -27.458258034016126 + ], + [ + 290.61057871227075, + -27.119600803557148 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15102510933830370440, + "instance_id": 34948, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 322.8175904223031, + "ymin": 162.75256770102035, + "xmax": 485.27803336901076, + "ymax": 291.2335969827311 + }, + "corners_3d": [ + [ + -26.246049880981445, + -20.196584701538086, + 8.10662841796875 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.10662841796875 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.10662841796875 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.10662841796875 + ], + [ + -26.246049880981445, + -20.196584701538086, + 8.197628021240234 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.197628021240234 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.197628021240234 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 485.27803336901076, + 168.86601295578674 + ], + [ + 475.21439350463504, + 166.07194381068663 + ], + [ + 323.7888948784959, + 287.30308556872933 + ], + [ + 334.9611884649649, + 291.2335969827311 + ], + [ + 484.87564407491624, + 165.53966851558937 + ], + [ + 474.78766146384885, + 162.75256770102035 + ], + [ + 322.8175904223031, + 283.73816861092536 + ], + [ + 334.01943186587226, + 287.6626664559136 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 247.82993341653878, + "ymin": 0.0, + "xmax": 261.2664144956063, + "ymax": 9.045517781098681 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 260.54270350933035, + 9.045517781098681 + ], + [ + 261.2664144956063, + 8.697072139807915 + ], + [ + 260.17758289637544, + 8.444640323735825 + ], + [ + 259.45347584812157, + 8.792731154720116 + ], + [ + 248.94634270584402, + -34.9255904617238 + ], + [ + 249.70054648649688, + -35.25285655110906 + ], + [ + 248.58454901082558, + -35.489936044617764 + ], + [ + 247.82993341653878, + -35.16301337148815 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 290.61057871227075, + "ymin": 0.0, + "xmax": 302.98091033166736, + "ymax": 17.61384420271014 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 302.2745221714363, + 17.61384420271014 + ], + [ + 302.98091033166736, + 17.253265305163836 + ], + [ + 301.8516977793968, + 16.992048982970232 + ], + [ + 301.14486889300315, + 17.35225438239513 + ], + [ + 291.76973735027434, + -26.873650358181635 + ], + [ + 292.50581841074745, + -27.21266966478902 + ], + [ + 291.347120055873, + -27.458258034016126 + ], + [ + 290.61057871227075, + -27.119600803557148 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 232.99521947639244, + "ymin": 0.0, + "xmax": 246.77868216513025, + "ymax": 5.629456050953536 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 246.0498428094728, + 5.629456050953536 + ], + [ + 246.77868216513025, + 5.2857899092713865 + ], + [ + 245.70466225473888, + 5.036818531194058 + ], + [ + 244.97544248853308, + 5.38013713585417 + ], + [ + 234.09597267573912, + -38.133407864407786 + ], + [ + 234.85550107245336, + -38.456049287487474 + ], + [ + 233.75514275198174, + -38.68978062948753 + ], + [ + 232.99521947639244, + -38.36747537098546 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 313.41415732534415, + "ymin": 152.2404776132364, + "xmax": 518.3584755617592, + "ymax": 539.4844015482759 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 518.3584755617592, + 402.9282961631985 + ], + [ + 504.6219680257975, + 397.8251253318289 + ], + [ + 384.75235069810617, + 532.7012358064121 + ], + [ + 399.7990362969273, + 539.4844015482759 + ], + [ + 489.70631562246456, + 156.7959728573659 + ], + [ + 472.9598123370175, + 152.2404776132364 + ], + [ + 313.41415732534415, + 276.92347966317175 + ], + [ + 332.09382157889587, + 283.43789630245215 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 290.61057871227075, + "ymin": 0.0, + "xmax": 302.98091033166736, + "ymax": 17.61384420271014 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 302.2745221714363, + 17.61384420271014 + ], + [ + 302.98091033166736, + 17.253265305163836 + ], + [ + 301.8516977793968, + 16.992048982970232 + ], + [ + 301.14486889300315, + 17.35225438239513 + ], + [ + 291.76973735027434, + -26.873650358181635 + ], + [ + 292.50581841074745, + -27.21266966478902 + ], + [ + 291.347120055873, + -27.458258034016126 + ], + [ + 290.61057871227075, + -27.119600803557148 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 290.61057871227075, + "ymin": 0.0, + "xmax": 302.98091033166736, + "ymax": 17.61384420271014 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 302.2745221714363, + 17.61384420271014 + ], + [ + 302.98091033166736, + 17.253265305163836 + ], + [ + 301.8516977793968, + 16.992048982970232 + ], + [ + 301.14486889300315, + 17.35225438239513 + ], + [ + 291.76973735027434, + -26.873650358181635 + ], + [ + 292.50581841074745, + -27.21266966478902 + ], + [ + 291.347120055873, + -27.458258034016126 + ], + [ + 290.61057871227075, + -27.119600803557148 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 290.61057871227075, + "ymin": 0.0, + "xmax": 302.98091033166736, + "ymax": 17.61384420271014 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 302.2745221714363, + 17.61384420271014 + ], + [ + 302.98091033166736, + 17.253265305163836 + ], + [ + 301.8516977793968, + 16.992048982970232 + ], + [ + 301.14486889300315, + 17.35225438239513 + ], + [ + 291.76973735027434, + -26.873650358181635 + ], + [ + 292.50581841074745, + -27.21266966478902 + ], + [ + 291.347120055873, + -27.458258034016126 + ], + [ + 290.61057871227075, + -27.119600803557148 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 91.87326002555312, + "ymax": 20.15494533305116 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -106.04933833030361, + 18.654979678904226 + ], + [ + -100.95747294279192, + 20.15494533305116 + ], + [ + 91.87326002555312, + -49.398095624060545 + ], + [ + 86.98553572250842, + -50.51541419598095 + ], + [ + -198.6323220195709, + -158.7075938942744 + ], + [ + -193.21519622955907, + -157.61231413516884 + ], + [ + 33.970486607316275, + -207.5661230236492 + ], + [ + 28.731248060065354, + -208.3549128635609 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 290.61057871227075, + "ymin": 0.0, + "xmax": 302.98091033166736, + "ymax": 17.61384420271014 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 302.2745221714363, + 17.61384420271014 + ], + [ + 302.98091033166736, + 17.253265305163836 + ], + [ + 301.8516977793968, + 16.992048982970232 + ], + [ + 301.14486889300315, + 17.35225438239513 + ], + [ + 291.76973735027434, + -26.873650358181635 + ], + [ + 292.50581841074745, + -27.21266966478902 + ], + [ + 291.347120055873, + -27.458258034016126 + ], + [ + 290.61057871227075, + -27.119600803557148 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1045.3855720815363, + "ymin": 0.0, + "xmax": 1164.6293441134076, + "ymax": 192.67210506049506 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1100.450388933926, + 73.33534488134495 + ], + [ + 1090.9030792802694, + 71.5049645140399 + ], + [ + 1045.3855720815363, + 189.9811893642003 + ], + [ + 1056.7847499122022, + 192.67210506049506 + ], + [ + 1164.6293441134076, + -118.2517757624168 + ], + [ + 1153.5175602535985, + -119.62379114845703 + ], + [ + 1115.6878900560382, + -28.163429685580354 + ], + [ + 1129.4012015922865, + -26.021609972492513 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00147/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00147/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c1ce2825b9115c1fa37c05ec67dd0a7175eb4863 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00147/meta.json @@ -0,0 +1,5197 @@ +{ + "frame_id": 147, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 73.5, + "sim_timestamp": 14842.969699834706 + }, + "drone_pose": { + "x": -38.157155738170474, + "y": -35.256228592263994, + "z": 20.0, + "pitch": -41.527950370777624, + "yaw": 63.541439097530905, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.3335534930229187, + -0.670218288898468, + 0.6629853248596191, + 23.09711265563965 + ], + [ + 0.8952568173408508, + 0.44555044174194336, + 2.9802322387695312e-08, + -18.4520263671875 + ], + [ + -0.2953933775424957, + 0.5935420989990234, + 0.7486324310302734, + -47.17007827758789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -37.91582315851548, + "y": -34.759948415947456, + "z": 20.0 + }, + "t1_image_uv": [ + 651.7659673126273, + -490.1714941995997 + ], + "t1_depth": 0.4131133627607406 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -28.66718292236328, + "y": -16.187763214111328, + "z": 1.1373198223114014 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.45112755952447, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 627, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -28.66718292236328, + "y": -16.187763214111328, + "z": 1.137319803237915 + }, + "extent": { + "x": 0.43587034940719604, + "y": 0.5454925298690796, + "z": 0.8875188827514648 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 617.549961420473, + "ymin": 324.26860871060364, + "xmax": 662.7411907748713, + "ymax": 395.35861170286296 + }, + "corners_3d": [ + [ + -28.58966827392578, + -16.881690979003906, + 0.2498009204864502 + ], + [ + -29.36111068725586, + -16.110248565673828, + 0.2498009204864502 + ], + [ + -28.74469757080078, + -15.493834495544434, + 0.2498009204864502 + ], + [ + -27.973255157470703, + -16.265277862548828, + 0.2498009204864502 + ], + [ + -28.58966827392578, + -16.881690979003906, + 2.02483868598938 + ], + [ + -29.36111068725586, + -16.110248565673828, + 2.02483868598938 + ], + [ + -28.74469757080078, + -15.493834495544434, + 2.02483868598938 + ], + [ + -27.973255157470703, + -16.265277862548828, + 2.02483868598938 + ] + ], + "corners_2d": [ + [ + 627.2927146109174, + 395.35861170286296 + ], + [ + 661.8138743545627, + 387.38953954383516 + ], + [ + 652.3286268995294, + 368.9701474758261 + ], + [ + 618.4541572883463, + 376.60676332517835 + ], + [ + 626.7474069350507, + 350.3575572043869 + ], + [ + 662.7411907748713, + 342.47190622119064 + ], + [ + 652.841263911214, + 324.26860871060364 + ], + [ + 617.549961420473, + 331.811692498383 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 147, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 80, + "semantic_pixel_counts": { + "1": 251669, + "2": 116665, + "3": 575, + "5": 3717, + "6": 10082, + "7": 898, + "10": 390, + "12": 3360, + "14": 40346, + "15": 22675, + "20": 1129, + "24": 38316, + "25": 431778 + }, + "instance_pixel_counts": { + "70": 1984, + "108": 11, + "3180": 1021, + "6508": 3784, + "7274": 398, + "7784": 13141, + "7786": 3710, + "7825": 869, + "8064": 1938, + "8088": 1409, + "8296": 38129, + "8298": 2339, + "8337": 664, + "8600": 1059, + "8780": 3717, + "8808": 46283, + "9322": 2028, + "9624": 3812, + "9832": 64395, + "10316": 763, + "10624": 2817, + "10828": 298, + "11136": 1229, + "12652": 716, + "21332": 12687, + "21602": 19187, + "21844": 11952, + "22868": 138, + "23380": 14522, + "24946": 437, + "25168": 129, + "25698": 1521, + "25856": 1084, + "25940": 2554, + "26112": 5972, + "26210": 63, + "27988": 7106, + "29327": 3853, + "29839": 6357, + "30351": 27779, + "30863": 20, + "31375": 24686, + "31812": 783, + "31848": 1998, + "32324": 941, + "32360": 27152, + "33384": 9416, + "33906": 138, + "34408": 51155, + "35399": 7347, + "39239": 424431, + "40855": 924, + "41367": 2288, + "41879": 8061, + "42903": 5024, + "46184": 223, + "46672": 3795, + "46696": 2722, + "46917": 202, + "47208": 356, + "48232": 2967, + "48708": 648, + "50756": 258, + "53926": 497, + "54950": 981, + "55462": 215, + "56320": 627, + "56576": 579, + "56832": 481, + "57088": 652, + "57344": 300, + "57487": 2208, + "57600": 721, + "57999": 2522, + "58951": 68, + "59023": 7476, + "60833": 860, + "60928": 3339, + "61440": 10723, + "64837": 1571 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 627, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -28.66718292236328, + "y": -16.187763214111328, + "z": 1.137319803237915 + }, + "extent": { + "x": 0.5492870807647705, + "y": 0.4871533215045929, + "z": 0.869300127029419 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 618.2912343735327, + "ymin": 322.83360540050796, + "xmax": 662.1396222149345, + "ymax": 396.9826778254235 + }, + "corners_3d": [ + [ + -28.711118698120117, + -16.920637130737305, + 0.2680196762084961 + ], + [ + -29.400056838989258, + -16.231698989868164, + 0.2680196762084961 + ], + [ + -28.623247146606445, + -15.454889297485352, + 0.2680196762084961 + ], + [ + -27.934309005737305, + -16.143827438354492, + 0.2680196762084961 + ], + [ + -28.711118698120117, + -16.920637130737305, + 2.006619930267334 + ], + [ + -29.400056838989258, + -16.231698989868164, + 2.006619930267334 + ], + [ + -28.623247146606445, + -15.454889297485352, + 2.006619930267334 + ], + [ + -27.934309005737305, + -16.143827438354492, + 2.006619930267334 + ] + ], + "corners_2d": [ + [ + 630.3332788851051, + 396.9826778254235 + ], + [ + 661.2520939019679, + 389.8264301193835 + ], + [ + 649.335581822239, + 366.5926829647544 + ], + [ + 619.145220880016, + 373.3745837714471 + ], + [ + 629.9261568131673, + 352.885966158243 + ], + [ + 662.1396222149345, + 345.80142184372426 + ], + [ + 649.7147421956155, + 322.83360540050796 + ], + [ + 618.2912343735327, + 329.53265107786706 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 579, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -24.541194915771484, + "y": -13.190058708190918, + "z": 1.1323784589767456 + }, + "extent": { + "x": 0.4689428508281708, + "y": 0.4673260450363159, + "z": 0.9184435606002808 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 548.1811217997385, + "ymin": 235.66274560292402, + "xmax": 588.994514651115, + "ymax": 303.4974480227058 + }, + "corners_3d": [ + [ + -24.67995834350586, + -13.837395668029785, + 0.21393489837646484 + ], + [ + -25.189006805419922, + -13.0535306930542, + 0.21393489837646484 + ], + [ + -24.40243148803711, + -12.54272174835205, + 0.21393489837646484 + ], + [ + -23.893383026123047, + -13.326586723327637, + 0.21393489837646484 + ], + [ + -24.67995834350586, + -13.837395668029785, + 2.0508220195770264 + ], + [ + -25.189006805419922, + -13.0535306930542, + 2.0508220195770264 + ], + [ + -24.40243148803711, + -12.54272174835205, + 2.0508220195770264 + ], + [ + -23.893383026123047, + -13.326586723327637, + 2.0508220195770264 + ] + ], + "corners_2d": [ + [ + 564.2540252317117, + 303.4974480227058 + ], + [ + 588.994514651115, + 294.7670729627941 + ], + [ + 576.0366233530791, + 280.35213503148054 + ], + [ + 551.6139913203539, + 288.76307997277524 + ], + [ + 561.2542347206731, + 258.32912725172383 + ], + [ + 586.9976189528077, + 249.77325726580784 + ], + [ + 573.5801727434052, + 235.66274560292402 + ], + [ + 548.1811217997385, + 243.89359660072904 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 481, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -30.923004150390625, + "y": -9.245050430297852, + "z": 1.093398928642273 + }, + "extent": { + "x": 0.40382200479507446, + "y": 0.4427493214607239, + "z": 0.9037984013557434 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 771.6734215886372, + "ymin": 226.89964965180536, + "xmax": 812.4164160117181, + "ymax": 289.85938133025763 + }, + "corners_3d": [ + [ + -30.958202362060547, + -9.84326457977295, + 0.18960052728652954 + ], + [ + -31.515464782714844, + -9.155102729797363, + 0.18960052728652954 + ], + [ + -30.887805938720703, + -8.646836280822754, + 0.18960052728652954 + ], + [ + -30.330543518066406, + -9.33499813079834, + 0.18960052728652954 + ], + [ + -30.958202362060547, + -9.84326457977295, + 1.9971973896026611 + ], + [ + -31.515464782714844, + -9.155102729797363, + 1.9971973896026611 + ], + [ + -30.887805938720703, + -8.646836280822754, + 1.9971973896026611 + ], + [ + -30.330543518066406, + -9.33499813079834, + 1.9971973896026611 + ] + ], + "corners_2d": [ + [ + 783.7855241071913, + 289.85938133025763 + ], + [ + 806.125067551026, + 283.3198955629048 + ], + [ + 793.7448851848569, + 270.57985592431623 + ], + [ + 771.6734215886372, + 276.9048135858149 + ], + [ + 789.2786445279528, + 245.76645511349608 + ], + [ + 812.4164160117181, + 239.3629693777056 + ], + [ + 799.4679106625118, + 226.89964965180536 + ], + [ + 776.6171361738302, + 233.08528327816404 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 652, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -38.16718292236328, + "y": -16.187763214111328, + "z": 1.1469242572784424 + }, + "extent": { + "x": 0.35862547159194946, + "y": 0.3464611768722534, + "z": 0.8959197998046875 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 937.2087349288255, + "ymin": 430.21346901531683, + "xmax": 990.4519069795622, + "ymax": 501.67947896386556 + }, + "corners_3d": [ + [ + -38.175785064697266, + -16.68633460998535, + 0.2510044574737549 + ], + [ + -38.66575622558594, + -16.196365356445312, + 0.2510044574737549 + ], + [ + -38.1585807800293, + -15.689191818237305, + 0.2510044574737549 + ], + [ + -37.668609619140625, + -16.179161071777344, + 0.2510044574737549 + ], + [ + -38.175785064697266, + -16.68633460998535, + 2.04284405708313 + ], + [ + -38.66575622558594, + -16.196365356445312, + 2.04284405708313 + ], + [ + -38.1585807800293, + -15.689191818237305, + 2.04284405708313 + ], + [ + -37.668609619140625, + -16.179161071777344, + 2.04284405708313 + ] + ], + "corners_2d": [ + [ + 951.7100993313104, + 501.67947896386556 + ], + [ + 974.2512156159121, + 495.3127944102492 + ], + [ + 959.4032521689694, + 476.1691586924898 + ], + [ + 937.2087349288255, + 482.2901240794389 + ], + [ + 966.9206226884254, + 455.6962381389854 + ], + [ + 990.4519069795622, + 449.33044163934403 + ], + [ + 974.5692755897345, + 430.21346901531683 + ], + [ + 951.414571543286, + 436.32199673572467 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 300, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -32.28268051147461, + "y": -27.31512451171875, + "z": 1.1425541639328003 + }, + "extent": { + "x": 0.45222288370132446, + "y": 0.4605981409549713, + "z": 0.9087361693382263 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 527.9431103881751, + "ymin": 684.9216974499896, + "xmax": 584.0524772421333, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -32.209320068359375, + -27.956432342529297, + 0.23381799459457397 + ], + [ + -32.92522430419922, + -27.376705169677734, + 0.23381799459457397 + ], + [ + -32.356040954589844, + -26.673816680908203, + 0.23381799459457397 + ], + [ + -31.640134811401367, + -27.253543853759766, + 0.23381799459457397 + ], + [ + -32.209320068359375, + -27.956432342529297, + 2.051290273666382 + ], + [ + -32.92522430419922, + -27.376705169677734, + 2.051290273666382 + ], + [ + -32.356040954589844, + -26.673816680908203, + 2.051290273666382 + ], + [ + -31.640134811401367, + -27.253543853759766, + 2.051290273666382 + ] + ], + "corners_2d": [ + [ + 540.4299093509261, + 778.3760211112372 + ], + [ + 584.0524772421333, + 768.9394077088486 + ], + [ + 576.7630877334942, + 728.9139831828592 + ], + [ + 534.4843236629782, + 737.7580333102636 + ], + [ + 534.0399953871685, + 735.6585152039603 + ], + [ + 580.4904524685567, + 725.9591020248151 + ], + [ + 572.8728259649894, + 684.9216974499896 + ], + [ + 527.9431103881751, + 693.9750810929233 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 721, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -17.421846389770508, + "y": -24.35797882080078, + "z": 1.1273735761642456 + }, + "extent": { + "x": 0.3401208519935608, + "y": 0.4898766875267029, + "z": 0.9409006834030151 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 113.56930241158352, + "ymin": 380.7097583127146, + "xmax": 179.64743467732103, + "ymax": 448.70095126319853 + }, + "corners_3d": [ + [ + -17.196245193481445, + -24.9100341796875, + 0.18647289276123047 + ], + [ + -18.017934799194336, + -24.376420974731445, + 0.18647289276123047 + ], + [ + -17.64744758605957, + -23.805923461914062, + 0.18647289276123047 + ], + [ + -16.82575798034668, + -24.339536666870117, + 0.18647289276123047 + ], + [ + -17.196245193481445, + -24.9100341796875, + 2.0682742595672607 + ], + [ + -18.017934799194336, + -24.376420974731445, + 2.0682742595672607 + ], + [ + -17.64744758605957, + -23.805923461914062, + 2.0682742595672607 + ], + [ + -16.82575798034668, + -24.339536666870117, + 2.0682742595672607 + ] + ], + "corners_2d": [ + [ + 137.8388166245029, + 448.70095126319853 + ], + [ + 173.8080511317071, + 445.810885815148 + ], + [ + 179.64743467732103, + 428.6852801912522 + ], + [ + 144.35602118741582, + 431.4703971607337 + ], + [ + 113.56930241158352, + 400.59721938479413 + ], + [ + 151.34963175146515, + 397.72313509450333 + ], + [ + 157.8952691920947, + 380.7097583127146 + ], + [ + 120.86194594838958, + 383.47458294259144 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 3339, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -19.1251277923584, + "y": 6.095887660980225, + "z": 0.8948460817337036 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 616.7382402191253, + "ymin": 0.68510326257109, + "xmax": 721.0452746217563, + "ymax": 68.80011675951971 + }, + "corners_3d": [ + [ + -21.404022216796875, + 5.052896022796631, + 0.011262890882790089 + ], + [ + -21.39891815185547, + 7.149961948394775, + 0.011262890882790089 + ], + [ + -16.846233367919922, + 7.138879776000977, + 0.011262890882790089 + ], + [ + -16.851337432861328, + 5.041813850402832, + 0.011262890882790089 + ], + [ + -21.404022216796875, + 5.052896022796631, + 1.7784292697906494 + ], + [ + -21.39891815185547, + 7.149961948394775, + 1.7784292697906494 + ], + [ + -16.846233367919922, + 7.138879776000977, + 1.7784292697906494 + ], + [ + -16.851337432861328, + 5.041813850402832, + 1.7784292697906494 + ] + ], + "corners_2d": [ + [ + 701.9967202120204, + 68.80011675951971 + ], + [ + 719.0362558692434, + 52.15760880966195 + ], + [ + 636.2684149107155, + 35.355131097030664 + ], + [ + 617.313607026367, + 50.96753185176351 + ], + [ + 703.6222393399804, + 32.74271457863921 + ], + [ + 721.0452746217563, + 16.77801303145378 + ], + [ + 636.1765730004163, + 0.68510326257109 + ], + [ + 616.7382402191253, + 15.637358954578303 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 10723, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 1160.1931376538273, + "ymin": 340.2626491455644, + "xmax": 1264.7566079486908, + "ymax": 513.6896601007579 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 1235.8476018841448, + 408.3631020976911 + ], + [ + 1171.208598704362, + 390.30987373892066 + ], + [ + 1160.1931376538273, + 491.2089536459655 + ], + [ + 1232.1564507056673, + 513.6896601007579 + ], + [ + 1264.7566079486908, + 358.11582805200584 + ], + [ + 1196.4389374803955, + 340.2626491455644 + ], + [ + 1187.8821533344885, + 440.49249049714854 + ], + [ + 1264.4375218369246, + 462.9736314911435 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 267.2014880020134, + "ymin": 0.0, + "xmax": 282.04043906560105, + "ymax": 1.755393173095399 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 280.99641728382005, + 1.755393173095399 + ], + [ + 282.04043906560105, + 1.2403668101928247 + ], + [ + 271.7063759021686, + -1.0485098877803125 + ], + [ + 270.65644183098544, + -0.538272576890165 + ], + [ + 277.6223074426854, + -11.799757571582802 + ], + [ + 278.6796968504285, + -12.305294413731474 + ], + [ + 268.26486713459997, + -14.551877497602106 + ], + [ + 267.2014880020134, + -14.05108531382615 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 274752244277470567, + "instance_id": 26469, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -43.60569763183594, + "y": -9.46596622467041, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995757400989532, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1261.296220315912, + "ymin": 216.5563684427227, + "xmax": 1280.0, + "ymax": 254.9064360675497 + }, + "corners_3d": [ + [ + -43.74428176879883, + -9.655923843383789, + 5.545533180236816 + ], + [ + -43.74428176879883, + -9.276008605957031, + 5.545533180236816 + ], + [ + -43.46711349487305, + -9.276008605957031, + 5.545533180236816 + ], + [ + -43.46711349487305, + -9.655923843383789, + 5.545533180236816 + ], + [ + -43.74428176879883, + -9.655923843383789, + 6.416468620300293 + ], + [ + -43.74428176879883, + -9.276008605957031, + 6.416468620300293 + ], + [ + -43.46711349487305, + -9.276008605957031, + 6.416468620300293 + ], + [ + -43.46711349487305, + -9.655923843383789, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1273.180572718802, + 254.9064360675497 + ], + [ + 1273.2313537319415, + 247.35761484455776 + ], + [ + 1261.4667812422729, + 244.65447838962893 + ], + [ + 1261.296220315912, + 252.1477851676831 + ], + [ + 1288.2263122577376, + 226.65060770164862 + ], + [ + 1288.1222655429956, + 219.21727862958534 + ], + [ + 1276.026222338619, + 216.5563684427227 + ], + [ + 1276.00360672741, + 223.93374744929062 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4421894629193955789, + "instance_id": 52537, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -38.7340202331543, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1127.0657820287256, + "ymin": 0.0, + "xmax": 1143.3870447450681, + "ymax": 7.210853793009164 + }, + "corners_3d": [ + [ + -38.595436096191406, + 6.4043402671813965, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.404339790344238, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.784256458282471, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.784256935119629, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.4043402671813965, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.404339790344238, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.784256458282471, + 6.416468620300293 + ], + [ + -38.595436096191406, + 6.784256935119629, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1127.0657820287256, + 5.979988662390042 + ], + [ + 1134.666268002833, + 7.210853793009164 + ], + [ + 1135.640281405037, + 3.835468541940884 + ], + [ + 1128.0888537619285, + 2.621232370624625 + ], + [ + 1134.712093859053, + -16.595352588150377 + ], + [ + 1142.4514661444946, + -15.402002659592654 + ], + [ + 1143.3870447450681, + -18.674288425587463 + ], + [ + 1135.6985464579263, + -19.851265421816663 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1119.103903668115, + "ymin": 10.639044875308514, + "xmax": 1133.3642040621398, + "ymax": 34.202375649386056 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1119.103903668115, + 33.056399149361425 + ], + [ + 1125.7966055899274, + 34.202375649386056 + ], + [ + 1126.705489325092, + 31.075032935847105 + ], + [ + 1120.0506412004038, + 29.94267002288126 + ], + [ + 1125.6838776252453, + 13.678386973170063 + ], + [ + 1132.4833105173511, + 14.797111155019309 + ], + [ + 1133.3642040621398, + 11.74429814204376 + ], + [ + 1126.6038471749612, + 10.639044875308514 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10755311745963632187, + "instance_id": 15270, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -38.73401641845703, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1118.4692991763495, + "ymin": 7.147926397212302, + "xmax": 1135.6277955579367, + "ymax": 35.57703027070477 + }, + "corners_3d": [ + [ + -38.59543228149414, + 3.404341459274292, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.404340982437134, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.404341459274292, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.404340982437134, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 6.416468620300293 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1118.4692991763495, + 34.20196102765158 + ], + [ + 1126.4807052781625, + 35.57703027070477 + ], + [ + 1127.5685656147891, + 31.8071181535542 + ], + [ + 1119.611631723783, + 30.45167282536329 + ], + [ + 1126.4150117837075, + 10.789838551192247 + ], + [ + 1134.580997242162, + 12.125387718360514 + ], + [ + 1135.6277955579367, + 8.464102164227597 + ], + [ + 1127.5184124818663, + 7.147926397212302 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12937619472667703847, + "instance_id": 10234, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -38.7340087890625, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1110.5211949475265, + "ymin": 32.13413873394319, + "xmax": 1128.4449222785634, + "ymax": 61.81038199040705 + }, + "corners_3d": [ + [ + -38.59542465209961, + 0.9043415784835815, + 5.545533180236816 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 5.545533180236816 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 5.545533180236816 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 5.545533180236816 + ], + [ + -38.59542465209961, + 0.9043415784835815, + 6.416468620300293 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 6.416468620300293 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 6.416468620300293 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1110.5211949475265, + 60.294862264203175 + ], + [ + 1118.9104648015034, + 61.81038199040705 + ], + [ + 1120.1091682563333, + 57.65635631726019 + ], + [ + 1111.7795948591256, + 56.16352983015065 + ], + [ + 1118.7305128544872, + 36.15267347323925 + ], + [ + 1127.2895597023594, + 37.62707884568306 + ], + [ + 1128.4449222785634, + 33.58608518211662 + ], + [ + 1119.9480218781046, + 32.13413873394319 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1036.7149443711653, + "ymin": 257.5373286961295, + "xmax": 1056.8166943966653, + "ymax": 290.643390374719 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1046.4119649763788, + 290.643390374719 + ], + [ + 1048.4643170229401, + 283.7294987598326 + ], + [ + 1038.8462713846957, + 281.2359777803587 + ], + [ + 1036.7149443711653, + 288.10519010976606 + ], + [ + 1054.7981510584955, + 266.84388871702856 + ], + [ + 1056.8166943966653, + 260.00366714087664 + ], + [ + 1046.975163252656, + 257.5373286961295 + ], + [ + 1044.873877549769, + 264.33244353955234 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 271.1788991634113, + "ymin": 0.0, + "xmax": 284.5229563233142, + "ymax": 29.412381067580725 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 283.7908672179857, + 29.412381067580725 + ], + [ + 284.5229563233142, + 29.02985795290863 + ], + [ + 283.36287115829566, + 28.75868543632788 + ], + [ + 282.6303104463001, + 29.140808934017002 + ], + [ + 272.3704839609448, + -15.941094410022743 + ], + [ + 273.1347038272569, + -16.301412843381968 + ], + [ + 271.94361198032243, + -16.55683404948138 + ], + [ + 271.1788991634113, + -16.196904090183125 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 271.1788991634113, + "ymin": 0.0, + "xmax": 284.5229563233142, + "ymax": 29.412381067580725 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 283.7908672179857, + 29.412381067580725 + ], + [ + 284.5229563233142, + 29.02985795290863 + ], + [ + 283.36287115829566, + 28.75868543632788 + ], + [ + 282.6303104463001, + 29.140808934017002 + ], + [ + 272.3704839609448, + -15.941094410022743 + ], + [ + 273.1347038272569, + -16.301412843381968 + ], + [ + 271.94361198032243, + -16.55683404948138 + ], + [ + 271.1788991634113, + -16.196904090183125 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 227.76664391990403, + "ymin": 0.0, + "xmax": 242.18738059644602, + "ymax": 19.501912135874477 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 241.4386593253605, + 19.501912135874477 + ], + [ + 242.18738059644602, + 19.13383706899492 + ], + [ + 241.07108554767285, + 18.87290058281036 + ], + [ + 240.3219418190131, + 19.240598452456084 + ], + [ + 228.91181709256222, + -25.270795969531775 + ], + [ + 229.69338399430484, + -25.6170816942996 + ], + [ + 228.54865036819797, + -25.86256171603395 + ], + [ + 227.76664391990403, + -25.516641999700823 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 271.1788991634113, + "ymin": 0.0, + "xmax": 284.5229563233142, + "ymax": 29.412381067580725 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 283.7908672179857, + 29.412381067580725 + ], + [ + 284.5229563233142, + 29.02985795290863 + ], + [ + 283.36287115829566, + 28.75868543632788 + ], + [ + 282.6303104463001, + 29.140808934017002 + ], + [ + 272.3704839609448, + -15.941094410022743 + ], + [ + 273.1347038272569, + -16.301412843381968 + ], + [ + 271.94361198032243, + -16.55683404948138 + ], + [ + 271.1788991634113, + -16.196904090183125 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 218.4071753048978, + "ymin": 0.0, + "xmax": 233.0532133367281, + "ymax": 17.363650780821274 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 232.30105964798923, + 17.363650780821274 + ], + [ + 233.0532133367281, + 16.99865654143025 + ], + [ + 231.9462559593909, + 16.739902781664796 + ], + [ + 231.19369005357612, + 17.104524548469385 + ], + [ + 219.54246310684323, + -27.28225675852906 + ], + [ + 220.32759963326407, + -27.62555356052178 + ], + [ + 219.19274027288515, + -27.868916091824246 + ], + [ + 218.4071753048978, + -27.525980571009654 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 271.1788991634113, + "ymin": 0.0, + "xmax": 284.5229563233142, + "ymax": 29.412381067580725 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 283.7908672179857, + 29.412381067580725 + ], + [ + 284.5229563233142, + 29.02985795290863 + ], + [ + 283.36287115829566, + 28.75868543632788 + ], + [ + 282.6303104463001, + 29.140808934017002 + ], + [ + 272.3704839609448, + -15.941094410022743 + ], + [ + 273.1347038272569, + -16.301412843381968 + ], + [ + 271.94361198032243, + -16.55683404948138 + ], + [ + 271.1788991634113, + -16.196904090183125 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 229.46822638325375, + "ymin": 0.0, + "xmax": 244.10367385137596, + "ymax": 28.975546415547626 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 243.34244651374814, + 28.975546415547626 + ], + [ + 244.10367385137596, + 28.593666128838436 + ], + [ + 242.9656555601747, + 28.322948937387252 + ], + [ + 242.20398846508988, + 28.704430613690874 + ], + [ + 230.63628506774398, + -16.352570328582658 + ], + [ + 231.43152406625552, + -16.712263872080598 + ], + [ + 230.26392334979755, + -16.967242482859717 + ], + [ + 229.46822638325375, + -16.607936403619874 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 271.1788991634113, + "ymin": 0.0, + "xmax": 284.5229563233142, + "ymax": 29.412381067580725 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 283.7908672179857, + 29.412381067580725 + ], + [ + 284.5229563233142, + 29.02985795290863 + ], + [ + 283.36287115829566, + 28.75868543632788 + ], + [ + 282.6303104463001, + 29.140808934017002 + ], + [ + 272.3704839609448, + -15.941094410022743 + ], + [ + 273.1347038272569, + -16.301412843381968 + ], + [ + 271.94361198032243, + -16.55683404948138 + ], + [ + 271.1788991634113, + -16.196904090183125 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 271.1788991634113, + "ymin": 0.0, + "xmax": 284.5229563233142, + "ymax": 29.412381067580725 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 283.7908672179857, + 29.412381067580725 + ], + [ + 284.5229563233142, + 29.02985795290863 + ], + [ + 283.36287115829566, + 28.75868543632788 + ], + [ + 282.6303104463001, + 29.140808934017002 + ], + [ + 272.3704839609448, + -15.941094410022743 + ], + [ + 273.1347038272569, + -16.301412843381968 + ], + [ + 271.94361198032243, + -16.55683404948138 + ], + [ + 271.1788991634113, + -16.196904090183125 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 734.7086693950437, + "ymin": 0.0, + "xmax": 785.7330243227152, + "ymax": 49.6405944043251 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 770.6653899319762, + 21.744936838556214 + ], + [ + 762.7114001925727, + 20.240946901355017 + ], + [ + 734.7086693950437, + 47.968489870463145 + ], + [ + 743.0090793499166, + 49.6405944043251 + ], + [ + 785.7330243227152, + -142.26382794142467 + ], + [ + 776.8154713084126, + -143.40344819509602 + ], + [ + 746.2576453153116, + -122.26857437930556 + ], + [ + 755.6140307399842, + -120.98554549251196 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7806990106475075983, + "instance_id": 36761, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 291.63658478156367, + "ymin": 198.03003529540644, + "xmax": 467.2310330969762, + "ymax": 343.7291889926506 + }, + "corners_3d": [ + [ + -26.247940063476562, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.247940063476562, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.198223114013672 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 467.2310330969762, + 204.59262399555476 + ], + [ + 456.4721966780327, + 201.48311444097365 + ], + [ + 292.79433155278264, + 339.2535329318767 + ], + [ + 304.8245593260527, + 343.7291889926506 + ], + [ + 466.7487326056348, + 201.13265779793306 + ], + [ + 455.96216129855776, + 198.03003529540644 + ], + [ + 291.63658478156367, + 335.5697340397748 + ], + [ + 303.70087591587475, + 340.040450071055 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 271.1788991634113, + "ymin": 0.0, + "xmax": 284.5229563233142, + "ymax": 29.412381067580725 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 283.7908672179857, + 29.412381067580725 + ], + [ + 284.5229563233142, + 29.02985795290863 + ], + [ + 283.36287115829566, + 28.75868543632788 + ], + [ + 282.6303104463001, + 29.140808934017002 + ], + [ + 272.3704839609448, + -15.941094410022743 + ], + [ + 273.1347038272569, + -16.301412843381968 + ], + [ + 271.94361198032243, + -16.55683404948138 + ], + [ + 271.1788991634113, + -16.196904090183125 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 271.1788991634113, + "ymin": 0.0, + "xmax": 284.5229563233142, + "ymax": 29.412381067580725 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 283.7908672179857, + 29.412381067580725 + ], + [ + 284.5229563233142, + 29.02985795290863 + ], + [ + 283.36287115829566, + 28.75868543632788 + ], + [ + 282.6303104463001, + 29.140808934017002 + ], + [ + 272.3704839609448, + -15.941094410022743 + ], + [ + 273.1347038272569, + -16.301412843381968 + ], + [ + 271.94361198032243, + -16.55683404948138 + ], + [ + 271.1788991634113, + -16.196904090183125 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 271.1788991634113, + "ymin": 0.0, + "xmax": 284.5229563233142, + "ymax": 29.412381067580725 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 283.7908672179857, + 29.412381067580725 + ], + [ + 284.5229563233142, + 29.02985795290863 + ], + [ + 283.36287115829566, + 28.75868543632788 + ], + [ + 282.6303104463001, + 29.140808934017002 + ], + [ + 272.3704839609448, + -15.941094410022743 + ], + [ + 273.1347038272569, + -16.301412843381968 + ], + [ + 271.94361198032243, + -16.55683404948138 + ], + [ + 271.1788991634113, + -16.196904090183125 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 271.99717001475295, + "ymin": 0.0, + "xmax": 285.28702457779093, + "ymax": 32.45519014307155 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 284.5570719124257, + 32.45519014307155 + ], + [ + 285.28702457779093, + 32.07125389688912 + ], + [ + 284.1290334133417, + 31.799078867873675 + ], + [ + 283.39861057958694, + 32.182614882551945 + ], + [ + 273.1865503746302, + -12.700270766178733 + ], + [ + 273.9484564379525, + -13.0622468721848 + ], + [ + 272.75956750992816, + -13.318843902736432 + ], + [ + 271.99717001475295, + -12.957257192718714 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1007.3198005649758, + "ymin": 105.3532915248579, + "xmax": 1280.0, + "ymax": 492.600503799394 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1010.0218113210985, + 351.32278181743726 + ], + [ + 1007.3198005649758, + 359.3728440492325 + ], + [ + 1460.1515336409195, + 492.600503799394 + ], + [ + 1458.316179347367, + 481.8435872685243 + ], + [ + 1093.3151145719758, + 105.3532915248579 + ], + [ + 1090.976016466155, + 112.34779707842529 + ], + [ + 1684.2349507686201, + 232.65272842890272 + ], + [ + 1678.7915822392922, + 222.60946147387315 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 271.1788991634113, + "ymin": 0.0, + "xmax": 284.5229563233142, + "ymax": 29.412381067580725 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 283.7908672179857, + 29.412381067580725 + ], + [ + 284.5229563233142, + 29.02985795290863 + ], + [ + 283.36287115829566, + 28.75868543632788 + ], + [ + 282.6303104463001, + 29.140808934017002 + ], + [ + 272.3704839609448, + -15.941094410022743 + ], + [ + 273.1347038272569, + -16.301412843381968 + ], + [ + 271.94361198032243, + -16.55683404948138 + ], + [ + 271.1788991634113, + -16.196904090183125 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 271.1788991634113, + "ymin": 0.0, + "xmax": 284.5229563233142, + "ymax": 29.412381067580725 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 283.7908672179857, + 29.412381067580725 + ], + [ + 284.5229563233142, + 29.02985795290863 + ], + [ + 283.36287115829566, + 28.75868543632788 + ], + [ + 282.6303104463001, + 29.140808934017002 + ], + [ + 272.3704839609448, + -15.941094410022743 + ], + [ + 273.1347038272569, + -16.301412843381968 + ], + [ + 271.94361198032243, + -16.55683404948138 + ], + [ + 271.1788991634113, + -16.196904090183125 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 271.1788991634113, + "ymin": 0.0, + "xmax": 284.5229563233142, + "ymax": 29.412381067580725 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 283.7908672179857, + 29.412381067580725 + ], + [ + 284.5229563233142, + 29.02985795290863 + ], + [ + 283.36287115829566, + 28.75868543632788 + ], + [ + 282.6303104463001, + 29.140808934017002 + ], + [ + 272.3704839609448, + -15.941094410022743 + ], + [ + 273.1347038272569, + -16.301412843381968 + ], + [ + 271.94361198032243, + -16.55683404948138 + ], + [ + 271.1788991634113, + -16.196904090183125 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 271.1788991634113, + "ymin": 0.0, + "xmax": 284.5229563233142, + "ymax": 29.412381067580725 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 283.7908672179857, + 29.412381067580725 + ], + [ + 284.5229563233142, + 29.02985795290863 + ], + [ + 283.36287115829566, + 28.75868543632788 + ], + [ + 282.6303104463001, + 29.140808934017002 + ], + [ + 272.3704839609448, + -15.941094410022743 + ], + [ + 273.1347038272569, + -16.301412843381968 + ], + [ + 271.94361198032243, + -16.55683404948138 + ], + [ + 271.1788991634113, + -16.196904090183125 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 271.1788991634113, + "ymin": 0.0, + "xmax": 284.5229563233142, + "ymax": 29.412381067580725 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 283.7908672179857, + 29.412381067580725 + ], + [ + 284.5229563233142, + 29.02985795290863 + ], + [ + 283.36287115829566, + 28.75868543632788 + ], + [ + 282.6303104463001, + 29.140808934017002 + ], + [ + 272.3704839609448, + -15.941094410022743 + ], + [ + 273.1347038272569, + -16.301412843381968 + ], + [ + 271.94361198032243, + -16.55683404948138 + ], + [ + 271.1788991634113, + -16.196904090183125 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15102510933830370440, + "instance_id": 34948, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 291.81520107757285, + "ymin": 198.12709834081832, + "xmax": 467.09410291548306, + "ymax": 343.5970983127385 + }, + "corners_3d": [ + [ + -26.246049880981445, + -20.196584701538086, + 8.10662841796875 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.10662841796875 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.10662841796875 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.10662841796875 + ], + [ + -26.246049880981445, + -20.196584701538086, + 8.197628021240234 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.197628021240234 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.197628021240234 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 467.09410291548306, + 204.6063723012707 + ], + [ + 456.4719464439179, + 201.53618410127513 + ], + [ + 292.95751117696716, + 339.17955964915393 + ], + [ + 304.8336766836323, + 343.5970983127385 + ], + [ + 466.61757664008985, + 201.19057479286448 + ], + [ + 455.96838689202855, + 198.12709834081832 + ], + [ + 291.81520107757285, + 335.54292571195776 + ], + [ + 303.72456191674814, + 339.9556480303003 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 227.19169702033088, + "ymin": 0.0, + "xmax": 241.659311027436, + "ymax": 20.535162826713247 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 240.90868942782657, + 20.535162826713247 + ], + [ + 241.659311027436, + 20.165594380541677 + ], + [ + 240.5410268326205, + 19.903599878418447 + ], + [ + 239.7899814559392, + 20.272788830047773 + ], + [ + 228.33896006303019, + -24.298627740514064 + ], + [ + 229.12258774665474, + -24.646362719185674 + ], + [ + 227.975765636395, + -24.892869435964542 + ], + [ + 227.19169702033088, + -24.54550276520149 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 271.1788991634113, + "ymin": 0.0, + "xmax": 284.5229563233142, + "ymax": 29.412381067580725 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 283.7908672179857, + 29.412381067580725 + ], + [ + 284.5229563233142, + 29.02985795290863 + ], + [ + 283.36287115829566, + 28.75868543632788 + ], + [ + 282.6303104463001, + 29.140808934017002 + ], + [ + 272.3704839609448, + -15.941094410022743 + ], + [ + 273.1347038272569, + -16.301412843381968 + ], + [ + 271.94361198032243, + -16.55683404948138 + ], + [ + 271.1788991634113, + -16.196904090183125 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 211.94899146132707, + "ymin": 0.0, + "xmax": 226.78125610729268, + "ymax": 16.988932084493058 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 226.02514729442373, + 16.988932084493058 + ], + [ + 226.78125610729268, + 16.62447638618613 + ], + [ + 225.67831254287535, + 16.366104195184732 + ], + [ + 224.92179671990476, + 16.73018824476651 + ], + [ + 213.08001524642737, + -27.634699726341978 + ], + [ + 213.86934362636043, + -27.97747417324348 + ], + [ + 212.73874259497552, + -28.220466625783956 + ], + [ + 211.94899146132707, + -27.878052635998927 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 281.45465457286264, + "ymin": 187.07595772484882, + "xmax": 505.2661549509439, + "ymax": 593.3633253321684 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 505.2661549509439, + 442.2026809097156 + ], + [ + 490.89888363202476, + 436.71693196198424 + ], + [ + 364.13147419524637, + 585.9616993979128 + ], + [ + 379.9561272821118, + 593.3633253321684 + ], + [ + 471.62784654649954, + 192.0849390384586 + ], + [ + 453.94687255043755, + 187.07595772484882 + ], + [ + 281.45465457286264, + 328.8056906981543 + ], + [ + 301.32378440359497, + 336.14188764275997 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 271.1788991634113, + "ymin": 0.0, + "xmax": 284.5229563233142, + "ymax": 29.412381067580725 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 283.7908672179857, + 29.412381067580725 + ], + [ + 284.5229563233142, + 29.02985795290863 + ], + [ + 283.36287115829566, + 28.75868543632788 + ], + [ + 282.6303104463001, + 29.140808934017002 + ], + [ + 272.3704839609448, + -15.941094410022743 + ], + [ + 273.1347038272569, + -16.301412843381968 + ], + [ + 271.94361198032243, + -16.55683404948138 + ], + [ + 271.1788991634113, + -16.196904090183125 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 271.1788991634113, + "ymin": 0.0, + "xmax": 284.5229563233142, + "ymax": 29.412381067580725 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 283.7908672179857, + 29.412381067580725 + ], + [ + 284.5229563233142, + 29.02985795290863 + ], + [ + 283.36287115829566, + 28.75868543632788 + ], + [ + 282.6303104463001, + 29.140808934017002 + ], + [ + 272.3704839609448, + -15.941094410022743 + ], + [ + 273.1347038272569, + -16.301412843381968 + ], + [ + 271.94361198032243, + -16.55683404948138 + ], + [ + 271.1788991634113, + -16.196904090183125 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 271.1788991634113, + "ymin": 0.0, + "xmax": 284.5229563233142, + "ymax": 29.412381067580725 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 283.7908672179857, + 29.412381067580725 + ], + [ + 284.5229563233142, + 29.02985795290863 + ], + [ + 283.36287115829566, + 28.75868543632788 + ], + [ + 282.6303104463001, + 29.140808934017002 + ], + [ + 272.3704839609448, + -15.941094410022743 + ], + [ + 273.1347038272569, + -16.301412843381968 + ], + [ + 271.94361198032243, + -16.55683404948138 + ], + [ + 271.1788991634113, + -16.196904090183125 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 68.139640520316, + "ymax": 33.642871943385956 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -138.21567209395857, + 32.075481638727524 + ], + [ + -132.98746840737124, + 33.642871943385956 + ], + [ + 68.139640520316, + -40.26517328953969 + ], + [ + 63.13008624764848, + -41.4219497972274 + ], + [ + -238.3810441685829, + -149.65769472854095 + ], + [ + -232.81707479689294, + -148.50374545181194 + ], + [ + 5.8409355142329105, + -201.96344435679214 + ], + [ + 0.46477349007454904, + -202.7849679757718 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 271.1788991634113, + "ymin": 0.0, + "xmax": 284.5229563233142, + "ymax": 29.412381067580725 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 283.7908672179857, + 29.412381067580725 + ], + [ + 284.5229563233142, + 29.02985795290863 + ], + [ + 283.36287115829566, + 28.75868543632788 + ], + [ + 282.6303104463001, + 29.140808934017002 + ], + [ + 272.3704839609448, + -15.941094410022743 + ], + [ + 273.1347038272569, + -16.301412843381968 + ], + [ + 271.94361198032243, + -16.55683404948138 + ], + [ + 271.1788991634113, + -16.196904090183125 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1049.5572346882416, + "ymin": 0.0, + "xmax": 1169.578185289453, + "ymax": 211.84669799982112 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1103.047784547879, + 85.1774659062716 + ], + [ + 1093.245597595186, + 83.2870262937247 + ], + [ + 1049.5572346882416, + 209.03425589022274 + ], + [ + 1061.341747328514, + 211.84669799982112 + ], + [ + 1169.578185289453, + -110.05964388799828 + ], + [ + 1158.1230253061217, + -111.48736106327249 + ], + [ + 1123.3523359074425, + -13.48811284962136 + ], + [ + 1137.6208665423542, + -11.223610877645001 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00148/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00148/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1c66111d6763b6d7205299b27071944be6be8c3b --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00148/meta.json @@ -0,0 +1,6132 @@ +{ + "frame_id": 148, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 74.0, + "sim_timestamp": 14854.03871302423 + }, + "drone_pose": { + "x": -37.91582315851548, + "y": -34.759948415947456, + "z": 20.0, + "pitch": -41.36945653480549, + "yaw": 62.92640853734244, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.3415619134902954, + -0.6682296991348267, + 0.6609119772911072, + 22.959991455078125 + ], + [ + 0.8904227018356323, + 0.4551345705986023, + 0.0, + -17.940650939941406 + ], + [ + -0.30080389976501465, + 0.5884909629821777, + 0.7504634857177734, + -46.87041473388672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -37.676793636548204, + "y": -34.26449921124561, + "z": 20.0 + }, + "t1_image_uv": [ + 669.4448363868482, + -485.4447484984596 + ], + "t1_depth": 0.4127172509144975 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -28.16718292236328, + "y": -15.687763214111328, + "z": 1.1366752874851227 + }, + "image_uv": [ + 639.9999999999999, + 360.0000000000001 + ], + "depth": 28.54136040970782, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 682, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -28.16718292236328, + "y": -15.687763214111328, + "z": 1.136675238609314 + }, + "extent": { + "x": 0.49827513098716736, + "y": 0.33521604537963867, + "z": 0.8613166809082031 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 621.8309880015862, + "ymin": 324.8540272422232, + "xmax": 657.8873926828841, + "ymax": 394.84731086106046 + }, + "corners_3d": [ + [ + -27.831966400146484, + -16.186038970947266, + 0.27535855770111084 + ], + [ + -28.502399444580078, + -16.186038970947266, + 0.27535855770111084 + ], + [ + -28.502399444580078, + -15.189488410949707, + 0.27535855770111084 + ], + [ + -27.831966400146484, + -15.189488410949707, + 0.27535855770111084 + ], + [ + -27.831966400146484, + -16.186038970947266, + 1.997991919517517 + ], + [ + -28.502399444580078, + -16.186038970947266, + 1.997991919517517 + ], + [ + -28.502399444580078, + -15.189488410949707, + 1.997991919517517 + ], + [ + -27.831966400146484, + -15.189488410949707, + 1.997991919517517 + ] + ], + "corners_2d": [ + [ + 622.5469465596791, + 387.8702627456282 + ], + [ + 642.4014735228885, + 394.84731086106046 + ], + [ + 657.1930321467839, + 374.86004122854126 + ], + [ + 637.6712209202549, + 368.1950283508952 + ], + [ + 621.8309880015862, + 344.2964484348701 + ], + [ + 642.500806278412, + 351.1995727506886 + ], + [ + 657.8873926828841, + 331.436151822929 + ], + [ + 637.5779283009667, + 324.8540272422232 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 148, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 79, + "semantic_pixel_counts": { + "1": 246381, + "2": 121998, + "3": 1524, + "5": 3796, + "6": 10362, + "7": 660, + "10": 407, + "12": 3437, + "14": 40241, + "15": 23745, + "20": 1272, + "24": 36853, + "25": 430924 + }, + "instance_pixel_counts": { + "70": 2111, + "108": 14, + "3180": 523, + "6508": 3689, + "7274": 440, + "7784": 14230, + "7786": 3545, + "7825": 791, + "8064": 2025, + "8088": 1456, + "8296": 35857, + "8298": 1494, + "8337": 695, + "8600": 1214, + "8780": 3796, + "8808": 38747, + "9322": 2077, + "9624": 4173, + "9832": 66248, + "10316": 853, + "10624": 2617, + "10828": 350, + "11136": 1280, + "12652": 737, + "21332": 13142, + "21602": 22857, + "21844": 12344, + "23380": 13666, + "24946": 965, + "25168": 150, + "25698": 1587, + "25856": 1348, + "25940": 2793, + "26112": 5601, + "26210": 89, + "27988": 7226, + "29327": 4080, + "29839": 6712, + "30351": 26441, + "31375": 25616, + "31812": 817, + "31848": 2936, + "32324": 975, + "32360": 26196, + "33384": 8712, + "33906": 559, + "34408": 53455, + "35399": 8207, + "39239": 422717, + "40855": 987, + "41367": 2409, + "41879": 7587, + "42903": 5180, + "46184": 280, + "46672": 3923, + "46696": 2727, + "46917": 213, + "47208": 359, + "48232": 3098, + "48708": 83, + "50756": 272, + "53926": 512, + "54950": 1012, + "55462": 228, + "56320": 682, + "56576": 559, + "56832": 511, + "57088": 708, + "57344": 287, + "57487": 2294, + "57600": 690, + "57999": 2734, + "58112": 21, + "58951": 69, + "59023": 8258, + "60833": 897, + "60928": 3393, + "61440": 11401, + "64837": 1666 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 682, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -28.16718292236328, + "y": -15.687763214111328, + "z": 1.136675238609314 + }, + "extent": { + "x": 0.49875608086586, + "y": 0.4155682325363159, + "z": 0.8884791135787964 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 619.3554547847588, + "ymin": 323.3520683188091, + "xmax": 660.3638490716697, + "ymax": 396.361487039629 + }, + "corners_3d": [ + [ + -27.751615524291992, + -16.186519622802734, + 0.24819612503051758 + ], + [ + -28.582752227783203, + -16.186519622802734, + 0.24819612503051758 + ], + [ + -28.58275032043457, + -15.189006805419922, + 0.24819612503051758 + ], + [ + -27.75161361694336, + -15.189006805419922, + 0.24819612503051758 + ], + [ + -27.751615524291992, + -16.186519622802734, + 2.0251543521881104 + ], + [ + -28.582752227783203, + -16.186519622802734, + 2.0251543521881104 + ], + [ + -28.58275032043457, + -15.189006805419922, + 2.0251543521881104 + ], + [ + -27.75161361694336, + -15.189006805419922, + 2.0251543521881104 + ] + ], + "corners_2d": [ + [ + 620.1933104852508, + 387.7106502222764 + ], + [ + 644.7921051456522, + 396.361487039629 + ], + [ + 659.5481723939248, + 376.31421673239583 + ], + [ + 635.3617491415421, + 368.0504075268444 + ], + [ + 619.3554547847588, + 342.7707916316054 + ], + [ + 644.9969133496307, + 351.32708036256577 + ], + [ + 660.3638490716697, + 331.50985535344194 + ], + [ + 635.1701437934471, + 323.3520683188091 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 559, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -24.041194915771484, + "y": -12.690058708190918, + "z": 1.1317387819290161 + }, + "extent": { + "x": 0.42716920375823975, + "y": 0.5014722347259521, + "z": 0.8665598034858704 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 550.542524467456, + "ymin": 238.89237118256267, + "xmax": 589.7383367293902, + "ymax": 300.455364657318 + }, + "corners_3d": [ + [ + -23.639495849609375, + -13.21215534210205, + 0.26517897844314575 + ], + [ + -24.620521545410156, + -13.003630638122559, + 0.26517897844314575 + ], + [ + -24.442893981933594, + -12.167962074279785, + 0.26517897844314575 + ], + [ + -23.461868286132812, + -12.376486778259277, + 0.26517897844314575 + ], + [ + -23.639495849609375, + -13.21215534210205, + 1.9982986450195312 + ], + [ + -24.620521545410156, + -13.003630638122559, + 1.9982986450195312 + ], + [ + -24.442893981933594, + -12.167962074279785, + 1.9982986450195312 + ], + [ + -23.461868286132812, + -12.376486778259277, + 1.9982986450195312 + ] + ], + "corners_2d": [ + [ + 553.7131350401634, + 295.69546404367685 + ], + [ + 582.1297011672341, + 300.455364657318 + ], + [ + 589.7383367293902, + 285.5952300555268 + ], + [ + 561.8106735611462, + 281.01310735378684 + ], + [ + 550.542524467456, + 253.2777128260983 + ], + [ + 579.9898205429142, + 257.9455897210282 + ], + [ + 587.9162179707336, + 243.3796683684164 + ], + [ + 558.9935550145022, + 238.89237118256267 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 511, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -30.423004150390625, + "y": -8.745050430297852, + "z": 1.0939360857009888 + }, + "extent": { + "x": 0.4799279570579529, + "y": 0.3269241154193878, + "z": 0.9502447247505188 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 777.2161692505233, + "ymin": 227.11818941789042, + "xmax": 809.0759931939426, + "ymax": 292.70155393389723 + }, + "corners_3d": [ + [ + -30.14803695678711, + -9.256522178649902, + 0.14369136095046997 + ], + [ + -30.798303604125977, + -9.188176155090332, + 0.14369136095046997 + ], + [ + -30.69797134399414, + -8.2335786819458, + 0.14369136095046997 + ], + [ + -30.047704696655273, + -8.301924705505371, + 0.14369136095046997 + ], + [ + -30.14803695678711, + -9.256522178649902, + 2.0441808700561523 + ], + [ + -30.798303604125977, + -9.188176155090332, + 2.0441808700561523 + ], + [ + -30.69797134399414, + -8.2335786819458, + 2.0441808700561523 + ], + [ + -30.047704696655273, + -8.301924705505371, + 2.0441808700561523 + ] + ], + "corners_2d": [ + [ + 777.2161692505233, + 288.518176260142 + ], + [ + 795.9013240052957, + 292.70155393389723 + ], + [ + 802.701289333364, + 277.00143330880496 + ], + [ + 784.3553224895456, + 272.9847272064661 + ], + [ + 782.6767945112522, + 242.2930243991236 + ], + [ + 802.1404163715416, + 246.38396633060418 + ], + [ + 809.0759931939426, + 231.039841264499 + ], + [ + 789.9802664094523, + 227.11818941789042 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 708, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -37.66718292236328, + "y": -15.687763214111328, + "z": 1.146289587020874 + }, + "extent": { + "x": 0.3171350061893463, + "y": 0.34604063630104065, + "z": 0.8741649389266968 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 938.2166889361721, + "ymin": 432.97682945372304, + "xmax": 984.8748399990297, + "ymax": 502.74071500597654 + }, + "corners_3d": [ + [ + -37.321144104003906, + -16.004898071289062, + 0.27212464809417725 + ], + [ + -38.013221740722656, + -16.004898071289062, + 0.27212464809417725 + ], + [ + -38.013221740722656, + -15.370628356933594, + 0.27212464809417725 + ], + [ + -37.321144104003906, + -15.370628356933594, + 0.27212464809417725 + ], + [ + -37.321144104003906, + -16.004898071289062, + 2.0204544067382812 + ], + [ + -38.013221740722656, + -16.004898071289062, + 2.0204544067382812 + ], + [ + -38.013221740722656, + -15.370628356933594, + 2.0204544067382812 + ], + [ + -37.321144104003906, + -15.370628356933594, + 2.0204544067382812 + ] + ], + "corners_2d": [ + [ + 938.2166889361721, + 493.6775969352564 + ], + [ + 964.1424364169977, + 502.74071500597654 + ], + [ + 969.5252664911219, + 486.6080505281057 + ], + [ + 943.9703820828031, + 477.8371243112347 + ], + [ + 952.2136513483599, + 448.7884640998209 + ], + [ + 979.503736205188, + 457.8458869665244 + ], + [ + 984.8748399990297, + 441.7288220323498 + ], + [ + 957.9959319880035, + 432.97682945372304 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 287, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -31.782682418823242, + "y": -26.81512451171875, + "z": 1.1420365571975708 + }, + "extent": { + "x": 0.4861694872379303, + "y": 0.35627323389053345, + "z": 0.9506605863571167 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 518.7879343067368, + "ymin": 677.9115126937915, + "xmax": 580.4506943969257, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -31.37754249572754, + -27.261390686035156, + 0.1913759708404541 + ], + [ + -32.086185455322266, + -27.33587074279785, + 0.1913759708404541 + ], + [ + -32.18782424926758, + -26.368858337402344, + 0.1913759708404541 + ], + [ + -31.47917938232422, + -26.29437828063965, + 0.1913759708404541 + ], + [ + -31.37754249572754, + -27.261390686035156, + 2.0926971435546875 + ], + [ + -32.086185455322266, + -27.33587074279785, + 2.0926971435546875 + ], + [ + -32.18782424926758, + -26.368858337402344, + 2.0926971435546875 + ], + [ + -31.47917938232422, + -26.29437828063965, + 2.0926971435546875 + ] + ], + "corners_2d": [ + [ + 526.2779872877741, + 760.6066317992781 + ], + [ + 553.2200023199387, + 778.7476246614585 + ], + [ + 580.4506943969257, + 741.3232009886287 + ], + [ + 553.9157188766122, + 724.2330834897011 + ], + [ + 518.7879343067368, + 715.1961561142017 + ], + [ + 547.415649023945, + 733.8451836145936 + ], + [ + 576.5932374555696, + 695.4118708084799 + ], + [ + 548.422033222948, + 677.9115126937915 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 690, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -16.921846389770508, + "y": -23.85797882080078, + "z": 1.1268950700759888 + }, + "extent": { + "x": 0.350532203912735, + "y": 0.5081506371498108, + "z": 0.9159111380577087 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 117.49652675598202, + "ymin": 372.691842847147, + "xmax": 182.09864009037074, + "ymax": 449.00821792463194 + }, + "corners_3d": [ + [ + -16.35192108154297, + -24.095199584960938, + 0.21098393201828003 + ], + [ + -17.346012115478516, + -24.306501388549805, + 0.21098393201828003 + ], + [ + -17.491771697998047, + -23.620758056640625, + 0.21098393201828003 + ], + [ + -16.4976806640625, + -23.409456253051758, + 0.21098393201828003 + ], + [ + -16.35192108154297, + -24.095199584960938, + 2.0428061485290527 + ], + [ + -17.346012115478516, + -24.306501388549805, + 2.0428061485290527 + ], + [ + -17.491771697998047, + -23.620758056640625, + 2.0428061485290527 + ], + [ + -16.4976806640625, + -23.409456253051758, + 2.0428061485290527 + ] + ], + "corners_2d": [ + [ + 140.44047769861504, + 432.7144547398573 + ], + [ + 159.5350671116558, + 449.00821792463194 + ], + [ + 182.09864009037074, + 435.1283035824364 + ], + [ + 162.895108808021, + 419.3108883268641 + ], + [ + 117.49652675598202, + 385.98865195439504 + ], + [ + 137.0581765510135, + 402.1766694837171 + ], + [ + 161.01014419273406, + 388.3851697769835 + ], + [ + 141.31681749479947, + 372.691842847147 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 227, + "instance_id": 58112, + "pixel_count": 21, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": 17.90445327758789, + "y": -4.494433403015137, + "z": 0.9348407983779907 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 26.998823966574946, + "ymax": 15.284179411859043 + }, + "corners_3d": [ + [ + 20.20905303955078, + -3.534245252609253, + 0.007417736109346151 + ], + [ + 20.204349517822266, + -5.465832710266113, + 0.007417736109346151 + ], + [ + 15.599854469299316, + -5.454621315002441, + 0.007417736109346151 + ], + [ + 15.604557037353516, + -3.523033857345581, + 0.007417736109346151 + ], + [ + 20.20905303955078, + -3.534245252609253, + 1.862263798713684 + ], + [ + 20.204349517822266, + -5.465832710266113, + 1.862263798713684 + ], + [ + 15.599854469299316, + -5.454621315002441, + 1.862263798713684 + ], + [ + 15.604557037353516, + -3.523033857345581, + 1.862263798713684 + ] + ], + "corners_2d": [ + [ + -28.28065304924462, + -11.246611087763483 + ], + [ + -60.64375709743251, + 0.39526437445317697 + ], + [ + -4.957344435041023, + 15.284179411859043 + ], + [ + 26.998823966574946, + 2.9269006808565337 + ], + [ + -43.82401954279953, + -45.23516162455445 + ], + [ + -77.34946763175878, + -34.170041695487555 + ], + [ + -20.818161060621605, + -20.000306240410907 + ], + [ + 12.30482078016621, + -31.762152411726106 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 3393, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -19.1251277923584, + "y": 6.095887660980225, + "z": 0.8948460817337036 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 626.571368286362, + "ymin": 8.002694350712886, + "xmax": 731.7691085132917, + "ymax": 77.08826485544444 + }, + "corners_3d": [ + [ + -21.404022216796875, + 5.052896022796631, + 0.011262890882790089 + ], + [ + -21.39891815185547, + 7.149961948394775, + 0.011262890882790089 + ], + [ + -16.846233367919922, + 7.138879776000977, + 0.011262890882790089 + ], + [ + -16.851337432861328, + 5.041813850402832, + 0.011262890882790089 + ], + [ + -21.404022216796875, + 5.052896022796631, + 1.7784292697906494 + ], + [ + -21.39891815185547, + 7.149961948394775, + 1.7784292697906494 + ], + [ + -16.846233367919922, + 7.138879776000977, + 1.7784292697906494 + ], + [ + -16.851337432861328, + 5.041813850402832, + 1.7784292697906494 + ] + ], + "corners_2d": [ + [ + 712.1819425811321, + 77.08826485544444 + ], + [ + 729.481742026111, + 60.24430978009269 + ], + [ + 646.1235522163558, + 42.79753400375989 + ], + [ + 626.9050506852725, + 58.56607512749201 + ], + [ + 714.0855415915032, + 40.87948208767449 + ], + [ + 731.7691085132917, + 24.71687161997386 + ], + [ + 646.2749563974427, + 8.002694350712886 + ], + [ + 626.571368286362, + 23.107919341293723 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 11401, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 1177.6464470706467, + "ymin": 359.5042631527497, + "xmax": 1280.0, + "ymax": 538.169890441735 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 1254.9376469589988, + 428.92578441782615 + ], + [ + 1188.6450773249303, + 409.74522159971866 + ], + [ + 1177.6464470706467, + 514.1925058073465 + ], + [ + 1251.5951104235287, + 538.169890441735 + ], + [ + 1285.302699585315, + 378.5023152726185 + ], + [ + 1215.1407931765707, + 359.5042631527497 + ], + [ + 1206.8045754238165, + 463.4367341027168 + ], + [ + 1285.6037022057694, + 487.46230676956577 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 275.6754402578387, + "ymin": 0.0, + "xmax": 290.452111170215, + "ymax": 3.9831238867541856 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 289.3972366998252, + 3.9831238867541856 + ], + [ + 290.452111170215, + 3.469133108032395 + ], + [ + 280.1218822072488, + 1.1233920668476003 + ], + [ + 279.0612662561427, + 1.6324599966183087 + ], + [ + 286.09234653062697, + -9.64820599246491 + ], + [ + 287.1606574676779, + -10.152586427343408 + ], + [ + 276.7495667896023, + -12.454341193577307 + ], + [ + 275.6754402578387, + -11.954836744681756 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 275.67544297528696, + "ymin": 0.0, + "xmax": 290.45211389123506, + "ymax": 3.9831245059306752 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 289.39723942237134, + 3.9831245059306752 + ], + [ + 290.45211389123506, + 3.4691337259092165 + ], + [ + 280.1218849022212, + 1.1233926788095232 + ], + [ + 279.06126895259933, + 1.632460609861596 + ], + [ + 286.0923492746162, + -9.648205384859466 + ], + [ + 287.1606602101211, + -10.152585821025298 + ], + [ + 276.74956950554736, + -12.454340593117706 + ], + [ + 275.67544297528696, + -11.95483614295307 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 275.6754402578387, + "ymin": 0.0, + "xmax": 290.452111170215, + "ymax": 3.9831238867541856 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 289.3972366998252, + 3.9831238867541856 + ], + [ + 290.452111170215, + 3.469133108032395 + ], + [ + 280.1218822072488, + 1.1233920668476003 + ], + [ + 279.0612662561427, + 1.6324599966183087 + ], + [ + 286.09234653062697, + -9.64820599246491 + ], + [ + 287.1606574676779, + -10.152586427343408 + ], + [ + 276.7495667896023, + -12.454341193577307 + ], + [ + 275.6754402578387, + -11.954836744681756 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 275.6754404160558, + "ymin": 0.0, + "xmax": 290.45211127358453, + "ymax": 3.983123811044493 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 289.39723685520573, + 3.983123811044493 + ], + [ + 290.45211127358453, + 3.469133057665374 + ], + [ + 280.1218823111815, + 1.1233920169626117 + ], + [ + 279.0612664123681, + 1.632459921634279 + ], + [ + 286.09234668798814, + -9.648206066759826 + ], + [ + 287.160657572363, + -10.152586476768192 + ], + [ + 276.7495668948578, + -12.454341242524663 + ], + [ + 275.6754404160558, + -11.954836818257832 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 275.675442575118, + "ymin": 0.0, + "xmax": 290.4521134377316, + "ymax": 3.9831243774980294 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 289.39723902040714, + 3.9831243774980294 + ], + [ + 290.4521134377316, + 3.4691336229296894 + ], + [ + 280.1218844530592, + 1.1233925768158315 + ], + [ + 279.06126855526514, + 1.63246048265961 + ], + [ + 286.0923488697384, + -9.648205510892012 + ], + [ + 287.16065975304707, + -10.152585922078401 + ], + [ + 276.74956905288985, + -12.45434069319441 + ], + [ + 275.675442575118, + -11.95483626776661 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 234.04039462902733, + "ymin": 0.0, + "xmax": 249.03019604818837, + "ymax": 3.386840169431707 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 247.933112950365, + 3.386840169431707 + ], + [ + 249.03019604818837, + 2.8741002146805954 + ], + [ + 238.91097338247238, + 0.5340513985685789 + ], + [ + 237.80857873583665, + 1.0418864204753504 + ], + [ + 244.2419141357256, + -10.233339766124516 + ], + [ + 245.3532231698307, + -10.736481219935854 + ], + [ + 235.15707723042578, + -13.032598124117499 + ], + [ + 234.04039462902733, + -12.534314744336427 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 275.67544297528696, + "ymin": 0.0, + "xmax": 290.45211389123506, + "ymax": 3.9831245059306752 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 289.39723942237134, + 3.9831245059306752 + ], + [ + 290.45211389123506, + 3.4691337259092165 + ], + [ + 280.1218849022212, + 1.1233926788095232 + ], + [ + 279.06126895259933, + 1.632460609861596 + ], + [ + 286.0923492746162, + -9.648205384859466 + ], + [ + 287.1606602101211, + -10.152585821025298 + ], + [ + 276.74956950554736, + -12.454340593117706 + ], + [ + 275.67544297528696, + -11.95483614295307 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 275.6754404160558, + "ymin": 0.0, + "xmax": 290.45211127358453, + "ymax": 3.983123811044493 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 289.39723685520573, + 3.983123811044493 + ], + [ + 290.45211127358453, + 3.469133057665374 + ], + [ + 280.1218823111815, + 1.1233920169626117 + ], + [ + 279.0612664123681, + 1.632459921634279 + ], + [ + 286.09234668798814, + -9.648206066759826 + ], + [ + 287.160657572363, + -10.152586476768192 + ], + [ + 276.7495668948578, + -12.454341242524663 + ], + [ + 275.6754404160558, + -11.954836818257832 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 275.6754392682876, + "ymin": 0.0, + "xmax": 290.4521101198135, + "ymax": 3.983123400510067 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 289.39723570110664, + 3.983123400510067 + ], + [ + 290.4521101198135, + 3.469132647992751 + ], + [ + 280.1218811715605, + 1.123391611211673 + ], + [ + 279.0612652724402, + 1.6324595150338155 + ], + [ + 286.09234552580847, + -9.64820646962221 + ], + [ + 287.16065641051165, + -10.152586878776958 + ], + [ + 276.7495657473964, + -12.45434164064909 + ], + [ + 275.6754392682876, + -11.954837217223712 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 275.77652999207754, + "ymin": 0.0, + "xmax": 290.53025534446874, + "ymax": 7.5134792466740805 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 289.47706257189697, + 7.5134792466740805 + ], + [ + 290.53025534446874, + 6.996565177925788 + ], + [ + 280.2152254555322, + 4.637461864642944 + ], + [ + 279.1563076805414, + 5.149432535705785 + ], + [ + 286.17798302126965, + -6.063755767003158 + ], + [ + 287.2445697519709, + -6.571158928071156 + ], + [ + 276.8489155274043, + -8.886729010786496 + ], + [ + 275.77652999207754, + -8.38422360731812 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4421894629193955789, + "instance_id": 52537, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -38.7340202331543, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1144.146691020115, + "ymin": 0.0, + "xmax": 1160.9778723834145, + "ymax": 17.91800138494233 + }, + "corners_3d": [ + [ + -38.595436096191406, + 6.4043402671813965, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.404339790344238, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.784256458282471, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.784256935119629, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.4043402671813965, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.404339790344238, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.784256458282471, + 6.416468620300293 + ], + [ + -38.595436096191406, + 6.784256935119629, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1144.146691020115, + 16.624059025919678 + ], + [ + 1151.8958133464216, + 17.91800138494233 + ], + [ + 1152.870222403109, + 14.4630544133164 + ], + [ + 1145.171664522745, + 13.186791124307263 + ], + [ + 1152.1514347380403, + -6.136032056826821 + ], + [ + 1160.0448766894542, + -4.881082523384748 + ], + [ + 1160.9778723834145, + -8.231686023757561 + ], + [ + 1153.1369031636837, + -9.46921948543104 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1135.2378685550907, + "ymin": 20.689345945918376, + "xmax": 1149.914187408172, + "ymax": 44.50721755127893 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1135.2378685550907, + 43.30579448805628 + ], + [ + 1142.049620360449, + 44.50721755127893 + ], + [ + 1142.9641077943386, + 41.31486589485746 + ], + [ + 1136.1912357817207, + 40.12785741262451 + ], + [ + 1142.107408746659, + 23.79219715434391 + ], + [ + 1149.029691287114, + 24.965368683954466 + ], + [ + 1149.914187408172, + 21.848248170179147 + ], + [ + 1143.0320626772068, + 20.689345945918376 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10755311745963632187, + "instance_id": 15270, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -38.73401641845703, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1135.5279774112873, + "ymin": 18.18680312407696, + "xmax": 1153.2355003317532, + "ymax": 46.97410308944643 + }, + "corners_3d": [ + [ + -38.59543228149414, + 3.404341459274292, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.404340982437134, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.404341459274292, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.404340982437134, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 6.416468620300293 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1135.5279774112873, + 45.526681007528225 + ], + [ + 1143.7009154105554, + 46.97410308944643 + ], + [ + 1144.7906352630148, + 43.11030347768872 + ], + [ + 1136.67390770414, + 41.68378510346565 + ], + [ + 1143.8564190517077, + 21.920109580078588 + ], + [ + 1152.1901879548725, + 23.32649041052025 + ], + [ + 1153.2355003317532, + 19.572534894395687 + ], + [ + 1144.960184939398, + 18.18680312407696 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12937619472667703847, + "instance_id": 10234, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -38.7340087890625, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1127.5493668786974, + "ymin": 43.813419390968534, + "xmax": 1146.059029985863, + "ymax": 73.87943746169407 + }, + "corners_3d": [ + [ + -38.59542465209961, + 0.9043415784835815, + 5.545533180236816 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 5.545533180236816 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 5.545533180236816 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 5.545533180236816 + ], + [ + -38.59542465209961, + 0.9043415784835815, + 6.416468620300293 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 6.416468620300293 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 6.416468620300293 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1127.5493668786974, + 72.28224936003409 + ], + [ + 1136.112468457155, + 73.87943746169407 + ], + [ + 1137.3146677146367, + 69.61682841857385 + ], + [ + 1128.8132339118392, + 68.04385699924126 + ], + [ + 1136.1639178290216, + 47.93787490822274 + ], + [ + 1144.9038695866104, + 49.492414611886886 + ], + [ + 1146.059029985863, + 45.34397680831137 + ], + [ + 1137.383330338534, + 43.813419390968534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1051.8139777419187, + "ymin": 273.96028361538106, + "xmax": 1072.6063778140228, + "ymax": 307.5617623402791 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1061.723262739878, + 307.5617623402791 + ], + [ + 1063.809486486537, + 300.43499771603297 + ], + [ + 1053.981951446629, + 297.7958729017144 + ], + [ + 1051.8139777419187, + 304.87463642074295 + ], + [ + 1070.5578959606082, + 283.6273359742445 + ], + [ + 1072.6063778140228, + 276.572207048124 + ], + [ + 1062.5454020400382, + 273.96028361538106 + ], + [ + 1060.4111791898088, + 280.96690812488777 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 279.76334753532154, + "ymin": 0.0, + "xmax": 292.85979637389653, + "ymax": 35.18347245481135 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 292.1212141105626, + 35.18347245481135 + ], + [ + 292.85979637389653, + 34.79961340986756 + ], + [ + 291.70185274429167, + 34.52013570127076 + ], + [ + 290.96281362126615, + 34.90358228324948 + ], + [ + 280.95272047548275, + -10.24105944395717 + ], + [ + 281.72349524213047, + -10.60266682876005 + ], + [ + 280.53459951669606, + -10.865932918071678 + ], + [ + 279.76334753532154, + -10.504726545662265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 279.76334753532154, + "ymin": 0.0, + "xmax": 292.85979637389653, + "ymax": 35.18347245481135 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 292.1212141105626, + 35.18347245481135 + ], + [ + 292.85979637389653, + 34.79961340986756 + ], + [ + 291.70185274429167, + 34.52013570127076 + ], + [ + 290.96281362126615, + 34.90358228324948 + ], + [ + 280.95272047548275, + -10.24105944395717 + ], + [ + 281.72349524213047, + -10.60266682876005 + ], + [ + 280.53459951669606, + -10.865932918071678 + ], + [ + 279.76334753532154, + -10.504726545662265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 236.45670231670567, + "ymin": 0.0, + "xmax": 250.6247457426453, + "ymax": 24.974865397646283 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 249.87009396476344, + 24.974865397646283 + ], + [ + 250.6247457426453, + 24.60590703757697 + ], + [ + 249.5117235299025, + 24.337271415716202 + ], + [ + 248.75666479344807, + 24.705841088633633 + ], + [ + 237.5984643428718, + -19.852068173606426 + ], + [ + 238.38598557778425, + -20.19920177685333 + ], + [ + 237.24464655176047, + -20.451937037764424 + ], + [ + 236.45670231670567, + -20.105180619285136 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 279.76334753532154, + "ymin": 0.0, + "xmax": 292.85979637389653, + "ymax": 35.18347245481135 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 292.1212141105626, + 35.18347245481135 + ], + [ + 292.85979637389653, + 34.79961340986756 + ], + [ + 291.70185274429167, + 34.52013570127076 + ], + [ + 290.96281362126615, + 34.90358228324948 + ], + [ + 280.95272047548275, + -10.24105944395717 + ], + [ + 281.72349524213047, + -10.60266682876005 + ], + [ + 280.53459951669606, + -10.865932918071678 + ], + [ + 279.76334753532154, + -10.504726545662265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 227.12638281383585, + "ymin": 0.0, + "xmax": 241.5182982695485, + "ymax": 22.773738001370816 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 240.76034186548367, + 22.773738001370816 + ], + [ + 241.5182982695485, + 22.40795382284432 + ], + [ + 240.4148454350992, + 22.141627862441283 + ], + [ + 239.65649244953897, + 22.50702835757079 + ], + [ + 228.25801445550826, + -21.92275989937849 + ], + [ + 229.04896888691042, + -22.266813803548985 + ], + [ + 227.91774899448393, + -22.517308283722457 + ], + [ + 227.12638281383585, + -22.17362655735701 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 279.76334753532154, + "ymin": 0.0, + "xmax": 292.85979637389653, + "ymax": 35.18347245481135 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 292.1212141105626, + 35.18347245481135 + ], + [ + 292.85979637389653, + 34.79961340986756 + ], + [ + 291.70185274429167, + 34.52013570127076 + ], + [ + 290.96281362126615, + 34.90358228324948 + ], + [ + 280.95272047548275, + -10.24105944395717 + ], + [ + 281.72349524213047, + -10.60266682876005 + ], + [ + 280.53459951669606, + -10.865932918071678 + ], + [ + 279.76334753532154, + -10.504726545662265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 238.01583955132554, + "ymin": 0.0, + "xmax": 252.4011468138877, + "ymax": 34.564164234613884 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 251.6336267348196, + 34.564164234613884 + ], + [ + 252.4011468138877, + 34.18121767275454 + ], + [ + 251.26628760649004, + 33.90240380141364 + ], + [ + 250.49834375297536, + 34.28493936968698 + ], + [ + 239.18060427819927, + -10.824458943051354 + ], + [ + 239.98218082130484, + -11.185179208400825 + ], + [ + 238.81785697495525, + -11.447799949335263 + ], + [ + 238.01583955132554, + -11.087479222075046 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 279.76334753532154, + "ymin": 0.0, + "xmax": 292.85979637389653, + "ymax": 35.18347245481135 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 292.1212141105626, + 35.18347245481135 + ], + [ + 292.85979637389653, + 34.79961340986756 + ], + [ + 291.70185274429167, + 34.52013570127076 + ], + [ + 290.96281362126615, + 34.90358228324948 + ], + [ + 280.95272047548275, + -10.24105944395717 + ], + [ + 281.72349524213047, + -10.60266682876005 + ], + [ + 280.53459951669606, + -10.865932918071678 + ], + [ + 279.76334753532154, + -10.504726545662265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 279.76334753532154, + "ymin": 0.0, + "xmax": 292.85979637389653, + "ymax": 35.18347245481135 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 292.1212141105626, + 35.18347245481135 + ], + [ + 292.85979637389653, + 34.79961340986756 + ], + [ + 291.70185274429167, + 34.52013570127076 + ], + [ + 290.96281362126615, + 34.90358228324948 + ], + [ + 280.95272047548275, + -10.24105944395717 + ], + [ + 281.72349524213047, + -10.60266682876005 + ], + [ + 280.53459951669606, + -10.865932918071678 + ], + [ + 279.76334753532154, + -10.504726545662265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 745.3312154281186, + "ymin": 0.0, + "xmax": 798.2191042379493, + "ymax": 57.8297032560713 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 781.7719293206957, + 29.59856050441772 + ], + [ + 773.7487845598198, + 28.03592617398317 + ], + [ + 745.3312154281186, + 56.09135363222384 + ], + [ + 753.7029090469644, + 57.8297032560713 + ], + [ + 798.2191042379493, + -135.19329851964784 + ], + [ + 789.2126629044506, + -136.37881989974898 + ], + [ + 758.256532160121, + -114.96627477634661 + ], + [ + 767.7058303353665, + -113.63056581046004 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7806990106475075983, + "instance_id": 36761, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 292.13911812404217, + "ymin": 212.8501773929366, + "xmax": 472.73674559656615, + "ymax": 363.23856261928427 + }, + "corners_3d": [ + [ + -26.247940063476562, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.247940063476562, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.198223114013672 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 472.73674559656615, + 219.61336575672692 + ], + [ + 461.85039226800177, + 216.32673646460364 + ], + [ + 293.314595766902, + 358.48104928754407 + ], + [ + 305.4684773759559, + 363.23856261928427 + ], + [ + 472.26320439250753, + 216.1297835261846 + ], + [ + 461.34838827333385, + 212.8501773929366 + ], + [ + 292.13911812404217, + 354.77986431386006 + ], + [ + 304.3277928156588, + 359.5326637436337 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 279.76334753532154, + "ymin": 0.0, + "xmax": 292.85979637389653, + "ymax": 35.18347245481135 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 292.1212141105626, + 35.18347245481135 + ], + [ + 292.85979637389653, + 34.79961340986756 + ], + [ + 291.70185274429167, + 34.52013570127076 + ], + [ + 290.96281362126615, + 34.90358228324948 + ], + [ + 280.95272047548275, + -10.24105944395717 + ], + [ + 281.72349524213047, + -10.60266682876005 + ], + [ + 280.53459951669606, + -10.865932918071678 + ], + [ + 279.76334753532154, + -10.504726545662265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 279.76334753532154, + "ymin": 0.0, + "xmax": 292.85979637389653, + "ymax": 35.18347245481135 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 292.1212141105626, + 35.18347245481135 + ], + [ + 292.85979637389653, + 34.79961340986756 + ], + [ + 291.70185274429167, + 34.52013570127076 + ], + [ + 290.96281362126615, + 34.90358228324948 + ], + [ + 280.95272047548275, + -10.24105944395717 + ], + [ + 281.72349524213047, + -10.60266682876005 + ], + [ + 280.53459951669606, + -10.865932918071678 + ], + [ + 279.76334753532154, + -10.504726545662265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 279.76334753532154, + "ymin": 0.0, + "xmax": 292.85979637389653, + "ymax": 35.18347245481135 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 292.1212141105626, + 35.18347245481135 + ], + [ + 292.85979637389653, + 34.79961340986756 + ], + [ + 291.70185274429167, + 34.52013570127076 + ], + [ + 290.96281362126615, + 34.90358228324948 + ], + [ + 280.95272047548275, + -10.24105944395717 + ], + [ + 281.72349524213047, + -10.60266682876005 + ], + [ + 280.53459951669606, + -10.865932918071678 + ], + [ + 279.76334753532154, + -10.504726545662265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 280.5636464796761, + "ymin": 0.0, + "xmax": 293.606926864665, + "ymax": 38.2309112047339 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 292.8704854593054, + 38.2309112047339 + ], + [ + 293.606926864665, + 37.845636278262475 + ], + [ + 292.45107357796036, + 37.56512693366278 + ], + [ + 291.71417668612844, + 37.94998876638738 + ], + [ + 281.7508189598959, + -6.995030816630617 + ], + [ + 282.51927576562446, + -7.3582996094637565 + ], + [ + 281.3325790532488, + -7.622776049978427 + ], + [ + 280.5636464796761, + -7.259909217601262 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1021.0826966162672, + "ymin": 120.60107137393078, + "xmax": 1280.0, + "ymax": 518.1761134561184 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1023.8415946201726, + 368.2548328055473 + ], + [ + 1021.0826966162672, + 376.53583445941047 + ], + [ + 1486.0683586850723, + 518.1761134561184 + ], + [ + 1484.082609073222, + 506.9677494909741 + ], + [ + 1111.7116758625903, + 120.60107137393078 + ], + [ + 1109.3634632966352, + 127.84165065255712 + ], + [ + 1723.3035972910852, + 256.8736289087446 + ], + [ + 1717.3872583426753, + 246.29207034308428 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 279.76334753532154, + "ymin": 0.0, + "xmax": 292.85979637389653, + "ymax": 35.18347245481135 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 292.1212141105626, + 35.18347245481135 + ], + [ + 292.85979637389653, + 34.79961340986756 + ], + [ + 291.70185274429167, + 34.52013570127076 + ], + [ + 290.96281362126615, + 34.90358228324948 + ], + [ + 280.95272047548275, + -10.24105944395717 + ], + [ + 281.72349524213047, + -10.60266682876005 + ], + [ + 280.53459951669606, + -10.865932918071678 + ], + [ + 279.76334753532154, + -10.504726545662265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 279.76334753532154, + "ymin": 0.0, + "xmax": 292.85979637389653, + "ymax": 35.18347245481135 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 292.1212141105626, + 35.18347245481135 + ], + [ + 292.85979637389653, + 34.79961340986756 + ], + [ + 291.70185274429167, + 34.52013570127076 + ], + [ + 290.96281362126615, + 34.90358228324948 + ], + [ + 280.95272047548275, + -10.24105944395717 + ], + [ + 281.72349524213047, + -10.60266682876005 + ], + [ + 280.53459951669606, + -10.865932918071678 + ], + [ + 279.76334753532154, + -10.504726545662265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 279.76334753532154, + "ymin": 0.0, + "xmax": 292.85979637389653, + "ymax": 35.18347245481135 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 292.1212141105626, + 35.18347245481135 + ], + [ + 292.85979637389653, + 34.79961340986756 + ], + [ + 291.70185274429167, + 34.52013570127076 + ], + [ + 290.96281362126615, + 34.90358228324948 + ], + [ + 280.95272047548275, + -10.24105944395717 + ], + [ + 281.72349524213047, + -10.60266682876005 + ], + [ + 280.53459951669606, + -10.865932918071678 + ], + [ + 279.76334753532154, + -10.504726545662265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 279.76334753532154, + "ymin": 0.0, + "xmax": 292.85979637389653, + "ymax": 35.18347245481135 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 292.1212141105626, + 35.18347245481135 + ], + [ + 292.85979637389653, + 34.79961340986756 + ], + [ + 291.70185274429167, + 34.52013570127076 + ], + [ + 290.96281362126615, + 34.90358228324948 + ], + [ + 280.95272047548275, + -10.24105944395717 + ], + [ + 281.72349524213047, + -10.60266682876005 + ], + [ + 280.53459951669606, + -10.865932918071678 + ], + [ + 279.76334753532154, + -10.504726545662265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 279.76334753532154, + "ymin": 0.0, + "xmax": 292.85979637389653, + "ymax": 35.18347245481135 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 292.1212141105626, + 35.18347245481135 + ], + [ + 292.85979637389653, + 34.79961340986756 + ], + [ + 291.70185274429167, + 34.52013570127076 + ], + [ + 290.96281362126615, + 34.90358228324948 + ], + [ + 280.95272047548275, + -10.24105944395717 + ], + [ + 281.72349524213047, + -10.60266682876005 + ], + [ + 280.53459951669606, + -10.865932918071678 + ], + [ + 279.76334753532154, + -10.504726545662265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15102510933830370440, + "instance_id": 34948, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 292.32170429236925, + "ymin": 212.9501096950798, + "xmax": 472.5972893425036, + "ymax": 363.1017277271027 + }, + "corners_3d": [ + [ + -26.246049880981445, + -20.196584701538086, + 8.10662841796875 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.10662841796875 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.10662841796875 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.10662841796875 + ], + [ + -26.246049880981445, + -20.196584701538086, + 8.197628021240234 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.197628021240234 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.197628021240234 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 472.5972893425036, + 219.62745335544793 + ], + [ + 461.84923735772935, + 216.3823751534599 + ], + [ + 293.48149505043074, + 358.4060022237815 + ], + [ + 305.4797490561459, + 363.1017277271027 + ], + [ + 472.12939837437926, + 216.18834357960074 + ], + [ + 461.35360365432314, + 212.9501096950798 + ], + [ + 292.32170429236925, + 354.75219993816967 + ], + [ + 304.3538649002473, + 359.44332917045057 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 235.8658296428584, + "ymin": 0.0, + "xmax": 250.08094859398608, + "ymax": 26.01737063287527 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 249.3243612546903, + 26.01737063287527 + ], + [ + 250.08094859398608, + 25.6469040992381 + ], + [ + 248.96594293102333, + 25.377171094899666 + ], + [ + 248.2089473876453, + 25.74724655636828 + ], + [ + 237.00967509489936, + -18.871144258811626 + ], + [ + 237.79929422605397, + -19.219741580998914 + ], + [ + 236.6558730779841, + -19.47354181579982 + ], + [ + 235.8658296428584, + -19.12532406587735 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 279.76334753532154, + "ymin": 0.0, + "xmax": 292.85979637389653, + "ymax": 35.18347245481135 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 292.1212141105626, + 35.18347245481135 + ], + [ + 292.85979637389653, + 34.79961340986756 + ], + [ + 291.70185274429167, + 34.52013570127076 + ], + [ + 290.96281362126615, + 34.90358228324948 + ], + [ + 280.95272047548275, + -10.24105944395717 + ], + [ + 281.72349524213047, + -10.60266682876005 + ], + [ + 280.53459951669606, + -10.865932918071678 + ], + [ + 279.76334753532154, + -10.504726545662265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 220.67262192059565, + "ymin": 0.0, + "xmax": 235.249983160787, + "ymax": 22.36806125294936 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 234.48812054006987, + 22.36806125294936 + ], + [ + 235.249983160787, + 22.002860568616768 + ], + [ + 234.15069462669038, + 21.73695920210622 + ], + [ + 233.38844078454144, + 22.101777120518477 + ], + [ + 221.79983008349757, + -22.304335523038787 + ], + [ + 222.5949236406434, + -22.647823436903025 + ], + [ + 221.46812137295575, + -22.8979060848946 + ], + [ + 220.67262192059565, + -22.55478943106465 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 281.75600505272035, + "ymin": 201.72512664696023, + "xmax": 510.15333047733805, + "ymax": 613.2343341044835 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 510.15333047733805, + 458.19153293810666 + ], + [ + 495.65275956076425, + 452.4247959263215 + ], + [ + 365.43683626896404, + 605.4247708712786 + ], + [ + 381.38768344292436, + 613.2343341044835 + ], + [ + 477.27277857751574, + 207.02031264040866 + ], + [ + 459.3797979681219, + 201.72512664696023 + ], + [ + 281.75600505272035, + 347.99324938389753 + ], + [ + 301.83046376041756, + 355.7953673566397 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 279.76334753532154, + "ymin": 0.0, + "xmax": 292.85979637389653, + "ymax": 35.18347245481135 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 292.1212141105626, + 35.18347245481135 + ], + [ + 292.85979637389653, + 34.79961340986756 + ], + [ + 291.70185274429167, + 34.52013570127076 + ], + [ + 290.96281362126615, + 34.90358228324948 + ], + [ + 280.95272047548275, + -10.24105944395717 + ], + [ + 281.72349524213047, + -10.60266682876005 + ], + [ + 280.53459951669606, + -10.865932918071678 + ], + [ + 279.76334753532154, + -10.504726545662265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 279.76334753532154, + "ymin": 0.0, + "xmax": 292.85979637389653, + "ymax": 35.18347245481135 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 292.1212141105626, + 35.18347245481135 + ], + [ + 292.85979637389653, + 34.79961340986756 + ], + [ + 291.70185274429167, + 34.52013570127076 + ], + [ + 290.96281362126615, + 34.90358228324948 + ], + [ + 280.95272047548275, + -10.24105944395717 + ], + [ + 281.72349524213047, + -10.60266682876005 + ], + [ + 280.53459951669606, + -10.865932918071678 + ], + [ + 279.76334753532154, + -10.504726545662265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 279.76334753532154, + "ymin": 0.0, + "xmax": 292.85979637389653, + "ymax": 35.18347245481135 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 292.1212141105626, + 35.18347245481135 + ], + [ + 292.85979637389653, + 34.79961340986756 + ], + [ + 291.70185274429167, + 34.52013570127076 + ], + [ + 290.96281362126615, + 34.90358228324948 + ], + [ + 280.95272047548275, + -10.24105944395717 + ], + [ + 281.72349524213047, + -10.60266682876005 + ], + [ + 280.53459951669606, + -10.865932918071678 + ], + [ + 279.76334753532154, + -10.504726545662265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 77.78604721179454, + "ymax": 37.65441777140899 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -129.1084244038152, + 36.05072033274001 + ], + [ + -123.94340439557698, + 37.65441777140899 + ], + [ + 77.78604721179454, + -36.02507071788796 + ], + [ + 72.81503588933583, + -37.20932691466396 + ], + [ + -227.86397993236255, + -145.51401220435247 + ], + [ + -222.37627772876954, + -144.33396889471612 + ], + [ + 16.65842362076512, + -197.60394398506787 + ], + [ + 11.327047843867376, + -198.4446535881367 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 279.76334753532154, + "ymin": 0.0, + "xmax": 292.85979637389653, + "ymax": 35.18347245481135 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 292.1212141105626, + 35.18347245481135 + ], + [ + 292.85979637389653, + 34.79961340986756 + ], + [ + 291.70185274429167, + 34.52013570127076 + ], + [ + 290.96281362126615, + 34.90358228324948 + ], + [ + 280.95272047548275, + -10.24105944395717 + ], + [ + 281.72349524213047, + -10.60266682876005 + ], + [ + 280.53459951669606, + -10.865932918071678 + ], + [ + 279.76334753532154, + -10.504726545662265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1064.1128087450663, + "ymin": 0.0, + "xmax": 1187.8771739657632, + "ymax": 225.15221856137467 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1118.3997605369877, + 95.7224593152975 + ], + [ + 1108.4331639337965, + 93.74360241034242 + ], + [ + 1064.1128087450663, + 222.19604160942077 + ], + [ + 1076.113881867351, + 225.15221856137467 + ], + [ + 1187.8771739657632, + -100.96881935514591 + ], + [ + 1176.197990988102, + -102.46733055214082 + ], + [ + 1141.557767492049, + -2.0207225352142473 + ], + [ + 1156.1440235912823, + 0.3693814221918501 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00156/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00156/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2846431db887ec5f1be3eff0bbe5240202abf881 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00156/meta.json @@ -0,0 +1,7896 @@ +{ + "frame_id": 156, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 78.0, + "sim_timestamp": 14946.266426352086 + }, + "drone_pose": { + "x": -36.105238283161036, + "y": -30.803309087552158, + "z": 20.0, + "pitch": -41.5072213815174, + "yaw": 63.72273472077425, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.3315371870994568, + -0.6714854836463928, + 0.6627144813537598, + 19.399917602539062 + ], + [ + 0.8966622948646545, + 0.4427153468132019, + 2.9802322387695312e-08, + -18.737102508544922 + ], + [ + -0.2933938801288605, + 0.5942310094833374, + 0.7488722205162048, + -43.87478256225586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -35.870042339605284, + "y": -30.305323178865187, + "z": 20.0 + }, + "t1_image_uv": [ + 662.2902532056517, + -489.55198123905143 + ], + "t1_depth": 0.41236647634296575 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -26.66718292236328, + "y": -11.687763214111328, + "z": 1.1341411066055298 + }, + "image_uv": [ + 640.0000000000001, + 360.0 + ], + "depth": 28.46755372030718, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 729, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -26.66718292236328, + "y": -11.687763214111328, + "z": 1.1341410875320435 + }, + "extent": { + "x": 0.409064918756485, + "y": 0.43711790442466736, + "z": 0.8600428104400635 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 621.3593062723172, + "ymin": 326.27961889258535, + "xmax": 658.8896428817094, + "ymax": 393.3088914150179 + }, + "corners_3d": [ + [ + -26.64734649658203, + -12.286105155944824, + 0.27409827709198 + ], + [ + -27.26552391052246, + -11.667926788330078, + 0.27409827709198 + ], + [ + -26.68701934814453, + -11.089421272277832, + 0.27409827709198 + ], + [ + -26.0688419342041, + -11.707599639892578, + 0.27409827709198 + ], + [ + -26.64734649658203, + -12.286105155944824, + 1.994183897972107 + ], + [ + -27.26552391052246, + -11.667926788330078, + 1.994183897972107 + ], + [ + -26.68701934814453, + -11.089421272277832, + 1.994183897972107 + ], + [ + -26.0688419342041, + -11.707599639892578, + 1.994183897972107 + ] + ], + "corners_2d": [ + [ + 630.5253988047593, + 393.3088914150179 + ], + [ + 658.1433361873713, + 386.8785145926553 + ], + [ + 649.2201649475513, + 369.6000510067615 + ], + [ + 622.086449856475, + 375.7784889819496 + ], + [ + 630.1326932837228, + 349.7261449095097 + ], + [ + 658.8896428817094, + 343.3617567725752 + ], + [ + 649.5916483183848, + 326.27961889258535 + ], + [ + 621.3593062723172, + 332.3846741589156 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 156, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 75, + "semantic_pixel_counts": { + "1": 273568, + "2": 149662, + "3": 7474, + "5": 4228, + "6": 13615, + "7": 888, + "10": 332, + "12": 3441, + "14": 30769, + "15": 21336, + "20": 2010, + "24": 31354, + "25": 382923 + }, + "instance_pixel_counts": { + "108": 53, + "6508": 2646, + "7274": 417, + "7576": 200, + "7784": 15874, + "7786": 4353, + "7825": 721, + "8088": 1758, + "8296": 40899, + "8298": 863, + "8600": 1774, + "8780": 4228, + "8808": 12191, + "9322": 2719, + "9624": 6086, + "9832": 85457, + "10316": 1368, + "10624": 1055, + "10828": 562, + "11136": 1905, + "12652": 1039, + "21332": 17132, + "21602": 40353, + "21844": 16179, + "24656": 89, + "24946": 4417, + "25168": 249, + "25698": 1052, + "25856": 2558, + "26112": 5999, + "27988": 8853, + "29327": 3220, + "29839": 9406, + "30351": 17074, + "31375": 34523, + "31812": 1225, + "31848": 12293, + "32324": 1414, + "32360": 29087, + "33384": 9078, + "33906": 2477, + "34408": 68689, + "34418": 580, + "35399": 2877, + "39239": 380046, + "40855": 897, + "41367": 3429, + "41879": 4498, + "42903": 7407, + "46184": 773, + "46672": 5608, + "46696": 3107, + "46917": 314, + "47208": 390, + "48232": 4018, + "50756": 523, + "53926": 559, + "54950": 784, + "55462": 43, + "56320": 729, + "56576": 573, + "56832": 495, + "56975": 7, + "57088": 641, + "57344": 278, + "57487": 2761, + "57600": 725, + "57999": 3307, + "58951": 80, + "59023": 12962, + "60160": 809, + "60833": 626, + "60928": 3975, + "61440": 5157, + "64837": 755 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 729, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -26.66718292236328, + "y": -11.687763214111328, + "z": 1.1341410875320435 + }, + "extent": { + "x": 0.4251696765422821, + "y": 0.4244738817214966, + "z": 0.8831310272216797 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 621.5914010330815, + "ymin": 325.432786465376, + "xmax": 658.673946267212, + "ymax": 394.12880076207983 + }, + "corners_3d": [ + [ + -26.667675018310547, + -12.288552284240723, + 0.25101006031036377 + ], + [ + -27.26797103881836, + -11.688255310058594, + 0.25101006031036377 + ], + [ + -26.666690826416016, + -11.086974143981934, + 0.25101006031036377 + ], + [ + -26.066394805908203, + -11.687271118164062, + 0.25101006031036377 + ], + [ + -26.667675018310547, + -12.288552284240723, + 2.0172719955444336 + ], + [ + -27.26797103881836, + -11.688255310058594, + 2.0172719955444336 + ], + [ + -26.666690826416016, + -11.086974143981934, + 2.0172719955444336 + ], + [ + -26.066394805908203, + -11.687271118164062, + 2.0172719955444336 + ] + ], + "corners_2d": [ + [ + 631.1021752542782, + 394.12880076207983 + ], + [ + 657.9163774222345, + 387.8788110652405 + ], + [ + 648.6540053068991, + 369.9140563134845 + ], + [ + 622.3280181266134, + 375.9098636040646 + ], + [ + 630.723149156794, + 349.37241395372797 + ], + [ + 658.673946267212, + 343.1880845072879 + ], + [ + 649.0121257324287, + 325.432786465376 + ], + [ + 621.5914010330815, + 331.3552707500808 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 573, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -22.541194915771484, + "y": -8.690058708190918, + "z": 1.0939555168151855 + }, + "extent": { + "x": 0.3878198266029358, + "y": 0.4418255388736725, + "z": 0.8617979884147644 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 549.7511660416083, + "ymin": 239.62602492822094, + "xmax": 586.7717710687547, + "ymax": 301.6739996204236 + }, + "corners_3d": [ + [ + -22.625812530517578, + -9.27182674407959, + 0.23215752840042114 + ], + [ + -23.107084274291992, + -8.53073501586914, + 0.23215752840042114 + ], + [ + -22.45657730102539, + -8.108290672302246, + 0.23215752840042114 + ], + [ + -21.975305557250977, + -8.849382400512695, + 0.23215752840042114 + ], + [ + -22.625812530517578, + -9.27182674407959, + 1.9557535648345947 + ], + [ + -23.107084274291992, + -8.53073501586914, + 1.9557535648345947 + ], + [ + -22.45657730102539, + -8.108290672302246, + 1.9557535648345947 + ], + [ + -21.975305557250977, + -8.849382400512695, + 1.9557535648345947 + ] + ], + "corners_2d": [ + [ + 563.4405077496892, + 301.6739996204236 + ], + [ + 586.7717710687547, + 293.4092793811565 + ], + [ + 576.0054565949024, + 281.51334673882263 + ], + [ + 552.9204599602182, + 289.52754924366815 + ], + [ + 560.6090461013576, + 259.3965841450707 + ], + [ + 584.8245034181006, + 251.287275214301 + ], + [ + 573.701171814417, + 239.62602492822094 + ], + [ + 549.7511660416083, + 247.48069903934197 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 495, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -28.923004150390625, + "y": -4.745050430297852, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.4108288586139679, + "y": 0.44071272015571594, + "z": 0.9041604995727539 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 770.6253233790276, + "ymin": 230.3383509762163, + "xmax": 811.2944253789351, + "ymax": 293.2464637170587 + }, + "corners_3d": [ + [ + -28.964929580688477, + -5.346091270446777, + 0.03766125440597534 + ], + [ + -29.51962661743164, + -4.661094665527344, + 0.03766125440597534 + ], + [ + -28.881078720092773, + -4.144009590148926, + 0.03766125440597534 + ], + [ + -28.32638168334961, + -4.829006195068359, + 0.03766125440597534 + ], + [ + -28.964929580688477, + -5.346091270446777, + 1.845982313156128 + ], + [ + -29.51962661743164, + -4.661094665527344, + 1.845982313156128 + ], + [ + -28.881078720092773, + -4.144009590148926, + 1.845982313156128 + ], + [ + -28.32638168334961, + -4.829006195068359, + 1.845982313156128 + ] + ], + "corners_2d": [ + [ + 782.9500106684036, + 293.2464637170587 + ], + [ + 805.0675791730791, + 286.69134996523667 + ], + [ + 792.4756490669658, + 273.7503677072708 + ], + [ + 770.6253233790276, + 280.0878466413881 + ], + [ + 788.3897863551485, + 249.42533081277458 + ], + [ + 811.2944253789351, + 243.00373701447523 + ], + [ + 798.1280443660238, + 230.3383509762163 + ], + [ + 775.509417679912, + 236.53887467186348 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 641, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -36.16718292236328, + "y": -11.687763214111328, + "z": 1.143755316734314 + }, + "extent": { + "x": 0.2976025342941284, + "y": 0.3874346911907196, + "z": 0.8789286613464355 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 937.3088683072833, + "ymin": 431.0464314017268, + "xmax": 990.3094097518972, + "ymax": 499.0845945336223 + }, + "corners_3d": [ + [ + -36.103660583496094, + -12.172157287597656, + 0.2648266553878784 + ], + [ + -36.65157699584961, + -11.624241828918457, + 0.2648266553878784 + ], + [ + -36.23070526123047, + -11.203369140625, + 0.2648266553878784 + ], + [ + -35.68278884887695, + -11.7512845993042, + 0.2648266553878784 + ], + [ + -36.103660583496094, + -12.172157287597656, + 2.022684097290039 + ], + [ + -36.65157699584961, + -11.624241828918457, + 2.022684097290039 + ], + [ + -36.23070526123047, + -11.203369140625, + 2.022684097290039 + ], + [ + -35.68278884887695, + -11.7512845993042, + 2.022684097290039 + ] + ], + "corners_2d": [ + [ + 949.3807671811692, + 499.0845945336223 + ], + [ + 974.4770950335275, + 491.94054229236644 + ], + [ + 962.0866354902048, + 476.1253053529482 + ], + [ + 937.3088683072833, + 483.0401707356059 + ], + [ + 964.1368361978389, + 453.9778921276941 + ], + [ + 990.3094097518972, + 446.83705670954976 + ], + [ + 977.0753586132779, + 431.0464314017268 + ], + [ + 951.2482427509103, + 437.9475736490341 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 278, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -30.282682418823242, + "y": -22.81512451171875, + "z": 1.140615701675415 + }, + "extent": { + "x": 0.4537329077720642, + "y": 0.44575437903404236, + "z": 0.9114165902137756 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 530.451770168722, + "ymin": 684.7038865730785, + "xmax": 585.1978498243168, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -30.22180938720703, + -23.44826316833496, + 0.2291991114616394 + ], + [ + -30.914642333984375, + -22.887218475341797, + 0.2291991114616394 + ], + [ + -30.343555450439453, + -22.18198585510254, + 0.2291991114616394 + ], + [ + -29.65072250366211, + -22.743030548095703, + 0.2291991114616394 + ], + [ + -30.22180938720703, + -23.44826316833496, + 2.052032232284546 + ], + [ + -30.914642333984375, + -22.887218475341797, + 2.052032232284546 + ], + [ + -30.343555450439453, + -22.18198585510254, + 2.052032232284546 + ], + [ + -29.65072250366211, + -22.743030548095703, + 2.052032232284546 + ] + ], + "corners_2d": [ + [ + 543.0358562929188, + 778.2061016016567 + ], + [ + 585.1978498243168, + 768.9502062476517 + ], + [ + 577.7209294845773, + 728.84538414703 + ], + [ + 536.8588555527092, + 737.5187289929466 + ], + [ + 536.7999152626529, + 735.335776518943 + ], + [ + 581.7007973644511, + 725.8222100190893 + ], + [ + 573.8812108593897, + 684.7038865730785 + ], + [ + 530.451770168722, + 693.5822684316003 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 725, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -15.421846389770508, + "y": -19.85797882080078, + "z": 1.1251029968261719 + }, + "extent": { + "x": 0.4071466028690338, + "y": 0.4562188684940338, + "z": 0.9161224365234375 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 114.4351820769549, + "ymin": 380.7970741729676, + "xmax": 178.66317369494493, + "ymax": 450.8006192371689 + }, + "corners_3d": [ + [ + -15.260977745056152, + -20.44791603088379, + 0.20898056030273438 + ], + [ + -16.02621078491211, + -19.950965881347656, + 0.20898056030273438 + ], + [ + -15.582715034484863, + -19.268041610717773, + 0.20898056030273438 + ], + [ + -14.81748104095459, + -19.764991760253906, + 0.20898056030273438 + ], + [ + -15.260977745056152, + -20.44791603088379, + 2.0412254333496094 + ], + [ + -16.02621078491211, + -19.950965881347656, + 2.0412254333496094 + ], + [ + -15.582715034484863, + -19.268041610717773, + 2.0412254333496094 + ], + [ + -14.81748104095459, + -19.764991760253906, + 2.0412254333496094 + ] + ], + "corners_2d": [ + [ + 138.08867453418458, + 450.8006192371689 + ], + [ + 171.72014055300951, + 448.0208563169739 + ], + [ + 178.66317369494493, + 427.4970351966542 + ], + [ + 145.79015693919592, + 430.1562469117209 + ], + [ + 114.4351820769549, + 403.95624052787986 + ], + [ + 149.71989405706614, + 401.19086336120705 + ], + [ + 157.48535084840734, + 380.7970741729676 + ], + [ + 123.03447183359287, + 383.43707475255326 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 235, + "instance_id": 60160, + "pixel_count": 809, + "type_id": "vehicle.lincoln.mkz_2020", + "bbox_3d": { + "center_world": { + "x": 16.361892700195312, + "y": -0.9905077219009399, + "z": 0.7436257004737854 + }, + "extent": { + "x": 2.44619083404541, + "y": 0.9183566570281982, + "z": 0.7451388239860535 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 45.77183612396993, + "ymax": 31.124710995630267 + }, + "corners_3d": [ + [ + 18.810312271118164, + -0.0781099796295166, + -0.0015131211839616299 + ], + [ + 18.80583953857422, + -1.9148178100585938, + -0.0015131211839616299 + ], + [ + 13.913473129272461, + -1.9029054641723633, + -0.0015131211839616299 + ], + [ + 13.917945861816406, + -0.06619763374328613, + -0.0015131211839616299 + ], + [ + 18.810312271118164, + -0.0781099796295166, + 1.4887645244598389 + ], + [ + 18.80583953857422, + -1.9148178100585938, + 1.4887645244598389 + ], + [ + 13.913473129272461, + -1.9029054641723633, + 1.4887645244598389 + ], + [ + 13.917945861816406, + -0.06619763374328613, + 1.4887645244598389 + ] + ], + "corners_2d": [ + [ + -16.75637059277392, + 2.650681380012088 + ], + [ + -47.97490074158725, + 14.600969814466907 + ], + [ + 15.098003005375062, + 31.124710995630267 + ], + [ + 45.77183612396993, + 18.388132849385784 + ], + [ + -29.44831782477263, + -25.219277207763184 + ], + [ + -61.599342972435124, + -13.722389715152758 + ], + [ + 2.3087301476900848, + 2.1922230585050215 + ], + [ + 33.913761477352296, + -10.076661187699585 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 3975, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -19.1251277923584, + "y": 6.095887660980225, + "z": 0.8948460817337036 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 608.5093233640898, + "ymin": 42.07264203064631, + "xmax": 721.799052662163, + "ymax": 117.68701890316075 + }, + "corners_3d": [ + [ + -21.404022216796875, + 5.052896022796631, + 0.011262890882790089 + ], + [ + -21.39891815185547, + 7.149961948394775, + 0.011262890882790089 + ], + [ + -16.846233367919922, + 7.138879776000977, + 0.011262890882790089 + ], + [ + -16.851337432861328, + 5.041813850402832, + 0.011262890882790089 + ], + [ + -21.404022216796875, + 5.052896022796631, + 1.7784292697906494 + ], + [ + -21.39891815185547, + 7.149961948394775, + 1.7784292697906494 + ], + [ + -16.846233367919922, + 7.138879776000977, + 1.7784292697906494 + ], + [ + -16.851337432861328, + 5.041813850402832, + 1.7784292697906494 + ] + ], + "corners_2d": [ + [ + 701.2447039199315, + 117.68701890316075 + ], + [ + 719.6022546976264, + 98.05486956763656 + ], + [ + 629.9715340116323, + 78.49021944280696 + ], + [ + 609.3532555417418, + 96.81642290719515 + ], + [ + 702.9929667001451, + 79.80366816746971 + ], + [ + 721.799052662163, + 60.88830292563671 + ], + [ + 629.704236982457, + 42.07264203064631 + ], + [ + 608.5093233640898, + 59.69624238704239 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 5157, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 1236.615167813728, + "ymin": 465.69976338525623, + "xmax": 1280.0, + "ymax": 680.9207262703364 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 1315.3147200129993, + 539.9117056365615 + ], + [ + 1239.6172876566543, + 516.4178071740273 + ], + [ + 1236.615167813728, + 650.6446782726703 + ], + [ + 1322.600980814271, + 680.9207262703364 + ], + [ + 1353.117448446506, + 489.2580119231674 + ], + [ + 1272.3746172110255, + 465.69976338525623 + ], + [ + 1273.8284988035505, + 601.1101054906246 + ], + [ + 1366.3808872838513, + 631.9283316331521 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 229.89416317810003, + "ymin": 21.57553081516994, + "xmax": 246.24111881079773, + "ymax": 39.10266963190088 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 245.0720600564373, + 39.10266963190088 + ], + [ + 246.24111881079773, + 38.50139476956588 + ], + [ + 235.18819117491586, + 35.851577073641295 + ], + [ + 234.01248317204585, + 36.4468291766338 + ], + [ + 241.0454941904826, + 24.770532538993336 + ], + [ + 242.2310849461224, + 24.179601225283363 + ], + [ + 231.0864916418651, + 21.57553081516994 + ], + [ + 229.89416317810003, + 22.160483120474908 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 229.89416608647394, + "ymin": 21.57553149434051, + "xmax": 246.2411217228236, + "ymax": 39.10267033161773 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 245.07206297023157, + 39.10267033161773 + ], + [ + 246.2411217228236, + 38.50139546769208 + ], + [ + 235.18819405778936, + 35.85157776477854 + ], + [ + 234.01248605663716, + 36.44682986933782 + ], + [ + 241.0454971286012, + 24.77053322668121 + ], + [ + 242.23108788244872, + 24.1796019113919 + ], + [ + 231.0864945484987, + 21.57553149434051 + ], + [ + 229.89416608647394, + 22.160483801200712 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 183.08329705936222, + "ymin": 11.936980585579647, + "xmax": 199.40716136224484, + "ymax": 29.171800470219978 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 198.2077373190229, + 29.171800470219978 + ], + [ + 199.40716136224484, + 28.59289119277497 + ], + [ + 188.79124052397032, + 26.041343715888786 + ], + [ + 187.58592706998212, + 26.61456232765596 + ], + [ + 193.78881889913777, + 15.012256902412958 + ], + [ + 195.0052072636792, + 14.443524055939406 + ], + [ + 184.3056429020429, + 11.936980585579647 + ], + [ + 183.08329705936222, + 12.500067329857472 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 183.79357290228808, + "ymin": 10.809767685743168, + "xmax": 200.07663233526637, + "ymax": 28.01030584167762 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 198.8806402174962, + 28.01030584167762 + ], + [ + 200.07663233526637, + 27.433984709937533 + ], + [ + 189.4810494867437, + 24.893810306153398 + ], + [ + 188.27918675942715, + 25.46447879838246 + ], + [ + 194.478430438884, + 13.87119257433136 + ], + [ + 195.69129555492515, + 13.30502770954979 + ], + [ + 185.01237646480627, + 10.809767685743168 + ], + [ + 183.79357290228808, + 11.37032455124313 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 228.65595428922552, + "ymin": 14.677218695912018, + "xmax": 243.21881653263767, + "ymax": 33.184060800637326 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 243.06390711598613, + 33.184060800637326 + ], + [ + 243.21881653263767, + 33.105432795879096 + ], + [ + 233.44478388138918, + 30.78297372450544 + ], + [ + 233.28909905704404, + 30.860904453334342 + ], + [ + 238.52169786009813, + 17.030611324043775 + ], + [ + 238.67907070186607, + 16.95354124345664 + ], + [ + 228.81411407204052, + 14.677218695912018 + ], + [ + 228.65595428922552, + 14.75359754861961 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 228.6560755838575, + "ymin": 14.677239366316599, + "xmax": 243.21893757122683, + "ymax": 33.18408208615483 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 243.06402816647642, + 33.18408208615483 + ], + [ + 243.21893757122683, + 33.10545407499353 + ], + [ + 233.44490398597122, + 30.782994814930134 + ], + [ + 233.28921917330297, + 30.860925550077013 + ], + [ + 238.52182010871775, + 17.030632187848937 + ], + [ + 238.67919293836758, + 16.953562100913814 + ], + [ + 228.81423535478558, + 14.677239366316599 + ], + [ + 228.6560755838575, + 14.7536182252868 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 229.89416317810003, + "ymin": 21.57553081516994, + "xmax": 246.24111881079773, + "ymax": 39.10266963190088 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 245.0720600564373, + 39.10266963190088 + ], + [ + 246.24111881079773, + 38.50139476956588 + ], + [ + 235.18819117491586, + 35.851577073641295 + ], + [ + 234.01248317204585, + 36.4468291766338 + ], + [ + 241.0454941904826, + 24.770532538993336 + ], + [ + 242.2310849461224, + 24.179601225283363 + ], + [ + 231.0864916418651, + 21.57553081516994 + ], + [ + 229.89416317810003, + 22.160483120474908 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 229.89416335374347, + "ymin": 21.575530757854494, + "xmax": 246.24111892534643, + "ymax": 39.102669543326726 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 245.07206022865176, + 39.102669543326726 + ], + [ + 246.24111892534643, + 38.5013947106508 + ], + [ + 235.18819129011666, + 35.851577015316025 + ], + [ + 234.01248334523893, + 36.44682908894737 + ], + [ + 241.04549436513446, + 24.77053245194196 + ], + [ + 242.2310850622896, + 24.179601167382486 + ], + [ + 231.0864917586931, + 21.575530757854494 + ], + [ + 229.89416335374347, + 22.160483034304775 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 229.89416566029286, + "ymin": 21.575531381145368, + "xmax": 246.2411212374859, + "ymax": 39.10267018547347 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 245.072062542004, + 39.10267018547347 + ], + [ + 246.2411212374859, + 38.501395351337635 + ], + [ + 235.18819357731059, + 35.85157764958899 + ], + [ + 234.0124856336031, + 36.44682972465836 + ], + [ + 241.04549669713202, + 24.770533083049315 + ], + [ + 242.23108739306093, + 24.179601797040448 + ], + [ + 231.08649406405988, + 21.575531381145368 + ], + [ + 229.89416566029286, + 22.160483659023043 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 184.81391572103706, + "ymin": 21.154212909642013, + "xmax": 201.42562206484513, + "ymax": 38.668605196159206 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 200.20653492476896, + 38.668605196159206 + ], + [ + 201.42562206484513, + 38.06831654398002 + ], + [ + 190.6064165944352, + 35.422832166394414 + ], + [ + 189.3812013382044, + 36.01711283382588 + ], + [ + 195.72625293184996, + 24.343933806055304 + ], + [ + 196.9628883102365, + 23.753981603265345 + ], + [ + 186.05675175340457, + 21.154212909642013 + ], + [ + 184.81391572103706, + 21.738200920159784 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 228.65581625214213, + "ymin": 14.677179698864109, + "xmax": 243.2186783431029, + "ymax": 33.184020643109704 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 243.06376891756287, + 33.184020643109704 + ], + [ + 243.2186783431029, + 33.105392650431156 + ], + [ + 233.44464705331768, + 30.782933935042195 + ], + [ + 233.28896222038674, + 30.8608646519516 + ], + [ + 238.52155843317996, + 17.030571962124043 + ], + [ + 238.6789312839336, + 16.95350189351268 + ], + [ + 228.8139760436311, + 14.677179698864109 + ], + [ + 228.65581625214213, + 14.753558539756455 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 229.89416608647394, + "ymin": 21.57553149434051, + "xmax": 246.2411217228236, + "ymax": 39.10267033161773 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 245.07206297023157, + 39.10267033161773 + ], + [ + 246.2411217228236, + 38.50139546769208 + ], + [ + 235.18819405778936, + 35.85157776477854 + ], + [ + 234.01248605663716, + 36.44682986933782 + ], + [ + 241.0454971286012, + 24.77053322668121 + ], + [ + 242.23108788244872, + 24.1796019113919 + ], + [ + 231.0864945484987, + 21.57553149434051 + ], + [ + 229.89416608647394, + 22.160483801200712 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 227.43407815748253, + "ymin": 14.080240219262691, + "xmax": 245.5382031103315, + "ymax": 34.204451942396986 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 245.35277618160023, + 34.204451942396986 + ], + [ + 245.5382031103315, + 34.10994026913869 + ], + [ + 232.50350955334352, + 31.010014576300023 + ], + [ + 232.3168418930179, + 31.103410498714766 + ], + [ + 240.59765079317128, + 17.208025914241773 + ], + [ + 240.78617993052598, + 17.115479619857638 + ], + [ + 227.62386746985152, + 14.080240219262691 + ], + [ + 227.43407815748253, + 14.171680920140432 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 228.65593103176684, + "ymin": 14.677184402406112, + "xmax": 243.21879245429608, + "ymax": 33.184025486620385 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 243.06388304448728, + 33.184025486620385 + ], + [ + 243.21879245429608, + 33.105397492484826 + ], + [ + 233.44476056730394, + 30.782938734159643 + ], + [ + 233.28907574993792, + 30.86086945250679 + ], + [ + 238.52167382351035, + 17.030576709674165 + ], + [ + 238.67904665818355, + 16.95350663961841 + ], + [ + 228.8140908073475, + 14.677184402406112 + ], + [ + 228.65593103176684, + 14.753563244723637 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 229.89416335374347, + "ymin": 21.575530757854494, + "xmax": 246.24111892534643, + "ymax": 39.102669543326726 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 245.07206022865176, + 39.102669543326726 + ], + [ + 246.24111892534643, + 38.5013947106508 + ], + [ + 235.18819129011666, + 35.851577015316025 + ], + [ + 234.01248334523893, + 36.44682908894737 + ], + [ + 241.04549436513446, + 24.77053245194196 + ], + [ + 242.2310850622896, + 24.179601167382486 + ], + [ + 231.0864917586931, + 21.575530757854494 + ], + [ + 229.89416335374347, + 22.160483034304775 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 227.4340258874335, + "ymin": 14.080265422269576, + "xmax": 245.53815200266087, + "ymax": 34.20447797191571 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 245.35272511305442, + 34.20447797191571 + ], + [ + 245.53815200266087, + 34.10996631859928 + ], + [ + 232.50345810364558, + 31.010040318262952 + ], + [ + 232.31679048281637, + 31.103436220916535 + ], + [ + 240.59759887013132, + 17.20805140252969 + ], + [ + 240.7861279679326, + 17.115505127561846 + ], + [ + 227.62381515987022, + 14.080265422269576 + ], + [ + 227.4340258874335, + 14.171706103908036 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 227.43418458840262, + "ymin": 14.080259626118334, + "xmax": 245.53830952384533, + "ymax": 34.2044719789356 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 245.35288266479023, + 34.2044719789356 + ], + [ + 245.53830952384533, + 34.10996032778189 + ], + [ + 232.50361484058783, + 31.01003439816344 + ], + [ + 232.3169472500025, + 31.103430298692444 + ], + [ + 240.59775837528161, + 17.208045534161442 + ], + [ + 240.7862874417708, + 17.115499261336765 + ], + [ + 227.6239738298463, + 14.080259626118334 + ], + [ + 227.43418458840262, + 14.171700305651882 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 229.89416213374773, + "ymin": 21.575530303638402, + "xmax": 246.24111769843097, + "ymax": 39.10266907536948 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 245.07205900137416, + 39.10266907536948 + ], + [ + 246.24111769843097, + 38.50139424375743 + ], + [ + 235.18819007908166, + 35.85157655309678 + ], + [ + 234.01248213386737, + 36.446828625680155 + ], + [ + 241.04549312894443, + 24.770531992029476 + ], + [ + 242.23108382646092, + 24.179600708526266 + ], + [ + 231.08649053903247, + 21.575530303638402 + ], + [ + 229.89416213374773, + 22.160482579048335 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 227.43413315311858, + "ymin": 14.080215463256536, + "xmax": 245.538256884289, + "ymax": 34.204426345712875 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 245.35282997432512, + 34.204426345712875 + ], + [ + 245.538256884289, + 34.10991468169158 + ], + [ + 232.50356364211268, + 31.00998929089667 + ], + [ + 232.31689600056012, + 31.10338520423761 + ], + [ + 240.59770546923704, + 17.208000849788505 + ], + [ + 240.78623458728356, + 17.11545456455832 + ], + [ + 227.62392244617502, + 14.080215463256536 + ], + [ + 227.43413315311858, + 14.171656155143978 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 173.87205381968982, + "ymin": 8.492692881088317, + "xmax": 190.139787531036, + "ymax": 25.6226993272835 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 188.93828658761595, + 25.6226993272835 + ], + [ + 190.139787531036, + 25.05168036827058 + ], + [ + 179.64139111467574, + 22.534805611910258 + ], + [ + 178.43418079753235, + 23.100249568893446 + ], + [ + 184.45782792665494, + 11.525743768177847 + ], + [ + 185.67626559498024, + 10.964839227343816 + ], + [ + 175.09626454447607, + 8.492692881088317 + ], + [ + 173.87205381968982, + 9.048067206233497 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 227.43407712617454, + "ymin": 14.080240051816133, + "xmax": 245.53820202079316, + "ymax": 34.204451739918625 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 245.35277514950104, + 34.204451739918625 + ], + [ + 245.53820202079316, + 34.109940096068385 + ], + [ + 232.50350847453728, + 31.010014405272727 + ], + [ + 232.3168408720391, + 31.103410298626954 + ], + [ + 240.59764975049666, + 17.20802571597352 + ], + [ + 240.78617882945161, + 17.11547945038666 + ], + [ + 227.62386637974924, + 14.080240051816133 + ], + [ + 227.43407712617454, + 14.171680724240957 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 230.09289965026312, + "ymin": 25.367939127601744, + "xmax": 246.4118975041602, + "ymax": 42.851596072104996 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 245.24494685277756, + 42.851596072104996 + ], + [ + 246.4118975041602, + 42.24704755241231 + ], + [ + 235.37609829343148, + 39.582775897312274 + ], + [ + 234.20251802579355, + 40.18127870026308 + ], + [ + 241.22680060567643, + 28.58132365340674 + ], + [ + 242.41022485562547, + 27.98699735022717 + ], + [ + 231.28304160580637, + 25.367939127601744 + ], + [ + 230.09289965026312, + 25.956261935830582 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 228.65595428922552, + "ymin": 14.677218695912018, + "xmax": 243.21881653263767, + "ymax": 33.184060800637326 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 243.06390711598613, + 33.184060800637326 + ], + [ + 243.21881653263767, + 33.105432795879096 + ], + [ + 233.44478388138918, + 30.78297372450544 + ], + [ + 233.28909905704404, + 30.860904453334342 + ], + [ + 238.52169786009813, + 17.030611324043775 + ], + [ + 238.67907070186607, + 16.95354124345664 + ], + [ + 228.81411407204052, + 14.677218695912018 + ], + [ + 228.65595428922552, + 14.75359754861961 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 166.93156414932798, + "ymin": 8.093186059528193, + "xmax": 183.228047240222, + "ymax": 25.21102298624163 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 182.019843080521, + 25.21102298624163 + ], + [ + 183.228047240222, + 24.640915760704274 + ], + [ + 172.77176762843175, + 22.12804760727812 + ], + [ + 171.55793789811645, + 22.692593145102762 + ], + [ + 177.4743338918131, + 11.121358178482808 + ], + [ + 178.69960033768217, + 10.561358101882718 + ], + [ + 168.16251745650686, + 8.093186059528193 + ], + [ + 166.93156414932798, + 8.647669258381029 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 228.656059555441, + "ymin": 14.677235289668715, + "xmax": 243.2189215380605, + "ymax": 33.18407788819343 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 243.06401213214212, + 33.18407788819343 + ], + [ + 243.2189215380605, + 33.10544987829502 + ], + [ + 233.4448881021816, + 30.782990655445303 + ], + [ + 233.2892032883792, + 30.86092138934606 + ], + [ + 238.52180392779456, + 17.030628073058267 + ], + [ + 238.67917675862788, + 16.95355798737512 + ], + [ + 228.8142193275179, + 14.677235289668715 + ], + [ + 228.656059555441, + 14.753614147403766 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4421894629193955789, + "instance_id": 52537, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -38.7340202331543, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1172.2504399425923, + "ymin": 31.550241937868748, + "xmax": 1190.8672001422244, + "ymax": 61.168196220361835 + }, + "corners_3d": [ + [ + -38.595436096191406, + 6.4043402671813965, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.404339790344238, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.784256458282471, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.784256935119629, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.4043402671813965, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.404339790344238, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.784256458282471, + 6.416468620300293 + ], + [ + -38.595436096191406, + 6.784256935119629, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1172.2504399425923, + 59.668203057086316 + ], + [ + 1180.795104944192, + 61.168196220361835 + ], + [ + 1181.4884654848784, + 57.023995037406905 + ], + [ + 1173.00605143562, + 55.54646172191417 + ], + [ + 1181.5145436946805, + 35.55911970154233 + ], + [ + 1190.2340895450839, + 37.018299239969224 + ], + [ + 1190.8672001422244, + 32.9871962864616 + ], + [ + 1182.2124812676989, + 31.550241937868748 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1157.1254911791314, + "ymin": 57.9797291602319, + "xmax": 1173.099230806209, + "ymax": 83.45451563289339 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1157.1254911791314, + 82.09420959980378 + ], + [ + 1164.5344723343703, + 83.45451563289339 + ], + [ + 1165.2420899759745, + 79.71405171643653 + ], + [ + 1157.879690067578, + 78.37142648552043 + ], + [ + 1164.8940448401336, + 61.62276078990277 + ], + [ + 1172.4333614361399, + 62.954103431973806 + ], + [ + 1173.099230806209, + 59.29350976712823 + ], + [ + 1165.6081519974841, + 57.9797291602319 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10755311745963632187, + "instance_id": 15270, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -38.73401641845703, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1165.856788851077, + "ymin": 64.97978474418755, + "xmax": 1185.5868155541411, + "ymax": 96.24069345172461 + }, + "corners_3d": [ + [ + -38.59543228149414, + 3.404341459274292, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.404340982437134, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.404341459274292, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.404340982437134, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 6.416468620300293 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1165.856788851077, + 94.54385752716581 + ], + [ + 1174.9270450567597, + 96.24069345172461 + ], + [ + 1175.7111569716294, + 91.55407941245767 + ], + [ + 1166.711005336936, + 89.88424713445244 + ], + [ + 1175.601585063137, + 69.52175993738268 + ], + [ + 1184.8692574577187, + 71.1760915998371 + ], + [ + 1185.5868155541411, + 66.60730653259674 + ], + [ + 1176.3923348940305, + 64.97978474418755 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12937619472667703847, + "instance_id": 10234, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -38.7340087890625, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1159.8736579505717, + "ymin": 96.29918398445659, + "xmax": 1180.6378833572212, + "ymax": 129.07142687166026 + }, + "corners_3d": [ + [ + -38.59542465209961, + 0.9043415784835815, + 5.545533180236816 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 5.545533180236816 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 5.545533180236816 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 5.545533180236816 + ], + [ + -38.59542465209961, + 0.9043415784835815, + 6.416468620300293 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 6.416468620300293 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 6.416468620300293 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1159.8736579505717, + 127.17936921948123 + ], + [ + 1169.433900732054, + 129.07142687166026 + ], + [ + 1170.307976604467, + 123.84711464782066 + ], + [ + 1160.825575097288, + 121.98683028186986 + ], + [ + 1170.056403859689, + 101.37104458590483 + ], + [ + 1179.836341766317, + 103.21954530625823 + ], + [ + 1180.6378833572212, + 98.1160417267281 + ], + [ + 1170.9394081801447, + 96.29918398445659 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1086.7725621148925, + "ymin": 368.4048254292657, + "xmax": 1110.651931400398, + "ymax": 405.3366997899135 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1098.0820265133798, + 405.3366997899135 + ], + [ + 1099.8580858241417, + 396.2469352863365 + ], + [ + 1088.6565659262833, + 393.0003607306545 + ], + [ + 1086.7725621148925, + 402.0232775158643 + ], + [ + 1108.9471361609171, + 380.6818149646316 + ], + [ + 1110.651931400398, + 371.6350026563302 + ], + [ + 1099.147988212921, + 368.4048254292657 + ], + [ + 1097.3292628450497, + 377.38354488251093 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 234.25389291135053, + "ymin": 23.37488982208913, + "xmax": 249.91630735595743, + "ymax": 71.77190259076997 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 249.10024597093064, + 71.77190259076997 + ], + [ + 249.91630735595743, + 71.32449191680848 + ], + [ + 248.6786693459831, + 71.00986370090419 + ], + [ + 247.86207939367756, + 71.45677235836592 + ], + [ + 235.52714258155083, + 24.096384345953652 + ], + [ + 236.38271043487242, + 23.67276996370856 + ], + [ + 235.11001364638435, + 23.37488982208913 + ], + [ + 234.25389291135053, + 23.798012405337488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 234.25389291135053, + "ymin": 23.37488982208913, + "xmax": 249.91630735595743, + "ymax": 71.77190259076997 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 249.10024597093064, + 71.77190259076997 + ], + [ + 249.91630735595743, + 71.32449191680848 + ], + [ + 248.6786693459831, + 71.00986370090419 + ], + [ + 247.86207939367756, + 71.45677235836592 + ], + [ + 235.52714258155083, + 24.096384345953652 + ], + [ + 236.38271043487242, + 23.67276996370856 + ], + [ + 235.11001364638435, + 23.37488982208913 + ], + [ + 234.25389291135053, + 23.798012405337488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 187.9383247985524, + "ymin": 12.53906268899101, + "xmax": 204.81249473382206, + "ymax": 60.28766631565736 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 203.97788614495784, + 60.28766631565736 + ], + [ + 204.81249473382206, + 59.85836869121539 + ], + [ + 203.62492852490846, + 59.55646955209147 + ], + [ + 202.7898514799963, + 59.9852953268346 + ], + [ + 189.15828912338037, + 13.230374824543617 + ], + [ + 190.03320526436977, + 12.824486545754723 + ], + [ + 188.8137281567029, + 12.53906268899101 + ], + [ + 187.9383247985524, + 12.94448970399867 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 234.25389291135053, + "ymin": 23.37488982208913, + "xmax": 249.91630735595743, + "ymax": 71.77190259076997 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 249.10024597093064, + 71.77190259076997 + ], + [ + 249.91630735595743, + 71.32449191680848 + ], + [ + 248.6786693459831, + 71.00986370090419 + ], + [ + 247.86207939367756, + 71.45677235836592 + ], + [ + 235.52714258155083, + 24.096384345953652 + ], + [ + 236.38271043487242, + 23.67276996370856 + ], + [ + 235.11001364638435, + 23.37488982208913 + ], + [ + 234.25389291135053, + 23.798012405337488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 177.9712341977991, + "ymin": 10.207089861788177, + "xmax": 195.09774350211086, + "ymax": 57.8141050773782 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 194.25933281134735, + 57.8141050773782 + ], + [ + 195.09774350211086, + 57.38865982906992 + ], + [ + 193.92082695929543, + 57.08946804391735 + ], + [ + 193.0819602796974, + 57.514447777867815 + ], + [ + 179.17988040664926, + 10.891990901529255 + ], + [ + 180.0587486587375, + 10.489867814303523 + ], + [ + 178.85057607987181, + 10.207089861788177 + ], + [ + 177.9712341977991, + 10.60875808683977 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 234.25389291135053, + "ymin": 23.37488982208913, + "xmax": 249.91630735595743, + "ymax": 71.77190259076997 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 249.10024597093064, + 71.77190259076997 + ], + [ + 249.91630735595743, + 71.32449191680848 + ], + [ + 248.6786693459831, + 71.00986370090419 + ], + [ + 247.86207939367756, + 71.45677235836592 + ], + [ + 235.52714258155083, + 24.096384345953652 + ], + [ + 236.38271043487242, + 23.67276996370856 + ], + [ + 235.11001364638435, + 23.37488982208913 + ], + [ + 234.25389291135053, + 23.798012405337488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1143.6183891344958, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 24.699466375743782 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1144.3668589400659, + 8.89498748466957 + ], + [ + 1143.6183891344958, + 11.797041804913476 + ], + [ + 1223.3988000898419, + 24.699466375743782 + ], + [ + 1223.692795261631, + 21.646573640849056 + ], + [ + 1200.9377504900945, + -152.16005717139672 + ], + [ + 1200.4713352055628, + -149.9739417527676 + ], + [ + 1291.1498210188424, + -140.21986549844598 + ], + [ + 1291.0291232755171, + -142.53294532438645 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 189.04746361905097, + "ymin": 22.95080428831477, + "xmax": 206.22259970608957, + "ymax": 71.3227336575643 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 205.3723650777398, + 71.3227336575643 + ], + [ + 206.22259970608957, + 70.87603859663972 + ], + [ + 205.01044145888756, + 70.56191316577366 + ], + [ + 204.15971815353493, + 71.00810741372322 + ], + [ + 190.2934057323235, + 23.67110526670308 + ], + [ + 191.1855396477573, + 23.24819191895847 + ], + [ + 189.94010626369425, + 22.95080428831477 + ], + [ + 189.04746361905097, + 23.373227056928954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 234.25389291135053, + "ymin": 23.37488982208913, + "xmax": 249.91630735595743, + "ymax": 71.77190259076997 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 249.10024597093064, + 71.77190259076997 + ], + [ + 249.91630735595743, + 71.32449191680848 + ], + [ + 248.6786693459831, + 71.00986370090419 + ], + [ + 247.86207939367756, + 71.45677235836592 + ], + [ + 235.52714258155083, + 24.096384345953652 + ], + [ + 236.38271043487242, + 23.67276996370856 + ], + [ + 235.11001364638435, + 23.37488982208913 + ], + [ + 234.25389291135053, + 23.798012405337488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 234.25389291135053, + "ymin": 23.37488982208913, + "xmax": 249.91630735595743, + "ymax": 71.77190259076997 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 249.10024597093064, + 71.77190259076997 + ], + [ + 249.91630735595743, + 71.32449191680848 + ], + [ + 248.6786693459831, + 71.00986370090419 + ], + [ + 247.86207939367756, + 71.45677235836592 + ], + [ + 235.52714258155083, + 24.096384345953652 + ], + [ + 236.38271043487242, + 23.67276996370856 + ], + [ + 235.11001364638435, + 23.37488982208913 + ], + [ + 234.25389291135053, + 23.798012405337488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 736.5712450650221, + "ymin": 0.0, + "xmax": 792.005491800171, + "ymax": 95.40963268016202 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 775.0517276449721, + 62.72535394626459 + ], + [ + 766.4455687217744, + 60.985252794987844 + ], + [ + 736.5712450650221, + 93.45783513587531 + ], + [ + 745.5867075089897, + 95.40963268016202 + ], + [ + 792.005491800171, + -110.77474082466995 + ], + [ + 782.2626861579881, + -112.11747035356854 + ], + [ + 749.4589903143468, + -86.88409518835789 + ], + [ + 759.7310881560354, + -85.35546097098666 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7806990106475075983, + "instance_id": 36761, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 192.40620259686693, + "ymin": 336.65657639982555, + "xmax": 422.4234068072789, + "ymax": 554.4466960934127 + }, + "corners_3d": [ + [ + -26.247940063476562, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.247940063476562, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.198223114013672 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 422.4234068072789, + 344.7960706848037 + ], + [ + 409.7220141060129, + 340.34114313816497 + ], + [ + 194.2658994149878, + 547.4810124765368 + ], + [ + 208.7116270047989, + 554.4466960934127 + ], + [ + 421.69364834033854, + 341.1066005423836 + ], + [ + 408.9537924861652, + 336.65657639982555 + ], + [ + 192.40620259686693, + 543.7371786045551 + ], + [ + 206.90006341590833, + 550.7068678374771 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 234.25389291135053, + "ymin": 23.37488982208913, + "xmax": 249.91630735595743, + "ymax": 71.77190259076997 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 249.10024597093064, + 71.77190259076997 + ], + [ + 249.91630735595743, + 71.32449191680848 + ], + [ + 248.6786693459831, + 71.00986370090419 + ], + [ + 247.86207939367756, + 71.45677235836592 + ], + [ + 235.52714258155083, + 24.096384345953652 + ], + [ + 236.38271043487242, + 23.67276996370856 + ], + [ + 235.11001364638435, + 23.37488982208913 + ], + [ + 234.25389291135053, + 23.798012405337488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 234.25389291135053, + "ymin": 23.37488982208913, + "xmax": 249.91630735595743, + "ymax": 71.77190259076997 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 249.10024597093064, + 71.77190259076997 + ], + [ + 249.91630735595743, + 71.32449191680848 + ], + [ + 248.6786693459831, + 71.00986370090419 + ], + [ + 247.86207939367756, + 71.45677235836592 + ], + [ + 235.52714258155083, + 24.096384345953652 + ], + [ + 236.38271043487242, + 23.67276996370856 + ], + [ + 235.11001364638435, + 23.37488982208913 + ], + [ + 234.25389291135053, + 23.798012405337488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 234.25389291135053, + "ymin": 23.37488982208913, + "xmax": 249.91630735595743, + "ymax": 71.77190259076997 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 249.10024597093064, + 71.77190259076997 + ], + [ + 249.91630735595743, + 71.32449191680848 + ], + [ + 248.6786693459831, + 71.00986370090419 + ], + [ + 247.86207939367756, + 71.45677235836592 + ], + [ + 235.52714258155083, + 24.096384345953652 + ], + [ + 236.38271043487242, + 23.67276996370856 + ], + [ + 235.11001364638435, + 23.37488982208913 + ], + [ + 234.25389291135053, + 23.798012405337488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 235.22860387196818, + "ymin": 26.78674338738017, + "xmax": 250.82182429384613, + "ymax": 74.96172085047829 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 250.00837942445753, + 74.96172085047829 + ], + [ + 250.82182429384613, + 74.51281218374862 + ], + [ + 249.58655087619036, + 74.19712955346483 + ], + [ + 248.7725790820782, + 74.64553569161006 + ], + [ + 236.499358246305, + 27.511291337611055 + ], + [ + 237.35207141961627, + 27.085884776167063 + ], + [ + 236.0818682010369, + 26.78674338738017 + ], + [ + 235.22860387196818, + 27.211657254780846 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1050.384418569742, + "ymin": 207.82612071245907, + "xmax": 1280.0, + "ymax": 651.0821424673202 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1052.9375238957534, + 465.857798681056 + ], + [ + 1050.384418569742, + 476.2719609331301 + ], + [ + 1584.2586694838537, + 651.0821424673202 + ], + [ + 1580.482735614902, + 636.5852681437875 + ], + [ + 1161.7796924764245, + 207.82612071245907 + ], + [ + 1160.047777148282, + 217.45898284262725 + ], + [ + 1897.3997643298426, + 387.86200748147314 + ], + [ + 1887.1152880811435, + 373.07472587412536 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 234.25389291135053, + "ymin": 23.37488982208913, + "xmax": 249.91630735595743, + "ymax": 71.77190259076997 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 249.10024597093064, + 71.77190259076997 + ], + [ + 249.91630735595743, + 71.32449191680848 + ], + [ + 248.6786693459831, + 71.00986370090419 + ], + [ + 247.86207939367756, + 71.45677235836592 + ], + [ + 235.52714258155083, + 24.096384345953652 + ], + [ + 236.38271043487242, + 23.67276996370856 + ], + [ + 235.11001364638435, + 23.37488982208913 + ], + [ + 234.25389291135053, + 23.798012405337488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 234.25389291135053, + "ymin": 23.37488982208913, + "xmax": 249.91630735595743, + "ymax": 71.77190259076997 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 249.10024597093064, + 71.77190259076997 + ], + [ + 249.91630735595743, + 71.32449191680848 + ], + [ + 248.6786693459831, + 71.00986370090419 + ], + [ + 247.86207939367756, + 71.45677235836592 + ], + [ + 235.52714258155083, + 24.096384345953652 + ], + [ + 236.38271043487242, + 23.67276996370856 + ], + [ + 235.11001364638435, + 23.37488982208913 + ], + [ + 234.25389291135053, + 23.798012405337488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 274.8164475981074, + "ymin": 0.0, + "xmax": 362.736631964462, + "ymax": 2.710749295973187 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 362.736631964462, + -20.6421400163548 + ], + [ + 356.5296611326203, + -21.897142006204092 + ], + [ + 311.01873412216037, + 1.3278113289857174 + ], + [ + 317.40660573758, + 2.710749295973187 + ], + [ + 333.7339734180377, + -173.9329389676817 + ], + [ + 326.9653711218325, + -174.86577008505037 + ], + [ + 274.8164475981074, + -157.51785960251516 + ], + [ + 281.7962126539366, + -156.47917195894536 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 234.25389291135053, + "ymin": 23.37488982208913, + "xmax": 249.91630735595743, + "ymax": 71.77190259076997 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 249.10024597093064, + 71.77190259076997 + ], + [ + 249.91630735595743, + 71.32449191680848 + ], + [ + 248.6786693459831, + 71.00986370090419 + ], + [ + 247.86207939367756, + 71.45677235836592 + ], + [ + 235.52714258155083, + 24.096384345953652 + ], + [ + 236.38271043487242, + 23.67276996370856 + ], + [ + 235.11001364638435, + 23.37488982208913 + ], + [ + 234.25389291135053, + 23.798012405337488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 234.25389291135053, + "ymin": 23.37488982208913, + "xmax": 249.91630735595743, + "ymax": 71.77190259076997 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 249.10024597093064, + 71.77190259076997 + ], + [ + 249.91630735595743, + 71.32449191680848 + ], + [ + 248.6786693459831, + 71.00986370090419 + ], + [ + 247.86207939367756, + 71.45677235836592 + ], + [ + 235.52714258155083, + 24.096384345953652 + ], + [ + 236.38271043487242, + 23.67276996370856 + ], + [ + 235.11001364638435, + 23.37488982208913 + ], + [ + 234.25389291135053, + 23.798012405337488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 234.25389291135053, + "ymin": 23.37488982208913, + "xmax": 249.91630735595743, + "ymax": 71.77190259076997 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 249.10024597093064, + 71.77190259076997 + ], + [ + 249.91630735595743, + 71.32449191680848 + ], + [ + 248.6786693459831, + 71.00986370090419 + ], + [ + 247.86207939367756, + 71.45677235836592 + ], + [ + 235.52714258155083, + 24.096384345953652 + ], + [ + 236.38271043487242, + 23.67276996370856 + ], + [ + 235.11001364638435, + 23.37488982208913 + ], + [ + 234.25389291135053, + 23.798012405337488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15102510933830370440, + "instance_id": 34948, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 192.63997599253486, + "ymin": 336.7881325737996, + "xmax": 422.25537193251546, + "ymax": 554.2525503923613 + }, + "corners_3d": [ + [ + -26.246049880981445, + -20.196584701538086, + 8.10662841796875 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.10662841796875 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.10662841796875 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.10662841796875 + ], + [ + -26.246049880981445, + -20.196584701538086, + 8.197628021240234 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.197628021240234 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.197628021240234 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 422.25537193251546, + 344.8244652611501 + ], + [ + 409.7151895942272, + 340.4256997232654 + ], + [ + 194.47483986248318, + 547.3775805405804 + ], + [ + 208.73553206066424, + 554.2525503923613 + ], + [ + 421.53435975801494, + 341.182121197165 + ], + [ + 408.9566867074958, + 336.7881325737996 + ], + [ + 192.63997599253486, + 543.6815806220304 + ], + [ + 206.94757504790022, + 550.5604465297586 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 187.23538073419905, + "ymin": 13.673519432927037, + "xmax": 204.16974489567764, + "ymax": 61.490740929920435 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 203.33280675743117, + 61.490740929920435 + ], + [ + 204.16974489567764, + 61.059563311235536 + ], + [ + 202.97993766066259, + 60.75634298849445 + ], + [ + 202.14252957179224, + 61.18704565545249 + ], + [ + 188.45770449813915, + 14.367961276044298 + ], + [ + 189.33516551657323, + 13.960234925076918 + ], + [ + 188.1133305295362, + 13.673519432927037 + ], + [ + 187.23538073419905, + 14.080781384218028 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 234.25389291135053, + "ymin": 23.37488982208913, + "xmax": 249.91630735595743, + "ymax": 71.77190259076997 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 249.10024597093064, + 71.77190259076997 + ], + [ + 249.91630735595743, + 71.32449191680848 + ], + [ + 248.6786693459831, + 71.00986370090419 + ], + [ + 247.86207939367756, + 71.45677235836592 + ], + [ + 235.52714258155083, + 24.096384345953652 + ], + [ + 236.38271043487242, + 23.67276996370856 + ], + [ + 235.11001364638435, + 23.37488982208913 + ], + [ + 234.25389291135053, + 23.798012405337488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 171.00917102643137, + "ymin": 9.805057794362767, + "xmax": 188.35141090743622, + "ymax": 57.387589950419056 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 187.50840982235377, + 57.387589950419056 + ], + [ + 188.35141090743622, + 56.962807183052064 + ], + [ + 187.1790977812489, + 56.66408099583566 + ], + [ + 186.33564714953997, + 57.08839933545215 + ], + [ + 172.2129042801759, + 10.488856611176914 + ], + [ + 173.09665887271427, + 10.087380838920865 + ], + [ + 171.8933921646494, + 9.805057794362767 + ], + [ + 171.00917102643137, + 10.206079802025101 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 178.43202081382952, + "ymin": 323.7957781774078, + "xmax": 476.4209372288029, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 476.4209372288029, + 588.1837445277542 + ], + [ + 459.9848507574876, + 580.902515257774 + ], + [ + 304.5362250150895, + 785.5902712833813 + ], + [ + 322.8794628044069, + 795.9357547316699 + ], + [ + 427.3075907594109, + 330.98922512880324 + ], + [ + 406.4105211466269, + 323.7957781774078 + ], + [ + 178.43202081382952, + 537.784050006599 + ], + [ + 202.33586340527978, + 549.287318751898 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 234.25389291135053, + "ymin": 23.37488982208913, + "xmax": 249.91630735595743, + "ymax": 71.77190259076997 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 249.10024597093064, + 71.77190259076997 + ], + [ + 249.91630735595743, + 71.32449191680848 + ], + [ + 248.6786693459831, + 71.00986370090419 + ], + [ + 247.86207939367756, + 71.45677235836592 + ], + [ + 235.52714258155083, + 24.096384345953652 + ], + [ + 236.38271043487242, + 23.67276996370856 + ], + [ + 235.11001364638435, + 23.37488982208913 + ], + [ + 234.25389291135053, + 23.798012405337488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 234.25389291135053, + "ymin": 23.37488982208913, + "xmax": 249.91630735595743, + "ymax": 71.77190259076997 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 249.10024597093064, + 71.77190259076997 + ], + [ + 249.91630735595743, + 71.32449191680848 + ], + [ + 248.6786693459831, + 71.00986370090419 + ], + [ + 247.86207939367756, + 71.45677235836592 + ], + [ + 235.52714258155083, + 24.096384345953652 + ], + [ + 236.38271043487242, + 23.67276996370856 + ], + [ + 235.11001364638435, + 23.37488982208913 + ], + [ + 234.25389291135053, + 23.798012405337488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 234.25389291135053, + "ymin": 23.37488982208913, + "xmax": 249.91630735595743, + "ymax": 71.77190259076997 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 249.10024597093064, + 71.77190259076997 + ], + [ + 249.91630735595743, + 71.32449191680848 + ], + [ + 248.6786693459831, + 71.00986370090419 + ], + [ + 247.86207939367756, + 71.45677235836592 + ], + [ + 235.52714258155083, + 24.096384345953652 + ], + [ + 236.38271043487242, + 23.67276996370856 + ], + [ + 235.11001364638435, + 23.37488982208913 + ], + [ + 234.25389291135053, + 23.798012405337488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 22.258523975650633, + "ymax": 77.62721766809375 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -208.70492880987274, + 75.80025345225113 + ], + [ + -203.24178736995157, + 77.62721766809375 + ], + [ + 22.258523975650633, + -8.187407720432248 + ], + [ + 17.002926412368538, + -9.503992821093107 + ], + [ + -328.21711773377365, + -116.97935270426939 + ], + [ + -322.42263018207893, + -115.60519815520865 + ], + [ + -50.28952527609022, + -178.82823305075124 + ], + [ + -55.9387994513952, + -179.77760042168575 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 234.25389291135053, + "ymin": 23.37488982208913, + "xmax": 249.91630735595743, + "ymax": 71.77190259076997 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 249.10024597093064, + 71.77190259076997 + ], + [ + 249.91630735595743, + 71.32449191680848 + ], + [ + 248.6786693459831, + 71.00986370090419 + ], + [ + 247.86207939367756, + 71.45677235836592 + ], + [ + 235.52714258155083, + 24.096384345953652 + ], + [ + 236.38271043487242, + 23.67276996370856 + ], + [ + 235.11001364638435, + 23.37488982208913 + ], + [ + 234.25389291135053, + 23.798012405337488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1087.861055986451, + "ymin": 0.0, + "xmax": 1216.5131856463345, + "ymax": 289.6769464193861 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1137.7266809432376, + 136.37296119523745 + ], + [ + 1126.9343644246396, + 134.14865412954398 + ], + [ + 1087.861055986451, + 286.2326279824501 + ], + [ + 1101.1231905592713, + 289.6769464193861 + ], + [ + 1216.5131856463345, + -70.742619350952 + ], + [ + 1203.695437490163, + -72.46553080842801 + ], + [ + 1179.1887045919239, + 49.976586996944036 + ], + [ + 1195.6583189740077, + 52.86305959718521 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00158/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00158/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..17fe2615f1390d951e217ed782a00adc5418548b --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00158/meta.json @@ -0,0 +1,7895 @@ +{ + "frame_id": 158, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 79.0, + "sim_timestamp": 14969.049005137058 + }, + "drone_pose": { + "x": -35.633899050545224, + "y": -29.80933895107545, + "z": 20.0, + "pitch": -41.48054880107801, + "yaw": 63.660893099108684, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.3323986530303955, + -0.6714035272598267, + 0.662365734577179, + 18.61144256591797 + ], + [ + 0.8961838483810425, + 0.4436829090118408, + 0.0, + -18.70862579345703 + ], + [ + -0.2938804030418396, + 0.5936014652252197, + 0.7491806745529175, + -43.15058135986328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -35.39653745518976, + "y": -29.310898543600956, + "z": 20.0 + }, + "t1_image_uv": [ + 659.5687228726347, + -488.7554196325175 + ], + "t1_depth": 0.41355334182148484 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -26.16718292236328, + "y": -10.687763214111328, + "z": 1.1358207952976227 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 28.480004037625427, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 716, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -26.16718292236328, + "y": -10.687763214111328, + "z": 1.135820746421814 + }, + "extent": { + "x": 0.4426538050174713, + "y": 0.5502740144729614, + "z": 0.891625165939331 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 617.3273061700063, + "ymin": 324.0063237540508, + "xmax": 662.9710221519438, + "ymax": 395.6303295427879 + }, + "corners_3d": [ + [ + -26.091083526611328, + -11.389869689941406, + 0.2441955804824829 + ], + [ + -26.86928939819336, + -10.611663818359375, + 0.2441955804824829 + ], + [ + -26.243282318115234, + -9.98565673828125, + 0.2441955804824829 + ], + [ + -25.465076446533203, + -10.763862609863281, + 0.2441955804824829 + ], + [ + -26.091083526611328, + -11.389869689941406, + 2.0274457931518555 + ], + [ + -26.86928939819336, + -10.611663818359375, + 2.0274457931518555 + ], + [ + -26.243282318115234, + -9.98565673828125, + 2.0274457931518555 + ], + [ + -25.465076446533203, + -10.763862609863281, + 2.0274457931518555 + ] + ], + "corners_2d": [ + [ + 627.2653333497888, + 395.6303295427879 + ], + [ + 662.0317996606441, + 387.55388588833694 + ], + [ + 652.3497350335998, + 368.89794262691294 + ], + [ + 618.2427775364666, + 376.63264674227713 + ], + [ + 626.7172317481819, + 350.4298157580065 + ], + [ + 662.9710221519438, + 342.4394508595829 + ], + [ + 652.8645326753438, + 324.0063237540508 + ], + [ + 617.3273061700063, + 331.64459074029133 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 158, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 74, + "semantic_pixel_counts": { + "1": 281217, + "2": 158776, + "3": 10752, + "5": 4217, + "6": 14246, + "7": 930, + "10": 327, + "12": 2545, + "14": 27254, + "15": 19089, + "20": 2255, + "24": 30443, + "25": 369549 + }, + "instance_pixel_counts": { + "108": 66, + "6508": 2321, + "7274": 408, + "7576": 532, + "7784": 16068, + "7786": 4734, + "7825": 560, + "8088": 1856, + "8296": 41795, + "8298": 641, + "8600": 1972, + "8780": 4217, + "8808": 7445, + "9322": 2859, + "9624": 6404, + "9832": 91325, + "10316": 1534, + "10624": 576, + "10828": 640, + "11136": 2156, + "12652": 1143, + "21332": 12540, + "21602": 45886, + "21844": 17446, + "24656": 128, + "24946": 5821, + "25168": 282, + "25856": 2830, + "26112": 6031, + "26218": 34, + "27988": 9906, + "29327": 3054, + "29800": 88, + "29839": 10381, + "30351": 13857, + "31375": 37477, + "31812": 1338, + "31848": 15051, + "32324": 1570, + "32360": 28350, + "33384": 8132, + "33906": 3181, + "34408": 72963, + "34418": 1750, + "35399": 2175, + "39239": 367374, + "40855": 888, + "41367": 3784, + "41879": 3478, + "42903": 8130, + "46184": 876, + "46672": 5905, + "46696": 3402, + "46917": 354, + "47208": 431, + "48232": 4272, + "50756": 913, + "53926": 489, + "54950": 734, + "56320": 716, + "56576": 575, + "56832": 487, + "56975": 318, + "57088": 630, + "57344": 62, + "57487": 2888, + "57600": 75, + "57999": 3760, + "58951": 81, + "59023": 14111, + "60160": 663, + "60833": 566, + "60928": 4145, + "61440": 1643 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 716, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -26.16718292236328, + "y": -10.687763214111328, + "z": 1.135820746421814 + }, + "extent": { + "x": 0.5244250297546387, + "y": 0.4745684564113617, + "z": 0.8748496174812317 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 618.9509291242779, + "ymin": 323.30322653567976, + "xmax": 661.4427198597782, + "ymax": 396.45667291374923 + }, + "corners_3d": [ + [ + -26.202436447143555, + -11.394158363342285, + 0.2609711289405823 + ], + [ + -26.873577117919922, + -10.723016738891602, + 0.2609711289405823 + ], + [ + -26.131929397583008, + -9.981368064880371, + 0.2609711289405823 + ], + [ + -25.46078872680664, + -10.652509689331055, + 0.2609711289405823 + ], + [ + -26.202436447143555, + -11.394158363342285, + 2.0106704235076904 + ], + [ + -26.873577117919922, + -10.723016738891602, + 2.0106704235076904 + ], + [ + -26.131929397583008, + -9.981368064880371, + 2.0106704235076904 + ], + [ + -25.46078872680664, + -10.652509689331055, + 2.0106704235076904 + ] + ], + "corners_2d": [ + [ + 630.5314651532071, + 396.45667291374923 + ], + [ + 660.5798732867981, + 389.4637223574315 + ], + [ + 649.1570383360975, + 367.3349046026877 + ], + [ + 619.7830006088763, + 373.97855406370013 + ], + [ + 630.1311858680783, + 352.0949548993581 + ], + [ + 661.4427198597782, + 345.17395222863126 + ], + [ + 649.5308940639, + 323.30322653567976 + ], + [ + 618.9509291242779, + 329.8645394230543 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 575, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -22.041194915771484, + "y": -7.690057754516602, + "z": 1.0941411256790161 + }, + "extent": { + "x": 0.448760986328125, + "y": 0.4534582495689392, + "z": 0.9028712511062622 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 548.7203648774215, + "ymin": 237.68697285613808, + "xmax": 588.1447720747499, + "ymax": 303.7832383138127 + }, + "corners_3d": [ + [ + -22.17058563232422, + -8.314772605895996, + 0.1912698745727539 + ], + [ + -22.664527893066406, + -7.554168701171875, + 0.1912698745727539 + ], + [ + -21.91180419921875, + -7.065342903137207, + 0.1912698745727539 + ], + [ + -21.417861938476562, + -7.825946807861328, + 0.1912698745727539 + ], + [ + -22.17058563232422, + -8.314772605895996, + 1.9970123767852783 + ], + [ + -22.664527893066406, + -7.554168701171875, + 1.9970123767852783 + ], + [ + -21.91180419921875, + -7.065342903137207, + 1.9970123767852783 + ], + [ + -21.417861938476562, + -7.825946807861328, + 1.9970123767852783 + ] + ], + "corners_2d": [ + [ + 564.1998555017511, + 303.7832383138127 + ], + [ + 588.1447720747499, + 295.3009582417337 + ], + [ + 575.7209078481163, + 281.5385773188657 + ], + [ + 552.0687350785047, + 289.7241409483202 + ], + [ + 561.2592809812664, + 259.4791088763901 + ], + [ + 586.1554675969762, + 251.16378899299607 + ], + [ + 573.2999048616159, + 237.68697285613808 + ], + [ + 548.7203648774215, + 245.70050217535052 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 487, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -28.423004150390625, + "y": -3.7450506687164307, + "z": 0.9418559670448303 + }, + "extent": { + "x": 0.43543577194213867, + "y": 0.4447735548019409, + "z": 0.9402567744255066 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 770.193035523453, + "ymin": 229.2869387682429, + "xmax": 812.0354976942592, + "ymax": 294.737762664947 + }, + "corners_3d": [ + [ + -28.481496810913086, + -4.3647332191467285, + 0.0015991926193237305 + ], + [ + -29.041305541992188, + -3.67342472076416, + 0.0015991926193237305 + ], + [ + -28.364511489868164, + -3.125368118286133, + 0.0015991926193237305 + ], + [ + -27.804702758789062, + -3.816676616668701, + 0.0015991926193237305 + ], + [ + -28.481496810913086, + -4.3647332191467285, + 1.882112741470337 + ], + [ + -29.041305541992188, + -3.67342472076416, + 1.882112741470337 + ], + [ + -28.364511489868164, + -3.125368118286133, + 1.882112741470337 + ], + [ + -27.804702758789062, + -3.816676616668701, + 1.882112741470337 + ] + ], + "corners_2d": [ + [ + 783.2185495533914, + 294.737762664947 + ], + [ + 805.5391235010878, + 288.1329005977834 + ], + [ + 792.2273345327555, + 274.41444640814865 + ], + [ + 770.193035523453, + 280.78715121946766 + ], + [ + 788.8886558803888, + 249.1655373754525 + ], + [ + 812.0354976942592, + 242.70072698062353 + ], + [ + 798.0917508716634, + 229.2869387682429 + ], + [ + 775.2521099757064, + 235.5158042071842 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 630, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -35.66718292236328, + "y": -10.687763214111328, + "z": 1.145405650138855 + }, + "extent": { + "x": 0.34377196431159973, + "y": 0.3323895335197449, + "z": 0.8873428106307983 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 937.8862273204234, + "ymin": 430.2694617194365, + "xmax": 989.3398424914944, + "ymax": 500.1964280199991 + }, + "corners_3d": [ + [ + -35.67523193359375, + -11.165881156921387, + 0.25806283950805664 + ], + [ + -36.145301818847656, + -10.69581127166748, + 0.25806283950805664 + ], + [ + -35.65913391113281, + -10.20964527130127, + 0.25806283950805664 + ], + [ + -35.189064025878906, + -10.679715156555176, + 0.25806283950805664 + ], + [ + -35.67523193359375, + -11.165881156921387, + 2.0327484607696533 + ], + [ + -36.145301818847656, + -10.69581127166748, + 2.0327484607696533 + ], + [ + -35.65913391113281, + -10.20964527130127, + 2.0327484607696533 + ], + [ + -35.189064025878906, + -10.679715156555176, + 2.0327484607696533 + ] + ], + "corners_2d": [ + [ + 951.8254977867418, + 500.1964280199991 + ], + [ + 973.385792026012, + 494.0736708458161 + ], + [ + 959.1300404620671, + 475.7860273606351 + ], + [ + 937.8862273204234, + 481.6823668408621 + ], + [ + 966.8452280615477, + 454.64823268577413 + ], + [ + 989.3398424914944, + 448.5279641827433 + ], + [ + 974.1043881534661, + 430.2694617194365 + ], + [ + 951.9532453964232, + 436.1528557984547 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 62, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -29.782682418823242, + "y": -21.81512451171875, + "z": 1.1399906873703003 + }, + "extent": { + "x": 0.42710691690444946, + "y": 0.4267236292362213, + "z": 0.9338945746421814 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 530.9537399690325, + "ymin": 685.1148512293297, + "xmax": 583.5392828701748, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -29.7198429107666, + -22.41559410095215, + 0.2060961127281189 + ], + [ + -30.38309669494629, + -21.878503799438477, + 0.2060961127281189 + ], + [ + -29.845521926879883, + -21.21465492248535, + 0.2060961127281189 + ], + [ + -29.182268142700195, + -21.751745223999023, + 0.2060961127281189 + ], + [ + -29.7198429107666, + -22.41559410095215, + 2.073885202407837 + ], + [ + -30.38309669494629, + -21.878503799438477, + 2.073885202407837 + ], + [ + -29.845521926879883, + -21.21465492248535, + 2.073885202407837 + ], + [ + -29.182268142700195, + -21.751745223999023, + 2.073885202407837 + ] + ], + "corners_2d": [ + [ + 543.2565047354161, + 776.857125640571 + ], + [ + 583.5392828701748, + 768.0685181410377 + ], + [ + 576.5947143553781, + 730.3493616084451 + ], + [ + 537.4819866294229, + 738.6166315534041 + ], + [ + 536.8914053508229, + 732.8433333723033 + ], + [ + 579.852011491237, + 723.8063684405995 + ], + [ + 572.5860434714651, + 685.1148512293297 + ], + [ + 530.9537399690325, + 693.5822844727363 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 75, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -14.921846389770508, + "y": -18.85797882080078, + "z": 1.1242533922195435 + }, + "extent": { + "x": 0.3449530005455017, + "y": 0.4945794641971588, + "z": 0.9448564648628235 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 113.63317735370015, + "ymin": 381.1133804624926, + "xmax": 180.16611469561565, + "ymax": 449.6127385486074 + }, + "corners_3d": [ + [ + -14.694931983947754, + -19.416648864746094, + 0.17939692735671997 + ], + [ + -15.524510383605957, + -18.877912521362305, + 0.17939692735671997 + ], + [ + -15.148760795593262, + -18.29930877685547, + 0.17939692735671997 + ], + [ + -14.319182395935059, + -18.838045120239258, + 0.17939692735671997 + ], + [ + -14.694931983947754, + -19.416648864746094, + 2.0691099166870117 + ], + [ + -15.524510383605957, + -18.877912521362305, + 2.0691099166870117 + ], + [ + -15.148760795593262, + -18.29930877685547, + 2.0691099166870117 + ], + [ + -14.319182395935059, + -18.838045120239258, + 2.0691099166870117 + ] + ], + "corners_2d": [ + [ + 137.97504670520777, + 449.6127385486074 + ], + [ + 174.30124473728176, + 446.6420452793968 + ], + [ + 180.16611469561565, + 429.2843885367943 + ], + [ + 144.53438221870232, + 432.14568507091013 + ], + [ + 113.63317735370015, + 401.309018272615 + ], + [ + 151.79567735869654, + 398.35507233632967 + ], + [ + 158.37588045262714, + 381.1133804624926 + ], + [ + 120.97900422467774, + 383.9534339113424 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 235, + "instance_id": 60160, + "pixel_count": 663, + "type_id": "vehicle.lincoln.mkz_2020", + "bbox_3d": { + "center_world": { + "x": 16.361892700195312, + "y": -0.9905077219009399, + "z": 0.7436257004737854 + }, + "extent": { + "x": 2.44619083404541, + "y": 0.9183566570281982, + "z": 0.7451388239860535 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 36.996671193935185, + "ymax": 40.19555711389552 + }, + "corners_3d": [ + [ + 18.810312271118164, + -0.0781099796295166, + -0.0015131211839616299 + ], + [ + 18.80583953857422, + -1.9148178100585938, + -0.0015131211839616299 + ], + [ + 13.913473129272461, + -1.9029054641723633, + -0.0015131211839616299 + ], + [ + 13.917945861816406, + -0.06619763374328613, + -0.0015131211839616299 + ], + [ + 18.810312271118164, + -0.0781099796295166, + 1.4887645244598389 + ], + [ + 18.80583953857422, + -1.9148178100585938, + 1.4887645244598389 + ], + [ + 13.913473129272461, + -1.9029054641723633, + 1.4887645244598389 + ], + [ + 13.917945861816406, + -0.06619763374328613, + 1.4887645244598389 + ] + ], + "corners_2d": [ + [ + -26.120531902233097, + 10.78382809939751 + ], + [ + -58.092234505916736, + 23.10118040729202 + ], + [ + 5.565499282237511, + 40.19555711389552 + ], + [ + 36.996671193935185, + 27.052308924320812 + ], + [ + -39.18756068428854, + -17.366822801886087 + ], + [ + -72.13089410313717, + -5.5098495392537075 + ], + [ + -7.627955087715009, + 10.96462756685122 + ], + [ + 24.774749242369467, + -1.703968824464198 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 4145, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -19.1251277923584, + "y": 6.095887660980225, + "z": 0.8948460817337036 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 608.4748030800009, + "ymin": 52.71731736975215, + "xmax": 723.9927323189605, + "ymax": 130.28150579209563 + }, + "corners_3d": [ + [ + -21.404022216796875, + 5.052896022796631, + 0.011262890882790089 + ], + [ + -21.39891815185547, + 7.149961948394775, + 0.011262890882790089 + ], + [ + -16.846233367919922, + 7.138879776000977, + 0.011262890882790089 + ], + [ + -16.851337432861328, + 5.041813850402832, + 0.011262890882790089 + ], + [ + -21.404022216796875, + 5.052896022796631, + 1.7784292697906494 + ], + [ + -21.39891815185547, + 7.149961948394775, + 1.7784292697906494 + ], + [ + -16.846233367919922, + 7.138879776000977, + 1.7784292697906494 + ], + [ + -16.851337432861328, + 5.041813850402832, + 1.7784292697906494 + ] + ], + "corners_2d": [ + [ + 702.9968420090149, + 130.28150579209563 + ], + [ + 721.6949239275093, + 109.88611335798484 + ], + [ + 630.3786329755784, + 89.53314816864975 + ], + [ + 609.3353105116288, + 108.5432670631024 + ], + [ + 704.8308600171209, + 91.98227207825067 + ], + [ + 723.9927323189605, + 72.31055990658899 + ], + [ + 630.1174660483606, + 52.71731736975215 + ], + [ + 608.4748030800009, + 71.01668397754912 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 240, + "instance_id": 61440, + "pixel_count": 1643, + "type_id": "vehicle.volkswagen.t2_2021", + "bbox_3d": { + "center_world": { + "x": -44.03263473510742, + "y": -11.378541946411133, + "z": 1.0432140827178955 + }, + "extent": { + "x": 2.2210919857025146, + "y": 0.88728266954422, + "z": 0.9936033487319946 + }, + "yaw": -90.3905029296875 + }, + "bbox_2d": { + "xmin": 1259.5460036383142, + "ymin": 500.4969992844742, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -44.90476608276367, + -9.151432037353516, + 0.04966546222567558 + ], + [ + -43.13024139404297, + -9.16352653503418, + 0.049655064940452576 + ], + [ + -43.160518646240234, + -13.605607032775879, + 0.04955603927373886 + ], + [ + -44.93504333496094, + -13.593512535095215, + 0.04956643655896187 + ], + [ + -44.904754638671875, + -9.15147590637207, + 2.036872148513794 + ], + [ + -43.13022994995117, + -9.163570404052734, + 2.0368616580963135 + ], + [ + -43.16050720214844, + -13.60565185546875, + 2.0367627143859863 + ], + [ + -44.93503189086914, + -13.593557357788086, + 2.0367729663848877 + ] + ], + "corners_2d": [ + [ + 1338.8831937021496, + 576.3113592357224 + ], + [ + 1260.0359742062276, + 551.1093358629996 + ], + [ + 1259.5460036383142, + 695.2303753400793 + ], + [ + 1349.6096791703999, + 728.0123345160235 + ], + [ + 1379.4318783786148, + 525.8634351382866 + ], + [ + 1295.1104563244055, + 500.4969992844742 + ], + [ + 1299.7652351945824, + 646.5045939986721 + ], + [ + 1397.0365466698784, + 680.0383038852215 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 223.01304533654059, + "ymin": 31.506401432547705, + "xmax": 239.6876480973989, + "ymax": 49.318356897737885 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 238.48812444984776, + 49.318356897737885 + ], + [ + 239.6876480973989, + 48.695297362797305 + ], + [ + 228.4804370868597, + 45.94234974036954 + ], + [ + 227.274139019581, + 46.55903904889078 + ], + [ + 234.321217896959, + 34.82535244190848 + ], + [ + 235.53805074750767, + 34.21279039018634 + ], + [ + 224.23674251403503, + 31.506401432547705 + ], + [ + 223.01304533654059, + 32.112636130704686 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 223.0130482855052, + "ymin": 31.506402138328724, + "xmax": 239.68765105038153, + "ymax": 49.31835762479358 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 238.4881274046329, + 49.31835762479358 + ], + [ + 239.68765105038153, + 48.69529808817009 + ], + [ + 228.48044000966826, + 45.942350458330395 + ], + [ + 227.274141944139, + 46.55903976850874 + ], + [ + 234.3212208767203, + 34.82535315672311 + ], + [ + 235.53805372544213, + 34.212791103329266 + ], + [ + 224.23674546122743, + 31.506402138328724 + ], + [ + 223.0130482855052, + 32.11263683813149 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 175.54574239191714, + "ymin": 21.49173709207423, + "xmax": 192.19284809540528, + "ymax": 39.001030055037404 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 190.96232050111087, + 39.001030055037404 + ], + [ + 192.19284809540528, + 38.401621946797206 + ], + [ + 181.43785115351295, + 35.75285780745742 + ], + [ + 180.201345949565, + 36.34625406192271 + ], + [ + 186.3924545594325, + 24.68375106404841 + ], + [ + 187.64073395306866, + 24.09467615139772 + ], + [ + 176.80006762163504, + 21.49173709207423 + ], + [ + 175.54574239191714, + 22.074844153100287 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 176.28970259004905, + "ymin": 20.323756947775564, + "xmax": 192.89432886589924, + "ymax": 37.797648961391985 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 191.6674028446451, + 37.797648961391985 + ], + [ + 192.89432886589924, + 37.2009696821267 + ], + [ + 182.16018800332404, + 34.56422727161839 + ], + [ + 180.92730339929534, + 35.15493560177265 + ], + [ + 187.1152219435544, + 23.501128829036077 + ], + [ + 188.35980215229608, + 22.914762886174685 + ], + [ + 177.54030939229114, + 20.323756947775564 + ], + [ + 176.28970259004905, + 20.904196054357726 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 221.7156182967517, + "ymin": 24.542872745750515, + "xmax": 236.5808085603784, + "ymax": 43.32647437713382 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 236.42184335881603, + 43.32647437713382 + ], + [ + 236.5808085603784, + 43.244986304575434 + ], + [ + 226.66992713155145, + 40.8317318168414 + ], + [ + 226.51017194454812, + 40.91248221944687 + ], + [ + 231.7206427738151, + 26.98904978675199 + ], + [ + 231.8821878142311, + 26.90914383300725 + ], + [ + 221.87796504015205, + 24.542872745750515 + ], + [ + 221.7156182967517, + 24.62204698412978 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 221.7157414197858, + "ymin": 24.542894244860065, + "xmax": 236.58093142639348, + "ymax": 43.32649651134892 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 236.42196623703802, + 43.32649651134892 + ], + [ + 236.58093142639348, + 43.24500843201139 + ], + [ + 226.67004902987077, + 40.831753743984166 + ], + [ + 226.51029385483855, + 40.91250415327687 + ], + [ + 231.72076688557604, + 26.989071491262337 + ], + [ + 231.88231191356056, + 26.90916553079279 + ], + [ + 221.87808815099777, + 24.542894244860065 + ], + [ + 221.7157414197858, + 24.622068489872163 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 223.01304533654059, + "ymin": 31.506401432547705, + "xmax": 239.6876480973989, + "ymax": 49.318356897737885 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 238.48812444984776, + 49.318356897737885 + ], + [ + 239.6876480973989, + 48.695297362797305 + ], + [ + 228.4804370868597, + 45.94234974036954 + ], + [ + 227.274139019581, + 46.55903904889078 + ], + [ + 234.321217896959, + 34.82535244190848 + ], + [ + 235.53805074750767, + 34.21279039018634 + ], + [ + 224.23674251403503, + 31.506401432547705 + ], + [ + 223.01304533654059, + 32.112636130704686 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 223.0130455168088, + "ymin": 31.506401373148208, + "xmax": 239.68764821493022, + "ymax": 49.31835680595276 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 238.4881246265537, + 49.31835680595276 + ], + [ + 239.68764821493022, + 48.695297301748894 + ], + [ + 228.48043720505547, + 45.942349679944925 + ], + [ + 227.27413919728406, + 46.559038958044766 + ], + [ + 234.321218076217, + 34.825352351668755 + ], + [ + 235.53805086673356, + 34.21279033016725 + ], + [ + 224.23674263393423, + 31.506401373148208 + ], + [ + 223.0130455168088, + 32.11263604139765 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 223.01304785410048, + "ymin": 31.50640202069843, + "xmax": 239.6876505582178, + "ymax": 49.318357473022616 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 238.4881269710708, + 49.318357473022616 + ], + [ + 239.6876505582178, + 48.695297967274655 + ], + [ + 228.48043952253352, + 45.94235033867011 + ], + [ + 227.274141515947, + 46.559039618290285 + ], + [ + 234.32122043984617, + 34.82535300750743 + ], + [ + 235.53805322911973, + 34.21279098447218 + ], + [ + 224.23674497002867, + 31.50640202069843 + ], + [ + 223.01304785410048, + 32.11263669045786 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 177.13317792050236, + "ymin": 31.049311355141413, + "xmax": 194.08057231521758, + "ymax": 48.84748761073206 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 192.82927252930926, + 48.84748761073206 + ], + [ + 194.08057231521758, + 48.2255172360409 + ], + [ + 183.11651227417758, + 45.47736737442699 + ], + [ + 181.85898943943732, + 46.092984176238645 + ], + [ + 188.19261979951318, + 34.362415134923026 + ], + [ + 189.4622988290559, + 33.75093498683998 + ], + [ + 178.40915276627953, + 31.049311355141413 + ], + [ + 177.13317792050236, + 31.654480861975173 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 221.71547844898674, + "ymin": 24.542832225231166, + "xmax": 236.58066854150098, + "ymax": 43.326432659597344 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 236.42170333095498, + 43.326432659597344 + ], + [ + 236.58066854150098, + 43.24494459981611 + ], + [ + 226.66978852123896, + 40.83169048958513 + ], + [ + 226.5100333255691, + 40.91244087958654 + ], + [ + 231.72050148768602, + 26.9890088791027 + ], + [ + 231.88204653718066, + 26.909102938033016 + ], + [ + 221.87782520113893, + 24.542832225231166 + ], + [ + 221.71547844898674, + 24.622006451109257 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 223.0130482855052, + "ymin": 31.506402138328724, + "xmax": 239.68765105038153, + "ymax": 49.31835762479358 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 238.4881274046329, + 49.31835762479358 + ], + [ + 239.68765105038153, + 48.69529808817009 + ], + [ + 228.48044000966826, + 45.942350458330395 + ], + [ + 227.274141944139, + 46.55903976850874 + ], + [ + 234.3212208767203, + 34.82535315672311 + ], + [ + 235.53805372544213, + 34.212791103329266 + ], + [ + 224.23674546122743, + 31.506402138328724 + ], + [ + 223.0130482855052, + 32.11263683813149 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 220.48185707228345, + "ymin": 23.923010870906637, + "xmax": 238.94309911684832, + "ymax": 44.36394974849247 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 238.75282234991892, + 44.36394974849247 + ], + [ + 238.94309911684832, + 44.266000723546995 + ], + [ + 225.72599442440043, + 41.04500195693629 + ], + [ + 225.53445357177935, + 41.14177065754359 + ], + [ + 233.83125749308573, + 27.174091011310338 + ], + [ + 234.0247830165307, + 27.07813779111575 + ], + [ + 220.67666643773242, + 23.923010870906637 + ], + [ + 220.48185707228345, + 24.01779376582772 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 221.71559521813538, + "ymin": 24.542837155725067, + "xmax": 236.58078462230975, + "ymax": 43.32643773574301 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 236.42181942802767, + 43.32643773574301 + ], + [ + 236.58078462230975, + 43.24494967440711 + ], + [ + 226.66990398137534, + 40.831695518241986 + ], + [ + 226.51014880179343, + 40.912445909777034 + ], + [ + 231.72061889177735, + 26.989013856702172 + ], + [ + 231.88216392464096, + 26.909107914090214 + ], + [ + 221.87794195383856, + 24.542837155725067 + ], + [ + 221.71559521813538, + 24.62201138312429 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 223.0130455168088, + "ymin": 31.506401373148208, + "xmax": 239.68764821493022, + "ymax": 49.31835680595276 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 238.4881246265537, + 49.31835680595276 + ], + [ + 239.68764821493022, + 48.695297301748894 + ], + [ + 228.48043720505547, + 45.942349679944925 + ], + [ + 227.27413919728406, + 46.559038958044766 + ], + [ + 234.321218076217, + 34.825352351668755 + ], + [ + 235.53805086673356, + 34.21279033016725 + ], + [ + 224.23674263393423, + 31.506401373148208 + ], + [ + 223.0130455168088, + 32.11263604139765 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 220.48180341947904, + "ymin": 23.923036995006896, + "xmax": 238.94304667262935, + "ymax": 44.363976724782844 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 238.7527699455042, + 44.363976724782844 + ], + [ + 238.94304667262935, + 44.26602772032737 + ], + [ + 225.7259416317147, + 41.04502862842446 + ], + [ + 225.53440081927954, + 41.14179730872945 + ], + [ + 233.83120419380595, + 27.174117437992606 + ], + [ + 234.02472967700743, + 27.078164237751366 + ], + [ + 220.67661274429537, + 23.923036995006896 + ], + [ + 220.48180341947904, + 24.01781987015852 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 220.48196508234298, + "ymin": 23.923031051512282, + "xmax": 238.9432071173976, + "ymax": 44.36397058048715 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 238.7529304219491, + 44.36397058048715 + ], + [ + 238.9432071173976, + 44.26602157828921 + ], + [ + 225.72610125831142, + 41.04502256039365 + ], + [ + 225.53456047722653, + 41.141791238481744 + ], + [ + 233.83136669601953, + 27.17411141887925 + ], + [ + 234.0248921467412, + 27.07815822087673 + ], + [ + 220.67677437501834, + 23.923031051512282 + ], + [ + 220.48196508234298, + 24.01781392446611 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 223.013044282684, + "ymin": 31.506400901458733, + "xmax": 239.6876469735015, + "ymax": 49.318356320044984 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 238.4881233847691, + 49.318356320044984 + ], + [ + 239.6876469735015, + 48.69529681696565 + ], + [ + 228.48043598004296, + 45.942349200115416 + ], + [ + 227.27413797194225, + 46.55903847710772 + ], + [ + 234.3212168253471, + 34.82535187394194 + ], + [ + 235.53804961621807, + 34.21278985355747 + ], + [ + 224.23674140013657, + 31.506400901458733 + ], + [ + 223.013044282684, + 32.1126355686082 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 220.48191349247406, + "ymin": 23.922985211724324, + "xmax": 238.94315426777172, + "ymax": 44.3639232224142 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 238.75287752044443, + 44.3639232224142 + ], + [ + 238.94315426777172, + 44.26597420721504 + ], + [ + 225.726049895593, + 41.04497576010749 + ], + [ + 225.5345090625766, + 41.14174445114418 + ], + [ + 233.83131358819736, + 27.17406502566763 + ], + [ + 234.0248390914643, + 27.078111815137788 + ], + [ + 220.67672283774402, + 23.922985211724324 + ], + [ + 220.48191349247406, + 24.017768097156818 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 166.23955628425114, + "ymin": 17.91824749414525, + "xmax": 182.82747855404807, + "ymax": 35.31916213739254 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 181.59496100140547, + 35.31916213739254 + ], + [ + 182.82747855404807, + 34.728083656593924 + ], + [ + 172.193785886995, + 32.11601570240015 + ], + [ + 170.95547844302342, + 32.701206898644955 + ], + [ + 176.96263866856037, + 21.065569927639842 + ], + [ + 178.21287430578593, + 20.48476343109712 + ], + [ + 167.49564542291887, + 17.91824749414525 + ], + [ + 166.23955628425114, + 18.493211033511386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 220.48185602581498, + "ymin": 23.92301069670816, + "xmax": 238.9430980105406, + "ymax": 44.363949537995836 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 238.7528213025529, + 44.363949537995836 + ], + [ + 238.9430980105406, + 44.266000543529344 + ], + [ + 225.7259933292151, + 41.04500177908773 + ], + [ + 225.5344525359314, + 41.14177044958376 + ], + [ + 233.83125643484016, + 27.174090805102367 + ], + [ + 234.02478189833738, + 27.078137614766376 + ], + [ + 220.67666533091426, + 23.92301069670816 + ], + [ + 220.48185602581498, + 24.01779356213501 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 223.22538822553452, + "ymin": 35.35145216238931, + "xmax": 239.8709175414736, + "ymax": 53.11854295039751 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 238.67360417364387, + 53.11854295039751 + ], + [ + 239.8709175414736, + 52.49212702840521 + ], + [ + 228.6813208716236, + 49.72432036704117 + ], + [ + 227.47725327730052, + 50.34434232703393 + ], + [ + 234.51563299191446, + 38.68930507613237 + ], + [ + 235.73019315334568, + 38.07325977924779 + ], + [ + 224.44679214409206, + 35.35145216238931 + ], + [ + 223.22538822553452, + 35.96114474654519 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 221.7156182967517, + "ymin": 24.542872745750515, + "xmax": 236.5808085603784, + "ymax": 43.32647437713382 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 236.42184335881603, + 43.32647437713382 + ], + [ + 236.5808085603784, + 43.244986304575434 + ], + [ + 226.66992713155145, + 40.8317318168414 + ], + [ + 226.51017194454812, + 40.91248221944687 + ], + [ + 231.7206427738151, + 26.98904978675199 + ], + [ + 231.8821878142311, + 26.90914383300725 + ], + [ + 221.87796504015205, + 24.542872745750515 + ], + [ + 221.7156182967517, + 24.62204698412978 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 159.18642131995477, + "ymin": 17.501271862946737, + "xmax": 175.80379117139603, + "ymax": 34.88952724844887 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 174.56435991142956, + 34.88952724844887 + ], + [ + 175.80379117139603, + 34.299416953783066 + ], + [ + 165.21378084331502, + 31.691614498380204 + ], + [ + 163.96864795975245, + 32.27585193161548 + ], + [ + 169.8648859568362, + 20.643400081269647 + ], + [ + 171.1221668122675, + 20.0635545417461 + ], + [ + 160.44946484931586, + 17.501271862946737 + ], + [ + 159.18642131995477, + 18.07528890378967 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 221.7157251732366, + "ymin": 24.542890008248833, + "xmax": 236.5809151735047, + "ymax": 43.32649214958394 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 236.42194998296287, + 43.32649214958394 + ], + [ + 236.5809151735047, + 43.24500407158223 + ], + [ + 226.67003293157194, + 40.83174942302463 + ], + [ + 226.51027775538887, + 40.91249983099971 + ], + [ + 231.72075048114777, + 26.989067214174952 + ], + [ + 231.8822955103342, + 26.90916125503037 + ], + [ + 221.87807190561404, + 24.542890008248833 + ], + [ + 221.7157251732366, + 24.622064251953987 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4421894629193955789, + "instance_id": 52537, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -38.7340202331543, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1186.218260358924, + "ymin": 45.465197314147645, + "xmax": 1205.4973774459118, + "ymax": 75.73871247299348 + }, + "corners_3d": [ + [ + -38.595436096191406, + 6.4043402671813965, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.404339790344238, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.784256458282471, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.784256935119629, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.4043402671813965, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.404339790344238, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.784256458282471, + 6.416468620300293 + ], + [ + -38.595436096191406, + 6.784256935119629, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1186.218260358924, + 74.15812442260471 + ], + [ + 1195.0194550560932, + 75.73871247299348 + ], + [ + 1195.6317675962125, + 71.38418612977569 + ], + [ + 1186.8965756761468, + 69.82785582535183 + ], + [ + 1195.965613247342, + 49.68050488090182 + ], + [ + 1204.9521746802868, + 51.21941941908881 + ], + [ + 1205.4973774459118, + 46.980076565616116 + ], + [ + 1196.579628362309, + 45.465197314147645 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1169.0013509402422, + "ymin": 70.66021723311928, + "xmax": 1185.4653011614266, + "ymax": 96.61959086767837 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1169.0013509402422, + 95.19573433996754 + ], + [ + 1176.6022305118404, + 96.61959086767837 + ], + [ + 1177.2544821688962, + 92.71533194363047 + ], + [ + 1169.7025995055847, + 91.31038259369728 + ], + [ + 1177.121054473324, + 74.46476531302068 + ], + [ + 1184.8589927113971, + 75.8592044714452 + ], + [ + 1185.4653011614266, + 72.03585816126474 + ], + [ + 1177.7781453413265, + 70.66021723311928 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10755311745963632187, + "instance_id": 15270, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -38.73401641845703, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1180.4683403362105, + "ymin": 80.66676586615762, + "xmax": 1200.9435662059154, + "ymax": 112.65771969615886 + }, + "corners_3d": [ + [ + -38.59543228149414, + 3.404341459274292, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.404340982437134, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.404341459274292, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.404340982437134, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 6.416468620300293 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1180.4683403362105, + 110.86395227702798 + ], + [ + 1189.8279492324837, + 112.65771969615886 + ], + [ + 1190.522625215958, + 107.71746463729497 + ], + [ + 1181.2376176025346, + 105.95300243896742 + ], + [ + 1190.7539571650088, + 85.45839459941959 + ], + [ + 1200.3235880625361, + 87.20895139514028 + ], + [ + 1200.9435662059154, + 82.38818510550522 + ], + [ + 1191.4519221800892, + 80.66676586615762 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12937619472667703847, + "instance_id": 10234, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -38.7340087890625, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1175.070849056986, + "ymin": 113.75104650539902, + "xmax": 1196.6619378777727, + "ymax": 147.3251157151744 + }, + "corners_3d": [ + [ + -38.59542465209961, + 0.9043415784835815, + 5.545533180236816 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 5.545533180236816 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 5.545533180236816 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 5.545533180236816 + ], + [ + -38.59542465209961, + 0.9043415784835815, + 6.416468620300293 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 6.416468620300293 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 6.416468620300293 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1175.070849056986, + 145.31893501906987 + ], + [ + 1184.9528985118518, + 147.3251157151744 + ], + [ + 1185.729603761451, + 141.8015189747644 + ], + [ + 1175.930671378264, + 139.82997469208837 + ], + [ + 1185.8506585807177, + 119.11827477000037 + ], + [ + 1195.967235618447, + 121.0804303519275 + ], + [ + 1196.6619378777727, + 115.67865120557937 + ], + [ + 1186.6324699105476, + 113.75104650539902 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1102.2513579440606, + "ymin": 398.89065055886283, + "xmax": 1127.2494668361478, + "ymax": 436.82225919267745 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1114.0122969401075, + 436.82225919267745 + ], + [ + 1115.697145147016, + 427.09895937620803 + ], + [ + 1104.0528835448295, + 423.61835429116246 + ], + [ + 1102.2513579440606, + 433.2675005334552 + ], + [ + 1125.6489147383754, + 412.052055262923 + ], + [ + 1127.2494668361478, + 402.35915791190695 + ], + [ + 1115.27855922525, + 398.89065055886283 + ], + [ + 1113.5546059663723, + 408.5078317789236 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 227.42728514045132, + "ymin": 33.37004824781292, + "xmax": 243.59468720065166, + "ymax": 82.30859534291403 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 242.75790733959235, + 82.30859534291403 + ], + [ + 243.59468720065166, + 81.84539520015898 + ], + [ + 242.34007507025473, + 81.51878571508684 + ], + [ + 241.50275668624056, + 81.98145552702812 + ], + [ + 228.7184427165488, + 34.118730515555114 + ], + [ + 229.59656128715397, + 33.67964148615488 + ], + [ + 228.30596696151264, + 33.37004824781292 + ], + [ + 227.42728514045132, + 33.80861680764849 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 227.42728514045132, + "ymin": 33.37004824781292, + "xmax": 243.59468720065166, + "ymax": 82.30859534291403 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 242.75790733959235, + 82.30859534291403 + ], + [ + 243.59468720065166, + 81.84539520015898 + ], + [ + 242.34007507025473, + 81.51878571508684 + ], + [ + 241.50275668624056, + 81.98145552702812 + ], + [ + 228.7184427165488, + 34.118730515555114 + ], + [ + 229.59656128715397, + 33.67964148615488 + ], + [ + 228.30596696151264, + 33.37004824781292 + ], + [ + 227.42728514045132, + 33.80861680764849 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 180.48173215431075, + "ymin": 22.113270939409404, + "xmax": 197.89081684833434, + "ymax": 70.3915367993701 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 197.03517197176996, + 70.3915367993701 + ], + [ + 197.89081684833434, + 69.94745970011905 + ], + [ + 196.68796623115884, + 69.63432512707709 + ], + [ + 195.83184576377317, + 70.07790438702483 + ], + [ + 181.71775574997912, + 22.8299965785111 + ], + [ + 182.61554940189228, + 22.409654925281643 + ], + [ + 181.38002023095316, + 22.113270939409404 + ], + [ + 180.48173215431075, + 22.5331250883587 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 227.42728514045132, + "ymin": 33.37004824781292, + "xmax": 243.59468720065166, + "ymax": 82.30859534291403 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 242.75790733959235, + 82.30859534291403 + ], + [ + 243.59468720065166, + 81.84539520015898 + ], + [ + 242.34007507025473, + 81.51878571508684 + ], + [ + 241.50275668624056, + 81.98145552702812 + ], + [ + 228.7184427165488, + 34.118730515555114 + ], + [ + 229.59656128715397, + 33.67964148615488 + ], + [ + 228.30596696151264, + 33.37004824781292 + ], + [ + 227.42728514045132, + 33.80861680764849 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 170.38452168552328, + "ymin": 19.692010992345217, + "xmax": 188.05180963851006, + "ymax": 67.8260535218281 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 187.192306125325, + 67.8260535218281 + ], + [ + 188.05180963851006, + 67.38604050798989 + ], + [ + 186.8599596844859, + 67.07576973840548 + ], + [ + 185.9999936145474, + 67.51529172954287 + ], + [ + 171.60884401520894, + 20.401954174375078 + ], + [ + 172.5106466702449, + 19.985591407358072 + ], + [ + 171.28680454530655, + 19.692010992345217 + ], + [ + 170.38452168552328, + 20.107893158647585 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 227.42728514045132, + "ymin": 33.37004824781292, + "xmax": 243.59468720065166, + "ymax": 82.30859534291403 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 242.75790733959235, + 82.30859534291403 + ], + [ + 243.59468720065166, + 81.84539520015898 + ], + [ + 242.34007507025473, + 81.51878571508684 + ], + [ + 241.50275668624056, + 81.98145552702812 + ], + [ + 228.7184427165488, + 34.118730515555114 + ], + [ + 229.59656128715397, + 33.67964148615488 + ], + [ + 228.30596696151264, + 33.37004824781292 + ], + [ + 227.42728514045132, + 33.80861680764849 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1152.7631798973098, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 34.18235879515413 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1153.4788410367078, + 17.808400434155146 + ], + [ + 1152.7631798973098, + 20.806898614083025 + ], + [ + 1234.1626269498638, + 34.18235879515413 + ], + [ + 1234.405471251247, + 31.024867667262868 + ], + [ + 1212.1092311022462, + -145.24638134021097 + ], + [ + 1211.6982535005072, + -142.9793484383165 + ], + [ + 1304.4580854724463, + -132.82928812458852 + ], + [ + 1304.2551467629478, + -135.23090720628693 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 181.41621818068455, + "ymin": 32.909899003025146, + "xmax": 199.14882676757276, + "ymax": 81.82178519052002 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 198.27671119338896, + 81.82178519052002 + ], + [ + 199.14882676757276, + 81.35937426973737 + ], + [ + 197.92070163231693, + 81.03332078137475 + ], + [ + 197.04808969038686, + 81.49520272569242 + ], + [ + 182.67895522865632, + 33.65726113059077 + ], + [ + 183.59492718969153, + 33.218946631202755 + ], + [ + 182.33270665212956, + 32.909899003025146 + ], + [ + 181.41621818068455, + 33.34769440886697 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 227.42728514045132, + "ymin": 33.37004824781292, + "xmax": 243.59468720065166, + "ymax": 82.30859534291403 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 242.75790733959235, + 82.30859534291403 + ], + [ + 243.59468720065166, + 81.84539520015898 + ], + [ + 242.34007507025473, + 81.51878571508684 + ], + [ + 241.50275668624056, + 81.98145552702812 + ], + [ + 228.7184427165488, + 34.118730515555114 + ], + [ + 229.59656128715397, + 33.67964148615488 + ], + [ + 228.30596696151264, + 33.37004824781292 + ], + [ + 227.42728514045132, + 33.80861680764849 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 227.42728514045132, + "ymin": 33.37004824781292, + "xmax": 243.59468720065166, + "ymax": 82.30859534291403 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 242.75790733959235, + 82.30859534291403 + ], + [ + 243.59468720065166, + 81.84539520015898 + ], + [ + 242.34007507025473, + 81.51878571508684 + ], + [ + 241.50275668624056, + 81.98145552702812 + ], + [ + 228.7184427165488, + 34.118730515555114 + ], + [ + 229.59656128715397, + 33.67964148615488 + ], + [ + 228.30596696151264, + 33.37004824781292 + ], + [ + 227.42728514045132, + 33.80861680764849 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 738.9931119000738, + "ymin": 0.0, + "xmax": 795.8029287275102, + "ymax": 107.23331205182876 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 778.1189874365513, + 73.33158538543108 + ], + [ + 769.3503844021554, + 71.52381021524326 + ], + [ + 738.9931119000738, + 105.20128195068051 + ], + [ + 748.1867232849569, + 107.23331205182876 + ], + [ + 795.8029287275102, + -102.39440615719985 + ], + [ + 785.8515864829558, + -103.79553348134027 + ], + [ + 752.4841729902316, + -77.50273108864184 + ], + [ + 762.988058590433, + -75.90327220962848 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7806990106475075983, + "instance_id": 36761, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 165.24899309417611, + "ymin": 375.8429774022318, + "xmax": 411.99539406591293, + "ymax": 616.900259514397 + }, + "corners_3d": [ + [ + -26.247940063476562, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.247940063476562, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.198223114013672 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 411.99539406591293, + 384.45796681832405 + ], + [ + 398.7697388148629, + 379.56494266420543 + ], + [ + 167.33691314552902, + 609.067242284723 + ], + [ + 182.43184583836734, + 616.900259514397 + ], + [ + 411.1950040419706, + 380.7321310188661 + ], + [ + 397.9276829760744, + 375.8429774022318 + ], + [ + 165.24899309417611, + 605.3709865173919 + ], + [ + 180.39611963528114, + 613.2123626392118 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 227.42728514045132, + "ymin": 33.37004824781292, + "xmax": 243.59468720065166, + "ymax": 82.30859534291403 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 242.75790733959235, + 82.30859534291403 + ], + [ + 243.59468720065166, + 81.84539520015898 + ], + [ + 242.34007507025473, + 81.51878571508684 + ], + [ + 241.50275668624056, + 81.98145552702812 + ], + [ + 228.7184427165488, + 34.118730515555114 + ], + [ + 229.59656128715397, + 33.67964148615488 + ], + [ + 228.30596696151264, + 33.37004824781292 + ], + [ + 227.42728514045132, + 33.80861680764849 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 227.42728514045132, + "ymin": 33.37004824781292, + "xmax": 243.59468720065166, + "ymax": 82.30859534291403 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 242.75790733959235, + 82.30859534291403 + ], + [ + 243.59468720065166, + 81.84539520015898 + ], + [ + 242.34007507025473, + 81.51878571508684 + ], + [ + 241.50275668624056, + 81.98145552702812 + ], + [ + 228.7184427165488, + 34.118730515555114 + ], + [ + 229.59656128715397, + 33.67964148615488 + ], + [ + 228.30596696151264, + 33.37004824781292 + ], + [ + 227.42728514045132, + 33.80861680764849 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 227.42728514045132, + "ymin": 33.37004824781292, + "xmax": 243.59468720065166, + "ymax": 82.30859534291403 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 242.75790733959235, + 82.30859534291403 + ], + [ + 243.59468720065166, + 81.84539520015898 + ], + [ + 242.34007507025473, + 81.51878571508684 + ], + [ + 241.50275668624056, + 81.98145552702812 + ], + [ + 228.7184427165488, + 34.118730515555114 + ], + [ + 229.59656128715397, + 33.67964148615488 + ], + [ + 228.30596696151264, + 33.37004824781292 + ], + [ + 227.42728514045132, + 33.80861680764849 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 228.43602599022495, + "ymin": 36.82061167509397, + "xmax": 244.53068821043462, + "ymax": 85.53076829395127 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 243.69664380041212, + 85.53076829395127 + ], + [ + 244.53068821043462, + 85.0660544792554 + ], + [ + 243.27850230765807, + 84.73837661005257 + ], + [ + 242.443921047002, + 85.20255961664225 + ], + [ + 229.72462198445908, + 37.57239803170103 + ], + [ + 230.59975119841806, + 37.13148914725684 + ], + [ + 229.31171670121142, + 36.82061167509397 + ], + [ + 228.43602599022495, + 37.260999209737975 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1063.7280729022343, + "ymin": 236.75150799430048, + "xmax": 1280.0, + "ymax": 695.9505593387933 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1066.2306720523618, + 496.92210312331315 + ], + [ + 1063.7280729022343, + 508.013512559098 + ], + [ + 1620.9107690090648, + 695.9505593387933 + ], + [ + 1616.525468506687, + 680.3151697747044 + ], + [ + 1183.094755623817, + 236.75150799430048 + ], + [ + 1181.5768848478585, + 247.18588033464226 + ], + [ + 1963.1079790058611, + 434.35184046906625 + ], + [ + 1951.1561387106588, + 417.9941822043178 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 227.42728514045132, + "ymin": 33.37004824781292, + "xmax": 243.59468720065166, + "ymax": 82.30859534291403 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 242.75790733959235, + 82.30859534291403 + ], + [ + 243.59468720065166, + 81.84539520015898 + ], + [ + 242.34007507025473, + 81.51878571508684 + ], + [ + 241.50275668624056, + 81.98145552702812 + ], + [ + 228.7184427165488, + 34.118730515555114 + ], + [ + 229.59656128715397, + 33.67964148615488 + ], + [ + 228.30596696151264, + 33.37004824781292 + ], + [ + 227.42728514045132, + 33.80861680764849 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 227.42728514045132, + "ymin": 33.37004824781292, + "xmax": 243.59468720065166, + "ymax": 82.30859534291403 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 242.75790733959235, + 82.30859534291403 + ], + [ + 243.59468720065166, + 81.84539520015898 + ], + [ + 242.34007507025473, + 81.51878571508684 + ], + [ + 241.50275668624056, + 81.98145552702812 + ], + [ + 228.7184427165488, + 34.118730515555114 + ], + [ + 229.59656128715397, + 33.67964148615488 + ], + [ + 228.30596696151264, + 33.37004824781292 + ], + [ + 227.42728514045132, + 33.80861680764849 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 269.2442792700928, + "ymin": 0.0, + "xmax": 359.3104148568078, + "ymax": 11.050886475962614 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 359.3104148568078, + -13.012370426657299 + ], + [ + 353.02574702315997, + -14.308044909581383 + ], + [ + 306.555998970539, + 9.62101964181295 + ], + [ + 313.0252177755621, + 11.050886475962614 + ], + [ + 329.47979950958717, + -168.05204379854774 + ], + [ + 322.61908412552634, + -169.01801651599294 + ], + [ + 269.2442792700928, + -151.08736503919255 + ], + [ + 276.3206348035697, + -150.00982735672955 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 227.42728514045132, + "ymin": 33.37004824781292, + "xmax": 243.59468720065166, + "ymax": 82.30859534291403 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 242.75790733959235, + 82.30859534291403 + ], + [ + 243.59468720065166, + 81.84539520015898 + ], + [ + 242.34007507025473, + 81.51878571508684 + ], + [ + 241.50275668624056, + 81.98145552702812 + ], + [ + 228.7184427165488, + 34.118730515555114 + ], + [ + 229.59656128715397, + 33.67964148615488 + ], + [ + 228.30596696151264, + 33.37004824781292 + ], + [ + 227.42728514045132, + 33.80861680764849 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 227.42728514045132, + "ymin": 33.37004824781292, + "xmax": 243.59468720065166, + "ymax": 82.30859534291403 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 242.75790733959235, + 82.30859534291403 + ], + [ + 243.59468720065166, + 81.84539520015898 + ], + [ + 242.34007507025473, + 81.51878571508684 + ], + [ + 241.50275668624056, + 81.98145552702812 + ], + [ + 228.7184427165488, + 34.118730515555114 + ], + [ + 229.59656128715397, + 33.67964148615488 + ], + [ + 228.30596696151264, + 33.37004824781292 + ], + [ + 227.42728514045132, + 33.80861680764849 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 227.42728514045132, + "ymin": 33.37004824781292, + "xmax": 243.59468720065166, + "ymax": 82.30859534291403 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 242.75790733959235, + 82.30859534291403 + ], + [ + 243.59468720065166, + 81.84539520015898 + ], + [ + 242.34007507025473, + 81.51878571508684 + ], + [ + 241.50275668624056, + 81.98145552702812 + ], + [ + 228.7184427165488, + 34.118730515555114 + ], + [ + 229.59656128715397, + 33.67964148615488 + ], + [ + 228.30596696151264, + 33.37004824781292 + ], + [ + 227.42728514045132, + 33.80861680764849 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15102510933830370440, + "instance_id": 34948, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 165.4996719938605, + "ymin": 375.9851386366607, + "xmax": 411.81848844844023, + "ymax": 616.6855146073394 + }, + "corners_3d": [ + [ + -26.246049880981445, + -20.196584701538086, + 8.10662841796875 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.10662841796875 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.10662841796875 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.10662841796875 + ], + [ + -26.246049880981445, + -20.196584701538086, + 8.197628021240234 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.197628021240234 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.197628021240234 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 411.81848844844023, + 384.4909935431724 + ], + [ + 398.7606597888047, + 379.65960145341296 + ], + [ + 167.5596938444006, + 608.9545922038894 + ], + [ + 182.4612778069502, + 616.6855146073394 + ], + [ + 411.0276869811779, + 380.8127611555862 + ], + [ + 397.9292457856232, + 375.9851386366607 + ], + [ + 165.4996719938605, + 605.3055138776226 + ], + [ + 180.452120256684, + 613.0445720526754 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 179.74525401938246, + "ymin": 23.288895631651144, + "xmax": 197.21790579464266, + "ymax": 71.63690686336088 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 196.35981906405078, + 71.63690686336088 + ], + [ + 197.21790579464266, + 71.1908501624576 + ], + [ + 196.0127577264676, + 70.87632067198109 + ], + [ + 195.15419388989625, + 71.32187620193582 + ], + [ + 180.98369737573432, + 24.008926116157795 + ], + [ + 181.88416284145552, + 23.58664567809359 + ], + [ + 180.64621548655276, + 23.288895631651144 + ], + [ + 179.74525401938246, + 23.71068518970037 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 227.42728514045132, + "ymin": 33.37004824781292, + "xmax": 243.59468720065166, + "ymax": 82.30859534291403 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 242.75790733959235, + 82.30859534291403 + ], + [ + 243.59468720065166, + 81.84539520015898 + ], + [ + 242.34007507025473, + 81.51878571508684 + ], + [ + 241.50275668624056, + 81.98145552702812 + ], + [ + 228.7184427165488, + 34.118730515555114 + ], + [ + 229.59656128715397, + 33.67964148615488 + ], + [ + 228.30596696151264, + 33.37004824781292 + ], + [ + 227.42728514045132, + 33.80861680764849 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 163.3090189109439, + "ymin": 19.272350547704434, + "xmax": 181.19887312169806, + "ymax": 67.38131655448495 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 180.33463870100258, + 67.38131655448495 + ], + [ + 181.19887312169806, + 66.94200613789599 + ], + [ + 180.0117944294788, + 66.63223048520638 + ], + [ + 179.1471042305617, + 67.07105105438575 + ], + [ + 164.52824390494476, + 19.981121484414757 + ], + [ + 165.4350872354554, + 19.565446394418245 + ], + [ + 164.2163349809905, + 19.272350547704434 + ], + [ + 163.3090189109439, + 19.687546226829454 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 150.0886907668828, + "ymin": 362.46257125408965, + "xmax": 470.34378279038697, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 470.34378279038697, + 627.5669136985135 + ], + [ + 453.3720079103638, + 619.7335019803882 + ], + [ + 289.6325040214511, + 840.803537978467 + ], + [ + 308.62792207258286, + 852.0889116452083 + ], + [ + 417.0167570500003, + 370.3686809941877 + ], + [ + 395.250180837979, + 362.46257125408965 + ], + [ + 150.0886907668828, + 599.8364763567869 + ], + [ + 175.07785330163006, + 612.8004387736055 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 227.42728514045132, + "ymin": 33.37004824781292, + "xmax": 243.59468720065166, + "ymax": 82.30859534291403 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 242.75790733959235, + 82.30859534291403 + ], + [ + 243.59468720065166, + 81.84539520015898 + ], + [ + 242.34007507025473, + 81.51878571508684 + ], + [ + 241.50275668624056, + 81.98145552702812 + ], + [ + 228.7184427165488, + 34.118730515555114 + ], + [ + 229.59656128715397, + 33.67964148615488 + ], + [ + 228.30596696151264, + 33.37004824781292 + ], + [ + 227.42728514045132, + 33.80861680764849 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 227.42728514045132, + "ymin": 33.37004824781292, + "xmax": 243.59468720065166, + "ymax": 82.30859534291403 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 242.75790733959235, + 82.30859534291403 + ], + [ + 243.59468720065166, + 81.84539520015898 + ], + [ + 242.34007507025473, + 81.51878571508684 + ], + [ + 241.50275668624056, + 81.98145552702812 + ], + [ + 228.7184427165488, + 34.118730515555114 + ], + [ + 229.59656128715397, + 33.67964148615488 + ], + [ + 228.30596696151264, + 33.37004824781292 + ], + [ + 227.42728514045132, + 33.80861680764849 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 227.42728514045132, + "ymin": 33.37004824781292, + "xmax": 243.59468720065166, + "ymax": 82.30859534291403 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 242.75790733959235, + 82.30859534291403 + ], + [ + 243.59468720065166, + 81.84539520015898 + ], + [ + 242.34007507025473, + 81.51878571508684 + ], + [ + 241.50275668624056, + 81.98145552702812 + ], + [ + 228.7184427165488, + 34.118730515555114 + ], + [ + 229.59656128715397, + 33.67964148615488 + ], + [ + 228.30596696151264, + 33.37004824781292 + ], + [ + 227.42728514045132, + 33.80861680764849 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 13.710883286846638, + "ymax": 88.21957956911206 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -223.0658317800229, + 86.32348499800662 + ], + [ + -217.56506949787547, + 88.21957956911206 + ], + [ + 13.710883286846638, + -0.3742536126694631 + ], + [ + 8.408744917607692, + -1.7334510505357912 + ], + [ + -346.9752424151179, + -108.85867453456632 + ], + [ + -341.14917999257966, + -107.42560886308934 + ], + [ + -61.03151810525105, + -172.9661366917437 + ], + [ + -66.73169165874458, + -173.94955770833292 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 227.42728514045132, + "ymin": 33.37004824781292, + "xmax": 243.59468720065166, + "ymax": 82.30859534291403 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 242.75790733959235, + 82.30859534291403 + ], + [ + 243.59468720065166, + 81.84539520015898 + ], + [ + 242.34007507025473, + 81.51878571508684 + ], + [ + 241.50275668624056, + 81.98145552702812 + ], + [ + 228.7184427165488, + 34.118730515555114 + ], + [ + 229.59656128715397, + 33.67964148615488 + ], + [ + 228.30596696151264, + 33.37004824781292 + ], + [ + 227.42728514045132, + 33.80861680764849 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1099.770241053763, + "ymin": 0.0, + "xmax": 1231.0278351337513, + "ymax": 310.4520348561422 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1148.6167032213136, + 149.95992317147756 + ], + [ + 1137.5610514198715, + 147.63711339334102 + ], + [ + 1099.770241053763, + 306.8185605800269 + ], + [ + 1113.4312870457638, + 310.4520348561422 + ], + [ + 1231.0278351337513, + -60.00904035902937 + ], + [ + 1217.8403428138768, + -61.819831016187266 + ], + [ + 1196.4073758028064, + 67.41564665601868 + ], + [ + 1213.4902955085495, + 70.49258666515652 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00162/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00162/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..455cdc5c9da8f5cfe57143982ce9a8d718702cd4 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00162/meta.json @@ -0,0 +1,7689 @@ +{ + "frame_id": 162, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 81.0, + "sim_timestamp": 15014.389878454851 + }, + "drone_pose": { + "x": -34.71700260705605, + "y": -27.81585343393136, + "z": 20.0, + "pitch": -41.48656293414513, + "yaw": 63.46904733475657, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.3346138596534729, + -0.6702246069908142, + 0.6624444127082825, + 17.01076889038086 + ], + [ + 0.8946931958198547, + 0.4466812014579773, + 0.0, + -18.636245727539062 + ], + [ + -0.29590147733688354, + 0.5926845073699951, + 0.7491110563278198, + -41.741058349609375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -34.504805141262906, + "y": -27.319691157434356, + "z": 20.0 + }, + "t1_image_uv": [ + 715.5895871580174, + -488.93497105982556 + ], + "t1_depth": 0.40354437220490297 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -25.16718292236328, + "y": -8.687763214111328, + "z": 1.0939555656909943 + }, + "image_uv": [ + 640.0, + 359.9999999999999 + ], + "depth": 28.539821436368285, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 702, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -25.16718292236328, + "y": -8.687763214111328, + "z": 1.0939555168151855 + }, + "extent": { + "x": 0.57958984375, + "y": 0.483995646238327, + "z": 0.8731490969657898 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 618.1668526493692, + "ymin": 322.2637528186987, + "xmax": 662.301871066577, + "ymax": 397.5996716296303 + }, + "corners_3d": [ + [ + -25.234777450561523, + -9.439831733703613, + 0.22080641984939575 + ], + [ + -25.91925048828125, + -8.755358695983887, + 0.22080641984939575 + ], + [ + -25.09958839416504, + -7.935694694519043, + 0.22080641984939575 + ], + [ + -24.415115356445312, + -8.62016773223877, + 0.22080641984939575 + ], + [ + -25.234777450561523, + -9.439831733703613, + 1.9671046733856201 + ], + [ + -25.91925048828125, + -8.755358695983887, + 1.9671046733856201 + ], + [ + -25.09958839416504, + -7.935694694519043, + 1.9671046733856201 + ], + [ + -24.415115356445312, + -8.62016773223877, + 1.9671046733856201 + ] + ], + "corners_2d": [ + [ + 630.7511110417521, + 397.5996716296303 + ], + [ + 661.4067208695985, + 390.5336547155561 + ], + [ + 648.9202565219543, + 366.09923511224497 + ], + [ + 619.0254954282158, + 372.7765831961916 + ], + [ + 630.361118209594, + 353.40940507771796 + ], + [ + 662.301871066577, + 346.4148547900887 + ], + [ + 649.2824844914932, + 322.2637528186987 + ], + [ + 618.1668526493692, + 328.8581092901949 + ] + ], + "center_offset_px": [ + 0.0, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 162, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 76, + "semantic_pixel_counts": { + "1": 295730, + "2": 177147, + "3": 18917, + "5": 4387, + "6": 13983, + "7": 994, + "10": 267, + "12": 3502, + "14": 16121, + "15": 16967, + "20": 2713, + "24": 28109, + "25": 342763 + }, + "instance_pixel_counts": { + "108": 100, + "6018": 33, + "6508": 1703, + "7274": 410, + "7576": 1159, + "7784": 16244, + "7786": 4986, + "7825": 94, + "8088": 2082, + "8296": 38962, + "8298": 122, + "8600": 2159, + "8780": 4387, + "8808": 777, + "9322": 3399, + "9624": 7109, + "9832": 105359, + "10316": 1839, + "10624": 534, + "10828": 787, + "11136": 185, + "12652": 1134, + "21090": 366, + "21332": 48, + "21602": 57030, + "21844": 16967, + "24656": 187, + "24946": 9676, + "25168": 353, + "25856": 3635, + "26112": 5975, + "26218": 128, + "27988": 11410, + "29327": 2634, + "29800": 489, + "29839": 12772, + "30351": 6417, + "31375": 43532, + "31812": 1632, + "31848": 19480, + "32324": 1833, + "32360": 26827, + "33384": 5043, + "33650": 510, + "33906": 4005, + "34408": 82549, + "34418": 4726, + "35399": 1032, + "39239": 341731, + "40855": 845, + "41367": 4677, + "41879": 1136, + "42903": 9687, + "46184": 1077, + "46672": 4794, + "46696": 3661, + "46917": 441, + "47208": 526, + "48232": 4843, + "50756": 28, + "53926": 296, + "54950": 584, + "56320": 702, + "56576": 569, + "56832": 497, + "56975": 1617, + "57088": 690, + "57344": 384, + "57487": 3146, + "57600": 660, + "57999": 4835, + "58951": 87, + "59023": 15944, + "60160": 150, + "60833": 393, + "60928": 4513 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 702, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -25.16718292236328, + "y": -8.687763214111328, + "z": 1.0939555168151855 + }, + "extent": { + "x": 0.44721677899360657, + "y": 0.5802148580551147, + "z": 0.9107743501663208 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 616.3724592209259, + "ymin": 323.31248198558063, + "xmax": 663.9341045800822, + "ymax": 396.3092658530523 + }, + "corners_3d": [ + [ + -25.073139190673828, + -9.414266586303711, + 0.18318116664886475 + ], + [ + -25.893686294555664, + -8.593719482421875, + 0.18318116664886475 + ], + [ + -25.261226654052734, + -7.961259365081787, + 0.18318116664886475 + ], + [ + -24.4406795501709, + -8.781806945800781, + 0.18318116664886475 + ], + [ + -25.073139190673828, + -9.414266586303711, + 2.004729747772217 + ], + [ + -25.893686294555664, + -8.593719482421875, + 2.004729747772217 + ], + [ + -25.261226654052734, + -7.961259365081787, + 2.004729747772217 + ], + [ + -24.4406795501709, + -8.781806945800781, + 2.004729747772217 + ] + ], + "corners_2d": [ + [ + 626.3248230199949, + 396.3092658530523 + ], + [ + 662.936950077801, + 387.8922613042632 + ], + [ + 653.254326970662, + 369.0656578614529 + ], + [ + 617.3447517476188, + 377.12344369350353 + ], + [ + 625.7243547030439, + 350.23577437348945 + ], + [ + 663.9341045800822, + 341.90996804739035 + ], + [ + 653.8176439535265, + 323.31248198558063 + ], + [ + 616.3724592209259, + 331.26795795133813 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 569, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -21.041194915771484, + "y": -5.690057754516602, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.49436643719673157, + "y": 0.4572601318359375, + "z": 0.9337828755378723 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 548.8204637986498, + "ymin": 239.0701850520079, + "xmax": 589.5630491717242, + "ymax": 307.80716396360174 + }, + "corners_3d": [ + [ + -21.206764221191406, + -6.342799663543701, + 0.008038878440856934 + ], + [ + -21.70484733581543, + -5.57581901550293, + 0.008038878440856934 + ], + [ + -20.875625610351562, + -5.037315845489502, + 0.008038878440856934 + ], + [ + -20.37754249572754, + -5.804296493530273, + 0.008038878440856934 + ], + [ + -21.206764221191406, + -6.342799663543701, + 1.8756046295166016 + ], + [ + -21.70484733581543, + -5.57581901550293, + 1.8756046295166016 + ], + [ + -20.875625610351562, + -5.037315845489502, + 1.8756046295166016 + ], + [ + -20.37754249572754, + -5.804296493530273, + 1.8756046295166016 + ] + ], + "corners_2d": [ + [ + 565.4861043955173, + 307.80716396360174 + ], + [ + 589.5630491717242, + 299.2918991350535 + ], + [ + 576.011978320692, + 284.108847064815 + ], + [ + 552.2601799015921, + 292.2975204182329 + ], + [ + 562.5045773033704, + 262.2807990302296 + ], + [ + 587.5673361942648, + 253.9344187259971 + ], + [ + 573.5307316973824, + 239.0701850520079 + ], + [ + 548.8204637986498, + 247.08409633419 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 497, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -27.423004150390625, + "y": -1.7450506687164307, + "z": 0.9418168663978577 + }, + "extent": { + "x": 0.39363035559654236, + "y": 0.3578352928161621, + "z": 0.9587910175323486 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 773.371908443606, + "ymin": 229.54070064823406, + "xmax": 809.5893180999904, + "ymax": 293.26904804852774 + }, + "corners_3d": [ + [ + -27.503719329833984, + -2.270860433578491, + -0.016974151134490967 + ], + [ + -27.954105377197266, + -1.7146795988082886, + -0.016974151134490967 + ], + [ + -27.342288970947266, + -1.2192409038543701, + -0.016974151134490967 + ], + [ + -26.891902923583984, + -1.7754217386245728, + -0.016974151134490967 + ], + [ + -27.503719329833984, + -2.270860433578491, + 1.9006078243255615 + ], + [ + -27.954105377197266, + -1.7146795988082886, + 1.9006078243255615 + ], + [ + -27.342288970947266, + -1.2192409038543701, + 1.9006078243255615 + ], + [ + -26.891902923583984, + -1.7754217386245728, + 1.9006078243255615 + ] + ], + "corners_2d": [ + [ + 785.1004101198954, + 293.26904804852774 + ], + [ + 803.0645111354474, + 288.0081790717517 + ], + [ + 791.1262464908086, + 275.5789140587126 + ], + [ + 773.371908443606, + 280.67225460477357 + ], + [ + 790.9473057347767, + 246.83546057022255 + ], + [ + 809.5893180999904, + 241.68887954326055 + ], + [ + 797.0728137121812, + 229.54070064823406 + ], + [ + 778.6562201193111, + 234.5169759105052 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 690, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -34.66718292236328, + "y": -8.687763214111328, + "z": 1.0939457416534424 + }, + "extent": { + "x": 0.3654577434062958, + "y": 0.4187728762626648, + "z": 0.8811973929405212 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 933.7036689446418, + "ymin": 430.02263667081763, + "xmax": 991.4674261380521, + "ymax": 502.1554928093571 + }, + "corners_3d": [ + [ + -34.62948226928711, + -9.242298126220703, + 0.21274834871292114 + ], + [ + -35.221717834472656, + -8.650063514709473, + 0.21274834871292114 + ], + [ + -34.70488357543945, + -8.133228302001953, + 0.21274834871292114 + ], + [ + -34.112648010253906, + -8.725462913513184, + 0.21274834871292114 + ], + [ + -34.62948226928711, + -9.242298126220703, + 1.9751431941986084 + ], + [ + -35.221717834472656, + -8.650063514709473, + 1.9751431941986084 + ], + [ + -34.70488357543945, + -8.133228302001953, + 1.9751431941986084 + ], + [ + -34.112648010253906, + -8.725462913513184, + 1.9751431941986084 + ] + ], + "corners_2d": [ + [ + 948.3531206522141, + 502.1554928093571 + ], + [ + 975.5534098314165, + 494.51565191723455 + ], + [ + 960.4776182756478, + 475.0986429594603 + ], + [ + 933.7036689446418, + 482.43865788408016 + ], + [ + 963.0961680831151, + 457.0475301717486 + ], + [ + 991.4674261380521, + 449.409567279899 + ], + [ + 975.3626235778313, + 430.02263667081763 + ], + [ + 947.4538495335372, + 437.34701563396186 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 384, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -28.782682418823242, + "y": -19.81512451171875, + "z": 1.1383305788040161 + }, + "extent": { + "x": 0.4317614734172821, + "y": 0.31759703159332275, + "z": 0.9505811929702759 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 534.5764264167083, + "ymin": 683.3369094065458, + "xmax": 576.7084148104958, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -28.807579040527344, + -20.350536346435547, + 0.18774938583374023 + ], + [ + -29.301218032836914, + -19.950796127319336, + 0.18774938583374023 + ], + [ + -28.75778579711914, + -19.279712677001953, + 0.18774938583374023 + ], + [ + -28.26414680480957, + -19.679452896118164, + 0.18774938583374023 + ], + [ + -28.807579040527344, + -20.350536346435547, + 2.088911771774292 + ], + [ + -29.301218032836914, + -19.950796127319336, + 2.088911771774292 + ], + [ + -28.75778579711914, + -19.279712677001953, + 2.088911771774292 + ], + [ + -28.26414680480957, + -19.679452896118164, + 2.088911771774292 + ] + ], + "corners_2d": [ + [ + 546.770787838622, + 773.9030415497256 + ], + [ + 576.7084148104958, + 767.4828059528857 + ], + [ + 570.0379224147804, + 729.4028436719425 + ], + [ + 540.9791034684864, + 735.4388684275158 + ], + [ + 540.5405669150332, + 729.0159034252672 + ], + [ + 572.501765508287, + 722.4123220944803 + ], + [ + 565.5379204169777, + 683.3369094065458 + ], + [ + 534.5764264167083, + 689.5202406908663 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 660, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -13.921846389770508, + "y": -16.85797882080078, + "z": 1.122573733329773 + }, + "extent": { + "x": 0.4853198230266571, + "y": 0.4762738049030304, + "z": 0.9179533123970032 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 114.22875842553458, + "ymin": 376.2674610758885, + "xmax": 181.2805709388113, + "ymax": 450.1225506750106 + }, + "corners_3d": [ + [ + -13.786734580993652, + -17.524398803710938, + 0.20462042093276978 + ], + [ + -14.585607528686523, + -17.005603790283203, + 0.20462042093276978 + ], + [ + -14.056958198547363, + -16.191558837890625, + 0.20462042093276978 + ], + [ + -13.258085250854492, + -16.71035385131836, + 0.20462042093276978 + ], + [ + -13.786734580993652, + -17.524398803710938, + 2.040527105331421 + ], + [ + -14.585607528686523, + -17.005603790283203, + 2.040527105331421 + ], + [ + -14.056958198547363, + -16.191558837890625, + 2.040527105331421 + ], + [ + -13.258085250854492, + -16.71035385131836, + 2.040527105331421 + ] + ], + "corners_2d": [ + [ + 137.89886501465384, + 450.1225506750106 + ], + [ + 172.92354567449559, + 447.33620341905566 + ], + [ + 181.2805709388113, + 423.01890470298116 + ], + [ + 147.19242804702202, + 425.6621904535696 + ], + [ + 114.22875842553458, + 403.19385521717555 + ], + [ + 150.97298094691945, + 400.4223512957402 + ], + [ + 160.30825919117405, + 376.2674610758885 + ], + [ + 124.5933317539093, + 378.89023969074054 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 235, + "instance_id": 60160, + "pixel_count": 150, + "type_id": "vehicle.lincoln.mkz_2020", + "bbox_3d": { + "center_world": { + "x": 16.361892700195312, + "y": -0.9905077219009399, + "z": 0.7436257004737854 + }, + "extent": { + "x": 2.44619083404541, + "y": 0.9183566570281982, + "z": 0.7451388239860535 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 19.21980936473244, + "ymax": 57.714993307477584 + }, + "corners_3d": [ + [ + 18.810312271118164, + -0.0781099796295166, + -0.0015131211839616299 + ], + [ + 18.80583953857422, + -1.9148178100585938, + -0.0015131211839616299 + ], + [ + 13.913473129272461, + -1.9029054641723633, + -0.0015131211839616299 + ], + [ + 13.917945861816406, + -0.06619763374328613, + -0.0015131211839616299 + ], + [ + 18.810312271118164, + -0.0781099796295166, + 1.4887645244598389 + ], + [ + 18.80583953857422, + -1.9148178100585938, + 1.4887645244598389 + ], + [ + 13.913473129272461, + -1.9029054641723633, + 1.4887645244598389 + ], + [ + 13.917945861816406, + -0.06619763374328613, + 1.4887645244598389 + ] + ], + "corners_2d": [ + [ + -45.01747687953991, + 26.273081281201257 + ], + [ + -78.57246602849818, + 39.36067935634276 + ], + [ + -13.8124807948318, + 57.714993307477584 + ], + [ + 19.21980936473244, + 43.714256308645815 + ], + [ + -58.8855935644458, + -2.4609727187116732 + ], + [ + -93.49711768322265, + 10.153374443118594 + ], + [ + -27.874012350869293, + 27.86587544428471 + ], + [ + 6.217811574438883, + 14.352402713767674 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 4513, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -19.1251277923584, + "y": 6.095887660980225, + "z": 0.8948460817337036 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 608.6782456193466, + "ymin": 74.04363979301138, + "xmax": 728.9555558227491, + "ymax": 155.88744513746292 + }, + "corners_3d": [ + [ + -21.404022216796875, + 5.052896022796631, + 0.011262890882790089 + ], + [ + -21.39891815185547, + 7.149961948394775, + 0.011262890882790089 + ], + [ + -16.846233367919922, + 7.138879776000977, + 0.011262890882790089 + ], + [ + -16.851337432861328, + 5.041813850402832, + 0.011262890882790089 + ], + [ + -21.404022216796875, + 5.052896022796631, + 1.7784292697906494 + ], + [ + -21.39891815185547, + 7.149961948394775, + 1.7784292697906494 + ], + [ + -16.846233367919922, + 7.138879776000977, + 1.7784292697906494 + ], + [ + -16.851337432861328, + 5.041813850402832, + 1.7784292697906494 + ] + ], + "corners_2d": [ + [ + 706.9590580548029, + 155.88744513746292 + ], + [ + 726.4238586586604, + 133.82712581679152 + ], + [ + 631.5537178823967, + 111.69084484861307 + ], + [ + 609.5673198915782, + 132.18494946194838 + ], + [ + 708.9921465807504, + 116.72783385027188 + ], + [ + 728.9555558227491, + 95.40023339378638 + ], + [ + 631.3153358442028, + 74.04363979301138 + ], + [ + 608.6782456193466, + 93.81437080885576 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 208.880750718174, + "ymin": 51.05823934840237, + "xmax": 226.2417628837856, + "ymax": 69.4801479427116 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 224.9765493300104, + 69.4801479427116 + ], + [ + 226.2417628837856, + 68.81035802830485 + ], + [ + 214.72407207164406, + 65.82677804838875 + ], + [ + 213.45187729968086, + 66.4894169791068 + ], + [ + 220.50472088452545, + 54.65266807869682 + ], + [ + 221.7889718860307, + 53.99364619509265 + ], + [ + 210.17207446793088, + 51.05823934840237 + ], + [ + 208.880750718174, + 51.71015006066739 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 208.8807537487856, + "ymin": 51.058240113729255, + "xmax": 226.24176591926948, + "ymax": 69.4801487309229 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 224.97655236735363, + 69.4801487309229 + ], + [ + 226.24176591926948, + 68.81035881462657 + ], + [ + 214.72407507473906, + 65.82677882632021 + ], + [ + 213.45188030457683, + 66.48941775889784 + ], + [ + 220.50472394821566, + 54.652668854246315 + ], + [ + 221.78897494783666, + 53.99364696876279 + ], + [ + 210.17207749671843, + 51.058240113729255 + ], + [ + 208.8807537487856, + 51.71015082784328 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 160.09141067482415, + "ymin": 40.199942769760014, + "xmax": 177.41440973251412, + "ymax": 58.29625538239844 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 176.11707399395226, + 58.29625538239844 + ], + [ + 177.41440973251412, + 57.6530103785102 + ], + [ + 166.38191254738257, + 54.787299098253925 + ], + [ + 165.07847128418388, + 55.423812905813634 + ], + [ + 171.21995250438323, + 43.650807894375305 + ], + [ + 172.5367847308849, + 43.01817691112899 + ], + [ + 161.41441544074786, + 40.199942769760014 + ], + [ + 160.09141067482415, + 40.82588433540559 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 160.91002668734285, + "ymin": 38.94378057029269, + "xmax": 178.1869359196662, + "ymax": 57.00230776244911 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 176.89357470175293, + 57.00230776244911 + ], + [ + 178.1869359196662, + 56.36209930259548 + ], + [ + 167.17631781617058, + 53.50987297960597 + ], + [ + 165.87687017345968, + 54.143397726409205 + ], + [ + 172.0163323582649, + 42.37822734623546 + ], + [ + 173.32907816853236, + 41.74861419783497 + ], + [ + 162.22892577126817, + 38.94378057029269 + ], + [ + 160.91002668734285, + 39.56675198384568 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 207.45301581924355, + "ymin": 43.96062704123216, + "xmax": 222.95310625834264, + "ymax": 63.33474541137218 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 222.7853935605002, + 63.33474541137218 + ], + [ + 222.95310625834264, + 63.247119294291565 + ], + [ + 212.76678248418722, + 60.63074441372714 + ], + [ + 212.59825576241246, + 60.717542044542995 + ], + [ + 217.73858590267048, + 46.61432348320443 + ], + [ + 217.90913743845465, + 46.52832261226496 + ], + [ + 207.62439329482794, + 43.96062704123216 + ], + [ + 207.45301581924355, + 44.04580502789469 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 207.45314266108613, + "ymin": 43.96065041213842, + "xmax": 222.95323284306585, + "ymax": 63.33476946164882 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 222.78552015800767, + 63.33476946164882 + ], + [ + 222.95323284306585, + 63.24714333693697 + ], + [ + 212.76690802769798, + 60.63076822907226 + ], + [ + 212.5983813184472, + 60.717565867411395 + ], + [ + 217.73871380911885, + 46.61434708745372 + ], + [ + 217.909265331879, + 46.528346208933954 + ], + [ + 207.62452012391526, + 43.96065041213842 + ], + [ + 207.45314266108613, + 44.04582840627273 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 208.880750718174, + "ymin": 51.05823934840237, + "xmax": 226.2417628837856, + "ymax": 69.4801479427116 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 224.9765493300104, + 69.4801479427116 + ], + [ + 226.2417628837856, + 68.81035802830485 + ], + [ + 214.72407207164406, + 65.82677804838875 + ], + [ + 213.45187729968086, + 66.4894169791068 + ], + [ + 220.50472088452545, + 54.65266807869682 + ], + [ + 221.7889718860307, + 53.99364619509265 + ], + [ + 210.17207446793088, + 51.05823934840237 + ], + [ + 208.880750718174, + 51.71015006066739 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 208.88075090841244, + "ymin": 51.058239284530146, + "xmax": 226.2417630077482, + "ymax": 69.48014784403841 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 224.97654951640118, + 69.48014784403841 + ], + [ + 226.2417630077482, + 68.81035796268048 + ], + [ + 214.72407219629144, + 65.82677798346452 + ], + [ + 213.4518774870989, + 66.48941688148778 + ], + [ + 220.50472107372326, + 54.652667981608715 + ], + [ + 221.7889720118569, + 53.9936461305241 + ], + [ + 210.17207459445092, + 51.058239284530146 + ], + [ + 208.88075090841244, + 51.71014996462759 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 208.88075330709648, + "ymin": 51.05823998617484, + "xmax": 226.24176541335555, + "ymax": 69.48014856666327 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 224.97655192326005, + 69.48014856666327 + ], + [ + 226.24176541335555, + 68.81035868357287 + ], + [ + 214.72407457422327, + 65.82677869666503 + ], + [ + 213.45187986623358, + 66.48941759639291 + ], + [ + 220.5047235006666, + 54.652668692625355 + ], + [ + 221.78897443753567, + 53.9936468398177 + ], + [ + 210.17207699192062, + 51.05823998617484 + ], + [ + 208.88075330709648, + 51.71015066796724 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 161.34192656370107, + "ymin": 50.49836520143066, + "xmax": 178.99222603486157, + "ymax": 68.9035310227789 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 177.67163565011936, + 68.9035310227789 + ], + [ + 178.99222603486157, + 68.23512258119854 + ], + [ + 167.73884410313178, + 65.25767676500283 + ], + [ + 166.4118913280879, + 65.91895627631334 + ], + [ + 172.6953016474926, + 54.085320252629515 + ], + [ + 174.0361159735358, + 53.42767224885068 + ], + [ + 162.68917486348238, + 50.49836520143066 + ], + [ + 161.34192656370107, + 51.14892419957954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 207.4528723658335, + "ymin": 43.960583126093184, + "xmax": 222.95296259084597, + "ymax": 63.33470021966133 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 222.78524988392866, + 63.33470021966133 + ], + [ + 222.95296259084597, + 63.2470741169202 + ], + [ + 212.7666403268787, + 60.63069966346461 + ], + [ + 212.59811359637672, + 60.717497280143675 + ], + [ + 217.7384409060964, + 46.614279129602096 + ], + [ + 217.90899245104214, + 46.52827827290645 + ], + [ + 207.62424985022085, + 43.960583126093184 + ], + [ + 207.4528723658335, + 44.045761098715786 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 208.8807537487856, + "ymin": 51.058240113729255, + "xmax": 226.24176591926948, + "ymax": 69.4801487309229 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 224.97655236735363, + 69.4801487309229 + ], + [ + 226.24176591926948, + 68.81035881462657 + ], + [ + 214.72407507473906, + 65.82677882632021 + ], + [ + 213.45188030457683, + 66.48941775889784 + ], + [ + 220.50472394821566, + 54.652668854246315 + ], + [ + 221.78897494783666, + 53.99364696876279 + ], + [ + 210.17207749671843, + 51.058240113729255 + ], + [ + 208.8807537487856, + 51.71015082784328 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 206.19694326856654, + "ymin": 43.29026276799419, + "xmax": 225.40476780057003, + "ymax": 64.40965410635596 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 225.20402999703816, + 64.40965410635596 + ], + [ + 225.40476780057003, + 64.30432797522514 + ], + [ + 211.82050904229874, + 60.81248942773948 + ], + [ + 211.61846860430353, + 60.91649007182099 + ], + [ + 219.92066624033663, + 46.81713184377713 + ], + [ + 220.12497886675794, + 46.71385568996686 + ], + [ + 206.4025786267626, + 43.29026276799419 + ], + [ + 206.19694326856654, + 43.39222283855696 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 207.45299325554328, + "ymin": 43.9605886137976, + "xmax": 222.9530827507507, + "ymax": 63.33470586688827 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 222.7853700611867, + 63.33470586688827 + ], + [ + 222.9530827507507, + 63.24707976235527 + ], + [ + 212.7667598137861, + 60.63070525552746 + ], + [ + 212.59823310044072, + 60.71750287397305 + ], + [ + 217.73856248483986, + 46.61428467209771 + ], + [ + 217.9091140120268, + 46.528283813622124 + ], + [ + 207.62437072237555, + 43.9605886137976 + ], + [ + 207.45299325554328, + 44.04576658817467 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 208.88075090841244, + "ymin": 51.058239284530146, + "xmax": 226.2417630077482, + "ymax": 69.48014784403841 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 224.97654951640118, + 69.48014784403841 + ], + [ + 226.2417630077482, + 68.81035796268048 + ], + [ + 214.72407219629144, + 65.82677798346452 + ], + [ + 213.4518774870989, + 66.48941688148778 + ], + [ + 220.50472107372326, + 54.652667981608715 + ], + [ + 221.7889720118569, + 53.9936461305241 + ], + [ + 210.17207459445092, + 51.058239284530146 + ], + [ + 208.88075090841244, + 51.71014996462759 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 206.19688663377656, + "ymin": 43.290290870082515, + "xmax": 225.4047124734388, + "ymax": 64.4096831145784 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 225.20397471116752, + 64.4096831145784 + ], + [ + 225.4047124734388, + 64.30435700509679 + ], + [ + 211.82045335607, + 60.812518092316395 + ], + [ + 211.61841295973682, + 60.916518714952076 + ], + [ + 219.9206099697755, + 46.81716028747741 + ], + [ + 220.1249225544745, + 46.71388415475707 + ], + [ + 206.40252194984038, + 43.290290870082515 + ], + [ + 206.19688663377656, + 43.39225091975487 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 206.19705448355194, + "ymin": 43.29028469225261, + "xmax": 225.40487902517526, + "ymax": 64.40967673035874 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 225.2041412969283, + 64.40967673035874 + ], + [ + 225.40487902517526, + 64.30435062330736 + ], + [ + 211.82061901230395, + 60.81251179083165 + ], + [ + 211.61857864962593, + 60.91651241108286 + ], + [ + 219.92077873911563, + 46.817154027499555 + ], + [ + 220.12509128889434, + 46.71387789719239 + ], + [ + 206.40268976507951, + 43.29028469225261 + ], + [ + 206.19705448355194, + 43.39224473955761 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 208.88074964675798, + "ymin": 51.05823877412223, + "xmax": 226.24176173793143, + "ymax": 69.4801473183685 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 224.97654824625045, + 69.4801473183685 + ], + [ + 226.24176173793143, + 68.8103574382709 + ], + [ + 214.72407094403883, + 65.82677746465043 + ], + [ + 213.45187623454171, + 66.48941636143354 + ], + [ + 220.5047197941418, + 54.65266746438323 + ], + [ + 221.78897073260623, + 53.993645614551895 + ], + [ + 210.17207333309722, + 51.05823877412223 + ], + [ + 208.88074964675798, + 51.71014945298651 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 206.19700275596864, + "ymin": 43.29023517131145, + "xmax": 225.40482591670468, + "ymax": 64.40962558771986 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 225.20408813458278, + 64.40962558771986 + ], + [ + 225.40482591670468, + 64.30429946744471 + ], + [ + 211.8205674871893, + 60.81246127868428 + ], + [ + 211.6185270705978, + 60.91646191211413 + ], + [ + 219.9207253941599, + 46.81710388013545 + ], + [ + 220.1250379985163, + 46.713827737105134 + ], + [ + 206.4026380921082, + 43.29023517131145 + ], + [ + 206.19700275596864, + 43.39219523129947 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 150.60364255800596, + "ymin": 36.340869939949016, + "xmax": 167.86065765730547, + "ymax": 54.3210232740343 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 166.561584572021, + 54.3210232740343 + ], + [ + 167.86065765730547, + 53.68708431640073 + ], + [ + 156.95752117110277, + 50.862700705291786 + ], + [ + 155.65254607873675, + 51.490053634878564 + ], + [ + 161.60027488533115, + 39.74142135622395 + ], + [ + 162.91879538705274, + 39.11803836496779 + ], + [ + 151.92812698104348, + 36.340869939949016 + ], + [ + 150.60364255800596, + 36.957709276786375 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 206.19694219136915, + "ymin": 43.290262578491934, + "xmax": 225.40476666004417, + "ymax": 64.40965387781893 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 225.2040289186952, + 64.40965387781893 + ], + [ + 225.40476666004417, + 64.30432777946635 + ], + [ + 211.82050791374775, + 60.81248923444417 + ], + [ + 211.61846753834357, + 60.91648984616023 + ], + [ + 219.92066515046844, + 46.817131619687586 + ], + [ + 220.12497771359972, + 46.713855498018575 + ], + [ + 206.40257748586072, + 43.290262578491934 + ], + [ + 206.19694219136915, + 43.39222261732334 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 209.12300186874688, + "ymin": 55.01378261795065, + "xmax": 226.45244779710833, + "ymax": 73.38772690184396 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 225.18967587698813, + 73.38772690184396 + ], + [ + 226.45244779710833, + 72.71441562668161 + ], + [ + 214.95342899671232, + 69.71511564386799 + ], + [ + 213.6836970832623, + 70.38125066997458 + ], + [ + 220.72796073817017, + 58.628209308113924 + ], + [ + 222.00969838181908, + 57.96552717566618 + ], + [ + 210.4117906542353, + 55.01378261795065 + ], + [ + 209.12300186874688, + 55.669326479220956 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 207.45301581924355, + "ymin": 43.96062704123216, + "xmax": 222.95310625834264, + "ymax": 63.33474541137218 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 222.7853935605002, + 63.33474541137218 + ], + [ + 222.95310625834264, + 63.247119294291565 + ], + [ + 212.76678248418722, + 60.63074441372714 + ], + [ + 212.59825576241246, + 60.717542044542995 + ], + [ + 217.73858590267048, + 46.61432348320443 + ], + [ + 217.90913743845465, + 46.52832261226496 + ], + [ + 207.62439329482794, + 43.96062704123216 + ], + [ + 207.45301581924355, + 44.04580502789469 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 143.31920094493069, + "ymin": 35.8822452725359, + "xmax": 160.60702823876522, + "ymax": 53.84857846990974 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 159.30061793762002, + 53.84857846990974 + ], + [ + 160.60702823876522, + 53.215741005842744 + ], + [ + 149.75103639511366, + 50.39624926186468 + ], + [ + 148.4388221389762, + 51.02251781108413 + ], + [ + 154.26764496623468, + 39.2768419687099 + ], + [ + 155.59364677207583, + 38.65455345868003 + ], + [ + 144.65106568061168, + 35.8822452725359 + ], + [ + 143.31920094493069, + 36.49800730854054 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 207.45312597757862, + "ymin": 43.96064581825544, + "xmax": 222.95321614948625, + "ymax": 63.334764734226155 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 222.78550346321464, + 63.334764734226155 + ], + [ + 222.95321614948625, + 63.247138611014236 + ], + [ + 212.76689149998458, + 60.63076354782862 + ], + [ + 212.59836478955913, + 60.71756118468892 + ], + [ + 217.73869695610148, + 46.61434244770402 + ], + [ + 217.90924848009058, + 46.528341570674115 + ], + [ + 207.62450344159663, + 43.96064581825544 + ], + [ + 207.45312597757862, + 44.04582381092115 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4421894629193955789, + "instance_id": 52537, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -38.7340202331543, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1216.8579510638974, + "ymin": 74.59126492576041, + "xmax": 1237.6519426639518, + "ymax": 106.29920549558707 + }, + "corners_3d": [ + [ + -38.595436096191406, + 6.4043402671813965, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.404339790344238, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.784256458282471, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.784256935119629, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.4043402671813965, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.404339790344238, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.784256458282471, + 6.416468620300293 + ], + [ + -38.595436096191406, + 6.784256935119629, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1216.8579510638974, + 104.53054204393518 + ], + [ + 1226.2269061808904, + 106.29920549558707 + ], + [ + 1226.661745547175, + 101.4684136210729 + ], + [ + 1217.367321124524, + 99.728299892135 + ], + [ + 1227.7215929665035, + 79.2750183150057 + ], + [ + 1237.3005118397994, + 81.00040212572702 + ], + [ + 1237.6519426639518, + 76.28827882670004 + ], + [ + 1228.150927664539, + 74.59126492576041 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1194.9528406564991, + "ymin": 96.86296157956286, + "xmax": 1212.5288679762757, + "ymax": 123.87521890996106 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1194.9528406564991, + 122.30472100446255 + ], + [ + 1202.9739062313051, + 123.87521890996106 + ], + [ + 1203.509218623351, + 119.6056060341879 + ], + [ + 1195.5425333831654, + 118.05688839889103 + ], + [ + 1203.875566463093, + 101.02838888653326 + ], + [ + 1212.049229546079, + 102.56865582266482 + ], + [ + 1212.5288679762757, + 98.38152724392438 + ], + [ + 1204.4116747636244, + 96.86296157956286 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10755311745963632187, + "instance_id": 15270, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -38.73401641845703, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1212.5235732083006, + "ymin": 113.82522164761048, + "xmax": 1234.7074592938363, + "ymax": 147.41391596307437 + }, + "corners_3d": [ + [ + -38.59543228149414, + 3.404341459274292, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.404340982437134, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.404341459274292, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.404340982437134, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 6.416468620300293 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1212.5235732083006, + 145.39289445901974 + ], + [ + 1222.525862049597, + 147.41391596307437 + ], + [ + 1223.0225709364504, + 141.8958061727997 + ], + [ + 1213.105180127138, + 139.90962863956568 + ], + [ + 1224.062933764156, + 119.18697460613404 + ], + [ + 1234.304985409567, + 121.1636801623716 + ], + [ + 1234.7074592938363, + 115.76716836633614 + ], + [ + 1224.5544183281554, + 113.82522164761048 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12937619472667703847, + "instance_id": 10234, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -38.7340087890625, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1208.4277191288274, + "ymin": 150.9504191333523, + "xmax": 1231.9199232828796, + "ymax": 186.27992260642986 + }, + "corners_3d": [ + [ + -38.59542465209961, + 0.9043415784835815, + 5.545533180236816 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 5.545533180236816 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 5.545533180236816 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 5.545533180236816 + ], + [ + -38.59542465209961, + 0.9043415784835815, + 6.416468620300293 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 6.416468620300293 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 6.416468620300293 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1208.4277191288274, + 184.00492819186275 + ], + [ + 1219.0270665840299, + 186.27992260642986 + ], + [ + 1219.586009370581, + 180.0704655148096 + ], + [ + 1209.0819450679433, + 177.83705145653033 + ], + [ + 1220.5968414186827, + 156.99630483414563 + ], + [ + 1231.4659111325234, + 159.2269023978125 + ], + [ + 1231.9199232828796, + 153.13938573743863 + ], + [ + 1221.1510397872453, + 150.9504191333523 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1136.0926582554794, + "ymin": 465.8941393865308, + "xmax": 1163.6807796206535, + "ymax": 505.987571577802 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1148.86965457388, + 505.987571577802 + ], + [ + 1150.3443504204968, + 494.7820964377073 + ], + [ + 1137.7046086080895, + 490.7414328925815 + ], + [ + 1136.0926582554794, + 501.85452310263724 + ], + [ + 1162.3230270471727, + 481.1464446331823 + ], + [ + 1163.6807796206535, + 469.9352339728237 + ], + [ + 1150.6559198890795, + 465.8941393865308 + ], + [ + 1149.1523173506093, + 477.0105036081921 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 213.40262556311217, + "ymin": 53.0638812969633, + "xmax": 230.6623718215793, + "ymax": 103.12794484218006 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 229.78101679750102, + 103.12794484218006 + ], + [ + 230.6623718215793, + 102.63098767585717 + ], + [ + 229.3736621250763, + 102.27763869368118 + ], + [ + 228.49175202630056, + 102.77400211206316 + ], + [ + 214.72983719744036, + 53.87200744208047 + ], + [ + 215.65659809155545, + 53.39969182540983 + ], + [ + 214.32996675103794, + 53.0638812969633 + ], + [ + 213.40262556311217, + 53.53561193006959 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 213.40262556311217, + "ymin": 53.0638812969633, + "xmax": 230.6623718215793, + "ymax": 103.12794484218006 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 229.78101679750102, + 103.12794484218006 + ], + [ + 230.6623718215793, + 102.63098767585717 + ], + [ + 229.3736621250763, + 102.27763869368118 + ], + [ + 228.49175202630056, + 102.77400211206316 + ], + [ + 214.72983719744036, + 53.87200744208047 + ], + [ + 215.65659809155545, + 53.39969182540983 + ], + [ + 214.32996675103794, + 53.0638812969633 + ], + [ + 213.40262556311217, + 53.53561193006959 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 165.19417964060733, + "ymin": 40.86597440864375, + "xmax": 183.7577987243626, + "ymax": 90.2459033685451 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 182.85707430543454, + 90.2459033685451 + ], + [ + 183.7577987243626, + 89.7703277359467 + ], + [ + 182.52449714174912, + 89.43217099257384 + ], + [ + 181.62328655313274, + 89.90719077014819 + ], + [ + 166.46225717553716, + 41.63810953286128 + ], + [ + 167.40920185300342, + 41.18683544104175 + ], + [ + 166.1416290701893, + 40.86597440864375 + ], + [ + 165.19417964060733, + 41.31670215807566 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 213.40262556311217, + "ymin": 53.0638812969633, + "xmax": 230.6623718215793, + "ymax": 103.12794484218006 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 229.78101679750102, + 103.12794484218006 + ], + [ + 230.6623718215793, + 102.63098767585717 + ], + [ + 229.3736621250763, + 102.27763869368118 + ], + [ + 228.49175202630056, + 102.77400211206316 + ], + [ + 214.72983719744036, + 53.87200744208047 + ], + [ + 215.65659809155545, + 53.39969182540983 + ], + [ + 214.32996675103794, + 53.0638812969633 + ], + [ + 213.40262556311217, + 53.53561193006959 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 154.83754021608314, + "ymin": 38.24536525512161, + "xmax": 173.67144189962903, + "ymax": 87.47574255468197 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 172.76677630347808, + 87.47574255468197 + ], + [ + 173.67144189962903, + 87.00470344867665 + ], + [ + 172.44989646355225, + 86.66977013934581 + ], + [ + 171.54475892480093, + 87.14026132250359 + ], + [ + 156.09308974276632, + 39.00987517632916 + ], + [ + 157.04412337737864, + 38.563058970141924 + ], + [ + 155.7890630470082, + 38.24536525512161 + ], + [ + 154.83754021608314, + 38.691643191994046 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 213.40262556311217, + "ymin": 53.0638812969633, + "xmax": 230.6623718215793, + "ymax": 103.12794484218006 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 229.78101679750102, + 103.12794484218006 + ], + [ + 230.6623718215793, + 102.63098767585717 + ], + [ + 229.3736621250763, + 102.27763869368118 + ], + [ + 228.49175202630056, + 102.77400211206316 + ], + [ + 214.72983719744036, + 53.87200744208047 + ], + [ + 215.65659809155545, + 53.39969182540983 + ], + [ + 214.32996675103794, + 53.0638812969633 + ], + [ + 213.40262556311217, + 53.53561193006959 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1172.878791838707, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 53.264554495379684 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1173.5290330035289, + 35.59757992997032 + ], + [ + 1172.878791838707, + 38.80726966896259 + ], + [ + 1257.7955479130833, + 53.264554495379684 + ], + [ + 1257.9329736258533, + 49.87716408053126 + ], + [ + 1236.8681095849652, + -131.79343701616824 + ], + [ + 1236.5740533808487, + -129.3468149184165 + ], + [ + 1333.913161862919, + -118.28234505625238 + ], + [ + 1333.5336759484521, + -120.8813038036825 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 165.72149128594953, + "ymin": 52.50011202121635, + "xmax": 184.65984387483718, + "ymax": 102.53298965568831 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 183.7407682879923, + 102.53298965568831 + ], + [ + 184.65984387483718, + 102.037030507949 + ], + [ + 183.39987757859058, + 101.6843905126309 + ], + [ + 182.48029410986157, + 102.17975769949635 + ], + [ + 167.01778323670982, + 53.30655645686886 + ], + [ + 167.98505195941806, + 52.83522409901957 + ], + [ + 166.68928778266792, + 52.50011202121635 + ], + [ + 165.72149128594953, + 52.97086122060034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 213.40262556311217, + "ymin": 53.0638812969633, + "xmax": 230.6623718215793, + "ymax": 103.12794484218006 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 229.78101679750102, + 103.12794484218006 + ], + [ + 230.6623718215793, + 102.63098767585717 + ], + [ + 229.3736621250763, + 102.27763869368118 + ], + [ + 228.49175202630056, + 102.77400211206316 + ], + [ + 214.72983719744036, + 53.87200744208047 + ], + [ + 215.65659809155545, + 53.39969182540983 + ], + [ + 214.32996675103794, + 53.0638812969633 + ], + [ + 213.40262556311217, + 53.53561193006959 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 213.40262556311217, + "ymin": 53.0638812969633, + "xmax": 230.6623718215793, + "ymax": 103.12794484218006 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 229.78101679750102, + 103.12794484218006 + ], + [ + 230.6623718215793, + 102.63098767585717 + ], + [ + 229.3736621250763, + 102.27763869368118 + ], + [ + 228.49175202630056, + 102.77400211206316 + ], + [ + 214.72983719744036, + 53.87200744208047 + ], + [ + 215.65659809155545, + 53.39969182540983 + ], + [ + 214.32996675103794, + 53.0638812969633 + ], + [ + 213.40262556311217, + 53.53561193006959 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 744.4310813745492, + "ymin": 0.0, + "xmax": 804.3658227087569, + "ymax": 131.17789118175406 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 784.9968090719884, + 94.62411696778798 + ], + [ + 775.8835883444953, + 92.66306799390964 + ], + [ + 744.4310813745492, + 128.9639311487546 + ], + [ + 754.0024488184931, + 131.17789118175406 + ], + [ + 804.3658227087569, + -85.84180959156231 + ], + [ + 793.9661207164232, + -87.3766640270855 + ], + [ + 759.3191642055099, + -58.73995806626721 + ], + [ + 770.3216312349479, + -56.9779006663199 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7806990106475075983, + "instance_id": 36761, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 98.5759557610861, + "ymin": 464.71536917775165, + "xmax": 386.8131171213937, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -26.247940063476562, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.247940063476562, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.198223114013672 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 386.8131171213937, + 474.4689780335792 + ], + [ + 372.4244162385989, + 468.47757095856986 + ], + [ + 101.27317063206851, + 754.5798909427958 + ], + [ + 117.78860590758131, + 764.7060669983487 + ], + [ + 385.83214634332046, + 470.7063551556289 + ], + [ + 371.39416872307504, + 464.71536917775165 + ], + [ + 98.5759557610861, + 751.1202198722835 + ], + [ + 115.15267992428596, + 761.2691940824786 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 213.40262556311217, + "ymin": 53.0638812969633, + "xmax": 230.6623718215793, + "ymax": 103.12794484218006 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 229.78101679750102, + 103.12794484218006 + ], + [ + 230.6623718215793, + 102.63098767585717 + ], + [ + 229.3736621250763, + 102.27763869368118 + ], + [ + 228.49175202630056, + 102.77400211206316 + ], + [ + 214.72983719744036, + 53.87200744208047 + ], + [ + 215.65659809155545, + 53.39969182540983 + ], + [ + 214.32996675103794, + 53.0638812969633 + ], + [ + 213.40262556311217, + 53.53561193006959 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 213.40262556311217, + "ymin": 53.0638812969633, + "xmax": 230.6623718215793, + "ymax": 103.12794484218006 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 229.78101679750102, + 103.12794484218006 + ], + [ + 230.6623718215793, + 102.63098767585717 + ], + [ + 229.3736621250763, + 102.27763869368118 + ], + [ + 228.49175202630056, + 102.77400211206316 + ], + [ + 214.72983719744036, + 53.87200744208047 + ], + [ + 215.65659809155545, + 53.39969182540983 + ], + [ + 214.32996675103794, + 53.0638812969633 + ], + [ + 213.40262556311217, + 53.53561193006959 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 213.40262556311217, + "ymin": 53.0638812969633, + "xmax": 230.6623718215793, + "ymax": 103.12794484218006 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 229.78101679750102, + 103.12794484218006 + ], + [ + 230.6623718215793, + 102.63098767585717 + ], + [ + 229.3736621250763, + 102.27763869368118 + ], + [ + 228.49175202630056, + 102.77400211206316 + ], + [ + 214.72983719744036, + 53.87200744208047 + ], + [ + 215.65659809155545, + 53.39969182540983 + ], + [ + 214.32996675103794, + 53.0638812969633 + ], + [ + 213.40262556311217, + 53.53561193006959 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 214.48531706786008, + "ymin": 56.595019820044854, + "xmax": 231.6643605841727, + "ymax": 106.41683052525312 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 230.78600445407335, + 106.41683052525312 + ], + [ + 231.6643605841727, + 105.91833600574438 + ], + [ + 230.37820651480155, + 105.56389267988519 + ], + [ + 229.49929702104362, + 106.06179307187136 + ], + [ + 215.80982788577774, + 57.406345291402545 + ], + [ + 216.73329992222818, + 56.93216054859897 + ], + [ + 215.40936761524256, + 56.595019820044854 + ], + [ + 214.48531706786008, + 57.068618753729254 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1092.6032602615737, + "ymin": 301.40595128688193, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1094.995052475142, + 564.5618071805816 + ], + [ + 1092.6032602615737, + 577.217624815295 + ], + [ + 1702.864419001003, + 796.7761584375279 + ], + [ + 1697.0270762801954, + 778.415937143657 + ], + [ + 1230.8974713452048, + 301.40595128688193 + ], + [ + 1229.9079870601677, + 313.7807477402317 + ], + [ + 2117.6143823146595, + 543.5944722948001 + ], + [ + 2101.3559240506243, + 523.2096539737336 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 213.40262556311217, + "ymin": 53.0638812969633, + "xmax": 230.6623718215793, + "ymax": 103.12794484218006 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 229.78101679750102, + 103.12794484218006 + ], + [ + 230.6623718215793, + 102.63098767585717 + ], + [ + 229.3736621250763, + 102.27763869368118 + ], + [ + 228.49175202630056, + 102.77400211206316 + ], + [ + 214.72983719744036, + 53.87200744208047 + ], + [ + 215.65659809155545, + 53.39969182540983 + ], + [ + 214.32996675103794, + 53.0638812969633 + ], + [ + 213.40262556311217, + 53.53561193006959 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 213.40262556311217, + "ymin": 53.0638812969633, + "xmax": 230.6623718215793, + "ymax": 103.12794484218006 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 229.78101679750102, + 103.12794484218006 + ], + [ + 230.6623718215793, + 102.63098767585717 + ], + [ + 229.3736621250763, + 102.27763869368118 + ], + [ + 228.49175202630056, + 102.77400211206316 + ], + [ + 214.72983719744036, + 53.87200744208047 + ], + [ + 215.65659809155545, + 53.39969182540983 + ], + [ + 214.32996675103794, + 53.0638812969633 + ], + [ + 213.40262556311217, + 53.53561193006959 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 257.99401792296794, + "ymin": 0.0, + "xmax": 352.65556211238953, + "ymax": 27.161481014433036 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 352.65556211238953, + 1.5892858310328961 + ], + [ + 346.21304716077293, + 0.20294013258774157 + ], + [ + 297.6874852087951, + 25.62704329104315 + ], + [ + 304.32115319381865, + 27.161481014433036 + ], + [ + 321.06367052051644, + -157.1710113678131 + ], + [ + 314.01413133402633, + -158.21142617820237 + ], + [ + 257.99401792296794, + -139.02797158105136 + ], + [ + 265.2673274563932, + -137.8631436926371 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 213.40262556311217, + "ymin": 53.0638812969633, + "xmax": 230.6623718215793, + "ymax": 103.12794484218006 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 229.78101679750102, + 103.12794484218006 + ], + [ + 230.6623718215793, + 102.63098767585717 + ], + [ + 229.3736621250763, + 102.27763869368118 + ], + [ + 228.49175202630056, + 102.77400211206316 + ], + [ + 214.72983719744036, + 53.87200744208047 + ], + [ + 215.65659809155545, + 53.39969182540983 + ], + [ + 214.32996675103794, + 53.0638812969633 + ], + [ + 213.40262556311217, + 53.53561193006959 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 213.40262556311217, + "ymin": 53.0638812969633, + "xmax": 230.6623718215793, + "ymax": 103.12794484218006 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 229.78101679750102, + 103.12794484218006 + ], + [ + 230.6623718215793, + 102.63098767585717 + ], + [ + 229.3736621250763, + 102.27763869368118 + ], + [ + 228.49175202630056, + 102.77400211206316 + ], + [ + 214.72983719744036, + 53.87200744208047 + ], + [ + 215.65659809155545, + 53.39969182540983 + ], + [ + 214.32996675103794, + 53.0638812969633 + ], + [ + 213.40262556311217, + 53.53561193006959 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 213.40262556311217, + "ymin": 53.0638812969633, + "xmax": 230.6623718215793, + "ymax": 103.12794484218006 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 229.78101679750102, + 103.12794484218006 + ], + [ + 230.6623718215793, + 102.63098767585717 + ], + [ + 229.3736621250763, + 102.27763869368118 + ], + [ + 228.49175202630056, + 102.77400211206316 + ], + [ + 214.72983719744036, + 53.87200744208047 + ], + [ + 215.65659809155545, + 53.39969182540983 + ], + [ + 214.32996675103794, + 53.0638812969633 + ], + [ + 213.40262556311217, + 53.53561193006959 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15102510933830370440, + "instance_id": 34948, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 98.86844475407065, + "ymin": 464.8834238188669, + "xmax": 386.6153522250603, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -26.246049880981445, + -20.196584701538086, + 8.10662841796875 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.10662841796875 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.10662841796875 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.10662841796875 + ], + [ + -26.246049880981445, + -20.196584701538086, + 8.197628021240234 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.197628021240234 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.197628021240234 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 386.6153522250603, + 474.5136143564967 + ], + [ + 372.40915142139613, + 468.59752718515284 + ], + [ + 101.52957040983586, + 754.4442053612407 + ], + [ + 117.83349967484673, + 764.43813899833 + ], + [ + 385.64612448598007, + 470.79910549975364 + ], + [ + 371.3918923477598, + 464.8834238188669 + ], + [ + 98.86844475407065, + 751.0285294204895 + ], + [ + 115.23210309842796, + 761.0446611063396 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 164.3833245090517, + "ymin": 42.13067670946879, + "xmax": 183.01805404595734, + "ymax": 91.58245350840821 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 182.11464168396606, + 91.58245350840821 + ], + [ + 183.01805404595734, + 91.10468128618396 + ], + [ + 181.78234368910176, + 90.76496378843609 + ], + [ + 180.8784436287508, + 91.24217630126736 + ], + [ + 165.65394086110854, + 42.90650533335565 + ], + [ + 166.6038366013771, + 42.45307190860268 + ], + [ + 165.33372657920836, + 42.13067670946879 + ], + [ + 164.3833245090517, + 42.58355986701196 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 213.40262556311217, + "ymin": 53.0638812969633, + "xmax": 230.6623718215793, + "ymax": 103.12794484218006 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 229.78101679750102, + 103.12794484218006 + ], + [ + 230.6623718215793, + 102.63098767585717 + ], + [ + 229.3736621250763, + 102.27763869368118 + ], + [ + 228.49175202630056, + 102.77400211206316 + ], + [ + 214.72983719744036, + 53.87200744208047 + ], + [ + 215.65659809155545, + 53.39969182540983 + ], + [ + 214.32996675103794, + 53.0638812969633 + ], + [ + 213.40262556311217, + 53.53561193006959 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 147.52899341841658, + "ymin": 37.78367205544117, + "xmax": 166.60008443558468, + "ymax": 86.9876073747763 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 165.69040640016158, + 86.9876073747763 + ], + [ + 166.60008443558468, + 86.51736537529638 + ], + [ + 165.38368084000228, + 86.18299847707459 + ], + [ + 164.47353837551452, + 86.65269394355079 + ], + [ + 148.77903756800345, + 38.54684254152755 + ], + [ + 149.7354225578581, + 38.10080938810853 + ], + [ + 148.48585930362765, + 37.78367205544117 + ], + [ + 147.52899341841658, + 38.22916835350708 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 80.39629501384695, + "ymin": 450.16730010051737, + "xmax": 455.9821298511201, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 455.9821298511201, + 713.874370839379 + ], + [ + 437.8583119575382, + 704.7258262285122 + ], + [ + 254.6435610125639, + 964.4766299373588 + ], + [ + 275.0355107372522, + 978.0626521222794 + ], + [ + 392.10184262314533, + 459.8634041899381 + ], + [ + 368.4036012027598, + 450.16730010051737 + ], + [ + 80.39629501384695, + 746.9282968768148 + ], + [ + 107.75925568103332, + 763.77564807569 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 213.40262556311217, + "ymin": 53.0638812969633, + "xmax": 230.6623718215793, + "ymax": 103.12794484218006 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 229.78101679750102, + 103.12794484218006 + ], + [ + 230.6623718215793, + 102.63098767585717 + ], + [ + 229.3736621250763, + 102.27763869368118 + ], + [ + 228.49175202630056, + 102.77400211206316 + ], + [ + 214.72983719744036, + 53.87200744208047 + ], + [ + 215.65659809155545, + 53.39969182540983 + ], + [ + 214.32996675103794, + 53.0638812969633 + ], + [ + 213.40262556311217, + 53.53561193006959 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 213.40262556311217, + "ymin": 53.0638812969633, + "xmax": 230.6623718215793, + "ymax": 103.12794484218006 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 229.78101679750102, + 103.12794484218006 + ], + [ + 230.6623718215793, + 102.63098767585717 + ], + [ + 229.3736621250763, + 102.27763869368118 + ], + [ + 228.49175202630056, + 102.77400211206316 + ], + [ + 214.72983719744036, + 53.87200744208047 + ], + [ + 215.65659809155545, + 53.39969182540983 + ], + [ + 214.32996675103794, + 53.0638812969633 + ], + [ + 213.40262556311217, + 53.53561193006959 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 213.40262556311217, + "ymin": 53.0638812969633, + "xmax": 230.6623718215793, + "ymax": 103.12794484218006 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 229.78101679750102, + 103.12794484218006 + ], + [ + 230.6623718215793, + 102.63098767585717 + ], + [ + 229.3736621250763, + 102.27763869368118 + ], + [ + 228.49175202630056, + 102.77400211206316 + ], + [ + 214.72983719744036, + 53.87200744208047 + ], + [ + 215.65659809155545, + 53.39969182540983 + ], + [ + 214.32996675103794, + 53.0638812969633 + ], + [ + 213.40262556311217, + 53.53561193006959 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 213.40262556311217, + "ymin": 53.0638812969633, + "xmax": 230.6623718215793, + "ymax": 103.12794484218006 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 229.78101679750102, + 103.12794484218006 + ], + [ + 230.6623718215793, + 102.63098767585717 + ], + [ + 229.3736621250763, + 102.27763869368118 + ], + [ + 228.49175202630056, + 102.77400211206316 + ], + [ + 214.72983719744036, + 53.87200744208047 + ], + [ + 215.65659809155545, + 53.39969182540983 + ], + [ + 214.32996675103794, + 53.0638812969633 + ], + [ + 213.40262556311217, + 53.53561193006959 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1125.5556361207068, + "ymin": 0.0, + "xmax": 1263.0528336140915, + "ymax": 354.6154129429046 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1172.3282093643656, + 178.05370297249002 + ], + [ + 1160.699531415837, + 175.5049039955398 + ], + [ + 1125.5556361207068, + 350.54271327428313 + ], + [ + 1140.0920955957297, + 354.6154129429046 + ], + [ + 1263.0528336140915, + -37.97327606599134 + ], + [ + 1249.0456269235265, + -39.98894601610101 + ], + [ + 1234.5116998546557, + 104.81877485783329 + ], + [ + 1252.9773761294932, + 108.34958241591136 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00163/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00163/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4b4b1171f0cb82c4d9609f2d89ecc125c02c221f --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00163/meta.json @@ -0,0 +1,7789 @@ +{ + "frame_id": 163, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 81.5, + "sim_timestamp": 15027.267797523411 + }, + "drone_pose": { + "x": -34.504805141262906, + "y": -27.319691157434356, + "z": 20.0, + "pitch": -41.30949553284624, + "yaw": 62.78780824560183, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.34349340200424194, + -0.668016254901886, + 0.6601262092590332, + 16.89965057373047 + ], + [ + 0.889319121837616, + 0.4572871923446655, + 2.9802322387695312e-08, + -18.19283676147461 + ], + [ + -0.30186727643013, + 0.5870628356933594, + 0.7511547207832336, + -41.47734069824219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -34.296630017538085, + "y": -26.82840479314243, + "z": 20.0 + }, + "t1_image_uv": [ + 734.9322266310327, + -483.66254038639397 + ], + "t1_depth": 0.3996940621451713 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -24.66718292236328, + "y": -8.187763214111328, + "z": 1.0940434527397156 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.639913943955662, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 690, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -24.66718292236328, + "y": -8.187763214111328, + "z": 1.094043493270874 + }, + "extent": { + "x": 0.47410520911216736, + "y": 0.5252508521080017, + "z": 0.8749173283576965 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 616.4892839288548, + "ymin": 323.2234148713633, + "xmax": 663.2834444309218, + "ymax": 396.5706134722051 + }, + "corners_3d": [ + [ + -24.141931533813477, + -8.661869049072266, + 0.2191261649131775 + ], + [ + -25.192434310913086, + -8.66186809539795, + 0.2191261649131775 + ], + [ + -25.192434310913086, + -7.713657855987549, + 0.2191261649131775 + ], + [ + -24.141931533813477, + -7.713658332824707, + 0.2191261649131775 + ], + [ + -24.141931533813477, + -8.661869049072266, + 1.9689607620239258 + ], + [ + -25.192434310913086, + -8.66186809539795, + 1.9689607620239258 + ], + [ + -25.192434310913086, + -7.713657855987549, + 1.9689607620239258 + ], + [ + -24.141931533813477, + -7.713658332824707, + 1.9689607620239258 + ] + ], + "corners_2d": [ + [ + 617.4231353453665, + 385.64865371694464 + ], + [ + 648.3669430506791, + 396.5706134722051 + ], + [ + 662.3672082379687, + 377.5762099378267 + ], + [ + 631.913017628348, + 367.11772130313165 + ], + [ + 616.4892839288548, + 341.5252336160613 + ], + [ + 648.7175569834129, + 352.3272807160913 + ], + [ + 663.2834444309218, + 333.54863040947606 + ], + [ + 631.5859330861246, + 323.2234148713633 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 163, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 72, + "semantic_pixel_counts": { + "1": 294146, + "2": 184259, + "3": 23774, + "5": 4376, + "6": 13565, + "7": 1033, + "10": 256, + "12": 3319, + "14": 16666, + "15": 13361, + "20": 2887, + "24": 27179, + "25": 336779 + }, + "instance_pixel_counts": { + "108": 110, + "6018": 81, + "6508": 1476, + "7274": 439, + "7576": 1366, + "7784": 17108, + "7786": 4768, + "7825": 61, + "8088": 2146, + "8296": 35283, + "8600": 2202, + "8780": 4376, + "9322": 3496, + "9624": 7306, + "9832": 109108, + "10316": 1950, + "10624": 264, + "10828": 845, + "12652": 1185, + "21090": 829, + "21602": 60899, + "21844": 13361, + "24656": 221, + "24946": 11780, + "25168": 373, + "25856": 3971, + "26112": 5827, + "26218": 221, + "27988": 11673, + "29327": 2918, + "29800": 943, + "29839": 13690, + "30351": 3463, + "31375": 45963, + "31812": 1693, + "31848": 20237, + "32324": 1894, + "32360": 24462, + "33384": 1869, + "33650": 1160, + "33896": 24, + "33906": 4594, + "34408": 85112, + "34418": 6240, + "35399": 1314, + "39239": 335465, + "40855": 921, + "41367": 5017, + "41879": 211, + "42903": 9947, + "46184": 1130, + "46672": 4125, + "46696": 3674, + "46917": 23, + "47208": 426, + "48232": 4981, + "53926": 302, + "54950": 604, + "56320": 690, + "56576": 545, + "56832": 516, + "56975": 2085, + "57088": 689, + "57344": 148, + "57487": 3290, + "57600": 731, + "57999": 5559, + "58951": 92, + "59023": 16447, + "60160": 389, + "60833": 432, + "60928": 4604 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 690, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -24.66718292236328, + "y": -8.187763214111328, + "z": 1.094043493270874 + }, + "extent": { + "x": 0.4756554961204529, + "y": 0.5247762799263, + "z": 0.8892859220504761 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 616.4704402753541, + "ymin": 322.8236235899705, + "xmax": 663.300045748671, + "ymax": 396.94593713703983 + }, + "corners_3d": [ + [ + -24.142406463623047, + -8.663418769836426, + 0.20475757122039795 + ], + [ + -25.191959381103516, + -8.663418769836426, + 0.20475757122039795 + ], + [ + -25.191959381103516, + -7.7121076583862305, + 0.20475757122039795 + ], + [ + -24.142406463623047, + -7.7121076583862305, + 0.20475757122039795 + ], + [ + -24.142406463623047, + -8.663418769836426, + 1.98332941532135 + ], + [ + -25.191959381103516, + -8.663418769836426, + 1.98332941532135 + ], + [ + -25.191959381103516, + -7.7121076583862305, + 1.98332941532135 + ], + [ + -24.142406463623047, + -7.7121076583862305, + 1.98332941532135 + ] + ], + "corners_2d": [ + [ + 617.4201183356515, + 386.03229072985965 + ], + [ + 648.3266259529845, + 396.94593713703983 + ], + [ + 662.3684374188264, + 377.8882282350553 + ], + [ + 631.9523775671382, + 367.4390436526542 + ], + [ + 616.4704402753541, + 341.183210360952 + ], + [ + 648.6814140551281, + 351.9750913100337 + ], + [ + 663.300045748671, + 333.13743177285437 + ], + [ + 631.6214396603978, + 322.8236235899705 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 545, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -20.541194915771484, + "y": -5.190057754516602, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.45454713702201843, + "y": 0.5616156458854675, + "z": 0.9129865765571594 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 549.3349264011576, + "ymin": 241.0827161821137, + "xmax": 592.3428923271025, + "ymax": 305.993138394882 + }, + "corners_3d": [ + [ + -20.08635902404785, + -5.751438617706299, + 0.028835177421569824 + ], + [ + -21.185043334960938, + -5.517904758453369, + 0.028835177421569824 + ], + [ + -20.996030807495117, + -4.628676891326904, + 0.028835177421569824 + ], + [ + -19.89734649658203, + -4.862210750579834, + 0.028835177421569824 + ], + [ + -20.08635902404785, + -5.751438617706299, + 1.8548083305358887 + ], + [ + -21.185043334960938, + -5.517904758453369, + 1.8548083305358887 + ], + [ + -20.996030807495117, + -4.628676891326904, + 1.8548083305358887 + ], + [ + -19.89734649658203, + -4.862210750579834, + 1.8548083305358887 + ] + ], + "corners_2d": [ + [ + 552.6929940897664, + 300.6213753487951 + ], + [ + 584.2865764341508, + 305.993138394882 + ], + [ + 592.3428923271025, + 290.2165299468767 + ], + [ + 561.3225957924674, + 285.0565673522556 + ], + [ + 549.3349264011576, + 256.3215732835059 + ], + [ + 582.128439097809, + 261.58624486869076 + ], + [ + 590.5351094317508, + 246.1320447282185 + ], + [ + 558.3587653167235, + 241.0827161821137 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 516, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -26.923004150390625, + "y": -1.2450506687164307, + "z": 0.941826581954956 + }, + "extent": { + "x": 0.48172727227211, + "y": 0.3830561339855194, + "z": 0.9109516143798828 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 775.3767416280837, + "ymin": 231.20322664742608, + "xmax": 810.1200831474715, + "ymax": 295.29445487706687 + }, + "corners_3d": [ + [ + -26.5924015045166, + -1.7641792297363281, + 0.030874967575073242 + ], + [ + -27.35431671142578, + -1.684098720550537, + 0.030874967575073242 + ], + [ + -27.25360679626465, + -0.7259221076965332, + 0.030874967575073242 + ], + [ + -26.49169158935547, + -0.8060026168823242, + 0.030874967575073242 + ], + [ + -26.5924015045166, + -1.7641792297363281, + 1.8527781963348389 + ], + [ + -27.35431671142578, + -1.684098720550537, + 1.8527781963348389 + ], + [ + -27.25360679626465, + -0.7259221076965332, + 1.8527781963348389 + ], + [ + -26.49169158935547, + -0.8060026168823242, + 1.8527781963348389 + ] + ], + "corners_2d": [ + [ + 775.3767416280837, + 290.3752758709128 + ], + [ + 797.1640947340235, + 295.29445487706687 + ], + [ + 804.0012560105145, + 279.5775977719502 + ], + [ + 782.6084700035086, + 274.8543208729701 + ], + [ + 780.501758937589, + 246.38475185882484 + ], + [ + 803.153178925521, + 251.20116404833294 + ], + [ + 810.1200831474715, + 235.82077104489076 + ], + [ + 787.8949927604109, + 231.20322664742608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 689, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -34.16718292236328, + "y": -8.187763214111328, + "z": 1.0940386056900024 + }, + "extent": { + "x": 0.3147338926792145, + "y": 0.39283689856529236, + "z": 0.8722872734069824 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 935.125749157489, + "ymin": 432.8860518070532, + "xmax": 985.074149720634, + "ymax": 503.4456610114277 + }, + "corners_3d": [ + [ + -33.77434539794922, + -8.502497673034668, + 0.22175133228302002 + ], + [ + -34.560020446777344, + -8.502496719360352, + 0.22175133228302002 + ], + [ + -34.560020446777344, + -7.8730292320251465, + 0.22175133228302002 + ], + [ + -33.77434539794922, + -7.8730292320251465, + 0.22175133228302002 + ], + [ + -33.77434539794922, + -8.502497673034668, + 1.9663258790969849 + ], + [ + -34.560020446777344, + -8.502496719360352, + 1.9663258790969849 + ], + [ + -34.560020446777344, + -7.8730292320251465, + 1.9663258790969849 + ], + [ + -33.77434539794922, + -7.8730292320251465, + 1.9663258790969849 + ] + ], + "corners_2d": [ + [ + 935.125749157489, + 493.151115020141 + ], + [ + 964.4303748364647, + 503.4456610114277 + ], + [ + 969.8058579416089, + 487.49838037096015 + ], + [ + 940.9146504188965, + 477.53207322045273 + ], + [ + 948.8717622826425, + 448.473307402395 + ], + [ + 979.7080556340047, + 458.7596035445527 + ], + [ + 985.074149720634, + 442.8293965067367 + ], + [ + 954.6959212815593, + 432.8860518070532 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 148, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -28.282682418823242, + "y": -19.31512451171875, + "z": 1.1377202272415161 + }, + "extent": { + "x": 0.4703003168106079, + "y": 0.40950807929039, + "z": 0.907007098197937 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 516.4008766200444, + "ymin": 675.2258420459225, + "xmax": 580.8599750928336, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -27.826257705688477, + -19.74004364013672, + 0.2307131290435791 + ], + [ + -28.64078712463379, + -19.825653076171875, + 0.2307131290435791 + ], + [ + -28.739107131958008, + -18.89020538330078, + 0.2307131290435791 + ], + [ + -27.924577713012695, + -18.804595947265625, + 0.2307131290435791 + ], + [ + -27.826257705688477, + -19.74004364013672, + 2.044727325439453 + ], + [ + -28.64078712463379, + -19.825653076171875, + 2.044727325439453 + ], + [ + -28.739107131958008, + -18.89020538330078, + 2.044727325439453 + ], + [ + -27.924577713012695, + -18.804595947265625, + 2.044727325439453 + ] + ], + "corners_2d": [ + [ + 523.653436655945, + 754.3958760656975 + ], + [ + 554.4752912693466, + 775.1821601689697 + ], + [ + 580.8599750928336, + 739.1672404203571 + ], + [ + 550.4823631654831, + 719.5440430269938 + ], + [ + 516.4008766200444, + 710.8864600650741 + ], + [ + 549.0488493516625, + 732.2147622454231 + ], + [ + 577.2215681183313, + 695.289039277935 + ], + [ + 545.0687898632688, + 675.2258420459225 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 731, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -13.421846389770508, + "y": -16.35797882080078, + "z": 1.1219096183776855 + }, + "extent": { + "x": 0.32034972310066223, + "y": 0.5800939798355103, + "z": 0.9070901274681091 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 119.07150017603828, + "ymin": 370.4818178389281, + "xmax": 183.8197041787402, + "ymax": 447.23090878511874 + }, + "corners_3d": [ + [ + -12.787824630737305, + -16.55072021484375, + 0.21481949090957642 + ], + [ + -13.922658920288086, + -16.79193687438965, + 0.21481949090957642 + ], + [ + -14.055868148803711, + -16.165237426757812, + 0.21481949090957642 + ], + [ + -12.92103385925293, + -15.924020767211914, + 0.21481949090957642 + ], + [ + -12.787824630737305, + -16.55072021484375, + 2.0289998054504395 + ], + [ + -13.922658920288086, + -16.79193687438965, + 2.0289998054504395 + ], + [ + -14.055868148803711, + -16.165237426757812, + 2.0289998054504395 + ], + [ + -12.92103385925293, + -15.924020767211914, + 2.0289998054504395 + ] + ], + "corners_2d": [ + [ + 141.58189545595536, + 428.72520338233267 + ], + [ + 163.24228241478028, + 447.23090878511874 + ], + [ + 183.8197041787402, + 434.6249384636767 + ], + [ + 162.04324594537178, + 416.61219139074535 + ], + [ + 119.07150017603828, + 382.4931913408825 + ], + [ + 141.25327681878292, + 400.8714563037612 + ], + [ + 163.07764331556297, + 388.3486404462925 + ], + [ + 140.75630731930454, + 370.4818178389281 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 235, + "instance_id": 60160, + "pixel_count": 389, + "type_id": "vehicle.lincoln.mkz_2020", + "bbox_3d": { + "center_world": { + "x": 16.361892700195312, + "y": -0.9905077219009399, + "z": 0.7436257004737854 + }, + "extent": { + "x": 2.44619083404541, + "y": 0.9183566570281982, + "z": 0.7451388239860535 + }, + "yaw": 179.86048889160156 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 1.8184596420224466, + "xmax": 28.525453687938352, + "ymax": 62.386471167942716 + }, + "corners_3d": [ + [ + 18.810312271118164, + -0.0781099796295166, + -0.0015131211839616299 + ], + [ + 18.80583953857422, + -1.9148178100585938, + -0.0015131211839616299 + ], + [ + 13.913473129272461, + -1.9029054641723633, + -0.0015131211839616299 + ], + [ + 13.917945861816406, + -0.06619763374328613, + -0.0015131211839616299 + ], + [ + 18.810312271118164, + -0.0781099796295166, + 1.4887645244598389 + ], + [ + 18.80583953857422, + -1.9148178100585938, + 1.4887645244598389 + ], + [ + 13.913473129272461, + -1.9029054641723633, + 1.4887645244598389 + ], + [ + 13.917945861816406, + -0.06619763374328613, + 1.4887645244598389 + ] + ], + "corners_2d": [ + [ + -35.02421524928775, + 30.522639720298116 + ], + [ + -68.67802118018437, + 43.55045425113906 + ], + [ + -4.663046813526762, + 62.386471167942716 + ], + [ + 28.525453687938352, + 48.42345128538852 + ], + [ + -48.65147390403217, + 1.8184596420224466 + ], + [ + -83.35466847433531, + 14.373744618852186 + ], + [ + -18.501184533441574, + 32.549301861575316 + ], + [ + 15.742384572318429, + 19.073296966231226 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 4604, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -19.1251277923584, + "y": 6.095887660980225, + "z": 0.8948460817337036 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 618.2167346233208, + "ymin": 82.7700142220325, + "xmax": 739.6780594345295, + "ymax": 166.02980769753 + }, + "corners_3d": [ + [ + -21.404022216796875, + 5.052896022796631, + 0.011262890882790089 + ], + [ + -21.39891815185547, + 7.149961948394775, + 0.011262890882790089 + ], + [ + -16.846233367919922, + 7.138879776000977, + 0.011262890882790089 + ], + [ + -16.851337432861328, + 5.041813850402832, + 0.011262890882790089 + ], + [ + -21.404022216796875, + 5.052896022796631, + 1.7784292697906494 + ], + [ + -21.39891815185547, + 7.149961948394775, + 1.7784292697906494 + ], + [ + -16.846233367919922, + 7.138879776000977, + 1.7784292697906494 + ], + [ + -16.851337432861328, + 5.041813850402832, + 1.7784292697906494 + ] + ], + "corners_2d": [ + [ + 716.9745573067993, + 166.02980769753 + ], + [ + 736.8226889871768, + 143.65246320871083 + ], + [ + 641.2115353145906, + 120.5594696944701 + ], + [ + 618.8383888461677, + 141.2923842128075 + ], + [ + 719.3280437866792, + 126.69983098363485 + ], + [ + 739.6780594345295, + 105.05715377593697 + ], + [ + 641.2459117656822, + 82.7700142220325 + ], + [ + 618.2167346233208, + 102.77721239152214 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 217.0573414956968, + "ymin": 57.371998473324254, + "xmax": 234.3056887869115, + "ymax": 75.91788181677884 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 233.02738847811162, + 75.91788181677884 + ], + [ + 234.3056887869115, + 75.24568205559586 + ], + [ + 222.8318270246001, + 72.16227148900441 + ], + [ + 221.54686392718133, + 72.82707045289521 + ], + [ + 228.6365260254351, + 61.06711492422886 + ], + [ + 229.93393267182626, + 60.4057033711249 + ], + [ + 218.3614949173595, + 57.371998473324254 + ], + [ + 217.0573414956968, + 58.02605014316998 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 217.05734451411718, + "ymin": 57.37199926414502, + "xmax": 234.30569181135354, + "ymax": 75.9178826315038 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 233.0273915043299, + 75.9178826315038 + ], + [ + 234.30569181135354, + 75.24568286836478 + ], + [ + 222.83183001576327, + 72.1622722928301 + ], + [ + 221.54686692006175, + 72.82707125864476 + ], + [ + 228.6365290778416, + 61.06711572588847 + ], + [ + 229.93393572243372, + 60.40570417083916 + ], + [ + 218.3614979340415, + 57.37199926414502 + ], + [ + 217.05734451411718, + 58.0260509359037 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 168.4705301040455, + "ymin": 46.13043125715035, + "xmax": 185.66276555694685, + "ymax": 64.33557096916991 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 184.35363182384157, + 64.33557096916991 + ], + [ + 185.66276555694685, + 63.69089388770493 + ], + [ + 174.6876685737367, + 60.733320093970576 + ], + [ + 173.37276028617538, + 61.37104503307171 + ], + [ + 179.5404514269734, + 49.673086611720294 + ], + [ + 180.86911971317033, + 49.03903890144164 + ], + [ + 169.80503216516996, + 46.13043125715035 + ], + [ + 168.4705301040455, + 46.75756985770727 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 169.31317990785777, + "ymin": 44.86278407752491, + "xmax": 186.45928586810368, + "ymax": 63.02938181856695 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 185.15420838801896, + 63.02938181856695 + ], + [ + 186.45928586810368, + 62.38777250342116 + ], + [ + 175.5058834566567, + 59.444226671858644 + ], + [ + 174.19504857354303, + 60.078933276294094 + ], + [ + 180.36105786734248, + 48.38845015798222 + ], + [ + 181.6855564551655, + 47.7574513711935 + ], + [ + 170.6434950247122, + 44.86278407752491 + ], + [ + 169.31317990785777, + 45.486923395009796 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 215.67194882516895, + "ymin": 50.27007712571293, + "xmax": 231.04274195155398, + "ymax": 69.75690805359295 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 230.87330405218552, + 69.75690805359295 + ], + [ + 231.04274195155398, + 69.66896740000277 + ], + [ + 220.89544147782408, + 66.96501489620528 + ], + [ + 220.72522687520734, + 67.05209810696567 + ], + [ + 225.91782337800186, + 53.010111583656055 + ], + [ + 226.09011021913466, + 52.92379929753349 + ], + [ + 215.84502329040953, + 50.27007712571293 + ], + [ + 215.67194882516895, + 50.35553772903029 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 215.6720753129719, + "ymin": 50.270101441751535, + "xmax": 231.0428682219793, + "ymax": 69.7569330832606 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 230.87343033501566, + 69.7569330832606 + ], + [ + 231.0428682219793, + 69.66899242171638 + ], + [ + 220.89556667458663, + 66.96503967397024 + ], + [ + 220.72535208410943, + 67.05212289256872 + ], + [ + 225.91795096357464, + 53.01013614990512 + ], + [ + 226.0902377920733, + 52.92382385588121 + ], + [ + 215.84514976585228, + 50.270101441751535 + ], + [ + 215.6720753129719, + 50.355562052853486 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 217.0573414956968, + "ymin": 57.371998473324254, + "xmax": 234.3056887869115, + "ymax": 75.91788181677884 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 233.02738847811162, + 75.91788181677884 + ], + [ + 234.3056887869115, + 75.24568205559586 + ], + [ + 222.8318270246001, + 72.16227148900441 + ], + [ + 221.54686392718133, + 72.82707045289521 + ], + [ + 228.6365260254351, + 61.06711492422886 + ], + [ + 229.93393267182626, + 60.4057033711249 + ], + [ + 218.3614949173595, + 57.371998473324254 + ], + [ + 217.0573414956968, + 58.02605014316998 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 217.05734168782567, + "ymin": 57.37199840924234, + "xmax": 234.30568891215614, + "ymax": 75.9178817177505 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 233.02738866643068, + 75.9178817177505 + ], + [ + 234.30568891215614, + 75.24568198973549 + ], + [ + 222.83182715049833, + 72.16227142386867 + ], + [ + 221.54686411648066, + 72.82707035495775 + ], + [ + 228.63652621657133, + 61.0671148267885 + ], + [ + 229.9339327989412, + 60.40570330632232 + ], + [ + 218.36149504513628, + 57.37199840924234 + ], + [ + 217.05734168782567, + 58.026050046814476 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 217.05734407509004, + "ymin": 57.3719991323415, + "xmax": 234.30569130727986, + "ymax": 75.91788246270681 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 233.02739106273322, + 75.91788246270681 + ], + [ + 234.30569130727986, + 75.24568273290328 + ], + [ + 222.8318295172361, + 72.16227215885914 + ], + [ + 221.54686648434813, + 72.82707109170735 + ], + [ + 228.6365286328193, + 61.067115559798424 + ], + [ + 229.93393521399912, + 60.40570403755345 + ], + [ + 218.3614974312611, + 57.3719991323415 + ], + [ + 217.05734407509004, + 58.02605077166288 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 169.52013995983316, + "ymin": 56.564938032802615, + "xmax": 187.04263927810013, + "ymax": 75.0864221250772 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 185.70947901091438, + 75.0864221250772 + ], + [ + 187.04263927810013, + 74.41621704688112 + ], + [ + 175.8460680373479, + 71.34192604555824 + ], + [ + 174.5068885574006, + 72.00476315313819 + ], + [ + 180.81546080329764, + 60.24900193288647 + ], + [ + 182.16889904904116, + 59.58957416725946 + ], + [ + 170.87966072134748, + 56.564938032802615 + ], + [ + 169.52013995983316, + 57.21703891038214 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 215.67180609799436, + "ymin": 50.27003190808364, + "xmax": 231.04259896143554, + "ymax": 69.75686150891318 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 230.87316105359218, + 69.75686150891318 + ], + [ + 231.04259896143554, + 69.66892087011394 + ], + [ + 220.89530003557326, + 66.96496881995841 + ], + [ + 220.7250854248328, + 67.05205201614359 + ], + [ + 225.9176790691842, + 53.010065900740585 + ], + [ + 226.0899659188629, + 52.92375362931085 + ], + [ + 215.8448805714188, + 50.27003190808364 + ], + [ + 215.67180609799436, + 50.35549249692485 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 217.05734451411718, + "ymin": 57.37199926414502, + "xmax": 234.30569181135354, + "ymax": 75.9178826315038 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 233.0273915043299, + 75.9178826315038 + ], + [ + 234.30569181135354, + 75.24568286836478 + ], + [ + 222.83183001576327, + 72.1622722928301 + ], + [ + 221.54686692006175, + 72.82707125864476 + ], + [ + 228.6365290778416, + 61.06711572588847 + ], + [ + 229.93393572243372, + 60.40570417083916 + ], + [ + 218.3614979340415, + 57.37199926414502 + ], + [ + 217.05734451411718, + 58.0260509359037 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 214.42726867562294, + "ymin": 49.58468731066773, + "xmax": 233.48833642843124, + "ymax": 70.8471505160303 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 233.285523660141, + 70.8471505160303 + ], + [ + 233.48833642843124, + 70.74144132612668 + ], + [ + 219.95596708889207, + 67.13273003832921 + ], + [ + 219.75191127158712, + 67.23706741880989 + ], + [ + 228.09815536119527, + 53.22663392195028 + ], + [ + 228.30455587629814, + 53.12297867242506 + ], + [ + 214.63493066569947, + 49.58468731066773 + ], + [ + 214.42726867562294, + 49.68698041972522 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 215.67192696311702, + "ymin": 50.27003807230062, + "xmax": 231.04271913087473, + "ymax": 69.75686785403792 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 230.87328124018705, + 69.75686785403792 + ], + [ + 231.04271913087473, + 69.6689272132225 + ], + [ + 220.89541950202818, + 66.96497510122498 + ], + [ + 220.72520490823968, + 67.05205829939712 + ], + [ + 225.91780065401537, + 53.01007212838681 + ], + [ + 226.0900874861387, + 52.923759854954255 + ], + [ + 215.84500141919693, + 50.27003807230062 + ], + [ + 215.67192696311702, + 50.35549866311527 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 217.05734168782567, + "ymin": 57.37199840924234, + "xmax": 234.30568891215614, + "ymax": 75.9178817177505 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 233.02738866643068, + 75.9178817177505 + ], + [ + 234.30568891215614, + 75.24568198973549 + ], + [ + 222.83182715049833, + 72.16227142386867 + ], + [ + 221.54686411648066, + 72.82707035495775 + ], + [ + 228.63652621657133, + 61.0671148267885 + ], + [ + 229.9339327989412, + 60.40570330632232 + ], + [ + 218.36149504513628, + 57.37199840924234 + ], + [ + 217.05734168782567, + 58.026050046814476 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 214.427211482656, + "ymin": 49.58471550454033, + "xmax": 233.48828052941678, + "ymax": 70.84717962976072 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 233.28546780278106, + 70.84717962976072 + ], + [ + 233.48828052941678, + 70.74147046156816 + ], + [ + 219.95591084720013, + 67.13275879570983 + ], + [ + 219.7518550719446, + 67.23709615468994 + ], + [ + 228.0980985155835, + 53.226662470067424 + ], + [ + 228.30449898857142, + 53.12300724169239 + ], + [ + 214.63487343021455, + 49.58471550454033 + ], + [ + 214.427211482656, + 49.68700859265374 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 214.4273795493255, + "ymin": 49.58471008081085, + "xmax": 233.48844735630973, + "ymax": 70.84717402276146 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 233.28563466353404, + 70.84717402276146 + ], + [ + 233.48844735630973, + 70.74146485670656 + ], + [ + 219.95607672410574, + 67.13275326357683 + ], + [ + 219.75202098232228, + 67.23709062046078 + ], + [ + 228.09826755765448, + 53.22665697199932 + ], + [ + 228.30466799589266, + 53.12300174574716 + ], + [ + 214.6350414625378, + 49.58471008081085 + ], + [ + 214.4273795493255, + 49.68700316684317 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 217.0573404347873, + "ymin": 57.37199788566818, + "xmax": 234.30568765042415, + "ymax": 75.91788117835011 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 233.0273874044134, + 75.91788117835011 + ], + [ + 234.30568765042415, + 75.24568145163028 + ], + [ + 222.83182590671305, + 72.16227089168444 + ], + [ + 221.5468628724396, + 72.82706982149966 + ], + [ + 228.63652494521625, + 61.067114296038085 + ], + [ + 229.93393152786723, + 60.40570277686015 + ], + [ + 218.36149379234882, + 57.37199788566818 + ], + [ + 217.0573404347873, + 58.026049521973675 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 214.4273287140863, + "ymin": 49.58465964282868, + "xmax": 233.48839510982668, + "ymax": 70.84712191328549 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 233.2855823631868, + 70.84712191328549 + ], + [ + 233.48839510982668, + 70.74141273428626 + ], + [ + 219.95602608167172, + 67.13270181749596 + ], + [ + 219.75197028599882, + 67.2370391872837 + ], + [ + 228.09821508394663, + 53.22660587489162 + ], + [ + 228.30461557673863, + 53.12295063619513 + ], + [ + 214.63499068187326, + 49.58465964282868 + ], + [ + 214.4273287140863, + 49.68695274126992 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 159.06423344004497, + "ymin": 42.17735009109856, + "xmax": 176.1865656568612, + "ymax": 60.26221969255744 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 174.8760847303983, + 60.26221969255744 + ], + [ + 176.1865656568612, + 59.62708539846102 + ], + [ + 165.34334154760836, + 56.713148504143476 + ], + [ + 164.02728933193197, + 57.3414840369112 + ], + [ + 169.9996932439825, + 45.66716110106529 + ], + [ + 171.32965086225323, + 45.04259680681707 + ], + [ + 160.39981652340458, + 42.17735009109856 + ], + [ + 159.06423344004497, + 42.795159288153684 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 214.427267601901, + "ymin": 49.58468711295541, + "xmax": 233.4883352902968, + "ymax": 70.84715027881447 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 233.28552258483762, + 70.84715027881447 + ], + [ + 233.4883352902968, + 70.74144112181153 + ], + [ + 219.95596596312066, + 67.13272983666525 + ], + [ + 219.75191020903628, + 67.23706718467275 + ], + [ + 228.0981542744247, + 53.22663368934303 + ], + [ + 228.3045547255852, + 53.12297847208026 + ], + [ + 214.63492952763983, + 49.58468711295541 + ], + [ + 214.427267601901, + 49.68698019017489 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 217.27167018730108, + "ymin": 61.33417345797619, + "xmax": 234.48882316727475, + "ymax": 79.83243502433925 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 233.21295711031257, + 79.83243502433925 + ], + [ + 234.48882316727475, + 79.15670405935032 + ], + [ + 223.03369506406148, + 76.05705951373454 + ], + [ + 221.75118664267836, + 76.72536357668787 + ], + [ + 228.83178195971783, + 65.04983330710894 + ], + [ + 230.12668301167014, + 64.38475107732381 + ], + [ + 218.5732972387741, + 61.33417345797619 + ], + [ + 217.27167018730108, + 61.99186780084182 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 215.67194882516895, + "ymin": 50.27007712571293, + "xmax": 231.04274195155398, + "ymax": 69.75690805359295 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 230.87330405218552, + 69.75690805359295 + ], + [ + 231.04274195155398, + 69.66896740000277 + ], + [ + 220.89544147782408, + 66.96501489620528 + ], + [ + 220.72522687520734, + 67.05209810696567 + ], + [ + 225.91782337800186, + 53.010111583656055 + ], + [ + 226.09011021913466, + 52.92379929753349 + ], + [ + 215.84502329040953, + 50.27007712571293 + ], + [ + 215.67194882516895, + 50.35553772903029 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 151.79488762468407, + "ymin": 41.67747349963685, + "xmax": 168.9456039831358, + "ymax": 59.74711804928245 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 167.6279070434024, + 59.74711804928245 + ], + [ + 168.9456039831358, + 59.113185440357256 + ], + [ + 158.1513819642082, + 56.2047437937602 + ], + [ + 156.82821461940313, + 56.8318968756858 + ], + [ + 162.68026423079039, + 45.16063068442338 + ], + [ + 164.01757872839272, + 44.53726044054247 + ], + [ + 153.13772369012986, + 41.67747349963685 + ], + [ + 151.79488762468407, + 42.29410795644344 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 215.67205870435657, + "ymin": 50.27009670324941, + "xmax": 231.04285159772456, + "ymax": 69.75692820569247 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 230.8734137096124, + 69.75692820569247 + ], + [ + 231.04285159772456, + 69.66898754569831 + ], + [ + 220.89555022055168, + 66.96503484549083 + ], + [ + 220.72533562896496, + 67.05211806256187 + ], + [ + 225.91793418100292, + 53.010131362644074 + ], + [ + 226.09022101066415, + 52.92381907015994 + ], + [ + 215.84513315835903, + 50.27009670324941 + ], + [ + 215.67205870435657, + 50.35555731283432 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4421894629193955789, + "instance_id": 52537, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -38.7340202331543, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1236.6784358525297, + "ymin": 88.45534909737103, + "xmax": 1258.2277704080423, + "ymax": 120.63838226829839 + }, + "corners_3d": [ + [ + -38.595436096191406, + 6.4043402671813965, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.404339790344238, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.784256458282471, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.784256935119629, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.4043402671813965, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.404339790344238, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.784256458282471, + 6.416468620300293 + ], + [ + -38.595436096191406, + 6.784256935119629, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1236.6784358525297, + 118.76219769291228 + ], + [ + 1246.2774439156246, + 120.63838226829839 + ], + [ + 1246.6964209058046, + 115.66276061923915 + ], + [ + 1237.1749145266829, + 113.81729748908171 + ], + [ + 1248.0791464428648, + 93.2808185642312 + ], + [ + 1257.8983313239269, + 95.11208507687616 + ], + [ + 1258.2277704080423, + 90.25606302194541 + ], + [ + 1248.4896781057419, + 88.45534909737103 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1213.250538622303, + "ymin": 109.84146165767473, + "xmax": 1231.4121833047047, + "ymax": 137.21044434445565 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1213.250538622303, + 135.5512360783322 + ], + [ + 1221.446532540273, + 137.21044434445565 + ], + [ + 1221.9806570429973, + 132.83064841981263 + ], + [ + 1213.8409089884854, + 131.19473570179025 + ], + [ + 1222.582249767481, + 114.11512067172953 + ], + [ + 1230.9374391029687, + 115.74303555913025 + ], + [ + 1231.4121833047047, + 111.44615178319123 + ], + [ + 1223.1154471342154, + 109.84146165767473 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10755311745963632187, + "instance_id": 15270, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -38.73401641845703, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1232.44902560581, + "ymin": 128.91277697070524, + "xmax": 1255.465018541949, + "ymax": 163.03366123216614 + }, + "corners_3d": [ + [ + -38.59543228149414, + 3.404341459274292, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.404340982437134, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.404341459274292, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.404340982437134, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 6.416468620300293 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1232.44902560581, + 160.88545940581736 + ], + [ + 1242.7073646587164, + 163.03366123216614 + ], + [ + 1243.1869160706779, + 157.33869438020676 + ], + [ + 1233.0170380444565, + 155.22809941446758 + ], + [ + 1244.5766474534034, + 134.44815341784303 + ], + [ + 1255.0869423981228, + 136.55055697667075 + ], + [ + 1255.465018541949, + 130.97763086633918 + ], + [ + 1245.0475764788519, + 128.91277697070524 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12937619472667703847, + "instance_id": 10234, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -38.7340087890625, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1228.4445722896107, + "ymin": 167.27189242242213, + "xmax": 1252.8442387651576, + "ymax": 203.18922989262143 + }, + "corners_3d": [ + [ + -38.59542465209961, + 0.9043415784835815, + 5.545533180236816 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 5.545533180236816 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 5.545533180236816 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 5.545533180236816 + ], + [ + -38.59542465209961, + 0.9043415784835815, + 6.416468620300293 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 6.416468620300293 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 6.416468620300293 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1228.4445722896107, + 200.76646586567637 + ], + [ + 1239.3257113463276, + 203.18922989262143 + ], + [ + 1239.8663726445152, + 196.76857969136287 + ], + [ + 1229.0847051584972, + 194.3908202728083 + ], + [ + 1241.251760189214, + 173.52575508221324 + ], + [ + 1252.4169037286129, + 175.90290619310383 + ], + [ + 1252.8442387651576, + 169.603937140054 + ], + [ + 1241.783818288333, + 167.27189242242213 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1153.7376338047588, + "ymin": 491.39146784747345, + "xmax": 1182.4769714325073, + "ymax": 532.2557992978279 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1166.8875937062182, + 532.2557992978279 + ], + [ + 1168.3845981693685, + 520.5818218117714 + ], + [ + 1155.3786330097946, + 516.2481288972662 + ], + [ + 1153.7376338047588, + 527.8209880073933 + ], + [ + 1181.1078042575916, + 507.42249789469565 + ], + [ + 1182.4769714325073, + 495.73013926060463 + ], + [ + 1169.063236409471, + 491.39146784747345 + ], + [ + 1167.5407862948819, + 502.97984968302546 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 221.55119936388485, + "ymin": 59.423001595065216, + "xmax": 238.54451251982408, + "ymax": 109.57363001064118 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 237.6539489110046, + 109.57363001064118 + ], + [ + 238.54451251982408, + 109.0749891983466 + ], + [ + 237.26066789083518, + 108.70983869671963 + ], + [ + 236.3695739975978, + 109.20786507398267 + ], + [ + 222.8732794666804, + 60.24401555447503 + ], + [ + 223.8094103009139, + 59.77005810910032 + ], + [ + 222.48788366795537, + 59.423001595065216 + ], + [ + 221.55119936388485, + 59.89635359596252 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 221.55119936388485, + "ymin": 59.423001595065216, + "xmax": 238.54451251982408, + "ymax": 109.57363001064118 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 237.6539489110046, + 109.57363001064118 + ], + [ + 238.54451251982408, + 109.0749891983466 + ], + [ + 237.26066789083518, + 108.70983869671963 + ], + [ + 236.3695739975978, + 109.20786507398267 + ], + [ + 222.8732794666804, + 60.24401555447503 + ], + [ + 223.8094103009139, + 59.77005810910032 + ], + [ + 222.48788366795537, + 59.423001595065216 + ], + [ + 221.55119936388485, + 59.89635359596252 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 173.56402387493557, + "ymin": 46.82574531341237, + "xmax": 191.84798722866333, + "ymax": 96.27014161045179 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 190.9389922223237, + 96.27014161045179 + ], + [ + 191.84798722866333, + 95.7936053742556 + ], + [ + 190.6210149710132, + 95.44463047408954 + ], + [ + 189.71155941702978, + 95.92059266371172 + ], + [ + 174.82541234857757, + 47.60908553513576 + ], + [ + 175.78071229707672, + 47.15688320313615 + ], + [ + 174.51980087033877, + 46.82574531341237 + ], + [ + 173.56402387493557, + 47.27738339205001 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 221.55119936388485, + "ymin": 59.423001595065216, + "xmax": 238.54451251982408, + "ymax": 109.57363001064118 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 237.6539489110046, + 109.57363001064118 + ], + [ + 238.54451251982408, + 109.0749891983466 + ], + [ + 237.26066789083518, + 108.70983869671963 + ], + [ + 236.3695739975978, + 109.20786507398267 + ], + [ + 222.8732794666804, + 60.24401555447503 + ], + [ + 223.8094103009139, + 59.77005810910032 + ], + [ + 222.48788366795537, + 59.423001595065216 + ], + [ + 221.55119936388485, + 59.89635359596252 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 163.26377214073443, + "ymin": 44.121662372433036, + "xmax": 181.8146857620116, + "ymax": 93.41172506114333 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 180.90196050912908, + 93.41172506114333 + ], + [ + 181.8146857620116, + 92.93987291349072 + ], + [ + 180.59976530372126, + 92.59432581986556 + ], + [ + 179.68659386556806, + 93.06561236143568 + ], + [ + 164.51231925097613, + 44.89703119742171 + ], + [ + 165.47148009941526, + 44.4494319736433 + ], + [ + 164.22339434047774, + 44.121662372433036 + ], + [ + 163.26377214073443, + 44.568705933799265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 221.55119936388485, + "ymin": 59.423001595065216, + "xmax": 238.54451251982408, + "ymax": 109.57363001064118 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 237.6539489110046, + 109.57363001064118 + ], + [ + 238.54451251982408, + 109.0749891983466 + ], + [ + 237.26066789083518, + 108.70983869671963 + ], + [ + 236.3695739975978, + 109.20786507398267 + ], + [ + 222.8732794666804, + 60.24401555447503 + ], + [ + 223.8094103009139, + 59.77005810910032 + ], + [ + 222.48788366795537, + 59.423001595065216 + ], + [ + 221.55119936388485, + 59.89635359596252 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1189.9706383228327, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 64.43428390668475 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1190.6284529579088, + 45.973050814293856 + ], + [ + 1189.9706383228327, + 49.243795954310826 + ], + [ + 1276.4969213282757, + 64.43428390668475 + ], + [ + 1276.6272659499396, + 60.97502128348816 + ], + [ + 1256.6520114421426, + -122.66332139560541 + ], + [ + 1256.3717282483549, + -120.16482336484194 + ], + [ + 1355.8083266956064, + -108.51221992707485 + ], + [ + 1355.392299943207, + -111.17288737831916 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 173.86611259162942, + "ymin": 58.61020320588881, + "xmax": 192.53138523439287, + "ymax": 108.7158969088942 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 191.60345696266546, + 108.7158969088942 + ], + [ + 192.53138523439287, + 108.21869654340517 + ], + [ + 191.2776991976467, + 107.85459997810725 + ], + [ + 190.34928973097715, + 108.35118856813995 + ], + [ + 175.15575722752686, + 59.428759481848545 + ], + [ + 176.13200433153622, + 58.95622133562762 + ], + [ + 174.84285855155787, + 58.61020320588881 + ], + [ + 173.86611259162942, + 59.08213862419694 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 221.55119936388485, + "ymin": 59.423001595065216, + "xmax": 238.54451251982408, + "ymax": 109.57363001064118 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 237.6539489110046, + 109.57363001064118 + ], + [ + 238.54451251982408, + 109.0749891983466 + ], + [ + 237.26066789083518, + 108.70983869671963 + ], + [ + 236.3695739975978, + 109.20786507398267 + ], + [ + 222.8732794666804, + 60.24401555447503 + ], + [ + 223.8094103009139, + 59.77005810910032 + ], + [ + 222.48788366795537, + 59.423001595065216 + ], + [ + 221.55119936388485, + 59.89635359596252 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 221.55119936388485, + "ymin": 59.423001595065216, + "xmax": 238.54451251982408, + "ymax": 109.57363001064118 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 237.6539489110046, + 109.57363001064118 + ], + [ + 238.54451251982408, + 109.0749891983466 + ], + [ + 237.26066789083518, + 108.70983869671963 + ], + [ + 236.3695739975978, + 109.20786507398267 + ], + [ + 222.8732794666804, + 60.24401555447503 + ], + [ + 223.8094103009139, + 59.77005810910032 + ], + [ + 222.48788366795537, + 59.423001595065216 + ], + [ + 221.55119936388485, + 59.89635359596252 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 755.0659356741202, + "ymin": 0.0, + "xmax": 817.3553844680167, + "ymax": 141.1580015214378 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 796.3221447523919, + 104.08380498856641 + ], + [ + 787.119440529831, + 102.03640452523013 + ], + [ + 755.0659356741202, + 138.84466392397727 + ], + [ + 764.7300132630919, + 141.1580015214378 + ], + [ + 817.3553844680167, + -77.33025494205913 + ], + [ + 806.8362539958907, + -78.9354009983544 + ], + [ + 771.5953202122313, + -49.84653182261525 + ], + [ + 782.7238467727406, + -48.00183167482663 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7806990106475075983, + "instance_id": 36761, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 84.75238986904458, + "ymin": 490.1552566189288, + "xmax": 386.17045350885286, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -26.247940063476562, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.247940063476562, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.198223114013672 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 386.17045350885286, + 500.3525450872114 + ], + [ + 371.58368562643994, + 493.9207159537984 + ], + [ + 87.5919175511508, + 793.8691330030672 + ], + [ + 104.24614380804405, + 804.8756001578666 + ], + [ + 385.1666568613376, + 496.58764900387956 + ], + [ + 370.52916944537674, + 490.1552566189288 + ], + [ + 84.75238986904458, + 790.4842086940098 + ], + [ + 101.46837418930647, + 801.5184283029674 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 221.55119936388485, + "ymin": 59.423001595065216, + "xmax": 238.54451251982408, + "ymax": 109.57363001064118 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 237.6539489110046, + 109.57363001064118 + ], + [ + 238.54451251982408, + 109.0749891983466 + ], + [ + 237.26066789083518, + 108.70983869671963 + ], + [ + 236.3695739975978, + 109.20786507398267 + ], + [ + 222.8732794666804, + 60.24401555447503 + ], + [ + 223.8094103009139, + 59.77005810910032 + ], + [ + 222.48788366795537, + 59.423001595065216 + ], + [ + 221.55119936388485, + 59.89635359596252 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 221.55119936388485, + "ymin": 59.423001595065216, + "xmax": 238.54451251982408, + "ymax": 109.57363001064118 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 237.6539489110046, + 109.57363001064118 + ], + [ + 238.54451251982408, + 109.0749891983466 + ], + [ + 237.26066789083518, + 108.70983869671963 + ], + [ + 236.3695739975978, + 109.20786507398267 + ], + [ + 222.8732794666804, + 60.24401555447503 + ], + [ + 223.8094103009139, + 59.77005810910032 + ], + [ + 222.48788366795537, + 59.423001595065216 + ], + [ + 221.55119936388485, + 59.89635359596252 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 221.55119936388485, + "ymin": 59.423001595065216, + "xmax": 238.54451251982408, + "ymax": 109.57363001064118 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 237.6539489110046, + 109.57363001064118 + ], + [ + 238.54451251982408, + 109.0749891983466 + ], + [ + 237.26066789083518, + 108.70983869671963 + ], + [ + 236.3695739975978, + 109.20786507398267 + ], + [ + 222.8732794666804, + 60.24401555447503 + ], + [ + 223.8094103009139, + 59.77005810910032 + ], + [ + 222.48788366795537, + 59.423001595065216 + ], + [ + 221.55119936388485, + 59.89635359596252 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 222.61450630645015, + "ymin": 62.95952548278433, + "xmax": 239.52838149068157, + "ymax": 112.86728061627772 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 238.64082791672382, + 112.86728061627772 + ], + [ + 239.52838149068157, + 112.36710017852835 + ], + [ + 238.24707669761938, + 112.00082091389109 + ], + [ + 237.35899441790434, + 112.5003865291718 + ], + [ + 223.9339031354096, + 63.78378463317438 + ], + [ + 224.8667338744675, + 63.30795456605142 + ], + [ + 223.54788888161067, + 62.95952548278433 + ], + [ + 222.61450630645015, + 63.43474925669011 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1108.0741238477397, + "ymin": 326.34882554691734, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1110.5346532003202, + 590.1054511491436 + ], + [ + 1108.0741238477397, + 603.2465976076177 + ], + [ + 1740.8537690653134, + 840.3978591956186 + ], + [ + 1734.5479823105666, + 820.9479214585957 + ], + [ + 1254.4640399269056, + 326.34882554691734 + ], + [ + 1253.547702877644, + 339.34296777599116 + ], + [ + 2187.9590703897734, + 591.844943583734 + ], + [ + 2169.9643037041724, + 569.761319340237 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 221.55119936388485, + "ymin": 59.423001595065216, + "xmax": 238.54451251982408, + "ymax": 109.57363001064118 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 237.6539489110046, + 109.57363001064118 + ], + [ + 238.54451251982408, + 109.0749891983466 + ], + [ + 237.26066789083518, + 108.70983869671963 + ], + [ + 236.3695739975978, + 109.20786507398267 + ], + [ + 222.8732794666804, + 60.24401555447503 + ], + [ + 223.8094103009139, + 59.77005810910032 + ], + [ + 222.48788366795537, + 59.423001595065216 + ], + [ + 221.55119936388485, + 59.89635359596252 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 221.55119936388485, + "ymin": 59.423001595065216, + "xmax": 238.54451251982408, + "ymax": 109.57363001064118 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 237.6539489110046, + 109.57363001064118 + ], + [ + 238.54451251982408, + 109.0749891983466 + ], + [ + 237.26066789083518, + 108.70983869671963 + ], + [ + 236.3695739975978, + 109.20786507398267 + ], + [ + 222.8732794666804, + 60.24401555447503 + ], + [ + 223.8094103009139, + 59.77005810910032 + ], + [ + 222.48788366795537, + 59.423001595065216 + ], + [ + 221.55119936388485, + 59.89635359596252 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 268.17560071961657, + "ymin": 0.0, + "xmax": 362.22332109841926, + "ymax": 33.131412771741 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 362.22332109841926, + 7.505797705609439 + ], + [ + 355.7928248421922, + 6.0751543862057815 + ], + [ + 306.8295914568799, + 31.54783129607364 + ], + [ + 313.4450821080092, + 33.131412771741 + ], + [ + 331.66534717327033, + -151.44356140999196 + ], + [ + 324.6284912500333, + -152.5173353627123 + ], + [ + 268.17560071961657, + -133.2952284290443 + ], + [ + 275.42860498213196, + -132.09294805339977 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 221.55119936388485, + "ymin": 59.423001595065216, + "xmax": 238.54451251982408, + "ymax": 109.57363001064118 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 237.6539489110046, + 109.57363001064118 + ], + [ + 238.54451251982408, + 109.0749891983466 + ], + [ + 237.26066789083518, + 108.70983869671963 + ], + [ + 236.3695739975978, + 109.20786507398267 + ], + [ + 222.8732794666804, + 60.24401555447503 + ], + [ + 223.8094103009139, + 59.77005810910032 + ], + [ + 222.48788366795537, + 59.423001595065216 + ], + [ + 221.55119936388485, + 59.89635359596252 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 221.55119936388485, + "ymin": 59.423001595065216, + "xmax": 238.54451251982408, + "ymax": 109.57363001064118 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 237.6539489110046, + 109.57363001064118 + ], + [ + 238.54451251982408, + 109.0749891983466 + ], + [ + 237.26066789083518, + 108.70983869671963 + ], + [ + 236.3695739975978, + 109.20786507398267 + ], + [ + 222.8732794666804, + 60.24401555447503 + ], + [ + 223.8094103009139, + 59.77005810910032 + ], + [ + 222.48788366795537, + 59.423001595065216 + ], + [ + 221.55119936388485, + 59.89635359596252 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 221.55119936388485, + "ymin": 59.423001595065216, + "xmax": 238.54451251982408, + "ymax": 109.57363001064118 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 237.6539489110046, + 109.57363001064118 + ], + [ + 238.54451251982408, + 109.0749891983466 + ], + [ + 237.26066789083518, + 108.70983869671963 + ], + [ + 236.3695739975978, + 109.20786507398267 + ], + [ + 222.8732794666804, + 60.24401555447503 + ], + [ + 223.8094103009139, + 59.77005810910032 + ], + [ + 222.48788366795537, + 59.423001595065216 + ], + [ + 221.55119936388485, + 59.89635359596252 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15102510933830370440, + "instance_id": 34948, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 85.05581585991331, + "ymin": 490.33057592824605, + "xmax": 385.9671417875101, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -26.246049880981445, + -20.196584701538086, + 8.10662841796875 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.10662841796875 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.10662841796875 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.10662841796875 + ], + [ + -26.246049880981445, + -20.196584701538086, + 8.197628021240234 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.197628021240234 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.197628021240234 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 385.9671417875101, + 500.39888267797744 + ], + [ + 371.5653964323634, + 494.04787254923303 + ], + [ + 87.85733256382025, + 793.7296998185568 + ], + [ + 104.29835976060542, + 804.5923660758098 + ], + [ + 384.97534198097844, + 496.68214070341185 + ], + [ + 370.5241591387452, + 490.33057592824605 + ], + [ + 85.05581585991331, + 790.3877745487282 + ], + [ + 101.55703080112016, + 801.2774635478485 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 172.72900759338978, + "ymin": 48.102194979486626, + "xmax": 191.08461744226298, + "ymax": 97.61910751223184 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 190.1728787403522, + 97.61910751223184 + ], + [ + 191.08461744226298, + 97.14035266372417 + ], + [ + 189.85525603328932, + 96.78975422404147 + ], + [ + 188.94305540244272, + 97.26793101365922 + ], + [ + 173.9929127564282, + 48.889312277483725 + ], + [ + 174.95122313562467, + 48.43492884009362 + ], + [ + 173.68779643087106, + 48.102194979486626 + ], + [ + 172.72900759338978, + 48.556010077555754 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 221.55119936388485, + "ymin": 59.423001595065216, + "xmax": 238.54451251982408, + "ymax": 109.57363001064118 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 237.6539489110046, + 109.57363001064118 + ], + [ + 238.54451251982408, + 109.0749891983466 + ], + [ + 237.26066789083518, + 108.70983869671963 + ], + [ + 236.3695739975978, + 109.20786507398267 + ], + [ + 222.8732794666804, + 60.24401555447503 + ], + [ + 223.8094103009139, + 59.77005810910032 + ], + [ + 222.48788366795537, + 59.423001595065216 + ], + [ + 221.55119936388485, + 59.89635359596252 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 155.9695468416906, + "ymin": 43.618366715382365, + "xmax": 174.7559457678683, + "ymax": 92.87959733473906 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 173.83829102265003, + 92.87959733473906 + ], + [ + 174.7559457678683, + 92.40861460072591 + ], + [ + 173.5463702946164, + 92.06370376975696 + ], + [ + 172.62827709641118, + 92.53412245975989 + ], + [ + 157.21237214925952, + 44.39225640648601 + ], + [ + 158.17679374250747, + 43.945511297932 + ], + [ + 156.93442124667263, + 43.618366715382365 + ], + [ + 155.9695468416906, + 44.0645577507762 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 65.83520339357563, + "ymin": 475.2880051759349, + "xmax": 456.60492174931255, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 456.60492174931255, + 738.6413762969548 + ], + [ + 438.2959131935359, + 728.9201167839885 + ], + [ + 247.91355385262813, + 997.709944902891 + ], + [ + 268.4529480549292, + 1012.2444702116902 + ], + [ + 391.6117511209424, + 485.7004032789726 + ], + [ + 367.5820535300528, + 475.2880051759349 + ], + [ + 65.83520339357563, + 786.5688664063778 + ], + [ + 93.42237083953114, + 804.9028761549253 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 221.55119936388485, + "ymin": 59.423001595065216, + "xmax": 238.54451251982408, + "ymax": 109.57363001064118 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 237.6539489110046, + 109.57363001064118 + ], + [ + 238.54451251982408, + 109.0749891983466 + ], + [ + 237.26066789083518, + 108.70983869671963 + ], + [ + 236.3695739975978, + 109.20786507398267 + ], + [ + 222.8732794666804, + 60.24401555447503 + ], + [ + 223.8094103009139, + 59.77005810910032 + ], + [ + 222.48788366795537, + 59.423001595065216 + ], + [ + 221.55119936388485, + 59.89635359596252 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 221.55119936388485, + "ymin": 59.423001595065216, + "xmax": 238.54451251982408, + "ymax": 109.57363001064118 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 237.6539489110046, + 109.57363001064118 + ], + [ + 238.54451251982408, + 109.0749891983466 + ], + [ + 237.26066789083518, + 108.70983869671963 + ], + [ + 236.3695739975978, + 109.20786507398267 + ], + [ + 222.8732794666804, + 60.24401555447503 + ], + [ + 223.8094103009139, + 59.77005810910032 + ], + [ + 222.48788366795537, + 59.423001595065216 + ], + [ + 221.55119936388485, + 59.89635359596252 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 221.55119936388485, + "ymin": 59.423001595065216, + "xmax": 238.54451251982408, + "ymax": 109.57363001064118 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 237.6539489110046, + 109.57363001064118 + ], + [ + 238.54451251982408, + 109.0749891983466 + ], + [ + 237.26066789083518, + 108.70983869671963 + ], + [ + 236.3695739975978, + 109.20786507398267 + ], + [ + 222.8732794666804, + 60.24401555447503 + ], + [ + 223.8094103009139, + 59.77005810910032 + ], + [ + 222.48788366795537, + 59.423001595065216 + ], + [ + 221.55119936388485, + 59.89635359596252 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17986169966287045303, + "instance_id": 47042, + "pixel_count": null, + "type_id": "AmericanLights_Town04_8_Poles_4", + "bbox_3d": { + "center_world": { + "x": 18.54798698425293, + "y": -4.098189830780029, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 6.545833848675329, + "ymax": 112.78553033172341 + }, + "corners_3d": [ + [ + 18.817964553833008, + -10.12330436706543, + 0.0 + ], + [ + 18.385149002075195, + -10.127151489257812, + 0.0 + ], + [ + 18.27800941467285, + 1.926924705505371, + 0.0 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 0.0 + ], + [ + 18.817964553833008, + -10.12330436706543, + 8.446706771850586 + ], + [ + 18.385149002075195, + -10.127151489257812, + 8.446706771850586 + ], + [ + 18.27800941467285, + 1.926924705505371, + 8.446706771850586 + ], + [ + 18.710824966430664, + 1.9307715892791748, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -243.01562994129222, + 110.68800137281804 + ], + [ + -237.54881256065585, + 112.78553033172341 + ], + [ + 6.545833848675329, + 18.804547014565287 + ], + [ + 1.2143019765334202, + 17.315123554189995 + ], + [ + -374.5567574161787, + -89.18124085909784 + ], + [ + -368.8059131384723, + -87.58084264122255 + ], + [ + -71.4345001690424, + -157.67339045932704 + ], + [ + -77.16066560506056, + -158.75825369893084 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 221.55119936388485, + "ymin": 59.423001595065216, + "xmax": 238.54451251982408, + "ymax": 109.57363001064118 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 237.6539489110046, + 109.57363001064118 + ], + [ + 238.54451251982408, + 109.0749891983466 + ], + [ + 237.26066789083518, + 108.70983869671963 + ], + [ + 236.3695739975978, + 109.20786507398267 + ], + [ + 222.8732794666804, + 60.24401555447503 + ], + [ + 223.8094103009139, + 59.77005810910032 + ], + [ + 222.48788366795537, + 59.423001595065216 + ], + [ + 221.55119936388485, + 59.89635359596252 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1141.8663174602991, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 373.0018560539265 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1189.5301269087895, + 191.59981107499934 + ], + [ + 1177.664574805028, + 188.91253945809075 + ], + [ + 1141.8663174602991, + 368.6814494572026 + ], + [ + 1156.7379667212208, + 373.0018560539265 + ], + [ + 1284.4620899285744, + -26.201402631474934 + ], + [ + 1270.1135596332863, + -28.334941880272027 + ], + [ + 1256.4929606645976, + 121.16391120897242 + ], + [ + 1275.4970396796418, + 124.93427845212327 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00168/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00168/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a519a47c8b55c8bcd0cfd5cf350cfcfa8ef0469d --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00168/meta.json @@ -0,0 +1,7571 @@ +{ + "frame_id": 168, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 84.0, + "sim_timestamp": 15081.651524746092 + }, + "drone_pose": { + "x": -33.394235136999015, + "y": -24.841360283246622, + "z": 20.0, + "pitch": -41.57848040607393, + "yaw": 63.07650500142951, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.33871614933013916, + -0.6669679880142212, + 0.663645327091217, + 14.606653213500977 + ], + [ + 0.8916119337081909, + 0.4528003931045532, + 0.0, + -18.526519775390625 + ], + [ + -0.300498902797699, + 0.591714084148407, + 0.7480473518371582, + -39.69485855102539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -33.15422016417495, + "y": -24.34452554017125, + "z": 20.0 + }, + "t1_image_uv": [ + 665.5120953678766, + -491.6833153460889 + ], + "t1_depth": 0.41266981137730185 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -23.66718292236328, + "y": -5.687763214111328, + "z": 0.9418217730522156 + }, + "image_uv": [ + 640.0, + 359.9999999999999 + ], + "depth": 28.71741601890993, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 687, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -23.66718292236328, + "y": -5.68776273727417, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.5085498094558716, + "y": 0.35335662961006165, + "z": 0.8854970335960388 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 621.2428873732401, + "ymin": 324.0866461761789, + "xmax": 658.4666671211287, + "ymax": 395.5926708651677 + }, + "corners_3d": [ + [ + -23.313825607299805, + -6.19631290435791, + 0.05632472038269043 + ], + [ + -24.020540237426758, + -6.196312427520752, + 0.05632472038269043 + ], + [ + -24.020540237426758, + -5.17921257019043, + 0.05632472038269043 + ], + [ + -23.313825607299805, + -5.179213047027588, + 0.05632472038269043 + ], + [ + -23.313825607299805, + -6.19631290435791, + 1.827318787574768 + ], + [ + -24.020540237426758, + -6.196312427520752, + 1.827318787574768 + ], + [ + -24.020540237426758, + -5.17921257019043, + 1.827318787574768 + ], + [ + -23.313825607299805, + -5.179213047027588, + 1.827318787574768 + ] + ], + "corners_2d": [ + [ + 622.0008389943647, + 388.29035710377474 + ], + [ + 642.8216846154453, + 395.5926708651677 + ], + [ + 657.7315474347845, + 375.2061221066691 + ], + [ + 637.2653337850527, + 368.2341989964498 + ], + [ + 621.2428873732401, + 343.9143482182101 + ], + [ + 642.9415347517822, + 351.142937357715 + ], + [ + 658.4666671211287, + 330.9748404341832 + ], + [ + 637.1529084883985, + 324.0866461761789 + ] + ], + "center_offset_px": [ + 0.0, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 168, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 63, + "semantic_pixel_counts": { + "1": 326871, + "2": 212675, + "3": 35466, + "5": 4429, + "6": 9981, + "7": 638, + "10": 210, + "12": 3615, + "14": 17146, + "20": 3474, + "24": 24722, + "25": 282373 + }, + "instance_pixel_counts": { + "108": 192, + "6018": 153, + "6508": 277, + "7274": 361, + "7576": 2089, + "7784": 15827, + "7786": 5230, + "8088": 2012, + "8296": 31434, + "8600": 354, + "8780": 4429, + "9112": 23, + "9322": 4269, + "9624": 8403, + "9832": 131345, + "10316": 2340, + "10624": 30, + "10828": 1032, + "12652": 663, + "21090": 3203, + "21602": 73098, + "24656": 293, + "24946": 17216, + "25168": 462, + "25856": 3331, + "26112": 4596, + "26218": 261, + "27988": 11981, + "29327": 1577, + "29800": 1129, + "29839": 10352, + "31375": 58568, + "31812": 1683, + "31848": 23659, + "32360": 23290, + "33650": 3032, + "33906": 5832, + "34408": 100187, + "34418": 9386, + "35399": 54, + "39239": 282319, + "40855": 700, + "41367": 3586, + "42903": 13259, + "46184": 1306, + "46672": 1784, + "46696": 4175, + "48232": 5951, + "54950": 251, + "56320": 687, + "56576": 542, + "56832": 529, + "56975": 3646, + "57088": 675, + "57344": 449, + "57487": 4178, + "57600": 733, + "57999": 8109, + "58511": 294, + "58951": 102, + "59023": 19224, + "60833": 73, + "60928": 5165 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 687, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -23.66718292236328, + "y": -5.68776273727417, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.4807165563106537, + "y": 0.4414147734642029, + "z": 0.8690584897994995 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 619.0204491921656, + "ymin": 324.1918134906055, + "xmax": 660.7259761126371, + "ymax": 395.54328725429417 + }, + "corners_3d": [ + [ + -23.22576904296875, + -6.1684794425964355, + 0.07276326417922974 + ], + [ + -24.108598709106445, + -6.168478965759277, + 0.07276326417922974 + ], + [ + -24.108596801757812, + -5.207046031951904, + 0.07276326417922974 + ], + [ + -23.225767135620117, + -5.2070465087890625, + 0.07276326417922974 + ], + [ + -23.22576904296875, + -6.1684794425964355, + 1.810880184173584 + ], + [ + -24.108598709106445, + -6.168478965759277, + 1.810880184173584 + ], + [ + -24.108596801757812, + -5.207046031951904, + 1.810880184173584 + ], + [ + -23.225767135620117, + -5.2070465087890625, + 1.810880184173584 + ] + ], + "corners_2d": [ + [ + 619.8513980155415, + 386.43346340075016 + ], + [ + 645.8585563169485, + 395.54328725429417 + ], + [ + 659.9146049716202, + 376.2347876981419 + ], + [ + 634.3265332890394, + 367.5152106596292 + ], + [ + 619.0204491921656, + 342.89701803210164 + ], + [ + 646.1027801812672, + 351.91611318105316 + ], + [ + 660.7259761126371, + 332.8090673503066 + ], + [ + 634.0977978705308, + 324.1918134906055 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 542, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -19.541194915771484, + "y": -2.690058469772339, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.44786685705184937, + "y": 0.440373033285141, + "z": 0.8861219882965088 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 552.1758716278318, + "ymin": 238.5838082535011, + "xmax": 588.1095760163523, + "ymax": 300.8932963821466 + }, + "corners_3d": [ + [ + -19.203561782836914, + -3.2196974754333496, + 0.05569976568222046 + ], + [ + -20.065061569213867, + -3.036579132080078, + 0.05569976568222046 + ], + [ + -19.878828048706055, + -2.160419464111328, + 0.05569976568222046 + ], + [ + -19.0173282623291, + -2.3435378074645996, + 0.05569976568222046 + ], + [ + -19.203561782836914, + -3.2196974754333496, + 1.8279438018798828 + ], + [ + -20.065061569213867, + -3.036579132080078, + 1.8279438018798828 + ], + [ + -19.878828048706055, + -2.160419464111328, + 1.8279438018798828 + ], + [ + -19.0173282623291, + -2.3435378074645996, + 1.8279438018798828 + ] + ], + "corners_2d": [ + [ + 555.3577087726646, + 296.75091224217635 + ], + [ + 580.2118839994848, + 300.8932963821466 + ], + [ + 588.1095760163523, + 285.3154506421698 + ], + [ + 563.7009286431792, + 281.3338917992331 + ], + [ + 552.1758716278318, + 253.6957222569077 + ], + [ + 577.9520997823315, + 257.75991499991966 + ], + [ + 586.1882728883733, + 242.48444437687735 + ], + [ + 560.8908766013917, + 238.5838082535011 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 529, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -25.923004150390625, + "y": 1.2549493312835693, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.47359007596969604, + "y": 0.2908691465854645, + "z": 0.9217699766159058 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 777.3789284691683, + "ymin": 227.11336741610515, + "xmax": 806.6998864366936, + "ymax": 290.36675297422704 + }, + "corners_3d": [ + [ + -25.683231353759766, + 0.7535495162010193, + 0.020051777362823486 + ], + [ + -26.261783599853516, + 0.8143576979637146, + 0.020051777362823486 + ], + [ + -26.162776947021484, + 1.7563490867614746, + 0.020051777362823486 + ], + [ + -25.584224700927734, + 1.6955409049987793, + 0.020051777362823486 + ], + [ + -25.683231353759766, + 0.7535495162010193, + 1.8635916709899902 + ], + [ + -26.261783599853516, + 0.8143576979637146, + 1.8635916709899902 + ], + [ + -26.162776947021484, + 1.7563490867614746, + 1.8635916709899902 + ], + [ + -25.584224700927734, + 1.6955409049987793, + 1.8635916709899902 + ] + ], + "corners_2d": [ + [ + 777.3789284691683, + 286.6773848024871 + ], + [ + 793.9401387535594, + 290.36675297422704 + ], + [ + 800.6025111708058, + 274.89323472287583 + ], + [ + 784.3366518186099, + 271.3480858353198 + ], + [ + 782.6778760914235, + 242.11099132578624 + ], + [ + 799.9071168285814, + 245.72393635454887 + ], + [ + 806.6998864366936, + 230.57978680205053 + ], + [ + 789.7901836848025, + 227.11336741610515 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 675, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -33.16718292236328, + "y": -5.68776273727417, + "z": 0.9417728781700134 + }, + "extent": { + "x": 0.3322729468345642, + "y": 0.38929352164268494, + "z": 0.888232946395874 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 934.3861060795882, + "ymin": 431.3148063198898, + "xmax": 984.3670192399911, + "ymax": 502.9727769959103 + }, + "corners_3d": [ + [ + -32.777889251708984, + -6.020035743713379, + 0.053539931774139404 + ], + [ + -33.55647659301758, + -6.020035743713379, + 0.053539931774139404 + ], + [ + -33.55647659301758, + -5.355489730834961, + 0.053539931774139404 + ], + [ + -32.777889251708984, + -5.355489730834961, + 0.053539931774139404 + ], + [ + -32.777889251708984, + -6.020035743713379, + 1.8300058841705322 + ], + [ + -33.55647659301758, + -6.020035743713379, + 1.8300058841705322 + ], + [ + -33.55647659301758, + -5.355489730834961, + 1.8300058841705322 + ], + [ + -32.777889251708984, + -5.355489730834961, + 1.8300058841705322 + ] + ], + "corners_2d": [ + [ + 934.3861060795882, + 492.8836523605622 + ], + [ + 963.2979705318207, + 502.9727769959103 + ], + [ + 968.8587430858751, + 486.1323905676051 + ], + [ + 940.3760402069125, + 476.38033425239075 + ], + [ + 948.369130729444, + 447.7972561610187 + ], + [ + 978.8191927247148, + 457.88655659241283 + ], + [ + 984.3670192399911, + 441.05136002801186 + ], + [ + 954.3932675087083, + 431.3148063198898 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 449, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -27.282682418823242, + "y": -16.81512451171875, + "z": 1.1360697746276855 + }, + "extent": { + "x": 0.4773572087287903, + "y": 0.3492993414402008, + "z": 0.9136533141136169 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 521.4903493856345, + "ymin": 673.0797673362117, + "xmax": 581.4812559188816, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -26.885398864746094, + -17.253355026245117, + 0.2224164605140686 + ], + [ + -27.580171585083008, + -17.326377868652344, + 0.2224164605140686 + ], + [ + -27.67996597290039, + -16.376893997192383, + 0.2224164605140686 + ], + [ + -26.985193252563477, + -16.303871154785156, + 0.2224164605140686 + ], + [ + -26.885398864746094, + -17.253355026245117, + 2.0497231483459473 + ], + [ + -27.580171585083008, + -17.326377868652344, + 2.0497231483459473 + ], + [ + -27.67996597290039, + -16.376893997192383, + 2.0497231483459473 + ], + [ + -26.985193252563477, + -16.303871154785156, + 2.0497231483459473 + ] + ], + "corners_2d": [ + [ + 528.5383297872119, + 753.057254183867 + ], + [ + 554.9615263968933, + 770.6407678313349 + ], + [ + 581.4812559188816, + 734.0949781804677 + ], + [ + 555.4538349917887, + 717.5081649196514 + ], + [ + 521.4903493856345, + 709.4879640348207 + ], + [ + 549.5035114409689, + 727.5450651292441 + ], + [ + 577.8408561698159, + 690.0510825961717 + ], + [ + 550.2698264094195, + 673.0797673362117 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 733, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -12.421846389770508, + "y": -13.857976913452148, + "z": 1.1202837228775024 + }, + "extent": { + "x": 0.3876470923423767, + "y": 0.5026940703392029, + "z": 0.9308062791824341 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 116.83791531537224, + "ymin": 367.7253335418795, + "xmax": 184.0843165661787, + "ymax": 445.95550592452093 + }, + "corners_3d": [ + [ + -11.849540710449219, + -14.132637023925781, + 0.18947744369506836 + ], + [ + -12.832959175109863, + -14.341669082641602, + 0.18947744369506836 + ], + [ + -12.994152069091797, + -13.583316802978516, + 0.18947744369506836 + ], + [ + -12.010733604431152, + -13.374284744262695, + 0.18947744369506836 + ], + [ + -11.849540710449219, + -14.132637023925781, + 2.0510900020599365 + ], + [ + -12.832959175109863, + -14.341669082641602, + 2.0510900020599365 + ], + [ + -12.994152069091797, + -13.583316802978516, + 2.0510900020599365 + ], + [ + -12.010733604431152, + -13.374284744262695, + 2.0510900020599365 + ] + ], + "corners_2d": [ + [ + 140.2670358281784, + 429.89542310161863 + ], + [ + 159.25160798176887, + 445.95550592452093 + ], + [ + 184.0843165661787, + 430.6081715817844 + ], + [ + 164.9867529641889, + 415.0651734736008 + ], + [ + 116.83791531537224, + 382.4403111140965 + ], + [ + 136.30101373511144, + 398.4006250391777 + ], + [ + 162.69218695367448, + 383.1480787883852 + ], + [ + 143.0914695693947, + 367.7253335418795 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 5165, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -19.1251277923584, + "y": 6.095887660980225, + "z": 0.8948460817337036 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 608.9058532348805, + "ymin": 107.49604596807495, + "xmax": 737.0556696720002, + "ymax": 196.68957606923647 + }, + "corners_3d": [ + [ + -21.404022216796875, + 5.052896022796631, + 0.011262890882790089 + ], + [ + -21.39891815185547, + 7.149961948394775, + 0.011262890882790089 + ], + [ + -16.846233367919922, + 7.138879776000977, + 0.011262890882790089 + ], + [ + -16.851337432861328, + 5.041813850402832, + 0.011262890882790089 + ], + [ + -21.404022216796875, + 5.052896022796631, + 1.7784292697906494 + ], + [ + -21.39891815185547, + 7.149961948394775, + 1.7784292697906494 + ], + [ + -16.846233367919922, + 7.138879776000977, + 1.7784292697906494 + ], + [ + -16.851337432861328, + 5.041813850402832, + 1.7784292697906494 + ] + ], + "corners_2d": [ + [ + 713.3040803855265, + 196.68957606923647 + ], + [ + 734.1118627471458, + 171.7578552864888 + ], + [ + 633.4631816391017, + 146.43049707551359 + ], + [ + 609.8457096749897, + 169.46193780667664 + ], + [ + 715.6859898366772, + 156.2220247177979 + ], + [ + 737.0556696720002, + 132.02195619034367 + ], + [ + 633.2667511936635, + 107.49604596807495 + ], + [ + 608.9058532348805, + 129.7962757827334 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 186.02402266142383, + "ymin": 81.06305043232487, + "xmax": 204.49922052809444, + "ymax": 100.4852434551758 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 203.12333193659566, + 100.4852434551758 + ], + [ + 204.49922052809444, + 99.73680783326887 + ], + [ + 192.51155049276952, + 96.34707122250495 + ], + [ + 191.12847455164064, + 97.08694671597254 + ], + [ + 198.12627963970937, + 85.13976643058237 + ], + [ + 199.52427357614943, + 84.40239759386532 + ], + [ + 187.42929393616936, + 81.06305043232487 + ], + [ + 186.02402266142383, + 81.79189015087525 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 186.0240258154949, + "ymin": 81.0630513026266, + "xmax": 204.4992236886556, + "ymax": 100.48524435114666 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 203.12333509907467, + 100.48524435114666 + ], + [ + 204.4992236886556, + 99.73680872697634 + ], + [ + 192.51155361720475, + 96.34707210599703 + ], + [ + 191.12847767792658, + 97.08694760168942 + ], + [ + 198.12628283071405, + 85.13976731331763 + ], + [ + 199.5242767652116, + 84.4023984743452 + ], + [ + 187.42929708836715, + 81.0630513026266 + ], + [ + 186.0240258154949, + 81.79189102339353 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 135.23058976941462, + "ymin": 68.71496842736695, + "xmax": 153.6473100599921, + "ymax": 87.77179194610972 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 152.23798999349327, + 87.77179194610972 + ], + [ + 153.6473100599921, + 87.05512873098871 + ], + [ + 142.20049102471216, + 83.80880518451812 + ], + [ + 140.78499079357312, + 84.51744605390087 + ], + [ + 146.7800239526186, + 72.61719716083462 + ], + [ + 148.211920114438, + 71.91147713890388 + ], + [ + 136.6687266475517, + 68.71496842736695 + ], + [ + 135.23058976941462, + 69.41270101067352 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 136.17992744168225, + "ymin": 67.30918652820878, + "xmax": 154.5444025053485, + "ymax": 86.32426568763702 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 153.13971107892223, + 86.32426568763702 + ], + [ + 154.5444025053485, + 85.61117632882167 + ], + [ + 143.12096389467973, + 82.38098652097926 + ], + [ + 141.71011044243772, + 83.08611330093163 + ], + [ + 147.7055962689987, + 71.19179423243162 + ], + [ + 149.1327254841175, + 70.4896327022459 + ], + [ + 137.61327920883252, + 67.30918652820878 + ], + [ + 136.17992744168225, + 68.00342078682723 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 184.36741032639605, + "ymin": 73.76366063285025, + "xmax": 200.903038607187, + "ymax": 94.09813481271408 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 200.72058091306036, + 94.09813481271408 + ], + [ + 200.903038607187, + 94.00017089852543 + ], + [ + 190.29970850501144, + 91.02585080164954 + ], + [ + 190.11641300373032, + 91.12282216505366 + ], + [ + 195.07806165892174, + 76.78322548138135 + ], + [ + 195.26381836765108, + 76.68693630909775 + ], + [ + 184.5540165228424, + 73.76366063285025 + ], + [ + 184.36741032639605, + 73.85896178885025 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 184.36754289641505, + "ymin": 73.7636873371556, + "xmax": 200.90317092574492, + "ymax": 94.09816227236871 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 200.72071324519737, + 94.09816227236871 + ], + [ + 200.90317092574492, + 94.00019834899643 + ], + [ + 190.29983965716116, + 91.02587797402089 + ], + [ + 190.1165441691569, + 91.12284934646942 + ], + [ + 195.07819542295584, + 76.78325247165742 + ], + [ + 195.26395211784592, + 76.68696329023123 + ], + [ + 184.55414907933448, + 73.7636873371556 + ], + [ + 184.36754289641505, + 73.85898850215779 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 186.02402266142383, + "ymin": 81.06305043232487, + "xmax": 204.49922052809444, + "ymax": 100.4852434551758 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 203.12333193659566, + 100.4852434551758 + ], + [ + 204.49922052809444, + 99.73680783326887 + ], + [ + 192.51155049276952, + 96.34707122250495 + ], + [ + 191.12847455164064, + 97.08694671597254 + ], + [ + 198.12627963970937, + 85.13976643058237 + ], + [ + 199.52427357614943, + 84.40239759386532 + ], + [ + 187.42929393616936, + 81.06305043232487 + ], + [ + 186.02402266142383, + 81.79189015087525 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 186.02402286846262, + "ymin": 81.06305036091999, + "xmax": 204.49922066289213, + "ymax": 100.4852433449094 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 203.123332139304, + 100.4852433449094 + ], + [ + 204.49922066289213, + 99.7368077599437 + ], + [ + 192.51155062827223, + 96.34707115001783 + ], + [ + 191.12847475540644, + 97.08694660696824 + ], + [ + 198.12627984567752, + 85.13976632194488 + ], + [ + 199.5242737131108, + 84.4023975216254 + ], + [ + 187.42929407384463, + 81.06305036091999 + ], + [ + 186.02402286846262, + 81.7918900434953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 186.0240253588293, + "ymin": 81.06305115757647, + "xmax": 204.49922316189543, + "ymax": 100.48524416506262 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 203.12333463956423, + 100.48524416506262 + ], + [ + 204.49922316189543, + 99.73680857802503 + ], + [ + 192.5115530964656, + 96.34707195874847 + ], + [ + 191.1284772248008, + 97.08694741773513 + ], + [ + 198.12628236753596, + 85.13976712998254 + ], + [ + 199.5242762337013, + 84.40239832759858 + ], + [ + 187.4292965630009, + 81.06305115757647 + ], + [ + 186.0240253588293, + 81.79189084218046 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 135.8451197213367, + "ymin": 80.28004523247785, + "xmax": 154.6356447809614, + "ymax": 99.67914016848079 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 153.19861275200373, + 99.67914016848079 + ], + [ + 154.6356447809614, + 98.93273927050649 + ], + [ + 142.9495851158115, + 95.55218653547018 + ], + [ + 141.50610485296562, + 96.29006208939023 + ], + [ + 147.638181288451, + 84.34558351984765 + ], + [ + 149.09870497345344, + 83.61024219076626 + ], + [ + 137.31215640938404, + 80.28004523247785 + ], + [ + 135.8451197213367, + 81.00689249576351 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 184.36726151663083, + "ymin": 73.76361075753425, + "xmax": 200.90288950215745, + "ymax": 94.098083526641 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 200.72043179906535, + 94.098083526641 + ], + [ + 200.90288950215745, + 94.00011962960463 + ], + [ + 190.29956108066193, + 91.02580005213201 + ], + [ + 190.11626557081354, + 91.1227713986438 + ], + [ + 195.0779111299227, + 76.78317507196084 + ], + [ + 195.26366784768004, + 76.68688591675289 + ], + [ + 184.55386772169373, + 73.76361075753425 + ], + [ + 184.36726151663083, + 73.85891189672077 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 186.0240258154949, + "ymin": 81.0630513026266, + "xmax": 204.4992236886556, + "ymax": 100.48524435114666 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 203.12333509907467, + 100.48524435114666 + ], + [ + 204.4992236886556, + 99.73680872697634 + ], + [ + 192.51155361720475, + 96.34707210599703 + ], + [ + 191.12847767792658, + 97.08694760168942 + ], + [ + 198.12628283071405, + 85.13976731331763 + ], + [ + 199.5242767652116, + 84.4023984743452 + ], + [ + 187.42929708836715, + 81.0630513026266 + ], + [ + 186.0240258154949, + 81.79189102339353 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 183.081738358434, + "ymin": 73.00553498810962, + "xmax": 203.49809128382498, + "ymax": 95.23613160757259 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 203.27971872714897, + 95.23613160757259 + ], + [ + 203.49809128382498, + 95.11838055785034 + ], + [ + 189.35795450659492, + 91.14931771503507 + ], + [ + 189.1382410462117, + 91.26548108364352 + ], + [ + 197.3726815707522, + 77.01868198036556 + ], + [ + 197.59520834238134, + 76.9030428767976 + ], + [ + 183.30562575047577, + 73.00553498810962 + ], + [ + 183.081738358434, + 73.11959401579702 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 184.36738894298503, + "ymin": 73.76361731930541, + "xmax": 200.90301613230224, + "ymax": 94.09809027401616 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 200.72055844828913, + 94.09809027401616 + ], + [ + 200.90301613230224, + 94.00012637472332 + ], + [ + 190.29968694623687, + 91.02580672891622 + ], + [ + 190.11639145523367, + 91.12277807765031 + ], + [ + 195.07803934011986, + 76.78318170400058 + ], + [ + 195.26379603832726, + 76.68689254654629 + ], + [ + 184.55399512874055, + 73.76361731930541 + ], + [ + 184.36738894298503, + 73.85891846070382 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 186.02402286846262, + "ymin": 81.06305036091999, + "xmax": 204.49922066289213, + "ymax": 100.4852433449094 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 203.123332139304, + 100.4852433449094 + ], + [ + 204.49922066289213, + 99.7368077599437 + ], + [ + 192.51155062827223, + 96.34707115001783 + ], + [ + 191.12847475540644, + 97.08694660696824 + ], + [ + 198.12627984567752, + 85.13976632194488 + ], + [ + 199.5242737131108, + 84.4023975216254 + ], + [ + 187.42929407384463, + 81.06305036091999 + ], + [ + 186.02402286846262, + 81.7918900434953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 183.08167669614204, + "ymin": 73.00556642456792, + "xmax": 203.49803109684132, + "ymax": 95.23616403811712 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 203.27965858381327, + 95.23616403811712 + ], + [ + 203.49803109684132, + 95.11841301193067 + ], + [ + 189.35789394995447, + 91.14934973156846 + ], + [ + 189.1381805336515, + 91.26551307687146 + ], + [ + 197.3726202831121, + 77.01871382933228 + ], + [ + 197.59514701059567, + 76.9030747487052 + ], + [ + 183.3055640435963, + 73.00556642456792 + ], + [ + 183.08167669614204, + 73.1196254295404 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 183.08185449245332, + "ymin": 73.00556000991952, + "xmax": 203.49820746557344, + "ymax": 95.23615741316365 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 203.27983499040153, + 95.23615741316365 + ], + [ + 203.49820746557344, + 95.11840638963531 + ], + [ + 189.35806928424552, + 91.14934319855507 + ], + [ + 189.13835590535137, + 91.26550654125361 + ], + [ + 197.37279914333777, + 77.01870732318429 + ], + [ + 197.5953258319069, + 76.90306824520286 + ], + [ + 183.3057418014593, + 73.00556000991952 + ], + [ + 183.08185449245332, + 73.1196190123004 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 186.02402156747888, + "ymin": 81.06304978295947, + "xmax": 204.4992193522067, + "ymax": 100.48524274990223 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 203.1233308283425, + 100.48524274990223 + ], + [ + 204.4992193522067, + 99.73680716643958 + ], + [ + 192.51154933706, + 96.34707056329768 + ], + [ + 191.12847346395137, + 97.08694601877062 + ], + [ + 198.12627852479943, + 85.13976573572728 + ], + [ + 199.52427239250227, + 84.40239693690557 + ], + [ + 187.42929277309628, + 81.06304978295947 + ], + [ + 186.02402156747888, + 81.79188946406282 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 183.0818030051541, + "ymin": 73.00550412918585, + "xmax": 203.49815438683635, + "ymax": 95.23609973693527 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 203.27978185468095, + 95.23609973693527 + ], + [ + 203.49815438683635, + 95.11834869999984 + ], + [ + 189.35801794526918, + 91.14928628669298 + ], + [ + 189.13830450937985, + 91.26544964277247 + ], + [ + 197.37274587724085, + 77.01865068126506 + ], + [ + 197.59527262354953, + 76.9030115904244 + ], + [ + 183.30569037190594, + 73.00550412918585 + ], + [ + 183.0818030051541, + 73.1195631444059 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 125.49211599156297, + "ymin": 64.35983276835537, + "xmax": 143.83072150516193, + "ymax": 83.28723280925601 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 142.42024655038858, + 83.28723280925601 + ], + [ + 143.83072150516193, + 82.5816128138618 + ], + [ + 132.52653228777513, + 79.38514338519929 + ], + [ + 131.11010544565136, + 80.0829252359004 + ], + [ + 136.89599109037846, + 68.20143694505242 + ], + [ + 138.3289607576446, + 67.50671170078925 + ], + [ + 126.93109223564011, + 64.35983276835537 + ], + [ + 125.49211599156297, + 65.04675598685674 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 183.0817372341777, + "ymin": 73.00553477125766, + "xmax": 203.49809009029985, + "ymax": 95.2361313470492 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 203.2797176012731, + 95.2361313470492 + ], + [ + 203.49809009029985, + 95.11838033397873 + ], + [ + 189.35795332650088, + 91.14931749418173 + ], + [ + 189.13823993418737, + 91.26548082663317 + ], + [ + 197.3726804323054, + 77.01868172451407 + ], + [ + 197.59520713499853, + 76.90304265694192 + ], + [ + 183.30562455685674, + 73.00553477125766 + ], + [ + 183.0817372341777, + 73.11959376344186 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 186.31939134186166, + "ymin": 85.19408543538361, + "xmax": 204.7586188448592, + "ymax": 104.56291022648139 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 203.3855907306828, + 104.56291022648139 + ], + [ + 204.7586188448592, + 103.81070638544571 + ], + [ + 192.79137786847815, + 100.40385915677399 + ], + [ + 191.41118483203348, + 101.14747546202926 + ], + [ + 198.4008371197594, + 89.29256054916169 + ], + [ + 199.7958811635619, + 88.5512640906822 + ], + [ + 187.72168993700853, + 85.19408543538361 + ], + [ + 186.31939134186166, + 85.92682316077509 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 184.36741032639605, + "ymin": 73.76366063285025, + "xmax": 200.903038607187, + "ymax": 94.09813481271408 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 200.72058091306036, + 94.09813481271408 + ], + [ + 200.903038607187, + 94.00017089852543 + ], + [ + 190.29970850501144, + 91.02585080164954 + ], + [ + 190.11641300373032, + 91.12282216505366 + ], + [ + 195.07806165892174, + 76.78322548138135 + ], + [ + 195.26381836765108, + 76.68693630909775 + ], + [ + 184.5540165228424, + 73.76366063285025 + ], + [ + 184.36741032639605, + 73.85896178885025 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 117.84539941255923, + "ymin": 63.82325641891805, + "xmax": 136.21679832691666, + "ymax": 82.73469062553193 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 134.79833231649587, + 82.73469062553193 + ], + [ + 136.21679832691666, + 82.03042533846764 + ], + [ + 124.96573880738379, + 78.8400719523321 + ], + [ + 123.54143594554841, + 79.53652159370694 + ], + [ + 129.19490631896747, + 67.65742438775243 + ], + [ + 130.63603187693042, + 66.96404771252065 + ], + [ + 119.29241287988145, + 63.82325641891805 + ], + [ + 117.84539941255923, + 64.50885371102243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 184.36752555701986, + "ymin": 73.7636821144261, + "xmax": 200.90315356903267, + "ymax": 94.09815690191078 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 200.7206958872547, + 94.09815690191078 + ], + [ + 200.90315356903267, + 94.00019298033459 + ], + [ + 190.29982248529444, + 91.0258726597487 + ], + [ + 190.11652699610443, + 91.12284403042838 + ], + [ + 195.0781778944464, + 76.78324719299883 + ], + [ + 195.26393459058107, + 76.68695801336065 + ], + [ + 184.55413174113767, + 73.7636821144261 + ], + [ + 184.36752555701986, + 73.85898327766773 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4421894629193955789, + "instance_id": 52537, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -38.7340202331543, + "y": 6.594298362731934, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1269.005919764778, + "ymin": 123.29543239222, + "xmax": 1280.0, + "ymax": 157.4425984663911 + }, + "corners_3d": [ + [ + -38.595436096191406, + 6.4043402671813965, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.404339790344238, + 5.545533180236816 + ], + [ + -38.87260437011719, + 6.784256458282471, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.784256935119629, + 5.545533180236816 + ], + [ + -38.595436096191406, + 6.4043402671813965, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.404339790344238, + 6.416468620300293 + ], + [ + -38.87260437011719, + 6.784256458282471, + 6.416468620300293 + ], + [ + -38.595436096191406, + 6.784256935119629, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1269.005919764778, + 155.31705417028553 + ], + [ + 1279.3742003429352, + 157.4425984663911 + ], + [ + 1279.482866579861, + 151.73736910445407 + ], + [ + 1269.2050653167548, + 149.6489637320798 + ], + [ + 1281.9473335647003, + 128.84243597485258 + ], + [ + 1292.573043648075, + 130.92308804365905 + ], + [ + 1292.5655538402434, + 125.33899074322872 + ], + [ + 1282.0348539067952, + 123.29543239222 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1238.5552940645503, + "ymin": 139.71648869615572, + "xmax": 1258.121242294081, + "ymax": 168.49290884482252 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1238.5552940645503, + 166.6509453216539 + ], + [ + 1247.3004303918042, + 168.49290884482252 + ], + [ + 1247.6317143752672, + 163.57126212908742 + ], + [ + 1238.9506754793802, + 161.75662234853894 + ], + [ + 1248.9375425310088, + 144.52776021719177 + ], + [ + 1257.8643534771431, + 146.33878896836117 + ], + [ + 1258.121242294081, + 141.5001912373242 + ], + [ + 1249.2612156412843, + 139.71648869615572 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10755311745963632187, + "instance_id": 15270, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -38.73401641845703, + "y": 3.594299793243408, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.1385851949453354, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1267.30030017614, + "ymin": 170.00252835804625, + "xmax": 1280.0, + "ymax": 206.31514987084572 + }, + "corners_3d": [ + [ + -38.59543228149414, + 3.404341459274292, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.404340982437134, + 5.545533180236816 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 5.545533180236816 + ], + [ + -38.59543228149414, + 3.404341459274292, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.404340982437134, + 6.416468620300293 + ], + [ + -38.87260055541992, + 3.7842581272125244, + 6.416468620300293 + ], + [ + -38.59543228149414, + 3.7842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1267.30030017614, + 203.85809901159465 + ], + [ + 1278.4431811586696, + 206.31514987084572 + ], + [ + 1278.5687448190374, + 199.72284323951695 + ], + [ + 1267.5302989220459, + 197.31190471315318 + ], + [ + 1281.196365337627, + 176.42851890538367 + ], + [ + 1292.6371569344133, + 178.84114410517589 + ], + [ + 1292.6284773821926, + 172.36888464261963 + ], + [ + 1281.297755805665, + 170.00252835804625 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12937619472667703847, + "instance_id": 10234, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -38.7340087890625, + "y": 1.0942997932434082, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13858512043952942, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1265.6702218128062, + "ymin": 214.71086071758882, + "xmax": 1280.0, + "ymax": 253.04018622126864 + }, + "corners_3d": [ + [ + -38.59542465209961, + 0.9043415784835815, + 5.545533180236816 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 5.545533180236816 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 5.545533180236816 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 5.545533180236816 + ], + [ + -38.59542465209961, + 0.9043415784835815, + 6.416468620300293 + ], + [ + -38.87259292602539, + 0.9043410420417786, + 6.416468620300293 + ], + [ + -38.87259292602539, + 1.2842580080032349, + 6.416468620300293 + ], + [ + -38.59542465209961, + 1.2842586040496826, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1265.6702218128062, + 250.24382554591529 + ], + [ + 1277.552879630824, + 253.04018622126864 + ], + [ + 1277.6957297333065, + 245.5404862184843 + ], + [ + 1265.93175983199, + 242.8000583867447 + ], + [ + 1280.476372587692, + 222.03936841192365 + ], + [ + 1292.6984429826282, + 224.79332945431727 + ], + [ + 1292.6885430527445, + 217.40845101509348 + ], + [ + 1280.592006591688, + 214.71086071758882 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1194.6374469199504, + "ymin": 585.6821656645938, + "xmax": 1227.150904943824, + "ymax": 629.4082349044502 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1209.2795078302906, + 629.4082349044502 + ], + [ + 1210.3180166154148, + 615.2888398811983 + ], + [ + 1195.8546521132107, + 610.1197348562724 + ], + [ + 1194.6374469199504, + 624.1067411372327 + ], + [ + 1226.30246515505, + 605.1068384615367 + ], + [ + 1227.150904943824, + 590.8858037736851 + ], + [ + 1212.1817959125624, + 585.6821656645938 + ], + [ + 1211.1418053873442, + 599.7659257419915 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 190.70352614853743, + "ymin": 83.31530276117786, + "xmax": 209.8309514985064, + "ymax": 135.1233571027475 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 208.8747729834538, + 135.1233571027475 + ], + [ + 209.8309514985064, + 134.56988083551627 + ], + [ + 208.49073568213487, + 134.16960988061297 + ], + [ + 207.53398513871105, + 134.72237855082494 + ], + [ + 192.08533551770648, + 84.22567634153853 + ], + [ + 193.09411866346665, + 83.69735742273309 + ], + [ + 191.71290624121212, + 83.31530276117786 + ], + [ + 190.70352614853743, + 83.84291998023104 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 190.70352614853743, + "ymin": 83.31530276117786, + "xmax": 209.8309514985064, + "ymax": 135.1233571027475 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 208.8747729834538, + 135.1233571027475 + ], + [ + 209.8309514985064, + 134.56988083551627 + ], + [ + 208.49073568213487, + 134.16960988061297 + ], + [ + 207.53398513871105, + 134.72237855082494 + ], + [ + 192.08533551770648, + 84.22567634153853 + ], + [ + 193.09411866346665, + 83.69735742273309 + ], + [ + 191.71290624121212, + 83.31530276117786 + ], + [ + 190.70352614853743, + 83.84291998023104 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 140.59590768012367, + "ymin": 69.46082023555732, + "xmax": 161.1239117960481, + "ymax": 120.55103420412757 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 160.14791699212105, + 120.55103420412757 + ], + [ + 161.1239117960481, + 120.02298294655412 + ], + [ + 159.84521621601903, + 119.64108570751279 + ], + [ + 158.8687281302307, + 120.16847754634065 + ], + [ + 141.91185105510914, + 70.32781871055965 + ], + [ + 142.94122967382242, + 69.82467980839436 + ], + [ + 141.62579658833715, + 69.46082023555732 + ], + [ + 140.59590768012367, + 69.96330698492585 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 190.70352614853743, + "ymin": 83.31530276117786, + "xmax": 209.8309514985064, + "ymax": 135.1233571027475 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 208.8747729834538, + 135.1233571027475 + ], + [ + 209.8309514985064, + 134.56988083551627 + ], + [ + 208.49073568213487, + 134.16960988061297 + ], + [ + 207.53398513871105, + 134.72237855082494 + ], + [ + 192.08533551770648, + 84.22567634153853 + ], + [ + 193.09411866346665, + 83.69735742273309 + ], + [ + 191.71290624121212, + 83.31530276117786 + ], + [ + 190.70352614853743, + 83.84291998023104 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 129.85256172397197, + "ymin": 66.49018923002603, + "xmax": 150.6693135633986, + "ymax": 117.42319513280168 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 149.6893262583261, + 117.42319513280168 + ], + [ + 150.6693135633986, + 116.90052330309305 + ], + [ + 149.4036347041207, + 116.52251370364999 + ], + [ + 148.42317028997263, + 117.04453616236617 + ], + [ + 131.15459242120676, + 67.34802541053557 + ], + [ + 132.18809750656874, + 66.85020530477311 + ], + [ + 130.88655935628844, + 66.49018923002603 + ], + [ + 129.85256172397197, + 66.98736749339162 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 190.70352614853743, + "ymin": 83.31530276117786, + "xmax": 209.8309514985064, + "ymax": 135.1233571027475 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 208.8747729834538, + 135.1233571027475 + ], + [ + 209.8309514985064, + 134.56988083551627 + ], + [ + 208.49073568213487, + 134.16960988061297 + ], + [ + 207.53398513871105, + 134.72237855082494 + ], + [ + 192.08533551770648, + 84.22567634153853 + ], + [ + 193.09411866346665, + 83.69735742273309 + ], + [ + 191.71290624121212, + 83.31530276117786 + ], + [ + 190.70352614853743, + 83.84291998023104 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1206.4722755939883, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 83.35549760093795 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1207.0175047650027, + 63.376690295314745 + ], + [ + 1206.4722755939883, + 66.94944032825617 + ], + [ + 1297.323935926819, + 83.35549760093795 + ], + [ + 1297.2870760893466, + 79.5705262936853 + ], + [ + 1278.7770422336453, + -111.10821924697473 + ], + [ + 1278.6830839550753, + -108.34630737950175 + ], + [ + 1383.9009645833878, + -95.60557921562236 + ], + [ + 1383.2149276997893, + -98.55342795169815 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 140.36298255202632, + "ymin": 82.52650822105016, + "xmax": 161.36015749961234, + "ymax": 134.29437063349206 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 160.3624625799407, + 134.29437063349206 + ], + [ + 161.36015749961234, + 133.7423569475541 + ], + [ + 160.05265079085245, + 133.34314278360907 + ], + [ + 159.05443997418723, + 133.8944516744369 + ], + [ + 141.70946012085653, + 83.43438362569844 + ], + [ + 142.76300776159525, + 82.90751503393682 + ], + [ + 141.41706429114754, + 82.52650822105016 + ], + [ + 140.36298255202632, + 83.05267799943152 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 190.70352614853743, + "ymin": 83.31530276117786, + "xmax": 209.8309514985064, + "ymax": 135.1233571027475 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 208.8747729834538, + 135.1233571027475 + ], + [ + 209.8309514985064, + 134.56988083551627 + ], + [ + 208.49073568213487, + 134.16960988061297 + ], + [ + 207.53398513871105, + 134.72237855082494 + ], + [ + 192.08533551770648, + 84.22567634153853 + ], + [ + 193.09411866346665, + 83.69735742273309 + ], + [ + 191.71290624121212, + 83.31530276117786 + ], + [ + 190.70352614853743, + 83.84291998023104 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 190.70352614853743, + "ymin": 83.31530276117786, + "xmax": 209.8309514985064, + "ymax": 135.1233571027475 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 208.8747729834538, + 135.1233571027475 + ], + [ + 209.8309514985064, + 134.56988083551627 + ], + [ + 208.49073568213487, + 134.16960988061297 + ], + [ + 207.53398513871105, + 134.72237855082494 + ], + [ + 192.08533551770648, + 84.22567634153853 + ], + [ + 193.09411866346665, + 83.69735742273309 + ], + [ + 191.71290624121212, + 83.31530276117786 + ], + [ + 190.70352614853743, + 83.84291998023104 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 753.3014546159109, + "ymin": 0.0, + "xmax": 818.7294621767027, + "ymax": 169.15974434735082 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 796.3535128279514, + 128.04977181101881 + ], + [ + 786.6757088372658, + 125.81467782979226 + ], + [ + 753.3014546159109, + 166.61888792119828 + ], + [ + 763.492416241653, + 169.15974434735082 + ], + [ + 818.7294621767027, + -60.00452665457374 + ], + [ + 807.5801610838253, + -61.783282018687714 + ], + [ + 770.6800761683246, + -29.0182349164524 + ], + [ + 782.5185409561058, + -26.9573553238082 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7806990106475075983, + "instance_id": 36761, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 634.1700704228979, + "xmax": 334.5871355900271, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -26.247940063476562, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.247940063476562, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.198223114013672 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 334.5871355900271, + 646.2666983405907 + ], + [ + 318.1109519503845, + 637.8273354233045 + ], + [ + -41.503792267496465, + 1055.0193263947249 + ], + [ + -22.569139152452408, + 1070.8880810174232 + ], + [ + 333.1878956612851, + 642.6206468554655 + ], + [ + 316.64721359501374, + 634.1700704228979 + ], + [ + -45.75460600590179, + 1052.6049959913075 + ], + [ + -26.74451753397102, + 1068.5488258552493 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 190.70352614853743, + "ymin": 83.31530276117786, + "xmax": 209.8309514985064, + "ymax": 135.1233571027475 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 208.8747729834538, + 135.1233571027475 + ], + [ + 209.8309514985064, + 134.56988083551627 + ], + [ + 208.49073568213487, + 134.16960988061297 + ], + [ + 207.53398513871105, + 134.72237855082494 + ], + [ + 192.08533551770648, + 84.22567634153853 + ], + [ + 193.09411866346665, + 83.69735742273309 + ], + [ + 191.71290624121212, + 83.31530276117786 + ], + [ + 190.70352614853743, + 83.84291998023104 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 190.70352614853743, + "ymin": 83.31530276117786, + "xmax": 209.8309514985064, + "ymax": 135.1233571027475 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 208.8747729834538, + 135.1233571027475 + ], + [ + 209.8309514985064, + 134.56988083551627 + ], + [ + 208.49073568213487, + 134.16960988061297 + ], + [ + 207.53398513871105, + 134.72237855082494 + ], + [ + 192.08533551770648, + 84.22567634153853 + ], + [ + 193.09411866346665, + 83.69735742273309 + ], + [ + 191.71290624121212, + 83.31530276117786 + ], + [ + 190.70352614853743, + 83.84291998023104 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 190.70352614853743, + "ymin": 83.31530276117786, + "xmax": 209.8309514985064, + "ymax": 135.1233571027475 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 208.8747729834538, + 135.1233571027475 + ], + [ + 209.8309514985064, + 134.56988083551627 + ], + [ + 208.49073568213487, + 134.16960988061297 + ], + [ + 207.53398513871105, + 134.72237855082494 + ], + [ + 192.08533551770648, + 84.22567634153853 + ], + [ + 193.09411866346665, + 83.69735742273309 + ], + [ + 191.71290624121212, + 83.31530276117786 + ], + [ + 190.70352614853743, + 83.84291998023104 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 191.91359579424818, + "ymin": 86.97148897092035, + "xmax": 210.94594886040954, + "ymax": 138.51400447893153 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 209.99323380994844, + 138.51400447893153 + ], + [ + 210.94594886040954, + 137.9589766075585 + ], + [ + 209.6084938596194, + 137.55758195669188 + ], + [ + 208.6552084860508, + 138.11190208566524 + ], + [ + 193.29248372456175, + 87.88518215817663 + ], + [ + 194.29744623200418, + 87.35493771328328 + ], + [ + 192.91915350139487, + 86.97148897092035 + ], + [ + 191.91359579424818, + 87.50103105387541 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1141.6280997705662, + "ymin": 421.28444142115575, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1143.7922386328155, + 683.2223498392302 + ], + [ + 1141.6280997705662, + 698.8836817339 + ], + [ + 1851.5197400307734, + 983.0732071841952 + ], + [ + 1842.6609402339086, + 959.1179896532776 + ], + [ + 1317.685376151986, + 421.28444142115575 + ], + [ + 1317.8932637851706, + 437.7304532044677 + ], + [ + 2427.1285844150507, + 764.9872202133689 + ], + [ + 2400.474388379567, + 735.10672912739 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 190.70352614853743, + "ymin": 83.31530276117786, + "xmax": 209.8309514985064, + "ymax": 135.1233571027475 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 208.8747729834538, + 135.1233571027475 + ], + [ + 209.8309514985064, + 134.56988083551627 + ], + [ + 208.49073568213487, + 134.16960988061297 + ], + [ + 207.53398513871105, + 134.72237855082494 + ], + [ + 192.08533551770648, + 84.22567634153853 + ], + [ + 193.09411866346665, + 83.69735742273309 + ], + [ + 191.71290624121212, + 83.31530276117786 + ], + [ + 190.70352614853743, + 83.84291998023104 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 190.70352614853743, + "ymin": 83.31530276117786, + "xmax": 209.8309514985064, + "ymax": 135.1233571027475 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 208.8747729834538, + 135.1233571027475 + ], + [ + 209.8309514985064, + 134.56988083551627 + ], + [ + 208.49073568213487, + 134.16960988061297 + ], + [ + 207.53398513871105, + 134.72237855082494 + ], + [ + 192.08533551770648, + 84.22567634153853 + ], + [ + 193.09411866346665, + 83.69735742273309 + ], + [ + 191.71290624121212, + 83.31530276117786 + ], + [ + 190.70352614853743, + 83.84291998023104 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 240.08220016845826, + "ymin": 0.0, + "xmax": 342.4321062345171, + "ymax": 51.278943676836775 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 342.4321062345171, + 23.215822130083552 + ], + [ + 335.7474919703222, + 21.672008585819412 + ], + [ + 283.8088249067378, + 49.562538695482544 + ], + [ + 290.6930501995854, + 51.278943676836775 + ], + [ + 307.88680951119613, + -141.5046053405522 + ], + [ + 300.5443207734755, + -142.67602182993028 + ], + [ + 240.08220016845826, + -121.38675130781968 + ], + [ + 247.65880479259954, + -120.0677915347568 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 190.70352614853743, + "ymin": 83.31530276117786, + "xmax": 209.8309514985064, + "ymax": 135.1233571027475 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 208.8747729834538, + 135.1233571027475 + ], + [ + 209.8309514985064, + 134.56988083551627 + ], + [ + 208.49073568213487, + 134.16960988061297 + ], + [ + 207.53398513871105, + 134.72237855082494 + ], + [ + 192.08533551770648, + 84.22567634153853 + ], + [ + 193.09411866346665, + 83.69735742273309 + ], + [ + 191.71290624121212, + 83.31530276117786 + ], + [ + 190.70352614853743, + 83.84291998023104 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 190.70352614853743, + "ymin": 83.31530276117786, + "xmax": 209.8309514985064, + "ymax": 135.1233571027475 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 208.8747729834538, + 135.1233571027475 + ], + [ + 209.8309514985064, + 134.56988083551627 + ], + [ + 208.49073568213487, + 134.16960988061297 + ], + [ + 207.53398513871105, + 134.72237855082494 + ], + [ + 192.08533551770648, + 84.22567634153853 + ], + [ + 193.09411866346665, + 83.69735742273309 + ], + [ + 191.71290624121212, + 83.31530276117786 + ], + [ + 190.70352614853743, + 83.84291998023104 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 190.70352614853743, + "ymin": 83.31530276117786, + "xmax": 209.8309514985064, + "ymax": 135.1233571027475 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 208.8747729834538, + 135.1233571027475 + ], + [ + 209.8309514985064, + 134.56988083551627 + ], + [ + 208.49073568213487, + 134.16960988061297 + ], + [ + 207.53398513871105, + 134.72237855082494 + ], + [ + 192.08533551770648, + 84.22567634153853 + ], + [ + 193.09411866346665, + 83.69735742273309 + ], + [ + 191.71290624121212, + 83.31530276117786 + ], + [ + 190.70352614853743, + 83.84291998023104 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15102510933830370440, + "instance_id": 34948, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 634.3936868791312, + "xmax": 334.347615760913, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -26.246049880981445, + -20.196584701538086, + 8.10662841796875 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.10662841796875 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.10662841796875 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.10662841796875 + ], + [ + -26.246049880981445, + -20.196584701538086, + 8.197628021240234 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.197628021240234 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.197628021240234 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 334.347615760913, + 646.3375889136832 + ], + [ + 318.080259274321, + 638.0039263371518 + ], + [ + -41.17486751018703, + 1054.8307425551884 + ], + [ + -22.482452676816706, + 1070.4914340515622 + ], + [ + 332.965111790728, + 642.738290583403 + ], + [ + 316.63488670539556, + 634.3936868791312 + ], + [ + -45.368656079738685, + 1052.4464894369203 + ], + [ + -26.602717343059453, + 1068.1802873683985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 139.65468910957986, + "ymin": 70.87674630151258, + "xmax": 160.2673627065695, + "ymax": 122.04148289251796 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 159.28825062344936, + 122.04148289251796 + ], + [ + 160.2673627065695, + 121.51085856366882 + ], + [ + 158.98609491104492, + 121.12710184271182 + ], + [ + 158.00648807399688, + 121.65706192869342 + ], + [ + 140.97334572719365, + 71.74812909528441 + ], + [ + 142.00616583524862, + 71.2424450315088 + ], + [ + 140.6880209926681, + 70.87674630151258 + ], + [ + 139.65468910957986, + 71.38177325943718 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 190.70352614853743, + "ymin": 83.31530276117786, + "xmax": 209.8309514985064, + "ymax": 135.1233571027475 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 208.8747729834538, + 135.1233571027475 + ], + [ + 209.8309514985064, + 134.56988083551627 + ], + [ + 208.49073568213487, + 134.16960988061297 + ], + [ + 207.53398513871105, + 134.72237855082494 + ], + [ + 192.08533551770648, + 84.22567634153853 + ], + [ + 193.09411866346665, + 83.69735742273309 + ], + [ + 191.71290624121212, + 83.31530276117786 + ], + [ + 190.70352614853743, + 83.84291998023104 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 122.17877101321983, + "ymin": 65.94980005411583, + "xmax": 143.25692131719785, + "ymax": 116.85408311297573 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 142.2714895269297, + 116.85408311297573 + ], + [ + 143.25692131719785, + 116.3323870785822 + ], + [ + 141.99702304701196, + 115.95508270368344 + ], + [ + 141.0111229314149, + 116.47613118419582 + ], + [ + 123.47459010644991, + 66.80597479049112 + ], + [ + 124.51392649575132, + 66.30911915119276 + ], + [ + 123.21859019508781, + 65.94980005411583 + ], + [ + 122.17877101321983, + 66.44601571477398 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 617.496802011749, + "xmax": 427.52313120172107, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 427.52313120172107, + 867.3943975000498 + ], + [ + 407.4379237267036, + 855.6006298859689 + ], + [ + 185.73613203652718, + 1193.377180418324 + ], + [ + 208.4795253989455, + 1211.8664374498098 + ], + [ + 340.19634685696144, + 631.1968084216923 + ], + [ + 313.022403954543, + 617.496802011749 + ], + [ + -71.05956033344819, + 1052.7783156788873 + ], + [ + -39.67515785467299, + 1079.4703132282107 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 190.70352614853743, + "ymin": 83.31530276117786, + "xmax": 209.8309514985064, + "ymax": 135.1233571027475 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 208.8747729834538, + 135.1233571027475 + ], + [ + 209.8309514985064, + 134.56988083551627 + ], + [ + 208.49073568213487, + 134.16960988061297 + ], + [ + 207.53398513871105, + 134.72237855082494 + ], + [ + 192.08533551770648, + 84.22567634153853 + ], + [ + 193.09411866346665, + 83.69735742273309 + ], + [ + 191.71290624121212, + 83.31530276117786 + ], + [ + 190.70352614853743, + 83.84291998023104 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 190.70352614853743, + "ymin": 83.31530276117786, + "xmax": 209.8309514985064, + "ymax": 135.1233571027475 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 208.8747729834538, + 135.1233571027475 + ], + [ + 209.8309514985064, + 134.56988083551627 + ], + [ + 208.49073568213487, + 134.16960988061297 + ], + [ + 207.53398513871105, + 134.72237855082494 + ], + [ + 192.08533551770648, + 84.22567634153853 + ], + [ + 193.09411866346665, + 83.69735742273309 + ], + [ + 191.71290624121212, + 83.31530276117786 + ], + [ + 190.70352614853743, + 83.84291998023104 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 190.70352614853743, + "ymin": 83.31530276117786, + "xmax": 209.8309514985064, + "ymax": 135.1233571027475 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 208.8747729834538, + 135.1233571027475 + ], + [ + 209.8309514985064, + 134.56988083551627 + ], + [ + 208.49073568213487, + 134.16960988061297 + ], + [ + 207.53398513871105, + 134.72237855082494 + ], + [ + 192.08533551770648, + 84.22567634153853 + ], + [ + 193.09411866346665, + 83.69735742273309 + ], + [ + 191.71290624121212, + 83.31530276117786 + ], + [ + 190.70352614853743, + 83.84291998023104 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 190.70352614853743, + "ymin": 83.31530276117786, + "xmax": 209.8309514985064, + "ymax": 135.1233571027475 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 208.8747729834538, + 135.1233571027475 + ], + [ + 209.8309514985064, + 134.56988083551627 + ], + [ + 208.49073568213487, + 134.16960988061297 + ], + [ + 207.53398513871105, + 134.72237855082494 + ], + [ + 192.08533551770648, + 84.22567634153853 + ], + [ + 193.09411866346665, + 83.69735742273309 + ], + [ + 191.71290624121212, + 83.31530276117786 + ], + [ + 190.70352614853743, + 83.84291998023104 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1168.7525108958728, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 429.25926705677 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1211.886615497301, + 223.79721783616586 + ], + [ + 1199.2805156111372, + 220.83442508506457 + ], + [ + 1168.7525108958728, + 424.35634091328683 + ], + [ + 1184.8152643848816, + 429.25926705677 + ], + [ + 1317.7999628994344, + -1.8309260210968432 + ], + [ + 1302.3512509214288, + -4.233226642007708 + ], + [ + 1300.9922463288508, + 169.82300483592195 + ], + [ + 1321.9851608423573, + 174.25501484049573 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00170/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00170/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5af8778cd299ffcb99f509928037082a6b6b9bac --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00170/meta.json @@ -0,0 +1,7254 @@ +{ + "frame_id": 170, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 85.0, + "sim_timestamp": 15103.368634199025 + }, + "drone_pose": { + "x": -32.911232906031195, + "y": -23.84536967606052, + "z": 20.0, + "pitch": -41.56368624675324, + "yaw": 63.040943934295505, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.33920764923095703, + -0.6669103503227234, + 0.6634521484375, + 13.79742431640625 + ], + [ + 0.8913307785987854, + 0.4533536434173584, + 0.0, + -18.52440643310547 + ], + [ + -0.30077844858169556, + 0.5913552641868591, + 0.7482187747955322, + -38.964447021484375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -32.6716389350904, + "y": -23.346981222037588, + "z": 20.0 + }, + "t1_image_uv": [ + 668.7517024562532, + -491.2404403190952 + ], + "t1_depth": 0.4136525357725605 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -23.16718292236328, + "y": -4.687763214111328, + "z": 0.9417338824309991 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.72590995674836, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 700, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -23.16718292236328, + "y": -4.68776273727417, + "z": 0.9417338967323303 + }, + "extent": { + "x": 0.48057982325553894, + "y": 0.44190946221351624, + "z": 0.8691024780273438 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 619.0093954079666, + "ymin": 324.1962142060637, + "xmax": 660.73771651319, + "ymax": 395.53999659780584 + }, + "corners_3d": [ + [ + -22.72527313232422, + -5.168342590332031, + 0.07263141870498657 + ], + [ + -23.609092712402344, + -5.168342590332031, + 0.07263141870498657 + ], + [ + -23.609092712402344, + -4.207182884216309, + 0.07263141870498657 + ], + [ + -22.72527313232422, + -4.207182884216309, + 0.07263141870498657 + ], + [ + -22.72527313232422, + -5.168342590332031, + 1.8108363151550293 + ], + [ + -23.609092712402344, + -5.168342590332031, + 1.8108363151550293 + ], + [ + -23.609092712402344, + -4.207182884216309, + 1.8108363151550293 + ], + [ + -22.72527313232422, + -4.207182884216309, + 1.8108363151550293 + ] + ], + "corners_2d": [ + [ + 619.8403293401137, + 386.4140816673438 + ], + [ + 645.8606430632922, + 395.53999659780584 + ], + [ + 659.926297194568, + 376.25351703084215 + ], + [ + 634.3245635479486, + 367.5182871277966 + ], + [ + 619.0093954079666, + 342.87831619017544 + ], + [ + 646.1048213339456, + 351.9129050697384 + ], + [ + 660.73771651319, + 332.82853826151114 + ], + [ + 634.0958748673559, + 324.1962142060637 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 170, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 58, + "semantic_pixel_counts": { + "1": 342881, + "2": 226051, + "3": 42655, + "5": 4317, + "6": 5937, + "7": 302, + "10": 181, + "12": 3569, + "14": 16285, + "20": 3800, + "24": 24837, + "25": 250785 + }, + "instance_pixel_counts": { + "108": 207, + "3992": 60, + "6018": 183, + "7274": 353, + "7576": 2405, + "7784": 15366, + "7786": 5705, + "8088": 2052, + "8296": 29881, + "8780": 4317, + "9322": 4668, + "9624": 8920, + "9832": 142601, + "10316": 2538, + "10828": 1154, + "12652": 376, + "21090": 5197, + "21602": 78934, + "24656": 334, + "24946": 20486, + "25168": 511, + "25856": 1660, + "26112": 3096, + "26218": 318, + "27988": 10867, + "29327": 1027, + "29800": 1404, + "29839": 7421, + "31375": 64347, + "31812": 949, + "31848": 24569, + "32360": 21636, + "33650": 4294, + "33906": 6617, + "34408": 107424, + "34418": 11258, + "39239": 250785, + "40855": 609, + "41367": 2796, + "42903": 14712, + "46184": 1325, + "46672": 455, + "46696": 4451, + "48232": 6363, + "54950": 122, + "56320": 700, + "56576": 579, + "56832": 509, + "56975": 4503, + "57088": 677, + "57344": 443, + "57487": 4380, + "57600": 661, + "57999": 7708, + "58511": 475, + "58951": 108, + "59023": 20505, + "60928": 5418 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 700, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -23.16718292236328, + "y": -4.68776273727417, + "z": 0.9417338967323303 + }, + "extent": { + "x": 0.4903234839439392, + "y": 0.4305584728717804, + "z": 0.8838528394699097 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 619.1899911609837, + "ymin": 323.73820778924164, + "xmax": 660.5440935354089, + "ymax": 395.9767410426638 + }, + "corners_3d": [ + [ + -22.736623764038086, + -5.178086280822754, + 0.057881057262420654 + ], + [ + -23.597742080688477, + -5.178086280822754, + 0.057881057262420654 + ], + [ + -23.597742080688477, + -4.197439193725586, + 0.057881057262420654 + ], + [ + -22.736623764038086, + -4.197439193725586, + 0.057881057262420654 + ], + [ + -22.736623764038086, + -5.178086280822754, + 1.8255867958068848 + ], + [ + -23.597742080688477, + -5.178086280822754, + 1.8255867958068848 + ], + [ + -23.597742080688477, + -4.197439193725586, + 1.8255867958068848 + ], + [ + -22.736623764038086, + -4.197439193725586, + 1.8255867958068848 + ] + ], + "corners_2d": [ + [ + 620.0277734899985, + 387.0806781186086 + ], + [ + 645.3753684050978, + 395.9767410426638 + ], + [ + 659.72716548249, + 376.3029795857542 + ], + [ + 634.7953886655154, + 367.7951854475129 + ], + [ + 619.1899911609837, + 342.8021000625513 + ], + [ + 645.6032315676002, + 351.60778333092026 + ], + [ + 660.5440935354089, + 332.14391627316763 + ], + [ + 634.5820591022218, + 323.73820778924164 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 579, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -19.041194915771484, + "y": -1.6900583505630493, + "z": 0.9418168663978577 + }, + "extent": { + "x": 0.4289325177669525, + "y": 0.5233291983604431, + "z": 0.8762835264205933 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 550.081948569584, + "ymin": 238.80765556602375, + "xmax": 590.3510314405213, + "ymax": 300.73890002134095 + }, + "corners_3d": [ + [ + -18.61848258972168, + -2.2184243202209473, + 0.0655333399772644 + ], + [ + -19.642269134521484, + -2.0008108615875244, + 0.0655333399772644 + ], + [ + -19.46390724182129, + -1.1616923809051514, + 0.0655333399772644 + ], + [ + -18.440120697021484, + -1.3793058395385742, + 0.0655333399772644 + ], + [ + -18.61848258972168, + -2.2184243202209473, + 1.8181004524230957 + ], + [ + -19.642269134521484, + -2.0008108615875244, + 1.8181004524230957 + ], + [ + -19.46390724182129, + -1.1616923809051514, + 1.8181004524230957 + ], + [ + -18.440120697021484, + -1.3793058395385742, + 1.8181004524230957 + ] + ], + "corners_2d": [ + [ + 553.299220331149, + 295.81239317559664 + ], + [ + 582.8151969753543, + 300.73890002134095 + ], + [ + 590.3510314405213, + 285.81800198022347 + ], + [ + 561.3417428494039, + 281.07482148569267 + ], + [ + 550.081948569584, + 253.25562021049876 + ], + [ + 580.6794183960188, + 258.0897953294443 + ], + [ + 588.5329213624057, + 243.45543803951477 + ], + [ + 558.4795550105312, + 238.80765556602375 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 509, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -25.423004150390625, + "y": 2.2549493312835693, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.48231688141822815, + "y": 0.43222975730895996, + "z": 0.9125369787216187 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 773.3967582601431, + "ymin": 226.4873668218127, + "xmax": 810.926118047827, + "ymax": 291.30626677715156 + }, + "corners_3d": [ + [ + -25.04355812072754, + 1.730094313621521, + 0.029284775257110596 + ], + [ + -25.903282165527344, + 1.8204549551010132, + 0.029284775257110596 + ], + [ + -25.80245018005371, + 2.779804229736328, + 0.029284775257110596 + ], + [ + -24.942726135253906, + 2.689443826675415, + 0.029284775257110596 + ], + [ + -25.04355812072754, + 1.730094313621521, + 1.8543586730957031 + ], + [ + -25.903282165527344, + 1.8204549551010132, + 1.8543586730957031 + ], + [ + -25.80245018005371, + 2.779804229736328, + 1.8543586730957031 + ], + [ + -24.942726135253906, + 2.689443826675415, + 1.8543586730957031 + ] + ], + "corners_2d": [ + [ + 773.3967582601431, + 285.81567088671795 + ], + [ + 798.0072783745973, + 291.30626677715156 + ], + [ + 804.7327970152929, + 275.5229898544057 + ], + [ + 780.5689956913741, + 270.2508917118151 + ], + [ + 778.4818526264928, + 241.71685685922728 + ], + [ + 804.0747215210097, + 247.09472756261076 + ], + [ + 810.926118047827, + 231.64329253711318 + ], + [ + 785.8161566024955, + 226.4873668218127 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 677, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -32.66718292236328, + "y": -4.68776273727417, + "z": 0.941826581954956 + }, + "extent": { + "x": 0.31471189856529236, + "y": 0.3363935649394989, + "z": 0.8687704205513 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 936.4949877979476, + "ymin": 432.995513662923, + "xmax": 981.838765823225, + "ymax": 501.43847884402504 + }, + "corners_3d": [ + [ + -32.330787658691406, + -5.002474784851074, + 0.073056161403656 + ], + [ + -33.003578186035156, + -5.002474308013916, + 0.073056161403656 + ], + [ + -33.003578186035156, + -4.373050689697266, + 0.073056161403656 + ], + [ + -32.330787658691406, + -4.373051166534424, + 0.073056161403656 + ], + [ + -32.330787658691406, + -5.002474784851074, + 1.8105969429016113 + ], + [ + -33.003578186035156, + -5.002474308013916, + 1.8105969429016113 + ], + [ + -33.003578186035156, + -4.373050689697266, + 1.8105969429016113 + ], + [ + -32.330787658691406, + -4.373051166534424, + 1.8105969429016113 + ] + ], + "corners_2d": [ + [ + 936.4949877979476, + 492.7198539808109 + ], + [ + 961.4741137346462, + 501.43847884402504 + ], + [ + 966.7841297897523, + 485.51919094263684 + ], + [ + 942.1562280666767, + 477.07677059026076 + ], + [ + 950.2596022523787, + 448.6196292722467 + ], + [ + 976.5368063839693, + 457.33769578638737 + ], + [ + 981.838765823225, + 441.4248335440909 + ], + [ + 955.9504721382068, + 432.995513662923 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 443, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -26.782682418823242, + "y": -15.81512451171875, + "z": 1.1353130340576172 + }, + "extent": { + "x": 0.46494874358177185, + "y": 0.37028324604034424, + "z": 0.9335854649543762 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 520.6519299526717, + "ymin": 672.267235262008, + "xmax": 581.6702365540867, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -26.365827560424805, + -16.238821029663086, + 0.20172756910324097 + ], + [ + -27.102336883544922, + -16.31623077392578, + 0.20172756910324097 + ], + [ + -27.19953727722168, + -15.391427993774414, + 0.20172756910324097 + ], + [ + -26.463027954101562, + -15.314017295837402, + 0.20172756910324097 + ], + [ + -26.365827560424805, + -16.238821029663086, + 2.0688984394073486 + ], + [ + -27.102336883544922, + -16.31623077392578, + 2.0688984394073486 + ], + [ + -27.19953727722168, + -15.391427993774414, + 2.0688984394073486 + ], + [ + -26.463027954101562, + -15.314017295837402, + 2.0688984394073486 + ] + ], + "corners_2d": [ + [ + 527.8892186295062, + 752.2337962762906 + ], + [ + 555.8482274479001, + 770.858210772141 + ], + [ + 581.6702365540867, + 735.2823679788805 + ], + [ + 554.1175867358297, + 717.6857635784497 + ], + [ + 520.6519299526717, + 707.6637746540781 + ], + [ + 550.3291255659669, + 726.7983337937956 + ], + [ + 577.9593682305533, + 690.2801639001048 + ], + [ + 548.7371500964574, + 672.267235262008 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 661, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -11.921846389770508, + "y": -12.857976913452148, + "z": 1.119521975517273 + }, + "extent": { + "x": 0.31985166668891907, + "y": 0.565065324306488, + "z": 0.9127736687660217 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 118.47877039722948, + "ymin": 368.31980386852416, + "xmax": 183.1431433461599, + "ymax": 444.92593314587407 + }, + "corners_3d": [ + [ + -11.302628517150879, + -13.05335521697998, + 0.20674830675125122 + ], + [ + -12.408062934875488, + -13.288322448730469, + 0.20674830675125122 + ], + [ + -12.541064262390137, + -12.662598609924316, + 0.20674830675125122 + ], + [ + -11.435629844665527, + -12.427631378173828, + 0.20674830675125122 + ], + [ + -11.302628517150879, + -13.05335521697998, + 2.0322957038879395 + ], + [ + -12.408062934875488, + -13.288322448730469, + 2.0322957038879395 + ], + [ + -12.541064262390137, + -12.662598609924316, + 2.0322957038879395 + ], + [ + -11.435629844665527, + -12.427631378173828, + 2.0322957038879395 + ] + ], + "corners_2d": [ + [ + 141.31573824797937, + 426.93050591062 + ], + [ + 162.64094697025786, + 444.92593314587407 + ], + [ + 183.1431433461599, + 432.25557121450066 + ], + [ + 161.71221210311097, + 414.7394017969716 + ], + [ + 118.47877039722948, + 380.4159536442392 + ], + [ + 140.3320857263485, + 398.2981242947458 + ], + [ + 162.0947106193329, + 385.70416010043004 + ], + [ + 140.11324063607458, + 368.31980386852416 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 5418, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -19.1251277923584, + "y": 6.095887660980225, + "z": 0.8948460817337036 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 608.2129546647325, + "ymin": 120.7431472633931, + "xmax": 739.2476097930878, + "ymax": 212.6092959034313 + }, + "corners_3d": [ + [ + -21.404022216796875, + 5.052896022796631, + 0.011262890882790089 + ], + [ + -21.39891815185547, + 7.149961948394775, + 0.011262890882790089 + ], + [ + -16.846233367919922, + 7.138879776000977, + 0.011262890882790089 + ], + [ + -16.851337432861328, + 5.041813850402832, + 0.011262890882790089 + ], + [ + -21.404022216796875, + 5.052896022796631, + 1.7784292697906494 + ], + [ + -21.39891815185547, + 7.149961948394775, + 1.7784292697906494 + ], + [ + -16.846233367919922, + 7.138879776000977, + 1.7784292697906494 + ], + [ + -16.851337432861328, + 5.041813850402832, + 1.7784292697906494 + ] + ], + "corners_2d": [ + [ + 714.9401389083689, + 212.6092959034313 + ], + [ + 736.1723496318394, + 186.56146501748287 + ], + [ + 633.3584591985707, + 160.10475601509614 + ], + [ + 609.1943558853981, + 184.12278986933896 + ], + [ + 717.4316183560433, + 171.714863910048 + ], + [ + 739.2476097930878, + 146.3959139292966 + ], + [ + 633.1546296297455, + 120.7431472633931 + ], + [ + 608.2129546647325, + 144.02866404159073 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 176.57394884956597, + "ymin": 93.34781731985561, + "xmax": 195.48980647772345, + "ymax": 113.12473050865287 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 194.072639749083, + 113.12473050865287 + ], + [ + 195.48980647772345, + 112.34505632107653 + ], + [ + 183.3154550295534, + 108.80895123170919 + ], + [ + 181.89096761242365, + 109.5795109068965 + ], + [ + 188.8661108384482, + 97.60148586851057 + ], + [ + 190.30659754765747, + 96.8329799011164 + ], + [ + 178.02184624779733, + 93.34781731985561 + ], + [ + 176.57394884956597, + 94.10723543877452 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 176.5739520527104, + "ymin": 93.34781822804132, + "xmax": 195.4898096879133, + "ymax": 113.12473144348002 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 194.07264296122753, + 113.12473144348002 + ], + [ + 195.4898096879133, + 112.34505725349328 + ], + [ + 183.31545820223954, + 108.8089521532327 + ], + [ + 181.8909707869936, + 109.57951183078828 + ], + [ + 188.86611407994934, + 97.6014867899608 + ], + [ + 190.30660078717926, + 96.83298082016319 + ], + [ + 178.02184944903547, + 93.34781822804132 + ], + [ + 176.5739520527104, + 94.10723634932128 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 124.98423448673054, + "ymin": 80.46674217551987, + "xmax": 143.8349245699378, + "ymax": 99.86452131488409 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 142.3835909988963, + 99.86452131488409 + ], + [ + 143.8349245699378, + 99.1186639525107 + ], + [ + 132.22184805239897, + 95.73540017231454 + ], + [ + 130.76425458803078, + 96.47272788795686 + ], + [ + 136.70248629848282, + 84.53436933820888 + ], + [ + 138.17761823251658, + 83.7995718338716 + ], + [ + 126.46568484815612, + 80.46674217551987 + ], + [ + 124.98423448673054, + 81.19304147251256 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 125.98161019649694, + "ymin": 79.00296640123622, + "xmax": 144.77756458686252, + "ymax": 98.35750084844494 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 143.3311190072157, + 98.35750084844494 + ], + [ + 144.77756458686252, + 97.61543933708248 + ], + [ + 133.1885008203859, + 94.24933403310837 + ], + [ + 131.73581332553954, + 94.98293074389784 + ], + [ + 137.6754528868214, + 83.04971737300224 + ], + [ + 139.14554757265648, + 82.31870193492756 + ], + [ + 127.45800536243564, + 79.00296640123622 + ], + [ + 125.98161019649694, + 79.72554897033785 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 174.82546670048936, + "ymin": 85.98203622312639, + "xmax": 191.77294760798588, + "ymax": 106.65345138095813 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 191.58498605712668, + 106.65345138095813 + ], + [ + 191.77294760798588, + 106.55138010465828 + ], + [ + 181.0039915276658, + 103.44795272342185 + ], + [ + 180.81517672068782, + 103.54896685811747 + ], + [ + 185.70482965452493, + 89.13418963145494 + ], + [ + 185.89627256696303, + 89.03381017245198 + ], + [ + 175.0177745363846, + 85.98203622312639 + ], + [ + 174.82546670048936, + 86.0813625383883 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 174.82560152357934, + "ymin": 85.98206410792199, + "xmax": 191.7730821792489, + "ymax": 106.65348004619665 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 191.5851206423559, + 106.65348004619665 + ], + [ + 191.7730821792489, + 106.55140876011015 + ], + [ + 181.00412488676864, + 103.44798108211745 + ], + [ + 180.8153100934378, + 103.54899522644791 + ], + [ + 185.7049657189841, + 89.13421782163414 + ], + [ + 185.89640861718624, + 89.03383835288065 + ], + [ + 175.0179093455688, + 85.98206410792199 + ], + [ + 174.82560152357934, + 86.08139043278129 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 176.57394884956597, + "ymin": 93.34781731985561, + "xmax": 195.48980647772345, + "ymax": 113.12473050865287 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 194.072639749083, + 113.12473050865287 + ], + [ + 195.48980647772345, + 112.34505632107653 + ], + [ + 183.3154550295534, + 108.80895123170919 + ], + [ + 181.89096761242365, + 109.5795109068965 + ], + [ + 188.8661108384482, + 97.60148586851057 + ], + [ + 190.30659754765747, + 96.8329799011164 + ], + [ + 178.02184624779733, + 93.34781731985561 + ], + [ + 176.57394884956597, + 94.10723543877452 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 176.5739490628905, + "ymin": 93.34781724545695, + "xmax": 195.4898066165614, + "ymax": 113.12473039378102 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 194.07263995787832, + 113.12473039378102 + ], + [ + 195.4898066165614, + 112.34505624469281 + ], + [ + 183.31545516910967, + 108.80895115621786 + ], + [ + 181.89096782229598, + 109.57951079336848 + ], + [ + 188.86611105068255, + 97.60148575528245 + ], + [ + 190.3065976887779, + 96.83297982582798 + ], + [ + 178.02184638964496, + 93.34781724545695 + ], + [ + 176.5739490628905, + 94.10723532688638 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 176.57395158996127, + "ymin": 93.34781807667707, + "xmax": 195.4898091528816, + "ymax": 113.12473124938492 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 194.07264249546847, + 113.12473124938492 + ], + [ + 195.4898091528816, + 112.34505709809054 + ], + [ + 183.31545767345858, + 108.80895199964553 + ], + [ + 181.8909703278561, + 109.57951163896377 + ], + [ + 188.8661136104439, + 97.60148659864319 + ], + [ + 190.30660024725904, + 96.83298066698876 + ], + [ + 178.02184891549575, + 93.34781807667707 + ], + [ + 176.57395158996127, + 94.10723616026752 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 125.37335028245195, + "ymin": 92.51712298427628, + "xmax": 144.6164506634816, + "ymax": 112.26966354733133 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 143.1356663992961, + 112.26966354733133 + ], + [ + 144.6164506634816, + 111.4921923081979 + ], + [ + 132.75682167052418, + 107.96604336268541 + ], + [ + 131.26950325358058, + 108.73443857860411 + ], + [ + 137.34271439178093, + 96.75866829717887 + ], + [ + 138.84829031107745, + 95.99235900751819 + ], + [ + 126.88552297071533, + 92.51712298427628 + ], + [ + 125.37335028245195, + 93.27438324728166 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 174.82531574073448, + "ymin": 85.98198417118317, + "xmax": 191.77279632335365, + "ymax": 106.65339787217903 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 191.58483476348488, + 106.65339787217903 + ], + [ + 191.77279632335365, + 106.55132661414743 + ], + [ + 181.00384198703085, + 103.44789978685975 + ], + [ + 180.81502717146202, + 103.54891390357017 + ], + [ + 185.70467691008724, + 89.1341370094587 + ], + [ + 185.89611983158846, + 89.03375756865682 + ], + [ + 175.0176235852603, + 85.98198417118317 + ], + [ + 174.82531574073448, + 86.0813104685297 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 176.5739520527104, + "ymin": 93.34781822804132, + "xmax": 195.4898096879133, + "ymax": 113.12473144348002 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 194.07264296122753, + 113.12473144348002 + ], + [ + 195.4898096879133, + 112.34505725349328 + ], + [ + 183.31545820223954, + 108.8089521532327 + ], + [ + 181.8909707869936, + 109.57951183078828 + ], + [ + 188.86611407994934, + 97.6014867899608 + ], + [ + 190.30660078717926, + 96.83298082016319 + ], + [ + 178.02184944903547, + 93.34781822804132 + ], + [ + 176.5739520527104, + 94.10723634932128 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 173.52710933117947, + "ymin": 85.19115920121612, + "xmax": 194.42396256435592, + "ymax": 107.81266978988097 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 194.199010240976, + 107.81266978988097 + ], + [ + 194.42396256435592, + 107.68998278800623 + ], + [ + 180.0630572700847, + 103.54882734568389 + ], + [ + 179.8367392460034, + 103.66982346395008 + ], + [ + 188.0431562565418, + 89.38046192473251 + ], + [ + 188.2724923282741, + 89.25990820833306 + ], + [ + 173.75783080454977, + 85.19115920121612 + ], + [ + 173.52710933117947, + 85.31002873582645 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 174.8254456967095, + "ymin": 85.98199105006182, + "xmax": 191.7729254539409, + "ymax": 106.65340494358452 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 191.58496391389747, + 106.65340494358452 + ], + [ + 191.7729254539409, + 106.55133368313867 + ], + [ + 181.00397032055497, + 103.44790678264445 + ], + [ + 180.8151555245634, + 103.54892090173172 + ], + [ + 185.7048076836174, + 89.1341439636721 + ], + [ + 185.89625058479425, + 89.0337645204649 + ], + [ + 175.01775352116863, + 85.98199105006182 + ], + [ + 174.8254456967095, + 86.08131734977593 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 176.5739490628905, + "ymin": 93.34781724545695, + "xmax": 195.4898066165614, + "ymax": 113.12473039378102 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 194.07263995787832, + 113.12473039378102 + ], + [ + 195.4898066165614, + 112.34505624469281 + ], + [ + 183.31545516910967, + 108.80895115621786 + ], + [ + 181.89096782229598, + 109.57951079336848 + ], + [ + 188.86611105068255, + 97.60148575528245 + ], + [ + 190.3065976887779, + 96.83297982582798 + ], + [ + 178.02184638964496, + 93.34781724545695 + ], + [ + 176.5739490628905, + 94.10723532688638 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 173.52704578639958, + "ymin": 85.19119196338704, + "xmax": 194.42390056414183, + "ymax": 107.81270358000774 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 194.19894828520734, + 107.81270358000774 + ], + [ + 194.42390056414183, + 107.69001660237305 + ], + [ + 180.06299489337488, + 103.54886069406518 + ], + [ + 179.83667691418538, + 103.669856788331 + ], + [ + 188.04309309323406, + 89.3804951274094 + ], + [ + 188.2724291200123, + 89.25994143464061 + ], + [ + 173.7577672143592, + 85.19119196338704 + ], + [ + 173.52704578639958, + 85.31006147460141 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 173.52722740385587, + "ymin": 85.1911853252492, + "xmax": 194.42408069664515, + "ymax": 107.81269672587084 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 194.1991284571834, + 107.81269672587084 + ], + [ + 194.42408069664515, + 107.69000975104348 + ], + [ + 180.0631739435392, + 103.5488539371517 + ], + [ + 179.83685600334485, + 103.66985002866801 + ], + [ + 188.04327582452504, + 89.38048839243345 + ], + [ + 188.27261181070338, + 89.25993470246124 + ], + [ + 173.75794879171383, + 85.1911853252492 + ], + [ + 173.52722740385587, + 85.31005483372536 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 176.573947745751, + "ymin": 93.34781664256678, + "xmax": 195.4898052891425, + "ymax": 113.12472977320536 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 194.07263863020006, + 113.12472977320536 + ], + [ + 195.4898052891425, + 112.34505562571724 + ], + [ + 183.31545386187895, + 108.80895054447348 + ], + [ + 181.89096651484073, + 109.57951018005193 + ], + [ + 188.86610971291117, + 97.60148514358679 + ], + [ + 190.30659635125807, + 96.8329792157279 + ], + [ + 178.02184507272096, + 93.34781664256678 + ], + [ + 176.573947745751, + 94.10723472242876 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 173.5271759121166, + "ymin": 85.1911270420876, + "xmax": 194.42402753046667, + "ymax": 107.81263658432434 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 194.19907523286383, + 107.81263658432434 + ], + [ + 194.42402753046667, + 107.6899495960493 + ], + [ + 180.06312257736357, + 103.54879461113518 + ], + [ + 179.8368045790255, + 103.66979071608188 + ], + [ + 188.04322249180268, + 89.38042929646286 + ], + [ + 188.27255853689775, + 89.25987559361113 + ], + [ + 173.75789735888776, + 85.1911270420876 + ], + [ + 173.5271759121166, + 85.30999656343306 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 115.14045487809733, + "ymin": 75.92888989276094, + "xmax": 133.90846823979564, + "ymax": 95.19249917132777 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 132.45616391097064, + 95.19249917132777 + ], + [ + 133.90846823979564, + 94.45837822560287 + ], + [ + 122.44298451871407, + 91.12816782588015 + ], + [ + 120.98465895998493, + 91.85395909241919 + ], + [ + 126.70803866226777, + 79.93197471997502 + ], + [ + 128.18404719358819, + 79.20886994096884 + ], + [ + 116.6225369957275, + 75.92888989276094 + ], + [ + 115.14045487809733, + 76.64369792542982 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 173.52710818835368, + "ymin": 85.19115897475831, + "xmax": 194.42396135006652, + "ymax": 107.81266951795956 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 194.1990090963743, + 107.81266951795956 + ], + [ + 194.42396135006652, + 107.68998255427545 + ], + [ + 180.06305606975673, + 103.54882711517405 + ], + [ + 179.83673811579155, + 103.66982319577676 + ], + [ + 188.04315509896753, + 89.38046165753849 + ], + [ + 188.27249109965436, + 89.259907978667 + ], + [ + 173.75782959024366, + 85.19115897475831 + ], + [ + 173.52710818835368, + 85.31002847236567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 176.89233236072948, + "ymin": 97.5419308366649, + "xmax": 195.77050382226497, + "ymax": 117.26348876080613 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 194.35636102214335, + 117.26348876080613 + ], + [ + 195.77050382226497, + 116.4799479594005 + ], + [ + 183.6172158254987, + 112.92625853297085 + ], + [ + 182.19577530107853, + 113.70065666409783 + ], + [ + 189.16303310620896, + 101.81797614106705 + ], + [ + 190.60039923783182, + 101.04543610793604 + ], + [ + 178.33708586801106, + 97.5419308366649 + ], + [ + 176.89233236072948, + 98.30535251179344 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 174.82546670048936, + "ymin": 85.98203622312639, + "xmax": 191.77294760798588, + "ymax": 106.65345138095813 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 191.58498605712668, + 106.65345138095813 + ], + [ + 191.77294760798588, + 106.55138010465828 + ], + [ + 181.0039915276658, + 103.44795272342185 + ], + [ + 180.81517672068782, + 103.54896685811747 + ], + [ + 185.70482965452493, + 89.13418963145494 + ], + [ + 185.89627256696303, + 89.03381017245198 + ], + [ + 175.0177745363846, + 85.98203622312639 + ], + [ + 174.82546670048936, + 86.0813625383883 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 107.35215475336702, + "ymin": 75.3681063008479, + "xmax": 126.15398295628188, + "ymax": 94.61511309107749 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 124.6933985448901, + 94.61511309107749 + ], + [ + 126.15398295628188, + 93.88243612208993 + ], + [ + 114.74375760686803, + 90.55875338881754 + ], + [ + 113.27727375193126, + 91.28312517291141 + ], + [ + 118.86316807267065, + 79.36325113274296 + ], + [ + 120.34763051895129, + 78.64158473622768 + ], + [ + 108.84256508427598, + 75.3681063008479 + ], + [ + 107.35215475336702, + 76.08150062327434 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 174.8255839224504, + "ymin": 85.9820586567647, + "xmax": 191.7730645582406, + "ymax": 106.65347444247169 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 191.58510302010052, + 106.65347444247169 + ], + [ + 191.7730645582406, + 106.55140315829843 + ], + [ + 181.0041074576299, + 103.44797553831819 + ], + [ + 180.81529266309894, + 103.54898968076515 + ], + [ + 185.70494792147872, + 89.13421231077785 + ], + [ + 185.89639082094152, + 89.03383284393055 + ], + [ + 175.01789174565198, + 85.9820586567647 + ], + [ + 174.8255839224504, + 86.08138497974784 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1253.6503439449734, + "ymin": 156.16703590271086, + "xmax": 1273.9157831727894, + "ymax": 185.56127617113822 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1253.6503439449734, + 183.62226260419467 + ], + [ + 1262.66134275811, + 185.56127617113822 + ], + [ + 1262.8900764342911, + 180.38885949135545 + ], + [ + 1253.947097525837, + 178.47932845350715 + ], + [ + 1264.5657227193985, + 161.2270615617372 + ], + [ + 1273.7693960159136, + 163.1351726965678 + ], + [ + 1273.9157831727894, + 158.0456235682057 + ], + [ + 1264.7830627962567, + 156.16703590271086 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1218.1442204501877, + "ymin": 633.6954890826031, + "xmax": 1252.6400591083516, + "ymax": 678.7708814941376 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1233.5454973623628, + 678.7708814941376 + ], + [ + 1234.3212646363631, + 663.3986624879287 + ], + [ + 1219.117566643814, + 657.7665295959234 + ], + [ + 1218.1442204501877, + 672.9881597211051 + ], + [ + 1252.0915587337813, + 654.9023694264451 + ], + [ + 1252.6400591083516, + 639.3795947104649 + ], + [ + 1236.8779963986908, + 633.6954890826031 + ], + [ + 1236.116989829361, + 649.0615163947936 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 181.31746700408075, + "ymin": 95.69122796443838, + "xmax": 201.187053389685, + "ymax": 148.09964294933377 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 200.20305426057632, + 148.09964294933377 + ], + [ + 201.187053389685, + 147.5237392753131 + ], + [ + 199.82634054840088, + 147.10662165758973 + ], + [ + 198.84175855292216, + 147.68177310006064 + ], + [ + 182.72095785441581, + 96.64056041808101 + ], + [ + 183.76040756750126, + 96.08997985082948 + ], + [ + 182.3575245597043, + 95.69122796443838 + ], + [ + 181.31746700408075, + 96.24106083237302 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 181.31746700408075, + "ymin": 95.69122796443838, + "xmax": 201.187053389685, + "ymax": 148.09964294933377 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 200.20305426057632, + 148.09964294933377 + ], + [ + 201.187053389685, + 147.5237392753131 + ], + [ + 199.82634054840088, + 147.10662165758973 + ], + [ + 198.84175855292216, + 147.68177310006064 + ], + [ + 182.72095785441581, + 96.64056041808101 + ], + [ + 183.76040756750126, + 96.08997985082948 + ], + [ + 182.3575245597043, + 95.69122796443838 + ], + [ + 181.31746700408075, + 96.24106083237302 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 130.4519746356906, + "ymin": 81.23929230277247, + "xmax": 151.75931575032297, + "ymax": 132.9209083154935 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 150.7551724131123, + 132.9209083154935 + ], + [ + 151.75931575032297, + 132.37201364618934 + ], + [ + 150.4623704928374, + 131.9744435487717 + ], + [ + 149.45772706367967, + 132.52263826264613 + ], + [ + 131.7871164616239, + 82.14241379654277 + ], + [ + 132.84748179228956, + 81.61864277772497 + ], + [ + 131.51285659784088, + 81.23929230277247 + ], + [ + 130.4519746356906, + 81.76236954639842 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 181.31746700408075, + "ymin": 95.69122796443838, + "xmax": 201.187053389685, + "ymax": 148.09964294933377 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 200.20305426057632, + 148.09964294933377 + ], + [ + 201.187053389685, + 147.5237392753131 + ], + [ + 199.82634054840088, + 147.10662165758973 + ], + [ + 198.84175855292216, + 147.68177310006064 + ], + [ + 182.72095785441581, + 96.64056041808101 + ], + [ + 183.76040756750126, + 96.08997985082948 + ], + [ + 182.3575245597043, + 95.69122796443838 + ], + [ + 181.31746700408075, + 96.24106083237302 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 119.55331598573605, + "ymin": 78.14259345945129, + "xmax": 141.15651561325882, + "ymax": 129.66490374381726 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 140.14832674957285, + 129.66490374381726 + ], + [ + 141.15651561325882, + 129.12171838130482 + ], + [ + 139.87305017180688, + 128.72828048173284 + ], + [ + 138.86437818660022, + 129.27077677777075 + ], + [ + 120.87403495866829, + 79.03596329480871 + ], + [ + 121.93857557382648, + 78.51784966906524 + ], + [ + 120.61835459286317, + 78.14259345945129 + ], + [ + 119.55331598573605, + 78.66002451640452 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 181.31746700408075, + "ymin": 95.69122796443838, + "xmax": 201.187053389685, + "ymax": 148.09964294933377 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 200.20305426057632, + 148.09964294933377 + ], + [ + 201.187053389685, + 147.5237392753131 + ], + [ + 199.82634054840088, + 147.10662165758973 + ], + [ + 198.84175855292216, + 147.68177310006064 + ], + [ + 182.72095785441581, + 96.64056041808101 + ], + [ + 183.76040756750126, + 96.08997985082948 + ], + [ + 182.3575245597043, + 95.69122796443838 + ], + [ + 181.31746700408075, + 96.24106083237302 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1217.210368568777, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 94.78551448830649 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1217.7013054541508, + 74.02176503673002 + ], + [ + 1217.210368568777, + 77.72802924241603 + ], + [ + 1310.141794225959, + 94.78551448830649 + ], + [ + 1310.0239679836727, + 90.85446171795041 + ], + [ + 1292.3251256887488, + -102.7697086368168 + ], + [ + 1292.3232613925497, + -99.89116066208123 + ], + [ + 1400.3141338377457, + -86.5799455124818 + ], + [ + 1399.4949278632835, + -89.65687377032862 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 129.94820948583538, + "ymin": 94.85426475378472, + "xmax": 151.7626326819169, + "ymax": 147.2213359103924 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 150.7354863240829, + 147.2213359103924 + ], + [ + 151.7626326819169, + 146.64701295439548 + ], + [ + 150.4360164833003, + 146.2310391952823 + ], + [ + 149.4083469007657, + 146.8046130135118 + ], + [ + 131.31481346332873, + 95.80088927522797 + ], + [ + 132.4008553253273, + 95.25187982726845 + ], + [ + 131.03479226204456, + 94.85426475378472 + ], + [ + 129.94820948583538, + 95.40252969935034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 181.31746700408075, + "ymin": 95.69122796443838, + "xmax": 201.187053389685, + "ymax": 148.09964294933377 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 200.20305426057632, + 148.09964294933377 + ], + [ + 201.187053389685, + 147.5237392753131 + ], + [ + 199.82634054840088, + 147.10662165758973 + ], + [ + 198.84175855292216, + 147.68177310006064 + ], + [ + 182.72095785441581, + 96.64056041808101 + ], + [ + 183.76040756750126, + 96.08997985082948 + ], + [ + 182.3575245597043, + 95.69122796443838 + ], + [ + 181.31746700408075, + 96.24106083237302 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 181.31746700408075, + "ymin": 95.69122796443838, + "xmax": 201.187053389685, + "ymax": 148.09964294933377 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 200.20305426057632, + 148.09964294933377 + ], + [ + 201.187053389685, + 147.5237392753131 + ], + [ + 199.82634054840088, + 147.10662165758973 + ], + [ + 198.84175855292216, + 147.68177310006064 + ], + [ + 182.72095785441581, + 96.64056041808101 + ], + [ + 183.76040756750126, + 96.08997985082948 + ], + [ + 182.3575245597043, + 95.69122796443838 + ], + [ + 181.31746700408075, + 96.24106083237302 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 755.7835221668023, + "ymin": 0.0, + "xmax": 822.9966433813498, + "ymax": 183.9632537074286 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 799.6218748270278, + 141.09937815436547 + ], + [ + 789.7357786762848, + 138.76870046410602 + ], + [ + 755.7835221668023, + 181.30654947279245 + ], + [ + 766.2056357128512, + 183.9632537074286 + ], + [ + 822.9966433813498, + -49.4983652484114 + ], + [ + 811.570239591924, + -51.36395792420387 + ], + [ + 773.986252683384, + -16.994482603802453 + ], + [ + 786.1376183559619, + -14.82524317800818 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7806990106475075983, + "instance_id": 36761, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_0", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.15213394165039 + }, + "extent": { + "x": 2.732574462890625, + "y": 0.14794445037841797, + "z": 0.046088866889476776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 708.0800212991702, + "xmax": 313.2628125208382, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -26.247940063476562, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.10604476928711 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.10604476928711 + ], + [ + -26.247940063476562, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952051162719727, + -20.193965911865234, + 8.198223114013672 + ], + [ + -25.952056884765625, + -25.659114837646484, + 8.198223114013672 + ], + [ + -26.24794578552246, + -25.659114837646484, + 8.198223114013672 + ] + ], + "corners_2d": [ + [ + 313.2628125208382, + 721.2129163591071 + ], + [ + 295.8911395859639, + 711.6209849297884 + ], + [ + -105.8676063082238, + 1196.482135085963 + ], + [ + -85.92460564767327, + 1215.426288819159 + ], + [ + 311.66749010003696, + 717.690411721635 + ], + [ + 294.22435475215974, + 708.0800212991702 + ], + [ + -110.94662335585394, + 1194.8058082900016 + ], + [ + -90.92368811481526, + 1213.8614751897621 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 181.31746700408075, + "ymin": 95.69122796443838, + "xmax": 201.187053389685, + "ymax": 148.09964294933377 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 200.20305426057632, + 148.09964294933377 + ], + [ + 201.187053389685, + 147.5237392753131 + ], + [ + 199.82634054840088, + 147.10662165758973 + ], + [ + 198.84175855292216, + 147.68177310006064 + ], + [ + 182.72095785441581, + 96.64056041808101 + ], + [ + 183.76040756750126, + 96.08997985082948 + ], + [ + 182.3575245597043, + 95.69122796443838 + ], + [ + 181.31746700408075, + 96.24106083237302 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 181.31746700408075, + "ymin": 95.69122796443838, + "xmax": 201.187053389685, + "ymax": 148.09964294933377 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 200.20305426057632, + 148.09964294933377 + ], + [ + 201.187053389685, + 147.5237392753131 + ], + [ + 199.82634054840088, + 147.10662165758973 + ], + [ + 198.84175855292216, + 147.68177310006064 + ], + [ + 182.72095785441581, + 96.64056041808101 + ], + [ + 183.76040756750126, + 96.08997985082948 + ], + [ + 182.3575245597043, + 95.69122796443838 + ], + [ + 181.31746700408075, + 96.24106083237302 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 181.31746700408075, + "ymin": 95.69122796443838, + "xmax": 201.187053389685, + "ymax": 148.09964294933377 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 200.20305426057632, + 148.09964294933377 + ], + [ + 201.187053389685, + 147.5237392753131 + ], + [ + 199.82634054840088, + 147.10662165758973 + ], + [ + 198.84175855292216, + 147.68177310006064 + ], + [ + 182.72095785441581, + 96.64056041808101 + ], + [ + 183.76040756750126, + 96.08997985082948 + ], + [ + 182.3575245597043, + 95.69122796443838 + ], + [ + 181.31746700408075, + 96.24106083237302 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 182.5783286492172, + "ymin": 99.39041012028042, + "xmax": 202.34704626677535, + "ymax": 151.5248511200752 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 201.36669372919113, + 151.5248511200752 + ], + [ + 202.34704626677535, + 150.94739263828174 + ], + [ + 200.9891726162208, + 150.52914717990745 + ], + [ + 200.00823892769785, + 151.10585339212295 + ], + [ + 183.97881391369782, + 100.34309798927404 + ], + [ + 185.01423223172577, + 99.79057242602903 + ], + [ + 183.61435306469895, + 99.39041012028042 + ], + [ + 182.5783286492172, + 99.94218740379875 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1161.1913579247446, + "ymin": 470.9087364678793, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1163.1855168076027, + 730.095275917136 + ], + [ + 1161.1913579247446, + 747.0301261926293 + ], + [ + 1912.03005292642, + 1058.0607169148486 + ], + [ + 1901.7126321283647, + 1031.6407289407205 + ], + [ + 1353.4889765297462, + 470.9087364678793 + ], + [ + 1354.3724434154606, + 489.194630720394 + ], + [ + 2562.4984521455754, + 861.3934747521976 + ], + [ + 2530.4202789595274, + 826.8333772539573 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 181.31746700408075, + "ymin": 95.69122796443838, + "xmax": 201.187053389685, + "ymax": 148.09964294933377 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 200.20305426057632, + 148.09964294933377 + ], + [ + 201.187053389685, + 147.5237392753131 + ], + [ + 199.82634054840088, + 147.10662165758973 + ], + [ + 198.84175855292216, + 147.68177310006064 + ], + [ + 182.72095785441581, + 96.64056041808101 + ], + [ + 183.76040756750126, + 96.08997985082948 + ], + [ + 182.3575245597043, + 95.69122796443838 + ], + [ + 181.31746700408075, + 96.24106083237302 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 181.31746700408075, + "ymin": 95.69122796443838, + "xmax": 201.187053389685, + "ymax": 148.09964294933377 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 200.20305426057632, + 148.09964294933377 + ], + [ + 201.187053389685, + 147.5237392753131 + ], + [ + 199.82634054840088, + 147.10662165758973 + ], + [ + 198.84175855292216, + 147.68177310006064 + ], + [ + 182.72095785441581, + 96.64056041808101 + ], + [ + 183.76040756750126, + 96.08997985082948 + ], + [ + 182.3575245597043, + 95.69122796443838 + ], + [ + 181.31746700408075, + 96.24106083237302 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 232.32224615530333, + "ymin": 0.0, + "xmax": 337.61779215672726, + "ymax": 61.210115177070804 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 337.61779215672726, + 32.179909456267694 + ], + [ + 330.83981147835436, + 30.581981354802735 + ], + [ + 277.67072199281085, + 59.43031906875984 + ], + [ + 284.6527746273482, + 61.210115177070804 + ], + [ + 301.86643321214734, + -134.58391375100234 + ], + [ + 294.41181483130106, + -135.80103019460626 + ], + [ + 232.32224615530333, + -113.6916167032519 + ], + [ + 240.01635939239452, + -112.31807876841725 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 181.31746700408075, + "ymin": 95.69122796443838, + "xmax": 201.187053389685, + "ymax": 148.09964294933377 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 200.20305426057632, + 148.09964294933377 + ], + [ + 201.187053389685, + 147.5237392753131 + ], + [ + 199.82634054840088, + 147.10662165758973 + ], + [ + 198.84175855292216, + 147.68177310006064 + ], + [ + 182.72095785441581, + 96.64056041808101 + ], + [ + 183.76040756750126, + 96.08997985082948 + ], + [ + 182.3575245597043, + 95.69122796443838 + ], + [ + 181.31746700408075, + 96.24106083237302 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 181.31746700408075, + "ymin": 95.69122796443838, + "xmax": 201.187053389685, + "ymax": 148.09964294933377 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 200.20305426057632, + 148.09964294933377 + ], + [ + 201.187053389685, + 147.5237392753131 + ], + [ + 199.82634054840088, + 147.10662165758973 + ], + [ + 198.84175855292216, + 147.68177310006064 + ], + [ + 182.72095785441581, + 96.64056041808101 + ], + [ + 183.76040756750126, + 96.08997985082948 + ], + [ + 182.3575245597043, + 95.69122796443838 + ], + [ + 181.31746700408075, + 96.24106083237302 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 181.31746700408075, + "ymin": 95.69122796443838, + "xmax": 201.187053389685, + "ymax": 148.09964294933377 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 200.20305426057632, + 148.09964294933377 + ], + [ + 201.187053389685, + 147.5237392753131 + ], + [ + 199.82634054840088, + 147.10662165758973 + ], + [ + 198.84175855292216, + 147.68177310006064 + ], + [ + 182.72095785441581, + 96.64056041808101 + ], + [ + 183.76040756750126, + 96.08997985082948 + ], + [ + 182.3575245597043, + 95.69122796443838 + ], + [ + 181.31746700408075, + 96.24106083237302 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15102510933830370440, + "instance_id": 34948, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_1", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 8.152128219604492 + }, + "extent": { + "x": 2.729954719543457, + "y": 0.1460544615983963, + "z": 0.04549987614154816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 708.3299577655823, + "xmax": 313.0049806000806, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -26.246049880981445, + -20.196584701538086, + 8.10662841796875 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.10662841796875 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.10662841796875 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.10662841796875 + ], + [ + -26.246049880981445, + -20.196584701538086, + 8.197628021240234 + ], + [ + -25.953941345214844, + -20.19658660888672, + 8.197628021240234 + ], + [ + -25.953947067260742, + -25.656496047973633, + 8.197628021240234 + ], + [ + -26.246055603027344, + -25.656494140625, + 8.197628021240234 + ] + ], + "corners_2d": [ + [ + 313.0049806000806, + 721.2972078301552 + ], + [ + 295.8534156868598, + 711.8252163522097 + ], + [ + -105.50347634305888, + 1196.2652970960019 + ], + [ + -85.81544691257932, + 1214.9605865856347 + ], + [ + 311.42872634904904, + 717.8199566811907 + ], + [ + 294.2075047137434, + 708.3299577655823 + ], + [ + -110.51426002189453, + 1194.6092254669318 + ], + [ + -90.74831462719692, + 1213.4131022294114 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 129.46287650752026, + "ymin": 82.71384440057005, + "xmax": 150.86029771450217, + "ymax": 134.47087368809002 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 149.85286747503358, + 134.47087368809002 + ], + [ + 150.86029771450217, + 133.9192506862255 + ], + [ + 149.56071124880197, + 133.51970596106523 + ], + [ + 148.55277944973915, + 134.07062378392695 + ], + [ + 130.80080502296892, + 83.62162800130369 + ], + [ + 131.86480674667018, + 83.09515225039695 + ], + [ + 130.52739632968803, + 82.71384440057005 + ], + [ + 129.46287650752026, + 83.23962099722792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 181.31746700408075, + "ymin": 95.69122796443838, + "xmax": 201.187053389685, + "ymax": 148.09964294933377 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 200.20305426057632, + 148.09964294933377 + ], + [ + 201.187053389685, + 147.5237392753131 + ], + [ + 199.82634054840088, + 147.10662165758973 + ], + [ + 198.84175855292216, + 147.68177310006064 + ], + [ + 182.72095785441581, + 96.64056041808101 + ], + [ + 183.76040756750126, + 96.08997985082948 + ], + [ + 182.3575245597043, + 95.69122796443838 + ], + [ + 181.31746700408075, + 96.24106083237302 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 111.73685756354553, + "ymin": 77.57774417198311, + "xmax": 133.61096377013274, + "ymax": 129.070860503575 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 132.59713889041342, + 129.070860503575 + ], + [ + 133.61096377013274, + 128.5287135244202 + ], + [ + 132.333505286118, + 128.13602720270939 + ], + [ + 131.3192065721272, + 128.67748708972996 + ], + [ + 113.05111322255539, + 78.46934102141472 + ], + [ + 114.12169746051995, + 77.95225596962206 + ], + [ + 112.80792946058023, + 77.57774417198311 + ], + [ + 111.73685756354553, + 78.09414868591432 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17623532411516173754, + "instance_id": 47677, + "pixel_count": null, + "type_id": "BP_StreetLight_doble6_20_SM_2", + "bbox_3d": { + "center_world": { + "x": -26.099998474121094, + "y": -22.92654037475586, + "z": 4.303753852844238 + }, + "extent": { + "x": 2.8340513706207275, + "y": 0.24158599972724915, + "z": 4.102874755859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 690.535714367084, + "xmax": 416.78635049839966, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -26.341581344604492, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858409881591797, + -20.09248924255371, + 0.20087909698486328 + ], + [ + -25.858415603637695, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.34158706665039, + -25.760591506958008, + 0.20087909698486328 + ], + [ + -26.341581344604492, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858409881591797, + -20.09248924255371, + 8.406628608703613 + ], + [ + -25.858415603637695, + -25.760591506958008, + 8.406628608703613 + ], + [ + -26.34158706665039, + -25.760591506958008, + 8.406628608703613 + ] + ], + "corners_2d": [ + [ + 416.78635049839966, + 930.547998396962 + ], + [ + 395.8859153101359, + 917.624421326451 + ], + [ + 158.0304848054284, + 1291.3335349449633 + ], + [ + 181.7720350233913, + 1312.0729831979484 + ], + [ + 318.9672704572973, + 706.1268297457515 + ], + [ + 290.3006042264669, + 690.535714367084 + ], + [ + -139.91201471738805, + 1197.78987192984 + ], + [ + -106.86559896632775, + 1229.8192087394104 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 181.31746700408075, + "ymin": 95.69122796443838, + "xmax": 201.187053389685, + "ymax": 148.09964294933377 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 200.20305426057632, + 148.09964294933377 + ], + [ + 201.187053389685, + 147.5237392753131 + ], + [ + 199.82634054840088, + 147.10662165758973 + ], + [ + 198.84175855292216, + 147.68177310006064 + ], + [ + 182.72095785441581, + 96.64056041808101 + ], + [ + 183.76040756750126, + 96.08997985082948 + ], + [ + 182.3575245597043, + 95.69122796443838 + ], + [ + 181.31746700408075, + 96.24106083237302 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 181.31746700408075, + "ymin": 95.69122796443838, + "xmax": 201.187053389685, + "ymax": 148.09964294933377 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 200.20305426057632, + 148.09964294933377 + ], + [ + 201.187053389685, + 147.5237392753131 + ], + [ + 199.82634054840088, + 147.10662165758973 + ], + [ + 198.84175855292216, + 147.68177310006064 + ], + [ + 182.72095785441581, + 96.64056041808101 + ], + [ + 183.76040756750126, + 96.08997985082948 + ], + [ + 182.3575245597043, + 95.69122796443838 + ], + [ + 181.31746700408075, + 96.24106083237302 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 181.31746700408075, + "ymin": 95.69122796443838, + "xmax": 201.187053389685, + "ymax": 148.09964294933377 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 200.20305426057632, + 148.09964294933377 + ], + [ + 201.187053389685, + 147.5237392753131 + ], + [ + 199.82634054840088, + 147.10662165758973 + ], + [ + 198.84175855292216, + 147.68177310006064 + ], + [ + 182.72095785441581, + 96.64056041808101 + ], + [ + 183.76040756750126, + 96.08997985082948 + ], + [ + 182.3575245597043, + 95.69122796443838 + ], + [ + 181.31746700408075, + 96.24106083237302 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 181.31746700408075, + "ymin": 95.69122796443838, + "xmax": 201.187053389685, + "ymax": 148.09964294933377 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 200.20305426057632, + 148.09964294933377 + ], + [ + 201.187053389685, + 147.5237392753131 + ], + [ + 199.82634054840088, + 147.10662165758973 + ], + [ + 198.84175855292216, + 147.68177310006064 + ], + [ + 182.72095785441581, + 96.64056041808101 + ], + [ + 183.76040756750126, + 96.08997985082948 + ], + [ + 182.3575245597043, + 95.69122796443838 + ], + [ + 181.31746700408075, + 96.24106083237302 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1184.6980345911902, + "ymin": 9.851291718897471, + "xmax": 1280.0, + "ymax": 457.96179227693466 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1225.4811357700996, + 241.15822269102512 + ], + [ + 1212.517562120461, + 238.0488487524242 + ], + [ + 1184.6980345911902, + 452.745635134489 + ], + [ + 1201.345343808439, + 457.96179227693466 + ], + [ + 1336.9560949033362, + 12.394505508273596 + ], + [ + 1320.9738182057035, + 9.851291718897471 + ], + [ + 1326.1500116101297, + 195.6771778498145 + ], + [ + 1348.1365846781632, + 200.4654259071202 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00172/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00172/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..42868a2f86ed89dd056b4dbae51c3c80897a3623 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00172/meta.json @@ -0,0 +1,7147 @@ +{ + "frame_id": 172, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 86.0, + "sim_timestamp": 15121.828408957692 + }, + "drone_pose": { + "x": -32.43705083957614, + "y": -22.845871357323777, + "z": 20.0, + "pitch": -41.54754386142094, + "yaw": 62.98023937094985, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.3399989604949951, + -0.6667171716690063, + 0.6632413268089294, + 12.99547004699707 + ], + [ + 0.8908499479293823, + 0.4542977213859558, + 2.9802322387695312e-08, + -18.51771354675293 + ], + [ + -0.3013090491294861, + 0.590848445892334, + 0.7484055757522583, + -38.240135192871094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -32.21157174595205, + "y": -22.348224158754345, + "z": 20.0 + }, + "t1_image_uv": [ + 699.2565924266497, + -490.7574363653648 + ], + "t1_depth": 0.4084525501793535 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -22.66718292236328, + "y": -3.687763214111328, + "z": 0.9417680621150066 + }, + "image_uv": [ + 640.0, + 359.9999999999999 + ], + "depth": 28.73498967017437, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 669, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -22.66718292236328, + "y": -3.687762975692749, + "z": 0.9417679905891418 + }, + "extent": { + "x": 0.48784056305885315, + "y": 0.5980541706085205, + "z": 0.8955853581428528 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 614.1524064046679, + "ymin": 321.87066930206436, + "xmax": 665.6246071159778, + "ymax": 397.9561575666819 + }, + "corners_3d": [ + [ + -22.069128036499023, + -4.175603866577148, + 0.04618263244628906 + ], + [ + -23.26523780822754, + -4.17560338973999, + 0.04618263244628906 + ], + [ + -23.26523780822754, + -3.1999223232269287, + 0.04618263244628906 + ], + [ + -22.069128036499023, + -3.199922561645508, + 0.04618263244628906 + ], + [ + -22.069128036499023, + -4.175603866577148, + 1.8373533487319946 + ], + [ + -23.26523780822754, + -4.17560338973999, + 1.8373533487319946 + ], + [ + -23.26523780822754, + -3.1999223232269287, + 1.8373533487319946 + ], + [ + -22.069128036499023, + -3.199922561645508, + 1.8373533487319946 + ] + ], + "corners_2d": [ + [ + 615.2037404735236, + 385.5818117812837 + ], + [ + 650.3716073545588, + 397.9561575666819 + ], + [ + 664.5909719055561, + 378.3264959858672 + ], + [ + 629.9956313718948, + 366.4891103405575 + ], + [ + 614.1524064046679, + 340.73699898546613 + ], + [ + 650.8178286366617, + 352.98325579929684 + ], + [ + 665.6246071159778, + 333.5636009992178 + ], + [ + 629.5810815410147, + 321.87066930206436 + ] + ], + "center_offset_px": [ + 0.0, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 172, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 55, + "semantic_pixel_counts": { + "1": 359790, + "2": 238008, + "3": 50465, + "5": 3942, + "6": 3033, + "7": 180, + "10": 201, + "12": 3653, + "14": 14671, + "20": 4119, + "24": 25518, + "25": 218020 + }, + "instance_pixel_counts": { + "108": 409, + "3992": 223, + "6018": 208, + "7274": 310, + "7576": 2514, + "7784": 14828, + "7786": 6479, + "8088": 1863, + "8296": 27562, + "8780": 3942, + "9322": 5024, + "9624": 9457, + "9832": 155606, + "10316": 2745, + "10828": 1265, + "21090": 7719, + "21602": 85054, + "24656": 377, + "24946": 24077, + "25168": 584, + "25856": 1187, + "26112": 857, + "26218": 328, + "27988": 8982, + "29327": 515, + "29800": 1527, + "29839": 3421, + "31375": 70300, + "31848": 25397, + "32360": 19685, + "33650": 5624, + "33906": 7461, + "34408": 115185, + "34418": 13303, + "39239": 218020, + "40855": 494, + "41367": 2246, + "42903": 16359, + "46184": 1364, + "46696": 4833, + "48232": 6771, + "53391": 94, + "56320": 669, + "56576": 577, + "56832": 521, + "56975": 5281, + "57088": 655, + "57344": 449, + "57487": 4234, + "57600": 782, + "57999": 5861, + "58511": 463, + "58951": 109, + "59023": 21910, + "60928": 5689 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 669, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -22.66718292236328, + "y": -3.687762975692749, + "z": 0.9417679905891418 + }, + "extent": { + "x": 0.49367186427116394, + "y": 0.5211605429649353, + "z": 0.9003624320030212 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 616.3806838088167, + "ymin": 322.37803789463436, + "xmax": 663.365602650774, + "ymax": 397.3848779121698 + }, + "corners_3d": [ + [ + -22.14602279663086, + -4.1814351081848145, + 0.041405558586120605 + ], + [ + -23.188343048095703, + -4.181434631347656, + 0.041405558586120605 + ], + [ + -23.188343048095703, + -3.1940908432006836, + 0.041405558586120605 + ], + [ + -22.14602279663086, + -3.194091320037842, + 0.041405558586120605 + ], + [ + -22.14602279663086, + -4.1814351081848145, + 1.842130422592163 + ], + [ + -23.188343048095703, + -4.181434631347656, + 1.842130422592163 + ], + [ + -23.188343048095703, + -3.1940908432006836, + 1.842130422592163 + ], + [ + -22.14602279663086, + -3.194091320037842, + 1.842130422592163 + ] + ], + "corners_2d": [ + [ + 617.3473976889672, + 386.5985726899648 + ], + [ + 647.9928897458598, + 397.3848779121698 + ], + [ + 662.4191298535235, + 377.55569765897667 + ], + [ + 632.2783820943617, + 367.24286198628533 + ], + [ + 616.3806838088167, + 341.5044633104305 + ], + [ + 648.3383660771638, + 352.1786304663421 + ], + [ + 663.365602650774, + 332.56422857008033 + ], + [ + 631.9564301473681, + 322.37803789463436 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 577, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -18.541196823120117, + "y": -0.6900584101676941, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.4785156548023224, + "y": 0.49422964453697205, + "z": 0.9263824224472046 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 550.509886879077, + "ymin": 236.88409224518293, + "xmax": 590.1851200256522, + "ymax": 302.6645902313857 + }, + "corners_3d": [ + [ + -18.157257080078125, + -1.260873794555664, + 0.015439331531524658 + ], + [ + -19.124114990234375, + -1.0553606748580933, + 0.015439331531524658 + ], + [ + -18.92513656616211, + -0.11924302577972412, + 0.015439331531524658 + ], + [ + -17.95827865600586, + -0.3247561454772949, + 0.015439331531524658 + ], + [ + -18.157257080078125, + -1.260873794555664, + 1.868204116821289 + ], + [ + -19.124114990234375, + -1.0553606748580933, + 1.868204116821289 + ], + [ + -18.92513656616211, + -0.11924302577972412, + 1.868204116821289 + ], + [ + -17.95827865600586, + -0.3247561454772949, + 1.868204116821289 + ] + ], + "corners_2d": [ + [ + 553.893440130098, + 297.98445065558366 + ], + [ + 581.7492105344078, + 302.6645902313857 + ], + [ + 590.1851200256522, + 286.0325370030042 + ], + [ + 562.8611780279914, + 281.54600029227606 + ], + [ + 550.509886879077, + 252.9805088246028 + ], + [ + 579.4461295252393, + 257.56809179096274 + ], + [ + 588.2584557204666, + 241.27466354423865 + ], + [ + 559.8956139156488, + 236.88409224518293 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 521, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -24.923004150390625, + "y": 3.2549493312835693, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.4754052758216858, + "y": 0.30880263447761536, + "z": 0.9199315309524536 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 777.0448374037975, + "ymin": 227.30455313657612, + "xmax": 807.4387388991693, + "ymax": 290.7294884830334 + }, + "corners_3d": [ + [ + -24.665586471557617, + 2.7498698234558105, + 0.021890223026275635 + ], + [ + -25.279808044433594, + 2.814426898956299, + 0.021890223026275635 + ], + [ + -25.180421829223633, + 3.760028839111328, + 0.021890223026275635 + ], + [ + -24.566200256347656, + 3.69547176361084, + 0.021890223026275635 + ], + [ + -24.665586471557617, + 2.7498698234558105, + 1.861753225326538 + ], + [ + -25.279808044433594, + 2.814426898956299, + 1.861753225326538 + ], + [ + -25.180421829223633, + 3.760028839111328, + 1.861753225326538 + ], + [ + -24.566200256347656, + 3.69547176361084, + 1.861753225326538 + ] + ], + "corners_2d": [ + [ + 777.0448374037975, + 286.7982272065336 + ], + [ + 794.6152683138426, + 290.7294884830334 + ], + [ + 801.3316129782858, + 275.2138113532716 + ], + [ + 784.0751870131666, + 271.4367260835851 + ], + [ + 782.3140753025544, + 242.33303640204093 + ], + [ + 800.5912900084736, + 246.18274275059878 + ], + [ + 807.4387388991693, + 230.99764046797642 + ], + [ + 789.5011731698777, + 227.30455313657612 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 655, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -32.16718292236328, + "y": -3.687762975692749, + "z": 0.9418363571166992 + }, + "extent": { + "x": 0.3276342749595642, + "y": 0.5892928838729858, + "z": 0.8765789866447449 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 926.8503634257551, + "ymin": 429.51988074101183, + "xmax": 991.6774078500298, + "ymax": 505.4748225084627 + }, + "corners_3d": [ + [ + -31.577890396118164, + -4.015397548675537, + 0.06525737047195435 + ], + [ + -32.75647735595703, + -4.015397071838379, + 0.06525737047195435 + ], + [ + -32.75647735595703, + -3.360128402709961, + 0.06525737047195435 + ], + [ + -31.577890396118164, + -3.360128879547119, + 0.06525737047195435 + ], + [ + -31.577890396118164, + -4.015397548675537, + 1.8184154033660889 + ], + [ + -32.75647735595703, + -4.015397071838379, + 1.8184154033660889 + ], + [ + -32.75647735595703, + -3.360128402709961, + 1.8184154033660889 + ], + [ + -31.577890396118164, + -3.360128879547119, + 1.8184154033660889 + ] + ], + "corners_2d": [ + [ + 926.8503634257551, + 490.1608611815255 + ], + [ + 970.5979411872592, + 505.4748225084627 + ], + [ + 976.012671380048, + 488.8020596331618 + ], + [ + 932.9043134917504, + 473.99258252756084 + ], + [ + 940.2425948286394, + 445.662894159804 + ], + [ + 986.285021175344, + 460.9758526730209 + ], + [ + 991.6774078500298, + 444.3052597223172 + ], + [ + 946.3434446206892, + 429.51988074101183 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 449, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -26.282682418823242, + "y": -14.81512451171875, + "z": 1.1345561742782593 + }, + "extent": { + "x": 0.4765967130661011, + "y": 0.35909122228622437, + "z": 0.9123231768608093 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 520.2547714199713, + "ymin": 672.3508113766495, + "xmax": 580.9885881743407, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -25.87574005126953, + -15.251575469970703, + 0.22223299741744995 + ], + [ + -26.589988708496094, + -15.326645851135254, + 0.22223299741744995 + ], + [ + -26.689624786376953, + -14.378673553466797, + 0.22223299741744995 + ], + [ + -25.97537612915039, + -14.303603172302246, + 0.22223299741744995 + ], + [ + -25.87574005126953, + -15.251575469970703, + 2.046879291534424 + ], + [ + -26.589988708496094, + -15.326645851135254, + 2.046879291534424 + ], + [ + -26.689624786376953, + -14.378673553466797, + 2.046879291534424 + ], + [ + -25.97537612915039, + -14.303603172302246, + 2.046879291534424 + ] + ], + "corners_2d": [ + [ + 527.3543597994396, + 752.1424491630439 + ], + [ + 554.4488271599138, + 770.2370565021374 + ], + [ + 580.9885881743407, + 733.828504842396 + ], + [ + 554.295521192144, + 716.7566270978837 + ], + [ + 520.2547714199713, + 708.5835413136824 + ], + [ + 548.9733690134107, + 727.1615083953698 + ], + [ + 577.3275456228612, + 689.815060893443 + ], + [ + 549.0571078549663, + 672.3508113766495 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 782, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -11.421846389770508, + "y": -11.857976913452148, + "z": 1.118765115737915 + }, + "extent": { + "x": 0.3405706584453583, + "y": 0.5238097906112671, + "z": 0.931553065776825 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 118.63369669305587, + "ymin": 367.70165489780237, + "xmax": 183.44670823868404, + "ymax": 444.73773019798944 + }, + "corners_3d": [ + [ + -10.838674545288086, + -12.082199096679688, + 0.1872120499610901 + ], + [ + -11.863401412963867, + -12.30001163482666, + 0.1872120499610901 + ], + [ + -12.00501823425293, + -11.63375473022461, + 0.1872120499610901 + ], + [ + -10.980291366577148, + -11.415942192077637, + 0.1872120499610901 + ], + [ + -10.838674545288086, + -12.082199096679688, + 2.0503182411193848 + ], + [ + -11.863401412963867, + -12.30001163482666, + 2.0503182411193848 + ], + [ + -12.00501823425293, + -11.63375473022461, + 2.0503182411193848 + ], + [ + -10.980291366577148, + -11.415942192077637, + 2.0503182411193848 + ] + ], + "corners_2d": [ + [ + 141.92498550949756, + 428.04295850761685 + ], + [ + 161.6367967562275, + 444.73773019798944 + ], + [ + 183.44670823868404, + 431.2954361691929 + ], + [ + 163.6294325062961, + 415.072837677937 + ], + [ + 118.63369669305587, + 380.568290378908 + ], + [ + 138.84145670901455, + 397.1548846381743 + ], + [ + 162.01796050974565, + 383.79748177055905 + ], + [ + 141.68204900875958, + 367.70165489780237 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 5689, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -19.1251277923584, + "y": 6.095887660980225, + "z": 0.8948460817337036 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 607.5740308786355, + "ymin": 134.57316309501545, + "xmax": 741.6260672548822, + "ymax": 229.28456062120372 + }, + "corners_3d": [ + [ + -21.404022216796875, + 5.052896022796631, + 0.011262890882790089 + ], + [ + -21.39891815185547, + 7.149961948394775, + 0.011262890882790089 + ], + [ + -16.846233367919922, + 7.138879776000977, + 0.011262890882790089 + ], + [ + -16.851337432861328, + 5.041813850402832, + 0.011262890882790089 + ], + [ + -21.404022216796875, + 5.052896022796631, + 1.7784292697906494 + ], + [ + -21.39891815185547, + 7.149961948394775, + 1.7784292697906494 + ], + [ + -16.846233367919922, + 7.138879776000977, + 1.7784292697906494 + ], + [ + -16.851337432861328, + 5.041813850402832, + 1.7784292697906494 + ] + ], + "corners_2d": [ + [ + 716.714880693387, + 229.28456062120372 + ], + [ + 738.4076210640458, + 202.04862326383125 + ], + [ + 633.3490912850584, + 174.36267239037122 + ], + [ + 608.597057426246, + 199.42592221370649 + ], + [ + 719.3258515610845, + 187.96688453874052 + ], + [ + 741.6260672548822, + 161.45416382932416 + ], + [ + 633.1405367355171, + 134.57316309501545 + ], + [ + 607.5740308786355, + 158.90470354303497 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 166.91978800875006, + "ymin": 106.06159690174019, + "xmax": 186.2875239923759, + "ymax": 126.20621379150725 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 184.82669705966578, + 126.20621379150725 + ], + [ + 186.2875239923759, + 125.39374930838733 + ], + [ + 173.9278353986665, + 121.69986849442279 + ], + [ + 172.45957792874037, + 122.50261423976951 + ], + [ + 179.40048335817096, + 110.50522811266242 + ], + [ + 180.8859326208506, + 109.70401338633621 + ], + [ + 168.4127568034993, + 106.06159690174019 + ], + [ + 166.91978800875006, + 106.85311432020382 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 166.91979126056543, + "ymin": 106.06159785077085, + "xmax": 186.28752725188394, + "ymax": 126.20621476823155 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 184.82670032115936, + 126.20621476823155 + ], + [ + 186.28752725188394, + 125.39375028254094 + ], + [ + 173.92783861920987, + 121.69986945693114 + ], + [ + 172.45958115119436, + 122.50261520480251 + ], + [ + 179.40048664985278, + 110.50522907587765 + ], + [ + 180.8859359105225, + 109.70401434698613 + ], + [ + 168.41276005338187, + 106.06159785077085 + ], + [ + 166.91979126056543, + 106.85311527175327 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 114.53915319916086, + "ymin": 92.60516439417029, + "xmax": 133.83370300013956, + "ymax": 112.35572695428726 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 132.3380573775649, + 112.35572695428726 + ], + [ + 133.83370300013956, + 111.57930883334302 + ], + [ + 122.05695712531383, + 108.04873420526542 + ], + [ + 120.55499815763062, + 108.81607131141939 + ], + [ + 126.4235614501647, + 96.8499615413192 + ], + [ + 127.94431196307073, + 96.08470318461212 + ], + [ + 116.06627243304865, + 92.60516439417029 + ], + [ + 114.53915319916086, + 93.36136897811792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 115.5884597106392, + "ymin": 91.08025890397806, + "xmax": 134.82564190334358, + "ymax": 110.78599232978956 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 133.3351642456032, + 110.78599232978956 + ], + [ + 134.82564190334358, + 110.01360792124441 + ], + [ + 123.07353008618827, + 106.50131052033893 + ], + [ + 121.57675665161764, + 107.2646843840113 + ], + [ + 127.44782713547716, + 95.30281304158893 + ], + [ + 128.96324842016924, + 94.54157652595615 + ], + [ + 117.11023225174858, + 91.08025890397806 + ], + [ + 115.5884597106392, + 91.83251271669343 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 165.07441169791485, + "ymin": 98.63094408487626, + "xmax": 182.44450931672543, + "ymax": 119.64981618179058 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 182.25072558489165, + 119.64981618179058 + ], + [ + 182.44450931672543, + 119.54343232764987 + ], + [ + 171.51112655730174, + 116.3008059703794 + ], + [ + 171.31647689648128, + 116.40606226127315 + ], + [ + 176.1212797472005, + 101.92601273402295 + ], + [ + 176.318740425005, + 101.82133492910225 + ], + [ + 165.27274982240408, + 98.63094408487626 + ], + [ + 165.07441169791485, + 98.73449767376684 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 165.07454878027863, + "ymin": 98.63097325019885, + "xmax": 182.44464614919008, + "ymax": 119.64984615473045 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 182.25086243169278, + 119.64984615473045 + ], + [ + 182.44464614919008, + 119.54346229014314 + ], + [ + 171.51126212883491, + 116.30083561532751 + ], + [ + 171.3166124820139, + 116.40609191650225 + ], + [ + 176.1214181214297, + 101.92604222636368 + ], + [ + 176.3188787846189, + 101.82136441102637 + ], + [ + 165.2728868905017, + 98.63097325019885 + ], + [ + 165.07454878027863, + 98.73452684933886 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 166.91978800875006, + "ymin": 106.06159690174019, + "xmax": 186.2875239923759, + "ymax": 126.20621379150725 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 184.82669705966578, + 126.20621379150725 + ], + [ + 186.2875239923759, + 125.39374930838733 + ], + [ + 173.9278353986665, + 121.69986849442279 + ], + [ + 172.45957792874037, + 122.50261423976951 + ], + [ + 179.40048335817096, + 110.50522811266242 + ], + [ + 180.8859326208506, + 109.70401338633621 + ], + [ + 168.4127568034993, + 106.06159690174019 + ], + [ + 166.91978800875006, + 106.85311432020382 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 166.9197882287212, + "ymin": 106.06159682419897, + "xmax": 186.28752413548733, + "ymax": 126.20621367180118 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 184.82669727489946, + 126.20621367180118 + ], + [ + 186.28752413548733, + 125.39374922879341 + ], + [ + 173.92783554250718, + 121.69986841578034 + ], + [ + 172.4595781450672, + 122.5026141214963 + ], + [ + 179.4004835770359, + 110.505227994612 + ], + [ + 180.88593276637198, + 109.70401330784557 + ], + [ + 168.41275694975855, + 106.06159682419897 + ], + [ + 166.9197882287212, + 106.85311420358315 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 166.91979079191998, + "ymin": 106.0615976925991, + "xmax": 186.28752670863264, + "ymax": 126.20621456554224 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 184.82669984932176, + 126.20621456554224 + ], + [ + 186.28752670863264, + 125.39375012018206 + ], + [ + 173.9278380824527, + 121.6998692965131 + ], + [ + 172.45958068622775, + 122.5026150045394 + ], + [ + 179.4004861741942, + 110.50522887599178 + ], + [ + 180.88593536224386, + 109.70401418687788 + ], + [ + 168.41275951173486, + 106.0615976925991 + ], + [ + 166.91979079191998, + 106.85311507428824 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 114.67427234861293, + "ymin": 105.16934118422776, + "xmax": 134.38105084467202, + "ymax": 125.287915955149 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 132.85405506814567, + 125.287915955149 + ], + [ + 134.38105084467202, + 124.4778663749627 + ], + [ + 122.3503464417887, + 120.7949255373129 + ], + [ + 120.8167582985393, + 121.59529954889942 + ], + [ + 126.81737066699066, + 109.59964730220767 + ], + [ + 128.37055057868582, + 108.80084235121896 + ], + [ + 116.23410384381248, + 105.16934118422776 + ], + [ + 114.67427234861293, + 105.9584924114661 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 165.07425862913476, + "ymin": 98.63088969266676, + "xmax": 182.44435588881692, + "ymax": 119.64976028340547 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 182.25057214798449, + 119.64976028340547 + ], + [ + 182.44435588881692, + 119.54337644874738 + ], + [ + 171.51097494031762, + 116.30075068368669 + ], + [ + 171.31632527093922, + 116.40600695540672 + ], + [ + 176.12112482453557, + 101.92595773193688 + ], + [ + 176.3185855113805, + 101.82127994644316 + ], + [ + 165.2725967622091, + 98.63088969266676 + ], + [ + 165.07425862913476, + 98.7344432624426 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 166.91979126056543, + "ymin": 106.06159785077085, + "xmax": 186.28752725188394, + "ymax": 126.20621476823155 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 184.82670032115936, + 126.20621476823155 + ], + [ + 186.28752725188394, + 125.39375028254094 + ], + [ + 173.92783861920987, + 121.69986945693114 + ], + [ + 172.45958115119436, + 122.50261520480251 + ], + [ + 179.40048664985278, + 110.50522907587765 + ], + [ + 180.8859359105225, + 109.70401434698613 + ], + [ + 168.41276005338187, + 106.06159785077085 + ], + [ + 166.91979126056543, + 106.85311527175327 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 163.764465942475, + "ymin": 97.8050716769248, + "xmax": 185.1528105329333, + "ymax": 120.83141571595226 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 184.92089744024474, + 120.83141571595226 + ], + [ + 185.1528105329333, + 120.70354598560226 + ], + [ + 170.57272606554636, + 116.3768542892146 + ], + [ + 170.33942689620017, + 116.50292062558458 + ], + [ + 178.50401716867214, + 102.1842619506046 + ], + [ + 178.74056021939055, + 102.05854323559095 + ], + [ + 164.00241452654882, + 97.8050716769248 + ], + [ + 163.764465942475, + 97.92899260477799 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 165.07439116670878, + "ymin": 98.63089693550705, + "xmax": 182.44448757204805, + "ymax": 119.64976772680737 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 182.25070385180675, + 119.64976772680737 + ], + [ + 182.44448757204805, + 119.543383889555 + ], + [ + 171.51110579130255, + 116.30075804563592 + ], + [ + 171.31645614225124, + 116.4060143199091 + ], + [ + 176.12125821618025, + 101.925965055988 + ], + [ + 176.31871888190574, + 101.82128726790734 + ], + [ + 165.27272927893802, + 98.63089693550705 + ], + [ + 165.07439116670878, + 98.73445050782817 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 166.9197882287212, + "ymin": 106.06159682419897, + "xmax": 186.28752413548733, + "ymax": 126.20621367180118 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 184.82669727489946, + 126.20621367180118 + ], + [ + 186.28752413548733, + 125.39374922879341 + ], + [ + 173.92783554250718, + 121.69986841578034 + ], + [ + 172.4595781450672, + 122.5026141214963 + ], + [ + 179.4004835770359, + 110.505227994612 + ], + [ + 180.88593276637198, + 109.70401330784557 + ], + [ + 168.41275694975855, + 106.06159682419897 + ], + [ + 166.9197882287212, + 106.85311420358315 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 163.7644004069369, + "ymin": 97.8051058311853, + "xmax": 185.1527466145007, + "ymax": 120.83145093364288 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 184.92083356708616, + 120.83145093364288 + ], + [ + 185.1527466145007, + 120.70358122825562 + ], + [ + 170.57266176499684, + 116.37688903487924 + ], + [ + 170.3393626413856, + 116.50295534653574 + ], + [ + 178.50395202014522, + 102.18429657596789 + ], + [ + 178.74049502507006, + 102.05857788529283 + ], + [ + 164.0023489447454, + 97.8051058311853 + ], + [ + 163.7644004069369, + 97.92902673494399 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 163.76458595495268, + "ymin": 97.80509899474214, + "xmax": 185.15293061984516, + "ymax": 120.83144387639214 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 184.92101761358623, + 120.83144387639214 + ], + [ + 185.15293061984516, + 120.70357417395576 + ], + [ + 170.57284463533858, + 116.37688208005846 + ], + [ + 170.33954555237182, + 116.50294838882635 + ], + [ + 178.50413873689808, + 102.18428963741326 + ], + [ + 178.7406816994668, + 102.0585709496803 + ], + [ + 164.00253445093875, + 97.80509899474214 + ], + [ + 163.76458595495268, + 97.92901989562165 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 166.91978689610818, + "ymin": 106.06159619460104, + "xmax": 186.28752279195612, + "ymax": 126.20621302383105 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 184.82669593113104, + 126.20621302383105 + ], + [ + 186.28752279195612, + 125.39374858252867 + ], + [ + 173.92783421991658, + 121.69986777724114 + ], + [ + 172.45957682227595, + 122.50261348128217 + ], + [ + 179.400482223015, + 110.50522735560395 + ], + [ + 180.8859314125787, + 109.70401267053936 + ], + [ + 168.41275561733562, + 106.06159619460104 + ], + [ + 166.91978689610818, + 106.85311357231413 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 163.76453456616997, + "ymin": 97.80503815338352, + "xmax": 185.15287746735078, + "ymax": 120.83138110964762 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 184.92096440178221, + 120.83138110964762 + ], + [ + 185.15287746735078, + 120.70351139376703 + ], + [ + 170.5727933453311, + 116.37682018519047 + ], + [ + 170.33949420306266, + 116.50288650739603 + ], + [ + 178.5040854426204, + 102.18422792634442 + ], + [ + 178.74062846529273, + 102.05850922575729 + ], + [ + 164.00248312224517, + 97.80503815338352 + ], + [ + 163.76453456616997, + 97.92895906711846 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 104.5966870094187, + "ymin": 87.87203660785633, + "xmax": 123.8035388408216, + "ymax": 107.48333881785439 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 122.30715160203897, + 107.48333881785439 + ], + [ + 123.8035388408216, + 106.71940702233258 + ], + [ + 112.17957997451924, + 103.24541053227284 + ], + [ + 110.67712863068834, + 104.00047886175736 + ], + [ + 116.32507976224679, + 92.04798610309194 + ], + [ + 117.84646284348298, + 91.29517613528009 + ], + [ + 106.12418307854887, + 87.87203660785633 + ], + [ + 104.5966870094187, + 88.61601217598957 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 163.7644647810937, + "ymin": 97.80507144002354, + "xmax": 185.15280929774423, + "ymax": 120.83141543169506 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 184.9208962769003, + 120.83141543169506 + ], + [ + 185.15280929774423, + 120.70354574115166 + ], + [ + 170.57272484488516, + 116.37685404821121 + ], + [ + 170.33942574781878, + 116.5029203453368 + ], + [ + 178.50401599194834, + 102.18426167112835 + ], + [ + 178.74055896938796, + 102.05854299525316 + ], + [ + 164.00241329144728, + 97.80507144002354 + ], + [ + 163.7644647810937, + 97.92899232929864 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 167.26204653010916, + "ymin": 110.31982841573597, + "xmax": 186.59028813018847, + "ymax": 130.407021634723 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 185.13266055935787, + 130.407021634723 + ], + [ + 186.59028813018847, + 129.59059152367837 + ], + [ + 174.25231223115475, + 125.87862876379347 + ], + [ + 172.78727752055335, + 126.685311244427 + ], + [ + 179.72061559432768, + 114.7864817447846 + ], + [ + 181.20276092578314, + 113.98112548333683 + ], + [ + 168.75168766574484, + 110.31982841573597 + ], + [ + 167.26204653010916, + 111.11545597014879 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 165.07441169791485, + "ymin": 98.63094408487626, + "xmax": 182.44450931672543, + "ymax": 119.64981618179058 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 182.25072558489165, + 119.64981618179058 + ], + [ + 182.44450931672543, + 119.54343232764987 + ], + [ + 171.51112655730174, + 116.3008059703794 + ], + [ + 171.31647689648128, + 116.40606226127315 + ], + [ + 176.1212797472005, + 101.92601273402295 + ], + [ + 176.318740425005, + 101.82133492910225 + ], + [ + 165.27274982240408, + 98.63094408487626 + ], + [ + 165.07441169791485, + 98.73449767376684 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 96.66496352702927, + "ymin": 87.28403995193196, + "xmax": 115.90658180878052, + "ymax": 106.87801797029528 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 114.4016218616772, + 106.87801797029528 + ], + [ + 115.90658180878052, + 106.11563035317246 + ], + [ + 104.34017152857984, + 102.6486311972048 + ], + [ + 102.8292765147678, + 103.40218213113724 + ], + [ + 108.33441586354911, + 91.4514760919979 + ], + [ + 109.86455478864627, + 90.70020536669898 + ], + [ + 98.20108217726317, + 87.28403995193196 + ], + [ + 96.66496352702927, + 88.02650327930837 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 165.07453092077088, + "ymin": 98.63096755306566, + "xmax": 182.44462826676158, + "ymax": 119.64984029983779 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 182.25084454800572, + 119.64984029983779 + ], + [ + 182.44462826676158, + 119.54345643729113 + ], + [ + 171.51124444571383, + 116.30082982450458 + ], + [ + 171.31659479768382, + 116.40608612367086 + ], + [ + 176.12140005785238, + 101.92603646535088 + ], + [ + 176.3188607223131, + 101.82135865204839 + ], + [ + 165.2728690322142, + 98.63096755306566 + ], + [ + 165.07453092077088, + 98.73452115020336 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1269.695924235445, + "ymin": 173.62143784963345, + "xmax": 1280.0, + "ymax": 203.66558778279133 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1269.695924235445, + 201.61918611978504 + ], + [ + 1278.9914772509942, + 203.66558778279133 + ], + [ + 1279.1102295875316, + 198.22162509332122 + ], + [ + 1269.8869892186026, + 196.20713685040005 + ], + [ + 1281.1919069196583, + 178.95110840560955 + ], + [ + 1290.6922739880802, + 180.96675741206062 + ], + [ + 1290.719788250749, + 175.60508514850915 + ], + [ + 1281.294945041744, + 173.62143784963345 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1243.557471539688, + "ymin": 686.385878780805, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1259.801082410115, + 732.8890272633655 + ], + [ + 1260.2726151815293, + 716.0859166413886 + ], + [ + 1244.2485119465466, + 709.918531172633 + ], + [ + 1243.557471539688, + 726.5491579380348 + ], + [ + 1280.0829475074295, + 709.6431000251969 + ], + [ + 1280.2821965196727, + 692.6274428714335 + ], + [ + 1263.6383556691894, + 686.385878780805 + ], + [ + 1263.2021343936244, + 703.2212400846784 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 171.72552670010384, + "ymin": 108.50243139067783, + "xmax": 192.37161221063695, + "ymax": 161.5120224126219 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 191.35822122541646, + 161.5120224126219 + ], + [ + 192.37161221063695, + 160.91262514063587 + ], + [ + 190.9905577095234, + 160.47736701212995 + ], + [ + 189.9765747762919, + 161.07596349474096 + ], + [ + 173.15054092962708, + 109.49315033374194 + ], + [ + 174.22243023484066, + 108.91919081746957 + ], + [ + 172.7980327219555, + 108.50243139067783 + ], + [ + 171.72552670010384, + 109.07559302948906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 171.72552670010384, + "ymin": 108.50243139067783, + "xmax": 192.37161221063695, + "ymax": 161.5120224126219 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 191.35822122541646, + 161.5120224126219 + ], + [ + 192.37161221063695, + 160.91262514063587 + ], + [ + 190.9905577095234, + 160.47736701212995 + ], + [ + 189.9765747762919, + 161.07596349474096 + ], + [ + 173.15054092962708, + 109.49315033374194 + ], + [ + 174.22243023484066, + 108.91919081746957 + ], + [ + 172.7980327219555, + 108.50243139067783 + ], + [ + 171.72552670010384, + 109.07559302948906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 120.11091137519031, + "ymin": 93.40687990990921, + "xmax": 142.23138190880502, + "ymax": 145.68094137034558 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 141.19758772539558, + 145.68094137034558 + ], + [ + 142.23138190880502, + 145.11027394832905 + ], + [ + 140.91647248072923, + 144.69586232381886 + ], + [ + 139.88217334019384, + 145.26578581709518 + ], + [ + 121.46494763465978, + 94.34827524473889 + ], + [ + 122.55799335590734, + 93.80290024293004 + ], + [ + 121.20447783150985, + 93.40687990990921 + ], + [ + 120.11091137519031, + 93.95151587066067 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 171.72552670010384, + "ymin": 108.50243139067783, + "xmax": 192.37161221063695, + "ymax": 161.5120224126219 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 191.35822122541646, + 161.5120224126219 + ], + [ + 192.37161221063695, + 160.91262514063587 + ], + [ + 190.9905577095234, + 160.47736701212995 + ], + [ + 189.9765747762919, + 161.07596349474096 + ], + [ + 173.15054092962708, + 109.49315033374194 + ], + [ + 174.22243023484066, + 108.91919081746957 + ], + [ + 172.7980327219555, + 108.50243139067783 + ], + [ + 171.72552670010384, + 109.07559302948906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 109.0595696953294, + "ymin": 90.17455478863502, + "xmax": 131.48281806778414, + "ymax": 142.28723828919482 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 130.44494142709567, + 142.28723828919482 + ], + [ + 131.48281806778414, + 141.7226379219521 + ], + [ + 130.18187720766525, + 141.31262873362385 + ], + [ + 129.14351341087172, + 141.8764970003486 + ], + [ + 110.39864430717591, + 91.10555269955432 + ], + [ + 111.49589560936761, + 90.56620322121944 + ], + [ + 110.15732215872083, + 90.17455478863502 + ], + [ + 109.0595696953294, + 90.71317743576446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 779.9619803520579, + "ymin": 0.0, + "xmax": 792.807487473583, + "ymax": 4.662970969027754 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 792.4680719903545, + 0.4954842221134754 + ], + [ + 784.2739610307774, + -1.0133716765553231 + ], + [ + 779.9619803520579, + 3.1284411710147992 + ], + [ + 788.2122024774674, + 4.662970969027754 + ], + [ + 792.807487473583, + -2.716335799231956 + ], + [ + 784.5941466066046, + -4.218653465926934 + ], + [ + 780.2752291869374, + -0.09473887581395957 + ], + [ + 788.5449490960816, + 1.4331989714572728 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 171.72552670010384, + "ymin": 108.50243139067783, + "xmax": 192.37161221063695, + "ymax": 161.5120224126219 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 191.35822122541646, + 161.5120224126219 + ], + [ + 192.37161221063695, + 160.91262514063587 + ], + [ + 190.9905577095234, + 160.47736701212995 + ], + [ + 189.9765747762919, + 161.07596349474096 + ], + [ + 173.15054092962708, + 109.49315033374194 + ], + [ + 174.22243023484066, + 108.91919081746957 + ], + [ + 172.7980327219555, + 108.50243139067783 + ], + [ + 171.72552670010384, + 109.07559302948906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1228.6261961134915, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 106.80879165369541 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1229.0609059054036, + 85.19058011158631 + ], + [ + 1228.6261961134915, + 89.03861819198136 + ], + [ + 1323.7607839268126, + 106.80879165369541 + ], + [ + 1323.5581096294559, + 102.72209307120141 + ], + [ + 1306.7743243247503, + -93.9776390102453 + ], + [ + 1306.8700690712415, + -90.97427989008366 + ], + [ + 1417.8194220238256, + -77.03579725360004 + ], + [ + 1416.858027013776, + -80.25138982202253 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 119.30377896110372, + "ymin": 107.60329733056793, + "xmax": 141.97287195188858, + "ymax": 160.56991368772051 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 140.91465590195912, + 160.56991368772051 + ], + [ + 141.97287195188858, + 159.97224606075633 + ], + [ + 140.6274223948601, + 159.53824278817976 + ], + [ + 139.56867785502152, + 160.13511308816308 + ], + [ + 120.690214440457, + 108.59104289395756 + ], + [ + 121.81058121515582, + 108.01880664398402 + ], + [ + 120.4246910786029, + 107.60329733056793 + ], + [ + 119.30377896110372, + 108.17473929234464 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 171.72552670010384, + "ymin": 108.50243139067783, + "xmax": 192.37161221063695, + "ymax": 161.5120224126219 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 191.35822122541646, + 161.5120224126219 + ], + [ + 192.37161221063695, + 160.91262514063587 + ], + [ + 190.9905577095234, + 160.47736701212995 + ], + [ + 189.9765747762919, + 161.07596349474096 + ], + [ + 173.15054092962708, + 109.49315033374194 + ], + [ + 174.22243023484066, + 108.91919081746957 + ], + [ + 172.7980327219555, + 108.50243139067783 + ], + [ + 171.72552670010384, + 109.07559302948906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 171.72552670010384, + "ymin": 108.50243139067783, + "xmax": 192.37161221063695, + "ymax": 161.5120224126219 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 191.35822122541646, + 161.5120224126219 + ], + [ + 192.37161221063695, + 160.91262514063587 + ], + [ + 190.9905577095234, + 160.47736701212995 + ], + [ + 189.9765747762919, + 161.07596349474096 + ], + [ + 173.15054092962708, + 109.49315033374194 + ], + [ + 174.22243023484066, + 108.91919081746957 + ], + [ + 172.7980327219555, + 108.50243139067783 + ], + [ + 171.72552670010384, + 109.07559302948906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 758.4621910863242, + "ymin": 0.0, + "xmax": 827.6064836554056, + "ymax": 199.46005021605842 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 803.146163784703, + 154.7335589827839 + ], + [ + 793.0432377106007, + 152.2988647196721 + ], + [ + 758.4621910863242, + 196.67698487430977 + ], + [ + 769.1251504477069, + 199.46005021605842 + ], + [ + 827.6064836554056, + -38.45525127505266 + ], + [ + 815.8893702787839, + -40.4159387713222 + ], + [ + 777.5632683026346, + -4.326128770686637 + ], + [ + 790.0434904051353, + -2.037791860773666 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 779.8928137533501, + "ymin": 0.0, + "xmax": 792.8765293630255, + "ymax": 4.71097811352297 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 792.5333238881265, + 0.49837762686911447 + ], + [ + 784.2514293492774, + -1.0266144637381558 + ], + [ + 779.8928137533501, + 3.1597561658243194 + ], + [ + 788.2320329609164, + 4.71097811352297 + ], + [ + 792.8765293630255, + -2.747910488680361 + ], + [ + 784.5749904463828, + -4.266223222917915 + ], + [ + 780.2092867160281, + -0.09813779035073367 + ], + [ + 788.5684269199523, + 1.446349329759812 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 171.72552670010384, + "ymin": 108.50243139067783, + "xmax": 192.37161221063695, + "ymax": 161.5120224126219 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 191.35822122541646, + 161.5120224126219 + ], + [ + 192.37161221063695, + 160.91262514063587 + ], + [ + 190.9905577095234, + 160.47736701212995 + ], + [ + 189.9765747762919, + 161.07596349474096 + ], + [ + 173.15054092962708, + 109.49315033374194 + ], + [ + 174.22243023484066, + 108.91919081746957 + ], + [ + 172.7980327219555, + 108.50243139067783 + ], + [ + 171.72552670010384, + 109.07559302948906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 171.72552670010384, + "ymin": 108.50243139067783, + "xmax": 192.37161221063695, + "ymax": 161.5120224126219 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 191.35822122541646, + 161.5120224126219 + ], + [ + 192.37161221063695, + 160.91262514063587 + ], + [ + 190.9905577095234, + 160.47736701212995 + ], + [ + 189.9765747762919, + 161.07596349474096 + ], + [ + 173.15054092962708, + 109.49315033374194 + ], + [ + 174.22243023484066, + 108.91919081746957 + ], + [ + 172.7980327219555, + 108.50243139067783 + ], + [ + 171.72552670010384, + 109.07559302948906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 171.72552670010384, + "ymin": 108.50243139067783, + "xmax": 192.37161221063695, + "ymax": 161.5120224126219 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 191.35822122541646, + 161.5120224126219 + ], + [ + 192.37161221063695, + 160.91262514063587 + ], + [ + 190.9905577095234, + 160.47736701212995 + ], + [ + 189.9765747762919, + 161.07596349474096 + ], + [ + 173.15054092962708, + 109.49315033374194 + ], + [ + 174.22243023484066, + 108.91919081746957 + ], + [ + 172.7980327219555, + 108.50243139067783 + ], + [ + 171.72552670010384, + 109.07559302948906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 173.03965362987515, + "ymin": 112.24464398791613, + "xmax": 193.5786699531937, + "ymax": 164.9715328766318 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 192.56912138513377, + 164.9715328766318 + ], + [ + 193.5786699531937, + 164.37058140255394 + ], + [ + 192.20053303505398, + 163.93419280684378 + ], + [ + 191.19039422830633, + 164.53434357895256 + ], + [ + 174.4615782651972, + 113.23875012140033 + ], + [ + 175.5292101940717, + 112.66282940546313 + ], + [ + 174.10790055286338, + 112.24464398791613 + ], + [ + 173.03965362987515, + 112.81976634497269 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1182.160988923272, + "ymin": 526.4249480118209, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1183.9610644809586, + 781.058037389069 + ], + [ + 1182.160988923272, + 799.4312672509953 + ], + [ + 1979.0559346690782, + 1141.780252850532 + ], + [ + 1967.0195067580773, + 1112.473515393057 + ], + [ + 1393.1244383846156, + 526.4249480118209 + ], + [ + 1394.8252068774364, + 546.8836635623672 + ], + [ + 2720.890957224452, + 974.7553806770194 + ], + [ + 2681.879496325836, + 934.2748050260317 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 171.72552670010384, + "ymin": 108.50243139067783, + "xmax": 192.37161221063695, + "ymax": 161.5120224126219 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 191.35822122541646, + 161.5120224126219 + ], + [ + 192.37161221063695, + 160.91262514063587 + ], + [ + 190.9905577095234, + 160.47736701212995 + ], + [ + 189.9765747762919, + 161.07596349474096 + ], + [ + 173.15054092962708, + 109.49315033374194 + ], + [ + 174.22243023484066, + 108.91919081746957 + ], + [ + 172.7980327219555, + 108.50243139067783 + ], + [ + 171.72552670010384, + 109.07559302948906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 171.72552670010384, + "ymin": 108.50243139067783, + "xmax": 192.37161221063695, + "ymax": 161.5120224126219 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 191.35822122541646, + 161.5120224126219 + ], + [ + 192.37161221063695, + 160.91262514063587 + ], + [ + 190.9905577095234, + 160.47736701212995 + ], + [ + 189.9765747762919, + 161.07596349474096 + ], + [ + 173.15054092962708, + 109.49315033374194 + ], + [ + 174.22243023484066, + 108.91919081746957 + ], + [ + 172.7980327219555, + 108.50243139067783 + ], + [ + 171.72552670010384, + 109.07559302948906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 224.50835744315117, + "ymin": 0.0, + "xmax": 332.8665580412458, + "ymax": 71.4348115205795 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 332.8665580412458, + 41.40073576408241 + ], + [ + 325.99531157687977, + 39.74484267765894 + ], + [ + 271.53473196831317, + 69.58705311805937 + ], + [ + 278.6141868161435, + 71.4348115205795 + ], + [ + 295.8770578062864, + -127.43285915911503 + ], + [ + 288.31007155255986, + -128.69908196899922 + ], + [ + 224.50835744315117, + -105.73294009790288 + ], + [ + 232.31977156503217, + -104.3006631836779 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 171.72552670010384, + "ymin": 108.50243139067783, + "xmax": 192.37161221063695, + "ymax": 161.5120224126219 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 191.35822122541646, + 161.5120224126219 + ], + [ + 192.37161221063695, + 160.91262514063587 + ], + [ + 190.9905577095234, + 160.47736701212995 + ], + [ + 189.9765747762919, + 161.07596349474096 + ], + [ + 173.15054092962708, + 109.49315033374194 + ], + [ + 174.22243023484066, + 108.91919081746957 + ], + [ + 172.7980327219555, + 108.50243139067783 + ], + [ + 171.72552670010384, + 109.07559302948906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 171.72552670010384, + "ymin": 108.50243139067783, + "xmax": 192.37161221063695, + "ymax": 161.5120224126219 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 191.35822122541646, + 161.5120224126219 + ], + [ + 192.37161221063695, + 160.91262514063587 + ], + [ + 190.9905577095234, + 160.47736701212995 + ], + [ + 189.9765747762919, + 161.07596349474096 + ], + [ + 173.15054092962708, + 109.49315033374194 + ], + [ + 174.22243023484066, + 108.91919081746957 + ], + [ + 172.7980327219555, + 108.50243139067783 + ], + [ + 171.72552670010384, + 109.07559302948906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 171.72552670010384, + "ymin": 108.50243139067783, + "xmax": 192.37161221063695, + "ymax": 161.5120224126219 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 191.35822122541646, + 161.5120224126219 + ], + [ + 192.37161221063695, + 160.91262514063587 + ], + [ + 190.9905577095234, + 160.47736701212995 + ], + [ + 189.9765747762919, + 161.07596349474096 + ], + [ + 173.15054092962708, + 109.49315033374194 + ], + [ + 174.22243023484066, + 108.91919081746957 + ], + [ + 172.7980327219555, + 108.50243139067783 + ], + [ + 171.72552670010384, + 109.07559302948906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 119.07002583038798, + "ymin": 94.9432480401556, + "xmax": 141.28642467168794, + "ymax": 147.2935340386501 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 140.24916080151144, + 147.2935340386501 + ], + [ + 141.28642467168794, + 146.7199723294085 + ], + [ + 139.9688061381534, + 146.3034605712199 + ], + [ + 138.9310358653159, + 146.8762726868931 + ], + [ + 120.42692083376028, + 95.88960572606044 + ], + [ + 121.52381341155046, + 95.34135491089319 + ], + [ + 120.16744056973471, + 94.9432480401556 + ], + [ + 119.07002583038798, + 95.49075396303635 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 171.72552670010384, + "ymin": 108.50243139067783, + "xmax": 192.37161221063695, + "ymax": 161.5120224126219 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 191.35822122541646, + 161.5120224126219 + ], + [ + 192.37161221063695, + 160.91262514063587 + ], + [ + 190.9905577095234, + 160.47736701212995 + ], + [ + 189.9765747762919, + 161.07596349474096 + ], + [ + 173.15054092962708, + 109.49315033374194 + ], + [ + 174.22243023484066, + 108.91919081746957 + ], + [ + 172.7980327219555, + 108.50243139067783 + ], + [ + 171.72552670010384, + 109.07559302948906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 101.0985293389823, + "ymin": 89.58220507303417, + "xmax": 123.80247142981204, + "ymax": 141.66516611843656 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 122.75876527415335, + 141.66516611843656 + ], + [ + 123.80247142981204, + 141.10167430213096 + ], + [ + 122.50778094334748, + 140.69246954529783 + ], + [ + 121.46359745905204, + 141.25523141549223 + ], + [ + 102.43086976355676, + 90.51130387866681 + ], + [ + 103.53437964817044, + 89.97305495223503 + ], + [ + 102.20252943005482, + 89.58220507303417 + ], + [ + 101.0985293389823, + 90.11972939107005 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 171.72552670010384, + "ymin": 108.50243139067783, + "xmax": 192.37161221063695, + "ymax": 161.5120224126219 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 191.35822122541646, + 161.5120224126219 + ], + [ + 192.37161221063695, + 160.91262514063587 + ], + [ + 190.9905577095234, + 160.47736701212995 + ], + [ + 189.9765747762919, + 161.07596349474096 + ], + [ + 173.15054092962708, + 109.49315033374194 + ], + [ + 174.22243023484066, + 108.91919081746957 + ], + [ + 172.7980327219555, + 108.50243139067783 + ], + [ + 171.72552670010384, + 109.07559302948906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 171.72552670010384, + "ymin": 108.50243139067783, + "xmax": 192.37161221063695, + "ymax": 161.5120224126219 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 191.35822122541646, + 161.5120224126219 + ], + [ + 192.37161221063695, + 160.91262514063587 + ], + [ + 190.9905577095234, + 160.47736701212995 + ], + [ + 189.9765747762919, + 161.07596349474096 + ], + [ + 173.15054092962708, + 109.49315033374194 + ], + [ + 174.22243023484066, + 108.91919081746957 + ], + [ + 172.7980327219555, + 108.50243139067783 + ], + [ + 171.72552670010384, + 109.07559302948906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 171.72552670010384, + "ymin": 108.50243139067783, + "xmax": 192.37161221063695, + "ymax": 161.5120224126219 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 191.35822122541646, + 161.5120224126219 + ], + [ + 192.37161221063695, + 160.91262514063587 + ], + [ + 190.9905577095234, + 160.47736701212995 + ], + [ + 189.9765747762919, + 161.07596349474096 + ], + [ + 173.15054092962708, + 109.49315033374194 + ], + [ + 174.22243023484066, + 108.91919081746957 + ], + [ + 172.7980327219555, + 108.50243139067783 + ], + [ + 171.72552670010384, + 109.07559302948906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 171.72552670010384, + "ymin": 108.50243139067783, + "xmax": 192.37161221063695, + "ymax": 161.5120224126219 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 191.35822122541646, + 161.5120224126219 + ], + [ + 192.37161221063695, + 160.91262514063587 + ], + [ + 190.9905577095234, + 160.47736701212995 + ], + [ + 189.9765747762919, + 161.07596349474096 + ], + [ + 173.15054092962708, + 109.49315033374194 + ], + [ + 174.22243023484066, + 108.91919081746957 + ], + [ + 172.7980327219555, + 108.50243139067783 + ], + [ + 171.72552670010384, + 109.07559302948906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1201.6433823956115, + "ymin": 24.8718728292705, + "xmax": 1280.0, + "ymax": 488.673883235547 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1239.897885867721, + 259.51749511073007 + ], + [ + 1226.5533463947045, + 256.24657582490147 + ], + [ + 1201.6433823956115, + 483.107158189242 + ], + [ + 1218.9213540994917, + 488.673883235547 + ], + [ + 1357.442368818324, + 27.572061915100335 + ], + [ + 1340.8843735982123, + 24.8718728292705 + ], + [ + 1353.346233574743, + 223.76209364878278 + ], + [ + 1376.428087832404, + 228.95757838179156 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00173/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00173/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..99bba731e7fb8cf54529d504e770276fa5bd8246 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00173/meta.json @@ -0,0 +1,7147 @@ +{ + "frame_id": 173, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 86.5, + "sim_timestamp": 15130.522515679942 + }, + "drone_pose": { + "x": -32.21157174595205, + "y": -22.348224158754345, + "z": 20.0, + "pitch": -41.67920245644493, + "yaw": 63.52075516732167, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.3330138921737671, + -0.6685288548469543, + 0.6649593114852905, + 12.368148803710938 + ], + [ + 0.8950958847999573, + 0.4458736181259155, + 0.0, + -18.867961883544922 + ], + [ + -0.29648780822753906, + 0.5952023863792419, + 0.7468795776367188, + -37.78964614868164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -31.992166690086595, + "y": -21.851676907914012, + "z": 20.0 + }, + "t1_image_uv": [ + 699.2768738680102, + -494.7039153477135 + ], + "t1_depth": 0.40502111803757274 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -22.66718292236328, + "y": -3.187763214111328, + "z": 0.9418461871132604 + }, + "image_uv": [ + 640.0000000000001, + 359.99999999999994 + ], + "depth": 28.66063237932279, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 702, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -22.66718292236328, + "y": -3.187762975692749, + "z": 0.9418461322784424 + }, + "extent": { + "x": 0.5431237816810608, + "y": 0.48649200797080994, + "z": 0.8718331456184387 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 618.5374646478602, + "ymin": 323.17447212703564, + "xmax": 661.8780637070174, + "ymax": 396.6213398991532 + }, + "corners_3d": [ + [ + -22.70722770690918, + -3.91581130027771, + 0.07001298666000366 + ], + [ + -23.395231246948242, + -3.2278075218200684, + 0.07001298666000366 + ], + [ + -22.627138137817383, + -2.459714651107788, + 0.07001298666000366 + ], + [ + -21.93913459777832, + -3.1477184295654297, + 0.07001298666000366 + ], + [ + -22.70722770690918, + -3.91581130027771, + 1.8136792182922363 + ], + [ + -23.395231246948242, + -3.2278075218200684, + 1.8136792182922363 + ], + [ + -22.627138137817383, + -2.459714651107788, + 1.8136792182922363 + ], + [ + -21.93913459777832, + -3.1477184295654297, + 1.8136792182922363 + ] + ], + "corners_2d": [ + [ + 630.3542250524728, + 396.6213398991532 + ], + [ + 661.0024720008375, + 389.51945762683476 + ], + [ + 649.3214128202218, + 366.64777380026214 + ], + [ + 619.3807533931396, + 373.38560754112785 + ], + [ + 629.9487277060005, + 352.83169985461217 + ], + [ + 661.8780637070174, + 345.7971925983209 + ], + [ + 649.6995622141691, + 323.17447212703564 + ], + [ + 618.5374646478602, + 329.8338972992139 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 173, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 55, + "semantic_pixel_counts": { + "1": 370163, + "2": 244588, + "3": 52141, + "5": 3858, + "6": 2532, + "7": 242, + "10": 197, + "12": 3569, + "14": 12078, + "20": 4221, + "24": 26178, + "25": 201833 + }, + "instance_pixel_counts": { + "108": 475, + "3992": 282, + "6018": 225, + "7274": 244, + "7576": 2587, + "7784": 13212, + "7786": 6661, + "8088": 1951, + "8296": 28267, + "8780": 3858, + "9322": 5260, + "9624": 9751, + "9832": 162482, + "10316": 2822, + "10828": 1286, + "21090": 8830, + "21602": 87196, + "24656": 381, + "24946": 24813, + "25168": 649, + "25856": 1337, + "26112": 182, + "26218": 245, + "27988": 6253, + "29327": 98, + "29800": 1060, + "29839": 1980, + "31375": 72085, + "31848": 25377, + "32360": 20563, + "33650": 5969, + "33906": 7568, + "34408": 119202, + "34418": 13791, + "39239": 201833, + "40855": 292, + "41367": 1901, + "42903": 17227, + "46184": 1331, + "46696": 4959, + "48232": 7003, + "53391": 222, + "56320": 702, + "56576": 547, + "56832": 486, + "56975": 5600, + "57088": 613, + "57344": 483, + "57487": 4455, + "57600": 738, + "57999": 6904, + "58511": 621, + "58951": 113, + "59023": 22606, + "60928": 5825 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 702, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -22.66718292236328, + "y": -3.187762975692749, + "z": 0.9418461322784424 + }, + "extent": { + "x": 0.44042113423347473, + "y": 0.5757073760032654, + "z": 0.9060909748077393 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 616.681616157219, + "ymin": 323.76290312892354, + "xmax": 663.6116340933867, + "ymax": 395.8496899942129 + }, + "corners_3d": [ + [ + -22.571521759033203, + -3.9062743186950684, + 0.035755157470703125 + ], + [ + -23.38569450378418, + -3.0921010971069336, + 0.035755157470703125 + ], + [ + -22.76284408569336, + -2.4692516326904297, + 0.035755157470703125 + ], + [ + -21.948671340942383, + -3.2834248542785645, + 0.035755157470703125 + ], + [ + -22.571521759033203, + -3.9062743186950684, + 1.8479371070861816 + ], + [ + -23.38569450378418, + -3.0921010971069336, + 1.8479371070861816 + ], + [ + -22.76284408569336, + -2.4692516326904297, + 1.8479371070861816 + ], + [ + -21.948671340942383, + -3.2834248542785645, + 1.8479371070861816 + ] + ], + "corners_2d": [ + [ + 626.4738488344115, + 395.8496899942129 + ], + [ + 662.6334701245537, + 387.48638695005224 + ], + [ + 653.1178108480032, + 368.9643583682418 + ], + [ + 617.6361253249614, + 376.978569397696 + ], + [ + 625.8834975512251, + 350.3531506374282 + ], + [ + 663.6116340933867, + 342.0741349586586 + ], + [ + 653.6723250569232, + 323.76290312892354 + ], + [ + 616.681616157219, + 331.68182908263753 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 547, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -18.541196823120117, + "y": -0.19005843997001648, + "z": 0.941826581954956 + }, + "extent": { + "x": 0.48523253202438354, + "y": 0.45640379190444946, + "z": 0.9312785863876343 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 548.8581672832065, + "ymin": 235.57471790414928, + "xmax": 589.3129843211307, + "ymax": 303.90576622477056 + }, + "corners_3d": [ + [ + -18.69957160949707, + -0.8371075391769409, + 0.010547995567321777 + ], + [ + -19.19672203063965, + -0.07156294584274292, + 0.010547995567321777 + ], + [ + -18.382822036743164, + 0.45699062943458557, + 0.010547995567321777 + ], + [ + -17.885671615600586, + -0.30855393409729004, + 0.010547995567321777 + ], + [ + -18.69957160949707, + -0.8371075391769409, + 1.8731051683425903 + ], + [ + -19.19672203063965, + -0.07156294584274292, + 1.8731051683425903 + ], + [ + -18.382822036743164, + 0.45699062943458557, + 1.8731051683425903 + ], + [ + -17.885671615600586, + -0.30855393409729004, + 1.8731051683425903 + ] + ], + "corners_2d": [ + [ + 565.30410420643, + 303.90576622477056 + ], + [ + 589.3129843211307, + 295.4029181373089 + ], + [ + 575.9924016414793, + 280.5179276210157 + ], + [ + 552.2999830493936, + 288.70175990767564 + ], + [ + 562.3134689486272, + 258.4887580958489 + ], + [ + 587.3060665169173, + 250.15194945467584 + ], + [ + 573.5076628016142, + 235.57471790414928 + ], + [ + 548.8581672832065, + 243.58665246967237 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 486, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -24.923004150390625, + "y": 3.7549493312835693, + "z": 0.941826581954956 + }, + "extent": { + "x": 0.3619970679283142, + "y": 0.4354785084724426, + "z": 0.9492513537406921 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 771.7265124840376, + "ymin": 225.9103077948055, + "xmax": 810.8575066881218, + "ymax": 289.3100100294476 + }, + "corners_3d": [ + [ + -24.930273056030273, + 3.188706874847412, + -0.007424771785736084 + ], + [ + -25.478384017944336, + 3.865567922592163, + -0.007424771785736084 + ], + [ + -24.915735244750977, + 4.321191787719727, + -0.007424771785736084 + ], + [ + -24.367624282836914, + 3.6443307399749756, + -0.007424771785736084 + ], + [ + -24.930273056030273, + 3.188706874847412, + 1.891077995300293 + ], + [ + -25.478384017944336, + 3.865567922592163, + 1.891077995300293 + ], + [ + -24.915735244750977, + 4.321191787719727, + 1.891077995300293 + ], + [ + -24.367624282836914, + 3.6443307399749756, + 1.891077995300293 + ] + ], + "corners_2d": [ + [ + 782.4962880090238, + 289.3100100294476 + ], + [ + 804.3353319178023, + 282.9097805652198 + ], + [ + 793.3320684995495, + 271.5114974056481 + ], + [ + 771.7265124840376, + 277.7247229354505 + ], + [ + 788.2001210070191, + 243.31958193071154 + ], + [ + 810.8575066881218, + 237.05567818436742 + ], + [ + 799.3248560965451, + 225.9103077948055 + ], + [ + 776.9182679684573, + 231.98406275675092 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 613, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -32.16718292236328, + "y": -3.187762975692749, + "z": 0.9418363571166992 + }, + "extent": { + "x": 0.36981201171875, + "y": 0.4224153161048889, + "z": 0.8809202313423157 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 932.0991485289155, + "ymin": 429.7513561075361, + "xmax": 989.9280906028043, + "ymax": 501.71875532545306 + }, + "corners_3d": [ + [ + -32.12998580932617, + -3.747952461242676, + 0.060916125774383545 + ], + [ + -32.72737121582031, + -3.150566816329956, + 0.060916125774383545 + ], + [ + -32.20438003540039, + -2.6275734901428223, + 0.060916125774383545 + ], + [ + -31.606992721557617, + -3.224959135055542, + 0.060916125774383545 + ], + [ + -32.12998580932617, + -3.747952461242676, + 1.8227565288543701 + ], + [ + -32.72737121582031, + -3.150566816329956, + 1.8227565288543701 + ], + [ + -32.20438003540039, + -2.6275734901428223, + 1.8227565288543701 + ], + [ + -31.606992721557617, + -3.224959135055542, + 1.8227565288543701 + ] + ], + "corners_2d": [ + [ + 946.8166529449112, + 501.71875532545306 + ], + [ + 974.1124417491969, + 494.01403142199206 + ], + [ + 958.9659004201828, + 474.43029429456635 + ], + [ + 932.0991485289155, + 481.83165685316885 + ], + [ + 961.4587980425014, + 457.02401065691095 + ], + [ + 989.9280906028043, + 449.31652984982156 + ], + [ + 973.7516424724927, + 429.7513561075361 + ], + [ + 945.7477162632005, + 437.1413926990152 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 483, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -26.282682418823242, + "y": -14.31512451171875, + "z": 1.1344243288040161 + }, + "extent": { + "x": 0.3736303746700287, + "y": 0.39801329374313354, + "z": 0.9437771439552307 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 531.7855200471297, + "ymin": 680.6554040702463, + "xmax": 580.6473441469199, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -26.2085018157959, + -14.85596752166748, + 0.1906471848487854 + ], + [ + -26.827129364013672, + -14.355011940002441, + 0.1906471848487854 + ], + [ + -26.356863021850586, + -13.77428150177002, + 0.1906471848487854 + ], + [ + -25.738235473632812, + -14.275237083435059, + 0.1906471848487854 + ], + [ + -26.2085018157959, + -14.85596752166748, + 2.0782015323638916 + ], + [ + -26.827129364013672, + -14.355011940002441, + 2.0782015323638916 + ], + [ + -26.356863021850586, + -13.77428150177002, + 2.0782015323638916 + ], + [ + -25.738235473632812, + -14.275237083435059, + 2.0782015323638916 + ] + ], + "corners_2d": [ + [ + 543.3010288355971, + 767.01644092709 + ], + [ + 580.6473441469199, + 759.0089717830285 + ], + [ + 574.7404142557118, + 726.2540101750066 + ], + [ + 538.3391547921149, + 733.8472658954504 + ], + [ + 536.8877995443294, + 722.4979626168108 + ], + [ + 576.7376094198158, + 714.2641643991744 + ], + [ + 570.561078445631, + 680.6554040702463 + ], + [ + 531.7855200471297, + 688.436300659894 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 738, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -11.421846389770508, + "y": -11.357976913452148, + "z": 1.1186332702636719 + }, + "extent": { + "x": 0.4867272973060608, + "y": 0.4971252381801605, + "z": 0.9114919900894165 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 113.9292070166988, + "ymin": 372.869822142338, + "xmax": 182.3407257868305, + "ymax": 446.5449782316276 + }, + "corners_3d": [ + [ + -11.270012855529785, + -12.036934852600098, + 0.20714128017425537 + ], + [ + -12.103861808776855, + -11.495426177978516, + 0.20714128017425537 + ], + [ + -11.57367992401123, + -10.6790189743042, + 0.20714128017425537 + ], + [ + -10.73983097076416, + -11.220527648925781, + 0.20714128017425537 + ], + [ + -11.270012855529785, + -12.036934852600098, + 2.030125141143799 + ], + [ + -12.103861808776855, + -11.495426177978516, + 2.030125141143799 + ], + [ + -11.57367992401123, + -10.6790189743042, + 2.030125141143799 + ], + [ + -10.73983097076416, + -11.220527648925781, + 2.030125141143799 + ] + ], + "corners_2d": [ + [ + 137.52297983579393, + 446.5449782316276 + ], + [ + 174.0619375898056, + 443.61736522957546 + ], + [ + 182.3407257868305, + 419.2671734034484 + ], + [ + 146.77802275825638, + 422.0445852848161 + ], + [ + 113.9292070166988, + 399.97868761500996 + ], + [ + 152.25508224949527, + 397.0656724563148 + ], + [ + 161.50249419990615, + 372.869822142338 + ], + [ + 124.24918133035055, + 375.62666323729087 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 5825, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -19.1251277923584, + "y": 6.095887660980225, + "z": 0.8948460817337036 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 598.5026295875374, + "ymin": 139.2149420061064, + "xmax": 734.1125058306741, + "ymax": 235.0052771367921 + }, + "corners_3d": [ + [ + -21.404022216796875, + 5.052896022796631, + 0.011262890882790089 + ], + [ + -21.39891815185547, + 7.149961948394775, + 0.011262890882790089 + ], + [ + -16.846233367919922, + 7.138879776000977, + 0.011262890882790089 + ], + [ + -16.851337432861328, + 5.041813850402832, + 0.011262890882790089 + ], + [ + -21.404022216796875, + 5.052896022796631, + 1.7784292697906494 + ], + [ + -21.39891815185547, + 7.149961948394775, + 1.7784292697906494 + ], + [ + -16.846233367919922, + 7.138879776000977, + 1.7784292697906494 + ], + [ + -16.851337432861328, + 5.041813850402832, + 1.7784292697906494 + ] + ], + "corners_2d": [ + [ + 709.3539353701525, + 235.0052771367921 + ], + [ + 731.0919539606753, + 207.02997622102023 + ], + [ + 624.7410816687143, + 179.25815336611603 + ], + [ + 599.8306820888655, + 205.02232062534114 + ], + [ + 711.748514767053, + 193.46028849064575 + ], + [ + 734.1125058306741, + 166.20289355791596 + ], + [ + 624.2557669381329, + 139.2149420061064 + ], + [ + 598.5026295875374, + 164.2495298809094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 150.83954966265082, + "ymin": 112.29868134239436, + "xmax": 170.7434491713716, + "ymax": 132.64928252064166 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 169.2547762132645, + 132.64928252064166 + ], + [ + 170.7434491713716, + 131.80867822255428 + ], + [ + 158.16406053555056, + 128.07547123184918 + ], + [ + 156.66749267060902, + 128.9060809011325 + ], + [ + 163.544124220539, + 116.8107045671695 + ], + [ + 165.0585764378867, + 115.98139621328838 + ], + [ + 152.36199449864318, + 112.29868134239436 + ], + [ + 150.83954966265082, + 113.11801091966788 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 150.8395529729155, + "ymin": 112.29868230195899, + "xmax": 170.74345248869764, + "ymax": 132.649283507774 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 169.25477953269922, + 132.649283507774 + ], + [ + 170.74345248869764, + 131.80867920704293 + ], + [ + 158.16406381346064, + 128.07547220464028 + ], + [ + 156.6674959505503, + 128.9060818765202 + ], + [ + 163.54412757114744, + 116.81070554105267 + ], + [ + 165.05857978635964, + 115.9813971845318 + ], + [ + 152.36199780685234, + 112.29868230195899 + ], + [ + 150.8395529729155, + 113.11801188182474 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 97.50388084092697, + "ymin": 98.71878914972388, + "xmax": 117.34657007316889, + "ymax": 118.67779906846036 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 115.82100261040068, + 118.67779906846036 + ], + [ + 117.34657007316889, + 117.87419530360538 + ], + [ + 105.3564747742164, + 114.30473161095932 + ], + [ + 103.82417101362444, + 115.0989914672374 + ], + [ + 109.60543518663201, + 103.0304672047182 + ], + [ + 111.15730799118558, + 102.23808980878289 + ], + [ + 99.06255216548482, + 98.71878914972388 + ], + [ + 97.50388084092697, + 99.50184495969461 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 98.57790212163286, + "ymin": 97.14882382850175, + "xmax": 118.36073964382376, + "ymax": 117.06237496091521 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 116.84051681892413, + 117.06237496091521 + ], + [ + 118.36073964382376, + 116.26299562437504 + ], + [ + 106.39610328435447, + 112.71222958807004 + ], + [ + 104.86916381289097, + 113.50233838552089 + ], + [ + 110.65356942336211, + 101.43763561816957 + ], + [ + 112.19992662363086, + 100.64947279811724 + ], + [ + 100.1310382637414, + 97.14882382850175 + ], + [ + 98.57790212163286, + 97.9277391170101 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 148.86222845393098, + "ymin": 104.81399403611456, + "xmax": 166.75733694304432, + "ymax": 126.03147704059026 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 166.55981939704458, + 126.03147704059026 + ], + [ + 166.75733694304432, + 125.92138898530752 + ], + [ + 155.62882733393315, + 122.64360738063567 + ], + [ + 155.43038956944918, + 122.75253556254239 + ], + [ + 160.10797069375235, + 108.14885374148972 + ], + [ + 160.309339276431, + 108.04048043465502 + ], + [ + 149.06452990877114, + 104.81399403611456 + ], + [ + 148.86222845393098, + 104.92121010208581 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 148.86236803358634, + "ymin": 104.81402337112723, + "xmax": 166.7574762313136, + "ymax": 126.03150717212841 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 166.5599587004333, + 126.03150717212841 + ], + [ + 166.7574762313136, + 125.92141910615896 + ], + [ + 155.6289653493145, + 122.64363718416558 + ], + [ + 155.43052759960108, + 122.75256537659064 + ], + [ + 160.10811157805915, + 108.14888340376615 + ], + [ + 160.3094801453176, + 108.04051008626783 + ], + [ + 149.06466947336781, + 104.81402337112723 + ], + [ + 148.86236803358634, + 104.92123944759172 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 150.83954966265082, + "ymin": 112.29868134239436, + "xmax": 170.7434491713716, + "ymax": 132.64928252064166 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 169.2547762132645, + 132.64928252064166 + ], + [ + 170.7434491713716, + 131.80867822255428 + ], + [ + 158.16406053555056, + 128.07547123184918 + ], + [ + 156.66749267060902, + 128.9060809011325 + ], + [ + 163.544124220539, + 116.8107045671695 + ], + [ + 165.0585764378867, + 115.98139621328838 + ], + [ + 152.36199449864318, + 112.29868134239436 + ], + [ + 150.83954966265082, + 113.11801091966788 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 150.8395498869702, + "ymin": 112.29868126213029, + "xmax": 170.74344931720748, + "ymax": 132.6492823967868 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 169.25477643260592, + 132.6492823967868 + ], + [ + 170.74344931720748, + 131.80867814020542 + ], + [ + 158.16406068216128, + 128.07547115047885 + ], + [ + 156.66749289111226, + 128.9060807787512 + ], + [ + 163.5441244436825, + 116.810704444977 + ], + [ + 165.05857658624575, + 115.98139613204745 + ], + [ + 152.3619946477864, + 112.29868126213029 + ], + [ + 150.8395498869702, + 113.11801079894664 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 150.83955249597778, + "ymin": 112.29868214203157, + "xmax": 170.74345193581007, + "ymax": 132.64928330196688 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 169.25477905257395, + 132.64928330196688 + ], + [ + 170.74345193581007, + 131.8086790429615 + ], + [ + 158.16406326714247, + 128.07547204250847 + ], + [ + 156.66749547739437, + 128.9060816731618 + ], + [ + 163.54412708709384, + 116.81070533800789 + ], + [ + 165.05857922828096, + 115.98139702265792 + ], + [ + 152.36199725548425, + 112.29868214203157 + ], + [ + 150.83955249597778, + 113.11801168122483 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 97.60361726322492, + "ymin": 111.61839174245557, + "xmax": 117.87433908624337, + "ymax": 131.94944599986997 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 116.31646986898704, + 131.94944599986997 + ], + [ + 117.87433908624337, + 131.11071456703567 + ], + [ + 105.6235617584831, + 127.38579549525588 + ], + [ + 104.05865658509401, + 128.21456558347072 + ], + [ + 109.97079131752889, + 116.12027049000449 + ], + [ + 111.55610829569514, + 115.29283219896959 + ], + [ + 99.19603673995289, + 111.61839174245557 + ], + [ + 97.60361726322492, + 112.43588488908583 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 148.86207264916402, + "ymin": 104.8139388693179, + "xmax": 166.7571807997055, + "ymax": 126.0314203758648 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 166.5596632440393, + 126.0314203758648 + ], + [ + 166.7571807997055, + 125.92133234067938 + ], + [ + 155.62867302558982, + 122.64355133275527 + ], + [ + 155.4302352518979, + 122.75247949488158 + ], + [ + 160.10781300975066, + 108.14879795924801 + ], + [ + 160.3091816021464, + 108.04042467246714 + ], + [ + 149.06437411324737, + 104.8139388693179 + ], + [ + 148.86207264916402, + 104.92115491555575 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 150.8395529729155, + "ymin": 112.29868230195899, + "xmax": 170.74345248869764, + "ymax": 132.649283507774 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 169.25477953269922, + 132.649283507774 + ], + [ + 170.74345248869764, + 131.80867920704293 + ], + [ + 158.16406381346064, + 128.07547220464028 + ], + [ + 156.6674959505503, + 128.9060818765202 + ], + [ + 163.54412757114744, + 116.81070554105267 + ], + [ + 165.05857978635964, + 115.9813971845318 + ], + [ + 152.36199780685234, + 112.29868230195899 + ], + [ + 150.8395529729155, + 113.11801188182474 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 147.52967990319036, + "ymin": 103.97166910596968, + "xmax": 169.52558004933127, + "ymax": 127.21712779010281 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 169.28921634038926, + 127.21712779010281 + ], + [ + 169.52558004933127, + 127.08481260111986 + ], + [ + 154.6855508827091, + 122.71139506163226 + ], + [ + 154.44771430722824, + 122.84185529512376 + ], + [ + 162.534442632731, + 108.40333977890927 + ], + [ + 162.77565517839236, + 108.27318636098434 + ], + [ + 147.77238668641894, + 103.97166910596968 + ], + [ + 147.52967990319036, + 104.09997197341394 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 148.86220765167695, + "ymin": 104.81394571444076, + "xmax": 166.75731488302307, + "ymax": 126.03142740685126 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 166.55979734890371, + 126.03142740685126 + ], + [ + 166.75731488302307, + 125.92133936917219 + ], + [ + 155.62880627539442, + 122.6435582872034 + ], + [ + 155.43036852297797, + 122.752486451784 + ], + [ + 160.10794886806588, + 108.14880488073544 + ], + [ + 160.3093174383502, + 108.04043159146639 + ], + [ + 149.06450909393106, + 104.81394571444076 + ], + [ + 148.86220765167695, + 104.92116176312695 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 150.8395498869702, + "ymin": 112.29868126213029, + "xmax": 170.74344931720748, + "ymax": 132.6492823967868 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 169.25477643260592, + 132.6492823967868 + ], + [ + 170.74344931720748, + 131.80867814020542 + ], + [ + 158.16406068216128, + 128.07547115047885 + ], + [ + 156.66749289111226, + 128.9060807787512 + ], + [ + 163.5441244436825, + 116.810704444977 + ], + [ + 165.05857658624575, + 115.98139613204745 + ], + [ + 152.3619946477864, + 112.29868126213029 + ], + [ + 150.8395498869702, + 113.11801079894664 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 147.5296130569027, + "ymin": 103.9717044678182, + "xmax": 169.52551490448712, + "ymax": 127.21716423228906 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 169.28915124120937, + 127.21716423228906 + ], + [ + 169.52551490448712, + 127.08484906886869 + ], + [ + 154.6854853318261, + 122.71143101818558 + ], + [ + 154.44764880249005, + 122.84189122636525 + ], + [ + 162.5343761978839, + 108.40337562581104 + ], + [ + 162.7755886973501, + 108.27322223281215 + ], + [ + 147.772319793444, + 103.9717044678182 + ], + [ + 147.5296130569027, + 104.10000731058199 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 147.52980209800518, + "ymin": 103.97169662079955, + "xmax": 169.52570228433586, + "ymax": 127.2171561364197 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 169.2893386640091, + 127.2171561364197 + ], + [ + 169.52570228433586, + 127.08484097644379 + ], + [ + 154.6856715854995, + 122.71142303919811 + ], + [ + 154.44783509859332, + 122.84188324400552 + ], + [ + 162.5345663994226, + 108.40336766218795 + ], + [ + 162.77577885465797, + 108.27321427262586 + ], + [ + 147.77250879086023, + 103.97169662079955 + ], + [ + 147.52980209800518, + 104.09999946019954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 150.8395485309302, + "ymin": 112.29868062182004, + "xmax": 170.7434479502166, + "ymax": 132.64928173808073 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 169.25477506534406, + 132.64928173808073 + ], + [ + 170.7434479502166, + 131.8086774832635 + ], + [ + 158.1640593364276, + 128.07547050134266 + ], + [ + 156.6674915451457, + 128.9060801278824 + ], + [ + 163.5441230659029, + 116.810703795112 + ], + [ + 165.05857520872735, + 115.98139548394397 + ], + [ + 152.36199329196842, + 112.29868062182004 + ], + [ + 150.8395485309302, + 113.11801015690662 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 147.52974989405698, + "ymin": 103.97163437829602, + "xmax": 169.52564826420388, + "ymax": 127.21709196111814 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 169.2892845833951, + 127.21709196111814 + ], + [ + 169.52564826420388, + 127.08477678737887 + ], + [ + 154.68561946652835, + 122.71135974991904 + ], + [ + 154.44778291914463, + 122.84181996848622 + ], + [ + 162.5345122497626, + 108.40330453519246 + ], + [ + 162.77572476630746, + 108.27315113247741 + ], + [ + 147.77245664821015, + 103.97163437829602 + ], + [ + 147.52974989405698, + 104.09993723085356 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 87.3849221626383, + "ymin": 93.90393235275985, + "xmax": 107.1393379291751, + "ymax": 113.72340367736348 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 105.61281066332162, + 113.72340367736348 + ], + [ + 107.1393379291751, + 112.93272082444761 + ], + [ + 95.30440393365325, + 109.4204472466057 + ], + [ + 93.77140075440764, + 110.20200999643603 + ], + [ + 99.32798128172772, + 98.14567682603615 + ], + [ + 100.88070154006607, + 97.36618896172166 + ], + [ + 88.94417365075515, + 93.90393235275985 + ], + [ + 87.3849221626383, + 94.67432449704984 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 147.5296787207177, + "ymin": 103.97166886823015, + "xmax": 169.52557879197212, + "ymax": 127.21712750373916 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 169.28921515624847, + 127.21712750373916 + ], + [ + 169.52557879197212, + 127.08481235594527 + ], + [ + 154.6855496400043, + 122.71139481989448 + ], + [ + 154.4477131382036, + 122.84185501277511 + ], + [ + 162.5344414347524, + 108.40333949722333 + ], + [ + 162.77565390569356, + 108.27318611981619 + ], + [ + 147.77238542875733, + 103.97166886823015 + ], + [ + 147.5296787207177, + 104.09997169573353 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 151.23156040723728, + "ymin": 116.60889861302022, + "xmax": 171.09382688994464, + "ymax": 136.8998370428816 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 169.608526798686, + 136.8998370428816 + ], + [ + 171.09382688994464, + 136.05518584421753 + ], + [ + 158.53671160033065, + 132.3039526397066 + ], + [ + 157.04354147304264, + 133.1385804930248 + ], + [ + 163.9134319939855, + 121.14399052695919 + ], + [ + 165.4243986826632, + 120.31045209881117 + ], + [ + 152.75049448690476, + 116.60889861302022 + ], + [ + 151.23156040723728, + 117.43242697298524 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 148.86222845393098, + "ymin": 104.81399403611456, + "xmax": 166.75733694304432, + "ymax": 126.03147704059026 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 166.55981939704458, + 126.03147704059026 + ], + [ + 166.75733694304432, + 125.92138898530752 + ], + [ + 155.62882733393315, + 122.64360738063567 + ], + [ + 155.43038956944918, + 122.75253556254239 + ], + [ + 160.10797069375235, + 108.14885374148972 + ], + [ + 160.309339276431, + 108.04048043465502 + ], + [ + 149.06452990877114, + 104.81399403611456 + ], + [ + 148.86222845393098, + 104.92121010208581 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 79.3018520356037, + "ymin": 93.33508478947795, + "xmax": 99.09457917400937, + "ymax": 113.13804633402103 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 97.55906243961442, + 113.13804633402103 + ], + [ + 99.09457917400937, + 112.34888316702103 + ], + [ + 87.31740696965176, + 108.84333629791388 + ], + [ + 85.77554715039446, + 109.62340556655451 + ], + [ + 91.18572417318694, + 97.56860505237694 + ], + [ + 92.74763017922191, + 96.79063293973138 + ], + [ + 80.87015200560893, + 93.33508478947795 + ], + [ + 79.3018520356037, + 94.10398762244029 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 148.86234985329105, + "ymin": 104.8140176010206, + "xmax": 166.75745803126233, + "ymax": 126.03150124534756 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 166.55994049903967, + 126.03150124534756 + ], + [ + 166.75745803126233, + 125.92141318148018 + ], + [ + 155.62894735106033, + 122.64363132190306 + ], + [ + 155.4305096000561, + 122.75255951225913 + ], + [ + 160.10809319106608, + 108.14887756928763 + ], + [ + 160.30946175968126, + 108.04050425388684 + ], + [ + 149.06465129437618, + 104.8140176010206 + ], + [ + 148.86234985329105, + 104.92123367542098 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 6353947187501099636, + "instance_id": 29802, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.83403015136719, + "y": 11.495048522949219, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995849788188934, + "y": 0.13933531939983368, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1266.6085662285832, + "ymin": 176.7958850900744, + "xmax": 1280.0, + "ymax": 207.05801439161783 + }, + "corners_3d": [ + [ + -38.69469451904297, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.305089950561523, + 2.645533323287964 + ], + [ + -38.973365783691406, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.685007095336914, + 2.645533323287964 + ], + [ + -38.69469451904297, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.305089950561523, + 3.5146729946136475 + ], + [ + -38.973365783691406, + 11.685007095336914, + 3.5146729946136475 + ], + [ + -38.69469451904297, + 11.685007095336914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1266.6085662285832, + 205.0151658980974 + ], + [ + 1275.971364497841, + 207.05801439161783 + ], + [ + 1276.005435848258, + 201.4951253769204 + ], + [ + 1266.7165440319154, + 199.48448956743587 + ], + [ + 1278.1781673449354, + 182.24457873944795 + ], + [ + 1287.7487561702792, + 184.25754777421685 + ], + [ + 1287.6883786808262, + 178.77653273935334 + ], + [ + 1278.1950001740604, + 176.7958850900744 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15772372477452252142, + "instance_id": 61043, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -38.70494842529297, + "y": -9.365968704223633, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995757400989532, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1248.3413652514596, + "ymin": 705.6850829055987, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -38.84428405761719, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.176011085510254, + 2.645533323287964 + ], + [ + -38.56561279296875, + -9.555926322937012, + 2.645533323287964 + ], + [ + -38.84428405761719, + -9.555926322937012, + 3.5146729946136475 + ], + [ + -38.84428405761719, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.176011085510254, + 3.5146729946136475 + ], + [ + -38.56561279296875, + -9.555926322937012, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1264.888411248227, + 752.6378838648322 + ], + [ + 1265.1037997681815, + 735.1707629623044 + ], + [ + 1248.78619391132, + 728.9099907760005 + ], + [ + 1248.3413652514596, + 746.1984789342418 + ], + [ + 1285.7577073367047, + 729.7400023563272 + ], + [ + 1285.6783236100355, + 712.0291763537587 + ], + [ + 1268.7183019816646, + 705.6850829055987 + ], + [ + 1268.549673318362, + 723.2088259391621 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 155.732645374684, + "ymin": 114.7814265255584, + "xmax": 177.36425709110398, + "ymax": 168.24821873911503 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 176.3325118284513, + 168.24821873911503 + ], + [ + 177.36425709110398, + 167.6286202119369 + ], + [ + 175.95906797424703, + 167.1891355786699 + ], + [ + 174.92669430404368, + 167.80791173680282 + ], + [ + 157.18323932538306, + 115.79692949977368 + ], + [ + 158.2761891965526, + 115.20281055182795 + ], + [ + 156.82625082180186, + 114.7814265255584 + ], + [ + 155.732645374684, + 115.3747244052752 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 155.732645374684, + "ymin": 114.7814265255584, + "xmax": 177.36425709110398, + "ymax": 168.24821873911503 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 176.3325118284513, + 168.24821873911503 + ], + [ + 177.36425709110398, + 167.6286202119369 + ], + [ + 175.95906797424703, + 167.1891355786699 + ], + [ + 174.92669430404368, + 167.80791173680282 + ], + [ + 157.18323932538306, + 115.79692949977368 + ], + [ + 158.2761891965526, + 115.20281055182795 + ], + [ + 156.82625082180186, + 114.7814265255584 + ], + [ + 155.732645374684, + 115.3747244052752 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 103.18356228388211, + "ymin": 99.51604988799028, + "xmax": 126.33992173932745, + "ymax": 152.260446478814 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 125.2864769648429, + 152.260446478814 + ], + [ + 126.33992173932745, + 151.67035881473862 + ], + [ + 125.00160887925551, + 151.25179027274854 + ], + [ + 123.9476259197944, + 151.84111359712955 + ], + [ + 104.56231087201627, + 100.48128036228525 + ], + [ + 105.67779336050717, + 99.9165830661471 + ], + [ + 104.29960063146973, + 99.51604988799028 + ], + [ + 103.18356228388211, + 100.07998632546054 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 155.732645374684, + "ymin": 114.7814265255584, + "xmax": 177.36425709110398, + "ymax": 168.24821873911503 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 176.3325118284513, + 168.24821873911503 + ], + [ + 177.36425709110398, + 167.6286202119369 + ], + [ + 175.95906797424703, + 167.1891355786699 + ], + [ + 174.92669430404368, + 167.80791173680282 + ], + [ + 157.18323932538306, + 115.79692949977368 + ], + [ + 158.2761891965526, + 115.20281055182795 + ], + [ + 156.82625082180186, + 114.7814265255584 + ], + [ + 155.732645374684, + 115.3747244052752 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 91.93012560599936, + "ymin": 96.24677361973261, + "xmax": 115.39972265334268, + "ymax": 148.83249219015 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 114.34192497643437, + 148.83249219015 + ], + [ + 115.39972265334268, + 148.24863832198136 + ], + [ + 114.07553687239476, + 147.83448819479534 + ], + [ + 113.01721948695058, + 148.41758979929466 + ], + [ + 93.29372562109756, + 97.2014037799915 + ], + [ + 94.41369933957208, + 96.64291015021246 + ], + [ + 93.05063483282765, + 96.24677361973261 + ], + [ + 91.93012560599936, + 96.80451889017166 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 772.0033161490442, + "ymin": 0.0, + "xmax": 784.9589116143951, + "ymax": 8.030352974450409 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 784.6320400356486, + 3.7365791555967576 + ], + [ + 776.3311083377819, + 2.218224232895352 + ], + [ + 772.0033161490442, + 6.485761389329696 + ], + [ + 780.3624128374724, + 8.030352974450409 + ], + [ + 784.9589116143951, + 0.4945064064553435 + ], + [ + 776.6382789423283, + -1.0173712653362372 + ], + [ + 772.3032957359094, + 3.2320136913393753 + ], + [ + 780.6823738778728, + 4.770075805429997 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 155.732645374684, + "ymin": 114.7814265255584, + "xmax": 177.36425709110398, + "ymax": 168.24821873911503 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 176.3325118284513, + 168.24821873911503 + ], + [ + 177.36425709110398, + 167.6286202119369 + ], + [ + 175.95906797424703, + 167.1891355786699 + ], + [ + 174.92669430404368, + 167.80791173680282 + ], + [ + 157.18323932538306, + 115.79692949977368 + ], + [ + 158.2761891965526, + 115.20281055182795 + ], + [ + 156.82625082180186, + 114.7814265255584 + ], + [ + 155.732645374684, + 115.3747244052752 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1222.9907461864245, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 107.21935275834852 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1223.3739889276785, + 85.67710182173039 + ], + [ + 1222.9907461864245, + 89.58745161997314 + ], + [ + 1318.4503212853742, + 107.21935275834852 + ], + [ + 1318.1870436410113, + 103.07027824921715 + ], + [ + 1301.056385464019, + -94.43465372075661 + ], + [ + 1301.2153368744544, + -91.3759605973732 + ], + [ + 1412.6118271381142, + -77.51570318017565 + ], + [ + 1411.5738622698218, + -80.78737813485048 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 102.31924760905372, + "ymin": 114.09589125109758, + "xmax": 126.05610599878071, + "ymax": 167.53089575649628 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 124.97753167536598, + 167.53089575649628 + ], + [ + 126.05610599878071, + 166.91263691703992 + ], + [ + 124.68644315950371, + 166.47410162384662 + ], + [ + 123.6073053529982, + 167.0915407589663 + ], + [ + 103.73128413804545, + 115.1091089794111 + ], + [ + 104.87496254637745, + 114.51632755714917 + ], + [ + 103.46350839191894, + 114.09589125109758 + ], + [ + 102.31924760905372, + 114.68785437515135 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 155.732645374684, + "ymin": 114.7814265255584, + "xmax": 177.36425709110398, + "ymax": 168.24821873911503 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 176.3325118284513, + 168.24821873911503 + ], + [ + 177.36425709110398, + 167.6286202119369 + ], + [ + 175.95906797424703, + 167.1891355786699 + ], + [ + 174.92669430404368, + 167.80791173680282 + ], + [ + 157.18323932538306, + 115.79692949977368 + ], + [ + 158.2761891965526, + 115.20281055182795 + ], + [ + 156.82625082180186, + 114.7814265255584 + ], + [ + 155.732645374684, + 115.3747244052752 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 155.732645374684, + "ymin": 114.7814265255584, + "xmax": 177.36425709110398, + "ymax": 168.24821873911503 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 176.3325118284513, + 168.24821873911503 + ], + [ + 177.36425709110398, + 167.6286202119369 + ], + [ + 175.95906797424703, + 167.1891355786699 + ], + [ + 174.92669430404368, + 167.80791173680282 + ], + [ + 157.18323932538306, + 115.79692949977368 + ], + [ + 158.2761891965526, + 115.20281055182795 + ], + [ + 156.82625082180186, + 114.7814265255584 + ], + [ + 155.732645374684, + 115.3747244052752 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 751.3130653262448, + "ymin": 0.0, + "xmax": 819.834318002542, + "ymax": 204.27924892940587 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 796.0971857523068, + 158.41840124649377 + ], + [ + 785.8886383563031, + 155.98188495364158 + ], + [ + 751.3130653262448, + 201.4892701695665 + ], + [ + 762.0998698555416, + 204.27924892940587 + ], + [ + 819.834318002542, + -36.20370121851556 + ], + [ + 807.9781009501289, + -38.17315383038539 + ], + [ + 769.5390807070373, + -1.0166137143606875 + ], + [ + 782.1853770645182, + 1.287282009365299 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 771.9335473807871, + "ymin": 0.0, + "xmax": 785.0285357037819, + "ymax": 8.079261974819019 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 784.698005127255, + 3.739010302046154 + ], + [ + 776.3081537840976, + 2.204420286410368 + ], + [ + 771.9335473807871, + 6.517867169121644 + ], + [ + 780.3828216057514, + 8.079261974819019 + ], + [ + 785.0285357037819, + 0.4621459150102396 + ], + [ + 776.618558795538, + -1.0658270362159215 + ], + [ + 772.236604414489, + 3.2290752058439125 + ], + [ + 780.706293837366, + 4.783799023474387 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 155.732645374684, + "ymin": 114.7814265255584, + "xmax": 177.36425709110398, + "ymax": 168.24821873911503 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 176.3325118284513, + 168.24821873911503 + ], + [ + 177.36425709110398, + 167.6286202119369 + ], + [ + 175.95906797424703, + 167.1891355786699 + ], + [ + 174.92669430404368, + 167.80791173680282 + ], + [ + 157.18323932538306, + 115.79692949977368 + ], + [ + 158.2761891965526, + 115.20281055182795 + ], + [ + 156.82625082180186, + 114.7814265255584 + ], + [ + 155.732645374684, + 115.3747244052752 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 155.732645374684, + "ymin": 114.7814265255584, + "xmax": 177.36425709110398, + "ymax": 168.24821873911503 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 176.3325118284513, + 168.24821873911503 + ], + [ + 177.36425709110398, + 167.6286202119369 + ], + [ + 175.95906797424703, + 167.1891355786699 + ], + [ + 174.92669430404368, + 167.80791173680282 + ], + [ + 157.18323932538306, + 115.79692949977368 + ], + [ + 158.2761891965526, + 115.20281055182795 + ], + [ + 156.82625082180186, + 114.7814265255584 + ], + [ + 155.732645374684, + 115.3747244052752 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 155.732645374684, + "ymin": 114.7814265255584, + "xmax": 177.36425709110398, + "ymax": 168.24821873911503 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 176.3325118284513, + 168.24821873911503 + ], + [ + 177.36425709110398, + 167.6286202119369 + ], + [ + 175.95906797424703, + 167.1891355786699 + ], + [ + 174.92669430404368, + 167.80791173680282 + ], + [ + 157.18323932538306, + 115.79692949977368 + ], + [ + 158.2761891965526, + 115.20281055182795 + ], + [ + 156.82625082180186, + 114.7814265255584 + ], + [ + 155.732645374684, + 115.3747244052752 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 157.11555254212539, + "ymin": 118.55720121797606, + "xmax": 178.6328292351319, + "ymax": 171.73393064798384 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 177.60509917907933, + 171.73393064798384 + ], + [ + 178.6328292351319, + 171.11278226177467 + ], + [ + 177.23065123016147, + 170.67219637320937 + ], + [ + 176.20229463796306, + 171.2925225927359 + ], + [ + 158.56295552480992, + 119.57607533587529 + ], + [ + 159.65144630981092, + 118.97998527960488 + ], + [ + 158.20469701042748, + 118.55720121797606 + ], + [ + 157.11555254212539, + 119.15246983248687 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1185.593358186649, + "ymin": 547.5772739868783, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1187.1739471894077, + 799.4238134766763 + ], + [ + 1185.593358186649, + 818.467220835026 + ], + [ + 1995.2092118937626, + 1164.8338137792825 + ], + [ + 1982.4178772191704, + 1134.5355160182758 + ], + [ + 1402.8819994378323, + 547.5772739868783 + ], + [ + 1405.1168071343845, + 569.0858214391251 + ], + [ + 2766.1273157299865, + 1009.2892163146998 + ], + [ + 2724.4116255187796, + 966.653583678363 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 155.732645374684, + "ymin": 114.7814265255584, + "xmax": 177.36425709110398, + "ymax": 168.24821873911503 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 176.3325118284513, + 168.24821873911503 + ], + [ + 177.36425709110398, + 167.6286202119369 + ], + [ + 175.95906797424703, + 167.1891355786699 + ], + [ + 174.92669430404368, + 167.80791173680282 + ], + [ + 157.18323932538306, + 115.79692949977368 + ], + [ + 158.2761891965526, + 115.20281055182795 + ], + [ + 156.82625082180186, + 114.7814265255584 + ], + [ + 155.732645374684, + 115.3747244052752 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 155.732645374684, + "ymin": 114.7814265255584, + "xmax": 177.36425709110398, + "ymax": 168.24821873911503 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 176.3325118284513, + 168.24821873911503 + ], + [ + 177.36425709110398, + 167.6286202119369 + ], + [ + 175.95906797424703, + 167.1891355786699 + ], + [ + 174.92669430404368, + 167.80791173680282 + ], + [ + 157.18323932538306, + 115.79692949977368 + ], + [ + 158.2761891965526, + 115.20281055182795 + ], + [ + 156.82625082180186, + 114.7814265255584 + ], + [ + 155.732645374684, + 115.3747244052752 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 208.172003023529, + "ymin": 0.0, + "xmax": 320.0024161945955, + "ymax": 75.69966672098184 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 320.0024161945955, + 44.78627646328886 + ], + [ + 313.0325645190788, + 43.122754986830216 + ], + [ + 257.78965903384807, + 73.84036441008766 + ], + [ + 264.9782240052651, + 75.69966672098184 + ], + [ + 280.8437252166766, + -125.7366536802142 + ], + [ + 273.15938157470254, + -127.01310897069396 + ], + [ + 208.172003023529, + -103.28647048376166 + ], + [ + 216.11381373338992, + -101.8396366035787 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 155.732645374684, + "ymin": 114.7814265255584, + "xmax": 177.36425709110398, + "ymax": 168.24821873911503 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 176.3325118284513, + 168.24821873911503 + ], + [ + 177.36425709110398, + 167.6286202119369 + ], + [ + 175.95906797424703, + 167.1891355786699 + ], + [ + 174.92669430404368, + 167.80791173680282 + ], + [ + 157.18323932538306, + 115.79692949977368 + ], + [ + 158.2761891965526, + 115.20281055182795 + ], + [ + 156.82625082180186, + 114.7814265255584 + ], + [ + 155.732645374684, + 115.3747244052752 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 155.732645374684, + "ymin": 114.7814265255584, + "xmax": 177.36425709110398, + "ymax": 168.24821873911503 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 176.3325118284513, + 168.24821873911503 + ], + [ + 177.36425709110398, + 167.6286202119369 + ], + [ + 175.95906797424703, + 167.1891355786699 + ], + [ + 174.92669430404368, + 167.80791173680282 + ], + [ + 157.18323932538306, + 115.79692949977368 + ], + [ + 158.2761891965526, + 115.20281055182795 + ], + [ + 156.82625082180186, + 114.7814265255584 + ], + [ + 155.732645374684, + 115.3747244052752 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 155.732645374684, + "ymin": 114.7814265255584, + "xmax": 177.36425709110398, + "ymax": 168.24821873911503 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 176.3325118284513, + 168.24821873911503 + ], + [ + 177.36425709110398, + 167.6286202119369 + ], + [ + 175.95906797424703, + 167.1891355786699 + ], + [ + 174.92669430404368, + 167.80791173680282 + ], + [ + 157.18323932538306, + 115.79692949977368 + ], + [ + 158.2761891965526, + 115.20281055182795 + ], + [ + 156.82625082180186, + 114.7814265255584 + ], + [ + 155.732645374684, + 115.3747244052752 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 102.11825288083924, + "ymin": 101.097820540145, + "xmax": 125.37548612439514, + "ymax": 153.91848732811255 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 124.31845880009189, + 153.91848732811255 + ], + [ + 125.37548612439514, + 153.32537257994983 + ], + [ + 124.03437492758223, + 152.90465853761262 + ], + [ + 122.9768078083082, + 153.49700305902113 + ], + [ + 103.49995690709738, + 102.06820083625962 + ], + [ + 104.6194214332105, + 101.50048965973389 + ], + [ + 103.23827486599464, + 101.097820540145 + ], + [ + 102.11825288083924, + 101.66476476073626 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 155.732645374684, + "ymin": 114.7814265255584, + "xmax": 177.36425709110398, + "ymax": 168.24821873911503 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 176.3325118284513, + 168.24821873911503 + ], + [ + 177.36425709110398, + 167.6286202119369 + ], + [ + 175.95906797424703, + 167.1891355786699 + ], + [ + 174.92669430404368, + 167.80791173680282 + ], + [ + 157.18323932538306, + 115.79692949977368 + ], + [ + 158.2761891965526, + 115.20281055182795 + ], + [ + 156.82625082180186, + 114.7814265255584 + ], + [ + 155.732645374684, + 115.3747244052752 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 83.8174514113067, + "ymin": 95.67371592663659, + "xmax": 107.57904229219673, + "ymax": 148.23147618335585 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 106.51513725923019, + 148.23147618335585 + ], + [ + 107.57904229219673, + 147.64871182617574 + ], + [ + 106.26112418745674, + 147.23533396078346 + ], + [ + 105.19670954739274, + 147.81734815832337 + ], + [ + 85.17428889953305, + 96.62649407901108 + ], + [ + 86.30082958388994, + 96.06908428826051 + ], + [ + 84.94451631960055, + 95.67371592663659 + ], + [ + 83.8174514113067, + 96.23037953473954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 155.732645374684, + "ymin": 114.7814265255584, + "xmax": 177.36425709110398, + "ymax": 168.24821873911503 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 176.3325118284513, + 168.24821873911503 + ], + [ + 177.36425709110398, + 167.6286202119369 + ], + [ + 175.95906797424703, + 167.1891355786699 + ], + [ + 174.92669430404368, + 167.80791173680282 + ], + [ + 157.18323932538306, + 115.79692949977368 + ], + [ + 158.2761891965526, + 115.20281055182795 + ], + [ + 156.82625082180186, + 114.7814265255584 + ], + [ + 155.732645374684, + 115.3747244052752 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 155.732645374684, + "ymin": 114.7814265255584, + "xmax": 177.36425709110398, + "ymax": 168.24821873911503 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 176.3325118284513, + 168.24821873911503 + ], + [ + 177.36425709110398, + 167.6286202119369 + ], + [ + 175.95906797424703, + 167.1891355786699 + ], + [ + 174.92669430404368, + 167.80791173680282 + ], + [ + 157.18323932538306, + 115.79692949977368 + ], + [ + 158.2761891965526, + 115.20281055182795 + ], + [ + 156.82625082180186, + 114.7814265255584 + ], + [ + 155.732645374684, + 115.3747244052752 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 155.732645374684, + "ymin": 114.7814265255584, + "xmax": 177.36425709110398, + "ymax": 168.24821873911503 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 176.3325118284513, + 168.24821873911503 + ], + [ + 177.36425709110398, + 167.6286202119369 + ], + [ + 175.95906797424703, + 167.1891355786699 + ], + [ + 174.92669430404368, + 167.80791173680282 + ], + [ + 157.18323932538306, + 115.79692949977368 + ], + [ + 158.2761891965526, + 115.20281055182795 + ], + [ + 156.82625082180186, + 114.7814265255584 + ], + [ + 155.732645374684, + 115.3747244052752 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 155.732645374684, + "ymin": 114.7814265255584, + "xmax": 177.36425709110398, + "ymax": 168.24821873911503 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 176.3325118284513, + 168.24821873911503 + ], + [ + 177.36425709110398, + 167.6286202119369 + ], + [ + 175.95906797424703, + 167.1891355786699 + ], + [ + 174.92669430404368, + 167.80791173680282 + ], + [ + 157.18323932538306, + 115.79692949977368 + ], + [ + 158.2761891965526, + 115.20281055182795 + ], + [ + 156.82625082180186, + 114.7814265255584 + ], + [ + 155.732645374684, + 115.3747244052752 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1201.100951310923, + "ymin": 27.135416479840956, + "xmax": 1280.0, + "ymax": 497.68024612823194 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1236.5504273579384, + 263.0089023575938 + ], + [ + 1223.1151725124587, + 259.7465056654341 + ], + [ + 1201.100951310923, + 492.09156703840915 + ], + [ + 1218.5725635467966, + 497.68024612823194 + ], + [ + 1354.9049261278547, + 29.839648810735696 + ], + [ + 1338.2077186218123, + 27.135416479840956 + ], + [ + 1355.3296644771208, + 232.0178766535025 + ], + [ + 1378.7536857204595, + 237.27311029302456 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00175/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00175/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..54fdea4ad1a510e7dc0a7747aada24014809c739 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00175/meta.json @@ -0,0 +1,6935 @@ +{ + "frame_id": 175, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 87.5, + "sim_timestamp": 15149.052541426616 + }, + "drone_pose": { + "x": -31.779695922177083, + "y": -21.35857471660409, + "z": 20.0, + "pitch": -41.62650115084073, + "yaw": 63.370173168314714, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.33504360914230347, + -0.6681978702545166, + 0.664272129535675, + 11.633898735046387 + ], + [ + 0.8939211368560791, + 0.44822442531585693, + 2.9802322387695312e-08, + -18.835102081298828 + ], + [ + -0.297743022441864, + 0.5938068628311157, + 0.7474908828735352, + -37.09486389160156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -31.567689592647312, + "y": -20.86178548425735, + "z": 20.0 + }, + "t1_image_uv": [ + 718.9854523813609, + -493.12225439991425 + ], + "t1_depth": 0.40298489237953283 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -22.16718292236328, + "y": -2.187763214111328, + "z": 0.9418217730522156 + }, + "image_uv": [ + 640.0000000000001, + 360.00000000000006 + ], + "depth": 28.690322012236194, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 697, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -22.16718292236328, + "y": -2.187763214111328, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.4898156523704529, + "y": 0.610891580581665, + "z": 0.883164644241333 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 613.7318367813314, + "ymin": 322.0198377638323, + "xmax": 666.0399405978425, + "ymax": 397.8356333818985 + }, + "corners_3d": [ + [ + -21.556291580200195, + -2.677578926086426, + 0.05865710973739624 + ], + [ + -22.778074264526367, + -2.6775786876678467, + 0.05865710973739624 + ], + [ + -22.778074264526367, + -1.697947382926941, + 0.05865710973739624 + ], + [ + -21.556291580200195, + -1.6979477405548096, + 0.05865710973739624 + ], + [ + -21.556291580200195, + -2.677578926086426, + 1.824986457824707 + ], + [ + -22.778074264526367, + -2.6775786876678467, + 1.824986457824707 + ], + [ + -22.778074264526367, + -1.697947382926941, + 1.824986457824707 + ], + [ + -21.556291580200195, + -1.6979477405548096, + 1.824986457824707 + ] + ], + "corners_2d": [ + [ + 614.7890041859214, + 385.3258755354639 + ], + [ + 650.9055315462927, + 397.8356333818985 + ], + [ + 665.0006998132667, + 377.99829265500483 + ], + [ + 629.4837075176885, + 366.0356598717011 + ], + [ + 613.7318367813314, + 341.089241496422 + ], + [ + 651.3696203327689, + 353.4745855359785 + ], + [ + 666.0399405978425, + 333.8414012750526 + ], + [ + 629.0528104193462, + 322.0198377638323 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 175, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 52, + "semantic_pixel_counts": { + "1": 388647, + "2": 251646, + "3": 61044, + "5": 3348, + "6": 2285, + "10": 221, + "12": 3459, + "14": 8319, + "20": 4582, + "24": 25628, + "25": 172421 + }, + "instance_pixel_counts": { + "108": 519, + "3992": 384, + "6018": 253, + "7274": 223, + "7576": 2706, + "7784": 12446, + "7786": 5222, + "8088": 1759, + "8296": 25137, + "8780": 3348, + "9322": 5802, + "9624": 10391, + "9832": 176906, + "10316": 3054, + "10828": 1411, + "21090": 12221, + "21602": 93674, + "24656": 389, + "24946": 28988, + "25168": 862, + "25856": 781, + "26218": 253, + "27988": 2194, + "29800": 1004, + "31375": 70931, + "31848": 26040, + "32360": 19066, + "33650": 7435, + "33906": 8544, + "34408": 128048, + "34418": 16077, + "39239": 172421, + "40855": 137, + "41367": 323, + "42903": 19193, + "46184": 1364, + "46696": 4602, + "48232": 7643, + "53391": 607, + "56320": 697, + "56576": 552, + "56832": 514, + "56975": 5893, + "57088": 676, + "57344": 413, + "57487": 4092, + "57600": 607, + "57999": 4704, + "58511": 497, + "58951": 117, + "59023": 24134, + "60928": 6125 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 697, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -22.16718292236328, + "y": -2.187763214111328, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.47923582792282104, + "y": 0.5435777306556702, + "z": 0.910658597946167 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 615.9299907780887, + "ymin": 322.1500879004742, + "xmax": 663.8344501285708, + "ymax": 397.5802205063469 + }, + "corners_3d": [ + [ + -21.623605728149414, + -2.666999340057373, + 0.031163156032562256 + ], + [ + -22.71076011657715, + -2.666998863220215, + 0.031163156032562256 + ], + [ + -22.71076011657715, + -1.7085272073745728, + 0.031163156032562256 + ], + [ + -21.623605728149414, + -1.7085275650024414, + 0.031163156032562256 + ], + [ + -21.623605728149414, + -2.666999340057373, + 1.852480411529541 + ], + [ + -22.71076011657715, + -2.666998863220215, + 1.852480411529541 + ], + [ + -22.71076011657715, + -1.7085272073745728, + 1.852480411529541 + ], + [ + -21.623605728149414, + -1.7085275650024414, + 1.852480411529541 + ] + ], + "corners_2d": [ + [ + 616.9287546605539, + 386.45317078826963 + ], + [ + 649.0392255704342, + 397.5802205063469 + ], + [ + 662.8547413152978, + 378.19916961035693 + ], + [ + 631.2655522077946, + 367.5481874245877 + ], + [ + 615.9299907780887, + 340.83311913597925 + ], + [ + 649.4357048466157, + 351.8457954943891 + ], + [ + 663.8344501285708, + 332.67174893537725 + ], + [ + 630.895905244562, + 322.1500879004742 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 552, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -18.041196823120117, + "y": 0.8099415302276611, + "z": 0.941826581954956 + }, + "extent": { + "x": 0.46907535195350647, + "y": 0.5251748561859131, + "z": 0.9338757395744324 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 548.6206963936426, + "ymin": 236.704587947004, + "xmax": 589.9239430195489, + "ymax": 302.83404210602436 + }, + "corners_3d": [ + [ + -17.625024795532227, + 0.2419261932373047, + 0.007950842380523682 + ], + [ + -18.652421951293945, + 0.46030715107917786, + 0.007950842380523682 + ], + [ + -18.457368850708008, + 1.3779568672180176, + 0.007950842380523682 + ], + [ + -17.42997169494629, + 1.1595759391784668, + 0.007950842380523682 + ], + [ + -17.625024795532227, + 0.2419261932373047, + 1.8757023811340332 + ], + [ + -18.652421951293945, + 0.46030715107917786, + 1.8757023811340332 + ], + [ + -18.457368850708008, + 1.3779568672180176, + 1.8757023811340332 + ], + [ + -17.42997169494629, + 1.1595759391784668, + 1.8757023811340332 + ] + ], + "corners_2d": [ + [ + 552.1138517141726, + 297.9708683532182 + ], + [ + 581.8188787730365, + 302.83404210602436 + ], + [ + 589.9239430195489, + 286.4364555066546 + ], + [ + 560.7787040018715, + 281.77100368555966 + ], + [ + 548.6206963936426, + 252.56873580666507 + ], + [ + 579.4916059796551, + 257.3361689679706 + ], + [ + 587.9637573869209, + 241.27070945049698 + ], + [ + 557.6969331402258, + 236.704587947004 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 514, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -24.423004150390625, + "y": 4.754949569702148, + "z": 0.9418461322784424 + }, + "extent": { + "x": 0.4852221608161926, + "y": 0.30633115768432617, + "z": 0.9588655829429626 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 776.075854185174, + "ymin": 225.26971019288507, + "xmax": 806.5647161322919, + "ymax": 290.8802431707654 + }, + "corners_3d": [ + [ + -24.169071197509766, + 4.240365028381348, + -0.017019450664520264 + ], + [ + -24.778377532958984, + 4.304405689239502, + -0.017019450664520264 + ], + [ + -24.676937103271484, + 5.269534111022949, + -0.017019450664520264 + ], + [ + -24.067630767822266, + 5.205493450164795, + -0.017019450664520264 + ], + [ + -24.169071197509766, + 4.240365028381348, + 1.9007117748260498 + ], + [ + -24.778377532958984, + 4.304405689239502, + 1.9007117748260498 + ], + [ + -24.676937103271484, + 5.269534111022949, + 1.9007117748260498 + ], + [ + -24.067630767822266, + 5.205493450164795, + 1.9007117748260498 + ] + ], + "corners_2d": [ + [ + 776.075854185174, + 287.04128017508765 + ], + [ + 793.5320827224328, + 290.8802431707654 + ], + [ + 800.2250010078968, + 274.97772601579214 + ], + [ + 783.089040484923, + 271.29255472911944 + ], + [ + 781.5480092195176, + 240.66544714333187 + ], + [ + 799.7378318040442, + 244.4221543780996 + ], + [ + 806.5647161322919, + 228.87004408318762 + ], + [ + 788.7224942293664, + 225.26971019288507 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 676, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -31.66718101501465, + "y": -2.187763214111328, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.3197924792766571, + "y": 0.53823322057724, + "z": 0.8810855746269226 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 929.8408882142555, + "ymin": 429.00784379296846, + "xmax": 990.7067633553615, + "ymax": 503.34666226050473 + }, + "corners_3d": [ + [ + -31.128948211669922, + -2.5075559616088867, + 0.06073617935180664 + ], + [ + -32.205413818359375, + -2.5075554847717285, + 0.06073617935180664 + ], + [ + -32.205413818359375, + -1.867970585823059, + 0.06073617935180664 + ], + [ + -31.128948211669922, + -1.8679709434509277, + 0.06073617935180664 + ], + [ + -31.128948211669922, + -2.5075559616088867, + 1.8229073286056519 + ], + [ + -32.205413818359375, + -2.5075554847717285, + 1.8229073286056519 + ], + [ + -32.205413818359375, + -1.867970585823059, + 1.8229073286056519 + ], + [ + -31.128948211669922, + -1.8679709434509277, + 1.8229073286056519 + ] + ], + "corners_2d": [ + [ + 929.8408882142555, + 489.555472578117 + ], + [ + 969.8553786006596, + 503.34666226050473 + ], + [ + 974.9935651404753, + 487.04644356176004 + ], + [ + 935.5547537235898, + 473.69973105525213 + ], + [ + 943.4725941324531, + 444.8418956341726 + ], + [ + 985.5971471806135, + 458.6337746062131 + ], + [ + 990.7067633553615, + 442.33469847363165 + ], + [ + 949.2205349356932, + 429.00784379296846 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 413, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -25.782682418823242, + "y": -13.31512451171875, + "z": 1.1336625814437866 + }, + "extent": { + "x": 0.47421878576278687, + "y": 0.28212833404541016, + "z": 0.9532471895217896 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 526.9563578269, + "ymin": 674.9604087362486, + "xmax": 581.5562330368866, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -25.452529907226562, + -13.757254600524902, + 0.18041539192199707 + ], + [ + -26.013696670532227, + -13.816235542297363, + 0.18041539192199707 + ], + [ + -26.112834930419922, + -12.872994422912598, + 0.18041539192199707 + ], + [ + -25.551668167114258, + -12.814013481140137, + 0.18041539192199707 + ], + [ + -25.452529907226562, + -13.757254600524902, + 2.086909770965576 + ], + [ + -26.013696670532227, + -13.816235542297363, + 2.086909770965576 + ], + [ + -26.112834930419922, + -12.872994422912598, + 2.086909770965576 + ], + [ + -25.551668167114258, + -12.814013481140137, + 2.086909770965576 + ] + ], + "corners_2d": [ + [ + 533.9862796541338, + 756.799195836391 + ], + [ + 555.4432335860571, + 770.9155884314798 + ], + [ + 581.5562330368866, + 734.5168750018256 + ], + [ + 560.427125354844, + 721.1974736955103 + ], + [ + 526.9563578269, + 711.477451485732 + ], + [ + 549.7685779620502, + 725.9949969618735 + ], + [ + 577.7543256657555, + 688.6061209359241 + ], + [ + 555.3104920528017, + 674.9604087362486 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 607, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -10.921846389770508, + "y": -10.357976913452148, + "z": 1.1188920736312866 + }, + "extent": { + "x": 0.34431517124176025, + "y": 0.5553256273269653, + "z": 0.9227288365364075 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 116.23394755166748, + "ymin": 369.7784765502517, + "xmax": 182.8207508093422, + "ymax": 447.69984155473185 + }, + "corners_3d": [ + [ + -10.307068824768066, + -10.579309463500977, + 0.19616323709487915 + ], + [ + -11.393449783325195, + -10.810226440429688, + 0.19616323709487915 + ], + [ + -11.53662395477295, + -10.13664436340332, + 0.19616323709487915 + ], + [ + -10.45024299621582, + -9.90572738647461, + 0.19616323709487915 + ], + [ + -10.307068824768066, + -10.579309463500977, + 2.041620969772339 + ], + [ + -11.393449783325195, + -10.810226440429688, + 2.041620969772339 + ], + [ + -11.53662395477295, + -10.13664436340332, + 2.041620969772339 + ], + [ + -10.45024299621582, + -9.90572738647461, + 2.041620969772339 + ] + ], + "corners_2d": [ + [ + 139.53807919809316, + 430.0020000599986 + ], + [ + 160.75409528890407, + 447.69984155473185 + ], + [ + 182.8207508093422, + 433.91061610182317 + ], + [ + 161.5007978997504, + 416.723013456565 + ], + [ + 116.23394755166748, + 382.9587535339498 + ], + [ + 137.98973103220078, + 400.55251078387323 + ], + [ + 161.43773272009963, + 386.8416790250237 + ], + [ + 139.55458056447827, + 369.7784765502517 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 6125, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -19.1251277923584, + "y": 6.095887660980225, + "z": 0.8948460817337036 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 598.239906911691, + "ymin": 154.24430103224614, + "xmax": 736.9836740135048, + "ymax": 253.09027733306715 + }, + "corners_3d": [ + [ + -21.404022216796875, + 5.052896022796631, + 0.011262890882790089 + ], + [ + -21.39891815185547, + 7.149961948394775, + 0.011262890882790089 + ], + [ + -16.846233367919922, + 7.138879776000977, + 0.011262890882790089 + ], + [ + -16.851337432861328, + 5.041813850402832, + 0.011262890882790089 + ], + [ + -21.404022216796875, + 5.052896022796631, + 1.7784292697906494 + ], + [ + -21.39891815185547, + 7.149961948394775, + 1.7784292697906494 + ], + [ + -16.846233367919922, + 7.138879776000977, + 1.7784292697906494 + ], + [ + -16.851337432861328, + 5.041813850402832, + 1.7784292697906494 + ] + ], + "corners_2d": [ + [ + 711.5272639100959, + 253.09027733306715 + ], + [ + 733.8040591546903, + 223.85132092626048 + ], + [ + 625.1825482869643, + 194.6918806426119 + ], + [ + 599.6046313429888, + 221.5563365425896 + ], + [ + 714.0541440407708, + 211.1502722773667 + ], + [ + 736.9836740135048, + 182.6192667978586 + ], + [ + 624.7013810365557, + 154.24430103224614 + ], + [ + 598.239906911691, + 180.38318816170585 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 141.62664010439448, + "ymin": 125.86525518000451, + "xmax": 161.96611941740122, + "ymax": 146.58810441151203 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 160.4305642864175, + 146.58810441151203 + ], + [ + 161.96611941740122, + 145.71379993540847 + ], + [ + 149.22251414049617, + 141.80605120696185 + ], + [ + 147.679030811593, + 142.66968495758397 + ], + [ + 154.4981511190599, + 130.58491820772682 + ], + [ + 156.06088333323163, + 129.72195534555732 + ], + [ + 143.19739453917128, + 125.86525518000451 + ], + [ + 141.62664010439448, + 126.71755675028464 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 141.62664345760902, + "ymin": 125.8652561847392, + "xmax": 161.9661227785685, + "ymax": 146.58810544501654 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 160.43056764970396, + 146.58810544501654 + ], + [ + 161.9661227785685, + 145.7138009660899 + ], + [ + 149.22251746066877, + 141.80605222507245 + ], + [ + 147.67903413380344, + 142.66968597846622 + ], + [ + 154.49815451424837, + 130.58491922784182 + ], + [ + 156.06088672627487, + 129.72195636285142 + ], + [ + 143.1973978903248, + 125.8652561847392 + ], + [ + 141.62664345760902, + 126.71755775778817 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 87.58941076306803, + "ymin": 111.64644925524857, + "xmax": 107.85594270550803, + "ymax": 131.96057929032918 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 106.28313812395515, + 131.96057929032918 + ], + [ + 107.85594270550803, + 131.12577507964824 + ], + [ + 95.72507993690192, + 127.39393674814107 + ], + [ + 94.1455648491467, + 128.21878305609636 + ], + [ + 99.83369554513797, + 116.15098227082802 + ], + [ + 101.43419746800362, + 115.3274725746692 + ], + [ + 89.19667947947835, + 111.64644925524857 + ], + [ + 87.58941076306803, + 112.46001822734513 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 88.72238083707782, + "ymin": 110.01284446591305, + "xmax": 108.92630486824987, + "ymax": 130.2798148486547 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 107.3591568136685, + 130.2798148486547 + ], + [ + 108.92630486824987, + 129.4494909345192 + ], + [ + 96.82144102363884, + 125.73760820907009 + ], + [ + 95.24760109583019, + 126.5580540394906 + ], + [ + 100.940232155849, + 114.4929849084169 + ], + [ + 102.53489306941526, + 113.67394804675337 + ], + [ + 90.32379009211843, + 110.01284446591305 + ], + [ + 88.72238083707782, + 110.82202123895777 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 139.5507639059809, + "ymin": 118.32409221448373, + "xmax": 157.85220617943565, + "ymax": 139.88915320114918 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 157.64843743720576, + 139.88915320114918 + ], + [ + 157.85220617943565, + 139.77463120138924 + ], + [ + 146.57806102900526, + 136.3428473350235 + ], + [ + 146.37336840915958, + 136.4561306357066 + ], + [ + 150.94481163412337, + 121.81675831087776 + ], + [ + 151.15264144061564, + 121.70396001938565 + ], + [ + 139.75952973654313, + 118.32409221448373 + ], + [ + 139.5507639059809, + 118.43565363612794 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 139.55090555396032, + "ymin": 118.32412298724728, + "xmax": 157.85234754624992, + "ymax": 139.88918480203023 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 157.64857881942783, + 139.88918480203023 + ], + [ + 157.85234754624992, + 139.77466279083714 + ], + [ + 146.57820106961105, + 136.34287858282258 + ], + [ + 146.37350846480513, + 136.45616189475382 + ], + [ + 150.94495464194142, + 121.81678943620187 + ], + [ + 151.1527844327191, + 121.70399113329216 + ], + [ + 139.75967136918945, + 118.32412298724728 + ], + [ + 139.55090555396032, + 118.4356844201217 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 141.62664010439448, + "ymin": 125.86525518000451, + "xmax": 161.96611941740122, + "ymax": 146.58810441151203 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 160.4305642864175, + 146.58810441151203 + ], + [ + 161.96611941740122, + 145.71379993540847 + ], + [ + 149.22251414049617, + 141.80605120696185 + ], + [ + 147.679030811593, + 142.66968495758397 + ], + [ + 154.4981511190599, + 130.58491820772682 + ], + [ + 156.06088333323163, + 129.72195534555732 + ], + [ + 143.19739453917128, + 125.86525518000451 + ], + [ + 141.62664010439448, + 126.71755675028464 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 141.62664033583815, + "ymin": 125.86525509651273, + "xmax": 161.966119567826, + "ymax": 146.5881042826883 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 160.43056451267267, + 146.5881042826883 + ], + [ + 161.966119567826, + 145.71379984976056 + ], + [ + 149.22251429169881, + 141.80605112235855 + ], + [ + 147.6790310390146, + 142.6696848303336 + ], + [ + 154.4981513493234, + 130.58491808057204 + ], + [ + 156.06088348631607, + 129.7219552610219 + ], + [ + 143.197394693043, + 125.86525509651273 + ], + [ + 141.62664033583815, + 126.71755662470187 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 141.62664297588782, + "ymin": 125.86525601728351, + "xmax": 161.96612221837404, + "ymax": 146.58810522982463 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 160.43056716457465, + 146.58810522982463 + ], + [ + 161.96612221837404, + 145.71380079430975 + ], + [ + 149.2225169073066, + 141.80605205538745 + ], + [ + 147.67903365590882, + 142.66968576590244 + ], + [ + 154.49815402513815, + 130.5849190154378 + ], + [ + 156.06088616076767, + 129.72195619330245 + ], + [ + 143.1973973317992, + 125.86525601728351 + ], + [ + 141.62664297588782, + 126.71755754801003 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 87.37214838654256, + "ymin": 125.08734981336417, + "xmax": 108.08799224132565, + "ymax": 145.78792062146024 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 106.48071249426891, + 145.78792062146024 + ], + [ + 108.08799224132565, + 144.91580024063936 + ], + [ + 95.68936855841218, + 141.01777765255466 + ], + [ + 94.07507791742648, + 141.87926714573777 + ], + [ + 99.88928135433844, + 129.79511339451201 + ], + [ + 101.52549939293647, + 128.93433289726005 + ], + [ + 89.01543744000662, + 125.08734981336417 + ], + [ + 87.37214838654256, + 125.9375093106953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 139.55060631181925, + "ymin": 118.32403448011726, + "xmax": 157.85204820058783, + "ymax": 139.88909391310833 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 157.64827944885695, + 139.88909391310833 + ], + [ + 157.85204820058783, + 139.77457193479887 + ], + [ + 146.577904956797, + 136.3427887094182 + ], + [ + 146.37321232793101, + 136.4560719889979 + ], + [ + 150.94465208667378, + 121.81669991505399 + ], + [ + 151.1524819026995, + 121.70390164498306 + ], + [ + 139.75937215141778, + 118.32403448011726 + ], + [ + 139.55060631181925, + 118.43559588069161 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 141.62664345760902, + "ymin": 125.8652561847392, + "xmax": 161.9661227785685, + "ymax": 146.58810544501654 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 160.43056764970396, + 146.58810544501654 + ], + [ + 161.9661227785685, + 145.7138009660899 + ], + [ + 149.22251746066877, + 141.80605222507245 + ], + [ + 147.67903413380344, + 142.66968597846622 + ], + [ + 154.49815451424837, + 130.58491922784182 + ], + [ + 156.06088672627487, + 129.72195636285142 + ], + [ + 143.1973978903248, + 125.8652561847392 + ], + [ + 141.62664345760902, + 126.71755775778817 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 138.211020645198, + "ymin": 117.44400603348441, + "xmax": 160.67597054412488, + "ymax": 141.09860478490515 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 160.43213132098987, + 141.09860478490515 + ], + [ + 160.67597054412488, + 140.9609603686249 + ], + [ + 145.64177756469581, + 136.38228018154385 + ], + [ + 145.39645947534729, + 136.51794371664215 + ], + [ + 153.41369876846744, + 122.08538925123594 + ], + [ + 153.6626512623784, + 121.94991766349966 + ], + [ + 138.46147253232914, + 117.44400603348441 + ], + [ + 138.211020645198, + 117.57749979375131 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 139.55074381348203, + "ymin": 118.32404179153136, + "xmax": 157.85218475961977, + "ymax": 139.88910142127804 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 157.6484160301821, + 139.88910142127804 + ], + [ + 157.85218475961977, + 139.77457944025204 + ], + [ + 146.5780406423853, + 136.34279613369776 + ], + [ + 146.37334803552358, + 136.45607941594997 + ], + [ + 150.94479048556173, + 121.8167073102343 + ], + [ + 151.1526202787, + 121.70390903745059 + ], + [ + 139.7595096304937, + 118.32404179153136 + ], + [ + 139.55074381348203, + 118.43560319477393 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 141.62664033583815, + "ymin": 125.86525509651273, + "xmax": 161.966119567826, + "ymax": 146.5881042826883 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 160.43056451267267, + 146.5881042826883 + ], + [ + 161.966119567826, + 145.71379984976056 + ], + [ + 149.22251429169881, + 141.80605112235855 + ], + [ + 147.6790310390146, + 142.6696848303336 + ], + [ + 154.4981513493234, + 130.58491808057204 + ], + [ + 156.06088348631607, + 129.7219552610219 + ], + [ + 143.197394693043, + 125.86525509651273 + ], + [ + 141.62664033583815, + 126.71755662470187 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 138.21095166545592, + "ymin": 117.44404282584765, + "xmax": 160.6759033392214, + "ymax": 141.09864269502683 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 160.43206416261995, + 141.09864269502683 + ], + [ + 160.6759033392214, + 140.9609983050144 + ], + [ + 145.64170995209366, + 136.38231757203812 + ], + [ + 145.39639190977306, + 136.51798108112956 + ], + [ + 153.41363020157905, + 122.08542656303416 + ], + [ + 153.66258264841633, + 121.94995500091392 + ], + [ + 138.46140350500684, + 117.44404282584765 + ], + [ + 138.21095166545592, + 117.57753656075388 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 138.2111446032249, + "ymin": 117.44403488348749, + "xmax": 160.6760945660086, + "ymax": 141.09863450215013 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 160.43225543406805, + 141.09863450215013 + ], + [ + 160.6760945660086, + 140.96099011569348 + ], + [ + 145.6418999908105, + 136.38230950055953 + ], + [ + 145.39658199259088, + 136.5179730061717 + ], + [ + 153.4138243642588, + 122.08541849946306 + ], + [ + 153.6627767650781, + 121.94994694089362 + ], + [ + 138.4615963973435, + 117.44403488348749 + ], + [ + 138.2111446032249, + 117.57752861492034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 141.62663896782215, + "ymin": 125.8652544271618, + "xmax": 161.96611818809203, + "ymax": 146.58810359417103 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 160.43056313270307, + 146.58810359417103 + ], + [ + 161.96611818809203, + 145.71379916312404 + ], + [ + 149.22251293401814, + 141.80605044409663 + ], + [ + 147.679029681138, + 142.6696841502252 + ], + [ + 154.4981499587472, + 130.58491740097486 + ], + [ + 156.0608820959635, + 129.72195458330398 + ], + [ + 143.19739332520976, + 125.8652544271618 + ], + [ + 141.62663896782215, + 126.71755595350632 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 138.2110928175099, + "ymin": 117.44396990639441, + "xmax": 160.67604086519538, + "ymax": 141.09856751830077 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 160.43220167165333, + 141.09856751830077 + ], + [ + 160.67604086519538, + 140.96092311819476 + ], + [ + 145.6418482548164, + 136.38224346713793 + ], + [ + 145.39653019501304, + 136.51790698641017 + ], + [ + 153.4137705671426, + 122.0853525727986 + ], + [ + 153.66272303040398, + 121.9498810012141 + ], + [ + 138.4615446740455, + 117.44396990639441 + ], + [ + 138.2110928175099, + 117.577463650862 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 77.40098979797688, + "ymin": 106.62023141712675, + "xmax": 97.57328164008493, + "ymax": 126.78912928545176 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 95.99985202863832, + 126.78912928545176 + ], + [ + 97.57328164008493, + 125.96807190740259 + ], + [ + 85.60301927256148, + 122.29746440051213 + ], + [ + 84.02314978241532, + 123.10880810774617 + ], + [ + 89.48118350072605, + 111.04992723282402 + ], + [ + 91.08217913705073, + 110.24014008750885 + ], + [ + 79.00847441124972, + 106.62023141712675 + ], + [ + 77.40098979797688, + 107.42032453547958 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 138.2110194459343, + "ymin": 117.44400578395005, + "xmax": 160.6759692673824, + "ymax": 141.0986044847602 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 160.43213011978315, + 141.0986044847602 + ], + [ + 160.6759692673824, + 140.96096011133145 + ], + [ + 145.64177630322894, + 136.38227992795285 + ], + [ + 145.39645828988074, + 136.51794342081735 + ], + [ + 153.4136975530513, + 122.08538895582808 + ], + [ + 153.6626499698424, + 121.94991741026851 + ], + [ + 138.4614712554747, + 117.44400578395005 + ], + [ + 138.2110194459343, + 117.57749950265693 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 142.04083322379, + "ymin": 130.23702965093005, + "xmax": 162.33686887391997, + "ymax": 150.89822929399364 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 160.80487273421375, + 150.89822929399364 + ], + [ + 162.33686887391997, + 150.0197814783325 + ], + [ + 149.6161441413135, + 146.09345534230914 + ], + [ + 148.07624477255922, + 146.96120296709225 + ], + [ + 154.8890201976211, + 134.9804614827292 + ], + [ + 156.4480720563829, + 134.11316346090982 + ], + [ + 143.60788201620653, + 130.23702965093005 + ], + [ + 142.04083322379, + 131.09363417146432 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 139.5507639059809, + "ymin": 118.32409221448373, + "xmax": 157.85220617943565, + "ymax": 139.88915320114918 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 157.64843743720576, + 139.88915320114918 + ], + [ + 157.85220617943565, + 139.77463120138924 + ], + [ + 146.57806102900526, + 136.3428473350235 + ], + [ + 146.37336840915958, + 136.4561306357066 + ], + [ + 150.94481163412337, + 121.81675831087776 + ], + [ + 151.15264144061564, + 121.70396001938565 + ], + [ + 139.75952973654313, + 118.32409221448373 + ], + [ + 139.5507639059809, + 118.43565363612794 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 69.182162639441, + "ymin": 106.01794485307741, + "xmax": 89.39331142440346, + "ymax": 126.16941328131472 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 87.81061705383661, + 126.16941328131472 + ], + [ + 89.39331142440346, + 125.34999559497436 + ], + [ + 77.48338011481337, + 121.68669193598305 + ], + [ + 75.89438667295371, + 122.49642494897486 + ], + [ + 81.20051210277688, + 110.43871537309258 + ], + [ + 82.81097783640666, + 109.63056474840906 + ], + [ + 70.79897176282839, + 106.01794485307741 + ], + [ + 69.182162639441, + 106.8164307344299 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 139.55088714941456, + "ymin": 118.3241169461827, + "xmax": 157.85232911760028, + "ymax": 139.88917859839617 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 157.64856038944026, + 139.88917859839617 + ], + [ + 157.85232911760028, + 139.77465658944752 + ], + [ + 146.5781828507575, + 136.34287244850282 + ], + [ + 146.37349024466766, + 136.4561557582259 + ], + [ + 150.94493602242738, + 121.8167833259254 + ], + [ + 151.152765814556, + 121.70398502525705 + ], + [ + 139.75965296593887, + 118.3241169461827 + ], + [ + 139.55088714941456, + 118.43567837685251 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 146.5706586204517, + "ymin": 128.45333444894015, + "xmax": 168.98351042281087, + "ymax": 182.47992136056067 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 167.92022286660017, + 182.47992136056067 + ], + [ + 168.98351042281087, + 181.83625554284163 + ], + [ + 167.56029361665918, + 181.3767056886833 + ], + [ + 166.4963743884431, + 182.0194948993812 + ], + [ + 148.04030629787025, + 129.5128009126157 + ], + [ + 149.16806285205087, + 128.89464265202926 + ], + [ + 147.69907310014582, + 128.45333444894015 + ], + [ + 146.5706586204517, + 129.07061544429243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 146.5706586204517, + "ymin": 128.45333444894015, + "xmax": 168.98351042281087, + "ymax": 182.47992136056067 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 167.92022286660017, + 182.47992136056067 + ], + [ + 168.98351042281087, + 181.83625554284163 + ], + [ + 167.56029361665918, + 181.3767056886833 + ], + [ + 166.4963743884431, + 182.0194948993812 + ], + [ + 148.04030629787025, + 129.5128009126157 + ], + [ + 149.16806285205087, + 128.89464265202926 + ], + [ + 147.69907310014582, + 128.45333444894015 + ], + [ + 146.5706586204517, + 129.07061544429243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 93.36822447951272, + "ymin": 112.47722767257986, + "xmax": 117.3361647730585, + "ymax": 165.77184054025673 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 116.25113821298794, + 165.77184054025673 + ], + [ + 117.3361647730585, + 165.15960317584896 + ], + [ + 115.98238516205072, + 164.72247423983148 + ], + [ + 114.89682152773435, + 165.3338983899761 + ], + [ + 94.76319873545503, + 113.48288790821212 + ], + [ + 95.91348255350078, + 112.89613423618545 + ], + [ + 94.51906156107555, + 112.47722767257986 + ], + [ + 93.36822447951272, + 113.06317005292595 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 146.5706586204517, + "ymin": 128.45333444894015, + "xmax": 168.98351042281087, + "ymax": 182.47992136056067 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 167.92022286660017, + 182.47992136056067 + ], + [ + 168.98351042281087, + 181.83625554284163 + ], + [ + 167.56029361665918, + 181.3767056886833 + ], + [ + 166.4963743884431, + 182.0194948993812 + ], + [ + 148.04030629787025, + 129.5128009126157 + ], + [ + 149.16806285205087, + 128.89464265202926 + ], + [ + 147.69907310014582, + 128.45333444894015 + ], + [ + 146.5706586204517, + 129.07061544429243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 81.98420000428905, + "ymin": 109.05853567888812, + "xmax": 106.27084193226085, + "ymax": 162.1921841733971 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 105.1814747002145, + 162.1921841733971 + ], + [ + 106.27084193226085, + 161.5865780382909 + ], + [ + 104.93171353766513, + 161.1541799661865 + ], + [ + 103.84182856011898, + 161.75898605891922 + ], + [ + 83.36344880024376, + 110.05286446185644 + ], + [ + 84.51819903949956, + 109.47272440486222 + ], + [ + 83.13948219934184, + 109.05853567888812 + ], + [ + 81.98420000428905, + 109.63787811755688 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 776.2167423466276, + "ymin": 12.908273147551313, + "xmax": 789.5163363054914, + "ymax": 22.316646752511588 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 789.170818157119, + 17.802643886873057 + ], + [ + 780.6494024942106, + 16.196395187284452 + ], + [ + 776.2167423466276, + 20.681930485483406 + ], + [ + 784.7993362771767, + 22.316646752511588 + ], + [ + 789.5163363054914, + 14.507848496775296 + ], + [ + 780.974156287683, + 12.908273147551313 + ], + [ + 776.5340377063402, + 17.37523106617533 + ], + [ + 785.1376990505546, + 19.003222130545055 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 146.5706586204517, + "ymin": 128.45333444894015, + "xmax": 168.98351042281087, + "ymax": 182.47992136056067 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 167.92022286660017, + 182.47992136056067 + ], + [ + 168.98351042281087, + 181.83625554284163 + ], + [ + 167.56029361665918, + 181.3767056886833 + ], + [ + 166.4963743884431, + 182.0194948993812 + ], + [ + 148.04030629787025, + 129.5128009126157 + ], + [ + 149.16806285205087, + 128.89464265202926 + ], + [ + 147.69907310014582, + 128.45333444894015 + ], + [ + 146.5706586204517, + 129.07061544429243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1235.6526627309693, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 120.70888057154752 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1235.9820922104386, + 98.19909220807796 + ], + [ + 1235.6526627309693, + 102.26008927380144 + ], + [ + 1333.47787599227, + 120.70888057154752 + ], + [ + 1333.1296628762557, + 116.39322457546979 + ], + [ + 1317.0229621122799, + -84.29358565540554 + ], + [ + 1317.2812205011562, + -81.10111872422016 + ], + [ + 1431.8750721181575, + -66.52252870329147 + ], + [ + 1430.688675506111, + -69.94397329980535 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 92.13018236487244, + "ymin": 127.66928905325014, + "xmax": 116.72580300146274, + "ymax": 181.66073040555855 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 115.6140306089377, + 181.66073040555855 + ], + [ + 116.72580300146274, + 181.01862405260914 + ], + [ + 115.33984600529607, + 180.5601865253253 + ], + [ + 114.22751117436826, + 181.20141945384015 + ], + [ + 93.5593317489263, + 128.72608193222533 + ], + [ + 94.73968533424204, + 128.10948424621705 + ], + [ + 93.31111564797902, + 127.66928905325014 + ], + [ + 92.13018236487244, + 128.2850127926594 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 146.5706586204517, + "ymin": 128.45333444894015, + "xmax": 168.98351042281087, + "ymax": 182.47992136056067 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 167.92022286660017, + 182.47992136056067 + ], + [ + 168.98351042281087, + 181.83625554284163 + ], + [ + 167.56029361665918, + 181.3767056886833 + ], + [ + 166.4963743884431, + 182.0194948993812 + ], + [ + 148.04030629787025, + 129.5128009126157 + ], + [ + 149.16806285205087, + 128.89464265202926 + ], + [ + 147.69907310014582, + 128.45333444894015 + ], + [ + 146.5706586204517, + 129.07061544429243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 146.5706586204517, + "ymin": 128.45333444894015, + "xmax": 168.98351042281087, + "ymax": 182.47992136056067 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 167.92022286660017, + 182.47992136056067 + ], + [ + 168.98351042281087, + 181.83625554284163 + ], + [ + 167.56029361665918, + 181.3767056886833 + ], + [ + 166.4963743884431, + 182.0194948993812 + ], + [ + 148.04030629787025, + 129.5128009126157 + ], + [ + 149.16806285205087, + 128.89464265202926 + ], + [ + 147.69907310014582, + 128.45333444894015 + ], + [ + 146.5706586204517, + 129.07061544429243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 754.4944114911531, + "ymin": 0.0, + "xmax": 825.1823542445331, + "ymax": 221.13615342374194 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 800.2468298955682, + 173.30311801393768 + ], + [ + 789.8162655162104, + 170.7490445596463 + ], + [ + 754.4944114911531, + 218.20308262163405 + ], + [ + 765.5279850314175, + 221.13615342374194 + ], + [ + 825.1823542445331, + -23.845331394988477 + ], + [ + 813.0255352200635, + -25.922454765130283 + ], + [ + 773.7123696984361, + 13.078857989995072 + ], + [ + 786.6994680822393, + 15.518158716129506 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 776.1451168614484, + "ymin": 12.857901370552895, + "xmax": 789.5878047016708, + "ymax": 22.367522256324037 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 789.2384199594931, + 17.804655428094918 + ], + [ + 780.6257335972177, + 16.181236574415493 + ], + [ + 776.1451168614484, + 20.715019420626447 + ], + [ + 784.8203045058302, + 22.367522256324037 + ], + [ + 789.5878047016708, + 14.474502817090354 + ], + [ + 780.953906515715, + 12.857901370552895 + ], + [ + 776.4656684853453, + 17.372705195133335 + ], + [ + 785.1623809025667, + 19.01833707987487 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 146.5706586204517, + "ymin": 128.45333444894015, + "xmax": 168.98351042281087, + "ymax": 182.47992136056067 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 167.92022286660017, + 182.47992136056067 + ], + [ + 168.98351042281087, + 181.83625554284163 + ], + [ + 167.56029361665918, + 181.3767056886833 + ], + [ + 166.4963743884431, + 182.0194948993812 + ], + [ + 148.04030629787025, + 129.5128009126157 + ], + [ + 149.16806285205087, + 128.89464265202926 + ], + [ + 147.69907310014582, + 128.45333444894015 + ], + [ + 146.5706586204517, + 129.07061544429243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 146.5706586204517, + "ymin": 128.45333444894015, + "xmax": 168.98351042281087, + "ymax": 182.47992136056067 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 167.92022286660017, + 182.47992136056067 + ], + [ + 168.98351042281087, + 181.83625554284163 + ], + [ + 167.56029361665918, + 181.3767056886833 + ], + [ + 166.4963743884431, + 182.0194948993812 + ], + [ + 148.04030629787025, + 129.5128009126157 + ], + [ + 149.16806285205087, + 128.89464265202926 + ], + [ + 147.69907310014582, + 128.45333444894015 + ], + [ + 146.5706586204517, + 129.07061544429243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 146.5706586204517, + "ymin": 128.45333444894015, + "xmax": 168.98351042281087, + "ymax": 182.47992136056067 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 167.92022286660017, + 182.47992136056067 + ], + [ + 168.98351042281087, + 181.83625554284163 + ], + [ + 167.56029361665918, + 181.3767056886833 + ], + [ + 166.4963743884431, + 182.0194948993812 + ], + [ + 148.04030629787025, + 129.5128009126157 + ], + [ + 149.16806285205087, + 128.89464265202926 + ], + [ + 147.69907310014582, + 128.45333444894015 + ], + [ + 146.5706586204517, + 129.07061544429243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 148.0073182545492, + "ymin": 132.26900890386509, + "xmax": 170.2993316111731, + "ymax": 185.99698941303708 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 169.24026856397757, + 185.99698941303708 + ], + [ + 170.2993316111731, + 185.3517802736883 + ], + [ + 168.8791945880812, + 184.891126450539 + ], + [ + 167.8195016897966, + 185.53545933442757 + ], + [ + 149.47370194407006, + 133.33187327035608 + ], + [ + 150.59675692220395, + 132.71173374378225 + ], + [ + 149.13102934165556, + 132.26900890386509 + ], + [ + 148.0073182545492, + 132.88827091371428 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1208.129158369653, + "ymin": 612.795177137632, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1209.4936825245973, + 856.801197618214 + ], + [ + 1208.129158369653, + 877.541434961876 + ], + [ + 2071.6849526673213, + 1262.6364340072914 + ], + [ + 2056.758167198078, + 1228.7489625869216 + ], + [ + 1447.656460696219, + 612.795177137632 + ], + [ + 1450.931724674443, + 637.0481228519709 + ], + [ + 2962.4037720225997, + 1152.1239379884564 + ], + [ + 2910.921304628013, + 1101.2246634718276 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 146.5706586204517, + "ymin": 128.45333444894015, + "xmax": 168.98351042281087, + "ymax": 182.47992136056067 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 167.92022286660017, + 182.47992136056067 + ], + [ + 168.98351042281087, + 181.83625554284163 + ], + [ + 167.56029361665918, + 181.3767056886833 + ], + [ + 166.4963743884431, + 182.0194948993812 + ], + [ + 148.04030629787025, + 129.5128009126157 + ], + [ + 149.16806285205087, + 128.89464265202926 + ], + [ + 147.69907310014582, + 128.45333444894015 + ], + [ + 146.5706586204517, + 129.07061544429243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 146.5706586204517, + "ymin": 128.45333444894015, + "xmax": 168.98351042281087, + "ymax": 182.47992136056067 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 167.92022286660017, + 182.47992136056067 + ], + [ + 168.98351042281087, + 181.83625554284163 + ], + [ + 167.56029361665918, + 181.3767056886833 + ], + [ + 166.4963743884431, + 182.0194948993812 + ], + [ + 148.04030629787025, + 129.5128009126157 + ], + [ + 149.16806285205087, + 128.89464265202926 + ], + [ + 147.69907310014582, + 128.45333444894015 + ], + [ + 146.5706586204517, + 129.07061544429243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 201.1523179124024, + "ymin": 0.0, + "xmax": 316.0586712508511, + "ymax": 86.66187521752727 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 316.0586712508511, + 54.74205828920236 + ], + [ + 309.0044908273242, + 53.014742934024184 + ], + [ + 252.39080851916526, + 84.72777298842641 + ], + [ + 259.66648468507765, + 86.66187521752727 + ], + [ + 275.73523264595747, + -117.72478538925327 + ], + [ + 267.9489780540497, + -119.05514901607688 + ], + [ + 201.1523179124024, + -94.46249490031909 + ], + [ + 209.19916495160226, + -92.95109765393374 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 146.5706586204517, + "ymin": 128.45333444894015, + "xmax": 168.98351042281087, + "ymax": 182.47992136056067 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 167.92022286660017, + 182.47992136056067 + ], + [ + 168.98351042281087, + 181.83625554284163 + ], + [ + 167.56029361665918, + 181.3767056886833 + ], + [ + 166.4963743884431, + 182.0194948993812 + ], + [ + 148.04030629787025, + 129.5128009126157 + ], + [ + 149.16806285205087, + 128.89464265202926 + ], + [ + 147.69907310014582, + 128.45333444894015 + ], + [ + 146.5706586204517, + 129.07061544429243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 146.5706586204517, + "ymin": 128.45333444894015, + "xmax": 168.98351042281087, + "ymax": 182.47992136056067 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 167.92022286660017, + 182.47992136056067 + ], + [ + 168.98351042281087, + 181.83625554284163 + ], + [ + 167.56029361665918, + 181.3767056886833 + ], + [ + 166.4963743884431, + 182.0194948993812 + ], + [ + 148.04030629787025, + 129.5128009126157 + ], + [ + 149.16806285205087, + 128.89464265202926 + ], + [ + 147.69907310014582, + 128.45333444894015 + ], + [ + 146.5706586204517, + 129.07061544429243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 146.5706586204517, + "ymin": 128.45333444894015, + "xmax": 168.98351042281087, + "ymax": 182.47992136056067 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 167.92022286660017, + 182.47992136056067 + ], + [ + 168.98351042281087, + 181.83625554284163 + ], + [ + 167.56029361665918, + 181.3767056886833 + ], + [ + 166.4963743884431, + 182.0194948993812 + ], + [ + 148.04030629787025, + 129.5128009126157 + ], + [ + 149.16806285205087, + 128.89464265202926 + ], + [ + 147.69907310014582, + 128.45333444894015 + ], + [ + 146.5706586204517, + 129.07061544429243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 92.24405687970159, + "ymin": 114.12339964972665, + "xmax": 116.31929622003076, + "ymax": 167.49497520541726 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 115.23048381724357, + 167.49497520541726 + ], + [ + 116.31929622003076, + 166.87953287065528 + ], + [ + 114.96265887831805, + 166.44011749069685 + ], + [ + 113.87330785744848, + 167.05474021942715 + ], + [ + 93.6420488573956, + 115.13453919639392 + ], + [ + 94.79654909372755, + 114.54458748770975 + ], + [ + 93.39911188593305, + 114.12339964972665 + ], + [ + 92.24405687970159, + 114.71253342725217 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 146.5706586204517, + "ymin": 128.45333444894015, + "xmax": 168.98351042281087, + "ymax": 182.47992136056067 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 167.92022286660017, + 182.47992136056067 + ], + [ + 168.98351042281087, + 181.83625554284163 + ], + [ + 167.56029361665918, + 181.3767056886833 + ], + [ + 166.4963743884431, + 182.0194948993812 + ], + [ + 148.04030629787025, + 129.5128009126157 + ], + [ + 149.16806285205087, + 128.89464265202926 + ], + [ + 147.69907310014582, + 128.45333444894015 + ], + [ + 146.5706586204517, + 129.07061544429243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 73.73449176142981, + "ymin": 108.45168779370516, + "xmax": 98.32251517678151, + "ymax": 161.55660397567877 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 97.22685935474306, + 161.55660397567877 + ], + [ + 98.32251517678151, + 160.95217142556214 + ], + [ + 96.98992786465737, + 160.5206106504915 + ], + [ + 95.89376499257048, + 161.1242454819337 + ], + [ + 75.1066743270635, + 109.44401190447581 + ], + [ + 76.26819358848127, + 108.86504185615442 + ], + [ + 74.89653100985493, + 108.45168779370516 + ], + [ + 73.73449176142981, + 109.02986263460213 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 146.5706586204517, + "ymin": 128.45333444894015, + "xmax": 168.98351042281087, + "ymax": 182.47992136056067 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 167.92022286660017, + 182.47992136056067 + ], + [ + 168.98351042281087, + 181.83625554284163 + ], + [ + 167.56029361665918, + 181.3767056886833 + ], + [ + 166.4963743884431, + 182.0194948993812 + ], + [ + 148.04030629787025, + 129.5128009126157 + ], + [ + 149.16806285205087, + 128.89464265202926 + ], + [ + 147.69907310014582, + 128.45333444894015 + ], + [ + 146.5706586204517, + 129.07061544429243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 146.5706586204517, + "ymin": 128.45333444894015, + "xmax": 168.98351042281087, + "ymax": 182.47992136056067 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 167.92022286660017, + 182.47992136056067 + ], + [ + 168.98351042281087, + 181.83625554284163 + ], + [ + 167.56029361665918, + 181.3767056886833 + ], + [ + 166.4963743884431, + 182.0194948993812 + ], + [ + 148.04030629787025, + 129.5128009126157 + ], + [ + 149.16806285205087, + 128.89464265202926 + ], + [ + 147.69907310014582, + 128.45333444894015 + ], + [ + 146.5706586204517, + 129.07061544429243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 146.5706586204517, + "ymin": 128.45333444894015, + "xmax": 168.98351042281087, + "ymax": 182.47992136056067 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 167.92022286660017, + 182.47992136056067 + ], + [ + 168.98351042281087, + 181.83625554284163 + ], + [ + 167.56029361665918, + 181.3767056886833 + ], + [ + 166.4963743884431, + 182.0194948993812 + ], + [ + 148.04030629787025, + 129.5128009126157 + ], + [ + 149.16806285205087, + 128.89464265202926 + ], + [ + 147.69907310014582, + 128.45333444894015 + ], + [ + 146.5706586204517, + 129.07061544429243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 146.5706586204517, + "ymin": 128.45333444894015, + "xmax": 168.98351042281087, + "ymax": 182.47992136056067 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 167.92022286660017, + 182.47992136056067 + ], + [ + 168.98351042281087, + 181.83625554284163 + ], + [ + 167.56029361665918, + 181.3767056886833 + ], + [ + 166.4963743884431, + 182.0194948993812 + ], + [ + 148.04030629787025, + 129.5128009126157 + ], + [ + 149.16806285205087, + 128.89464265202926 + ], + [ + 147.69907310014582, + 128.45333444894015 + ], + [ + 146.5706586204517, + 129.07061544429243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1219.2950787948275, + "ymin": 44.10380327513536, + "xmax": 1280.0, + "ymax": 531.6866866274737 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1252.2104486201185, + 283.2932217085146 + ], + [ + 1238.363833051661, + 279.84495158464284 + ], + [ + 1219.2950787948275, + 525.6876316068328 + ], + [ + 1237.4592674883718, + 531.6866866274737 + ], + [ + 1377.249872329352, + 46.9899024368936 + ], + [ + 1359.9221500680385, + 44.10380327513536 + ], + [ + 1385.1237548788, + 263.88060667884145 + ], + [ + 1409.785148588543, + 269.62373396156835 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00176/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00176/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..69766682bc472ef975813bfc1c15593d3c36d783 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00176/meta.json @@ -0,0 +1,7037 @@ +{ + "frame_id": 176, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 88.0, + "sim_timestamp": 15158.184388150694 + }, + "drone_pose": { + "x": -31.567689592647312, + "y": -20.86178548425735, + "z": 20.0, + "pitch": -41.74790970985008, + "yaw": 63.88253104501087, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.3284348249435425, + -0.6699017882347107, + 0.6658544540405273, + 11.026187896728516 + ], + [ + 0.8978933691978455, + 0.44021302461624146, + 0.0, + -19.160789489746094 + ], + [ + -0.29311782121658325, + 0.5978662967681885, + 0.7460816502571106, + -36.64724349975586 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -31.349938895358946, + "y": -20.36092305477694, + "z": 20.0 + }, + "t1_image_uv": [ + 698.8888505888673, + -496.76983828207256 + ], + "t1_depth": 0.4070455551230522 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -22.16718292236328, + "y": -1.687763214111328, + "z": 0.9418217730522156 + }, + "image_uv": [ + 640.0, + 359.9999999999999 + ], + "depth": 28.62213851207168, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 684, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -22.16718292236328, + "y": -1.6877632141113281, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.5144091844558716, + "y": 0.42139890789985657, + "z": 0.883478581905365 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 620.8239622004285, + "ymin": 323.8201265175454, + "xmax": 659.5369995659084, + "ymax": 395.8692898312539 + }, + "corners_3d": [ + [ + -22.232952117919922, + -2.3494794368743896, + 0.05834317207336426 + ], + [ + -22.828899383544922, + -1.7535312175750732, + 0.05834317207336426 + ], + [ + -22.10141372680664, + -1.0260469913482666, + 0.05834317207336426 + ], + [ + -21.50546646118164, + -1.621995210647583, + 0.05834317207336426 + ], + [ + -22.232952117919922, + -2.3494794368743896, + 1.8253003358840942 + ], + [ + -22.828899383544922, + -1.7535312175750732, + 1.8253003358840942 + ], + [ + -22.10141372680664, + -1.0260469913482666, + 1.8253003358840942 + ], + [ + -21.50546646118164, + -1.621995210647583, + 1.8253003358840942 + ] + ], + "corners_2d": [ + [ + 632.2439175264037, + 395.8692898312539 + ], + [ + 658.7429833738075, + 389.5944880345057 + ], + [ + 647.5130727373952, + 367.90156259472826 + ], + [ + 621.589484080534, + 373.87194881475693 + ], + [ + 631.9129183038177, + 351.4947482849249 + ], + [ + 659.5369995659084, + 345.2792696823037 + ], + [ + 647.8232407547025, + 323.8201265175454 + ], + [ + 620.8239622004285, + 329.72173576682525 + ] + ], + "center_offset_px": [ + 0.0, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 176, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 50, + "semantic_pixel_counts": { + "1": 398094, + "2": 257015, + "3": 63215, + "5": 3224, + "6": 2446, + "10": 229, + "12": 3505, + "14": 6550, + "20": 4715, + "24": 25657, + "25": 156950 + }, + "instance_pixel_counts": { + "108": 280, + "3992": 430, + "6018": 266, + "7274": 147, + "7576": 2795, + "7784": 10539, + "7786": 4832, + "8088": 1841, + "8296": 24352, + "8780": 3224, + "9322": 6084, + "9624": 10726, + "9832": 184840, + "10316": 3144, + "10828": 1451, + "21090": 13738, + "21602": 96039, + "24656": 428, + "24946": 29927, + "25168": 904, + "25856": 848, + "26218": 138, + "27988": 270, + "29800": 443, + "31375": 69342, + "31848": 25634, + "32360": 19667, + "33650": 7876, + "33906": 8698, + "34408": 132619, + "34418": 16714, + "39239": 156950, + "42903": 19611, + "46184": 1338, + "46696": 4890, + "48232": 7948, + "53391": 774, + "56320": 684, + "56576": 589, + "56832": 468, + "56975": 6115, + "57088": 634, + "57344": 386, + "57487": 4311, + "57600": 744, + "57999": 5725, + "58511": 679, + "58951": 120, + "59023": 24889, + "60928": 6280 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 684, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -22.16718292236328, + "y": -1.6877632141113281, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.52056884765625, + "y": 0.481240451335907, + "z": 0.8748085498809814 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 618.832081266877, + "ymin": 323.5043893788784, + "xmax": 661.5507583972701, + "ymax": 396.2444898143072 + }, + "corners_3d": [ + [ + -22.194992065429688, + -2.3961493968963623, + 0.0670132040977478 + ], + [ + -22.875568389892578, + -1.715572476387024, + 0.0670132040977478 + ], + [ + -22.139373779296875, + -0.9793770909309387, + 0.0670132040977478 + ], + [ + -21.458797454833984, + -1.6599539518356323, + 0.0670132040977478 + ], + [ + -22.194992065429688, + -2.3961493968963623, + 1.8166303634643555 + ], + [ + -22.875568389892578, + -1.715572476387024, + 1.8166303634643555 + ], + [ + -22.139373779296875, + -0.9793770909309387, + 1.8166303634643555 + ], + [ + -21.458797454833984, + -1.6599539518356323, + 1.8166303634643555 + ] + ], + "corners_2d": [ + [ + 630.4113105484105, + 396.2444898143072 + ], + [ + 660.6836245558358, + 389.0766880653549 + ], + [ + 649.2762503558163, + 367.1464746048737 + ], + [ + 619.6692786814101, + 373.96240739335974 + ], + [ + 630.0059270821282, + 352.3005123091845 + ], + [ + 661.5507583972701, + 345.1997145154085 + ], + [ + 649.6551242053908, + 323.5043893788784 + ], + [ + 618.832081266877, + 330.2424988632686 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 589, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -18.041196823120117, + "y": 1.3099415302276611, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.43792295455932617, + "y": 0.44679880142211914, + "z": 0.9012981057167053 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 548.7600826779432, + "ymin": 237.0623457733866, + "xmax": 587.4765468286165, + "ymax": 302.45413400915584 + }, + "corners_3d": [ + [ + -18.165124893188477, + 0.6967145204544067, + 0.040523648262023926 + ], + [ + -18.651813507080078, + 1.4461482763290405, + 0.040523648262023926 + ], + [ + -17.917268753051758, + 1.9231685400009155, + 0.040523648262023926 + ], + [ + -17.430580139160156, + 1.1737347841262817, + 0.040523648262023926 + ], + [ + -18.165124893188477, + 0.6967145204544067, + 1.8431198596954346 + ], + [ + -18.651813507080078, + 1.4461482763290405, + 1.8431198596954346 + ], + [ + -17.917268753051758, + 1.9231685400009155, + 1.8431198596954346 + ], + [ + -17.430580139160156, + 1.1737347841262817, + 1.8431198596954346 + ] + ], + "corners_2d": [ + [ + 564.006045045523, + 302.45413400915584 + ], + [ + 587.4765468286165, + 294.0327294947199 + ], + [ + 575.3049199354402, + 280.6087915730401 + ], + [ + 552.1096072078205, + 288.74524385711004 + ], + [ + 561.0573916530476, + 258.4841200520763 + ], + [ + 585.460874217697, + 250.22062182684283 + ], + [ + 572.8658756961815, + 237.0623457733866 + ], + [ + 548.7600826779432, + 245.03573044258047 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 468, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -24.423004150390625, + "y": 5.25494909286499, + "z": 0.9418608546257019 + }, + "extent": { + "x": 0.4516552686691284, + "y": 0.449300080537796, + "z": 0.9314727783203125 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 769.2060586490572, + "ymin": 224.02581651379975, + "xmax": 811.7379858849059, + "ymax": 289.67177099001424 + }, + "corners_3d": [ + [ + -24.491252899169922, + 4.621541500091553, + 0.010388076305389404 + ], + [ + -25.056760787963867, + 5.31988525390625, + 0.010388076305389404 + ], + [ + -24.354755401611328, + 5.888356685638428, + 0.010388076305389404 + ], + [ + -23.789247512817383, + 5.1900129318237305, + 0.010388076305389404 + ], + [ + -24.491252899169922, + 4.621541500091553, + 1.8733336925506592 + ], + [ + -25.056760787963867, + 5.31988525390625, + 1.8733336925506592 + ], + [ + -24.354755401611328, + 5.888356685638428, + 1.8733336925506592 + ], + [ + -23.789247512817383, + 5.1900129318237305, + 1.8733336925506592 + ] + ], + "corners_2d": [ + [ + 782.7776847306958, + 289.67177099001424 + ], + [ + 805.2800558649008, + 282.9466433828512 + ], + [ + 791.4129113768686, + 268.75860964671324 + ], + [ + 769.2060586490572, + 275.24020050974 + ], + [ + 788.4064011858338, + 244.49322287608243 + ], + [ + 811.7379858849059, + 237.90675892481528 + ], + [ + 797.2172367255168, + 224.02581651379975 + ], + [ + 774.2026555244315, + 230.36466936092611 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 634, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -31.66718101501465, + "y": -1.6877632141113281, + "z": 0.941826581954956 + }, + "extent": { + "x": 0.36814451217651367, + "y": 0.27185606956481934, + "z": 0.8890097141265869 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 937.7561230112701, + "ymin": 429.6471745329374, + "xmax": 985.9363790727638, + "ymax": 499.2740208124569 + }, + "corners_3d": [ + [ + -31.735267639160156, + -2.1403119564056396, + 0.05281686782836914 + ], + [ + -32.119728088378906, + -1.7558493614196777, + 0.05281686782836914 + ], + [ + -31.59909439086914, + -1.2352144718170166, + 0.05281686782836914 + ], + [ + -31.214632034301758, + -1.6196770668029785, + 0.05281686782836914 + ], + [ + -31.735267639160156, + -2.1403119564056396, + 1.830836296081543 + ], + [ + -32.119728088378906, + -1.7558493614196777, + 1.830836296081543 + ], + [ + -31.59909439086914, + -1.2352144718170166, + 1.830836296081543 + ], + [ + -31.214632034301758, + -1.6196770668029785, + 1.830836296081543 + ] + ], + "corners_2d": [ + [ + 952.6393762869957, + 499.2740208124569 + ], + [ + 970.1232764296728, + 494.2252150190029 + ], + [ + 954.9700766563974, + 474.72869330241645 + ], + [ + 937.7561230112701, + 479.58028650474046 + ], + [ + 967.6949597876463, + 454.18066214513044 + ], + [ + 985.9363790727638, + 449.1295361331996 + ], + [ + 969.7465849867999, + 429.6471745329374 + ], + [ + 951.798105467735, + 434.4918146739987 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 386, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -25.782682418823242, + "y": -12.81512451171875, + "z": 1.1335307359695435 + }, + "extent": { + "x": 0.38576048612594604, + "y": 0.4069390892982483, + "z": 0.9315095543861389 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 534.6082750495374, + "ymin": 681.7987947758505, + "xmax": 584.5908494433945, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -25.709197998046875, + -13.371011734008789, + 0.20202118158340454 + ], + [ + -26.341699600219727, + -12.858821868896484, + 0.20202118158340454 + ], + [ + -25.85616683959961, + -12.259237289428711, + 0.20202118158340454 + ], + [ + -25.223665237426758, + -12.771427154541016, + 0.20202118158340454 + ], + [ + -25.709197998046875, + -13.371011734008789, + 2.065040349960327 + ], + [ + -26.341699600219727, + -12.858821868896484, + 2.065040349960327 + ], + [ + -25.85616683959961, + -12.259237289428711, + 2.065040349960327 + ], + [ + -25.223665237426758, + -12.771427154541016, + 2.065040349960327 + ] + ], + "corners_2d": [ + [ + 546.371448608773, + 769.0573282707911 + ], + [ + 584.5908494433945, + 760.5988886300918 + ], + [ + 578.153228004337, + 726.7131227249665 + ], + [ + 540.9284394728664, + 734.7203484029966 + ], + [ + 540.2210351066655, + 725.2679932395374 + ], + [ + 580.9769575625576, + 716.56956884071 + ], + [ + 574.2350579988324, + 681.7987947758505 + ], + [ + 534.6082750495374, + 690.0041338192556 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 744, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -10.921846389770508, + "y": -9.857977867126465, + "z": 1.1145659685134888 + }, + "extent": { + "x": 0.33366331458091736, + "y": 0.4185671806335449, + "z": 0.9356796741485596 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 116.8888249196641, + "ymin": 378.46401703245857, + "xmax": 177.34276374263573, + "ymax": 445.5401267007453 + }, + "corners_3d": [ + [ + -10.752532958984375, + -10.365779876708984, + 0.1788862943649292 + ], + [ + -11.454612731933594, + -9.909843444824219, + 0.1788862943649292 + ], + [ + -11.09115982055664, + -9.350175857543945, + 0.1788862943649292 + ], + [ + -10.389080047607422, + -9.806112289428711, + 0.1788862943649292 + ], + [ + -10.752532958984375, + -10.365779876708984, + 2.050245761871338 + ], + [ + -11.454612731933594, + -9.909843444824219, + 2.050245761871338 + ], + [ + -11.09115982055664, + -9.350175857543945, + 2.050245761871338 + ], + [ + -10.389080047607422, + -9.806112289428711, + 2.050245761871338 + ] + ], + "corners_2d": [ + [ + 140.97186942065719, + 445.5401267007453 + ], + [ + 171.7453098367991, + 442.94152747095814 + ], + [ + 177.34276374263573, + 426.1332941248538 + ], + [ + 147.13645122128935, + 428.6396405898822 + ], + [ + 116.8888249196641, + 397.7566551309229 + ], + [ + 149.2127051411556, + 395.17112320551 + ], + [ + 155.4965277736273, + 378.46401703245857 + ], + [ + 123.79770727785683, + 380.95346081503726 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 6280, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -19.1251277923584, + "y": 6.095887660980225, + "z": 0.8948460817337036 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 589.3521464974617, + "ymin": 159.51224864164118, + "xmax": 729.7438975104524, + "ymax": 259.5218677564824 + }, + "corners_3d": [ + [ + -21.404022216796875, + 5.052896022796631, + 0.011262890882790089 + ], + [ + -21.39891815185547, + 7.149961948394775, + 0.011262890882790089 + ], + [ + -16.846233367919922, + 7.138879776000977, + 0.011262890882790089 + ], + [ + -16.851337432861328, + 5.041813850402832, + 0.011262890882790089 + ], + [ + -21.404022216796875, + 5.052896022796631, + 1.7784292697906494 + ], + [ + -21.39891815185547, + 7.149961948394775, + 1.7784292697906494 + ], + [ + -16.846233367919922, + 7.138879776000977, + 1.7784292697906494 + ], + [ + -16.851337432861328, + 5.041813850402832, + 1.7784292697906494 + ] + ], + "corners_2d": [ + [ + 704.4203140132662, + 259.5218677564824 + ], + [ + 726.7620824646428, + 229.48535391904198 + ], + [ + 616.7938405309077, + 200.20403400845532 + ], + [ + 591.0311073822496, + 227.82128483602324 + ], + [ + 706.7291410368853, + 217.3687319138387 + ], + [ + 729.7438975104524, + 188.0316011564276 + ], + [ + 616.0295123144119, + 159.51224864164118 + ], + [ + 589.3521464974617, + 186.40871697382858 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 125.42544784980328, + "ymin": 132.76826297738336, + "xmax": 146.3250127453079, + "ymax": 153.70101668656932 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 144.7590855316526, + 153.70101668656932 + ], + [ + 146.3250127453079, + 152.79647672771182 + ], + [ + 133.35736662884096, + 148.8433881279598 + ], + [ + 131.78303464665538, + 149.73694443364897 + ], + [ + 138.52535929062276, + 137.5645632358647 + ], + [ + 140.11974701695624, + 136.67137491260533 + ], + [ + 127.02834330085034, + 132.76826297738336 + ], + [ + 125.42544784980328, + 133.65047032564243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 125.42545126262303, + "ymin": 132.76826399424004, + "xmax": 146.32501616545932, + "ymax": 153.70101773208222 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 144.75908895404956, + 153.70101773208222 + ], + [ + 146.32501616545932, + 152.7964777703191 + ], + [ + 133.35737000749066, + 148.84338915791542 + ], + [ + 131.78303802746603, + 149.73694546645768 + ], + [ + 138.52536274595263, + 137.5645642682749 + ], + [ + 140.1197504700121, + 136.6713759421102 + ], + [ + 127.02834671148355, + 132.76826399424004 + ], + [ + 125.42545126262303, + 133.65047134535124 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 70.41259110026806, + "ymin": 118.40483100062207, + "xmax": 91.25122405212494, + "ymax": 138.9311541199014 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 89.64590306061405, + 138.9311541199014 + ], + [ + 91.25122405212494, + 138.0671982829115 + ], + [ + 78.9034870406798, + 134.29083292882754 + ], + [ + 77.29102425515532, + 135.1445338421448 + ], + [ + 82.877684861842, + 122.98396889736989 + ], + [ + 84.51203220522189, + 122.13134215733359 + ], + [ + 72.05414336066565, + 118.40483100062207 + ], + [ + 70.41259110026806, + 119.24721403820024 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 71.5740556856025, + "ymin": 116.72258214044336, + "xmax": 92.34735770829752, + "ymax": 137.20108768420505 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 90.74789321410094, + 137.20108768420505 + ], + [ + 92.34735770829752, + 136.34182475641936 + ], + [ + 80.02647775052856, + 132.58589775677942 + ], + [ + 78.41989222604934, + 133.43498895618345 + ], + [ + 84.01183555516059, + 121.27661751781403 + ], + [ + 85.64013069805821, + 120.42867883134568 + ], + [ + 73.20953513686072, + 116.72258214044336 + ], + [ + 71.5740556856025, + 117.56036124137867 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 123.20932151875672, + "ymin": 125.17683640749175, + "xmax": 142.05950631493965, + "ymax": 146.94161829093855 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 141.85166411244188, + 146.94161829093855 + ], + [ + 142.05950631493965, + 146.82311416654042 + ], + [ + 130.58634452830847, + 143.35081971903566 + ], + [ + 130.37752273337395, + 143.46804847619808 + ], + [ + 134.80630217910084, + 128.71502999683278 + ], + [ + 135.0183987229468, + 128.598253042453 + ], + [ + 123.42241096386329, + 125.17683640749175 + ], + [ + 123.20932151875672, + 125.29233895545741 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 123.20946573227968, + "ymin": 125.17686739304733, + "xmax": 142.05965020450026, + "ymax": 146.9416500934774 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 141.85180801822833, + 146.9416500934774 + ], + [ + 142.05965020450026, + 146.8231459573709 + ], + [ + 130.58648707789104, + 143.3508511677577 + ], + [ + 130.37766529880128, + 143.4680799364399 + ], + [ + 134.80644776716264, + 128.71506133593863 + ], + [ + 135.01854429445228, + 128.598284369858 + ], + [ + 123.42255516122543, + 125.17686739304733 + ], + [ + 123.20946573227968, + 125.29236995252282 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 125.42544784980328, + "ymin": 132.76826297738336, + "xmax": 146.3250127453079, + "ymax": 153.70101668656932 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 144.7590855316526, + 153.70101668656932 + ], + [ + 146.3250127453079, + 152.79647672771182 + ], + [ + 133.35736662884096, + 148.8433881279598 + ], + [ + 131.78303464665538, + 149.73694443364897 + ], + [ + 138.52535929062276, + 137.5645632358647 + ], + [ + 140.11974701695624, + 136.67137491260533 + ], + [ + 127.02834330085034, + 132.76826297738336 + ], + [ + 125.42544784980328, + 133.65047032564243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 125.42544808598825, + "ymin": 132.76826289096408, + "xmax": 146.32501289870436, + "ymax": 153.7010165532874 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 144.75908576238857, + 153.7010165532874 + ], + [ + 146.32501289870436, + 152.79647663910418 + ], + [ + 133.3573667830621, + 148.8433880404273 + ], + [ + 131.7830348786277, + 149.7369443019866 + ], + [ + 138.52535952555644, + 137.56456310425307 + ], + [ + 140.11974717313785, + 136.6713748251112 + ], + [ + 127.02834345786675, + 132.76826289096408 + ], + [ + 125.42544808598825, + 133.65047019565003 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 125.42545077254817, + "ymin": 132.76826382476398, + "xmax": 146.3250155954339, + "ymax": 153.70101751340277 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 144.75908846056205, + 153.70101751340277 + ], + [ + 146.3250155954339, + 152.79647759655114 + ], + [ + 133.35736944438247, + 148.84338898625623 + ], + [ + 131.78303754132185, + 149.73694525043547 + ], + [ + 138.52536224837564, + 137.56456405233598 + ], + [ + 140.11974989450272, + 136.67137577052603 + ], + [ + 127.0283461430447, + 132.76826382476398 + ], + [ + 125.42545077254817, + 133.65047113206896 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 70.13614268592596, + "ymin": 132.20987663509246, + "xmax": 91.44159773193246, + "ymax": 153.12689292096212 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 89.80069279305985, + 153.12689292096212 + ], + [ + 91.44159773193246, + 152.22394758412779 + ], + [ + 78.81902296493001, + 148.27780258241165 + ], + [ + 77.1706543262062, + 149.16979320986624 + ], + [ + 82.8813804779004, + 136.9976408823794 + ], + [ + 84.55262661956249, + 136.10604695264362 + ], + [ + 71.81491995902502, + 132.20987663509246 + ], + [ + 70.13614268592596, + 133.090518888846 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 123.20916115158275, + "ymin": 125.1767777993565, + "xmax": 142.0593455822492, + "ymax": 146.94155813750677 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 141.85150336957838, + 146.94155813750677 + ], + [ + 142.0593455822492, + 146.82305403525444 + ], + [ + 130.5861857289596, + 143.3507602348366 + ], + [ + 130.37736392435193, + 143.4679889702097 + ], + [ + 134.80613983052018, + 128.714970719969 + ], + [ + 135.01823638457972, + 128.59819378772085 + ], + [ + 123.42225060638555, + 125.1767777993565 + ], + [ + 123.20916115158275, + 125.29228032555176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 125.42545126262303, + "ymin": 132.76826399424004, + "xmax": 146.32501616545932, + "ymax": 153.70101773208222 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 144.75908895404956, + 153.70101773208222 + ], + [ + 146.32501616545932, + 152.7964777703191 + ], + [ + 133.35737000749066, + 148.84338915791542 + ], + [ + 131.78303802746603, + 149.73694546645768 + ], + [ + 138.52536274595263, + 137.5645642682749 + ], + [ + 140.1197504700121, + 136.6713759421102 + ], + [ + 127.02834671148355, + 132.76826399424004 + ], + [ + 125.42545126262303, + 133.65047134535124 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 121.84726906980279, + "ymin": 124.27860239508624, + "xmax": 144.94582330634137, + "ymax": 148.15503083816864 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 144.69712828225795, + 148.15503083816864 + ], + [ + 144.94582330634137, + 148.01260766125873 + ], + [ + 129.64651132314475, + 143.3800780988518 + ], + [ + 129.39624836195838, + 143.52046188630004 + ], + [ + 137.32057034599092, + 128.98006653302807 + ], + [ + 137.57462163246646, + 128.83982030929258 + ], + [ + 122.10291077982333, + 124.27860239508624 + ], + [ + 121.84726906980279, + 124.41681082324578 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 123.20930122179823, + "ymin": 125.17678470570826, + "xmax": 142.05948464097725, + "ymax": 146.94156522595532 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 141.85164245162235, + 146.94156522595532 + ], + [ + 142.05948464097725, + 146.8230611210934 + ], + [ + 130.58632391180612, + 143.35076724442325 + ], + [ + 130.37750213021758, + 143.467995982364 + ], + [ + 134.80628080093567, + 128.7149777051232 + ], + [ + 135.01837733104446, + 128.59820077026717 + ], + [ + 123.4223906529595, + 125.17678470570826 + ], + [ + 123.20930122179823, + 125.29228723446894 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 125.42544808598825, + "ymin": 132.76826289096408, + "xmax": 146.32501289870436, + "ymax": 153.7010165532874 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 144.75908576238857, + 153.7010165532874 + ], + [ + 146.32501289870436, + 152.79647663910418 + ], + [ + 133.3573667830621, + 148.8433880404273 + ], + [ + 131.7830348786277, + 149.7369443019866 + ], + [ + 138.52535952555644, + 137.56456310425307 + ], + [ + 140.11974717313785, + 136.6713748251112 + ], + [ + 127.02834345786675, + 132.76826289096408 + ], + [ + 125.42544808598825, + 133.65047019565003 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 121.84719866039904, + "ymin": 124.27864048671574, + "xmax": 144.94575476338406, + "ymax": 148.15507006460936 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 144.69705978623904, + 148.15507006460936 + ], + [ + 144.94575476338406, + 148.01264691458033 + ], + [ + 129.64644234793798, + 143.38011679015756 + ], + [ + 129.39617943420495, + 143.52050055098712 + ], + [ + 137.3205003745107, + 128.9801051600156 + ], + [ + 137.5745516134972, + 128.8398589624959 + ], + [ + 122.10284032240281, + 124.27864048671574 + ], + [ + 121.84719866039904, + 124.41684888891606 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 121.84739526648718, + "ymin": 124.27863148394923, + "xmax": 144.94594953201664, + "ymax": 148.15506078318384 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 144.69725460147225, + 148.15506078318384 + ], + [ + 144.94594953201664, + 148.01263763725376 + ], + [ + 129.64663593577774, + 143.3801076456606 + ], + [ + 129.3963730680739, + 143.52049140247902 + ], + [ + 137.32069819887266, + 128.98009602042757 + ], + [ + 137.5747493898121, + 128.83984982700426 + ], + [ + 122.10303688104204, + 124.27863148394923 + ], + [ + 121.84739526648718, + 124.41683988214214 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 125.42544669449205, + "ymin": 132.76826220969718, + "xmax": 146.32501149542173, + "ymax": 153.70101585282163 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 144.75908435883798, + 153.70101585282163 + ], + [ + 146.32501149542173, + 152.79647594058514 + ], + [ + 133.35736540217943, + 148.84338735038446 + ], + [ + 131.78303349751883, + 149.73694361003223 + ], + [ + 138.52535811113637, + 137.56456241256578 + ], + [ + 140.1197457589733, + 136.67137413537034 + ], + [ + 127.02834206658315, + 132.76826220969718 + ], + [ + 125.42544669449205, + 133.6504695124723 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 121.84734272984485, + "ymin": 124.27856497310702, + "xmax": 144.9458950210015, + "ymax": 148.15499225788193 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 144.69720002763603, + 148.15499225788193 + ], + [ + 144.9458950210015, + 148.01256909801015 + ], + [ + 129.64658343101047, + 143.3800400877386 + ], + [ + 129.39632050050056, + 143.52042385851354 + ], + [ + 137.32064360772233, + 128.98002854232016 + ], + [ + 137.57469486235755, + 128.83978233561214 + ], + [ + 122.10298440807276, + 124.27856497310702 + ], + [ + 121.84734272984485, + 124.41677338460903 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 60.048232433814405, + "ymin": 113.2880827544775, + "xmax": 80.79175699119685, + "ymax": 133.66882235034643 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 79.18560828701061, + 133.66882235034643 + ], + [ + 80.79175699119685, + 132.81910140094308 + ], + [ + 68.60720197486239, + 129.10473253488794 + ], + [ + 66.99419407348364, + 129.94445022210294 + ], + [ + 72.3465384903584, + 117.79108420083068 + ], + [ + 73.98157740654244, + 116.95267616562612 + ], + [ + 61.69018603063307, + 113.2880827544775 + ], + [ + 60.048232433814405, + 114.11650150219543 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 121.84726784892325, + "ymin": 124.27860214438624, + "xmax": 144.94582200678178, + "ymax": 148.15503053548514 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 144.6971270597329, + 148.15503053548514 + ], + [ + 144.94582200678178, + 148.01260740291318 + ], + [ + 129.64651003900804, + 143.38007784420506 + ], + [ + 129.3962471553483, + 143.52046158795133 + ], + [ + 137.32056910877236, + 128.9800662349701 + ], + [ + 137.57462031655405, + 128.83982005489662 + ], + [ + 122.10290947975056, + 124.27860214438624 + ], + [ + 121.84726784892325, + 124.4168105295193 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 125.89177336006003, + "ymin": 137.1924356605425, + "xmax": 146.74555994198295, + "ymax": 158.0611939311348 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 145.1833837141316, + 158.0611939311348 + ], + [ + 146.74555994198295, + 157.15242956641953 + ], + [ + 133.8013861351145, + 153.18081898068968 + ], + [ + 132.23083163979965, + 154.0785704913704 + ], + [ + 138.9677519788375, + 142.0125531120802 + ], + [ + 140.55825804625943, + 141.11494079002128 + ], + [ + 127.490760308929, + 137.1924356605425 + ], + [ + 125.89177336006003, + 138.0790349893082 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 123.20932151875672, + "ymin": 125.17683640749175, + "xmax": 142.05950631493965, + "ymax": 146.94161829093855 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 141.85166411244188, + 146.94161829093855 + ], + [ + 142.05950631493965, + 146.82311416654042 + ], + [ + 130.58634452830847, + 143.35081971903566 + ], + [ + 130.37752273337395, + 143.46804847619808 + ], + [ + 134.80630217910084, + 128.71502999683278 + ], + [ + 135.0183987229468, + 128.598253042453 + ], + [ + 123.42241096386329, + 125.17683640749175 + ], + [ + 123.20932151875672, + 125.29233895545741 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 51.6724597117053, + "ymin": 112.70500615812972, + "xmax": 72.45857622259325, + "ymax": 133.06912920865068 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 70.84271920844174, + 133.06912920865068 + ], + [ + 72.45857622259325, + 132.22102296577742 + ], + [ + 60.33464432420601, + 128.51368690485143 + ], + [ + 58.71207315686274, + 129.35181830158362 + ], + [ + 63.90859155233693, + 117.19937232098627 + ], + [ + 65.55355867384355, + 116.36257688236847 + ], + [ + 53.324191445981, + 112.70500615812972 + ], + [ + 51.6724597117053, + 113.53184102973191 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 123.20944700146106, + "ymin": 125.1768612689556, + "xmax": 142.0596314526652, + "ymax": 146.94164380791443 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 141.85178926496997, + 146.94164380791443 + ], + [ + 142.0596314526652, + 146.823139674122 + ], + [ + 130.58646853863075, + 143.35084495212416 + ], + [ + 130.3776467581738, + 143.46807371852955 + ], + [ + 134.80642881844295, + 128.71505514197014 + ], + [ + 135.01852534717034, + 128.59827817820207 + ], + [ + 123.4225364317864, + 125.1768612689556 + ], + [ + 123.20944700146106, + 125.29236382615625 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 130.4576329721155, + "ymin": 135.40258106394168, + "xmax": 153.91239247437636, + "ymax": 189.87260798896304 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 152.82912277039463, + 189.87260798896304 + ], + [ + 153.91239247437636, + 189.20730551066248 + ], + [ + 152.46458883765638, + 188.74286773532998 + ], + [ + 151.38065005077289, + 189.40726920215644 + ], + [ + 131.95337695475308, + 136.4890589450716 + ], + [ + 133.10411174034624, + 135.84921507441646 + ], + [ + 131.6090655604911, + 135.40258106394168 + ], + [ + 130.4576329721155, + 136.0415213277003 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 130.4576329721155, + "ymin": 135.40258106394168, + "xmax": 153.91239247437636, + "ymax": 189.87260798896304 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 152.82912277039463, + 189.87260798896304 + ], + [ + 153.91239247437636, + 189.20730551066248 + ], + [ + 152.46458883765638, + 188.74286773532998 + ], + [ + 151.38065005077289, + 189.40726920215644 + ], + [ + 131.95337695475308, + 136.4890589450716 + ], + [ + 133.10411174034624, + 135.84921507441646 + ], + [ + 131.6090655604911, + 135.40258106394168 + ], + [ + 130.4576329721155, + 136.0415213277003 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 76.30351073484383, + "ymin": 119.23158143256609, + "xmax": 101.36573981617414, + "ymax": 172.9839994062753 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 100.2594046684768, + 172.9839994062753 + ], + [ + 101.36573981617414, + 172.35100682611844 + ], + [ + 99.9881919488522, + 171.9091062278236 + ], + [ + 98.88128582983506, + 172.54126260755632 + ], + [ + 77.72361183037174, + 120.26314057934079 + ], + [ + 78.89828158912712, + 119.65565019185641 + ], + [ + 77.47876955871993, + 119.23158143256609 + ], + [ + 76.30351073484383, + 119.83823585251508 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 130.4576329721155, + "ymin": 135.40258106394168, + "xmax": 153.91239247437636, + "ymax": 189.87260798896304 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 152.82912277039463, + 189.87260798896304 + ], + [ + 153.91239247437636, + 189.20730551066248 + ], + [ + 152.46458883765638, + 188.74286773532998 + ], + [ + 151.38065005077289, + 189.40726920215644 + ], + [ + 131.95337695475308, + 136.4890589450716 + ], + [ + 133.10411174034624, + 135.84921507441646 + ], + [ + 131.6090655604911, + 135.40258106394168 + ], + [ + 130.4576329721155, + 136.0415213277003 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 64.71408372888027, + "ymin": 115.77065505572881, + "xmax": 90.10585069757303, + "ymax": 169.36505724299428 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 88.99489914148455, + 169.36505724299428 + ], + [ + 90.10585069757303, + 168.73888359722756 + ], + [ + 88.74313051497677, + 168.30173959747208 + ], + [ + 87.63162804801027, + 168.92709051395394 + ], + [ + 66.11825154790517, + 116.79064579795386 + ], + [ + 67.29767869599823, + 116.18997042558948 + ], + [ + 65.89407779005865, + 115.77065505572881 + ], + [ + 64.71408372888027, + 116.37050848347312 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 768.5511983247524, + "ymin": 16.7661212746969, + "xmax": 781.9717218496193, + "ymax": 26.355233706516117 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 781.6386277504022, + 21.703168684637262 + ], + [ + 773.0040689469052, + 20.084758051094127 + ], + [ + 768.5511983247524, + 24.707690672099716 + ], + [ + 777.2491582894638, + 26.355233706516117 + ], + [ + 781.9717218496193, + 18.37792197199974 + ], + [ + 773.3158783443067, + 16.7661212746969 + ], + [ + 768.8552705307332, + 21.37023559228487 + ], + [ + 777.57483257337, + 23.01111873852051 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 130.4576329721155, + "ymin": 135.40258106394168, + "xmax": 153.91239247437636, + "ymax": 189.87260798896304 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 152.82912277039463, + 189.87260798896304 + ], + [ + 153.91239247437636, + 189.20730551066248 + ], + [ + 152.46458883765638, + 188.74286773532998 + ], + [ + 151.38065005077289, + 189.40726920215644 + ], + [ + 131.95337695475308, + 136.4890589450716 + ], + [ + 133.10411174034624, + 135.84921507441646 + ], + [ + 131.6090655604911, + 135.40258106394168 + ], + [ + 130.4576329721155, + 136.0415213277003 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1230.5146121211674, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 121.5891386990705 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1230.7919211698436, + 99.13600146438745 + ], + [ + 1230.5146121211674, + 103.26317214355555 + ], + [ + 1328.707248381981, + 121.5891386990705 + ], + [ + 1328.297093032684, + 117.20693804976855 + ], + [ + 1311.8806946138448, + -84.30887339227235 + ], + [ + 1312.2043257699288, + -81.05703992963919 + ], + [ + 1427.306971247934, + -66.54279042542112 + ], + [ + 1426.0405827597865, + -70.02470677211414 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 74.98079525749597, + "ymin": 134.83978299962243, + "xmax": 100.70706982801084, + "ymax": 189.28540721311327 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 99.57316925935811, + 189.28540721311327 + ], + [ + 100.70706982801084, + 188.62124182694947 + ], + [ + 99.29649395595925, + 188.15759702805374 + ], + [ + 98.16199521042279, + 188.82086371074877 + ], + [ + 76.43600594384736, + 135.92432536790392 + ], + [ + 77.64175983833513, + 135.2856218425253 + ], + [ + 76.18716663426358, + 134.83978299962243 + ], + [ + 74.98079525749597, + 135.47758533166862 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 130.4576329721155, + "ymin": 135.40258106394168, + "xmax": 153.91239247437636, + "ymax": 189.87260798896304 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 152.82912277039463, + 189.87260798896304 + ], + [ + 153.91239247437636, + 189.20730551066248 + ], + [ + 152.46458883765638, + 188.74286773532998 + ], + [ + 151.38065005077289, + 189.40726920215644 + ], + [ + 131.95337695475308, + 136.4890589450716 + ], + [ + 133.10411174034624, + 135.84921507441646 + ], + [ + 131.6090655604911, + 135.40258106394168 + ], + [ + 130.4576329721155, + 136.0415213277003 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 130.4576329721155, + "ymin": 135.40258106394168, + "xmax": 153.91239247437636, + "ymax": 189.87260798896304 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 152.82912277039463, + 189.87260798896304 + ], + [ + 153.91239247437636, + 189.20730551066248 + ], + [ + 152.46458883765638, + 188.74286773532998 + ], + [ + 151.38065005077289, + 189.40726920215644 + ], + [ + 131.95337695475308, + 136.4890589450716 + ], + [ + 133.10411174034624, + 135.84921507441646 + ], + [ + 131.6090655604911, + 135.40258106394168 + ], + [ + 130.4576329721155, + 136.0415213277003 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 747.63136076365, + "ymin": 0.0, + "xmax": 817.7449551432044, + "ymax": 226.60533005106694 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 793.5152728676607, + 177.55516994105534 + ], + [ + 782.97428297175, + 174.9965042738536 + ], + [ + 747.63136076365, + 223.6616994492956 + ], + [ + 758.7946854865484, + 226.60533005106694 + ], + [ + 817.7449551432044, + -21.015802463236753 + ], + [ + 805.44117608136, + -23.104677394648093 + ], + [ + 765.9785970250073, + 17.058642828256268 + ], + [ + 779.1417755331014, + 19.517703787707262 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 768.4789117210821, + "ymin": 16.714786123656097, + "xmax": 782.0438301533692, + "ymax": 26.40709133497205 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 781.7069987753124, + 21.704670953799052 + ], + [ + 772.9799663304402, + 20.06896316170065 + ], + [ + 768.4789117210821, + 24.74162035040797 + ], + [ + 777.2707163810069, + 26.40709133497205 + ], + [ + 782.0438301533692, + 18.343741284117527 + ], + [ + 773.2950543607478, + 16.714786123656097 + ], + [ + 768.7860935939087, + 21.368218145013543 + ], + [ + 777.5999693352921, + 23.026884916501785 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 130.4576329721155, + "ymin": 135.40258106394168, + "xmax": 153.91239247437636, + "ymax": 189.87260798896304 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 152.82912277039463, + 189.87260798896304 + ], + [ + 153.91239247437636, + 189.20730551066248 + ], + [ + 152.46458883765638, + 188.74286773532998 + ], + [ + 151.38065005077289, + 189.40726920215644 + ], + [ + 131.95337695475308, + 136.4890589450716 + ], + [ + 133.10411174034624, + 135.84921507441646 + ], + [ + 131.6090655604911, + 135.40258106394168 + ], + [ + 130.4576329721155, + 136.0415213277003 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 130.4576329721155, + "ymin": 135.40258106394168, + "xmax": 153.91239247437636, + "ymax": 189.87260798896304 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 152.82912277039463, + 189.87260798896304 + ], + [ + 153.91239247437636, + 189.20730551066248 + ], + [ + 152.46458883765638, + 188.74286773532998 + ], + [ + 151.38065005077289, + 189.40726920215644 + ], + [ + 131.95337695475308, + 136.4890589450716 + ], + [ + 133.10411174034624, + 135.84921507441646 + ], + [ + 131.6090655604911, + 135.40258106394168 + ], + [ + 130.4576329721155, + 136.0415213277003 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 130.4576329721155, + "ymin": 135.40258106394168, + "xmax": 153.91239247437636, + "ymax": 189.87260798896304 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 152.82912277039463, + 189.87260798896304 + ], + [ + 153.91239247437636, + 189.20730551066248 + ], + [ + 152.46458883765638, + 188.74286773532998 + ], + [ + 151.38065005077289, + 189.40726920215644 + ], + [ + 131.95337695475308, + 136.4890589450716 + ], + [ + 133.10411174034624, + 135.84921507441646 + ], + [ + 131.6090655604911, + 135.40258106394168 + ], + [ + 130.4576329721155, + 136.0415213277003 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 131.9671917640627, + "ymin": 139.25084065666005, + "xmax": 155.29309861996, + "ymax": 193.414646469141 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 154.2142441477804, + 193.414646469141 + ], + [ + 155.29309861996, + 192.74781153918076 + ], + [ + 153.84847246902984, + 192.28230180448747 + ], + [ + 152.76895090216794, + 192.94823621140347 + ], + [ + 133.45956579147122, + 140.34069166489797 + ], + [ + 134.60537512515265, + 139.69886264881325 + ], + [ + 133.1136969099054, + 139.25084065666005 + ], + [ + 131.9671917640627, + 139.89176594538034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1212.7034555441164, + "ymin": 638.2999881654657, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1213.8196063972305, + 877.8480943172522 + ], + [ + 1212.7034555441164, + 899.3767238025573 + ], + [ + 2091.3130932966114, + 1290.1308376244679 + ], + [ + 2075.469942644061, + 1255.0164655479443 + ], + [ + 1460.2385121494417, + 638.2999881654657 + ], + [ + 1464.1862178931583, + 663.8830488879687 + ], + [ + 3021.263297935238, + 1196.8756848726453 + ], + [ + 2965.9804546803657, + 1142.9471067535299 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 130.4576329721155, + "ymin": 135.40258106394168, + "xmax": 153.91239247437636, + "ymax": 189.87260798896304 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 152.82912277039463, + 189.87260798896304 + ], + [ + 153.91239247437636, + 189.20730551066248 + ], + [ + 152.46458883765638, + 188.74286773532998 + ], + [ + 151.38065005077289, + 189.40726920215644 + ], + [ + 131.95337695475308, + 136.4890589450716 + ], + [ + 133.10411174034624, + 135.84921507441646 + ], + [ + 131.6090655604911, + 135.40258106394168 + ], + [ + 130.4576329721155, + 136.0415213277003 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 130.4576329721155, + "ymin": 135.40258106394168, + "xmax": 153.91239247437636, + "ymax": 189.87260798896304 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 152.82912277039463, + 189.87260798896304 + ], + [ + 153.91239247437636, + 189.20730551066248 + ], + [ + 152.46458883765638, + 188.74286773532998 + ], + [ + 151.38065005077289, + 189.40726920215644 + ], + [ + 131.95337695475308, + 136.4890589450716 + ], + [ + 133.10411174034624, + 135.84921507441646 + ], + [ + 131.6090655604911, + 135.40258106394168 + ], + [ + 130.4576329721155, + 136.0415213277003 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 184.7932006478997, + "ymin": 0.0, + "xmax": 303.34993635750567, + "ymax": 91.42070911313289 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 303.34993635750567, + 58.57430701740623 + ], + [ + 296.1957922025508, + 56.83774889819716 + ], + [ + 238.7402217686544, + 89.47301095906892 + ], + [ + 246.1266110374455, + 91.42070911313289 + ], + [ + 260.776510658015, + -115.57567065792853 + ], + [ + 252.87072810003508, + -116.91787362782219 + ], + [ + 184.7932006478997, + -91.5150168555486 + ], + [ + 192.97297341261032, + -89.98692512452345 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 130.4576329721155, + "ymin": 135.40258106394168, + "xmax": 153.91239247437636, + "ymax": 189.87260798896304 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 152.82912277039463, + 189.87260798896304 + ], + [ + 153.91239247437636, + 189.20730551066248 + ], + [ + 152.46458883765638, + 188.74286773532998 + ], + [ + 151.38065005077289, + 189.40726920215644 + ], + [ + 131.95337695475308, + 136.4890589450716 + ], + [ + 133.10411174034624, + 135.84921507441646 + ], + [ + 131.6090655604911, + 135.40258106394168 + ], + [ + 130.4576329721155, + 136.0415213277003 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 130.4576329721155, + "ymin": 135.40258106394168, + "xmax": 153.91239247437636, + "ymax": 189.87260798896304 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 152.82912277039463, + 189.87260798896304 + ], + [ + 153.91239247437636, + 189.20730551066248 + ], + [ + 152.46458883765638, + 188.74286773532998 + ], + [ + 151.38065005077289, + 189.40726920215644 + ], + [ + 131.95337695475308, + 136.4890589450716 + ], + [ + 133.10411174034624, + 135.84921507441646 + ], + [ + 131.6090655604911, + 135.40258106394168 + ], + [ + 130.4576329721155, + 136.0415213277003 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 130.4576329721155, + "ymin": 135.40258106394168, + "xmax": 153.91239247437636, + "ymax": 189.87260798896304 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 152.82912277039463, + 189.87260798896304 + ], + [ + 153.91239247437636, + 189.20730551066248 + ], + [ + 152.46458883765638, + 188.74286773532998 + ], + [ + 151.38065005077289, + 189.40726920215644 + ], + [ + 131.95337695475308, + 136.4890589450716 + ], + [ + 133.10411174034624, + 135.84921507441646 + ], + [ + 131.6090655604911, + 135.40258106394168 + ], + [ + 130.4576329721155, + 136.0415213277003 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 75.1511437824721, + "ymin": 120.92678540184713, + "xmax": 100.32621273886707, + "ymax": 174.75603071991134 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 99.21596437837616, + 174.75603071991134 + ], + [ + 100.32621273886707, + 174.11968571938144 + ], + [ + 98.94571436498984, + 173.67544666821567 + ], + [ + 97.83489332033548, + 174.310948818813 + ], + [ + 76.57436319991427, + 121.96403477722887 + ], + [ + 77.75340249201292, + 121.35319221100875 + ], + [ + 76.33077382300644, + 120.92678540184713 + ], + [ + 75.1511437824721, + 121.53678507402088 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 130.4576329721155, + "ymin": 135.40258106394168, + "xmax": 153.91239247437636, + "ymax": 189.87260798896304 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 152.82912277039463, + 189.87260798896304 + ], + [ + 153.91239247437636, + 189.20730551066248 + ], + [ + 152.46458883765638, + 188.74286773532998 + ], + [ + 151.38065005077289, + 189.40726920215644 + ], + [ + 131.95337695475308, + 136.4890589450716 + ], + [ + 133.10411174034624, + 135.84921507441646 + ], + [ + 131.6090655604911, + 135.40258106394168 + ], + [ + 130.4576329721155, + 136.0415213277003 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 56.307094576280974, + "ymin": 115.18316066869244, + "xmax": 82.01233997062593, + "ymax": 168.75058425672322 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 80.89480501330286, + 168.75058425672322 + ], + [ + 82.01233997062593, + 168.1255647154177 + ], + [ + 80.65618620047246, + 167.68922580574238 + ], + [ + 79.53811133301315, + 168.31342489056317 + ], + [ + 57.70415828158184, + 116.20119419536445 + ], + [ + 58.890683021984955, + 115.60167180944876 + ], + [ + 57.49417389194514, + 115.18316066869244 + ], + [ + 56.307094576280974, + 115.78186347463605 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 130.4576329721155, + "ymin": 135.40258106394168, + "xmax": 153.91239247437636, + "ymax": 189.87260798896304 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 152.82912277039463, + 189.87260798896304 + ], + [ + 153.91239247437636, + 189.20730551066248 + ], + [ + 152.46458883765638, + 188.74286773532998 + ], + [ + 151.38065005077289, + 189.40726920215644 + ], + [ + 131.95337695475308, + 136.4890589450716 + ], + [ + 133.10411174034624, + 135.84921507441646 + ], + [ + 131.6090655604911, + 135.40258106394168 + ], + [ + 130.4576329721155, + 136.0415213277003 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 130.4576329721155, + "ymin": 135.40258106394168, + "xmax": 153.91239247437636, + "ymax": 189.87260798896304 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 152.82912277039463, + 189.87260798896304 + ], + [ + 153.91239247437636, + 189.20730551066248 + ], + [ + 152.46458883765638, + 188.74286773532998 + ], + [ + 151.38065005077289, + 189.40726920215644 + ], + [ + 131.95337695475308, + 136.4890589450716 + ], + [ + 133.10411174034624, + 135.84921507441646 + ], + [ + 131.6090655604911, + 135.40258106394168 + ], + [ + 130.4576329721155, + 136.0415213277003 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 130.4576329721155, + "ymin": 135.40258106394168, + "xmax": 153.91239247437636, + "ymax": 189.87260798896304 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 152.82912277039463, + 189.87260798896304 + ], + [ + 153.91239247437636, + 189.20730551066248 + ], + [ + 152.46458883765638, + 188.74286773532998 + ], + [ + 151.38065005077289, + 189.40726920215644 + ], + [ + 131.95337695475308, + 136.4890589450716 + ], + [ + 133.10411174034624, + 135.84921507441646 + ], + [ + 131.6090655604911, + 135.40258106394168 + ], + [ + 130.4576329721155, + 136.0415213277003 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 71.8427343946471, + "ymax": 0.17060950967231747 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 65.07945357731762, + 0.17060950967231747 + ], + [ + 71.8427343946471, + -2.584233547115616 + ], + [ + -71.72614389905073, + -38.08789268072735 + ], + [ + -78.74355017924847, + -35.71561196768022 + ], + [ + -4.96836650569378, + -174.72916032906824 + ], + [ + 3.049161251053647, + -176.7305912100844 + ], + [ + -151.0223204218936, + -202.28477911267692 + ], + [ + -159.28213132612234, + -200.59105043423733 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 130.4576329721155, + "ymin": 135.40258106394168, + "xmax": 153.91239247437636, + "ymax": 189.87260798896304 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 152.82912277039463, + 189.87260798896304 + ], + [ + 153.91239247437636, + 189.20730551066248 + ], + [ + 152.46458883765638, + 188.74286773532998 + ], + [ + 151.38065005077289, + 189.40726920215644 + ], + [ + 131.95337695475308, + 136.4890589450716 + ], + [ + 133.10411174034624, + 135.84921507441646 + ], + [ + 131.6090655604911, + 135.40258106394168 + ], + [ + 130.4576329721155, + 136.0415213277003 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1219.4774267570533, + "ymin": 47.07020179523715, + "xmax": 1280.0, + "ymax": 541.9680728933067 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1249.4308232169074, + 287.4685873718986 + ], + [ + 1235.4845994024954, + 284.02484220598274 + ], + [ + 1219.4774267570533, + 535.9351319853993 + ], + [ + 1237.8559388438237, + 541.9680728933067 + ], + [ + 1375.4908008983582, + 49.96499916515813 + ], + [ + 1358.007642793119, + 47.07020179523715 + ], + [ + 1388.3870504210527, + 273.67545948342894 + ], + [ + 1413.4396780044974, + 279.4981608054587 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00177/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00177/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f2802d6956502c9e638e9b97284c140d27209ddc --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00177/meta.json @@ -0,0 +1,7038 @@ +{ + "frame_id": 177, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 88.5, + "sim_timestamp": 15166.714544329094 + }, + "drone_pose": { + "x": -31.349938895358946, + "y": -20.36092305477694, + "z": 20.0, + "pitch": -41.58187097058908, + "yaw": 63.205485633318816, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.33719611167907715, + -0.6676937341690063, + 0.6636896133422852, + 10.8921480178833 + ], + [ + 0.8926290273666382, + 0.4507920742034912, + 0.0, + -18.805320739746094 + ], + [ + -0.29918602108955383, + 0.5924285650253296, + 0.748008131980896, + -36.402015686035156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -31.124707915783766, + "y": -19.86388237164505, + "z": 20.0 + }, + "t1_image_uv": [ + 694.175473263867, + -491.78484319354277 + ], + "t1_depth": 0.40781796603820364 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -21.66718292236328, + "y": -1.187763214111328, + "z": 0.9418217730522156 + }, + "image_uv": [ + 640.0, + 359.9999999999999 + ], + "depth": 28.715500671908934, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 667, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -21.66718292236328, + "y": -1.1877632141113281, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.49359130859375, + "y": 0.4417373836040497, + "z": 0.8888407945632935 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 618.8104002134686, + "ymin": 323.436652898876, + "xmax": 660.9191876402541, + "ymax": 396.2807700157861 + }, + "corners_3d": [ + [ + -21.225444793701172, + -1.6813546419143677, + 0.05298095941543579 + ], + [ + -22.10892105102539, + -1.6813544034957886, + 0.05298095941543579 + ], + [ + -22.10892105102539, + -0.6941717863082886, + 0.05298095941543579 + ], + [ + -21.225444793701172, + -0.6941720247268677, + 0.05298095941543579 + ], + [ + -21.225444793701172, + -1.6813546419143677, + 1.830662488937378 + ], + [ + -22.10892105102539, + -1.6813544034957886, + 1.830662488937378 + ], + [ + -22.10892105102539, + -0.6941717863082886, + 1.830662488937378 + ], + [ + -21.225444793701172, + -0.6941720247268677, + 1.830662488937378 + ] + ], + "corners_2d": [ + [ + 619.6687785737508, + 387.1971417339323 + ], + [ + 645.7213656693602, + 396.2807700157861 + ], + [ + 660.0821452444337, + 376.42880312307057 + ], + [ + 634.4624776447491, + 367.74476394411585 + ], + [ + 618.8104002134686, + 342.6652128809665 + ], + [ + 645.9655229077313, + 351.65663816772684 + ], + [ + 660.9191876402541, + 332.01633640867055 + ], + [ + 634.2340724077676, + 323.436652898876 + ] + ], + "center_offset_px": [ + 0.0, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 177, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 51, + "semantic_pixel_counts": { + "1": 408223, + "2": 256238, + "3": 70818, + "5": 2997, + "6": 1958, + "10": 239, + "12": 3664, + "14": 6439, + "20": 4879, + "24": 22278, + "25": 143867 + }, + "instance_pixel_counts": { + "108": 10, + "3992": 466, + "6018": 291, + "7274": 179, + "7576": 2815, + "7784": 11519, + "7786": 3087, + "8088": 1542, + "8296": 19621, + "8780": 2997, + "9322": 6297, + "9624": 11121, + "9832": 193165, + "10316": 3188, + "10828": 1566, + "21090": 16015, + "21602": 100487, + "24656": 304, + "24946": 33573, + "25168": 967, + "25856": 391, + "26218": 235, + "29800": 901, + "31375": 66208, + "31848": 26649, + "32360": 18742, + "33650": 8975, + "33906": 9604, + "34408": 137626, + "34418": 18666, + "34560": 5, + "39239": 143867, + "40855": 10, + "42903": 19009, + "46184": 1401, + "46696": 2840, + "48232": 8229, + "53391": 947, + "56320": 667, + "56576": 563, + "56832": 505, + "56975": 6184, + "57088": 654, + "57344": 480, + "57487": 3513, + "57600": 795, + "57999": 1950, + "58511": 182, + "58951": 125, + "59023": 25789, + "60928": 6439 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 667, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -21.66718292236328, + "y": -1.1877632141113281, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.4783862233161926, + "y": 0.600326657295227, + "z": 0.8821378350257874 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 614.2455436387196, + "ymin": 322.3776672164894, + "xmax": 665.541127154385, + "ymax": 397.4559890049615 + }, + "corners_3d": [ + [ + -21.066856384277344, + -1.666149616241455, + 0.059683918952941895 + ], + [ + -22.26750946044922, + -1.6661492586135864, + 0.059683918952941895 + ], + [ + -22.26750946044922, + -0.7093768119812012, + 0.059683918952941895 + ], + [ + -21.066856384277344, + -0.7093771696090698, + 0.059683918952941895 + ], + [ + -21.066856384277344, + -1.666149616241455, + 1.8239595890045166 + ], + [ + -22.26750946044922, + -1.6661492586135864, + 1.8239595890045166 + ], + [ + -22.26750946044922, + -0.7093768119812012, + 1.8239595890045166 + ], + [ + -21.066856384277344, + -0.7093771696090698, + 1.8239595890045166 + ] + ], + "corners_2d": [ + [ + 615.2788743230947, + 385.11997724669595 + ], + [ + 650.6816172031715, + 397.4559890049615 + ], + [ + 664.524506267214, + 378.14551700553216 + ], + [ + 629.6921992757133, + 366.33590012231014 + ], + [ + 614.2455436387196, + 340.944452181896 + ], + [ + 651.1346508748929, + 353.1558605468102 + ], + [ + 665.541127154385, + 334.0467923109621 + ], + [ + 629.2709449684318, + 322.3776672164894 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 563, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -17.541196823120117, + "y": 1.8099415302276611, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.4534570574760437, + "y": 0.49846136569976807, + "z": 0.9202434420585632 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 550.0526927488353, + "ymin": 237.47140817574464, + "xmax": 589.4853502213982, + "ymax": 302.13828861595584 + }, + "corners_3d": [ + [ + -17.147907257080078, + 1.2627573013305664, + 0.021578311920166016 + ], + [ + -18.123044967651367, + 1.4700300693511963, + 0.021578311920166016 + ], + [ + -17.934486389160156, + 2.357125759124756, + 0.021578311920166016 + ], + [ + -16.959348678588867, + 2.149852991104126, + 0.021578311920166016 + ], + [ + -17.147907257080078, + 1.2627573013305664, + 1.8620651960372925 + ], + [ + -18.123044967651367, + 1.4700300693511963, + 1.8620651960372925 + ], + [ + -17.934486389160156, + 2.357125759124756, + 1.8620651960372925 + ], + [ + -16.959348678588867, + 2.149852991104126, + 1.8620651960372925 + ] + ], + "corners_2d": [ + [ + 553.4347826728051, + 297.4847256780907 + ], + [ + 581.5756332847048, + 302.13828861595584 + ], + [ + 589.4853502213982, + 286.33564077955856 + ], + [ + 561.8559660211525, + 281.86496630070775 + ], + [ + 550.0526927488353, + 252.7701184394013 + ], + [ + 579.2790146084003, + 257.3326070439415 + ], + [ + 587.5407024750107, + 241.84777695428102 + ], + [ + 558.8656233902263, + 237.47140817574464 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 505, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -23.923004150390625, + "y": 5.75494909286499, + "z": 0.9418657422065735 + }, + "extent": { + "x": 0.48283690214157104, + "y": 0.3049542307853699, + "z": 0.9378691911697388 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 776.5251624054824, + "ymin": 226.2809325270328, + "xmax": 806.8240480310528, + "ymax": 290.7620178523501 + }, + "corners_3d": [ + [ + -23.670190811157227, + 5.242880821228027, + 0.003996551036834717 + ], + [ + -24.276758193969727, + 5.306633472442627, + 0.003996551036834717 + ], + [ + -24.175817489624023, + 6.267017364501953, + 0.003996551036834717 + ], + [ + -23.569250106811523, + 6.2032647132873535, + 0.003996551036834717 + ], + [ + -23.670190811157227, + 5.242880821228027, + 1.879734992980957 + ], + [ + -24.276758193969727, + 5.306633472442627, + 1.879734992980957 + ], + [ + -24.175817489624023, + 6.267017364501953, + 1.879734992980957 + ], + [ + -23.569250106811523, + 6.2032647132873535, + 1.879734992980957 + ] + ], + "corners_2d": [ + [ + 776.5251624054824, + 286.91615348799405 + ], + [ + 793.8905197417254, + 290.7620178523501 + ], + [ + 800.6189840843385, + 274.97340366887113 + ], + [ + 783.5698983490408, + 271.2807954468686 + ], + [ + 781.8848042152537, + 241.571842972468 + ], + [ + 799.9628972898138, + 245.33667742386584 + ], + [ + 806.8240480310528, + 229.89001946308514 + ], + [ + 789.0885811090257, + 226.2809325270328 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 654, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -31.16718101501465, + "y": -1.1877632141113281, + "z": 0.941826581954956 + }, + "extent": { + "x": 0.31539061665534973, + "y": 0.34798818826675415, + "z": 0.8872278332710266 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 936.2998087199214, + "ymin": 431.7646156678051, + "xmax": 982.7917802252902, + "ymax": 501.4268134909387 + }, + "corners_3d": [ + [ + -30.81919288635254, + -1.503153920173645, + 0.05459874868392944 + ], + [ + -31.515169143676758, + -1.503153681755066, + 0.05459874868392944 + ], + [ + -31.515169143676758, + -0.8723725080490112, + 0.05459874868392944 + ], + [ + -30.81919288635254, + -0.8723727464675903, + 0.05459874868392944 + ], + [ + -30.81919288635254, + -1.503153920173645, + 1.829054355621338 + ], + [ + -31.515169143676758, + -1.503153681755066, + 1.829054355621338 + ], + [ + -31.515169143676758, + -0.8723725080490112, + 1.829054355621338 + ], + [ + -30.81919288635254, + -0.8723727464675903, + 1.829054355621338 + ] + ], + "corners_2d": [ + [ + 936.2998087199214, + 492.4645850752481 + ], + [ + 962.1382086419544, + 501.4268134909387 + ], + [ + 967.3799217538285, + 485.4572769050069 + ], + [ + 941.9067354979377, + 476.7796742221733 + ], + [ + 950.3532913832377, + 447.42991299971396 + ], + [ + 977.5629919256769, + 456.39157030891784 + ], + [ + 982.7917802252902, + 440.4284417072652 + ], + [ + 955.9873187349588, + 431.7646156678051 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 480, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -25.282682418823242, + "y": -12.31512451171875, + "z": 1.1329008340835571 + }, + "extent": { + "x": 0.48563727736473083, + "y": 0.3313360810279846, + "z": 0.9488577842712402 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 523.1092944743758, + "ymin": 672.6066173289329, + "xmax": 582.269457538692, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -24.90239906311035, + -12.763466835021973, + 0.1840430498123169 + ], + [ + -25.561439514160156, + -12.832735061645508, + 0.1840430498123169 + ], + [ + -25.662965774536133, + -11.866782188415527, + 0.1840430498123169 + ], + [ + -25.003925323486328, + -11.797513961791992, + 0.1840430498123169 + ], + [ + -24.90239906311035, + -12.763466835021973, + 2.081758499145508 + ], + [ + -25.561439514160156, + -12.832735061645508, + 2.081758499145508 + ], + [ + -25.662965774536133, + -11.866782188415527, + 2.081758499145508 + ], + [ + -25.003925323486328, + -11.797513961791992, + 2.081758499145508 + ] + ], + "corners_2d": [ + [ + 530.3266443681383, + 754.9717187795328 + ], + [ + 555.4297531323147, + 771.5998151034087 + ], + [ + 582.269457538692, + 734.3985451371921 + ], + [ + 557.5530987469084, + 718.7292112590685 + ], + [ + 523.1092944743758, + 709.7623869688114 + ], + [ + 549.7852008094917, + 726.8571035153903 + ], + [ + 578.5370876159812, + 688.6533717770576 + ], + [ + 552.2952373779707, + 672.6066173289329 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 795, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -10.421846389770508, + "y": -9.357977867126465, + "z": 1.092549204826355 + }, + "extent": { + "x": 0.39101865887641907, + "y": 0.5327264070510864, + "z": 0.9392215013504028 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 116.06580998712889, + "ymin": 368.4784355945547, + "xmax": 184.94991402675174, + "ymax": 448.19248524465985 + }, + "corners_3d": [ + [ + -9.819463729858398, + -9.629692077636719, + 0.15332770347595215 + ], + [ + -10.861634254455566, + -9.851211547851562, + 0.15332770347595215 + ], + [ + -11.024229049682617, + -9.086263656616211, + 0.15332770347595215 + ], + [ + -9.98205852508545, + -8.864744186401367, + 0.15332770347595215 + ], + [ + -9.819463729858398, + -9.629692077636719, + 2.031770706176758 + ], + [ + -10.861634254455566, + -9.851211547851562, + 2.031770706176758 + ], + [ + -11.024229049682617, + -9.086263656616211, + 2.031770706176758 + ], + [ + -9.98205852508545, + -8.864744186401367, + 2.031770706176758 + ] + ], + "corners_2d": [ + [ + 139.7345293990404, + 431.1852392716683 + ], + [ + 159.93544253288934, + 448.19248524465985 + ], + [ + 184.94991402675174, + 432.638958332224 + ], + [ + 164.63207240603145, + 416.1849575683675 + ], + [ + 116.06580998712889, + 383.3629821203495 + ], + [ + 136.78376747543933, + 400.2667213816275 + ], + [ + 163.3849224202341, + 384.8067017289236 + ], + [ + 142.52383714346183, + 368.4784355945547 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 6439, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -19.1251277923584, + "y": 6.095887660980225, + "z": 0.8948460817337036 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 597.8448064181025, + "ymin": 169.8471928774722, + "xmax": 739.8988404527587, + "ymax": 271.9757083622799 + }, + "corners_3d": [ + [ + -21.404022216796875, + 5.052896022796631, + 0.011262890882790089 + ], + [ + -21.39891815185547, + 7.149961948394775, + 0.011262890882790089 + ], + [ + -16.846233367919922, + 7.138879776000977, + 0.011262890882790089 + ], + [ + -16.851337432861328, + 5.041813850402832, + 0.011262890882790089 + ], + [ + -21.404022216796875, + 5.052896022796631, + 1.7784292697906494 + ], + [ + -21.39891815185547, + 7.149961948394775, + 1.7784292697906494 + ], + [ + -16.846233367919922, + 7.138879776000977, + 1.7784292697906494 + ], + [ + -16.851337432861328, + 5.041813850402832, + 1.7784292697906494 + ] + ], + "corners_2d": [ + [ + 713.6915189413522, + 271.9757083622799 + ], + [ + 736.5503320343311, + 241.3752019349619 + ], + [ + 625.5484951496409, + 210.70339480446066 + ], + [ + 599.2527429409105, + 238.7481392584715 + ], + [ + 716.3577800340465, + 229.64393629851583 + ], + [ + 739.8988404527587, + 199.73702726211803 + ], + [ + 625.0689590549867, + 169.8471928774722 + ], + [ + 597.8448064181025, + 197.17354525325217 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 131.89587507752736, + "ymin": 139.83301401279695, + "xmax": 152.69210471857565, + "ymax": 160.9469593404679 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 151.1066082020758, + 160.9469593404679 + ], + [ + 152.69210471857565, + 160.0367819225607 + ], + [ + 139.78323958670603, + 155.9402768462728 + ], + [ + 138.18980929375994, + 156.83904193779418 + ], + [ + 144.93535699611135, + 144.77682039870982 + ], + [ + 146.5495525540063, + 143.87800218888722 + ], + [ + 133.51809328211567, + 139.83301401279695 + ], + [ + 131.89587507752736, + 140.72042152250282 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 131.8958784739138, + "ymin": 139.83301506640223, + "xmax": 152.6921081239053, + "ymax": 160.94696042413682 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 151.10661160952822, + 160.94696042413682 + ], + [ + 152.6921081239053, + 160.0367830032095 + ], + [ + 139.78324294936732, + 155.9402779133813 + ], + [ + 138.18981265845844, + 156.83904300786608 + ], + [ + 144.93536043620088, + 144.7768214688731 + ], + [ + 146.54955599194852, + 143.87800325603058 + ], + [ + 133.51809667644295, + 139.83301506640223 + ], + [ + 131.8958784739138, + 140.72042257907077 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 77.15189297603831, + "ymin": 124.92280577285354, + "xmax": 97.86204923600928, + "ymax": 145.60958648226503 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 96.23904406249869, + 145.60958648226503 + ], + [ + 97.86204923600928, + 144.7416513936648 + ], + [ + 85.59078835729758, + 140.8345652246496 + ], + [ + 83.96112929008802, + 141.69187083167893 + ], + [ + 89.5384736499226, + 129.63508571037983 + ], + [ + 91.19068735640656, + 128.77849014482868 + ], + [ + 78.81080932922873, + 124.92280577285354 + ], + [ + 77.15189297603831, + 125.76878275098287 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 78.34852360368791, + "ymin": 123.22131085773773, + "xmax": 98.9931202062935, + "ymax": 143.85912722219356 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 97.3761102043701, + 143.85912722219356 + ], + [ + 98.9931202062935, + 142.9959494912127 + ], + [ + 86.74838404412685, + 139.11019923298747 + ], + [ + 85.12473740796008, + 139.96283449056187 + ], + [ + 90.70814021865499, + 127.90752557655708 + ], + [ + 92.35415928234329, + 127.05568279115539 + ], + [ + 80.00122836896367, + 123.22131085773773 + ], + [ + 78.34852360368791, + 124.06262303583273 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 129.71306550280178, + "ymin": 132.23613393554453, + "xmax": 148.4416365302751, + "ymax": 154.1647047161453 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 148.23120715887507, + 154.1647047161453 + ], + [ + 148.4416365302751, + 154.04546139462053 + ], + [ + 137.02094596659418, + 150.44708084078147 + ], + [ + 136.8095923463519, + 150.5649989638601 + ], + [ + 141.2563428426916, + 135.89957465477417 + ], + [ + 141.47106205072123, + 135.78205998168764 + ], + [ + 129.92872040210892, + 132.23613393554453 + ], + [ + 129.71306550280178, + 132.3523242568134 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 129.71320925541016, + "ymin": 132.23616626935214, + "xmax": 148.44178001408613, + "ymax": 154.16473791185797 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 148.23135065836436, + 154.16473791185797 + ], + [ + 148.44178001408613, + 154.04549457807826 + ], + [ + 137.021088067417, + 150.44711365549213 + ], + [ + 136.80973446246435, + 150.56503179062184 + ], + [ + 141.25648801393953, + 135.8996073693404 + ], + [ + 141.47120720597906, + 135.7820926840053 + ], + [ + 129.92886413913033, + 132.23616626935214 + ], + [ + 129.71320925541016, + 132.35235660266298 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 131.89587507752736, + "ymin": 139.83301401279695, + "xmax": 152.69210471857565, + "ymax": 160.9469593404679 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 151.1066082020758, + 160.9469593404679 + ], + [ + 152.69210471857565, + 160.0367819225607 + ], + [ + 139.78323958670603, + 155.9402768462728 + ], + [ + 138.18980929375994, + 156.83904193779418 + ], + [ + 144.93535699611135, + 144.77682039870982 + ], + [ + 146.5495525540063, + 143.87800218888722 + ], + [ + 133.51809328211567, + 139.83301401279695 + ], + [ + 131.89587507752736, + 140.72042152250282 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 131.8958753165607, + "ymin": 139.83301392586864, + "xmax": 152.6921048738884, + "ymax": 160.94695920635468 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 151.10660843569605, + 160.94695920635468 + ], + [ + 152.6921048738884, + 160.03678183340105 + ], + [ + 139.78323974279738, + 155.94027675823043 + ], + [ + 138.1898095285474, + 156.8390418053639 + ], + [ + 144.93535723396462, + 144.776820266268 + ], + [ + 146.54955271212782, + 143.87800210084188 + ], + [ + 133.5180934410244, + 139.83301392586864 + ], + [ + 131.8958753165607, + 140.72042139174374 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 131.89587798752717, + "ymin": 139.83301489080134, + "xmax": 152.69210755635038, + "ymax": 160.94696019882096 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 151.10661111949304, + 160.94696019882096 + ], + [ + 152.69210755635038, + 160.03678282310136 + ], + [ + 139.78324238892378, + 155.9402777355299 + ], + [ + 138.18981217593785, + 156.83904278537725 + ], + [ + 144.9353599421371, + 144.77682124636536 + ], + [ + 146.54955541895822, + 143.87800307817335 + ], + [ + 133.51809611072179, + 139.83301489080134 + ], + [ + 131.89587798752717, + 140.72042235938966 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 76.58463601431254, + "ymin": 138.94289223316383, + "xmax": 97.76699456660003, + "ymax": 160.03143362789405 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 96.10713367301037, + 160.03143362789405 + ], + [ + 97.76699456660003, + 159.12380557414562 + ], + [ + 85.2208021598957, + 155.03873136183987 + ], + [ + 83.55398843096748, + 155.93499485357867 + ], + [ + 89.25138071341803, + 143.87272073558537 + ], + [ + 90.94180112568165, + 142.97645176593227 + ], + [ + 78.28206118948958, + 138.94289223316383 + ], + [ + 76.58463601431254, + 139.82779885915159 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 129.7129061344624, + "ymin": 132.23607342676917, + "xmax": 148.44147672594306, + "ymax": 154.16464259441963 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 148.2310473452747, + 154.16464259441963 + ], + [ + 148.44147672594306, + 154.0453992958282 + ], + [ + 137.02078814466608, + 150.44701943205462 + ], + [ + 136.8094345156594, + 150.56493753258104 + ], + [ + 141.25618144271493, + 135.8995134334555 + ], + [ + 141.470900660023, + 135.78199878329033 + ], + [ + 129.92856104252672, + 132.23607342676917 + ], + [ + 129.7129061344624, + 132.35226372550292 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 131.8958784739138, + "ymin": 139.83301506640223, + "xmax": 152.6921081239053, + "ymax": 160.94696042413682 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 151.10661160952822, + 160.94696042413682 + ], + [ + 152.6921081239053, + 160.0367830032095 + ], + [ + 139.78324294936732, + 155.9402779133813 + ], + [ + 138.18981265845844, + 156.83904300786608 + ], + [ + 144.93536043620088, + 144.7768214688731 + ], + [ + 146.54955599194852, + 143.87800325603058 + ], + [ + 133.51809667644295, + 139.83301506640223 + ], + [ + 131.8958784739138, + 140.72042257907077 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 128.36712598529607, + "ymin": 131.31538993813484, + "xmax": 151.32326162161303, + "ymax": 155.39946067729474 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 151.07145701909457, + 155.39946067729474 + ], + [ + 151.32326162161303, + 155.25614153354235 + ], + [ + 136.09367895621392, + 150.45542588658816 + ], + [ + 135.84039471842294, + 150.5966259772609 + ], + [ + 143.76896567202272, + 136.18372464629476 + ], + [ + 144.0261715943434, + 136.04258428367086 + ], + [ + 128.6258308964113, + 131.31538993813484 + ], + [ + 128.36712598529607, + 131.4544126488399 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 129.71304622390926, + "ymin": 132.2360812572704, + "xmax": 148.44161584871534, + "ymax": 154.1646506336545 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 148.23118649111507, + 154.1646506336545 + ], + [ + 148.44161584871534, + 154.0454073320952 + ], + [ + 137.02092635096676, + 150.4470273790195 + ], + [ + 136.80957274472001, + 150.5649454824645 + ], + [ + 141.25632247405332, + 135.89952135616778 + ], + [ + 141.4710416676673, + 135.78200670303636 + ], + [ + 129.92870110860036, + 132.2360812572704 + ], + [ + 129.71304622390926, + 132.35227155892056 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 131.8958753165607, + "ymin": 139.83301392586864, + "xmax": 152.6921048738884, + "ymax": 160.94695920635468 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 151.10660843569605, + 160.94695920635468 + ], + [ + 152.6921048738884, + 160.03678183340105 + ], + [ + 139.78323974279738, + 155.94027675823043 + ], + [ + 138.1898095285474, + 156.8390418053639 + ], + [ + 144.93535723396462, + 144.776820266268 + ], + [ + 146.54955271212782, + 143.87800210084188 + ], + [ + 133.5180934410244, + 139.83301392586864 + ], + [ + 131.8958753165607, + 140.72042139174374 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 128.36705473217773, + "ymin": 131.31542825416687, + "xmax": 151.32319222166592, + "ymax": 155.3995001505285 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 151.07138766658755, + 155.3995001505285 + ], + [ + 151.32319222166592, + 155.25618103377755 + ], + [ + 136.093609148349, + 150.4554648028543 + ], + [ + 135.84032495850659, + 150.59666486679694 + ], + [ + 143.76889483163956, + 136.18376351957303 + ], + [ + 144.02610070597098, + 136.04262318328284 + ], + [ + 128.6257595947829, + 131.31542825416687 + ], + [ + 128.36705473217773, + 131.45445093880355 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 128.36725173338232, + "ymin": 131.31542023655436, + "xmax": 151.32338746016376, + "ymax": 155.39949188146002 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 151.07158295154773, + 155.39949188146002 + ], + [ + 151.32338746016376, + 155.25617276837116 + ], + [ + 136.0938031313779, + 150.45545665964306 + ], + [ + 135.84051898739597, + 150.59665672000483 + ], + [ + 143.76909312801547, + 136.1837553761865 + ], + [ + 144.02629895444386, + 136.04261504355657 + ], + [ + 128.62595654871467, + 131.31542023655436 + ], + [ + 128.36725173338232, + 131.45444291761316 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 131.8958739370787, + "ymin": 139.83301322520936, + "xmax": 152.6921034818492, + "ymax": 160.94695848570277 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 151.1066070434635, + 160.94695848570277 + ], + [ + 152.6921034818492, + 160.0367811147575 + ], + [ + 139.78323837364957, + 155.9402760485913 + ], + [ + 138.18980815924783, + 156.83904109375405 + ], + [ + 144.9353558310574, + 144.77681955459747 + ], + [ + 146.54955130939936, + 143.87800139117968 + ], + [ + 133.51809206167815, + 139.83301322520936 + ], + [ + 131.8958739370787, + 140.72042068911423 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 128.36720047994595, + "ymin": 131.31535232114405, + "xmax": 151.32333418474923, + "ymax": 155.39942188052436 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 151.07152961339824, + 155.39942188052436 + ], + [ + 151.32333418474923, + 155.25610275395312 + ], + [ + 136.09375188696197, + 150.45538768031378 + ], + [ + 135.84046768027616, + 150.59658775418498 + ], + [ + 143.769039794874, + 136.18368643919828 + ], + [ + 144.02624568488966, + 136.04254609374703 + ], + [ + 128.62590535882595, + 131.31535232114405 + ], + [ + 128.36720047994595, + 131.45437501506143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 66.89938780597879, + "ymin": 119.6692560771339, + "xmax": 87.50879999988604, + "ymax": 140.20470997267645 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 85.885559874504, + 140.20470997267645 + ], + [ + 87.50879999988604, + 139.35142218064047 + ], + [ + 75.40383682464972, + 135.51002808139768 + ], + [ + 73.77422377827509, + 136.35295352040472 + ], + [ + 79.11601485516076, + 124.30129143751321 + ], + [ + 80.76831028184506, + 123.45932752796182 + ], + [ + 68.55809744459555, + 119.6692560771339 + ], + [ + 66.89938780597879, + 120.5008714740909 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 128.3671247690105, + "ymin": 131.31538967577976, + "xmax": 151.32326032507302, + "ymax": 155.3994603622095 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 151.07145580056027, + 155.3994603622095 + ], + [ + 151.32326032507302, + 155.25614126307875 + ], + [ + 136.09367767561213, + 150.45542562012312 + ], + [ + 135.84039351629178, + 150.59662566683477 + ], + [ + 143.768964438897, + 136.18372433599848 + ], + [ + 144.02617028153873, + 136.04258401731983 + ], + [ + 128.6258295999756, + 131.31538967577976 + ], + [ + 128.3671247690105, + 131.45441234319972 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 132.33430421383952, + "ymin": 144.2683848687944, + "xmax": 153.08513151610993, + "ymax": 165.31854981736393 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 151.503397822419, + 165.31854981736393 + ], + [ + 153.08513151610993, + 164.40413206616967 + ], + [ + 140.1997773647547, + 160.28847798133344 + ], + [ + 138.6101348065855, + 161.19145325333614 + ], + [ + 145.3498176853853, + 149.23668522213654 + ], + [ + 146.96011933726982, + 148.3334256615641 + ], + [ + 133.95260333477273, + 144.2683848687944 + ], + [ + 132.33430421383952, + 145.16020065043062 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 129.71306550280178, + "ymin": 132.23613393554453, + "xmax": 148.4416365302751, + "ymax": 154.1647047161453 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 148.23120715887507, + 154.1647047161453 + ], + [ + 148.4416365302751, + 154.04546139462053 + ], + [ + 137.02094596659418, + 150.44708084078147 + ], + [ + 136.8095923463519, + 150.5649989638601 + ], + [ + 141.2563428426916, + 135.89957465477417 + ], + [ + 141.47106205072123, + 135.78205998168764 + ], + [ + 129.92872040210892, + 132.23613393554453 + ], + [ + 129.71306550280178, + 132.3523242568134 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 58.54090046446595, + "ymin": 119.03012263723588, + "xmax": 79.18968062808733, + "ymax": 139.54713744183726 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 77.55689381616821, + 139.54713744183726 + ], + [ + 79.18968062808733, + 138.6956231876855 + ], + [ + 67.14780076768795, + 134.86218370336442 + ], + [ + 65.50879042920133, + 135.70336779651763 + ], + [ + 70.69283524981006, + 123.65244302004834 + ], + [ + 72.35489218268083, + 122.81225044318901 + ], + [ + 60.20921705988667, + 119.03012263723588 + ], + [ + 58.54090046446595, + 119.85999924100216 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 129.71319062673143, + "ymin": 132.23615993525362, + "xmax": 148.44176135643227, + "ymax": 154.16473140891483 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 148.231331999384, + 154.16473140891483 + ], + [ + 148.44176135643227, + 154.04548807753582 + ], + [ + 137.02106962803134, + 150.44710722718614 + ], + [ + 136.80971602180898, + 150.5650253599551 + ], + [ + 141.2564691615284, + 135.89960096065244 + ], + [ + 141.47118835490573, + 135.7820862777168 + ], + [ + 129.92884551173057, + 132.23615993525362 + ], + [ + 129.71319062673143, + 132.35235026620552 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 136.88979996626165, + "ymin": 142.53447728491827, + "xmax": 160.14137230656308, + "ymax": 197.12971838812382 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 159.04454139846882, + 197.12971838812382 + ], + [ + 160.14137230656308, + 196.46049118127368 + ], + [ + 158.70001787414333, + 195.97927687344688 + ], + [ + 157.60255405958884, + 196.64756811906554 + ], + [ + 138.37861761189947, + 143.64111164862706 + ], + [ + 139.54346700615133, + 142.99734832656523 + ], + [ + 138.055307227026, + 142.53447728491827 + ], + [ + 136.88979996626165, + 143.17730163408427 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 136.88979996626165, + "ymin": 142.53447728491827, + "xmax": 160.14137230656308, + "ymax": 197.12971838812382 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 159.04454139846882, + 197.12971838812382 + ], + [ + 160.14137230656308, + 196.46049118127368 + ], + [ + 158.70001787414333, + 195.97927687344688 + ], + [ + 157.60255405958884, + 196.64756811906554 + ], + [ + 138.37861761189947, + 143.64111164862706 + ], + [ + 139.54346700615133, + 142.99734832656523 + ], + [ + 138.055307227026, + 142.53447728491827 + ], + [ + 136.88979996626165, + 143.17730163408427 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 83.03296676676518, + "ymin": 125.79004040038774, + "xmax": 107.86966850663532, + "ymax": 179.64465672914483 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 106.75113855516827, + 179.64465672914483 + ], + [ + 107.86966850663532, + 179.0089535194254 + ], + [ + 106.5004587254482, + 178.55182559171206 + ], + [ + 105.38139504540584, + 179.18666225738968 + ], + [ + 84.44411696596535, + 126.83897285515908 + ], + [ + 85.63139414620287, + 126.22878826595888 + ], + [ + 84.2207919717556, + 125.79004040038774 + ], + [ + 83.03296676676518, + 126.39935849047811 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 136.88979996626165, + "ymin": 142.53447728491827, + "xmax": 160.14137230656308, + "ymax": 197.12971838812382 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 159.04454139846882, + 197.12971838812382 + ], + [ + 160.14137230656308, + 196.46049118127368 + ], + [ + 158.70001787414333, + 195.97927687344688 + ], + [ + 157.60255405958884, + 196.64756811906554 + ], + [ + 138.37861761189947, + 143.64111164862706 + ], + [ + 139.54346700615133, + 142.99734832656523 + ], + [ + 138.055307227026, + 142.53447728491827 + ], + [ + 136.88979996626165, + 143.17730163408427 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 71.51891267995177, + "ymin": 122.21003748557891, + "xmax": 96.67962666098629, + "ymax": 175.90156592625027 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 95.55678675064689, + 175.90156592625027 + ], + [ + 96.67962666098629, + 175.27292748893288 + ], + [ + 95.32562087678411, + 174.8208756678258 + ], + [ + 94.20226745341063, + 175.44866196130883 + ], + [ + 72.91372827038867, + 123.24683392469876 + ], + [ + 74.10542521180514, + 122.64371157775949 + ], + [ + 72.7111353427457, + 122.21003748557891 + ], + [ + 71.51891267995177, + 122.81230832775151 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 780.5660603512424, + "ymin": 27.451849176501753, + "xmax": 794.233712630325, + "ymax": 37.25170857041189 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 793.8680426057501, + 32.49779431779689 + ], + [ + 785.1123079494022, + 30.794595190353107 + ], + [ + 780.5660603512424, + 35.51752751749814 + ], + [ + 789.3862303784312, + 37.25170857041189 + ], + [ + 794.233712630325, + 29.148175363774953 + ], + [ + 785.4560468397449, + 27.451849176501753 + ], + [ + 780.9020466735024, + 32.15578738544298 + ], + [ + 789.7444761412276, + 33.88304467407039 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 136.88979996626165, + "ymin": 142.53447728491827, + "xmax": 160.14137230656308, + "ymax": 197.12971838812382 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 159.04454139846882, + 197.12971838812382 + ], + [ + 160.14137230656308, + 196.46049118127368 + ], + [ + 158.70001787414333, + 195.97927687344688 + ], + [ + 157.60255405958884, + 196.64756811906554 + ], + [ + 138.37861761189947, + 143.64111164862706 + ], + [ + 139.54346700615133, + 142.99734832656523 + ], + [ + 138.055307227026, + 142.53447728491827 + ], + [ + 136.88979996626165, + 143.17730163408427 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1248.9640387514787, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 134.73441837816324 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1249.2364087916499, + 111.17175652907454 + ], + [ + 1248.9640387514787, + 115.39444263707392 + ], + [ + 1349.308361506645, + 134.73441837816324 + ], + [ + 1348.8694220508582, + 130.23944041980508 + ], + [ + 1333.9183902676837, + -73.80417266390361 + ], + [ + 1334.2840034611304, + -70.46680190210486 + ], + [ + 1452.312350778268, + -55.09810620692883 + ], + [ + 1450.9647525628461, + -58.68236101529311 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 81.38340927095305, + "ymin": 141.63715894344924, + "xmax": 106.89992477747421, + "ymax": 196.19363575659023 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 105.75288471713884, + 196.19363575659023 + ], + [ + 106.89992477747421, + 195.5262253244144 + ], + [ + 105.49770095496308, + 195.0463161331931 + ], + [ + 104.35010191121421, + 195.71279441139302 + ], + [ + 82.82962978623141, + 142.74066165344604 + ], + [ + 84.04902792059454, + 142.09872086522978 + ], + [ + 82.60338155749992, + 141.63715894344924 + ], + [ + 81.38340927095305, + 142.2781647417737 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 136.88979996626165, + "ymin": 142.53447728491827, + "xmax": 160.14137230656308, + "ymax": 197.12971838812382 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 159.04454139846882, + 197.12971838812382 + ], + [ + 160.14137230656308, + 196.46049118127368 + ], + [ + 158.70001787414333, + 195.97927687344688 + ], + [ + 157.60255405958884, + 196.64756811906554 + ], + [ + 138.37861761189947, + 143.64111164862706 + ], + [ + 139.54346700615133, + 142.99734832656523 + ], + [ + 138.055307227026, + 142.53447728491827 + ], + [ + 136.88979996626165, + 143.17730163408427 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 136.88979996626165, + "ymin": 142.53447728491827, + "xmax": 160.14137230656308, + "ymax": 197.12971838812382 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 159.04454139846882, + 197.12971838812382 + ], + [ + 160.14137230656308, + 196.46049118127368 + ], + [ + 158.70001787414333, + 195.97927687344688 + ], + [ + 157.60255405958884, + 196.64756811906554 + ], + [ + 138.37861761189947, + 143.64111164862706 + ], + [ + 139.54346700615133, + 142.99734832656523 + ], + [ + 138.055307227026, + 142.53447728491827 + ], + [ + 136.88979996626165, + 143.17730163408427 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 757.7376593325902, + "ymin": 0.0, + "xmax": 830.7538433116681, + "ymax": 238.7060463838817 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 804.5290264601093, + 188.75313030741182 + ], + [ + 793.8649598211503, + 186.0710659218288 + ], + [ + 757.7376593325902, + 235.61668016557985 + ], + [ + 769.0310491276957, + 238.7060463838817 + ], + [ + 830.7538433116681, + -11.000127438477136 + ], + [ + 818.2780050289059, + -13.195587426313182 + ], + [ + 778.0191766132084, + 27.81111151470435 + ], + [ + 791.3687114437811, + 30.399937348497474 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 780.492448344479, + "ymin": 27.399398419789918, + "xmax": 794.3071543974112, + "ymax": 37.30471963257014 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 793.9373933041609, + 32.49934183164436 + ], + [ + 785.0878898547564, + 30.777941510875507 + ], + [ + 780.492448344479, + 35.55166655249354 + ], + [ + 789.4077805680267, + 37.30471963257014 + ], + [ + 794.3071543974112, + 29.113777421322425 + ], + [ + 785.435247245041, + 27.399398419789918 + ], + [ + 780.8318838132715, + 32.15371867901865 + ], + [ + 789.7699587604658, + 33.89969795778899 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 136.88979996626165, + "ymin": 142.53447728491827, + "xmax": 160.14137230656308, + "ymax": 197.12971838812382 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 159.04454139846882, + 197.12971838812382 + ], + [ + 160.14137230656308, + 196.46049118127368 + ], + [ + 158.70001787414333, + 195.97927687344688 + ], + [ + 157.60255405958884, + 196.64756811906554 + ], + [ + 138.37861761189947, + 143.64111164862706 + ], + [ + 139.54346700615133, + 142.99734832656523 + ], + [ + 138.055307227026, + 142.53447728491827 + ], + [ + 136.88979996626165, + 143.17730163408427 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 136.88979996626165, + "ymin": 142.53447728491827, + "xmax": 160.14137230656308, + "ymax": 197.12971838812382 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 159.04454139846882, + 197.12971838812382 + ], + [ + 160.14137230656308, + 196.46049118127368 + ], + [ + 158.70001787414333, + 195.97927687344688 + ], + [ + 157.60255405958884, + 196.64756811906554 + ], + [ + 138.37861761189947, + 143.64111164862706 + ], + [ + 139.54346700615133, + 142.99734832656523 + ], + [ + 138.055307227026, + 142.53447728491827 + ], + [ + 136.88979996626165, + 143.17730163408427 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 136.88979996626165, + "ymin": 142.53447728491827, + "xmax": 160.14137230656308, + "ymax": 197.12971838812382 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 159.04454139846882, + 197.12971838812382 + ], + [ + 160.14137230656308, + 196.46049118127368 + ], + [ + 158.70001787414333, + 195.97927687344688 + ], + [ + 157.60255405958884, + 196.64756811906554 + ], + [ + 138.37861761189947, + 143.64111164862706 + ], + [ + 139.54346700615133, + 142.99734832656523 + ], + [ + 138.055307227026, + 142.53447728491827 + ], + [ + 136.88979996626165, + 143.17730163408427 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 138.38434345637592, + "ymin": 146.3906756448522, + "xmax": 161.5079553896132, + "ymax": 200.67830115245707 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 160.4155761931346, + 200.67830115245707 + ], + [ + 161.5079553896132, + 200.00754247247843 + ], + [ + 160.06975012760483, + 199.52522464803644 + ], + [ + 158.97673977214885, + 200.19504789502184 + ], + [ + 139.86982363498066, + 147.50072776644112 + ], + [ + 141.0297074100044, + 146.85497762764015 + ], + [ + 139.54488338694512, + 146.3906756448522 + ], + [ + 138.38434345637592, + 147.03548670834977 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1232.4585802137763, + "ymin": 687.0014476159627, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1233.5669361120556, + 919.7417598590222 + ], + [ + 1232.4585802137763, + 942.4318472897131 + ], + [ + 2157.8033638294883, + 1373.5176132636748 + ], + [ + 2140.288475614848, + 1335.3192390082565 + ], + [ + 1498.103966362148, + 687.0014476159627 + ], + [ + 1502.6820177035888, + 714.592923385572 + ], + [ + 3201.2033231778883, + 1326.4652070272714 + ], + [ + 3136.503028961519, + 1264.5059003168592 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 136.88979996626165, + "ymin": 142.53447728491827, + "xmax": 160.14137230656308, + "ymax": 197.12971838812382 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 159.04454139846882, + 197.12971838812382 + ], + [ + 160.14137230656308, + 196.46049118127368 + ], + [ + 158.70001787414333, + 195.97927687344688 + ], + [ + 157.60255405958884, + 196.64756811906554 + ], + [ + 138.37861761189947, + 143.64111164862706 + ], + [ + 139.54346700615133, + 142.99734832656523 + ], + [ + 138.055307227026, + 142.53447728491827 + ], + [ + 136.88979996626165, + 143.17730163408427 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 136.88979996626165, + "ymin": 142.53447728491827, + "xmax": 160.14137230656308, + "ymax": 197.12971838812382 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 159.04454139846882, + 197.12971838812382 + ], + [ + 160.14137230656308, + 196.46049118127368 + ], + [ + 158.70001787414333, + 195.97927687344688 + ], + [ + 157.60255405958884, + 196.64756811906554 + ], + [ + 138.37861761189947, + 143.64111164862706 + ], + [ + 139.54346700615133, + 142.99734832656523 + ], + [ + 138.055307227026, + 142.53447728491827 + ], + [ + 136.88979996626165, + 143.17730163408427 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 193.76791828463865, + "ymin": 0.0, + "xmax": 311.9407082263524, + "ymax": 97.84438313752656 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 311.9407082263524, + 64.86412224216497 + ], + [ + 304.800806861495, + 63.06840461740194 + ], + [ + 246.73918035718248, + 95.82995783091377 + ], + [ + 254.1030550282079, + 97.84438313752656 + ], + [ + 270.3756079140689, + -109.61430234406663 + ], + [ + 262.48538165331007, + -111.00279841343371 + ], + [ + 193.76791828463865, + -85.490891419143 + ], + [ + 201.9214007042405, + -83.90971802840721 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 136.88979996626165, + "ymin": 142.53447728491827, + "xmax": 160.14137230656308, + "ymax": 197.12971838812382 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 159.04454139846882, + 197.12971838812382 + ], + [ + 160.14137230656308, + 196.46049118127368 + ], + [ + 158.70001787414333, + 195.97927687344688 + ], + [ + 157.60255405958884, + 196.64756811906554 + ], + [ + 138.37861761189947, + 143.64111164862706 + ], + [ + 139.54346700615133, + 142.99734832656523 + ], + [ + 138.055307227026, + 142.53447728491827 + ], + [ + 136.88979996626165, + 143.17730163408427 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 136.88979996626165, + "ymin": 142.53447728491827, + "xmax": 160.14137230656308, + "ymax": 197.12971838812382 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 159.04454139846882, + 197.12971838812382 + ], + [ + 160.14137230656308, + 196.46049118127368 + ], + [ + 158.70001787414333, + 195.97927687344688 + ], + [ + 157.60255405958884, + 196.64756811906554 + ], + [ + 138.37861761189947, + 143.64111164862706 + ], + [ + 139.54346700615133, + 142.99734832656523 + ], + [ + 138.055307227026, + 142.53447728491827 + ], + [ + 136.88979996626165, + 143.17730163408427 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 136.88979996626165, + "ymin": 142.53447728491827, + "xmax": 160.14137230656308, + "ymax": 197.12971838812382 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 159.04454139846882, + 197.12971838812382 + ], + [ + 160.14137230656308, + 196.46049118127368 + ], + [ + 158.70001787414333, + 195.97927687344688 + ], + [ + 157.60255405958884, + 196.64756811906554 + ], + [ + 138.37861761189947, + 143.64111164862706 + ], + [ + 139.54346700615133, + 142.99734832656523 + ], + [ + 138.055307227026, + 142.53447728491827 + ], + [ + 136.88979996626165, + 143.17730163408427 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 81.84520966035598, + "ymin": 127.50493540041847, + "xmax": 106.79624064298184, + "ymax": 181.4370820919944 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 105.67370463504562, + 181.4370820919944 + ], + [ + 106.79624064298184, + 180.79798182031098 + ], + [ + 105.42411509297506, + 180.33841312696865 + ], + [ + 104.3010439036999, + 180.97663990181283 + ], + [ + 83.2594380365166, + 128.55970635545964 + ], + [ + 84.4511862678628, + 127.94612416812367 + ], + [ + 83.03750729781325, + 127.50493540041847 + ], + [ + 81.84520966035598, + 128.1176438440035 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 136.88979996626165, + "ymin": 142.53447728491827, + "xmax": 160.14137230656308, + "ymax": 197.12971838812382 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 159.04454139846882, + 197.12971838812382 + ], + [ + 160.14137230656308, + 196.46049118127368 + ], + [ + 158.70001787414333, + 195.97927687344688 + ], + [ + 157.60255405958884, + 196.64756811906554 + ], + [ + 138.37861761189947, + 143.64111164862706 + ], + [ + 139.54346700615133, + 142.99734832656523 + ], + [ + 138.055307227026, + 142.53447728491827 + ], + [ + 136.88979996626165, + 143.17730163408427 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 63.128181855954836, + "ymin": 121.56594787716222, + "xmax": 88.60012238023592, + "ymax": 175.22795721864293 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 87.47080871038588, + 175.22795721864293 + ], + [ + 88.60012238023592, + 174.60058593156978 + ], + [ + 87.25295020787553, + 174.14944460814698 + ], + [ + 86.12313435863621, + 174.77596632575205 + ], + [ + 64.51560570941456, + 122.60056843635897 + ], + [ + 65.71427860106814, + 121.99871226499226 + ], + [ + 64.32736776311981, + 121.56594787716222 + ], + [ + 63.128181855954836, + 122.16695522287176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 136.88979996626165, + "ymin": 142.53447728491827, + "xmax": 160.14137230656308, + "ymax": 197.12971838812382 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 159.04454139846882, + 197.12971838812382 + ], + [ + 160.14137230656308, + 196.46049118127368 + ], + [ + 158.70001787414333, + 195.97927687344688 + ], + [ + 157.60255405958884, + 196.64756811906554 + ], + [ + 138.37861761189947, + 143.64111164862706 + ], + [ + 139.54346700615133, + 142.99734832656523 + ], + [ + 138.055307227026, + 142.53447728491827 + ], + [ + 136.88979996626165, + 143.17730163408427 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 136.88979996626165, + "ymin": 142.53447728491827, + "xmax": 160.14137230656308, + "ymax": 197.12971838812382 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 159.04454139846882, + 197.12971838812382 + ], + [ + 160.14137230656308, + 196.46049118127368 + ], + [ + 158.70001787414333, + 195.97927687344688 + ], + [ + 157.60255405958884, + 196.64756811906554 + ], + [ + 138.37861761189947, + 143.64111164862706 + ], + [ + 139.54346700615133, + 142.99734832656523 + ], + [ + 138.055307227026, + 142.53447728491827 + ], + [ + 136.88979996626165, + 143.17730163408427 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 136.88979996626165, + "ymin": 142.53447728491827, + "xmax": 160.14137230656308, + "ymax": 197.12971838812382 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 159.04454139846882, + 197.12971838812382 + ], + [ + 160.14137230656308, + 196.46049118127368 + ], + [ + 158.70001787414333, + 195.97927687344688 + ], + [ + 157.60255405958884, + 196.64756811906554 + ], + [ + 138.37861761189947, + 143.64111164862706 + ], + [ + 139.54346700615133, + 142.99734832656523 + ], + [ + 138.055307227026, + 142.53447728491827 + ], + [ + 136.88979996626165, + 143.17730163408427 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 81.74704569371545, + "ymax": 4.646386766296075 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 74.95459194733007, + 4.646386766296075 + ], + [ + 81.74704569371545, + 1.8995059737737847 + ], + [ + -60.318952822024585, + -34.479788614193296 + ], + [ + -67.3402087352788, + -32.12378979667449 + ], + [ + 6.241340790639356, + -170.14084536946848 + ], + [ + 14.280835894908591, + -172.13566942058583 + ], + [ + -138.02544389500997, + -198.30402428835407 + ], + [ + -146.2752438718253, + -196.6233055407107 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 136.88979996626165, + "ymin": 142.53447728491827, + "xmax": 160.14137230656308, + "ymax": 197.12971838812382 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 159.04454139846882, + 197.12971838812382 + ], + [ + 160.14137230656308, + 196.46049118127368 + ], + [ + 158.70001787414333, + 195.97927687344688 + ], + [ + 157.60255405958884, + 196.64756811906554 + ], + [ + 138.37861761189947, + 143.64111164862706 + ], + [ + 139.54346700615133, + 142.99734832656523 + ], + [ + 138.055307227026, + 142.53447728491827 + ], + [ + 136.88979996626165, + 143.17730163408427 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1238.637383925754, + "ymin": 62.08698450534581, + "xmax": 1280.0, + "ymax": 568.1828673069642 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1268.7367568803693, + 304.6637590435234 + ], + [ + 1254.4486118277487, + 301.0104003575355 + ], + [ + 1238.637383925754, + 561.7218010595036 + ], + [ + 1257.5560452391674, + 568.1828673069642 + ], + [ + 1401.1330520911624, + 65.17679813020521 + ], + [ + 1383.118386154592, + 62.08698450534581 + ], + [ + 1417.540441202296, + 298.6612034957927 + ], + [ + 1443.58578472622, + 304.9692518680995 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00178/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00178/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..225331a9a9b107e9b09dc0c61572b5b33e5cfb86 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00178/meta.json @@ -0,0 +1,7036 @@ +{ + "frame_id": 178, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 89.0, + "sim_timestamp": 15176.432929595234 + }, + "drone_pose": { + "x": -31.124707915783766, + "y": -19.86388237164505, + "z": 20.0, + "pitch": -41.711883223364495, + "yaw": 63.747814060799115, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.33019399642944336, + -0.6695031523704529, + 0.6653852462768555, + 10.26842212677002 + ], + [ + 0.8968560099601746, + 0.4423227906227112, + 2.9802322387695312e-08, + -19.128128051757812 + ], + [ + -0.2943151295185089, + 0.5967546701431274, + 0.7465001344680786, + -35.944339752197266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -30.891474934146604, + "y": -19.364448128530633, + "z": 20.0 + }, + "t1_image_uv": [ + 667.3841946876236, + -495.68602570602104 + ], + "t1_depth": 0.4113849275569652 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -21.66718292236328, + "y": -0.6877632141113281, + "z": 0.9418266558646065 + }, + "image_uv": [ + 639.9999999999999, + 360.0 + ], + "depth": 28.642316529223294, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 700, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -21.66718292236328, + "y": -0.6877632141113281, + "z": 0.941826581954956 + }, + "extent": { + "x": 0.42933347821235657, + "y": 0.4297848343849182, + "z": 0.8647089004516602 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 621.4919852821013, + "ymin": 326.0170465171409, + "xmax": 658.7741795823246, + "ymax": 393.58486224890413 + }, + "corners_3d": [ + [ + -21.6668643951416, + -1.2952516078948975, + 0.0771176815032959 + ], + [ + -22.27467155456543, + -0.6874439716339111, + 0.0771176815032959 + ], + [ + -21.66750144958496, + -0.08027482032775879, + 0.0771176815032959 + ], + [ + -21.059694290161133, + -0.6880824565887451, + 0.0771176815032959 + ], + [ + -21.6668643951416, + -1.2952516078948975, + 1.8065354824066162 + ], + [ + -22.27467155456543, + -0.6874439716339111, + 1.8065354824066162 + ], + [ + -21.66750144958496, + -0.08027482032775879, + 1.8065354824066162 + ], + [ + -21.059694290161133, + -0.6880824565887451, + 1.8065354824066162 + ] + ], + "corners_2d": [ + [ + 631.0370552308103, + 393.58486224890413 + ], + [ + 658.0296586002949, + 387.2645464044255 + ], + [ + 648.7169017828287, + 369.17336908558923 + ], + [ + 622.2159525242033, + 375.23644938383836 + ], + [ + 630.6641776828749, + 350.1753039575043 + ], + [ + 658.7741795823246, + 343.91526058882766 + ], + [ + 649.0691861782625, + 326.0170465171409 + ], + [ + 621.4919852821013, + 332.01208465729803 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 178, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 49, + "semantic_pixel_counts": { + "1": 416956, + "2": 261923, + "3": 73192, + "5": 2985, + "6": 2122, + "10": 251, + "12": 3603, + "14": 6615, + "20": 4960, + "24": 22132, + "25": 126861 + }, + "instance_pixel_counts": { + "3992": 510, + "6018": 295, + "7274": 80, + "7576": 2914, + "7784": 9484, + "7786": 2924, + "8088": 1628, + "8296": 18094, + "8780": 2985, + "9322": 6386, + "9624": 11422, + "9832": 200958, + "10316": 3263, + "10828": 1570, + "21090": 17693, + "21602": 103008, + "24656": 347, + "24946": 34597, + "25168": 993, + "25856": 457, + "26218": 62, + "29800": 267, + "31375": 64595, + "31848": 26096, + "32360": 19405, + "33650": 9446, + "33906": 9750, + "34408": 142652, + "34418": 19399, + "34560": 30, + "39239": 126861, + "42903": 18852, + "46184": 1353, + "46696": 2936, + "48232": 8391, + "53391": 1107, + "56320": 700, + "56576": 569, + "56832": 497, + "56975": 6435, + "57088": 628, + "57344": 479, + "57487": 3720, + "57600": 730, + "57999": 2982, + "58511": 457, + "58951": 127, + "59023": 26600, + "60928": 6615 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 700, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -21.66718292236328, + "y": -0.6877632141113281, + "z": 0.941826581954956 + }, + "extent": { + "x": 0.4267553687095642, + "y": 0.5290897488594055, + "z": 0.8827558755874634 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 618.2976295060587, + "ymin": 324.9138983703356, + "xmax": 661.9743902919932, + "ymax": 394.6992978224092 + }, + "corners_3d": [ + [ + -21.59482192993164, + -1.3636478185653687, + 0.059070706367492676 + ], + [ + -22.343067169189453, + -0.6154017448425293, + 0.059070706367492676 + ], + [ + -21.739543914794922, + -0.011878609657287598, + 0.059070706367492676 + ], + [ + -20.99129867553711, + -0.760124683380127, + 0.059070706367492676 + ], + [ + -21.59482192993164, + -1.3636478185653687, + 1.8245824575424194 + ], + [ + -22.343067169189453, + -0.6154017448425293, + 1.8245824575424194 + ], + [ + -21.739543914794922, + -0.011878609657287598, + 1.8245824575424194 + ], + [ + -20.99129867553711, + -0.760124683380127, + 1.8245824575424194 + ] + ], + "corners_2d": [ + [ + 627.8718988324821, + 394.6992978224092 + ], + [ + 661.0859254221091, + 386.9189699532692 + ], + [ + 651.7775571922149, + 368.96408943734724 + ], + [ + 619.1646679606886, + 376.42974706601893 + ], + [ + 627.3561795645676, + 350.37658741943414 + ], + [ + 661.9743902919932, + 342.67204983435664 + ], + [ + 652.2632981630313, + 324.9138983703356 + ], + [ + 618.2976295060587, + 332.2940602121935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 569, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -17.541196823120117, + "y": 2.309941530227661, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.4839538335800171, + "y": 0.44786474108695984, + "z": 0.8975098133087158 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 548.5212725244126, + "ymin": 236.52849420310912, + "xmax": 588.4915689525784, + "ymax": 303.10258318245013 + }, + "corners_3d": [ + [ + -17.703149795532227, + 1.670750379562378, + 0.04431194067001343 + ], + [ + -18.19099998474121, + 2.4219720363616943, + 0.04431194067001343 + ], + [ + -17.379243850708008, + 2.9491326808929443, + 0.04431194067001343 + ], + [ + -16.891393661499023, + 2.197911024093628, + 0.04431194067001343 + ], + [ + -17.703149795532227, + 1.670750379562378, + 1.8393316268920898 + ], + [ + -18.19099998474121, + 2.4219720363616943, + 1.8393316268920898 + ], + [ + -17.379243850708008, + 2.9491326808929443, + 1.8393316268920898 + ], + [ + -16.891393661499023, + 2.197911024093628, + 1.8393316268920898 + ] + ], + "corners_2d": [ + [ + 564.9406755080313, + 303.10258318245013 + ], + [ + 588.4915689525784, + 294.6923677060043 + ], + [ + 575.1017265053729, + 279.8601102114643 + ], + [ + 551.8576269413588, + 287.9560182724216 + ], + [ + 562.0425040200026, + 259.3196454062919 + ], + [ + 586.5244780623365, + 251.06682898921076 + ], + [ + 572.6715339044237, + 236.52849420310912 + ], + [ + 548.5212725244126, + 244.4613880304373 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 497, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -23.923004150390625, + "y": 6.25494909286499, + "z": 0.9417973756790161 + }, + "extent": { + "x": 0.4212060570716858, + "y": 0.443093866109848, + "z": 0.9421696066856384 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 770.0952703163125, + "ymin": 224.63705938244595, + "xmax": 811.4069430708502, + "ymax": 289.70799698504527 + }, + "corners_3d": [ + [ + -23.971494674682617, + 5.645526885986328, + -0.00037223100662231445 + ], + [ + -24.529190063476562, + 6.334224700927734, + -0.00037223100662231445 + ], + [ + -23.874513626098633, + 6.864371299743652, + -0.00037223100662231445 + ], + [ + -23.316818237304688, + 6.175673484802246, + -0.00037223100662231445 + ], + [ + -23.971494674682617, + 5.645526885986328, + 1.8839669227600098 + ], + [ + -24.529190063476562, + 6.334224700927734, + 1.8839669227600098 + ], + [ + -23.874513626098633, + 6.864371299743652, + 1.8839669227600098 + ], + [ + -23.316818237304688, + 6.175673484802246, + 1.8839669227600098 + ] + ], + "corners_2d": [ + [ + 782.7018310047185, + 289.70799698504527 + ], + [ + 804.8994808323124, + 283.12201563029674 + ], + [ + 792.0195005498388, + 269.8831276132487 + ], + [ + 770.0952703163125, + 276.2461883634128 + ], + [ + 788.3828211459486, + 244.032842524466 + ], + [ + 811.4069430708502, + 237.58508461334566 + ], + [ + 797.9127446247875, + 224.63705938244595 + ], + [ + 775.1821484037996, + 230.85815409216985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 628, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -31.16718101501465, + "y": -0.6877632141113281, + "z": 0.941826581954956 + }, + "extent": { + "x": 0.25556761026382446, + "y": 0.3703122138977051, + "z": 0.8692123293876648 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 936.6051602472849, + "ymin": 432.65369344602317, + "xmax": 986.0725685405915, + "ymax": 497.0432491407161 + }, + "corners_3d": [ + [ + -31.086044311523438, + -1.1303271055221558, + 0.07261425256729126 + ], + [ + -31.609745025634766, + -0.6066264510154724, + 0.07261425256729126 + ], + [ + -31.24831771850586, + -0.2451993227005005, + 0.07261425256729126 + ], + [ + -30.72461700439453, + -0.7688999772071838, + 0.07261425256729126 + ], + [ + -31.086044311523438, + -1.1303271055221558, + 1.8110389709472656 + ], + [ + -31.609745025634766, + -0.6066264510154724, + 1.8110389709472656 + ], + [ + -31.24831771850586, + -0.2451993227005005, + 1.8110389709472656 + ], + [ + -30.72461700439453, + -0.7688999772071838, + 1.8110389709472656 + ] + ], + "corners_2d": [ + [ + 946.8660586186627, + 497.0432491407161 + ], + [ + 970.67131352966, + 490.25638557323157 + ], + [ + 960.1532205350411, + 476.7386119407729 + ], + [ + 936.6051602472849, + 483.3400255347725 + ], + [ + 961.2615664002712, + 452.947154843918 + ], + [ + 986.0725685405915, + 446.1596952605524 + ], + [ + 974.8507598117185, + 432.65369344602317 + ], + [ + 950.3183700573401, + 439.2472039840924 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 479, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -25.282682418823242, + "y": -11.81512451171875, + "z": 1.1327787637710571 + }, + "extent": { + "x": 0.4223352074623108, + "y": 0.42022398114204407, + "z": 0.9369490742683411 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 532.48609548742, + "ymin": 679.2657781770822, + "xmax": 584.2558929706375, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -25.221891403198242, + -12.407795906066895, + 0.19582968950271606 + ], + [ + -25.875041961669922, + -11.878885269165039, + 0.19582968950271606 + ], + [ + -25.343473434448242, + -11.222453117370605, + 0.19582968950271606 + ], + [ + -24.690322875976562, + -11.751363754272461, + 0.19582968950271606 + ], + [ + -25.221891403198242, + -12.407795906066895, + 2.069727897644043 + ], + [ + -25.875041961669922, + -11.878885269165039, + 2.069727897644043 + ], + [ + -25.343473434448242, + -11.222453117370605, + 2.069727897644043 + ], + [ + -24.690322875976562, + -11.751363754272461, + 2.069727897644043 + ] + ], + "corners_2d": [ + [ + 544.7566689502063, + 770.2320480726535 + ], + [ + 584.2558929706375, + 761.5803947744101 + ], + [ + 577.3256264479719, + 724.5340324581327 + ], + [ + 538.9517753488016, + 732.6816895714628 + ], + [ + 538.4638156266542, + 726.1757851331499 + ], + [ + 580.5996280964084, + 717.2775106246213 + ], + [ + 573.3436288288549, + 679.2657781770822 + ], + [ + 532.48609548742, + 687.613165836484 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 730, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -10.421846389770508, + "y": -8.857977867126465, + "z": 1.0927153825759888 + }, + "extent": { + "x": 0.4258785843849182, + "y": 0.4890170097351074, + "z": 0.9157750010490417 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 114.39880957279945, + "ymin": 376.2819935863119, + "xmax": 181.19673103041373, + "ymax": 447.2290635831458 + }, + "corners_3d": [ + [ + -10.243672370910645, + -9.481487274169922, + 0.17694038152694702 + ], + [ + -11.063920974731445, + -8.948811531066895, + 0.17694038152694702 + ], + [ + -10.600020408630371, + -8.234468460083008, + 0.17694038152694702 + ], + [ + -9.77977180480957, + -8.767144203186035, + 0.17694038152694702 + ], + [ + -10.243672370910645, + -9.481487274169922, + 2.0084903240203857 + ], + [ + -11.063920974731445, + -8.948811531066895, + 2.0084903240203857 + ], + [ + -10.600020408630371, + -8.234468460083008, + 2.0084903240203857 + ], + [ + -9.77977180480957, + -8.767144203186035, + 2.0084903240203857 + ] + ], + "corners_2d": [ + [ + 138.09119725742653, + 447.2290635831458 + ], + [ + 174.05759596687847, + 444.2465829636323 + ], + [ + 181.19673103041373, + 422.8613992015587 + ], + [ + 146.07330690969383, + 425.70950431084253 + ], + [ + 114.39880957279945, + 400.5059125425388 + ], + [ + 152.13582958556464, + 397.53785193292373 + ], + [ + 160.12452298518548, + 376.2819935863119 + ], + [ + 123.31434714762429, + 379.11025071801265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 6615, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -19.1251277923584, + "y": 6.095887660980225, + "z": 0.8948460817337036 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 588.8715939429658, + "ymin": 175.4096164138127, + "xmax": 732.6694357874054, + "ymax": 278.7687812034514 + }, + "corners_3d": [ + [ + -21.404022216796875, + 5.052896022796631, + 0.011262890882790089 + ], + [ + -21.39891815185547, + 7.149961948394775, + 0.011262890882790089 + ], + [ + -16.846233367919922, + 7.138879776000977, + 0.011262890882790089 + ], + [ + -16.851337432861328, + 5.041813850402832, + 0.011262890882790089 + ], + [ + -21.404022216796875, + 5.052896022796631, + 1.7784292697906494 + ], + [ + -21.39891815185547, + 7.149961948394775, + 1.7784292697906494 + ], + [ + -16.846233367919922, + 7.138879776000977, + 1.7784292697906494 + ], + [ + -16.851337432861328, + 5.041813850402832, + 1.7784292697906494 + ] + ], + "corners_2d": [ + [ + 706.6152686903744, + 278.7687812034514 + ], + [ + 729.5199266681063, + 247.30307164831157 + ], + [ + 617.078254772034, + 216.5106499276018 + ], + [ + 590.6047519471769, + 245.37162131282668 + ], + [ + 709.0618414980149, + 236.22940803247445 + ], + [ + 732.6694357874054, + 205.4458258313028 + ], + [ + 616.3063645221999, + 175.4096164138127 + ], + [ + 588.8715939429658, + 203.55923428361214 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 115.09648804030155, + "ymin": 147.20117339199646, + "xmax": 136.49283071614497, + "ymax": 168.53449578344689 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 134.87504146563737, + 168.53449578344689 + ], + [ + 136.49283071614497, + 167.59137156856607 + ], + [ + 123.34296722100521, + 163.44591924512991 + ], + [ + 121.71672239972054, + 164.37728305993977 + ], + [ + 128.3817240608438, + 152.22813943202064 + ], + [ + 130.02961806580907, + 151.2963594492282 + ], + [ + 116.75293628162376, + 147.20117339199646 + ], + [ + 115.09648804030155, + 148.12118659684657 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 115.09649150081646, + "ymin": 147.20117445871296, + "xmax": 136.49283418492826, + "ymax": 168.53449688008175 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 134.87504493668206, + 168.53449688008175 + ], + [ + 136.49283418492826, + 167.59137266208896 + ], + [ + 123.34297064656448, + 163.44592032502646 + ], + [ + 121.71672582745202, + 164.3772841428904 + ], + [ + 128.38172756564995, + 152.22814051548457 + ], + [ + 130.02962156832655, + 151.296360529578 + ], + [ + 116.75293973994178, + 147.20117445871296 + ], + [ + 115.09649150081646, + 148.12118766661845 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 59.303675768638755, + "ymin": 132.13485023185143, + "xmax": 80.62699838184676, + "ymax": 153.04380202348568 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 78.96935477741965, + 153.04380202348568 + ], + [ + 80.62699838184676, + 152.14412545288525 + ], + [ + 68.12259265397086, + 148.18893808613322 + ], + [ + 66.45782403130522, + 149.07765509372427 + ], + [ + 71.92768287057811, + 136.92808078095698 + ], + [ + 73.61599085059254, + 136.03975779863526 + ], + [ + 60.99916493505316, + 132.13485023185143 + ], + [ + 59.303675768638755, + 133.01221748913227 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 60.53050359848373, + "ymin": 130.38040391995582, + "xmax": 81.7852831602645, + "ymax": 151.2397038900989 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 80.1338534308029, + 151.2397038900989 + ], + [ + 81.7852831602645, + 150.34502081416719 + ], + [ + 69.30834014979462, + 146.41170434471246 + ], + [ + 67.64980501108448, + 147.29551869832605 + ], + [ + 73.12658413106988, + 135.14678087339354 + ], + [ + 74.80846617704333, + 134.26344994989398 + ], + [ + 62.21954751026442, + 130.38040391995582 + ], + [ + 60.53050359848373, + 131.25287105640314 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 112.76368892871596, + "ymin": 139.55416826831836, + "xmax": 132.08038557134273, + "ymax": 161.68993349975054 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 131.86562278579464, + 161.68993349975054 + ], + [ + 132.08038557134273, + 161.56634959353792 + ], + [ + 120.44558988375593, + 157.92419684312247 + ], + [ + 120.22984184665233, + 158.04641474081853 + ], + [ + 124.52534208978, + 143.26693634379941 + ], + [ + 124.74460652230186, + 143.14508100807817 + ], + [ + 112.98395132881024, + 139.55416826831836 + ], + [ + 112.76368892871596, + 139.67465741091831 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 112.76383543898373, + "ymin": 139.55420083048855, + "xmax": 132.0805317661704, + "ymax": 161.68996691089612 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 131.86576899719626, + 161.68996691089612 + ], + [ + 132.0805317661704, + 161.56638299212233 + ], + [ + 120.44573468049612, + 157.92422987257711 + ], + [ + 120.22998665956356, + 158.04644778262656 + ], + [ + 124.5254900348267, + 143.2669692877121 + ], + [ + 124.74475445043686, + 143.14511393942655 + ], + [ + 112.98409782258443, + 139.55420083048855 + ], + [ + 112.76383543898373, + 139.6746899854421 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 115.09648804030155, + "ymin": 147.20117339199646, + "xmax": 136.49283071614497, + "ymax": 168.53449578344689 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 134.87504146563737, + 168.53449578344689 + ], + [ + 136.49283071614497, + 167.59137156856607 + ], + [ + 123.34296722100521, + 163.44591924512991 + ], + [ + 121.71672239972054, + 164.37728305993977 + ], + [ + 128.3817240608438, + 152.22813943202064 + ], + [ + 130.02961806580907, + 151.2963594492282 + ], + [ + 116.75293628162376, + 147.20117339199646 + ], + [ + 115.09648804030155, + 148.12118659684657 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 115.09648828438492, + "ymin": 147.20117330187642, + "xmax": 136.49283087461703, + "ymax": 168.53449564447553 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 134.87504170402212, + 168.53449564447553 + ], + [ + 136.49283087461703, + 167.59137147618145 + ], + [ + 123.34296738030696, + 163.44591915389637 + ], + [ + 121.71672263934897, + 164.37728292270256 + ], + [ + 128.38172430366876, + 152.22813929471835 + ], + [ + 130.02961822722716, + 151.29635935795645 + ], + [ + 116.75293644388125, + 147.20117330187642 + ], + [ + 115.09648828438492, + 148.12118646127936 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 115.09649100542526, + "ymin": 147.2011742809269, + "xmax": 136.49283360679766, + "ymax": 168.53449665098546 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 134.87504443763612, + 168.53449665098546 + ], + [ + 136.49283360679766, + 167.59137247983514 + ], + [ + 123.34297007563782, + 163.4459201450437 + ], + [ + 121.71672533603964, + 164.37728391665289 + ], + [ + 128.38172706245712, + 152.22814028913982 + ], + [ + 130.02962098457363, + 151.29636034951974 + ], + [ + 116.75293916355554, + 147.2011742809269 + ], + [ + 115.09649100542526, + 148.1211874431341 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 58.67565442319733, + "ymin": 146.55142511763285, + "xmax": 80.49039824027284, + "ymax": 167.86652169262382 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 78.79468470966924, + 167.86652169262382 + ], + [ + 80.49039824027284, + 166.92529176501904 + ], + [ + 67.70331875056104, + 162.78813451071096 + ], + [ + 66.00015742607945, + 163.71763934157147 + ], + [ + 71.58780957577176, + 151.56819645596457 + ], + [ + 73.31562163331034, + 150.63831198333125 + ], + [ + 60.41097413111561, + 146.55142511763285 + ], + [ + 58.67565442319733, + 147.4695785862667 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 112.76352657374514, + "ymin": 139.55410681146486, + "xmax": 132.08022280105098, + "ymax": 161.6898704405668 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 131.86546000549845, + 161.6898704405668 + ], + [ + 132.08022280105098, + 161.5662865580615 + ], + [ + 120.44542912513441, + 157.9241345043304 + ], + [ + 120.22968107855183, + 158.04635237871094 + ], + [ + 124.52517767232519, + 143.26687416645686 + ], + [ + 124.74444211487048, + 143.1450188544491 + ], + [ + 112.9837889833185, + 139.55410681146486 + ], + [ + 112.76352657374514, + 139.67459593074906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 115.09649150081646, + "ymin": 147.20117445871296, + "xmax": 136.49283418492826, + "ymax": 168.53449688008175 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 134.87504493668206, + 168.53449688008175 + ], + [ + 136.49283418492826, + 167.59137266208896 + ], + [ + 123.34297064656448, + 163.44592032502646 + ], + [ + 121.71672582745202, + 164.3772841428904 + ], + [ + 128.38172756564995, + 152.22814051548457 + ], + [ + 130.02962156832655, + 151.296360529578 + ], + [ + 116.75293973994178, + 147.20117445871296 + ], + [ + 115.09649150081646, + 148.12118766661845 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 111.39362652390707, + "ymin": 138.6136858088876, + "xmax": 135.02904278359557, + "ymax": 162.92841314743418 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 134.77207350201024, + 162.92841314743418 + ], + [ + 135.02904278359557, + 162.7798853050348 + ], + [ + 119.51424896937897, + 157.92099562310963 + ], + [ + 119.25570252818841, + 158.06733930408973 + ], + [ + 127.0866796101061, + 143.54710750605108 + ], + [ + 127.34931648059546, + 143.4007580737434 + ], + [ + 111.65786205471704, + 138.6136858088876 + ], + [ + 111.39362652390707, + 138.75785074769038 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 112.76366941835579, + "ymin": 139.55411419730459, + "xmax": 132.08036460373268, + "ymax": 161.68987801897336 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 131.86560183236742, + 161.68987801897336 + ], + [ + 132.08036460373268, + 161.5662941336189 + ], + [ + 120.44557000865814, + 157.92414199616084 + ], + [ + 120.22982198594582, + 158.0463598733433 + ], + [ + 124.52532146211809, + 143.26688163888443 + ], + [ + 124.74458587980484, + 143.14502632402665 + ], + [ + 112.98393180340133, + 139.55411419730459 + ], + [ + 112.76366941835579, + 139.67460331939068 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 115.09648828438492, + "ymin": 147.20117330187642, + "xmax": 136.49283087461703, + "ymax": 168.53449564447553 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 134.87504170402212, + 168.53449564447553 + ], + [ + 136.49283087461703, + 167.59137147618145 + ], + [ + 123.34296738030696, + 163.44591915389637 + ], + [ + 121.71672263934897, + 164.37728292270256 + ], + [ + 128.38172430366876, + 152.22813929471835 + ], + [ + 130.02961822722716, + 151.29635935795645 + ], + [ + 116.75293644388125, + 147.20117330187642 + ], + [ + 115.09648828438492, + 148.12118646127936 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 111.3935537472289, + "ymin": 138.6137255420029, + "xmax": 135.02897196049736, + "ymax": 162.92845405542414 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 134.77200272674963, + 162.92845405542414 + ], + [ + 135.02897196049736, + 162.77992624067457 + ], + [ + 119.51417771148249, + 157.92103595684156 + ], + [ + 119.25563131866011, + 158.0673796104442 + ], + [ + 127.08660727361257, + 143.547147814195 + ], + [ + 127.34924409570601, + 143.40079840885502 + ], + [ + 111.65778922909874, + 138.6137255420029 + ], + [ + 111.3935537472289, + 138.75789045410426 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 111.39375467868342, + "ymin": 138.61371636449144, + "xmax": 135.02917099092247, + "ymax": 162.92844459588878 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 134.77220180576018, + 162.92844459588878 + ], + [ + 135.02917099092247, + 162.77991678540536 + ], + [ + 119.51437549438253, + 157.92102664060042 + ], + [ + 119.25582914952986, + 158.06737029003057 + ], + [ + 127.08680949302345, + 143.54713849336764 + ], + [ + 127.349446264991, + 143.40078909229513 + ], + [ + 111.6579901110722, + 138.61371636449144 + ], + [ + 111.39375467868342, + 138.7578812724205 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 115.09648687957201, + "ymin": 147.20117258827824, + "xmax": 136.4928294571697, + "ymax": 168.53449491086303 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 134.875040286346, + 168.53449491086303 + ], + [ + 136.4928294571697, + 167.59137074465082 + ], + [ + 123.34296598613105, + 163.44591843148123 + ], + [ + 121.71672124498787, + 164.3772821982444 + ], + [ + 128.38172287503255, + 152.2281385699168 + ], + [ + 130.02961679880468, + 151.29635863523808 + ], + [ + 116.75293503923717, + 147.20117258827824 + ], + [ + 115.09648687957201, + 148.12118574563738 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 111.39370260451358, + "ymin": 138.6136467795058, + "xmax": 135.02911682955875, + "ymax": 162.92837291868406 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 134.77214758037172, + 162.92837291868406 + ], + [ + 135.02911682955875, + 162.77984509442703 + ], + [ + 119.51432340940153, + 157.92095600374898 + ], + [ + 119.25577700055362, + 158.0672996669854 + ], + [ + 127.08675529189941, + 143.54706786718714 + ], + [ + 127.34939212877941, + 143.40071845302762 + ], + [ + 111.65793810177729, + 138.6136467795058 + ], + [ + 111.39370260451358, + 138.7578117005652 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 48.861602336171245, + "ymin": 126.78303440126581, + "xmax": 70.0832008541106, + "ymax": 147.54037352660413 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 68.4251011691988, + 147.54037352660413 + ], + [ + 70.0832008541106, + 146.65588641761684 + ], + [ + 57.747918540638125, + 142.7672285774572 + ], + [ + 56.08298814674515, + 143.64103166899616 + ], + [ + 61.31270231499957, + 131.49458749208057 + ], + [ + 63.00130749824905, + 130.62144797737508 + ], + [ + 50.557086428683306, + 126.78303440126581 + ], + [ + 48.861602336171245, + 127.64549702541848 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 111.39362528437982, + "ymin": 138.61368554529392, + "xmax": 135.0290414625436, + "ymax": 162.9284128296208 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 134.77207226055822, + 162.9284128296208 + ], + [ + 135.0290414625436, + 162.77988503346344 + ], + [ + 119.51424766442688, + 157.92099535553146 + ], + [ + 119.25570130333108, + 158.06733899095042 + ], + [ + 127.08667835353435, + 143.5471071928979 + ], + [ + 127.34931514266839, + 143.40075780615604 + ], + [ + 111.65786073333243, + 138.61368554529392 + ], + [ + 111.39362528437982, + 138.75785043921198 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 115.5907709825392, + "ymin": 151.69152431619796, + "xmax": 136.93915563780484, + "ymax": 172.95852597910942 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 135.32533949319833, + 172.95852597910942 + ], + [ + 136.93915563780484, + 172.01107728594934 + ], + [ + 123.8134468698197, + 167.84655088165349 + ], + [ + 122.19120174686054, + 168.7822093939665 + ], + [ + 128.85137615883326, + 156.74301796016488 + ], + [ + 130.4951555305442, + 155.80670404205114 + ], + [ + 117.24307770788766, + 151.69152431619796 + ], + [ + 115.5907709825392, + 152.61603867106703 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 112.76368892871596, + "ymin": 139.55416826831836, + "xmax": 132.08038557134273, + "ymax": 161.68993349975054 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 131.86562278579464, + 161.68993349975054 + ], + [ + 132.08038557134273, + 161.56634959353792 + ], + [ + 120.44558988375593, + 157.92419684312247 + ], + [ + 120.22984184665233, + 158.04641474081853 + ], + [ + 124.52534208978, + 143.26693634379941 + ], + [ + 124.74460652230186, + 143.14508100807817 + ], + [ + 112.98395132881024, + 139.55416826831836 + ], + [ + 112.76368892871596, + 139.67465741091831 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 40.334808059181796, + "ymin": 126.16497282799614, + "xmax": 61.59984734827458, + "ymax": 146.90477341593402 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 59.93171630299571, + 146.90477341593402 + ], + [ + 61.59984734827458, + 146.02203224458123 + ], + [ + 49.327970496930675, + 142.1410219814109 + ], + [ + 47.65316289657869, + 143.01311065886696 + ], + [ + 52.72085108731858, + 130.86713884010814 + ], + [ + 54.41971862645323, + 129.99574426321067 + ], + [ + 42.04039491990761, + 126.16497282799614 + ], + [ + 40.334808059181796, + 127.02572240662036 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 112.76381645908089, + "ymin": 139.55419440638585, + "xmax": 132.08051276063833, + "ymax": 161.68996031930155 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 131.86574999024396, + 161.68996031930155 + ], + [ + 132.08051276063833, + 161.56637640300568 + ], + [ + 120.44571589627833, + 157.92422335628515 + ], + [ + 120.22996787398449, + 158.04644126389746 + ], + [ + 124.52547082797355, + 143.2669627882966 + ], + [ + 124.74473524501684, + 143.14510744248966 + ], + [ + 112.98407884405333, + 139.55419440638585 + ], + [ + 112.76381645908089, + 139.67468355890225 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 120.18543193978189, + "ymin": 149.95276038710475, + "xmax": 144.54980353037894, + "ymax": 205.00147307431743 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 143.43178225296992, + 205.00147307431743 + ], + [ + 144.54980353037894, + 204.30871278851478 + ], + [ + 143.0820153561158, + 203.8222453862562 + ], + [ + 141.9633202176235, + 204.5140426513243 + ], + [ + 121.70232912644633, + 151.08880337047034 + ], + [ + 122.89164644679897, + 150.4213925060273 + ], + [ + 121.37545078918538, + 149.95276038710475 + ], + [ + 120.18543193978189, + 150.61920293563864 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 120.18543193978189, + "ymin": 149.95276038710475, + "xmax": 144.54980353037894, + "ymax": 205.00147307431743 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 143.43178225296992, + 205.00147307431743 + ], + [ + 144.54980353037894, + 204.30871278851478 + ], + [ + 143.0820153561158, + 203.8222453862562 + ], + [ + 141.9633202176235, + 204.5140426513243 + ], + [ + 121.70232912644633, + 151.08880337047034 + ], + [ + 122.89164644679897, + 150.4213925060273 + ], + [ + 121.37545078918538, + 149.95276038710475 + ], + [ + 120.18543193978189, + 150.61920293563864 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 65.30497229969887, + "ymin": 132.99747818996113, + "xmax": 91.31151197656118, + "ymax": 187.3222933505059 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 90.1703410164614, + 187.3222933505059 + ], + [ + 91.31151197656118, + 186.66403395716 + ], + [ + 89.9167635175487, + 186.20177400689903 + ], + [ + 88.77502179832584, + 186.85914139341307 + ], + [ + 66.74313887754295, + 134.0745870578908 + ], + [ + 67.95642348456249, + 133.44181130152694 + ], + [ + 66.51884403372082, + 132.99747818996113 + ], + [ + 65.30497229969887, + 133.62935999405386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 120.18543193978189, + "ymin": 149.95276038710475, + "xmax": 144.54980353037894, + "ymax": 205.00147307431743 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 143.43178225296992, + 205.00147307431743 + ], + [ + 144.54980353037894, + 204.30871278851478 + ], + [ + 143.0820153561158, + 203.8222453862562 + ], + [ + 141.9633202176235, + 204.5140426513243 + ], + [ + 121.70232912644633, + 151.08880337047034 + ], + [ + 122.89164644679897, + 150.4213925060273 + ], + [ + 121.37545078918538, + 149.95276038710475 + ], + [ + 120.18543193978189, + 150.61920293563864 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 53.570089629512154, + "ymin": 129.3717788835758, + "xmax": 79.91242326394092, + "ymax": 183.536941137015 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 78.76664118037104, + 183.536941137015 + ], + [ + 79.91242326394092, + 182.88595442624182 + ], + [ + 78.5330717505218, + 182.42879753078404 + ], + [ + 77.38673993952432, + 183.07890697168975 + ], + [ + 54.991693771052496, + 130.43648940275867 + ], + [ + 56.20971585533721, + 129.81099992992375 + ], + [ + 54.788675594054894, + 129.3717788835758 + ], + [ + 53.570089629512154, + 129.99638979474682 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 772.9222139054598, + "ymin": 31.55316382889407, + "xmax": 786.7153306273676, + "ymax": 41.54847092980452 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 786.3619584834717, + 36.64342067577854 + ], + [ + 777.484637190409, + 34.92742304889049 + ], + [ + 772.9222139054598, + 39.80075028513329 + ], + [ + 781.8664374320556, + 41.54847092980452 + ], + [ + 786.7153306273676, + 33.262365850727974 + ], + [ + 777.8155035811966, + 31.55316382889407 + ], + [ + 773.245045584144, + 36.407261477414636 + ], + [ + 782.2121194790461, + 38.148138095327965 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 120.18543193978189, + "ymin": 149.95276038710475, + "xmax": 144.54980353037894, + "ymax": 205.00147307431743 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 143.43178225296992, + 205.00147307431743 + ], + [ + 144.54980353037894, + 204.30871278851478 + ], + [ + 143.0820153561158, + 203.8222453862562 + ], + [ + 141.9633202176235, + 204.5140426513243 + ], + [ + 121.70232912644633, + 151.08880337047034 + ], + [ + 122.89164644679897, + 150.4213925060273 + ], + [ + 121.37545078918538, + 149.95276038710475 + ], + [ + 120.18543193978189, + 150.61920293563864 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1243.7271178831586, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 135.49279532060467 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1243.9410856434142, + 112.00874086912864 + ], + [ + 1243.7271178831586, + 116.30126299696866 + ], + [ + 1344.430121733982, + 135.49279532060467 + ], + [ + 1343.9224227570621, + 130.92783444871816 + ], + [ + 1328.6907660505171, + -73.92856067839818 + ], + [ + 1329.1298527343183, + -70.52800253686519 + ], + [ + 1447.6610601885536, + -55.24147455630293 + ], + [ + 1446.2244593156647, + -58.889913252818076 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 63.56774214250038, + "ymin": 149.29775424850698, + "xmax": 90.2940229936728, + "ymax": 204.31919539013523 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 89.12344799984248, + 204.31919539013523 + ], + [ + 90.2940229936728, + 203.62778313501227 + ], + [ + 88.86533051072081, + 203.14226138010946 + ], + [ + 87.69415746229413, + 203.83271342288094 + ], + [ + 65.04200154618707, + 150.43149109894657 + ], + [ + 66.28851976952694, + 149.7654356426862 + ], + [ + 64.81487581435022, + 149.29775424850698 + ], + [ + 63.56774214250038, + 149.9628443358781 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 120.18543193978189, + "ymin": 149.95276038710475, + "xmax": 144.54980353037894, + "ymax": 205.00147307431743 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 143.43178225296992, + 205.00147307431743 + ], + [ + 144.54980353037894, + 204.30871278851478 + ], + [ + 143.0820153561158, + 203.8222453862562 + ], + [ + 141.9633202176235, + 204.5140426513243 + ], + [ + 121.70232912644633, + 151.08880337047034 + ], + [ + 122.89164644679897, + 150.4213925060273 + ], + [ + 121.37545078918538, + 149.95276038710475 + ], + [ + 120.18543193978189, + 150.61920293563864 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 120.18543193978189, + "ymin": 149.95276038710475, + "xmax": 144.54980353037894, + "ymax": 205.00147307431743 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 143.43178225296992, + 205.00147307431743 + ], + [ + 144.54980353037894, + 204.30871278851478 + ], + [ + 143.0820153561158, + 203.8222453862562 + ], + [ + 141.9633202176235, + 204.5140426513243 + ], + [ + 121.70232912644633, + 151.08880337047034 + ], + [ + 122.89164644679897, + 150.4213925060273 + ], + [ + 121.37545078918538, + 149.95276038710475 + ], + [ + 120.18543193978189, + 150.61920293563864 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 750.893874937745, + "ymin": 0.0, + "xmax": 823.3086526905288, + "ymax": 244.45395833362628 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 797.7851577473502, + 193.18611528056596 + ], + [ + 787.0037809697207, + 190.50033499513205 + ], + [ + 750.893874937745, + 241.3544277464423 + ], + [ + 762.3257725753084, + 244.45395833362628 + ], + [ + 823.3086526905288, + -8.01948519883723 + ], + [ + 810.6756280271802, + -10.226970516145684 + ], + [ + 770.3060637362453, + 32.04899183605721 + ], + [ + 783.8450301160661, + 34.658732831458224 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 772.8479153108906, + "ymin": 31.499671660726506, + "xmax": 786.7894355740524, + "ymax": 41.60254443740587 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 786.4321000177416, + 36.644398089555466 + ], + [ + 777.459717717268, + 34.91006589296876 + ], + [ + 772.8479153108906, + 39.83580236453662 + ], + [ + 781.8886465575738, + 41.60254443740587 + ], + [ + 786.7894355740524, + 33.22706153298691 + ], + [ + 777.794062611465, + 31.499671660726506 + ], + [ + 773.1740499505697, + 36.40576277388038 + ], + [ + 782.2381277211352, + 38.16551252117165 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 120.18543193978189, + "ymin": 149.95276038710475, + "xmax": 144.54980353037894, + "ymax": 205.00147307431743 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 143.43178225296992, + 205.00147307431743 + ], + [ + 144.54980353037894, + 204.30871278851478 + ], + [ + 143.0820153561158, + 203.8222453862562 + ], + [ + 141.9633202176235, + 204.5140426513243 + ], + [ + 121.70232912644633, + 151.08880337047034 + ], + [ + 122.89164644679897, + 150.4213925060273 + ], + [ + 121.37545078918538, + 149.95276038710475 + ], + [ + 120.18543193978189, + 150.61920293563864 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 120.18543193978189, + "ymin": 149.95276038710475, + "xmax": 144.54980353037894, + "ymax": 205.00147307431743 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 143.43178225296992, + 205.00147307431743 + ], + [ + 144.54980353037894, + 204.30871278851478 + ], + [ + 143.0820153561158, + 203.8222453862562 + ], + [ + 141.9633202176235, + 204.5140426513243 + ], + [ + 121.70232912644633, + 151.08880337047034 + ], + [ + 122.89164644679897, + 150.4213925060273 + ], + [ + 121.37545078918538, + 149.95276038710475 + ], + [ + 120.18543193978189, + 150.61920293563864 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 120.18543193978189, + "ymin": 149.95276038710475, + "xmax": 144.54980353037894, + "ymax": 205.00147307431743 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 143.43178225296992, + 205.00147307431743 + ], + [ + 144.54980353037894, + 204.30871278851478 + ], + [ + 143.0820153561158, + 203.8222453862562 + ], + [ + 141.9633202176235, + 204.5140426513243 + ], + [ + 121.70232912644633, + 151.08880337047034 + ], + [ + 122.89164644679897, + 150.4213925060273 + ], + [ + 121.37545078918538, + 149.95276038710475 + ], + [ + 120.18543193978189, + 150.61920293563864 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 121.75793580385675, + "ymin": 153.84232841706054, + "xmax": 145.98557131234975, + "ymax": 208.57529993085137 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 144.87220995925776, + 208.57529993085137 + ], + [ + 145.98557131234975, + 207.88102404379654 + ], + [ + 144.5210387921328, + 207.3934899819139 + ], + [ + 143.40700550948588, + 208.08680353668422 + ], + [ + 123.27137997371187, + 154.98175546570351 + ], + [ + 124.45548634220484, + 154.31235797409812 + ], + [ + 122.94274179969045, + 153.84232841706054 + ], + [ + 121.75793580385675, + 154.51075764587384 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11588868258156541030, + "instance_id": 26228, + "pixel_count": null, + "type_id": "AmericanLights_Town04_27_Poles_4", + "bbox_3d": { + "center_world": { + "x": -44.45180892944336, + "y": -9.702018737792969, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1238.5267997419528, + "ymin": 716.1389985763228, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -38.426692962646484, + -9.432034492492676, + 0.0 + ], + [ + -38.422847747802734, + -9.864850044250488, + 0.0 + ], + [ + -50.476924896240234, + -9.972002983093262, + 0.0 + ], + [ + -50.480770111083984, + -9.53918743133545, + 0.0 + ], + [ + -38.426692962646484, + -9.432034492492676, + 8.446706771850586 + ], + [ + -38.422847747802734, + -9.864850044250488, + 8.446706771850586 + ], + [ + -50.476924896240234, + -9.972002983093262, + 8.446706771850586 + ], + [ + -50.480770111083984, + -9.53918743133545, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1239.3333156051199, + 942.730647088507 + ], + [ + 1238.5267997419528, + 966.3197175745954 + ], + [ + 2180.748807717124, + 1403.8219550562892 + ], + [ + 2162.134729613709, + 1364.1938720447852 + ], + [ + 1514.0732462979017, + 716.1389985763228 + ], + [ + 1519.5088156992692, + 745.3416733580709 + ], + [ + 3274.1126819959554, + 1380.2560827472294 + ], + [ + 3204.3258122414472, + 1314.3232884047916 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 120.18543193978189, + "ymin": 149.95276038710475, + "xmax": 144.54980353037894, + "ymax": 205.00147307431743 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 143.43178225296992, + 205.00147307431743 + ], + [ + 144.54980353037894, + 204.30871278851478 + ], + [ + 143.0820153561158, + 203.8222453862562 + ], + [ + 141.9633202176235, + 204.5140426513243 + ], + [ + 121.70232912644633, + 151.08880337047034 + ], + [ + 122.89164644679897, + 150.4213925060273 + ], + [ + 121.37545078918538, + 149.95276038710475 + ], + [ + 120.18543193978189, + 150.61920293563864 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 120.18543193978189, + "ymin": 149.95276038710475, + "xmax": 144.54980353037894, + "ymax": 205.00147307431743 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 143.43178225296992, + 205.00147307431743 + ], + [ + 144.54980353037894, + 204.30871278851478 + ], + [ + 143.0820153561158, + 203.8222453862562 + ], + [ + 141.9633202176235, + 204.5140426513243 + ], + [ + 121.70232912644633, + 151.08880337047034 + ], + [ + 122.89164644679897, + 150.4213925060273 + ], + [ + 121.37545078918538, + 149.95276038710475 + ], + [ + 120.18543193978189, + 150.61920293563864 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 176.7804704347625, + "ymin": 0.0, + "xmax": 298.8208356737465, + "ymax": 102.86630733893452 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 298.8208356737465, + 68.88697867700387 + ], + [ + 291.57410020735364, + 67.08172538192059 + ], + [ + 232.6317419489801, + 100.83759921687209 + ], + [ + 240.11416511169114, + 102.86630733893452 + ], + [ + 254.87241308274247, + -107.34814524717206 + ], + [ + 246.85413347421343, + -108.74925152137723 + ], + [ + 176.7804704347625, + -82.35800920143407 + ], + [ + 185.07663643612779, + -80.7588600031616 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 120.18543193978189, + "ymin": 149.95276038710475, + "xmax": 144.54980353037894, + "ymax": 205.00147307431743 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 143.43178225296992, + 205.00147307431743 + ], + [ + 144.54980353037894, + 204.30871278851478 + ], + [ + 143.0820153561158, + 203.8222453862562 + ], + [ + 141.9633202176235, + 204.5140426513243 + ], + [ + 121.70232912644633, + 151.08880337047034 + ], + [ + 122.89164644679897, + 150.4213925060273 + ], + [ + 121.37545078918538, + 149.95276038710475 + ], + [ + 120.18543193978189, + 150.61920293563864 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 120.18543193978189, + "ymin": 149.95276038710475, + "xmax": 144.54980353037894, + "ymax": 205.00147307431743 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 143.43178225296992, + 205.00147307431743 + ], + [ + 144.54980353037894, + 204.30871278851478 + ], + [ + 143.0820153561158, + 203.8222453862562 + ], + [ + 141.9633202176235, + 204.5140426513243 + ], + [ + 121.70232912644633, + 151.08880337047034 + ], + [ + 122.89164644679897, + 150.4213925060273 + ], + [ + 121.37545078918538, + 149.95276038710475 + ], + [ + 120.18543193978189, + 150.61920293563864 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 120.18543193978189, + "ymin": 149.95276038710475, + "xmax": 144.54980353037894, + "ymax": 205.00147307431743 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 143.43178225296992, + 205.00147307431743 + ], + [ + 144.54980353037894, + 204.30871278851478 + ], + [ + 143.0820153561158, + 203.8222453862562 + ], + [ + 141.9633202176235, + 204.5140426513243 + ], + [ + 121.70232912644633, + 151.08880337047034 + ], + [ + 122.89164644679897, + 150.4213925060273 + ], + [ + 121.37545078918538, + 149.95276038710475 + ], + [ + 120.18543193978189, + 150.61920293563864 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 64.08734053373064, + "ymin": 134.76575487310882, + "xmax": 90.21427923988028, + "ymax": 189.1678126064034 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 89.06896335172087, + 189.1678126064034 + ], + [ + 90.21427923988028, + 188.5059927923438 + ], + [ + 88.81651363576987, + 188.04123464324596 + ], + [ + 87.67062534901288, + 188.7021552061102 + ], + [ + 65.52869526836116, + 135.84893662019184 + ], + [ + 66.74661863414406, + 135.21259190932602 + ], + [ + 65.3058526027454, + 134.76575487310882 + ], + [ + 64.08734053373064, + 135.4011980607236 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 120.18543193978189, + "ymin": 149.95276038710475, + "xmax": 144.54980353037894, + "ymax": 205.00147307431743 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 143.43178225296992, + 205.00147307431743 + ], + [ + 144.54980353037894, + 204.30871278851478 + ], + [ + 143.0820153561158, + 203.8222453862562 + ], + [ + 141.9633202176235, + 204.5140426513243 + ], + [ + 121.70232912644633, + 151.08880337047034 + ], + [ + 122.89164644679897, + 150.4213925060273 + ], + [ + 121.37545078918538, + 149.95276038710475 + ], + [ + 120.18543193978189, + 150.61920293563864 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 45.01068339089284, + "ymin": 128.7489228875433, + "xmax": 71.67743694609737, + "ymax": 182.8864861250862 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 70.52485938475661, + 182.8864861250862 + ], + [ + 71.67743694609737, + 182.23674500601823 + ], + [ + 70.30494685171675, + 181.78046214843482 + ], + [ + 69.15183123884935, + 182.42932851345367 + ], + [ + 46.424853922672355, + 129.81151078296148 + ], + [ + 47.65021115133186, + 129.18726871536708 + ], + [ + 46.23659137895697, + 128.7489228875433 + ], + [ + 45.01068339089284, + 129.3722890194278 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 120.18543193978189, + "ymin": 149.95276038710475, + "xmax": 144.54980353037894, + "ymax": 205.00147307431743 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 143.43178225296992, + 205.00147307431743 + ], + [ + 144.54980353037894, + 204.30871278851478 + ], + [ + 143.0820153561158, + 203.8222453862562 + ], + [ + 141.9633202176235, + 204.5140426513243 + ], + [ + 121.70232912644633, + 151.08880337047034 + ], + [ + 122.89164644679897, + 150.4213925060273 + ], + [ + 121.37545078918538, + 149.95276038710475 + ], + [ + 120.18543193978189, + 150.61920293563864 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 120.18543193978189, + "ymin": 149.95276038710475, + "xmax": 144.54980353037894, + "ymax": 205.00147307431743 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 143.43178225296992, + 205.00147307431743 + ], + [ + 144.54980353037894, + 204.30871278851478 + ], + [ + 143.0820153561158, + 203.8222453862562 + ], + [ + 141.9633202176235, + 204.5140426513243 + ], + [ + 121.70232912644633, + 151.08880337047034 + ], + [ + 122.89164644679897, + 150.4213925060273 + ], + [ + 121.37545078918538, + 149.95276038710475 + ], + [ + 120.18543193978189, + 150.61920293563864 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 120.18543193978189, + "ymin": 149.95276038710475, + "xmax": 144.54980353037894, + "ymax": 205.00147307431743 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 143.43178225296992, + 205.00147307431743 + ], + [ + 144.54980353037894, + 204.30871278851478 + ], + [ + 143.0820153561158, + 203.8222453862562 + ], + [ + 141.9633202176235, + 204.5140426513243 + ], + [ + 121.70232912644633, + 151.08880337047034 + ], + [ + 122.89164644679897, + 150.4213925060273 + ], + [ + 121.37545078918538, + 149.95276038710475 + ], + [ + 120.18543193978189, + 150.61920293563864 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 65.02367718048572, + "ymax": 8.253272010359069 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 58.10764399347022, + 8.253272010359069 + ], + [ + 65.02367718048572, + 5.42067670540149 + ], + [ + -79.49279950452126, + -31.244249418006973 + ], + [ + -86.65697199094086, + -28.812005770099574 + ], + [ + -13.900039260477683, + -168.55424466905572 + ], + [ + -5.679048064923563, + -170.6191292230609 + ], + [ + -160.76158225176016, + -197.09011560904287 + ], + [ + -169.21363873915368, + -195.34873620164672 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 120.18543193978189, + "ymin": 149.95276038710475, + "xmax": 144.54980353037894, + "ymax": 205.00147307431743 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 143.43178225296992, + 205.00147307431743 + ], + [ + 144.54980353037894, + 204.30871278851478 + ], + [ + 143.0820153561158, + 203.8222453862562 + ], + [ + 141.9633202176235, + 204.5140426513243 + ], + [ + 121.70232912644633, + 151.08880337047034 + ], + [ + 122.89164644679897, + 150.4213925060273 + ], + [ + 121.37545078918538, + 149.95276038710475 + ], + [ + 120.18543193978189, + 150.61920293563864 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1239.48154573984, + "ymin": 65.18110060474817, + "xmax": 1280.0, + "ymax": 579.1034009743768 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1266.144767383501, + 308.94120192385327 + ], + [ + 1251.7534648362703, + 305.29549962351905 + ], + [ + 1239.48154573984, + 572.6084017841877 + ], + [ + 1258.6302712068677, + 579.1034009743768 + ], + [ + 1399.7243265185793, + 68.27851966223068 + ], + [ + 1381.546046701298, + 65.18110060474817 + ], + [ + 1422.0439639991605, + 309.36260074233394 + ], + [ + 1448.5211011609304, + 315.759513725429 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00179/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00179/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eb7d59d266545884a7ef9705508d13f2b9bf7be6 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00179/meta.json @@ -0,0 +1,6930 @@ +{ + "frame_id": 179, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 89.5, + "sim_timestamp": 15185.133816722082 + }, + "drone_pose": { + "x": -30.891474934146604, + "y": -19.364448128530633, + "z": 20.0, + "pitch": -41.55287908199188, + "yaw": 63.11092089131385, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.33844947814941406, + -0.6674357652664185, + 0.6633110046386719, + 10.113510131835938 + ], + [ + 0.8918838500976562, + 0.452264666557312, + 0.0, + -18.793746948242188 + ], + [ + -0.299992173910141, + 0.5915963649749756, + 0.748343825340271, + -35.69001388549805 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -30.66897435921127, + "y": -18.86462472858948, + "z": 20.0 + }, + "t1_image_uv": [ + 704.8158261648621, + -490.9170473354312 + ], + "t1_depth": 0.4089052092751317 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -21.16718292236328, + "y": -0.18776321411132812, + "z": 0.9418266558646065 + }, + "image_uv": [ + 639.9999999999999, + 360.0 + ], + "depth": 28.731882476657574, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 692, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -21.16718292236328, + "y": -0.18776321411132812, + "z": 0.941826581954956 + }, + "extent": { + "x": 0.49790892004966736, + "y": 0.42108485102653503, + "z": 0.8733692765235901 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 619.3755681594308, + "ymin": 323.9686105888999, + "xmax": 660.3481917044218, + "ymax": 395.7703041870857 + }, + "corners_3d": [ + [ + -20.746097564697266, + -0.6856722831726074, + 0.06845730543136597 + ], + [ + -21.588268280029297, + -0.6856720447540283, + 0.06845730543136597 + ], + [ + -21.588268280029297, + 0.3101458251476288, + 0.06845730543136597 + ], + [ + -20.746097564697266, + 0.3101455867290497, + 0.06845730543136597 + ], + [ + -20.746097564697266, + -0.6856722831726074, + 1.8151957988739014 + ], + [ + -21.588268280029297, + -0.6856720447540283, + 1.8151957988739014 + ], + [ + -21.588268280029297, + 0.3101458251476288, + 1.8151957988739014 + ], + [ + -20.746097564697266, + 0.3101455867290497, + 1.8151957988739014 + ] + ], + "corners_2d": [ + [ + 620.1961368621733, + 387.09165387621965 + ], + [ + 645.0060995277204, + 395.7703041870857 + ], + [ + 659.5490310294924, + 375.7936348076085 + ], + [ + 635.1535109129899, + 367.4998027013712 + ], + [ + 619.3755681594308, + 343.3375566904769 + ], + [ + 645.2156622888173, + 351.9289176412016 + ], + [ + 660.3481917044218, + 332.16371072422845 + ], + [ + 634.9573600001601, + 323.9686105888999 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 179, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 47, + "semantic_pixel_counts": { + "1": 422376, + "2": 261862, + "3": 81491, + "5": 2625, + "6": 1645, + "10": 29, + "12": 3579, + "14": 6796, + "20": 4380, + "24": 22248, + "25": 114569 + }, + "instance_pixel_counts": { + "3992": 537, + "6018": 319, + "7274": 103, + "7576": 2939, + "7784": 10322, + "7786": 2548, + "8088": 1336, + "8296": 12822, + "8780": 2625, + "9322": 6291, + "9624": 11764, + "9832": 206600, + "10316": 3288, + "10828": 960, + "21090": 20141, + "21602": 106611, + "24656": 212, + "24946": 38518, + "25168": 1018, + "25856": 35, + "26218": 150, + "29800": 765, + "31375": 61888, + "31848": 27196, + "32360": 16039, + "33650": 10767, + "33906": 10728, + "34408": 148632, + "34418": 21478, + "34560": 61, + "39239": 114569, + "42903": 18212, + "46184": 1413, + "46696": 3121, + "48232": 8622, + "53391": 1249, + "56320": 692, + "56576": 573, + "56832": 520, + "56975": 6507, + "57088": 675, + "57344": 447, + "57487": 3084, + "57600": 672, + "58951": 132, + "59023": 27594, + "60928": 6796 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 692, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -21.16718292236328, + "y": -0.18776321411132812, + "z": 0.941826581954956 + }, + "extent": { + "x": 0.5174548029899597, + "y": 0.32825538516044617, + "z": 0.8816390633583069 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 621.8821556719306, + "ymin": 324.2774199489905, + "xmax": 657.8187414504619, + "ymax": 395.4048832497023 + }, + "corners_3d": [ + [ + -20.83892822265625, + -0.7052181363105774, + 0.06018751859664917 + ], + [ + -21.495437622070312, + -0.7052178978919983, + 0.06018751859664917 + ], + [ + -21.495437622070312, + 0.32969170808792114, + 0.06018751859664917 + ], + [ + -20.83892822265625, + 0.32969146966934204, + 0.06018751859664917 + ], + [ + -20.83892822265625, + -0.7052181363105774, + 1.8234655857086182 + ], + [ + -21.495437622070312, + -0.7052178978919983, + 1.8234655857086182 + ], + [ + -21.495437622070312, + 0.32969170808792114, + 1.8234655857086182 + ], + [ + -20.83892822265625, + 0.32969146966934204, + 1.8234655857086182 + ] + ], + "corners_2d": [ + [ + 622.61079747045, + 388.63321609263704 + ], + [ + 641.9538658245001, + 395.4048832497023 + ], + [ + 657.1134907562518, + 374.6876448438995 + ], + [ + 638.1060453481213, + 368.2276914919337 + ], + [ + 621.8821556719306, + 344.45037454627015 + ], + [ + 642.036393594822, + 351.153532612031 + ], + [ + 657.8187414504619, + 330.65950653680676 + ], + [ + 638.0286013652016, + 324.2774199489905 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 573, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -17.041196823120117, + "y": 2.809941291809082, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.43771854043006897, + "y": 0.43803706765174866, + "z": 0.860546350479126 + }, + "yaw": 77.99994659423828 + }, + "bbox_2d": { + "xmin": 552.3555091844986, + "ymin": 239.53312493756738, + "xmax": 587.8684400735642, + "ymax": 300.20036507426005 + }, + "corners_3d": [ + [ + -16.703739166259766, + 2.290714740753174, + 0.08127540349960327 + ], + [ + -17.5606689453125, + 2.4728615283966064, + 0.08127540349960327 + ], + [ + -17.37865447998047, + 3.3291678428649902, + 0.08127540349960327 + ], + [ + -16.521724700927734, + 3.1470210552215576, + 0.08127540349960327 + ], + [ + -16.703739166259766, + 2.290714740753174, + 1.8023681640625 + ], + [ + -17.5606689453125, + 2.4728615283966064, + 1.8023681640625 + ], + [ + -17.37865447998047, + 3.3291678428649902, + 1.8023681640625 + ], + [ + -16.521724700927734, + 3.1470210552215576, + 1.8023681640625 + ] + ], + "corners_2d": [ + [ + 555.4372513178739, + 296.0956959223751 + ], + [ + 580.1608014829111, + 300.20036507426005 + ], + [ + 587.8684400735642, + 284.9908998956633 + ], + [ + 563.5785627130145, + 281.04214666925975 + ], + [ + 552.3555091844986, + 254.29633131411626 + ], + [ + 577.9682757156968, + 258.3254041777535 + ], + [ + 585.9963657055384, + 243.40372690252698 + ], + [ + 560.8486902414429, + 239.53312493756738 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 520, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -23.423004150390625, + "y": 6.75494909286499, + "z": 0.9418168663978577 + }, + "extent": { + "x": 0.48509886860847473, + "y": 0.31231260299682617, + "z": 0.9584631323814392 + }, + "yaw": 84.0 + }, + "bbox_2d": { + "xmin": 776.4264145818331, + "ymin": 225.96041260432506, + "xmax": 807.3363833322196, + "ymax": 291.5796360123531 + }, + "corners_3d": [ + [ + -23.163108825683594, + 6.239861965179443, + -0.016646265983581543 + ], + [ + -23.784313201904297, + 6.3051533699035645, + -0.016646265983581543 + ], + [ + -23.682899475097656, + 7.270036220550537, + -0.016646265983581543 + ], + [ + -23.061695098876953, + 7.204744815826416, + -0.016646265983581543 + ], + [ + -23.163108825683594, + 6.239861965179443, + 1.9002799987792969 + ], + [ + -23.784313201904297, + 6.3051533699035645, + 1.9002799987792969 + ], + [ + -23.682899475097656, + 7.270036220550537, + 1.9002799987792969 + ], + [ + -23.061695098876953, + 7.204744815826416, + 1.9002799987792969 + ] + ], + "corners_2d": [ + [ + 776.4264145818331, + 287.6254505373354 + ], + [ + 794.1913877825125, + 291.5796360123531 + ], + [ + 800.9838278551016, + 275.7324164497367 + ], + [ + 783.5432191610898, + 271.9363819916515 + ], + [ + 781.896777096676, + 241.295104299584 + ], + [ + 800.4067493092316, + 245.1638854652387 + ], + [ + 807.3363833322196, + 229.668432853672 + ], + [ + 789.1784059616027, + 225.96041260432506 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 675, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -30.66718101501465, + "y": -0.18776321411132812, + "z": 0.941826581954956 + }, + "extent": { + "x": 0.31006956100463867, + "y": 0.4653756320476532, + "z": 0.8895166516304016 + }, + "yaw": 89.99998474121094 + }, + "bbox_2d": { + "xmin": 931.7004537476018, + "ymin": 430.6482115437485, + "xmax": 987.0151385736822, + "ymax": 503.1537188831842 + }, + "corners_3d": [ + [ + -30.201805114746094, + -0.49783292412757874, + 0.05230993032455444 + ], + [ + -31.132556915283203, + -0.49783262610435486, + 0.05230993032455444 + ], + [ + -31.132556915283203, + 0.12230649590492249, + 0.05230993032455444 + ], + [ + -30.201805114746094, + 0.12230619788169861, + 0.05230993032455444 + ], + [ + -30.201805114746094, + -0.49783292412757874, + 1.831343173980713 + ], + [ + -31.132556915283203, + -0.49783262610435486, + 1.831343173980713 + ], + [ + -31.132556915283203, + 0.12230649590492249, + 1.831343173980713 + ], + [ + -30.201805114746094, + 0.12230619788169861, + 1.831343173980713 + ] + ], + "corners_2d": [ + [ + 931.7004537476018, + 491.1361343528488 + ], + [ + 966.2277094539891, + 503.1537188831842 + ], + [ + 971.3592778289869, + 487.4231960712625 + ], + [ + 937.3108246444153, + 475.7807158609545 + ], + [ + 945.5373246365592, + 445.98110806033776 + ], + [ + 981.9008524458274, + 457.99694148984713 + ], + [ + 987.0151385736822, + 442.271531033023 + ], + [ + 951.1830206309772, + 430.6482115437485 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 447, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -24.782682418823242, + "y": -11.31512451171875, + "z": 1.1321392059326172 + }, + "extent": { + "x": 0.47361573576927185, + "y": 0.2853003144264221, + "z": 0.9557134509086609 + }, + "yaw": 96.00000762939453 + }, + "bbox_2d": { + "xmin": 524.4030367489602, + "ymin": 673.43646411826, + "xmax": 579.4001582004241, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -24.449438095092773, + -11.75632381439209, + 0.1764257550239563 + ], + [ + -25.01691436767578, + -11.815967559814453, + 0.1764257550239563 + ], + [ + -25.11592674255371, + -10.87392520904541, + 0.1764257550239563 + ], + [ + -24.548450469970703, + -10.814281463623047, + 0.1764257550239563 + ], + [ + -24.449438095092773, + -11.75632381439209, + 2.087852716445923 + ], + [ + -25.01691436767578, + -11.815967559814453, + 2.087852716445923 + ], + [ + -25.11592674255371, + -10.87392520904541, + 2.087852716445923 + ], + [ + -24.548450469970703, + -10.814281463623047, + 2.087852716445923 + ] + ], + "corners_2d": [ + [ + 531.584830794637, + 755.2137142797026 + ], + [ + 553.1378312235097, + 769.5350444091969 + ], + [ + 579.4001582004241, + 733.4134746789034 + ], + [ + 558.1680594852928, + 719.8968126226031 + ], + [ + 524.4030367489602, + 709.6479581055426 + ], + [ + 547.3132185739106, + 724.3708306362253 + ], + [ + 575.4606098205604, + 687.2794665907436 + ], + [ + 552.9107333196224, + 673.43646411826 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 672, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -9.921846389770508, + "y": -8.357977867126465, + "z": 1.0939360857009888 + }, + "extent": { + "x": 0.3554357886314392, + "y": 0.3630050718784332, + "z": 0.9052658081054688 + }, + "yaw": 102.00001525878906 + }, + "bbox_2d": { + "xmin": 121.49074956308118, + "ymin": 371.9815086376912, + "xmax": 180.55775505798778, + "ymax": 443.21182057131944 + }, + "corners_3d": [ + [ + -9.492874145507812, + -8.630173683166504, + 0.18867027759552002 + ], + [ + -10.203019142150879, + -8.781119346618652, + 0.18867027759552002 + ], + [ + -10.350818634033203, + -8.085782051086426, + 0.18867027759552002 + ], + [ + -9.640673637390137, + -7.934835910797119, + 0.18867027759552002 + ], + [ + -9.492874145507812, + -8.630173683166504, + 1.9992018938064575 + ], + [ + -10.203019142150879, + -8.781119346618652, + 1.9992018938064575 + ], + [ + -10.350818634033203, + -8.085782051086426, + 1.9992018938064575 + ], + [ + -9.640673637390137, + -7.934835910797119, + 1.9992018938064575 + ] + ], + "corners_2d": [ + [ + 144.09509778867965, + 431.64553194917426 + ], + [ + 157.81759939835194, + 443.21182057131944 + ], + [ + 180.55775505798778, + 429.20807887171617 + ], + [ + 166.76107722185571, + 417.9838829098169 + ], + [ + 121.49074956308118, + 385.54290551765234 + ], + [ + 135.55047387491624, + 397.0386375347784 + ], + [ + 159.67329413885068, + 383.1219973553441 + ], + [ + 145.5236594766614, + 371.9815086376912 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 6796, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -19.1251277923584, + "y": 6.095887660980225, + "z": 0.8948460817337036 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 596.9936722935319, + "ymin": 186.04807096115877, + "xmax": 742.5659392724968, + "ymax": 291.65010449799695 + }, + "corners_3d": [ + [ + -21.404022216796875, + 5.052896022796631, + 0.011262890882790089 + ], + [ + -21.39891815185547, + 7.149961948394775, + 0.011262890882790089 + ], + [ + -16.846233367919922, + 7.138879776000977, + 0.011262890882790089 + ], + [ + -16.851337432861328, + 5.041813850402832, + 0.011262890882790089 + ], + [ + -21.404022216796875, + 5.052896022796631, + 1.7784292697906494 + ], + [ + -21.39891815185547, + 7.149961948394775, + 1.7784292697906494 + ], + [ + -16.846233367919922, + 7.138879776000977, + 1.7784292697906494 + ], + [ + -16.851337432861328, + 5.041813850402832, + 1.7784292697906494 + ] + ], + "corners_2d": [ + [ + 715.6297203490494, + 291.65010449799695 + ], + [ + 739.0472887130963, + 259.55364163717127 + ], + [ + 625.474204829425, + 227.31939748222393 + ], + [ + 598.4633762287546, + 256.66395181374946 + ], + [ + 718.435633774691, + 248.9317718387074 + ], + [ + 742.5659392724968, + 217.50938907589583 + ], + [ + 624.981093483875, + 186.04807096115877 + ], + [ + 596.9936722935319, + 214.68507220483994 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 120.81145059184098, + "ymin": 154.57043214469047, + "xmax": 142.12958930622835, + "ymax": 176.09773645012672 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 140.49084543462152, + 176.09773645012672 + ], + [ + 142.12958930622835, + 175.14726040676405 + ], + [ + 129.0282720762968, + 170.85265531324023 + ], + [ + 127.3815344597823, + 171.7909054059263 + ], + [ + 134.04663710239134, + 159.75246530804108 + ], + [ + 135.71579312863605, + 158.81333636687037 + ], + [ + 122.48868456369496, + 154.57043214469047 + ], + [ + 120.81145059184098, + 155.49732688496684 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 120.81145403862183, + "ymin": 154.5704332496617, + "xmax": 142.1295927628937, + "ymax": 176.09773758645602 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 140.4908488934277, + 176.09773758645602 + ], + [ + 142.1295927628937, + 175.14726153985717 + ], + [ + 129.02827548853037, + 170.85265643176874 + ], + [ + 127.38153787406645, + 171.7909065276286 + ], + [ + 134.04664059469997, + 159.75246643082514 + ], + [ + 135.71579661878025, + 158.81333748641572 + ], + [ + 122.48868800840478, + 154.5704332496617 + ], + [ + 120.81145403862183, + 155.49732799311363 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 65.24387825317001, + "ymin": 138.9374600998564, + "xmax": 86.46393107084327, + "ymax": 160.01924144622902 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 84.78716916765177, + 160.01924144622902 + ], + [ + 86.46393107084327, + 159.11400481633984 + ], + [ + 74.02633113157026, + 155.0230326079216 + ], + [ + 72.34292502918402, + 155.916903039954 + ], + [ + 77.79915783150705, + 143.87056771761021 + ], + [ + 79.50683420047665, + 142.976693364266 + ], + [ + 66.9582401644941, + 138.9374600998564 + ], + [ + 65.24387825317001, + 139.8199711073451 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 66.50711818895468, + "ymin": 137.16086997146002, + "xmax": 87.65827024052453, + "ymax": 158.1917833273662 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 85.98787422072405, + 158.1917833273662 + ], + [ + 87.65827024052453, + 157.29161878128315 + ], + [ + 75.24782509695319, + 153.2234810230812 + ], + [ + 73.57080087854547, + 154.11237446728043 + ], + [ + 79.0347967927271, + 142.0660795174188 + ], + [ + 80.73589068804199, + 141.17727630932595 + ], + [ + 68.21488208621736, + 137.16086997146002 + ], + [ + 66.50711818895468, + 138.03840609103318 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 118.5057812576108, + "ymin": 146.91650124895784, + "xmax": 137.72541783507057, + "ymax": 169.22760749800875 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 137.5078815825902, + 169.22760749800875 + ], + [ + 137.72541783507057, + 169.10305846560652 + ], + [ + 126.13402322863067, + 165.32970650955318 + ], + [ + 125.91555602431902, + 165.45283537987206 + ], + [ + 130.22293677828122, + 150.75995828192242 + ], + [ + 130.4450205550683, + 150.63713871197655 + ], + [ + 118.72880678340732, + 146.91650124895784 + ], + [ + 118.5057812576108, + 147.03790025219945 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 118.50592742313324, + "ymin": 146.9165352030941, + "xmax": 137.7255637394693, + "ymax": 169.2276423463829 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 137.50802750303842, + 169.2276423463829 + ], + [ + 137.7255637394693, + 169.10309330083223 + ], + [ + 126.13416769060541, + 165.32974094760974 + ], + [ + 125.91570050193172, + 165.45286983085265 + ], + [ + 130.22308442408996, + 150.75999264649317 + ], + [ + 130.4451681845083, + 150.6371730633935 + ], + [ + 118.72895293298802, + 146.9165352030941 + ], + [ + 118.50592742313324, + 147.03793421926184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 120.81145059184098, + "ymin": 154.57043214469047, + "xmax": 142.12958930622835, + "ymax": 176.09773645012672 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 140.49084543462152, + 176.09773645012672 + ], + [ + 142.12958930622835, + 175.14726040676405 + ], + [ + 129.0282720762968, + 170.85265531324023 + ], + [ + 127.3815344597823, + 171.7909054059263 + ], + [ + 134.04663710239134, + 159.75246530804108 + ], + [ + 135.71579312863605, + 158.81333636687037 + ], + [ + 122.48868456369496, + 154.57043214469047 + ], + [ + 120.81145059184098, + 155.49732688496684 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 120.81145083898832, + "ymin": 154.5704320538969, + "xmax": 142.1295894667523, + "ymax": 176.09773631007147 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 140.49084567609515, + 176.09773631007147 + ], + [ + 142.1295894667523, + 175.14726031365967 + ], + [ + 129.02827223760505, + 170.85265522133267 + ], + [ + 127.38153470243151, + 171.79090526767362 + ], + [ + 134.04663734835088, + 159.7524651696553 + ], + [ + 135.71579329213608, + 158.81333627487922 + ], + [ + 122.48868472798767, + 154.5704320538969 + ], + [ + 120.81145083898832, + 155.4973267483849 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 120.81145354654086, + "ymin": 154.5704330654999, + "xmax": 142.1295921867827, + "ymax": 176.09773735038274 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 140.49084839745132, + 176.09773735038274 + ], + [ + 142.1295921867827, + 175.1472613510083 + ], + [ + 129.02827491982487, + 170.85265624534736 + ], + [ + 127.38153738590222, + 171.79090629459404 + ], + [ + 134.046640094635, + 159.75246619756587 + ], + [ + 135.7157960370895, + 158.81333729982478 + ], + [ + 122.48868743428648, + 154.5704330654999 + ], + [ + 120.81145354654086, + 155.49732776289522 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 64.32223695379867, + "ymin": 153.59255276788923, + "xmax": 86.04000144539498, + "ymax": 175.0920994977484 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 84.32380830677266, + 175.0920994977484 + ], + [ + 86.04000144539498, + 174.14448493810812 + ], + [ + 73.31938910225972, + 169.86275906114253 + ], + [ + 71.59625247067447, + 170.798202662039 + ], + [ + 77.16593188089962, + 158.7588350473912 + ], + [ + 78.91451550405509, + 157.82256979853852 + ], + [ + 66.07780788258628, + 153.59255276788923 + ], + [ + 64.32223695379867, + 154.51663954993776 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 118.50561977619805, + "ymin": 146.91643779993043, + "xmax": 137.7252558672635, + "ymax": 169.22754237794706 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 137.5077196056779, + 169.22754237794706 + ], + [ + 137.7252558672635, + 169.10299337011455 + ], + [ + 126.13386332348091, + 165.32964215623895 + ], + [ + 125.91539611059443, + 165.45277100240685 + ], + [ + 130.22277318213048, + 150.75989406592905 + ], + [ + 130.44485696800973, + 150.637074520563 + ], + [ + 118.72864531053801, + 146.91643779993043 + ], + [ + 118.50561977619805, + 147.0378367790172 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 120.81145403862183, + "ymin": 154.5704332496617, + "xmax": 142.1295927628937, + "ymax": 176.09773758645602 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 140.4908488934277, + 176.09773758645602 + ], + [ + 142.1295927628937, + 175.14726153985717 + ], + [ + 129.02827548853037, + 170.85265643176874 + ], + [ + 127.38153787406645, + 171.7909065276286 + ], + [ + 134.04664059469997, + 159.75246643082514 + ], + [ + 135.71579661878025, + 158.81333748641572 + ], + [ + 122.48868800840478, + 154.5704332496617 + ], + [ + 120.81145403862183, + 155.49732799311363 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 117.15082844180904, + "ymin": 145.95201992996687, + "xmax": 140.67221986666226, + "ymax": 170.48800239314025 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 140.41191886137682, + 170.48800239314025 + ], + [ + 140.67221986666226, + 170.33830708743955 + ], + [ + 125.21506396513666, + 165.304431212204 + ], + [ + 124.9532724193815, + 165.45185579645565 + ], + [ + 132.78470212468682, + 151.0595279384186 + ], + [ + 133.05072884613696, + 150.9120121071073 + ], + [ + 117.418363984233, + 145.95201992996687 + ], + [ + 117.15082844180904, + 146.0972643371927 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 118.50576275662127, + "ymin": 146.91644611116504, + "xmax": 137.72539784826603, + "ymax": 169.22755090807175 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 137.50786161066196, + 169.22755090807175 + ], + [ + 137.72539784826603, + 169.1030018970208 + ], + [ + 126.13400434387938, + 165.32965058592674 + ], + [ + 125.91553715464511, + 165.45277943525824 + ], + [ + 130.22291715035237, + 150.75990247762914 + ], + [ + 130.4450009115862, + 150.63708292904334 + ], + [ + 118.72878826665897, + 146.91644611116504 + ], + [ + 118.50576275662127, + 147.03784509341585 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 120.81145083898832, + "ymin": 154.5704320538969, + "xmax": 142.1295894667523, + "ymax": 176.09773631007147 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 140.49084567609515, + 176.09773631007147 + ], + [ + 142.1295894667523, + 175.14726031365967 + ], + [ + 129.02827223760505, + 170.85265522133267 + ], + [ + 127.38153470243151, + 171.79090526767362 + ], + [ + 134.04663734835088, + 159.7524651696553 + ], + [ + 135.71579329213608, + 158.81333627487922 + ], + [ + 122.48868472798767, + 154.5704320538969 + ], + [ + 120.81145083898832, + 155.4973267483849 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 117.150754756173, + "ymin": 145.95205996056194, + "xmax": 140.67214812536872, + "ymax": 170.48804362270994 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 140.41184716842434, + 170.48804362270994 + ], + [ + 140.67214812536872, + 170.33834834480945 + ], + [ + 125.21499181291244, + 165.30447184381268 + ], + [ + 124.95320031602387, + 165.4518964005459 + ], + [ + 132.78462885448562, + 151.05956856785073 + ], + [ + 133.05065552703786, + 150.912052763654 + ], + [ + 117.41829024915978, + 145.95205996056194 + ], + [ + 117.150754756173, + 146.09730434094865 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 117.1509562492671, + "ymin": 145.9520517366978, + "xmax": 140.67234778776498, + "ymax": 170.4880351429798 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 140.41204687935755, + 170.4880351429798 + ], + [ + 140.67234778776498, + 170.3383398689174 + ], + [ + 125.21519015197748, + 165.30446349647664 + ], + [ + 124.95339870297778, + 165.45188804945883 + ], + [ + 132.78483171368782, + 151.05956021155157 + ], + [ + 133.05085833616437, + 150.91204441119478 + ], + [ + 117.41849169285706, + 145.9520517366978 + ], + [ + 117.1509562492671, + 146.09729611333302 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 120.81144944512766, + "ymin": 154.57043131982405, + "xmax": 142.12958805946755, + "ymax": 176.09773555516637 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 140.49084426865693, + 176.09773555516637 + ], + [ + 142.12958805946755, + 175.14725956090447 + ], + [ + 129.02827085410513, + 170.85265447825324 + ], + [ + 127.38153331882177, + 171.79090452248576 + ], + [ + 134.0466359301426, + 159.7524644237488 + ], + [ + 135.71579187406405, + 158.81333553112435 + ], + [ + 122.4886833342182, + 154.57043131982405 + ], + [ + 120.81144944512766, + 155.49732601220245 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 117.15090542489554, + "ymin": 145.95198063343184, + "xmax": 140.67229482484942, + "ymax": 170.4879618739872 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 140.41199385247984, + 170.4879618739872 + ], + [ + 140.67229482484942, + 170.3382665866258 + ], + [ + 125.21513929221533, + 165.30439132567648 + ], + [ + 124.95334777929895, + 165.45181589200453 + ], + [ + 132.78477873507376, + 151.05948800906228 + ], + [ + 133.05080542237755, + 150.91197219609916 + ], + [ + 117.41844093325892, + 145.95198063343184 + ], + [ + 117.15090542489554, + 146.09722502273178 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 54.90586708022954, + "ymin": 133.44132367205643, + "xmax": 76.01842143336319, + "ymax": 154.36558070245033 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 74.34180279737484, + 154.36558070245033 + ], + [ + 76.01842143336319, + 153.4759897760162 + ], + [ + 63.75319760279331, + 149.45545606829208 + ], + [ + 62.07022769981427, + 150.33397328536674 + ], + [ + 67.28493130522588, + 138.28838264872297 + ], + [ + 68.99228726020704, + 137.41014937207763 + ], + [ + 56.619607858609356, + 133.44132367205643 + ], + [ + 54.90586708022954, + 134.3084896200508 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 117.15082720589817, + "ymin": 145.95201965437653, + "xmax": 140.67221854758526, + "ymax": 170.48800206249365 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 140.41191762293943, + 170.48800206249365 + ], + [ + 140.67221854758526, + 170.33830680340353 + ], + [ + 125.21506266269012, + 165.304430932476 + ], + [ + 124.95327119804313, + 165.45185547082505 + ], + [ + 132.78470087121332, + 151.05952761258487 + ], + [ + 133.05072751024989, + 150.9120118272076 + ], + [ + 117.41836266543396, + 145.95201965437653 + ], + [ + 117.15082720589817, + 146.09726401637658 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 121.2801181015077, + "ymin": 159.07439612463443, + "xmax": 142.5505750286133, + "ymax": 180.53547728658907 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 140.91582563464402, + 180.53547728658907 + ], + [ + 142.5505750286133, + 179.58065697220985 + ], + [ + 129.47347725151212, + 175.26635234905427 + ], + [ + 127.83075909568049, + 176.2089160126958 + ], + [ + 134.49061161452386, + 164.28163806347172 + ], + [ + 136.15563072814462, + 163.3379535394646 + ], + [ + 122.95318996966012, + 159.07439612463443 + ], + [ + 121.2801181015077, + 160.0058126266664 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 118.5057812576108, + "ymin": 146.91650124895784, + "xmax": 137.72541783507057, + "ymax": 169.22760749800875 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 137.5078815825902, + 169.22760749800875 + ], + [ + 137.72541783507057, + 169.10305846560652 + ], + [ + 126.13402322863067, + 165.32970650955318 + ], + [ + 125.91555602431902, + 165.45283537987206 + ], + [ + 130.22293677828122, + 150.75995828192242 + ], + [ + 130.4450205550683, + 150.63713871197655 + ], + [ + 118.72880678340732, + 146.91650124895784 + ], + [ + 118.5057812576108, + 147.03790025219945 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 46.38947158118526, + "ymin": 132.76701343328324, + "xmax": 67.54235752217767, + "ymax": 153.67191220808053 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 65.8558525134739, + 153.67191220808053 + ], + [ + 67.54235752217767, + 152.78423153012608 + ], + [ + 55.343046312995625, + 148.77229843254102 + ], + [ + 53.6503488523731, + 149.648940939474 + ], + [ + 58.70091029214075, + 137.60356781513056 + ], + [ + 60.41837898058975, + 136.72724387059796 + ], + [ + 48.11316069642271, + 132.76701343328324 + ], + [ + 46.38947158118526, + 133.63230600747093 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 118.50590853062124, + "ymin": 146.91652855957543, + "xmax": 137.72554481334578, + "ymax": 169.22763552789633 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 137.50800857559022, + 169.22763552789633 + ], + [ + 137.72554481334578, + 169.10308648491826 + ], + [ + 126.13414899170061, + 165.32973420940647 + ], + [ + 125.91568180176228, + 165.45286309012064 + ], + [ + 130.22306529857406, + 150.7599859226683 + ], + [ + 130.44514906032651, + 150.6371663421423 + ], + [ + 118.72893404174818, + 146.91652855957543 + ], + [ + 118.50590853062124, + 147.03792757321398 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 125.86612293732139, + "ymin": 157.3931527609872, + "xmax": 150.07347664436588, + "ymax": 212.58501634043665 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 148.94100126240812, + 212.58501634043665 + ], + [ + 150.07347664436588, + 211.8871187708109 + ], + [ + 148.61100565245556, + 211.3832480546559 + ], + [ + 147.47789177818072, + 212.08014478092943 + ], + [ + 127.37727900507957, + 158.55124971673135 + ], + [ + 128.58176326905715, + 157.87869205354022 + ], + [ + 127.07126950970826, + 157.3931527609872 + ], + [ + 125.86612293732139, + 158.06470363586567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 125.86612293732139, + "ymin": 157.3931527609872, + "xmax": 150.07347664436588, + "ymax": 212.58501634043665 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 148.94100126240812, + 212.58501634043665 + ], + [ + 150.07347664436588, + 211.8871187708109 + ], + [ + 148.61100565245556, + 211.3832480546559 + ], + [ + 147.47789177818072, + 212.08014478092943 + ], + [ + 127.37727900507957, + 158.55124971673135 + ], + [ + 128.58176326905715, + 157.87869205354022 + ], + [ + 127.07126950970826, + 157.3931527609872 + ], + [ + 125.86612293732139, + 158.06470363586567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 71.24028360154205, + "ymin": 139.84121828173252, + "xmax": 97.06917387017847, + "ymax": 194.28745667474612 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 95.91488804317146, + 194.28745667474612 + ], + [ + 97.06917387017847, + 193.62537348956667 + ], + [ + 95.68169170085741, + 193.1473389381897 + ], + [ + 94.52687169998399, + 193.8084972983693 + ], + [ + 72.67061380353675, + 140.93740392213815 + ], + [ + 73.89758155920833, + 140.30081378096534 + ], + [ + 72.46779799191722, + 139.84121828173252 + ], + [ + 71.24028360154205, + 140.4768812794069 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 125.86612293732139, + "ymin": 157.3931527609872, + "xmax": 150.07347664436588, + "ymax": 212.58501634043665 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 148.94100126240812, + 212.58501634043665 + ], + [ + 150.07347664436588, + 211.8871187708109 + ], + [ + 148.61100565245556, + 211.3832480546559 + ], + [ + 147.47789177818072, + 212.08014478092943 + ], + [ + 127.37727900507957, + 158.55124971673135 + ], + [ + 128.58176326905715, + 157.87869205354022 + ], + [ + 127.07126950970826, + 157.3931527609872 + ], + [ + 125.86612293732139, + 158.06470363586567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 59.571683148708985, + "ymin": 136.09173215840806, + "xmax": 85.73117203875893, + "ymax": 190.3734987470375 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 84.57257623700991, + 190.3734987470375 + ], + [ + 85.73117203875893, + 189.71895411987106 + ], + [ + 84.3594746798127, + 189.24635803508926 + ], + [ + 83.2003659179851, + 189.89999358202238 + ], + [ + 60.985036091481675, + 137.17491298853525 + ], + [ + 62.21640808905681, + 136.5458778821396 + ], + [ + 60.80357835341374, + 136.09173215840806 + ], + [ + 59.571683148708985, + 136.71985657128866 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 784.719708149819, + "ymin": 42.5358614557947, + "xmax": 798.769563034946, + "ymax": 52.7604815778879 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 798.3828651051379, + 47.740737816336605 + ], + [ + 789.3739926667595, + 45.93555227753541 + ], + [ + 784.719708149819, + 50.9215458173245 + ], + [ + 793.7967325798973, + 52.7604815778879 + ], + [ + 798.769563034946, + 44.333994936072145 + ], + [ + 789.7374698949789, + 42.5358614557947 + ], + [ + 785.0751385622875, + 47.5024485377304 + ], + [ + 794.1757411975289, + 49.334283469376885 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 125.86612293732139, + "ymin": 157.3931527609872, + "xmax": 150.07347664436588, + "ymax": 212.58501634043665 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 148.94100126240812, + 212.58501634043665 + ], + [ + 150.07347664436588, + 211.8871187708109 + ], + [ + 148.61100565245556, + 211.3832480546559 + ], + [ + 147.47789177818072, + 212.08014478092943 + ], + [ + 127.37727900507957, + 158.55124971673135 + ], + [ + 128.58176326905715, + 157.87869205354022 + ], + [ + 127.07126950970826, + 157.3931527609872 + ], + [ + 125.86612293732139, + 158.06470363586567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1262.0514856216928, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 148.7589986343066 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1262.253292098925, + 124.13527204745182 + ], + [ + 1262.0514856216928, + 128.52997038135805 + ], + [ + 1364.9810125183544, + 148.7589986343066 + ], + [ + 1364.4354498393218, + 144.07366733980865 + ], + [ + 1350.71403852816, + -63.36661595691612 + ], + [ + 1351.2059728935865, + -59.87381834750761 + ], + [ + 1472.7855138617074, + -43.704257996386104 + ], + [ + 1471.253460634444, + -47.46287612421628 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 69.1722240599654, + "ymin": 156.40717943375853, + "xmax": 95.7388409552666, + "ymax": 211.5582175062901 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 94.55414233560612, + 211.5582175062901 + ], + [ + 95.7388409552666, + 210.86235491709 + ], + [ + 94.31739896794033, + 210.35995199955914 + ], + [ + 93.132140865221, + 211.05481811797853 + ], + [ + 70.63863875871766, + 157.56175315198234 + ], + [ + 71.89995574117506, + 156.89124244696254 + ], + [ + 70.4341136489395, + 156.40717943375853 + ], + [ + 69.1722240599654, + 157.07668794138763 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 125.86612293732139, + "ymin": 157.3931527609872, + "xmax": 150.07347664436588, + "ymax": 212.58501634043665 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 148.94100126240812, + 212.58501634043665 + ], + [ + 150.07347664436588, + 211.8871187708109 + ], + [ + 148.61100565245556, + 211.3832480546559 + ], + [ + 147.47789177818072, + 212.08014478092943 + ], + [ + 127.37727900507957, + 158.55124971673135 + ], + [ + 128.58176326905715, + 157.87869205354022 + ], + [ + 127.07126950970826, + 157.3931527609872 + ], + [ + 125.86612293732139, + 158.06470363586567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 125.86612293732139, + "ymin": 157.3931527609872, + "xmax": 150.07347664436588, + "ymax": 212.58501634043665 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 148.94100126240812, + 212.58501634043665 + ], + [ + 150.07347664436588, + 211.8871187708109 + ], + [ + 148.61100565245556, + 211.3832480546559 + ], + [ + 147.47789177818072, + 212.08014478092943 + ], + [ + 127.37727900507957, + 158.55124971673135 + ], + [ + 128.58176326905715, + 157.87869205354022 + ], + [ + 127.07126950970826, + 157.3931527609872 + ], + [ + 125.86612293732139, + 158.06470363586567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 760.75265336618, + "ymin": 0.0, + "xmax": 836.095203554168, + "ymax": 256.914248025471 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 808.5443055647081, + 204.6434354991416 + ], + [ + 797.6309202349753, + 201.8302691757856 + ], + [ + 760.75265336618, + 253.66336137001215 + ], + [ + 772.325153325062, + 256.914248025471 + ], + [ + 836.095203554168, + 2.206007816607041 + ], + [ + 823.2767060193889, + -0.11289034947873233 + ], + [ + 782.1286935010537, + 43.11117188636854 + ], + [ + 795.8702676916001, + 45.8576447029605 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 784.6440318869766, + "ymin": 42.48115565734457, + "xmax": 798.8450525209196, + "ymax": 52.815810402857494 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 798.4540289799477, + 47.74172306169993 + ], + [ + 789.3486902419492, + 45.91725255143683 + ], + [ + 784.6440318869766, + 50.956858926663074 + ], + [ + 793.8189963349694, + 52.815810402857494 + ], + [ + 798.8450525209196, + 44.29842184503326 + ], + [ + 789.7159927781272, + 42.48115565734457 + ], + [ + 785.003111738286, + 47.50093597817323 + ], + [ + 794.202166361903, + 49.3526327704804 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 125.86612293732139, + "ymin": 157.3931527609872, + "xmax": 150.07347664436588, + "ymax": 212.58501634043665 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 148.94100126240812, + 212.58501634043665 + ], + [ + 150.07347664436588, + 211.8871187708109 + ], + [ + 148.61100565245556, + 211.3832480546559 + ], + [ + 147.47789177818072, + 212.08014478092943 + ], + [ + 127.37727900507957, + 158.55124971673135 + ], + [ + 128.58176326905715, + 157.87869205354022 + ], + [ + 127.07126950970826, + 157.3931527609872 + ], + [ + 125.86612293732139, + 158.06470363586567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 125.86612293732139, + "ymin": 157.3931527609872, + "xmax": 150.07347664436588, + "ymax": 212.58501634043665 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 148.94100126240812, + 212.58501634043665 + ], + [ + 150.07347664436588, + 211.8871187708109 + ], + [ + 148.61100565245556, + 211.3832480546559 + ], + [ + 147.47789177818072, + 212.08014478092943 + ], + [ + 127.37727900507957, + 158.55124971673135 + ], + [ + 128.58176326905715, + 157.87869205354022 + ], + [ + 127.07126950970826, + 157.3931527609872 + ], + [ + 125.86612293732139, + 158.06470363586567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 125.86612293732139, + "ymin": 157.3931527609872, + "xmax": 150.07347664436588, + "ymax": 212.58501634043665 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 148.94100126240812, + 212.58501634043665 + ], + [ + 150.07347664436588, + 211.8871187708109 + ], + [ + 148.61100565245556, + 211.3832480546559 + ], + [ + 147.47789177818072, + 212.08014478092943 + ], + [ + 127.37727900507957, + 158.55124971673135 + ], + [ + 128.58176326905715, + 157.87869205354022 + ], + [ + 127.07126950970826, + 157.3931527609872 + ], + [ + 125.86612293732139, + 158.06470363586567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 127.42684319362684, + "ymin": 161.29195602163728, + "xmax": 151.49798765687103, + "ymax": 216.16630923539145 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 150.37021877091087, + 216.16630923539145 + ], + [ + 151.49798765687103, + 215.46689844138928 + ], + [ + 150.03874758158918, + 214.96193269117344 + ], + [ + 148.91034188921924, + 215.66034338641123 + ], + [ + 128.93457505001123, + 162.45347819341563 + ], + [ + 130.13379622442926, + 161.77893288912202 + ], + [ + 128.62672506225175, + 161.29195602163728 + ], + [ + 127.42684319362684, + 161.96549462475463 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 125.86612293732139, + "ymin": 157.3931527609872, + "xmax": 150.07347664436588, + "ymax": 212.58501634043665 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 148.94100126240812, + 212.58501634043665 + ], + [ + 150.07347664436588, + 211.8871187708109 + ], + [ + 148.61100565245556, + 211.3832480546559 + ], + [ + 147.47789177818072, + 212.08014478092943 + ], + [ + 127.37727900507957, + 158.55124971673135 + ], + [ + 128.58176326905715, + 157.87869205354022 + ], + [ + 127.07126950970826, + 157.3931527609872 + ], + [ + 125.86612293732139, + 158.06470363586567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 125.86612293732139, + "ymin": 157.3931527609872, + "xmax": 150.07347664436588, + "ymax": 212.58501634043665 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 148.94100126240812, + 212.58501634043665 + ], + [ + 150.07347664436588, + 211.8871187708109 + ], + [ + 148.61100565245556, + 211.3832480546559 + ], + [ + 147.47789177818072, + 212.08014478092943 + ], + [ + 127.37727900507957, + 158.55124971673135 + ], + [ + 128.58176326905715, + 157.87869205354022 + ], + [ + 127.07126950970826, + 157.3931527609872 + ], + [ + 125.86612293732139, + 158.06470363586567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 184.99009974898337, + "ymin": 0.0, + "xmax": 306.7926813082264, + "ymax": 109.46664173605006 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 306.7926813082264, + 75.30517491489724 + ], + [ + 299.55516034339166, + 73.43954615680951 + ], + [ + 239.9776010704258, + 107.36951932706774 + ], + [ + 247.4429385105385, + 109.46664173605006 + ], + [ + 263.7614146428974, + -101.33114650973334 + ], + [ + 255.75272160800864, + -102.77993702271294 + ], + [ + 184.99009974898337, + -76.23683860419652 + ], + [ + 193.266380513708, + -74.58269320733086 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 125.86612293732139, + "ymin": 157.3931527609872, + "xmax": 150.07347664436588, + "ymax": 212.58501634043665 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 148.94100126240812, + 212.58501634043665 + ], + [ + 150.07347664436588, + 211.8871187708109 + ], + [ + 148.61100565245556, + 211.3832480546559 + ], + [ + 147.47789177818072, + 212.08014478092943 + ], + [ + 127.37727900507957, + 158.55124971673135 + ], + [ + 128.58176326905715, + 157.87869205354022 + ], + [ + 127.07126950970826, + 157.3931527609872 + ], + [ + 125.86612293732139, + 158.06470363586567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 125.86612293732139, + "ymin": 157.3931527609872, + "xmax": 150.07347664436588, + "ymax": 212.58501634043665 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 148.94100126240812, + 212.58501634043665 + ], + [ + 150.07347664436588, + 211.8871187708109 + ], + [ + 148.61100565245556, + 211.3832480546559 + ], + [ + 147.47789177818072, + 212.08014478092943 + ], + [ + 127.37727900507957, + 158.55124971673135 + ], + [ + 128.58176326905715, + 157.87869205354022 + ], + [ + 127.07126950970826, + 157.3931527609872 + ], + [ + 125.86612293732139, + 158.06470363586567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 125.86612293732139, + "ymin": 157.3931527609872, + "xmax": 150.07347664436588, + "ymax": 212.58501634043665 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 148.94100126240812, + 212.58501634043665 + ], + [ + 150.07347664436588, + 211.8871187708109 + ], + [ + 148.61100565245556, + 211.3832480546559 + ], + [ + 147.47789177818072, + 212.08014478092943 + ], + [ + 127.37727900507957, + 158.55124971673135 + ], + [ + 128.58176326905715, + 157.87869205354022 + ], + [ + 127.07126950970826, + 157.3931527609872 + ], + [ + 125.86612293732139, + 158.06470363586567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 69.98601991200326, + "ymin": 141.6321243934767, + "xmax": 95.93710295150208, + "ymax": 196.1562758695702 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 94.77857094407204, + 196.1562758695702 + ], + [ + 95.93710295150208, + 195.49057795162935 + ], + [ + 94.54663560084873, + 195.0099357199593 + ], + [ + 93.38756804667469, + 195.674701231456 + ], + [ + 71.41950088529188, + 142.73454913385856 + ], + [ + 72.65121906020124, + 142.09433440450442 + ], + [ + 71.21828598620652, + 141.6321243934767 + ], + [ + 69.98601991200326, + 142.27140405261562 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 125.86612293732139, + "ymin": 157.3931527609872, + "xmax": 150.07347664436588, + "ymax": 212.58501634043665 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 148.94100126240812, + 212.58501634043665 + ], + [ + 150.07347664436588, + 211.8871187708109 + ], + [ + 148.61100565245556, + 211.3832480546559 + ], + [ + 147.47789177818072, + 212.08014478092943 + ], + [ + 127.37727900507957, + 158.55124971673135 + ], + [ + 128.58176326905715, + 157.87869205354022 + ], + [ + 127.07126950970826, + 157.3931527609872 + ], + [ + 125.86612293732139, + 158.06470363586567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 51.02161979950404, + "ymin": 135.41207121192437, + "xmax": 77.50376720650365, + "ymax": 189.66382854410892 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 76.33847440778186, + 189.66382854410892 + ], + [ + 77.50376720650365, + 189.01064612885258 + ], + [ + 76.13920303780242, + 188.5390328114651 + ], + [ + 74.97340931036308, + 189.19130898197088 + ], + [ + 52.42724572879979, + 136.49290305489902 + ], + [ + 53.665843414160804, + 135.86523254956214 + ], + [ + 52.26072717616876, + 135.41207121192437 + ], + [ + 51.02161979950404, + 136.03883398452723 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 125.86612293732139, + "ymin": 157.3931527609872, + "xmax": 150.07347664436588, + "ymax": 212.58501634043665 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 148.94100126240812, + 212.58501634043665 + ], + [ + 150.07347664436588, + 211.8871187708109 + ], + [ + 148.61100565245556, + 211.3832480546559 + ], + [ + 147.47789177818072, + 212.08014478092943 + ], + [ + 127.37727900507957, + 158.55124971673135 + ], + [ + 128.58176326905715, + 157.87869205354022 + ], + [ + 127.07126950970826, + 157.3931527609872 + ], + [ + 125.86612293732139, + 158.06470363586567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 125.86612293732139, + "ymin": 157.3931527609872, + "xmax": 150.07347664436588, + "ymax": 212.58501634043665 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 148.94100126240812, + 212.58501634043665 + ], + [ + 150.07347664436588, + 211.8871187708109 + ], + [ + 148.61100565245556, + 211.3832480546559 + ], + [ + 147.47789177818072, + 212.08014478092943 + ], + [ + 127.37727900507957, + 158.55124971673135 + ], + [ + 128.58176326905715, + 157.87869205354022 + ], + [ + 127.07126950970826, + 157.3931527609872 + ], + [ + 125.86612293732139, + 158.06470363586567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 125.86612293732139, + "ymin": 157.3931527609872, + "xmax": 150.07347664436588, + "ymax": 212.58501634043665 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 148.94100126240812, + 212.58501634043665 + ], + [ + 150.07347664436588, + 211.8871187708109 + ], + [ + 148.61100565245556, + 211.3832480546559 + ], + [ + 147.47789177818072, + 212.08014478092943 + ], + [ + 127.37727900507957, + 158.55124971673135 + ], + [ + 128.58176326905715, + 157.87869205354022 + ], + [ + 127.07126950970826, + 157.3931527609872 + ], + [ + 125.86612293732139, + 158.06470363586567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 74.13942245452006, + "ymax": 12.822767705034664 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 67.19023786548951, + 12.822767705034664 + ], + [ + 74.13942245452006, + 9.994518379880276 + ], + [ + -68.99069073064561, + -27.55912311936578 + ], + [ + -76.16340961732169, + -25.14007245134053 + ], + [ + -3.609803175691127, + -163.95727793335755 + ], + [ + 4.639224819952915, + -166.0184616045101 + ], + [ + -148.80705912595, + -193.11844802383325 + ], + [ + -157.25583772724406, + -191.38768901503568 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 125.86612293732139, + "ymin": 157.3931527609872, + "xmax": 150.07347664436588, + "ymax": 212.58501634043665 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 148.94100126240812, + 212.58501634043665 + ], + [ + 150.07347664436588, + 211.8871187708109 + ], + [ + 148.61100565245556, + 211.3832480546559 + ], + [ + 147.47789177818072, + 212.08014478092943 + ], + [ + 127.37727900507957, + 158.55124971673135 + ], + [ + 128.58176326905715, + 157.87869205354022 + ], + [ + 127.07126950970826, + 157.3931527609872 + ], + [ + 125.86612293732139, + 158.06470363586567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1259.3490207726086, + "ymin": 80.67714106371159, + "xmax": 1280.0, + "ymax": 606.7489247721466 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1285.6746441292498, + 326.6198058031706 + ], + [ + 1270.9227892895096, + 322.755194280825 + ], + [ + 1259.3490207726086, + 599.7934074636607 + ], + [ + 1279.0817940300744, + 606.7489247721466 + ], + [ + 1425.999336599485, + 83.9819974836538 + ], + [ + 1407.2532176687782, + 80.67714106371159 + ], + [ + 1452.991164787005, + 336.14034361349553 + ], + [ + 1480.5694128381424, + 343.0773603712082 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00180/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00180/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e2200419323372f552787fb9b434e0145b1c7402 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00180/meta.json @@ -0,0 +1,6931 @@ +{ + "frame_id": 180, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 90.0, + "sim_timestamp": 15196.485125209438 + }, + "drone_pose": { + "x": -30.66897435921127, + "y": -18.86462472858948, + "z": 20.0, + "pitch": -41.684916045830605, + "yaw": 63.642408538264355, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.33156418800354004, + -0.6691750288009644, + 0.6650338172912598, + 9.491792678833008 + ], + [ + 0.896040678024292, + 0.44397199153900146, + 0.0, + -19.105281829833984 + ], + [ + -0.29525643587112427, + 0.5958973169326782, + 0.7468132376670837, + -35.23285675048828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -30.478455640624233, + "y": -18.370134766382805, + "z": 20.0 + }, + "t1_image_uv": [ + 758.9488980836683, + -494.8755460543341 + ], + "t1_depth": 0.394069536787623 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -21.16718292236328, + "y": 0.3122367858886719, + "z": 0.9418168902398247 + }, + "image_uv": [ + 640.0, + 360.0000000000001 + ], + "depth": 28.65746676696981, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 691, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -21.16718292236328, + "y": 0.3122367858886719, + "z": 0.9418168663978577 + }, + "extent": { + "x": 0.4365246593952179, + "y": 0.5132448077201843, + "z": 0.8740382194519043 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 618.7414293869982, + "ymin": 325.0813865179612, + "xmax": 661.5426894196899, + "ymax": 394.5553567198752 + }, + "corners_3d": [ + [ + -21.112934112548828, + -0.35935163497924805, + 0.06777864694595337 + ], + [ + -21.83877182006836, + 0.36648625135421753, + 0.06777864694595337 + ], + [ + -21.221431732177734, + 0.9838252067565918, + 0.06777864694595337 + ], + [ + -20.495594024658203, + 0.2579873204231262, + 0.06777864694595337 + ], + [ + -21.112934112548828, + -0.35935163497924805, + 1.8158550262451172 + ], + [ + -21.83877182006836, + 0.36648625135421753, + 1.8158550262451172 + ], + [ + -21.221431732177734, + 0.9838252067565918, + 1.8158550262451172 + ], + [ + -20.495594024658203, + 0.2579873204231262, + 1.8158550262451172 + ] + ], + "corners_2d": [ + [ + 628.4437444186026, + 394.5553567198752 + ], + [ + 660.6806589496194, + 387.05318726952845 + ], + [ + 651.220184720042, + 368.68955550892144 + ], + [ + 619.5813150213401, + 375.88128153214603 + ], + [ + 627.9577759140368, + 350.67381277247637 + ], + [ + 661.5426894196899, + 343.2444910298122 + ], + [ + 651.6777394717379, + 325.0813865179612 + ], + [ + 618.7414293869982, + 332.19082636619606 + ] + ], + "center_offset_px": [ + 0.0, + 1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 180, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 48, + "semantic_pixel_counts": { + "1": 429697, + "2": 266403, + "3": 84294, + "5": 2490, + "6": 1793, + "10": 66, + "12": 3608, + "14": 6974, + "20": 5144, + "24": 22471, + "25": 98660 + }, + "instance_pixel_counts": { + "3992": 395, + "6018": 342, + "7274": 82, + "7576": 3043, + "7784": 8291, + "7786": 2358, + "8088": 1408, + "8296": 11486, + "8780": 2490, + "9322": 6322, + "9624": 12177, + "9832": 212509, + "10316": 3346, + "10828": 1664, + "21090": 21966, + "21602": 109771, + "24656": 252, + "24946": 39693, + "25168": 1040, + "25856": 67, + "26218": 60, + "29800": 145, + "31375": 60141, + "31848": 26460, + "32360": 16551, + "33650": 11414, + "33906": 10889, + "34408": 154255, + "34418": 22298, + "34560": 92, + "39239": 98660, + "42903": 17672, + "46184": 1360, + "46696": 3228, + "48232": 9061, + "53391": 1402, + "53903": 6, + "56320": 691, + "56576": 588, + "56832": 497, + "56975": 6767, + "57088": 620, + "57344": 488, + "57487": 3236, + "57600": 724, + "58951": 134, + "59023": 28419, + "60928": 6974 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 691, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -21.16718292236328, + "y": 0.3122367858886719, + "z": 0.9418168663978577 + }, + "extent": { + "x": 0.42741209268569946, + "y": 0.4195912778377533, + "z": 0.8763812184333801 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 621.8638082289228, + "ymin": 325.849919675864, + "xmax": 658.3994363526135, + "ymax": 393.7232747795443 + }, + "corners_3d": [ + [ + -21.172712326049805, + -0.286685049533844, + 0.06543564796447754 + ], + [ + -21.76610565185547, + 0.3067067265510559, + 0.06543564796447754 + ], + [ + -21.161653518676758, + 0.9111586213111877, + 0.06543564796447754 + ], + [ + -20.568260192871094, + 0.31776684522628784, + 0.06543564796447754 + ], + [ + -21.172712326049805, + -0.286685049533844, + 1.8181980848312378 + ], + [ + -21.76610565185547, + 0.3067067265510559, + 1.8181980848312378 + ], + [ + -21.161653518676758, + 0.9111586213111877, + 1.8181980848312378 + ], + [ + -20.568260192871094, + 0.31776684522628784, + 1.8181980848312378 + ] + ], + "corners_2d": [ + [ + 631.3130299198625, + 393.7232747795443 + ], + [ + 657.6608445987963, + 387.5927783485606 + ], + [ + 648.450993159198, + 369.5849605276943 + ], + [ + 622.5818291711577, + 375.4669757602525 + ], + [ + 630.9471032093533, + 349.7323727135342 + ], + [ + 658.3994363526135, + 343.6616819584254 + ], + [ + 648.7969136561612, + 325.849919675864 + ], + [ + 621.8638082289228, + 331.6645545757975 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 588, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -16.836071014404297, + "y": 3.0315475463867188, + "z": 0.9418168663978577 + }, + "extent": { + "x": 0.38713133335113525, + "y": 0.43927711248397827, + "z": 0.8579928874969482 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 540.749814773458, + "ymin": 241.7967792903195, + "xmax": 577.8323784026264, + "ymax": 303.47810569116353 + }, + "corners_3d": [ + [ + -16.921499252319336, + 2.452291965484619, + 0.08382397890090942 + ], + [ + -17.399993896484375, + 3.1891090869903564, + 0.08382397890090942 + ], + [ + -16.750642776489258, + 3.6108031272888184, + 0.08382397890090942 + ], + [ + -16.27214813232422, + 2.873986005783081, + 0.08382397890090942 + ], + [ + -16.921499252319336, + 2.452291965484619, + 1.7998096942901611 + ], + [ + -17.399993896484375, + 3.1891090869903564, + 1.7998096942901611 + ], + [ + -16.750642776489258, + 3.6108031272888184, + 1.7998096942901611 + ], + [ + -16.27214813232422, + 2.873986005783081, + 1.7998096942901611 + ] + ], + "corners_2d": [ + [ + 554.5557586795584, + 303.47810569116353 + ], + [ + 577.8323784026264, + 295.2386866384008 + ], + [ + 567.2574662770248, + 283.29108876762064 + ], + [ + 544.2278429760951, + 291.28194938621203 + ], + [ + 551.4028809415651, + 261.61253768307694 + ], + [ + 575.5629431607006, + 253.52018485227978 + ], + [ + 564.6435900447578, + 241.7967792903195 + ], + [ + 540.749814773458, + 249.6362611902547 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 497, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -23.423004150390625, + "y": 7.25494909286499, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.4293005168437958, + "y": 0.4439907670021057, + "z": 0.9411038160324097 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 770.2041144425723, + "ymin": 224.82113584682918, + "xmax": 811.7874038263701, + "ymax": 290.0726085507517 + }, + "corners_3d": [ + [ + -23.47722053527832, + 6.639736175537109, + 0.0007179379463195801 + ], + [ + -24.03604507446289, + 7.329827785491943, + 0.0007179379463195801 + ], + [ + -23.36878776550293, + 7.870162010192871, + 0.0007179379463195801 + ], + [ + -22.80996322631836, + 7.180070400238037, + 0.0007179379463195801 + ], + [ + -23.47722053527832, + 6.639736175537109, + 1.8829255104064941 + ], + [ + -24.03604507446289, + 7.329827785491943, + 1.8829255104064941 + ], + [ + -23.36878776550293, + 7.870162010192871, + 1.8829255104064941 + ], + [ + -22.80996322631836, + 7.180070400238037, + 1.8829255104064941 + ] + ], + "corners_2d": [ + [ + 783.0145278763579, + 290.0726085507517 + ], + [ + 805.2768376750486, + 283.50115395281586 + ], + [ + 792.1857805705197, + 270.0040254325222 + ], + [ + 770.2041144425723, + 276.348627779413 + ], + [ + 788.6975915159105, + 244.45459971592095 + ], + [ + 811.7874038263701, + 238.0212334821361 + ], + [ + 798.0726923085199, + 224.82113584682918 + ], + [ + 775.2841306937712, + 231.02386750592507 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 620, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -30.66718101501465, + "y": 0.3122367858886719, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.3367699980735779, + "y": 0.4075604975223541, + "z": 0.8922178745269775 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 933.3397316004571, + "ymin": 429.94763404573655, + "xmax": 989.0042532364207, + "ymax": 500.47163978148507 + }, + "corners_3d": [ + [ + -30.617124557495117, + -0.21408438682556152, + 0.04960387945175171 + ], + [ + -31.19350242614746, + 0.3622933328151703, + 0.04960387945175171 + ], + [ + -30.71723747253418, + 0.8385579586029053, + 0.04960387945175171 + ], + [ + -30.140859603881836, + 0.26218023896217346, + 0.04960387945175171 + ], + [ + -30.617124557495117, + -0.21408438682556152, + 1.8340396881103516 + ], + [ + -31.19350242614746, + 0.3622933328151703, + 1.8340396881103516 + ], + [ + -30.71723747253418, + 0.8385579586029053, + 1.8340396881103516 + ], + [ + -30.140859603881836, + 0.26218023896217346, + 1.8340396881103516 + ] + ], + "corners_2d": [ + [ + 946.7881402428545, + 500.47163978148507 + ], + [ + 973.0501807202672, + 493.0106885115864 + ], + [ + 959.2272911967327, + 475.20038503502104 + ], + [ + 933.3397316004571, + 482.39375942501835 + ], + [ + 961.6005344971352, + 455.20325076511165 + ], + [ + 989.0042532364207, + 447.7404768908045 + ], + [ + 974.2305565189536, + 429.94763404573655 + ], + [ + 947.2333887515787, + 437.1302585441523 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 488, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -24.782682418823242, + "y": -10.81512451171875, + "z": 1.1337406635284424 + }, + "extent": { + "x": 0.42476439476013184, + "y": 0.4220361113548279, + "z": 0.9363353252410889 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 531.4431294312107, + "ymin": 678.6164844395403, + "xmax": 583.3563625646835, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -24.72201156616211, + -11.410823822021484, + 0.19740533828735352 + ], + [ + -25.377979278564453, + -10.879632949829102, + 0.19740533828735352 + ], + [ + -24.843353271484375, + -10.219425201416016, + 0.19740533828735352 + ], + [ + -24.18738555908203, + -10.750616073608398, + 0.19740533828735352 + ], + [ + -24.72201156616211, + -11.410823822021484, + 2.0700759887695312 + ], + [ + -25.377979278564453, + -10.879632949829102, + 2.0700759887695312 + ], + [ + -24.843353271484375, + -10.219425201416016, + 2.0700759887695312 + ], + [ + -24.18738555908203, + -10.750616073608398, + 2.0700759887695312 + ] + ], + "corners_2d": [ + [ + 543.6884965037433, + 769.7359079040818 + ], + [ + 583.3563625646835, + 761.12729958048 + ], + [ + 576.4891282781105, + 723.8997955039495 + ], + [ + 537.9591590788993, + 732.0040076674777 + ], + [ + 537.3367068158561, + 725.6601647473267 + ], + [ + 579.647782469455, + 716.807613979222 + ], + [ + 572.4619980411388, + 678.6164844395403 + ], + [ + 531.4431294312107, + 686.917869782041 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 724, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -9.921846389770508, + "y": -7.857978343963623, + "z": 1.0941215753555298 + }, + "extent": { + "x": 0.3493594229221344, + "y": 0.40033048391342163, + "z": 0.9089517593383789 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 119.21151004598971, + "ymin": 377.8992568446448, + "xmax": 177.71464948792823, + "ymax": 444.0453813660367 + }, + "corners_3d": [ + [ + -9.776375770568848, + -8.369011878967285, + 0.18516981601715088 + ], + [ + -10.447866439819336, + -7.9329400062561035, + 0.18516981601715088 + ], + [ + -10.067317008972168, + -7.346945285797119, + 0.18516981601715088 + ], + [ + -9.39582633972168, + -7.783016681671143, + 0.18516981601715088 + ], + [ + -9.776375770568848, + -8.369011878967285, + 2.003073215484619 + ], + [ + -10.447866439819336, + -7.9329400062561035, + 2.003073215484619 + ], + [ + -10.067317008972168, + -7.346945285797119, + 2.003073215484619 + ], + [ + -9.39582633972168, + -7.783016681671143, + 2.003073215484619 + ] + ], + "corners_2d": [ + [ + 142.42045213814652, + 444.0453813660367 + ], + [ + 171.7575447331991, + 441.6575921021147 + ], + [ + 177.71464948792823, + 424.14350963290775 + ], + [ + 148.94247822363178, + 426.4427057369699 + ], + [ + 119.21151004598971, + 397.68126889799703 + ], + [ + 149.97511965543953, + 395.30579540123165 + ], + [ + 156.62985927387052, + 377.8992568446448 + ], + [ + 126.48679682513159, + 380.18260925220386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 6974, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -19.1251277923584, + "y": 6.095887660980225, + "z": 0.8948460817337036 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 588.1090465164508, + "ymin": 191.97994832531205, + "xmax": 735.5115798449553, + "ymax": 298.90462000177996 + }, + "corners_3d": [ + [ + -21.404022216796875, + 5.052896022796631, + 0.011262890882790089 + ], + [ + -21.39891815185547, + 7.149961948394775, + 0.011262890882790089 + ], + [ + -16.846233367919922, + 7.138879776000977, + 0.011262890882790089 + ], + [ + -16.851337432861328, + 5.041813850402832, + 0.011262890882790089 + ], + [ + -21.404022216796875, + 5.052896022796631, + 1.7784292697906494 + ], + [ + -21.39891815185547, + 7.149961948394775, + 1.7784292697906494 + ], + [ + -16.846233367919922, + 7.138879776000977, + 1.7784292697906494 + ], + [ + -16.851337432861328, + 5.041813850402832, + 1.7784292697906494 + ] + ], + "corners_2d": [ + [ + 708.7133829013692, + 298.90462000177996 + ], + [ + 732.1881974788223, + 265.88450125049235 + ], + [ + 617.116354222535, + 233.49159558573595 + ], + [ + 589.9094474743104, + 263.70377362082684 + ], + [ + 711.302066336564, + 255.9888015165664 + ], + [ + 735.5115798449553, + 223.62790261654368 + ], + [ + 616.3277361527436, + 191.97994832531205 + ], + [ + 588.1090465164508, + 221.49427602709176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 103.80922763314368, + "ymin": 162.3227020917173, + "xmax": 125.74851142219791, + "ymax": 184.07664625625216 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 124.07545283296656, + 184.07664625625216 + ], + [ + 125.74851142219791, + 183.0913238919709 + ], + [ + 112.40147353667851, + 178.74115485526875 + ], + [ + 110.71989236046761, + 179.71386408946768 + ], + [ + 117.29502975601622, + 167.59655986423897 + ], + [ + 119.00001296474511, + 166.62253757142247 + ], + [ + 105.52282727614374, + 162.3227020917173 + ], + [ + 103.80922763314368, + 163.28409375901992 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 103.80923114529719, + "ymin": 162.32270321154888, + "xmax": 125.74851494358359, + "ymax": 184.07664740730772 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 124.07545635663394, + 184.07664740730772 + ], + [ + 125.74851494358359, + 183.09132503968806 + ], + [ + 112.40147701301942, + 178.74115598830443 + ], + [ + 110.71989583899585, + 179.71386522577802 + ], + [ + 117.29503331434637, + 167.59656100211546 + ], + [ + 119.00001652076753, + 166.6225387059555 + ], + [ + 105.52283078608707, + 162.32270321154888 + ], + [ + 103.80923114529719, + 163.2840948821303 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 47.17175719954389, + "ymin": 146.50967673669686, + "xmax": 69.02579757494141, + "ymax": 167.82073522247313 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 67.31233240764595, + 167.82073522247313 + ], + [ + 69.02579757494141, + 166.8819978963928 + ], + [ + 56.35118498525367, + 162.73672027956496 + ], + [ + 54.63060135708258, + 163.66372562110544 + ], + [ + 59.968425936207495, + 151.53182658422992 + ], + [ + 61.71436850431974, + 150.60443794929563 + ], + [ + 48.924866627966594, + 146.50967673669686 + ], + [ + 47.17175719954389, + 147.42532811078402 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 48.468092066697864, + "ymin": 144.6768101846681, + "xmax": 70.25004951411097, + "ymax": 165.93627885985939 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 68.54318843314581, + 165.93627885985939 + ], + [ + 70.25004951411097, + 165.00286896175908 + ], + [ + 57.603555858151026, + 160.88102649163437 + ], + [ + 55.88959464742675, + 161.80280382346137 + ], + [ + 61.23617079168696, + 149.67018607586303 + ], + [ + 62.97527877866173, + 148.7481276159557 + ], + [ + 50.214349026427044, + 144.6768101846681 + ], + [ + 48.468092066697864, + 145.5872321099647 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 101.34666031045731, + "ymin": 154.6207919142021, + "xmax": 121.17523613301478, + "ymax": 177.14402330491475 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 120.95309432223735, + 177.14402330491475 + ], + [ + 121.17523613301478, + 177.0148818795802 + ], + [ + 109.36552581040837, + 173.19186386527025 + ], + [ + 109.1423912352908, + 173.31953971737207 + ], + [ + 113.28653415909866, + 158.51984090919444 + ], + [ + 113.51345149918927, + 158.39242422416578 + ], + [ + 101.57458246330066, + 154.6207919142021 + ], + [ + 101.34666031045731, + 154.7467414281583 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 101.34680930044772, + "ymin": 154.62082614777123, + "xmax": 121.17538481466079, + "ymax": 177.14405841961235 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 120.95324302085339, + 177.14405841961235 + ], + [ + 121.17538481466079, + 177.01491698078328 + ], + [ + 109.36567303260665, + 173.19189856816215 + ], + [ + 109.14253847403222, + 173.31957443352948 + ], + [ + 113.28668464754753, + 158.51987555501827 + ], + [ + 113.5136019703217, + 158.39245885647864 + ], + [ + 101.574731436418, + 154.62082614777123 + ], + [ + 101.34680930044772, + 154.74677567500564 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 103.80922763314368, + "ymin": 162.3227020917173, + "xmax": 125.74851142219791, + "ymax": 184.07664625625216 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 124.07545283296656, + 184.07664625625216 + ], + [ + 125.74851142219791, + 183.0913238919709 + ], + [ + 112.40147353667851, + 178.74115485526875 + ], + [ + 110.71989236046761, + 179.71386408946768 + ], + [ + 117.29502975601622, + 167.59655986423897 + ], + [ + 119.00001296474511, + 166.62253757142247 + ], + [ + 105.52282727614374, + 162.3227020917173 + ], + [ + 103.80922763314368, + 163.28409375901992 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 103.80922788565636, + "ymin": 162.32270199754703, + "xmax": 125.74851158607885, + "ymax": 184.07664611105827 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 124.07545307950306, + 184.07664611105827 + ], + [ + 125.74851158607885, + 183.09132379545582 + ], + [ + 112.40147370139596, + 178.74115475998815 + ], + [ + 110.71989260825762, + 179.71386394613373 + ], + [ + 117.29503000726186, + 167.59655972070743 + ], + [ + 119.00001313174994, + 166.62253747601608 + ], + [ + 105.52282744399429, + 162.32270199754703 + ], + [ + 103.80922788565636, + 163.28409361735098 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 103.80923064410945, + "ymin": 162.3227030249103, + "xmax": 125.74851435668609, + "ymax": 184.07664716706714 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 124.0754558515348, + 184.07664716706714 + ], + [ + 125.74851435668609, + 183.0913248484018 + ], + [ + 112.40147643362934, + 178.7411557994652 + ], + [ + 110.71989534183774, + 179.713864988615 + ], + [ + 117.29503280503968, + 167.5965607646255 + ], + [ + 119.00001592809724, + 166.6225385168666 + ], + [ + 105.52283020109655, + 162.3227030249103 + ], + [ + 103.80923064410945, + 163.28409464772227 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 46.17172411131821, + "ymin": 161.5885110738649, + "xmax": 68.54415583071852, + "ymax": 183.32198085102573 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 66.78991079368905, + 183.32198085102573 + ], + [ + 68.54415583071852, + 182.33884574725667 + ], + [ + 55.57848118879758, + 177.99829622598128 + ], + [ + 53.81679416496547, + 178.96886004074247 + ], + [ + 59.265108560388626, + 166.85054593339134 + ], + [ + 61.05339974925607, + 165.87871416821457 + ], + [ + 47.9675086290722, + 161.5885110738649 + ], + [ + 46.17172411131821, + 162.54775465996013 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 101.34649579665233, + "ymin": 154.62072741132542, + "xmax": 121.17507115167837, + "ymax": 177.14395714181555 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 120.95292933106123, + 177.14395714181555 + ], + [ + 121.17507115167837, + 177.01481574190765 + ], + [ + 109.36536292368282, + 173.1917984780956 + ], + [ + 109.14222833927931, + 173.3194743052024 + ], + [ + 113.28636749688098, + 158.51977562954724 + ], + [ + 113.51328484680528, + 158.39235896997607 + ], + [ + 101.57441795875616, + 154.62072741132542 + ], + [ + 101.34649579665233, + 154.74667690026246 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 103.80923114529719, + "ymin": 162.32270321154888, + "xmax": 125.74851494358359, + "ymax": 184.07664740730772 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 124.07545635663394, + 184.07664740730772 + ], + [ + 125.74851494358359, + 183.09132503968806 + ], + [ + 112.40147701301942, + 178.74115598830443 + ], + [ + 110.71989583899585, + 179.71386522577802 + ], + [ + 117.29503331434637, + 167.59656100211546 + ], + [ + 119.00001652076753, + 166.6225387059555 + ], + [ + 105.52283078608707, + 162.32270321154888 + ], + [ + 103.80923114529719, + 163.2840948821303 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 99.96764249813543, + "ymin": 153.63486163434925, + "xmax": 124.19138562007504, + "ymax": 178.40838256339916 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 123.92559529379707, + 178.40838256339916 + ], + [ + 124.19138562007504, + 178.2531763999218 + ], + [ + 108.44341133761225, + 173.15328636698956 + ], + [ + 108.17603164411548, + 173.30614936569964 + ], + [ + 115.89852228786731, + 158.81576482657974 + ], + [ + 116.17032496025092, + 158.66273188200324 + ], + [ + 100.24105492876924, + 153.63486163434925 + ], + [ + 99.96764249813543, + 153.78554870634443 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 101.34664162452248, + "ymin": 154.62073528047375, + "xmax": 121.17521590195793, + "ymax": 177.14396521350582 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 120.95307410649446, + 177.14396521350582 + ], + [ + 121.17521590195793, + 177.01482381049607 + ], + [ + 109.36550670932832, + 173.19180645512552 + ], + [ + 109.14237214973912, + 173.31948228528162 + ], + [ + 113.2865143172694, + 158.51978359345915 + ], + [ + 113.51343164132822, + 158.39236693078237 + ], + [ + 101.57456376111463, + 154.62073528047375 + ], + [ + 101.34664162452248, + 154.74668477246306 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 103.80922788565636, + "ymin": 162.32270199754703, + "xmax": 125.74851158607885, + "ymax": 184.07664611105827 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 124.07545307950306, + 184.07664611105827 + ], + [ + 125.74851158607885, + 183.09132379545582 + ], + [ + 112.40147370139596, + 178.74115475998815 + ], + [ + 110.71989260825762, + 179.71386394613373 + ], + [ + 117.29503000726186, + 167.59655972070743 + ], + [ + 119.00001313174994, + 166.62253747601608 + ], + [ + 105.52282744399429, + 162.32270199754703 + ], + [ + 103.80922788565636, + 163.28409361735098 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 99.96756719354119, + "ymin": 153.6349031648106, + "xmax": 124.19131236618239, + "ymax": 178.40842531096663 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 123.92552208865084, + 178.40842531096663 + ], + [ + 124.19131236618239, + 178.25321917595414 + ], + [ + 108.44333764554904, + 173.15332849730098 + ], + [ + 108.17595800134734, + 173.30619146782874 + ], + [ + 115.89844742650575, + 158.81580697574083 + ], + [ + 116.17025004957736, + 158.6627740589283 + ], + [ + 100.24097957429956, + 153.6349031648106 + ], + [ + 99.96756719354119, + 153.78559020931783 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 99.96777276818659, + "ymin": 153.6348937468788, + "xmax": 124.19151596592815, + "ymax": 178.40841560610073 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 123.92572573917255, + 178.40841560610073 + ], + [ + 124.19151596592815, + 178.25320947556227 + ], + [ + 108.44353992796539, + 173.15331894334017 + ], + [ + 108.17616033387617, + 173.30618190949494 + ], + [ + 115.89865436213188, + 158.81579740672947 + ], + [ + 116.1704569327809, + 158.66276449439698 + ], + [ + 100.24118509721848, + 153.6348937468788 + ], + [ + 99.96777276818659, + 153.7855807870087 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 103.80922646626334, + "ymin": 162.32270124929084, + "xmax": 125.74851015314778, + "ymax": 184.0766453419387 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 124.07545164638475, + 184.0766453419387 + ], + [ + 125.74851015314778, + 183.0913230285669 + ], + [ + 112.40147229266006, + 178.74115400290916 + ], + [ + 110.7198911993803, + 179.71386318686675 + ], + [ + 117.29502856309091, + 167.59655896039396 + ], + [ + 119.0000116877485, + 166.62253671793658 + ], + [ + 105.52282602472349, + 162.32270124929084 + ], + [ + 103.80922646626334, + 163.284092866904 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 99.96772116416105, + "ymin": 153.63482084373766, + "xmax": 124.19146215201135, + "ymax": 178.408340530029 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 123.92567185997302, + 178.408340530029 + ], + [ + 124.19146215201135, + 178.25313438592855 + ], + [ + 108.44348826519058, + 173.15324498721395 + ], + [ + 108.17610860586296, + 173.30610796698423 + ], + [ + 115.89860055388908, + 158.81572338161823 + ], + [ + 116.17040319072146, + 158.6626904564445 + ], + [ + 100.24113355932298, + 153.63482084373766 + ], + [ + 99.96772116416105, + 153.78550789677456 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 36.64356844816359, + "ymin": 140.90620169988594, + "xmax": 58.388831307793225, + "ymax": 162.05937169068744 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 56.675304796383784, + 162.05937169068744 + ], + [ + 58.388831307793225, + 161.13687448224573 + ], + [ + 45.88962703078016, + 157.06303828932874 + ], + [ + 44.169289070361856, + 157.97410570433522 + ], + [ + 49.260852645751584, + 145.84064508631639 + ], + [ + 51.0066721223352, + 144.92950311925995 + ], + [ + 38.39623945280346, + 140.90620169988594 + ], + [ + 36.64356844816359, + 141.80591252747067 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 99.96764123845708, + "ymin": 153.63486135711875, + "xmax": 124.19138427585654, + "ymax": 178.40838222952897 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 123.92559403191251, + 178.40838222952897 + ], + [ + 124.19138427585654, + 178.25317611437663 + ], + [ + 108.44341001020791, + 173.15328608575487 + ], + [ + 108.1760303995444, + 173.3061490368704 + ], + [ + 115.89852101039776, + 158.81576449738324 + ], + [ + 116.17032359858479, + 158.66273160045736 + ], + [ + 100.24105358438851, + 153.63486135711875 + ], + [ + 99.96764123845708, + 153.78554838219478 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 104.33580571529296, + "ymin": 166.88262604640934, + "xmax": 126.22469258149135, + "ymax": 188.5676869825981 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 124.55585446286307, + 188.5676869825981 + ], + [ + 126.22469258149135, + 187.57793662745337 + ], + [ + 112.90254421433997, + 183.20814547845006 + ], + [ + 111.2252101776902, + 184.18525247547865 + ], + [ + 117.79622548535053, + 172.18172522112113 + ], + [ + 119.4968343070691, + 171.20305474169263 + ], + [ + 106.04500407519345, + 166.88262604640934 + ], + [ + 104.33580571529296, + 167.84863246769697 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 101.34666031045731, + "ymin": 154.6207919142021, + "xmax": 121.17523613301478, + "ymax": 177.14402330491475 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 120.95309432223735, + 177.14402330491475 + ], + [ + 121.17523613301478, + 177.0148818795802 + ], + [ + 109.36552581040837, + 173.19186386527025 + ], + [ + 109.1423912352908, + 173.31953971737207 + ], + [ + 113.28653415909866, + 158.51984090919444 + ], + [ + 113.51345149918927, + 158.39242422416578 + ], + [ + 101.57458246330066, + 154.6207919142021 + ], + [ + 101.34666031045731, + 154.7467414281583 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 27.953942091984004, + "ymin": 140.25244137352706, + "xmax": 49.743731079315694, + "ymax": 161.38715809989665 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 48.01981348119739, + 161.38715809989665 + ], + [ + 49.743731079315694, + 160.4665465071189 + ], + [ + 37.31085107463616, + 156.401005734215 + ], + [ + 35.580286099388445, + 157.3102224514802 + ], + [ + 40.50314140460932, + 145.1767027201407 + ], + [ + 42.25959551855976, + 144.2674467771231 + ], + [ + 29.717077769879666, + 140.25244137352706 + ], + [ + 27.953942091984004, + 141.15030154037427 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 101.34679005051487, + "ymin": 154.62081940335725, + "xmax": 121.17536553432421, + "ymax": 177.1440515016057 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 120.95322373909778, + 177.1440515016057 + ], + [ + 121.17536553432421, + 177.01491006543523 + ], + [ + 109.36565398283233, + 173.1918917312861 + ], + [ + 109.14251942290116, + 173.31956759403988 + ], + [ + 113.28666516107955, + 158.51986872938525 + ], + [ + 113.51358248528368, + 158.39245203350745 + ], + [ + 101.57471218785054, + 154.62081940335725 + ], + [ + 101.34679005051487, + 154.74676892797567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 108.9601167259068, + "ymin": 165.20002384121875, + "xmax": 134.32766566828877, + "ymax": 220.84129773154496 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 133.17270574863818, + 220.84129773154496 + ], + [ + 134.32766566828877, + 220.1185665258918 + ], + [ + 132.83825668564373, + 219.60871737965653 + ], + [ + 131.68261672703466, + 220.3304176999579 + ], + [ + 110.49990748825792, + 166.3896822464698 + ], + [ + 111.73039788441292, + 165.6920963644494 + ], + [ + 110.19131365582655, + 165.20002384121875 + ], + [ + 108.9601167259068, + 165.89657026580792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 108.9601167259068, + "ymin": 165.20002384121875, + "xmax": 134.32766566828877, + "ymax": 220.84129773154496 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 133.17270574863818, + 220.84129773154496 + ], + [ + 134.32766566828877, + 220.1185665258918 + ], + [ + 132.83825668564373, + 219.60871737965653 + ], + [ + 131.68261672703466, + 220.3304176999579 + ], + [ + 110.49990748825792, + 166.3896822464698 + ], + [ + 111.73039788441292, + 165.6920963644494 + ], + [ + 110.19131365582655, + 165.20002384121875 + ], + [ + 108.9601167259068, + 165.89657026580792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 53.29206989375166, + "ymin": 147.4096383211183, + "xmax": 80.33969699038744, + "ymax": 202.3234632323341 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 79.16145926813124, + 202.3234632323341 + ], + [ + 80.33969699038744, + 201.63762893420403 + ], + [ + 78.9262624674883, + 201.15378707168585 + ], + [ + 77.74745323252, + 201.83866838501646 + ], + [ + 54.74986581968358, + 148.5359787460089 + ], + [ + 56.004393839172394, + 147.87553421101708 + ], + [ + 54.54718387641276, + 147.4096383211183 + ], + [ + 53.29206989375166, + 148.06912527006514 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 108.9601167259068, + "ymin": 165.20002384121875, + "xmax": 134.32766566828877, + "ymax": 220.84129773154496 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 133.17270574863818, + 220.84129773154496 + ], + [ + 134.32766566828877, + 220.1185665258918 + ], + [ + 132.83825668564373, + 219.60871737965653 + ], + [ + 131.68261672703466, + 220.3304176999579 + ], + [ + 110.49990748825792, + 166.3896822464698 + ], + [ + 111.73039788441292, + 165.6920963644494 + ], + [ + 110.19131365582655, + 165.20002384121875 + ], + [ + 108.9601167259068, + 165.89657026580792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 41.399050616284285, + "ymin": 143.60863716903137, + "xmax": 68.78931840696157, + "ymax": 198.3617137021094 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 67.606467216998, + 198.3617137021094 + ], + [ + 68.78931840696157, + 197.6836478104042 + ], + [ + 67.39188025993724, + 197.2052818370188 + ], + [ + 66.20847964309928, + 197.88241088404985 + ], + [ + 42.83961982681694, + 144.72167427353003 + ], + [ + 44.09887142257696, + 144.0690331171677 + ], + [ + 42.658863738548575, + 143.60863716903137 + ], + [ + 41.399050616284285, + 144.26033765436935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 777.2861323643929, + "ymin": 47.0214147402732, + "xmax": 791.4711693020777, + "ymax": 57.4571309564264 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 791.0962263615866, + 52.27420164827657 + ], + [ + 781.9589735027714, + 50.45323068683501 + ], + [ + 777.2861323643929, + 55.601550364880666 + ], + [ + 786.4941817656381, + 57.4571309564264 + ], + [ + 791.4711693020777, + 48.835416398988855 + ], + [ + 782.3100672049231, + 47.0214147402732 + ], + [ + 777.6288826598691, + 52.15010793009412 + ], + [ + 786.8611569374583, + 53.99867337297718 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 108.9601167259068, + "ymin": 165.20002384121875, + "xmax": 134.32766566828877, + "ymax": 220.84129773154496 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 133.17270574863818, + 220.84129773154496 + ], + [ + 134.32766566828877, + 220.1185665258918 + ], + [ + 132.83825668564373, + 219.60871737965653 + ], + [ + 131.68261672703466, + 220.3304176999579 + ], + [ + 110.49990748825792, + 166.3896822464698 + ], + [ + 111.73039788441292, + 165.6920963644494 + ], + [ + 110.19131365582655, + 165.20002384121875 + ], + [ + 108.9601167259068, + 165.89657026580792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1257.1424340071303, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 149.70995166283782 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1257.2838843750756, + 125.15001055568595 + ], + [ + 1257.1424340071303, + 129.61882204982504 + ], + [ + 1360.4634903864378, + 149.70995166283782 + ], + [ + 1359.8464932813904, + 144.9500709089087 + ], + [ + 1345.9049123074715, + -63.33813328820219 + ], + [ + 1346.4741766895363, + -59.7776268047574 + ], + [ + 1468.6097655469275, + -43.67855248452611 + ], + [ + 1466.983485365055, + -47.50625945695714 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 51.11589106727274, + "ymin": 164.45974733276512, + "xmax": 78.94498783235349, + "ymax": 220.07156902547234 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 77.73534866672674, + 220.07156902547234 + ], + [ + 78.94498783235349, + 219.35039099128895 + ], + [ + 77.49662787038403, + 218.84163641045046 + ], + [ + 76.28638980437881, + 219.5617868792455 + ], + [ + 52.610833142203205, + 165.64673618724473 + ], + [ + 53.90094222230209, + 164.95071634314206 + ], + [ + 52.40661430287241, + 164.45974733276512 + ], + [ + 51.11589106727274, + 165.15473121627275 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 108.9601167259068, + "ymin": 165.20002384121875, + "xmax": 134.32766566828877, + "ymax": 220.84129773154496 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 133.17270574863818, + 220.84129773154496 + ], + [ + 134.32766566828877, + 220.1185665258918 + ], + [ + 132.83825668564373, + 219.60871737965653 + ], + [ + 131.68261672703466, + 220.3304176999579 + ], + [ + 110.49990748825792, + 166.3896822464698 + ], + [ + 111.73039788441292, + 165.6920963644494 + ], + [ + 110.19131365582655, + 165.20002384121875 + ], + [ + 108.9601167259068, + 165.89657026580792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 108.9601167259068, + "ymin": 165.20002384121875, + "xmax": 134.32766566828877, + "ymax": 220.84129773154496 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 133.17270574863818, + 220.84129773154496 + ], + [ + 134.32766566828877, + 220.1185665258918 + ], + [ + 132.83825668564373, + 219.60871737965653 + ], + [ + 131.68261672703466, + 220.3304176999579 + ], + [ + 110.49990748825792, + 166.3896822464698 + ], + [ + 111.73039788441292, + 165.6920963644494 + ], + [ + 110.19131365582655, + 165.20002384121875 + ], + [ + 108.9601167259068, + 165.89657026580792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 754.0915270954094, + "ymin": 3.155509178049897, + "xmax": 828.8859678871146, + "ymax": 263.0624013953028 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 802.0010495284697, + 209.39219418518087 + ], + [ + 790.965219277872, + 206.57249008877835 + ], + [ + 754.0915270954094, + 259.7975478422873 + ], + [ + 765.8088391160572, + 263.0624013953028 + ], + [ + 828.8859678871146, + 5.489753568672768 + ], + [ + 815.9018076689721, + 3.155509178049897 + ], + [ + 774.6246320144606, + 47.74661044390348 + ], + [ + 788.5663856707716, + 50.518728776822 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 777.2097166369605, + "ymin": 46.96558476895001, + "xmax": 791.5473736382021, + "ymax": 57.51360795809967 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 791.1682265446398, + 52.27457220935884 + ], + [ + 781.9331432941569, + 50.43415141198517 + ], + [ + 777.2097166369605, + 55.63782820365452 + ], + [ + 786.5171272945013, + 57.51360795809967 + ], + [ + 791.5473736382021, + 48.79888577380308 + ], + [ + 782.2879273495281, + 46.96558476895001 + ], + [ + 777.5559749054023, + 52.149210700568005 + ], + [ + 786.8881364981648, + 54.01782332107797 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 108.9601167259068, + "ymin": 165.20002384121875, + "xmax": 134.32766566828877, + "ymax": 220.84129773154496 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 133.17270574863818, + 220.84129773154496 + ], + [ + 134.32766566828877, + 220.1185665258918 + ], + [ + 132.83825668564373, + 219.60871737965653 + ], + [ + 131.68261672703466, + 220.3304176999579 + ], + [ + 110.49990748825792, + 166.3896822464698 + ], + [ + 111.73039788441292, + 165.6920963644494 + ], + [ + 110.19131365582655, + 165.20002384121875 + ], + [ + 108.9601167259068, + 165.89657026580792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 108.9601167259068, + "ymin": 165.20002384121875, + "xmax": 134.32766566828877, + "ymax": 220.84129773154496 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 133.17270574863818, + 220.84129773154496 + ], + [ + 134.32766566828877, + 220.1185665258918 + ], + [ + 132.83825668564373, + 219.60871737965653 + ], + [ + 131.68261672703466, + 220.3304176999579 + ], + [ + 110.49990748825792, + 166.3896822464698 + ], + [ + 111.73039788441292, + 165.6920963644494 + ], + [ + 110.19131365582655, + 165.20002384121875 + ], + [ + 108.9601167259068, + 165.89657026580792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 108.9601167259068, + "ymin": 165.20002384121875, + "xmax": 134.32766566828877, + "ymax": 220.84129773154496 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 133.17270574863818, + 220.84129773154496 + ], + [ + 134.32766566828877, + 220.1185665258918 + ], + [ + 132.83825668564373, + 219.60871737965653 + ], + [ + 131.68261672703466, + 220.3304176999579 + ], + [ + 110.49990748825792, + 166.3896822464698 + ], + [ + 111.73039788441292, + 165.6920963644494 + ], + [ + 110.19131365582655, + 165.20002384121875 + ], + [ + 108.9601167259068, + 165.89657026580792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 110.60224798247498, + "ymin": 169.1319185503879, + "xmax": 135.8242008495772, + "ymax": 224.4472572805836 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 134.6741707219383, + 224.4472572805836 + ], + [ + 135.8242008495772, + 223.72303447170512 + ], + [ + 134.3381326370406, + 223.21213047067644 + ], + [ + 133.1874243396536, + 223.9353233220939 + ], + [ + 112.13849539223463, + 170.324959994773 + ], + [ + 113.36345867924717, + 169.62539199434374 + ], + [ + 111.82791600164262, + 169.1319185503879 + ], + [ + 110.60224798247498, + 169.83044736042524 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 108.9601167259068, + "ymin": 165.20002384121875, + "xmax": 134.32766566828877, + "ymax": 220.84129773154496 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 133.17270574863818, + 220.84129773154496 + ], + [ + 134.32766566828877, + 220.1185665258918 + ], + [ + 132.83825668564373, + 219.60871737965653 + ], + [ + 131.68261672703466, + 220.3304176999579 + ], + [ + 110.49990748825792, + 166.3896822464698 + ], + [ + 111.73039788441292, + 165.6920963644494 + ], + [ + 110.19131365582655, + 165.20002384121875 + ], + [ + 108.9601167259068, + 165.89657026580792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 108.9601167259068, + "ymin": 165.20002384121875, + "xmax": 134.32766566828877, + "ymax": 220.84129773154496 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 133.17270574863818, + 220.84129773154496 + ], + [ + 134.32766566828877, + 220.1185665258918 + ], + [ + 132.83825668564373, + 219.60871737965653 + ], + [ + 131.68261672703466, + 220.3304176999579 + ], + [ + 110.49990748825792, + 166.3896822464698 + ], + [ + 111.73039788441292, + 165.6920963644494 + ], + [ + 110.19131365582655, + 165.20002384121875 + ], + [ + 108.9601167259068, + 165.89657026580792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 167.86975321989541, + "ymin": 0.0, + "xmax": 293.6851846925974, + "ymax": 114.72001050783695 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 293.6851846925974, + 79.51450941440396 + ], + [ + 286.3389699969107, + 77.63752092741197 + ], + [ + 225.83482251258357, + 112.60630080017842 + ], + [ + 233.42077181299533, + 114.72001050783695 + ], + [ + 248.20324505380336, + -98.9038020991336 + ], + [ + 240.06388109531082, + -100.36706483623811 + ], + [ + 167.86975321989541, + -72.89826637011254 + ], + [ + 176.2915912723662, + -71.2237056890907 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 108.9601167259068, + "ymin": 165.20002384121875, + "xmax": 134.32766566828877, + "ymax": 220.84129773154496 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 133.17270574863818, + 220.84129773154496 + ], + [ + 134.32766566828877, + 220.1185665258918 + ], + [ + 132.83825668564373, + 219.60871737965653 + ], + [ + 131.68261672703466, + 220.3304176999579 + ], + [ + 110.49990748825792, + 166.3896822464698 + ], + [ + 111.73039788441292, + 165.6920963644494 + ], + [ + 110.19131365582655, + 165.20002384121875 + ], + [ + 108.9601167259068, + 165.89657026580792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 108.9601167259068, + "ymin": 165.20002384121875, + "xmax": 134.32766566828877, + "ymax": 220.84129773154496 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 133.17270574863818, + 220.84129773154496 + ], + [ + 134.32766566828877, + 220.1185665258918 + ], + [ + 132.83825668564373, + 219.60871737965653 + ], + [ + 131.68261672703466, + 220.3304176999579 + ], + [ + 110.49990748825792, + 166.3896822464698 + ], + [ + 111.73039788441292, + 165.6920963644494 + ], + [ + 110.19131365582655, + 165.20002384121875 + ], + [ + 108.9601167259068, + 165.89657026580792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 108.9601167259068, + "ymin": 165.20002384121875, + "xmax": 134.32766566828877, + "ymax": 220.84129773154496 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 133.17270574863818, + 220.84129773154496 + ], + [ + 134.32766566828877, + 220.1185665258918 + ], + [ + 132.83825668564373, + 219.60871737965653 + ], + [ + 131.68261672703466, + 220.3304176999579 + ], + [ + 110.49990748825792, + 166.3896822464698 + ], + [ + 111.73039788441292, + 165.6920963644494 + ], + [ + 110.19131365582655, + 165.20002384121875 + ], + [ + 108.9601167259068, + 165.89657026580792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 52.005036390023974, + "ymin": 149.25729578889906, + "xmax": 79.18142579817595, + "ymax": 204.24858223342932 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 77.99879096120821, + 204.24858223342932 + ], + [ + 79.18142579817595, + 203.55895705533786 + ], + [ + 77.76490186510216, + 203.07244309266244 + ], + [ + 76.58169395599373, + 203.7611073765515 + ], + [ + 53.466096092270504, + 150.39013156669364 + ], + [ + 54.72555726378289, + 149.7258769911747 + ], + [ + 53.26508498176338, + 149.25729578889906 + ], + [ + 52.005036390023974, + 149.92058448316035 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 108.9601167259068, + "ymin": 165.20002384121875, + "xmax": 134.32766566828877, + "ymax": 220.84129773154496 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 133.17270574863818, + 220.84129773154496 + ], + [ + 134.32766566828877, + 220.1185665258918 + ], + [ + 132.83825668564373, + 219.60871737965653 + ], + [ + 131.68261672703466, + 220.3304176999579 + ], + [ + 110.49990748825792, + 166.3896822464698 + ], + [ + 111.73039788441292, + 165.6920963644494 + ], + [ + 110.19131365582655, + 165.20002384121875 + ], + [ + 108.9601167259068, + 165.89657026580792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 32.67533790391349, + "ymin": 142.9496846453343, + "xmax": 60.40208720703197, + "ymax": 197.67470245371152 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 59.21220459155609, + 197.67470245371152 + ], + [ + 60.40208720703197, + 196.99797914623946 + ], + [ + 59.01181915452253, + 196.52055959054013 + ], + [ + 57.82139952113778, + 197.1963488334906 + ], + [ + 34.10812739531252, + 144.06042354444293 + ], + [ + 35.37497888158475, + 143.4091304315666 + ], + [ + 33.942736942288775, + 142.9496846453343 + ], + [ + 32.67533790391349, + 143.60003999912772 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 108.9601167259068, + "ymin": 165.20002384121875, + "xmax": 134.32766566828877, + "ymax": 220.84129773154496 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 133.17270574863818, + 220.84129773154496 + ], + [ + 134.32766566828877, + 220.1185665258918 + ], + [ + 132.83825668564373, + 219.60871737965653 + ], + [ + 131.68261672703466, + 220.3304176999579 + ], + [ + 110.49990748825792, + 166.3896822464698 + ], + [ + 111.73039788441292, + 165.6920963644494 + ], + [ + 110.19131365582655, + 165.20002384121875 + ], + [ + 108.9601167259068, + 165.89657026580792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 108.9601167259068, + "ymin": 165.20002384121875, + "xmax": 134.32766566828877, + "ymax": 220.84129773154496 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 133.17270574863818, + 220.84129773154496 + ], + [ + 134.32766566828877, + 220.1185665258918 + ], + [ + 132.83825668564373, + 219.60871737965653 + ], + [ + 131.68261672703466, + 220.3304176999579 + ], + [ + 110.49990748825792, + 166.3896822464698 + ], + [ + 111.73039788441292, + 165.6920963644494 + ], + [ + 110.19131365582655, + 165.20002384121875 + ], + [ + 108.9601167259068, + 165.89657026580792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 108.9601167259068, + "ymin": 165.20002384121875, + "xmax": 134.32766566828877, + "ymax": 220.84129773154496 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 133.17270574863818, + 220.84129773154496 + ], + [ + 134.32766566828877, + 220.1185665258918 + ], + [ + 132.83825668564373, + 219.60871737965653 + ], + [ + 131.68261672703466, + 220.3304176999579 + ], + [ + 110.49990748825792, + 166.3896822464698 + ], + [ + 111.73039788441292, + 165.6920963644494 + ], + [ + 110.19131365582655, + 165.20002384121875 + ], + [ + 108.9601167259068, + 165.89657026580792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 57.39157978506944, + "ymax": 16.55377647465997 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 50.31414400327742, + 16.55377647465997 + ], + [ + 57.39157978506944, + 13.636862231266207 + ], + [ + -88.1972357941786, + -24.23568466673248 + ], + [ + -95.51736203693542, + -21.73814456691872 + ], + [ + -23.869904218726788, + -162.27443575880523 + ], + [ + -15.431829422107057, + -164.408524636214 + ], + [ + -171.6625728712869, + -191.84179463081432 + ], + [ + -180.3206842936014, + -190.0482776279972 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 108.9601167259068, + "ymin": 165.20002384121875, + "xmax": 134.32766566828877, + "ymax": 220.84129773154496 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 133.17270574863818, + 220.84129773154496 + ], + [ + 134.32766566828877, + 220.1185665258918 + ], + [ + 132.83825668564373, + 219.60871737965653 + ], + [ + 131.68261672703466, + 220.3304176999579 + ], + [ + 110.49990748825792, + 166.3896822464698 + ], + [ + 111.73039788441292, + 165.6920963644494 + ], + [ + 110.19131365582655, + 165.20002384121875 + ], + [ + 108.9601167259068, + 165.89657026580792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18388126302881449909, + "instance_id": 46343, + "pixel_count": null, + "type_id": "AmericanLights_Town04_26_Poles_4", + "bbox_3d": { + "center_world": { + "x": -38.49796676635742, + "y": 5.748189449310303, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1260.8702720587244, + "ymin": 84.20870338210591, + "xmax": 1280.0, + "ymax": 618.7183302482398 + }, + "corners_3d": [ + [ + -38.767967224121094, + 11.773303031921387, + 0.0 + ], + [ + -38.335147857666016, + 11.777151107788086, + 0.0 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 0.0 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 0.0 + ], + [ + -38.767967224121094, + 11.773303031921387, + 8.446706771850586 + ], + [ + -38.335147857666016, + 11.777151107788086, + 8.446706771850586 + ], + [ + -38.22796630859375, + -0.27692410349845886, + 8.446706771850586 + ], + [ + -38.66078567504883, + -0.2807725667953491, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1283.530182068576, + 331.32377968142407 + ], + [ + 1268.6668974944357, + 327.46327110300666 + ], + [ + 1260.8702720587244, + 611.7163002758829 + ], + [ + 1280.8544364989343, + 618.7183302482398 + ], + [ + 1425.2914659590906, + 87.52610033176433 + ], + [ + 1406.36516281371, + 84.20870338210591 + ], + [ + 1458.8578281411653, + 348.2085670381598 + ], + [ + 1486.9235903324554, + 355.2586177335028 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00182/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00182/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a5fc7fa3a844d43e06c7bfc69d3f637380d69e5a --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00182/meta.json @@ -0,0 +1,6932 @@ +{ + "frame_id": 182, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 91.0, + "sim_timestamp": 15219.578299721004 + }, + "drone_pose": { + "x": -30.316905375487522, + "y": -17.885327568141197, + "z": 20.0, + "pitch": -41.57269412658257, + "yaw": 63.31345158094778, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.3359851837158203, + -0.6684229373931885, + 0.6635696887969971, + 8.869601249694824 + ], + [ + 0.8934768438339233, + 0.4491093158721924, + -2.9802322387695312e-08, + -19.05498695373535 + ], + [ + -0.2980153262615204, + 0.5928841829299927, + 0.7481144666671753, + -34.60111999511719 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -30.084627219392615, + "y": -17.342364507679136, + "z": 20.0 + }, + "t1_image_uv": [ + 719.0573427868954, + -491.5100742732303 + ], + "t1_depth": 0.44097095160710525 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -20.66718292236328, + "y": 1.312236785888672, + "z": 0.9418217730522156 + }, + "image_uv": [ + 640.0, + 359.9999999999999 + ], + "depth": 28.72068553986055, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 709, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -20.66718292236328, + "y": 1.3122367858886719, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.43295714259147644, + "y": 0.5325156450271606, + "z": 0.8867732286453247 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 618.2471574741529, + "ymin": 324.80655582227047, + "xmax": 662.0366313202876, + "ymax": 394.81377623288034 + }, + "corners_3d": [ + [ + -20.596784591674805, + 0.6295444369316101, + 0.05504852533340454 + ], + [ + -21.34987449645996, + 1.3826353549957275, + 0.05504852533340454 + ], + [ + -20.737581253051758, + 1.9949290752410889, + 0.05504852533340454 + ], + [ + -19.9844913482666, + 1.2418382167816162, + 0.05504852533340454 + ], + [ + -20.596784591674805, + 0.6295444369316101, + 1.8285949230194092 + ], + [ + -21.34987449645996, + 1.3826353549957275, + 1.8285949230194092 + ], + [ + -20.737581253051758, + 1.9949290752410889, + 1.8285949230194092 + ], + [ + -19.9844913482666, + 1.2418382167816162, + 1.8285949230194092 + ] + ], + "corners_2d": [ + [ + 627.7158496897611, + 394.81377623288034 + ], + [ + 661.1462387651844, + 387.1954769178522 + ], + [ + 651.9267374463183, + 369.02584854176655 + ], + [ + 619.1152163444725, + 376.3310362580263 + ], + [ + 627.1939330437743, + 350.308701933476 + ], + [ + 662.0366313202876, + 342.76826906257907 + ], + [ + 652.4181177239269, + 324.80655582227047 + ], + [ + 618.2471574741529, + 332.02439256703406 + ] + ], + "center_offset_px": [ + 0.0, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 182, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 49, + "semantic_pixel_counts": { + "1": 437586, + "2": 270654, + "3": 97396, + "5": 2048, + "6": 1670, + "10": 18, + "12": 3701, + "14": 7341, + "20": 3635, + "24": 22977, + "25": 74574 + }, + "instance_pixel_counts": { + "3992": 277, + "4504": 8, + "6018": 377, + "7274": 86, + "7576": 3155, + "7784": 7377, + "7786": 1723, + "8088": 1161, + "8296": 6190, + "8780": 2048, + "9322": 6115, + "9624": 13087, + "9832": 216812, + "10316": 3494, + "21090": 26297, + "21602": 113465, + "24656": 65, + "24946": 45686, + "25168": 1073, + "26218": 64, + "26730": 7, + "29800": 209, + "30312": 53, + "31375": 54795, + "31848": 26885, + "32360": 13368, + "33650": 13867, + "33906": 12210, + "34408": 166692, + "34418": 25633, + "34560": 155, + "39239": 74574, + "42903": 16803, + "46184": 1391, + "46696": 3563, + "48232": 10028, + "53391": 1486, + "53903": 250, + "56320": 709, + "56576": 558, + "56832": 504, + "56975": 7067, + "57088": 690, + "57344": 519, + "57487": 2612, + "57600": 721, + "58951": 141, + "59023": 30191, + "60928": 7341 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 709, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -20.66718292236328, + "y": 1.3122367858886719, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.540787935256958, + "y": 0.4780779480934143, + "z": 0.8731415271759033 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 618.9238327107121, + "ymin": 323.34128200435106, + "xmax": 661.4871081359175, + "ymax": 396.447626136715 + }, + "corners_3d": [ + [ + -20.711524963378906, + 0.5917898416519165, + 0.06868022680282593 + ], + [ + -21.387630462646484, + 1.2678942680358887, + 0.06868022680282593 + ], + [ + -20.622840881347656, + 2.032683849334717, + 0.06868022680282593 + ], + [ + -19.946735382080078, + 1.356579303741455, + 0.06868022680282593 + ], + [ + -20.711524963378906, + 0.5917898416519165, + 1.8149633407592773 + ], + [ + -21.387630462646484, + 1.2678942680358887, + 1.8149633407592773 + ], + [ + -20.622840881347656, + 2.032683849334717, + 1.8149633407592773 + ], + [ + -19.946735382080078, + 1.356579303741455, + 1.8149633407592773 + ] + ], + "corners_2d": [ + [ + 630.5364944419292, + 396.447626136715 + ], + [ + 660.629366570115, + 389.57230437281385 + ], + [ + 649.1481507311481, + 366.85782171804186 + ], + [ + 619.7497099163909, + 373.38190844939675 + ], + [ + 630.1398153626826, + 352.6084046230466 + ], + [ + 661.4871081359175, + 345.8007700666265 + ], + [ + 649.5183159007715, + 323.34128200435106 + ], + [ + 618.9238327107121, + 329.7872039278672 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 558, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -15.975111961364746, + "y": 3.913904905319214, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.45934751629829407, + "y": 0.4594998061656952, + "z": 0.9073241353034973 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 528.892344828244, + "ymin": 238.5382562503423, + "xmax": 569.2793059446361, + "ymax": 304.93972191494544 + }, + "corners_3d": [ + [ + -16.110092163085938, + 3.2783572673797607, + 0.034497618675231934 + ], + [ + -16.610614776611328, + 4.049095153808594, + 0.034497618675231934 + ], + [ + -15.840132713317871, + 4.549452781677246, + 0.034497618675231934 + ], + [ + -15.339609146118164, + 3.778714895248413, + 0.034497618675231934 + ], + [ + -16.110092163085938, + 3.2783572673797607, + 1.8491458892822266 + ], + [ + -16.610614776611328, + 4.049095153808594, + 1.8491458892822266 + ], + [ + -15.840132713317871, + 4.549452781677246, + 1.8491458892822266 + ], + [ + -15.339609146118164, + 3.778714895248413, + 1.8491458892822266 + ] + ], + "corners_2d": [ + [ + 544.8402391676209, + 304.93972191494544 + ], + [ + 569.2793059446361, + 296.4397708601457 + ], + [ + 557.1015862236121, + 282.31927206069645 + ], + [ + 532.976108925332, + 290.5157129982214 + ], + [ + 541.1396033821928, + 260.70881613043775 + ], + [ + 566.5595528656244, + 252.37217602659314 + ], + [ + 553.9727948938698, + 238.5382562503423 + ], + [ + 528.892344828244, + 246.56602726170152 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 504, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -22.923004150390625, + "y": 8.254949569702148, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.35832396149635315, + "y": 0.43493497371673584, + "z": 0.9495698809623718 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 772.1407485965758, + "ymin": 226.76815742005886, + "xmax": 811.0558673913926, + "ymax": 289.9310901183063 + }, + "corners_3d": [ + [ + -22.92776107788086, + 7.691441059112549, + -0.007748126983642578 + ], + [ + -23.475187301635742, + 8.367457389831543, + -0.007748126983642578 + ], + [ + -22.91824722290039, + 8.818458557128906, + -0.007748126983642578 + ], + [ + -22.370820999145508, + 8.142441749572754, + -0.007748126983642578 + ], + [ + -22.92776107788086, + 7.691441059112549, + 1.891391634941101 + ], + [ + -23.475187301635742, + 8.367457389831543, + 1.891391634941101 + ], + [ + -22.91824722290039, + 8.818458557128906, + 1.891391634941101 + ], + [ + -22.370820999145508, + 8.142441749572754, + 1.891391634941101 + ] + ], + "corners_2d": [ + [ + 782.7272854251261, + 289.9310901183063 + ], + [ + 804.5478455458363, + 283.6099166207243 + ], + [ + 793.7285196166588, + 272.34272657306354 + ], + [ + 772.1407485965758, + 278.48074555451916 + ], + [ + 788.4201552791509, + 243.9668066428676 + ], + [ + 811.0558673913926, + 237.7821409907982 + ], + [ + 799.7168034064875, + 226.76815742005886 + ], + [ + 777.3310971784106, + 232.76666736874395 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 690, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -30.16718101501465, + "y": 1.3122367858886719, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.34410277009010315, + "y": 0.33575478196144104, + "z": 0.888046383857727 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 934.4314422451464, + "ymin": 431.44110347321316, + "xmax": 985.4539314897338, + "ymax": 500.76451377884064 + }, + "corners_3d": [ + [ + -30.173084259033203, + 0.8315049409866333, + 0.0537753701210022 + ], + [ + -30.647912979125977, + 1.3063340187072754, + 0.0537753701210022 + ], + [ + -30.161277770996094, + 1.7929686307907104, + 0.0537753701210022 + ], + [ + -29.68644905090332, + 1.3181395530700684, + 0.0537753701210022 + ], + [ + -30.173084259033203, + 0.8315049409866333, + 1.8298680782318115 + ], + [ + -30.647912979125977, + 1.3063340187072754, + 1.8298680782318115 + ], + [ + -30.161277770996094, + 1.7929686307907104, + 1.8298680782318115 + ], + [ + -29.68644905090332, + 1.3181395530700684, + 1.8298680782318115 + ] + ], + "corners_2d": [ + [ + 948.0585164139763, + 500.76451377884064 + ], + [ + 969.7661785416022, + 494.72922143092364 + ], + [ + 955.8191814288059, + 476.4982082434499 + ], + [ + 934.4314422451464, + 482.311775862802 + ], + [ + 962.8075602367785, + 455.68563487255807 + ], + [ + 985.4539314897338, + 449.6504553544232 + ], + [ + 970.552757044911, + 431.44110347321316 + ], + [ + 948.2536041984201, + 437.2442877319537 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 224, + "instance_id": 57344, + "pixel_count": 519, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -24.282682418823242, + "y": -9.81512451171875, + "z": 1.1151469945907593 + }, + "extent": { + "x": 0.3953820765018463, + "y": 0.40189024806022644, + "z": 0.9407883882522583 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 529.8296819046449, + "ymin": 678.4085527286485, + "xmax": 579.1492048143245, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -24.21917724609375, + -10.375311851501465, + 0.17435860633850098 + ], + [ + -24.84383201599121, + -9.869476318359375, + 0.17435860633850098 + ], + [ + -24.346187591552734, + -9.254937171936035, + 0.17435860633850098 + ], + [ + -23.721532821655273, + -9.760772705078125, + 0.17435860633850098 + ], + [ + -24.21917724609375, + -10.375311851501465, + 2.0559353828430176 + ], + [ + -24.84383201599121, + -9.869476318359375, + 2.0559353828430176 + ], + [ + -24.346187591552734, + -9.254937171936035, + 2.0559353828430176 + ], + [ + -23.721532821655273, + -9.760772705078125, + 2.0559353828430176 + ] + ], + "corners_2d": [ + [ + 541.4875095948437, + 766.4207989010762 + ], + [ + 579.1492048143245, + 758.4948252730528 + ], + [ + 573.0947494407056, + 723.9773206905959 + ], + [ + 536.4421282290015, + 731.4702921091395 + ], + [ + 535.0056315910756, + 721.9487979080261 + ], + [ + 575.172249232157, + 713.8033381169604 + ], + [ + 568.850505371446, + 678.4085527286485 + ], + [ + 529.8296819046449, + 686.0811209563865 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 721, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -9.421846389770508, + "y": -6.857978343963623, + "z": 0.941826581954956 + }, + "extent": { + "x": 0.35123810172080994, + "y": 0.4929736256599426, + "z": 0.9441469311714172 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 119.06419262820646, + "ymin": 378.6424225089053, + "xmax": 184.6334693973584, + "ymax": 446.54156573835905 + }, + "corners_3d": [ + [ + -9.199702262878418, + -7.42104434967041, + -0.0023203492164611816 + ], + [ + -10.026586532592773, + -6.884058475494385, + -0.0023203492164611816 + ], + [ + -9.643990516662598, + -6.294912338256836, + -0.0023203492164611816 + ], + [ + -8.817106246948242, + -6.831898212432861, + -0.0023203492164611816 + ], + [ + -9.199702262878418, + -7.42104434967041, + 1.8859734535217285 + ], + [ + -10.026586532592773, + -6.884058475494385, + 1.8859734535217285 + ], + [ + -9.643990516662598, + -6.294912338256836, + 1.8859734535217285 + ], + [ + -8.817106246948242, + -6.831898212432861, + 1.8859734535217285 + ] + ], + "corners_2d": [ + [ + 142.91941781085865, + 446.54156573835905 + ], + [ + 178.66856721454667, + 443.76904912125667 + ], + [ + 184.6334693973584, + 426.30004214195685 + ], + [ + 149.571330646759, + 428.96980884384425 + ], + [ + 119.06419262820646, + 398.7538612996797 + ], + [ + 156.59753396402488, + 395.99670106263744 + ], + [ + 163.27380527852523, + 378.6424225089053 + ], + [ + 126.4969589397457, + 381.2926491309814 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 7341, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -19.1251277923584, + "y": 6.095887660980225, + "z": 0.8948460817337036 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 587.8716769953053, + "ymin": 209.7377998818326, + "xmax": 738.8173724343924, + "ymax": 320.4335138143291 + }, + "corners_3d": [ + [ + -21.404022216796875, + 5.052896022796631, + 0.011262890882790089 + ], + [ + -21.39891815185547, + 7.149961948394775, + 0.011262890882790089 + ], + [ + -16.846233367919922, + 7.138879776000977, + 0.011262890882790089 + ], + [ + -16.851337432861328, + 5.041813850402832, + 0.011262890882790089 + ], + [ + -21.404022216796875, + 5.052896022796631, + 1.7784292697906494 + ], + [ + -21.39891815185547, + 7.149961948394775, + 1.7784292697906494 + ], + [ + -16.846233367919922, + 7.138879776000977, + 1.7784292697906494 + ], + [ + -16.851337432861328, + 5.041813850402832, + 1.7784292697906494 + ] + ], + "corners_2d": [ + [ + 711.0577189904883, + 320.4335138143291 + ], + [ + 735.3053508544112, + 285.8968710526259 + ], + [ + 617.8296509967672, + 251.61223969919882 + ], + [ + 589.7176991496696, + 283.1081268035018 + ], + [ + 713.7970225001584, + 277.1846297134538 + ], + [ + 738.8173724343924, + 243.2827195997006 + ], + [ + 617.049966156248, + 209.7377998818326 + ], + [ + 587.8716769953053, + 240.55007110389164 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 94.61291701783477, + "ymin": 177.54532324067077, + "xmax": 116.95856377373366, + "ymax": 199.70232989922442 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 115.22924618827676, + 199.70232989922442 + ], + [ + 116.95856377373366, + 198.680499535085 + ], + [ + 103.50181527394795, + 194.1049582112869 + ], + [ + 101.76418835772301, + 195.11327536661398 + ], + [ + 108.20965513172075, + 183.08056659393375 + ], + [ + 109.9725860402308, + 182.0699886182686 + ], + [ + 96.38423764271306, + 177.54532324067077 + ], + [ + 94.61291701783477, + 178.54235997911198 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 94.61292055810395, + "ymin": 177.54532441879857, + "xmax": 116.95856732482537, + "ymax": 199.7023311102386 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 115.22924974159616, + 199.7023311102386 + ], + [ + 116.95856732482537, + 198.6805007425213 + ], + [ + 103.50181877811292, + 194.10495940276726 + ], + [ + 101.76419186401745, + 195.1132765616015 + ], + [ + 108.20965872010834, + 183.08056779163596 + ], + [ + 109.97258962636806, + 182.06998981238502 + ], + [ + 96.38424118083356, + 177.54532441879857 + ], + [ + 94.61292055810395, + 178.54236116075376 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 37.504159765707755, + "ymin": 160.90154442740013, + "xmax": 59.742198417909435, + "ymax": 182.59181024447622 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 57.973076890213065, + 182.59181024447622 + ], + [ + 59.742198417909435, + 181.61990771628084 + ], + [ + 46.985925932035116, + 177.26705995566118 + ], + [ + 45.20996203584377, + 178.22642440047866 + ], + [ + 50.38283705754964, + 166.16373483735885 + ], + [ + 52.18608199876826, + 165.2031702000086 + ], + [ + 39.31427975573081, + 160.90154442740013 + ], + [ + 37.504159765707755, + 161.8495573481619 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 38.8788783886921, + "ymin": 158.9974617652743, + "xmax": 61.04175055914493, + "ymax": 180.63405820226197 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 59.27963781057929, + 180.63405820226197 + ], + [ + 61.04175055914493, + 179.66778865486077 + ], + [ + 48.3138540845888, + 175.34007018709653 + ], + [ + 46.544914041401626, + 176.29391014645947 + ], + [ + 51.72871725955281, + 164.2288581791031 + ], + [ + 53.524704918060934, + 163.27393304093104 + ], + [ + 40.681726708148176, + 158.9974617652743 + ], + [ + 38.8788783886921, + 159.93994520270167 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 92.04154015728807, + "ymin": 169.803505687268, + "xmax": 112.24780932740475, + "ymax": 192.69396444565547 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 112.01816730007602, + 192.69396444565547 + ], + [ + 112.24780932740475, + 192.56001558616666 + ], + [ + 100.34106017741328, + 188.53807011567636 + ], + [ + 100.11045080906456, + 188.6704483659109 + ], + [ + 104.07984360944124, + 173.9056731897854 + ], + [ + 104.3145151426827, + 173.77344431714528 + ], + [ + 92.27718926845318, + 169.803505687268 + ], + [ + 92.04154015728807, + 169.93416101778416 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 92.04169072833088, + "ymin": 169.8035418363122, + "xmax": 112.24795962427902, + "ymax": 192.69400152051654 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 112.01831761393646, + 192.69400152051654 + ], + [ + 112.24795962427902, + 192.56005264651264 + ], + [ + 100.34120894935654, + 188.53810674151563 + ], + [ + 100.11059959754527, + 188.67048500601075 + ], + [ + 104.07999574668372, + 173.9057097886899 + ], + [ + 104.31466726259794, + 173.7734809015057 + ], + [ + 92.27733982263487, + 169.8035418363122 + ], + [ + 92.04169072833088, + 169.93419718111366 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 94.61291701783477, + "ymin": 177.54532324067077, + "xmax": 116.95856377373366, + "ymax": 199.70232989922442 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 115.22924618827676, + 199.70232989922442 + ], + [ + 116.95856377373366, + 198.680499535085 + ], + [ + 103.50181527394795, + 194.1049582112869 + ], + [ + 101.76418835772301, + 195.11327536661398 + ], + [ + 108.20965513172075, + 183.08056659393375 + ], + [ + 109.9725860402308, + 182.0699886182686 + ], + [ + 96.38423764271306, + 177.54532324067077 + ], + [ + 94.61291701783477, + 178.54235997911198 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 94.61291727886032, + "ymin": 177.54532314301176, + "xmax": 116.95856394312057, + "ymax": 199.7023297486467 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 115.22924644311024, + 199.7023297486467 + ], + [ + 116.95856394312057, + 198.6804994349964 + ], + [ + 103.50181544415057, + 194.10495811252108 + ], + [ + 101.76418861377863, + 195.11327521802917 + ], + [ + 108.2096553915128, + 183.08056644501121 + ], + [ + 109.97258621290689, + 182.06998851928412 + ], + [ + 96.3842378162127, + 177.54532314301176 + ], + [ + 94.61291727886032, + 178.54235983218652 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 94.61292005506778, + "ymin": 177.54532422244404, + "xmax": 116.95856673297669, + "ymax": 199.70233085821027 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 115.22924923432083, + 199.70233085821027 + ], + [ + 116.95856673297669, + 198.680500541282 + ], + [ + 103.50181819408533, + 194.1049592041873 + ], + [ + 101.7641913649868, + 195.11327631290857 + ], + [ + 108.20965820864092, + 183.08056754237805 + ], + [ + 109.97258902867827, + 182.06998961336564 + ], + [ + 96.38424059114686, + 177.54532422244404 + ], + [ + 94.61292005506778, + 178.54236091483827 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7626549164259882322, + "instance_id": 21045, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8401171565055847, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 36.014565812286946, + "ymin": 176.6045057514647, + "xmax": 58.79625713432938, + "ymax": 198.73524457852653 + }, + "corners_3d": [ + [ + 1.5727671384811401, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 1.5289340019226074 + ], + [ + 2.254899024963379, + -0.878093421459198, + 1.5289340019226074 + ], + [ + 1.5727671384811401, + -0.878093421459198, + 2.2110660076141357 + ], + [ + 1.5727671384811401, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.8021408915519714, + 2.2110660076141357 + ], + [ + 2.254899024963379, + -0.878093421459198, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 56.9833693506647, + 198.73524457852653 + ], + [ + 58.79625713432938, + 197.71626907264735 + ], + [ + 45.743227062632855, + 193.15346028391755 + ], + [ + 43.92318846885894, + 194.1589789855527 + ], + [ + 49.19570991549449, + 182.12412979642804 + ], + [ + 51.044427045977955, + 181.11641290498264 + ], + [ + 37.87046788789894, + 176.6045057514647 + ], + [ + 36.014565812286946, + 177.59873867818305 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 92.04137469293164, + "ymin": 169.8034379259054, + "xmax": 112.24764331529991, + "ymax": 192.6938949488496 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 112.01800127878948, + 192.6938949488496 + ], + [ + 112.24764331529991, + 192.55994611656936 + ], + [ + 100.34089634342672, + 188.53800146056153 + ], + [ + 100.11028696647202, + 188.67037968406467 + ], + [ + 104.07967591043257, + 173.90560458515998 + ], + [ + 104.31434745280865, + 173.7733757397829 + ], + [ + 92.2770238126352, + 169.8034379259054 + ], + [ + 92.04137469293164, + 169.93409322964376 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 94.61292055810395, + "ymin": 177.54532441879857, + "xmax": 116.95856732482537, + "ymax": 199.7023311102386 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 115.22924974159616, + 199.7023311102386 + ], + [ + 116.95856732482537, + 198.6805007425213 + ], + [ + 103.50181877811292, + 194.10495940276726 + ], + [ + 101.76419186401745, + 195.1132765616015 + ], + [ + 108.20965872010834, + 183.08056779163596 + ], + [ + 109.97258962636806, + 182.06998981238502 + ], + [ + 96.38424118083356, + 177.54532441879857 + ], + [ + 94.61292055810395, + 178.54236116075376 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 90.66709564134248, + "ymin": 168.77140434056005, + "xmax": 115.31601998288534, + "ymax": 193.98741752819868 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 115.0412550482041, + 193.98741752819868 + ], + [ + 115.31601998288534, + 193.82643085987095 + ], + [ + 99.43853863167078, + 188.4614229287741 + ], + [ + 99.16222469302488, + 188.61989867295864 + ], + [ + 106.72943882359516, + 174.2223430331429 + ], + [ + 107.0105360491367, + 174.06352326143127 + ], + [ + 90.94975923054812, + 168.77140434056005 + ], + [ + 90.66709564134248, + 168.92770823621464 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 92.04152283182975, + "ymin": 169.80344657202954, + "xmax": 112.24779036927123, + "ymax": 192.6939038164105 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 112.01814835857954, + 192.6939038164105 + ], + [ + 112.24779036927123, + 192.55995498065855 + ], + [ + 100.34104237942495, + 188.5380102207255 + ], + [ + 100.11043302792643, + 188.67038844763943 + ], + [ + 104.07982509716851, + 173.9056133388816 + ], + [ + 104.31449661298552, + 173.77338449002588 + ], + [ + 92.27717192535226, + 169.80344657202954 + ], + [ + 92.04152283182975, + 169.93410187918465 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 94.61291727886032, + "ymin": 177.54532314301176, + "xmax": 116.95856394312057, + "ymax": 199.7023297486467 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 115.22924644311024, + 199.7023297486467 + ], + [ + 116.95856394312057, + 198.6804994349964 + ], + [ + 103.50181544415057, + 194.10495811252108 + ], + [ + 101.76418861377863, + 195.11327521802917 + ], + [ + 108.2096553915128, + 183.08056644501121 + ], + [ + 109.97258621290689, + 182.06998851928412 + ], + [ + 96.3842378162127, + 177.54532314301176 + ], + [ + 94.61291727886032, + 178.54235983218652 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 90.667017788409, + "ymin": 168.7714474188715, + "xmax": 115.31594425584797, + "ymax": 193.98746186805013 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 115.04117937090405, + 193.98746186805013 + ], + [ + 115.31594425584797, + 193.82647522886387 + ], + [ + 99.43846247757779, + 188.46146660582016 + ], + [ + 99.16214858922956, + 188.6199423211571 + ], + [ + 106.72936140193212, + 174.22238677633825 + ], + [ + 107.01045857716599, + 174.06356703305042 + ], + [ + 90.94968132673114, + 168.7714474188715 + ], + [ + 90.667017788409, + 168.9277512863891 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 90.66722722218913, + "ymin": 168.77143821769658, + "xmax": 115.31615168846918, + "ymax": 193.9874523867434 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 115.04138685605176, + 193.9874523867434 + ], + [ + 115.31615168846918, + 193.82646575201 + ], + [ + 99.43866850419306, + 188.46145727676043 + ], + [ + 99.16235466765363, + 188.61993298774837 + ], + [ + 106.7295722890326, + 174.22237742261603 + ], + [ + 107.01066941000795, + 174.06355768379063 + ], + [ + 90.94989070700638, + 168.77143821769658 + ], + [ + 90.66722722218913, + 168.92774208085743 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 94.61291585675997, + "ymin": 177.54532235862982, + "xmax": 116.95856250634893, + "ymax": 199.70232894236923 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 115.22924500622855, + 199.70232894236923 + ], + [ + 116.95856250634893, + 198.68049863110122 + ], + [ + 103.50181403247359, + 194.10495731924922 + ], + [ + 101.76418720203878, + 195.11327442242217 + ], + [ + 108.20965394370819, + 183.08056564759676 + ], + [ + 109.9725847651905, + 182.0699877242571 + ], + [ + 96.3842363941518, + 177.54532235862982 + ], + [ + 94.61291585675997, + 178.54235904546493 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 90.66717689353789, + "ymin": 168.77136204358908, + "xmax": 115.3160990241048, + "ymax": 193.98737394348683 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 115.04133412546025, + 193.98737394348683 + ], + [ + 115.3160990241048, + 193.82638729562817 + ], + [ + 99.4386180555041, + 188.46138004392822 + ], + [ + 99.1623041527996, + 188.61985576812057 + ], + [ + 106.72951968974553, + 174.2223000349258 + ], + [ + 107.0106168778442, + 174.06348028372742 + ], + [ + 90.94984044540683, + 168.77136204358908 + ], + [ + 90.66717689353789, + 168.92766591921585 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 13010630657846348737, + "instance_id": 49419, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 0.050003357231616974, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 26.983389580634253, + "ymin": 155.03843040589862, + "xmax": 49.10403666219372, + "ymax": 176.56325588354875 + }, + "corners_3d": [ + [ + 3.1938953399658203, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 1.5289340019226074 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 1.5289340019226074 + ], + [ + 3.1938953399658203, + 0.012027107179164886, + 2.2110660076141357 + ], + [ + 3.1938953399658203, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.08797960728406906, + 2.2110660076141357 + ], + [ + 3.8760271072387695, + 0.012027107179164886, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 47.33551394459505, + 176.56325588354875 + ], + [ + 49.10403666219372, + 175.60864694015228 + ], + [ + 36.529133655217265, + 171.33294969994205 + ], + [ + 34.754083388614276, + 172.27535265456265 + ], + [ + 39.67656324127256, + 160.2060903773001 + ], + [ + 41.47899242796143, + 159.26283729675214 + ], + [ + 28.79237058310639, + 155.03843040589862 + ], + [ + 26.983389580634253, + 155.96946846615856 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 90.66709436940494, + "ymin": 168.7714040474309, + "xmax": 115.3160186230972, + "ymax": 193.98741717615636 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 115.0412537735358, + 193.98741717615636 + ], + [ + 115.3160186230972, + 193.82643055795913 + ], + [ + 99.43853728946738, + 188.46142263157088 + ], + [ + 99.16222343642846, + 188.61989832640796 + ], + [ + 106.72943753308095, + 174.22234268583782 + ], + [ + 107.01053467154054, + 174.06352296358435 + ], + [ + 90.94975787103579, + 168.7714040474309 + ], + [ + 90.66709436940494, + 168.927707894412 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 95.15944215974855, + "ymin": 182.1631277823778, + "xmax": 117.45285520756386, + "ymax": 204.24938293678602 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 115.72797863795847, + 204.24938293678602 + ], + [ + 117.45285520756386, + 203.22303441253706 + ], + [ + 104.02147845710124, + 198.62718163461346 + ], + [ + 102.28831808180507, + 199.6399860137546 + ], + [ + 108.73030900659899, + 187.72445628520936 + ], + [ + 110.48863395931653, + 186.70913075213932 + ], + [ + 96.92613119425357, + 182.1631277823778 + ], + [ + 95.15944215974855, + 183.16487772657803 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 92.04154015728807, + "ymin": 169.803505687268, + "xmax": 112.24780932740475, + "ymax": 192.69396444565547 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 112.01816730007602, + 192.69396444565547 + ], + [ + 112.24780932740475, + 192.56001558616666 + ], + [ + 100.34106017741328, + 188.53807011567636 + ], + [ + 100.11045080906456, + 188.6704483659109 + ], + [ + 104.07984360944124, + 173.9056731897854 + ], + [ + 104.3145151426827, + 173.77344431714528 + ], + [ + 92.27718926845318, + 169.803505687268 + ], + [ + 92.04154015728807, + 169.93416101778416 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 17962549362834112500, + "instance_id": 62591, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_0", + "bbox_3d": { + "center_world": { + "x": 3.869422435760498, + "y": -0.060391537845134735, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 18.176708568390268, + "ymin": 154.33263887769482, + "xmax": 40.34125749583086, + "ymax": 175.83751304562932 + }, + "corners_3d": [ + [ + 3.5283565521240234, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 1.5289340019226074 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 1.5289340019226074 + ], + [ + 3.5283565521240234, + -0.09836778789758682, + 2.2110660076141357 + ], + [ + 3.5283565521240234, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.022415287792682648, + 2.2110660076141357 + ], + [ + 4.210488319396973, + -0.09836778789758682, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 38.562130546471394, + 175.83751304562932 + ], + [ + 40.34125749583086, + 174.88497552275925 + ], + [ + 27.836009923042297, + 170.6185198981516 + ], + [ + 26.05052938438405, + 171.5588910127095 + ], + [ + 30.798354429508777, + 159.4889776759718 + ], + [ + 32.61163883296115, + 158.5477977623241 + ], + [ + 19.996364506624218, + 154.33263887769482 + ], + [ + 18.176708568390268, + 155.26164388953842 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 92.04167134325428, + "ymin": 169.8035347450107, + "xmax": 112.24794020068987, + "ymax": 192.69399424759894 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 112.018298188985, + 192.69399424759894 + ], + [ + 112.24794020068987, + 192.56004537644245 + ], + [ + 100.34118976576417, + 188.53809955668197 + ], + [ + 100.11058041265551, + 188.6704778183796 + ], + [ + 104.07997611532494, + 173.90570260913995 + ], + [ + 104.31464763260863, + 173.77347372480884 + ], + [ + 92.27732043886033, + 169.8035347450107 + ], + [ + 92.04167134325428, + 169.93419008700982 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 99.7850452520945, + "ymin": 180.55223512399226, + "xmax": 125.98656449493672, + "ymax": 236.683674221967 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 124.79383246077975, + 236.683674221967 + ], + [ + 125.98656449493672, + 235.93507755958117 + ], + [ + 124.48505134538493, + 235.39936055171412 + ], + [ + 123.29165455291945, + 236.14685446610952 + ], + [ + 101.33748320046516, + 181.79370458854441 + ], + [ + 102.6096699006232, + 181.07005658437862 + ], + [ + 101.05791972403472, + 180.55223512399226 + ], + [ + 99.7850452520945, + 181.2747686810443 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 99.7850452520945, + "ymin": 180.55223512399226, + "xmax": 125.98656449493672, + "ymax": 236.683674221967 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 124.79383246077975, + 236.683674221967 + ], + [ + 125.98656449493672, + 235.93507755958117 + ], + [ + 124.48505134538493, + 235.39936055171412 + ], + [ + 123.29165455291945, + 236.14685446610952 + ], + [ + 101.33748320046516, + 181.79370458854441 + ], + [ + 102.6096699006232, + 181.07005658437862 + ], + [ + 101.05791972403472, + 180.55223512399226 + ], + [ + 99.7850452520945, + 181.2747686810443 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 43.71192968717503, + "ymin": 161.8482945966438, + "xmax": 71.60464355446481, + "ymax": 217.2416450981574 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 70.38928725283267, + 217.2416450981574 + ], + [ + 71.60464355446481, + 216.53246887690568 + ], + [ + 70.18213184488218, + 216.024938355929 + ], + [ + 68.96622382521707, + 216.73309774683727 + ], + [ + 45.179039917307364, + 163.02156347831834 + ], + [ + 46.47447076682897, + 162.3376840088517 + ], + [ + 45.0079226827379, + 161.8482945966438 + ], + [ + 43.71192968717503, + 162.5311501797949 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 99.7850452520945, + "ymin": 180.55223512399226, + "xmax": 125.98656449493672, + "ymax": 236.683674221967 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 124.79383246077975, + 236.683674221967 + ], + [ + 125.98656449493672, + 235.93507755958117 + ], + [ + 124.48505134538493, + 235.39936055171412 + ], + [ + 123.29165455291945, + 236.14685446610952 + ], + [ + 101.33748320046516, + 181.79370458854441 + ], + [ + 102.6096699006232, + 181.07005658437862 + ], + [ + 101.05791972403472, + 180.55223512399226 + ], + [ + 99.7850452520945, + 181.2747686810443 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 31.745520937711262, + "ymin": 157.85648745995127, + "xmax": 59.98193740956742, + "ymax": 213.0864521344056 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 58.7621333011557, + 213.0864521344056 + ], + [ + 59.98193740956742, + 212.38556278976256 + ], + [ + 58.57603370282925, + 211.88395782367166 + ], + [ + 57.35570080662228, + 212.58384810232954 + ], + [ + 33.19473386694892, + 159.01545083949046 + ], + [ + 34.494689260277596, + 158.33991290753357 + ], + [ + 33.04601310511134, + 157.85648745995127 + ], + [ + 31.745520937711262, + 158.53102017454225 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 782.2056166138119, + "ymin": 64.22254798915293, + "xmax": 796.815053511331, + "ymax": 75.10800207887053 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 796.4171263830534, + 69.65150058286775 + ], + [ + 787.0308931995964, + 67.70741479854439 + ], + [ + 782.2056166138119, + 73.12598588653873 + ], + [ + 791.66617400464, + 75.10800207887053 + ], + [ + 796.815053511331, + 66.15943380279691 + ], + [ + 787.4036424960918, + 64.22254798915293 + ], + [ + 782.5696351682632, + 69.62113629845373 + ], + [ + 792.05577604191, + 71.59590940228424 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 99.7850452520945, + "ymin": 180.55223512399226, + "xmax": 125.98656449493672, + "ymax": 236.683674221967 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 124.79383246077975, + 236.683674221967 + ], + [ + 125.98656449493672, + 235.93507755958117 + ], + [ + 124.48505134538493, + 235.39936055171412 + ], + [ + 123.29165455291945, + 236.14685446610952 + ], + [ + 101.33748320046516, + 181.79370458854441 + ], + [ + 102.6096699006232, + 181.07005658437862 + ], + [ + 101.05791972403472, + 180.55223512399226 + ], + [ + 99.7850452520945, + 181.2747686810443 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4840152456385987335, + "instance_id": 1795, + "pixel_count": null, + "type_id": "BP_StreetLight_simple9_26_SM_2", + "bbox_3d": { + "center_world": { + "x": -39.6650276184082, + "y": 26.112741470336914, + "z": 4.066110134124756 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1272.6275676533003, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 166.6781624494174 + }, + "corners_3d": [ + [ + -37.74830627441406, + 26.33233642578125, + 0.1893913745880127 + ], + [ + -37.74831008911133, + 25.893129348754883, + 0.1893913745880127 + ], + [ + -41.581748962402344, + 25.893146514892578, + 0.1893913745880127 + ], + [ + -41.58174514770508, + 26.332353591918945, + 0.1893913745880127 + ], + [ + -37.74830627441406, + 26.33233642578125, + 7.942829132080078 + ], + [ + -37.74831008911133, + 25.893129348754883, + 7.942829132080078 + ], + [ + -41.581748962402344, + 25.893146514892578, + 7.942829132080078 + ], + [ + -41.58174514770508, + 26.332353591918945, + 7.942829132080078 + ] + ], + "corners_2d": [ + [ + 1272.717941523179, + 140.78699685833854 + ], + [ + 1272.6275676533003, + 145.4380010255425 + ], + [ + 1378.8557152329931, + 166.6781624494174 + ], + [ + 1378.1477292789268, + 161.71300340268365 + ], + [ + 1365.567256998976, + -50.207669815166696 + ], + [ + 1366.247553786675, + -46.48119301486469 + ], + [ + 1492.4024548148204, + -29.360275511291775 + ], + [ + 1490.5995609950546, + -33.377699632329666 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 40.96880637849176, + "ymin": 179.60340121612273, + "xmax": 69.70710161037618, + "ymax": 235.6984861576643 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 68.45814616022858, + 235.6984861576643 + ], + [ + 69.70710161037618, + 234.95191292429075 + ], + [ + 68.24900657395187, + 234.41764248232613 + ], + [ + 66.99947324347522, + 235.16311743388889 + ], + [ + 42.473746233688416, + 180.84136420663845 + ], + [ + 43.80731069731564, + 180.11976100110206 + ], + [ + 42.30295951583287, + 179.60340121612273 + ], + [ + 40.96880637849176, + 180.32389469281412 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 99.7850452520945, + "ymin": 180.55223512399226, + "xmax": 125.98656449493672, + "ymax": 236.683674221967 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 124.79383246077975, + 236.683674221967 + ], + [ + 125.98656449493672, + 235.93507755958117 + ], + [ + 124.48505134538493, + 235.39936055171412 + ], + [ + 123.29165455291945, + 236.14685446610952 + ], + [ + 101.33748320046516, + 181.79370458854441 + ], + [ + 102.6096699006232, + 181.07005658437862 + ], + [ + 101.05791972403472, + 180.55223512399226 + ], + [ + 99.7850452520945, + 181.2747686810443 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 99.7850452520945, + "ymin": 180.55223512399226, + "xmax": 125.98656449493672, + "ymax": 236.683674221967 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 124.79383246077975, + 236.683674221967 + ], + [ + 125.98656449493672, + 235.93507755958117 + ], + [ + 124.48505134538493, + 235.39936055171412 + ], + [ + 123.29165455291945, + 236.14685446610952 + ], + [ + 101.33748320046516, + 181.79370458854441 + ], + [ + 102.6096699006232, + 181.07005658437862 + ], + [ + 101.05791972403472, + 180.55223512399226 + ], + [ + 99.7850452520945, + 181.2747686810443 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 757.7615456914681, + "ymin": 18.314782122606516, + "xmax": 835.3692187284357, + "ymax": 283.18902688159034 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 807.0054093990211, + 227.1744858632448 + ], + [ + 795.7264536027076, + 224.1942507187065 + ], + [ + 757.7615456914681, + 279.7272378474808 + ], + [ + 769.7491728026291, + 283.18902688159034 + ], + [ + 835.3692187284357, + 20.798278307249745 + ], + [ + 822.046459438234, + 18.314782122606516 + ], + [ + 779.4942897246177, + 65.17360032004626 + ], + [ + 793.8216392461086, + 68.13593339986136 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 782.1269114784726, + "ymin": 64.16433398457531, + "xmax": 796.8935347123798, + "ymax": 75.16693697997738 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 796.4911471413908, + 69.65136276050106 + ], + [ + 787.0044299799154, + 67.68651863961054 + ], + [ + 782.1269114784726, + 73.16334125643885 + ], + [ + 791.6895599391253, + 75.16693697997738 + ], + [ + 796.8935347123798, + 66.12182264153273 + ], + [ + 787.3810973449348, + 64.16433398457531 + ], + [ + 782.4946571877676, + 69.62074172720287 + ], + [ + 792.083444743993, + 71.61693746255179 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 99.7850452520945, + "ymin": 180.55223512399226, + "xmax": 125.98656449493672, + "ymax": 236.683674221967 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 124.79383246077975, + 236.683674221967 + ], + [ + 125.98656449493672, + 235.93507755958117 + ], + [ + 124.48505134538493, + 235.39936055171412 + ], + [ + 123.29165455291945, + 236.14685446610952 + ], + [ + 101.33748320046516, + 181.79370458854441 + ], + [ + 102.6096699006232, + 181.07005658437862 + ], + [ + 101.05791972403472, + 180.55223512399226 + ], + [ + 99.7850452520945, + 181.2747686810443 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 99.7850452520945, + "ymin": 180.55223512399226, + "xmax": 125.98656449493672, + "ymax": 236.683674221967 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 124.79383246077975, + 236.683674221967 + ], + [ + 125.98656449493672, + 235.93507755958117 + ], + [ + 124.48505134538493, + 235.39936055171412 + ], + [ + 123.29165455291945, + 236.14685446610952 + ], + [ + 101.33748320046516, + 181.79370458854441 + ], + [ + 102.6096699006232, + 181.07005658437862 + ], + [ + 101.05791972403472, + 180.55223512399226 + ], + [ + 99.7850452520945, + 181.2747686810443 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 99.7850452520945, + "ymin": 180.55223512399226, + "xmax": 125.98656449493672, + "ymax": 236.683674221967 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 124.79383246077975, + 236.683674221967 + ], + [ + 125.98656449493672, + 235.93507755958117 + ], + [ + 124.48505134538493, + 235.39936055171412 + ], + [ + 123.29165455291945, + 236.14685446610952 + ], + [ + 101.33748320046516, + 181.79370458854441 + ], + [ + 102.6096699006232, + 181.07005658437862 + ], + [ + 101.05791972403472, + 180.55223512399226 + ], + [ + 99.7850452520945, + 181.2747686810443 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 101.48503738743887, + "ymin": 184.51859363159892, + "xmax": 127.53348177886949, + "ymax": 240.3157223332324 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 126.34593004066687, + 240.3157223332324 + ], + [ + 127.53348177886949, + 239.56565598767196 + ], + [ + 126.0353483172712, + 239.02888438081897 + ], + [ + 124.84713347946933, + 239.77784913668134 + ], + [ + 103.03389335940278, + 185.7634571308743 + ], + [ + 104.30026033561171, + 185.03783251380784 + ], + [ + 102.75209060519819, + 184.51859363159892 + ], + [ + 101.48503738743887, + 185.24310427086834 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 99.7850452520945, + "ymin": 180.55223512399226, + "xmax": 125.98656449493672, + "ymax": 236.683674221967 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 124.79383246077975, + 236.683674221967 + ], + [ + 125.98656449493672, + 235.93507755958117 + ], + [ + 124.48505134538493, + 235.39936055171412 + ], + [ + 123.29165455291945, + 236.14685446610952 + ], + [ + 101.33748320046516, + 181.79370458854441 + ], + [ + 102.6096699006232, + 181.07005658437862 + ], + [ + 101.05791972403472, + 180.55223512399226 + ], + [ + 99.7850452520945, + 181.2747686810443 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 99.7850452520945, + "ymin": 180.55223512399226, + "xmax": 125.98656449493672, + "ymax": 236.683674221967 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 124.79383246077975, + 236.683674221967 + ], + [ + 125.98656449493672, + 235.93507755958117 + ], + [ + 124.48505134538493, + 235.39936055171412 + ], + [ + 123.29165455291945, + 236.14685446610952 + ], + [ + 101.33748320046516, + 181.79370458854441 + ], + [ + 102.6096699006232, + 181.07005658437862 + ], + [ + 101.05791972403472, + 180.55223512399226 + ], + [ + 99.7850452520945, + 181.2747686810443 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 161.77639744398027, + "ymin": 0.0, + "xmax": 290.8317219311114, + "ymax": 127.02082976294633 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 290.8317219311114, + 90.78533587154851 + ], + [ + 283.42168263831053, + 88.82738584062719 + ], + [ + 221.31640482425007, + 124.8120737309169 + ], + [ + 228.96498262011733, + 127.02082976294633 + ], + [ + 244.28416413345997, + -89.386497849938 + ], + [ + 236.06735672075672, + -90.91819108328639 + ], + [ + 161.77639744398027, + -62.546557461931855 + ], + [ + 170.27327025995663, + -60.789739419421494 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 99.7850452520945, + "ymin": 180.55223512399226, + "xmax": 125.98656449493672, + "ymax": 236.683674221967 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 124.79383246077975, + 236.683674221967 + ], + [ + 125.98656449493672, + 235.93507755958117 + ], + [ + 124.48505134538493, + 235.39936055171412 + ], + [ + 123.29165455291945, + 236.14685446610952 + ], + [ + 101.33748320046516, + 181.79370458854441 + ], + [ + 102.6096699006232, + 181.07005658437862 + ], + [ + 101.05791972403472, + 180.55223512399226 + ], + [ + 99.7850452520945, + 181.2747686810443 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 99.7850452520945, + "ymin": 180.55223512399226, + "xmax": 125.98656449493672, + "ymax": 236.683674221967 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 124.79383246077975, + 236.683674221967 + ], + [ + 125.98656449493672, + 235.93507755958117 + ], + [ + 124.48505134538493, + 235.39936055171412 + ], + [ + 123.29165455291945, + 236.14685446610952 + ], + [ + 101.33748320046516, + 181.79370458854441 + ], + [ + 102.6096699006232, + 181.07005658437862 + ], + [ + 101.05791972403472, + 180.55223512399226 + ], + [ + 99.7850452520945, + 181.2747686810443 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 99.7850452520945, + "ymin": 180.55223512399226, + "xmax": 125.98656449493672, + "ymax": 236.683674221967 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 124.79383246077975, + 236.683674221967 + ], + [ + 125.98656449493672, + 235.93507755958117 + ], + [ + 124.48505134538493, + 235.39936055171412 + ], + [ + 123.29165455291945, + 236.14685446610952 + ], + [ + 101.33748320046516, + 181.79370458854441 + ], + [ + 102.6096699006232, + 181.07005658437862 + ], + [ + 101.05791972403472, + 180.55223512399226 + ], + [ + 99.7850452520945, + 181.2747686810443 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 42.34642774067879, + "ymin": 163.7681616912234, + "xmax": 70.37604894312051, + "ymax": 219.23935776538295 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 69.15603288170985, + 219.23935776538295 + ], + [ + 70.37604894312051, + 218.52618005434857 + ], + [ + 68.9504177387023, + 218.015788323423 + ], + [ + 67.72984862705903, + 218.72794058900868 + ], + [ + 43.81682988428929, + 164.94834218417455 + ], + [ + 45.11749772737028, + 164.26043251449863 + ], + [ + 43.647658897507995, + 163.7681616912234 + ], + [ + 42.34642774067879, + 164.45503841384564 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 99.7850452520945, + "ymin": 180.55223512399226, + "xmax": 125.98656449493672, + "ymax": 236.683674221967 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 124.79383246077975, + 236.683674221967 + ], + [ + 125.98656449493672, + 235.93507755958117 + ], + [ + 124.48505134538493, + 235.39936055171412 + ], + [ + 123.29165455291945, + 236.14685446610952 + ], + [ + 101.33748320046516, + 181.79370458854441 + ], + [ + 102.6096699006232, + 181.07005658437862 + ], + [ + 101.05791972403472, + 180.55223512399226 + ], + [ + 99.7850452520945, + 181.2747686810443 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17447137206941528501, + "instance_id": 46385, + "pixel_count": null, + "type_id": "BP_SpeedLimit60_3_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.8694140911102295, + "y": -0.11039245128631592, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 22.903160751516793, + "ymin": 157.14493570679056, + "xmax": 51.4842096894364, + "ymax": 212.345559531411 + }, + "corners_3d": [ + [ + 3.830479383468628, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.08309315890073776, + -0.12467384338378906 + ], + [ + 3.908348798751831, + -0.13769175112247467, + -0.12467384338378906 + ], + [ + 3.830479383468628, + -0.13769175112247467, + 2.2025716304779053 + ], + [ + 3.830479383468628, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.08309315890073776, + 2.2025716304779053 + ], + [ + 3.908348798751831, + -0.13769175112247467, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 50.25723560035601, + 212.345559531411 + ], + [ + 51.4842096894364, + 211.6461426214622 + ], + [ + 50.08583102084742, + 211.1455905675523 + ], + [ + 48.85834128832403, + 211.84401155704748 + ], + [ + 24.344200490175467, + 158.30135836431924 + ], + [ + 25.65191122447959, + 157.6273019020401 + ], + [ + 24.211393437077277, + 157.14493570679056 + ], + [ + 22.903160751516793, + 157.81799025539394 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 99.7850452520945, + "ymin": 180.55223512399226, + "xmax": 125.98656449493672, + "ymax": 236.683674221967 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 124.79383246077975, + 236.683674221967 + ], + [ + 125.98656449493672, + 235.93507755958117 + ], + [ + 124.48505134538493, + 235.39936055171412 + ], + [ + 123.29165455291945, + 236.14685446610952 + ], + [ + 101.33748320046516, + 181.79370458854441 + ], + [ + 102.6096699006232, + 181.07005658437862 + ], + [ + 101.05791972403472, + 180.55223512399226 + ], + [ + 99.7850452520945, + 181.2747686810443 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 99.7850452520945, + "ymin": 180.55223512399226, + "xmax": 125.98656449493672, + "ymax": 236.683674221967 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 124.79383246077975, + 236.683674221967 + ], + [ + 125.98656449493672, + 235.93507755958117 + ], + [ + 124.48505134538493, + 235.39936055171412 + ], + [ + 123.29165455291945, + 236.14685446610952 + ], + [ + 101.33748320046516, + 181.79370458854441 + ], + [ + 102.6096699006232, + 181.07005658437862 + ], + [ + 101.05791972403472, + 180.55223512399226 + ], + [ + 99.7850452520945, + 181.2747686810443 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 99.7850452520945, + "ymin": 180.55223512399226, + "xmax": 125.98656449493672, + "ymax": 236.683674221967 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 124.79383246077975, + 236.683674221967 + ], + [ + 125.98656449493672, + 235.93507755958117 + ], + [ + 124.48505134538493, + 235.39936055171412 + ], + [ + 123.29165455291945, + 236.14685446610952 + ], + [ + 101.33748320046516, + 181.79370458854441 + ], + [ + 102.6096699006232, + 181.07005658437862 + ], + [ + 101.05791972403472, + 180.55223512399226 + ], + [ + 99.7850452520945, + 181.2747686810443 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17954931934339051810, + "instance_id": 8881, + "pixel_count": null, + "type_id": "AmericanLights_Town04_9_Poles_4", + "bbox_3d": { + "center_world": { + "x": 25.00181007385254, + "y": 12.052014350891113, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 53.43004879163186, + "ymax": 25.256625538363494 + }, + "corners_3d": [ + [ + 18.976696014404297, + 11.782034873962402, + 0.0 + ], + [ + 18.972848892211914, + 12.214850425720215, + 0.0 + ], + [ + 31.02692413330078, + 12.321993827819824, + 0.0 + ], + [ + 31.030771255493164, + 11.889178276062012, + 0.0 + ], + [ + 18.976696014404297, + 11.782034873962402, + 8.446706771850586 + ], + [ + 18.972848892211914, + 12.214850425720215, + 8.446706771850586 + ], + [ + 31.02692413330078, + 12.321993827819824, + 8.446706771850586 + ], + [ + 31.030771255493164, + 11.889178276062012, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 46.20454809678995, + 25.256625538363494 + ], + [ + 53.43004879163186, + 22.277052761615096 + ], + [ + -92.2136333435559, + -16.88515016178792 + ], + [ + -99.66533628451214, + -14.343611553648657 + ], + [ + -29.335876174368536, + -155.01589401796582 + ], + [ + -20.706544070646828, + -157.20126832086999 + ], + [ + -176.88841241967873, + -185.6299444425547 + ], + [ + -185.71316517477976, + -183.80145953831845 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 99.7850452520945, + "ymin": 180.55223512399226, + "xmax": 125.98656449493672, + "ymax": 236.683674221967 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 124.79383246077975, + 236.683674221967 + ], + [ + 125.98656449493672, + 235.93507755958117 + ], + [ + 124.48505134538493, + 235.39936055171412 + ], + [ + 123.29165455291945, + 236.14685446610952 + ], + [ + 101.33748320046516, + 181.79370458854441 + ], + [ + 102.6096699006232, + 181.07005658437862 + ], + [ + 101.05791972403472, + 180.55223512399226 + ], + [ + 99.7850452520945, + 181.2747686810443 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11813696999582804398, + "instance_id": 44585, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1814_0", + "bbox_3d": { + "center_world": { + "x": 14.511714935302734, + "y": 23.276884078979492, + "z": 5.657746315002441 + }, + "extent": { + "x": 3.7783496379852295, + "y": 3.671175479888916, + "z": 5.987659931182861 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 96.38987974205759, + "ymin": 0.0, + "xmax": 358.8322542935678, + "ymax": 3.4955683506027526 + }, + "corners_3d": [ + [ + 10.039377212524414, + 20.492704391479492, + -0.3299136161804199 + ], + [ + 11.600029945373535, + 27.66727638244629, + -0.3299136161804199 + ], + [ + 18.984052658081055, + 26.061063766479492, + -0.3299136161804199 + ], + [ + 17.423398971557617, + 18.886491775512695, + -0.3299136161804199 + ], + [ + 10.039377212524414, + 20.492704391479492, + 11.645406723022461 + ], + [ + 11.600029945373535, + 27.66727638244629, + 11.645406723022461 + ], + [ + 18.984052658081055, + 26.061063766479492, + 11.645406723022461 + ], + [ + 17.423398971557617, + 18.886491775512695, + 11.645406723022461 + ] + ], + "corners_2d": [ + [ + 297.15619663345075, + 3.4955683506027526 + ], + [ + 358.8322542935678, + -41.89107390393491 + ], + [ + 247.2650561043344, + -52.53806893103024 + ], + [ + 176.22389029685854, + -9.378655472350886 + ], + [ + 236.28365056259736, + -251.9690172567856 + ], + [ + 314.21406204425756, + -277.4176645327848 + ], + [ + 186.64598598980365, + -283.2698972344956 + ], + [ + 96.38987974205759, + -259.2714913909401 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00185/meta.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00185/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..87dc81e59577b5f5e4828c3315d75788ca30de0b --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/frames_playback/frame_00185/meta.json @@ -0,0 +1,6090 @@ +{ + "frame_id": 185, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 92.5, + "sim_timestamp": 15252.476522675948 + }, + "drone_pose": { + "x": -28.79584619481589, + "y": -15.572105020802082, + "z": 20.0, + "pitch": -43.18075213768827, + "yaw": 64.85705741714035, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.30982041358947754, + -0.660107433795929, + 0.6843022108078003, + 5.51475715637207 + ], + [ + 0.905250608921051, + 0.42487800121307373, + 0.0, + -19.45121192932129 + ], + [ + -0.29074496030807495, + 0.6194649934768677, + 0.7291985750198364, + -32.60259246826172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -27.831236047717574, + "y": -14.43745793570729, + "z": 20.0 + }, + "t1_image_uv": [ + 281.6624027557591, + -540.8933021409648 + ], + "t1_depth": 1.047844913069839 + }, + "target": { + "enabled": true, + "actor_id": 220, + "world_location": { + "x": -20.16718292236328, + "y": 2.812236785888672, + "z": 0.9418217730522156 + }, + "image_uv": [ + 639.9999999999999, + 360.00000000000006 + ], + "depth": 27.85052981299847, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 725, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -20.16718292236328, + "y": 2.812236785888672, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.6052032113075256, + "y": 0.4374378025531769, + "z": 0.9114863872528076 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 618.4872579071252, + "ymin": 320.01413108058506, + "xmax": 662.0029709620708, + "ymax": 399.6988682201819 + }, + "corners_3d": [ + [ + -20.285810470581055, + 2.0749783515930176, + 0.03033536672592163 + ], + [ + -20.904441833496094, + 2.6936087608337402, + 0.03033536672592163 + ], + [ + -20.048555374145508, + 3.549495220184326, + 0.03033536672592163 + ], + [ + -19.42992401123047, + 2.9308648109436035, + 0.03033536672592163 + ], + [ + -20.285810470581055, + 2.0749783515930176, + 1.8533082008361816 + ], + [ + -20.904441833496094, + 2.6936087608337402, + 1.8533082008361816 + ], + [ + -20.048555374145508, + 3.549495220184326, + 1.8533082008361816 + ], + [ + -19.42992401123047, + 2.9308648109436035, + 1.8533082008361816 + ] + ], + "corners_2d": [ + [ + 632.9296236012011, + 399.6988682201819 + ], + [ + 661.0285186860565, + 392.46272456037457 + ], + [ + 646.815128593889, + 365.7425307837798 + ], + [ + 619.4196921321014, + 372.5687760323698 + ], + [ + 632.5993266955661, + 353.76407979401563 + ], + [ + 662.0029709620708, + 346.56237665016187 + ], + [ + 647.1214911845374, + 320.01413108058506 + ], + [ + 618.4872579071252, + 326.78975618788485 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 185, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 39, + "semantic_pixel_counts": { + "1": 464766, + "2": 277666, + "3": 105925, + "5": 1210, + "6": 1546, + "10": 7, + "12": 3218, + "14": 8543, + "20": 3989, + "24": 24081, + "25": 30649 + }, + "instance_pixel_counts": { + "6018": 426, + "7576": 3182, + "7784": 2692, + "7786": 425, + "8088": 722, + "8296": 1048, + "8780": 1210, + "9322": 5930, + "9624": 15884, + "9832": 226756, + "10316": 3829, + "21090": 28862, + "21602": 123519, + "24946": 50452, + "25168": 1120, + "31375": 44342, + "31848": 24058, + "32360": 5834, + "33650": 14779, + "33906": 12782, + "34408": 204378, + "34418": 27912, + "39239": 30649, + "42903": 15215, + "46184": 1199, + "46696": 4158, + "48232": 12369, + "53391": 1, + "53903": 81, + "56320": 725, + "56576": 570, + "56832": 528, + "56975": 7913, + "57088": 625, + "57487": 1577, + "57600": 770, + "58951": 160, + "59023": 36368, + "60928": 8543 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 220, + "instance_id": 56320, + "pixel_count": 725, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -20.16718292236328, + "y": 2.812236785888672, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.4327032268047333, + "y": 0.5599853992462158, + "z": 0.8933285474777222 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 616.394673149343, + "ymin": 323.22746719060893, + "xmax": 663.880878741165, + "ymax": 396.3111133767882 + }, + "corners_3d": [ + [ + -20.077180862426758, + 2.110300064086914, + 0.04849320650100708 + ], + [ + -20.86911964416504, + 2.9022390842437744, + 0.04849320650100708 + ], + [ + -20.257184982299805, + 3.5141735076904297, + 0.04849320650100708 + ], + [ + -19.465246200561523, + 2.7222344875335693, + 0.04849320650100708 + ], + [ + -20.077180862426758, + 2.110300064086914, + 1.8351502418518066 + ], + [ + -20.86911964416504, + 2.9022390842437744, + 1.8351502418518066 + ], + [ + -20.257184982299805, + 3.5141735076904297, + 1.8351502418518066 + ], + [ + -19.465246200561523, + 2.7222344875335693, + 1.8351502418518066 + ] + ], + "corners_2d": [ + [ + 626.9935542322745, + 396.3111133767882 + ], + [ + 662.8493173428773, + 387.12554856869565 + ], + [ + 652.6144433969087, + 368.06463010351274 + ], + [ + 617.4030689491516, + 376.8749475048274 + ], + [ + 626.4002845884032, + 351.3054711450705 + ], + [ + 663.880878741165, + 342.1662279217833 + ], + [ + 653.1717246156667, + 323.22746719060893 + ], + [ + 616.394673149343, + 331.9769578544023 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 221, + "instance_id": 56576, + "pixel_count": 570, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -15.30422306060791, + "y": 5.740926265716553, + "z": 0.9417924284934998 + }, + "extent": { + "x": 0.48145750164985657, + "y": 0.45158690214157104, + "z": 0.9161714911460876 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 521.650974082416, + "ymin": 226.21302877802856, + "xmax": 563.9021998746231, + "ymax": 295.367646327282 + }, + "corners_3d": [ + [ + -15.462055206298828, + 5.099972724914551, + 0.02562093734741211 + ], + [ + -15.953959465026855, + 5.857438087463379, + 0.02562093734741211 + ], + [ + -15.146390914916992, + 6.381879806518555, + 0.02562093734741211 + ], + [ + -14.654486656188965, + 5.624414443969727, + 0.02562093734741211 + ], + [ + -15.462055206298828, + 5.099972724914551, + 1.8579639196395874 + ], + [ + -15.953959465026855, + 5.857438087463379, + 1.8579639196395874 + ], + [ + -15.146390914916992, + 6.381879806518555, + 1.8579639196395874 + ], + [ + -14.654486656188965, + 5.624414443969727, + 1.8579639196395874 + ] + ], + "corners_2d": [ + [ + 539.6412775722125, + 295.367646327282 + ], + [ + 563.9021998746231, + 286.22444349910717 + ], + [ + 550.239846946516, + 270.994635945505 + ], + [ + 526.2822732414495, + 279.80243639002543 + ], + [ + 535.4733034795206, + 250.19808562777655 + ], + [ + 560.7777730782033, + 241.19361599046977 + ], + [ + 546.6250626946046, + 226.21302877802856 + ], + [ + 521.650974082416, + 234.87393751682683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 222, + "instance_id": 56832, + "pixel_count": 528, + "type_id": "walker.pedestrian.0052", + "bbox_3d": { + "center_world": { + "x": -22.423004150390625, + "y": 9.754949569702148, + "z": 1.094072699546814 + }, + "extent": { + "x": 0.40608397126197815, + "y": 0.380828857421875, + "z": 0.9473821520805359 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 772.4079305532291, + "ymin": 212.78612575467795, + "xmax": 811.588528149172, + "ymax": 278.68213432079784 + }, + "corners_3d": [ + [ + -22.49892807006836, + 9.2034330368042, + 0.14669054746627808 + ], + [ + -22.978254318237305, + 9.795352935791016, + 0.14669054746627808 + ], + [ + -22.34708023071289, + 10.306466102600098, + 0.14669054746627808 + ], + [ + -21.867753982543945, + 9.714546203613281, + 0.14669054746627808 + ], + [ + -22.49892807006836, + 9.2034330368042, + 2.041454792022705 + ], + [ + -22.978254318237305, + 9.795352935791016, + 2.041454792022705 + ], + [ + -22.34708023071289, + 10.306466102600098, + 2.041454792022705 + ], + [ + -21.867753982543945, + 9.714546203613281, + 2.041454792022705 + ] + ], + "corners_2d": [ + [ + 785.2832209845674, + 278.68213432079784 + ], + [ + 804.6648676863731, + 272.5040548534105 + ], + [ + 791.5688438846794, + 259.2337208254418 + ], + [ + 772.4079305532291, + 265.2111169808842 + ], + [ + 791.4403062644657, + 231.8819285893478 + ], + [ + 811.588528149172, + 225.81169994842043 + ], + [ + 797.8335847966391, + 212.78612575467795 + ], + [ + 777.9232879451928, + 218.65106296081214 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 223, + "instance_id": 57088, + "pixel_count": 625, + "type_id": "walker.pedestrian.0022", + "bbox_3d": { + "center_world": { + "x": -29.66718101501465, + "y": 2.812236785888672, + "z": 0.941826581954956 + }, + "extent": { + "x": 0.4183996617794037, + "y": 0.45451629161834717, + "z": 0.874235987663269 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 940.1986408838065, + "ymin": 427.97892044178747, + "xmax": 1004.7338696582951, + "ymax": 504.32924331856793 + }, + "corners_3d": [ + [ + -29.641643524169922, + 2.1949920654296875, + 0.06759059429168701 + ], + [ + -30.284425735473633, + 2.837775230407715, + 0.06759059429168701 + ], + [ + -29.692718505859375, + 3.4294815063476562, + 0.06759059429168701 + ], + [ + -29.049936294555664, + 2.786698341369629, + 0.06759059429168701 + ], + [ + -29.641643524169922, + 2.1949920654296875, + 1.816062569618225 + ], + [ + -30.284425735473633, + 2.837775230407715, + 1.816062569618225 + ], + [ + -29.692718505859375, + 3.4294815063476562, + 1.816062569618225 + ], + [ + -29.049936294555664, + 2.786698341369629, + 1.816062569618225 + ] + ], + "corners_2d": [ + [ + 957.9298456746723, + 504.32924331856793 + ], + [ + 987.5061147913761, + 495.03864158929457 + ], + [ + 969.2737768934649, + 472.0880812744713 + ], + [ + 940.1986408838065, + 480.9698209483438 + ], + [ + 973.8397735238539, + 460.3593424974908 + ], + [ + 1004.7338696582951, + 451.01836353871295 + ], + [ + 985.2184964418849, + 427.97892044178747 + ], + [ + 954.869115171322, + 436.8890582838544 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 225, + "instance_id": 57600, + "pixel_count": 770, + "type_id": "walker.pedestrian.0032", + "bbox_3d": { + "center_world": { + "x": -8.921846389770508, + "y": -5.357978343963623, + "z": 0.9418217539787292 + }, + "extent": { + "x": 0.3890359401702881, + "y": 0.2876422107219696, + "z": 0.9333072304725647 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 106.74505593876665, + "ymin": 390.7517928940999, + "xmax": 160.90747242388227, + "ymax": 460.96251159852403 + }, + "corners_3d": [ + [ + -8.892494201660156, + -5.840912342071533, + 0.00851452350616455 + ], + [ + -9.374967575073242, + -5.527589797973633, + 0.00851452350616455 + ], + [ + -8.95119857788086, + -4.875044345855713, + 0.00851452350616455 + ], + [ + -8.468725204467773, + -5.188366889953613, + 0.00851452350616455 + ], + [ + -8.892494201660156, + -5.840912342071533, + 1.875128984451294 + ], + [ + -9.374967575073242, + -5.527589797973633, + 1.875128984451294 + ], + [ + -8.95119857788086, + -4.875044345855713, + 1.875128984451294 + ], + [ + -8.468725204467773, + -5.188366889953613, + 1.875128984451294 + ] + ], + "corners_2d": [ + [ + 132.67324357685754, + 460.96251159852403 + ], + [ + 154.5582573020343, + 458.7802875873163 + ], + [ + 160.90747242388227, + 437.88534023070184 + ], + [ + 139.49444147406115, + 439.97719748662064 + ], + [ + 106.74505593876665, + 413.84029273156136 + ], + [ + 129.8053529361788, + 411.6546705405936 + ], + [ + 137.01439514868218, + 390.7517928940999 + ], + [ + 114.47745022948573, + 392.8424389547352 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 238, + "instance_id": 60928, + "pixel_count": 8543, + "type_id": "vehicle.mini.cooper_s_2021", + "bbox_3d": { + "center_world": { + "x": -19.1251277923584, + "y": 6.095887660980225, + "z": 0.8948460817337036 + }, + "extent": { + "x": 2.2763495445251465, + "y": 1.0485360622406006, + "z": 0.8835831880569458 + }, + "yaw": -0.13946533203125 + }, + "bbox_2d": { + "xmin": 573.7679964167406, + "ymin": 228.89658214391596, + "xmax": 735.4211120205571, + "ymax": 348.64729609361285 + }, + "corners_3d": [ + [ + -21.404022216796875, + 5.052896022796631, + 0.011262890882790089 + ], + [ + -21.39891815185547, + 7.149961948394775, + 0.011262890882790089 + ], + [ + -16.846233367919922, + 7.138879776000977, + 0.011262890882790089 + ], + [ + -16.851337432861328, + 5.041813850402832, + 0.011262890882790089 + ], + [ + -21.404022216796875, + 5.052896022796631, + 1.7784292697906494 + ], + [ + -21.39891815185547, + 7.149961948394775, + 1.7784292697906494 + ], + [ + -16.846233367919922, + 7.138879776000977, + 1.7784292697906494 + ], + [ + -16.851337432861328, + 5.041813850402832, + 1.7784292697906494 + ] + ], + "corners_2d": [ + [ + 707.2270319507086, + 348.64729609361285 + ], + [ + 731.6951210634911, + 308.8402202970598 + ], + [ + 605.3630529605578, + 272.00789801477043 + ], + [ + 576.3527685813877, + 308.3650050339325 + ], + [ + 710.0921995681579, + 304.5645849533291 + ], + [ + 735.4211120205571, + 265.1928342083333 + ], + [ + 604.0189704756074, + 228.89658214391596 + ], + [ + 573.7679964167406, + 264.7237212202705 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 373530840315899069, + "instance_id": 48556, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 37.706707701081655, + "ymin": 201.69373396721687, + "xmax": 63.11577417710055, + "ymax": 225.18173093523745 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 61.228645575774635, + 225.18173093523745 + ], + [ + 63.11577417710055, + 223.97364861460397 + ], + [ + 48.40269276178037, + 218.92290424758355 + ], + [ + 46.5049600980733, + 220.11507184187204 + ], + [ + 52.59068753240763, + 207.90193162395667 + ], + [ + 54.51976061746643, + 206.70350383891 + ], + [ + 39.646515549231594, + 201.69373396721687 + ], + [ + 37.706707701081655, + 202.87614114101808 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 1289927003478753326, + "instance_id": 11776, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 37.70671157657898, + "ymin": 201.6937352716769, + "xmax": 63.11577805962372, + "ymax": 225.18173227225358 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 61.22864946113668, + 225.18173227225358 + ], + [ + 63.11577805962372, + 223.97364994740644 + ], + [ + 48.40269659319688, + 218.922905562842 + ], + [ + 46.50496393221135, + 220.1150731612611 + ], + [ + 52.59069146045658, + 207.90193295031912 + ], + [ + 54.51976454264013, + 206.70350516103008 + ], + [ + 39.6465194219752, + 201.6937352716769 + ], + [ + 37.70671157657898, + 202.87614244963555 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2170226711921852348, + "instance_id": 48255, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8213515281677246, + "y": -0.06598525494337082, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 183.37772611515135, + "xmax": 0.5490608723921468, + "ymax": 206.40560602079216 + }, + "corners_3d": [ + [ + 2.48028564453125, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 1.5289340019226074 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 1.5289340019226074 + ], + [ + 2.48028564453125, + -0.1039615049958229, + 2.2110660076141357 + ], + [ + 2.48028564453125, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.02800900489091873, + 2.2110660076141357 + ], + [ + 3.162417411804199, + -0.1039615049958229, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + -1.3882150290788786, + 206.40560602079216 + ], + [ + 0.5490608723921468, + 205.25597262280996 + ], + [ + -13.40317532840777, + 200.44862834091435 + ], + [ + -15.349308768745914, + 201.5834843135832 + ], + [ + -10.722675976332539, + 189.2822310050837 + ], + [ + -8.742681224085914, + 188.142617617215 + ], + [ + -22.835599980702455, + 183.37772611515135 + ], + [ + -24.824519169944324, + 184.50247994002083 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 2452649592356954759, + "instance_id": 34658, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_0", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": 0.04999847337603569, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 181.15559052430086, + "xmax": 1.9734804387042004, + "ymax": 204.12724058118144 + }, + "corners_3d": [ + [ + 2.55436372756958, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 1.5289340019226074 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 1.5289340019226074 + ], + [ + 2.55436372756958, + 0.012022223323583603, + 2.2110660076141357 + ], + [ + 2.55436372756958, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.08797472715377808, + 2.2110660076141357 + ], + [ + 3.2364954948425293, + 0.012022223323583603, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 0.044298801499508045, + 204.12724058118144 + ], + [ + 1.9734804387042004, + 202.98460108817784 + ], + [ + -11.945705825090386, + 198.20638685560982 + ], + [ + -13.883719802965743, + 199.33438313722044 + ], + [ + -9.240506692866575, + 187.02377305704894 + ], + [ + -7.268932642346272, + 185.89119297028412 + ], + [ + -21.328215613384828, + 181.15559052430086 + ], + [ + -23.308689557251796, + 182.27344795218954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 4552816771157239762, + "instance_id": 53927, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 34.37483756956931, + "ymin": 193.7334291206941, + "xmax": 57.59286163003799, + "ymax": 217.85438407680218 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 57.341970678698885, + 217.85438407680218 + ], + [ + 57.59286163003799, + 217.69582254076792 + ], + [ + 44.56797147001669, + 213.2502839662602 + ], + [ + 44.3158445874318, + 213.40699232833757 + ], + [ + 47.560055226982854, + 198.29367270315967 + ], + [ + 47.817235865655334, + 198.13660610281616 + ], + [ + 34.63327088981782, + 193.7334291206941 + ], + [ + 34.37483756956931, + 193.8886294788713 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5053135847279780123, + "instance_id": 7009, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -9.59634780883789e-06, + "y": 0.03246104717254639, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 34.37500250904009, + "ymin": 193.73346854862228, + "xmax": 57.59302601744514, + "ymax": 217.85442437555358 + }, + "corners_3d": [ + [ + -0.300509512424469, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 1.7990001440048218 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 1.7990001440048218 + ], + [ + -0.300509512424469, + 0.02746104821562767, + 2.561000108718872 + ], + [ + -0.300509512424469, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.0374610461294651, + 2.561000108718872 + ], + [ + 0.3004903197288513, + 0.02746104821562767, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 57.34213508714117, + 217.85442437555358 + ], + [ + 57.59302601744514, + 217.69586282267798 + ], + [ + 44.56813420648598, + 213.25032377742778 + ], + [ + 44.31600734440485, + 213.40703215605208 + ], + [ + 47.56022186732423, + 198.2937126221101 + ], + [ + 47.817402484473746, + 198.13664600480396 + ], + [ + 34.633435808320314, + 193.73346854862228 + ], + [ + 34.37500250904009, + 193.88866892346067 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 5833526743220087690, + "instance_id": 35563, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 37.706707701081655, + "ymin": 201.69373396721687, + "xmax": 63.11577417710055, + "ymax": 225.18173093523745 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 61.228645575774635, + 225.18173093523745 + ], + [ + 63.11577417710055, + 223.97364861460397 + ], + [ + 48.40269276178037, + 218.92290424758355 + ], + [ + 46.5049600980733, + 220.11507184187204 + ], + [ + 52.59068753240763, + 207.90193162395667 + ], + [ + 54.51976061746643, + 206.70350383891 + ], + [ + 39.646515549231594, + 201.69373396721687 + ], + [ + 37.706707701081655, + 202.87614114101808 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 6331348090475022319, + "instance_id": 61319, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 37.70670798696517, + "ymin": 201.6937338514128, + "xmax": 63.115774361926924, + "ymax": 225.18173075719596 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 61.22864585389084, + 225.18173075719596 + ], + [ + 63.115774361926924, + 223.97364849628372 + ], + [ + 48.40269294764744, + 218.9229041308208 + ], + [ + 46.5049603777494, + 220.11507166617787 + ], + [ + 52.59068781671215, + 207.9019314473339 + ], + [ + 54.51976080639645, + 206.70350372153806 + ], + [ + 39.64651573921503, + 201.6937338514128 + ], + [ + 37.70670798696517, + 202.87614096675827 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 7471850434406639780, + "instance_id": 42216, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_0", + "bbox_3d": { + "center_world": { + "x": -5.3263217836274634e-08, + "y": 0.04999999701976776, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 37.706711025957134, + "ymin": 201.6937350542668, + "xmax": 63.11577741253643, + "ymax": 225.18173199007046 + }, + "corners_3d": [ + [ + -0.3410659432411194, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 1.5289340019226074 + ], + [ + -0.3410659432411194, + 0.012023746967315674, + 2.2110660076141357 + ], + [ + -0.3410659432411194, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106582403182983, + 0.012023746967315674, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 61.228648906281705, + 225.18173199007046 + ], + [ + 63.11577741253643, + 223.97364972527285 + ], + [ + 48.402695954627575, + 218.9229053436322 + ], + [ + 46.50496338641358, + 220.11507288279822 + ], + [ + 52.59069090054993, + 207.90193267038453 + ], + [ + 54.51976388844446, + 206.70350494067688 + ], + [ + 39.64651877651784, + 201.6937350542668 + ], + [ + 37.706711025957134, + 202.87614217344606 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 8397331885643790319, + "instance_id": 61431, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 6.244182259251829e-06, + "y": 0.03246103227138519, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 34.37465636060335, + "ymin": 193.73335331274944, + "xmax": 57.59268001160808, + "ymax": 217.85430659452854 + }, + "corners_3d": [ + [ + -0.30049365758895874, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 1.7990001440048218 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 1.7990001440048218 + ], + [ + -0.30049365758895874, + 0.027461033314466476, + 2.561000108718872 + ], + [ + -0.30049365758895874, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.03746103122830391, + 2.561000108718872 + ], + [ + 0.3005061745643616, + 0.027461033314466476, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 57.34178904792748, + 217.85430659452854 + ], + [ + 57.59268001160808, + 217.69574509087505 + ], + [ + 44.56779223793308, + 213.25020742146233 + ], + [ + 44.3156653437004, + 213.4069157517249 + ], + [ + 47.55987156260164, + 198.29359595112834 + ], + [ + 47.817052213602096, + 198.13652938339874 + ], + [ + 34.633089692458384, + 193.73335331274944 + ], + [ + 34.37465636060335, + 193.88855363889223 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 9670322426256992073, + "instance_id": 18855, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_0", + "bbox_3d": { + "center_world": { + "x": -1.0013580009626821e-07, + "y": 0.04999999329447746, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 37.70671157657898, + "ymin": 201.6937352716769, + "xmax": 63.11577805962372, + "ymax": 225.18173227225358 + }, + "corners_3d": [ + [ + -0.3410659730434418, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 1.5289340019226074 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 1.5289340019226074 + ], + [ + -0.3410659730434418, + 0.012023743242025375, + 2.2110660076141357 + ], + [ + -0.3410659730434418, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.08797624707221985, + 2.2110660076141357 + ], + [ + 0.34106579422950745, + 0.012023743242025375, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 61.22864946113668, + 225.18173227225358 + ], + [ + 63.11577805962372, + 223.97364994740644 + ], + [ + 48.40269659319688, + 218.922905562842 + ], + [ + 46.50496393221135, + 220.1150731612611 + ], + [ + 52.59069146045658, + 207.90193295031912 + ], + [ + 54.51976454264013, + 206.70350516103008 + ], + [ + 39.6465194219752, + 201.6937352716769 + ], + [ + 37.70671157657898, + 202.87614244963555 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10496946735787864036, + "instance_id": 58607, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.19888282926695e-08, + "y": 0.06000000238418579, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 32.87032546066405, + "ymin": 192.55948288340636, + "xmax": 61.00370771376538, + "ymax": 219.19185244480389 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.05400000140070915, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.06600000709295273, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.05400000140070915, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 60.70362471052579, + 219.19185244480389 + ], + [ + 61.00370771376538, + 219.0013340675602 + ], + [ + 43.63699226542701, + 213.07277986286087 + ], + [ + 43.33493088602927, + 213.26033669307657 + ], + [ + 50.46231767610459, + 198.617307786266 + ], + [ + 50.77031685038787, + 198.428670358031 + ], + [ + 33.18033136437418, + 192.55948288340636 + ], + [ + 32.87032546066405, + 192.74513678653767 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 10592449215333624514, + "instance_id": 49770, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.0895728337345645e-06, + "y": 0.032462961971759796, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 34.3748186790757, + "ymin": 193.7333609185593, + "xmax": 57.59284081131091, + "ymax": 217.85431436832357 + }, + "corners_3d": [ + [ + -0.3004988133907318, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 1.7990001440048218 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 1.7990001440048218 + ], + [ + -0.3004988133907318, + 0.02746296301484108, + 2.561000108718872 + ], + [ + -0.3004988133907318, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.03746296092867851, + 2.561000108718872 + ], + [ + 0.3005010187625885, + 0.02746296301484108, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 57.34194987867045, + 217.85431436832357 + ], + [ + 57.59284081131091, + 217.69575286142145 + ], + [ + 44.5679519626683, + 213.25021510120067 + ], + [ + 44.315825099057975, + 213.4069234346551 + ], + [ + 47.56003499153678, + 198.29360365165815 + ], + [ + 47.817215610489484, + 198.13653708065652 + ], + [ + 34.63325197932147, + 193.7333609185593 + ], + [ + 34.3748186790757, + 193.888561247916 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 11486360243515528831, + "instance_id": 32662, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.0013580009626821e-07, + "y": 0.05000000447034836, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 37.70670798696517, + "ymin": 201.6937338514128, + "xmax": 63.115774361926924, + "ymax": 225.18173075719596 + }, + "corners_3d": [ + [ + -0.34106579422950745, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 1.5289340019226074 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 1.5289340019226074 + ], + [ + -0.34106579422950745, + 0.01202375441789627, + 2.2110660076141357 + ], + [ + -0.34106579422950745, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.08797625452280045, + 2.2110660076141357 + ], + [ + 0.3410659730434418, + 0.01202375441789627, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 61.22864585389084, + 225.18173075719596 + ], + [ + 63.115774361926924, + 223.97364849628372 + ], + [ + 48.40269294764744, + 218.9229041308208 + ], + [ + 46.5049603777494, + 220.11507166617787 + ], + [ + 52.59068781671215, + 207.9019314473339 + ], + [ + 54.51976080639645, + 206.70350372153806 + ], + [ + 39.64651573921503, + 201.6937338514128 + ], + [ + 37.70670798696517, + 202.87614096675827 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12032588353863192733, + "instance_id": 40336, + "pixel_count": null, + "type_id": "BP_Stop2_SM_1", + "bbox_3d": { + "center_world": { + "x": -5.2452087118126656e-08, + "y": 0.059996698051691055, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 32.8702400755426, + "ymin": 192.5595340499207, + "xmax": 61.00362501020777, + "ymax": 219.19190491927415 + }, + "corners_3d": [ + [ + -0.4010314643383026, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 1.7589683532714844 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 1.7589683532714844 + ], + [ + -0.4010314643383026, + 0.053996697068214417, + 2.5610313415527344 + ], + [ + -0.4010314643383026, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.0659966990351677, + 2.5610313415527344 + ], + [ + 0.40103134512901306, + 0.053996697068214417, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 60.703542058673975, + 219.19190491927415 + ], + [ + 61.00362501020777, + 219.00138657485772 + ], + [ + 43.63690901646157, + 213.0728315540504 + ], + [ + 43.33484768943629, + 213.260388351747 + ], + [ + 50.46223284352607, + 198.61735974289687 + ], + [ + 50.77023196549146, + 198.4287223467044 + ], + [ + 33.180245926248176, + 192.5595340499207 + ], + [ + 32.8702400755426, + 192.74518792130905 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12145343434785633679, + "instance_id": 36661, + "pixel_count": null, + "type_id": "BP_Stop3_SM_1", + "bbox_3d": { + "center_world": { + "x": -6.136595857242355e-06, + "y": 0.0600004605948925, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 32.87046959025827, + "ymin": 192.55951998931317, + "xmax": 61.00385175182657, + "ymax": 219.191890482982 + }, + "corners_3d": [ + [ + -0.4010375440120697, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 1.7589683532714844 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 1.7589683532714844 + ], + [ + -0.4010375440120697, + 0.05400045961141586, + 2.5610313415527344 + ], + [ + -0.4010375440120697, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.06600046157836914, + 2.5610313415527344 + ], + [ + 0.40102526545524597, + 0.05400045961141586, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 60.70376886284009, + 219.191890482982 + ], + [ + 61.00385175182657, + 219.0013721458017 + ], + [ + 43.63713431627548, + 213.0728173492616 + ], + [ + 43.33507305098817, + 213.2603741398902 + ], + [ + 50.46246385528627, + 198.6173454490679 + ], + [ + 50.77046291237275, + 198.42870806016677 + ], + [ + 33.18047537694008, + 192.55951998931317 + ], + [ + 32.87046959025827, + 192.74517385358251 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12230801804600319043, + "instance_id": 17308, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_0", + "bbox_3d": { + "center_world": { + "x": 1.7285348974382941e-07, + "y": 0.05000001937150955, + "z": 1.8700000047683716 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 37.70670643039432, + "ymin": 201.69373296757433, + "xmax": 63.11577279031803, + "ymax": 225.18172985129934 + }, + "corners_3d": [ + [ + -0.3410657048225403, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 1.5289340019226074 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 1.5289340019226074 + ], + [ + -0.3410657048225403, + 0.012023769319057465, + 2.2110660076141357 + ], + [ + -0.3410657048225403, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.08797626942396164, + 2.2110660076141357 + ], + [ + 0.34106606245040894, + 0.012023769319057465, + 2.2110660076141357 + ] + ], + "corners_2d": [ + [ + 61.22864428203138, + 225.18172985129934 + ], + [ + 63.11577279031803, + 223.973647593242 + ], + [ + 48.40269140367286, + 218.92290323966583 + ], + [ + 46.504958833581554, + 220.11507077222421 + ], + [ + 52.590686231759946, + 207.9019305486557 + ], + [ + 54.519759221669574, + 206.7035028257342 + ], + [ + 39.64651418281005, + 201.69373296757433 + ], + [ + 37.70670643039432, + 202.87614008010294 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 12854929396902525278, + "instance_id": 24313, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.0503996722709417e-07, + "y": 0.06000332534313202, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 32.870414569471336, + "ymin": 192.55943256817238, + "xmax": 61.0037940417036, + "ymax": 219.19180078519977 + }, + "corners_3d": [ + [ + -0.40103161334991455, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 1.7589683532714844 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 1.7589683532714844 + ], + [ + -0.40103161334991455, + 0.05400332435965538, + 2.5610313415527344 + ], + [ + -0.40103161334991455, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.06600333005189896, + 2.5610313415527344 + ], + [ + 0.4010311961174011, + 0.05400332435965538, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 60.703711080503126, + 219.19180078519977 + ], + [ + 61.0037940417036, + 219.00128243385024 + ], + [ + 43.63707909068705, + 213.0727290316809 + ], + [ + 43.3350177532576, + 213.26028583660394 + ], + [ + 50.46240628136718, + 198.61725663646004 + ], + [ + 50.77040541175063, + 198.4286192343167 + ], + [ + 33.180420429365086, + 192.55943256817238 + ], + [ + 32.870414569471336, + 192.7450864458286 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 14360619786563491082, + "instance_id": 2581, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.05999999865889549, + "z": 2.1599998474121094 + }, + "extent": { + "x": 0.40103140473365784, + "y": 0.006000002380460501, + "z": 0.4010315239429474 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 32.87032406744777, + "ymin": 192.55948256594473, + "xmax": 61.00370622675473, + "ymax": 219.19185205970055 + }, + "corners_3d": [ + [ + -0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 1.7589683532714844 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 1.7589683532714844 + ], + [ + -0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ], + [ + -0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.06599999964237213, + 2.5610313415527344 + ], + [ + 0.40103140473365784, + 0.053999997675418854, + 2.5610313415527344 + ] + ], + "corners_2d": [ + [ + 60.703623316452195, + 219.19185205970055 + ], + [ + 61.00370622675473, + 219.00133374177975 + ], + [ + 43.63699079740502, + 213.07277954214393 + ], + [ + 43.3349295115662, + 213.26033631396032 + ], + [ + 50.462316262666036, + 198.61730740496304 + ], + [ + 50.77031534155981, + 198.42867003546831 + ], + [ + 33.180329875137886, + 192.55948256594473 + ], + [ + 32.87032406744777, + 192.74513641126623 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 15629666280591496900, + "instance_id": 50326, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.7085094451904297 + }, + "extent": { + "x": 0.3410658836364746, + "y": 0.03797625005245209, + "z": 0.3410659730434418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 38.53945146052729, + "ymin": 206.5981052743623, + "xmax": 63.87874176108312, + "ymax": 229.99724721160527 + }, + "corners_3d": [ + [ + -0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 1.3674434423446655 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 1.3674434423446655 + ], + [ + -0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ], + [ + -0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + 0.03797625005245209, + 2.0495753288269043 + ], + [ + 0.3410658836364746, + -0.03797625005245209, + 2.0495753288269043 + ] + ], + "corners_2d": [ + [ + 61.99741176465011, + 229.99724721160527 + ], + [ + 63.87874176108312, + 228.78452728584733 + ], + [ + 49.19617800912795, + 223.71429290066501 + ], + [ + 47.304279117750184, + 224.91107550307217 + ], + [ + 53.39225262657351, + 212.83185712159272 + ], + [ + 55.31528502935089, + 211.62851631579952 + ], + [ + 40.47318324502089, + 206.5981052743623 + ], + [ + 38.53945146052729, + 207.78539912529922 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 16551680635196396645, + "instance_id": 26068, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_1", + "bbox_3d": { + "center_world": { + "x": -2.815723291860195e-06, + "y": 0.032460398972034454, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 34.37483756956931, + "ymin": 193.7334291206941, + "xmax": 57.59286163003799, + "ymax": 217.85438407680218 + }, + "corners_3d": [ + [ + -0.3005027174949646, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 1.7990001440048218 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 1.7990001440048218 + ], + [ + -0.3005027174949646, + 0.027460400015115738, + 2.561000108718872 + ], + [ + -0.3005027174949646, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.03746039792895317, + 2.561000108718872 + ], + [ + 0.3004971146583557, + 0.027460400015115738, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 57.341970678698885, + 217.85438407680218 + ], + [ + 57.59286163003799, + 217.69582254076792 + ], + [ + 44.56797147001669, + 213.2502839662602 + ], + [ + 44.3158445874318, + 213.40699232833757 + ], + [ + 47.560055226982854, + 198.29367270315967 + ], + [ + 47.817235865655334, + 198.13660610281616 + ], + [ + 34.63327088981782, + 193.7334291206941 + ], + [ + 34.37483756956931, + 193.8886294788713 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_sign", + "actor_id": 18367755421049869331, + "instance_id": 5076, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_1", + "bbox_3d": { + "center_world": { + "x": -8.590221113990992e-06, + "y": 0.03246108070015907, + "z": 2.180000066757202 + }, + "extent": { + "x": 0.30049991607666016, + "y": 0.004999999888241291, + "z": 0.38099995255470276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 34.37498127803315, + "ymin": 193.73346064890546, + "xmax": 57.59300476917679, + "ymax": 217.85441630136003 + }, + "corners_3d": [ + [ + -0.3005084991455078, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 1.7990001440048218 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 1.7990001440048218 + ], + [ + -0.3005084991455078, + 0.027461081743240356, + 2.561000108718872 + ], + [ + -0.3005084991455078, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.03746107965707779, + 2.561000108718872 + ], + [ + 0.3004913330078125, + 0.027461081743240356, + 2.561000108718872 + ] + ], + "corners_2d": [ + [ + 57.34211383710135, + 217.85441630136003 + ], + [ + 57.59300476917679, + 217.69585475185872 + ], + [ + 44.568113220501345, + 213.25031580092573 + ], + [ + 44.315986356726626, + 213.40702417623473 + ], + [ + 47.56020036637108, + 198.29370462401283 + ], + [ + 47.81738098530707, + 198.13663801010532 + ], + [ + 34.633414579018904, + 193.73346064890546 + ], + [ + 34.37498127803315, + 193.88866102040566 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 986375312360816108, + "instance_id": 60477, + "pixel_count": null, + "type_id": "BP_SpeedLimit61_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 43.38068881425886, + "ymin": 205.07232368233943, + "xmax": 75.13477565479002, + "ymax": 263.37931720070844 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 73.84074375518833, + 263.37931720070844 + ], + [ + 75.13477565479002, + 262.5003484548821 + ], + [ + 73.49718992386431, + 261.9130459129152 + ], + [ + 72.20231470891042, + 262.7907293265248 + ], + [ + 45.08016900320956, + 206.5039912338912 + ], + [ + 46.472888082738564, + 205.64573415666314 + ], + [ + 44.77428821909473, + 205.07232368233943 + ], + [ + 43.38068881425886, + 205.92926206884263 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1865954916603161746, + "instance_id": 37484, + "pixel_count": null, + "type_id": "BP_SpeedLimit43_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 43.38068881425886, + "ymin": 205.07232368233943, + "xmax": 75.13477565479002, + "ymax": 263.37931720070844 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 73.84074375518833, + 263.37931720070844 + ], + [ + 75.13477565479002, + 262.5003484548821 + ], + [ + 73.49718992386431, + 261.9130459129152 + ], + [ + 72.20231470891042, + 262.7907293265248 + ], + [ + 45.08016900320956, + 206.5039912338912 + ], + [ + 46.472888082738564, + 205.64573415666314 + ], + [ + 44.77428821909473, + 205.07232368233943 + ], + [ + 43.38068881425886, + 205.92926206884263 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1984954218102434855, + "instance_id": 10156, + "pixel_count": null, + "type_id": "BP_SpeedLimit96_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8954296112060547, + "y": -1.5258788153005298e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 184.35909113244628, + "xmax": 15.813258264531441, + "ymax": 242.05836794029432 + }, + "corners_3d": [ + [ + 2.856494903564453, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + -0.12467384338378906 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + -0.12467384338378906 + ], + [ + 2.856494903564453, + -0.027300819754600525, + 2.2025716304779053 + ], + [ + 2.856494903564453, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + 0.027297768741846085, + 2.2025716304779053 + ], + [ + 2.9343643188476562, + -0.027300819754600525, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 14.490349280584383, + 242.05836794029432 + ], + [ + 15.813258264531441, + 241.22535958560962 + ], + [ + 14.261225306529468, + 240.66873960122257 + ], + [ + 12.937606974913479, + 241.50056207275367 + ], + [ + -16.40123452187993, + 185.7122841513808 + ], + [ + -14.978577016770146, + 184.90108835668076 + ], + [ + -16.584122096054102, + 184.35909113244628 + ], + [ + -18.007509146835105, + 185.16907515961478 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3345210632909861805, + "instance_id": 44467, + "pixel_count": null, + "type_id": "BP_SpeedLimit95_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 43.38068881425886, + "ymin": 205.07232368233943, + "xmax": 75.13477565479002, + "ymax": 263.37931720070844 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 73.84074375518833, + 263.37931720070844 + ], + [ + 75.13477565479002, + 262.5003484548821 + ], + [ + 73.49718992386431, + 261.9130459129152 + ], + [ + 72.20231470891042, + 262.7907293265248 + ], + [ + 45.08016900320956, + 206.5039912338912 + ], + [ + 46.472888082738564, + 205.64573415666314 + ], + [ + 44.77428821909473, + 205.07232368233943 + ], + [ + 43.38068881425886, + 205.92926206884263 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3831144454424267952, + "instance_id": 45196, + "pixel_count": null, + "type_id": "BP_SpeedLimit32_7_SM_1", + "bbox_3d": { + "center_world": { + "x": 3.534961223602295, + "y": 3.356933575560106e-06, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 179.93810328026908, + "xmax": 3.131825358352444, + "ymax": 237.50052670514958 + }, + "corners_3d": [ + [ + 3.4960265159606934, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + -0.12467384338378906 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + -0.12467384338378906 + ], + [ + 3.4960265159606934, + -0.02729593776166439, + 2.2025716304779053 + ], + [ + 3.4960265159606934, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + 0.02730265073478222, + 2.2025716304779053 + ], + [ + 3.5738959312438965, + -0.02729593776166439, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 1.803189557665064, + 237.50052670514958 + ], + [ + 3.131825358352444, + 236.6771835000466 + ], + [ + 1.597784100857666, + 236.12701612834536 + ], + [ + 0.2684661725323849, + 236.9491940222491 + ], + [ + -29.522481233889835, + 181.27483381174827 + ], + [ + -28.093942956690285, + 180.47351040048838 + ], + [ + -29.679966584601516, + 179.93810328026908 + ], + [ + -31.109203916647857, + 180.7382369695294 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4208005450459376146, + "instance_id": 4842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_1", + "bbox_3d": { + "center_world": { + "x": -22.237682342529297, + "y": 7.951939582824707, + "z": 7.688254356384277 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 782.1168572072512, + "ymin": 76.73563247353263, + "xmax": 797.6952009835373, + "ymax": 89.06960412918562 + }, + "corners_3d": [ + [ + -22.383975982666016, + 8.155634880065918, + 7.634186744689941 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.634186744689941 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.634186744689941 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.634186744689941 + ], + [ + -22.383975982666016, + 8.155634880065918, + 7.742321968078613 + ], + [ + -22.091388702392578, + 8.155633926391602, + 7.742321968078613 + ], + [ + -22.091388702392578, + 7.748244285583496, + 7.742321968078613 + ], + [ + -22.383975982666016, + 7.748244762420654, + 7.742321968078613 + ] + ], + "corners_2d": [ + [ + 797.2483070700101, + 82.58160249347509 + ], + [ + 787.0000389874938, + 80.42461700464185 + ], + [ + 782.1168572072512, + 86.86756469506315 + ], + [ + 792.4546359650499, + 89.06960412918562 + ], + [ + 797.6952009835373, + 78.88590485272675 + ], + [ + 787.4163582857338, + 76.73563247353263 + ], + [ + 782.5235325137733, + 83.15865348941583 + ], + [ + 792.8924280858298, + 85.35396898934187 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4539422257299642361, + "instance_id": 63959, + "pixel_count": null, + "type_id": "BP_SpeedLimit62_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 43.38068881425886, + "ymin": 205.07232368233943, + "xmax": 75.13477565479002, + "ymax": 263.37931720070844 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 73.84074375518833, + 263.37931720070844 + ], + [ + 75.13477565479002, + 262.5003484548821 + ], + [ + 73.49718992386431, + 261.9130459129152 + ], + [ + 72.20231470891042, + 262.7907293265248 + ], + [ + 45.08016900320956, + 206.5039912338912 + ], + [ + 46.472888082738564, + 205.64573415666314 + ], + [ + 44.77428821909473, + 205.07232368233943 + ], + [ + 43.38068881425886, + 205.92926206884263 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6365690433965090542, + "instance_id": 61030, + "pixel_count": null, + "type_id": "BP_SpeedLimit33_10_SM_1", + "bbox_3d": { + "center_world": { + "x": 1.9138330221176147, + "y": -0.8901171684265137, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 204.9447722379319, + "xmax": 13.794152674595352, + "ymax": 263.24819169720826 + }, + "corners_3d": [ + [ + 1.8748983144760132, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + -0.12467384338378906 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + -0.12467384338378906 + ], + [ + 1.8748983144760132, + -0.9174164533615112, + 2.2025716304779053 + ], + [ + 1.8748983144760132, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.8628178834915161, + 2.2025716304779053 + ], + [ + 1.9527677297592163, + -0.9174164533615112, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 12.433232230471276, + 263.24819169720826 + ], + [ + 13.794152674595352, + 262.369509678237 + ], + [ + 12.201667803186297, + 261.7823983441823 + ], + [ + 10.840002423862302, + 262.659795659366 + ], + [ + -19.441348301638527, + 206.37594947165445 + ], + [ + -17.97478887184559, + 205.51798656063815 + ], + [ + -19.623605029960345, + 204.9447722379319 + ], + [ + -21.090930682184307, + 205.8014171356493 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7211830433703148931, + "instance_id": 33597, + "pixel_count": null, + "type_id": "BP_SpeedLimit30_338_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 43.38068881425886, + "ymin": 205.07232368233943, + "xmax": 75.13477565479002, + "ymax": 263.37931720070844 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 73.84074375518833, + 263.37931720070844 + ], + [ + 75.13477565479002, + 262.5003484548821 + ], + [ + 73.49718992386431, + 261.9130459129152 + ], + [ + 72.20231470891042, + 262.7907293265248 + ], + [ + 45.08016900320956, + 206.5039912338912 + ], + [ + 46.472888082738564, + 205.64573415666314 + ], + [ + 44.77428821909473, + 205.07232368233943 + ], + [ + 43.38068881425886, + 205.92926206884263 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7244450785828344443, + "instance_id": 31506, + "pixel_count": null, + "type_id": "BP_Stop_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 43.38068881425886, + "ymin": 205.07232368233943, + "xmax": 75.13477565479002, + "ymax": 263.37931720070844 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 73.84074375518833, + 263.37931720070844 + ], + [ + 75.13477565479002, + 262.5003484548821 + ], + [ + 73.49718992386431, + 261.9130459129152 + ], + [ + 72.20231470891042, + 262.7907293265248 + ], + [ + 45.08016900320956, + 206.5039912338912 + ], + [ + 46.472888082738564, + 205.64573415666314 + ], + [ + 44.77428821909473, + 205.07232368233943 + ], + [ + 43.38068881425886, + 205.92926206884263 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7379336428305800562, + "instance_id": 29277, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_2", + "bbox_3d": { + "center_world": { + "x": -22.23760414123535, + "y": 9.561503410339355, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 755.4422318170576, + "ymin": 23.0787083512256, + "xmax": 836.6410594900369, + "ymax": 305.5135711002631 + }, + "corners_3d": [ + [ + -22.457204818725586, + 11.478222846984863, + 0.1524193286895752 + ], + [ + -22.017995834350586, + 11.478221893310547, + 0.1524193286895752 + ], + [ + -22.018003463745117, + 7.644784450531006, + 0.1524193286895752 + ], + [ + -22.457212448120117, + 7.644784927368164, + 0.1524193286895752 + ], + [ + -22.457204818725586, + 11.478222846984863, + 7.905857086181641 + ], + [ + -22.017995834350586, + 11.478221893310547, + 7.905857086181641 + ], + [ + -22.018003463745117, + 7.644784450531006, + 7.905857086181641 + ], + [ + -22.457212448120117, + 7.644784927368164, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 805.4056081631628, + 241.39054659134655 + ], + [ + 793.3535753632883, + 238.2165291913096 + ], + [ + 755.4422318170576, + 301.7991124718594 + ], + [ + 768.315045577729, + 305.5135711002631 + ], + [ + 836.6410594900369, + 25.810151366627167 + ], + [ + 822.1735206796357, + 23.0787083512256 + ], + [ + 779.2734759495922, + 78.60526409213037 + ], + [ + 794.9446698319011, + 81.90261983688242 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8179102168410110789, + "instance_id": 17723, + "pixel_count": null, + "type_id": "BP_StreetLight_simple8_23_SM_0", + "bbox_3d": { + "center_world": { + "x": -22.23768424987793, + "y": 7.9519476890563965, + "z": 7.688259601593018 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 782.0328987088002, + "ymin": 76.66970116408805, + "xmax": 797.7788509999416, + "ymax": 89.13641500045344 + }, + "corners_3d": [ + [ + -22.38555145263672, + 8.157835960388184, + 7.633610725402832 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.633610725402832 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.633610725402832 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.633610725402832 + ], + [ + -22.38555145263672, + 8.157835960388184, + 7.742908477783203 + ], + [ + -22.089815139770508, + 8.157835006713867, + 7.742908477783203 + ], + [ + -22.08981704711914, + 7.746059417724609, + 7.742908477783203 + ], + [ + -22.38555335998535, + 7.746059894561768, + 7.742908477783203 + ] + ], + "corners_2d": [ + [ + 797.3269365810268, + 82.57819533976425 + ], + [ + 786.9690174138116, + 80.39820083201175 + ], + [ + 782.0328987088002, + 86.91039134956543 + ], + [ + 792.4822636576848, + 89.13641500045344 + ], + [ + 797.7788509999416, + 78.84283742610086 + ], + [ + 787.3896988526683, + 76.66970116408805 + ], + [ + 782.4437247769288, + 83.16153395323147 + ], + [ + 792.9248825994634, + 85.38068818121764 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8327161844279894020, + "instance_id": 1120, + "pixel_count": null, + "type_id": "BP_SpeedLimit93_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 43.38068881425886, + "ymin": 205.07232368233943, + "xmax": 75.13477565479002, + "ymax": 263.37931720070844 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 73.84074375518833, + 263.37931720070844 + ], + [ + 75.13477565479002, + 262.5003484548821 + ], + [ + 73.49718992386431, + 261.9130459129152 + ], + [ + 72.20231470891042, + 262.7907293265248 + ], + [ + 45.08016900320956, + 206.5039912338912 + ], + [ + 46.472888082738564, + 205.64573415666314 + ], + [ + 44.77428821909473, + 205.07232368233943 + ], + [ + 43.38068881425886, + 205.92926206884263 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9491468817162111150, + "instance_id": 44552, + "pixel_count": null, + "type_id": "BP_SpeedLimit94_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 43.38068881425886, + "ymin": 205.07232368233943, + "xmax": 75.13477565479002, + "ymax": 263.37931720070844 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 73.84074375518833, + 263.37931720070844 + ], + [ + 75.13477565479002, + 262.5003484548821 + ], + [ + 73.49718992386431, + 261.9130459129152 + ], + [ + 72.20231470891042, + 262.7907293265248 + ], + [ + 45.08016900320956, + 206.5039912338912 + ], + [ + 46.472888082738564, + 205.64573415666314 + ], + [ + 44.77428821909473, + 205.07232368233943 + ], + [ + 43.38068881425886, + 205.92926206884263 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11452489815872696951, + "instance_id": 30706, + "pixel_count": null, + "type_id": "BP_SpeedLimit40_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 43.38068881425886, + "ymin": 205.07232368233943, + "xmax": 75.13477565479002, + "ymax": 263.37931720070844 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 73.84074375518833, + 263.37931720070844 + ], + [ + 75.13477565479002, + 262.5003484548821 + ], + [ + 73.49718992386431, + 261.9130459129152 + ], + [ + 72.20231470891042, + 262.7907293265248 + ], + [ + 45.08016900320956, + 206.5039912338912 + ], + [ + 46.472888082738564, + 205.64573415666314 + ], + [ + 44.77428821909473, + 205.07232368233943 + ], + [ + 43.38068881425886, + 205.92926206884263 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11512461338631298198, + "instance_id": 38492, + "pixel_count": null, + "type_id": "BP_SpeedLimit34_13_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 0.8774584531784058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 45.47480006996682, + "ymin": 209.20202399855347, + "xmax": 77.02129307467828, + "ymax": 267.12261374451066 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.2861642837524414 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.2861642837524414 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.041081190109253 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.041081190109253 + ] + ], + "corners_2d": [ + [ + 75.73364473178515, + 267.12261374451066 + ], + [ + 77.02129307467828, + 266.242503259062 + ], + [ + 75.38779801852968, + 265.65443425383984 + ], + [ + 74.09930897899449, + 266.5332620334118 + ], + [ + 47.16991646893473, + 210.63656053497152 + ], + [ + 48.555357711071906, + 209.7765858742626 + ], + [ + 46.86111913182663, + 209.20202399855347 + ], + [ + 45.47480006996682, + 210.06068196290505 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12033886329098455094, + "instance_id": 14024, + "pixel_count": null, + "type_id": "BP_SpeedLimit31_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 43.38068881425886, + "ymin": 205.07232368233943, + "xmax": 75.13477565479002, + "ymax": 263.37931720070844 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 73.84074375518833, + 263.37931720070844 + ], + [ + 75.13477565479002, + 262.5003484548821 + ], + [ + 73.49718992386431, + 261.9130459129152 + ], + [ + 72.20231470891042, + 262.7907293265248 + ], + [ + 45.08016900320956, + 206.5039912338912 + ], + [ + 46.472888082738564, + 205.64573415666314 + ], + [ + 44.77428821909473, + 205.07232368233943 + ], + [ + 43.38068881425886, + 205.92926206884263 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12538124174151630451, + "instance_id": 29630, + "pixel_count": null, + "type_id": "BP_Stop2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 43.38068881425886, + "ymin": 205.07232368233943, + "xmax": 75.13477565479002, + "ymax": 263.37931720070844 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 73.84074375518833, + 263.37931720070844 + ], + [ + 75.13477565479002, + 262.5003484548821 + ], + [ + 73.49718992386431, + 261.9130459129152 + ], + [ + 72.20231470891042, + 262.7907293265248 + ], + [ + 45.08016900320956, + 206.5039912338912 + ], + [ + 46.472888082738564, + 205.64573415666314 + ], + [ + 44.77428821909473, + 205.07232368233943 + ], + [ + 43.38068881425886, + 205.92926206884263 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12729208278412690350, + "instance_id": 44547, + "pixel_count": null, + "type_id": "BP_StreetLight_simple63_SM_2", + "bbox_3d": { + "center_world": { + "x": 2.4676198959350586, + "y": 9.561506271362305, + "z": 4.029138088226318 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 103.6526462199123, + "ymin": 0.0, + "xmax": 251.6266942666794, + "ymax": 137.3503926693322 + }, + "corners_3d": [ + [ + 2.2480196952819824, + 11.478225708007812, + 0.1524193286895752 + ], + [ + 2.687227725982666, + 11.478224754333496, + 0.1524193286895752 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 0.1524193286895752 + ], + [ + 2.248012065887451, + 7.644787788391113, + 0.1524193286895752 + ], + [ + 2.2480196952819824, + 11.478225708007812, + 7.905857086181641 + ], + [ + 2.687227725982666, + 11.478224754333496, + 7.905857086181641 + ], + [ + 2.6872200965881348, + 7.644787311553955, + 7.905857086181641 + ], + [ + 2.248012065887451, + 7.644787788391113, + 7.905857086181641 + ] + ], + "corners_2d": [ + [ + 251.6266942666794, + 95.54678663137031 + ], + [ + 243.64353324574557, + 93.44434799694909 + ], + [ + 177.2580768652797, + 134.9632048982647 + ], + [ + 185.53111189477477, + 137.3503926693322 + ], + [ + 193.988128993396, + -95.52213851826508 + ], + [ + 185.04323405161455, + -97.21091462209597 + ], + [ + 103.6526462199123, + -63.55166861015152 + ], + [ + 112.94550682453882, + -61.59637149800034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13078183536046132630, + "instance_id": 38477, + "pixel_count": null, + "type_id": "BP_Stop3_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 43.38068881425886, + "ymin": 205.07232368233943, + "xmax": 75.13477565479002, + "ymax": 263.37931720070844 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 73.84074375518833, + 263.37931720070844 + ], + [ + 75.13477565479002, + 262.5003484548821 + ], + [ + 73.49718992386431, + 261.9130459129152 + ], + [ + 72.20231470891042, + 262.7907293265248 + ], + [ + 45.08016900320956, + 206.5039912338912 + ], + [ + 46.472888082738564, + 205.64573415666314 + ], + [ + 44.77428821909473, + 205.07232368233943 + ], + [ + 43.38068881425886, + 205.92926206884263 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 13187938348159951056, + "instance_id": 53344, + "pixel_count": null, + "type_id": "BP_SpeedLimit41_5_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 43.38068881425886, + "ymin": 205.07232368233943, + "xmax": 75.13477565479002, + "ymax": 263.37931720070844 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 73.84074375518833, + 263.37931720070844 + ], + [ + 75.13477565479002, + 262.5003484548821 + ], + [ + 73.49718992386431, + 261.9130459129152 + ], + [ + 72.20231470891042, + 262.7907293265248 + ], + [ + 45.08016900320956, + 206.5039912338912 + ], + [ + 46.472888082738564, + 205.64573415666314 + ], + [ + 44.77428821909473, + 205.07232368233943 + ], + [ + 43.38068881425886, + 205.92926206884263 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15001314937464481043, + "instance_id": 5093, + "pixel_count": null, + "type_id": "BP_SpeedLimit90_2_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 43.38068881425886, + "ymin": 205.07232368233943, + "xmax": 75.13477565479002, + "ymax": 263.37931720070844 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 73.84074375518833, + 263.37931720070844 + ], + [ + 75.13477565479002, + 262.5003484548821 + ], + [ + 73.49718992386431, + 261.9130459129152 + ], + [ + 72.20231470891042, + 262.7907293265248 + ], + [ + 45.08016900320956, + 206.5039912338912 + ], + [ + 46.472888082738564, + 205.64573415666314 + ], + [ + 44.77428821909473, + 205.07232368233943 + ], + [ + 43.38068881425886, + 205.92926206884263 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16172499606135527908, + "instance_id": 58457, + "pixel_count": null, + "type_id": "BP_SpeedLimit97_SM_1", + "bbox_3d": { + "center_world": { + "x": 2.8213601112365723, + "y": -0.11598587036132812, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 186.5998946522512, + "xmax": 14.479408077118478, + "ymax": 244.3675756610038 + }, + "corners_3d": [ + [ + 2.7824254035949707, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.08868657797574997, + -0.12467384338378906 + ], + [ + 2.860294818878174, + -0.14328517019748688, + -0.12467384338378906 + ], + [ + 2.7824254035949707, + -0.14328517019748688, + 2.2025716304779053 + ], + [ + 2.7824254035949707, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.08868657797574997, + 2.2025716304779053 + ], + [ + 2.860294818878174, + -0.14328517019748688, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 13.151172436290835, + 244.3675756610038 + ], + [ + 14.479408077118478, + 243.52964894645464 + ], + [ + 12.9237578332162, + 242.969745460729 + ], + [ + 11.594810698833385, + 243.80647577766715 + ], + [ + -17.902377019752294, + 187.96147038208386 + ], + [ + -16.47363946956625, + 187.1452475141946 + ], + [ + -18.083025273463818, + 186.5998946522512 + ], + [ + -19.512494369253773, + 187.41489447526334 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17416055045421175567, + "instance_id": 3987, + "pixel_count": null, + "type_id": "BP_Stop6_2_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 43.38068881425886, + "ymin": 205.07232368233943, + "xmax": 75.13477565479002, + "ymax": 263.37931720070844 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 73.84074375518833, + 263.37931720070844 + ], + [ + 75.13477565479002, + 262.5003484548821 + ], + [ + 73.49718992386431, + 261.9130459129152 + ], + [ + 72.20231470891042, + 262.7907293265248 + ], + [ + 45.08016900320956, + 206.5039912338912 + ], + [ + 46.472888082738564, + 205.64573415666314 + ], + [ + 44.77428821909473, + 205.07232368233943 + ], + [ + 43.38068881425886, + 205.92926206884263 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17827674864880532805, + "instance_id": 17725, + "pixel_count": null, + "type_id": "BP_Stop4_7_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 43.38068881425886, + "ymin": 205.07232368233943, + "xmax": 75.13477565479002, + "ymax": 263.37931720070844 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 73.84074375518833, + 263.37931720070844 + ], + [ + 75.13477565479002, + 262.5003484548821 + ], + [ + 73.49718992386431, + 261.9130459129152 + ], + [ + 72.20231470891042, + 262.7907293265248 + ], + [ + 45.08016900320956, + 206.5039912338912 + ], + [ + 46.472888082738564, + 205.64573415666314 + ], + [ + 44.77428821909473, + 205.07232368233943 + ], + [ + 43.38068881425886, + 205.92926206884263 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17863771549511783842, + "instance_id": 41493, + "pixel_count": null, + "type_id": "BP_SpeedLimit42_SM_0", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 43.38068881425886, + "ymin": 205.07232368233943, + "xmax": 75.13477565479002, + "ymax": 263.37931720070844 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 73.84074375518833, + 263.37931720070844 + ], + [ + 75.13477565479002, + 262.5003484548821 + ], + [ + 73.49718992386431, + 261.9130459129152 + ], + [ + 72.20231470891042, + 262.7907293265248 + ], + [ + 45.08016900320956, + 206.5039912338912 + ], + [ + 46.472888082738564, + 205.64573415666314 + ], + [ + 44.77428821909473, + 205.07232368233943 + ], + [ + 43.38068881425886, + 205.92926206884263 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17920023612686029921, + "instance_id": 24916, + "pixel_count": null, + "type_id": "BP_SpeedLimit92_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 43.38068881425886, + "ymin": 205.07232368233943, + "xmax": 75.13477565479002, + "ymax": 263.37931720070844 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 73.84074375518833, + 263.37931720070844 + ], + [ + 75.13477565479002, + 262.5003484548821 + ], + [ + 73.49718992386431, + 261.9130459129152 + ], + [ + 72.20231470891042, + 262.7907293265248 + ], + [ + 45.08016900320956, + 206.5039912338912 + ], + [ + 46.472888082738564, + 205.64573415666314 + ], + [ + 44.77428821909473, + 205.07232368233943 + ], + [ + 43.38068881425886, + 205.92926206884263 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 18173499809333987003, + "instance_id": 47942, + "pixel_count": null, + "type_id": "BP_SpeedLimit91_SM_1", + "bbox_3d": { + "center_world": { + "x": 0.0, + "y": 0.0, + "z": 1.038948893547058 + }, + "extent": { + "x": 0.03893470764160156, + "y": 0.027299294248223305, + "z": 1.1636227369308472 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 43.38068881425886, + "ymin": 205.07232368233943, + "xmax": 75.13477565479002, + "ymax": 263.37931720070844 + }, + "corners_3d": [ + [ + -0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + -0.12467384338378906 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + -0.12467384338378906 + ], + [ + -0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ], + [ + -0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + 0.027299294248223305, + 2.2025716304779053 + ], + [ + 0.03893470764160156, + -0.027299294248223305, + 2.2025716304779053 + ] + ], + "corners_2d": [ + [ + 73.84074375518833, + 263.37931720070844 + ], + [ + 75.13477565479002, + 262.5003484548821 + ], + [ + 73.49718992386431, + 261.9130459129152 + ], + [ + 72.20231470891042, + 262.7907293265248 + ], + [ + 45.08016900320956, + 206.5039912338912 + ], + [ + 46.472888082738564, + 205.64573415666314 + ], + [ + 44.77428821909473, + 205.07232368233943 + ], + [ + 43.38068881425886, + 205.92926206884263 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/ORI/perturbation_report.json b/data_v7/Town05_Opt/trajectory_1777082080/ORI/perturbation_report.json new file mode 100644 index 0000000000000000000000000000000000000000..9730395baefe0db565930fbdb78aacc5ae685543 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/ORI/perturbation_report.json @@ -0,0 +1,96 @@ +{ + "aug_index": 0, + "is_original": true, + "frames": 187, + "perturbation_frames": 0, + "pedestrian_delta": { + "dx": { + "count": 0.0, + "min": 0.0, + "max": 0.0, + "mean": 0.0, + "std": 0.0, + "p50": 0.0, + "p95": 0.0, + "p99": 0.0 + }, + "dy": { + "count": 0.0, + "min": 0.0, + "max": 0.0, + "mean": 0.0, + "std": 0.0, + "p50": 0.0, + "p95": 0.0, + "p99": 0.0 + }, + "dz": { + "count": 0.0, + "min": 0.0, + "max": 0.0, + "mean": 0.0, + "std": 0.0, + "p50": 0.0, + "p95": 0.0, + "p99": 0.0 + }, + "norm_xy": { + "count": 0.0, + "min": 0.0, + "max": 0.0, + "mean": 0.0, + "std": 0.0, + "p50": 0.0, + "p95": 0.0, + "p99": 0.0 + } + }, + "drone_delta": { + "dx": { + "count": 0.0, + "min": 0.0, + "max": 0.0, + "mean": 0.0, + "std": 0.0, + "p50": 0.0, + "p95": 0.0, + "p99": 0.0 + }, + "dy": { + "count": 0.0, + "min": 0.0, + "max": 0.0, + "mean": 0.0, + "std": 0.0, + "p50": 0.0, + "p95": 0.0, + "p99": 0.0 + }, + "dz": { + "count": 0.0, + "min": 0.0, + "max": 0.0, + "mean": 0.0, + "std": 0.0, + "p50": 0.0, + "p95": 0.0, + "p99": 0.0 + }, + "norm_xyz": { + "count": 0.0, + "min": 0.0, + "max": 0.0, + "mean": 0.0, + "std": 0.0, + "p50": 0.0, + "p95": 0.0, + "p99": 0.0 + } + }, + "constraints_check": { + "pedestrian_z_expected": 0.0, + "pedestrian_z_nonzero_count": 0, + "pedestrian_z_abs_max": 0.0 + }, + "sample_head": [] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777082080/aug_001/perturbation_report.json b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/perturbation_report.json new file mode 100644 index 0000000000000000000000000000000000000000..45100e0c16063715d09d05c68cd2d092b2f90170 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777082080/aug_001/perturbation_report.json @@ -0,0 +1,201 @@ +{ + "aug_index": 1, + "is_original": false, + "frames": 187, + "perturbation_frames": 187, + "pedestrian_delta": { + "dx": { + "count": 187.0, + "min": 0.0, + "max": 0.0, + "mean": 0.0, + "std": 0.0, + "p50": 0.0, + "p95": 0.0, + "p99": 0.0 + }, + "dy": { + "count": 187.0, + "min": 0.0, + "max": 0.0, + "mean": 0.0, + "std": 0.0, + "p50": 0.0, + "p95": 0.0, + "p99": 0.0 + }, + "dz": { + "count": 187.0, + "min": 0.0, + "max": 0.0, + "mean": 0.0, + "std": 0.0, + "p50": 0.0, + "p95": 0.0, + "p99": 0.0 + }, + "norm_xy": { + "count": 187.0, + "min": 0.0, + "max": 0.0, + "mean": 0.0, + "std": 0.0, + "p50": 0.0, + "p95": 0.0, + "p99": 0.0 + } + }, + "drone_delta": { + "dx": { + "count": 187.0, + "min": -0.1770324120731246, + "max": 0.1871989234914011, + "mean": 0.00040115998193773495, + "std": 0.06454620917886043, + "p50": 0.0, + "p95": 0.13509857844345233, + "p99": 0.1656350213114238 + }, + "dy": { + "count": 187.0, + "min": -0.17041828710468465, + "max": 0.18384115287307168, + "mean": 0.0011836467241665449, + "std": 0.06850310351268377, + "p50": 0.0, + "p95": 0.13747245902779637, + "p99": 0.1812653230914968 + }, + "dz": { + "count": 187.0, + "min": -0.16775975472470606, + "max": 0.17711427401051338, + "mean": 0.0027992886132510767, + "std": 0.0659709597497339, + "p50": 0.0, + "p95": 0.1338847747238695, + "p99": 0.16409937242080985 + }, + "norm_xyz": { + "count": 187.0, + "min": 0.0, + "max": 0.19999425023871278, + "mean": 0.08398043389037037, + "std": 0.07853496374071761, + "p50": 0.10273272164838104, + "p95": 0.19364895310689498, + "p99": 0.1994035464206154 + } + }, + "constraints_check": { + "pedestrian_z_expected": 0.0, + "pedestrian_z_nonzero_count": 0, + "pedestrian_z_abs_max": 0.0 + }, + "sample_head": [ + { + "frame_id": 0, + "is_perturbed": false, + "pos_applied": false, + "ped_pos_applied": false, + "drone_pos_applied": false, + "viewpoint_applied": false, + "p_pos": 0.6, + "p_rot": 0.6, + "ped_delta": [ + 0.0, + 0.0, + 0.0 + ], + "drone_delta": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "frame_id": 1, + "is_perturbed": true, + "pos_applied": false, + "ped_pos_applied": false, + "drone_pos_applied": false, + "viewpoint_applied": true, + "p_pos": 0.6, + "p_rot": 0.6, + "ped_delta": [ + 0.0, + 0.0, + 0.0 + ], + "drone_delta": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "frame_id": 2, + "is_perturbed": true, + "pos_applied": true, + "ped_pos_applied": false, + "drone_pos_applied": true, + "viewpoint_applied": true, + "p_pos": 0.6, + "p_rot": 0.6, + "ped_delta": [ + 0.0, + 0.0, + 0.0 + ], + "drone_delta": [ + 0.1196815150995505, + 0.0666921818988726, + 0.12051042643978249 + ] + }, + { + "frame_id": 3, + "is_perturbed": true, + "pos_applied": false, + "ped_pos_applied": false, + "drone_pos_applied": false, + "viewpoint_applied": true, + "p_pos": 0.6, + "p_rot": 0.6, + "ped_delta": [ + 0.0, + 0.0, + 0.0 + ], + "drone_delta": [ + 0.0, + 0.0, + 0.0 + ] + }, + { + "frame_id": 4, + "is_perturbed": true, + "pos_applied": false, + "ped_pos_applied": false, + "drone_pos_applied": false, + "viewpoint_applied": true, + "p_pos": 0.6, + "p_rot": 0.6, + "ped_delta": [ + 0.0, + 0.0, + 0.0 + ], + "drone_delta": [ + 0.0, + 0.0, + 0.0 + ] + } + ], + "v5_joint_prob": { + "frames_pos_applied": 109, + "frames_viewpoint_applied": 117 + } +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/ORI/frames_playback/frame_00020/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/ORI/frames_playback/frame_00020/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eecac79c7ea9564f0714f731fb8909123af44b96 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/ORI/frames_playback/frame_00020/meta.json @@ -0,0 +1,3101 @@ +{ + "frame_id": 20, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 10.0, + "sim_timestamp": 8046.427055982873 + }, + "drone_pose": { + "x": -138.01233535305113, + "y": -128.78309314498838, + "z": 20.134618498203913, + "pitch": -41.31906840357928, + "yaw": 42.72357594262974, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5517438650131226, + -0.5095551013946533, + 0.6602517366409302, + 128.4756317138672 + ], + [ + 0.678462028503418, + 0.7346354722976685, + 0.0, + 0.9725189208984375 + ], + [ + -0.48504436016082764, + 0.4479556977748871, + 0.7510443925857544, + -139.75320434570312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -137.5413026319313, + "y": -128.51139645530935, + "z": 20.118668078722727 + }, + "t1_image_uv": [ + 358.2919965602512, + -434.0816484737268 + ], + "t1_depth": 0.408865159541837 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -121.66718292236328, + "y": -113.68776321411131, + "z": 0.5749748778357753 + }, + "image_uv": [ + 639.9999999999999, + 359.9999999999999 + ], + "depth": 29.624527882487207, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 173, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -121.66718292236328, + "y": -113.68775939941406, + "z": 0.5749748945236206 + }, + "extent": { + "x": 0.2966357171535492, + "y": 0.21772946417331696, + "z": 0.5411949157714844 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 628.1733211862971, + "ymin": 338.94634735139743, + "xmax": 651.869550898989, + "ymax": 380.9363045131429 + }, + "corners_3d": [ + [ + -121.96382141113281, + -113.90548706054688, + 0.03377997875213623 + ], + [ + -121.96382141113281, + -113.47003173828125, + 0.03377997875213623 + ], + [ + -121.37054443359375, + -113.47003173828125, + 0.03377997875213623 + ], + [ + -121.37054443359375, + -113.90548706054688, + 0.03377997875213623 + ], + [ + -121.96382141113281, + -113.90548706054688, + 1.116169810295105 + ], + [ + -121.96382141113281, + -113.47003173828125, + 1.116169810295105 + ], + [ + -121.37054443359375, + -113.47003173828125, + 1.116169810295105 + ], + [ + -121.37054443359375, + -113.90548706054688, + 1.116169810295105 + ] + ], + "corners_2d": [ + [ + 641.3349563573428, + 380.9363045131429 + ], + [ + 651.5861290077376, + 374.52423656809486 + ], + [ + 638.689454047742, + 365.2366582993173 + ], + [ + 628.4547279028235, + 371.510228764357 + ], + [ + 641.3678622156682, + 354.53494587214124 + ], + [ + 651.869550898989, + 348.16654720574536 + ], + [ + 638.6577504723326, + 338.94634735139743 + ], + [ + 628.1733211862971, + 345.17387021974486 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 20, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 66, + "semantic_pixel_counts": { + "1": 573738, + "2": 179132, + "3": 92413, + "5": 3856, + "6": 5852, + "7": 948, + "9": 21957, + "10": 6798, + "12": 3342, + "21": 1105, + "24": 32459 + }, + "instance_pixel_counts": { + "1115": 3439, + "2978": 131, + "4002": 167, + "6254": 2586, + "10370": 1673, + "11394": 569, + "14416": 96, + "14928": 3760, + "15511": 2390, + "16023": 531, + "16535": 195, + "18011": 18225, + "20119": 10488, + "20631": 11635, + "24064": 3308, + "26560": 7304, + "27072": 2306, + "28608": 804, + "29843": 21115, + "30144": 31277, + "30355": 37421, + "30656": 50692, + "31168": 1789, + "31488": 1250, + "31813": 6753, + "31891": 384747, + "34120": 38756, + "34395": 116, + "34453": 2655, + "34907": 168, + "34965": 3871, + "35419": 906, + "35931": 4685, + "36443": 55511, + "36501": 19687, + "44171": 644, + "44691": 109202, + "44891": 90, + "45203": 7575, + "45915": 13, + "46227": 13678, + "46731": 972, + "47253": 4962, + "47765": 761, + "48267": 157, + "48779": 438, + "48789": 523, + "49664": 173, + "49803": 106, + "49920": 322, + "50176": 414, + "50432": 814, + "50688": 1021, + "50944": 598, + "53184": 1196, + "54720": 946, + "55232": 29, + "55744": 2193, + "56768": 4, + "56993": 209, + "57173": 21957, + "58529": 208, + "59809": 287, + "60013": 3709, + "61037": 3068, + "64351": 14280 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 173, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -121.66718292236328, + "y": -113.68775939941406, + "z": 0.5749748945236206 + }, + "extent": { + "x": 0.29741209745407104, + "y": 0.19751951098442078, + "z": 0.5555030107498169 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 628.642827737234, + "ymin": 338.8653728246735, + "xmax": 651.4067213693636, + "ymax": 380.98943285633356 + }, + "corners_3d": [ + [ + -121.96459197998047, + -113.8852767944336, + 0.01947188377380371 + ], + [ + -121.96459197998047, + -113.49024200439453, + 0.01947188377380371 + ], + [ + -121.3697738647461, + -113.49024200439453, + 0.01947188377380371 + ], + [ + -121.3697738647461, + -113.8852767944336, + 0.01947188377380371 + ], + [ + -121.96459197998047, + -113.8852767944336, + 1.1304779052734375 + ], + [ + -121.96459197998047, + -113.49024200439453, + 1.1304779052734375 + ], + [ + -121.3697738647461, + -113.49024200439453, + 1.1304779052734375 + ], + [ + -121.3697738647461, + -113.8852767944336, + 1.1304779052734375 + ] + ], + "corners_2d": [ + [ + 641.8304522626529, + 380.98943285633356 + ], + [ + 651.1271381060484, + 375.17195073164095 + ], + [ + 638.2017584004124, + 365.85308949422017 + ], + [ + 628.9200212211604, + 371.54463359367213 + ], + [ + 641.8767639802763, + 353.8918183813839 + ], + [ + 651.4067213693636, + 348.11500022277824 + ], + [ + 638.1570776091226, + 338.8653728246735 + ], + [ + 628.642827737234, + 344.5140327418877 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 322, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -117.54119873046875, + "y": -110.69005584716797, + "z": 0.5749797821044922 + }, + "extent": { + "x": 0.374580055475235, + "y": 0.33067870140075684, + "z": 0.8815283179283142 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 607.9902550977783, + "ymin": 234.91822523757637, + "xmax": 637.171392526989, + "ymax": 292.6340490592223 + }, + "corners_3d": [ + [ + -117.97634887695312, + -110.93563079833984, + -0.306548535823822 + ], + [ + -117.8388442993164, + -110.28872680664062, + -0.306548535823822 + ], + [ + -117.10604858398438, + -110.4444808959961, + -0.306548535823822 + ], + [ + -117.2435531616211, + -111.09138488769531, + -0.306548535823822 + ], + [ + -117.97634887695312, + -110.93563079833984, + 1.4565081596374512 + ], + [ + -117.8388442993164, + -110.28872680664062, + 1.4565081596374512 + ], + [ + -117.10604858398438, + -110.4444808959961, + 1.4565081596374512 + ], + [ + -117.2435531616211, + -111.09138488769531, + 1.4565081596374512 + ] + ], + "corners_2d": [ + [ + 626.2392275668122, + 292.6340490592223 + ], + [ + 637.171392526989, + 283.385988633387 + ], + [ + 620.1182875045243, + 276.13247680557885 + ], + [ + 609.0871349823369, + 285.2054881700668 + ], + [ + 625.7460698597039, + 251.0843379646704 + ], + [ + 637.0712709995194, + 242.02124938585183 + ], + [ + 619.4214389252205, + 234.91822523757637 + ], + [ + 607.9902550977783, + 243.80374577058373 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 414, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -123.92300415039062, + "y": -106.74504852294922, + "z": 0.5749797821044922 + }, + "extent": { + "x": 0.36424314975738525, + "y": 0.310546875, + "z": 0.8619298338890076 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 821.7734575953763, + "ymin": 269.88860560630053, + "xmax": 857.7524089118308, + "ymax": 328.45608122739884 + }, + "corners_3d": [ + [ + -124.31771087646484, + -107.01582336425781, + -0.2869500517845154 + ], + [ + -124.25279235839844, + -106.39813232421875, + -0.2869500517845154 + ], + [ + -123.5282974243164, + -106.47427368164062, + -0.2869500517845154 + ], + [ + -123.59321594238281, + -107.09196472167969, + -0.2869500517845154 + ], + [ + -124.31771087646484, + -107.01582336425781, + 1.4369096755981445 + ], + [ + -124.25279235839844, + -106.39813232421875, + 1.4369096755981445 + ], + [ + -123.5282974243164, + -106.47427368164062, + 1.4369096755981445 + ], + [ + -123.59321594238281, + -107.09196472167969, + 1.4369096755981445 + ] + ], + "corners_2d": [ + [ + 840.1728085823478, + 328.45608122739884 + ], + [ + 850.1221644636339, + 319.68798367708223 + ], + [ + 831.8098683210925, + 310.856057288589 + ], + [ + 821.7734575953763, + 319.4314632597993 + ], + [ + 847.5239791240214, + 287.19448110478726 + ], + [ + 857.7524089118308, + 278.5694836732596 + ], + [ + 838.6958353983857, + 269.88860560630053 + ], + [ + 828.3720814231833, + 278.31725270669807 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 814, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -131.16717529296875, + "y": -113.68775939941406, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.430605411529541, + "y": 0.44817864894866943, + "z": 0.8632845878601074 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 863.9802723298765, + "ymin": 500.36517532157836, + "xmax": 925.0017055221335, + "ymax": 582.128615639041 + }, + "corners_3d": [ + [ + -131.5977783203125, + -114.13594055175781, + -0.28829509019851685 + ], + [ + -131.5977783203125, + -113.23957824707031, + -0.28829509019851685 + ], + [ + -130.736572265625, + -113.23957824707031, + -0.28829509019851685 + ], + [ + -130.736572265625, + -114.13594055175781, + -0.28829509019851685 + ], + [ + -131.5977783203125, + -114.13594055175781, + 1.4382741451263428 + ], + [ + -131.5977783203125, + -113.23957824707031, + 1.4382741451263428 + ], + [ + -130.736572265625, + -113.23957824707031, + 1.4382741451263428 + ], + [ + -130.736572265625, + -114.13594055175781, + 1.4382741451263428 + ] + ], + "corners_2d": [ + [ + 891.2335804374447, + 582.128615639041 + ], + [ + 911.9766521905266, + 562.6076516866798 + ], + [ + 884.8252939811175, + 543.0440080286912 + ], + [ + 863.9802723298765, + 561.8354155526704 + ], + [ + 903.5006207508508, + 539.6546230742194 + ], + [ + 925.0017055221335, + 520.013783503092 + ], + [ + 896.32059314473, + 500.36517532157836 + ], + [ + 874.6984692265944, + 519.2375266603606 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 1021, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -125.28268432617188, + "y": -124.81512451171875, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.5180615782737732, + "y": 0.4975879490375519, + "z": 0.8880577087402344 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 352.37297912311584, + "ymin": 605.4109674372773, + "xmax": 425.7100393447183, + "ymax": 703.504898610292 + }, + "corners_3d": [ + [ + -125.74589538574219, + -125.3641357421875, + -0.3130730390548706 + ], + [ + -125.84992218017578, + -124.3744125366211, + -0.3130730390548706 + ], + [ + -124.81947326660156, + -124.26611328125, + -0.3130730390548706 + ], + [ + -124.71544647216797, + -125.2558364868164, + -0.3130730390548706 + ], + [ + -125.74589538574219, + -125.3641357421875, + 1.4630423784255981 + ], + [ + -125.84992218017578, + -124.3744125366211, + 1.4630423784255981 + ], + [ + -124.81947326660156, + -124.26611328125, + 1.4630423784255981 + ], + [ + -124.71544647216797, + -125.2558364868164, + 1.4630423784255981 + ] + ], + "corners_2d": [ + [ + 386.5686979609037, + 703.504898610292 + ], + [ + 425.7100393447183, + 679.8737818878408 + ], + [ + 405.73205809740523, + 648.4238104419843 + ], + [ + 367.2748495183822, + 670.7827461661412 + ], + [ + 372.3065645579614, + 661.3818202190382 + ], + [ + 413.9038420585015, + 637.3332221693505 + ], + [ + 393.1926359373454, + 605.4109674372773 + ], + [ + 352.37297912311584, + 628.0959038637936 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 598, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -110.42184448242188, + "y": -121.85797882080078, + "z": 0.7296233177185059 + }, + "extent": { + "x": 0.526928722858429, + "y": 0.4626562297344208, + "z": 0.9329853057861328 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 198.77712641728874, + "ymin": 266.4395307551678, + "xmax": 251.2658269713528, + "ymax": 337.1116025750457 + }, + "corners_3d": [ + [ + -110.841064453125, + -122.42008209228516, + -0.20336198806762695 + ], + [ + -111.033447265625, + -121.51498413085938, + -0.20336198806762695 + ], + [ + -110.00262451171875, + -121.2958755493164, + -0.20336198806762695 + ], + [ + -109.81024169921875, + -122.20097351074219, + -0.20336198806762695 + ], + [ + -110.841064453125, + -122.42008209228516, + 1.6626086235046387 + ], + [ + -111.033447265625, + -121.51498413085938, + 1.6626086235046387 + ], + [ + -110.00262451171875, + -121.2958755493164, + 1.6626086235046387 + ], + [ + -109.81024169921875, + -122.20097351074219, + 1.6626086235046387 + ] + ], + "corners_2d": [ + [ + 222.78871473717334, + 337.1116025750457 + ], + [ + 251.2658269713528, + 328.0065425379146 + ], + [ + 243.54723608439622, + 311.1107205694882 + ], + [ + 215.58447157912286, + 319.8387547435783 + ], + [ + 205.89724276544302, + 291.973065658731 + ], + [ + 235.70881264159948, + 283.02421643370553 + ], + [ + 228.02440457009408, + 266.4395307551678 + ], + [ + 198.77712641728874, + 275.00339072376676 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 815.7641905360035, + "ymin": 24.640261222992706, + "xmax": 831.5659254763093, + "ymax": 53.36797256728761 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 821.7400816211828, + 53.36797256728761 + ], + [ + 828.4095179613711, + 50.38738892578368 + ], + [ + 822.437535252058, + 48.05627964800095 + ], + [ + 815.7641905360035, + 51.010841675748736 + ], + [ + 824.8020263946619, + 29.80371308762824 + ], + [ + 831.5659254763093, + 26.906101118933748 + ], + [ + 825.4803384911298, + 24.640261222992706 + ], + [ + 818.7122453244584, + 27.512153777630658 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 945.0884351323739, + "ymin": 73.72445044282313, + "xmax": 964.6312337393044, + "ymax": 104.85053434698489 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 952.261329758335, + 104.85053434698489 + ], + [ + 958.7729366391006, + 101.2733226013072 + ], + [ + 951.6123122352453, + 98.47823898702347 + ], + [ + 945.0884351323739, + 102.0212584895931 + ], + [ + 958.0356853903353, + 79.93874401169899 + ], + [ + 964.6312337393044, + 76.44992343916772 + ], + [ + 957.3111622518236, + 73.72445044282313 + ], + [ + 950.7025408652053, + 77.17931338131393 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 716.0203186979268, + "ymin": 58.69998891493299, + "xmax": 728.587201368855, + "ymax": 83.79294635530732 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 720.9267931344422, + 83.79294635530732 + ], + [ + 727.3024571877586, + 81.01522236014512 + ], + [ + 722.3952168257712, + 78.82841095526112 + ], + [ + 716.0203186979268, + 81.58462051677486 + ], + [ + 722.1236548940726, + 63.55775758477756 + ], + [ + 728.587201368855, + 60.839616183108035 + ], + [ + 723.6029838288224, + 58.69998891493299 + ], + [ + 717.1401788807092, + 61.396768613608515 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 883.3741327961914, + "ymin": 50.28838078514531, + "xmax": 901.0823591288143, + "ymax": 80.27748107928886 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 889.9621275842022, + 80.27748107928886 + ], + [ + 896.5663512724707, + 76.9917905473788 + ], + [ + 889.9863053550998, + 74.42332931216805 + ], + [ + 883.3741327961914, + 77.67891196101448 + ], + [ + 894.3881176510122, + 55.98867005513745 + ], + [ + 901.0823591288143, + 52.789078254414164 + ], + [ + 894.3659922751299, + 50.28838078514531 + ], + [ + 887.6632748991681, + 53.45813967340348 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11529003171770300666, + "instance_id": 64120, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.25050354003906, + "y": -128.95399475097656, + "z": 3.0800981521606445 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 375.3624199314962, + "xmax": 2.6747707079183556, + "ymax": 412.09029773811653 + }, + "corners_3d": [ + [ + -113.11116790771484, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -128.7640380859375, + 3.5146679878234863 + ], + [ + -113.11116790771484, + -128.7640380859375, + 3.5146679878234863 + ] + ], + "corners_2d": [ + [ + -16.240748191913212, + 406.60196217642783 + ], + [ + -13.00992039313303, + 412.09029773811653 + ], + [ + 2.6747707079183556, + 405.1911085021228 + ], + [ + -0.6266673992656706, + 399.7867094174934 + ], + [ + -31.59365350133669, + 382.14435311006486 + ], + [ + -28.383608453886495, + 387.60762188719514 + ], + [ + -12.211428099306659, + 380.74019773831276 + ], + [ + -15.496917062323973, + 375.3624199314962 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 862.7686755379718, + "ymin": 0.0, + "xmax": 1050.6296299293722, + "ymax": 72.04574769262814 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1006.903058793201, + 7.466807864888381 + ], + [ + 999.9175773669208, + 5.218050008279249 + ], + [ + 862.7686755379718, + 69.16884498283429 + ], + [ + 869.9588032288661, + 72.04574769262814 + ], + [ + 1050.6296299293722, + -164.69039251043898 + ], + [ + 1042.5920758475615, + -166.3245628670836 + ], + [ + 893.1051319290461, + -119.145592453848 + ], + [ + 901.4595983142212, + -116.98824512653158 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2334590930876643410, + "instance_id": 21048, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -123.8453369140625, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 169.31367650523913, + "ymin": 217.6365744088864, + "xmax": 190.48750319252161, + "ymax": 233.54108064793564 + }, + "corners_3d": [ + [ + -116.6200942993164, + -123.69747161865234, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.69747161865234, + 7.743301868438721 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 183.15446319351412, + 221.56970361470346 + ], + [ + 170.82348520351042, + 226.29550482595823 + ], + [ + 178.0803504710746, + 233.54108064793564 + ], + [ + 190.48750319252161, + 228.71869391983873 + ], + [ + 181.69414873151396, + 217.6365744088864 + ], + [ + 169.31367650523913, + 222.3511529548667 + ], + [ + 176.57868088448782, + 229.5799143229001 + ], + [ + 189.03602207388525, + 224.76866584902695 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3639812104533344102, + "instance_id": 26239, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -123.8453369140625, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 169.42687453525622, + "ymin": 217.72046464900603, + "xmax": 190.37496103982375, + "ymax": 233.4558430442043 + }, + "corners_3d": [ + [ + -116.62229919433594, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.69904327392578, + 7.742714881896973 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 183.1205694210355, + 221.611907188146 + ], + [ + 170.9203177042928, + 226.2878016510129 + ], + [ + 178.1001399890739, + 233.4558430442043 + ], + [ + 190.37496103982375, + 228.6854063675022 + ], + [ + 181.6755758641729, + 217.72046464900603 + ], + [ + 169.42687453525622, + 222.38537453686894 + ], + [ + 176.6146661442533, + 229.5369565129272 + ], + [ + 188.93860913871504, + 224.7774226654189 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 866.8797806455132, + "ymin": 0.0, + "xmax": 1097.7085788477416, + "ymax": 26.341673387924686 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 929.1095116787411, + 26.341673387924686 + ], + [ + 1026.9530050037354, + -19.257503737415277 + ], + [ + 966.2815783245222, + -37.244452067380166 + ], + [ + 866.8797806455132, + 4.733542488002513 + ], + [ + 988.2222712254094, + -265.1579053601299 + ], + [ + 1097.7085788477416, + -288.28373968121707 + ], + [ + 1023.230767048109, + -297.17926380533686 + ], + [ + 910.9230754301351, + -276.22100900159137 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 753.4542605349264, + "ymin": 0.0, + "xmax": 768.5665313709619, + "ymax": 6.399441471160401 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 759.2627721833836, + 0.7783481646077348 + ], + [ + 753.4542605349264, + 3.004438536848909 + ], + [ + 762.4758304615921, + 6.399441471160401 + ], + [ + 768.2831242000354, + 4.1422744257336035 + ], + [ + 759.524431414046, + -2.405618179793123 + ], + [ + 753.7043217102155, + -0.18927587528094136 + ], + [ + 762.7476620361809, + 3.1909463143704215 + ], + [ + 768.5665313709619, + 0.943594669987533 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6967274615413648305, + "instance_id": 45483, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_2", + "bbox_3d": { + "center_world": { + "x": -99.33560943603516, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 88.91489537637193, + "xmax": 38.20105099669672, + "ymax": 247.9362716229169 + }, + "corners_3d": [ + [ + -100.3640365600586, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -127.03557586669922, + 4.877264976501465 + ], + [ + -100.3640365600586, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + -28.640114104613303, + 247.9362716229169 + ], + [ + 38.20105099669672, + 224.1041761480802 + ], + [ + 20.51741475153176, + 202.4672457937717 + ], + [ + -44.79103553909931, + 224.8420393191952 + ], + [ + -93.82014059207768, + 130.5612006116392 + ], + [ + -18.37335123518119, + 108.6700346058206 + ], + [ + -35.77805558030286, + 88.91489537637193 + ], + [ + -109.24082583073505, + 109.34572643353144 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9919303964700251881, + "instance_id": 59670, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_Poles_4", + "bbox_3d": { + "center_world": { + "x": -112.9144515991211, + "y": -134.7008514404297, + "z": 4.223348617553711 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 204.16876010833008, + "xmax": 44.92025120134622, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.18444061279297, + -128.6757354736328, + -4.76837158203125e-06 + ], + [ + -112.75162506103516, + -128.67189025878906, + -4.76837158203125e-06 + ], + [ + -112.64446258544922, + -140.72596740722656, + -4.76837158203125e-06 + ], + [ + -113.07727813720703, + -140.7298126220703, + -4.76837158203125e-06 + ], + [ + -113.18444061279297, + -128.6757354736328, + 8.446702003479004 + ], + [ + -112.75162506103516, + -128.67189025878906, + 8.446702003479004 + ], + [ + -112.64446258544922, + -140.72596740722656, + 8.446702003479004 + ], + [ + -113.07727813720703, + -140.7298126220703, + 8.446702003479004 + ] + ], + "corners_2d": [ + [ + 44.92025120134622, + 467.5903918568853 + ], + [ + 39.93938079635814, + 459.19496332258393 + ], + [ + -536.3962435961969, + 729.755431988358 + ], + [ + -536.5890108158605, + 743.694175944406 + ], + [ + -109.65279594922742, + 211.88511643556555 + ], + [ + -114.19898740361828, + 204.16876010833008 + ], + [ + -956.2012683360065, + 472.0132868535175 + ], + [ + -963.0325603403774, + 486.97112435789705 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 506.5451742468598, + "ymin": 0.0, + "xmax": 579.1044236448166, + "ymax": 9.005967277517641 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 519.6697935221811, + 6.711112590020548 + ], + [ + 524.6282241044325, + 9.005967277517641 + ], + [ + 579.1044236448166, + -8.9036610477782 + ], + [ + 574.0808992246881, + -11.035155155901066 + ], + [ + 506.5451742468598, + -150.93028961786734 + ], + [ + 511.9791208220355, + -149.20197262770404 + ], + [ + 572.6960597250124, + -162.6435397845122 + ], + [ + 567.1782685832828, + -164.23617373011336 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 753.5347089813331, + "ymin": 0.0, + "xmax": 768.4859993939926, + "ymax": 6.352482355570544 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 759.281387988934, + 0.7912844820280611 + ], + [ + 753.5347089813331, + 2.993768920495654 + ], + [ + 762.4602942892554, + 6.352482355570544 + ], + [ + 768.2057824020536, + 4.1195791543320865 + ], + [ + 759.5403173591292, + -2.358944102940143 + ], + [ + 753.7822860302018, + -0.1660016382949152 + ], + [ + 762.7291807038864, + 3.1782438982950794 + ], + [ + 768.4859993939926, + 0.9549478783569612 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 678.1691936079159, + "ymin": 0.0, + "xmax": 772.6486326269567, + "ymax": 198.3652255993248 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 685.7425901344055, + 158.24066814297643 + ], + [ + 678.1691936079159, + 161.87476489366267 + ], + [ + 747.0264023846186, + 198.3652255993248 + ], + [ + 754.6159423266346, + 194.31014595635727 + ], + [ + 692.5000779795441, + -32.88631654620423 + ], + [ + 683.8445277683634, + -29.954263203011294 + ], + [ + 763.981640827039, + -0.2388355431737068 + ], + [ + 772.6486326269567, + -3.5658704914810073 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 110.47115793009766, + "ymin": 158.3139607486356, + "xmax": 275.6399310023339, + "ymax": 457.9361582102707 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 217.03819290007266, + 383.14862338655473 + ], + [ + 203.20372732781675, + 389.78709612567036 + ], + [ + 261.21005984898875, + 457.9361582102707 + ], + [ + 275.6399310023339, + 450.2263000091649 + ], + [ + 128.06846408707855, + 158.3139607486356 + ], + [ + 110.47115793009766, + 164.2750191550805 + ], + [ + 173.06027681946335, + 226.6006579213521 + ], + [ + 191.70214602134712, + 219.44452442448798 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 705.3966643444197, + "ymin": 0.0, + "xmax": 1009.9367249733972, + "ymax": 262.2168273599613 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 712.4825035279048, + 137.47429388588992 + ], + [ + 705.3966643444197, + 140.7689913546844 + ], + [ + 943.5421063116205, + 262.2168273599613 + ], + [ + 950.4982125642955, + 257.5214157529334 + ], + [ + 723.761737924431, + -67.08510980858148 + ], + [ + 715.6356511968467, + -64.52892348076847 + ], + [ + 1002.0879537260704, + 32.73446263746587 + ], + [ + 1009.9367249733972, + 28.860720898739714 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 183.84560634035734, + "ymax": 425.4542755554495 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 76.2160171203767, + 237.30180747822155 + ], + [ + -126.53474955355944, + 330.12129528458354 + ], + [ + -27.17520646366654, + 425.4542755554495 + ], + [ + 183.84560634035734, + 311.1486134894855 + ], + [ + -86.55650544792786, + -113.40241747877974 + ], + [ + -385.96449777090925, + -49.576814137896974 + ], + [ + -289.83032912672775, + 21.31663039600096 + ], + [ + 34.240604045832356, + -63.020430752541074 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 10.437452197003381, + "ymax": 132.0576569602378 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + -88.34477643055072, + 35.45650056175202 + ], + [ + -246.8877195099967, + 93.9945743309379 + ], + [ + -146.68086617799474, + 132.0576569602378 + ], + [ + 10.437452197003381, + 65.99574961504203 + ], + [ + -221.139235925584, + -222.81501277873144 + ], + [ + -430.5870844059409, + -187.2889674436135 + ], + [ + -322.7579486901126, + -163.3781428270952 + ], + [ + -112.41256886002384, + -204.46524422307243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 217.38130795737572, + "ymax": 486.9579411679259 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -74.78489970824864, + 486.9579411679259 + ], + [ + 188.2648826398683, + 449.3399975085434 + ], + [ + 217.38130795737572, + 300.65588071411173 + ], + [ + -1.369837656301229, + 327.072846006681 + ], + [ + -383.4321172632207, + 70.24346237985384 + ], + [ + 3.846776468709322, + 40.0053123929074 + ], + [ + 81.19361808617145, + -70.36536951116392 + ], + [ + -217.35157596838565, + -51.75115932151368 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 26.164357953308127, + "ymax": 205.89415841173965 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -48.0791414822404, + 91.93443463160457 + ], + [ + -218.32174892223247, + 149.61293454492426 + ], + [ + -151.1046966424292, + 205.89415841173965 + ], + [ + 26.164357953308127, + 138.06158923189565 + ], + [ + -197.97545144696005, + -204.35501804657747 + ], + [ + -428.6211577093429, + -169.49086452183997 + ], + [ + -366.8494390589892, + -133.93867375754928 + ], + [ + -120.83416212800796, + -176.59715137923445 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/ORI/frames_playback/frame_00023/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/ORI/frames_playback/frame_00023/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1fc77a7802d9822df923703ba098b7971585c2f2 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/ORI/frames_playback/frame_00023/meta.json @@ -0,0 +1,3416 @@ +{ + "frame_id": 23, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 11.5, + "sim_timestamp": 8086.183054158464 + }, + "drone_pose": { + "x": -136.58013871039142, + "y": -127.92487619941525, + "z": 20.090869384941072, + "pitch": -41.93066617281498, + "yaw": 40.9393951125068, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5619851350784302, + -0.48748356103897095, + 0.6682308912277222, + 125.69194030761719 + ], + [ + 0.6552603840827942, + 0.7554031014442444, + -1.4901161193847656e-08, + 7.1392974853515625 + ], + [ + -0.5047836303710938, + 0.4378651976585388, + 0.7439539432525635, + -139.90396118164062 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -136.0768283559478, + "y": -127.57201081765407, + "z": 20.07900803941153 + }, + "t1_image_uv": [ + 508.81026647389706, + -469.2138993808768 + ], + "t1_depth": 0.462795143436981 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -120.16718292236328, + "y": -113.68776321411131, + "z": 0.5749748778357753 + }, + "image_uv": [ + 639.9999999999999, + 360.0 + ], + "depth": 29.2053187325278, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 189, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -120.16718292236328, + "y": -113.68775939941406, + "z": 0.5749748945236206 + }, + "extent": { + "x": 0.19997557997703552, + "y": 0.2048388570547104, + "z": 0.5227372050285339 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 632.6965132222814, + "ymin": 342.40214977160576, + "xmax": 647.2343511903492, + "ymax": 377.3701078979745 + }, + "corners_3d": [ + [ + -120.16374206542969, + -113.97400665283203, + 0.05223768949508667 + ], + [ + -120.45343017578125, + -113.68431854248047, + 0.05223768949508667 + ], + [ + -120.17062377929688, + -113.4015121459961, + 0.05223768949508667 + ], + [ + -119.88093566894531, + -113.69120025634766, + 0.05223768949508667 + ], + [ + -120.16374206542969, + -113.97400665283203, + 1.0977120399475098 + ], + [ + -120.45343017578125, + -113.68431854248047, + 1.0977120399475098 + ], + [ + -120.17062377929688, + -113.4015121459961, + 1.0977120399475098 + ], + [ + -119.88093566894531, + -113.69120025634766, + 1.0977120399475098 + ] + ], + "corners_2d": [ + [ + 632.8699620733803, + 376.7247349368059 + ], + [ + 646.2105499781392, + 377.3701078979745 + ], + [ + 647.0641366854676, + 368.57727016037217 + ], + [ + 633.8561812467274, + 367.94473006418997 + ], + [ + 632.6965132222814, + 351.1317661733135 + ], + [ + 646.3617445323146, + 351.7736027170704 + ], + [ + 647.2343511903492, + 343.0309179440215 + ], + [ + 633.7082524556779, + 342.40214977160576 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 23, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 69, + "semantic_pixel_counts": { + "1": 564388, + "2": 169647, + "3": 105851, + "5": 4035, + "6": 6935, + "7": 987, + "9": 25383, + "10": 7153, + "12": 3558, + "21": 2557, + "24": 31106 + }, + "instance_pixel_counts": { + "1115": 3660, + "2978": 209, + "4002": 232, + "6254": 2729, + "10370": 1841, + "11394": 892, + "14416": 103, + "14672": 3, + "14928": 3929, + "15511": 2665, + "16023": 597, + "18011": 21794, + "20119": 5309, + "20631": 13180, + "23808": 64, + "24064": 3824, + "26560": 8327, + "27072": 2631, + "28608": 1228, + "29843": 21225, + "30144": 3959, + "30355": 25678, + "30656": 58225, + "31168": 2020, + "31488": 1297, + "31813": 7099, + "31891": 390204, + "34120": 44546, + "34395": 140, + "34453": 2621, + "34907": 283, + "34965": 2966, + "35419": 1075, + "35931": 5016, + "36443": 63915, + "36501": 19059, + "39507": 4, + "44171": 726, + "44179": 73, + "44691": 103938, + "44891": 185, + "45203": 6064, + "45915": 7, + "46227": 17206, + "46731": 1092, + "47253": 5175, + "47765": 625, + "48267": 451, + "48779": 491, + "48789": 660, + "49664": 189, + "49803": 377, + "49920": 378, + "50176": 410, + "50432": 909, + "50688": 1071, + "50944": 601, + "53184": 1362, + "54720": 1860, + "55232": 615, + "55744": 2408, + "56768": 370, + "56993": 355, + "57173": 25383, + "58529": 759, + "59809": 810, + "60013": 3985, + "61037": 3254, + "64351": 17208 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 189, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -120.16718292236328, + "y": -113.68775939941406, + "z": 0.5749748945236206 + }, + "extent": { + "x": 0.2270556539297104, + "y": 0.24940429627895355, + "z": 0.5280410051345825 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 631.1399901594092, + "ymin": 341.61655411597377, + "xmax": 648.7652977606917, + "ymax": 378.16904235919594 + }, + "corners_3d": [ + [ + -120.15138244628906, + -114.02466583251953, + 0.046933889389038086 + ], + [ + -120.50408935546875, + -113.67195892333984, + 0.046933889389038086 + ], + [ + -120.1829833984375, + -113.3508529663086, + 0.046933889389038086 + ], + [ + -119.83027648925781, + -113.70355987548828, + 0.046933889389038086 + ], + [ + -120.15138244628906, + -114.02466583251953, + 1.1030158996582031 + ], + [ + -120.50408935546875, + -113.67195892333984, + 1.1030158996582031 + ], + [ + -120.1829833984375, + -113.3508529663086, + 1.1030158996582031 + ], + [ + -119.83027648925781, + -113.70355987548828, + 1.1030158996582031 + ] + ], + "corners_2d": [ + [ + 631.3526421329118, + 377.38218122369693 + ], + [ + 647.6044367857428, + 378.16904235919594 + ], + [ + 648.5571189264875, + 368.18351253469876 + ], + [ + 632.4886364596091, + 367.4143904811576 + ], + [ + 631.1399901594092, + 351.52652389494085 + ], + [ + 647.7916131011599, + 352.3090558256436 + ], + [ + 648.7652977606917, + 342.3810180772301 + ], + [ + 632.3060643006547, + 341.61655411597377 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 378, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -116.04119873046875, + "y": -110.69005584716797, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.45363280177116394, + "y": 0.37855955958366394, + "z": 0.8869815468788147 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 614.2524969629097, + "ymin": 231.36715096921765, + "xmax": 639.9558711365095, + "ymax": 290.6041995785059 + }, + "corners_3d": [ + [ + -116.21546936035156, + -111.25460815429688, + -0.31198716163635254 + ], + [ + -116.62782287597656, + -110.61963653564453, + -0.31198716163635254 + ], + [ + -115.86692810058594, + -110.12550354003906, + -0.31198716163635254 + ], + [ + -115.45457458496094, + -110.7604751586914, + -0.31198716163635254 + ], + [ + -116.21546936035156, + -111.25460815429688, + 1.4619759321212769 + ], + [ + -116.62782287597656, + -110.61963653564453, + 1.4619759321212769 + ], + [ + -115.86692810058594, + -110.12550354003906, + 1.4619759321212769 + ], + [ + -115.45457458496094, + -110.7604751586914, + 1.4619759321212769 + ] + ], + "corners_2d": [ + [ + 618.276340645816, + 290.6041995785059 + ], + [ + 639.9558711365095, + 288.750739543042 + ], + [ + 636.4133638174249, + 273.1753661522888 + ], + [ + 615.1535429812491, + 274.9564740418933 + ], + [ + 617.4720941190158, + 248.46678438874955 + ], + [ + 639.9542413715529, + 246.64701060630063 + ], + [ + 636.2836048503646, + 231.36715096921765 + ], + [ + 614.2524969629097, + 233.1133410550472 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 410, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -122.42300415039062, + "y": -106.74504852294922, + "z": 0.5750090479850769 + }, + "extent": { + "x": 0.2977343797683716, + "y": 0.4055761694908142, + "z": 0.867720365524292 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 828.5524596829048, + "ymin": 274.6161535572248, + "xmax": 864.4469167538525, + "ymax": 328.240538036754 + }, + "corners_3d": [ + [ + -122.3991470336914, + -107.24761199951172, + -0.2927113175392151 + ], + [ + -122.90962219238281, + -106.61722564697266, + -0.2927113175392151 + ], + [ + -122.44686126708984, + -106.24248504638672, + -0.2927113175392151 + ], + [ + -121.93638610839844, + -106.87287139892578, + -0.2927113175392151 + ], + [ + -122.3991470336914, + -107.24761199951172, + 1.4427294731140137 + ], + [ + -122.90962219238281, + -106.61722564697266, + 1.4427294731140137 + ], + [ + -122.44686126708984, + -106.24248504638672, + 1.4427294731140137 + ], + [ + -121.93638610839844, + -106.87287139892578, + 1.4427294731140137 + ] + ], + "corners_2d": [ + [ + 831.7991425739424, + 328.240538036754 + ], + [ + 856.2336069408256, + 327.70529284686444 + ], + [ + 852.6523218317207, + 316.2694019603441 + ], + [ + 828.5524596829048, + 316.78999458234784 + ], + [ + 839.0892224922743, + 286.409979703833 + ], + [ + 864.4469167538525, + 285.88238630249936 + ], + [ + 860.6141437693456, + 274.6161535572248 + ], + [ + 835.6166272751748, + 275.12876681982755 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 909, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -129.66717529296875, + "y": -113.68775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.36702147126197815, + "y": 0.425048828125, + "z": 0.8568050265312195 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 866.1647369006619, + "ymin": 518.4459139639911, + "xmax": 916.446650351722, + "ymax": 586.5425907411267 + }, + "corners_3d": [ + [ + -129.6261444091797, + -114.24784088134766, + -0.2818203568458557 + ], + [ + -130.2272491455078, + -113.646728515625, + -0.2818203568458557 + ], + [ + -129.7082061767578, + -113.12767791748047, + -0.2818203568458557 + ], + [ + -129.1071014404297, + -113.72879028320312, + -0.2818203568458557 + ], + [ + -129.6261444091797, + -114.24784088134766, + 1.4317896366119385 + ], + [ + -130.2272491455078, + -113.646728515625, + 1.4317896366119385 + ], + [ + -129.7082061767578, + -113.12767791748047, + 1.4317896366119385 + ], + [ + -129.1071014404297, + -113.72879028320312, + 1.4317896366119385 + ] + ], + "corners_2d": [ + [ + 869.19472057422, + 584.5269136983487 + ], + [ + 903.3356423268187, + 586.5425907411267 + ], + [ + 899.5468977167568, + 562.5192996896118 + ], + [ + 866.1647369006619, + 560.5915081239713 + ], + [ + 880.5837390047762, + 542.5744481347485 + ], + [ + 916.446650351722, + 544.6088003542384 + ], + [ + 912.1702925114078, + 520.3873068828254 + ], + [ + 877.1436661884385, + 518.4459139639911 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 1071, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -123.78268432617188, + "y": -124.81512451171875, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.4184228479862213, + "y": 0.5242773294448853, + "z": 0.8867623805999756 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 335.91795543700925, + "ymin": 614.192994335689, + "xmax": 408.40763923497695, + "ymax": 696.2226516259379 + }, + "corners_3d": [ + [ + -123.63856506347656, + -125.4702377319336, + -0.311772882938385 + ], + [ + -124.45344543457031, + -124.81036376953125, + -0.311772882938385 + ], + [ + -123.92680358886719, + -124.1600112915039, + -0.311772882938385 + ], + [ + -123.11192321777344, + -124.81988525390625, + -0.311772882938385 + ], + [ + -123.63856506347656, + -125.4702377319336, + 1.461751937866211 + ], + [ + -124.45344543457031, + -124.81036376953125, + 1.461751937866211 + ], + [ + -123.92680358886719, + -124.1600112915039, + 1.461751937866211 + ], + [ + -123.11192321777344, + -124.81988525390625, + 1.461751937866211 + ] + ], + "corners_2d": [ + [ + 352.22212043713273, + 688.8334908995784 + ], + [ + 395.55609506108357, + 696.2226516259379 + ], + [ + 408.40763923497695, + 663.6855213229477 + ], + [ + 366.1659426264451, + 656.690945830964 + ], + [ + 335.91795543700925, + 646.9111940213172 + ], + [ + 381.6162202761714, + 654.446838166488 + ], + [ + 395.57905217576763, + 621.3043323950966 + ], + [ + 351.0934659055855, + 614.192994335689 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 601, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -108.92184448242188, + "y": -121.85797882080078, + "z": 0.7331388592720032 + }, + "extent": { + "x": 0.5181298851966858, + "y": 0.4988671839237213, + "z": 0.9310156106948853 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 194.88868099584192, + "ymin": 257.6945004751115, + "xmax": 256.3819164502002, + "ymax": 326.5941826817645 + }, + "corners_3d": [ + [ + -108.78565216064453, + -122.56422424316406, + -0.19787675142288208 + ], + [ + -109.62242126464844, + -122.02081298828125, + -0.19787675142288208 + ], + [ + -109.05803680419922, + -121.1517333984375, + -0.19787675142288208 + ], + [ + -108.22126770019531, + -121.69514465332031, + -0.19787675142288208 + ], + [ + -108.78565216064453, + -122.56422424316406, + 1.6641545295715332 + ], + [ + -109.62242126464844, + -122.02081298828125, + 1.6641545295715332 + ], + [ + -109.05803680419922, + -121.1517333984375, + 1.6641545295715332 + ], + [ + -108.22126770019531, + -121.69514465332031, + 1.6641545295715332 + ] + ], + "corners_2d": [ + [ + 212.30993892830816, + 321.24016918341204 + ], + [ + 238.67071094859983, + 326.5941826817645 + ], + [ + 256.3819164502002, + 307.59835684722003 + ], + [ + 230.50965522796298, + 302.4861751644525 + ], + [ + 194.88868099584192, + 276.1260892021903 + ], + [ + 222.21257732982275, + 281.3943365275476 + ], + [ + 241.0250681697716, + 262.71540930369235 + ], + [ + 214.22468739981866, + 257.6945004751115 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 862.2514673705075, + "ymin": 33.59405911298222, + "xmax": 879.7256888161103, + "ymax": 63.58291749249946 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 868.5514981337533, + 63.58291749249946 + ], + [ + 875.5428010905542, + 60.44076359882541 + ], + [ + 869.2450936799393, + 57.82510980468521 + ], + [ + 862.2514673705075, + 60.93804024847475 + ], + [ + 872.6332986564375, + 39.20116030747158 + ], + [ + 879.7256888161103, + 36.14099746300457 + ], + [ + 873.2968861511808, + 33.59405911298222 + ], + [ + 866.2018706849987, + 36.625257801855355 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 999.4071162300951, + "ymin": 89.10750557860922, + "xmax": 1021.2542840626162, + "ymax": 121.73327275470157 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1007.0648197039216, + 121.73327275470157 + ], + [ + 1013.9224819345296, + 117.91432304244867 + ], + [ + 1006.2762884938313, + 114.738598132108 + ], + [ + 999.4071162300951, + 118.5184191078269 + ], + [ + 1014.3073508480074, + 95.94390144883556 + ], + [ + 1021.2542840626162, + 92.21099395648014 + ], + [ + 1013.420673547224, + 89.10750557860922 + ], + [ + 1006.461302697814, + 92.80141951740478 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 755.475893856245, + "ymin": 65.53231070720011, + "xmax": 769.1930279595631, + "ymax": 91.5377456669301 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 760.5770805147486, + 91.5377456669301 + ], + [ + 767.2233641933873, + 88.65067825355948 + ], + [ + 762.1196656327617, + 86.23124500662783 + ], + [ + 755.475893856245, + 89.09466290397552 + ], + [ + 762.4531090765071, + 70.73183357016688 + ], + [ + 769.1930279595631, + 67.90278944040483 + ], + [ + 764.0024541794687, + 65.53231070720011 + ], + [ + 757.2650480771836, + 68.33782319372096 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 933.7413630840957, + "ymin": 62.51249526454268, + "xmax": 953.4339772154145, + "ymax": 93.88590939558594 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 940.7324591364394, + 93.88590939558594 + ], + [ + 947.6738214408474, + 90.39924924336856 + ], + [ + 940.6894381070165, + 87.49839539676532 + ], + [ + 933.7413630840957, + 90.9509093051883 + ], + [ + 946.3964065153637, + 68.74461087546939 + ], + [ + 953.4339772154145, + 65.34246408490066 + ], + [ + 946.2907689419105, + 62.51249526454268 + ], + [ + 939.2458950874055, + 65.88070252020037 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11529003171770300666, + "instance_id": 64120, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.25050354003906, + "y": -128.95399475097656, + "z": 3.0800981521606445 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 394.3093546104059, + "xmax": 14.145212153885836, + "ymax": 431.962143898508 + }, + "corners_3d": [ + [ + -113.11116790771484, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -128.7640380859375, + 3.5146679878234863 + ], + [ + -113.11116790771484, + -128.7640380859375, + 3.5146679878234863 + ] + ], + "corners_2d": [ + [ + -5.180713648869869, + 425.92927367856083 + ], + [ + -2.098979868191009, + 431.962143898508 + ], + [ + 14.145212153885836, + 424.83624347968544 + ], + [ + 10.982732197951577, + 418.894760015934 + ], + [ + -21.01026806079608, + 401.3241101532232 + ], + [ + -17.957844223788243, + 407.34211386349193 + ], + [ + -1.191654298027629, + 400.2339788205477 + ], + [ + -4.330444249051197, + 394.3093546104059 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 906.6539640869727, + "ymin": 0.0, + "xmax": 1109.8022789321203, + "ymax": 78.82574959298944 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1057.2190522871042, + 11.806792705828116 + ], + [ + 1049.8832040178877, + 9.320133832998863 + ], + [ + 906.6539640869727, + 75.65049463441164 + ], + [ + 914.1592199367028, + 78.82574959298944 + ], + [ + 1109.8022789321203, + -166.77887957416635 + ], + [ + 1101.2606817297735, + -168.60514141265412 + ], + [ + 945.035367757313, + -119.11594998229663 + ], + [ + 953.8691185872794, + -116.70584467307356 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2334590930876643410, + "instance_id": 21048, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -123.8453369140625, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 186.19039226634885, + "ymin": 237.79801119622755, + "xmax": 208.04516482107175, + "ymax": 254.99074862951556 + }, + "corners_3d": [ + [ + -116.6200942993164, + -123.69747161865234, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.69747161865234, + 7.743301868438721 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 200.68132618540767, + 241.82471035363437 + ], + [ + 187.7350189876958, + 246.82410574920715 + ], + [ + 195.0077339286933, + 254.99074862951556 + ], + [ + 208.04516482107175, + 249.88212609734165 + ], + [ + 199.19096253555165, + 237.79801119622755 + ], + [ + 186.19039226634885, + 242.78733486873233 + ], + [ + 193.47132020374187, + 250.9380145683421 + ], + [ + 206.56386065169391, + 245.83930667679962 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3639812104533344102, + "instance_id": 26239, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -123.8453369140625, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 186.3071724053782, + "ymin": 237.8886503041565, + "xmax": 207.92893531932998, + "ymax": 254.89855975214044 + }, + "corners_3d": [ + [ + -116.62229919433594, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.69904327392578, + 7.742714881896973 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 200.6441650767166, + 241.8726576529583 + ], + [ + 187.8350374786973, + 246.8193025800431 + ], + [ + 195.03060498875232, + 254.89855975214044 + ], + [ + 207.92893531932998, + 249.84499823298242 + ], + [ + 199.16941823494125, + 237.8886503041565 + ], + [ + 186.3071724053782, + 242.82543759120114 + ], + [ + 193.51078224523218, + 250.88906825167683 + ], + [ + 206.4630505849807, + 245.84521225004835 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 911.0464293025, + "ymin": 0.0, + "xmax": 1163.220874318894, + "ymax": 31.0349563418539 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 976.0178133412203, + 31.0349563418539 + ], + [ + 1078.2306262302304, + -16.301376298387595 + ], + [ + 1014.61579582691, + -36.15020967111667 + ], + [ + 911.0464293025, + 7.225863199458047 + ], + [ + 1048.9093579722526, + -272.1758766477577 + ], + [ + 1163.220874318894, + -296.56098660798216 + ], + [ + 1083.7536542680405, + -306.5140370395369 + ], + [ + 966.6802148657059, + -284.5572770821909 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5944504550537153523, + "instance_id": 62411, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_1", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88526153564453, + "z": 3.6450090408325195 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 117.92278835023185, + "xmax": 17.393492034015935, + "ymax": 168.49282005295316 + }, + "corners_3d": [ + [ + -100.3021469116211, + -126.97334289550781, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -126.97334289550781, + 3.8072457313537598 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.8072457313537598 + ] + ], + "corners_2d": [ + [ + -52.67323833544879, + 168.49282005295316 + ], + [ + 17.393492034015935, + 146.93622256483658 + ], + [ + 1.573223873343295, + 126.25882210285948 + ], + [ + -66.69827839445736, + 146.44281382897162 + ], + [ + -57.406176231351765, + 159.8814148864829 + ], + [ + 13.276928308559263, + 138.46085857837616 + ], + [ + -2.5126384166621847, + 117.92278835023185 + ], + [ + -71.36726636343462, + 137.9706756677815 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 798.8710062598138, + "ymin": 5.17117318779043, + "xmax": 814.8802969335806, + "ymax": 14.643950300312781 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 804.957854913317, + 8.474979867637103 + ], + [ + 798.8710062598138, + 10.825500573437353 + ], + [ + 808.3834049019785, + 14.643950300312781 + ], + [ + 814.471443067657, + 12.25839679620168 + ], + [ + 805.3415658121851, + 5.17117318779043 + ], + [ + 799.2422631005434, + 7.511947074998716 + ], + [ + 808.7798258544307, + 11.314669812120428 + ], + [ + 814.8802969335806, + 8.938926146707274 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6967274615413648305, + "instance_id": 45483, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_2", + "bbox_3d": { + "center_world": { + "x": -99.33560943603516, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 88.49298051983095, + "xmax": 58.59898637437618, + "ymax": 251.09472417331673 + }, + "corners_3d": [ + [ + -100.3640365600586, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -127.03557586669922, + 4.877264976501465 + ], + [ + -100.3640365600586, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + -9.483797694766963, + 251.09472417331673 + ], + [ + 58.59898637437618, + 227.0938005631202 + ], + [ + 41.498065049610204, + 203.9068182846401 + ], + [ + -24.89574869691046, + 226.38250870210655 + ], + [ + -75.18405908271154, + 131.96221833906682 + ], + [ + 1.8423727031486123, + 109.78408672406212 + ], + [ + -14.895577422857741, + 88.49298051983095 + ], + [ + -89.73368359639358, + 109.12898887449703 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9919303964700251881, + "instance_id": 59670, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_Poles_4", + "bbox_3d": { + "center_world": { + "x": -112.9144515991211, + "y": -134.7008514404297, + "z": 4.223348617553711 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 219.81950164616597, + "xmax": 57.66035628374448, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.18444061279297, + -128.6757354736328, + -4.76837158203125e-06 + ], + [ + -112.75162506103516, + -128.67189025878906, + -4.76837158203125e-06 + ], + [ + -112.64446258544922, + -140.72596740722656, + -4.76837158203125e-06 + ], + [ + -113.07727813720703, + -140.7298126220703, + -4.76837158203125e-06 + ], + [ + -113.18444061279297, + -128.6757354736328, + 8.446702003479004 + ], + [ + -112.75162506103516, + -128.67189025878906, + 8.446702003479004 + ], + [ + -112.64446258544922, + -140.72596740722656, + 8.446702003479004 + ], + [ + -113.07727813720703, + -140.7298126220703, + 8.446702003479004 + ] + ], + "corners_2d": [ + [ + 57.66035628374448, + 486.9517225101115 + ], + [ + 52.869247216727445, + 477.78536707887736 + ], + [ + -539.4588766626832, + 753.9967767989932 + ], + [ + -540.421220006586, + 769.097655746514 + ], + [ + -102.1864299968264, + 228.42698916663653 + ], + [ + -106.39423689395733, + 219.81950164616597 + ], + [ + -983.5093960114009, + 499.9475999030342 + ], + [ + -992.220622476925, + 516.6057084754785 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 542.6134679935817, + "ymin": 0.0, + "xmax": 613.6525219520745, + "ymax": 7.3770379521654945 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 552.5603554280012, + 4.897106371148141 + ], + [ + 557.6059254411648, + 7.3770379521654945 + ], + [ + 613.6525219520745, + -10.817022032428781 + ], + [ + 608.523201289238, + -13.123456537991387 + ], + [ + 542.6134679935817, + -157.08049284469496 + ], + [ + 548.1819360080884, + -155.19950907714235 + ], + [ + 610.7583707442496, + -168.95091078423843 + ], + [ + 605.0836167334367, + -170.68617262839996 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 798.9561714961108, + "ymin": 5.221369336254099, + "xmax": 814.7949290637755, + "ymax": 14.593412491398794 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 804.9782392063793, + 8.490168550403212 + ], + [ + 798.9561714961108, + 10.815778195682014 + ], + [ + 808.3673889097165, + 14.593412491398794 + ], + [ + 814.3906222429439, + 12.23351168148173 + ], + [ + 805.3579352404363, + 5.221369336254099 + ], + [ + 799.3236773261862, + 7.53743825241088 + ], + [ + 808.7595259971799, + 11.2996784036971 + ], + [ + 814.7949290637755, + 8.949379353277152 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14081937874569997388, + "instance_id": 19500, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_0", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88525390625, + "z": 3.6439085006713867 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 117.90026223544359, + "xmax": 17.468729155229198, + "ymax": 168.57656939534522 + }, + "corners_3d": [ + [ + -100.30333709716797, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.30333709716797, + -126.97452545166016, + 3.807230234146118 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.807230234146118 + ] + ], + "corners_2d": [ + [ + -52.67198584707694, + 168.57656939534522 + ], + [ + 17.468729155229198, + 146.99461470156288 + ], + [ + 1.6275411110349296, + 126.2915173089182 + ], + [ + -66.71398489165256, + 146.4976709441011 + ], + [ + -57.436750742394906, + 159.90781660318402 + ], + [ + 13.325128383033416, + 138.46294327252994 + ], + [ + -2.4851409202371997, + 117.90026223544359 + ], + [ + -71.41428505788747, + 137.96926946454283 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 714.3294008646806, + "ymin": 0.0, + "xmax": 819.3447949055703, + "ymax": 212.32289520419846 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 722.2153159468429, + 168.21447493254828 + ], + [ + 714.3294008646806, + 171.9767653499715 + ], + [ + 785.755673864583, + 212.32289520419846 + ], + [ + 793.6884163977364, + 208.0982934944375 + ], + [ + 735.0492920606255, + -28.563292723261384 + ], + [ + 726.0077051037216, + -25.487519359272994 + ], + [ + 810.2568041229055, + 7.8387536806662865 + ], + [ + 819.3447949055703, + 4.319573119182564 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 127.36556463457134, + "ymin": 171.9119268131341, + "xmax": 294.0325977060313, + "ymax": 482.19126868347894 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 235.57723047427248, + 400.3845891996941 + ], + [ + 221.25677226121007, + 407.21673513922934 + ], + [ + 279.01054811563904, + 482.19126868347894 + ], + [ + 294.0325977060313, + 474.1912389184315 + ], + [ + 145.72949647196117, + 171.9119268131341 + ], + [ + 127.36556463457134, + 178.15898196758505 + ], + [ + 189.74667222663595, + 248.12147915815683 + ], + [ + 209.34865954127815, + 240.53091988341353 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16194625468754558244, + "instance_id": 9469, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.53463745117188, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 44.12759340216934, + "xmax": 20.30719034975766, + "ymax": 195.83154035584084 + }, + "corners_3d": [ + [ + -95.56306457519531, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -127.03557586669922, + 4.877264976501465 + ], + [ + -95.56306457519531, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + -43.949079943929746, + 195.83154035584084 + ], + [ + 20.30719034975766, + 175.17430576092113 + ], + [ + 5.520748034320604, + 155.1255043297797 + ], + [ + -57.21483565017172, + 174.56063095861418 + ], + [ + -107.5884592709159, + 81.10887126724083 + ], + [ + -35.493537190731104, + 62.291842046675015 + ], + [ + -49.773316032268895, + 44.12759340216934 + ], + [ + -119.93410916688788, + 61.73441547294243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 742.6537801622966, + "ymin": 0.0, + "xmax": 1072.815870096394, + "ymax": 284.83156085698954 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 750.0302421584236, + 146.29568779266285 + ], + [ + 742.6537801622966, + 149.7019109287844 + ], + [ + 991.7862906025118, + 284.83156085698954 + ], + [ + 999.1123326867103, + 279.8724585474596 + ], + [ + 768.121908302132, + -64.57714330999369 + ], + [ + 759.6358837961996, + -61.898095453891926 + ], + [ + 1064.538682575747, + 48.25204521428384 + ], + [ + 1072.815870096394, + 44.07158770360479 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 203.80216217434418, + "ymax": 439.2369844554509 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 96.84469091117558, + 241.10090405051392 + ], + [ + -110.28467720183085, + 335.4783983230858 + ], + [ + -13.719606694845424, + 439.2369844554509 + ], + [ + 203.80216217434418, + 321.67456609137844 + ], + [ + -67.2237047102384, + -117.65763898306676 + ], + [ + -375.87756699892054, + -51.54104264838611 + ], + [ + -285.71483614959504, + 27.512079001203517 + ], + [ + 52.817556825907445, + -61.538705589646156 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 35.658792774917856, + "ymax": 127.54468817938832 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + -61.85106733398038, + 27.516275153669426 + ], + [ + -221.52499921157028, + 86.30027884536293 + ], + [ + -123.62677526712048, + 127.54468817938832 + ], + [ + 35.658792774917856, + 60.70142289423535 + ], + [ + -193.59934311737027, + -235.52369744594398 + ], + [ + -405.01190443208066, + -199.62128106431055 + ], + [ + -300.29658900917127, + -173.50562624383497 + ], + [ + -86.3254318299904, + -215.4418361834231 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 238.2150307811305, + "ymax": 504.04531433212406 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -64.04535861853242, + 504.04531433212406 + ], + [ + 204.6311091620264, + 470.0315231689416 + ], + [ + 238.2150307811305, + 311.157722502825 + ], + [ + 15.694518192070632, + 334.8287325572465 + ], + [ + -386.3749180081595, + 80.67586561344586 + ], + [ + 14.98014596055009, + 52.388609427485676 + ], + [ + 101.5210351781401, + -69.07823079411799 + ], + [ + -205.07108011959167, + -52.0141888293071 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 49.58228182980872, + "ymax": 203.93821984942255 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -23.158784845226364, + 86.27244980180268 + ], + [ + -194.67533429135847, + 143.90711305366136 + ], + [ + -130.08296018950693, + 203.93821984942255 + ], + [ + 49.58228182980872, + 135.66345179394074 + ], + [ + -172.36803246866316, + -215.7901311786685 + ], + [ + -405.5110762889808, + -180.64832421010567 + ], + [ + -347.7822817581979, + -142.32130014608106 + ], + [ + -97.17942460927259, + -185.77149686103064 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/ORI/frames_playback/frame_00026/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/ORI/frames_playback/frame_00026/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0adadc6767941f7dd025cc17de0e78d5265c0af3 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/ORI/frames_playback/frame_00026/meta.json @@ -0,0 +1,3107 @@ +{ + "frame_id": 26, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 13.0, + "sim_timestamp": 8118.743478577584 + }, + "drone_pose": { + "x": -135.0469224261821, + "y": -126.75787028083344, + "z": 20.05930106751855, + "pitch": -41.63045943856832, + "yaw": 41.65373504412778, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5584723353385925, + -0.4967723488807678, + 0.664323627948761, + 125.06390380859375 + ], + [ + 0.6646272540092468, + 0.7471750974655151, + -1.4901161193847656e-08, + 4.954460144042969 + ], + [ + -0.49636608362197876, + 0.4415276050567627, + 0.7474451065063477, + -137.9930419921875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -134.5264844074757, + "y": -126.31165732481192, + "z": 20.051102066665038 + }, + "t1_image_uv": [ + 616.8269473843562, + -472.90233097775695 + ], + "t1_depth": 0.5177632644933766 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -118.66718292236328, + "y": -112.18776321411131, + "z": 0.5749895262720384 + }, + "image_uv": [ + 639.9999999999999, + 360.0 + ], + "depth": 29.329546235580615, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 183, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -118.66718292236328, + "y": -112.18775939941406, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.22944335639476776, + "y": 0.22162596881389618, + "z": 0.5298355221748352 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 632.1831597405607, + "ymin": 341.66864948144104, + "xmax": 647.7303604910402, + "ymax": 378.1185943604647 + }, + "corners_3d": [ + [ + -118.67271423339844, + -112.5067138671875, + 0.04515397548675537 + ], + [ + -118.98613739013672, + -112.19329071044922, + 0.04515397548675537 + ], + [ + -118.66165161132812, + -111.86880493164062, + 0.04515397548675537 + ], + [ + -118.34822845458984, + -112.1822280883789, + 0.04515397548675537 + ], + [ + -118.67271423339844, + -112.5067138671875, + 1.1048250198364258 + ], + [ + -118.98613739013672, + -112.19329071044922, + 1.1048250198364258 + ], + [ + -118.66165161132812, + -111.86880493164062, + 1.1048250198364258 + ], + [ + -118.34822845458984, + -112.1822280883789, + 1.1048250198364258 + ] + ], + "corners_2d": [ + [ + 632.3695682641378, + 377.54777690215934 + ], + [ + 646.7639713869727, + 378.1185943604647 + ], + [ + 647.5480099410357, + 368.1208330522048 + ], + [ + 633.3181499172215, + 367.5630350880766 + ], + [ + 632.1831597405607, + 351.5896198092266 + ], + [ + 646.9293235827392, + 352.1569594772955 + ], + [ + 647.7303604910402, + 342.22273830985256 + ], + [ + 633.1568317731258, + 341.66864948144104 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 26, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 70, + "semantic_pixel_counts": { + "1": 537685, + "2": 180015, + "3": 131912, + "4": 379, + "5": 4040, + "6": 7223, + "7": 943, + "9": 18063, + "10": 6926, + "12": 3377, + "14": 263, + "21": 2449, + "24": 28325 + }, + "instance_pixel_counts": { + "1115": 3895, + "2978": 287, + "4002": 216, + "6254": 2936, + "10370": 2098, + "11394": 1163, + "14416": 105, + "14928": 3935, + "15511": 1979, + "16023": 660, + "17232": 379, + "18011": 27842, + "20119": 436, + "20631": 15342, + "23808": 190, + "24064": 4554, + "26560": 5430, + "27072": 2930, + "28608": 4, + "29843": 22504, + "30355": 9175, + "30656": 67632, + "31168": 2218, + "31488": 161, + "31813": 6832, + "31891": 367450, + "34120": 51897, + "34395": 368, + "34453": 2758, + "34907": 806, + "34965": 1307, + "35419": 2249, + "35931": 6387, + "36443": 79558, + "36501": 17175, + "36955": 1, + "44171": 808, + "44179": 618, + "44691": 108874, + "44891": 361, + "45203": 7570, + "45915": 30, + "46227": 21494, + "46731": 1153, + "46741": 52, + "47253": 5540, + "47765": 692, + "48267": 846, + "48779": 544, + "48789": 801, + "49664": 183, + "49803": 838, + "49920": 381, + "50176": 409, + "50432": 834, + "50688": 984, + "50944": 586, + "53184": 1490, + "54016": 263, + "54720": 2169, + "55232": 2377, + "55744": 2582, + "56135": 28, + "56768": 2027, + "56993": 652, + "57173": 18063, + "58529": 903, + "60013": 4322, + "61037": 3548, + "64351": 16653 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 183, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -118.66718292236328, + "y": -112.18775939941406, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.18465331196784973, + "y": 0.21718749403953552, + "z": 0.5252425670623779 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 632.4274606226793, + "ymin": 342.747294785907, + "xmax": 647.5059703736435, + "ymax": 377.0169532243508 + }, + "corners_3d": [ + [ + -118.64418029785156, + -112.4719009399414, + 0.049746930599212646 + ], + [ + -118.95132446289062, + -112.16475677490234, + 0.049746930599212646 + ], + [ + -118.690185546875, + -111.90361785888672, + 0.049746930599212646 + ], + [ + -118.38304138183594, + -112.21076202392578, + 0.049746930599212646 + ], + [ + -118.64418029785156, + -112.4719009399414, + 1.1002321243286133 + ], + [ + -118.95132446289062, + -112.16475677490234, + 1.1002321243286133 + ], + [ + -118.690185546875, + -111.90361785888672, + 1.1002321243286133 + ], + [ + -118.38304138183594, + -112.21076202392578, + 1.1002321243286133 + ] + ], + "corners_2d": [ + [ + 632.6062950735596, + 376.45884905490647 + ], + [ + 646.697878333128, + 377.0169532243508 + ], + [ + 647.3302341275918, + 368.97136915887694 + ], + [ + 633.3684437945516, + 368.42353344936896 + ], + [ + 632.4274606226793, + 350.73173261786974 + ], + [ + 646.8599890299824, + 351.2864355405112 + ], + [ + 647.5059703736435, + 343.2915483924034 + ], + [ + 633.2095612059936, + 342.747294785907 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 381, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -114.54119873046875, + "y": -109.19005584716797, + "z": 0.7271672487258911 + }, + "extent": { + "x": 0.5102880597114563, + "y": 0.38234373927116394, + "z": 0.9171491861343384 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 611.9387808052904, + "ymin": 227.13164693728646, + "xmax": 638.6259201949097, + "ymax": 289.86137444525406 + }, + "corners_3d": [ + [ + -114.76092529296875, + -109.78864288330078, + -0.18998193740844727 + ], + [ + -115.17739868164062, + -109.1473159790039, + -0.18998193740844727 + ], + [ + -114.32147216796875, + -108.59146881103516, + -0.18998193740844727 + ], + [ + -113.90499877929688, + -109.23279571533203, + -0.18998193740844727 + ], + [ + -114.76092529296875, + -109.78864288330078, + 1.6443164348602295 + ], + [ + -115.17739868164062, + -109.1473159790039, + 1.6443164348602295 + ], + [ + -114.32147216796875, + -108.59146881103516, + 1.6443164348602295 + ], + [ + -113.90499877929688, + -109.23279571533203, + 1.6443164348602295 + ] + ], + "corners_2d": [ + [ + 616.7699092415858, + 289.86137444525406 + ], + [ + 638.6259201949097, + 287.8386631100293 + ], + [ + 634.3271510090517, + 270.5399072887942 + ], + [ + 612.9455309283857, + 272.47390490692175 + ], + [ + 615.8850949011021, + 246.04912183744503 + ], + [ + 638.5737229876015, + 244.06703720071417 + ], + [ + 634.116606083265, + 227.13164693728646 + ], + [ + 611.9387808052904, + 229.02360658877615 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 409, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -120.92300415039062, + "y": -105.24504852294922, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.44112303853034973, + "y": 0.392768532037735, + "z": 0.8865829110145569 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 825.7598513398341, + "ymin": 270.57220203578834, + "xmax": 862.6273407302517, + "ymax": 330.43678577361777 + }, + "corners_3d": [ + [ + -121.01864624023438, + -105.82789611816406, + -0.3115982413291931 + ], + [ + -121.51300048828125, + -105.21741485595703, + -0.3115982413291931 + ], + [ + -120.82736206054688, + -104.66220092773438, + -0.3115982413291931 + ], + [ + -120.3330078125, + -105.2726821899414, + -0.3115982413291931 + ], + [ + -121.01864624023438, + -105.82789611816406, + 1.4615676403045654 + ], + [ + -121.51300048828125, + -105.21741485595703, + 1.4615676403045654 + ], + [ + -120.82736206054688, + -104.66220092773438, + 1.4615676403045654 + ], + [ + -120.3330078125, + -105.2726821899414, + 1.4615676403045654 + ] + ], + "corners_2d": [ + [ + 830.8467089588689, + 330.43678577361777 + ], + [ + 854.3785327678405, + 329.732412505411 + ], + [ + 848.8182572382453, + 313.0266251045055 + ], + [ + 825.7598513398341, + 313.70268029682114 + ], + [ + 838.1965919512136, + 287.7008161013758 + ], + [ + 862.6273407302517, + 287.00729226298205 + ], + [ + 856.6838724913866, + 270.57220203578834 + ], + [ + 832.7630074456965, + 271.2368044724275 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 834, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -128.16717529296875, + "y": -112.18775939941406, + "z": 0.5749797821044922 + }, + "extent": { + "x": 0.41117674112319946, + "y": 0.4624951183795929, + "z": 0.9042489528656006 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 866.0841154031723, + "ymin": 511.53542451181204, + "xmax": 920.6327159784104, + "ymax": 584.4936929870648 + }, + "corners_3d": [ + [ + -128.13088989257812, + -112.8055419921875, + -0.3292691707611084 + ], + [ + -128.7849578857422, + -112.15147399902344, + -0.3292691707611084 + ], + [ + -128.20346069335938, + -111.56997680664062, + -0.3292691707611084 + ], + [ + -127.54939270019531, + -112.22404479980469, + -0.3292691707611084 + ], + [ + -128.13088989257812, + -112.8055419921875, + 1.4792287349700928 + ], + [ + -128.7849578857422, + -112.15147399902344, + 1.4792287349700928 + ], + [ + -128.20346069335938, + -111.56997680664062, + 1.4792287349700928 + ], + [ + -127.54939270019531, + -112.22404479980469, + 1.4792287349700928 + ] + ], + "corners_2d": [ + [ + 869.8908484690365, + 582.7066616983283 + ], + [ + 906.7565613222164, + 584.4936929870648 + ], + [ + 902.035579668333, + 557.9467716372906 + ], + [ + 866.0841154031723, + 556.2466234848252 + ], + [ + 881.8284624002689, + 538.1836511220581 + ], + [ + 920.6327159784104, + 539.985845811558 + ], + [ + 915.3133945622792, + 513.2456207973848 + ], + [ + 877.5207389396776, + 511.53542451181204 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 984, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -122.28268432617188, + "y": -123.31512451171875, + "z": 0.5749748945236206 + }, + "extent": { + "x": 0.6206591725349426, + "y": 0.4783886671066284, + "z": 0.9108765721321106 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 340.4210879321949, + "ymin": 606.4183878341742, + "xmax": 415.10578500898566, + "ymax": 704.4172996325351 + }, + "corners_3d": [ + [ + -122.30149841308594, + -124.09852600097656, + -0.33590167760849 + ], + [ + -123.04505920410156, + -123.49640655517578, + -0.33590167760849 + ], + [ + -122.26387023925781, + -122.53172302246094, + -0.33590167760849 + ], + [ + -121.52030944824219, + -123.13384246826172, + -0.33590167760849 + ], + [ + -122.30149841308594, + -124.09852600097656, + 1.485851526260376 + ], + [ + -123.04505920410156, + -123.49640655517578, + 1.485851526260376 + ], + [ + -122.26387023925781, + -122.53172302246094, + 1.485851526260376 + ], + [ + -121.52030944824219, + -123.13384246826172, + 1.485851526260376 + ] + ], + "corners_2d": [ + [ + 356.9100521238406, + 698.091222781642 + ], + [ + 396.8442368461157, + 704.4172996325351 + ], + [ + 415.10578500898566, + 656.3005636191933 + ], + [ + 376.67524509848465, + 650.4713478148599 + ], + [ + 340.4210879321949, + 654.8709131635597 + ], + [ + 382.6016827085174, + 661.3245858257869 + ], + [ + 402.4917931671731, + 612.3374356185442 + ], + [ + 361.9848127614989, + 606.4183878341742 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 586, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -107.42184448242188, + "y": -120.35797882080078, + "z": 0.7366301417350769 + }, + "extent": { + "x": 0.4100097417831421, + "y": 0.43626952171325684, + "z": 0.8592696189880371 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 198.3210380493731, + "ymin": 265.4924509767661, + "xmax": 251.23828501165735, + "ymax": 326.2034487509169 + }, + "corners_3d": [ + [ + -107.27926635742188, + -120.939453125, + -0.1226394772529602 + ], + [ + -108.01103973388672, + -120.4642333984375, + -0.1226394772529602 + ], + [ + -107.56442260742188, + -119.77650451660156, + -0.1226394772529602 + ], + [ + -106.83264923095703, + -120.25172424316406, + -0.1226394772529602 + ], + [ + -107.27926635742188, + -120.939453125, + 1.5958998203277588 + ], + [ + -108.01103973388672, + -120.4642333984375, + 1.5958998203277588 + ], + [ + -107.56442260742188, + -119.77650451660156, + 1.5958998203277588 + ], + [ + -106.83264923095703, + -120.25172424316406, + 1.5958998203277588 + ] + ], + "corners_2d": [ + [ + 214.17534544422045, + 321.7565264488842 + ], + [ + 237.38791326441606, + 326.2034487509169 + ], + [ + 251.23828501165735, + 311.1726710120373 + ], + [ + 228.37543742280377, + 306.88696256031574 + ], + [ + 198.3210380493731, + 280.1177220434463 + ], + [ + 222.31300272143574, + 284.4954461170524 + ], + [ + 236.95877916929885, + 269.70571215868085 + ], + [ + 213.3396562297363, + 265.4924509767661 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 263, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 613.1864072640307, + "ymin": 0.0, + "xmax": 706.2915994132583, + "ymax": 20.520231513684337 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 638.0823743803965, + -16.496972424465582 + ], + [ + 613.7142814362694, + -8.486091695597736 + ], + [ + 680.2969531329552, + 20.520231513684337 + ], + [ + 704.932638724359, + 11.53094106051799 + ], + [ + 638.0445132721024, + -45.25598349838697 + ], + [ + 613.1864072640307, + -37.57717837554844 + ], + [ + 681.1556582948368, + -9.73056691716522 + ], + [ + 706.2915994132583, + -18.36761578306539 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 864.0364219763416, + "ymin": 61.23487673605803, + "xmax": 882.2058099999433, + "ymax": 92.27654246653134 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 870.6801992267765, + 92.27654246653134 + ], + [ + 877.8300754665845, + 88.82589985770255 + ], + [ + 871.1908733004401, + 86.02619122737502 + ], + [ + 864.0364219763416, + 89.44362143108219 + ], + [ + 874.950012575462, + 67.32846774161328 + ], + [ + 882.2058099999433, + 63.964070326132685 + ], + [ + 875.4236218998146, + 61.23487673605803 + ], + [ + 868.1628279514229, + 64.56629866361374 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1009.1733856300904, + "ymin": 120.92996858819586, + "xmax": 1032.0952795205035, + "ymax": 154.7984812653826 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1017.3075708430554, + 154.7984812653826 + ], + [ + 1024.260146603333, + 150.57422863827307 + ], + [ + 1016.1417319642428, + 147.15074718968165 + ], + [ + 1009.1733856300904, + 151.33004859620587 + ], + [ + 1025.052454011914, + 128.41512208108284 + ], + [ + 1032.0952795205035, + 124.28022313060234 + ], + [ + 1023.769718885027, + 120.92996858819586 + ], + [ + 1016.7099142809841, + 125.01997430470078 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 752.0185919984667, + "ymin": 91.87560331689986, + "xmax": 766.1578789950665, + "ymax": 118.68719395328836 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 757.3602850092623, + 118.68719395328836 + ], + [ + 764.1751538364995, + 115.54351163408867 + ], + [ + 758.8320400355217, + 112.97547988470347 + ], + [ + 752.0185919984667, + 116.09262829150941 + ], + [ + 759.2440279805849, + 97.47700378013343 + ], + [ + 766.1578789950665, + 94.39382954747248 + ], + [ + 760.7213197279195, + 91.87560331689986 + ], + [ + 753.808850427393, + 94.93234042260428 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 939.5560240720931, + "ymin": 92.27683456329476, + "xmax": 960.1294247854921, + "ymax": 124.8008841430808 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 946.9564097572172, + 124.8008841430808 + ], + [ + 954.0266428278691, + 120.95749969518977 + ], + [ + 946.6361688279552, + 117.84098458961236 + ], + [ + 939.5560240720931, + 121.64534362936888 + ], + [ + 952.9598478709302, + 99.07599882685804 + ], + [ + 960.1294247854921, + 95.32100511597383 + ], + [ + 952.5645025417108, + 92.27683456329476 + ], + [ + 945.3842310104521, + 95.9929628115018 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 906.065666099749, + "ymin": 0.0, + "xmax": 1111.4955524612992, + "ymax": 101.20820853372152 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1057.7956212121587, + 29.680857033873338 + ], + [ + 1050.21806823186, + 27.10781651745367 + ], + [ + 906.065666099749, + 97.88536151289526 + ], + [ + 913.8693959142759, + 101.20820853372152 + ], + [ + 1111.4955524612992, + -151.6047187782862 + ], + [ + 1102.6514450896775, + -153.50060790634257 + ], + [ + 945.3830480062064, + -100.46052683805601 + ], + [ + 954.6012883681003, + -97.92424864772102 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2334590930876643410, + "instance_id": 21048, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -123.8453369140625, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 147.50826875530254, + "ymin": 297.95409753365163, + "xmax": 171.18905828398857, + "ymax": 317.31100115056614 + }, + "corners_3d": [ + [ + -116.6200942993164, + -123.69747161865234, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.69747161865234, + 7.743301868438721 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 163.46806415886567, + 302.0871082493059 + ], + [ + 149.30353526384386, + 307.9532181772523 + ], + [ + 156.91670356862392, + 317.31100115056614 + ], + [ + 171.18905828398857, + 311.30757445997784 + ], + [ + 161.7374314706958, + 297.95409753365163 + ], + [ + 147.50826875530254, + 303.8110738432843 + ], + [ + 155.12857123749183, + 313.1549361718574 + ], + [ + 169.4666549607531, + 307.1603483611736 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3639812104533344102, + "instance_id": 26239, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -123.8453369140625, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 147.6348233018358, + "ymin": 298.0560099856398, + "xmax": 171.0631284228063, + "ymax": 317.2070710342185 + }, + "corners_3d": [ + [ + -116.62229919433594, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.69904327392578, + 7.742714881896973 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 163.42512204471365, + 302.1451836726773 + ], + [ + 149.41061223348436, + 307.94945859413923 + ], + [ + 156.9430653088931, + 317.2070710342185 + ], + [ + 171.0631284228063, + 311.2683835630112 + ], + [ + 161.71260372477468, + 298.0560099856398 + ], + [ + 147.6348233018358, + 303.85134619739074 + ], + [ + 155.1742637769093, + 313.0953307331236 + ], + [ + 169.3586581368096, + 307.1652965396807 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 908.551913808625, + "ymin": 0.0, + "xmax": 1164.7893625936056, + "ymax": 50.50340280500683 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 975.7767564081919, + 50.50340280500683 + ], + [ + 1078.1928148765417, + 0.24879060955458954 + ], + [ + 1012.6787546408913, + -20.204882179397543 + ], + [ + 908.551913808625, + 25.776178509658678 + ], + [ + 1050.3927372139656, + -258.2951478896463 + ], + [ + 1164.7893625936056, + -284.3008532523992 + ], + [ + 1082.7021785235577, + -294.58793053452064 + ], + [ + 964.945489147673, + -271.2231248554683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 798.3834213983259, + "ymin": 33.154827104739695, + "xmax": 815.1342913014614, + "ymax": 43.258471149424736 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 804.6530845991985, + 36.546203787777586 + ], + [ + 798.3834213983259, + 39.14272738698071 + ], + [ + 808.4404283359089, + 43.258471149424736 + ], + [ + 814.7088957214312, + 40.62174545406236 + ], + [ + 805.0509274897162, + 33.154827104739695 + ], + [ + 798.7679953830409, + 35.74099364453326 + ], + [ + 808.8525915207313, + 39.840445952810455 + ], + [ + 815.1342913014614, + 37.214139560495994 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6967274615413648305, + "instance_id": 45483, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_2", + "bbox_3d": { + "center_world": { + "x": -99.33560943603516, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 123.6562951706579, + "xmax": 24.085871962289048, + "ymax": 293.6085122280116 + }, + "corners_3d": [ + [ + -100.3640365600586, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -127.03557586669922, + 4.877264976501465 + ], + [ + -100.3640365600586, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + -48.50769382185081, + 293.6085122280116 + ], + [ + 24.085871962289048, + 266.82175436223713 + ], + [ + 6.665583590201891, + 241.67661959323965 + ], + [ + -64.03756493917695, + 266.69115851482206 + ], + [ + -121.61065370585857, + 171.87689020374003 + ], + [ + -38.8556369389604, + 146.92035102270557 + ], + [ + -55.70409230631344, + 123.6562951706579 + ], + [ + -135.97096068372161, + 146.79911853985396 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9919303964700251881, + "instance_id": 59670, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_Poles_4", + "bbox_3d": { + "center_world": { + "x": -112.9144515991211, + "y": -134.7008514404297, + "z": 4.223348617553711 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 282.9722921172696, + "xmax": 16.600841897603914, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.18444061279297, + -128.6757354736328, + -4.76837158203125e-06 + ], + [ + -112.75162506103516, + -128.67189025878906, + -4.76837158203125e-06 + ], + [ + -112.64446258544922, + -140.72596740722656, + -4.76837158203125e-06 + ], + [ + -113.07727813720703, + -140.7298126220703, + -4.76837158203125e-06 + ], + [ + -113.18444061279297, + -128.6757354736328, + 8.446702003479004 + ], + [ + -112.75162506103516, + -128.67189025878906, + 8.446702003479004 + ], + [ + -112.64446258544922, + -140.72596740722656, + 8.446702003479004 + ], + [ + -113.07727813720703, + -140.7298126220703, + 8.446702003479004 + ] + ], + "corners_2d": [ + [ + 16.600841897603914, + 554.7992408573821 + ], + [ + 11.706026221056163, + 544.5146210482478 + ], + [ + -646.5268919792725, + 870.0565171810747 + ], + [ + -648.6730074327475, + 887.8610927064392 + ], + [ + -167.78798172287054, + 292.94023161244525 + ], + [ + -171.77437443559722, + 282.9722921172696 + ], + [ + -1189.8628286782985, + 629.3042201276758 + ], + [ + -1203.080953756028, + 650.2717128991928 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 529.1626527764967, + "ymin": 0.0, + "xmax": 603.4015758185088, + "ymax": 27.72666886015645 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 540.7378710103313, + 25.135802003162496 + ], + [ + 545.9519022199664, + 27.72666886015645 + ], + [ + 603.4015758185088, + 8.266086594203898 + ], + [ + 598.1062942307767, + 5.864720443481815 + ], + [ + 529.1626527764967, + -139.86887235505083 + ], + [ + 534.9234636753613, + -137.8955976642224 + ], + [ + 599.2882369422628, + -152.66127138073216 + ], + [ + 593.4228786436441, + -154.47438055235818 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 798.4725265950317, + "ymin": 33.20833420258458, + "xmax": 815.0449685665671, + "ymax": 43.20453599121572 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 804.6754528517521, + 36.563778142522835 + ], + [ + 798.4725265950317, + 39.13279338433392 + ], + [ + 808.4225558423265, + 43.20453599121572 + ], + [ + 814.6243129641332, + 40.596169653075776 + ], + [ + 805.0691388710019, + 33.20833420258458 + ], + [ + 798.8532248977845, + 35.767211401678935 + ], + [ + 808.8302590785789, + 39.82300732353258 + ], + [ + 815.0449685665671, + 37.22483930655545 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 710.1120886795719, + "ymin": 0.0, + "xmax": 819.8039603622649, + "ymax": 245.19416376921478 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 718.2169845191131, + 198.09112298212833 + ], + [ + 710.1120886795719, + 202.19396870718174 + ], + [ + 785.0896150203396, + 245.19416376921478 + ], + [ + 793.2229918556084, + 240.56994383033927 + ], + [ + 730.8734051743248, + -2.8831421833792206 + ], + [ + 721.5353412646059, + 0.5011244088924514 + ], + [ + 810.4459457784585, + 36.36559458263997 + ], + [ + 819.8039603622649, + 32.47375614826268 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 85.9166254651891, + "ymin": 223.60407204582697, + "xmax": 269.48167214276697, + "ymax": 547.5043425829207 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 208.10203883682163, + 456.32058892636985 + ], + [ + 192.7776187984054, + 464.0780891445463 + ], + [ + 253.36693791358533, + 547.5043425829207 + ], + [ + 269.48167214276697, + 538.3423331443405 + ], + [ + 105.93679821899036, + 223.60407204582697 + ], + [ + 85.9166254651891, + 230.85970902553106 + ], + [ + 150.7967414231079, + 310.7024321378173 + ], + [ + 172.27890043744088, + 301.7683691101678 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 738.960447137756, + "ymin": 0.0, + "xmax": 1087.4650080820325, + "ymax": 321.9610999067991 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 746.5207253088089, + 174.17725148133604 + ], + [ + 738.960447137756, + 177.8780094072248 + ], + [ + 1001.1298406013564, + 321.9610999067991 + ], + [ + 1008.5484003607514, + 316.5071852102641 + ], + [ + 764.6387333121165, + -41.14521304622343 + ], + [ + 755.9018445297304, + -38.20924215629066 + ], + [ + 1079.0911926153622, + 80.57163297613624 + ], + [ + 1087.4650080820325, + 75.91064807478904 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 176.00731491124105, + "ymax": 500.943692103342 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 64.64647487241325, + 280.9550881996541 + ], + [ + -157.50959485850512, + 386.37484896065394 + ], + [ + -57.94533756830401, + 500.943692103342 + ], + [ + 176.00731491124105, + 368.3439226805755 + ], + [ + -118.7328794509043, + -88.4983686799522 + ], + [ + -459.4096145754679, + -12.522863269125253 + ], + [ + -372.05548002217984, + 78.26899051060468 + ], + [ + 5.286545532235209, + -26.00261997229535 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 3.9861410902022953, + "ymax": 160.55225695062495 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + -96.85016454901734, + 52.761506299356995 + ], + [ + -266.5426235173542, + 116.67922105528956 + ], + [ + -165.25919876584055, + 160.55225695062495 + ], + [ + 3.9861410902022953, + 87.65780203379148 + ], + [ + -240.29565565808184, + -217.3203755244033 + ], + [ + -468.2799259504809, + -177.83175389863732 + ], + [ + -360.4724436378227, + -149.6434798107769 + ], + [ + -129.40210415449553, + -195.98719462423264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 212.4993259582534, + "ymax": 574.3909493035652 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -114.01257437639777, + 574.3909493035652 + ], + [ + 174.6124197469889, + 533.1864841779717 + ], + [ + 212.4993259582534, + 356.47778744159865 + ], + [ + -23.54561453702786, + 384.52213409004435 + ], + [ + -490.95816885227714, + 141.59764740831332 + ], + [ + -44.83076852929639, + 105.54355720291406 + ], + [ + 58.1538279941675, + -34.76094530664898 + ], + [ + -274.0043345195793, + -13.917571952462026 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 17.483155593889933, + "ymax": 242.21240763347564 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -57.30922193808976, + 114.47017219109824 + ], + [ + -239.39579701676348, + 177.5775731688654 + ], + [ + -173.63252466603217, + 242.21240763347564 + ], + [ + 17.483155593889933, + 167.03951840289375 + ], + [ + -220.5756215462253, + -195.91375120444707 + ], + [ + -472.34087177036463, + -156.85923466917006 + ], + [ + -416.1125211888386, + -114.78890913762638 + ], + [ + -144.15362712558874, + -163.51561058613333 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/ORI/frames_playback/frame_00045/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/ORI/frames_playback/frame_00045/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c59a98bbbd8819fdcbaf4079d11d7221d0bf1c13 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/ORI/frames_playback/frame_00045/meta.json @@ -0,0 +1,2998 @@ +{ + "frame_id": 45, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 22.5, + "sim_timestamp": 8344.988653250039 + }, + "drone_pose": { + "x": -125.78393685767085, + "y": -116.78780740773837, + "z": 20.003149584661113, + "pitch": -41.49026424661299, + "yaw": 40.3160652851382, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5711548328399658, + -0.4846498668193817, + 0.6624927520751953, + 115.19136047363281 + ], + [ + 0.6470035314559937, + 0.7624869346618652, + 2.9802322387695312e-08, + 7.666511535644531 + ], + [ + -0.505142092704773, + 0.4286351799964905, + 0.7490683197975159, + -128.58184814453125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -125.38514345634896, + "y": -116.13383225416102, + "z": 20.003211513521148 + }, + "t1_image_uv": [ + 1064.1047465234328, + -489.1912038666211 + ], + "t1_depth": 0.5446807242397393 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -109.16718292236328, + "y": -102.68776321411131, + "z": 0.7290764343738556 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 29.093257868644063, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 181, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -109.16718292236328, + "y": -102.68775939941406, + "z": 0.7290764451026917 + }, + "extent": { + "x": 0.23967283964157104, + "y": 0.25383299589157104, + "z": 0.5577294230461121 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 630.8387189673501, + "ymin": 340.42159287356543, + "xmax": 649.0578287132162, + "ymax": 379.3441310457055 + }, + "corners_3d": [ + [ + -109.15717315673828, + -103.0367202758789, + 0.1713470220565796 + ], + [ + -109.51614379882812, + -102.67774963378906, + 0.1713470220565796 + ], + [ + -109.17719268798828, + -102.33879852294922, + 0.1713470220565796 + ], + [ + -108.81822204589844, + -102.69776916503906, + 0.1713470220565796 + ], + [ + -109.15717315673828, + -103.0367202758789, + 1.2868058681488037 + ], + [ + -109.51614379882812, + -102.67774963378906, + 1.2868058681488037 + ], + [ + -109.17719268798828, + -102.33879852294922, + 1.2868058681488037 + ], + [ + -108.81822204589844, + -102.69776916503906, + 1.2868058681488037 + ] + ], + "corners_2d": [ + [ + 631.0697833450889, + 378.4237738276637 + ], + [ + 647.6559848855195, + 379.3441310457055 + ], + [ + 648.8318937381796, + 368.85450668690646 + ], + [ + 632.444602517349, + 367.956238401298 + ], + [ + 630.8387189673501, + 350.8149561634339 + ], + [ + 647.8542948423276, + 351.7291022155598 + ], + [ + 649.0578287132162, + 341.3132415994975 + ], + [ + 632.2515300500656, + 340.42159287356543 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 45, + "instance_stats": { + "semantic_tags_present": 16, + "instances_present": 62, + "semantic_pixel_counts": { + "1": 285908, + "2": 196984, + "3": 347048, + "4": 20168, + "5": 188, + "6": 14300, + "7": 2982, + "9": 23, + "10": 10752, + "12": 2940, + "14": 1591, + "16": 17461, + "20": 263, + "21": 2433, + "22": 2, + "24": 18557 + }, + "instance_pixel_counts": { + "1115": 6415, + "1169": 263, + "1627": 2085, + "5205": 65, + "11394": 2212, + "12894": 25, + "13397": 32, + "13909": 30, + "14416": 188, + "16023": 1639, + "16476": 134, + "17232": 20168, + "17500": 7, + "18011": 119165, + "18012": 99, + "19784": 2, + "20631": 10081, + "23808": 3772, + "24064": 10439, + "27072": 7502, + "29843": 27235, + "30656": 66619, + "31168": 4912, + "31891": 54609, + "34120": 65186, + "34453": 2766, + "36443": 219383, + "36501": 3044, + "37460": 859, + "43659": 95, + "44171": 2083, + "44179": 7698, + "44691": 146252, + "45203": 311, + "46227": 49803, + "46731": 2200, + "46741": 281, + "47253": 10181, + "47765": 109, + "48267": 741, + "48779": 1449, + "48789": 2176, + "49664": 181, + "49803": 2396, + "49920": 493, + "50176": 183, + "50432": 997, + "50688": 1086, + "52480": 154, + "52672": 333, + "52736": 17307, + "53184": 3659, + "54016": 1566, + "54720": 4459, + "55232": 7609, + "55744": 5594, + "55879": 6, + "56135": 1860, + "56768": 10427, + "57173": 23, + "62555": 1146, + "63067": 920 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 181, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -109.16718292236328, + "y": -102.68775939941406, + "z": 0.7290764451026917 + }, + "extent": { + "x": 0.22461913526058197, + "y": 0.23185546696186066, + "z": 0.5236185193061829 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 631.6256877418663, + "ymin": 341.6456780802191, + "xmax": 648.2855404736621, + "ymax": 378.14717438319354 + }, + "corners_3d": [ + [ + -109.16206359863281, + -103.01053619384766, + 0.2054579257965088 + ], + [ + -109.48995971679688, + -102.6826400756836, + 0.2054579257965088 + ], + [ + -109.17230224609375, + -102.36498260498047, + 0.2054579257965088 + ], + [ + -108.84440612792969, + -102.69287872314453, + 0.2054579257965088 + ], + [ + -109.16206359863281, + -103.01053619384766, + 1.2526949644088745 + ], + [ + -109.48995971679688, + -102.6826400756836, + 1.2526949644088745 + ], + [ + -109.17230224609375, + -102.36498260498047, + 1.2526949644088745 + ], + [ + -108.84440612792969, + -102.69287872314453, + 1.2526949644088745 + ] + ], + "corners_2d": [ + [ + 631.82407130769, + 377.30728315481207 + ], + [ + 646.9803939239425, + 378.14717438319354 + ], + [ + 648.0912961843792, + 368.31930146226836 + ], + [ + 633.1055115743043, + 367.49833028306256 + ], + [ + 631.6256877418663, + 351.3893961755478 + ], + [ + 647.1499368096055, + 352.2239505136893 + ], + [ + 648.2855404736621, + 342.4609841250527 + ], + [ + 632.9401608256779, + 341.6456780802191 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 493, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -110.14054107666016, + "y": -104.0785903930664, + "z": 0.7299895286560059 + }, + "extent": { + "x": 0.3298388719558716, + "y": 0.4028857350349426, + "z": 0.8768118023872375 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 609.5349740131819, + "ymin": 366.2562341813928, + "xmax": 640.3859598509939, + "ymax": 428.0001884174754 + }, + "corners_3d": [ + [ + -110.19773864746094, + -104.59612274169922, + -0.1468222737312317 + ], + [ + -110.6365966796875, + -103.92034912109375, + -0.1468222737312317 + ], + [ + -110.08334350585938, + -103.5610580444336, + -0.1468222737312317 + ], + [ + -109.64448547363281, + -104.23683166503906, + -0.1468222737312317 + ], + [ + -110.19773864746094, + -104.59612274169922, + 1.6068012714385986 + ], + [ + -110.6365966796875, + -103.92034912109375, + 1.6068012714385986 + ], + [ + -110.08334350585938, + -103.5610580444336, + 1.6068012714385986 + ], + [ + -109.64448547363281, + -104.23683166503906, + 1.6068012714385986 + ] + ], + "corners_2d": [ + [ + 613.1252907705452, + 428.0001884174754 + ], + [ + 640.3700801382207, + 425.50409081245414 + ], + [ + 637.5565848360627, + 409.90058305017874 + ], + [ + 610.770329478386, + 412.31212105060206 + ], + [ + 611.9688451470727, + 384.2181240937121 + ], + [ + 640.3859598509939, + 381.73920522959276 + ], + [ + 637.4536048828621, + 366.2562341813928 + ], + [ + 609.5349740131819, + 368.64766295668113 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 183, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -111.92300415039062, + "y": -96.24504852294922, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.4809521436691284, + "y": 0.35801267623901367, + "z": 0.9061436057090759 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 831.6039385452415, + "ymin": 288.98816934204854, + "xmax": 867.6609137105796, + "ymax": 352.2116319827363 + }, + "corners_3d": [ + [ + -112.07147216796875, + -96.8259506225586, + -0.33114922046661377 + ], + [ + -112.52207946777344, + -96.26949310302734, + -0.33114922046661377 + ], + [ + -111.7745361328125, + -95.66414642333984, + -0.33114922046661377 + ], + [ + -111.32392883300781, + -96.2206039428711, + -0.33114922046661377 + ], + [ + -112.07147216796875, + -96.8259506225586, + 1.481137990951538 + ], + [ + -112.52207946777344, + -96.26949310302734, + 1.481137990951538 + ], + [ + -111.7745361328125, + -95.66414642333984, + 1.481137990951538 + ], + [ + -111.32392883300781, + -96.2206039428711, + 1.481137990951538 + ] + ], + "corners_2d": [ + [ + 836.7441166962685, + 352.2116319827363 + ], + [ + 858.8408099814001, + 351.8771783142056 + ], + [ + 853.2006736769639, + 332.7745202973916 + ], + [ + 831.6039385452415, + 333.09394856345864 + ], + [ + 844.6769218904058, + 308.13163339349876 + ], + [ + 867.6609137105796, + 307.801930925333 + ], + [ + 861.5905810543744, + 288.98816934204854 + ], + [ + 839.1470137743388, + 289.3024838191591 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 997, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -119.16718292236328, + "y": -103.18775939941406, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.5054785013198853, + "y": 0.4537304639816284, + "z": 0.9320632815361023 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 864.6425169993702, + "ymin": 540.2801125908427, + "xmax": 920.8309774260404, + "ymax": 623.5021509544888 + }, + "corners_3d": [ + [ + -119.20377349853516, + -103.86602020263672, + -0.3570737838745117 + ], + [ + -119.84544372558594, + -103.22434997558594, + -0.3570737838745117 + ], + [ + -119.1305923461914, + -102.5094985961914, + -0.3570737838745117 + ], + [ + -118.48892211914062, + -103.15116882324219, + -0.3570737838745117 + ], + [ + -119.20377349853516, + -103.86602020263672, + 1.5070527791976929 + ], + [ + -119.84544372558594, + -103.22434997558594, + 1.5070527791976929 + ], + [ + -119.1305923461914, + -102.5094985961914, + 1.5070527791976929 + ], + [ + -118.48892211914062, + -103.15116882324219, + 1.5070527791976929 + ] + ], + "corners_2d": [ + [ + 868.4833816111159, + 620.875327256027 + ], + [ + 906.0437136747926, + 623.5021509544888 + ], + [ + 901.0230350582049, + 588.8165835279507 + ], + [ + 864.6425169993702, + 586.3508164888126 + ], + [ + 881.1513165642043, + 575.1577282219754 + ], + [ + 920.8309774260404, + 577.8163435649378 + ], + [ + 915.0546062332953, + 542.7671159091033 + ], + [ + 876.6893078564689, + 540.2801125908427 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 1086, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -112.78268432617188, + "y": -113.81512451171875, + "z": 0.7262590527534485 + }, + "extent": { + "x": 0.4201611280441284, + "y": 0.440620094537735, + "z": 0.8650375008583069 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 333.0324009552495, + "ymin": 611.8131150370791, + "xmax": 399.1559736572498, + "ymax": 692.9097400721905 + }, + "corners_3d": [ + [ + -112.70467376708984, + -114.4189453125, + -0.1387784481048584 + ], + [ + -113.3895263671875, + -113.8643569946289, + -0.1387784481048584 + ], + [ + -112.8606948852539, + -113.2113037109375, + -0.1387784481048584 + ], + [ + -112.17584228515625, + -113.7658920288086, + -0.1387784481048584 + ], + [ + -112.70467376708984, + -114.4189453125, + 1.5912965536117554 + ], + [ + -113.3895263671875, + -113.8643569946289, + 1.5912965536117554 + ], + [ + -112.8606948852539, + -113.2113037109375, + 1.5912965536117554 + ], + [ + -112.17584228515625, + -113.7658920288086, + 1.5912965536117554 + ] + ], + "corners_2d": [ + [ + 349.05238543488383, + 686.3237717585675 + ], + [ + 385.4869066586304, + 692.9097400721905 + ], + [ + 399.1559736572498, + 660.3564641825017 + ], + [ + 363.6454105688936, + 654.1273240586208 + ], + [ + 333.0324009552495, + 644.5249832492934 + ], + [ + 371.3901848429883, + 651.2285444972982 + ], + [ + 386.203497898225, + 618.1342855750531 + ], + [ + 348.8680459970325, + 611.8131150370791 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 154, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 447.1262186805964, + "ymin": 0.0, + "xmax": 678.3350182878462, + "ymax": 192.140770536669 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 530.8128337480524, + 75.451812869621 + ], + [ + 459.611231470424, + 100.199048893611 + ], + [ + 600.6310472494993, + 192.140770536669 + ], + [ + 675.6047118235367, + 159.28357558474045 + ], + [ + 523.5941696275498, + -15.122816686722842 + ], + [ + 447.1262186805964, + 7.09165642457441 + ], + [ + 597.4467084457171, + 90.7671160764591 + ], + [ + 678.3350182878462, + 60.655056707437666 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 17307, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 663.8995184362833, + "ymin": 0.0, + "xmax": 897.3895476877892, + "ymax": 132.30309550158273 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 821.6604100413547, + 132.30309550158273 + ], + [ + 880.5914896089821, + 104.83980930393238 + ], + [ + 721.9096774443071, + 33.703358019529844 + ], + [ + 663.8995184362833, + 54.86427096517832 + ], + [ + 834.9734220870685, + 36.068607337013134 + ], + [ + 897.3895476877892, + 11.238333336715357 + ], + [ + 726.9018270071631, + -52.338628825908245 + ], + [ + 665.4188343258095, + -33.53689883090385 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 1566, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 598.408734570259, + "ymin": 61.733797103640086, + "xmax": 712.8319437315283, + "ymax": 152.11548828211357 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 630.2700405913127, + 94.60498874875555 + ], + [ + 599.4167561000902, + 106.41564219356593 + ], + [ + 679.5090451475018, + 152.11548828211357 + ], + [ + 710.9718186205587, + 138.44334098391386 + ], + [ + 630.033274447589, + 61.733797103640086 + ], + [ + 598.408734570259, + 73.15611008089473 + ], + [ + 680.5677183503708, + 117.45954962779689 + ], + [ + 712.8319437315283, + 104.18743798580888 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 52908959695452696, + "instance_id": 6202, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": -79.05494689941406, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1175.5626818643996, + "ymin": 90.91537023718189, + "xmax": 1196.1321440358925, + "ymax": 117.61507850297326 + }, + "corners_3d": [ + [ + -113.29469299316406, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -78.86498260498047, + 3.5146729946136475 + ], + [ + -113.29469299316406, + -78.86498260498047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1175.5626818643996, + 114.99317543140211 + ], + [ + 1182.6077260754146, + 117.61507850297326 + ], + [ + 1187.4429554149967, + 114.58393591229606 + ], + [ + 1180.4121667352174, + 111.98811169055708 + ], + [ + 1184.0691576659992, + 93.861130644198 + ], + [ + 1191.264105968969, + 96.43167216520396 + ], + [ + 1196.1321440358925, + 93.4599398671453 + ], + [ + 1188.952290776155, + 90.91537023718189 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 929.6764900249004, + "ymin": 327.50904044314456, + "xmax": 958.4918957129942, + "ymax": 370.39864235175315 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 939.7886063030976, + 370.39864235175315 + ], + [ + 950.040213846901, + 363.12041883861457 + ], + [ + 939.9390156377369, + 356.96104226380794 + ], + [ + 929.6764900249004, + 364.1339905503951 + ], + [ + 948.0325469609327, + 340.83549651596394 + ], + [ + 958.4918957129942, + 333.61604988464507 + ], + [ + 948.0546425537074, + 327.50904044314456 + ], + [ + 937.5827062969041, + 334.6212347908951 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5668522571212290485, + "instance_id": 46457, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -89.45570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1042.6632614658301, + "ymin": 100.61931129818618, + "xmax": 1065.5494590786752, + "ymax": 133.4734113312633 + }, + "corners_3d": [ + [ + -113.19542694091797, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -89.26573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -89.26573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1042.6632614658301, + 130.17995299362127 + ], + [ + 1050.588885413652, + 133.4734113312633 + ], + [ + 1057.350762462339, + 129.64604510636966 + ], + [ + 1049.4380553947944, + 126.39285409145324 + ], + [ + 1050.5803881209165, + 104.31915599396228 + ], + [ + 1058.7056311828117, + 107.53745699873514 + ], + [ + 1065.5494590786752, + 103.79749538723826 + ], + [ + 1057.4381906498397, + 100.61931129818618 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1162.5668162790314, + "ymin": 468.5783158239941, + "xmax": 1203.5253944897481, + "ymax": 516.9866710199148 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1176.4053844607442, + 516.9866710199148 + ], + [ + 1186.046030879501, + 507.02833051648673 + ], + [ + 1172.261939905497, + 498.62325305786084 + ], + [ + 1162.5668162790314, + 508.4134156285045 + ], + [ + 1193.7533615284365, + 486.9589457056823 + ], + [ + 1203.5253944897481, + 476.9885789053815 + ], + [ + 1189.1517305180491, + 468.5783158239941 + ], + [ + 1179.3185981145637, + 478.374954636016 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7157878223548397302, + "instance_id": 63030, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -86.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1085.7700578099352, + "ymin": 77.37847458178624, + "xmax": 1108.5264293653195, + "ymax": 109.12346397697559 + }, + "corners_3d": [ + [ + -113.19542694091797, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -86.76573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -86.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1085.7700578099352, + 106.08198577004535 + ], + [ + 1093.6059724649647, + 109.12346397697559 + ], + [ + 1099.8507269084553, + 105.58880818840981 + ], + [ + 1092.029315915081, + 102.58307842683166 + ], + [ + 1094.1872163379235, + 80.79157398494635 + ], + [ + 1102.2156950094507, + 83.75907807131307 + ], + [ + 1108.5264293653195, + 80.31044531578868 + ], + [ + 1100.513540188048, + 77.37847458178624 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7631990878982166785, + "instance_id": 473, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": -83.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1133.2672667626152, + "ymin": 51.79859003684135, + "xmax": 1155.8080227673904, + "ymax": 82.30534606323386 + }, + "corners_3d": [ + [ + -113.1954345703125, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47261047363281, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.19544219970703, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47261047363281, + -83.76573944091797, + 6.416468620300293 + ], + [ + -113.19544219970703, + -83.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1133.2672667626152, + 79.52984293780878 + ], + [ + 1140.9837263413092, + 82.30534606323386 + ], + [ + 1146.6826057947235, + 79.07967411867475 + ], + [ + 1138.981972118608, + 76.33534654468531 + ], + [ + 1142.1582380011325, + 54.90953045588384 + ], + [ + 1150.0586628339254, + 57.61294848085214 + ], + [ + 1155.8080227673904, + 54.47109821539533 + ], + [ + 1147.9245113643349, + 51.79859003684135 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 765.3372493732471, + "ymin": 320.74994722885504, + "xmax": 785.3957739970065, + "ymax": 355.90741479200227 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 772.6694868370172, + 355.90741479200227 + ], + [ + 782.2379476143052, + 350.03889815033233 + ], + [ + 774.8992290022995, + 345.0314337343204 + ], + [ + 765.3372493732471, + 350.82987342204063 + ], + [ + 775.6359442841806, + 331.54541358019765 + ], + [ + 785.3957739970065, + 325.7195697021436 + ], + [ + 777.8758611521146, + 320.74994722885504 + ], + [ + 768.1225445142654, + 326.50468792520667 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1047.639821245359, + "ymin": 398.8535712528446, + "xmax": 1082.3356764966989, + "ymax": 444.60304022432933 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1059.5659735748795, + 444.60304022432933 + ], + [ + 1069.593457555877, + 436.02003267602527 + ], + [ + 1057.697453031668, + 428.76624257281446 + ], + [ + 1047.639821245359, + 437.2145579700765 + ], + [ + 1072.1296899335998, + 414.6329974118439 + ], + [ + 1082.3356764966989, + 406.07909422924314 + ], + [ + 1069.9868152029153, + 398.8535712528446 + ], + [ + 1059.7469476907372, + 407.2692869357505 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 969.6586404245405, + "ymin": 0.0, + "xmax": 1246.3329259786897, + "ymax": 288.1601900587675 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1158.80741019295, + 172.26156700422464 + ], + [ + 1148.6769374299483, + 168.03979190116164 + ], + [ + 969.6586404245405, + 282.33546972125396 + ], + [ + 980.2127759821524, + 288.1601900587675 + ], + [ + 1246.3329259786897, + -42.532671510190994 + ], + [ + 1233.8538020995634, + -45.860518592160815 + ], + [ + 1036.405152238088, + 46.836959768861846 + ], + [ + 1049.7226126915318, + 51.71016848694097 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 262.5664021720539, + "ymin": 0.0, + "xmax": 371.780811718408, + "ymax": 23.453307678338604 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 301.42723497505324, + 20.87635496307098 + ], + [ + 305.2119654089778, + 23.453307678338604 + ], + [ + 371.780811718408, + 4.963377039400598 + ], + [ + 367.8092601350254, + 2.5685782609063494 + ], + [ + 262.5664021720539, + -142.63438035021807 + ], + [ + 266.56893038913654, + -140.6816819757462 + ], + [ + 342.0622180900679, + -154.64251062442474 + ], + [ + 337.81293119012975, + -156.44223894950323 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 968.2548341642387, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 206.54987327236265 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 1056.9427076770485, + 206.54987327236265 + ], + [ + 1180.786903999568, + 127.76311458200402 + ], + [ + 1095.0982923247093, + 95.30329874694132 + ], + [ + 968.2548341642387, + 165.54372268597078 + ], + [ + 1183.6826054872995, + -170.04529413022294 + ], + [ + 1321.7014709864316, + -215.59185295641555 + ], + [ + 1205.9243118932045, + -233.48688488121616 + ], + [ + 1060.5006704345567, + -194.1354070376433 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 835.1156685651883, + "ymin": 303.7287094791194, + "xmax": 860.8660322043361, + "ymax": 323.3435678428613 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 844.5925872239411, + 307.88479907719545 + ], + [ + 835.1156685651883, + 313.6687870779448 + ], + [ + 850.5748371791024, + 323.3435678428613 + ], + [ + 860.0524199269926, + 317.4198300860483 + ], + [ + 845.3400626015732, + 303.7287094791194 + ], + [ + 835.833712988009, + 309.5037078950009 + ], + [ + 851.3591475933605, + 319.1641365636689 + ], + [ + 860.8660322043361, + 313.2490846812207 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7664114084626016696, + "instance_id": 47273, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.91487884521484, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 786.2561301535752, + "ymin": 0.0, + "xmax": 860.5492627557499, + "ymax": 40.06014630082194 + }, + "corners_3d": [ + [ + -95.94330596923828, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -79.87950897216797, + 4.83804988861084 + ], + [ + -95.94330596923828, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 816.3999151500265, + 40.06014630082194 + ], + [ + 846.6332160324557, + 28.068171113602546 + ], + [ + 816.4515900753523, + 16.00798521910042 + ], + [ + 786.2561301535752, + 27.440943115337404 + ], + [ + 828.5743636076079, + -56.93478452793795 + ], + [ + 860.5492627557499, + -67.38797429522708 + ], + [ + 828.0396591646713, + -77.86774343450276 + ], + [ + 796.093233935849, + -67.93381921303904 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 483.12657111538374, + "ymin": 0.0, + "xmax": 584.2951898787101, + "ymax": 162.7210087783492 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 503.6394734776243, + 158.5589154959806 + ], + [ + 509.75227524588524, + 162.7210087783492 + ], + [ + 584.2951898787101, + 133.10704143499112 + ], + [ + 578.0039144863586, + 129.31347655022074 + ], + [ + 483.12657111538374, + -35.030520986846454 + ], + [ + 490.0139222830734, + -31.67041489885804 + ], + [ + 576.2920916325321, + -55.43759744239111 + ], + [ + 569.1590084615425, + -58.45871889883068 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 835.2522082367216, + "ymin": 303.8319622483781, + "xmax": 860.728287636643, + "ymax": 323.23823371378325 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 844.6283141645818, + 307.943970980318 + ], + [ + 835.2522082367216, + 313.66701206365775 + ], + [ + 850.5470763528, + 323.23823371378325 + ], + [ + 859.9238351374121, + 317.378398633369 + ], + [ + 845.3680291905887, + 303.8319622483781 + ], + [ + 835.9631162193471, + 309.54620564833556 + ], + [ + 851.3228467985263, + 319.1033770264103 + ], + [ + 860.728287636643, + 313.25204550891425 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 705.4311576123476, + "ymin": 227.29336553583838, + "xmax": 868.2842734781198, + "ymax": 554.5774164617767 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 716.9165636999986, + 460.9541445054448 + ], + [ + 705.4311576123476, + 468.566068549388 + ], + [ + 808.9854680538322, + 554.5774164617767 + ], + [ + 820.5971149019182, + 545.5431491560787 + ], + [ + 735.1719045111217, + 227.29336553583838 + ], + [ + 721.1148132917527, + 234.40886000587443 + ], + [ + 854.100205449682, + 316.7364176440966 + ], + [ + 868.2842734781198, + 307.9191904540347 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 746.6680175227127, + "ymin": 161.03789542935766, + "xmax": 1280.0, + "ymax": 718.2391874777281 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 757.1358842310151, + 414.30798272586986 + ], + [ + 746.6680175227127, + 420.9640151015848 + ], + [ + 1130.4127287599729, + 718.2391874777281 + ], + [ + 1140.5522254100163, + 706.5520945724033 + ], + [ + 785.9067945967892, + 161.03789542935766 + ], + [ + 773.1087059755366, + 167.01511227572777 + ], + [ + 1305.8964071853136, + 458.02088696446106 + ], + [ + 1317.3179088877655, + 445.6152122781924 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 5199819733356185808, + "instance_id": 53256, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1851_37", + "bbox_3d": { + "center_world": { + "x": -100.25784301757812, + "y": -72.39555358886719, + "z": 8.309331893920898 + }, + "extent": { + "x": 4.9728498458862305, + "y": 4.831793308258057, + "z": 8.307754516601562 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 843.8326071419108, + "ymin": 0.0, + "xmax": 1242.5008889184903, + "ymax": 91.2817838008807 + }, + "corners_3d": [ + [ + -94.59623718261719, + -68.39283752441406, + 0.0015773773193359375 + ], + [ + -96.09391784667969, + -77.93966674804688, + 0.0015773773193359375 + ], + [ + -105.91944885253906, + -76.39826965332031, + 0.0015773773193359375 + ], + [ + -104.42176818847656, + -66.8514404296875, + 0.0015773773193359375 + ], + [ + -94.59623718261719, + -68.39283752441406, + 16.61708641052246 + ], + [ + -96.09391784667969, + -77.93966674804688, + 16.61708641052246 + ], + [ + -105.91944885253906, + -76.39826965332031, + 16.61708641052246 + ], + [ + -104.42176818847656, + -66.8514404296875, + 16.61708641052246 + ] + ], + "corners_2d": [ + [ + 934.4522359816564, + -18.859263159366037 + ], + [ + 843.8326071419108, + 33.70780126387206 + ], + [ + 1029.988632448363, + 91.2817838008807 + ], + [ + 1108.9332498406393, + 27.20765133347396 + ], + [ + 1008.9446332711955, + -389.310587786297 + ], + [ + 902.8334580497208, + -374.9326044019674 + ], + [ + 1159.4330838553456, + -358.1931290334395 + ], + [ + 1242.5008889184903, + -376.75569373596727 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/ORI/frames_playback/frame_00048/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/ORI/frames_playback/frame_00048/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f26f308735e21051f6adee6d216480ff96b65757 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/ORI/frames_playback/frame_00048/meta.json @@ -0,0 +1,2888 @@ +{ + "frame_id": 48, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 24.0, + "sim_timestamp": 8384.153897577897 + }, + "drone_pose": { + "x": -124.6039349325756, + "y": -114.8230293317881, + "z": 20.003788599522615, + "pitch": -41.55831059603231, + "yaw": 38.83648861364518, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5828650593757629, + -0.4692469835281372, + 0.6633819341659546, + 113.23749542236328 + ], + [ + 0.6270999908447266, + 0.7789387702941895, + 1.4901161193847656e-08, + 11.300979614257812 + ], + [ + -0.5167338848114014, + 0.41600680351257324, + 0.7482810020446777, + -127.12268829345703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -124.21874443927369, + "y": -114.19498717162678, + "z": 20.004308645511106 + }, + "t1_image_uv": [ + 1098.196732524456, + -492.3653995396676 + ], + "t1_depth": 0.5188759895989999 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -107.66718292236328, + "y": -101.18776321411131, + "z": 0.7273967456817627 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 29.057758579390082, + "visible": false, + "in_view": true, + "lost_reason": "occluded", + "pixel_count": 59, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -107.66718292236328, + "y": -101.18775939941406, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.24204589426517487, + "y": 0.2500537037849426, + "z": 0.5549241304397583 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 630.7601429954049, + "ymin": 340.30497309518375, + "xmax": 649.1375766084554, + "ymax": 379.46854823462184 + }, + "corners_3d": [ + [ + -107.6615219116211, + -101.53572845458984, + 0.1724725365638733 + ], + [ + -108.01515197753906, + -101.18209838867188, + 0.1724725365638733 + ], + [ + -107.67284393310547, + -100.83979034423828, + 0.1724725365638733 + ], + [ + -107.3192138671875, + -101.19342041015625, + 0.1724725365638733 + ], + [ + -107.6615219116211, + -101.53572845458984, + 1.2823207378387451 + ], + [ + -108.01515197753906, + -101.18209838867188, + 1.2823207378387451 + ], + [ + -107.67284393310547, + -100.83979034423828, + 1.2823207378387451 + ], + [ + -107.3192138671875, + -101.19342041015625, + 1.2823207378387451 + ] + ], + "corners_2d": [ + [ + 630.9925935225449, + 378.2733846186485 + ], + [ + 647.3127011752497, + 379.46854823462184 + ], + [ + 648.9101852842355, + 368.8714362412873 + ], + [ + 632.7863050561479, + 367.7051732960169 + ], + [ + 630.7601429954049, + 350.80002529305915 + ], + [ + 647.5016832686862, + 351.98732978118204 + ], + [ + 649.1375766084554, + 341.46283935495 + ], + [ + 632.6024648455656, + 340.30497309518375 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 48, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 57, + "semantic_pixel_counts": { + "1": 260043, + "2": 171414, + "3": 380851, + "4": 21719, + "5": 225, + "6": 17656, + "7": 3457, + "9": 230, + "10": 18393, + "12": 2390, + "14": 2960, + "16": 21968, + "20": 788, + "21": 2671, + "24": 16835 + }, + "instance_pixel_counts": { + "1115": 7036, + "1118": 81, + "1169": 788, + "1627": 1070, + "11394": 2541, + "12894": 910, + "14416": 225, + "14979": 32, + "16023": 1989, + "16476": 180, + "17232": 21719, + "17500": 43, + "18011": 154790, + "18012": 172, + "20631": 7297, + "23808": 4951, + "24064": 12378, + "27072": 9075, + "29843": 19033, + "30656": 55108, + "31168": 5691, + "31891": 23015, + "34120": 48456, + "34453": 1856, + "36443": 217955, + "36501": 1793, + "37460": 1211, + "43659": 327, + "44171": 2532, + "44179": 10773, + "44691": 148551, + "46227": 58671, + "46731": 2510, + "46741": 391, + "47253": 10320, + "48267": 47, + "48779": 1788, + "48789": 2475, + "49664": 59, + "49803": 2718, + "50176": 411, + "50432": 835, + "50688": 1085, + "52480": 727, + "52672": 738, + "52736": 21241, + "53184": 4379, + "54016": 1969, + "54720": 5243, + "55232": 4981, + "55744": 6718, + "55879": 339, + "56135": 4593, + "56768": 11817, + "57173": 230, + "62555": 1168, + "63067": 1108 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 59, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -107.66718292236328, + "y": -101.18775939941406, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.24781738221645355, + "y": 0.2566845715045929, + "z": 0.5278252363204956 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 630.5222201443033, + "ymin": 340.8518176539231, + "xmax": 649.3704725106542, + "ymax": 378.95771699100567 + }, + "corners_3d": [ + [ + -107.6609115600586, + -101.54449462890625, + 0.199571430683136 + ], + [ + -108.02391815185547, + -101.18148803710938, + 0.199571430683136 + ], + [ + -107.67345428466797, + -100.83102416992188, + 0.199571430683136 + ], + [ + -107.3104476928711, + -101.19403076171875, + 0.199571430683136 + ], + [ + -107.6609115600586, + -101.54449462890625, + 1.2552218437194824 + ], + [ + -108.02391815185547, + -101.18148803710938, + 1.2552218437194824 + ], + [ + -107.67345428466797, + -100.83102416992188, + 1.2552218437194824 + ], + [ + -107.3104476928711, + -101.19403076171875, + 1.2552218437194824 + ] + ], + "corners_2d": [ + [ + 630.7491810706191, + 377.7306721577635 + ], + [ + 647.5147534148801, + 378.95771699100567 + ], + [ + 649.1485661938076, + 368.1092711059035 + ], + [ + 632.5894761351052, + 366.91261436056715 + ], + [ + 630.5222201443033, + 351.59863609953385 + ], + [ + 647.6993882451391, + 352.81801519745613 + ], + [ + 649.3704725106542, + 342.04027124570354 + ], + [ + 632.4099839382618, + 340.8518176539231 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 411, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -109.92300415039062, + "y": -94.24504852294922, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.4293261766433716, + "y": 0.39226073026657104, + "z": 0.8764219284057617 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 832.913945244347, + "ymin": 280.63291105694327, + "xmax": 869.3191258837822, + "ymax": 339.5773948018574 + }, + "corners_3d": [ + [ + -110.00979614257812, + -94.82007598876953, + -0.301422655582428 + ], + [ + -110.50350952148438, + -94.21038818359375, + -0.301422655582428 + ], + [ + -109.83621215820312, + -93.6700210571289, + -0.301422655582428 + ], + [ + -109.34249877929688, + -94.27970886230469, + -0.301422655582428 + ], + [ + -110.00979614257812, + -94.82007598876953, + 1.4514212608337402 + ], + [ + -110.50350952148438, + -94.21038818359375, + 1.4514212608337402 + ], + [ + -109.83621215820312, + -93.6700210571289, + 1.4514212608337402 + ], + [ + -109.34249877929688, + -94.27970886230469, + 1.4514212608337402 + ] + ], + "corners_2d": [ + [ + 836.7910305279421, + 339.53305563160575 + ], + [ + 860.816465625387, + 339.5773948018574 + ], + [ + 856.4568399105118, + 322.901022364277 + ], + [ + 832.913945244347, + 322.858445594853 + ], + [ + 844.3681580554132, + 297.0511967250395 + ], + [ + 869.3191258837822, + 297.0948881428709 + ], + [ + 864.6179911625505, + 280.6748010339312 + ], + [ + 840.1870553466928, + 280.63291105694327 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 835, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -117.16718292236328, + "y": -101.18775939941406, + "z": 0.5749797821044922 + }, + "extent": { + "x": 0.4434130787849426, + "y": 0.47395995259284973, + "z": 0.8811848163604736 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 856.1817121265443, + "ymin": 525.6026939007231, + "xmax": 910.2274937434389, + "ymax": 601.9749647772926 + }, + "corners_3d": [ + [ + -117.14558410644531, + -101.83644104003906, + -0.30620503425598145 + ], + [ + -117.81586456298828, + -101.1661605834961, + -0.30620503425598145 + ], + [ + -117.18878173828125, + -100.53907775878906, + -0.30620503425598145 + ], + [ + -116.51850128173828, + -101.20935821533203, + -0.30620503425598145 + ], + [ + -117.14558410644531, + -101.83644104003906, + 1.4561645984649658 + ], + [ + -117.81586456298828, + -101.1661605834961, + 1.4561645984649658 + ], + [ + -117.18878173828125, + -100.53907775878906, + 1.4561645984649658 + ], + [ + -116.51850128173828, + -101.20935821533203, + 1.4561645984649658 + ] + ], + "corners_2d": [ + [ + 858.3235792447593, + 598.494109185665 + ], + [ + 896.9744484520091, + 601.9749647772926 + ], + [ + 893.7850081090521, + 572.5376775244374 + ], + [ + 856.1817121265443, + 569.2415019566758 + ], + [ + 869.5455681266058, + 555.0930967004385 + ], + [ + 910.2274937434389, + 558.6076680354813 + ], + [ + 906.5034074088763, + 528.9216002171722 + ], + [ + 866.9803759628669, + 525.6026939007231 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 1085, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -111.78268432617188, + "y": -112.81512451171875, + "z": 0.7252579927444458 + }, + "extent": { + "x": 0.4345703125, + "y": 0.5700536966323853, + "z": 0.9062036871910095 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 304.2968619520578, + "ymin": 630.7482914532256, + "xmax": 386.10178733090254, + "ymax": 719.1357843606381 + }, + "corners_3d": [ + [ + -111.61315155029297, + -113.5115966796875, + -0.18094569444656372 + ], + [ + -112.49918365478516, + -112.79410552978516, + -0.18094569444656372 + ], + [ + -111.95221710205078, + -112.11865234375, + -0.18094569444656372 + ], + [ + -111.0661849975586, + -112.83614349365234, + -0.18094569444656372 + ], + [ + -111.61315155029297, + -113.5115966796875, + 1.6314616203308105 + ], + [ + -112.49918365478516, + -112.79410552978516, + 1.6314616203308105 + ], + [ + -111.95221710205078, + -112.11865234375, + 1.6314616203308105 + ], + [ + -111.0661849975586, + -112.83614349365234, + 1.6314616203308105 + ] + ], + "corners_2d": [ + [ + 323.00259686328343, + 709.0537683302672 + ], + [ + 370.3417954241232, + 719.1357843606381 + ], + [ + 386.10178733090254, + 684.2157460741564 + ], + [ + 339.98994426635613, + 674.7048708335672 + ], + [ + 304.2968619520578, + 665.7525163554486 + ], + [ + 354.28787114544906, + 676.0493393674044 + ], + [ + 371.4474508631915, + 640.4287980976943 + ], + [ + 322.8222971180606, + 630.7482914532256 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 727, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 446.1087374941608, + "ymin": 1.148417179018736, + "xmax": 683.3140102619095, + "ymax": 221.02055263277705 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 533.9980835509941, + 93.80611508590414 + ], + [ + 459.11741807090294, + 119.50085732537622 + ], + [ + 600.2438856075795, + 221.02055263277705 + ], + [ + 680.089961831723, + 186.3139358193687 + ], + [ + 526.7175043064501, + 1.148417179018736 + ], + [ + 446.1087374941608, + 24.327757176056082 + ], + [ + 596.8689691070765, + 117.2979907167826 + ], + [ + 683.3140102619095, + 85.26207374051273 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 21241, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 672.7340266895719, + "ymin": 0.0, + "xmax": 915.6402785769968, + "ymax": 159.00436263999129 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 834.0484662663004, + 159.00436263999129 + ], + [ + 896.8241447364196, + 129.94705361878664 + ], + [ + 733.8547114236877, + 51.27741287484707 + ], + [ + 672.7340266895719, + 73.30864092543845 + ], + [ + 848.9817489496784, + 60.20338166266015 + ], + [ + 915.6402785769968, + 33.75693362133279 + ], + [ + 739.8046649157916, + -36.942468849834995 + ], + [ + 674.8990843135399, + -17.274701943068465 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 1969, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 602.401518285476, + "ymin": 82.04212103979592, + "xmax": 720.0887171402092, + "ymax": 178.58526052859557 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 635.9541915924572, + 115.65657151637834 + ], + [ + 603.3491590437801, + 128.00114099880517 + ], + [ + 684.4877385423696, + 178.58526052859557 + ], + [ + 717.9522281946416, + 164.16459412426835 + ], + [ + 635.8517222756064, + 82.04212103979592 + ], + [ + 602.401518285476, + 94.00427237147903 + ], + [ + 685.7346304806593, + 143.15046423934808 + ], + [ + 720.0887171402092, + 129.11853302996013 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 52908959695452696, + "instance_id": 6202, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": -79.05494689941406, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1208.829218713201, + "ymin": 123.8149895669834, + "xmax": 1231.3407869972393, + "ymax": 151.8184486301214 + }, + "corners_3d": [ + [ + -113.29469299316406, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -78.86498260498047, + 3.5146729946136475 + ], + [ + -113.29469299316406, + -78.86498260498047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1208.829218713201, + 148.81790404571808 + ], + [ + 1216.339686964069, + 151.8184486301214 + ], + [ + 1221.5483439067198, + 148.52655662305702 + ], + [ + 1214.0519676181123, + 145.55659034187696 + ], + [ + 1218.4119264164988, + 127.0179919814228 + ], + [ + 1226.095217008617, + 129.96537359394705 + ], + [ + 1231.3407869972393, + 126.73183138859523 + ], + [ + 1223.6725458310934, + 123.8149895669834 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 936.9230697933781, + "ymin": 399.2959154637971, + "xmax": 968.7282083977807, + "ymax": 444.99192343941274 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 947.7639827488483, + 444.99192343941274 + ], + [ + 959.2290886892919, + 436.6453294260991 + ], + [ + 948.3921728837445, + 429.2096492354905 + ], + [ + 936.9230697933781, + 437.42239194033056 + ], + [ + 957.0068089156546, + 415.02376121160864 + ], + [ + 968.7282083977807, + 406.7039683941683 + ], + [ + 957.4931035478119, + 399.2959154637971 + ], + [ + 945.7660628065692, + 407.47834767251913 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5668522571212290485, + "instance_id": 46457, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -89.45570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1066.2661439639614, + "ymin": 139.22846976241757, + "xmax": 1091.366577159681, + "ymax": 173.90948702579286 + }, + "corners_3d": [ + [ + -113.19542694091797, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -89.26573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -89.26573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1066.2661439639614, + 170.08026919691707 + ], + [ + 1074.7168973681705, + 173.90948702579286 + ], + [ + 1082.0768229191058, + 169.68637721152248 + ], + [ + 1073.6373169906615, + 165.90550269551971 + ], + [ + 1075.2291062934269, + 143.31793598675338 + ], + [ + 1083.9116103487254, + 147.0698688308846 + ], + [ + 1091.366577159681, + 142.932045744924 + ], + [ + 1082.6964942854413, + 139.22846976241757 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1191.0992252323795, + "ymin": 573.6354953542327, + "xmax": 1237.9907263957468, + "ymax": 625.653456984267 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1206.504504518299, + 625.653456984267 + ], + [ + 1217.4112443189201, + 613.7945890043444 + ], + [ + 1202.0640480499185, + 603.2642161618313 + ], + [ + 1191.0992252323795, + 614.8969215579768 + ], + [ + 1226.9197818130815, + 596.2035627745146 + ], + [ + 1237.9907263957468, + 584.2459155502974 + ], + [ + 1221.8988775222012, + 573.6354953542327 + ], + [ + 1210.761217772857, + 585.3570443667311 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7157878223548397302, + "instance_id": 63030, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -86.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1113.1174518524722, + "ymin": 113.57980187674363, + "xmax": 1138.1076427827734, + "ymax": 147.0710759064788 + }, + "corners_3d": [ + [ + -113.19542694091797, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -86.76573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -86.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1113.1174518524722, + 143.54388924690522 + ], + [ + 1121.4875356421264, + 147.0710759064788 + ], + [ + 1128.2671221922667, + 143.18097263977882 + ], + [ + 1119.9105363368378, + 139.6965402707952 + ], + [ + 1122.6582124038764, + 117.34222699172574 + ], + [ + 1131.252144390345, + 120.79236522423221 + ], + [ + 1138.1076427827734, + 116.98728187298991 + ], + [ + 1129.5284381058077, + 113.57980187674363 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7631990878982166785, + "instance_id": 473, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": -83.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1164.6030270293772, + "ymin": 85.42857735642974, + "xmax": 1189.3839354708512, + "ymax": 117.59256142747651 + }, + "corners_3d": [ + [ + -113.1954345703125, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47261047363281, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.19544219970703, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47261047363281, + -83.76573944091797, + 6.416468620300293 + ], + [ + -113.19544219970703, + -83.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1164.6030270293772, + 114.38289609866328 + ], + [ + 1172.8594002924456, + 117.59256142747651 + ], + [ + 1179.0288582834514, + 114.0525566338575 + ], + [ + 1170.7879071762975, + 110.8800199259087 + ], + [ + 1174.68658235343, + 88.84783156640759 + ], + [ + 1183.1569992007644, + 91.98154228903991 + ], + [ + 1189.3839354708512, + 88.5253456119923 + ], + [ + 1180.930190367029, + 85.42857735642974 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 763.1903993669644, + "ymin": 375.66920811166, + "xmax": 784.6775894548457, + "ymax": 412.62221635970496 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 770.8102810260943, + 412.62221635970496 + ], + [ + 781.3168382333008, + 406.1312327379689 + ], + [ + 773.6830240541399, + 400.2980734770003 + ], + [ + 763.1903993669644, + 406.70462868986203 + ], + [ + 773.9442140146526, + 387.9399354183258 + ], + [ + 784.6775894548457, + 381.47608590916263 + ], + [ + 776.8410726915787, + 375.66920811166 + ], + [ + 766.1219903705764, + 382.04699534264597 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1064.4817640521435, + "ymin": 486.6185679090868, + "xmax": 1103.485223978313, + "ymax": 535.587158240072 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1077.5124427127732, + 535.587158240072 + ], + [ + 1088.8085337746193, + 525.5554335756402 + ], + [ + 1075.8049240762703, + 516.6330902839331 + ], + [ + 1064.4817640521435, + 526.4886503024832 + ], + [ + 1091.9655764556594, + 505.61558687272986 + ], + [ + 1103.485223978313, + 495.5582441210396 + ], + [ + 1089.927248554799, + 486.6185679090868 + ], + [ + 1078.3760928477957, + 496.49357018371904 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 985.7509157409925, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 333.0595719214591 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1189.6441895807006, + 207.55877240867457 + ], + [ + 1178.9017992269764, + 202.7596861326147 + ], + [ + 985.7509157409925, + 326.38967324499947 + ], + [ + 996.8470716956222, + 333.0595719214591 + ], + [ + 1288.5785804347954, + -14.791931161125888 + ], + [ + 1275.1173082048151, + -18.647777912568188 + ], + [ + 1060.8702889631552, + 83.8203967133918 + ], + [ + 1075.148634935999, + 89.54039087858757 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 261.83629068316077, + "ymin": 0.0, + "xmax": 374.7347652097986, + "ymax": 35.857176273107086 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 301.8698091276581, + 33.08081394595439 + ], + [ + 305.5496220881058, + 35.857176273107086 + ], + [ + 374.7347652097986, + 16.948693657503554 + ], + [ + 370.8348134563664, + 14.367521099482474 + ], + [ + 261.83629068316077, + -133.8324688017522 + ], + [ + 265.71706065103, + -131.71484406569283 + ], + [ + 344.40534027431494, + -146.08461633532426 + ], + [ + 340.23362172204446, + -148.0367337621414 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 987.3373322618882, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 244.1820490045816 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 1080.5015043369751, + 244.1820490045816 + ], + [ + 1213.6834900465378, + 159.25820253737888 + ], + [ + 1123.1701162272582, + 122.61780566639334 + ], + [ + 987.3373322618882, + 197.68959031196692 + ], + [ + 1224.5842574288822, + -147.89110928385514 + ], + [ + 1373.613177655904, + -198.58028240684826 + ], + [ + 1248.3123437347192, + -219.32810677332702 + ], + [ + 1091.6067985660675, + -176.10625508334977 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 832.4746573594613, + "ymin": 376.8662909522084, + "xmax": 860.5738325398145, + "ymax": 399.657176953592 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 843.160852855014, + 381.1141862971683 + ], + [ + 832.4746573594613, + 387.8175271048625 + ], + [ + 848.9816599403185, + 399.657176953592 + ], + [ + 859.6831152432428, + 392.7727252102877 + ], + [ + 843.9736708083442, + 376.8662909522084 + ], + [ + 833.2506636227238, + 383.5638785419941 + ], + [ + 849.8356145219702, + 395.3943731671764 + ], + [ + 860.5738325398145, + 388.51508857917145 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7664114084626016696, + "instance_id": 47273, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.91487884521484, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 800.893960571704, + "ymin": 0.0, + "xmax": 879.5056166237198, + "ymax": 59.32761102408011 + }, + "corners_3d": [ + [ + -95.94330596923828, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -79.87950897216797, + 4.83804988861084 + ], + [ + -95.94330596923828, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 831.8233811341267, + 59.32761102408011 + ], + [ + 863.783198185965, + 46.77839188519039 + ], + [ + 832.752351174091, + 33.49679092968313 + ], + [ + 800.893960571704, + 45.4270201140821 + ], + [ + 845.6374749141403, + -40.306989032891806 + ], + [ + 879.5056166237198, + -51.3066254140266 + ], + [ + 845.9373430763352, + -62.908996556857346 + ], + [ + 812.1675553379503, + -52.48897885060268 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 479.08452132603276, + "ymin": 0.0, + "xmax": 586.1166063965044, + "ymax": 187.92628907957973 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 501.0023186178733, + 183.32323208036004 + ], + [ + 507.1032473899403, + 187.92628907957973 + ], + [ + 586.1166063965044, + 156.85119559356778 + ], + [ + 579.7817982170576, + 152.65851987168853 + ], + [ + 479.08452132603276, + -15.286347572338855 + ], + [ + 485.98170936778445, + -11.522750109105061 + ], + [ + 578.0037510206272, + -36.774382967229826 + ], + [ + 570.7825907208035, + -40.15345868542636 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 832.6234518124172, + "ymin": 376.9860770458605, + "xmax": 860.42330617816, + "ymax": 399.5345983674507 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 843.1960657321334, + 381.1888734265282 + ], + [ + 832.6234518124172, + 387.8217015711058 + ], + [ + 848.9551168184151, + 399.5345983674507 + ], + [ + 859.5426713354374, + 392.7244890583595 + ], + [ + 844.0004501466584, + 376.9860770458605 + ], + [ + 833.3918043300763, + 383.6132767502493 + ], + [ + 849.7997671604187, + 395.31720875819957 + ], + [ + 860.42330617816, + 388.512160333162 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 697.0912528365832, + "ymin": 285.5818597957729, + "xmax": 868.6870094263207, + "ymax": 631.5079344067801 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 709.6938648556018, + 522.4763739770502 + ], + [ + 697.0912528365832, + 530.8585473972457 + ], + [ + 804.4396591527328, + 631.5079344067801 + ], + [ + 817.3058772314653, + 621.4015186622485 + ], + [ + 727.6321399288338, + 285.5818597957729 + ], + [ + 711.938912494711, + 293.6753332970935 + ], + [ + 852.652142805446, + 393.62555660829935 + ], + [ + 868.6870094263207, + 383.3526376257859 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 743.3571668603335, + "ymin": 211.7641516968983, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 754.7884608685641, + 470.13578036247907 + ], + [ + 743.3571668603335, + 477.4217486934365 + ], + [ + 1150.5209644692752, + 830.2810703278951 + ], + [ + 1161.9068283562606, + 816.7559585370124 + ], + [ + 785.2781738498593, + 211.7641516968983 + ], + [ + 771.0744393471548, + 218.5203558312697 + ], + [ + 1357.5329441536187, + 581.8854486931499 + ], + [ + 1370.5037180754948, + 566.5133022981959 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 5199819733356185808, + "instance_id": 53256, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1851_37", + "bbox_3d": { + "center_world": { + "x": -100.25784301757812, + "y": -72.39555358886719, + "z": 8.309331893920898 + }, + "extent": { + "x": 4.9728498458862305, + "y": 4.831793308258057, + "z": 8.307754516601562 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 860.731399129015, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 117.15554215096711 + }, + "corners_3d": [ + [ + -94.59623718261719, + -68.39283752441406, + 0.0015773773193359375 + ], + [ + -96.09391784667969, + -77.93966674804688, + 0.0015773773193359375 + ], + [ + -105.91944885253906, + -76.39826965332031, + 0.0015773773193359375 + ], + [ + -104.42176818847656, + -66.8514404296875, + 0.0015773773193359375 + ], + [ + -94.59623718261719, + -68.39283752441406, + 16.61708641052246 + ], + [ + -96.09391784667969, + -77.93966674804688, + 16.61708641052246 + ], + [ + -105.91944885253906, + -76.39826965332031, + 16.61708641052246 + ], + [ + -104.42176818847656, + -66.8514404296875, + 16.61708641052246 + ] + ], + "corners_2d": [ + [ + 956.9464063829485, + -2.721354382217669 + ], + [ + 860.731399129015, + 52.66846814827022 + ], + [ + 1054.4302321901478, + 117.15554215096711 + ], + [ + 1138.9632684501355, + 48.675783779949825 + ], + [ + 1041.0782373444886, + -386.44365513146136 + ], + [ + 927.9940467996834, + -370.9593531329914 + ], + [ + 1200.9920941683567, + -351.67538622817153 + ], + [ + 1289.5570344673465, + -372.1075915884994 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/ORI/frames_playback/frame_00052/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/ORI/frames_playback/frame_00052/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9ff40148f2b39c305aec5ae89a60110cb5f50649 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/ORI/frames_playback/frame_00052/meta.json @@ -0,0 +1,3096 @@ +{ + "frame_id": 52, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 26.0, + "sim_timestamp": 8433.774449789897 + }, + "drone_pose": { + "x": -123.11513313756372, + "y": -112.60481156773845, + "z": 20.00688519476782, + "pitch": -41.607847613884665, + "yaw": 36.51324795835455, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6009466052055359, + -0.4448922276496887, + 0.6640287041664124, + 110.7974853515625 + ], + [ + 0.5950086712837219, + 0.8037192821502686, + 0.0, + 17.248092651367188 + ], + [ + -0.5336926579475403, + 0.3951028287410736, + 0.7477071285247803, + -125.15540313720703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -122.76873540685489, + "y": -112.17533931672301, + "z": 20.00812226299392 + }, + "t1_image_uv": [ + 975.0858288181781, + -496.5496122119787 + ], + "t1_depth": 0.3984139733457772 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -105.66718292236328, + "y": -99.68776321411131, + "z": 0.7274065208435059 + }, + "image_uv": [ + 639.9999999999999, + 360.0 + ], + "depth": 29.03410757747441, + "visible": false, + "in_view": true, + "lost_reason": "occluded", + "pixel_count": 0, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -105.66718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.2643456757068634, + "y": 0.22114256024360657, + "z": 0.5308712124824524 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 628.8100746574753, + "ymin": 339.25364813746916, + "xmax": 651.2374147896286, + "ymax": 380.61054899224007 + }, + "corners_3d": [ + [ + -105.93152618408203, + -99.90890502929688, + 0.19653522968292236 + ], + [ + -105.93152618408203, + -99.46661376953125, + 0.19653522968292236 + ], + [ + -105.40283966064453, + -99.46661376953125, + 0.19653522968292236 + ], + [ + -105.40283966064453, + -99.90890502929688, + 0.19653522968292236 + ], + [ + -105.93152618408203, + -99.90890502929688, + 1.2582776546478271 + ], + [ + -105.93152618408203, + -99.46661376953125, + 1.2582776546478271 + ], + [ + -105.40283966064453, + -99.46661376953125, + 1.2582776546478271 + ], + [ + -105.40283966064453, + -99.90890502929688, + 1.2582776546478271 + ] + ], + "corners_2d": [ + [ + 639.3260603571264, + 380.61054899224007 + ], + [ + 650.9672571242386, + 374.75174912421056 + ], + [ + 640.662441655834, + 365.45617757286794 + ], + [ + 629.0779857733074, + 371.18965026564695 + ], + [ + 639.3093442023375, + 354.3096340465493 + ], + [ + 651.2374147896286, + 348.48733406161 + ], + [ + 640.6785805035611, + 339.25364813746916 + ], + [ + 628.8100746574753, + 344.9483738829291 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 52, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 57, + "semantic_pixel_counts": { + "1": 236370, + "2": 143507, + "3": 413976, + "4": 23792, + "5": 284, + "6": 19372, + "7": 3155, + "9": 2172, + "10": 26424, + "12": 1270, + "14": 5108, + "16": 27177, + "20": 1464, + "21": 2309, + "24": 15220 + }, + "instance_pixel_counts": { + "1115": 7828, + "1118": 540, + "1169": 988, + "11394": 3064, + "12894": 2222, + "14416": 284, + "14979": 186, + "16023": 2554, + "16476": 203, + "17232": 23792, + "17500": 54, + "18011": 212978, + "18012": 197, + "20631": 2893, + "23808": 4032, + "24064": 13009, + "27072": 11561, + "29843": 9200, + "30656": 36082, + "31168": 6966, + "31891": 1856, + "34120": 36743, + "34453": 612, + "35924": 102, + "36443": 193170, + "36501": 390, + "36948": 358, + "37460": 2236, + "43659": 643, + "44171": 1842, + "44179": 14845, + "44691": 137360, + "46227": 73109, + "46731": 2054, + "46741": 529, + "47253": 10685, + "48779": 2498, + "48789": 3004, + "49803": 3217, + "49920": 7, + "50176": 394, + "50432": 869, + "52480": 2171, + "52672": 2205, + "52736": 25006, + "53184": 5320, + "54016": 2346, + "54720": 5398, + "55232": 1134, + "55744": 8299, + "55879": 605, + "56135": 5647, + "56768": 14098, + "57173": 2172, + "57691": 16, + "62555": 1399, + "63067": 456 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 0, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -105.66718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.20562498271465302, + "y": 0.21682614088058472, + "z": 0.529599130153656 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 630.0816691167329, + "ymin": 340.3566465086022, + "xmax": 649.9373006592858, + "ymax": 379.46594639858574 + }, + "corners_3d": [ + [ + -105.87281036376953, + -99.90458679199219, + 0.19780731201171875 + ], + [ + -105.87281036376953, + -99.47093200683594, + 0.19780731201171875 + ], + [ + -105.46155548095703, + -99.47093200683594, + 0.19780731201171875 + ], + [ + -105.46155548095703, + -99.90458679199219, + 0.19780731201171875 + ], + [ + -105.87281036376953, + -99.90458679199219, + 1.2570055723190308 + ], + [ + -105.87281036376953, + -99.47093200683594, + 1.2570055723190308 + ], + [ + -105.46155548095703, + -99.47093200683594, + 1.2570055723190308 + ], + [ + -105.46155548095703, + -99.90458679199219, + 1.2570055723190308 + ] + ], + "corners_2d": [ + [ + 638.2911944170926, + 379.46594639858574 + ], + [ + 649.6992353657517, + 373.7354338923319 + ], + [ + 641.6836040911544, + 366.5037815048907 + ], + [ + 630.3188420018494, + 372.1387082884736 + ], + [ + 638.248967912535, + 353.234846734256 + ], + [ + 649.9373006592858, + 347.5402880751386 + ], + [ + 641.7245743758891, + 340.3566465086022 + ], + [ + 630.0816691167329, + 345.9539098867708 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 7, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -101.8442153930664, + "y": -96.76985931396484, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.5306298732757568, + "y": 0.34765625, + "z": 0.8800798654556274 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 623.3914716482321, + "ymin": 237.99498672004978, + "xmax": 660.897337431165, + "ymax": 301.13342629075277 + }, + "corners_3d": [ + [ + -102.43553161621094, + -96.99959564208984, + -0.3050805926322937 + ], + [ + -102.29096984863281, + -96.31947326660156, + -0.3050805926322937 + ], + [ + -101.25289916992188, + -96.54012298583984, + -0.3050805926322937 + ], + [ + -101.3974609375, + -97.22024536132812, + -0.3050805926322937 + ], + [ + -102.43553161621094, + -96.99959564208984, + 1.4550790786743164 + ], + [ + -102.29096984863281, + -96.31947326660156, + 1.4550790786743164 + ], + [ + -101.25289916992188, + -96.54012298583984, + 1.4550790786743164 + ], + [ + -101.3974609375, + -97.22024536132812, + 1.4550790786743164 + ] + ], + "corners_2d": [ + [ + 646.9440292877665, + 301.13342629075277 + ], + [ + 660.1626962125292, + 291.83611722304727 + ], + [ + 637.250775948578, + 279.62727270389354 + ], + [ + 623.9729585476655, + 288.6357547413568 + ], + [ + 647.2001490876223, + 259.09210104032513 + ], + [ + 660.897337431165, + 249.96645115385542 + ], + [ + 637.1522211376289, + 237.99498672004978 + ], + [ + 623.3914716482321, + 246.82700129199384 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 394, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -107.92300415039062, + "y": -92.74504852294922, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.3869287073612213, + "y": 0.3238232433795929, + "z": 0.882958710193634 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 835.6926285589927, + "ymin": 284.22116994307066, + "xmax": 875.6901239822607, + "ymax": 346.7070712883281 + }, + "corners_3d": [ + [ + -108.34165954589844, + -93.02664947509766, + -0.3079545497894287 + ], + [ + -108.27396392822266, + -92.38255310058594, + -0.3079545497894287 + ], + [ + -107.50434875488281, + -92.46344757080078, + -0.3079545497894287 + ], + [ + -107.5720443725586, + -93.1075439453125, + -0.3079545497894287 + ], + [ + -108.34165954589844, + -93.02664947509766, + 1.4579628705978394 + ], + [ + -108.27396392822266, + -92.38255310058594, + 1.4579628705978394 + ], + [ + -107.50434875488281, + -92.46344757080078, + 1.4579628705978394 + ], + [ + -107.5720443725586, + -93.1075439453125, + 1.4579628705978394 + ] + ], + "corners_2d": [ + [ + 854.5321041215044, + 346.7070712883281 + ], + [ + 866.8898085736923, + 337.9620462648232 + ], + [ + 848.0784267754389, + 326.83393244012785 + ], + [ + 835.6926285589927, + 335.344979444276 + ], + [ + 862.9441561055557, + 303.79952956978354 + ], + [ + 875.6901239822607, + 295.1797425522496 + ], + [ + 856.0368358882987, + 284.22116994307066 + ], + [ + 843.2580647672697, + 292.60152352587465 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 869, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -115.16718292236328, + "y": -99.68775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.434511661529541, + "y": 0.4494091272354126, + "z": 0.8872894644737244 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 840.6727206280141, + "ymin": 529.3997580196661, + "xmax": 904.3764260405783, + "ymax": 615.0115089155612 + }, + "corners_3d": [ + [ + -115.60169219970703, + -100.13716888427734, + -0.3123047947883606 + ], + [ + -115.60169219970703, + -99.23834991455078, + -0.3123047947883606 + ], + [ + -114.73267364501953, + -99.23834991455078, + -0.3123047947883606 + ], + [ + -114.73267364501953, + -100.13716888427734, + -0.3123047947883606 + ], + [ + -115.60169219970703, + -100.13716888427734, + 1.4622740745544434 + ], + [ + -115.60169219970703, + -99.23834991455078, + 1.4622740745544434 + ], + [ + -114.73267364501953, + -99.23834991455078, + 1.4622740745544434 + ], + [ + -114.73267364501953, + -100.13716888427734, + 1.4622740745544434 + ] + ], + "corners_2d": [ + [ + 866.196070637881, + 615.0115089155612 + ], + [ + 891.3711162144763, + 596.5224047583838 + ], + [ + 865.7276086433442, + 573.2856012688821 + ], + [ + 840.6727206280141, + 590.987740530886 + ], + [ + 878.108025029693, + 571.5145170301548 + ], + [ + 904.3764260405783, + 552.832509675669 + ], + [ + 877.1444101318544, + 529.3997580196661 + ], + [ + 850.9995454687242, + 547.2464811023724 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 2171, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 454.54632512801066, + "ymin": 22.33981471190458, + "xmax": 698.5033173166497, + "ymax": 258.9076638932721 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 547.0012025088065, + 117.43391546713445 + ], + [ + 467.5168011260806, + 143.88877077994124 + ], + [ + 607.5810397954157, + 258.9076638932721 + ], + [ + 693.907534378391, + 222.30202204534024 + ], + [ + 540.3194062625898, + 22.33981471190458 + ], + [ + 454.54632512801066, + 46.34978758574846 + ], + [ + 604.6629599826841, + 152.5079192326856 + ], + [ + 698.5033173166497, + 118.40634032216309 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 25006, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 692.8864370413313, + "ymin": 0.0, + "xmax": 948.9913669094741, + "ymax": 195.5959691209147 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 858.5030586202715, + 195.5959691209147 + ], + [ + 926.6645435199493, + 164.76219919487707 + ], + [ + 758.1488210792555, + 75.01108935142281 + ], + [ + 692.8864370413313, + 97.85330292512509 + ], + [ + 876.3847474655628, + 93.67751408045899 + ], + [ + 948.9913669094741, + 65.36450343856131 + ], + [ + 766.0107762408115, + -15.884046130923423 + ], + [ + 696.5571115481628, + 4.631568050938654 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 2346, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 616.3022559949268, + "ymin": 108.91881672602744, + "xmax": 737.9129834086774, + "ymax": 213.85257941697645 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 651.8228737079571, + 143.41019632925153 + ], + [ + 616.9282609038617, + 156.25333775117198 + ], + [ + 698.9973668440352, + 213.85257941697645 + ], + [ + 735.1574598822659, + 198.6547527120349 + ], + [ + 652.1371447029923, + 108.91881672602744 + ], + [ + 616.3022559949268, + 121.39499664177993 + ], + [ + 700.7444593257064, + 177.51370835953298 + ], + [ + 737.9129834086774, + 162.6802237115353 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 52908959695452696, + "instance_id": 6202, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": -79.05494689941406, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1263.7691052901155, + "ymin": 171.98415045693218, + "xmax": 1280.0, + "ymax": 201.7620949215473 + }, + "corners_3d": [ + [ + -113.29469299316406, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -78.86498260498047, + 3.5146729946136475 + ], + [ + -113.29469299316406, + -78.86498260498047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1263.7691052901155, + 198.15903806737157 + ], + [ + 1271.9811374245712, + 201.7620949215473 + ], + [ + 1277.7543530118578, + 198.12563529294627 + ], + [ + 1269.5553057482423, + 194.56012401225362 + ], + [ + 1275.1275117614168, + 175.52819994039845 + ], + [ + 1283.5502078559562, + 179.07700279129378 + ], + [ + 1289.3668494025596, + 175.49530329128666 + ], + [ + 1280.9582626510842, + 171.98415045693218 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 953.1194480281359, + "ymin": 504.85760129093, + "xmax": 989.5797091350764, + "ymax": 554.2517993100693 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 964.9856004815094, + 554.2517993100693 + ], + [ + 978.2890012750445, + 544.3701636346466 + ], + [ + 966.4112237369905, + 534.8136520116472 + ], + [ + 953.1194480281359, + 544.5131342458487 + ], + [ + 975.9391444211054, + 524.3650289447415 + ], + [ + 989.5797091350764, + 514.4451233036059 + ], + [ + 977.201777592818, + 504.85760129093 + ], + [ + 963.5715878190656, + 514.5886026273836 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5668522571212290485, + "instance_id": 46457, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -89.45570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1107.3844015565342, + "ymin": 195.2477707967886, + "xmax": 1135.9775815658145, + "ymax": 232.3891920348987 + }, + "corners_3d": [ + [ + -113.19542694091797, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -89.26573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -89.26573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1107.3844015565342, + 227.7050031672946 + ], + [ + 1116.6055581257374, + 232.3891920348987 + ], + [ + 1124.851584633242, + 227.63629380323954 + ], + [ + 1115.6375617005403, + 223.01312827230768 + ], + [ + 1118.1106218607247, + 199.86109239935098 + ], + [ + 1127.616175454032, + 204.46823280605233 + ], + [ + 1135.9775815658145, + 199.7935234438648 + ], + [ + 1126.4804615062933, + 195.2477707967886 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7157878223548397302, + "instance_id": 63030, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -86.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1159.7852489912725, + "ymin": 166.35923441872225, + "xmax": 1188.3166268669115, + "ymax": 202.21726068086372 + }, + "corners_3d": [ + [ + -113.19542694091797, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -86.76573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -86.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1159.7852489912725, + 197.91370513390768 + ], + [ + 1168.949228774777, + 202.21726068086372 + ], + [ + 1176.5252389172597, + 197.8505618066516 + ], + [ + 1167.3718666529205, + 193.6007665692674 + ], + [ + 1171.2098045155653, + 170.59197630878316 + ], + [ + 1180.6492672280287, + 174.81666824990742 + ], + [ + 1188.3166268669115, + 170.52999871310442 + ], + [ + 1178.8891870905165, + 166.35923441872225 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7631990878982166785, + "instance_id": 473, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": -83.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1217.2152182214027, + "ymin": 134.74261034171298, + "xmax": 1245.5654697903951, + "ymax": 169.16849051523482 + }, + "corners_3d": [ + [ + -113.1954345703125, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47261047363281, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.19544219970703, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47261047363281, + -83.76573944091797, + 6.416468620300293 + ], + [ + -113.19544219970703, + -83.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1217.2152182214027, + 165.26346337802093 + ], + [ + 1226.284211979664, + 169.16849051523482 + ], + [ + 1233.158697686154, + 165.20615026973562 + ], + [ + 1224.1033626265134, + 161.3476121051951 + ], + [ + 1229.2895833742907, + 138.57772160225568 + ], + [ + 1238.6226199563152, + 142.40318317017042 + ], + [ + 1245.5654697903951, + 138.52158333220655 + ], + [ + 1236.247570968837, + 134.74261034171298 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 766.3542597345863, + "ymin": 452.27027276973854, + "xmax": 789.958624547354, + "ymax": 491.4966325000315 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 774.3156505407169, + 491.4966325000315 + ], + [ + 786.1661964801143, + 484.20797166040825 + ], + [ + 778.1770141626272, + 477.09231394282506 + ], + [ + 766.3542597345863, + 484.2747771408124 + ], + [ + 777.8272889421969, + 466.67281338787325 + ], + [ + 789.958624547354, + 459.38367470993416 + ], + [ + 781.7353650199805, + 452.27027276973854 + ], + [ + 769.6328773408707, + 459.4504717535976 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1094.6123533864506, + "ymin": 619.45504352382, + "xmax": 1140.5549752784573, + "ymax": 672.692097129217 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1109.3001057321776, + 672.692097129217 + ], + [ + 1122.5780963230945, + 660.4609398325543 + ], + [ + 1107.9070047132732, + 648.6570095903722 + ], + [ + 1094.6123533864506, + 660.6377179862463 + ], + [ + 1126.9747905440195, + 643.757154093511 + ], + [ + 1140.5549752784573, + 631.3853958020878 + ], + [ + 1125.1523421913903, + 619.45504352382 + ], + [ + 1111.5501526333437, + 631.564136437883 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1014.7794764171762, + "ymin": 21.98534763246346, + "xmax": 1280.0, + "ymax": 396.45124244870107 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1240.5146135190498, + 258.69268846921716 + ], + [ + 1228.8620483416262, + 252.98408895789117 + ], + [ + 1014.7794764171762, + 388.4682312669666 + ], + [ + 1026.6289857513189, + 396.45124244870107 + ], + [ + 1358.3510413005179, + 26.698308597960022 + ], + [ + 1343.3631797474184, + 21.98534763246346 + ], + [ + 1104.0507798393965, + 137.76421445295543 + ], + [ + 1119.758266865351, + 144.8513307293524 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 272.8144369670076, + "ymin": 0.0, + "xmax": 388.5690481793365, + "ymax": 50.73497352711718 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 312.88167748462683, + 47.69576532457029 + ], + [ + 316.3885700605469, + 50.73497352711718 + ], + [ + 388.5690481793365, + 31.67893875357464 + ], + [ + 384.79480331534637, + 28.848635127944135 + ], + [ + 272.8144369670076, + -122.96078722455047 + ], + [ + 276.50040789674784, + -120.6253226360692 + ], + [ + 358.79354865281545, + -135.2158565450411 + ], + [ + 354.7547147873597, + -137.37221303923945 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1021.0418383740907, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 297.8677376275584 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 1120.5725267525909, + 297.8677376275584 + ], + [ + 1267.716863221253, + 205.0974396516731 + ], + [ + 1170.0377954006472, + 161.91819225622135 + ], + [ + 1021.0418383740907, + 242.8940430775474 + ], + [ + 1293.8201043083718, + -114.22552005076858 + ], + [ + 1459.3431060224498, + -172.18527418246765 + ], + [ + 1319.0157925202566, + -197.5871832254378 + ], + [ + 1145.7284331486044, + -149.148814646125 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 834.5100044035993, + "ymin": 484.2973980178341, + "xmax": 866.0173061274256, + "ymax": 512.104322428429 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 847.0225091525188, + 488.5857292241451 + ], + [ + 834.5100044035993, + 496.6240443260954 + ], + [ + 852.4296296331642, + 512.104322428429 + ], + [ + 864.9884546439814, + 503.81350190014075 + ], + [ + 847.9546703943748, + 484.2973980178341 + ], + [ + 835.3930334961481, + 492.3369123967125 + ], + [ + 853.4091712062002, + 507.82117132607925 + ], + [ + 866.0173061274256, + 499.5279451372681 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7664114084626016696, + "instance_id": 47273, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.91487884521484, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 828.8011614492966, + "ymin": 0.0, + "xmax": 914.0143619415987, + "ymax": 85.84668588328185 + }, + "corners_3d": [ + [ + -95.94330596923828, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -79.87950897216797, + 4.83804988861084 + ], + [ + -95.94330596923828, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 860.7548232172744, + 85.84668588328185 + ], + [ + 895.1085146682665, + 72.71811342223731 + ], + [ + 862.9442722996682, + 57.6372417182954 + ], + [ + 828.8011614492966, + 70.06695476223956 + ], + [ + 877.5235702113647, + -17.09021254308999 + ], + [ + 914.0143619415987, + -28.68214907278349 + ], + [ + 878.9939386299666, + -41.94872937660813 + ], + [ + 842.7225740866452, + -31.01816149120384 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9560389216542849208, + "instance_id": 47352, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_1", + "bbox_3d": { + "center_world": { + "x": -94.91524505615234, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 840.358783482742, + "ymin": 0.0, + "xmax": 907.4407353157069, + "ymax": 14.358026692025874 + }, + "corners_3d": [ + [ + -95.88141632080078, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -95.88141632080078, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -93.9490737915039, + -77.64111328125, + 3.4435572624206543 + ], + [ + -93.9490737915039, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -95.88141632080078, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -95.88141632080078, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -93.9490737915039, + -77.64111328125, + 3.7680342197418213 + ], + [ + -93.9490737915039, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 872.2153282145312, + 14.358026692025874 + ], + [ + 906.0981482283173, + 2.923130282291993 + ], + [ + 874.0486842252594, + -10.12964690593543 + ], + [ + 840.358783482742, + 0.7041339441794321 + ], + [ + 873.4141393757958, + 6.9931154655079695 + ], + [ + 907.4407353157069, + -4.332504236891509 + ], + [ + 875.1983058425184, + -17.257318508735864 + ], + [ + 841.365135149322, + -6.529987463450084 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11431371900272489448, + "instance_id": 59571, + "pixel_count": null, + "type_id": "BP_HighwayLight_simple2_SM_2", + "bbox_3d": { + "center_world": { + "x": -98.27579498291016, + "y": -56.101219177246094, + "z": 5.664507865905762 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1146.079098018046, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 3.94217609684506 + }, + "corners_3d": [ + [ + -98.64216613769531, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -97.90940856933594, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -97.909423828125, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -98.64218139648438, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -98.64216613769531, + -52.1658935546875, + 11.14326000213623 + ], + [ + -97.90940856933594, + -52.1658935546875, + 11.14326000213623 + ], + [ + -97.909423828125, + -60.03654479980469, + 11.14326000213623 + ], + [ + -98.64218139648438, + -60.03654479980469, + 11.14326000213623 + ] + ], + "corners_2d": [ + [ + 1236.3328667956926, + -27.808021219777345 + ], + [ + 1223.9926990366428, + -31.51566330965028 + ], + [ + 1146.079098018046, + -0.2870473489945198 + ], + [ + 1158.592928030062, + 3.94217609684506 + ], + [ + 1327.7154015805272, + -252.88564763669126 + ], + [ + 1312.6618886279598, + -255.08801720691793 + ], + [ + 1228.975625797057, + -236.3680946272109 + ], + [ + 1244.389765095345, + -233.8029429552838 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 483.66651802844285, + "ymin": 0.0, + "xmax": 596.8125680782991, + "ymax": 220.29178014471336 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 506.01053588266916, + 215.06867392809383 + ], + [ + 512.0373926142859, + 220.29178014471336 + ], + [ + 596.8125680782991, + 187.8406109883214 + ], + [ + 590.465080282331, + 183.08063425920642 + ], + [ + 483.66651802844285, + 10.637002370949972 + ], + [ + 490.51441313358157, + 14.975890774720767 + ], + [ + 589.931916186199, + -11.809760505284487 + ], + [ + 582.6370776311303, + -15.70451652060217 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 834.6764823948984, + "ymin": 484.443226121565, + "xmax": 865.8481294544614, + "ymax": 511.9544358778636 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 847.0561743156846, + 488.6859289944438 + ], + [ + 834.6764823948984, + 496.63990966877793 + ], + [ + 852.4059598097354, + 511.9544358778636 + ], + [ + 864.8309972666219, + 503.75328768579584 + ], + [ + 847.9786642809836, + 484.443226121565 + ], + [ + 835.5508797379878, + 492.39838670635436 + ], + [ + 853.3748271837281, + 507.7168030704997 + ], + [ + 865.8481294544614, + 499.5133066819204 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.9637352521913, + "ymin": 368.76838842376054, + "xmax": 875.178793916675, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 705.1499499285013, + 606.8539344579002 + ], + [ + 690.9637352521913, + 616.1980266924365 + ], + [ + 802.4883221419246, + 739.6686988679857 + ], + [ + 817.1959606894873, + 728.138452767043 + ], + [ + 723.7458680266996, + 368.76838842376054 + ], + [ + 705.6697557495753, + 378.2013729860374 + ], + [ + 856.3270875191428, + 507.29811031735164 + ], + [ + 875.178793916675, + 494.88072315745393 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15445048005953999223, + "instance_id": 30545, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_0", + "bbox_3d": { + "center_world": { + "x": -94.91524505615234, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 840.3138657195772, + "ymin": 0.0, + "xmax": 907.4795044803277, + "ymax": 14.422414984901991 + }, + "corners_3d": [ + [ + -95.88260650634766, + -79.81846618652344, + 3.441368341445923 + ], + [ + -95.88261413574219, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -93.94788360595703, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -93.9478759765625, + -79.81846618652344, + 3.441368341445923 + ], + [ + -95.88260650634766, + -79.81846618652344, + 3.768015146255493 + ], + [ + -95.88261413574219, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -93.94788360595703, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -93.9478759765625, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 872.2085014301899, + 14.422414984901991 + ], + [ + 906.1277831156613, + 2.9739132543265896 + ], + [ + 874.039779892893, + -10.095496539224314 + ], + [ + 840.3138657195772, + 0.7504716621552916 + ], + [ + 873.4153295167605, + 7.008368343847735 + ], + [ + 907.4795044803277, + -4.330013506620219 + ], + [ + 875.1970121348342, + -17.270458247944703 + ], + [ + 841.3267153013205, + -6.531758099357944 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 744.524940727153, + "ymin": 284.29518177351497, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 757.3214089228044, + 546.7987734878549 + ], + [ + 744.524940727153, + 554.8615521914783 + ], + [ + 1183.5064393524435, + 998.047868174957 + ], + [ + 1196.8648961855924, + 981.7715724645822 + ], + [ + 791.7634614768948, + 284.29518177351497 + ], + [ + 775.5189574652259, + 292.1085784404262 + ], + [ + 1445.7632673427581, + 784.322953308357 + ], + [ + 1461.2405785494584, + 763.7610194098067 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 5199819733356185808, + "instance_id": 53256, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1851_37", + "bbox_3d": { + "center_world": { + "x": -100.25784301757812, + "y": -72.39555358886719, + "z": 8.309331893920898 + }, + "extent": { + "x": 4.9728498458862305, + "y": 4.831793308258057, + "z": 8.307754516601562 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 891.6842289203164, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 154.00217819958712 + }, + "corners_3d": [ + [ + -94.59623718261719, + -68.39283752441406, + 0.0015773773193359375 + ], + [ + -96.09391784667969, + -77.93966674804688, + 0.0015773773193359375 + ], + [ + -105.91944885253906, + -76.39826965332031, + 0.0015773773193359375 + ], + [ + -104.42176818847656, + -66.8514404296875, + 0.0015773773193359375 + ], + [ + -94.59623718261719, + -68.39283752441406, + 16.61708641052246 + ], + [ + -96.09391784667969, + -77.93966674804688, + 16.61708641052246 + ], + [ + -105.91944885253906, + -76.39826965332031, + 16.61708641052246 + ], + [ + -104.42176818847656, + -66.8514404296875, + 16.61708641052246 + ] + ], + "corners_2d": [ + [ + 995.793899247856, + 20.199864213688386 + ], + [ + 891.6842289203164, + 78.92459642263657 + ], + [ + 1095.965283747447, + 154.00217819958712 + ], + [ + 1188.7503822451934, + 79.83555547344838 + ], + [ + 1096.2970813891998, + -381.13501054195604 + ], + [ + 973.5702258377852, + -364.22163870856764 + ], + [ + 1271.2976156533193, + -340.87778220334394 + ], + [ + 1367.6648597090762, + -363.9503602058587 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/ORI/frames_playback/frame_00069/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/ORI/frames_playback/frame_00069/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..50dd3746ca21c18adda48a1261cf785bcd021f5b --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/ORI/frames_playback/frame_00069/meta.json @@ -0,0 +1,2353 @@ +{ + "frame_id": 69, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 34.5, + "sim_timestamp": 8655.916914027184 + }, + "drone_pose": { + "x": -116.95819408704413, + "y": -96.80403696505823, + "z": 20.067878004732336, + "pitch": -44.03955456556306, + "yaw": -8.290163192243048, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7113483548164368, + 0.10364977270364761, + 0.6951548457145691, + 59.21401596069336 + ], + [ + -0.14418630301952362, + 0.9895505309104919, + 0.0, + 112.65625762939453 + ], + [ + -0.6878908276557922, + -0.10023179650306702, + 0.7188600301742554, + -85.1776123046875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -116.45819408704413, + "y": -96.80403696505823, + "z": 20.074576873970187 + }, + "t1_image_uv": [ + 837.1680672126572, + -593.8287486331758 + ], + "t1_depth": 0.3510174388565041 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -97.16718292236328, + "y": -99.68776321411131, + "z": 0.7274016332626343 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 27.821826436727292, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 198, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -97.16718292236328, + "y": -99.68775939941406, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.2856835722923279, + "y": 0.21342770755290985, + "z": 0.5262006521224976 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.1168636930438, + "ymin": 339.324449824886, + "xmax": 648.7669810835271, + "ymax": 380.4678795250907 + }, + "corners_3d": [ + [ + -97.45286560058594, + -99.90118408203125, + 0.20120090246200562 + ], + [ + -97.45286560058594, + -99.47433471679688, + 0.20120090246200562 + ], + [ + -96.88150024414062, + -99.47433471679688, + 0.20120090246200562 + ], + [ + -96.88150024414062, + -99.90118408203125, + 0.20120090246200562 + ], + [ + -97.45286560058594, + -99.90118408203125, + 1.2536022663116455 + ], + [ + -97.45286560058594, + -99.47433471679688, + 1.2536022663116455 + ], + [ + -96.88150024414062, + -99.47433471679688, + 1.2536022663116455 + ], + [ + -96.88150024414062, + -99.90118408203125, + 1.2536022663116455 + ] + ], + "corners_2d": [ + [ + 631.3489075807607, + 378.96901112799605 + ], + [ + 645.8366668140729, + 380.4678795250907 + ], + [ + 648.5408952607715, + 366.87422671192536 + ], + [ + 634.2561687225922, + 365.4179663968539 + ], + [ + 631.1168636930438, + 352.85013260524255 + ], + [ + 645.9934751433472, + 354.346833282282 + ], + [ + 648.7669810835271, + 340.77748702219037 + ], + [ + 634.1043669214778, + 339.324449824886 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 69, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 45, + "semantic_pixel_counts": { + "1": 244767, + "2": 135337, + "3": 404440, + "4": 4003, + "5": 1116, + "6": 2684, + "10": 1261, + "12": 2188, + "14": 18879, + "16": 86248, + "20": 8660, + "24": 12017 + }, + "instance_pixel_counts": { + "913": 1483, + "1115": 5247, + "3182": 2539, + "4206": 2110, + "4718": 5083, + "8834": 1848, + "14416": 1116, + "15963": 529, + "16475": 2332, + "16987": 7244, + "17232": 4003, + "17499": 21668, + "18011": 350598, + "24512": 20527, + "26963": 32, + "31168": 22512, + "34120": 4320, + "35668": 3782, + "35924": 1958, + "36443": 904, + "36692": 1437, + "40019": 804, + "43147": 8348, + "43659": 4264, + "44179": 122927, + "46227": 121840, + "46741": 7027, + "48749": 1122, + "48779": 7080, + "48789": 4990, + "49261": 5064, + "49664": 198, + "49920": 389, + "50176": 654, + "50432": 947, + "51456": 3115, + "52160": 21091, + "52480": 35763, + "52672": 21786, + "52736": 50485, + "54016": 9256, + "55040": 6508, + "55744": 22038, + "55879": 368, + "64351": 3371 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 198, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -97.16718292236328, + "y": -99.68775939941406, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.27727535367012024, + "y": 0.1970507651567459, + "z": 0.5451675653457642 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.7270818534918, + "ymin": 339.09332847292006, + "xmax": 648.1672578926164, + "ymax": 380.66566193670405 + }, + "corners_3d": [ + [ + -97.4444580078125, + -99.88481140136719, + 0.182233989238739 + ], + [ + -97.4444580078125, + -99.49070739746094, + 0.182233989238739 + ], + [ + -96.88990783691406, + -99.49070739746094, + 0.182233989238739 + ], + [ + -96.88990783691406, + -99.88481140136719, + 0.182233989238739 + ], + [ + -97.4444580078125, + -99.88481140136719, + 1.272569179534912 + ], + [ + -97.4444580078125, + -99.49070739746094, + 1.272569179534912 + ], + [ + -96.88990783691406, + -99.49070739746094, + 1.272569179534912 + ], + [ + -96.88990783691406, + -99.88481140136719, + 1.272569179534912 + ] + ], + "corners_2d": [ + [ + 631.9508356232525, + 379.28235221105166 + ], + [ + 645.3180855716864, + 380.66566193670405 + ], + [ + 647.9491145772279, + 367.473457088591 + ], + [ + 634.7636343498235, + 366.1283116832081 + ], + [ + 631.7270818534918, + 352.22189452420406 + ], + [ + 645.4661415726251, + 353.6031140882144 + ], + [ + 648.1672578926164, + 340.4354039224425 + ], + [ + 634.6201477707241, + 339.09332847292006 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 389, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -89.80570220947266, + "y": -99.09268951416016, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.5589648485183716, + "y": 0.3837548792362213, + "z": 0.9222136735916138 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 674.740834104889, + "ymin": 182.13851134849142, + "xmax": 702.1353098173936, + "ymax": 246.2446826956628 + }, + "corners_3d": [ + [ + -90.43224334716797, + -99.35184478759766, + -0.19481700658798218 + ], + [ + -90.27266693115234, + -98.60110473632812, + -0.19481700658798218 + ], + [ + -89.17916107177734, + -98.83353424072266, + -0.19481700658798218 + ], + [ + -89.33873748779297, + -99.58427429199219, + -0.19481700658798218 + ], + [ + -90.43224334716797, + -99.35184478759766, + 1.6496102809906006 + ], + [ + -90.27266693115234, + -98.60110473632812, + 1.6496102809906006 + ], + [ + -89.17916107177734, + -98.83353424072266, + 1.6496102809906006 + ], + [ + -89.33873748779297, + -99.58427429199219, + 1.6496102809906006 + ] + ], + "corners_2d": [ + [ + 677.6698661984806, + 246.2446826956628 + ], + [ + 699.7396302030146, + 245.370186681994 + ], + [ + 696.2939767053703, + 226.20912969174617 + ], + [ + 674.740834104889, + 227.04290479782196 + ], + [ + 679.1821924378106, + 201.8225217925452 + ], + [ + 702.1353098173936, + 200.9625583256344 + ], + [ + 698.4962401086822, + 182.13851134849142 + ], + [ + 676.1014041266402, + 182.95688261717402 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 654, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -101.70704650878906, + "y": -92.84963989257812, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.5438281297683716, + "y": 0.31867673993110657, + "z": 0.8998767137527466 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 863.1778325292657, + "ymin": 476.52303701437904, + "xmax": 907.9132118007826, + "ymax": 556.2933694637425 + }, + "corners_3d": [ + [ + -102.28120422363281, + -93.10972595214844, + -0.3248823285102844 + ], + [ + -102.21458435058594, + -92.47586059570312, + -0.3248823285102844 + ], + [ + -101.13288879394531, + -92.58955383300781, + -0.3248823285102844 + ], + [ + -101.19950866699219, + -93.22341918945312, + -0.3248823285102844 + ], + [ + -102.28120422363281, + -93.10972595214844, + 1.4748711585998535 + ], + [ + -102.21458435058594, + -92.47586059570312, + 1.4748711585998535 + ], + [ + -101.13288879394531, + -92.58955383300781, + 1.4748711585998535 + ], + [ + -101.19950866699219, + -93.22341918945312, + 1.4748711585998535 + ] + ], + "corners_2d": [ + [ + 868.6509987023841, + 555.4436355822659 + ], + [ + 894.0712429675746, + 556.2933694637425 + ], + [ + 887.7995804113473, + 521.1438575208333 + ], + [ + 863.1778325292657, + 520.346390134201 + ], + [ + 881.0981314037043, + 512.0411917387682 + ], + [ + 907.9132118007826, + 512.9026136406842 + ], + [ + 900.8556942369715, + 477.3287294865539 + ], + [ + 874.9276105677369, + 476.52303701437904 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 947, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -106.66718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.5033983588218689, + "y": 0.44790521264076233, + "z": 0.9161012172698975 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 550.0121565989136, + "ymin": 612.7795382336637, + "xmax": 602.7575806219531, + "ymax": 701.903800129445 + }, + "corners_3d": [ + [ + -107.17057800292969, + -100.13566589355469, + -0.1886947751045227 + ], + [ + -107.17057800292969, + -99.23985290527344, + -0.1886947751045227 + ], + [ + -106.16378784179688, + -99.23985290527344, + -0.1886947751045227 + ], + [ + -106.16378784179688, + -100.13566589355469, + -0.1886947751045227 + ], + [ + -107.17057800292969, + -100.13566589355469, + 1.643507719039917 + ], + [ + -107.17057800292969, + -99.23985290527344, + 1.643507719039917 + ], + [ + -106.16378784179688, + -99.23985290527344, + 1.643507719039917 + ], + [ + -106.16378784179688, + -100.13566589355469, + 1.643507719039917 + ] + ], + "corners_2d": [ + [ + 555.3706744313274, + 696.3896365078429 + ], + [ + 594.9613563988137, + 701.903800129445 + ], + [ + 602.7575806219531, + 660.5762344851612 + ], + [ + 564.4168267925703, + 655.4143123168847 + ], + [ + 550.0121565989136, + 654.8313796113823 + ], + [ + 592.0963975031356, + 660.5035878924534 + ], + [ + 600.4703585900771, + 618.0675948418843 + ], + [ + 559.7956189612352, + 612.7795382336637 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 3115, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 869.7792200060295, + "ymin": 51.58825827412909, + "xmax": 930.7623393170127, + "ymax": 136.36705702612466 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 917.1146963129476, + 85.28657336686479 + ], + [ + 869.7792200060295, + 81.97624104851252 + ], + [ + 872.3548759432758, + 132.52063171501536 + ], + [ + 923.4037076604299, + 136.36705702612466 + ], + [ + 923.7759459227761, + 54.819761117685005 + ], + [ + 875.2739827098444, + 51.58825827412909 + ], + [ + 878.3542347569444, + 101.01488525600791 + ], + [ + 930.7623393170127, + 104.78378674194911 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 35763, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 726.9660252843264, + "ymin": 126.54494488641265, + "xmax": 904.9610623973567, + "ymax": 477.0126148001864 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 866.0443336455654, + 245.2591495058706 + ], + [ + 750.9800327884702, + 235.18802226018173 + ], + [ + 726.9660252843264, + 460.4450047009254 + ], + [ + 874.4197875842182, + 477.0126148001864 + ], + [ + 888.3219223247504, + 136.11273495392243 + ], + [ + 761.7690148828941, + 126.54494488641265 + ], + [ + 738.0938050047832, + 346.2713949200909 + ], + [ + 904.9610623973567, + 362.9193075180905 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 50485, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1068.4556640126132, + "ymin": 195.3941938450455, + "xmax": 1280.0, + "ymax": 602.3278671000496 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 1141.1173548628678, + 581.5828911189509 + ], + [ + 1313.773803971712, + 602.3278671000496 + ], + [ + 1198.3516100195416, + 319.1326698329462 + ], + [ + 1068.4556640126132, + 307.1589701089201 + ], + [ + 1213.9123216266714, + 469.56100094179806 + ], + [ + 1413.6772817358788, + 491.06137358483574 + ], + [ + 1258.940236596649, + 206.97279542986868 + ], + [ + 1114.254509656509, + 195.3941938450455 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 9256, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 885.9727765929159, + "ymin": 296.9760785162372, + "xmax": 976.2196872435775, + "ymax": 477.2808659165885 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 945.6298531369147, + 341.7727625181881 + ], + [ + 885.9727765929159, + 335.9814227178665 + ], + [ + 893.2642353301798, + 469.6436319832686 + ], + [ + 961.8570878883976, + 477.2808659165885 + ], + [ + 957.4325853279572, + 302.7316280684856 + ], + [ + 895.4089244703669, + 296.9760785162372 + ], + [ + 904.4797337326027, + 430.5369318966379 + ], + [ + 976.2196872435775, + 438.21439399702933 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 6508, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1029.6417486599455, + "ymin": 34.32741923376841, + "xmax": 1137.7578524645369, + "ymax": 164.55212658777853 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 1053.0266878330574, + 159.57160728544622 + ], + [ + 1117.9068778995395, + 164.55212658777853 + ], + [ + 1087.3249517319516, + 84.86493794716102 + ], + [ + 1029.6417486599455, + 80.905670289022 + ], + [ + 1070.06131740499, + 110.36141006563557 + ], + [ + 1137.7578524645369, + 115.19811615512714 + ], + [ + 1103.810913425808, + 38.138090644518115 + ], + [ + 1043.9115936907751, + 34.32741923376841 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 732.2519077928455, + "ymin": 0.0, + "xmax": 847.1575790677007, + "ymax": 68.98885060827428 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 733.0052826178674, + 58.32970208397518 + ], + [ + 732.2519077928455, + 62.977400757150804 + ], + [ + 820.4001906465379, + 68.98885060827428 + ], + [ + 820.5056162169526, + 64.25255150451653 + ], + [ + 746.535772047924, + -129.98174892386805 + ], + [ + 745.7869348973798, + -126.253662412692 + ], + [ + 847.1575790677007, + -121.41970031434334 + ], + [ + 847.0504201737681, + -125.22940974322012 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2080193722244522285, + "instance_id": 11745, + "pixel_count": null, + "type_id": "BP_StreetLight_simple51_120_SM_2", + "bbox_3d": { + "center_world": { + "x": -78.77368927001953, + "y": -128.03121948242188, + "z": 4.08544921875 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 2.402612452030212, + "ymin": 0.0, + "xmax": 94.04934349091934, + "ymax": 50.35143702736775 + }, + "corners_3d": [ + [ + -80.54341888427734, + -127.2630386352539, + 0.20873045921325684 + ], + [ + -80.32381439208984, + -126.88267517089844, + 0.20873045921325684 + ], + [ + -77.00395965576172, + -128.7993927001953, + 0.20873045921325684 + ], + [ + -77.22356414794922, + -129.1797637939453, + 0.20873045921325684 + ], + [ + -80.54341888427734, + -127.2630386352539, + 7.962167739868164 + ], + [ + -80.32381439208984, + -126.88267517089844, + 7.962167739868164 + ], + [ + -77.00395965576172, + -128.7993927001953, + 7.962167739868164 + ], + [ + -77.22356414794922, + -129.1797637939453, + 7.962167739868164 + ] + ], + "corners_2d": [ + [ + 82.57244510813337, + 50.35143702736775 + ], + [ + 93.20076302496693, + 48.67034534240253 + ], + [ + 94.04934349091934, + 13.984297217978735 + ], + [ + 84.0220756346248, + 15.481453405929074 + ], + [ + 2.402612452030212, + -136.9590122178015 + ], + [ + 14.80382377934859, + -138.29920594897004 + ], + [ + 20.765062507554376, + -165.7196805509261 + ], + [ + 9.17410586060771, + -164.54518654262768 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1231.1172530355116, + "ymin": 42.12209467060097, + "xmax": 1280.0, + "ymax": 79.33098861619334 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1246.931802970324, + 75.09290214559138 + ], + [ + 1311.2971361580092, + 79.33098861619334 + ], + [ + 1292.8982219260392, + 54.33364809491434 + ], + [ + 1231.1172530355116, + 50.415406409985565 + ], + [ + 1250.9519714172066, + 66.63010103014005 + ], + [ + 1315.7731286794105, + 70.84033079225782 + ], + [ + 1297.0824410028545, + 46.012592090209296 + ], + [ + 1234.8815466950477, + 42.12209467060097 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1193.6887685192069, + "ymin": 13.365907629462868, + "xmax": 1280.0, + "ymax": 159.93265053112884 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1207.9828190133753, + 155.2079265046981 + ], + [ + 1271.5395059025132, + 159.93265053112884 + ], + [ + 1254.7074112250448, + 131.87836328520336 + ], + [ + 1193.6887685192069, + 127.50954358620709 + ], + [ + 1263.2078116379728, + 38.77215855266138 + ], + [ + 1333.384350104072, + 43.124790202023576 + ], + [ + 1312.3675630823718, + 17.360669581908155 + ], + [ + 1245.271081835672, + 13.365907629462868 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 831.2678997158359, + "ymin": 130.32316681679015, + "xmax": 849.0277450023444, + "ymax": 141.85775571681472 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 831.2974413671157, + 134.25323003444515 + ], + [ + 831.2678997158359, + 140.56361982195193 + ], + [ + 848.3484465095783, + 141.85775571681472 + ], + [ + 848.2257226208541, + 135.52440810172993 + ], + [ + 831.9144469141538, + 130.32316681679015 + ], + [ + 831.8903688119062, + 136.6186804963737 + ], + [ + 849.0277450023444, + 137.90981066928217 + ], + [ + 848.8985472187583, + 131.59131887256146 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1231.1855127290855, + "ymin": 42.138505173996634, + "xmax": 1280.0, + "ymax": 79.25621253838847 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1246.9834053264653, + 75.02327006272299 + ], + [ + 1311.279490781782, + 79.25621253838847 + ], + [ + 1292.90302580305, + 54.2910487046359 + ], + [ + 1231.1855127290855, + 50.377197153731345 + ], + [ + 1250.977125779389, + 66.61640082878483 + ], + [ + 1315.7255080229402, + 70.82169886294537 + ], + [ + 1297.0595673242053, + 46.02482401106204 + ], + [ + 1234.9253368444145, + 42.138505173996634 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 685.5012418150136, + "ymin": 112.93363771385157, + "xmax": 854.337493969394, + "ymax": 364.2046433729318 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 687.0948338650848, + 341.5591446751855 + ], + [ + 685.5012418150136, + 351.390287700815 + ], + [ + 813.8289643228145, + 364.2046433729318 + ], + [ + 814.0539031510596, + 354.0991484116389 + ], + [ + 697.7428952174588, + 112.93363771385157 + ], + [ + 695.9256157253112, + 121.98096550306252 + ], + [ + 854.337493969394, + 133.840395191158 + ], + [ + 854.0742526038857, + 124.48164693011663 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 831.3623007536988, + "ymin": 130.3842571794725, + "xmax": 848.9324212361544, + "ymax": 141.79620506083262 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 831.390699118717, + 134.2726118060956 + ], + [ + 831.3623007536988, + 140.51597024475865 + ], + [ + 848.2606816121072, + 141.79620506083262 + ], + [ + 848.1400298850085, + 135.53037428749573 + ], + [ + 832.0014638834679, + 130.3842571794725 + ], + [ + 831.9784187432978, + 136.6130542886783 + ], + [ + 848.9324212361544, + 137.89034687112854 + ], + [ + 848.8054378287245, + 131.63905777813486 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1201.5070210597682, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 131.87495929381743 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1378.303132372083, + 7.882192144182397 + ], + [ + 1201.5070210597682, + 24.54770247771961 + ], + [ + 1350.2751001230931, + 131.87495929381743 + ], + [ + 1553.1047292820176, + 108.74730398041214 + ], + [ + 1583.32403343724, + -365.5731862825288 + ], + [ + 1363.2416748651585, + -358.0195208697561 + ], + [ + 1605.1866925728173, + -306.281751174344 + ], + [ + 1866.2739867258044, + -317.90608172925147 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 170.7385502543475, + "ymax": 132.96939182835897 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + 170.7385502543475, + 30.27914069181537 + ], + [ + -3.4625075769440627, + 44.52424141013353 + ], + [ + -58.75693683968825, + 132.96939182835897 + ], + [ + 141.38309687090452, + 114.37844863025359 + ], + [ + 67.92658194730984, + -259.4622413963457 + ], + [ + -148.5519658127306, + -250.45461045300772 + ], + [ + -245.11617913850534, + -192.3438790732131 + ], + [ + 12.835427718873007, + -204.880808742216 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 108.501870071432, + "ymax": 217.03113033342174 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 108.501870071432, + 113.78324903304826 + ], + [ + -61.25793909964375, + 114.72583829237135 + ], + [ + -164.10363203519682, + 217.03113033342174 + ], + [ + 31.204239474632686, + 215.78528762659894 + ], + [ + -36.39544426904433, + -223.98091675407807 + ], + [ + -252.77158972412496, + -223.37510800964787 + ], + [ + -427.36284936604125, + -154.7927715776051 + ], + [ + -167.69275459298512, + -155.6631124684717 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/ORI/frames_playback/frame_00094/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/ORI/frames_playback/frame_00094/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dce71d493e5e5bd5d791a3cd0b17f515db491a40 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/ORI/frames_playback/frame_00094/meta.json @@ -0,0 +1,2780 @@ +{ + "frame_id": 94, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 47.0, + "sim_timestamp": 9004.417451145127 + }, + "drone_pose": { + "x": -104.45819408704413, + "y": -93.30403696505823, + "z": 20.21061344462049, + "pitch": -44.473279242906, + "yaw": -8.290163192243048, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7061207890510559, + 0.1028880774974823, + 0.7005764842033386, + 50.00115203857422 + ], + [ + -0.14418630301952362, + 0.9895505309104919, + -3.725290298461914e-09, + 107.3905029296875 + ], + [ + -0.6932558417320251, + -0.10101354122161865, + 0.7135772705078125, + -77.41312408447266 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -103.95819408704413, + "y": -92.80403696505823, + "z": 20.209471297282853 + }, + "t1_image_uv": [ + 2439.484094411632, + -577.428740874916 + ], + "t1_depth": 0.30241650905369444 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -84.66718292236328, + "y": -96.18776321411131, + "z": 0.5749944090844292 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 28.027799323327294, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 183, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -84.66718292236328, + "y": -96.18775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.2096533179283142, + "y": 0.237548828125, + "z": 0.5189157724380493 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 629.2580014127473, + "ymin": 339.6396425310483, + "xmax": 650.7784037561469, + "ymax": 380.16055431182434 + }, + "corners_3d": [ + [ + -84.6474609375, + -96.50398254394531, + 0.05607861280441284 + ], + [ + -84.98340606689453, + -96.16803741455078, + 0.05607861280441284 + ], + [ + -84.68690490722656, + -95.87153625488281, + 0.05607861280441284 + ], + [ + -84.35095977783203, + -96.20748138427734, + 0.05607861280441284 + ], + [ + -84.6474609375, + -96.50398254394531, + 1.0939102172851562 + ], + [ + -84.98340606689453, + -96.16803741455078, + 1.0939102172851562 + ], + [ + -84.68690490722656, + -95.87153625488281, + 1.0939102172851562 + ], + [ + -84.35095977783203, + -96.20748138427734, + 1.0939102172851562 + ] + ], + "corners_2d": [ + [ + 629.5326463338515, + 370.9602293714485 + ], + [ + 639.1112567642103, + 380.16055431182434 + ], + [ + 650.5019246262345, + 374.0860024659018 + ], + [ + 640.8750009911687, + 365.00087336116997 + ], + [ + 629.2580014127473, + 345.5916671614359 + ], + [ + 639.0877067321226, + 354.7845079737076 + ], + [ + 650.7784037561469, + 348.7143754181286 + ], + [ + 640.8978122402967, + 339.6396425310483 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 94, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 56, + "semantic_pixel_counts": { + "1": 264898, + "2": 179846, + "3": 317624, + "4": 19959, + "5": 740, + "6": 6281, + "10": 7694, + "12": 3058, + "14": 20373, + "16": 73199, + "20": 13321, + "24": 14607 + }, + "instance_pixel_counts": { + "913": 2606, + "1646": 7325, + "2670": 6437, + "3182": 14015, + "3694": 4360, + "4206": 11512, + "5230": 1256, + "5742": 2337, + "8834": 3508, + "12951": 29, + "14416": 740, + "15963": 12353, + "16475": 30410, + "16987": 103101, + "17232": 19959, + "17499": 106020, + "22976": 2739, + "23296": 186, + "23552": 370, + "24512": 36639, + "26963": 1149, + "35668": 6567, + "35924": 1821, + "36692": 2327, + "37979": 3426, + "40019": 1068, + "41611": 1128, + "42123": 772, + "43117": 2332, + "43147": 15166, + "43155": 26833, + "43659": 12422, + "43667": 51, + "44179": 238014, + "45717": 3188, + "46741": 11419, + "48749": 4937, + "49261": 7475, + "49664": 183, + "49920": 440, + "50176": 537, + "50432": 731, + "50624": 4763, + "50688": 605, + "50944": 562, + "51136": 1746, + "51456": 5800, + "52160": 39373, + "52480": 45661, + "52672": 56263, + "52736": 27538, + "54016": 2492, + "55040": 12081, + "55879": 5634, + "64351": 8806, + "64621": 328 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 183, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -84.66718292236328, + "y": -96.18775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.2075488269329071, + "y": 0.234130859375, + "z": 0.5339998006820679 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 629.3828501116516, + "ymin": 339.35563297129096, + "xmax": 650.6523369079146, + "ymax": 380.4222086769252 + }, + "corners_3d": [ + [ + -84.64838409423828, + -96.50007629394531, + 0.04099458456039429 + ], + [ + -84.97949981689453, + -96.16896057128906, + 0.04099458456039429 + ], + [ + -84.68598175048828, + -95.87544250488281, + 0.04099458456039429 + ], + [ + -84.35486602783203, + -96.20655822753906, + 0.04099458456039429 + ], + [ + -84.64838409423828, + -96.50007629394531, + 1.1089942455291748 + ], + [ + -84.97949981689453, + -96.16896057128906, + 1.1089942455291748 + ], + [ + -84.68598175048828, + -95.87544250488281, + 1.1089942455291748 + ], + [ + -84.35486602783203, + -96.20655822753906, + 1.1089942455291748 + ] + ], + "corners_2d": [ + [ + 629.6621002427478, + 371.3547125498295 + ], + [ + 639.0997468277324, + 380.4222086769252 + ], + [ + 650.371263991385, + 374.40960348448505 + ], + [ + 640.886512900671, + 365.45446328032733 + ], + [ + 629.3828501116516, + 345.24843099369525 + ], + [ + 639.0751914740425, + 354.308315608188 + ], + [ + 650.6523369079146, + 348.3002378031573 + ], + [ + 640.9103075244898, + 339.35563297129096 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 440, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -81.03800201416016, + "y": -95.00215911865234, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.42399901151657104, + "y": 0.40357908606529236, + "z": 0.8971376419067383 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 674.4153356736922, + "ymin": 250.66151283888445, + "xmax": 713.2443413297541, + "ymax": 317.874228610495 + }, + "corners_3d": [ + [ + -81.17378997802734, + -95.5715560913086, + -0.32213836908340454 + ], + [ + -81.6134033203125, + -94.89461517333984, + -0.32213836908340454 + ], + [ + -80.90221405029297, + -94.4327621459961, + -0.32213836908340454 + ], + [ + -80.46260070800781, + -95.10970306396484, + -0.32213836908340454 + ], + [ + -81.17378997802734, + -95.5715560913086, + 1.4721369743347168 + ], + [ + -81.6134033203125, + -94.89461517333984, + 1.4721369743347168 + ], + [ + -80.90221405029297, + -94.4327621459961, + 1.4721369743347168 + ], + [ + -80.46260070800781, + -95.10970306396484, + 1.4721369743347168 + ] + ], + "corners_2d": [ + [ + 674.4153356736922, + 306.85645878647335 + ], + [ + 693.8191760262316, + 317.874228610495 + ], + [ + 710.2871449363187, + 304.72555477619596 + ], + [ + 690.9646423194924, + 294.02531716505314 + ], + [ + 675.8669190024389, + 263.3722970674757 + ], + [ + 696.1185050826776, + 274.2990702078814 + ], + [ + 713.2443413297541, + 261.26031005060224 + ], + [ + 693.0819472883949, + 250.66151283888445 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 537, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -86.92300415039062, + "y": -89.24504852294922, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.4855371117591858, + "y": 0.4260546863079071, + "z": 0.8859284520149231 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 855.0877542382782, + "ymin": 404.4326432696201, + "xmax": 914.8951700153032, + "ymax": 484.15535812043555 + }, + "corners_3d": [ + [ + -87.03221130371094, + -89.8817138671875, + -0.31092917919158936 + ], + [ + -87.5684585571289, + -89.21949768066406, + -0.31092917919158936 + ], + [ + -86.81379699707031, + -88.60838317871094, + -0.31092917919158936 + ], + [ + -86.27754974365234, + -89.27059936523438, + -0.31092917919158936 + ], + [ + -87.03221130371094, + -89.8817138671875, + 1.4609277248382568 + ], + [ + -87.5684585571289, + -89.21949768066406, + 1.4609277248382568 + ], + [ + -86.81379699707031, + -88.60838317871094, + 1.4609277248382568 + ], + [ + -86.27754974365234, + -89.27059936523438, + 1.4609277248382568 + ] + ], + "corners_2d": [ + [ + 855.0877542382782, + 466.0550478173434 + ], + [ + 880.2378688828226, + 484.15535812043555 + ], + [ + 901.9465467011378, + 465.13128343423705 + ], + [ + 876.8755932144347, + 447.6655712504255 + ], + [ + 865.7298780717683, + 422.9220676774214 + ], + [ + 892.3398923370631, + 441.1521159026342 + ], + [ + 914.8951700153032, + 421.9925171625737 + ], + [ + 888.380208942523, + 404.4326432696201 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 731, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -90.56682586669922, + "y": -99.95462799072266, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.5032910108566284, + "y": 0.4721337854862213, + "z": 0.916005551815033 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 425.481092512729, + "ymin": 458.9039019921705, + "xmax": 488.8921245123789, + "ymax": 546.8774376971662 + }, + "corners_3d": [ + [ + -90.58885955810547, + -100.64435577392578, + -0.18860399723052979 + ], + [ + -91.25655364990234, + -99.9766616821289, + -0.18860399723052979 + ], + [ + -90.54479217529297, + -99.26490020751953, + -0.18860399723052979 + ], + [ + -89.8770980834961, + -99.9325942993164, + -0.18860399723052979 + ], + [ + -90.58885955810547, + -100.64435577392578, + 1.6434071063995361 + ], + [ + -91.25655364990234, + -99.9766616821289, + 1.6434071063995361 + ], + [ + -90.54479217529297, + -99.26490020751953, + 1.6434071063995361 + ], + [ + -89.8770980834961, + -99.9325942993164, + 1.6434071063995361 + ] + ], + "corners_2d": [ + [ + 436.56518039528214, + 522.3176658881738 + ], + [ + 454.3422501481384, + 546.8774376971662 + ], + [ + 488.8921245123789, + 527.2684744380496 + ], + [ + 470.6785516350491, + 503.5451789824456 + ], + [ + 425.481092512729, + 477.8855350420131 + ], + [ + 443.989338879006, + 502.7720614453485 + ], + [ + 480.6201426330275, + 482.89735904023894 + ], + [ + 461.6182610779964, + 458.9039019921705 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 605, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -86.23794555664062, + "y": -101.02207946777344, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.43839842081069946, + "y": 0.5366894602775574, + "z": 0.8849886059761047 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 437.6513329039102, + "ymin": 338.10831741784534, + "xmax": 489.2456056507666, + "ymax": 416.0976313928731 + }, + "corners_3d": [ + [ + -86.09675598144531, + -101.70053100585938, + -0.15758216381072998 + ], + [ + -86.93092346191406, + -101.02503204345703, + -0.15758216381072998 + ], + [ + -86.37913513183594, + -100.3436279296875, + -0.15758216381072998 + ], + [ + -85.54496765136719, + -101.01912689208984, + -0.15758216381072998 + ], + [ + -86.09675598144531, + -101.70053100585938, + 1.6123950481414795 + ], + [ + -86.93092346191406, + -101.02503204345703, + 1.6123950481414795 + ], + [ + -86.37913513183594, + -100.3436279296875, + 1.6123950481414795 + ], + [ + -85.54496765136719, + -101.01912689208984, + 1.6123950481414795 + ] + ], + "corners_2d": [ + [ + 446.58102077596334, + 392.6942360970916 + ], + [ + 461.1168678501997, + 416.0976313928731 + ], + [ + 489.2456056507666, + 404.6034486188362 + ], + [ + 474.2213782118466, + 381.72953850934874 + ], + [ + 437.6513329039102, + 349.0602960816522 + ], + [ + 452.6506911064638, + 372.47461989024146 + ], + [ + 482.1966693243365, + 360.9685826619886 + ], + [ + 466.65775833309846, + 338.10831741784534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 562, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -81.94930267333984, + "y": -98.16240692138672, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.4045068323612213, + "y": 0.4320410192012787, + "z": 0.8852608799934387 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 571.5207030858169, + "ymin": 256.4308867175436, + "xmax": 608.0864789124695, + "ymax": 322.97145084045354 + }, + "corners_3d": [ + [ + -81.8072738647461, + -98.7369613647461, + -0.15785932540893555 + ], + [ + -82.53195190429688, + -98.26634979248047, + -0.15785932540893555 + ], + [ + -82.0913314819336, + -97.58785247802734, + -0.15785932540893555 + ], + [ + -81.36665344238281, + -98.05846405029297, + -0.15785932540893555 + ], + [ + -81.8072738647461, + -98.7369613647461, + 1.612662434577942 + ], + [ + -82.53195190429688, + -98.26634979248047, + 1.612662434577942 + ], + [ + -82.0913314819336, + -97.58785247802734, + 1.612662434577942 + ], + [ + -81.36665344238281, + -98.05846405029297, + 1.612662434577942 + ] + ], + "corners_2d": [ + [ + 574.2764673255858, + 306.51657662871366 + ], + [ + 584.518189705455, + 322.97145084045354 + ], + [ + 608.0864789124695, + 315.8080781931784 + ], + [ + 597.4993510951011, + 299.6101985099121 + ], + [ + 571.5207030858169, + 263.27460829223924 + ], + [ + 582.1469591923758, + 279.59817885145327 + ], + [ + 606.7337784444925, + 272.4888517485751 + ], + [ + 595.7317335476588, + 256.4308867175436 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 5800, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 768.5797614275983, + "ymin": 214.27684920569564, + "xmax": 839.9819348977221, + "ymax": 336.08513304945654 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 833.8516768441102, + 252.82893623954922 + ], + [ + 774.8404543111999, + 247.54569897004626 + ], + [ + 768.5797614275983, + 329.7003036856315 + ], + [ + 833.4286703166463, + 336.08513304945654 + ], + [ + 839.8057404417343, + 219.5041011179771 + ], + [ + 778.9550225236901, + 214.27684920569564 + ], + [ + 772.9046811094826, + 295.79127771953006 + ], + [ + 839.9819348977221, + 302.14704154226047 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 45661, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 450.7472768230409, + "ymin": 394.434710407662, + "xmax": 750.9467324149828, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 737.4857310452512, + 525.2045050957145 + ], + [ + 585.8461934908137, + 507.01401077064605 + ], + [ + 482.5778122073357, + 953.0499096748645 + ], + [ + 695.3209615121604, + 989.4321794294935 + ], + [ + 750.9467324149828, + 412.99783721212026 + ], + [ + 578.5079755728929, + 394.434710407662 + ], + [ + 450.7472768230409, + 875.251002094889 + ], + [ + 706.8269280911059, + 916.9735792188592 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 27538, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1002.5808086661991, + "ymin": 532.6359914820275, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 1082.2021962780975, + 1232.570421776953 + ], + [ + 1351.7175129731909, + 1283.640477983094 + ], + [ + 1181.0396615976865, + 663.5112124584955 + ], + [ + 1002.5808086661991, + 640.5339765204171 + ], + [ + 1191.9748270663144, + 1206.4444583163981 + ], + [ + 1534.6436028460685, + 1269.716544731415 + ], + [ + 1266.5822576082269, + 556.8985401104753 + ], + [ + 1058.6869487012225, + 532.6359914820275 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 2492, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 724.9124058301675, + "ymin": 661.1921342126352, + "xmax": 837.5058833609596, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 827.165048025661, + 707.6649823705079 + ], + [ + 745.0775362970156, + 696.3062463093682 + ], + [ + 724.9124058301675, + 973.5348009589785 + ], + [ + 824.769194414333, + 990.3850295201969 + ], + [ + 837.5058833609596, + 672.8493148692526 + ], + [ + 750.8291417042673, + 661.1921342126352 + ], + [ + 730.6357324543717, + 948.981336510695 + ], + [ + 837.3671972105565, + 966.6964382507063 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 12081, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 976.0462549639315, + "ymin": 194.73966553784513, + "xmax": 1105.6566441461898, + "ymax": 383.5783695792056 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 997.5609134792203, + 375.1277964675046 + ], + [ + 1081.3403331595232, + 383.5783695792056 + ], + [ + 1048.272100893069, + 252.2419492244 + ], + [ + 976.0462549639315, + 245.92533943373869 + ], + [ + 1017.0795411009485, + 322.576386279159 + ], + [ + 1105.6566441461898, + 331.00327182440236 + ], + [ + 1067.5639349756211, + 200.94603075113272 + ], + [ + 991.7994550444439, + 194.73966553784513 + ] + ], + "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": 1066.1122857261184, + "ymin": 0.0, + "xmax": 1195.5684376622346, + "ymax": 49.39942662661463 + }, + "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": [ + [ + 1109.1044830801459, + 48.70632835383668 + ], + [ + 1119.1627856662221, + 49.39942662661463 + ], + [ + 1074.4718759484854, + -54.84504132043281 + ], + [ + 1066.1122857261184, + -55.32841184996494 + ], + [ + 1183.8111617037434, + -156.58912278870798 + ], + [ + 1195.5684376622346, + -156.04687235354595 + ], + [ + 1130.8396580876208, + -235.5268162121812 + ], + [ + 1121.338300120896, + -235.8858675778547 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 598.5890869229546, + "ymin": 0.0, + "xmax": 730.0210731367806, + "ymax": 228.6639541206142 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 607.3785481596847, + 211.83979379669444 + ], + [ + 605.2718489142383, + 219.15868970991593 + ], + [ + 714.3332204032115, + 228.6639541206142 + ], + [ + 715.4572865805534, + 221.17128220223123 + ], + [ + 601.1693977964742, + -2.4777203581815 + ], + [ + 598.5890869229546, + 3.8949144793260757 + ], + [ + 728.8399122458139, + 12.204741759722197 + ], + [ + 730.0210731367806, + 5.651225686118778 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 516.0799285138787, + "ymin": 0.0, + "xmax": 557.1713084136999, + "ymax": 19.236972761776258 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 531.1004694703424, + 18.63017500063478 + ], + [ + 540.3104741841745, + 19.236972761776258 + ], + [ + 557.1713084136999, + -15.07272657343566 + ], + [ + 548.4698959035611, + -15.612332619640028 + ], + [ + 516.0799285138787, + -163.32531584439664 + ], + [ + 526.5444753691528, + -162.84375668129258 + ], + [ + 546.4699981488906, + -189.8632429683887 + ], + [ + 536.6570764552325, + -190.28482068931237 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 711.0175690064369, + "ymin": 11.034446770101567, + "xmax": 725.9446395592208, + "ymax": 19.865132579696763 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 711.9290777542382, + 14.581803421868472 + ], + [ + 711.0175690064369, + 18.967480145897753 + ], + [ + 724.9030495303022, + 19.865132579696763 + ], + [ + 725.7145125800334, + 15.466403471539081 + ], + [ + 712.121907046045, + 11.034446770101567 + ], + [ + 711.2093568745335, + 15.405841383809502 + ], + [ + 725.1326792168757, + 16.300591805409795 + ], + [ + 725.9446395592208, + 11.91615222869541 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1229.0315290170104, + "ymin": 230.7358634000881, + "xmax": 1280.0, + "ymax": 290.59271350693217 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1249.6315243166205, + 283.08389380576864 + ], + [ + 1335.0134479589137, + 290.59271350693217 + ], + [ + 1309.956148617941, + 246.7486438306659 + ], + [ + 1229.0315290170104, + 239.97210274280965 + ], + [ + 1255.0316236750818, + 273.7411158075988 + ], + [ + 1341.2237419121814, + 281.2352581102839 + ], + [ + 1315.639377673886, + 237.49314373287834 + ], + [ + 1233.9870986249477, + 230.7358634000881 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1180.817822051845, + "ymin": 197.89558920934394, + "xmax": 1280.0, + "ymax": 378.0092601609133 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1198.4935580809922, + 369.9837723942408 + ], + [ + 1280.994639705351, + 378.0092601609133 + ], + [ + 1259.1218812805282, + 330.7941237905778 + ], + [ + 1180.817822051845, + 323.5352622331854 + ], + [ + 1271.685995453417, + 243.1462915495058 + ], + [ + 1365.8005650048513, + 251.023484271323 + ], + [ + 1336.5042460878772, + 204.92933363263984 + ], + [ + 1247.8093840872239, + 197.89558920934394 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 601.4939109021444, + "ymin": 524.7867363438309, + "xmax": 630.5738464275216, + "ymax": 547.5217512155496 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 604.9047068216177, + 528.876135529302 + ], + [ + 601.6902839352517, + 544.3331532810448 + ], + [ + 627.7083412128852, + 547.5217512155496 + ], + [ + 630.5738464275216, + 531.977736396658 + ], + [ + 604.7272908323678, + 524.7867363438309 + ], + [ + 601.4939109021444, + 540.2658193332363 + ], + [ + 627.6451557914464, + 543.4592399018399 + ], + [ + 630.5260610699521, + 527.8925902543108 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 710.9368382071307, + "ymin": 10.987082707373418, + "xmax": 726.0243649510369, + "ymax": 19.91267194118018 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 711.8586778294011, + 14.572483853996971 + ], + [ + 710.9368382071307, + 19.005283118254226 + ], + [ + 724.9719237277934, + 19.91267194118018 + ], + [ + 725.7915587796012, + 15.466538210099543 + ], + [ + 712.053383040861, + 10.987082707373418 + ], + [ + 711.1304765041016, + 15.405291263822505 + ], + [ + 725.2042248502204, + 16.30971530352582 + ], + [ + 726.0243649510369, + 11.87817994325161 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1229.1207407926486, + "ymin": 230.76455610780724, + "xmax": 1280.0, + "ymax": 290.4980936877704 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1249.7003307412815, + 282.9982691795583 + ], + [ + 1334.9910507121429, + 290.4980936877704 + ], + [ + 1309.9640148930205, + 246.7092818971224 + ], + [ + 1229.1207407926486, + 239.94004132041883 + ], + [ + 1255.065018072657, + 273.7170520061296 + ], + [ + 1341.1596627048546, + 281.20230385905154 + ], + [ + 1315.6097114049976, + 237.51468219167344 + ], + [ + 1234.044315478246, + 230.76455610780724 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 392.599363483209, + "ymin": 490.6124594296876, + "xmax": 638.192727721932, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 463.6250097587556, + 711.2547848011438 + ], + [ + 458.0040198336126, + 730.7826980902906 + ], + [ + 635.1481965912121, + 756.4864402269864 + ], + [ + 638.192727721932, + 736.1925524047123 + ], + [ + 401.51478318654983, + 490.6124594296876 + ], + [ + 392.599363483209, + 512.6310133859462 + ], + [ + 633.3578651503145, + 541.9743397598573 + ], + [ + 637.5395984159994, + 518.7725419507893 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 601.6515311192916, + "ymin": 524.9064729073018, + "xmax": 630.4221624881478, + "ymax": 547.3997708502714 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 605.0235340937129, + 528.9522421397126 + ], + [ + 601.8450139881217, + 544.2455255860614 + ], + [ + 627.5851979681192, + 547.3997708502714 + ], + [ + 630.4221624881478, + 532.0213276578277 + ], + [ + 604.8485887974479, + 524.9064729073018 + ], + [ + 601.6515311192916, + 540.2213576668504 + ], + [ + 627.5220657204943, + 543.3803204591187 + ], + [ + 630.374123110227, + 527.9797243431972 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 574.8234009110687, + "ymin": 0.0, + "xmax": 880.9125089864633, + "ymax": 49.82287109565658 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 585.3374262495024, + 26.849809192954865 + ], + [ + 583.5266126180047, + 31.0467971235837 + ], + [ + 847.7583362154642, + 49.82287109565658 + ], + [ + 847.7617942642671, + 45.366013020007756 + ], + [ + 576.9797175197492, + -173.5919787520727 + ], + [ + 574.8234009110687, + -170.34149558613728 + ], + [ + 880.9125089864633, + -155.71549416827668 + ], + [ + 880.6458481055, + -159.19978547338462 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1193.3359513096552, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 335.30336776854386 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1411.258553281616, + 136.8312618900037 + ], + [ + 1193.3359513096552, + 162.40124757269393 + ], + [ + 1382.63915754028, + 335.30336776854386 + ], + [ + 1641.0785646519416, + 296.79246385209296 + ], + [ + 1695.739768790244, + -306.1554268266593 + ], + [ + 1407.49869672825, + -292.5299832475687 + ], + [ + 1771.7408901914182, + -189.95705395685866 + ], + [ + 2132.770536333608, + -214.51840688397044 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/ORI/frames_playback/frame_00107/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/ORI/frames_playback/frame_00107/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e47b90273ce9ea2cee8c41ca40df0ac690a5d657 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/ORI/frames_playback/frame_00107/meta.json @@ -0,0 +1,2574 @@ +{ + "frame_id": 107, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 53.5, + "sim_timestamp": 9175.485673408955 + }, + "drone_pose": { + "x": -97.95819408704413, + "y": -88.80403696505823, + "z": 20.14520112689227, + "pitch": -44.377704215655385, + "yaw": -8.290163192243048, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7072762250900269, + 0.10305643826723099, + 0.6993853449821472, + 46.04241943359375 + ], + [ + -0.14418631792068481, + 0.9895505309104919, + -3.725290298461914e-09, + 102.00031280517578 + ], + [ + -0.692077100276947, + -0.10084179043769836, + 0.7147448658943176, + -73.23814392089844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -97.45819408704413, + "y": -88.80403696505823, + "z": 20.137285806347194 + }, + "t1_image_uv": [ + 832.6905555530298, + -549.7704590340878 + ], + "t1_depth": 0.35917396043952493 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -78.16718292236328, + "y": -91.68776321411131, + "z": 0.5749944090844292 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 27.982011917975647, + "visible": false, + "in_view": true, + "lost_reason": "occluded", + "pixel_count": 20, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -78.16718292236328, + "y": -91.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.18138669431209564, + "y": 0.21735838055610657, + "z": 0.5292661786079407 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.5803498127132, + "ymin": 341.82031401970846, + "xmax": 648.3555796177087, + "ymax": 377.8967588551462 + }, + "corners_3d": [ + [ + -78.34857177734375, + -91.90512084960938, + 0.045728206634521484 + ], + [ + -78.34857177734375, + -91.47039794921875, + 0.045728206634521484 + ], + [ + -77.98579406738281, + -91.47039794921875, + 0.045728206634521484 + ], + [ + -77.98579406738281, + -91.90512084960938, + 0.045728206634521484 + ], + [ + -78.34857177734375, + -91.90512084960938, + 1.1042605638504028 + ], + [ + -78.34857177734375, + -91.47039794921875, + 1.1042605638504028 + ], + [ + -77.98579406738281, + -91.47039794921875, + 1.1042605638504028 + ], + [ + -77.98579406738281, + -91.90512084960938, + 1.1042605638504028 + ] + ], + "corners_2d": [ + [ + 631.8010249406996, + 376.37845295348393 + ], + [ + 646.4316668484693, + 377.8967588551462 + ], + [ + 648.1382135025756, + 369.26583604746315 + ], + [ + 633.6365949139818, + 367.77476414319716 + ], + [ + 631.5803498127132, + 350.41345972517325 + ], + [ + 646.6050573514898, + 351.93033734583827 + ], + [ + 648.3555796177087, + 343.3092605043078 + ], + [ + 633.4669069889841, + 341.82031401970846 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 107, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 55, + "semantic_pixel_counts": { + "1": 343398, + "2": 202261, + "3": 194856, + "4": 35178, + "5": 258, + "6": 6129, + "7": 272, + "9": 3335, + "10": 40949, + "12": 3167, + "14": 26626, + "16": 11656, + "20": 34169, + "21": 517, + "24": 18829 + }, + "instance_pixel_counts": { + "913": 2973, + "2158": 7134, + "3694": 446, + "5230": 2423, + "5742": 4992, + "9346": 4, + "12951": 503, + "14416": 258, + "15963": 48966, + "16475": 84248, + "16987": 26073, + "17232": 35178, + "22976": 5809, + "23296": 831, + "23552": 1160, + "24512": 35536, + "26963": 1735, + "28819": 4573, + "33429": 374, + "35668": 9749, + "35924": 18828, + "36692": 2619, + "37979": 16982, + "40019": 2671, + "41611": 1507, + "41619": 1376, + "42123": 1168, + "43117": 3592, + "43147": 12108, + "43155": 64996, + "43659": 14278, + "43667": 11287, + "44179": 261166, + "44693": 50, + "45717": 5676, + "46229": 124, + "46741": 12605, + "49664": 20, + "49920": 424, + "50176": 668, + "50432": 934, + "50624": 6310, + "50688": 710, + "50944": 411, + "51136": 2139, + "51456": 8646, + "51712": 1320, + "52160": 37506, + "52480": 11656, + "52672": 74007, + "55040": 16660, + "55879": 14008, + "57173": 3335, + "64351": 11390, + "64603": 517 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 20, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -78.16718292236328, + "y": -91.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.2303783893585205, + "y": 0.21620114147663116, + "z": 0.5304190516471863 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.3627051048946, + "ymin": 340.64701681242923, + "xmax": 648.549999913069, + "ymax": 379.0977727362919 + }, + "corners_3d": [ + [ + -78.3975601196289, + -91.90396118164062, + 0.04457533359527588 + ], + [ + -78.3975601196289, + -91.4715576171875, + 0.04457533359527588 + ], + [ + -77.93680572509766, + -91.4715576171875, + 0.04457533359527588 + ], + [ + -77.93680572509766, + -91.90396118164062, + 0.04457533359527588 + ], + [ + -78.3975601196289, + -91.90396118164062, + 1.1054134368896484 + ], + [ + -78.3975601196289, + -91.4715576171875, + 1.1054134368896484 + ], + [ + -77.93680572509766, + -91.4715576171875, + 1.1054134368896484 + ], + [ + -77.93680572509766, + -91.90396118164062, + 1.1054134368896484 + ] + ], + "corners_2d": [ + [ + 631.5898508157533, + 377.583852322101 + ], + [ + 646.1595235355619, + 379.0977727362919 + ], + [ + 648.3273698588731, + 368.13581539041957 + ], + [ + 633.9206846593406, + 366.6562995184409 + ], + [ + 631.3627051048946, + 351.5611590886452 + ], + [ + 646.3261534750825, + 353.0737525572025 + ], + [ + 648.549999913069, + 342.1243230580929 + ], + [ + 633.758416314914, + 340.64701681242923 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 424, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -74.04119873046875, + "y": -88.69005584716797, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.37489256262779236, + "y": 0.308349609375, + "z": 0.866327166557312 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 738.5732890812294, + "ymin": 250.63716635152457, + "xmax": 765.7059750709643, + "ymax": 308.50255864119947 + }, + "corners_3d": [ + [ + -74.47200775146484, + -88.9137191772461, + -0.29132789373397827 + ], + [ + -74.34378814697266, + -88.31050109863281, + -0.29132789373397827 + ], + [ + -73.61038970947266, + -88.46639251708984, + -0.29132789373397827 + ], + [ + -73.73860931396484, + -89.06961059570312, + -0.29132789373397827 + ], + [ + -74.47200775146484, + -88.9137191772461, + 1.441326379776001 + ], + [ + -74.34378814697266, + -88.31050109863281, + 1.441326379776001 + ], + [ + -73.61038970947266, + -88.46639251708984, + 1.441326379776001 + ], + [ + -73.73860931396484, + -89.06961059570312, + 1.441326379776001 + ] + ], + "corners_2d": [ + [ + 741.7849717674293, + 308.50255864119947 + ], + [ + 760.7832325466112, + 307.6842054196034 + ], + [ + 757.2517061912416, + 292.61440987770334 + ], + [ + 738.5732890812294, + 293.40518156372286 + ], + [ + 745.9373885495362, + 266.37743063096895 + ], + [ + 765.7059750709643, + 265.5661331627749 + ], + [ + 761.9460792793271, + 250.63716635152457 + ], + [ + 742.52356212867, + 251.4200345830701 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 668, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -83.99948120117188, + "y": -86.99132537841797, + "z": 0.5750090479850769 + }, + "extent": { + "x": 0.4909619092941284, + "y": 0.3504980504512787, + "z": 0.8985446095466614 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 776.9670641900536, + "ymin": 506.0395071915768, + "xmax": 817.4285560003165, + "ymax": 583.550772237288 + }, + "corners_3d": [ + [ + -84.5243911743164, + -87.28858184814453, + -0.3235355615615845 + ], + [ + -84.45111846923828, + -86.5914306640625, + -0.3235355615615845 + ], + [ + -83.47457122802734, + -86.6940689086914, + -0.3235355615615845 + ], + [ + -83.54784393310547, + -87.39122009277344, + -0.3235355615615845 + ], + [ + -84.5243911743164, + -87.28858184814453, + 1.4735536575317383 + ], + [ + -84.45111846923828, + -86.5914306640625, + 1.4735536575317383 + ], + [ + -83.47457122802734, + -86.6940689086914, + 1.4735536575317383 + ], + [ + -83.54784393310547, + -87.39122009277344, + 1.4735536575317383 + ] + ], + "corners_2d": [ + [ + 779.4344787098179, + 582.5667022324833 + ], + [ + 807.9955845946765, + 583.550772237288 + ], + [ + 804.7033269243254, + 550.0483224771115 + ], + [ + 776.9670641900536, + 549.1201130346451 + ], + [ + 787.25674389688, + 540.0139789967442 + ], + [ + 817.4285560003165, + 541.015242211039 + ], + [ + 813.6705044081116, + 506.9808884276882 + ], + [ + 784.4176949020472, + 506.0395071915768 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 934, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -87.66718292236328, + "y": -91.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.4358300268650055, + "y": 0.4521532654762268, + "z": 0.8762637376785278 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 551.4772294640011, + "ymin": 615.9954177679496, + "xmax": 602.7275562203123, + "ymax": 696.7115715727157 + }, + "corners_3d": [ + [ + -88.10301208496094, + -92.1399154663086, + -0.3012693524360657 + ], + [ + -88.10301208496094, + -91.23560333251953, + -0.3012693524360657 + ], + [ + -87.23135375976562, + -91.23560333251953, + -0.3012693524360657 + ], + [ + -87.23135375976562, + -92.1399154663086, + -0.3012693524360657 + ], + [ + -88.10301208496094, + -92.1399154663086, + 1.4512581825256348 + ], + [ + -88.10301208496094, + -91.23560333251953, + 1.4512581825256348 + ], + [ + -87.23135375976562, + -91.23560333251953, + 1.4512581825256348 + ], + [ + -87.23135375976562, + -92.1399154663086, + 1.4512581825256348 + ] + ], + "corners_2d": [ + [ + 556.4971816242646, + 691.2093874848215 + ], + [ + 596.0534563199873, + 696.7115715727157 + ], + [ + 602.7275562203123, + 661.1740307732138 + ], + [ + 564.2402852447187, + 655.9734150985753 + ], + [ + 551.4772294640011, + 652.1408237173262 + ], + [ + 593.3993832420094, + 657.795900210664 + ], + [ + 600.5429158977031, + 621.3226896469992 + ], + [ + 559.8195019279677, + 615.9954177679496 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 710, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -79.92550659179688, + "y": -97.09931182861328, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.5656787753105164, + "y": 0.46222659945487976, + "z": 0.8709918856620789 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 414.4887367609439, + "ymin": 345.347982709735, + "xmax": 469.16705135662846, + "ymax": 421.4839838731016 + }, + "corners_3d": [ + [ + -80.43977355957031, + -97.61813354492188, + -0.2959926128387451 + ], + [ + -80.5363998413086, + -96.69874572753906, + -0.2959926128387451 + ], + [ + -79.41123962402344, + -96.58049011230469, + -0.2959926128387451 + ], + [ + -79.31461334228516, + -97.4998779296875, + -0.2959926128387451 + ], + [ + -80.43977355957031, + -97.61813354492188, + 1.4459911584854126 + ], + [ + -80.5363998413086, + -96.69874572753906, + 1.4459911584854126 + ], + [ + -79.41123962402344, + -96.58049011230469, + 1.4459911584854126 + ], + [ + -79.31461334228516, + -97.4998779296875, + 1.4459911584854126 + ] + ], + "corners_2d": [ + [ + 424.44505386447054, + 415.56879370926544 + ], + [ + 454.5144242344768, + 421.4839838731016 + ], + [ + 469.16705135662846, + 393.6878752537782 + ], + [ + 439.8437722237991, + 388.0957627652442 + ], + [ + 414.4887367609439, + 372.8199978527707 + ], + [ + 445.8936850740816, + 378.74414015590474 + ], + [ + 461.4577728252064, + 350.9342139164881 + ], + [ + 430.86544308683676, + 345.347982709735 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 411, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -66.92184448242188, + "y": -99.85797882080078, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.47289061546325684, + "y": 0.44093260169029236, + "z": 0.9191167950630188 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 451.29934223720034, + "ymin": 102.19971376755689, + "xmax": 489.4084600325208, + "ymax": 161.13213163085302 + }, + "corners_3d": [ + [ + -67.292724609375, + -100.3875961303711, + -0.19171524047851562 + ], + [ + -67.47607421875, + -99.5250015258789, + -0.19171524047851562 + ], + [ + -66.55096435546875, + -99.32836151123047, + -0.19171524047851562 + ], + [ + -66.36761474609375, + -100.19095611572266, + -0.19171524047851562 + ], + [ + -67.292724609375, + -100.3875961303711, + 1.646518349647522 + ], + [ + -67.47607421875, + -99.5250015258789, + 1.646518349647522 + ], + [ + -66.55096435546875, + -99.32836151123047, + 1.646518349647522 + ], + [ + -66.36761474609375, + -100.19095611572266, + 1.646518349647522 + ] + ], + "corners_2d": [ + [ + 457.8373553032337, + 156.77017416120208 + ], + [ + 478.2844690189662, + 161.13213163085302 + ], + [ + 489.4084600325208, + 148.61904023260655 + ], + [ + 469.2404375097749, + 144.40283529233358 + ], + [ + 451.29934223720034, + 114.26390891929412 + ], + [ + 472.44469075150243, + 118.52241903139281 + ], + [ + 484.0655385007783, + 106.310938762555 + ], + [ + 463.21828899192394, + 102.19971376755689 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 8646, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 585.7038541382994, + "ymin": 333.01360853643286, + "xmax": 681.5227853434222, + "ymax": 484.8985688869875 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 680.1059937264201, + 374.0814270035489 + ], + [ + 613.5991671148333, + 367.1600805153789 + ], + [ + 587.7550670745209, + 476.28209344684274 + ], + [ + 661.7808616579708, + 484.8985688869875 + ], + [ + 681.5227853434222, + 339.9209486399684 + ], + [ + 612.6735341453716, + 333.01360853643286 + ], + [ + 585.7038541382994, + 442.32873166437446 + ], + [ + 662.6432666217252, + 450.99826494550945 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 1320, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 986.8857662923333, + "ymin": 0.0, + "xmax": 1106.570314153024, + "ymax": 23.12210979110796 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 986.8857662923333, + -0.6115112213362295 + ], + [ + 991.7035142879294, + 16.865558446289015 + ], + [ + 1092.9752240796624, + 23.12210979110796 + ], + [ + 1085.109077726148, + 5.2896405099698995 + ], + [ + 996.8985123757448, + -39.030221700960965 + ], + [ + 1002.1702049443769, + -22.233231402780575 + ], + [ + 1106.570314153024, + -16.19357026390486 + ], + [ + 1098.0621487225646, + -33.342782741519386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 11656, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 620.0348977717425, + "xmax": 503.49663745704913, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 503.49663745704913, + 749.4981405854328 + ], + [ + 325.9349654865453, + 723.2376440737262 + ], + [ + 50.875745543845824, + 1423.2506312922264 + ], + [ + 318.2295857969161, + 1486.0001738887017 + ], + [ + 480.1573328196081, + 648.3491107489893 + ], + [ + 273.4746434318988, + 620.0348977717425 + ], + [ + -115.33132560279307, + 1446.4321872283351 + ], + [ + 223.77040575700556, + 1528.5421320714718 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 16660, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 844.394957772689, + "ymin": 312.41140379161715, + "xmax": 962.151426011561, + "ymax": 549.6973000859599 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 845.6080486126375, + 538.0974941337854 + ], + [ + 942.4283976346073, + 549.6973000859599 + ], + [ + 926.0837748396441, + 373.3653648326415 + ], + [ + 844.394957772689, + 365.09255549543235 + ], + [ + 858.8702410923403, + 486.30307089707236 + ], + [ + 962.151426011561, + 498.08665226392054 + ], + [ + 941.6683792370129, + 320.6482933507243 + ], + [ + 855.4276069276561, + 312.41140379161715 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 441.30976190459637, + "ymin": 6.2099944944049525, + "xmax": 455.55884058007393, + "ymax": 30.868410620525708 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 453.6135541293256, + 30.868410620525708 + ], + [ + 455.55884058007393, + 27.761608953399673 + ], + [ + 446.43222640477353, + 27.148219604170436 + ], + [ + 444.4422602301896, + 30.248730764963454 + ], + [ + 450.62488061506076, + 9.859350314565404 + ], + [ + 452.6166564905951, + 6.811655338691594 + ], + [ + 443.3476249286233, + 6.2099944944049525 + ], + [ + 441.30976190459637, + 9.25142009980425 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1037.0731712034194, + "ymin": 27.89276323494454, + "xmax": 1055.0639207352742, + "ymax": 53.238229827452415 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1047.151692410523, + 49.90010107139011 + ], + [ + 1037.0731712034194, + 49.24118706083658 + ], + [ + 1038.1402470333535, + 52.57231020747429 + ], + [ + 1048.273356862423, + 53.238229827452415 + ], + [ + 1053.8872753544022, + 28.539830033076214 + ], + [ + 1043.635031407417, + 27.89276323494454 + ], + [ + 1044.7551864775535, + 31.164222921482803 + ], + [ + 1055.0639207352742, + 31.81828404008911 + ] + ], + "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": 994.2322733617139, + "ymin": 0.0, + "xmax": 1108.4706322059365, + "ymax": 116.69854761201472 + }, + "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": [ + [ + 1026.242365969446, + 115.85216703551566 + ], + [ + 1037.2761322439178, + 116.69854761201472 + ], + [ + 1003.2515102018552, + -8.371955542457272 + ], + [ + 994.2322733617139, + -8.941628736681253 + ], + [ + 1095.36031692567, + -103.4025348440831 + ], + [ + 1108.4706322059365, + -102.71923830822061 + ], + [ + 1054.9859929853747, + -200.5621043082308 + ], + [ + 1044.6247382207239, + -200.9937967662887 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 376.4099736188852, + "ymin": 94.96691289123538, + "xmax": 550.179708972705, + "ymax": 343.58400851760376 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 429.16416117510585, + 321.7266304459209 + ], + [ + 424.8815707436407, + 331.2189340807711 + ], + [ + 547.1310733765008, + 343.58400851760376 + ], + [ + 550.179708972705, + 333.8335388646158 + ], + [ + 382.2629303771412, + 94.96691289123538 + ], + [ + 376.4099736188852, + 103.67110629568265 + ], + [ + 525.8561162105855, + 115.07106859047391 + ], + [ + 529.8696838914967, + 106.07581757061402 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 354.6609614700509, + "ymin": 0.0, + "xmax": 429.80830696132443, + "ymax": 80.65779740867691 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 392.71493242458325, + 79.92305265738815 + ], + [ + 402.7122261739065, + 80.65779740867691 + ], + [ + 429.80830696132443, + 39.35437280900334 + ], + [ + 420.4076963136532, + 38.70866396346099 + ], + [ + 354.6609614700509, + -114.1531610059078 + ], + [ + 366.14974443154864, + -113.55481666703514 + ], + [ + 399.7376251118643, + -146.87502220698076 + ], + [ + 389.02960419163526, + -147.39087517995335 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 507.0138496061801, + "ymin": 111.91347557504122, + "xmax": 526.0565483070798, + "ymax": 122.99208227995072 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 510.243883663188, + 115.75919908873493 + ], + [ + 507.43351838343824, + 121.76162155706177 + ], + [ + 523.3780325244672, + 122.99208227995072 + ], + [ + 526.0565483070798, + 116.96866375016663 + ], + [ + 509.8366394006639, + 111.91347557504122 + ], + [ + 507.0138496061801, + 117.90158719880799 + ], + [ + 523.0081896894587, + 119.12915437248134 + ], + [ + 525.6983084876405, + 113.12003054620271 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1112.2354090792446, + "ymin": 375.87406757774164, + "xmax": 1236.4209099237391, + "ymax": 456.2932263299011 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1129.523765543673, + 445.6696516364562 + ], + [ + 1230.1312081635667, + 456.2932263299011 + ], + [ + 1206.6968058143043, + 394.7601292462164 + ], + [ + 1112.2354090792446, + 385.3557149679192 + ], + [ + 1134.6870945018738, + 436.2251368710009 + ], + [ + 1236.4209099237391, + 446.8630103943287 + ], + [ + 1212.3742872886874, + 385.2793427857085 + ], + [ + 1116.9203950727137, + 375.87406757774164 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1066.963184093724, + "ymin": 341.39685886863896, + "xmax": 1261.878264492879, + "ymax": 543.532187372991 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1080.8931282782971, + 532.5081352296096 + ], + [ + 1176.6586108394463, + 543.532187372991 + ], + [ + 1157.1068279375454, + 479.1396649109682 + ], + [ + 1066.963184093724, + 469.33818570379316 + ], + [ + 1150.1102800810545, + 405.5674873386313 + ], + [ + 1261.878264492879, + 416.88367153245116 + ], + [ + 1233.8143540318924, + 351.2791366892796 + ], + [ + 1129.6262778760492, + 341.39685886863896 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 506.91015128236074, + "ymin": 111.85415119845172, + "xmax": 526.157548190288, + "ymax": 123.0518168472039 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 510.1758793149603, + 115.74112663607761 + ], + [ + 507.3346711028865, + 121.80799850633878 + ], + [ + 523.451034085928, + 123.0518168472039 + ], + [ + 526.157548190288, + 116.96349530497278 + ], + [ + 509.7640570157127, + 111.85415119845172 + ], + [ + 506.91015128236074, + 117.90640287739814 + ], + [ + 523.0774218118214, + 119.14726521318377 + ], + [ + 525.7957851636775, + 113.07354719511386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1112.3280282641758, + "ymin": 375.9141033276979, + "xmax": 1236.348960750834, + "ymax": 456.1846457874178 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1129.6011241907584, + 445.5736955963854 + ], + [ + 1230.1016314439767, + 456.1846457874178 + ], + [ + 1206.6959539513543, + 394.72796428998674 + ], + [ + 1112.3280282641758, + 385.33338977308756 + ], + [ + 1134.7307982767788, + 436.19121789930415 + ], + [ + 1236.348960750834, + 446.816340316782 + ], + [ + 1212.335894530336, + 385.3095328338121 + ], + [ + 1116.9830051128467, + 375.9141033276979 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 415.87315240690657, + "ymin": 0.0, + "xmax": 754.9914364327414, + "ymax": 117.21573838662829 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 451.8557543536442, + 89.26512162569361 + ], + [ + 448.8408502958148, + 94.3550224854489 + ], + [ + 736.771631164986, + 117.21573838662829 + ], + [ + 737.639524661014, + 111.77595243065196 + ], + [ + 419.69505434097516, + -124.71614501270165 + ], + [ + 415.87315240690657, + -120.65825954716115 + ], + [ + 754.1289416293879, + -102.30155534937057 + ], + [ + 754.9914364327414, + -106.68916259077935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1102.1458921895944, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 488.1590843269381 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1351.3013437562274, + 227.5075228243554 + ], + [ + 1102.1458921895944, + 260.0414414793554 + ], + [ + 1298.886677117464, + 488.1590843269381 + ], + [ + 1602.8532263342877, + 436.0881195794917 + ], + [ + 1660.8663179554835, + -257.13096757834523 + ], + [ + 1315.1231350922317, + -238.1503327186266 + ], + [ + 1740.335180332493, + -83.29282695217938 + ], + [ + 2197.071281581538, + -122.42315781144731 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/ORI/frames_playback/frame_00117/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/ORI/frames_playback/frame_00117/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5770052423f8b19f222def5636aec1b3f214a8a5 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/ORI/frames_playback/frame_00117/meta.json @@ -0,0 +1,2884 @@ +{ + "frame_id": 117, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 58.5, + "sim_timestamp": 9300.114356061444 + }, + "drone_pose": { + "x": -92.95819408704413, + "y": -88.80403696505823, + "z": 20.06890381708573, + "pitch": -44.26582938015624, + "yaw": -8.290163192243048, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7086262106895447, + 0.10325312614440918, + 0.6979883313179016, + 42.69544982910156 + ], + [ + -0.14418630301952362, + 0.9895505309104919, + 0.0, + 101.27938079833984 + ], + [ + -0.6906947493553162, + -0.10064035654067993, + 0.7161091566085815, + -69.63998413085938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -92.45819408704413, + "y": -88.80403696505823, + "z": 20.06248226719634 + }, + "t1_image_uv": [ + 832.8939342168602, + -551.7146170383983 + ], + "t1_depth": 0.35879526361604286 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -73.16718292236328, + "y": -91.68776321411131, + "z": 0.5749944090844292 + }, + "image_uv": [ + 640.0, + 360.0000000000001 + ], + "depth": 27.928703944282155, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 193, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -73.16718292236328, + "y": -91.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.17379148304462433, + "y": 0.22372068464756012, + "z": 0.5241224765777588 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.3853241774066, + "ymin": 342.0577234927911, + "xmax": 648.5526223145864, + "ymax": 377.6623772771781 + }, + "corners_3d": [ + [ + -73.34097290039062, + -91.91148376464844, + 0.05087190866470337 + ], + [ + -73.34097290039062, + -91.46403503417969, + 0.05087190866470337 + ], + [ + -72.99339294433594, + -91.46403503417969, + 0.05087190866470337 + ], + [ + -72.99339294433594, + -91.91148376464844, + 0.05087190866470337 + ], + [ + -73.34097290039062, + -91.91148376464844, + 1.0991168022155762 + ], + [ + -73.34097290039062, + -91.46403503417969, + 1.0991168022155762 + ], + [ + -72.99339294433594, + -91.46403503417969, + 1.0991168022155762 + ], + [ + -72.99339294433594, + -91.91148376464844, + 1.0991168022155762 + ] + ], + "corners_2d": [ + [ + 631.6088798630441, + 376.10015118465094 + ], + [ + 646.6959296879864, + 377.6623772771781 + ], + [ + 648.3322410570511, + 369.3925228142667 + ], + [ + 633.3731907225219, + 367.8572599072771 + ], + [ + 631.3853241774066, + 350.288834492436 + ], + [ + 646.8746228322345, + 351.8492561040033 + ], + [ + 648.5526223145864, + 343.59050450484915 + ], + [ + 633.1982090422935, + 342.0577234927911 + ] + ], + "center_offset_px": [ + 0.0, + 1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 117, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 56, + "semantic_pixel_counts": { + "1": 369522, + "2": 191897, + "3": 183886, + "4": 41421, + "6": 11090, + "7": 934, + "9": 74, + "10": 32481, + "12": 3042, + "14": 42584, + "20": 23319, + "24": 21350 + }, + "instance_pixel_counts": { + "913": 4476, + "5230": 3820, + "5742": 4475, + "9346": 186, + "12951": 743, + "15963": 94966, + "16475": 38304, + "17232": 41421, + "22976": 8276, + "23296": 4180, + "23552": 2382, + "24512": 28936, + "26963": 2240, + "27795": 816, + "28307": 18, + "28819": 12339, + "29331": 1064, + "31893": 22, + "33429": 898, + "33941": 22, + "35668": 13788, + "35924": 1281, + "36692": 3774, + "37979": 37452, + "40019": 3036, + "41107": 13085, + "41611": 2102, + "41619": 9597, + "42123": 1562, + "43117": 4869, + "43147": 13486, + "43155": 93669, + "43659": 12834, + "43667": 12800, + "44179": 226134, + "44181": 551, + "44693": 155, + "45717": 7788, + "46229": 380, + "46741": 11534, + "49664": 193, + "49920": 424, + "50176": 571, + "50432": 960, + "50624": 8546, + "50688": 481, + "50944": 413, + "51136": 3210, + "51456": 12870, + "51712": 4250, + "52160": 32235, + "52672": 68989, + "55040": 25464, + "55879": 16451, + "57173": 74, + "64351": 10978 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 193, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -73.16718292236328, + "y": -91.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.20440183579921722, + "y": 0.21681638062000275, + "z": 0.5183442234992981 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.464175093154, + "ymin": 341.5093824454798, + "xmax": 648.460587874203, + "ymax": 378.23479356996944 + }, + "corners_3d": [ + [ + -73.37158203125, + -91.90457916259766, + 0.05665016174316406 + ], + [ + -73.37158203125, + -91.47093963623047, + 0.05665016174316406 + ], + [ + -72.96278381347656, + -91.47093963623047, + 0.05665016174316406 + ], + [ + -72.96278381347656, + -91.90457916259766, + 0.05665016174316406 + ], + [ + -73.37158203125, + -91.90457916259766, + 1.0933386087417603 + ], + [ + -73.37158203125, + -91.47093963623047, + 1.0933386087417603 + ], + [ + -72.96278381347656, + -91.47093963623047, + 1.0933386087417603 + ], + [ + -72.96278381347656, + -91.90457916259766, + 1.0933386087417603 + ] + ], + "corners_2d": [ + [ + 631.6834481081194, + 376.71845021328744 + ], + [ + 646.3180018959132, + 378.23479356996944 + ], + [ + 648.2451209927892, + 368.50884578641126 + ], + [ + 633.7565073848363, + 367.0232405764866 + ], + [ + 631.464175093154, + 351.19090749293065 + ], + [ + 646.4848536408523, + 352.7055805413904 + ], + [ + 648.460587874203, + 342.9925536810298 + ], + [ + 633.5936117699401, + 341.5093824454798 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 424, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -69.04119873046875, + "y": -88.69005584716797, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.5015283226966858, + "y": 0.33476072549819946, + "z": 0.8774548172950745 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 737.3701562596378, + "ymin": 247.82908791490485, + "xmax": 767.4414543511449, + "ymax": 311.49376172510847 + }, + "corners_3d": [ + [ + -69.60137176513672, + -88.9132308959961, + -0.3024555444717407 + ], + [ + -69.46216583251953, + -88.25833892822266, + -0.3024555444717407 + ], + [ + -68.48102569580078, + -88.46688079833984, + -0.3024555444717407 + ], + [ + -68.62023162841797, + -89.12177276611328, + -0.3024555444717407 + ], + [ + -69.60137176513672, + -88.9132308959961, + 1.4524540901184082 + ], + [ + -69.46216583251953, + -88.25833892822266, + 1.4524540901184082 + ], + [ + -68.48102569580078, + -88.46688079833984, + 1.4524540901184082 + ], + [ + -68.62023162841797, + -89.12177276611328, + 1.4524540901184082 + ] + ], + "corners_2d": [ + [ + 741.6615089104029, + 311.49376172510847 + ], + [ + 762.375207818498, + 310.6004332208758 + ], + [ + 757.6171683481375, + 290.45091937097413 + ], + [ + 737.3701562596378, + 291.30407180248955 + ], + [ + 745.8746408997142, + 268.66561677409317 + ], + [ + 767.4414543511449, + 267.7802143248801 + ], + [ + 762.3712620347771, + 247.82908791490485 + ], + [ + 741.3098978483163, + 248.67307969076296 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 571, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -75.42300415039062, + "y": -84.74504852294922, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.35386228561401367, + "y": 0.32450681924819946, + "z": 0.8866060972213745 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 865.9102009787298, + "ymin": 411.92254939231054, + "xmax": 906.0852576426441, + "ymax": 476.35291515131445 + }, + "corners_3d": [ + [ + -75.80884552001953, + -85.03079223632812, + -0.31160682439804077 + ], + [ + -75.74100494384766, + -84.38533020019531, + -0.31160682439804077 + ], + [ + -75.03716278076172, + -84.45930480957031, + -0.31160682439804077 + ], + [ + -75.1050033569336, + -85.10476684570312, + -0.31160682439804077 + ], + [ + -75.80884552001953, + -85.03079223632812, + 1.4616053104400635 + ], + [ + -75.74100494384766, + -84.38533020019531, + 1.4616053104400635 + ], + [ + -75.03716278076172, + -84.45930480957031, + 1.4616053104400635 + ], + [ + -75.1050033569336, + -85.10476684570312, + 1.4616053104400635 + ] + ], + "corners_2d": [ + [ + 869.2674600854516, + 475.60106507524847 + ], + [ + 893.4039706614857, + 476.35291515131445 + ], + [ + 889.5827052820133, + 456.2304930099267 + ], + [ + 865.9102009787298, + 455.5071187834784 + ], + [ + 880.732255936568, + 432.12957259025524 + ], + [ + 906.0852576426441, + 432.8864033508299 + ], + [ + 901.8221532710021, + 412.64932471117146 + ], + [ + 876.9806112206272, + 411.92254939231054 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 960, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -83.68998718261719, + "y": -91.7562484741211, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.435488224029541, + "y": 0.4485302269458771, + "z": 0.8782885074615479 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 537.5712521443758, + "ymin": 658.4445251932775, + "xmax": 591.5207790627044, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -84.12547302246094, + -92.20478057861328, + -0.3032892346382141 + ], + [ + -84.12547302246094, + -91.3077163696289, + -0.3032892346382141 + ], + [ + -83.25450134277344, + -91.3077163696289, + -0.3032892346382141 + ], + [ + -83.25450134277344, + -92.20478057861328, + -0.3032892346382141 + ], + [ + -84.12547302246094, + -92.20478057861328, + 1.4532878398895264 + ], + [ + -84.12547302246094, + -91.3077163696289, + 1.4532878398895264 + ], + [ + -83.25450134277344, + -91.3077163696289, + 1.4532878398895264 + ], + [ + -83.25450134277344, + -92.20478057861328, + 1.4532878398895264 + ] + ], + "corners_2d": [ + [ + 543.6003507473987, + 735.4199317884376 + ], + [ + 584.2642436468998, + 741.2762192370134 + ], + [ + 591.5207790627044, + 703.2121512207663 + ], + [ + 551.9957573840072, + 697.6887840155632 + ], + [ + 537.5712521443758, + 697.2999364639954 + ], + [ + 580.7618280951084, + 703.3432645499568 + ], + [ + 588.5677739250837, + 664.1237451637387 + ], + [ + 546.6597273703205, + 658.4445251932775 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 481, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -76.18806457519531, + "y": -100.98506927490234, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.6086328625679016, + "y": 0.4596777558326721, + "z": 0.8793542385101318 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 257.6175372410161, + "ymin": 357.1448927668363, + "xmax": 325.52422924041065, + "ymax": 437.5938527400628 + }, + "corners_3d": [ + [ + -76.74531555175781, + -101.50585174560547, + -0.15194779634475708 + ], + [ + -76.84141540527344, + -100.5915298461914, + -0.15194779634475708 + ], + [ + -75.63081359863281, + -100.46428680419922, + -0.15194779634475708 + ], + [ + -75.53471374511719, + -101.37860870361328, + -0.15194779634475708 + ], + [ + -76.74531555175781, + -101.50585174560547, + 1.6067607402801514 + ], + [ + -76.84141540527344, + -100.5915298461914, + 1.6067607402801514 + ], + [ + -75.63081359863281, + -100.46428680419922, + 1.6067607402801514 + ], + [ + -75.53471374511719, + -101.37860870361328, + 1.6067607402801514 + ] + ], + "corners_2d": [ + [ + 275.0579618575289, + 431.4756516959694 + ], + [ + 304.81186080333885, + 437.5938527400628 + ], + [ + 325.52422924041065, + 406.5768151970726 + ], + [ + 296.55450849584736, + 400.8263736238422 + ], + [ + 257.6175372410161, + 387.8223912038226 + ], + [ + 288.69137713812404, + 393.95691215241106 + ], + [ + 310.88438926264155, + 362.8938371588785 + ], + [ + 280.66396612114255, + 357.1448927668363 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 413, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -61.92184829711914, + "y": -99.85797882080078, + "z": 0.7335149049758911 + }, + "extent": { + "x": 0.42671629786491394, + "y": 0.44102537631988525, + "z": 0.8982964158058167 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 451.75694727679956, + "ymin": 103.32189138808349, + "xmax": 488.6500090026181, + "ymax": 160.15503674062916 + }, + "corners_3d": [ + [ + -62.24754333496094, + -100.37808990478516, + -0.16478151082992554 + ], + [ + -62.43093490600586, + -99.51531219482422, + -0.16478151082992554 + ], + [ + -61.596153259277344, + -99.3378677368164, + -0.16478151082992554 + ], + [ + -61.41276168823242, + -100.20064544677734, + -0.16478151082992554 + ], + [ + -62.24754333496094, + -100.37808990478516, + 1.6318113803863525 + ], + [ + -62.43093490600586, + -99.51531219482422, + 1.6318113803863525 + ], + [ + -61.596153259277344, + -99.3378677368164, + 1.6318113803863525 + ], + [ + -61.41276168823242, + -100.20064544677734, + 1.6318113803863525 + ] + ], + "corners_2d": [ + [ + 458.1230478771688, + 155.80815270077642 + ], + [ + 478.58866144445443, + 160.15503674062916 + ], + [ + 488.6500090026181, + 148.88692697959644 + ], + [ + 468.43742847555524, + 144.67176822353898 + ], + [ + 451.75694727679956, + 114.18646979260916 + ], + [ + 472.90414826379526, + 118.43040177715415 + ], + [ + 483.40428069936047, + 107.43280921127405 + ], + [ + 462.5269232961333, + 103.32189138808349 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 12870, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 543.5909092106914, + "ymin": 466.86728920658896, + "xmax": 658.7451400751024, + "ymax": 657.1220350918162 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 658.014220055882, + 509.8511285372256 + ], + [ + 582.1240774903822, + 500.82005138037096 + ], + [ + 547.8198429450132, + 645.4874968338579 + ], + [ + 633.6786996571113, + 657.1220350918162 + ], + [ + 658.7451400751024, + 475.96840942140557 + ], + [ + 579.7961062349488, + 466.86728920658896 + ], + [ + 543.5909092106914, + 613.3996099596854 + ], + [ + 633.3858075040894, + 625.2533532536106 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 4250, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 999.5158545799775, + "ymin": 7.139029481473983, + "xmax": 1130.8745525459667, + "ymax": 75.1738934435358 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 999.5158545799775, + 47.381301880576586 + ], + [ + 1005.1828589821621, + 67.84777217005836 + ], + [ + 1115.3695303848274, + 75.1738934435358 + ], + [ + 1106.0969697296302, + 54.2555661898204 + ], + [ + 1010.7524778165352, + 7.139029481473983 + ], + [ + 1016.9825857093617, + 26.895762067258147 + ], + [ + 1130.8745525459667, + 33.9981701909403 + ], + [ + 1120.7967852610593, + 13.790611610928693 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 25464, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 846.1134557335963, + "ymin": 445.6235412526702, + "xmax": 986.9434023868073, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 847.9932392376099, + 729.745699025654 + ], + [ + 961.9913937934508, + 745.7268119015412 + ], + [ + 939.668580709995, + 508.9759343037396 + ], + [ + 846.1134557335963, + 498.184878898638 + ], + [ + 863.9013780824395, + 682.6945248167494 + ], + [ + 986.9434023868073, + 699.2934318148966 + ], + [ + 958.4691815503054, + 456.53030479097345 + ], + [ + 858.9079650356381, + 445.6235412526702 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4809317425322915338, + "instance_id": 2806, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -62.6159553527832, + "y": -93.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 616.4743481309282, + "ymin": 2.310572320872609, + "xmax": 629.4200623594954, + "ymax": 32.03909509634815 + }, + "corners_3d": [ + [ + -62.754539489746094, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.9842529296875, + 6.416468620300293 + ], + [ + -62.754539489746094, + -93.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 628.1576248898218, + 32.03909509634815 + ], + [ + 629.4200623594954, + 28.335767951966716 + ], + [ + 618.249512644567, + 27.601530670255443 + ], + [ + 616.9202173935465, + 31.295832691008798 + ], + [ + 627.9285611401367, + 6.644348648586515 + ], + [ + 629.2166885659367, + 3.0275523663352715 + ], + [ + 617.8319299383452, + 2.310572320872609 + ], + [ + 616.4743481309282, + 5.918384711004933 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 400.5491983428322, + "ymin": 66.12783140420015, + "xmax": 417.12785205281386, + "ymax": 92.67448443321149 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 414.76465166296794, + 92.67448443321149 + ], + [ + 417.12785205281386, + 88.91881238070556 + ], + [ + 407.1183439140521, + 88.1777848205628 + ], + [ + 404.7012949335484, + 91.92506313362145 + ], + [ + 410.7855934999687, + 70.5519811553059 + ], + [ + 413.2130552639237, + 66.85683084169614 + ], + [ + 403.0323688485953, + 66.12783140420015 + ], + [ + 400.5491983428322, + 69.8145780094934 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5344508464058845628, + "instance_id": 48329, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -62.61595916748047, + "y": -96.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 527.0190357969499, + "ymin": 0.0, + "xmax": 541.9446749428803, + "ymax": 26.219034409705046 + }, + "corners_3d": [ + [ + -62.75454330444336, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.9842529296875, + 6.416468620300293 + ], + [ + -62.75454330444336, + -96.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 540.1631605611557, + 26.219034409705046 + ], + [ + 541.9446749428803, + 22.586085147244034 + ], + [ + 530.9856445501907, + 21.86575091293895 + ], + [ + 529.1398234495718, + 25.489930942906938 + ], + [ + 538.2508919670391, + 0.9606606628944405 + ], + [ + 540.0780807626927, + -2.5860961021262483 + ], + [ + 528.9129788321538, + -3.2892428486865697 + ], + [ + 527.0190357969499, + 0.248789559903571 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8433051479337506626, + "instance_id": 17047, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -62.61595153808594, + "y": -91.29429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 691.3761754848382, + "ymin": 7.061458439946875, + "xmax": 704.8437448400683, + "ymax": 36.97581024343293 + }, + "corners_3d": [ + [ + -62.75453567504883, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.4842529296875, + 6.416468620300293 + ], + [ + -62.75453567504883, + -91.4842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 702.7967744776664, + 36.97581024343293 + ], + [ + 703.6109155375785, + 33.21226091957368 + ], + [ + 692.259386645071, + 32.46612798830864 + ], + [ + 691.3761754848382, + 36.2204312871898 + ], + [ + 704.0214940154756, + 11.467039966033497 + ], + [ + 704.8437448400683, + 7.790280453369462 + ], + [ + 693.2709493585767, + 7.061458439946875 + ], + [ + 692.3769007514621, + 10.729009860677422 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1058.557960700267, + "ymin": 92.4996609158531, + "xmax": 1079.0378823262367, + "ymax": 119.83452741748016 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1069.7283427317036, + 115.76835504386986 + ], + [ + 1058.557960700267, + 114.9662822783736 + ], + [ + 1059.8690801895975, + 119.02299939569036 + ], + [ + 1071.1066803514532, + 119.83452741748016 + ], + [ + 1077.5871238437799, + 93.28983442155231 + ], + [ + 1066.203419261723, + 92.4996609158531 + ], + [ + 1067.5843624130966, + 96.49653809322604 + ], + [ + 1079.0378823262367, + 97.2961983603243 + ] + ], + "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": 1007.2079491976467, + "ymin": 0.0, + "xmax": 1141.7435624874647, + "ymax": 186.55036682054097 + }, + "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": [ + [ + 1045.7527832874594, + 185.527744176975 + ], + [ + 1057.9320422454607, + 186.55036682054097 + ], + [ + 1016.9747928917922, + 38.17549655838394 + ], + [ + 1007.2079491976467, + 37.512064809386686 + ], + [ + 1126.990873197896, + -46.601426624882436 + ], + [ + 1141.7435624874647, + -45.748099713720705 + ], + [ + 1075.570231603545, + -164.94005781662236 + ], + [ + 1064.2140089853774, + -165.45289516463504 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 296.4971773849696, + "ymin": 208.41261391673706, + "xmax": 510.85310908527566, + "ymax": 471.37452160866235 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 373.8363855629182, + 443.1227112728039 + ], + [ + 368.28942353690917, + 455.3685212804929 + ], + [ + 506.89247324843416, + 471.37452160866235 + ], + [ + 510.85310908527566, + 458.7478907627708 + ], + [ + 304.5624147077108, + 208.41261391673706 + ], + [ + 296.4971773849696, + 220.32756002717292 + ], + [ + 471.02930681001544, + 236.01431529219613 + ], + [ + 476.5879862540819, + 223.62880104110081 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 300.7197301225496, + "ymin": 0.0, + "xmax": 393.5365241262185, + "ymax": 143.85235995857326 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 350.2280083533429, + 142.97249051463578 + ], + [ + 361.13713903001224, + 143.85235995857326 + ], + [ + 393.5365241262185, + 94.68860772547998 + ], + [ + 383.33499396337567, + 93.92480070525335 + ], + [ + 300.7197301225496, + -62.38379866960389 + ], + [ + 313.42440284501987, + -61.647816848812056 + ], + [ + 354.7024249202382, + -102.30499051211422 + ], + [ + 342.94681425294544, + -102.92922866948874 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 449.45150226471594, + "ymin": 229.83517250417069, + "xmax": 472.49202363489167, + "ymax": 243.8512778706837 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 454.0361986643183, + 233.92319713863526 + ], + [ + 450.15717899273, + 242.15973338865933 + ], + [ + 468.7931243404085, + 243.8512778706837 + ], + [ + 472.49202363489167, + 235.58080841506194 + ], + [ + 453.3519279833073, + 229.83517250417069 + ], + [ + 449.45150226471594, + 238.06058242161538 + ], + [ + 468.1553993231092, + 239.74991810356747 + ], + [ + 471.8743962670252, + 231.49049509931086 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1163.4522973367566, + "ymin": 548.9624394499116, + "xmax": 1280.0, + "ymax": 658.3831538812244 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1188.051439877223, + 643.2029913531866 + ], + [ + 1309.455237485114, + 658.3831538812244 + ], + [ + 1276.0064207050682, + 571.3191653667229 + ], + [ + 1163.4522973367566, + 558.1939677365574 + ], + [ + 1194.9705215498245, + 634.3438628269164 + ], + [ + 1318.0136320012582, + 649.6063475451102 + ], + [ + 1283.5567726617433, + 562.135325174753 + ], + [ + 1169.5945196371645, + 548.9624394499116 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1105.4058681301906, + "ymin": 514.2371048127417, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1124.564690613544, + 723.7856045920748 + ], + [ + 1237.8519298531567, + 738.9860978548979 + ], + [ + 1210.8978876305123, + 650.9494738077412 + ], + [ + 1105.4058681301906, + 637.7063258172445 + ], + [ + 1216.2997465195995, + 606.1953714614808 + ], + [ + 1352.6119356932481, + 622.6741475012702 + ], + [ + 1311.8480763864204, + 528.236180683891 + ], + [ + 1186.658617090592, + 514.2371048127417 + ] + ], + "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": 479.1574282513613, + "ymin": 0.0, + "xmax": 562.7751622827636, + "ymax": 19.378666105134755 + }, + "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": [ + [ + 562.7751622827636, + -75.08468963430812 + ], + [ + 555.2090697221402, + -75.52598865235751 + ], + [ + 500.1104011398871, + 18.755219693794686 + ], + [ + 509.0463668824523, + 19.378666105134755 + ], + [ + 553.2591659282606, + -250.06450864469377 + ], + [ + 544.7710889641589, + -250.386900121253 + ], + [ + 479.1574282513613, + -179.8811196532962 + ], + [ + 489.4081869570066, + -179.40374087790838 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 449.3258142816343, + "ymin": 229.7602569351436, + "xmax": 472.6140114862681, + "ymax": 243.92698657400703 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 453.9611228853966, + 233.89215860790836 + ], + [ + 450.03956499227286, + 242.21706024989882 + ], + [ + 468.87645903179055, + 243.92698657400703 + ], + [ + 472.6140114862681, + 235.56741889524204 + ], + [ + 453.2692479980973, + 229.7602569351436 + ], + [ + 449.3258142816343, + 238.07379137519118 + ], + [ + 468.2321361690439, + 239.78146160438413 + ], + [ + 471.99021340496137, + 231.4331786426548 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1163.5683628778568, + "ymin": 549.018601734237, + "xmax": 1280.0, + "ymax": 658.2590914043665 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1188.1465040040866, + 643.0967919116889 + ], + [ + 1309.422057158251, + 658.2590914043665 + ], + [ + 1276.01339311924, + 571.3012815896333 + ], + [ + 1163.5683628778568, + 558.189327615289 + ], + [ + 1195.020547764375, + 634.2955241403564 + ], + [ + 1317.9227229393762, + 649.5394795485877 + ], + [ + 1283.5139596576169, + 562.1778868012857 + ], + [ + 1169.671447087654, + 549.018601734237 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 367.3034806676793, + "ymin": 0.0, + "xmax": 745.4835870826787, + "ymax": 187.17537902734645 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 414.8688863511212, + 153.534916175724 + ], + [ + 411.24674719200993, + 159.6402114528482 + ], + [ + 726.96291951228, + 187.17537902734645 + ], + [ + 728.0009504175162, + 180.60633888798054 + ], + [ + 372.04878980184475, + -73.06793995722177 + ], + [ + 367.3034806676793, + -68.05140578059599 + ], + [ + 744.4195143107372, + -45.22633250766029 + ], + [ + 745.4835870826787, + -50.701678692876555 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1136.8448566507086, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 666.5920348923189 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1415.123766892434, + 325.2733750066046 + ], + [ + 1136.8448566507086, + 366.35962063480076 + ], + [ + 1378.4647185622387, + 666.5920348923189 + ], + [ + 1726.693643876523, + 596.1242547682323 + ], + [ + 1814.2357672595613, + -199.7452404645943 + ], + [ + 1410.7686863514982, + -173.1484946334325 + ], + [ + 2029.7941157013452, + 68.30088260800972 + ], + [ + 2587.7172742452994, + 2.826015347224711 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/ORI/frames_playback/frame_00121/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/ORI/frames_playback/frame_00121/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..65575f95965d07fa3e5d8509a4b73a0c58de7535 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/ORI/frames_playback/frame_00121/meta.json @@ -0,0 +1,2989 @@ +{ + "frame_id": 121, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 60.5, + "sim_timestamp": 9347.954683698714 + }, + "drone_pose": { + "x": -90.95819408704413, + "y": -87.80403696505823, + "z": 20.045362269081338, + "pitch": -44.231224159886935, + "yaw": -8.290163192243048, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7090432643890381, + 0.10331390053033829, + 0.697555661201477, + 41.43916320800781 + ], + [ + -0.14418630301952362, + 0.9895505309104919, + 0.0, + 100.00146484375 + ], + [ + -0.6902666091918945, + -0.10057797282934189, + 0.7165305614471436, + -68.3173599243164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -90.45819408704413, + "y": -87.80403696505823, + "z": 20.040400662705437 + }, + "t1_image_uv": [ + 833.3318212522281, + -556.0082994381023 + ], + "t1_depth": 0.3579826100483518 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -71.16718292236328, + "y": -90.68776321411131, + "z": 0.5749944090844292 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 27.912277309520995, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 194, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -71.16718292236328, + "y": -90.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.2787231206893921, + "y": 0.19710935652256012, + "z": 0.5469815135002136 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.7440688927655, + "ymin": 339.0987752058942, + "xmax": 648.1505571750788, + "ymax": 380.65772914782764 + }, + "corners_3d": [ + [ + -71.44590759277344, + -90.88487243652344, + 0.028012871742248535 + ], + [ + -71.44590759277344, + -90.49064636230469, + 0.028012871742248535 + ], + [ + -70.88845825195312, + -90.49064636230469, + 0.028012871742248535 + ], + [ + -70.88845825195312, + -90.88487243652344, + 0.028012871742248535 + ], + [ + -71.44590759277344, + -90.88487243652344, + 1.1219758987426758 + ], + [ + -71.44590759277344, + -90.49064636230469, + 1.1219758987426758 + ], + [ + -70.88845825195312, + -90.49064636230469, + 1.1219758987426758 + ], + [ + -70.88845825195312, + -90.88487243652344, + 1.1219758987426758 + ] + ], + "corners_2d": [ + [ + 631.9681397361474, + 379.2739962519591 + ], + [ + 645.2954456344863, + 380.65772914782764 + ], + [ + 647.9321007969133, + 367.3964803774472 + ], + [ + 634.7857831710104, + 366.0508736396422 + ], + [ + 631.7440688927655, + 352.3013372287564 + ], + [ + 645.4433969600155, + 353.6835088172046 + ], + [ + 648.1505571750788, + 340.4418231064117 + ], + [ + 634.6423902623053, + 339.0987752058942 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 121, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 57, + "semantic_pixel_counts": { + "1": 394822, + "2": 185059, + "3": 150593, + "4": 41600, + "6": 12242, + "7": 1054, + "9": 396, + "10": 46734, + "12": 2457, + "14": 38557, + "20": 25355, + "24": 22731 + }, + "instance_pixel_counts": { + "913": 4912, + "5230": 4802, + "9346": 716, + "12951": 904, + "13975": 7, + "15963": 76946, + "16475": 8200, + "17232": 41600, + "22976": 10071, + "23296": 4852, + "23552": 3013, + "24512": 24885, + "26963": 2579, + "27795": 4019, + "28307": 1056, + "28819": 13325, + "29331": 2891, + "31893": 178, + "33429": 986, + "33941": 43, + "35668": 16359, + "36692": 4084, + "37979": 54798, + "39563": 333, + "40019": 2136, + "41107": 23252, + "41611": 2367, + "41619": 14108, + "42123": 1789, + "42635": 160, + "43117": 5847, + "43147": 12992, + "43155": 103469, + "43659": 12035, + "43667": 15462, + "44179": 217240, + "44181": 985, + "44693": 354, + "45717": 8629, + "46229": 450, + "46741": 11106, + "49664": 194, + "49920": 421, + "50176": 586, + "50432": 59, + "50624": 9554, + "50688": 774, + "50944": 423, + "51136": 3675, + "51456": 15033, + "51712": 4478, + "52160": 29917, + "52672": 65475, + "55040": 19046, + "55879": 20819, + "57173": 396, + "64351": 10895 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 194, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -71.16718292236328, + "y": -90.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.29573726654052734, + "y": 0.2143896222114563, + "z": 0.5357616543769836 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.0572935275347, + "ymin": 338.92696994726964, + "xmax": 648.8219891234627, + "ymax": 380.8599046218411 + }, + "corners_3d": [ + [ + -71.46292114257812, + -90.90214538574219, + 0.039232730865478516 + ], + [ + -71.46292114257812, + -90.47337341308594, + 0.039232730865478516 + ], + [ + -70.87144470214844, + -90.47337341308594, + 0.039232730865478516 + ], + [ + -70.87144470214844, + -90.90214538574219, + 0.039232730865478516 + ], + [ + -71.46292114257812, + -90.90214538574219, + 1.1107560396194458 + ], + [ + -71.46292114257812, + -90.47337341308594, + 1.1107560396194458 + ], + [ + -70.87144470214844, + -90.47337341308594, + 1.1107560396194458 + ], + [ + -70.87144470214844, + -90.90214538574219, + 1.1107560396194458 + ] + ], + "corners_2d": [ + [ + 631.2951784908436, + 379.3536271993448 + ], + [ + 645.8004879288618, + 380.8599046218411 + ], + [ + 648.5904067389912, + 366.78741395777416 + ], + [ + 634.2940781594309, + 365.32514726057667 + ], + [ + 631.0572935275347, + 352.93404730565595 + ], + [ + 645.9592605476755, + 354.4386960256438 + ], + [ + 648.8219891234627, + 340.3864803201581 + ], + [ + 634.1405018270167, + 338.92696994726964 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 421, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -67.04119873046875, + "y": -87.69005584716797, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.3842407166957855, + "y": 0.32176268100738525, + "z": 0.8718274235725403 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 738.3157711256572, + "ymin": 250.26390143846513, + "xmax": 766.4647649541449, + "ymax": 308.96498566412936 + }, + "corners_3d": [ + [ + -67.48394012451172, + -87.92489624023438, + -0.29682815074920654 + ], + [ + -67.35014343261719, + -87.2954330444336, + -0.29682815074920654 + ], + [ + -66.59845733642578, + -87.45521545410156, + -0.29682815074920654 + ], + [ + -66.73225402832031, + -88.08467864990234, + -0.29682815074920654 + ], + [ + -67.48394012451172, + -87.92489624023438, + 1.446826696395874 + ], + [ + -67.35014343261719, + -87.2954330444336, + 1.446826696395874 + ], + [ + -66.59845733642578, + -87.45521545410156, + 1.446826696395874 + ], + [ + -66.73225402832031, + -88.08467864990234, + 1.446826696395874 + ] + ], + "corners_2d": [ + [ + 741.6148049406152, + 308.96498566412936 + ], + [ + 761.4830097292465, + 308.1112332545307 + ], + [ + 757.8397097686868, + 292.67730041849535 + ], + [ + 738.3157711256572, + 293.5014439586348 + ], + [ + 745.7860039447407, + 266.39092926863594 + ], + [ + 766.4647649541449, + 265.544991921096 + ], + [ + 762.5841649374895, + 250.26390143846513 + ], + [ + 742.2780678850208, + 251.07933001530722 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 586, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -73.42300415039062, + "y": -83.74504852294922, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.36263182759284973, + "y": 0.33360350131988525, + "z": 0.8798388242721558 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 865.7315552988642, + "ymin": 411.8157337792509, + "xmax": 906.6334175752845, + "ymax": 476.4980650979633 + }, + "corners_3d": [ + [ + -73.81851959228516, + -84.0389175415039, + -0.304839551448822 + ], + [ + -73.748779296875, + -83.3753662109375, + -0.304839551448822 + ], + [ + -73.0274887084961, + -83.45117950439453, + -0.304839551448822 + ], + [ + -73.09722900390625, + -84.11473083496094, + -0.304839551448822 + ], + [ + -73.81851959228516, + -84.0389175415039, + 1.4548380374908447 + ], + [ + -73.748779296875, + -83.3753662109375, + 1.4548380374908447 + ], + [ + -73.0274887084961, + -83.45117950439453, + 1.4548380374908447 + ], + [ + -73.09722900390625, + -84.11473083496094, + 1.4548380374908447 + ] + ], + "corners_2d": [ + [ + 869.1751584056594, + 475.7245043093237 + ], + [ + 894.0164396386555, + 476.4980650979633 + ], + [ + 890.0828452071004, + 455.87092842723933 + ], + [ + 865.7315552988642, + 455.12742090739806 + ], + [ + 880.5494782929696, + 432.5257245761526 + ], + [ + 906.6334175752845, + 433.30431130580814 + ], + [ + 902.2488116970443, + 412.56261629324416 + ], + [ + 876.7045778355327, + 411.8157337792509 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 59, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -82.17112731933594, + "y": -88.56307220458984, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.43713128566741943, + "y": 0.45318353176116943, + "z": 0.8889995217323303 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 640.2082299083847, + "ymin": 693.8254042955275, + "xmax": 690.4905150284496, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -82.60826110839844, + -89.0162582397461, + -0.31400513648986816 + ], + [ + -82.60826110839844, + -88.1098861694336, + -0.31400513648986816 + ], + [ + -81.73399353027344, + -88.1098861694336, + -0.31400513648986816 + ], + [ + -81.73399353027344, + -89.0162582397461, + -0.31400513648986816 + ], + [ + -82.60826110839844, + -89.0162582397461, + 1.4639939069747925 + ], + [ + -82.60826110839844, + -88.1098861694336, + 1.4639939069747925 + ], + [ + -81.73399353027344, + -88.1098861694336, + 1.4639939069747925 + ], + [ + -81.73399353027344, + -89.0162582397461, + 1.4639939069747925 + ] + ], + "corners_2d": [ + [ + 640.2082299083847, + 772.6142995057131 + ], + [ + 682.9317917214574, + 778.8737561651033 + ], + [ + 687.4760840045643, + 738.4864490381708 + ], + [ + 646.0012901791337, + 732.5941728498003 + ], + [ + 640.2218172474596, + 735.1925221872648 + ], + [ + 685.747030244151, + 741.6771662986387 + ], + [ + 690.4905150284496, + 699.9059507101373 + ], + [ + 646.3805161879833, + 693.8254042955275 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 774, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -74.51297760009766, + "y": -100.98506927490234, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.47068604826927185, + "y": 0.4595947563648224, + "z": 0.8720734119415283 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 219.4539836873422, + "ymin": 365.19941209615, + "xmax": 285.13126448705054, + "ymax": 438.6322844429164 + }, + "corners_3d": [ + [ + -74.93304443359375, + -101.49134826660156, + -0.14466696977615356 + ], + [ + -75.02912902832031, + -100.57719421386719, + -0.14466696977615356 + ], + [ + -74.09291076660156, + -100.47879028320312, + -0.14466696977615356 + ], + [ + -73.996826171875, + -101.3929443359375, + -0.14466696977615356 + ], + [ + -74.93304443359375, + -101.49134826660156, + 1.5994799137115479 + ], + [ + -75.02912902832031, + -100.57719421386719, + 1.5994799137115479 + ], + [ + -74.09291076660156, + -100.47879028320312, + 1.5994799137115479 + ], + [ + -73.996826171875, + -101.3929443359375, + 1.5994799137115479 + ] + ], + "corners_2d": [ + [ + 238.50266339209867, + 432.4997902061066 + ], + [ + 268.08741260185946, + 438.6322844429164 + ], + [ + 285.13126448705054, + 414.4182282646316 + ], + [ + 256.1486567761659, + 408.57449940843117 + ], + [ + 219.4539836873422, + 389.1541921462997 + ], + [ + 250.32977664418337, + 395.30294211255483 + ], + [ + 268.61119862228463, + 371.04536388930785 + ], + [ + 238.38984486085894, + 365.19941209615 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 423, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -59.92184829711914, + "y": -98.85797882080078, + "z": 0.6244377493858337 + }, + "extent": { + "x": 0.49653562903404236, + "y": 0.43220213055610657, + "z": 0.924159824848175 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 451.3197075157269, + "ymin": 104.52822781310368, + "xmax": 489.58812431984205, + "ymax": 164.1476205959839 + }, + "corners_3d": [ + [ + -60.31767272949219, + -99.38397216796875, + -0.2997220754623413 + ], + [ + -60.49739456176758, + -98.53845977783203, + -0.2997220754623413 + ], + [ + -59.526023864746094, + -98.33198547363281, + -0.2997220754623413 + ], + [ + -59.3463020324707, + -99.17749786376953, + -0.2997220754623413 + ], + [ + -60.31767272949219, + -99.38397216796875, + 1.5485975742340088 + ], + [ + -60.49739456176758, + -98.53845977783203, + 1.5485975742340088 + ], + [ + -59.526023864746094, + -98.33198547363281, + 1.5485975742340088 + ], + [ + -59.3463020324707, + -99.17749786376953, + 1.5485975742340088 + ] + ], + "corners_2d": [ + [ + 457.87434713454115, + 159.87247751788217 + ], + [ + 477.9079061185465, + 164.1476205959839 + ], + [ + 489.58812431984205, + 151.02323825517615 + ], + [ + 469.84206173366454, + 146.8982282237245 + ], + [ + 451.3197075157269, + 117.18005734869851 + ], + [ + 472.0390810437328, + 121.35248447281705 + ], + [ + 484.2423941180266, + 108.54898474399062 + ], + [ + 463.830138938852, + 104.52822781310368 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 15033, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 474.9313173622445, + "ymin": 527.157168229262, + "xmax": 606.7535420899885, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 606.7535420899885, + 570.6578617959348 + ], + [ + 527.0392869420236, + 560.5877238599843 + ], + [ + 482.6340298073601, + 723.0661240529274 + ], + [ + 573.4229117985205, + 736.2420125751958 + ], + [ + 605.325542803739, + 537.3505349268792 + ], + [ + 522.2318857226887, + 527.157168229262 + ], + [ + 474.9313173622445, + 692.5693292277151 + ], + [ + 570.1293863994031, + 706.0720465913732 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 4478, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 981.5079686861625, + "ymin": 26.194482107592307, + "xmax": 1115.9180850783137, + "ymax": 96.71445425672914 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 981.5079686861625, + 67.13297897424013 + ], + [ + 986.7560118637016, + 88.9161918517068 + ], + [ + 1100.3934387192762, + 96.71445425672914 + ], + [ + 1091.3119664707099, + 74.43457458898689 + ], + [ + 992.5286134829007, + 26.194482107592307 + ], + [ + 998.3374844307132, + 47.261840299820165 + ], + [ + 1115.9180850783137, + 54.83591629424683 + ], + [ + 1106.010157696324, + 33.27161112665175 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 19046, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 798.7660183291149, + "ymin": 505.83580316293785, + "xmax": 943.4692834361638, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 798.7660183291149, + 818.8952182169758 + ], + [ + 920.1257472430586, + 837.16250286483 + ], + [ + 904.4304448956799, + 569.7065600322985 + ], + [ + 805.9857545060328, + 557.6756572891129 + ], + [ + 811.8111023574626, + 775.5760506790908 + ], + [ + 943.4692834361638, + 794.7503896796989 + ], + [ + 922.0137852592289, + 518.0792439067335 + ], + [ + 816.8993264894906, + 505.83580316293785 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4809317425322915338, + "instance_id": 2806, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -62.6159553527832, + "y": -93.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 574.7413536205197, + "ymin": 27.271960949573497, + "xmax": 589.2742700823426, + "ymax": 57.9815553888227 + }, + "corners_3d": [ + [ + -62.754539489746094, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.9842529296875, + 6.416468620300293 + ], + [ + -62.754539489746094, + -93.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 587.7004469707583, + 57.9815553888227 + ], + [ + 589.2742700823426, + 53.95949141200248 + ], + [ + 577.6765760246044, + 53.16231464270925 + ], + [ + 576.030641831105, + 57.17415012217515 + ], + [ + 586.644986738553, + 31.985684220824055 + ], + [ + 588.2572108571683, + 28.051583460083805 + ], + [ + 576.4285977298006, + 27.271960949573497 + ], + [ + 574.7413536205197, + 31.195856048938822 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 353.8356559100274, + "ymin": 91.48884560598361, + "xmax": 372.11812039449234, + "ymax": 118.8051586559223 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 369.3964702824982, + 118.8051586559223 + ], + [ + 372.11812039449234, + 114.75394936597542 + ], + [ + 361.76917230373095, + 113.95482489641654 + ], + [ + 358.989945894532, + 117.99661916757367 + ], + [ + 364.4271560001692, + 96.2670832460019 + ], + [ + 367.22805274042554, + 92.27600730689397 + ], + [ + 356.69618437582653, + 91.48884560598361 + ], + [ + 353.8356559100274, + 95.47047675369822 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5344508464058845628, + "instance_id": 48329, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -62.61595916748047, + "y": -96.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 481.8216642259857, + "ymin": 21.185834260200636, + "xmax": 498.48672106407923, + "ymax": 51.66153813937916 + }, + "corners_3d": [ + [ + -62.75454330444336, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.9842529296875, + 6.416468620300293 + ], + [ + -62.75454330444336, + -96.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 496.3534693312555, + 51.66153813937916 + ], + [ + 498.48672106407923, + 47.71919260059599 + ], + [ + 487.1180322064598, + 46.93775661651739 + ], + [ + 484.9155448414576, + 50.87017605600033 + ], + [ + 493.4840729890368, + 25.80433993006568 + ], + [ + 495.67808582795385, + 21.94975882374331 + ], + [ + 484.0876466469265, + 21.185834260200636 + ], + [ + 481.8216642259857, + 25.03051737086122 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8433051479337506626, + "instance_id": 17047, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -62.61595153808594, + "y": -91.29429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 653.3748287481976, + "ymin": 32.43952757353992, + "xmax": 666.8657030134434, + "ymax": 63.3464977521013 + }, + "corners_3d": [ + [ + -62.75453567504883, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.4842529296875, + 6.416468620300293 + ], + [ + -62.75453567504883, + -91.4842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 665.2432968183388, + 63.3464977521013 + ], + [ + 666.3331791677336, + 59.256140149685905 + ], + [ + 654.5393202224374, + 58.44547990293228 + ], + [ + 653.3748287481976, + 62.525347557613316 + ], + [ + 665.7571418646974, + 37.23486622227159 + ], + [ + 666.8657030134434, + 33.232604280135945 + ], + [ + 654.8329586067523, + 32.43952757353992 + ], + [ + 653.6467252106878, + 36.43131765277394 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1043.7720769180974, + "ymin": 0.0, + "xmax": 1063.8095810222926, + "ymax": 1.9245590651847237 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1054.8877020480168, + -1.4181097562560012 + ], + [ + 1043.7720769180974, + -2.08107739118293 + ], + [ + 1044.986943023024, + 1.2538405458597595 + ], + [ + 1056.1688095790093, + 1.9245590651847237 + ], + [ + 1062.4599802732218, + -26.012444790047255 + ], + [ + 1051.1328000036954, + -26.658531642656044 + ], + [ + 1052.4136084868144, + -23.40825234984669 + ], + [ + 1063.8095810222926, + -22.754472960162673 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1037.8821486854038, + "ymin": 120.01081731061183, + "xmax": 1058.6660316208233, + "ymax": 148.1567863113355 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1049.4842369401797, + 143.75642196727284 + ], + [ + 1037.8821486854038, + 142.88868159267102 + ], + [ + 1039.1221105928435, + 147.27838868242512 + ], + [ + 1050.796779673762, + 148.1567863113355 + ], + [ + 1057.279677722119, + 120.86688063919331 + ], + [ + 1045.4473940012094, + 120.01081731061183 + ], + [ + 1046.758251645778, + 124.34185705516902 + ], + [ + 1058.6660316208233, + 125.20863613028655 + ] + ], + "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": 989.7877178997097, + "ymin": 0.0, + "xmax": 1121.7030231535696, + "ymax": 216.0725711098829 + }, + "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": [ + [ + 1025.5193759973524, + 214.96981913423247 + ], + [ + 1038.1466350945384, + 216.0725711098829 + ], + [ + 999.8392151445825, + 57.289678483959165 + ], + [ + 989.7877178997097, + 56.58517602014615 + ], + [ + 1106.2892799398994, + -22.015408712831118 + ], + [ + 1121.7030231535696, + -21.081687711039308 + ], + [ + 1057.749813988794, + -150.1267958384808 + ], + [ + 1046.0078306830983, + -150.67610125858312 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 208.59988143326012, + "ymin": 260.9778407927426, + "xmax": 453.6986678324322, + "ymax": 528.3085136869024 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 310.25241371464836, + 496.93828707025557 + ], + [ + 303.59628181229976, + 510.5241966641341 + ], + [ + 448.78203024483287, + 528.3085136869024 + ], + [ + 453.6986678324322, + 514.2765005699805 + ], + [ + 218.6254425143067, + 260.9778407927426 + ], + [ + 208.59988143326012, + 274.56362951997386 + ], + [ + 393.6441682344406, + 292.49365010607147 + ], + [ + 400.8558670629276, + 278.33284727037517 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 245.51511631867442, + "ymin": 0.0, + "xmax": 353.1224198126306, + "ymax": 170.37843791123055 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 305.1765883096724, + 169.4331783904589 + ], + [ + 316.43333407348916, + 170.37843791123055 + ], + [ + 353.1224198126306, + 117.69435530187306 + ], + [ + 342.6175586614537, + 116.87799434379698 + ], + [ + 245.51511631867442, + -40.23705458685811 + ], + [ + 258.69135466691307, + -39.437030884889396 + ], + [ + 306.1412439076819, + -83.48063281746278 + ], + [ + 293.98285334676626, + -84.15447012655045 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 371.4469477330189, + "ymin": 284.6445922104766, + "xmax": 397.05964291358333, + "ymax": 300.1365712583633 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 377.4947284752802, + 288.8021277334972 + ], + [ + 372.5102638173071, + 298.2040412860051 + ], + [ + 392.27766860383247, + 300.1365712583633 + ], + [ + 397.05964291358333, + 290.6932010625335 + ], + [ + 376.462511639741, + 284.6445922104766 + ], + [ + 371.4469477330189, + 294.0384258028149 + ], + [ + 391.2907421222726, + 295.9693946476779 + ], + [ + 396.10225813962654, + 286.5339757264224 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1134.6000948595242, + "ymin": 630.5137208335419, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1158.8257967279164, + 737.6469590862655 + ], + [ + 1289.5266580563127, + 755.3034863923101 + ], + [ + 1255.0935393620541, + 654.5084066173076 + ], + [ + 1134.6000948595242, + 639.4117443562391 + ], + [ + 1165.8940922396189, + 729.3574252294483 + ], + [ + 1298.4962868769037, + 747.1446989578376 + ], + [ + 1262.9356651425505, + 645.690793087819 + ], + [ + 1140.8275605129622, + 630.5137208335419 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1076.111802003081, + "ymin": 596.3641580245735, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1094.3997921192063, + 812.8242071066638 + ], + [ + 1215.2903177385397, + 830.2060352293976 + ], + [ + 1188.160191927439, + 729.9301717448184 + ], + [ + 1076.111802003081, + 714.9280160815609 + ], + [ + 1187.5642113020904, + 703.485198782292 + ], + [ + 1335.0258891461735, + 722.829778910494 + ], + [ + 1292.554331362405, + 612.5813220310786 + ], + [ + 1158.0323593639841, + 596.3641580245735 + ] + ], + "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": 441.3388631059563, + "ymin": 0.0, + "xmax": 537.4344397763657, + "ymax": 37.347885707293074 + }, + "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": [ + [ + 537.4344397763657, + -62.28642268044632 + ], + [ + 529.701474423377, + -62.74960950820798 + ], + [ + 467.98033272364876, + 36.687126608899916 + ], + [ + 477.1505454623138, + 37.347885707293074 + ], + [ + 524.447320431942, + -240.62175062861297 + ], + [ + 515.7494116846522, + -240.9618901929898 + ], + [ + 441.3388631059563, + -166.10976066357 + ], + [ + 451.8978173828316, + -165.59975002949955 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 371.30711790844356, + "ymin": 284.56185733215995, + "xmax": 397.19513818053133, + "ymax": 300.22031986276863 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 377.4214015431046, + 288.76403650392103 + ], + [ + 372.3824524058374, + 298.2667793826532 + ], + [ + 392.36304650303794, + 300.22031986276863 + ], + [ + 397.19513818053133, + 290.6752251924575 + ], + [ + 376.3778469202623, + 284.56185733215995 + ], + [ + 371.30711790844356, + 294.0563449561033 + ], + [ + 391.3657615370531, + 296.0082912900979 + ], + [ + 396.2280247830575, + 286.471318994479 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1134.7206568256838, + "ymin": 630.5784543832378, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1158.9269055756868, + 737.5368556196431 + ], + [ + 1289.4901062799095, + 755.1727060685178 + ], + [ + 1255.098406322201, + 654.4994735521268 + ], + [ + 1134.7206568256838, + 639.4177779130159 + ], + [ + 1165.9493202835338, + 729.3012443946541 + ], + [ + 1298.3991337453726, + 747.0667917517226 + ], + [ + 1262.8888215172824, + 645.7399590946509 + ], + [ + 1140.9086008771453, + 630.5784543832378 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 313.2458559387322, + "ymin": 0.0, + "xmax": 707.138865284857, + "ymax": 216.74661502961567 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 371.97966994617104, + 180.5293422764852 + ], + [ + 367.8473025030914, + 187.09288393690792 + ], + [ + 694.2164451405955, + 216.74661502961567 + ], + [ + 695.5873215045525, + 209.66443073017197 + ], + [ + 318.7626698321178, + -50.90426754316019 + ], + [ + 313.2458559387322, + -45.43915994258026 + ], + [ + 705.6062279038462, + -20.510692734553857 + ], + [ + 707.138865284857, + -26.499953786329115 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1115.5413013031489, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1408.0954023636623, + 367.82188675068437 + ], + [ + 1115.5413013031489, + 412.97934771703547 + ], + [ + 1366.3046347375293, + 749.133071884168 + ], + [ + 1737.2969818606286, + 669.2446738255514 + ], + [ + 1832.569497891991, + -172.8135705355446 + ], + [ + 1398.4242929557468, + -142.10995251684898 + ], + [ + 2092.4604896616684, + 152.27455201935854 + ], + [ + 2709.496801715748, + 69.54183000682406 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/ORI/frames_playback/frame_00135/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/ORI/frames_playback/frame_00135/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3b1704e1d7a28e8ca99bf7ae6a94f41d28c59cd8 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/ORI/frames_playback/frame_00135/meta.json @@ -0,0 +1,3522 @@ +{ + "frame_id": 135, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 67.5, + "sim_timestamp": 9524.025865901262 + }, + "drone_pose": { + "x": -83.95279524745906, + "y": -86.46537279536113, + "z": 20.005712842805675, + "pitch": -44.42693292001317, + "yaw": -3.535341899383109, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7127846479415894, + 0.0440371111035347, + 0.6999990940093994, + 42.028602600097656 + ], + [ + -0.06166420876979828, + 0.9980969429016113, + 0.0, + 91.47769927978516 + ], + [ + -0.6986669301986694, + -0.04316489025950432, + 0.7141437530517578, + -69.20973205566406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -83.4514455375628, + "y": -86.63070675293686, + "z": 20.004739650519177 + }, + "t1_image_uv": [ + 287.5936759200933, + -577.404792760592 + ], + "t1_depth": 0.3653164462321212 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -64.16718292236328, + "y": -87.68776321411133, + "z": 0.575004174709211 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 27.75819037255983, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 192, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -64.16718292236328, + "y": -87.68775939941406, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.23454833030700684, + "y": 0.2526611387729645, + "z": 0.5268957614898682 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 627.9862451033314, + "ymin": 338.5483078981531, + "xmax": 652.0353600224906, + "ymax": 381.2627973347774 + }, + "corners_3d": [ + [ + -64.15437316894531, + -88.03227233886719, + 0.04810839891433716 + ], + [ + -64.51168823242188, + -87.6749496459961, + 0.04810839891433716 + ], + [ + -64.17999267578125, + -87.34324645996094, + 0.04810839891433716 + ], + [ + -63.82267379760742, + -87.70056915283203, + 0.04810839891433716 + ], + [ + -64.15437316894531, + -88.03227233886719, + 1.1018998622894287 + ], + [ + -64.51168823242188, + -87.6749496459961, + 1.1018998622894287 + ], + [ + -64.17999267578125, + -87.34324645996094, + 1.1018998622894287 + ], + [ + -63.82267379760742, + -87.70056915283203, + 1.1018998622894287 + ] + ], + "corners_2d": [ + [ + 628.3010432666417, + 372.0193481113103 + ], + [ + 639.7088943518798, + 381.2627973347774 + ], + [ + 651.7194503115611, + 373.66757923625164 + ], + [ + 640.2863208477758, + 364.5686943378853 + ], + [ + 627.9862451033314, + 345.98889655462943 + ], + [ + 639.7009831751257, + 355.2242110104428 + ], + [ + 652.0353600224906, + 347.635323969497 + ], + [ + 640.2939633925215, + 338.5483078981531 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 135, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 68, + "semantic_pixel_counts": { + "1": 506861, + "2": 202533, + "3": 24473, + "4": 46344, + "5": 1329, + "6": 15581, + "7": 2113, + "9": 7596, + "10": 70458, + "12": 3105, + "14": 9585, + "20": 1495, + "21": 1130, + "24": 28997 + }, + "instance_pixel_counts": { + "9296": 1329, + "9346": 1873, + "9799": 251, + "11927": 617, + "12439": 2259, + "12951": 1698, + "13975": 480, + "17232": 46344, + "21952": 918, + "22464": 5158, + "22784": 70, + "22976": 18064, + "23296": 8679, + "23488": 2427, + "23552": 5466, + "24404": 1435, + "24512": 20462, + "26963": 1606, + "27795": 13404, + "28307": 8887, + "28819": 21278, + "29331": 13341, + "31893": 853, + "32405": 304, + "33429": 1477, + "33941": 316, + "36692": 60, + "37979": 14681, + "38539": 346, + "39051": 1402, + "39563": 3132, + "41107": 59946, + "41611": 3990, + "41619": 25421, + "42123": 3085, + "42635": 1879, + "43117": 9792, + "43147": 9503, + "43155": 155702, + "43659": 8963, + "43667": 27782, + "44179": 181100, + "44181": 3484, + "44693": 687, + "45717": 13248, + "46229": 795, + "46741": 7833, + "47552": 65, + "48064": 1881, + "49088": 4187, + "49664": 192, + "49920": 405, + "50015": 724, + "50176": 553, + "50432": 937, + "50624": 15165, + "50688": 665, + "50944": 353, + "51136": 6178, + "51648": 2791, + "51712": 5173, + "52160": 27473, + "52672": 51665, + "55296": 4412, + "55879": 38930, + "57173": 7596, + "64351": 8494, + "64603": 1130 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 192, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -64.16718292236328, + "y": -87.68775939941406, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.2390478402376175, + "y": 0.24653320014476776, + "z": 0.5523959398269653 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 628.0001030701029, + "ymin": 337.9397594276491, + "xmax": 652.0167427954289, + "ymax": 381.8362565858043 + }, + "corners_3d": [ + [ + -64.1618881225586, + -88.03112030029297, + 0.02260822057723999 + ], + [ + -64.51054382324219, + -87.68246459960938, + 0.02260822057723999 + ], + [ + -64.17247772216797, + -87.34439849853516, + 0.02260822057723999 + ], + [ + -63.82382583618164, + -87.69305419921875, + 0.02260822057723999 + ], + [ + -64.1618881225586, + -88.03112030029297, + 1.1274001598358154 + ], + [ + -64.51054382324219, + -87.68246459960938, + 1.1274001598358154 + ], + [ + -64.17247772216797, + -87.34439849853516, + 1.1274001598358154 + ], + [ + -63.82382583618164, + -87.69305419921875, + 1.1274001598358154 + ] + ], + "corners_2d": [ + [ + 628.3296102211995, + 372.8154412074309 + ], + [ + 639.4534327900241, + 381.8362565858043 + ], + [ + 651.6863297319388, + 374.09694458176443 + ], + [ + 640.5373841619514, + 365.21998983428716 + ], + [ + 628.0001030701029, + 345.5244955064443 + ], + [ + 639.4378506468387, + 354.5370167962215 + ], + [ + 652.0167427954289, + 346.8045272839017 + ], + [ + 640.5524327040516, + 337.9397594276491 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 405, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -60.041194915771484, + "y": -84.69005584716797, + "z": 0.5812981128692627 + }, + "extent": { + "x": 0.504626452922821, + "y": 0.3645068407058716, + "z": 0.9219395518302917 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 721.9672851210763, + "ymin": 238.2080833772926, + "xmax": 762.6587203763327, + "ymax": 308.0838101565494 + }, + "corners_3d": [ + [ + -60.26588439941406, + -85.27059936523438, + -0.34064143896102905 + ], + [ + -60.662933349609375, + -84.65919494628906, + -0.34064143896102905 + ], + [ + -59.816505432128906, + -84.10951232910156, + -0.34064143896102905 + ], + [ + -59.419456481933594, + -84.72091674804688, + -0.34064143896102905 + ], + [ + -60.26588439941406, + -85.27059936523438, + 1.5032377243041992 + ], + [ + -60.662933349609375, + -84.65919494628906, + 1.5032377243041992 + ], + [ + -59.816505432128906, + -84.10951232910156, + 1.5032377243041992 + ], + [ + -59.419456481933594, + -84.72091674804688, + 1.5032377243041992 + ] + ], + "corners_2d": [ + [ + 721.9672851210763, + 299.21600099053353 + ], + [ + 741.0720847855657, + 308.0838101565494 + ], + [ + 757.607544396037, + 291.6565817737751 + ], + [ + 738.6903738530103, + 283.1118692315098 + ], + [ + 725.5195507301495, + 254.13699286365141 + ], + [ + 745.4983688050352, + 262.91910434355475 + ], + [ + 762.6587203763327, + 246.65667997354117 + ], + [ + 742.8857996023587, + 238.2080833772926 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 553, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -66.42300415039062, + "y": -80.74504852294922, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.4503222703933716, + "y": 0.39784178137779236, + "z": 0.8911492824554443 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 865.9052948634486, + "ymin": 386.68281755400295, + "xmax": 921.9063593354807, + "ymax": 464.5369241619289 + }, + "corners_3d": [ + [ + -66.52259826660156, + -81.3376235961914, + -0.16374772787094116 + ], + [ + -67.0233383178711, + -80.7192611694336, + -0.16374772787094116 + ], + [ + -66.32341003417969, + -80.15247344970703, + -0.16374772787094116 + ], + [ + -65.82266998291016, + -80.77083587646484, + -0.16374772787094116 + ], + [ + -66.52259826660156, + -81.3376235961914, + 1.6185507774353027 + ], + [ + -67.0233383178711, + -80.7192611694336, + 1.6185507774353027 + ], + [ + -66.32341003417969, + -80.15247344970703, + 1.6185507774353027 + ], + [ + -65.82266998291016, + -80.77083587646484, + 1.6185507774353027 + ] + ], + "corners_2d": [ + [ + 865.9052948634486, + 449.27523612101265 + ], + [ + 890.9562649731055, + 464.5369241619289 + ], + [ + 908.5873780459513, + 445.7721362843664 + ], + [ + 883.7267580036328, + 431.0495010813574 + ], + [ + 877.1478366366814, + 404.97682308592084 + ], + [ + 903.6398676307438, + 420.32047694634605 + ], + [ + 921.9063593354807, + 401.45810101008954 + ], + [ + 895.6311581671611, + 386.68281755400295 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 937, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -73.66718292236328, + "y": -87.68775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.42264890670776367, + "y": 0.46956542134284973, + "z": 0.9107503890991211 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 582.8982731488213, + "ymin": 615.9056467418711, + "xmax": 641.9787392507926, + "ymax": 710.4804226164429 + }, + "corners_3d": [ + [ + -73.6340103149414, + -88.31864929199219, + -0.33575111627578735 + ], + [ + -74.2980728149414, + -87.65458679199219, + -0.33575111627578735 + ], + [ + -73.70035552978516, + -87.05686950683594, + -0.33575111627578735 + ], + [ + -73.03629302978516, + -87.72093200683594, + -0.33575111627578735 + ], + [ + -73.6340103149414, + -88.31864929199219, + 1.4857497215270996 + ], + [ + -74.2980728149414, + -87.65458679199219, + 1.4857497215270996 + ], + [ + -73.70035552978516, + -87.05686950683594, + 1.4857497215270996 + ], + [ + -73.03629302978516, + -87.72093200683594, + 1.4857497215270996 + ] + ], + "corners_2d": [ + [ + 586.2572201423933, + 680.5362240898917 + ], + [ + 613.1765472071098, + 710.4804226164429 + ], + [ + 641.8617871073307, + 686.5509100456557 + ], + [ + 614.7768326090871, + 657.6937025245343 + ], + [ + 582.8982731488213, + 639.3570574478854 + ], + [ + 611.457726041753, + 670.1799654877201 + ], + [ + 641.9787392507926, + 645.5409015770066 + ], + [ + 613.2306686481757, + 615.9056467418711 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 665, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -67.78268432617188, + "y": -98.81512451171875, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.6068139672279358, + "y": 0.44916990399360657, + "z": 0.9113887548446655 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 174.79020381800825, + "ymin": 389.5665450079137, + "xmax": 252.43564890925074, + "ymax": 475.4808862668313 + }, + "corners_3d": [ + [ + -67.81549072265625, + -99.56938171386719, + -0.18398720026016235 + ], + [ + -68.51363372802734, + -99.00403594970703, + -0.18398720026016235 + ], + [ + -67.7498779296875, + -98.06086730957031, + -0.18398720026016235 + ], + [ + -67.0517349243164, + -98.62621307373047, + -0.18398720026016235 + ], + [ + -67.81549072265625, + -99.56938171386719, + 1.6387903690338135 + ], + [ + -68.51363372802734, + -99.00403594970703, + 1.6387903690338135 + ], + [ + -67.7498779296875, + -98.06086730957031, + 1.6387903690338135 + ], + [ + -67.0517349243164, + -98.62621307373047, + 1.6387903690338135 + ] + ], + "corners_2d": [ + [ + 197.4353737695743, + 454.4210089631779 + ], + [ + 207.9111916189441, + 475.4808862668313 + ], + [ + 252.43564890925074, + 455.19829040607794 + ], + [ + 241.28616224784867, + 434.93153138584023 + ], + [ + 174.79020381800825, + 409.13844312959196 + ], + [ + 185.32885286041937, + 430.32980625701634 + ], + [ + 232.5890864741391, + 409.91979348508113 + ], + [ + 221.288028696112, + 389.5665450079137 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 353, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -52.92184829711914, + "y": -95.85797882080078, + "z": 0.6070353984832764 + }, + "extent": { + "x": 0.40230223536491394, + "y": 0.43486326932907104, + "z": 0.8562141060829163 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 423.83225078396686, + "ymin": 112.87971368691734, + "xmax": 459.00121100980937, + "ymax": 169.12317188395684 + }, + "corners_3d": [ + [ + -52.77625274658203, + -96.43222045898438, + -0.2491787075996399 + ], + [ + -53.50566482543945, + -95.95853424072266, + -0.2491787075996399 + ], + [ + -53.06744384765625, + -95.28373718261719, + -0.2491787075996399 + ], + [ + -52.33803176879883, + -95.7574234008789, + -0.2491787075996399 + ], + [ + -52.77625274658203, + -96.43222045898438, + 1.4632494449615479 + ], + [ + -53.50566482543945, + -95.95853424072266, + 1.4632494449615479 + ], + [ + -53.06744384765625, + -95.28373718261719, + 1.4632494449615479 + ], + [ + -52.33803176879883, + -95.7574234008789, + 1.4632494449615479 + ] + ], + "corners_2d": [ + [ + 430.8660064091599, + 158.1121824991198 + ], + [ + 439.0646399466984, + 169.12317188395684 + ], + [ + 459.00121100980937, + 163.32755046324078 + ], + [ + 450.57457597341727, + 152.48482400491088 + ], + [ + 423.83225078396686, + 118.38225654331634 + ], + [ + 432.2025087449611, + 129.1571764993209 + ], + [ + 452.8693092655743, + 123.48446366423084 + ], + [ + 444.2537996220044, + 112.87971368691734 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 5173, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 891.1098158889845, + "ymin": 90.70997799995888, + "xmax": 1036.3044454261772, + "ymax": 165.20429381006483 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 891.1098158889845, + 133.95618004963129 + ], + [ + 897.8250438431035, + 161.20009533054488 + ], + [ + 1021.8900478653326, + 165.20429381006483 + ], + [ + 1010.5621829136269, + 137.68336742414175 + ], + [ + 900.2155917062366, + 90.70997799995888 + ], + [ + 907.5414785704733, + 117.25823715800351 + ], + [ + 1036.3044454261772, + 121.18807414769586 + ], + [ + 1024.0170207957926, + 94.35913841237215 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 216, + "instance_id": 55296, + "pixel_count": 4412, + "type_id": "vehicle.audi.etron", + "bbox_3d": { + "center_world": { + "x": -44.75563430786133, + "y": -104.2794189453125, + "z": 0.8648524284362793 + }, + "extent": { + "x": 2.427854299545288, + "y": 1.0163782835006714, + "z": 0.8246796727180481 + }, + "yaw": -94.3148193359375 + }, + "bbox_2d": { + "xmin": 221.67483892788084, + "ymin": 1.169396161428665, + "xmax": 353.8862830452367, + "ymax": 58.79832684106003 + }, + "corners_3d": [ + [ + -45.58646774291992, + -101.781982421875, + 0.04017278552055359 + ], + [ + -43.559471130371094, + -101.9349136352539, + 0.04017278552055359 + ], + [ + -43.92479705810547, + -106.77686309814453, + 0.04017278552055359 + ], + [ + -45.9517936706543, + -106.6239242553711, + 0.04017278552055359 + ], + [ + -45.58646774291992, + -101.781982421875, + 1.6895321607589722 + ], + [ + -43.559471130371094, + -101.9349136352539, + 1.6895321607589722 + ], + [ + -43.92479705810547, + -106.77686309814453, + 1.6895321607589722 + ], + [ + -45.9517936706543, + -106.6239242553711, + 1.6895321607589722 + ] + ], + "corners_2d": [ + [ + 344.6293455557829, + 58.079686966612485 + ], + [ + 353.8862830452367, + 36.72966638498036 + ], + [ + 246.18190829417614, + 37.401061420688166 + ], + [ + 233.18797421118927, + 58.79832684106003 + ], + [ + 336.2797532965344, + 21.85913473198144 + ], + [ + 346.07594617368994, + 1.169396161428665 + ], + [ + 235.41945166774133, + 1.8194326974606838 + ], + [ + 221.67483892788084, + 22.556229415781047 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 938.1300336081378, + "ymin": 4.154321673891104, + "xmax": 957.2643920733764, + "ymax": 33.8693999579055 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 949.7297363756252, + 30.05098713532567 + ], + [ + 938.1300336081378, + 29.729805648597505 + ], + [ + 939.4733654651591, + 33.54419282508957 + ], + [ + 951.1462664861888, + 33.8693999579055 + ], + [ + 955.7814472883715, + 4.468065417726962 + ], + [ + 943.9519799701948, + 4.154321673891104 + ], + [ + 945.3587888910351, + 7.880793631636607 + ], + [ + 957.2643920733764, + 8.198547346422515 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4809317425322915338, + "instance_id": 2806, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -62.6159553527832, + "y": -93.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 401.57512668284426, + "ymin": 145.33247289415297, + "xmax": 423.67367967327624, + "ymax": 179.92110337005718 + }, + "corners_3d": [ + [ + -62.754539489746094, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.9842529296875, + 6.416468620300293 + ], + [ + -62.754539489746094, + -93.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 421.3584538641767, + 179.92110337005718 + ], + [ + 423.67367967327624, + 174.08181373607317 + ], + [ + 409.6831722815571, + 173.59143272212816 + ], + [ + 407.26133743423713, + 179.42311084045664 + ], + [ + 416.01307633841805, + 151.57405032917168 + ], + [ + 418.4264762419724, + 145.81593832191672 + ], + [ + 404.1003317604017, + 145.33247289415297 + ], + [ + 401.57512668284426, + 151.08289660193245 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 146.85039254197028, + "ymin": 222.16032885009756, + "xmax": 174.17063540578914, + "ymax": 252.61912557670078 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 170.27616063382158, + 252.61912557670078 + ], + [ + 174.17063540578914, + 246.74611526916988 + ], + [ + 161.5430046870202, + 246.25522396364084 + ], + [ + 157.5613125654575, + 252.12124560681872 + ], + [ + 159.84116003390375, + 228.47612772842538 + ], + [ + 163.89666761713283, + 222.64743342415142 + ], + [ + 150.99692790909745, + 222.16032885009756 + ], + [ + 146.85039254197028, + 227.9819338343446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5344508464058845628, + "instance_id": 48329, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -62.61595916748047, + "y": -96.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 288.24172670501827, + "ymin": 141.53732241365503, + "xmax": 313.689680821098, + "ymax": 176.0064362314263 + }, + "corners_3d": [ + [ + -62.75454330444336, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.9842529296875, + 6.416468620300293 + ], + [ + -62.75454330444336, + -96.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 310.54018472564155, + 176.0064362314263 + ], + [ + 313.689680821098, + 170.22684708683613 + ], + [ + 299.84162022798074, + 169.7414589209961 + ], + [ + 296.5877016385937, + 175.51355294347425 + ], + [ + 302.52795443151047, + 147.71356609175282 + ], + [ + 305.8160940806209, + 142.0157469810668 + ], + [ + 291.63932293896073, + 141.53732241365503 + ], + [ + 288.24172670501827, + 147.22757362471643 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8433051479337506626, + "instance_id": 17047, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -62.61595153808594, + "y": -91.29429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 496.94037809266047, + "ymin": 148.5256745343009, + "xmax": 516.192997125321, + "ymax": 183.21437469928213 + }, + "corners_3d": [ + [ + -62.75453567504883, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.4842529296875, + 6.416468620300293 + ], + [ + -62.75453567504883, + -91.4842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 514.5863424508584, + 183.21437469928213 + ], + [ + 516.192997125321, + 177.32462540283603 + ], + [ + 502.08209863455414, + 176.83002461568677 + ], + [ + 500.3669736106974, + 182.71206355437684 + ], + [ + 511.50661636117115, + 154.82249171679166 + ], + [ + 513.1767273879489, + 149.01340176965363 + ], + [ + 498.7242945838832, + 148.5256745343009 + ], + [ + 496.94037809266047, + 154.32697389072294 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 953.6203586815759, + "ymin": 47.180556831299214, + "xmax": 974.6142851959137, + "ymax": 78.47421288022662 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 966.0646954867091, + 74.08366731695111 + ], + [ + 953.6203586815759, + 73.71454181858519 + ], + [ + 955.1648512005502, + 78.10012415088181 + ], + [ + 967.6934717037286, + 78.47421288022662 + ], + [ + 972.9042995767579, + 47.54215130106587 + ], + [ + 960.1951429769116, + 47.180556831299214 + ], + [ + 961.8172074689219, + 51.47721556980093 + ], + [ + 974.6142851959137, + 51.84377501294853 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 926.7268519819403, + "ymin": 0.0, + "xmax": 944.534692377474, + "ymax": 1.062075993631538 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 937.7055810698723, + -2.3608581015819823 + ], + [ + 926.7268519819403, + -2.6488778090710525 + ], + [ + 927.9311192211303, + 0.7706394265518952 + ], + [ + 938.9753977459374, + 1.062075993631538 + ], + [ + 943.2081079045802, + -27.16074901394876 + ], + [ + 932.0237709965381, + -27.441516938694917 + ], + [ + 933.2823205582143, + -24.107763100497664 + ], + [ + 944.534692377474, + -23.823602240881712 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 956.151430053051, + "ymin": 221.52360704000282, + "xmax": 978.3328780236147, + "ymax": 251.9675275062221 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 969.2404205483239, + 246.10366274565865 + ], + [ + 956.151430053051, + 245.61353293925401 + ], + [ + 957.8030678115526, + 251.47042534861984 + ], + [ + 970.9858423599053, + 251.9675275062221 + ], + [ + 976.4961292482122, + 222.00993934852315 + ], + [ + 963.1144675244805, + 221.52360704000282 + ], + [ + 964.8531763058165, + 227.335951726971 + ], + [ + 978.3328780236147, + 227.82935644179983 + ] + ], + "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": 899.6937406178765, + "ymin": 0.0, + "xmax": 1041.0257619612482, + "ymax": 322.8796319814091 + }, + "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": [ + [ + 947.1767858391893, + 322.2178401143656 + ], + [ + 961.3325465984861, + 322.8796319814091 + ], + [ + 910.6519991700653, + 120.43849489442528 + ], + [ + 899.6937406178765, + 120.03988623678833 + ], + [ + 1023.2896513238306, + 70.17886673474777 + ], + [ + 1041.0257619612482, + 70.77431515219439 + ], + [ + 960.0008772990309, + -101.81850116665044 + ], + [ + 947.0127512546944, + -102.14042123364925 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 584.795869868187, + "xmax": 253.7977774405923, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 67.62030919170638, + 796.1365839142321 + ], + [ + 56.858253778521885, + 818.7486820831532 + ], + [ + 246.02388748721307, + 831.2534452613465 + ], + [ + 253.7977774405923, + 808.2388459334526 + ], + [ + -155.04792317059878, + 584.795869868187 + ], + [ + -175.20390579819286, + 611.5553499218152 + ], + [ + 87.27545639289747, + 626.5019373606369 + ], + [ + 101.71639671344883, + 599.075193054123 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 13.877491697609685, + "xmax": 168.2143290109222, + "ymax": 308.8202348621467 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 103.87192880838904, + 308.2458138365862 + ], + [ + 117.58091827357657, + 308.8202348621467 + ], + [ + 168.2143290109222, + 234.40879333679192 + ], + [ + 155.621142289045, + 233.92640284092298 + ], + [ + -14.732408927408187, + 80.13024262169375 + ], + [ + 1.9181514369823844, + 80.6518581387146 + ], + [ + 74.23671062254118, + 14.299766458899114 + ], + [ + 59.203460693957595, + 13.877491697609685 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 59.41720369916993, + "ymin": 607.7138278912307, + "xmax": 99.79659163291035, + "ymax": 631.3798049663271 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 72.49533071525354, + 611.686024528037 + ], + [ + 62.616953581785765, + 629.7961714492777 + ], + [ + 90.32039282716619, + 631.3798049663271 + ], + [ + 99.79659163291035, + 613.2226082125885 + ], + [ + 69.3976228383325, + 607.7138278912307 + ], + [ + 59.41720369916993, + 625.8636877446471 + ], + [ + 87.27016387908247, + 627.4509370028809 + ], + [ + 96.8440871884037, + 609.2536642724516 + ] + ], + "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": 252.97329794983966, + "ymin": 0.0, + "xmax": 398.6292977655075, + "ymax": 120.58606735914066 + }, + "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": [ + [ + 398.6292977655075, + -7.8154343304305485 + ], + [ + 389.9115977513094, + -8.081628002532398 + ], + [ + 312.6371763533238, + 120.18729100522549 + ], + [ + 323.26386529136863, + 120.58606735914066 + ], + [ + 363.8267845783705, + -202.06612151611898 + ], + [ + 353.8712659688329, + -202.26746107472025 + ], + [ + 252.97329794983966, + -102.02138354195739 + ], + [ + 265.497947342589, + -101.69930334700268 + ] + ], + "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": 621.1636128617699, + "ymin": 0.0, + "xmax": 915.5460499515434, + "ymax": 15.489117581737617 + }, + "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": [ + [ + 879.4107474077479, + 15.489117581737617 + ], + [ + 878.4301734356858, + 11.437658146938418 + ], + [ + 624.3479834021757, + 3.6177236104832673 + ], + [ + 623.6010032451907, + 7.5625750936848135 + ], + [ + 915.5460499515434, + -184.33424216667026 + ], + [ + 914.136429866697, + -187.43190425852765 + ], + [ + 622.0395096613747, + -193.3929575687025 + ], + [ + 621.1636128617699, + -190.38878182146652 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1241.965869011988, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 1.7428634859342083 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 1258.563041256546, + 0.45484389102335854 + ], + [ + 1308.1327577769493, + 1.7428634859342083 + ], + [ + 1289.9603442201785, + -16.35647344888912 + ], + [ + 1241.965869011988, + -17.565807805745635 + ], + [ + 1306.235958481236, + -102.73810119668872 + ], + [ + 1359.748915482293, + -101.59683162187741 + ], + [ + 1338.496567793403, + -117.59837044016064 + ], + [ + 1286.814620333126, + -118.66480738492027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7298902328162137019, + "instance_id": 47923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_0", + "bbox_3d": { + "center_world": { + "x": -58.97412109375, + "y": -104.33528900146484, + "z": 7.722432613372803 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 55.142803015159416, + "ymin": 21.056190834664164, + "xmax": 74.01606408811222, + "ymax": 31.59770363857308 + }, + "corners_3d": [ + [ + -59.18000793457031, + -104.483154296875, + 7.667783737182617 + ], + [ + -59.18000793457031, + -104.18742370605469, + 7.667783737182617 + ], + [ + -58.76823425292969, + -104.18742370605469, + 7.667783737182617 + ], + [ + -58.76823425292969, + -104.483154296875, + 7.667783737182617 + ], + [ + -59.18000793457031, + -104.483154296875, + 7.777081489562988 + ], + [ + -59.18000793457031, + -104.18742370605469, + 7.777081489562988 + ], + [ + -58.76823425292969, + -104.18742370605469, + 7.777081489562988 + ], + [ + -58.76823425292969, + -104.483154296875, + 7.777081489562988 + ] + ], + "corners_2d": [ + [ + 56.79471604467494, + 31.303187558206787 + ], + [ + 66.98011601585608, + 31.59770363857308 + ], + [ + 74.01606408811222, + 25.028131813389848 + ], + [ + 63.93649768016542, + 24.7398973716588 + ], + [ + 55.142803015159416, + 27.598043815549147 + ], + [ + 65.3562699342882, + 27.891607251953985 + ], + [ + 72.42940586337454, + 21.343475497352642 + ], + [ + 62.32235301898129, + 21.056190834664164 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 59.19525936670266, + "ymin": 607.5878339116016, + "xmax": 100.00875287163558, + "ymax": 631.5081170741087 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 72.41694764244824, + 611.6029593101697 + ], + [ + 62.430791337512574, + 629.9072185959461 + ], + [ + 90.43344236177086, + 631.5081170741087 + ], + [ + 100.00875287163558, + 613.1557931474044 + ], + [ + 69.28568681941192, + 607.5878339116016 + ], + [ + 59.19525936670266, + 625.9326625819783 + ], + [ + 87.3506876504108, + 627.537257027014 + ], + [ + 97.02581107874119, + 609.1439888367511 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14685537128847865056, + "instance_id": 57460, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_1", + "bbox_3d": { + "center_world": { + "x": -58.97411346435547, + "y": -104.33528900146484, + "z": 7.7224273681640625 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 55.244732802467524, + "ymin": 21.111895010048897, + "xmax": 73.91717703446125, + "ymax": 31.54116620454056 + }, + "corners_3d": [ + [ + -59.17780685424805, + -104.48158264160156, + 7.668359756469727 + ], + [ + -59.17780685424805, + -104.18899536132812, + 7.668359756469727 + ], + [ + -58.77042007446289, + -104.18899536132812, + 7.668359756469727 + ], + [ + -58.77042007446289, + -104.48158264160156, + 7.668359756469727 + ], + [ + -59.17780685424805, + -104.48158264160156, + 7.776494979858398 + ], + [ + -59.17780685424805, + -104.18899536132812, + 7.776494979858398 + ], + [ + -58.77042007446289, + -104.18899536132812, + 7.776494979858398 + ], + [ + -58.77042007446289, + -104.48158264160156, + 7.776494979858398 + ] + ], + "corners_2d": [ + [ + 56.878724531699504, + 31.2498192120496 + ], + [ + 66.95544460006988, + 31.54116620454056 + ], + [ + 73.91717703446125, + 25.04173499263686 + ], + [ + 63.94405297846595, + 24.756536635089105 + ], + [ + 55.244732802467524, + 27.584194347965536 + ], + [ + 65.34892304586697, + 27.874608861705894 + ], + [ + 72.34705875885595, + 21.39616366331444 + ], + [ + 62.34702670519539, + 21.111895010048897 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 65.13611886414628, + "ymin": 66.25916649970111, + "xmax": 570.0422429677703, + "ymax": 346.2277622276828 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 185.64374472514487, + 317.8554105074388 + ], + [ + 179.9229617255682, + 327.21480939083006 + ], + [ + 568.2881319484776, + 346.2277622276828 + ], + [ + 570.0422429677703, + 336.47449232642276 + ], + [ + 73.74014756567215, + 66.25916649970111 + ], + [ + 65.13611886414628, + 74.68025325328682 + ], + [ + 549.9259246189197, + 91.92112704743903 + ], + [ + 552.365222516474, + 83.05434379929227 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 897939386194665430, + "instance_id": 54815, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1949_135", + "bbox_3d": { + "center_world": { + "x": -36.33243179321289, + "y": -120.14290618896484, + "z": 6.611191272735596 + }, + "extent": { + "x": 4.422521591186523, + "y": 4.2970757484436035, + "z": 7.008497714996338 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 167.29385708378408, + "ymax": 13.272735445467674 + }, + "corners_3d": [ + [ + -32.2579460144043, + -115.5145034790039, + -0.3973064422607422 + ], + [ + -31.58873176574707, + -124.08255767822266, + -0.3973064422607422 + ], + [ + -40.406917572021484, + -124.77130889892578, + -0.3973064422607422 + ], + [ + -41.076133728027344, + -116.20325469970703, + -0.3973064422607422 + ], + [ + -32.2579460144043, + -115.5145034790039, + 13.619688987731934 + ], + [ + -31.58873176574707, + -124.08255767822266, + 13.619688987731934 + ], + [ + -40.406917572021484, + -124.77130889892578, + 13.619688987731934 + ], + [ + -41.076133728027344, + -116.20325469970703, + 13.619688987731934 + ] + ], + "corners_2d": [ + [ + 167.29385708378408, + -57.65393828613844 + ], + [ + 21.4847767311677, + -66.04798889246479 + ], + [ + -85.96238856110665, + 2.4726873576997264 + ], + [ + 77.61914584252713, + 13.272735445467674 + ], + [ + 58.409061426156654, + -379.45587160462526 + ], + [ + -118.18498635866933, + -383.4182765041653 + ], + [ + -277.4634353306992, + -350.1938748831783 + ], + [ + -74.21827198110475, + -344.7684112189155 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1063.3645259794823, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1387.0547728496533, + 507.14519212392594 + ], + [ + 1063.3645259794823, + 595.0167140117387 + ], + [ + 1399.6961492055743, + 1087.3531649755637 + ], + [ + 1810.400531019981, + 915.8694801333942 + ], + [ + 1910.2290171497002, + -75.69481097397323 + ], + [ + 1403.004068899812, + -2.1552644356362975 + ], + [ + 2701.54242130965, + 655.4383027579727 + ], + [ + 3340.3981312890432, + 362.214465687568 + ] + ], + "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": 51.17182084141393, + "ymin": 0.0, + "xmax": 372.94063346945234, + "ymax": 28.727083070914716 + }, + "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": [ + [ + 178.18057107185984, + 28.727083070914716 + ], + [ + 372.94063346945234, + -0.09115820357578741 + ], + [ + 346.33155132043726, + -68.23236166260835 + ], + [ + 174.2537844446162, + -45.90848560106667 + ], + [ + 51.17182084141393, + -331.731370000644 + ], + [ + 303.8638152401942, + -346.5597095677641 + ], + [ + 281.2569028405592, + -380.15239535174567 + ], + [ + 65.50559486597285, + -369.3670626173546 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12783736354476579425, + "instance_id": 25050, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2728_95", + "bbox_3d": { + "center_world": { + "x": -40.00048828125, + "y": -120.97515106201172, + "z": 4.526856422424316 + }, + "extent": { + "x": 2.978419780731201, + "y": 2.8939361572265625, + "z": 4.719987869262695 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 75.22399851740579, + "ymax": 25.10584659169939 + }, + "corners_3d": [ + [ + -37.48514938354492, + -124.27953338623047, + -0.1931314468383789 + ], + [ + -43.23114013671875, + -123.58450317382812, + -0.1931314468383789 + ], + [ + -42.51582717895508, + -117.67076873779297, + -0.1931314468383789 + ], + [ + -36.76983642578125, + -118.36579895019531, + -0.1931314468383789 + ], + [ + -37.48514938354492, + -124.27953338623047, + 9.246844291687012 + ], + [ + -43.23114013671875, + -123.58450317382812, + 9.246844291687012 + ], + [ + -42.51582717895508, + -117.67076873779297, + 9.246844291687012 + ], + [ + -36.76983642578125, + -118.36579895019531, + 9.246844291687012 + ] + ], + "corners_2d": [ + [ + -44.33666113222546, + -26.010160080745266 + ], + [ + -100.09483117430273, + 25.10584659169939 + ], + [ + 30.725718931940378, + 21.749862738055867 + ], + [ + 75.22399851740579, + -28.825261027651152 + ], + [ + -151.19651620165325, + -239.22006329879002 + ], + [ + -228.1473172417226, + -202.29530896940548 + ], + [ + -74.00792378743085, + -204.75259767668842 + ], + [ + -12.44955265218232, + -241.22277906206023 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/ORI/frames_playback/frame_00142/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/ORI/frames_playback/frame_00142/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..331e10c1de726719460e9d75dcd48318a63351a2 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/ORI/frames_playback/frame_00142/meta.json @@ -0,0 +1,3525 @@ +{ + "frame_id": 142, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 71.0, + "sim_timestamp": 9603.800026724115 + }, + "drone_pose": { + "x": -80.4433472781852, + "y": -87.6227104983912, + "z": 20.001541917662596, + "pitch": -44.411720770440795, + "yaw": 4.150076299935973, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.712456464767456, + -0.05169543996453285, + 0.6998094916343689, + 47.844810485839844 + ], + [ + 0.07236917316913605, + 0.9973779320716858, + 0.0, + 81.57134246826172 + ], + [ + -0.6979745030403137, + 0.050644636154174805, + 0.7143295407295227, + -74.87271881103516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -79.94199756828894, + "y": -87.78804445596691, + "z": 20.00131150269574 + }, + "t1_image_uv": [ + 86.29264031625996, + -579.5984712194744 + ], + "t1_depth": 0.34880409616908065 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -60.66718292236328, + "y": -86.18776321411133, + "z": 0.576429955875501 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 27.757714694569287, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 202, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -60.66718292236328, + "y": -86.18775939941406, + "z": 0.5764299631118774 + }, + "extent": { + "x": 0.1995825171470642, + "y": 0.23438964784145355, + "z": 0.5172773003578186 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 629.2135259250525, + "ymin": 339.7506489512367, + "xmax": 650.7880573873801, + "ymax": 380.0393998528994 + }, + "corners_3d": [ + [ + -60.64257049560547, + -86.49462127685547, + 0.05915266275405884 + ], + [ + -60.97404861450195, + -86.16314697265625, + 0.05915266275405884 + ], + [ + -60.691795349121094, + -85.88089752197266, + 0.05915266275405884 + ], + [ + -60.36031723022461, + -86.21237182617188, + 0.05915266275405884 + ], + [ + -60.64257049560547, + -86.49462127685547, + 1.0937073230743408 + ], + [ + -60.97404861450195, + -86.16314697265625, + 1.0937073230743408 + ], + [ + -60.691795349121094, + -85.88089752197266, + 1.0937073230743408 + ], + [ + -60.36031723022461, + -86.21237182617188, + 1.0937073230743408 + ] + ], + "corners_2d": [ + [ + 629.4912260677097, + 372.55818722555676 + ], + [ + 641.6087868394893, + 380.0393998528994 + ], + [ + 650.5102834525533, + 372.6715249679515 + ], + [ + 638.4161509678217, + 365.30420381798103 + ], + [ + 629.2135259250525, + 346.9951541658502 + ], + [ + 641.6516425274947, + 354.4696449392364 + ], + [ + 650.7880573873801, + 347.10836694116136 + ], + [ + 638.3746238041712, + 339.7506489512367 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 142, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 71, + "semantic_pixel_counts": { + "1": 523822, + "2": 180677, + "4": 48028, + "5": 4455, + "6": 13414, + "7": 3229, + "9": 11910, + "10": 79434, + "12": 3558, + "14": 15069, + "20": 2038, + "21": 2674, + "24": 33260, + "25": 32 + }, + "instance_pixel_counts": { + "5695": 32, + "9296": 4455, + "9799": 1400, + "11927": 808, + "12439": 1172, + "12951": 2331, + "17232": 48028, + "21952": 1984, + "22464": 4100, + "22784": 237, + "22976": 20788, + "23040": 868, + "23296": 8541, + "23552": 6929, + "24404": 1889, + "24512": 10305, + "24660": 2, + "25940": 71, + "26196": 76, + "27795": 19516, + "28307": 613, + "28819": 26757, + "31893": 1119, + "32405": 35, + "33429": 1957, + "38539": 1166, + "39051": 1959, + "39563": 3482, + "40075": 151, + "40787": 68, + "41099": 30, + "41107": 82164, + "41611": 4929, + "41619": 32407, + "42123": 3817, + "42635": 2689, + "42643": 1801, + "43147": 5534, + "43155": 203814, + "43659": 7196, + "43667": 36547, + "44179": 120203, + "44181": 5539, + "44693": 892, + "45205": 60, + "45717": 17414, + "46229": 1039, + "46741": 5205, + "47552": 1631, + "48064": 3020, + "49088": 5623, + "49600": 368, + "49664": 202, + "49920": 414, + "50015": 11379, + "50176": 555, + "50432": 1022, + "50624": 18546, + "50688": 898, + "50944": 467, + "51136": 9288, + "51648": 6583, + "51712": 6188, + "52160": 16474, + "52672": 42573, + "53504": 3182, + "55296": 5699, + "55879": 45352, + "57173": 11910, + "64351": 2730, + "64603": 2674 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 202, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -60.66718292236328, + "y": -86.18775939941406, + "z": 0.5764299631118774 + }, + "extent": { + "x": 0.23484863340854645, + "y": 0.23067381978034973, + "z": 0.5333496928215027 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 628.4900671783208, + "ymin": 338.76630506822914, + "xmax": 651.4941375175061, + "ymax": 381.0227358144995 + }, + "corners_3d": [ + [ + -60.670135498046875, + -86.51693725585938, + 0.043080270290374756 + ], + [ + -60.99635696411133, + -86.19071197509766, + 0.043080270290374756 + ], + [ + -60.66423034667969, + -85.85858154296875, + 0.043080270290374756 + ], + [ + -60.338008880615234, + -86.18480682373047, + 0.043080270290374756 + ], + [ + -60.670135498046875, + -86.51693725585938, + 1.1097795963287354 + ], + [ + -60.99635696411133, + -86.19071197509766, + 1.1097795963287354 + ], + [ + -60.66423034667969, + -85.85858154296875, + 1.1097795963287354 + ], + [ + -60.338008880615234, + -86.18480682373047, + 1.1097795963287354 + ] + ], + "corners_2d": [ + [ + 628.7957038060035, + 373.6501354714708 + ], + [ + 640.7185826175926, + 381.0227358144995 + ], + [ + 651.189334950547, + 372.3539659380321 + ], + [ + 639.2935648818312, + 365.1132054943927 + ], + [ + 628.4900671783208, + 347.2917599225382 + ], + [ + 640.738340116454, + 354.65779982692004 + ], + [ + 651.4941375175061, + 345.99706471556885 + ], + [ + 639.2744714555156, + 338.76630506822914 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 414, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -56.541194915771484, + "y": -83.19005584716797, + "z": 0.5770354270935059 + }, + "extent": { + "x": 0.3664892613887787, + "y": 0.3380712866783142, + "z": 0.883512556552887 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 707.9130692855126, + "ymin": 234.3623821728309, + "xmax": 740.0987782918792, + "ymax": 296.39434485345754 + }, + "corners_3d": [ + [ + -56.664432525634766, + -83.67318725585938, + -0.3064771294593811 + ], + [ + -57.032684326171875, + -83.10613250732422, + -0.3064771294593811 + ], + [ + -56.4179573059082, + -82.70692443847656, + -0.3064771294593811 + ], + [ + -56.049705505371094, + -83.27397918701172, + -0.3064771294593811 + ], + [ + -56.664432525634766, + -83.67318725585938, + 1.460547924041748 + ], + [ + -57.032684326171875, + -83.10613250732422, + 1.460547924041748 + ], + [ + -56.4179573059082, + -82.70692443847656, + 1.460547924041748 + ], + [ + -56.049705505371094, + -83.27397918701172, + 1.460547924041748 + ] + ], + "corners_2d": [ + [ + 707.9130692855126, + 289.87733050022484 + ], + [ + 726.6879862270481, + 296.39434485345754 + ], + [ + 736.1795630255066, + 283.6614945704585 + ], + [ + 717.6057475844223, + 277.3316852003414 + ], + [ + 710.7011779775831, + 246.76884887870796 + ], + [ + 730.2746323430318, + 253.21936156804333 + ], + [ + 740.0987782918792, + 240.6201353118758 + ], + [ + 720.7439988803059, + 234.3623821728309 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 555, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -62.92300796508789, + "y": -79.24504852294922, + "z": 0.7273918986320496 + }, + "extent": { + "x": 0.29953858256340027, + "y": 0.39875730872154236, + "z": 0.868783712387085 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 874.2973032860846, + "ymin": 365.98677755114414, + "xmax": 922.1814939120462, + "ymax": 434.3982843396364 + }, + "corners_3d": [ + [ + -62.90484619140625, + -79.74344635009766, + -0.1413918137550354 + ], + [ + -63.40673828125, + -79.12366485595703, + -0.1413918137550354 + ], + [ + -62.94116973876953, + -78.74665069580078, + -0.1413918137550354 + ], + [ + -62.43927764892578, + -79.3664321899414, + -0.1413918137550354 + ], + [ + -62.90484619140625, + -79.74344635009766, + 1.5961756706237793 + ], + [ + -63.40673828125, + -79.12366485595703, + 1.5961756706237793 + ], + [ + -62.94116973876953, + -78.74665069580078, + 1.5961756706237793 + ], + [ + -62.43927764892578, + -79.3664321899414, + 1.5961756706237793 + ] + ], + "corners_2d": [ + [ + 874.2973032860846, + 422.1614464781579 + ], + [ + 900.712028337914, + 434.3982843396364 + ], + [ + 909.4848006359084, + 421.20976724701825 + ], + [ + 883.3048333149601, + 409.2870324386203 + ], + [ + 885.347130742613, + 378.8785811540462 + ], + [ + 913.1648450000207, + 391.1464289043264 + ], + [ + 922.1814939120462, + 377.9250820747694 + ], + [ + 894.6252755007245, + 365.98677755114414 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 1022, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -70.16718292236328, + "y": -86.18775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.3928613066673279, + "y": 0.438544899225235, + "z": 0.8673238158226013 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 644.3942250582553, + "ymin": 618.6169783500148, + "xmax": 700.0834806946496, + "ymax": 707.1942030454418 + }, + "corners_3d": [ + [ + -70.13488006591797, + -86.77565002441406, + -0.2923245429992676 + ], + [ + -70.75507354736328, + -86.15545654296875, + -0.2923245429992676 + ], + [ + -70.1994857788086, + -85.59986877441406, + -0.2923245429992676 + ], + [ + -69.57929229736328, + -86.22006225585938, + -0.2923245429992676 + ], + [ + -70.13488006591797, + -86.77565002441406, + 1.442323088645935 + ], + [ + -70.75507354736328, + -86.15545654296875, + 1.442323088645935 + ], + [ + -70.1994857788086, + -85.59986877441406, + 1.442323088645935 + ], + [ + -69.57929229736328, + -86.22006225585938, + 1.442323088645935 + ] + ], + "corners_2d": [ + [ + 644.3942250582553, + 682.7527046917962 + ], + [ + 674.5504085759017, + 707.1942030454418 + ], + [ + 696.7075184589297, + 681.8900442226554 + ], + [ + 666.7204476827953, + 658.3909403582193 + ], + [ + 644.656015376522, + 643.6013920471817 + ], + [ + 676.6510308330248, + 668.7253371913042 + ], + [ + 700.0834806946496, + 642.7157028613309 + ], + [ + 668.2798532258936, + 618.6169783500148 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 898, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -64.28268432617188, + "y": -97.31512451171875, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.4091113209724426, + "y": 0.4847460687160492, + "z": 0.8888213634490967 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 182.07041077249454, + "ymin": 438.95419794896156, + "xmax": 250.8219606924822, + "ymax": 521.4249190414143 + }, + "corners_3d": [ + [ + -64.1634292602539, + -97.93812561035156, + -0.31382209062576294 + ], + [ + -64.91686248779297, + -97.3280029296875, + -0.31382209062576294 + ], + [ + -64.40193939208984, + -96.69212341308594, + -0.31382209062576294 + ], + [ + -63.648502349853516, + -97.30224609375, + -0.31382209062576294 + ], + [ + -64.1634292602539, + -97.93812561035156, + 1.4638206958770752 + ], + [ + -64.91686248779297, + -97.3280029296875, + 1.4638206958770752 + ], + [ + -64.40193939208984, + -96.69212341308594, + 1.4638206958770752 + ], + [ + -63.648502349853516, + -97.30224609375, + 1.4638206958770752 + ] + ], + "corners_2d": [ + [ + 204.6027068404341, + 499.4040996556292 + ], + [ + 221.41430250657095, + 521.4249190414143 + ], + [ + 250.8219606924822, + 503.9298907283446 + ], + [ + 233.69352253553893, + 482.5958873450902 + ], + [ + 182.07041077249454, + 455.9065337621318 + ], + [ + 199.28694336330398, + 478.157543673255 + ], + [ + 230.59276729747216, + 460.47579939739023 + ], + [ + 213.0106454560527, + 438.95419794896156 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 467, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -49.42184829711914, + "y": -94.35797882080078, + "z": 0.5963664650917053 + }, + "extent": { + "x": 0.5128588676452637, + "y": 0.5152734518051147, + "z": 0.9221112132072449 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 372.5879146639662, + "ymin": 125.13680211758313, + "xmax": 419.62267641119513, + "ymax": 189.8238422285 + }, + "corners_3d": [ + [ + -49.26902770996094, + -95.06873321533203, + -0.32574474811553955 + ], + [ + -50.13331604003906, + -94.50746154785156, + -0.32574474811553955 + ], + [ + -49.574668884277344, + -93.64722442626953, + -0.32574474811553955 + ], + [ + -48.71038055419922, + -94.20849609375, + -0.32574474811553955 + ], + [ + -49.26902770996094, + -95.06873321533203, + 1.5184776782989502 + ], + [ + -50.13331604003906, + -94.50746154785156, + 1.5184776782989502 + ], + [ + -49.574668884277344, + -93.64722442626953, + 1.5184776782989502 + ], + [ + -48.71038055419922, + -94.20849609375, + 1.5184776782989502 + ] + ], + "corners_2d": [ + [ + 382.161201291948, + 177.28644004820995 + ], + [ + 394.7420604236046, + 189.8238422285 + ], + [ + 419.62267641119513, + 180.331143040801 + ], + [ + 406.79431968926644, + 168.0983856670667 + ], + [ + 372.5879146639662, + 134.11911480898212 + ], + [ + 385.47953577870805, + 146.38883083963137 + ], + [ + 411.4061931549372, + 137.09742421145398 + ], + [ + 398.24447145894896, + 125.13680211758313 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 6188, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 820.3144255558304, + "ymin": 119.27904678286498, + "xmax": 969.8429554489569, + "ymax": 198.30697097065348 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 820.3144255558304, + 168.3845372167103 + ], + [ + 831.7436978881203, + 198.30697097065348 + ], + [ + 957.3974048159216, + 192.74300424375386 + ], + [ + 941.2542631896205, + 163.25204589941896 + ], + [ + 827.2014190843788, + 124.26806752777958 + ], + [ + 839.3648307511774, + 153.52929475778214 + ], + [ + 969.8429554489569, + 148.10310817989256 + ], + [ + 952.6042137293255, + 119.27904678286498 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 209, + "instance_id": 53504, + "pixel_count": 3182, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -44.30002975463867, + "y": -58.57492446899414, + "z": 0.8211467266082764 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 1187.0448747116097, + "ymin": 23.83536005463037, + "xmax": 1280.0, + "ymax": 83.050833706976 + }, + "corners_3d": [ + [ + -45.22607421875, + -56.065513610839844, + 0.05378423258662224 + ], + [ + -43.344486236572266, + -56.07659912109375, + 0.05378423258662224 + ], + [ + -43.373985290527344, + -61.08433532714844, + 0.05378423258662224 + ], + [ + -45.25557327270508, + -61.0732536315918, + 0.05378423258662224 + ], + [ + -45.22607421875, + -56.065513610839844, + 1.588509202003479 + ], + [ + -43.344486236572266, + -56.07659912109375, + 1.588509202003479 + ], + [ + -43.373985290527344, + -61.08433532714844, + 1.588509202003479 + ], + [ + -45.25557327270508, + -61.0732536315918, + 1.588509202003479 + ] + ], + "corners_2d": [ + [ + 1322.5852214124184, + 78.48564068279984 + ], + [ + 1297.4557420522, + 57.472547175435864 + ], + [ + 1187.0448747116097, + 61.75028721940788 + ], + [ + 1208.6864485245164, + 83.050833706976 + ], + [ + 1341.094396121137, + 44.28026527168305 + ], + [ + 1314.7001018429885, + 23.83536005463037 + ], + [ + 1201.492027735951, + 27.99456694466795 + ], + [ + 1224.2168597377627, + 48.72669268524925 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 216, + "instance_id": 55296, + "pixel_count": 5699, + "type_id": "vehicle.audi.etron", + "bbox_3d": { + "center_world": { + "x": -44.75563430786133, + "y": -104.2794189453125, + "z": 0.8648524284362793 + }, + "extent": { + "x": 2.427854299545288, + "y": 1.0163782835006714, + "z": 0.8246796727180481 + }, + "yaw": -94.3148193359375 + }, + "bbox_2d": { + "xmin": 74.45024735370544, + "ymin": 61.176807246652515, + "xmax": 228.2756524856929, + "ymax": 133.73095216422047 + }, + "corners_3d": [ + [ + -45.58646774291992, + -101.781982421875, + 0.04017278552055359 + ], + [ + -43.559471130371094, + -101.9349136352539, + 0.04017278552055359 + ], + [ + -43.92479705810547, + -106.77686309814453, + 0.04017278552055359 + ], + [ + -45.9517936706543, + -106.6239242553711, + 0.04017278552055359 + ], + [ + -45.58646774291992, + -101.781982421875, + 1.6895321607589722 + ], + [ + -43.559471130371094, + -101.9349136352539, + 1.6895321607589722 + ], + [ + -43.92479705810547, + -106.77686309814453, + 1.6895321607589722 + ], + [ + -45.9517936706543, + -106.6239242553711, + 1.6895321607589722 + ] + ], + "corners_2d": [ + [ + 220.28845872749554, + 124.15235390439554 + ], + [ + 228.2756524856929, + 98.5361416861573 + ], + [ + 104.65226223511218, + 107.42657767060709 + ], + [ + 91.829587576731, + 133.73095216422047 + ], + [ + 207.1658520693295, + 86.14047865621893 + ], + [ + 215.8848320661778, + 61.176807246652515 + ], + [ + 88.32362439819838, + 69.83434539608362 + ], + [ + 74.45024735370544, + 95.48965765689104 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 867.4085233543415, + "ymin": 37.40410446508622, + "xmax": 886.5586412145756, + "ymax": 68.39999461252256 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 879.3225852022131, + 63.72847410676604 + ], + [ + 867.4085233543415, + 64.14829104330215 + ], + [ + 869.5515574854664, + 68.39999461252256 + ], + [ + 881.5427424754325, + 67.97462341396016 + ], + [ + 884.2591662619647, + 37.40410446508622 + ], + [ + 872.1024693506645, + 37.81507789671542 + ], + [ + 874.3216380936666, + 41.977841372459295 + ], + [ + 886.5586412145756, + 41.56131735283219 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4809317425322915338, + "instance_id": 2806, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -62.6159553527832, + "y": -93.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 303.921805608843, + "ymin": 249.47345962629146, + "xmax": 331.4487052180961, + "ymax": 287.2047355065934 + }, + "corners_3d": [ + [ + -62.754539489746094, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.9842529296875, + 6.416468620300293 + ], + [ + -62.754539489746094, + -93.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 329.5890836574018, + 286.4442951990232 + ], + [ + 331.4487052180961, + 278.8717950308519 + ], + [ + 315.07596440545404, + 279.6190029831308 + ], + [ + 313.0703116110591, + 287.2047355065934 + ], + [ + 320.9106495264228, + 256.99137579546505 + ], + [ + 322.8997005201485, + 249.47345962629146 + ], + [ + 306.0652767245491, + 250.2151183166713 + ], + [ + 303.921805608843, + 257.7465375930392 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 5.596775616472314, + "ymin": 354.7332217767257, + "xmax": 41.344902757082195, + "ymax": 388.089044924685 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 37.21663825934752, + 387.2997723412181 + ], + [ + 41.344902757082195, + 379.3925526828312 + ], + [ + 25.878983049223848, + 380.1689754018947 + ], + [ + 21.619843837084545, + 388.089044924685 + ], + [ + 21.610761196526823, + 362.6367609447565 + ], + [ + 25.975789567531933, + 354.7332217767257 + ], + [ + 10.099736871505229, + 355.50913508981637 + ], + [ + 5.596775616472314, + 363.4258496916877 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5344508464058845628, + "instance_id": 48329, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -62.61595916748047, + "y": -96.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 168.68480277093948, + "ymin": 255.3664160493887, + "xmax": 201.3807425707907, + "ymax": 293.2568749924891 + }, + "corners_3d": [ + [ + -62.75454330444336, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.9842529296875, + 6.416468620300293 + ], + [ + -62.75454330444336, + -96.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 198.35404014717687, + 292.485794269227 + ], + [ + 201.3807425707907, + 284.8078506501093 + ], + [ + 184.78093188215394, + 285.56542155221 + ], + [ + 181.60413217569698, + 293.2568749924891 + ], + [ + 185.91808055070425, + 262.99196047312853 + ], + [ + 189.1416674658155, + 255.3664160493887 + ], + [ + 172.06723007024175, + 256.1186488895412 + ], + [ + 168.68480277093948, + 263.75798756083054 + ] + ], + "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": 145.6121434320807, + "ymin": 7.194142585557643, + "xmax": 169.38971330595842, + "ymax": 37.070296029666 + }, + "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": [ + [ + 155.1904620526975, + 37.070296029666 + ], + [ + 167.04921914025437, + 36.684981326391835 + ], + [ + 169.38971330595842, + 32.837502002642395 + ], + [ + 157.6063823400387, + 33.218026053488586 + ], + [ + 145.6121434320807, + 11.330091751125394 + ], + [ + 157.71113760122898, + 10.953546572693028 + ], + [ + 160.1569056509215, + 7.194142585557643 + ], + [ + 148.13641290580455, + 7.565914560045826 + ] + ], + "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": 167.27504354101933, + "ymin": 0.0, + "xmax": 189.25157423480073, + "ymax": 3.97908772150015 + }, + "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": [ + [ + 175.9429066827634, + 3.97908772150015 + ], + [ + 187.1543434888966, + 3.6339486216880346 + ], + [ + 189.25157423480073, + 0.18636818224973695 + ], + [ + 178.10758004746435, + 0.5274439720166697 + ], + [ + 167.27504354101933, + -20.974180664119444 + ], + [ + 178.7009806448898, + -21.31075204601217 + ], + [ + 180.8879444806671, + -24.672342446510925 + ], + [ + 169.53204610808393, + -24.339806830505836 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8433051479337506626, + "instance_id": 17047, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -62.61595153808594, + "y": -91.29429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 415.15680520764874, + "ymin": 244.6257491248187, + "xmax": 438.4832088674873, + "ymax": 282.22494734749057 + }, + "corners_3d": [ + [ + -62.75453567504883, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.4842529296875, + 6.416468620300293 + ], + [ + -62.75453567504883, + -91.4842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 437.57201012825453, + 281.4732067378078 + ], + [ + 438.4832088674873, + 273.98692595322984 + ], + [ + 422.2961530167755, + 274.7256596543422 + ], + [ + 421.2422165406556, + 282.22494734749057 + ], + [ + 431.9459047284871, + 252.05570590025775 + ], + [ + 432.93241225816723, + 244.6257491248187 + ], + [ + 416.2941552750309, + 245.35876538526975 + ], + [ + 415.15680520764874, + 252.80198887709216 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 892.2112244745629, + "ymin": 85.5852663460434, + "xmax": 913.5830345453867, + "ymax": 118.28402874629734 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 905.0167146955259, + 112.86963697077448 + ], + [ + 892.2112244745629, + 113.35596876880558 + ], + [ + 894.6951701589354, + 118.28402874629734 + ], + [ + 907.5897945954957, + 117.79076646299703 + ], + [ + 910.9095635171846, + 85.5852663460434 + ], + [ + 897.8233546067951, + 86.06285628024352 + ], + [ + 900.4037276226816, + 90.903174339967 + ], + [ + 913.5830345453867, + 90.41862545736484 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 849.2768100066846, + "ymin": 2.275102877466054, + "xmax": 866.8727220011301, + "ymax": 31.965109581149534 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 860.5375959628104, + 27.801788325230348 + ], + [ + 849.2768100066846, + 28.17607247053354 + ], + [ + 851.1866397091981, + 31.965109581149534 + ], + [ + 862.5163010793491, + 31.58615240384546 + ], + [ + 864.82806280562, + 2.275102877466054 + ], + [ + 853.3507568864322, + 2.6406606128164753 + ], + [ + 855.3238587266881, + 6.341849401438708 + ], + [ + 866.8727220011301, + 5.97163791910566 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 915.375150813319, + "ymin": 273.5189744435526, + "xmax": 938.6747720050623, + "ymax": 305.2239698931001 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 928.8708676063635, + 297.946265961451 + ], + [ + 915.375150813319, + 298.59647414668365 + ], + [ + 918.1863999955398, + 305.2239698931001 + ], + [ + 931.78169158624, + 304.56392445802675 + ], + [ + 935.6429597240547, + 273.5189744435526 + ], + [ + 921.8357490939993, + 274.16593214690556 + ], + [ + 924.7633208741083, + 280.7615771519315 + ], + [ + 938.6747720050623, + 280.1045991649138 + ] + ], + "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": 826.5676089809283, + "ymin": 0.0, + "xmax": 1000.009207426433, + "ymax": 376.09606827860506 + }, + "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": [ + [ + 909.7738484464453, + 376.09606827860506 + ], + [ + 924.3322366977925, + 375.4281288576049 + ], + [ + 837.7628239831987, + 151.6778219545519 + ], + [ + 826.5676089809283, + 152.06960432355103 + ], + [ + 981.6395410889471, + 119.34109730747326 + ], + [ + 1000.009207426433, + 118.72237875020889 + ], + [ + 875.7139676459406, + -76.34834112255794 + ], + [ + 862.3932019274953, + -76.026774406796 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 121.14390726089627, + "xmax": 33.43535055900895, + "ymax": 452.6742384515041 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + -37.35447197161557, + 452.6742384515041 + ], + [ + -20.45702648230963, + 451.7649304132707 + ], + [ + 33.43535055900895, + 352.9441677546975 + ], + [ + 18.199766205459696, + 353.6876447388849 + ], + [ + -217.96648931769232, + 216.09648236351703 + ], + [ + -196.36717590200612, + 215.20865905282588 + ], + [ + -109.02207650571131, + 121.14390726089627 + ], + [ + -127.97954393595307, + 121.83413529931025 + ] + ], + "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": 730.1056117484953, + "ymin": 0.0, + "xmax": 796.2676362450031, + "ymax": 13.826357933746863 + }, + "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": [ + [ + 736.2270106747795, + 13.826357933746863 + ], + [ + 784.8892405844865, + 12.256752779944236 + ], + [ + 777.249909647376, + -6.423533187086207 + ], + [ + 730.1056117484953, + -4.951424124363314 + ], + [ + 743.805466447885, + -90.61138394721326 + ], + [ + 796.2676362450031, + -92.00676729529687 + ], + [ + 787.6629211995555, + -108.56914936850103 + ], + [ + 736.9606974950258, + -107.26691171165811 + ] + ], + "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": 97.89113612735912, + "ymin": 0.0, + "xmax": 273.31692882935045, + "ymax": 199.89539568081304 + }, + "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": [ + [ + 273.31692882935045, + 43.79191354910421 + ], + [ + 263.51459468678115, + 44.07672018586538 + ], + [ + 190.92149385928445, + 199.89539568081304 + ], + [ + 203.2093207192695, + 199.45080297753213 + ], + [ + 214.96830827827995, + -162.45487675341758 + ], + [ + 203.574490313791, + -162.23380013222243 + ], + [ + 97.89113612735912, + -36.26992662905684 + ], + [ + 112.78671081145, + -36.64415769208 + ] + ], + "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": 502.4376730651741, + "ymin": 0.0, + "xmax": 812.1592276251611, + "ymax": 46.16209350230241 + }, + "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": [ + [ + 788.7339643529474, + 38.27490243357204 + ], + [ + 787.0818367252933, + 33.91093945624027 + ], + [ + 521.6303208829663, + 41.686571163725944 + ], + [ + 521.3940154784774, + 46.16209350230241 + ], + [ + 812.1592276251611, + -166.7310445769541 + ], + [ + 810.0579947410932, + -170.1050012050108 + ], + [ + 502.8682791884261, + -164.08812018385743 + ], + [ + 502.4376730651741, + -160.61408372116375 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 172.7315146366973, + "xmax": 510.61275971038464, + "ymax": 466.5748682927062 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 63.36877833637686, + 454.1394536141262 + ], + [ + 57.465984441840874, + 466.5748682927062 + ], + [ + 510.09649484367384, + 444.7380136460699 + ], + [ + 510.61275971038464, + 432.81292704652645 + ], + [ + -106.46488788367537, + 193.25325658334228 + ], + [ + -116.78523192659088, + 205.33482001655386 + ], + [ + 472.28521667810224, + 184.17596344182274 + ], + [ + 473.5154117824626, + 172.7315146366973 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 897939386194665430, + "instance_id": 54815, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1949_135", + "bbox_3d": { + "center_world": { + "x": -36.33243179321289, + "y": -120.14290618896484, + "z": 6.611191272735596 + }, + "extent": { + "x": 4.422521591186523, + "y": 4.2970757484436035, + "z": 7.008497714996338 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 2.7782522725561876, + "ymax": 90.69019845657459 + }, + "corners_3d": [ + [ + -32.2579460144043, + -115.5145034790039, + -0.3973064422607422 + ], + [ + -31.58873176574707, + -124.08255767822266, + -0.3973064422607422 + ], + [ + -40.406917572021484, + -124.77130889892578, + -0.3973064422607422 + ], + [ + -41.076133728027344, + -116.20325469970703, + -0.3973064422607422 + ], + [ + -32.2579460144043, + -115.5145034790039, + 13.619688987731934 + ], + [ + -31.58873176574707, + -124.08255767822266, + 13.619688987731934 + ], + [ + -40.406917572021484, + -124.77130889892578, + 13.619688987731934 + ], + [ + -41.076133728027344, + -116.20325469970703, + 13.619688987731934 + ] + ], + "corners_2d": [ + [ + 2.7782522725561876, + 0.7770228613358086 + ], + [ + -171.56828000712903, + 0.36005693052339893 + ], + [ + -298.14792115933506, + 90.13429745985673 + ], + [ + -96.93740548413473, + 90.69019845657459 + ], + [ + -164.55638408218078, + -350.8819971844514 + ], + [ + -384.49338313721887, + -351.08991499955266 + ], + [ + -594.3352402713292, + -304.44129688801377 + ], + [ + -329.853375405511, + -304.1401517310841 + ] + ], + "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": 89.86935827399145, + "ymin": 0.0, + "xmax": 327.7464775890248, + "ymax": 35.46564037674722 + }, + "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": [ + [ + 200.8027873965401, + 35.46564037674722 + ], + [ + 327.7464775890248, + -12.778785305832912 + ], + [ + 254.04441230387545, + -47.177307709566435 + ], + [ + 129.54974544173035, + -4.820296848154669 + ], + [ + 164.07224456329243, + -73.62718936703595 + ], + [ + 303.8343950041857, + -116.36708839891668 + ], + [ + 226.40739629439685, + -146.5027070739801 + ], + [ + 89.86935827399145, + -109.35499172974636 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1081.794117697052, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1381.411264649278, + 541.8220287207574 + ], + [ + 1081.794117697052, + 684.6817679568596 + ], + [ + 1527.200350995876, + 1234.282972110771 + ], + [ + 1868.109159752237, + 954.0888419688796 + ], + [ + 1929.1793911222614, + -47.82626201984482 + ], + [ + 1487.9445063780504, + 82.30908082357405 + ], + [ + 3475.020397415141, + 1002.3632379958165 + ], + [ + 3570.8913745406403, + 419.13304342421327 + ] + ], + "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": 0.0, + "ymin": 0.0, + "xmax": 331.52325954892547, + "ymax": 16.735867522094566 + }, + "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": [ + [ + 177.86614169519152, + 16.735867522094566 + ], + [ + 331.52325954892547, + -46.754304694686994 + ], + [ + 218.24288970733687, + -86.31250939357477 + ], + [ + 64.85008796283921, + -32.36053080066068 + ], + [ + 35.50019243524207, + -390.88665983707506 + ], + [ + 249.28896950722032, + -416.4160979141777 + ], + [ + 116.16016235513212, + -431.51964854002074 + ], + [ + -93.7495102660032, + -410.77130758628357 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12511280680997575471, + "instance_id": 12123, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2349_123", + "bbox_3d": { + "center_world": { + "x": -36.20769119262695, + "y": -108.4781723022461, + "z": 6.51531457901001 + }, + "extent": { + "x": 4.686452865600586, + "y": 4.53662633895874, + "z": 6.939882278442383 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 245.21066805724035, + "ymax": 101.38737546979661 + }, + "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": [ + [ + 24.225098177986865, + 101.38737546979661 + ], + [ + 245.21066805724035, + 53.67771030296399 + ], + [ + 207.25036024238096, + -22.60995312824292 + ], + [ + 12.10241157142707, + 13.980357520130724 + ], + [ + -171.58882670463618, + -292.46055025215685 + ], + [ + 130.99447721653485, + -318.44364022062405 + ], + [ + 100.81701638418758, + -357.71935781725256 + ], + [ + -155.1537841839887, + -339.2164007529201 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15383328701178387651, + "instance_id": 49948, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2347_121", + "bbox_3d": { + "center_world": { + "x": -31.11125373840332, + "y": -118.98149108886719, + "z": 3.6639244556427 + }, + "extent": { + "x": 2.6075401306152344, + "y": 2.524176836013794, + "z": 3.861347198486328 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 18.31081876090218, + "ymax": 20.201196731798973 + }, + "corners_3d": [ + [ + -32.073577880859375, + -122.48072814941406, + -0.19742274284362793 + ], + [ + -34.6399040222168, + -118.13333129882812, + -0.19742274284362793 + ], + [ + -30.148929595947266, + -115.48225402832031, + -0.19742274284362793 + ], + [ + -27.582605361938477, + -119.82965087890625, + -0.19742274284362793 + ], + [ + -32.073577880859375, + -122.48072814941406, + 7.525271415710449 + ], + [ + -34.6399040222168, + -118.13333129882812, + 7.525271415710449 + ], + [ + -30.148929595947266, + -115.48225402832031, + 7.525271415710449 + ], + [ + -27.582605361938477, + -119.82965087890625, + 7.525271415710449 + ] + ], + "corners_2d": [ + [ + -145.053607974471, + -0.38433533562528055 + ], + [ + -76.85667296039787, + 20.201196731798973 + ], + [ + 18.31081876090218, + -21.100845917419633 + ], + [ + -48.39136215361975, + -38.995010917248464 + ], + [ + -247.55946443989194, + -175.39009660842112 + ], + [ + -174.23065376470697, + -159.06217031777157 + ], + [ + -59.602035537443044, + -191.6698633985767 + ], + [ + -131.5704043594427, + -205.61057727569823 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00000/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00000/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ce86107242c11e99ecb8fadd32f07459a94d49ae --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00000/meta.json @@ -0,0 +1,2982 @@ +{ + "frame_id": 0, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 0.0, + "sim_timestamp": 9698.09007812664 + }, + "drone_pose": { + "x": -146.23517265004716, + "y": -136.93920881469592, + "z": 21.831326335327077, + "pitch": -45.61040850549366, + "yaw": 48.21467820148139, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.4661281108856201, + -0.5216050148010254, + 0.7145998477935791, + 123.99183654785156 + ], + [ + 0.7456468343734741, + 0.6663414239883423, + 2.9802322387695312e-08, + -17.79151153564453 + ], + [ + -0.4761674702167511, + 0.5328390598297119, + 0.6995335221290588, + -157.87071228027344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -146.58994057315405, + "y": -137.31996137836344, + "z": 21.172874172804658 + }, + "t1_image_uv": [ + 737.48032090778, + 7859.260305489476 + ], + "t1_depth": 0.10656002884935795 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -131.66718292236328, + "y": -123.18776321411131, + "z": 0.5749797606472566 + }, + "image_uv": [ + 584.0390264788348, + 379.93614869793373 + ], + "depth": 29.15315259820809, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 177, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -131.66717529296875, + "y": -123.18775939941406, + "z": 0.5749797821044922 + }, + "extent": { + "x": 0.25746092200279236, + "y": 0.2449951171875, + "z": 0.5374480485916138 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 575.0320978049665, + "ymin": 361.1913090294997, + "xmax": 592.9145907273515, + "ymax": 398.43198791325904 + }, + "corners_3d": [ + [ + -131.67599487304688, + -123.54305267333984, + 0.03753173351287842 + ], + [ + -132.0224609375, + -123.19657135009766, + 0.03753173351287842 + ], + [ + -131.65835571289062, + -122.83246612548828, + 0.03753173351287842 + ], + [ + -131.3118896484375, + -123.17894744873047, + 0.03753173351287842 + ], + [ + -131.67599487304688, + -123.54305267333984, + 1.112427830696106 + ], + [ + -132.0224609375, + -123.19657135009766, + 1.112427830696106 + ], + [ + -131.65835571289062, + -122.83246612548828, + 1.112427830696106 + ], + [ + -131.3118896484375, + -123.17894744873047, + 1.112427830696106 + ] + ], + "corners_2d": [ + [ + 576.880913387594, + 398.43198791325904 + ], + [ + 592.9145907273515, + 397.7647027431896 + ], + [ + 592.5517277443589, + 385.44340982048254 + ], + [ + 576.7119196171237, + 386.09464160659263 + ], + [ + 575.1844951071375, + 374.20747525689603 + ], + [ + 591.6499519702372, + 373.5385554659154 + ], + [ + 591.2931697736007, + 361.1913090294997 + ], + [ + 575.0320978049665, + 361.84371178125934 + ] + ], + "center_offset_px": [ + -55.960973521165215, + 19.93614869793373 + ] + }, + "trace_timestep_index": 0, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 51, + "semantic_pixel_counts": { + "1": 453319, + "2": 223243, + "3": 181690, + "5": 3446, + "6": 6375, + "7": 254, + "9": 16681, + "10": 4334, + "12": 2569, + "21": 7132, + "24": 22557 + }, + "instance_pixel_counts": { + "1115": 901, + "10370": 975, + "11906": 2775, + "14928": 3446, + "14999": 3484, + "15511": 2686, + "16023": 108, + "16535": 414, + "18011": 2, + "20119": 10257, + "20631": 6640, + "25024": 13940, + "26560": 6745, + "27072": 4, + "27584": 408, + "28096": 44, + "28608": 5994, + "29843": 10723, + "30144": 72092, + "30355": 186425, + "30656": 27486, + "31323": 118422, + "31488": 2783, + "31813": 4310, + "31891": 224711, + "33883": 52673, + "34120": 20150, + "34453": 1399, + "34965": 6617, + "35931": 242, + "36443": 9302, + "36501": 13498, + "42075": 392, + "43649": 96, + "43867": 44, + "44123": 1, + "44691": 31460, + "45707": 34, + "47253": 1043, + "49664": 177, + "49920": 364, + "50176": 380, + "50432": 729, + "50688": 281, + "50944": 638, + "55201": 6681, + "56225": 14, + "57173": 16681, + "60013": 148, + "64351": 1856, + "65375": 50901 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 177, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -131.66717529296875, + "y": -123.18775939941406, + "z": 0.5749797821044922 + }, + "extent": { + "x": 0.26048827171325684, + "y": 0.25725096464157104, + "z": 0.5453702211380005 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 574.6112243834077, + "ymin": 360.91995189915747, + "xmax": 593.3267719146091, + "ymax": 398.69579383339214 + }, + "corners_3d": [ + [ + -131.66946411132812, + -123.5538558959961, + 0.0296095609664917 + ], + [ + -132.0332794189453, + -123.19004821777344, + 0.0296095609664917 + ], + [ + -131.66488647460938, + -122.82166290283203, + 0.0296095609664917 + ], + [ + -131.3010711669922, + -123.18547058105469, + 0.0296095609664917 + ], + [ + -131.66946411132812, + -123.5538558959961, + 1.1203500032424927 + ], + [ + -132.0332794189453, + -123.19004821777344, + 1.1203500032424927 + ], + [ + -131.66488647460938, + -122.82166290283203, + 1.1203500032424927 + ], + [ + -131.3010711669922, + -123.18547058105469, + 1.1203500032424927 + ] + ], + "corners_2d": [ + [ + 576.4927901721762, + 398.69579383339214 + ], + [ + 593.3267719146091, + 397.9954371939975 + ], + [ + 592.954523379842, + 385.5298206074999 + ], + [ + 576.3264283815015, + 386.2131356623366 + ], + [ + 574.760280706768, + 374.11430045448805 + ], + [ + 592.0544008051079, + 373.4122002629268 + ], + [ + 591.6881211309897, + 360.91995189915747 + ], + [ + 574.6112243834077, + 361.6045109507013 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 364, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -127.54119873046875, + "y": -120.19005584716797, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.4935644567012787, + "y": 0.33748045563697815, + "z": 0.9218953251838684 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 543.7505087710414, + "ymin": 241.24466970328987, + "xmax": 572.4706849421442, + "ymax": 304.3316288195302 + }, + "corners_3d": [ + [ + -127.77133178710938, + -120.74190521240234, + -0.34691065549850464 + ], + [ + -128.13894653320312, + -120.17583465576172, + -0.34691065549850464 + ], + [ + -127.31106567382812, + -119.6382064819336, + -0.34691065549850464 + ], + [ + -126.9434585571289, + -120.20427703857422, + -0.34691065549850464 + ], + [ + -127.77133178710938, + -120.74190521240234, + 1.496880054473877 + ], + [ + -128.13894653320312, + -120.17583465576172, + 1.496880054473877 + ], + [ + -127.31106567382812, + -119.6382064819336, + 1.496880054473877 + ], + [ + -126.9434585571289, + -120.20427703857422, + 1.496880054473877 + ] + ], + "corners_2d": [ + [ + 553.2137992420785, + 304.3316288195302 + ], + [ + 572.4706849421442, + 300.8612778309072 + ], + [ + 566.4249777124327, + 282.6370288091296 + ], + [ + 547.5281580010436, + 285.9713259744823 + ], + [ + 549.5936276237308, + 262.8086554566119 + ], + [ + 569.6647961117644, + 259.35636359364645 + ], + [ + 563.4308027799277, + 241.24466970328987 + ], + [ + 543.7505087710414, + 244.55615064112945 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 380, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -133.92300415039062, + "y": -116.24504852294922, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.44733884930610657, + "y": 0.3953808546066284, + "z": 0.8867026567459106 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 762.0389381215278, + "ymin": 268.37816345354713, + "xmax": 797.9226935842328, + "ymax": 328.84176992101726 + }, + "corners_3d": [ + [ + -134.02183532714844, + -116.8338394165039, + -0.31171315908432007 + ], + [ + -134.51947021484375, + -116.21929931640625, + -0.31171315908432007 + ], + [ + -133.8241729736328, + -115.65625762939453, + -0.31171315908432007 + ], + [ + -133.3265380859375, + -116.27079772949219, + -0.31171315908432007 + ], + [ + -134.02183532714844, + -116.8338394165039, + 1.4616920948028564 + ], + [ + -134.51947021484375, + -116.21929931640625, + 1.4616920948028564 + ], + [ + -133.8241729736328, + -115.65625762939453, + 1.4616920948028564 + ], + [ + -133.3265380859375, + -116.27079772949219, + 1.4616920948028564 + ] + ], + "corners_2d": [ + [ + 768.6923124896807, + 328.84176992101726 + ], + [ + 791.6865209515258, + 326.2207621068966 + ], + [ + 784.6168789917475, + 308.3369365339901 + ], + [ + 762.0389381215278, + 310.8597426373911 + ], + [ + 773.9983905339099, + 288.81010706591314 + ], + [ + 797.9226935842328, + 286.1963883879238 + ], + [ + 790.4455851866371, + 268.37816345354713 + ], + [ + 766.9715494689572, + 270.8900402360275 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 729, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -141.16717529296875, + "y": -123.18775939941406, + "z": 0.7714054584503174 + }, + "extent": { + "x": 0.43214842677116394, + "y": 0.4751366972923279, + "z": 0.9207549095153809 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 823.7433981374916, + "ymin": 519.1666370514523, + "xmax": 878.8625958160111, + "ymax": 589.6976102676135 + }, + "corners_3d": [ + [ + -141.13677978515625, + -123.82930755615234, + -0.14934945106506348 + ], + [ + -141.8087158203125, + -123.15736389160156, + -0.14934945106506348 + ], + [ + -141.19757080078125, + -122.54621124267578, + -0.14934945106506348 + ], + [ + -140.525634765625, + -123.21815490722656, + -0.14934945106506348 + ], + [ + -141.13677978515625, + -123.82930755615234, + 1.6921603679656982 + ], + [ + -141.8087158203125, + -123.15736389160156, + 1.6921603679656982 + ], + [ + -141.19757080078125, + -122.54621124267578, + 1.6921603679656982 + ], + [ + -140.525634765625, + -123.21815490722656, + 1.6921603679656982 + ] + ], + "corners_2d": [ + [ + 830.0607101013096, + 589.6976102676135 + ], + [ + 866.2689459741272, + 587.8897251103675 + ], + [ + 859.1058156524564, + 559.3503138854976 + ], + [ + 823.7433981374916, + 561.0737624866005 + ], + [ + 840.6557925436435, + 550.1146355381677 + ], + [ + 878.8625958160111, + 548.2685414672092 + ], + [ + 870.997176453063, + 519.1666370514523 + ], + [ + 833.730917930055, + 520.9218860543016 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 281, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -135.28268432617188, + "y": -134.31512451171875, + "z": 0.5894280076026917 + }, + "extent": { + "x": 0.4388818144798279, + "y": 0.5089209079742432, + "z": 0.869860827922821 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 318.4436588384064, + "ymin": 688.4494278473337, + "xmax": 389.4741823909783, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -135.1633758544922, + -134.97647094726562, + -0.2804328203201294 + ], + [ + -135.9543914794922, + -134.33592224121094, + -0.2804328203201294 + ], + [ + -135.40199279785156, + -133.65377807617188, + -0.2804328203201294 + ], + [ + -134.61097717285156, + -134.29432678222656, + -0.2804328203201294 + ], + [ + -135.1633758544922, + -134.97647094726562, + 1.4592888355255127 + ], + [ + -135.9543914794922, + -134.33592224121094, + 1.4592888355255127 + ], + [ + -135.40199279785156, + -133.65377807617188, + 1.4592888355255127 + ], + [ + -134.61097717285156, + -134.29432678222656, + 1.4592888355255127 + ] + ], + "corners_2d": [ + [ + 336.62639578070457, + 759.5350835908732 + ], + [ + 380.60957817727643, + 761.7106993011691 + ], + [ + 389.4741823909783, + 724.1375624260427 + ], + [ + 346.6710556352985, + 722.0785174539712 + ], + [ + 318.4436588384064, + 727.1566392477956 + ], + [ + 365.0370018646901, + 729.4087666988275 + ], + [ + 374.86642757386414, + 690.5739570465045 + ], + [ + 329.5952314923551, + 688.4494278473337 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 638, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -120.42184448242188, + "y": -131.35797119140625, + "z": 0.5823479294776917 + }, + "extent": { + "x": 0.42387694120407104, + "y": 0.44526854157447815, + "z": 0.893716037273407 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 113.66624787685328, + "ymin": 315.77748122488117, + "xmax": 174.92824919160614, + "ymax": 378.0518574124838 + }, + "corners_3d": [ + [ + -120.2792739868164, + -131.9559783935547, + -0.31136810779571533 + ], + [ + -121.02613830566406, + -131.470947265625, + -0.31136810779571533 + ], + [ + -120.56441497802734, + -130.7599639892578, + -0.31136810779571533 + ], + [ + -119.81755065917969, + -131.2449951171875, + -0.31136810779571533 + ], + [ + -120.2792739868164, + -131.9559783935547, + 1.4760639667510986 + ], + [ + -121.02613830566406, + -131.470947265625, + 1.4760639667510986 + ], + [ + -120.56441497802734, + -130.7599639892578, + 1.4760639667510986 + ], + [ + -119.81755065917969, + -131.2449951171875, + 1.4760639667510986 + ] + ], + "corners_2d": [ + [ + 135.69306654701387, + 374.93864986018167 + ], + [ + 161.88473785766905, + 378.0518574124838 + ], + [ + 174.92824919160614, + 359.1776735311858 + ], + [ + 149.19014725424722, + 356.18084576803943 + ], + [ + 113.66624787685328, + 334.54485754216273 + ], + [ + 140.93374309684606, + 337.66264276631625 + ], + [ + 154.95049963702104, + 318.77376656437764 + ], + [ + 128.17402810957145, + 315.77748122488117 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10476196482746081849, + "instance_id": 14818, + "pixel_count": null, + "type_id": "AmericanLights_Town04_20_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -100.74504852294922, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1135.8609318359408, + "ymin": 87.9211728542694, + "xmax": 1156.1364096477696, + "ymax": 115.46423405039204 + }, + "corners_3d": [ + [ + -139.20529174804688, + -100.55508422851562, + 2.645533323287964 + ], + [ + -138.92662048339844, + -100.55508422851562, + 2.645533323287964 + ], + [ + -138.9266357421875, + -100.93501281738281, + 2.645533323287964 + ], + [ + -139.20530700683594, + -100.93501281738281, + 2.645533323287964 + ], + [ + -139.20529174804688, + -100.55508422851562, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -100.55508422851562, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -100.93501281738281, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -100.93501281738281, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1147.2231747797437, + 111.40785803054641 + ], + [ + 1139.8713235869, + 108.7732797682219 + ], + [ + 1135.8609318359408, + 112.80043234971447 + ], + [ + 1143.2389538911227, + 115.46423405039204 + ], + [ + 1156.1364096477696, + 90.5254117964596 + ], + [ + 1148.623202308525, + 87.9211728542694 + ], + [ + 1144.5913692790655, + 91.9020825539028 + ], + [ + 1152.1320405704078, + 94.53571937518319 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11529003171770300666, + "instance_id": 64120, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.25050354003906, + "y": -128.95399475097656, + "z": 3.0800981521606445 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 65.54894405081757, + "ymin": 145.84402246862334, + "xmax": 90.74100348434308, + "ymax": 175.10526473680534 + }, + "corners_3d": [ + [ + -113.11116790771484, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -128.7640380859375, + 3.5146679878234863 + ], + [ + -113.11116790771484, + -128.7640380859375, + 3.5146679878234863 + ] + ], + "corners_2d": [ + [ + 76.29019725124272, + 171.99325619408074 + ], + [ + 80.10611416927111, + 175.10526473680534 + ], + [ + 90.74100348434308, + 170.3674538095041 + ], + [ + 86.9063744160535, + 167.29231903961684 + ], + [ + 65.54894405081757, + 150.50413750892204 + ], + [ + 69.39488582692798, + 153.58970135383717 + ], + [ + 80.2969785469378, + 148.89233417359335 + ], + [ + 76.43109324775912, + 145.84402246862334 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1184484105883362010, + "instance_id": 55842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple48_110_SM_2", + "bbox_3d": { + "center_world": { + "x": -139.474609375, + "y": -128.0553741455078, + "z": 4.084396839141846 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 603.7915252639044, + "ymin": 396.9619300793189, + "xmax": 779.2627416099515, + "ymax": 714.2699173284008 + }, + "corners_3d": [ + [ + -141.39132690429688, + -128.2749786376953, + 0.20767807960510254 + ], + [ + -141.39132690429688, + -127.83576965332031, + 0.20767807960510254 + ], + [ + -137.55789184570312, + -127.83576965332031, + 0.20767807960510254 + ], + [ + -137.55789184570312, + -128.2749786376953, + 0.20767807960510254 + ], + [ + -141.39132690429688, + -128.2749786376953, + 7.961115837097168 + ], + [ + -141.39132690429688, + -127.83576965332031, + 7.961115837097168 + ], + [ + -137.55789184570312, + -127.83576965332031, + 7.961115837097168 + ], + [ + -137.55789184570312, + -128.2749786376953, + 7.961115837097168 + ] + ], + "corners_2d": [ + [ + 733.3482453058947, + 714.2699173284008 + ], + [ + 744.9060558284904, + 700.6524700468826 + ], + [ + 623.9961439049944, + 603.2712204445111 + ], + [ + 612.1448928488419, + 614.9465665167196 + ], + [ + 764.3394200043003, + 519.8900267156228 + ], + [ + 779.2627416099515, + 504.44506463022117 + ], + [ + 619.2555868985509, + 396.9619300793189 + ], + [ + 603.7915252639044, + 409.5803727353948 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2334590930876643410, + "instance_id": 21048, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -123.8453369140625, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 218.18977042626807, + "ymin": 7.473197454723277, + "xmax": 234.52749654717587, + "ymax": 17.908734119260828 + }, + "corners_3d": [ + [ + -116.6200942993164, + -123.69747161865234, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.69747161865234, + 7.743301868438721 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 227.49706253446072, + 10.744211042225515 + ], + [ + 219.26281347917552, + 13.916652056885653 + ], + [ + 226.27699283184415, + 17.908734119260828 + ], + [ + 234.52749654717587, + 14.696354336691229 + ], + [ + 226.4502927037857, + 7.473197454723277 + ], + [ + 218.18977042626807, + 10.637252976241086 + ], + [ + 225.21518388072673, + 14.618897690265158 + ], + [ + 233.49211053546935, + 11.414906674766144 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3639812104533344102, + "instance_id": 26239, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -123.8453369140625, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 218.27726345295383, + "ymin": 7.528517482936138, + "xmax": 234.44086484371485, + "ymax": 17.85308605414093 + }, + "corners_3d": [ + [ + -116.62229919433594, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.69904327392578, + 7.742714881896973 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 227.48543271229806, + 10.76483780451531 + ], + [ + 219.33869431103238, + 13.90364351069951 + ], + [ + 226.27821314932032, + 17.85308605414093 + ], + [ + 234.44086484371485, + 14.67518653792979 + ], + [ + 226.4497194367973, + 7.528517482936138 + ], + [ + 218.27726345295383, + 10.659115264807724 + ], + [ + 225.22777882592447, + 14.598341106318685 + ], + [ + 233.41629310259918, + 11.428652684955864 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3985217512616395484, + "instance_id": 56450, + "pixel_count": null, + "type_id": "BP_StreetLight_simple48_110_SM_1", + "bbox_3d": { + "center_world": { + "x": -137.86505126953125, + "y": -128.05545043945312, + "z": 7.743513107299805 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 610.5067820284518, + "ymin": 407.29215558376177, + "xmax": 636.2793395377091, + "ymax": 430.08844206148217 + }, + "corners_3d": [ + [ + -138.06874084472656, + -128.2017364501953, + 7.689445495605469 + ], + [ + -138.06874084472656, + -127.9091567993164, + 7.689445495605469 + ], + [ + -137.66136169433594, + -127.9091567993164, + 7.689445495605469 + ], + [ + -137.66136169433594, + -128.2017364501953, + 7.689445495605469 + ], + [ + -138.06874084472656, + -128.2017364501953, + 7.797580718994141 + ], + [ + -138.06874084472656, + -127.9091567993164, + 7.797580718994141 + ], + [ + -137.66136169433594, + -127.9091567993164, + 7.797580718994141 + ], + [ + -137.66136169433594, + -128.2017364501953, + 7.797580718994141 + ] + ], + "corners_2d": [ + [ + 626.1153712877285, + 430.08844206148217 + ], + [ + 636.2793395377091, + 421.4774540858056 + ], + [ + 620.8159225253329, + 410.9580367825261 + ], + [ + 610.6289185377519, + 419.39536110916345 + ], + [ + 626.0570374386244, + 426.4346689955179 + ], + [ + 636.2638364660464, + 417.81786850306634 + ], + [ + 620.7367974093336, + 407.29215558376177 + ], + [ + 610.5067820284518, + 415.73445916504653 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5944504550537153523, + "instance_id": 62411, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_1", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88526153564453, + "z": 3.6450090408325195 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 25.334260206827935, + "ymax": 13.261765667516102 + }, + "corners_3d": [ + [ + -100.3021469116211, + -126.97334289550781, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -126.97334289550781, + 3.8072457313537598 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.8072457313537598 + ] + ], + "corners_2d": [ + [ + -27.27699821182182, + 13.261765667516102 + ], + [ + 25.334260206827935, + -4.350915574562066 + ], + [ + 5.467647631892078, + -17.645538721963987 + ], + [ + -46.53216684920585, + -0.7948859155401351 + ], + [ + -31.19511659100931, + 5.707703532416417 + ], + [ + 21.82591057316563, + -11.794435418021692 + ], + [ + 1.9244647380035076, + -25.00183556930517 + ], + [ + -50.4734490244374, + -8.26118329180781 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6967274615413648305, + "instance_id": 45483, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_2", + "bbox_3d": { + "center_world": { + "x": -99.33560943603516, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 60.7883385404275, + "ymax": 86.20698485003828 + }, + "corners_3d": [ + [ + -100.3640365600586, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -127.03557586669922, + 4.877264976501465 + ], + [ + -100.3640365600586, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + 9.21129449883756, + 86.20698485003828 + ], + [ + 60.7883385404275, + 66.57556333605868 + ], + [ + 40.0273671858763, + 51.658076601381765 + ], + [ + -10.978686795077806, + 70.43486575101952 + ], + [ + -45.417455884633, + -18.89140641439866 + ], + [ + 12.136464217524008, + -37.00786285207539 + ], + [ + -9.184745380755317, + -50.716136945765356 + ], + [ + -65.99176340379756, + -33.45325308807628 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8232706723728016641, + "instance_id": 325, + "pixel_count": null, + "type_id": "BP_StreetLight_wall40_71_SM_0", + "bbox_3d": { + "center_world": { + "x": -140.893310546875, + "y": -111.95197296142578, + "z": 4.334987163543701 + }, + "extent": { + "x": 0.11768747121095657, + "y": 1.147606611251831, + "z": 0.41115570068359375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1031.1773887032914, + "ymin": 206.98683965426363, + "xmax": 1118.9975945750646, + "ymax": 265.75367845308193 + }, + "corners_3d": [ + [ + -142.04092407226562, + -111.83428192138672, + 3.9238314628601074 + ], + [ + -139.74569702148438, + -111.83428955078125, + 3.9238314628601074 + ], + [ + -139.74569702148438, + -112.06966400146484, + 3.9238314628601074 + ], + [ + -142.04092407226562, + -112.06965637207031, + 3.9238314628601074 + ], + [ + -142.04092407226562, + -111.83428192138672, + 4.746142864227295 + ], + [ + -139.74569702148438, + -111.83428955078125, + 4.746142864227295 + ], + [ + -139.74569702148438, + -112.06966400146484, + 4.746142864227295 + ], + [ + -142.04092407226562, + -112.06965637207031, + 4.746142864227295 + ] + ], + "corners_2d": [ + [ + 1108.8897091824379, + 261.84551177229184 + ], + [ + 1034.723477200559, + 229.19353374447797 + ], + [ + 1031.1773887032914, + 232.81726389679932 + ], + [ + 1105.5352151152138, + 265.75367845308193 + ], + [ + 1118.9975945750646, + 239.47112548476562 + ], + [ + 1042.911202828799, + 206.98683965426363 + ], + [ + 1039.3268765432802, + 210.5894048091867 + ], + [ + 1115.6161914525785, + 243.36269338872864 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9919303964700251881, + "instance_id": 59670, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_Poles_4", + "bbox_3d": { + "center_world": { + "x": -112.9144515991211, + "y": -134.7008514404297, + "z": 4.223348617553711 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 2.3043633188246986, + "xmax": 119.78427578644062, + "ymax": 409.6128397442772 + }, + "corners_3d": [ + [ + -113.18444061279297, + -128.6757354736328, + -4.76837158203125e-06 + ], + [ + -112.75162506103516, + -128.67189025878906, + -4.76837158203125e-06 + ], + [ + -112.64446258544922, + -140.72596740722656, + -4.76837158203125e-06 + ], + [ + -113.07727813720703, + -140.7298126220703, + -4.76837158203125e-06 + ], + [ + -113.18444061279297, + -128.6757354736328, + 8.446702003479004 + ], + [ + -112.75162506103516, + -128.67189025878906, + 8.446702003479004 + ], + [ + -112.64446258544922, + -140.72596740722656, + 8.446702003479004 + ], + [ + -113.07727813720703, + -140.7298126220703, + 8.446702003479004 + ] + ], + "corners_2d": [ + [ + 119.78427578644062, + 227.64732886401333 + ], + [ + 114.1153614215309, + 222.78117251531347 + ], + [ + -263.8428204855744, + 402.44402782121466 + ], + [ + -259.6062056420383, + 409.6128397442772 + ], + [ + 12.545737260469195, + 6.639432048336289 + ], + [ + 6.457367504089916, + 2.3043633188246986 + ], + [ + -498.52257899106826, + 169.45897480620874 + ], + [ + -495.25129915651905, + 176.44550365591786 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12065512595391554584, + "instance_id": 6308, + "pixel_count": null, + "type_id": "AmericanLights_Town04_20_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -94.9981918334961, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1115.2325981644362, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 179.50122094000767 + }, + "corners_3d": [ + [ + -139.1320343017578, + -101.02330780029297, + 0.0 + ], + [ + -139.56484985351562, + -101.02715301513672, + 0.0 + ], + [ + -139.67198181152344, + -88.97307586669922, + 0.0 + ], + [ + -139.23916625976562, + -88.96923065185547, + 0.0 + ], + [ + -139.1320343017578, + -101.02330780029297, + 8.446706771850586 + ], + [ + -139.56484985351562, + -101.02715301513672, + 8.446706771850586 + ], + [ + -139.67198181152344, + -88.97307586669922, + 8.446706771850586 + ], + [ + -139.23916625976562, + -88.96923065185547, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1115.2325981644362, + 175.1703313441829 + ], + [ + 1126.0277238982494, + 179.50122094000767 + ], + [ + 1234.9104152834816, + 65.23367876247664 + ], + [ + 1225.1441533543398, + 62.04893559761359 + ], + [ + 1205.980896462365, + -39.57627526731983 + ], + [ + 1219.4395385050616, + -35.806237891334035 + ], + [ + 1330.302892419738, + -132.7196758640252 + ], + [ + 1318.4655097578186, + -135.3466351985262 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14081937874569997388, + "instance_id": 19500, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_0", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88525390625, + "z": 3.6439085006713867 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 25.39867467773604, + "ymax": 13.331043078998846 + }, + "corners_3d": [ + [ + -100.30333709716797, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.30333709716797, + -126.97452545166016, + 3.807230234146118 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.807230234146118 + ] + ], + "corners_2d": [ + [ + -27.26804183157708, + 13.331043078998846 + ], + [ + 25.39867467773604, + -4.302127135596891 + ], + [ + 5.507249868136114, + -17.61330085122961 + ], + [ + -46.54667920857537, + -0.7439361845927124 + ], + [ + -31.212424493397748, + 5.72665131861595 + ], + [ + 21.867241171793125, + -11.795128005295396 + ], + [ + 1.9406978382878606, + -25.01839726971741 + ], + [ + -50.514406508423576, + -8.259877417066548 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 583.8742433869544, + "ymin": 0.0, + "xmax": 655.4868569549953, + "ymax": 21.435787104295514 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 596.3832448261553, + -5.3382282210911285 + ], + [ + 590.3367879391049, + -2.408612610289822 + ], + [ + 647.6474620835799, + 21.435787104295514 + ], + [ + 653.6439780064253, + 18.276421481978957 + ], + [ + 590.7378849596264, + -174.2583702995206 + ], + [ + 583.8742433869544, + -171.8564100334453 + ], + [ + 648.6861985979507, + -152.19592205386698 + ], + [ + 655.4868569549953, + -154.81231313653075 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 160.88430789964286, + "ymin": 0.0, + "xmax": 297.9151516408257, + "ymax": 210.99048422310824 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 241.473771957128, + 166.62170659050634 + ], + [ + 231.56248662693378, + 171.42390013440286 + ], + [ + 287.870248742346, + 210.99048422310824 + ], + [ + 297.9151516408257, + 205.6981575945641 + ], + [ + 173.00062613281722, + -28.069457790419904 + ], + [ + 160.88430789964286, + -23.829301211865015 + ], + [ + 223.33425662209248, + 11.448091444695592 + ], + [ + 235.69165239834234, + 6.693878188204849 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16194625468754558244, + "instance_id": 9469, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.53463745117188, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 13.693276018955999, + "ymax": 50.4569442672539 + }, + "corners_3d": [ + [ + -95.56306457519531, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -127.03557586669922, + 4.877264976501465 + ], + [ + -95.56306457519531, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + -36.552540157219255, + 50.4569442672539 + ], + [ + 13.693276018955999, + 32.736107636466784 + ], + [ + -5.093617203298663, + 19.23706534009841 + ], + [ + -54.77253807351667, + 36.22374746848703 + ], + [ + -91.93878173670896, + -51.81773520981989 + ], + [ + -36.11807283891483, + -68.03267020105272 + ], + [ + -55.25676499083511, + -80.33771493146298 + ], + [ + -110.34762998871463, + -64.84693803645246 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 607.97331659605, + "ymin": 0.0, + "xmax": 834.4569523233248, + "ymax": 59.134577702689796 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 617.5812348536366, + -21.112513432735568 + ], + [ + 611.8593412116379, + -18.413150603081817 + ], + [ + 802.4675226890121, + 59.134577702689796 + ], + [ + 807.9586876161698, + 55.69730190785316 + ], + [ + 614.5011451944787, + -202.58572897050283 + ], + [ + 607.97331659605, + -200.44346063657247 + ], + [ + 828.2503962908299, + -137.74714254547297 + ], + [ + 834.4569523233248, + -140.57417394978484 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17718493663991687542, + "instance_id": 30441, + "pixel_count": null, + "type_id": "BP_StreetLight_simple48_110_SM_0", + "bbox_3d": { + "center_world": { + "x": -137.86505126953125, + "y": -128.05545043945312, + "z": 7.743518352508545 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 610.3671574374606, + "ymin": 407.17102259092775, + "xmax": 636.4178256895451, + "ymax": 430.2131920539625 + }, + "corners_3d": [ + [ + -138.07093811035156, + -128.2033233642578, + 7.688869476318359 + ], + [ + -138.07093811035156, + -127.90758514404297, + 7.688869476318359 + ], + [ + -137.65916442871094, + -127.90758514404297, + 7.688869476318359 + ], + [ + -137.65916442871094, + -128.2033233642578, + 7.688869476318359 + ], + [ + -138.07093811035156, + -128.2033233642578, + 7.7981672286987305 + ], + [ + -138.07093811035156, + -127.90758514404297, + 7.7981672286987305 + ], + [ + -137.65916442871094, + -127.90758514404297, + 7.7981672286987305 + ], + [ + -137.65916442871094, + -128.2033233642578, + 7.7981672286987305 + ] + ], + "corners_2d": [ + [ + 626.1444869084476, + 430.2131920539625 + ], + [ + 636.4178256895451, + 421.50830689401675 + ], + [ + 620.7880608408022, + 410.8763732061594 + ], + [ + 610.4911873831214, + 419.4038304106095 + ], + [ + 626.0856423031368, + 426.5202121330985 + ], + [ + 636.4027386828812, + 417.8093837862058 + ], + [ + 620.7079750139707, + 407.17102259092775 + ], + [ + 610.3671574374606, + 415.7035624809269 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 199.8494846884861, + "ymax": 207.52625809412513 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 93.87140785744987, + 77.00511446379386 + ], + [ + -55.931685648793405, + 149.94415589446925 + ], + [ + 50.76037041791835, + 207.52625809412513 + ], + [ + 199.8494846884861, + 123.87141849723628 + ], + [ + -44.15744983167474, + -232.03463537359494 + ], + [ + -255.48298853932533, + -179.75375917835186 + ], + [ + -134.79868173091222, + -136.4319982685272 + ], + [ + 79.0825023060487, + -198.76480740984732 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 227.6671762877528, + "ymax": 247.58310363544058 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 26.71932142248818, + 247.58310363544058 + ], + [ + 227.6671762877528, + 212.68348523957047 + ], + [ + 225.67525319759505, + 115.36786491814425 + ], + [ + 48.983684687851905, + 142.4600119310153 + ], + [ + -178.8830302946335, + -105.15916782428042 + ], + [ + 96.75303813448386, + -132.45922743801492 + ], + [ + 113.64369006197762, + -204.88645205859882 + ], + [ + -118.37231305428668, + -185.24849468368052 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 25.43015556396199, + "ymax": 63.42979591123827 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -55.25260055040542, + -28.13511808061429 + ], + [ + -193.5424286217301, + 23.660598961407516 + ], + [ + -113.90689995823698, + 63.42979591123827 + ], + [ + 25.43015556396199, + 5.331289464888641 + ], + [ + -199.01484142685354, + -302.7132503944879 + ], + [ + -384.41612004527474, + -268.55461647927893 + ], + [ + -299.8279124837079, + -241.46161843586174 + ], + [ + -110.41255972026863, + -280.78540832962267 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00001/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00001/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..294a5df2265485d0cb4f07b41834dd77cb8b257d --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00001/meta.json @@ -0,0 +1,3529 @@ +{ + "frame_id": 1, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 0.5, + "sim_timestamp": 9709.871788648888 + }, + "drone_pose": { + "x": -146.58994057315405, + "y": -137.31996137836344, + "z": 21.172874172804658, + "pitch": -43.25153565727392, + "yaw": 42.900113755827995, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5335485339164734, + -0.49580588936805725, + 0.6852025389671326, + 131.78916931152344 + ], + [ + 0.6807223558425903, + 0.732541561126709, + 0.0, + 0.8055419921875 + ], + [ + -0.5019393563270569, + 0.4664326608181, + 0.7283525466918945, + -153.05108642578125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -146.42863624680845, + "y": -137.40172644990105, + "z": 20.65166370498869 + }, + "t1_image_uv": [ + 235.40987522438274, + 1162.9775981282892 + ], + "t1_depth": 0.40265880733632886 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -131.16718292236328, + "y": -122.68776321411131, + "z": 0.5749846434596475 + }, + "image_uv": [ + 647.1383182213544, + 374.1516937554582 + ], + "depth": 29.597245395520765, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 176, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -131.16717529296875, + "y": -122.68775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.21405760943889618, + "y": 0.22163574397563934, + "z": 0.5144302248954773 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 639.694664099791, + "ymin": 357.04471058813607, + "xmax": 654.6770978766141, + "ymax": 391.03919346989 + }, + "corners_3d": [ + [ + -131.1618194580078, + -122.99584197998047, + 0.060554444789886475 + ], + [ + -131.47525024414062, + -122.68240356445312, + 0.060554444789886475 + ], + [ + -131.1725311279297, + -122.37967681884766, + 0.060554444789886475 + ], + [ + -130.85910034179688, + -122.693115234375, + 0.060554444789886475 + ], + [ + -131.1618194580078, + -122.99584197998047, + 1.0894148349761963 + ], + [ + -131.47525024414062, + -122.68240356445312, + 1.0894148349761963 + ], + [ + -131.1725311279297, + -122.37967681884766, + 1.0894148349761963 + ], + [ + -130.85910034179688, + -122.693115234375, + 1.0894148349761963 + ] + ], + "corners_2d": [ + [ + 639.7018874588886, + 390.66847423924827 + ], + [ + 653.9775523249341, + 391.03919346989 + ], + [ + 654.3333386196483, + 381.3681640733117 + ], + [ + 640.2052660360523, + 381.0050794246131 + ], + [ + 639.694664099791, + 366.68563444779306 + ], + [ + 654.3163704583375, + 367.05558791923437 + ], + [ + 654.6770978766141, + 357.40686353410126 + ], + [ + 640.2101869916706, + 357.04471058813607 + ] + ], + "center_offset_px": [ + 7.138318221354439, + 14.151693755458211 + ] + }, + "trace_timestep_index": 1, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 76, + "semantic_pixel_counts": { + "1": 495480, + "2": 222960, + "3": 130830, + "5": 3494, + "6": 7428, + "7": 239, + "9": 17112, + "10": 4080, + "12": 3310, + "16": 2416, + "20": 4370, + "21": 6599, + "24": 23282 + }, + "instance_pixel_counts": { + "1115": 1765, + "1442": 174, + "10370": 922, + "11394": 162, + "11906": 2762, + "14672": 351, + "14723": 19, + "14928": 3143, + "14999": 3431, + "15511": 2681, + "16023": 319, + "16535": 398, + "17047": 2225, + "18011": 812, + "20119": 10403, + "20631": 6109, + "23488": 3443, + "24064": 53, + "25024": 12337, + "26560": 5882, + "27072": 1238, + "27584": 420, + "28608": 9115, + "29843": 10882, + "30144": 73299, + "30355": 214068, + "30656": 25660, + "30867": 3610, + "31168": 12, + "31301": 155, + "31323": 66981, + "31488": 3683, + "31813": 3902, + "31891": 217371, + "33883": 48865, + "34120": 19391, + "34453": 1389, + "34965": 6997, + "35477": 752, + "35931": 537, + "36180": 4370, + "36181": 2, + "36443": 11453, + "36501": 12885, + "36956": 124, + "39507": 1, + "42075": 40, + "43649": 65, + "43867": 21, + "44123": 4, + "44171": 203, + "44379": 119, + "44691": 49549, + "45707": 4, + "46683": 14, + "47195": 218, + "47253": 1259, + "49664": 176, + "49920": 369, + "50176": 400, + "50432": 903, + "50688": 921, + "50944": 541, + "53184": 208, + "54177": 555, + "54784": 2416, + "55201": 3328, + "55716": 182, + "56225": 413, + "57173": 17112, + "58017": 1275, + "58020": 76, + "59044": 54, + "60013": 417, + "64351": 2378, + "65375": 43804 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 176, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -131.16717529296875, + "y": -122.68775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.21524901688098907, + "y": 0.23726074397563934, + "z": 0.5364564657211304 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 639.1776364161516, + "ymin": 356.4797368588647, + "xmax": 655.1959891184026, + "ymax": 391.5806638601459 + }, + "corners_3d": [ + [ + -131.151611328125, + -123.00772857666016, + 0.0385282039642334 + ], + [ + -131.48715209960938, + -122.67219543457031, + 0.0385282039642334 + ], + [ + -131.1827392578125, + -122.36779022216797, + 0.0385282039642334 + ], + [ + -130.84719848632812, + -122.70332336425781, + 0.0385282039642334 + ], + [ + -131.151611328125, + -123.00772857666016, + 1.1114411354064941 + ], + [ + -131.48715209960938, + -122.67219543457031, + 1.1114411354064941 + ], + [ + -131.1827392578125, + -122.36779022216797, + 1.1114411354064941 + ], + [ + -130.84719848632812, + -122.70332336425781, + 1.1114411354064941 + ] + ], + "corners_2d": [ + [ + 639.1979141701895, + 391.1835128914666 + ], + [ + 654.4729451119724, + 391.5806638601459 + ], + [ + 654.8250291338699, + 381.8551442078652 + ], + [ + 639.7087182770995, + 381.46621314461277 + ], + [ + 639.1776364161516, + 366.1734600744383 + ], + [ + 654.8389991123768, + 366.5697558898853 + ], + [ + 655.1959891184026, + 356.86762637199365 + ], + [ + 639.7014328078989, + 356.4797368588647 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 369, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -127.04119873046875, + "y": -119.69005584716797, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.38533690571784973, + "y": 0.36869627237319946, + "z": 0.89013671875 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 616.0160405285133, + "ymin": 244.0707413990129, + "xmax": 641.0897568102962, + "ymax": 300.4921677266152 + }, + "corners_3d": [ + [ + -127.16355895996094, + -120.20913696289062, + -0.31515204906463623 + ], + [ + -127.56517791748047, + -119.59071350097656, + -0.31515204906463623 + ], + [ + -126.91883850097656, + -119.17097473144531, + -0.31515204906463623 + ], + [ + -126.51721954345703, + -119.78939819335938, + -0.31515204906463623 + ], + [ + -127.16355895996094, + -120.20913696289062, + 1.4651213884353638 + ], + [ + -127.56517791748047, + -119.59071350097656, + 1.4651213884353638 + ], + [ + -126.91883850097656, + -119.17097473144531, + 1.4651213884353638 + ], + [ + -126.51721954345703, + -119.78939819335938, + 1.4651213884353638 + ] + ], + "corners_2d": [ + [ + 620.2813555683966, + 300.4921677266152 + ], + [ + 641.050269055054, + 298.17829966152993 + ], + [ + 637.3158573056609, + 284.5826346111177 + ], + [ + 616.873377650631, + 286.82222218948374 + ], + [ + 619.537862954641, + 259.7720980592402 + ], + [ + 641.0897568102962, + 257.48711950686425 + ], + [ + 637.216630716142, + 244.0707413990129 + ], + [ + 616.0160405285133, + 246.27967435068868 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 400, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -133.42300415039062, + "y": -115.74504852294922, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.29506349563598633, + "y": 0.3973974585533142, + "z": 0.8683561682701111 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 829.0522504429894, + "ymin": 283.0650745384122, + "xmax": 864.4309217136263, + "ymax": 335.6390785686765 + }, + "corners_3d": [ + [ + -133.4022216796875, + -116.23957061767578, + -0.2933666706085205 + ], + [ + -133.90240478515625, + -115.62190246582031, + -0.2933666706085205 + ], + [ + -133.44378662109375, + -115.25052642822266, + -0.2933666706085205 + ], + [ + -132.943603515625, + -115.86819458007812, + -0.2933666706085205 + ], + [ + -133.4022216796875, + -116.23957061767578, + 1.4433456659317017 + ], + [ + -133.90240478515625, + -115.62190246582031, + 1.4433456659317017 + ], + [ + -133.44378662109375, + -115.25052642822266, + 1.4433456659317017 + ], + [ + -132.943603515625, + -115.86819458007812, + 1.4433456659317017 + ] + ], + "corners_2d": [ + [ + 832.7671527361977, + 335.6390785686765 + ], + [ + 856.1460425523143, + 334.5658013345465 + ], + [ + 852.1287001708998, + 323.043472528355 + ], + [ + 829.0522504429894, + 324.08873802104546 + ], + [ + 840.1653009473727, + 295.54041662355945 + ], + [ + 864.4309217136263, + 294.4768522230284 + ], + [ + 860.1488166279153, + 283.0650745384122 + ], + [ + 836.2088495006006, + 284.09983776542515 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 903, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -140.66717529296875, + "y": -122.68775939941406, + "z": 0.7273821234703064 + }, + "extent": { + "x": 0.37705564498901367, + "y": 0.42702147364616394, + "z": 0.8598229289054871 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 878.0737350475076, + "ymin": 527.1012080083522, + "xmax": 929.4318371950277, + "ymax": 592.5082302535557 + }, + "corners_3d": [ + [ + -140.63185119628906, + -123.2563247680664, + -0.13244080543518066 + ], + [ + -141.23574829101562, + -122.65242767333984, + -0.13244080543518066 + ], + [ + -140.70249938964844, + -122.11919403076172, + -0.13244080543518066 + ], + [ + -140.09860229492188, + -122.72309112548828, + -0.13244080543518066 + ], + [ + -140.63185119628906, + -123.2563247680664, + 1.5872050523757935 + ], + [ + -141.23574829101562, + -122.65242767333984, + 1.5872050523757935 + ], + [ + -140.70249938964844, + -122.11919403076172, + 1.5872050523757935 + ], + [ + -140.09860229492188, + -122.72309112548828, + 1.5872050523757935 + ] + ], + "corners_2d": [ + [ + 882.2822175594491, + 591.4624147487689 + ], + [ + 915.6398974757535, + 592.5082302535557 + ], + [ + 910.7032325894326, + 567.8470613310999 + ], + [ + 878.0737350475076, + 566.8461539899615 + ], + [ + 894.393347665043, + 552.0224798676411 + ], + [ + 929.4318371950277, + 553.0824508159903 + ], + [ + 923.9396402187483, + 528.1134640302821 + ], + [ + 889.7036784470421, + 527.1012080083522 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 921, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -134.78268432617188, + "y": -133.81512451171875, + "z": 0.5878996849060059 + }, + "extent": { + "x": 0.4273974597454071, + "y": 0.5464794635772705, + "z": 0.8929673433303833 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 366.0870479142451, + "ymin": 642.3137787527429, + "xmax": 436.8372370774233, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -134.626953125, + -134.49118041992188, + -0.30506765842437744 + ], + [ + -135.47634887695312, + -133.80335998535156, + -0.30506765842437744 + ], + [ + -134.93841552734375, + -133.13906860351562, + -0.30506765842437744 + ], + [ + -134.08901977539062, + -133.82688903808594, + -0.30506765842437744 + ], + [ + -134.626953125, + -134.49118041992188, + 1.4808670282363892 + ], + [ + -135.47634887695312, + -133.80335998535156, + 1.4808670282363892 + ], + [ + -134.93841552734375, + -133.13906860351562, + 1.4808670282363892 + ], + [ + -134.08901977539062, + -133.82688903808594, + 1.4808670282363892 + ] + ], + "corners_2d": [ + [ + 380.9831976105993, + 714.9273121524108 + ], + [ + 426.0804222436734, + 721.2298739465654 + ], + [ + 436.8372370774233, + 687.3558911569633 + ], + [ + 392.8901810311918, + 681.3857181744435 + ], + [ + 366.0870479142451, + 676.6525604688231 + ], + [ + 413.7126336854916, + 683.1166720036159 + ], + [ + 425.423723828161, + 648.4181517577105 + ], + [ + 379.0788798172903, + 642.3137787527429 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 541, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -119.92184448242188, + "y": -130.85797119140625, + "z": 0.5807854533195496 + }, + "extent": { + "x": 0.4848925769329071, + "y": 0.4344726502895355, + "z": 0.9092293381690979 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 202.8283464574895, + "ymin": 284.68783995652024, + "xmax": 258.7216444339184, + "ymax": 349.58082368977955 + }, + "corners_3d": [ + [ + -119.8215560913086, + -131.5012664794922, + -0.32844388484954834 + ], + [ + -120.5503158569336, + -131.0279998779297, + -0.32844388484954834 + ], + [ + -120.02213287353516, + -130.2146759033203, + -0.32844388484954834 + ], + [ + -119.29337310791016, + -130.6879425048828, + -0.32844388484954834 + ], + [ + -119.8215560913086, + -131.5012664794922, + 1.4900147914886475 + ], + [ + -120.5503158569336, + -131.0279998779297, + 1.4900147914886475 + ], + [ + -120.02213287353516, + -130.2146759033203, + 1.4900147914886475 + ], + [ + -119.29337310791016, + -130.6879425048828, + 1.4900147914886475 + ] + ], + "corners_2d": [ + [ + 219.90428599022988, + 345.26614689307326 + ], + [ + 243.3496009441718, + 349.58082368977955 + ], + [ + 258.7216444339184, + 330.72345564865054 + ], + [ + 235.6965053605216, + 326.5887161826305 + ], + [ + 202.8283464574895, + 303.188053866315 + ], + [ + 227.1451567105443, + 307.46628857981085 + ], + [ + 243.4873781605907, + 288.7806245348231 + ], + [ + 219.62172725656058, + 284.68783995652024 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 214, + "instance_id": 54784, + "pixel_count": 2416, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -116.41776275634766, + "y": -138.86654663085938, + "z": 2.1696529388427734 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.44211632013320923 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 183.47177789912197, + "xmax": 66.06560936208257, + "ymax": 524.5526043060501 + }, + "corners_3d": [ + [ + -121.54448699951172, + -140.8751220703125, + 0.054211296141147614 + ], + [ + -121.57490539550781, + -136.93109130859375, + 0.05997787043452263 + ], + [ + -111.30255889892578, + -136.85182189941406, + 0.03226644545793533 + ], + [ + -111.27214050292969, + -140.7958526611328, + 0.026499871164560318 + ], + [ + -121.53296661376953, + -140.88125610351562, + 4.307039737701416 + ], + [ + -121.56338500976562, + -136.93722534179688, + 4.312806129455566 + ], + [ + -111.2910385131836, + -136.8579559326172, + 4.285094738006592 + ], + [ + -111.2606201171875, + -140.80198669433594, + 4.279328346252441 + ] + ], + "corners_2d": [ + [ + -83.6881576440062, + 524.5526043060501 + ], + [ + 66.06560936208257, + 450.5020170431593 + ], + [ + -37.618081358574614, + 287.52007049453647 + ], + [ + -167.47808656760526, + 338.6161610685143 + ], + [ + -175.15902761349298, + 416.71724420629977 + ], + [ + -0.9803677990066717, + 342.3931404938253 + ], + [ + -102.3935291055709, + 183.47177789912197 + ], + [ + -249.7933329429975, + 232.7341382301338 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 471696460970465655, + "instance_id": 30489, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.15050506591797, + "y": -133.854736328125, + "z": 5.980996131896973 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 108.6935417425455, + "xmax": 6.364238457775741, + "ymax": 141.18967898188242 + }, + "corners_3d": [ + [ + -113.01192474365234, + -134.04469299316406, + 5.545528411865234 + ], + [ + -113.2890853881836, + -134.04469299316406, + 5.545528411865234 + ], + [ + -113.2890853881836, + -133.66477966308594, + 5.545528411865234 + ], + [ + -113.01192474365234, + -133.66477966308594, + 5.545528411865234 + ], + [ + -113.01192474365234, + -134.04469299316406, + 6.416463851928711 + ], + [ + -113.2890853881836, + -134.04469299316406, + 6.416463851928711 + ], + [ + -113.2890853881836, + -133.66477966308594, + 6.416463851928711 + ], + [ + -113.01192474365234, + -133.66477966308594, + 6.416463851928711 + ] + ], + "corners_2d": [ + [ + -9.30477770112384, + 137.84406637672546 + ], + [ + -6.477336166858777, + 141.18967898188242 + ], + [ + 6.364238457775741, + 136.9338373539583 + ], + [ + 3.491901929311439, + 133.62960839914598 + ], + [ + -22.373137222208243, + 112.83440950410215 + ], + [ + -19.554007051417784, + 116.12233770367337 + ], + [ + -6.371366449756579, + 111.93998699041359 + ], + [ + -9.238032255486814, + 108.6935417425455 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10476196482746081849, + "instance_id": 14818, + "pixel_count": null, + "type_id": "AmericanLights_Town04_20_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -100.74504852294922, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1230.9621485559935, + "ymin": 133.1280369697027, + "xmax": 1253.6587802270265, + "ymax": 161.12435449669792 + }, + "corners_3d": [ + [ + -139.20529174804688, + -100.55508422851562, + 2.645533323287964 + ], + [ + -138.92662048339844, + -100.55508422851562, + 2.645533323287964 + ], + [ + -138.9266357421875, + -100.93501281738281, + 2.645533323287964 + ], + [ + -139.20530700683594, + -100.93501281738281, + 2.645533323287964 + ], + [ + -139.20529174804688, + -100.55508422851562, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -100.55508422851562, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -100.93501281738281, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -100.93501281738281, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1243.1762267235908, + 157.31903343339417 + ], + [ + 1235.4133719282377, + 154.34446634731995 + ], + [ + 1230.9621485559935, + 158.11744903093285 + ], + [ + 1238.7480900716407, + 161.12435449669792 + ], + [ + 1253.6587802270265, + 136.06224268644579 + ], + [ + 1245.716311859629, + 133.1280369697027 + ], + [ + 1241.2443449918144, + 136.84989845430533 + ], + [ + 1249.2112058595612, + 139.8165615236022 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11529003171770300666, + "instance_id": 64120, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.25050354003906, + "y": -128.95399475097656, + "z": 3.0800981521606445 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 165.85258406944206, + "ymin": 137.32692419026884, + "xmax": 187.51046774011013, + "ymax": 165.46394508338656 + }, + "corners_3d": [ + [ + -113.11116790771484, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -128.7640380859375, + 3.5146679878234863 + ], + [ + -113.11116790771484, + -128.7640380859375, + 3.5146679878234863 + ] + ], + "corners_2d": [ + [ + 174.01097753985812, + 162.41994926512817 + ], + [ + 177.28480327050312, + 165.46394508338656 + ], + [ + 187.51046774011013, + 161.61203152087728 + ], + [ + 184.21067244291487, + 158.60096990350283 + ], + [ + 165.85258406944206, + 141.09495925998627 + ], + [ + 169.1481612066305, + 144.09886040298397 + ], + [ + 179.59764935753338, + 140.2977593903314 + ], + [ + 176.27479731782915, + 137.32692419026884 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 162269529527095271, + "instance_id": 59151, + "pixel_count": null, + "type_id": "BP_StreetLight_simple36_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -72.95545959472656, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1265.5682483092055, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 3.729550653020283 + }, + "corners_3d": [ + [ + -138.1054229736328, + -73.32183837890625, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -72.58908081054688, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -72.58908081054688, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -73.32183837890625, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -73.32183837890625, + 11.111722946166992 + ], + [ + -138.1054229736328, + -72.58908081054688, + 11.111722946166992 + ], + [ + -130.23475646972656, + -72.58908081054688, + 11.111722946166992 + ], + [ + -130.23475646972656, + -73.32183837890625, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1418.9534279656827, + 3.729550653020283 + ], + [ + 1423.50640960567, + -0.16430476217612977 + ], + [ + 1270.7841141011372, + -41.45390087794692 + ], + [ + 1265.5682483092055, + -38.13155690157902 + ], + [ + 1554.4868722827841, + -235.81285233312326 + ], + [ + 1558.693862024869, + -238.37861688132796 + ], + [ + 1370.041780930476, + -265.1998412580692 + ], + [ + 1364.7604372145406, + -263.0674147173655 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1184484105883362010, + "instance_id": 55842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple48_110_SM_2", + "bbox_3d": { + "center_world": { + "x": -139.474609375, + "y": -128.0553741455078, + "z": 4.084396839141846 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.3674500660325, + "ymin": 394.39846546877243, + "xmax": 837.9822970211065, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -141.39132690429688, + -128.2749786376953, + 0.20767807960510254 + ], + [ + -141.39132690429688, + -127.83576965332031, + 0.20767807960510254 + ], + [ + -137.55789184570312, + -127.83576965332031, + 0.20767807960510254 + ], + [ + -137.55789184570312, + -128.2749786376953, + 0.20767807960510254 + ], + [ + -141.39132690429688, + -128.2749786376953, + 7.961115837097168 + ], + [ + -141.39132690429688, + -127.83576965332031, + 7.961115837097168 + ], + [ + -137.55789184570312, + -127.83576965332031, + 7.961115837097168 + ], + [ + -137.55789184570312, + -128.2749786376953, + 7.961115837097168 + ] + ], + "corners_2d": [ + [ + 777.0503841965867, + 734.7799741089418 + ], + [ + 789.8254077128523, + 722.0390563316868 + ], + [ + 672.1214518690772, + 613.7082157704492 + ], + [ + 659.3674500660325, + 624.3514661118613 + ], + [ + 821.6892307979978, + 524.4762980126309 + ], + [ + 837.9822970211065, + 510.4108935630544 + ], + [ + 681.3090290904443, + 394.39846546877243 + ], + [ + 664.9727651184828, + 405.5203908739802 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2334590930876643410, + "instance_id": 21048, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -123.8453369140625, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 318.82860940271604, + "ymin": 10.949323871568879, + "xmax": 333.84849008880195, + "ymax": 20.601386424178145 + }, + "corners_3d": [ + [ + -116.6200942993164, + -123.69747161865234, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.69747161865234, + 7.743301868438721 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 327.54531815259935, + 14.152305950133268 + ], + [ + 319.58321615525375, + 16.715875907214752 + ], + [ + 325.86032500809705, + 20.601386424178145 + ], + [ + 333.84849008880195, + 18.002191352910188 + ], + [ + 326.81284022705574, + 10.949323871568879 + ], + [ + 318.82860940271604, + 13.504162312662004 + ], + [ + 325.1153545164793, + 17.37654383941083 + ], + [ + 333.1258186460224, + 14.786117330953289 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3639812104533344102, + "instance_id": 26239, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -123.8453369140625, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 318.9089346058152, + "ymin": 11.000487033257684, + "xmax": 333.7687194271018, + "ymax": 20.549910407009634 + }, + "corners_3d": [ + [ + -116.62229919433594, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.69904327392578, + 7.742714881896973 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 327.53286803519944, + 14.169515263124254 + ], + [ + 319.6553468246639, + 16.705912696980306 + ], + [ + 325.86568433356706, + 20.549910407009634 + ], + [ + 333.7687194271018, + 17.978641852680823 + ], + [ + 326.8081168819602, + 11.000487033257684 + ], + [ + 318.9089346058152, + 13.52833767294669 + ], + [ + 325.12870482695547, + 17.359484158015732 + ], + [ + 333.053565840356, + 14.796798275025196 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3985217512616395484, + "instance_id": 56450, + "pixel_count": null, + "type_id": "BP_StreetLight_simple48_110_SM_1", + "bbox_3d": { + "center_world": { + "x": -137.86505126953125, + "y": -128.05545043945312, + "z": 7.743513107299805 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 671.178198000699, + "ymin": 404.95865861659036, + "xmax": 697.1091149897721, + "ymax": 427.6767929143684 + }, + "corners_3d": [ + [ + -138.06874084472656, + -128.2017364501953, + 7.689445495605469 + ], + [ + -138.06874084472656, + -127.9091567993164, + 7.689445495605469 + ], + [ + -137.66136169433594, + -127.9091567993164, + 7.689445495605469 + ], + [ + -137.66136169433594, + -128.2017364501953, + 7.689445495605469 + ], + [ + -138.06874084472656, + -128.2017364501953, + 7.797580718994141 + ], + [ + -138.06874084472656, + -127.9091567993164, + 7.797580718994141 + ], + [ + -137.66136169433594, + -127.9091567993164, + 7.797580718994141 + ], + [ + -137.66136169433594, + -128.2017364501953, + 7.797580718994141 + ] + ], + "corners_2d": [ + [ + 686.0909625116532, + 427.6767929143684 + ], + [ + 696.8797828421776, + 420.04440684026923 + ], + [ + 681.9572835708954, + 408.8303360247961 + ], + [ + 671.178198000699, + 416.28534316802745 + ], + [ + 686.2782740570735, + 423.80474521639155 + ], + [ + 697.1091149897721, + 416.1721508243089 + ], + [ + 682.1244726420371, + 404.95865861659036 + ], + [ + 671.3034120049539, + 412.41316380577376 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5736675163518273754, + "instance_id": 55816, + "pixel_count": null, + "type_id": "AmericanLights_Town04_21_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1196.6976234513122, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 50.99588384281009 + }, + "corners_3d": [ + [ + -140.57330322265625, + -78.3179702758789, + 0.0 + ], + [ + -140.5771484375, + -77.8851547241211, + 0.0 + ], + [ + -128.5230712890625, + -77.77800750732422, + 0.0 + ], + [ + -128.51922607421875, + -78.21082305908203, + 0.0 + ], + [ + -140.57330322265625, + -78.3179702758789, + 8.446706771850586 + ], + [ + -140.5771484375, + -77.8851547241211, + 8.446706771850586 + ], + [ + -128.5230712890625, + -77.77800750732422, + 8.446706771850586 + ], + [ + -128.51922607421875, + -78.21082305908203, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1439.6507142878338, + 50.99588384281009 + ], + [ + 1442.552707697259, + 48.31965046851701 + ], + [ + 1200.2111359180244, + -23.142491976336544 + ], + [ + 1196.6976234513122, + -21.075036682407642 + ], + [ + 1552.028712196434, + -135.8381666127989 + ], + [ + 1554.7594572632966, + -137.92930763917457 + ], + [ + 1267.9279728877832, + -192.8056660708295 + ], + [ + 1264.2897951685086, + -191.2436737161886 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5944504550537153523, + "instance_id": 62411, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_1", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88526153564453, + "z": 3.6450090408325195 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 73.1789652660301, + "ymin": 0.0, + "xmax": 141.65525842828146, + "ymax": 12.712241131719622 + }, + "corners_3d": [ + [ + -100.3021469116211, + -126.97334289550781, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -126.97334289550781, + 3.8072457313537598 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.8072457313537598 + ] + ], + "corners_2d": [ + [ + 92.35500702425884, + 12.712241131719622 + ], + [ + 141.65525842828146, + -1.2261304143918892 + ], + [ + 124.65553139705207, + -13.907163189598975 + ], + [ + 76.11115721602471, + -0.6214979615235734 + ], + [ + 89.4369176110954, + 5.424314744932701 + ], + [ + 139.0667949182572, + -8.402752415270811 + ], + [ + 122.04172597077081, + -20.979310587218208 + ], + [ + 73.1789652660301, + -7.8030234967709475 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6967274615413648305, + "instance_id": 45483, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_2", + "bbox_3d": { + "center_world": { + "x": -99.33560943603516, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 61.309467654687296, + "ymin": 0.0, + "xmax": 168.3123518824088, + "ymax": 83.39565146711652 + }, + "corners_3d": [ + [ + -100.3640365600586, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -127.03557586669922, + 4.877264976501465 + ], + [ + -100.3640365600586, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + 119.46685031362074, + 83.39565146711652 + ], + [ + 168.3123518824088, + 67.61215948848678 + ], + [ + 150.49124997025666, + 53.16020316013231 + ], + [ + 102.3813466355515, + 68.19636567115077 + ], + [ + 78.63395978544975, + -18.35136049247086 + ], + [ + 132.31439832492003, + -32.580552359891044 + ], + [ + 114.08299268849191, + -45.56019675327997 + ], + [ + 61.309467654687296, + -32.05487703143842 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8232706723728016641, + "instance_id": 325, + "pixel_count": null, + "type_id": "BP_StreetLight_wall40_71_SM_0", + "bbox_3d": { + "center_world": { + "x": -140.893310546875, + "y": -111.95197296142578, + "z": 4.334987163543701 + }, + "extent": { + "x": 0.11768747121095657, + "y": 1.147606611251831, + "z": 0.41115570068359375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1114.6093277417613, + "ymin": 242.9494754519078, + "xmax": 1208.029163805145, + "ymax": 306.2885669096627 + }, + "corners_3d": [ + [ + -142.04092407226562, + -111.83428192138672, + 3.9238314628601074 + ], + [ + -139.74569702148438, + -111.83428955078125, + 3.9238314628601074 + ], + [ + -139.74569702148438, + -112.06966400146484, + 3.9238314628601074 + ], + [ + -142.04092407226562, + -112.06965637207031, + 3.9238314628601074 + ], + [ + -142.04092407226562, + -111.83428192138672, + 4.746142864227295 + ], + [ + -139.74569702148438, + -111.83428955078125, + 4.746142864227295 + ], + [ + -139.74569702148438, + -112.06966400146484, + 4.746142864227295 + ], + [ + -142.04092407226562, + -112.06965637207031, + 4.746142864227295 + ] + ], + "corners_2d": [ + [ + 1196.123276713354, + 302.6011119140591 + ], + [ + 1118.5278775479146, + 265.7527878433128 + ], + [ + 1114.6093277417613, + 269.1252775719367 + ], + [ + 1192.3637634387508, + 306.2885669096627 + ], + [ + 1208.029163805145, + 279.52563528854057 + ], + [ + 1128.3170554205003, + 242.9494754519078 + ], + [ + 1124.359656173256, + 246.29422138274407 + ], + [ + 1204.2418328272952, + 283.1896106703798 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9919303964700251881, + "instance_id": 59670, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_Poles_4", + "bbox_3d": { + "center_world": { + "x": -112.9144515991211, + "y": -134.7008514404297, + "z": 4.223348617553711 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 209.83641140768043, + "ymax": 365.9563474520459 + }, + "corners_3d": [ + [ + -113.18444061279297, + -128.6757354736328, + -4.76837158203125e-06 + ], + [ + -112.75162506103516, + -128.67189025878906, + -4.76837158203125e-06 + ], + [ + -112.64446258544922, + -140.72596740722656, + -4.76837158203125e-06 + ], + [ + -113.07727813720703, + -140.7298126220703, + -4.76837158203125e-06 + ], + [ + -113.18444061279297, + -128.6757354736328, + 8.446702003479004 + ], + [ + -112.75162506103516, + -128.67189025878906, + 8.446702003479004 + ], + [ + -112.64446258544922, + -140.72596740722656, + 8.446702003479004 + ], + [ + -113.07727813720703, + -140.7298126220703, + 8.446702003479004 + ] + ], + "corners_2d": [ + [ + 209.83641140768043, + 218.99906108711446 + ], + [ + 204.95223932014198, + 214.18359752265343 + ], + [ + -154.6313350962481, + 359.113084954474 + ], + [ + -151.53272195183126, + 365.9563474520459 + ], + [ + 129.08017346523934, + 0.9544965054169552 + ], + [ + 123.89128006022497, + -3.1238051904418285 + ], + [ + -337.5498162137716, + 124.0073833167647 + ], + [ + -335.4410014758572, + 130.24310070653442 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12065512595391554584, + "instance_id": 6308, + "pixel_count": null, + "type_id": "AmericanLights_Town04_20_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -94.9981918334961, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1206.0605426046686, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 226.71267515064582 + }, + "corners_3d": [ + [ + -139.1320343017578, + -101.02330780029297, + 0.0 + ], + [ + -139.56484985351562, + -101.02715301513672, + 0.0 + ], + [ + -139.67198181152344, + -88.97307586669922, + 0.0 + ], + [ + -139.23916625976562, + -88.96923065185547, + 0.0 + ], + [ + -139.1320343017578, + -101.02330780029297, + 8.446706771850586 + ], + [ + -139.56484985351562, + -101.02715301513672, + 8.446706771850586 + ], + [ + -139.67198181152344, + -88.97307586669922, + 8.446706771850586 + ], + [ + -139.23916625976562, + -88.96923065185547, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1206.0605426046686, + 221.799554973084 + ], + [ + 1217.4242696942806, + 226.71267515064582 + ], + [ + 1339.051617643851, + 118.65042163287575 + ], + [ + 1328.606390938147, + 115.01654809384999 + ], + [ + 1312.7933806196738, + 3.330678706893025 + ], + [ + 1327.1319535494636, + 7.50743504415891 + ], + [ + 1450.2586263453788, + -82.08087919870349 + ], + [ + 1437.4551384896567, + -85.01269887205797 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14081937874569997388, + "instance_id": 19500, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_0", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88525390625, + "z": 3.6439085006713867 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 73.1418725854437, + "ymin": 0.0, + "xmax": 141.71001622795393, + "ymax": 12.777248119396347 + }, + "corners_3d": [ + [ + -100.30333709716797, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.30333709716797, + -126.97452545166016, + 3.807230234146118 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.807230234146118 + ] + ], + "corners_2d": [ + [ + 92.35732756377729, + 12.777248119396347 + ], + [ + 141.71001622795393, + -1.1775204525782215 + ], + [ + 124.6888864270386, + -13.874531127261946 + ], + [ + 76.09375969197811, + -0.5740008682926145 + ], + [ + 89.41965146377458, + 5.4407216183678315 + ], + [ + 139.10452755882613, + -8.401885072085634 + ], + [ + 122.05784663278189, + -20.993603556617813 + ], + [ + 73.1418725854437, + -7.803292102878686 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 676.9819474852984, + "ymin": 0.0, + "xmax": 750.9128114030292, + "ymax": 49.764221863703256 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 683.1220079570636, + 22.377133165485475 + ], + [ + 676.9819474852984, + 24.90191894569864 + ], + [ + 732.2101800148968, + 49.764221863703256 + ], + [ + 738.3615667074221, + 47.01411706723121 + ], + [ + 688.3668548864414, + -142.80329742698717 + ], + [ + 681.5025277440357, + -140.79751134239177 + ], + [ + 744.038353981883, + -120.92891611493496 + ], + [ + 750.9128114030292, + -123.13715756445214 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 268.0068514941354, + "ymin": 0.0, + "xmax": 379.3730611128245, + "ymax": 211.9623377076885 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 328.7481950838926, + 168.0952360630786 + ], + [ + 319.0249357815616, + 172.09342906732334 + ], + [ + 369.4082487447567, + 211.9623377076885 + ], + [ + 379.3730611128245, + 207.5073619990947 + ], + [ + 279.595829145895, + -23.358635451146768 + ], + [ + 268.0068514941354, + -19.972286049908575 + ], + [ + 323.5950120222286, + 14.127621151985295 + ], + [ + 335.5510580453169, + 10.287050939228436 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16194625468754558244, + "instance_id": 9469, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.53463745117188, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 24.190222537227783, + "ymin": 0.0, + "xmax": 127.98853567882293, + "ymax": 49.03073963883804 + }, + "corners_3d": [ + [ + -95.56306457519531, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -127.03557586669922, + 4.877264976501465 + ], + [ + -95.56306457519531, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + 80.8372834168382, + 49.03073963883804 + ], + [ + 127.98853567882293, + 34.91171068125357 + ], + [ + 112.00446453165296, + 21.94948762081009 + ], + [ + 65.55433036886859, + 35.43500517532431 + ], + [ + 39.55764207633922, + -49.26037427290419 + ], + [ + 91.15587293242004, + -61.88290205274677 + ], + [ + 74.93349343778277, + -73.43224285805883 + ], + [ + 24.190222537227783, + -61.41586409771321 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 699.1924224049318, + "ymin": 0.0, + "xmax": 929.4075366623968, + "ymax": 92.582797048641 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 705.0092214109629, + 8.43719579859038 + ], + [ + 699.1924224049318, + 10.763960129574457 + ], + [ + 885.6617391800457, + 92.582797048641 + ], + [ + 891.4351710658862, + 89.51975906833212 + ], + [ + 713.4062485701673, + -168.78186045650773 + ], + [ + 706.8745519404952, + -166.9977446140433 + ], + [ + 922.9690922892228, + -102.99960227957382 + ], + [ + 929.4075366623968, + -105.44053318386352 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17718493663991687542, + "instance_id": 30441, + "pixel_count": null, + "type_id": "BP_StreetLight_simple48_110_SM_0", + "bbox_3d": { + "center_world": { + "x": -137.86505126953125, + "y": -128.05545043945312, + "z": 7.743518352508545 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 671.0391267243302, + "ymin": 404.8380796664413, + "xmax": 697.2498689519255, + "ymax": 427.8012421201271 + }, + "corners_3d": [ + [ + -138.07093811035156, + -128.2033233642578, + 7.688869476318359 + ], + [ + -138.07093811035156, + -127.90758514404297, + 7.688869476318359 + ], + [ + -137.65916442871094, + -127.90758514404297, + 7.688869476318359 + ], + [ + -137.65916442871094, + -128.2033233642578, + 7.688869476318359 + ], + [ + -138.07093811035156, + -128.2033233642578, + 7.7981672286987305 + ], + [ + -138.07093811035156, + -127.90758514404297, + 7.7981672286987305 + ], + [ + -137.65916442871094, + -127.90758514404297, + 7.7981672286987305 + ], + [ + -137.65916442871094, + -128.2033233642578, + 7.7981672286987305 + ] + ], + "corners_2d": [ + [ + 686.1123791819127, + 427.8012421201271 + ], + [ + 697.0175000438848, + 420.0854716377323 + ], + [ + 681.9343018600902, + 408.7513721962553 + ], + [ + 671.0391267243302, + 416.28591809875655 + ], + [ + 686.3018169608569, + 423.8875715915578 + ], + [ + 697.2498689519255, + 416.1715842065984 + ], + [ + 682.1031816946927, + 404.8380796664413 + ], + [ + 671.1651224526358, + 412.3721089798325 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 292.83724615587994, + "ymax": 197.1800541290106 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 197.92963443640747, + 78.97404074021034 + ], + [ + 54.81610343451314, + 139.18381964867393 + ], + [ + 147.5256425157158, + 197.1800541290106 + ], + [ + 292.83724615587994, + 126.82737792982229 + ], + [ + 97.51872491992708, + -216.64159456947857 + ], + [ + -94.2424964262018, + -176.99402219163426 + ], + [ + 8.407344885508905, + -137.08147322508324 + ], + [ + 206.40774658813052, + -185.27531295775827 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 119.17983743116315, + "ymax": 3.185391704060976 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + 29.61994209569366, + -66.89169261839339 + ], + [ + -88.57894160496096, + -23.74776825861386 + ], + [ + 3.385888556356349, + 3.185391704060976 + ], + [ + 119.17983743116315, + -44.344396688877 + ], + [ + -65.7380231593371, + -293.0066478906185 + ], + [ + -214.49666790344156, + -266.43121854514743 + ], + [ + -113.38989498159185, + -249.4508034200478 + ], + [ + 33.32626126920786, + -279.2126944185968 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 317.7488353967711, + "ymax": 233.00863985444312 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 122.05217733998961, + 233.00863985444312 + ], + [ + 312.18052721471526, + 210.9419203200389 + ], + [ + 317.7488353967711, + 120.1041222704383 + ], + [ + 151.25445452389903, + 137.11456139265525 + ], + [ + -33.469472788435496, + -111.52952109367686 + ], + [ + 217.3558968187943, + -127.34997037678755 + ], + [ + 238.52436580256233, + -189.74937272407988 + ], + [ + 27.23408400210633, + -178.38616152317672 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 140.95028589280219, + "ymax": 58.13392352204215 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 70.56899928114535, + -22.249283626984038 + ], + [ + -57.56128698318855, + 19.30641174641903 + ], + [ + 9.977356031897898, + 58.13392352204215 + ], + [ + 140.95028589280219, + 10.883641132645323 + ], + [ + -33.86554014380499, + -279.50749711039 + ], + [ + -197.75297381756707, + -254.2491241847424 + ], + [ + -127.28632532757274, + -229.9615838181511 + ], + [ + 42.45270775118831, + -259.4290807833419 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00002/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00002/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c110e4cdb698af1846149a631122cc3e55ddae17 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00002/meta.json @@ -0,0 +1,2891 @@ +{ + "frame_id": 2, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 1.0, + "sim_timestamp": 9721.254193453118 + }, + "drone_pose": { + "x": -146.42863624680845, + "y": -137.40172644990105, + "z": 20.65166370498869, + "pitch": -44.4590628655074, + "yaw": 42.74862512343469, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5241350531578064, + -0.48448219895362854, + 0.7003994584083557, + 128.8526611328125 + ], + [ + 0.6787831783294678, + 0.7343387603759766, + 0.0, + 1.5061264038085938 + ], + [ + -0.5143304467201233, + 0.47541937232017517, + 0.7137510776519775, + -155.37631225585938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -146.22137134760652, + "y": -137.04943768740816, + "z": 20.642681091828756 + }, + "t1_image_uv": [ + 1036.671595063533, + -539.7398177677379 + ], + "t1_depth": 0.2856038502744992 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -130.66718292236328, + "y": -122.18776321411131, + "z": 0.5749846434596475 + }, + "image_uv": [ + 655.3113566425201, + 327.3512273609298 + ], + "depth": 29.6937203018103, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 175, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -130.66717529296875, + "y": -122.18775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.22429198026657104, + "y": 0.2397167980670929, + "z": 0.538487434387207 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 647.2278073994496, + "ymin": 309.27736959769425, + "xmax": 663.5175844159638, + "ymax": 345.170317640736 + }, + "corners_3d": [ + [ + -130.65626525878906, + -122.51586151123047, + 0.03649723529815674 + ], + [ + -130.9952850341797, + -122.17684936523438, + 0.03649723529815674 + ], + [ + -130.67808532714844, + -121.85965728759766, + 0.03649723529815674 + ], + [ + -130.3390655517578, + -122.19866943359375, + 0.03649723529815674 + ], + [ + -130.65626525878906, + -122.51586151123047, + 1.1134721040725708 + ], + [ + -130.9952850341797, + -122.17684936523438, + 1.1134721040725708 + ], + [ + -130.67808532714844, + -121.85965728759766, + 1.1134721040725708 + ], + [ + -130.3390655517578, + -122.19866943359375, + 1.1134721040725708 + ] + ], + "corners_2d": [ + [ + 647.2278073994496, + 344.7535716135536 + ], + [ + 662.6104334296816, + 345.170317640736 + ], + [ + 662.9306489199744, + 335.3555584617773 + ], + [ + 647.7106367647285, + 334.9475865063627 + ], + [ + 647.414755416627, + 319.0553785165303 + ], + [ + 663.1955245042628, + 319.4710541380798 + ], + [ + 663.5175844159638, + 309.6840709511413 + ], + [ + 647.9079090860698, + 309.27736959769425 + ] + ], + "center_offset_px": [ + 15.311356642520082, + -32.648772639070216 + ] + }, + "trace_timestep_index": 2, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 62, + "semantic_pixel_counts": { + "1": 506959, + "2": 234145, + "3": 110811, + "5": 3337, + "6": 6511, + "7": 235, + "9": 12971, + "10": 4085, + "12": 3195, + "16": 2418, + "20": 4531, + "21": 9189, + "24": 23213 + }, + "instance_pixel_counts": { + "1115": 295, + "1442": 8, + "10370": 588, + "11906": 3081, + "14928": 3337, + "14999": 4338, + "15511": 2737, + "16023": 58, + "16535": 436, + "17047": 2206, + "20119": 10560, + "20631": 6257, + "23488": 2989, + "25024": 17821, + "26560": 5977, + "27584": 768, + "28096": 365, + "28608": 9381, + "29843": 10907, + "30144": 74856, + "30355": 234553, + "30656": 24637, + "30867": 3445, + "31323": 61000, + "31488": 2994, + "31813": 4071, + "31891": 221240, + "33883": 44274, + "34120": 17169, + "34453": 1428, + "34965": 6860, + "35477": 747, + "36180": 4531, + "36443": 5242, + "36501": 13115, + "36956": 131, + "42075": 486, + "43649": 83, + "43867": 20, + "44123": 1, + "44379": 154, + "44691": 36814, + "45707": 30, + "46683": 10, + "47195": 223, + "47253": 1063, + "49664": 175, + "49920": 382, + "50176": 388, + "50432": 793, + "50688": 859, + "50944": 598, + "54177": 3, + "54784": 2418, + "55201": 7083, + "55716": 56, + "56225": 410, + "57173": 12971, + "58017": 549, + "59044": 55, + "64351": 721, + "65375": 52839 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 175, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -130.66717529296875, + "y": -122.18775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.24709472060203552, + "y": 0.25666990876197815, + "z": 0.5274655222892761 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 646.6606351403935, + "ymin": 309.04096431781016, + "xmax": 664.0794805515025, + "ymax": 345.4331617306543 + }, + "corners_3d": [ + [ + -130.660400390625, + -122.54397583007812, + 0.047519147396087646 + ], + [ + -131.0233917236328, + -122.18099212646484, + 0.047519147396087646 + ], + [ + -130.6739501953125, + -121.83154296875, + 0.047519147396087646 + ], + [ + -130.3109588623047, + -122.19452667236328, + 0.047519147396087646 + ], + [ + -130.660400390625, + -122.54397583007812, + 1.1024501323699951 + ], + [ + -131.0233917236328, + -122.18099212646484, + 1.1024501323699951 + ], + [ + -130.6739501953125, + -121.83154296875, + 1.1024501323699951 + ], + [ + -130.3109588623047, + -122.19452667236328, + 1.1024501323699951 + ] + ], + "corners_2d": [ + [ + 646.6606351403935, + 344.9864788708891 + ], + [ + 663.1441639882037, + 345.4331617306543 + ], + [ + 663.4909793760116, + 334.62036267793593 + ], + [ + 647.1993641621607, + 334.1840317967814 + ], + [ + 646.8294336416328, + 319.81322134100446 + ], + [ + 663.7309894574475, + 320.258792820886 + ], + [ + 664.0794805515025, + 309.4759524979311 + ], + [ + 647.3796362135859, + 309.04096431781016 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 382, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -126.54119873046875, + "y": -119.19005584716797, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.36220213770866394, + "y": 0.3960888683795929, + "z": 0.8746373057365417 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 623.1527969281882, + "ymin": 200.62157901468157, + "xmax": 649.6321192358179, + "ymax": 256.175233243753 + }, + "corners_3d": [ + [ + -126.62924194335938, + -119.71951293945312, + -0.299652636051178 + ], + [ + -127.0606918334961, + -119.05513763427734, + -0.299652636051178 + ], + [ + -126.45315551757812, + -118.66059875488281, + -0.299652636051178 + ], + [ + -126.0217056274414, + -119.3249740600586, + -0.299652636051178 + ], + [ + -126.62924194335938, + -119.71951293945312, + 1.4496219158172607 + ], + [ + -127.0606918334961, + -119.05513763427734, + 1.4496219158172607 + ], + [ + -126.45315551757812, + -118.66059875488281, + 1.4496219158172607 + ], + [ + -126.0217056274414, + -119.3249740600586, + 1.4496219158172607 + ] + ], + "corners_2d": [ + [ + 627.014052064557, + 256.175233243753 + ], + [ + 649.2820842756794, + 253.7949116367639 + ], + [ + 645.7031879422378, + 241.34967738361826 + ], + [ + 623.7576068875205, + 243.65954493420992 + ], + [ + 626.5228940280497, + 215.24680629785297 + ], + [ + 649.6321192358179, + 212.89733002263645 + ], + [ + 645.914938585747, + 200.62157901468157 + ], + [ + 623.1527969281882, + 202.8989486387379 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 388, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -132.92300415039062, + "y": -115.24504852294922, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.41993650794029236, + "y": 0.3007715046405792, + "z": 0.8845894932746887 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 838.4314678367776, + "ymin": 235.65442711505426, + "xmax": 870.3322164472752, + "ymax": 294.02359596821054 + }, + "corners_3d": [ + [ + -133.06007385253906, + -115.7430648803711, + -0.30959999561309814 + ], + [ + -133.4386444091797, + -115.27558135986328, + -0.30959999561309814 + ], + [ + -132.7859344482422, + -114.74703216552734, + -0.30959999561309814 + ], + [ + -132.40736389160156, + -115.21451568603516, + -0.30959999561309814 + ], + [ + -133.06007385253906, + -115.7430648803711, + 1.4595789909362793 + ], + [ + -133.4386444091797, + -115.27558135986328, + 1.4595789909362793 + ], + [ + -132.7859344482422, + -114.74703216552734, + 1.4595789909362793 + ], + [ + -132.40736389160156, + -115.21451568603516, + 1.4595789909362793 + ] + ], + "corners_2d": [ + [ + 843.7580080008657, + 294.02359596821054 + ], + [ + 861.4711008442281, + 293.2602476813649 + ], + [ + 855.8261552195984, + 277.3008994224229 + ], + [ + 838.4314678367776, + 278.03665358618196 + ], + [ + 851.9178126208944, + 252.20392011628468 + ], + [ + 870.3322164472752, + 251.447927028936 + ], + [ + 864.297788681433, + 235.65442711505426 + ], + [ + 846.2272536692949, + 236.38202905784436 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 793, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -140.16717529296875, + "y": -122.18775939941406, + "z": 0.7273821234703064 + }, + "extent": { + "x": 0.4057959020137787, + "y": 0.4231054484844208, + "z": 0.882580041885376 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 885.0172304973576, + "ymin": 472.31572970653326, + "xmax": 937.0125538782472, + "ymax": 540.7598068752798 + }, + "corners_3d": [ + [ + -140.15493774414062, + -122.77388000488281, + -0.15519791841506958 + ], + [ + -140.7532958984375, + -122.17552185058594, + -0.15519791841506958 + ], + [ + -140.17941284179688, + -121.60163879394531, + -0.15519791841506958 + ], + [ + -139.5810546875, + -122.19999694824219, + -0.15519791841506958 + ], + [ + -140.15493774414062, + -122.77388000488281, + 1.6099622249603271 + ], + [ + -140.7532958984375, + -122.17552185058594, + 1.6099622249603271 + ], + [ + -140.17941284179688, + -121.60163879394531, + 1.6099622249603271 + ], + [ + -139.5810546875, + -122.19999694824219, + 1.6099622249603271 + ] + ], + "corners_2d": [ + [ + 889.4750777165514, + 539.6919861288359 + ], + [ + 922.2800419843218, + 540.7598068752798 + ], + [ + 917.0735022909009, + 515.2765687956183 + ], + [ + 885.0172304973576, + 514.2566467473605 + ], + [ + 902.4824333124438, + 498.05342899562254 + ], + [ + 937.0125538782472, + 499.135274482092 + ], + [ + 931.1893548787402, + 473.3466060865851 + ], + [ + 897.4877438482565, + 472.31572970653326 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 859, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -134.28268432617188, + "y": -133.31512451171875, + "z": 0.5881926417350769 + }, + "extent": { + "x": 0.5577587485313416, + "y": 0.4906103312969208, + "z": 0.8661016821861267 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 379.98914129501446, + "ymin": 579.1610527864547, + "xmax": 447.66408534493166, + "ymax": 665.7141507970096 + }, + "corners_3d": [ + [ + -134.25241088867188, + -134.05734252929688, + -0.2779090404510498 + ], + [ + -135.0149688720703, + -133.43983459472656, + -0.2779090404510498 + ], + [ + -134.31295776367188, + -132.57290649414062, + -0.2779090404510498 + ], + [ + -133.55039978027344, + -133.19041442871094, + -0.2779090404510498 + ], + [ + -134.25241088867188, + -134.05734252929688, + 1.4542943239212036 + ], + [ + -135.0149688720703, + -133.43983459472656, + 1.4542943239212036 + ], + [ + -134.31295776367188, + -132.57290649414062, + 1.4542943239212036 + ], + [ + -133.55039978027344, + -133.19041442871094, + 1.4542943239212036 + ] + ], + "corners_2d": [ + [ + 393.90950325233666, + 660.1798699562272 + ], + [ + 434.1338037496752, + 665.7141507970096 + ], + [ + 447.66408534493166, + 623.6056841474834 + ], + [ + 408.73343444056985, + 618.4378615143016 + ], + [ + 379.98914129501446, + 621.8212908358713 + ], + [ + 422.43394189261676, + 627.4894925636127 + ], + [ + 437.12228893934537, + 584.4337743629451 + ], + [ + 396.1151726488114, + 579.1610527864547 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 598, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -119.42184448242188, + "y": -130.35797119140625, + "z": 0.5792326927185059 + }, + "extent": { + "x": 0.43177732825279236, + "y": 0.47200682759284973, + "z": 0.8903110027313232 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 212.09116163222626, + "ymin": 240.02087221226353, + "xmax": 267.55733940303554, + "ymax": 302.68987780449913 + }, + "corners_3d": [ + [ + -119.26114654541016, + -130.97715759277344, + -0.3110783100128174 + ], + [ + -120.05286407470703, + -130.4630126953125, + -0.3110783100128174 + ], + [ + -119.5825424194336, + -129.73878479003906, + -0.3110783100128174 + ], + [ + -118.79082489013672, + -130.2529296875, + -0.3110783100128174 + ], + [ + -119.26114654541016, + -130.97715759277344, + 1.469543695449829 + ], + [ + -120.05286407470703, + -130.4630126953125, + 1.469543695449829 + ], + [ + -119.5825424194336, + -129.73878479003906, + 1.469543695449829 + ], + [ + -118.79082489013672, + -130.2529296875, + 1.469543695449829 + ] + ], + "corners_2d": [ + [ + 228.75033055156325, + 298.10875782203 + ], + [ + 254.17194865700208, + 302.68987780449913 + ], + [ + 267.55733940303554, + 286.41036688638474 + ], + [ + 242.5330736779771, + 281.9958650443398 + ], + [ + 212.09116163222626, + 255.97200285009436 + ], + [ + 238.4579122121459, + 260.51145192851266 + ], + [ + 252.67872944425073, + 244.38870384844222 + ], + [ + 226.73869576558138, + 240.02087221226353 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 214, + "instance_id": 54784, + "pixel_count": 2418, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -116.41776275634766, + "y": -138.86654663085938, + "z": 2.1696529388427734 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.44211632013320923 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 148.23799209726795, + "xmax": 66.83008345845144, + "ymax": 492.3156711862127 + }, + "corners_3d": [ + [ + -121.54448699951172, + -140.8751220703125, + 0.054211296141147614 + ], + [ + -121.57490539550781, + -136.93109130859375, + 0.05997787043452263 + ], + [ + -111.30255889892578, + -136.85182189941406, + 0.03226644545793533 + ], + [ + -111.27214050292969, + -140.7958526611328, + 0.026499871164560318 + ], + [ + -121.53296661376953, + -140.88125610351562, + 4.307039737701416 + ], + [ + -121.56338500976562, + -136.93722534179688, + 4.312806129455566 + ], + [ + -111.2910385131836, + -136.8579559326172, + 4.285094738006592 + ], + [ + -111.2606201171875, + -140.80198669433594, + 4.279328346252441 + ] + ], + "corners_2d": [ + [ + -83.79225851174851, + 492.3156711862127 + ], + [ + 66.83008345845144, + 418.6380892705448 + ], + [ + -39.415912265530096, + 255.3380824114543 + ], + [ + -170.22347283670797, + 306.28879750620644 + ], + [ + -178.72829691140043, + 381.700390044943 + ], + [ + -2.694493560726187, + 307.61469295569526 + ], + [ + -106.87703304111596, + 148.23799209726795 + ], + [ + -255.9763689808808, + 197.38715019153372 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 471696460970465655, + "instance_id": 30489, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.15050506591797, + "y": -133.854736328125, + "z": 5.980996131896973 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 71.51640522428431, + "xmax": 2.8997587904849524, + "ymax": 104.92074562552193 + }, + "corners_3d": [ + [ + -113.01192474365234, + -134.04469299316406, + 5.545528411865234 + ], + [ + -113.2890853881836, + -134.04469299316406, + 5.545528411865234 + ], + [ + -113.2890853881836, + -133.66477966308594, + 5.545528411865234 + ], + [ + -113.01192474365234, + -133.66477966308594, + 5.545528411865234 + ], + [ + -113.01192474365234, + -134.04469299316406, + 6.416463851928711 + ], + [ + -113.2890853881836, + -134.04469299316406, + 6.416463851928711 + ], + [ + -113.2890853881836, + -133.66477966308594, + 6.416463851928711 + ], + [ + -113.01192474365234, + -133.66477966308594, + 6.416463851928711 + ] + ], + "corners_2d": [ + [ + -13.019510683005706, + 101.5630951727502 + ], + [ + -10.120478778604138, + 104.92074562552193 + ], + [ + 2.8997587904849524, + 100.67204082367971 + ], + [ + -0.04467737715731346, + 97.35569425822092 + ], + [ + -26.70283278954514, + 75.64859612312011 + ], + [ + -23.811373590570952, + 78.94699114840955 + ], + [ + -10.432227085594263, + 74.77338099077991 + ], + [ + -13.371863281729475, + 71.51640522428431 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10476196482746081849, + "instance_id": 14818, + "pixel_count": null, + "type_id": "AmericanLights_Town04_20_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -100.74504852294922, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1248.553163241496, + "ymin": 100.16744380773173, + "xmax": 1272.237173546629, + "ymax": 128.90461265557826 + }, + "corners_3d": [ + [ + -139.20529174804688, + -100.55508422851562, + 2.645533323287964 + ], + [ + -138.92662048339844, + -100.55508422851562, + 2.645533323287964 + ], + [ + -138.9266357421875, + -100.93501281738281, + 2.645533323287964 + ], + [ + -139.20530700683594, + -100.93501281738281, + 2.645533323287964 + ], + [ + -139.20529174804688, + -100.55508422851562, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -100.55508422851562, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -100.93501281738281, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -100.93501281738281, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1260.9997412603184, + 125.0835221099982 + ], + [ + 1253.0830560454708, + 122.080659636239 + ], + [ + 1248.553163241496, + 125.86927904739679 + ], + [ + 1256.493204841606, + 128.90461265557826 + ], + [ + 1272.237173546629, + 103.12950112302309 + ], + [ + 1264.129269179216, + 100.16744380773173 + ], + [ + 1259.5778242676631, + 103.90465575054839 + ], + [ + 1267.7104679960105, + 106.89932607877407 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11529003171770300666, + "instance_id": 64120, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.25050354003906, + "y": -128.95399475097656, + "z": 3.0800981521606445 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 165.21618803807706, + "ymin": 102.923759557177, + "xmax": 187.3918628746676, + "ymax": 131.75311561011446 + }, + "corners_3d": [ + [ + -113.11116790771484, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -128.7640380859375, + 3.5146679878234863 + ], + [ + -113.11116790771484, + -128.7640380859375, + 3.5146679878234863 + ] + ], + "corners_2d": [ + [ + 173.69811085311585, + 128.69346351971802 + ], + [ + 177.0428091978671, + 131.75311561011446 + ], + [ + 187.3918628746676, + 127.90174860482335 + ], + [ + 184.021011870108, + 124.87495487253648 + ], + [ + 165.21618803807706, + 106.69099680455062 + ], + [ + 168.58481135733808, + 109.71009812491326 + ], + [ + 179.16836371329538, + 105.90985179975527 + ], + [ + 175.77222763633029, + 102.923759557177 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1184484105883362010, + "instance_id": 55842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple48_110_SM_2", + "bbox_3d": { + "center_world": { + "x": -139.474609375, + "y": -128.0553741455078, + "z": 4.084396839141846 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 667.94254278167, + "ymin": 357.22956018819065, + "xmax": 854.1402702457277, + "ymax": 704.0242752410012 + }, + "corners_3d": [ + [ + -141.39132690429688, + -128.2749786376953, + 0.20767807960510254 + ], + [ + -141.39132690429688, + -127.83576965332031, + 0.20767807960510254 + ], + [ + -137.55789184570312, + -127.83576965332031, + 0.20767807960510254 + ], + [ + -137.55789184570312, + -128.2749786376953, + 0.20767807960510254 + ], + [ + -141.39132690429688, + -128.2749786376953, + 7.961115837097168 + ], + [ + -141.39132690429688, + -127.83576965332031, + 7.961115837097168 + ], + [ + -137.55789184570312, + -127.83576965332031, + 7.961115837097168 + ], + [ + -137.55789184570312, + -128.2749786376953, + 7.961115837097168 + ] + ], + "corners_2d": [ + [ + 787.4009066319137, + 704.0242752410012 + ], + [ + 800.2871416611512, + 691.3511171560739 + ], + [ + 680.808776317125, + 582.951593596684 + ], + [ + 667.94254278167, + 593.5499654445225 + ], + [ + 837.5852063980808, + 488.0778559120983 + ], + [ + 854.1402702457277, + 473.9897181690706 + ], + [ + 693.003726720761, + 357.22956018819065 + ], + [ + 676.3915899479671, + 368.35819515160625 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3985217512616395484, + "instance_id": 56450, + "pixel_count": null, + "type_id": "BP_StreetLight_simple48_110_SM_1", + "bbox_3d": { + "center_world": { + "x": -137.86505126953125, + "y": -128.05545043945312, + "z": 7.743513107299805 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 682.6137482895866, + "ymin": 368.0392436129436, + "xmax": 709.1937043503214, + "ymax": 390.978720795176 + }, + "corners_3d": [ + [ + -138.06874084472656, + -128.2017364501953, + 7.689445495605469 + ], + [ + -138.06874084472656, + -127.9091567993164, + 7.689445495605469 + ], + [ + -137.66136169433594, + -127.9091567993164, + 7.689445495605469 + ], + [ + -137.66136169433594, + -128.2017364501953, + 7.689445495605469 + ], + [ + -138.06874084472656, + -128.2017364501953, + 7.797580718994141 + ], + [ + -138.06874084472656, + -127.9091567993164, + 7.797580718994141 + ], + [ + -137.66136169433594, + -127.9091567993164, + 7.797580718994141 + ], + [ + -137.66136169433594, + -128.2017364501953, + 7.797580718994141 + ] + ], + "corners_2d": [ + [ + 697.9371730787915, + 390.978720795176 + ], + [ + 708.9035189028654, + 383.3414168404119 + ], + [ + 693.5708201209666, + 372.060789029092 + ], + [ + 682.6137482895866, + 379.5199605234564 + ], + [ + 698.1831125599292, + 386.9574031426914 + ], + [ + 709.1937043503214, + 379.31963138949834 + ], + [ + 693.7937850115524, + 368.0392436129436 + ], + [ + 682.7925016288126, + 375.49813203978147 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5736675163518273754, + "instance_id": 55816, + "pixel_count": null, + "type_id": "AmericanLights_Town04_21_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1212.2094040635925, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 19.725172186643363 + }, + "corners_3d": [ + [ + -140.57330322265625, + -78.3179702758789, + 0.0 + ], + [ + -140.5771484375, + -77.8851547241211, + 0.0 + ], + [ + -128.5230712890625, + -77.77800750732422, + 0.0 + ], + [ + -128.51922607421875, + -78.21082305908203, + 0.0 + ], + [ + -140.57330322265625, + -78.3179702758789, + 8.446706771850586 + ], + [ + -140.5771484375, + -77.8851547241211, + 8.446706771850586 + ], + [ + -128.5230712890625, + -77.77800750732422, + 8.446706771850586 + ], + [ + -128.51922607421875, + -78.21082305908203, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1459.7089093066343, + 19.725172186643363 + ], + [ + 1462.6721023548716, + 17.02982788651377 + ], + [ + 1215.7893399581685, + -55.33089151142076 + ], + [ + 1212.2094040635925, + -53.24848523135921 + ], + [ + 1580.2151311603106, + -174.11986801671503 + ], + [ + 1582.9930141906707, + -176.21419622533642 + ], + [ + 1288.544915804327, + -231.42730833529356 + ], + [ + 1284.8347660183704, + -229.86518052565475 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6967274615413648305, + "instance_id": 45483, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_2", + "bbox_3d": { + "center_world": { + "x": -99.33560943603516, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 57.580558601571624, + "ymin": 0.0, + "xmax": 167.3050169083317, + "ymax": 50.62740965643496 + }, + "corners_3d": [ + [ + -100.3640365600586, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -127.03557586669922, + 4.877264976501465 + ], + [ + -100.3640365600586, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + 117.90318089168852, + 50.62740965643496 + ], + [ + 167.3050169083317, + 34.819581524331795 + ], + [ + 149.1231860638519, + 20.264293656502446 + ], + [ + 100.46150813202814, + 35.32582181863813 + ], + [ + 75.29605940310705, + -54.45661523283161 + ], + [ + 129.7698472023858, + -68.68557846436096 + ], + [ + 111.1351684645092, + -81.735991255883 + ], + [ + 57.580558601571624, + -68.23079839834355 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8232706723728016641, + "instance_id": 325, + "pixel_count": null, + "type_id": "BP_StreetLight_wall40_71_SM_0", + "bbox_3d": { + "center_world": { + "x": -140.893310546875, + "y": -111.95197296142578, + "z": 4.334987163543701 + }, + "extent": { + "x": 0.11768747121095657, + "y": 1.147606611251831, + "z": 0.41115570068359375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1131.1783933960648, + "ymin": 209.41462946880785, + "xmax": 1227.1769936738979, + "ymax": 273.79772438318287 + }, + "corners_3d": [ + [ + -142.04092407226562, + -111.83428192138672, + 3.9238314628601074 + ], + [ + -139.74569702148438, + -111.83428955078125, + 3.9238314628601074 + ], + [ + -139.74569702148438, + -112.06966400146484, + 3.9238314628601074 + ], + [ + -142.04092407226562, + -112.06965637207031, + 3.9238314628601074 + ], + [ + -142.04092407226562, + -111.83428192138672, + 4.746142864227295 + ], + [ + -139.74569702148438, + -111.83428955078125, + 4.746142864227295 + ], + [ + -139.74569702148438, + -112.06966400146484, + 4.746142864227295 + ], + [ + -142.04092407226562, + -112.06965637207031, + 4.746142864227295 + ] + ], + "corners_2d": [ + [ + 1214.3684518753648, + 270.10133160989744 + ], + [ + 1135.1601303763834, + 232.96676256616894 + ], + [ + 1131.1783933960648, + 236.3473742145586 + ], + [ + 1210.548093101298, + 273.79772438318287 + ], + [ + 1227.1769936738979, + 246.28026161863653 + ], + [ + 1145.710861839329, + 209.41462946880785 + ], + [ + 1141.6886240010888, + 212.76779602785777 + ], + [ + 1223.3278671073763, + 249.95380576005482 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9919303964700251881, + "instance_id": 59670, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_Poles_4", + "bbox_3d": { + "center_world": { + "x": -112.9144515991211, + "y": -134.7008514404297, + "z": 4.223348617553711 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 210.51557587451424, + "ymax": 333.692202133283 + }, + "corners_3d": [ + [ + -113.18444061279297, + -128.6757354736328, + -4.76837158203125e-06 + ], + [ + -112.75162506103516, + -128.67189025878906, + -4.76837158203125e-06 + ], + [ + -112.64446258544922, + -140.72596740722656, + -4.76837158203125e-06 + ], + [ + -113.07727813720703, + -140.7298126220703, + -4.76837158203125e-06 + ], + [ + -113.18444061279297, + -128.6757354736328, + 8.446702003479004 + ], + [ + -112.75162506103516, + -128.67189025878906, + 8.446702003479004 + ], + [ + -112.64446258544922, + -140.72596740722656, + 8.446702003479004 + ], + [ + -113.07727813720703, + -140.7298126220703, + 8.446702003479004 + ] + ], + "corners_2d": [ + [ + 210.51557587451424, + 187.04325447985673 + ], + [ + 205.5329236315735, + 182.20347281084898 + ], + [ + -157.0300249800564, + 326.83897927529216 + ], + [ + -153.831110489931, + 333.692202133283 + ], + [ + 126.38222957154164, + -38.48089022004223 + ], + [ + 121.06322142134081, + -42.566503437640506 + ], + [ + -348.3560636502831, + 84.03898296806204 + ], + [ + -346.1742647858897, + 90.27834850920237 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12065512595391554584, + "instance_id": 6308, + "pixel_count": null, + "type_id": "AmericanLights_Town04_20_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -94.9981918334961, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1221.6980887280417, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 196.3462101077006 + }, + "corners_3d": [ + [ + -139.1320343017578, + -101.02330780029297, + 0.0 + ], + [ + -139.56484985351562, + -101.02715301513672, + 0.0 + ], + [ + -139.67198181152344, + -88.97307586669922, + 0.0 + ], + [ + -139.23916625976562, + -88.96923065185547, + 0.0 + ], + [ + -139.1320343017578, + -101.02330780029297, + 8.446706771850586 + ], + [ + -139.56484985351562, + -101.02715301513672, + 8.446706771850586 + ], + [ + -139.67198181152344, + -88.97307586669922, + 8.446706771850586 + ], + [ + -139.23916625976562, + -88.96923065185547, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1221.6980887280417, + 191.38901124645764 + ], + [ + 1233.2539824447374, + 196.3462101077006 + ], + [ + 1357.112265627357, + 87.7805771296355 + ], + [ + 1346.4799055566023, + 84.10649088430961 + ], + [ + 1336.4200567360597, + -34.803789352337276 + ], + [ + 1351.1539262633432, + -30.599291534297265 + ], + [ + 1476.442217764733, + -120.31021343428728 + ], + [ + 1463.2891391472224, + -123.26163957997977 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 683.4725704838651, + "ymin": 0.0, + "xmax": 760.0541433283532, + "ymax": 17.563038942101457 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 689.7039187558835, + -10.076391142627585 + ], + [ + 683.4725704838651, + -7.540350164923325 + ], + [ + 739.6976225414645, + 17.563038942101457 + ], + [ + 745.9410099494147, + 14.801059194980269 + ], + [ + 696.014289805081, + -181.26525164000407 + ], + [ + 689.0194086342516, + -179.26151045097617 + ], + [ + 753.0487235614612, + -159.3047348227975 + ], + [ + 760.0541433283532, + -161.51141200080383 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 267.93584253278385, + "ymin": 0.0, + "xmax": 382.25695916893056, + "ymax": 180.14666826083243 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 330.6850651180959, + 136.0374970318292 + ], + [ + 320.8522147189812, + 140.03928130887968 + ], + [ + 372.18132011911257, + 180.14666826083243 + ], + [ + 382.25695916893056, + 175.68935860238255 + ], + [ + 279.73008111691877, + -62.01721941197991 + ], + [ + 267.93584253278385, + -58.63866285510733 + ], + [ + 324.87342095017686, + -24.431351085868016 + ], + [ + 337.04179404170384, + -28.2643364155183 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16194625468754558244, + "instance_id": 9469, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.53463745117188, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 19.622910897348902, + "ymin": 0.0, + "xmax": 126.16139410301776, + "ymax": 16.02788749447143 + }, + "corners_3d": [ + [ + -95.56306457519531, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -127.03557586669922, + 4.877264976501465 + ], + [ + -95.56306457519531, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + 78.46455860054743, + 16.02788749447143 + ], + [ + 126.16139410301776, + 1.8824544011548596 + ], + [ + 109.84880101308386, + -11.176433360241276 + ], + [ + 62.85778439136095, + 2.336057030890629 + ], + [ + 35.33753485167313, + -85.52522810249172 + ], + [ + 87.70083512256156, + -98.14774312498963 + ], + [ + 71.11952116070267, + -109.76012425975262 + ], + [ + 19.622910897348902, + -97.74368645424443 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 705.9689651002844, + "ymin": 0.0, + "xmax": 942.9213835128642, + "ymax": 60.937057196380636 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 711.8737563392194, + -24.02568745036757 + ], + [ + 705.9689651002844, + -21.687838973085036 + ], + [ + 895.7726572469178, + 60.937057196380636 + ], + [ + 901.6358684958603, + 57.86083487639672 + ], + [ + 721.5681652036747, + -207.77766827394146 + ], + [ + 714.9092601759995, + -205.9971609925974 + ], + [ + 936.3577840202558, + -141.7505543995391 + ], + [ + 942.9213835128642, + -144.1894533024552 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17718493663991687542, + "instance_id": 30441, + "pixel_count": null, + "type_id": "BP_StreetLight_simple48_110_SM_0", + "bbox_3d": { + "center_world": { + "x": -137.86505126953125, + "y": -128.05545043945312, + "z": 7.743518352508545 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 682.4712358371531, + "ymin": 367.917466979496, + "xmax": 709.3380190940208, + "ymax": 391.104354467222 + }, + "corners_3d": [ + [ + -138.07093811035156, + -128.2033233642578, + 7.688869476318359 + ], + [ + -138.07093811035156, + -127.90758514404297, + 7.688869476318359 + ], + [ + -137.65916442871094, + -127.90758514404297, + 7.688869476318359 + ], + [ + -137.65916442871094, + -128.2033233642578, + 7.688869476318359 + ], + [ + -138.07093811035156, + -128.2033233642578, + 7.7981672286987305 + ], + [ + -138.07093811035156, + -127.90758514404297, + 7.7981672286987305 + ], + [ + -137.65916442871094, + -127.90758514404297, + 7.7981672286987305 + ], + [ + -137.65916442871094, + -128.2033233642578, + 7.7981672286987305 + ] + ], + "corners_2d": [ + [ + 697.9595541362048, + 391.104354467222 + ], + [ + 709.0441024302949, + 383.38361022497924 + ], + [ + 693.5463091154419, + 371.9822416674111 + ], + [ + 682.4712358371531, + 379.5209916661158 + ], + [ + 698.2082661631474, + 387.0398128018558 + ], + [ + 709.3380190940208, + 379.3185863238535 + ], + [ + 693.7715493257442, + 367.917466979496 + ], + [ + 682.6513069495378, + 375.45592380130864 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 293.9905626596378, + "ymax": 165.22291186638438 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 197.43407281027987, + 46.53374085495176 + ], + [ + 52.88935516805725, + 106.85796885578645 + ], + [ + 147.2514855130106, + 165.22291186638438 + ], + [ + 293.9905626596378, + 94.76687424825872 + ], + [ + 92.27809575042068, + -260.39674331195715 + ], + [ + -103.56668036977885, + -221.30263646874232 + ], + [ + 1.5266391178855656, + -181.70156721702017 + ], + [ + 203.82438413905692, + -229.28398812893045 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 319.20548326755306, + "ymax": 201.1352198328928 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 121.73875675415252, + 201.1352198328928 + ], + [ + 314.14632367583863, + 179.28429332633647 + ], + [ + 319.20548326755306, + 88.04238933332914 + ], + [ + 150.56524224750126, + 104.9115831628016 + ], + [ + -41.21307908269671, + -156.41252145049202 + ], + [ + 215.41596264502272, + -171.8858077439014 + ], + [ + 236.6543321608316, + -233.690757731467 + ], + [ + 20.604692502360308, + -222.59248702340938 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 139.1417071307672, + "ymax": 25.34529708396542 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 67.49894954807394, + -55.47141842495853 + ], + [ + -62.0182173173514, + -13.786574098243932 + ], + [ + 6.767733853057166, + 25.34529708396542 + ], + [ + 139.1417071307672, + -22.038920036043578 + ], + [ + -42.224708739131756, + -322.597096665701 + ], + [ + -209.45268444038982, + -297.7453124553799 + ], + [ + -137.4645738690897, + -273.7085251025452 + ], + [ + 35.79662839779894, + -302.72582380446 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00003/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00003/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b804d2f4e5f999d0873a277d8b5cd0a851cd9b95 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00003/meta.json @@ -0,0 +1,3512 @@ +{ + "frame_id": 3, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 1.5, + "sim_timestamp": 9735.378861134872 + }, + "drone_pose": { + "x": -146.22137134760652, + "y": -137.04943768740816, + "z": 20.642681091828756, + "pitch": -41.53610227633325, + "yaw": 48.73720795167674, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.4936710596084595, + -0.5626705884933472, + 0.6630918383598328, + 135.6109619140625 + ], + [ + 0.7516926527023315, + 0.6595135927200317, + 1.4901161193847656e-08, + -19.527542114257812 + ], + [ + -0.4373181164264679, + 0.498441219329834, + 0.748538076877594, + -147.7081756591797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -145.7591181183585, + "y": -136.57213453396804, + "z": 20.61628109541264 + }, + "t1_image_uv": [ + 578.9874300396646, + -424.578371456327 + ], + "t1_depth": 0.5142710721914677 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -130.16718292236328, + "y": -121.68776321411131, + "z": 0.5749846434596475 + }, + "image_uv": [ + 577.7717562802217, + 371.0459063505409 + ], + "depth": 29.875775115345398, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 174, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -130.16717529296875, + "y": -121.68775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.22510741651058197, + "y": 0.18846191465854645, + "z": 0.5211507081985474 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 570.8251068936096, + "ymin": 353.42572404111905, + "xmax": 584.6319756448207, + "ymax": 388.4684149884077 + }, + "corners_3d": [ + [ + -130.19308471679688, + -121.98019409179688, + 0.053833961486816406 + ], + [ + -130.45960998535156, + -121.71366882324219, + 0.053833961486816406 + ], + [ + -130.14126586914062, + -121.39532470703125, + 0.053833961486816406 + ], + [ + -129.87474060058594, + -121.66184997558594, + 0.053833961486816406 + ], + [ + -130.19308471679688, + -121.98019409179688, + 1.0961353778839111 + ], + [ + -130.45960998535156, + -121.71366882324219, + 1.0961353778839111 + ], + [ + -130.14126586914062, + -121.39532470703125, + 1.0961353778839111 + ], + [ + -129.87474060058594, + -121.66184997558594, + 1.0961353778839111 + ] + ], + "corners_2d": [ + [ + 572.5798101976598, + 388.4684149884077 + ], + [ + 584.6319756448207, + 387.93077502267016 + ], + [ + 584.3177624898037, + 378.21422690230156 + ], + [ + 572.3988125046351, + 378.74003400635405 + ], + [ + 570.9923372508151, + 363.62183781271904 + ], + [ + 583.3290987527851, + 363.08710359586206 + ], + [ + 583.0223236351177, + 353.42572404111905 + ], + [ + 570.8251068936096, + 353.9484170211509 + ] + ], + "center_offset_px": [ + -62.228243719778334, + 11.045906350540918 + ] + }, + "trace_timestep_index": 3, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 60, + "semantic_pixel_counts": { + "1": 447508, + "2": 212037, + "3": 199146, + "5": 3427, + "6": 6633, + "7": 264, + "9": 19332, + "10": 4519, + "12": 3255, + "14": 6, + "21": 2160, + "24": 23313 + }, + "instance_pixel_counts": { + "1115": 2517, + "6254": 4, + "10370": 1104, + "11394": 221, + "11906": 2589, + "14928": 3427, + "14999": 2421, + "15511": 2401, + "16023": 311, + "16535": 397, + "18011": 3499, + "20119": 10506, + "20631": 6484, + "24064": 203, + "25024": 6586, + "26560": 6417, + "27072": 1328, + "27584": 712, + "28608": 4350, + "29843": 10233, + "30144": 74504, + "30355": 159578, + "30656": 27229, + "31168": 1004, + "31323": 108885, + "31488": 2692, + "31813": 4495, + "31891": 223977, + "33883": 57656, + "34120": 21070, + "34453": 1316, + "34965": 6783, + "35931": 1293, + "36443": 21302, + "36501": 13656, + "43649": 88, + "43867": 19, + "44171": 354, + "44691": 53634, + "45707": 39, + "46227": 86, + "47253": 1548, + "48779": 63, + "48789": 10, + "49664": 174, + "49920": 372, + "50176": 367, + "50432": 742, + "50688": 949, + "50944": 651, + "53184": 698, + "55201": 2136, + "55552": 6, + "55744": 566, + "56225": 5, + "57173": 19332, + "60013": 2827, + "61037": 1163, + "64351": 2366, + "65375": 42231 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 174, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -130.16717529296875, + "y": -121.68775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.18645507097244263, + "y": 0.2198193371295929, + "z": 0.5188310742378235 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 569.8266541775407, + "ymin": 354.2594432107349, + "xmax": 585.6028864234478, + "ymax": 387.6153870187733 + }, + "corners_3d": [ + [ + -130.14358520507812, + -121.97503662109375, + 0.05615359544754028 + ], + [ + -130.45445251464844, + -121.66416931152344, + 0.05615359544754028 + ], + [ + -130.19076538085938, + -121.40048217773438, + 0.05615359544754028 + ], + [ + -129.87989807128906, + -121.71134948730469, + 0.05615359544754028 + ], + [ + -130.14358520507812, + -121.97503662109375, + 1.093815803527832 + ], + [ + -130.45445251464844, + -121.66416931152344, + 1.093815803527832 + ], + [ + -130.19076538085938, + -121.40048217773438, + 1.093815803527832 + ], + [ + -129.87989807128906, + -121.71134948730469, + 1.093815803527832 + ] + ], + "corners_2d": [ + [ + 571.5583456405911, + 387.6153870187733 + ], + [ + 585.6028864234478, + 386.9895089055429 + ], + [ + 585.3334686005084, + 378.9421900803018 + ], + [ + 571.4176411674254, + 379.556636053479 + ], + [ + 569.9555708749011, + 362.88373449808745 + ], + [ + 584.3299376722125, + 362.26125195718043 + ], + [ + 584.0662201463729, + 354.2594432107349 + ], + [ + 569.8266541775407, + 354.87029320670507 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 372, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -126.04119873046875, + "y": -118.69005584716797, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.4556835889816284, + "y": 0.3977978527545929, + "z": 0.9045857191085815 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 536.9893893458052, + "ymin": 245.22381263202058, + "xmax": 567.769047915824, + "ymax": 305.5850299318129 + }, + "corners_3d": [ + [ + -126.20671081542969, + -119.27185821533203, + -0.3296010494232178 + ], + [ + -126.64002227783203, + -118.6046142578125, + -0.3296010494232178 + ], + [ + -125.87568664550781, + -118.1082534790039, + -0.3296010494232178 + ], + [ + -125.44237518310547, + -118.77549743652344, + -0.3296010494232178 + ], + [ + -126.20671081542969, + -119.27185821533203, + 1.4795703887939453 + ], + [ + -126.64002227783203, + -118.6046142578125, + 1.4795703887939453 + ], + [ + -125.87568664550781, + -118.1082534790039, + 1.4795703887939453 + ], + [ + -125.44237518310547, + -118.77549743652344, + 1.4795703887939453 + ] + ], + "corners_2d": [ + [ + 545.6676311624997, + 305.5850299318129 + ], + [ + 567.769047915824, + 301.7980546535435 + ], + [ + 562.2826997126817, + 286.7675009358553 + ], + [ + 540.5768501940863, + 290.4118093674449 + ], + [ + 542.195282085132, + 263.6911076426832 + ], + [ + 565.1233586165963, + 259.9720332331259 + ], + [ + 559.4920037511681, + 245.22381263202058 + ], + [ + 536.9893893458052, + 248.79778506522348 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 367, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -132.42300415039062, + "y": -114.74504852294922, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.41193845868110657, + "y": 0.3948632776737213, + "z": 0.876119077205658 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 751.1499818517739, + "ymin": 268.27828084150235, + "xmax": 784.6545487655249, + "ymax": 326.1195257033351 + }, + "corners_3d": [ + [ + -132.49464416503906, + -115.3111572265625, + -0.3011344075202942 + ], + [ + -132.99163818359375, + -114.69742584228516, + -0.3011344075202942 + ], + [ + -132.3513641357422, + -114.17893981933594, + -0.3011344075202942 + ], + [ + -131.8543701171875, + -114.79267120361328, + -0.3011344075202942 + ], + [ + -132.49464416503906, + -115.3111572265625, + 1.451103687286377 + ], + [ + -132.99163818359375, + -114.69742584228516, + 1.451103687286377 + ], + [ + -132.3513641357422, + -114.17893981933594, + 1.451103687286377 + ], + [ + -131.8543701171875, + -114.79267120361328, + 1.451103687286377 + ] + ], + "corners_2d": [ + [ + 757.2701335074468, + 326.1195257033351 + ], + [ + 779.5607415449945, + 323.64541977829253 + ], + [ + 773.0556044663531, + 308.9206330087223 + ], + [ + 751.1499818517739, + 311.30591367368356 + ], + [ + 761.5638438861456, + 285.2003927442496 + ], + [ + 784.6545487655249, + 282.7644953601754 + ], + [ + 777.820993059552, + 268.27828084150235 + ], + [ + 755.1431261213058, + 270.62361743176143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 742, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -139.66717529296875, + "y": -121.68775939941406, + "z": 0.7273821234703064 + }, + "extent": { + "x": 0.46117186546325684, + "y": 0.4780663847923279, + "z": 0.8909794688224792 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 813.4633962706209, + "ymin": 490.9555842937233, + "xmax": 866.8299634638071, + "ymax": 563.9627404500652 + }, + "corners_3d": [ + [ + -139.6552276611328, + -122.35189819335938, + -0.16359734535217285 + ], + [ + -140.33131408691406, + -121.67581176757812, + -0.16359734535217285 + ], + [ + -139.6791229248047, + -121.02362060546875, + -0.16359734535217285 + ], + [ + -139.00303649902344, + -121.69970703125, + -0.16359734535217285 + ], + [ + -139.6552276611328, + -122.35189819335938, + 1.6183615922927856 + ], + [ + -140.33131408691406, + -121.67581176757812, + 1.6183615922927856 + ], + [ + -139.6791229248047, + -121.02362060546875, + 1.6183615922927856 + ], + [ + -139.00303649902344, + -121.69970703125, + 1.6183615922927856 + ] + ], + "corners_2d": [ + [ + 820.4659177747571, + 563.9627404500652 + ], + [ + 856.2589512714165, + 562.0227980446914 + ], + [ + 848.322126880805, + 534.1822773222725 + ], + [ + 813.4633962706209, + 536.0208516255732 + ], + [ + 829.3043777486914, + 520.8766290191049 + ], + [ + 866.8299634638071, + 518.9250085950996 + ], + [ + 858.2229985819238, + 490.9555842937233 + ], + [ + 821.7230441313429, + 492.8004433270039 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 949, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -133.78268432617188, + "y": -132.81512451171875, + "z": 0.5871574878692627 + }, + "extent": { + "x": 0.4399462938308716, + "y": 0.5514453053474426, + "z": 0.8913059830665588 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 312.96948786478407, + "ymin": 648.718611696441, + "xmax": 387.00161832678344, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -133.63099670410156, + -133.50405883789062, + -0.30414849519729614 + ], + [ + -134.48809814453125, + -132.80999755859375, + -0.30414849519729614 + ], + [ + -133.9343719482422, + -132.12619018554688, + -0.30414849519729614 + ], + [ + -133.0772705078125, + -132.82025146484375, + -0.30414849519729614 + ], + [ + -133.63099670410156, + -133.50405883789062, + 1.4784634113311768 + ], + [ + -134.48809814453125, + -132.80999755859375, + 1.4784634113311768 + ], + [ + -133.9343719482422, + -132.12619018554688, + 1.4784634113311768 + ], + [ + -133.0772705078125, + -132.82025146484375, + 1.4784634113311768 + ] + ], + "corners_2d": [ + [ + 330.46092100488227, + 725.1612377513599 + ], + [ + 377.9447983702792, + 726.9569054184985 + ], + [ + 387.00161832678344, + 691.7026536780102 + ], + [ + 340.87789858964425, + 690.0094103383508 + ], + [ + 312.96948786478407, + 684.5577189989551 + ], + [ + 363.113471046355, + 686.3916398544065 + ], + [ + 373.1202848047011, + 650.4422799627457 + ], + [ + 324.49067808393585, + 648.718611696441 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 651, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -118.92184448242188, + "y": -129.85797119140625, + "z": 0.5776799321174622 + }, + "extent": { + "x": 0.4062597453594208, + "y": 0.4315722584724426, + "z": 0.8807995319366455 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 119.39188249995027, + "ymin": 313.8473622682125, + "xmax": 176.3994808897894, + "ymax": 374.318759690272 + }, + "corners_3d": [ + [ + -118.78116607666016, + -130.43374633789062, + -0.30311959981918335 + ], + [ + -119.50505828857422, + -129.96363830566406, + -0.30311959981918335 + ], + [ + -119.0625228881836, + -129.28219604492188, + -0.30311959981918335 + ], + [ + -118.33863067626953, + -129.75230407714844, + -0.30311959981918335 + ], + [ + -118.78116607666016, + -130.43374633789062, + 1.458479404449463 + ], + [ + -119.50505828857422, + -129.96363830566406, + 1.458479404449463 + ], + [ + -119.0625228881836, + -129.28219604492188, + 1.458479404449463 + ], + [ + -118.33863067626953, + -129.75230407714844, + 1.458479404449463 + ] + ], + "corners_2d": [ + [ + 138.90936427906536, + 371.7419012476001 + ], + [ + 163.80855001945173, + 374.318759690272 + ], + [ + 176.3994808897894, + 357.88272955368717 + ], + [ + 151.9353621104517, + 355.40275659299556 + ], + [ + 119.39188249995027, + 329.98890051494953 + ], + [ + 145.20328948470632, + 332.5367700475188 + ], + [ + 158.6436266515339, + 316.2958092912836 + ], + [ + 133.29926909402093, + 313.8473622682125 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 217, + "instance_id": 55552, + "pixel_count": 6, + "type_id": "vehicle.mini.cooper_s", + "bbox_3d": { + "center_world": { + "x": -131.65988159179688, + "y": -76.91120147705078, + "z": 0.7358787059783936 + }, + "extent": { + "x": 1.9029000997543335, + "y": 0.9851378202438354, + "z": 0.7375150918960571 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 1113.6985095152545, + "ymin": 0.0, + "xmax": 1182.9469015001064, + "ymax": 7.622384033460605 + }, + "corners_3d": [ + [ + -130.6616973876953, + -78.80728912353516, + -0.001636367291212082 + ], + [ + -132.63192749023438, + -78.8208236694336, + -0.001636367291212082 + ], + [ + -132.65806579589844, + -75.0151138305664, + -0.001636367291212082 + ], + [ + -130.68783569335938, + -75.00157928466797, + -0.001636367291212082 + ], + [ + -130.6616973876953, + -78.80728912353516, + 1.4733937978744507 + ], + [ + -132.63192749023438, + -78.8208236694336, + 1.4733937978744507 + ], + [ + -132.65806579589844, + -75.0151138305664, + 1.4733937978744507 + ], + [ + -130.68783569335938, + -75.00157928466797, + 1.4733937978744507 + ] + ], + "corners_2d": [ + [ + 1113.6985095152545, + -1.3948429155844906 + ], + [ + 1149.01640998644, + 7.622384033460605 + ], + [ + 1173.342128008682, + -11.55026842006248 + ], + [ + 1138.9363839860632, + -19.892411652275086 + ], + [ + 1122.4134225029252, + -27.981219947607713 + ], + [ + 1158.5570026612904, + -19.294405954092724 + ], + [ + 1182.9469015001064, + -37.7574721456366 + ], + [ + 1147.7622598604487, + -45.782559941719285 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 336081800985065791, + "instance_id": 16185, + "pixel_count": null, + "type_id": "AmericanLights_Town04_20_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -95.84429168701172, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1207.0451455426953, + "ymin": 12.529808232300297, + "xmax": 1227.0893574422103, + "ymax": 40.0025849898816 + }, + "corners_3d": [ + [ + -139.30453491210938, + -95.65432739257812, + 5.545533180236816 + ], + [ + -139.02737426757812, + -95.65432739257812, + 5.545533180236816 + ], + [ + -139.02737426757812, + -96.03425598144531, + 5.545533180236816 + ], + [ + -139.30453491210938, + -96.03425598144531, + 5.545533180236816 + ], + [ + -139.30453491210938, + -95.65432739257812, + 6.416468620300293 + ], + [ + -139.02737426757812, + -95.65432739257812, + 6.416468620300293 + ], + [ + -139.02737426757812, + -96.03425598144531, + 6.416468620300293 + ], + [ + -139.30453491210938, + -96.03425598144531, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1217.8552746414234, + 36.91439408944342 + ], + [ + 1210.2829293450932, + 34.956604834122004 + ], + [ + 1207.0451455426953, + 38.021840924930416 + ], + [ + 1214.6497004212465, + 40.0025849898816 + ], + [ + 1227.0893574422103, + 14.433974240212137 + ], + [ + 1219.3616343834774, + 12.529808232300297 + ], + [ + 1216.1258178033377, + 15.511188500050025 + ], + [ + 1223.8872002691342, + 17.438039865491362 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5334257868772976186, + "instance_id": 15014, + "pixel_count": null, + "type_id": "AmericanLights_Town04_20_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -92.84429168701172, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1231.628036114636, + "ymin": 0.0, + "xmax": 1251.1030995105739, + "ymax": 16.558839580822678 + }, + "corners_3d": [ + [ + -139.30453491210938, + -92.65432739257812, + 5.545533180236816 + ], + [ + -139.02737426757812, + -92.65432739257812, + 5.545533180236816 + ], + [ + -139.02737426757812, + -93.03425598144531, + 5.545533180236816 + ], + [ + -139.30453491210938, + -93.03425598144531, + 5.545533180236816 + ], + [ + -139.30453491210938, + -92.65432739257812, + 6.416468620300293 + ], + [ + -139.02737426757812, + -92.65432739257812, + 6.416468620300293 + ], + [ + -139.02737426757812, + -93.03425598144531, + 6.416468620300293 + ], + [ + -139.30453491210938, + -93.03425598144531, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1241.9137777042479, + 13.736877322204748 + ], + [ + 1234.587666444792, + 11.947113811145186 + ], + [ + 1231.628036114636, + 14.749019761977422 + ], + [ + 1238.9845515786044, + 16.558839580822678 + ], + [ + 1251.1030995105739, + -8.094231960421268 + ], + [ + 1243.6324260086155, + -9.832540634435873 + ], + [ + 1240.678737891865, + -7.111104715473175 + ], + [ + 1248.1811256308247, + -5.353016955760438 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10476196482746081849, + "instance_id": 14818, + "pixel_count": null, + "type_id": "AmericanLights_Town04_20_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -100.74504852294922, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1130.8921562285286, + "ymin": 128.4871597054888, + "xmax": 1150.3271130930084, + "ymax": 155.79670683881787 + }, + "corners_3d": [ + [ + -139.20529174804688, + -100.55508422851562, + 2.645533323287964 + ], + [ + -138.92662048339844, + -100.55508422851562, + 2.645533323287964 + ], + [ + -138.9266357421875, + -100.93501281738281, + 2.645533323287964 + ], + [ + -139.20530700683594, + -100.93501281738281, + 2.645533323287964 + ], + [ + -139.20529174804688, + -100.55508422851562, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -100.55508422851562, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -100.93501281738281, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -100.93501281738281, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1142.1418204388988, + 151.95195142191645 + ], + [ + 1134.6513229337036, + 149.50189596422268 + ], + [ + 1130.8921562285286, + 153.31729161588532 + ], + [ + 1138.4130076571237, + 155.79670683881787 + ], + [ + 1150.3271130930084, + 130.89538210224438 + ], + [ + 1142.683261572326, + 128.4871597054888 + ], + [ + 1138.9113565910416, + 132.23753996343308 + ], + [ + 1146.5869428910719, + 134.67509461237674 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11529003171770300666, + "instance_id": 64120, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.25050354003906, + "y": -128.95399475097656, + "z": 3.0800981521606445 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 52.52787842369219, + "ymin": 188.30291423574354, + "xmax": 77.67642886332351, + "ymax": 217.82039620721477 + }, + "corners_3d": [ + [ + -113.11116790771484, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -128.7640380859375, + 3.5146679878234863 + ], + [ + -113.11116790771484, + -128.7640380859375, + 3.5146679878234863 + ] + ], + "corners_2d": [ + [ + 62.8730501636536, + 214.84328660024846 + ], + [ + 66.60732192703222, + 217.82039620721477 + ], + [ + 77.67642886332351, + 213.20516229913557 + ], + [ + 73.92016225214104, + 210.26664658307175 + ], + [ + 52.52787842369219, + 192.81555992161296 + ], + [ + 56.28491950448881, + 195.75160477055837 + ], + [ + 67.62044344506683, + 191.20022058583433 + ], + [ + 63.84003380006641, + 188.30291423574354 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 162269529527095271, + "instance_id": 59151, + "pixel_count": null, + "type_id": "BP_StreetLight_simple36_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -72.95545959472656, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1142.5108910530878, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 1.193022149975718 + }, + "corners_3d": [ + [ + -138.1054229736328, + -73.32183837890625, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -72.58908081054688, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -72.58908081054688, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -73.32183837890625, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -73.32183837890625, + 11.111722946166992 + ], + [ + -138.1054229736328, + -72.58908081054688, + 11.111722946166992 + ], + [ + -130.23475646972656, + -72.58908081054688, + 11.111722946166992 + ], + [ + -130.23475646972656, + -73.32183837890625, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1285.302054171919, + 1.193022149975718 + ], + [ + 1288.9757631685552, + -2.5701048228664263 + ], + [ + 1146.9569009110373, + -35.39442145379843 + ], + [ + 1142.5108910530878, + -32.12235510222666 + ], + [ + 1386.8229506989685, + -225.7475229356255 + ], + [ + 1390.1712138378452, + -228.08939185350232 + ], + [ + 1219.922824523319, + -248.28021189953802 + ], + [ + 1215.432475802726, + -246.28633960291347 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1184484105883362010, + "instance_id": 55842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple48_110_SM_2", + "bbox_3d": { + "center_world": { + "x": -139.474609375, + "y": -128.0553741455078, + "z": 4.084396839141846 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 600.4846740530728, + "ymin": 419.7087009309, + "xmax": 786.9541935834748, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -141.39132690429688, + -128.2749786376953, + 0.20767807960510254 + ], + [ + -141.39132690429688, + -127.83576965332031, + 0.20767807960510254 + ], + [ + -137.55789184570312, + -127.83576965332031, + 0.20767807960510254 + ], + [ + -137.55789184570312, + -128.2749786376953, + 0.20767807960510254 + ], + [ + -141.39132690429688, + -128.2749786376953, + 7.961115837097168 + ], + [ + -141.39132690429688, + -127.83576965332031, + 7.961115837097168 + ], + [ + -137.55789184570312, + -127.83576965332031, + 7.961115837097168 + ], + [ + -137.55789184570312, + -128.2749786376953, + 7.961115837097168 + ] + ], + "corners_2d": [ + [ + 739.1727480183446, + 765.2410525909047 + ], + [ + 751.1794359464336, + 750.5476334322334 + ], + [ + 621.821919273729, + 648.4911619921209 + ], + [ + 609.4090700378636, + 660.8551527463198 + ], + [ + 771.5853845446514, + 543.4983388589055 + ], + [ + 786.9541935834748, + 527.5066678485742 + ], + [ + 616.59210412717, + 419.7087009309 + ], + [ + 600.4846740530728, + 432.471445116258 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2334590930876643410, + "instance_id": 21048, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -123.8453369140625, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 210.85059863804304, + "ymin": 48.81909896640764, + "xmax": 227.20712018223776, + "ymax": 58.7076659276737 + }, + "corners_3d": [ + [ + -116.6200942993164, + -123.69747161865234, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.69747161865234, + 7.743301868438721 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 220.27294047476812, + 52.10648361609617 + ], + [ + 211.86749449481113, + 55.05811272035612 + ], + [ + 218.7834149048382, + 58.7076659276737 + ], + [ + 227.20712018223776, + 55.71651654732989 + ], + [ + 219.28141641758572, + 48.81909896640764 + ], + [ + 210.85059863804304, + 51.75981101165513 + ], + [ + 217.77623590804097, + 55.39597029542915 + ], + [ + 226.2254725816328, + 52.41578994120067 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3639812104533344102, + "instance_id": 26239, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -123.8453369140625, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 210.93817562942286, + "ymin": 48.8714733031274, + "xmax": 227.1203653861504, + "ymax": 58.654887529707366 + }, + "corners_3d": [ + [ + -116.62229919433594, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.69904327392578, + 7.742714881896973 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 220.26018624173582, + 52.12401908753901 + ], + [ + 211.94406924030216, + 55.04434999850855 + ], + [ + 218.78637263642128, + 58.654887529707366 + ], + [ + 227.1203653861504, + 55.6958726839984 + ], + [ + 219.27912793161596, + 48.8714733031274 + ], + [ + 210.93817562942286, + 51.78111808514717 + ], + [ + 217.78999049626208, + 55.37854508590783 + ], + [ + 226.14897311425392, + 52.43026669574385 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3985217512616395484, + "instance_id": 56450, + "pixel_count": null, + "type_id": "BP_StreetLight_simple48_110_SM_1", + "bbox_3d": { + "center_world": { + "x": -137.86505126953125, + "y": -128.05545043945312, + "z": 7.743513107299805 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 607.5344402403497, + "ymin": 430.6171630884328, + "xmax": 634.5865164217095, + "ymax": 453.8943504715122 + }, + "corners_3d": [ + [ + -138.06874084472656, + -128.2017364501953, + 7.689445495605469 + ], + [ + -138.06874084472656, + -127.9091567993164, + 7.689445495605469 + ], + [ + -137.66136169433594, + -127.9091567993164, + 7.689445495605469 + ], + [ + -137.66136169433594, + -128.2017364501953, + 7.689445495605469 + ], + [ + -138.06874084472656, + -128.2017364501953, + 7.797580718994141 + ], + [ + -138.06874084472656, + -127.9091567993164, + 7.797580718994141 + ], + [ + -137.66136169433594, + -127.9091567993164, + 7.797580718994141 + ], + [ + -137.66136169433594, + -128.2017364501953, + 7.797580718994141 + ] + ], + "corners_2d": [ + [ + 624.0061109852688, + 453.8943504715122 + ], + [ + 634.5865164217095, + 445.1395496374172 + ], + [ + 618.2769865242893, + 434.6622779300583 + ], + [ + 607.6652698150879, + 443.22118989478116 + ], + [ + 623.9406552861187, + 449.8435028949739 + ], + [ + 634.5645677339713, + 441.0909143098599 + ], + [ + 618.1899019990145, + 430.6171630884328 + ], + [ + 607.5344402403497, + 439.1731280271186 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5736675163518273754, + "instance_id": 55816, + "pixel_count": null, + "type_id": "AmericanLights_Town04_21_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1080.7833456170788, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 44.1721945214598 + }, + "corners_3d": [ + [ + -140.57330322265625, + -78.3179702758789, + 0.0 + ], + [ + -140.5771484375, + -77.8851547241211, + 0.0 + ], + [ + -128.5230712890625, + -77.77800750732422, + 0.0 + ], + [ + -128.51922607421875, + -78.21082305908203, + 0.0 + ], + [ + -140.57330322265625, + -78.3179702758789, + 8.446706771850586 + ], + [ + -140.5771484375, + -77.8851547241211, + 8.446706771850586 + ], + [ + -128.5230712890625, + -77.77800750732422, + 8.446706771850586 + ], + [ + -128.51922607421875, + -78.21082305908203, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1308.5624952271069, + 44.1721945214598 + ], + [ + 1310.8785503740849, + 41.576469527314146 + ], + [ + 1083.8365956807736, + -15.75743040031324 + ], + [ + 1080.7833456170788, + -13.69213633333328 + ], + [ + 1393.8181018935861, + -134.29742556792854 + ], + [ + 1395.9614217267927, + -136.24587597150565 + ], + [ + 1133.3817710705102, + -178.67632227468403 + ], + [ + 1130.2257977292186, + -177.16775989981215 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5944504550537153523, + "instance_id": 62411, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_1", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88526153564453, + "z": 3.6450090408325195 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 27.609141566943208, + "xmax": 20.112898883775188, + "ymax": 63.69319529112158 + }, + "corners_3d": [ + [ + -100.3021469116211, + -126.97334289550781, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -126.97334289550781, + 3.8072457313537598 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.8072457313537598 + ] + ], + "corners_2d": [ + [ + -33.68809953007599, + 63.69319529112158 + ], + [ + 20.112898883775188, + 47.12113996230903 + ], + [ + 0.9441910778806459, + 34.881628524901544 + ], + [ + -52.171995930140156, + 50.6964970969251 + ], + [ + -37.357523069823856, + 56.176584737496626 + ], + [ + 16.838029243174788, + 39.74296900085875 + ], + [ + -2.3546767457339683, + 27.609141566943208 + ], + [ + -55.8531983961808, + 43.28800664336012 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6967274615413648305, + "instance_id": 45483, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_2", + "bbox_3d": { + "center_world": { + "x": -99.33560943603516, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 2.292277876336641, + "xmax": 53.49497813816163, + "ymax": 136.5524613605187 + }, + "corners_3d": [ + [ + -100.3640365600586, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -127.03557586669922, + 4.877264976501465 + ], + [ + -100.3640365600586, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + 0.5258045680913028, + 136.5524613605187 + ], + [ + 53.49497813816163, + 117.73345397830343 + ], + [ + 33.362277423428736, + 103.74463712533412 + ], + [ + -18.9599113970188, + 121.69506383058493 + ], + [ + -50.778549180030154, + 31.680892580842965 + ], + [ + 7.962325199048337, + 14.793085813546497 + ], + [ + -12.568026819924512, + 2.292277876336641 + ], + [ + -70.4768224405982, + 18.34141041973794 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8232706723728016641, + "instance_id": 325, + "pixel_count": null, + "type_id": "BP_StreetLight_wall40_71_SM_0", + "bbox_3d": { + "center_world": { + "x": -140.893310546875, + "y": -111.95197296142578, + "z": 4.334987163543701 + }, + "extent": { + "x": 0.11768747121095657, + "y": 1.147606611251831, + "z": 0.41115570068359375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1033.1953422638896, + "ymin": 239.64444486529771, + "xmax": 1123.2642357311374, + "ymax": 297.73764773304276 + }, + "corners_3d": [ + [ + -142.04092407226562, + -111.83428192138672, + 3.9238314628601074 + ], + [ + -139.74569702148438, + -111.83428955078125, + 3.9238314628601074 + ], + [ + -139.74569702148438, + -112.06966400146484, + 3.9238314628601074 + ], + [ + -142.04092407226562, + -112.06965637207031, + 3.9238314628601074 + ], + [ + -142.04092407226562, + -111.83428192138672, + 4.746142864227295 + ], + [ + -139.74569702148438, + -111.83428955078125, + 4.746142864227295 + ], + [ + -139.74569702148438, + -112.06966400146484, + 4.746142864227295 + ], + [ + -142.04092407226562, + -112.06965637207031, + 4.746142864227295 + ] + ], + "corners_2d": [ + [ + 1113.6252283709382, + 293.9194220302873 + ], + [ + 1036.6005585342093, + 262.70442268749196 + ], + [ + 1033.1953422638896, + 266.2240981496957 + ], + [ + 1110.453151397609, + 297.73764773304276 + ], + [ + 1123.2642357311374, + 270.51948555271457 + ], + [ + 1044.3444947718717, + 239.64444486529771 + ], + [ + 1040.9093731668024, + 243.12328799723457 + ], + [ + 1120.0751648212777, + 274.2995608416747 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9919303964700251881, + "instance_id": 59670, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_Poles_4", + "bbox_3d": { + "center_world": { + "x": -112.9144515991211, + "y": -134.7008514404297, + "z": 4.223348617553711 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 42.983911321313826, + "xmax": 105.88497558066592, + "ymax": 455.788302979429 + }, + "corners_3d": [ + [ + -113.18444061279297, + -128.6757354736328, + -4.76837158203125e-06 + ], + [ + -112.75162506103516, + -128.67189025878906, + -4.76837158203125e-06 + ], + [ + -112.64446258544922, + -140.72596740722656, + -4.76837158203125e-06 + ], + [ + -113.07727813720703, + -140.7298126220703, + -4.76837158203125e-06 + ], + [ + -113.18444061279297, + -128.6757354736328, + 8.446702003479004 + ], + [ + -112.75162506103516, + -128.67189025878906, + 8.446702003479004 + ], + [ + -112.64446258544922, + -140.72596740722656, + 8.446702003479004 + ], + [ + -113.07727813720703, + -140.7298126220703, + 8.446702003479004 + ] + ], + "corners_2d": [ + [ + 105.88497558066592, + 272.3332355372436 + ], + [ + 100.3125302118417, + 267.6195244862199 + ], + [ + -301.91916939232897, + 448.5452051015036 + ], + [ + -298.1092451229291, + 455.788302979429 + ], + [ + 3.111146291769387, + 46.93898889347594 + ], + [ + -2.76920674262351, + 42.983911321313826 + ], + [ + -535.4129459949477, + 201.8533073928204 + ], + [ + -532.9014238922102, + 208.5299749613904 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12065512595391554584, + "instance_id": 6308, + "pixel_count": null, + "type_id": "AmericanLights_Town04_20_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -94.9981918334961, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1112.347536379029, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 220.43989497572693 + }, + "corners_3d": [ + [ + -139.1320343017578, + -101.02330780029297, + 0.0 + ], + [ + -139.56484985351562, + -101.02715301513672, + 0.0 + ], + [ + -139.67198181152344, + -88.97307586669922, + 0.0 + ], + [ + -139.23916625976562, + -88.96923065185547, + 0.0 + ], + [ + -139.1320343017578, + -101.02330780029297, + 8.446706771850586 + ], + [ + -139.56484985351562, + -101.02715301513672, + 8.446706771850586 + ], + [ + -139.67198181152344, + -88.97307586669922, + 8.446706771850586 + ], + [ + -139.23916625976562, + -88.96923065185547, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1112.347536379029, + 216.34403401200652 + ], + [ + 1123.4058798387505, + 220.43989497572693 + ], + [ + 1224.7427269088764, + 111.64979497278875 + ], + [ + 1214.8735312494223, + 108.70907995983788 + ], + [ + 1195.3915712752982, + 0.5599487507016647 + ], + [ + 1208.973809108816, + 3.9089366687763345 + ], + [ + 1310.0955254350952, + -82.78565594218873 + ], + [ + 1298.3164083252136, + -85.06567035764368 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14081937874569997388, + "instance_id": 19500, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_0", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88525390625, + "z": 3.6439085006713867 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 27.593817543165642, + "xmax": 20.17590925697607, + "ymax": 63.76102528100779 + }, + "corners_3d": [ + [ + -100.30333709716797, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.30333709716797, + -126.97452545166016, + 3.807230234146118 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.807230234146118 + ] + ], + "corners_2d": [ + [ + -33.68199927807393, + 63.76102528100779 + ], + [ + 20.17590925697607, + 47.1694327244644 + ], + [ + 0.9831389573502065, + 34.914542741092475 + ], + [ + -52.18844783813779, + 50.74716992930894 + ], + [ + -37.376043805857535, + 56.194283415613256 + ], + [ + 16.87948284798165, + 39.74219693592636 + ], + [ + -2.3374853743382573, + 27.593817543165642 + ], + [ + -55.894361618289054, + 43.28939604736382 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 577.361010835196, + "ymin": 0.0, + "xmax": 647.8120256311904, + "ymax": 72.96277045588141 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 589.9799853251016, + 48.25387036080235 + ], + [ + 583.9960565527472, + 50.99657235269899 + ], + [ + 641.0306593056189, + 72.96277045588141 + ], + [ + 646.9555005263247, + 69.99360977852592 + ], + [ + 584.08744046338, + -116.13559854034133 + ], + [ + 577.361010835196, + -114.0041302075187 + ], + [ + 641.1583341061591, + -96.84053295536484 + ], + [ + 647.8120256311904, + -99.1702128883365 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 154.55084633685556, + "ymin": 16.06480554737078, + "xmax": 288.1146340288197, + "ymax": 255.01151188101352 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 231.9428481893197, + 212.3582918124788 + ], + [ + 221.74174248994836, + 217.03391446535426 + ], + [ + 277.75968660301095, + 255.01151188101352 + ], + [ + 288.1146340288197, + 249.82225843649132 + ], + [ + 166.893011055221, + 16.06480554737078 + ], + [ + 154.55084633685556, + 19.97578577162659 + ], + [ + 215.91050738659663, + 52.05295342303657 + ], + [ + 228.52254981223092, + 47.637055565095466 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16194625468754558244, + "instance_id": 9469, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.53463745117188, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 7.90174224358509, + "ymax": 102.93610505280458 + }, + "corners_3d": [ + [ + -95.56306457519531, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -127.03557586669922, + 4.877264976501465 + ], + [ + -95.56306457519531, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + -43.56258772768763, + 102.93610505280458 + ], + [ + 7.90174224358509, + 86.05387776542506 + ], + [ + -10.2097932212057, + 73.46942840947696 + ], + [ + -61.0369787949395, + 89.6122951838446 + ], + [ + -95.24134503522305, + 1.571112688080234 + ], + [ + -38.42687060590106, + -13.453016668446253 + ], + [ + -56.75105245993893, + -24.610500853429812 + ], + [ + -112.75890911473368, + -10.291614082616832 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 600.8798974381306, + "ymin": 0.0, + "xmax": 824.0705452798388, + "ymax": 107.76662941095819 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 610.8850792580201, + 33.717983887259436 + ], + [ + 605.2386467922621, + 36.23740653276741 + ], + [ + 795.5265535883843, + 107.76662941095819 + ], + [ + 800.9024399068392, + 104.5184732927508 + ], + [ + 607.2539825193911, + -142.1300819311749 + ], + [ + 600.8798974381306, + -140.24600941671412 + ], + [ + 818.0605723578201, + -85.79569001289639 + ], + [ + 824.0705452798388, + -88.30915117381863 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17718493663991687542, + "instance_id": 30441, + "pixel_count": null, + "type_id": "BP_StreetLight_simple48_110_SM_0", + "bbox_3d": { + "center_world": { + "x": -137.86505126953125, + "y": -128.05545043945312, + "z": 7.743518352508545 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 607.3879100428255, + "ymin": 430.49375202384977, + "xmax": 634.7319038184075, + "ymax": 454.0220071139389 + }, + "corners_3d": [ + [ + -138.07093811035156, + -128.2033233642578, + 7.688869476318359 + ], + [ + -138.07093811035156, + -127.90758514404297, + 7.688869476318359 + ], + [ + -137.65916442871094, + -127.90758514404297, + 7.688869476318359 + ], + [ + -137.65916442871094, + -128.2033233642578, + 7.688869476318359 + ], + [ + -138.07093811035156, + -128.2033233642578, + 7.7981672286987305 + ], + [ + -138.07093811035156, + -127.90758514404297, + 7.7981672286987305 + ], + [ + -137.65916442871094, + -127.90758514404297, + 7.7981672286987305 + ], + [ + -137.65916442871094, + -128.2033233642578, + 7.7981672286987305 + ] + ], + "corners_2d": [ + [ + 624.037681883131, + 454.0220071139389 + ], + [ + 634.7319038184075, + 445.1715872512488 + ], + [ + 618.2469501268572, + 434.5823174656164 + ], + [ + 607.5207386783192, + 443.2326011877558 + ], + [ + 623.9716441640644, + 449.9275851161979 + ], + [ + 634.7103142503759, + 441.0794212036383 + ], + [ + 618.158815462179, + 430.49375202384977 + ], + [ + 607.3879100428255, + 439.14102099734663 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 191.40134506510418, + "ymax": 253.54353956858495 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 86.48224738119757, + 128.06565646214537 + ], + [ + -68.83034989659109, + 198.39870165708575 + ], + [ + 36.541459649942226, + 253.54353956858495 + ], + [ + 191.40134506510418, + 172.16362394152497 + ], + [ + -41.36925896827165, + -175.82086801218486 + ], + [ + -256.0934756007957, + -130.59414857888834 + ], + [ + -139.36761990541936, + -93.39059118964803 + ], + [ + 78.53733241958935, + -147.7467484498202 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 217.73973404418695, + "ymax": 292.78671331124184 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 9.87352288291197, + 292.78671331124184 + ], + [ + 216.57978943481027, + 257.604721434569 + ], + [ + 217.73973404418695, + 163.92627518932517 + ], + [ + 38.026839487004395, + 190.69028617239044 + ], + [ + -186.51821646060148, + -65.92066970824487 + ], + [ + 92.28058550947401, + -90.58704585470679 + ], + [ + 113.15017277302616, + -153.0620837941791 + ], + [ + -118.76284417415366, + -135.6696473461992 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 21.287071816862294, + "ymax": 116.1202487696826 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -57.474732520333646, + 30.03521949147523 + ], + [ + -199.38790480973375, + 78.95757079976994 + ], + [ + -122.0016926029923, + 116.1202487696826 + ], + [ + 21.287071816862294, + 60.91286912569535 + ], + [ + -188.25437926758002, + -235.0343847559493 + ], + [ + -374.66073640615934, + -206.01592180020816 + ], + [ + -293.8427768845006, + -183.26721824825643 + ], + [ + -102.98969588558771, + -216.83960638088286 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00004/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00004/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..214a9eb731a180406dff343d9eb0e9792adb2402 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00004/meta.json @@ -0,0 +1,3744 @@ +{ + "frame_id": 4, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 2.0, + "sim_timestamp": 9751.392986951396 + }, + "drone_pose": { + "x": -145.7591181183585, + "y": -136.57213453396804, + "z": 20.61628109541264, + "pitch": -41.994089689702996, + "yaw": 43.71225052083101, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5372093915939331, + -0.5135882496833801, + 0.6690539121627808, + 134.65159606933594 + ], + [ + 0.6910369992256165, + 0.7228193879127502, + 1.4901161193847656e-08, + -2.007965087890625 + ], + [ + -0.48360514640808105, + 0.4623410105705261, + 0.7432138323783875, + -148.955078125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -145.33186872929568, + "y": -135.9826850659688, + "z": 20.55440700587944 + }, + "t1_image_uv": [ + 858.9257258067923, + -364.88765047916615 + ], + "t1_depth": 0.5736538077119764 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -129.66718292236328, + "y": -121.18776321411131, + "z": 0.5749846434596475 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 29.954679479747448, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 175, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -129.66717529296875, + "y": -121.18775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.23876953125, + "y": 0.25303709506988525, + "z": 0.5570201873779297 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 631.5668648408096, + "ymin": 341.3730136836493, + "xmax": 648.3348035699918, + "ymax": 378.39055732343274 + }, + "corners_3d": [ + [ + -129.65708923339844, + -121.5355224609375, + 0.017964482307434082 + ], + [ + -130.0149383544922, + -121.17767333984375, + 0.017964482307434082 + ], + [ + -129.67726135253906, + -120.83999633789062, + 0.017964482307434082 + ], + [ + -129.3194122314453, + -121.19784545898438, + 0.017964482307434082 + ], + [ + -129.65708923339844, + -121.5355224609375, + 1.1320048570632935 + ], + [ + -130.0149383544922, + -121.17767333984375, + 1.1320048570632935 + ], + [ + -129.67726135253906, + -120.83999633789062, + 1.1320048570632935 + ], + [ + -129.3194122314453, + -121.19784545898438, + 1.1320048570632935 + ] + ], + "corners_2d": [ + [ + 631.7753157046801, + 378.1431474629345 + ], + [ + 647.8850600790933, + 378.39055732343274 + ], + [ + 648.1311229288897, + 368.12278117108394 + ], + [ + 632.2086722440949, + 367.8810935563054 + ], + [ + 631.5668648408096, + 351.57532315227456 + ], + [ + 648.0849607787477, + 351.8213668743561 + ], + [ + 648.3348035699918, + 341.61322508383824 + ], + [ + 632.0135587329271, + 341.3730136836493 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 4, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 82, + "semantic_pixel_counts": { + "1": 502728, + "2": 220022, + "3": 125313, + "5": 3739, + "6": 7552, + "7": 243, + "9": 21431, + "10": 4837, + "12": 3140, + "14": 696, + "16": 38, + "20": 3809, + "21": 2867, + "24": 25185 + }, + "instance_pixel_counts": { + "1115": 2502, + "10370": 1050, + "11394": 221, + "11906": 2585, + "14672": 474, + "14723": 51, + "14928": 3265, + "14999": 2243, + "15511": 2904, + "16023": 325, + "16535": 471, + "17047": 1491, + "18011": 2669, + "20119": 11546, + "20631": 6447, + "23488": 1627, + "24064": 191, + "25024": 4512, + "26560": 6390, + "27072": 1383, + "27584": 1052, + "28608": 9418, + "29843": 11246, + "30144": 81958, + "30355": 190440, + "30656": 27007, + "30867": 1068, + "31168": 860, + "31301": 637, + "31323": 49583, + "31488": 3571, + "31813": 4179, + "31891": 234563, + "33883": 50218, + "34120": 20791, + "34453": 1451, + "34965": 7437, + "35477": 317, + "35931": 901, + "36180": 3809, + "36181": 4, + "36443": 17348, + "36501": 14134, + "36956": 83, + "39507": 4, + "43649": 122, + "43867": 28, + "44123": 2, + "44171": 376, + "44379": 122, + "44691": 65346, + "45203": 43, + "45707": 106, + "46227": 22, + "46683": 14, + "47195": 232, + "47253": 1826, + "47765": 18, + "48779": 29, + "48789": 2, + "49664": 175, + "49920": 354, + "50176": 382, + "50432": 786, + "50688": 891, + "50944": 552, + "53184": 731, + "53696": 2, + "54177": 584, + "54784": 38, + "55552": 696, + "55716": 20, + "55744": 362, + "56225": 382, + "57173": 21431, + "58017": 1279, + "58020": 71, + "59044": 46, + "60013": 1861, + "61037": 231, + "64351": 2769, + "65375": 35222 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 175, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -129.66717529296875, + "y": -121.18775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.26100584864616394, + "y": 0.25612303614616394, + "z": 0.5401496291160583 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 631.448348152668, + "ymin": 341.3137881389271, + "xmax": 648.4425791848649, + "ymax": 378.4833821309296 + }, + "corners_3d": [ + [ + -129.67062377929688, + -121.55342102050781, + 0.03483504056930542 + ], + [ + -130.0328369140625, + -121.19121551513672, + 0.03483504056930542 + ], + [ + -129.66372680664062, + -120.82209777832031, + 0.03483504056930542 + ], + [ + -129.301513671875, + -121.1843032836914, + 0.03483504056930542 + ], + [ + -129.67062377929688, + -121.55342102050781, + 1.1151342391967773 + ], + [ + -130.0328369140625, + -121.19121551513672, + 1.1151342391967773 + ], + [ + -129.66372680664062, + -120.82209777832031, + 1.1151342391967773 + ], + [ + -129.301513671875, + -121.1843032836914, + 1.1151342391967773 + ] + ], + "corners_2d": [ + [ + 631.653515212922, + 378.23258322956303 + ], + [ + 647.9745909360939, + 378.4833821309296 + ], + [ + 648.2425474254378, + 367.26042737788794 + ], + [ + 632.1288520447698, + 367.0159645967635 + ], + [ + 631.448348152668, + 352.4670874936652 + ], + [ + 648.1706734615765, + 352.71655026496273 + ], + [ + 648.4425791848649, + 341.556796622583 + ], + [ + 631.9378883647844, + 341.3137881389271 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 354, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -125.54119873046875, + "y": -118.19005584716797, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.25538572669029236, + "y": 0.3821679651737213, + "z": 0.8700061440467834 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 608.0393830127558, + "ymin": 237.91915188446941, + "xmax": 632.6528176527879, + "ymax": 288.9788820801041 + }, + "corners_3d": [ + [ + -125.5472412109375, + -118.649658203125, + -0.2950214743614197 + ], + [ + -125.9635238647461, + -118.00863647460938, + -0.2950214743614197 + ], + [ + -125.53515625, + -117.73045349121094, + -0.2950214743614197 + ], + [ + -125.1188735961914, + -118.37147521972656, + -0.2950214743614197 + ], + [ + -125.5472412109375, + -118.649658203125, + 1.444990873336792 + ], + [ + -125.9635238647461, + -118.00863647460938, + 1.444990873336792 + ], + [ + -125.53515625, + -117.73045349121094, + 1.444990873336792 + ], + [ + -125.1188735961914, + -118.37147521972656, + 1.444990873336792 + ] + ], + "corners_2d": [ + [ + 611.4584172107839, + 288.9788820801041 + ], + [ + 632.6528176527879, + 286.52703975144766 + ], + [ + 630.0927786992816, + 277.9860115653392 + ], + [ + 609.1201570357323, + 280.3850930865136 + ], + [ + 610.4481519318601, + 248.71810253091178 + ], + [ + 632.3935871280844, + 246.30859403228698 + ], + [ + 629.747129774342, + 237.91915188446941 + ], + [ + 608.0393830127558, + 240.27500890545664 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 382, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -131.92300415039062, + "y": -114.24504852294922, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.4783251881599426, + "y": 0.3525097668170929, + "z": 0.90477454662323 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 818.6379409424715, + "ymin": 266.3390407805188, + "xmax": 853.2290813535155, + "ymax": 327.3032431803904 + }, + "corners_3d": [ + [ + -132.07289123535156, + -114.82002258300781, + -0.3297850489616394 + ], + [ + -132.51657104492188, + -114.2721176147461, + -0.3297850489616394 + ], + [ + -131.7731170654297, + -113.67007446289062, + -0.3297850489616394 + ], + [ + -131.32943725585938, + -114.21797943115234, + -0.3297850489616394 + ], + [ + -132.07289123535156, + -114.82002258300781, + 1.4797639846801758 + ], + [ + -132.51657104492188, + -114.2721176147461, + 1.4797639846801758 + ], + [ + -131.7731170654297, + -113.67007446289062, + 1.4797639846801758 + ], + [ + -131.32943725585938, + -114.21797943115234, + 1.4797639846801758 + ] + ], + "corners_2d": [ + [ + 824.8467903650546, + 327.3032431803904 + ], + [ + 845.3056692460401, + 326.20458729087994 + ], + [ + 838.6693682079958, + 308.5287007111952 + ], + [ + 818.6379409424715, + 309.5810535270367 + ], + [ + 831.9904309211918, + 284.82688759363174 + ], + [ + 853.2290813535155, + 283.74411992614813 + ], + [ + 846.1673011045136, + 266.3390407805188 + ], + [ + 825.3889320840758, + 267.3744708391271 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 786, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -139.16717529296875, + "y": -121.18775939941406, + "z": 0.7273821234703064 + }, + "extent": { + "x": 0.4769531190395355, + "y": 0.4443603456020355, + "z": 0.9166783690452576 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 868.8128470237909, + "ymin": 496.1358175800873, + "xmax": 922.595051181392, + "ymax": 570.7323226539147 + }, + "corners_3d": [ + [ + -139.19021606445312, + -121.83922576904297, + -0.18929624557495117 + ], + [ + -139.8186492919922, + -121.21080780029297, + -0.18929624557495117 + ], + [ + -139.14413452148438, + -120.53629302978516, + -0.18929624557495117 + ], + [ + -138.5157012939453, + -121.16471099853516, + -0.18929624557495117 + ], + [ + -139.19021606445312, + -121.83922576904297, + 1.644060492515564 + ], + [ + -139.8186492919922, + -121.21080780029297, + 1.644060492515564 + ], + [ + -139.14413452148438, + -120.53629302978516, + 1.644060492515564 + ], + [ + -138.5157012939453, + -121.16471099853516, + 1.644060492515564 + ] + ], + "corners_2d": [ + [ + 874.4732166541953, + 570.0941129905233 + ], + [ + 908.7300457412523, + 570.7323226539147 + ], + [ + 902.1219887109676, + 541.0975612204155 + ], + [ + 868.8128470237909, + 540.4940458835149 + ], + [ + 886.5632036065463, + 525.940505343832 + ], + [ + 922.595051181392, + 526.5840595288373 + ], + [ + 915.2545333569179, + 496.7426603685319 + ], + [ + 880.2696239924294, + 496.1358175800873 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 891, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -133.28268432617188, + "y": -132.31512451171875, + "z": 0.5861321091651917 + }, + "extent": { + "x": 0.523388683795929, + "y": 0.4817822277545929, + "z": 0.8743226528167725 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 366.400585331048, + "ymin": 613.5604327157768, + "xmax": 433.227148838027, + "ymax": 698.889833501492 + }, + "corners_3d": [ + [ + -133.23764038085938, + -133.0250701904297, + -0.2881905436515808 + ], + [ + -133.98648071289062, + -132.41868591308594, + -0.2881905436515808 + ], + [ + -133.32772827148438, + -131.6051788330078, + -0.2881905436515808 + ], + [ + -132.57888793945312, + -132.21156311035156, + -0.2881905436515808 + ], + [ + -133.23764038085938, + -133.0250701904297, + 1.4604547023773193 + ], + [ + -133.98648071289062, + -132.41868591308594, + 1.4604547023773193 + ], + [ + -133.32772827148438, + -131.6051788330078, + 1.4604547023773193 + ], + [ + -132.57888793945312, + -132.21156311035156, + 1.4604547023773193 + ] + ], + "corners_2d": [ + [ + 380.6051541951852, + 694.0393307106601 + ], + [ + 420.4373862488133, + 698.889833501492 + ], + [ + 433.227148838027, + 658.8981081783909 + ], + [ + 394.66394626106694, + 654.364105598841 + ], + [ + 366.400585331048, + 653.9344534345164 + ], + [ + 408.36269983438194, + 658.8804337073177 + ], + [ + 422.2538754453776, + 618.1668943802505 + ], + [ + 381.69758981404993, + 613.5604327157768 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 552, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -118.42184448242188, + "y": -129.35797119140625, + "z": 0.5761321187019348 + }, + "extent": { + "x": 0.4367040991783142, + "y": 0.49178221821784973, + "z": 0.9100489020347595 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 197.94199629673864, + "ymin": 278.0069314501243, + "xmax": 254.7738688692345, + "ymax": 341.2428276531942 + }, + "corners_3d": [ + [ + -118.24724578857422, + -129.9920654296875, + -0.3339167833328247 + ], + [ + -119.07213592529297, + -129.4563751220703, + -0.3339167833328247 + ], + [ + -118.59644317626953, + -128.723876953125, + -0.3339167833328247 + ], + [ + -117.77155303955078, + -129.2595672607422, + -0.3339167833328247 + ], + [ + -118.24724578857422, + -129.9920654296875, + 1.4861810207366943 + ], + [ + -119.07213592529297, + -129.4563751220703, + 1.4861810207366943 + ], + [ + -118.59644317626953, + -128.723876953125, + 1.4861810207366943 + ], + [ + -117.77155303955078, + -129.2595672607422, + 1.4861810207366943 + ] + ], + "corners_2d": [ + [ + 214.67232539930336, + 336.8280916081583 + ], + [ + 241.14975025748868, + 341.2428276531942 + ], + [ + 254.7738688692345, + 324.8788815215323 + ], + [ + 228.73652556967323, + 320.6329593459561 + ], + [ + 197.94199629673864, + 293.96925154477816 + ], + [ + 225.37530444974544, + 298.3247189583164 + ], + [ + 239.84457204154285, + 282.1894791523905 + ], + [ + 212.88293109961995, + 278.0069314501243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 214, + "instance_id": 54784, + "pixel_count": 38, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -116.41776275634766, + "y": -138.86654663085938, + "z": 2.1696529388427734 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.44211632013320923 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 215.84280682143768, + "xmax": 26.587932892283106, + "ymax": 577.4134717990016 + }, + "corners_3d": [ + [ + -121.54448699951172, + -140.8751220703125, + 0.054211296141147614 + ], + [ + -121.57490539550781, + -136.93109130859375, + 0.05997787043452263 + ], + [ + -111.30255889892578, + -136.85182189941406, + 0.03226644545793533 + ], + [ + -111.27214050292969, + -140.7958526611328, + 0.026499871164560318 + ], + [ + -121.53296661376953, + -140.88125610351562, + 4.307039737701416 + ], + [ + -121.56338500976562, + -136.93722534179688, + 4.312806129455566 + ], + [ + -111.2910385131836, + -136.8579559326172, + 4.285094738006592 + ], + [ + -111.2606201171875, + -140.80198669433594, + 4.279328346252441 + ] + ], + "corners_2d": [ + [ + -135.7834636536403, + 577.4134717990016 + ], + [ + 26.587932892283106, + 495.46811804996935 + ], + [ + -77.28178152539499, + 323.08778456356976 + ], + [ + -216.5108873502021, + 378.39285123323225 + ], + [ + -237.88438511305424, + 466.0066363779115 + ], + [ + -47.42243853487366, + 383.6607679314593 + ], + [ + -147.2789447631444, + 215.84280682143768 + ], + [ + -306.15233272152375, + 269.0272067892765 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 217, + "instance_id": 55552, + "pixel_count": 696, + "type_id": "vehicle.mini.cooper_s", + "bbox_3d": { + "center_world": { + "x": -131.65988159179688, + "y": -76.91120147705078, + "z": 0.7358787059783936 + }, + "extent": { + "x": 1.9029000997543335, + "y": 0.9851378202438354, + "z": 0.7375150918960571 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 1223.0229861124628, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 23.08337454843206 + }, + "corners_3d": [ + [ + -130.6616973876953, + -78.80728912353516, + -0.001636367291212082 + ], + [ + -132.63192749023438, + -78.8208236694336, + -0.001636367291212082 + ], + [ + -132.65806579589844, + -75.0151138305664, + -0.001636367291212082 + ], + [ + -130.68783569335938, + -75.00157928466797, + -0.001636367291212082 + ], + [ + -130.6616973876953, + -78.80728912353516, + 1.4733937978744507 + ], + [ + -132.63192749023438, + -78.8208236694336, + 1.4733937978744507 + ], + [ + -132.65806579589844, + -75.0151138305664, + 1.4733937978744507 + ], + [ + -130.68783569335938, + -75.00157928466797, + 1.4733937978744507 + ] + ], + "corners_2d": [ + [ + 1223.0229861124628, + 12.190615089943208 + ], + [ + 1261.0135945754396, + 23.08337454843206 + ], + [ + 1288.718539299663, + 3.5738764168874013 + ], + [ + 1251.5540043967494, + -6.535470032181138 + ], + [ + 1234.3972193573763, + -15.399467289581878 + ], + [ + 1273.3896402831365, + -4.883202829860011 + ], + [ + 1301.1592028119458, + -23.71224939856927 + ], + [ + 1263.0440764310601, + -33.45809262180006 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10476196482746081849, + "instance_id": 14818, + "pixel_count": null, + "type_id": "AmericanLights_Town04_20_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -100.74504852294922, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1234.0638025815333, + "ymin": 153.02813730255798, + "xmax": 1256.984919599639, + "ymax": 181.6012727745981 + }, + "corners_3d": [ + [ + -139.20529174804688, + -100.55508422851562, + 2.645533323287964 + ], + [ + -138.92662048339844, + -100.55508422851562, + 2.645533323287964 + ], + [ + -138.9266357421875, + -100.93501281738281, + 2.645533323287964 + ], + [ + -139.20530700683594, + -100.93501281738281, + 2.645533323287964 + ], + [ + -139.20529174804688, + -100.55508422851562, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -100.55508422851562, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -100.93501281738281, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -100.93501281738281, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1246.4456920616249, + 177.6700962803725 + ], + [ + 1238.3836133755663, + 174.6845710835469 + ], + [ + 1234.0638025815333, + 178.5813001938365 + ], + [ + 1242.1532543978176, + 181.6012727745981 + ], + [ + 1256.984919599639, + 155.9686547806475 + ], + [ + 1248.7364135385017, + 153.02813730255798 + ], + [ + 1244.401885436738, + 156.86621114540083 + ], + [ + 1252.6792704769434, + 159.84125018762307 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11529003171770300666, + "instance_id": 64120, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.25050354003906, + "y": -128.95399475097656, + "z": 3.0800981521606445 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 136.76237679628377, + "ymin": 165.36949241690257, + "xmax": 159.6205753784884, + "ymax": 194.38709615217562 + }, + "corners_3d": [ + [ + -113.11116790771484, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -128.7640380859375, + 3.5146679878234863 + ], + [ + -113.11116790771484, + -128.7640380859375, + 3.5146679878234863 + ] + ], + "corners_2d": [ + [ + 145.5298349282449, + 191.2537269314433 + ], + [ + 148.86576620255397, + 194.38709615217562 + ], + [ + 159.6205753784884, + 190.30874251957442 + ], + [ + 156.25607465451594, + 187.21177020515162 + ], + [ + 136.76237679628377, + 169.35316589849387 + ], + [ + 140.11752382487617, + 172.44191829717923 + ], + [ + 151.11473892669045, + 168.42173421112 + ], + [ + 147.72953254521718, + 165.36949241690257 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 162269529527095271, + "instance_id": 59151, + "pixel_count": null, + "type_id": "BP_StreetLight_simple36_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -72.95545959472656, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1256.1829703784565, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 21.391842540610583 + }, + "corners_3d": [ + [ + -138.1054229736328, + -73.32183837890625, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -72.58908081054688, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -72.58908081054688, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -73.32183837890625, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -73.32183837890625, + 11.111722946166992 + ], + [ + -138.1054229736328, + -72.58908081054688, + 11.111722946166992 + ], + [ + -130.23475646972656, + -72.58908081054688, + 11.111722946166992 + ], + [ + -130.23475646972656, + -73.32183837890625, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1411.8253754704363, + 21.391842540610583 + ], + [ + 1416.1283332983803, + 17.48755435038379 + ], + [ + 1261.2215686521645, + -22.6981496028518 + ], + [ + 1256.1829703784565, + -19.374098113155583 + ], + [ + 1543.5524420710462, + -218.4017984750684 + ], + [ + 1547.4393548760895, + -220.8840327452093 + ], + [ + 1356.9804246794315, + -246.07233766800107 + ], + [ + 1351.9227242776974, + -244.01344268193293 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1184484105883362010, + "instance_id": 55842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple48_110_SM_2", + "bbox_3d": { + "center_world": { + "x": -139.474609375, + "y": -128.0553741455078, + "z": 4.084396839141846 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 654.1923343090515, + "ymin": 437.429657846752, + "xmax": 846.8357039418477, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -141.39132690429688, + -128.2749786376953, + 0.20767807960510254 + ], + [ + -141.39132690429688, + -127.83576965332031, + 0.20767807960510254 + ], + [ + -137.55789184570312, + -127.83576965332031, + 0.20767807960510254 + ], + [ + -137.55789184570312, + -128.2749786376953, + 0.20767807960510254 + ], + [ + -141.39132690429688, + -128.2749786376953, + 7.961115837097168 + ], + [ + -141.39132690429688, + -127.83576965332031, + 7.961115837097168 + ], + [ + -137.55789184570312, + -127.83576965332031, + 7.961115837097168 + ], + [ + -137.55789184570312, + -128.2749786376953, + 7.961115837097168 + ] + ], + "corners_2d": [ + [ + 781.1435574447669, + 796.8120806157251 + ], + [ + 794.465257376524, + 782.487701203042 + ], + [ + 667.5673702459052, + 664.9664096737746 + ], + [ + 654.1923343090515, + 676.7816180871141 + ], + [ + 829.7134342389393, + 580.1570961000863 + ], + [ + 846.8357039418477, + 564.1702762401096 + ], + [ + 675.8051391726432, + 437.429657846752 + ], + [ + 658.489165937264, + 449.82645354849234 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2334590930876643410, + "instance_id": 21048, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -123.8453369140625, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 294.95670871058815, + "ymin": 34.28036044970514, + "xmax": 310.5666206949274, + "ymax": 44.1796128419727 + }, + "corners_3d": [ + [ + -116.6200942993164, + -123.69747161865234, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.69747161865234, + 7.743301868438721 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 304.0952242256404, + 37.56936760214455 + ], + [ + 295.7759189942779, + 40.241102119457366 + ], + [ + 302.219278225288, + 44.1796128419727 + ], + [ + 310.5666206949274, + 41.46918045085192 + ], + [ + 303.2997450261938, + 34.28036044970514 + ], + [ + 294.95670871058815, + 36.942195285942546 + ], + [ + 301.4095732097329, + 40.86622587385256 + ], + [ + 309.78083777530776, + 38.16574402849096 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3639812104533344102, + "instance_id": 26239, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -123.8453369140625, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 295.0401947526549, + "ymin": 34.332801140603465, + "xmax": 310.4837198230461, + "ymax": 44.12678570062053 + }, + "corners_3d": [ + [ + -116.62229919433594, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.69904327392578, + 7.742714881896973 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 304.08145263305784, + 37.58695257018206 + ], + [ + 295.8505154782259, + 40.23037200827366 + ], + [ + 302.225336108792, + 44.12678570062053 + ], + [ + 310.4837198230461, + 41.44548745354723 + ], + [ + 303.2943614043129, + 34.332801140603465 + ], + [ + 295.0401947526549, + 36.96653028705282 + ], + [ + 301.42431994408315, + 40.848770240846534 + ], + [ + 309.706118143868, + 38.17721154422543 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3985217512616395484, + "instance_id": 56450, + "pixel_count": null, + "type_id": "BP_StreetLight_simple48_110_SM_1", + "bbox_3d": { + "center_world": { + "x": -137.86505126953125, + "y": -128.05545043945312, + "z": 7.743513107299805 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.2204111445441, + "ymin": 448.71202074705695, + "xmax": 693.012695123544, + "ymax": 473.4482286730869 + }, + "corners_3d": [ + [ + -138.06874084472656, + -128.2017364501953, + 7.689445495605469 + ], + [ + -138.06874084472656, + -127.9091567993164, + 7.689445495605469 + ], + [ + -137.66136169433594, + -127.9091567993164, + 7.689445495605469 + ], + [ + -137.66136169433594, + -128.2017364501953, + 7.689445495605469 + ], + [ + -138.06874084472656, + -128.2017364501953, + 7.797580718994141 + ], + [ + -138.06874084472656, + -127.9091567993164, + 7.797580718994141 + ], + [ + -137.66136169433594, + -127.9091567993164, + 7.797580718994141 + ], + [ + -137.66136169433594, + -128.2017364501953, + 7.797580718994141 + ] + ], + "corners_2d": [ + [ + 681.3672828297621, + 473.4482286730869 + ], + [ + 692.7900871846762, + 464.92158580270274 + ], + [ + 676.6390007502006, + 452.76601782648913 + ], + [ + 665.2204111445441, + 461.0791894369689 + ], + [ + 681.5432637948686, + 469.39422795968585 + ], + [ + 693.012695123544, + 460.86713560526846 + ], + [ + 676.7915560214211, + 448.71202074705695 + ], + [ + 665.3263384346901, + 457.02474349115226 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5736675163518273754, + "instance_id": 55816, + "pixel_count": null, + "type_id": "AmericanLights_Town04_21_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1188.0151927012157, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 68.5006401345712 + }, + "corners_3d": [ + [ + -140.57330322265625, + -78.3179702758789, + 0.0 + ], + [ + -140.5771484375, + -77.8851547241211, + 0.0 + ], + [ + -128.5230712890625, + -77.77800750732422, + 0.0 + ], + [ + -128.51922607421875, + -78.21082305908203, + 0.0 + ], + [ + -140.57330322265625, + -78.3179702758789, + 8.446706771850586 + ], + [ + -140.5771484375, + -77.8851547241211, + 8.446706771850586 + ], + [ + -128.5230712890625, + -77.77800750732422, + 8.446706771850586 + ], + [ + -128.51922607421875, + -78.21082305908203, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1435.3624469736462, + 68.5006401345712 + ], + [ + 1438.0964409791823, + 65.80096318445044 + ], + [ + 1191.436846603087, + -4.106797493188367 + ], + [ + 1188.0151927012157, + -2.029913881397704 + ], + [ + 1545.404190939938, + -119.37172963393823 + ], + [ + 1547.9243110094587, + -121.43543906288005 + ], + [ + 1256.9096195215352, + -173.95371763784112 + ], + [ + 1253.3841568338016, + -172.41859549587014 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5944504550537153523, + "instance_id": 62411, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_1", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88526153564453, + "z": 3.6450090408325195 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 44.88046377782803, + "ymin": 3.6556705828094778, + "xmax": 115.67595716422647, + "ymax": 38.04884189222929 + }, + "corners_3d": [ + [ + -100.3021469116211, + -126.97334289550781, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -126.97334289550781, + 3.8072457313537598 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.8072457313537598 + ] + ], + "corners_2d": [ + [ + 64.31835916585896, + 38.04884189222929 + ], + [ + 115.67595716422647, + 23.59506170440335 + ], + [ + 98.50965920449948, + 10.843908033975367 + ], + [ + 47.967507296026724, + 24.5986522426403 + ], + [ + 61.23981555965008, + 30.62437731505281 + ], + [ + 112.94718188969478, + 16.294300602754276 + ], + [ + 95.75997246968382, + 3.6556705828094778 + ], + [ + 44.88046377782803, + 17.28917131854695 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6519504943767973976, + "instance_id": 22640, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_0", + "bbox_3d": { + "center_world": { + "x": -94.53499603271484, + "y": -125.88525390625, + "z": 3.6439085006713867 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 7.523878188197955, + "ymin": 0.0, + "xmax": 74.55680554683067, + "ymax": 5.880779736924239 + }, + "corners_3d": [ + [ + -95.50235748291016, + -126.97452545166016, + 3.480583429336548 + ], + [ + -95.50236511230469, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -93.56763458251953, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -93.567626953125, + -126.97452545166016, + 3.480583429336548 + ], + [ + -95.50235748291016, + -126.97452545166016, + 3.807230234146118 + ], + [ + -95.50236511230469, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -93.56763458251953, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -93.567626953125, + -126.97452545166016, + 3.807230234146118 + ] + ], + "corners_2d": [ + [ + 25.13869910484277, + 5.880779736924239 + ], + [ + 74.55680554683067, + -6.9413170292122 + ], + [ + 59.28157758493717, + -18.287774994115125 + ], + [ + 10.634812948906074, + -6.051339165881984 + ], + [ + 22.02629065447593, + -1.3098902561712862 + ], + [ + 71.7668528498831, + -14.013610448004101 + ], + [ + 56.48195044195313, + -25.252618454877165 + ], + [ + 7.523878188197955, + -13.131952176177492 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6967274615413648305, + "instance_id": 45483, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_2", + "bbox_3d": { + "center_world": { + "x": -99.33560943603516, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 32.42237177227673, + "ymin": 0.0, + "xmax": 143.7328718765457, + "ymax": 110.05100491664257 + }, + "corners_3d": [ + [ + -100.3640365600586, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -127.03557586669922, + 4.877264976501465 + ], + [ + -100.3640365600586, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + 92.90901281063077, + 110.05100491664257 + ], + [ + 143.7328718765457, + 93.60422931152601 + ], + [ + 125.69090872383788, + 79.0017977323372 + ], + [ + 75.65787910602978, + 94.64440237709078 + ], + [ + 49.831937033713984, + 6.403049278272135 + ], + [ + 105.78383011087601, + -8.314010292754915 + ], + [ + 87.39440853388919, + -21.328896962873557 + ], + [ + 32.42237177227673, + -7.385067329738831 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8232706723728016641, + "instance_id": 325, + "pixel_count": null, + "type_id": "BP_StreetLight_wall40_71_SM_0", + "bbox_3d": { + "center_world": { + "x": -140.893310546875, + "y": -111.95197296142578, + "z": 4.334987163543701 + }, + "extent": { + "x": 0.11768747121095657, + "y": 1.147606611251831, + "z": 0.41115570068359375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1122.2758238111305, + "ymin": 267.78944506334517, + "xmax": 1220.5228251455944, + "ymax": 333.1354767049658 + }, + "corners_3d": [ + [ + -142.04092407226562, + -111.83428192138672, + 3.9238314628601074 + ], + [ + -139.74569702148438, + -111.83428955078125, + 3.9238314628601074 + ], + [ + -139.74569702148438, + -112.06966400146484, + 3.9238314628601074 + ], + [ + -142.04092407226562, + -112.06965637207031, + 3.9238314628601074 + ], + [ + -142.04092407226562, + -111.83428192138672, + 4.746142864227295 + ], + [ + -139.74569702148438, + -111.83428955078125, + 4.746142864227295 + ], + [ + -139.74569702148438, + -112.06966400146484, + 4.746142864227295 + ], + [ + -142.04092407226562, + -112.06965637207031, + 4.746142864227295 + ] + ], + "corners_2d": [ + [ + 1208.17731337132, + 329.2228294822603 + ], + [ + 1126.1508587191079, + 291.3079704855569 + ], + [ + 1122.2758238111305, + 294.87196200285825 + ], + [ + 1204.5018080067707, + 333.1354767049658 + ], + [ + 1220.5228251455944, + 305.3828641692282 + ], + [ + 1136.2235737160247, + 267.78944506334517 + ], + [ + 1132.3139495502112, + 271.3200594101647 + ], + [ + 1216.8262971832783, + 309.2665711232598 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9919303964700251881, + "instance_id": 59670, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_Poles_4", + "bbox_3d": { + "center_world": { + "x": -112.9144515991211, + "y": -134.7008514404297, + "z": 4.223348617553711 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 20.966761130150303, + "xmax": 183.66920309403918, + "ymax": 407.300545715462 + }, + "corners_3d": [ + [ + -113.18444061279297, + -128.6757354736328, + -4.76837158203125e-06 + ], + [ + -112.75162506103516, + -128.67189025878906, + -4.76837158203125e-06 + ], + [ + -112.64446258544922, + -140.72596740722656, + -4.76837158203125e-06 + ], + [ + -113.07727813720703, + -140.7298126220703, + -4.76837158203125e-06 + ], + [ + -113.18444061279297, + -128.6757354736328, + 8.446702003479004 + ], + [ + -112.75162506103516, + -128.67189025878906, + 8.446702003479004 + ], + [ + -112.64446258544922, + -140.72596740722656, + 8.446702003479004 + ], + [ + -113.07727813720703, + -140.7298126220703, + 8.446702003479004 + ] + ], + "corners_2d": [ + [ + 183.66920309403918, + 249.1452333453002 + ], + [ + 178.68208145570185, + 244.18070187354056 + ], + [ + -203.83238828704054, + 400.0427971797557 + ], + [ + -200.86845254238676, + 407.300545715462 + ], + [ + 96.83008937583247, + 25.11354080435956 + ], + [ + 91.58166949614974, + 20.966761130150303 + ], + [ + -404.2148633546176, + 156.31448571976054 + ], + [ + -402.5341300106131, + 162.88747538661536 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12065512595391554584, + "instance_id": 6308, + "pixel_count": null, + "type_id": "AmericanLights_Town04_20_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -94.9981918334961, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1209.2396096028929, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 248.54495402019194 + }, + "corners_3d": [ + [ + -139.1320343017578, + -101.02330780029297, + 0.0 + ], + [ + -139.56484985351562, + -101.02715301513672, + 0.0 + ], + [ + -139.67198181152344, + -88.97307586669922, + 0.0 + ], + [ + -139.23916625976562, + -88.96923065185547, + 0.0 + ], + [ + -139.1320343017578, + -101.02330780029297, + 8.446706771850586 + ], + [ + -139.56484985351562, + -101.02715301513672, + 8.446706771850586 + ], + [ + -139.67198181152344, + -88.97307586669922, + 8.446706771850586 + ], + [ + -139.23916625976562, + -88.96923065185547, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1209.2396096028929, + 243.58830380031588 + ], + [ + 1221.0536417905357, + 248.54495402019194 + ], + [ + 1338.4165692335228, + 137.321830785819 + ], + [ + 1327.6790591645536, + 133.71820318682688 + ], + [ + 1316.6153834554111, + 20.47257443260338 + ], + [ + 1331.52251248682, + 24.611524473329382 + ], + [ + 1448.4871208647817, + -65.83852614832193 + ], + [ + 1435.353269580804, + -68.68651187143763 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14081937874569997388, + "instance_id": 19500, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_0", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88525390625, + "z": 3.6439085006713867 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 44.842149856657784, + "ymin": 3.641117907296575, + "xmax": 115.73283523847351, + "ymax": 38.115143649808545 + }, + "corners_3d": [ + [ + -100.30333709716797, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.30333709716797, + -126.97452545166016, + 3.807230234146118 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.807230234146118 + ] + ], + "corners_2d": [ + [ + 64.32063722578755, + 38.115143649808545 + ], + [ + 115.73283523847351, + 23.644288057882818 + ], + [ + 98.54486279248636, + 10.8770411567682 + ], + [ + 47.949926209460955, + 24.647217311298675 + ], + [ + 61.22142461012038, + 30.641159382226306 + ], + [ + 112.98610913649497, + 16.29496065561284 + ], + [ + 95.77705017194705, + 3.641117907296575 + ], + [ + 44.842149856657784, + 17.289118762054557 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14132762880190184296, + "instance_id": 26875, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_1", + "bbox_3d": { + "center_world": { + "x": -94.53499603271484, + "y": -125.88526153564453, + "z": 3.6450090408325195 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 7.559921160835643, + "ymin": 0.0, + "xmax": 74.50189308891913, + "ymax": 5.818258805895255 + }, + "corners_3d": [ + [ + -95.50116729736328, + -126.97334289550781, + 3.4827687740325928 + ], + [ + -95.50116729736328, + -124.79718780517578, + 3.4827723503112793 + ], + [ + -93.5688247680664, + -124.79718017578125, + 3.4827723503112793 + ], + [ + -93.5688247680664, + -126.97333526611328, + 3.4827687740325928 + ], + [ + -95.50116729736328, + -126.97334289550781, + 3.8072457313537598 + ], + [ + -95.50116729736328, + -124.79718780517578, + 3.8072493076324463 + ], + [ + -93.5688247680664, + -124.79718017578125, + 3.8072493076324463 + ], + [ + -93.5688247680664, + -126.97333526611328, + 3.8072457313537598 + ] + ], + "corners_2d": [ + [ + 25.136361958338284, + 5.818258805895255 + ], + [ + 74.50189308891913, + -6.988679021603787 + ], + [ + 59.246025413731104, + -18.320771586452736 + ], + [ + 10.650118446274064, + -6.0981175653637365 + ], + [ + 22.044705379713605, + -1.3247548704404721 + ], + [ + 71.7302051963062, + -14.014222590938573 + ], + [ + 56.464747742385384, + -25.239700132751295 + ], + [ + 7.559921160835643, + -13.131931983340849 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 664.8949767699415, + "ymin": 0.0, + "xmax": 738.7467827306839, + "ymax": 71.77892693316187 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 671.1046546751514, + 44.460346264928944 + ], + [ + 664.8949767699415, + 47.041468730919576 + ], + [ + 721.4286076269433, + 71.77892693316187 + ], + [ + 727.6390544701668, + 68.96154184192358 + ], + [ + 674.858126448994, + -122.30267124166619 + ], + [ + 667.9149589706951, + -120.2881126892334 + ], + [ + 731.8063944044071, + -100.86389114705241 + ], + [ + 738.7467827306839, + -103.0868670981863 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 242.818253252332, + "ymin": 0.0, + "xmax": 359.84170161747727, + "ymax": 240.51692121115377 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 307.7964932641556, + 195.47346994223082 + ], + [ + 297.6850652125905, + 199.6763987423294 + ], + [ + 349.47436283641883, + 240.51692121115377 + ], + [ + 359.84170161747727, + 235.8137514626772 + ], + [ + 254.91889946688428, + -0.45739473595318714 + ], + [ + 242.818253252332, + 3.0536051639745665 + ], + [ + 299.7441157313899, + 37.5237623572649 + ], + [ + 312.2403787775782, + 33.52126409278799 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16194625468754558244, + "instance_id": 9469, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.53463745117188, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 102.94957553450672, + "ymax": 75.25431389052414 + }, + "corners_3d": [ + [ + -95.56306457519531, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -127.03557586669922, + 4.877264976501465 + ], + [ + -95.56306457519531, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + 53.946342888549225, + 75.25431389052414 + ], + [ + 102.94957553450672, + 60.59588707250384 + ], + [ + 86.82323829997995, + 47.54388524227289 + ], + [ + 38.5724972746749, + 61.52427545170423 + ], + [ + 10.608737674804729, + -24.661140917092553 + ], + [ + 64.31257206282521, + -37.6647824909453 + ], + [ + 48.01025411426792, + -49.20254726905199 + ], + [ + -4.772232129857002, + -36.842640111717685 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 687.258959041284, + "ymin": 0.0, + "xmax": 920.8123903094406, + "ymax": 114.09762590090645 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 693.129661610423, + 30.31415970426326 + ], + [ + 687.258959041284, + 32.687455557034355 + ], + [ + 878.3688355871113, + 114.09762590090645 + ], + [ + 884.1529650424357, + 110.95214032166498 + ], + [ + 699.9275406124744, + -148.3145944490376 + ], + [ + 693.335988397466, + -146.53121999176557 + ], + [ + 914.370426502682, + -84.10489865455321 + ], + [ + 920.8123903094406, + -86.56297204660444 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17718493663991687542, + "instance_id": 30441, + "pixel_count": null, + "type_id": "BP_StreetLight_simple48_110_SM_0", + "bbox_3d": { + "center_world": { + "x": -137.86505126953125, + "y": -128.05545043945312, + "z": 7.743518352508545 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.0713958310882, + "ymin": 448.5809506484114, + "xmax": 693.1635926427086, + "ymax": 473.58396860394976 + }, + "corners_3d": [ + [ + -138.07093811035156, + -128.2033233642578, + 7.688869476318359 + ], + [ + -138.07093811035156, + -127.90758514404297, + 7.688869476318359 + ], + [ + -137.65916442871094, + -127.90758514404297, + 7.688869476318359 + ], + [ + -137.65916442871094, + -128.2033233642578, + 7.688869476318359 + ], + [ + -138.07093811035156, + -128.2033233642578, + 7.7981672286987305 + ], + [ + -138.07093811035156, + -127.90758514404297, + 7.7981672286987305 + ], + [ + -137.65916442871094, + -127.90758514404297, + 7.7981672286987305 + ], + [ + -137.65916442871094, + -128.2033233642578, + 7.7981672286987305 + ] + ], + "corners_2d": [ + [ + 681.3920575448373, + 473.58396860394976 + ], + [ + 692.9379512204318, + 464.9640850672266 + ], + [ + 676.6129833498721, + 452.67852306910004 + ], + [ + 665.0713958310882, + 461.0803073355315 + ], + [ + 681.5700619480114, + 469.4863928999395 + ], + [ + 693.1635926427086, + 460.8660449734173 + ], + [ + 676.7670550578287, + 448.5809506484114 + ], + [ + 665.1778294783217, + 456.9822715848645 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 271.4341685546382, + "ymax": 226.93518232549087 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 174.34450295581195, + 104.98540114331416 + ], + [ + 24.759250384196775, + 167.7348105565082 + ], + [ + 119.55186627313253, + 226.93518232549087 + ], + [ + 271.4341685546382, + 153.24817590093303 + ], + [ + 68.36993042003019, + -195.74620132533892 + ], + [ + -133.38775893204195, + -155.80616573350653 + ], + [ + -29.388328651119195, + -116.32648905608488 + ], + [ + 179.24809032539162, + -165.19621895604428 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 95.69032015889184, + "ymax": 29.162332376120048 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + 4.506555688073377, + -41.62079994432713 + ], + [ + -118.65730537026673, + 2.45211274118509 + ], + [ + -24.82101784449003, + 29.162332376120048 + ], + [ + 95.69032015889184, + -19.45699529761299 + ], + [ + -94.16939358517311, + -269.5684783890882 + ], + [ + -249.61824230444802, + -243.3542018637604 + ], + [ + -146.74335919420344, + -227.08048608900356 + ], + [ + 6.45959159207905, + -256.4832693904616 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 297.21551164540944, + "ymax": 264.4004614614732 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 92.1207294220601, + 264.4004614614732 + ], + [ + 290.359068168488, + 239.8267751187286 + ], + [ + 297.21551164540944, + 146.17444233432303 + ], + [ + 124.84430543433439, + 164.87344067116416 + ], + [ + -75.15687967459269, + -90.38216401693018 + ], + [ + 188.01928864193832, + -107.48549368047912 + ], + [ + 212.6279963246991, + -169.74381574279528 + ], + [ + -6.867877768108883, + -157.6691086843324 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 117.19115228933197, + "ymax": 85.00276780658595 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 45.760800087890516, + 3.15399448764299 + ], + [ + -87.55540790275859, + 45.9419267787797 + ], + [ + -19.13866814243943, + 85.00276780658595 + ], + [ + 117.19115228933197, + 36.19280266476562 + ], + [ + -62.74329918483454, + -256.72287962703047 + ], + [ + -233.8585531691366, + -231.65439650796145 + ], + [ + -163.15084972606678, + -208.07496864587802 + ], + [ + 14.28991109337187, + -237.4349199698595 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00005/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00005/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..648e17934d4f3346b3bbe02b15b7964691dd640d --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00005/meta.json @@ -0,0 +1,4037 @@ +{ + "frame_id": 5, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 2.5, + "sim_timestamp": 9762.976369665936 + }, + "drone_pose": { + "x": -145.33186872929568, + "y": -135.9826850659688, + "z": 20.55440700587944, + "pitch": -40.16028557180732, + "yaw": 47.43868933729891, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.516917884349823, + -0.5629063248634338, + 0.6449280977249146, + 138.41404724121094 + ], + [ + 0.736553966999054, + 0.6763787269592285, + -2.9802322387695312e-08, + -15.068962097167969 + ], + [ + -0.4362156391143799, + 0.47502437233924866, + 0.7642432451248169, + -143.69969177246094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -144.60996282683485, + "y": -135.61960952680974, + "z": 20.623827821354304 + }, + "t1_image_uv": [ + 124.3945581882474, + -613.7999926354512 + ], + "t1_depth": 0.5327721926175124 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -129.16718292236328, + "y": -120.68776321411131, + "z": 0.5749748778357753 + }, + "image_uv": [ + 589.7980890940518, + 390.62908190611404 + ], + "depth": 29.850722267055957, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 174, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -129.16717529296875, + "y": -120.68775939941406, + "z": 0.5749748945236206 + }, + "extent": { + "x": 0.21967284381389618, + "y": 0.19150878489017487, + "z": 0.5220967531204224 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 582.9695694807137, + "ymin": 373.14740437063585, + "xmax": 596.5074468453921, + "ymax": 407.9208178179438 + }, + "corners_3d": [ + [ + -129.1870880126953, + -120.97850799560547, + 0.05287814140319824 + ], + [ + -129.4579315185547, + -120.70767211914062, + 0.05287814140319824 + ], + [ + -129.1472625732422, + -120.39701080322266, + 0.05287814140319824 + ], + [ + -128.8764190673828, + -120.6678466796875, + 0.05287814140319824 + ], + [ + -129.1870880126953, + -120.97850799560547, + 1.097071647644043 + ], + [ + -129.4579315185547, + -120.70767211914062, + 1.097071647644043 + ], + [ + -129.1472625732422, + -120.39701080322266, + 1.097071647644043 + ], + [ + -128.8764190673828, + -120.6678466796875, + 1.097071647644043 + ] + ], + "corners_2d": [ + [ + 584.2491938654938, + 407.9208178179438 + ], + [ + 596.5074468453921, + 407.5649974201164 + ], + [ + 596.3967280950552, + 398.0883901941056 + ], + [ + 584.273926883711, + 398.4363895055153 + ], + [ + 582.9695694807137, + 382.9097607825089 + ], + [ + 595.5096043596388, + 382.5563865976709 + ], + [ + 595.4076493781627, + 373.14740437063585 + ], + [ + 583.0093291382987, + 373.49283601165973 + ] + ], + "center_offset_px": [ + -50.20191090594824, + 30.62908190611404 + ] + }, + "trace_timestep_index": 5, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 65, + "semantic_pixel_counts": { + "1": 474790, + "2": 198949, + "3": 177855, + "5": 3486, + "6": 7004, + "7": 489, + "9": 23121, + "10": 4596, + "12": 3103, + "14": 1496, + "21": 50, + "24": 26661 + }, + "instance_pixel_counts": { + "1115": 2547, + "6254": 1114, + "10370": 1117, + "11394": 314, + "11906": 2407, + "14416": 70, + "14928": 3416, + "14999": 434, + "15511": 2540, + "16023": 325, + "16535": 454, + "18011": 7666, + "20119": 12115, + "20631": 6808, + "24064": 647, + "25024": 51, + "26560": 6872, + "27072": 1377, + "27584": 1196, + "28608": 5286, + "29843": 10979, + "30144": 77573, + "30355": 135489, + "30656": 28635, + "31168": 1096, + "31323": 60728, + "31488": 2875, + "31813": 4569, + "31891": 246234, + "33883": 67725, + "34120": 22159, + "34453": 1418, + "34907": 11, + "34965": 6880, + "35419": 206, + "35931": 2567, + "36443": 30072, + "36501": 15147, + "43649": 133, + "43867": 33, + "44171": 372, + "44691": 75517, + "45203": 3029, + "45707": 168, + "46227": 3542, + "47253": 2627, + "47765": 437, + "48779": 248, + "48789": 152, + "49664": 174, + "49920": 374, + "50176": 366, + "50432": 752, + "50688": 819, + "50944": 618, + "53184": 727, + "53696": 39, + "55552": 1496, + "55744": 1473, + "56225": 17, + "57173": 23121, + "60013": 2866, + "61037": 2353, + "64351": 2803, + "65375": 26198 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 174, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -129.16717529296875, + "y": -120.68775939941406, + "z": 0.5749748945236206 + }, + "extent": { + "x": 0.18610350787639618, + "y": 0.22334960103034973, + "z": 0.5186557769775391 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 581.9350448175107, + "ymin": 373.9140539665549, + "xmax": 597.5131056337967, + "ymax": 407.13771472310196 + }, + "corners_3d": [ + [ + -129.14083862304688, + -120.97728729248047, + 0.05631911754608154 + ], + [ + -129.45669555664062, + -120.66142272949219, + 0.05631911754608154 + ], + [ + -129.19351196289062, + -120.39823150634766, + 0.05631911754608154 + ], + [ + -128.87765502929688, + -120.71409606933594, + 0.05631911754608154 + ], + [ + -129.14083862304688, + -120.97728729248047, + 1.0936306715011597 + ], + [ + -129.45669555664062, + -120.66142272949219, + 1.0936306715011597 + ], + [ + -129.19351196289062, + -120.39823150634766, + 1.0936306715011597 + ], + [ + -128.87765502929688, + -120.71409606933594, + 1.0936306715011597 + ] + ], + "corners_2d": [ + [ + 583.2283306893905, + 407.13771472310196 + ], + [ + 597.5131056337967, + 406.7232086675526 + ], + [ + 597.4101184890274, + 398.6956546988754 + ], + [ + 583.2591884201503, + 399.1024285087133 + ], + [ + 581.9350448175107, + 382.29634413815415 + ], + [ + 596.5457124354383, + 381.8846849930364 + ], + [ + 596.4496704432489, + 373.9140539665549 + ], + [ + 581.9789945114361, + 374.3178615910208 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 374, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -125.04119873046875, + "y": -117.69005584716797, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.3736523389816284, + "y": 0.36699217557907104, + "z": 0.889716386795044 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 552.9179714780225, + "ymin": 266.8878118342684, + "xmax": 580.0994222275472, + "ymax": 323.2102795793107 + }, + "corners_3d": [ + [ + -125.15469360351562, + -118.20134735107422, + -0.3147317171096802 + ], + [ + -125.55445098876953, + -117.58577728271484, + -0.3147317171096802 + ], + [ + -124.92770385742188, + -117.17876434326172, + -0.3147317171096802 + ], + [ + -124.52794647216797, + -117.7943344116211, + -0.3147317171096802 + ], + [ + -125.15469360351562, + -118.20134735107422, + 1.4647010564804077 + ], + [ + -125.55445098876953, + -117.58577728271484, + 1.4647010564804077 + ], + [ + -124.92770385742188, + -117.17876434326172, + 1.4647010564804077 + ], + [ + -124.52794647216797, + -117.7943344116211, + 1.4647010564804077 + ] + ], + "corners_2d": [ + [ + 559.7223490329687, + 323.2102795793107 + ], + [ + 580.0994222275472, + 320.0325647550466 + ], + [ + 575.8857971498496, + 307.7183704488662 + ], + [ + 555.8187538376528, + 310.7950762623139 + ], + [ + 556.9093635332817, + 282.05865656697836 + ], + [ + 578.0093895389439, + 278.9450626922885 + ], + [ + 573.685740093608, + 266.8878118342684 + ], + [ + 552.9179714780225, + 269.89906002266275 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 366, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -131.42300415039062, + "y": -113.74504852294922, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.2886084020137787, + "y": 0.39540526270866394, + "z": 0.867904007434845 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 765.6795723957106, + "ymin": 293.2254036501987, + "xmax": 797.5910614312523, + "ymax": 346.0852964792807 + }, + "corners_3d": [ + [ + -131.39845275878906, + -114.23396301269531, + -0.2929145097732544 + ], + [ + -131.89613342285156, + -113.619384765625, + -0.2929145097732544 + ], + [ + -131.4475555419922, + -113.25613403320312, + -0.2929145097732544 + ], + [ + -130.9498748779297, + -113.87071228027344, + -0.2929145097732544 + ], + [ + -131.39845275878906, + -114.23396301269531, + 1.4428935050964355 + ], + [ + -131.89613342285156, + -113.619384765625, + 1.4428935050964355 + ], + [ + -131.4475555419922, + -113.25613403320312, + 1.4428935050964355 + ], + [ + -130.9498748779297, + -113.87071228027344, + 1.4428935050964355 + ] + ], + "corners_2d": [ + [ + 769.8194165986572, + 346.0852964792807 + ], + [ + 792.2415782626651, + 343.94404084592145 + ], + [ + 787.8199192793465, + 333.57461281670516 + ], + [ + 765.6795723957106, + 335.6602364157368 + ], + [ + 774.3937612353847, + 305.51009886152144 + ], + [ + 797.5910614312523, + 303.40655731364126 + ], + [ + 792.9438544823815, + 293.2254036501987 + ], + [ + 770.0480454691748, + 295.2724088922042 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 752, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -138.66717529296875, + "y": -120.68775939941406, + "z": 0.7273821234703064 + }, + "extent": { + "x": 0.3678613305091858, + "y": 0.42521482706069946, + "z": 0.8570473194122314 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 826.8924111246112, + "ymin": 519.1796239081651, + "xmax": 874.8550690229988, + "ymax": 585.0344788519552 + }, + "corners_3d": [ + [ + -138.62661743164062, + -121.24855041503906, + -0.12966519594192505 + ], + [ + -139.22796630859375, + -120.64720153808594, + -0.12966519594192505 + ], + [ + -138.70773315429688, + -120.12696838378906, + -0.12966519594192505 + ], + [ + -138.10638427734375, + -120.72831726074219, + -0.12966519594192505 + ], + [ + -138.62661743164062, + -121.24855041503906, + 1.5844295024871826 + ], + [ + -139.22796630859375, + -120.64720153808594, + 1.5844295024871826 + ], + [ + -138.70773315429688, + -120.12696838378906, + 1.5844295024871826 + ], + [ + -138.10638427734375, + -120.72831726074219, + 1.5844295024871826 + ] + ], + "corners_2d": [ + [ + 832.2726135313686, + 585.0344788519552 + ], + [ + 864.5227325786244, + 583.8951877578515 + ], + [ + 858.4430892079055, + 561.2836862257591 + ], + [ + 826.8924111246112, + 562.373668719506 + ], + [ + 841.1310263904503, + 542.9903870522772 + ], + [ + 874.8550690229988, + 541.847069864161 + ], + [ + 868.2659355160447, + 519.1796239081651 + ], + [ + 835.3059660801889, + 520.2712576042622 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 819, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -132.78268432617188, + "y": -131.81512451171875, + "z": 0.585101842880249 + }, + "extent": { + "x": 0.4291699230670929, + "y": 0.551440417766571, + "z": 0.894966721534729 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 317.3771867309443, + "ymin": 664.9260310112054, + "xmax": 391.5101249144226, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -132.6242218017578, + -132.4956817626953, + -0.30986487865448 + ], + [ + -133.4813232421875, + -131.80162048339844, + -0.30986487865448 + ], + [ + -132.94114685058594, + -131.1345672607422, + -0.30986487865448 + ], + [ + -132.08404541015625, + -131.82862854003906, + -0.30986487865448 + ], + [ + -132.6242218017578, + -132.4956817626953, + 1.480068564414978 + ], + [ + -133.4813232421875, + -131.80162048339844, + 1.480068564414978 + ], + [ + -132.94114685058594, + -131.1345672607422, + 1.480068564414978 + ], + [ + -132.08404541015625, + -131.82862854003906, + 1.480068564414978 + ] + ], + "corners_2d": [ + [ + 334.31529870100667, + 741.8450557606459 + ], + [ + 381.76010534463944, + 744.6902868196767 + ], + [ + 391.5101249144226, + 710.0615413942381 + ], + [ + 345.4146638515686, + 707.3786593658455 + ], + [ + 317.3771867309443, + 699.9680878685999 + ], + [ + 367.41487573658287, + 702.8658583037081 + ], + [ + 378.12811792625484, + 667.6496985170089 + ], + [ + 329.58891949179554, + 664.9260310112054 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 618, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -117.92184448242188, + "y": -128.85797119140625, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.4719628691673279, + "y": 0.42988279461860657, + "z": 0.9014185667037964 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 135.15196754912563, + "ymin": 325.59844539020725, + "xmax": 193.23109339478953, + "ymax": 389.6016525731938 + }, + "corners_3d": [ + [ + -117.81836700439453, + -129.48793029785156, + -0.3264338970184326 + ], + [ + -118.53942108154297, + -129.01966857910156, + -0.3264338970184326 + ], + [ + -118.02532196044922, + -128.22801208496094, + -0.3264338970184326 + ], + [ + -117.30426788330078, + -128.69627380371094, + -0.3264338970184326 + ], + [ + -117.81836700439453, + -129.48793029785156, + 1.4764032363891602 + ], + [ + -118.53942108154297, + -129.01966857910156, + 1.4764032363891602 + ], + [ + -118.02532196044922, + -128.22801208496094, + 1.4764032363891602 + ], + [ + -117.30426788330078, + -128.69627380371094, + 1.4764032363891602 + ] + ], + "corners_2d": [ + [ + 153.878740340766, + 386.6778484112152 + ], + [ + 178.2371284711685, + 389.6016525731938 + ], + [ + 193.23109339478953, + 370.90322036524617 + ], + [ + 169.3622067620895, + 368.10796043581735 + ], + [ + 135.15196754912563, + 343.8817723239526 + ], + [ + 160.38415381925063, + 346.76330661788484 + ], + [ + 176.35698199070816, + 328.34857315505803 + ], + [ + 151.64938264366663, + 325.59844539020725 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 217, + "instance_id": 55552, + "pixel_count": 1496, + "type_id": "vehicle.mini.cooper_s", + "bbox_3d": { + "center_world": { + "x": -131.65988159179688, + "y": -76.91120147705078, + "z": 0.7358787059783936 + }, + "extent": { + "x": 1.9029000997543335, + "y": 0.9851378202438354, + "z": 0.7375150918960571 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 1144.5215763134336, + "ymin": 0.0, + "xmax": 1215.9366342086496, + "ymax": 46.453414050933134 + }, + "corners_3d": [ + [ + -130.6616973876953, + -78.80728912353516, + -0.001636367291212082 + ], + [ + -132.63192749023438, + -78.8208236694336, + -0.001636367291212082 + ], + [ + -132.65806579589844, + -75.0151138305664, + -0.001636367291212082 + ], + [ + -130.68783569335938, + -75.00157928466797, + -0.001636367291212082 + ], + [ + -130.6616973876953, + -78.80728912353516, + 1.4733937978744507 + ], + [ + -132.63192749023438, + -78.8208236694336, + 1.4733937978744507 + ], + [ + -132.65806579589844, + -75.0151138305664, + 1.4733937978744507 + ], + [ + -130.68783569335938, + -75.00157928466797, + 1.4733937978744507 + ] + ], + "corners_2d": [ + [ + 1144.5215763134336, + 36.844331763028265 + ], + [ + 1181.0997009912294, + 46.453414050933134 + ], + [ + 1205.8145774990817, + 26.923876533950704 + ], + [ + 1170.1884576970865, + 18.048996672252827 + ], + [ + 1153.7382613306836, + 10.158908164221316 + ], + [ + 1191.183290047982, + 19.410676207496465 + ], + [ + 1215.9366342086496, + 0.6143407974428214 + ], + [ + 1179.4936374016706, + -7.918251987649171 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 336081800985065791, + "instance_id": 16185, + "pixel_count": null, + "type_id": "AmericanLights_Town04_20_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -95.84429168701172, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1246.383356802064, + "ymin": 56.1579019729287, + "xmax": 1267.5791119449786, + "ymax": 84.23009648590732 + }, + "corners_3d": [ + [ + -139.30453491210938, + -95.65432739257812, + 5.545533180236816 + ], + [ + -139.02737426757812, + -95.65432739257812, + 5.545533180236816 + ], + [ + -139.02737426757812, + -96.03425598144531, + 5.545533180236816 + ], + [ + -139.30453491210938, + -96.03425598144531, + 5.545533180236816 + ], + [ + -139.30453491210938, + -95.65432739257812, + 6.416468620300293 + ], + [ + -139.02737426757812, + -95.65432739257812, + 6.416468620300293 + ], + [ + -139.02737426757812, + -96.03425598144531, + 6.416468620300293 + ], + [ + -139.30453491210938, + -96.03425598144531, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1257.648368087663, + 81.01064059112002 + ], + [ + 1249.666579777145, + 78.87551430012485 + ], + [ + 1246.383356802064, + 82.06906035158443 + ], + [ + 1254.4001946054377, + 84.23009648590732 + ], + [ + 1267.5791119449786, + 58.234191154279415 + ], + [ + 1259.4289538406028, + 56.1579019729287 + ], + [ + 1256.1527199116092, + 59.26354382701891 + ], + [ + 1264.3395604361008, + 61.36543687367788 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5334257868772976186, + "instance_id": 15014, + "pixel_count": null, + "type_id": "AmericanLights_Town04_20_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -92.84429168701172, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1271.2782009715834, + "ymin": 32.904063842707615, + "xmax": 1280.0, + "ymax": 59.82267711861692 + }, + "corners_3d": [ + [ + -139.30453491210938, + -92.65432739257812, + 5.545533180236816 + ], + [ + -139.02737426757812, + -92.65432739257812, + 5.545533180236816 + ], + [ + -139.02737426757812, + -93.03425598144531, + 5.545533180236816 + ], + [ + -139.30453491210938, + -93.03425598144531, + 5.545533180236816 + ], + [ + -139.30453491210938, + -92.65432739257812, + 6.416468620300293 + ], + [ + -139.02737426757812, + -92.65432739257812, + 6.416468620300293 + ], + [ + -139.02737426757812, + -93.03425598144531, + 6.416468620300293 + ], + [ + -139.30453491210938, + -93.03425598144531, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1281.9843621851046, + 56.88980465632079 + ], + [ + 1274.270263061092, + 54.94384831241422 + ], + [ + 1271.2782009715834, + 57.85418615550179 + ], + [ + 1279.0253284632254, + 59.82267711861692 + ], + [ + 1291.8304351702486, + 34.79364642740279 + ], + [ + 1283.9601190685614, + 32.904063842707615 + ], + [ + 1280.9787729844668, + 35.73017253365117 + ], + [ + 1288.883586745428, + 37.64197481194873 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 808.3343995949007, + "ymin": 0.0, + "xmax": 821.4137988379888, + "ymax": 15.235837554743398 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 813.7670368390545, + 15.235837554743398 + ], + [ + 818.9118338540784, + 12.792183529392446 + ], + [ + 813.4895892872322, + 11.169465431425579 + ], + [ + 808.3343995949007, + 13.59597245061093 + ], + [ + 816.2100632220245, + -5.605095845462074 + ], + [ + 821.4137988379888, + -7.971954144942231 + ], + [ + 815.9071045512065, + -9.543482673698975 + ], + [ + 810.6925908203166, + -7.193464141391814 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 630.5912800086508, + "ymin": 0.0, + "xmax": 639.9536487626237, + "ymax": 20.34976090916274 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 634.7941542728288, + 20.34976090916274 + ], + [ + 639.9536487626237, + 18.254871920076255 + ], + [ + 635.8634809304323, + 16.85432418713691 + ], + [ + 630.7012442724747, + 18.936675744294746 + ], + [ + 634.7324038574441, + 2.8269344143004673 + ], + [ + 639.9531014331077, + 0.7862541299301142 + ], + [ + 635.8147834315578, + -0.5779318990325919 + ], + [ + 630.5912800086508, + 1.4503914952682635 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 761.0085321231752, + "ymin": 0.0, + "xmax": 773.1196286076972, + "ymax": 0.8508279564120471 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 766.1110508537951, + 0.8508279564120471 + ], + [ + 771.3401741452029, + -1.4444588519675108 + ], + [ + 766.2457685483477, + -2.9690649261538056 + ], + [ + 761.0085321231752, + -0.6893899773189105 + ], + [ + 767.8285185482127, + -19.5330092133363 + ], + [ + 773.1196286076972, + -21.754241918524258 + ], + [ + 767.950311250612, + -23.22948861010036 + ], + [ + 762.6508054296471, + -21.023568232280923 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10476196482746081849, + "instance_id": 14818, + "pixel_count": null, + "type_id": "AmericanLights_Town04_20_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -100.74504852294922, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1166.9867008581925, + "ymin": 174.95328926604125, + "xmax": 1187.5836341571662, + "ymax": 202.97205216221695 + }, + "corners_3d": [ + [ + -139.20529174804688, + -100.55508422851562, + 2.645533323287964 + ], + [ + -138.92662048339844, + -100.55508422851562, + 2.645533323287964 + ], + [ + -138.9266357421875, + -100.93501281738281, + 2.645533323287964 + ], + [ + -139.20530700683594, + -100.93501281738281, + 2.645533323287964 + ], + [ + -139.20529174804688, + -100.55508422851562, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -100.55508422851562, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -100.93501281738281, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -100.93501281738281, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1178.7277568150198, + 198.94199885262432 + ], + [ + 1170.8362745555874, + 196.25553563081215 + ], + [ + 1166.9867008581925, + 200.25219469426173 + ], + [ + 1174.91108259145, + 202.97205216221695 + ], + [ + 1187.5836341571662, + 177.59392261987318 + ], + [ + 1179.525719207943, + 174.95328926604125 + ], + [ + 1175.667347658718, + 178.88189746445653 + ], + [ + 1183.759719389623, + 181.55589891986844 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11529003171770300666, + "instance_id": 64120, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.25050354003906, + "y": -128.95399475097656, + "z": 3.0800981521606445 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 57.597252057679725, + "ymin": 224.91750233713336, + "xmax": 82.83769849404644, + "ymax": 254.84406062584816 + }, + "corners_3d": [ + [ + -113.11116790771484, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -128.7640380859375, + 3.5146679878234863 + ], + [ + -113.11116790771484, + -128.7640380859375, + 3.5146679878234863 + ] + ], + "corners_2d": [ + [ + 67.7815011447725, + 251.67604535964296 + ], + [ + 71.37331326917183, + 254.84406062584816 + ], + [ + 82.83769849404644, + 250.15107197788086 + ], + [ + 79.21851266024032, + 247.02500196374697 + ], + [ + 57.597252057679725, + 229.5012083618176 + ], + [ + 61.20648933118218, + 232.62397655148254 + ], + [ + 72.94334731319759, + 227.99819426001787 + ], + [ + 69.30513210812444, + 224.91750233713336 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 162269529527095271, + "instance_id": 59151, + "pixel_count": null, + "type_id": "BP_StreetLight_simple36_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -72.95545959472656, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1173.711903652746, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 41.124394527760785 + }, + "corners_3d": [ + [ + -138.1054229736328, + -73.32183837890625, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -72.58908081054688, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -72.58908081054688, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -73.32183837890625, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -73.32183837890625, + 11.111722946166992 + ], + [ + -138.1054229736328, + -72.58908081054688, + 11.111722946166992 + ], + [ + -130.23475646972656, + -72.58908081054688, + 11.111722946166992 + ], + [ + -130.23475646972656, + -73.32183837890625, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1322.025610909762, + 41.124394527760785 + ], + [ + 1325.7245618946358, + 37.27047571809669 + ], + [ + 1178.2251571069662, + 2.2639551135662828 + ], + [ + 1173.711903652746, + 5.58226315652189 + ], + [ + 1428.8993401182597, + -187.1068083683964 + ], + [ + 1432.2040289471804, + -189.49062081929117 + ], + [ + 1254.9425275309486, + -210.878518395284 + ], + [ + 1250.4241820006055, + -208.87139835242726 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 754.2370791465146, + "ymin": 0.0, + "xmax": 897.2622672607131, + "ymax": 17.190295898801082 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 874.6512507882541, + -33.55116219637898 + ], + [ + 868.919520399417, + -35.06389077357886 + ], + [ + 754.2370791465146, + 15.2874420682341 + ], + [ + 760.1980908388015, + 17.190295898801082 + ], + [ + 897.2622672607131, + -181.09352379250083 + ], + [ + 890.890435292979, + -182.16423467381753 + ], + [ + 766.6760588653395, + -146.1182901699271 + ], + [ + 773.3455139959624, + -144.7393976049117 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1184484105883362010, + "instance_id": 55842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple48_110_SM_2", + "bbox_3d": { + "center_world": { + "x": -139.474609375, + "y": -128.0553741455078, + "z": 4.084396839141846 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 610.1365402611494, + "ymin": 495.63698013014414, + "xmax": 809.8011676266935, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -141.39132690429688, + -128.2749786376953, + 0.20767807960510254 + ], + [ + -141.39132690429688, + -127.83576965332031, + 0.20767807960510254 + ], + [ + -137.55789184570312, + -127.83576965332031, + 0.20767807960510254 + ], + [ + -137.55789184570312, + -128.2749786376953, + 0.20767807960510254 + ], + [ + -141.39132690429688, + -128.2749786376953, + 7.961115837097168 + ], + [ + -141.39132690429688, + -127.83576965332031, + 7.961115837097168 + ], + [ + -137.55789184570312, + -127.83576965332031, + 7.961115837097168 + ], + [ + -137.55789184570312, + -128.2749786376953, + 7.961115837097168 + ] + ], + "corners_2d": [ + [ + 753.7803903235199, + 860.7117154318146 + ], + [ + 766.7992603691597, + 844.2983833568239 + ], + [ + 630.4757014941057, + 726.2410825620065 + ], + [ + 617.0887607053311, + 739.7813406973945 + ], + [ + 793.025203699036, + 641.0362305852827 + ], + [ + 809.8011676266935, + 622.7400305044331 + ], + [ + 627.628352862216, + 495.63698013014414 + ], + [ + 610.1365402611494, + 509.8261717802509 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2334590930876643410, + "instance_id": 21048, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -123.8453369140625, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 220.7159984312077, + "ymin": 85.95223679410657, + "xmax": 237.2272912005626, + "ymax": 96.1456583309095 + }, + "corners_3d": [ + [ + -116.6200942993164, + -123.69747161865234, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.69747161865234, + 7.743301868438721 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 230.3998238826295, + 89.25921512087297 + ], + [ + 221.70368954512878, + 92.2599701298335 + ], + [ + 228.50711233817856, + 96.1456583309095 + ], + [ + 237.2272912005626, + 93.10187450390015 + ], + [ + 229.43802968847962, + 85.95223679410657 + ], + [ + 220.7159984312077, + 88.94163603995577 + ], + [ + 227.5285082366093, + 92.81273567606172 + ], + [ + 236.27477506024985, + 89.78036842438098 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3639812104533344102, + "instance_id": 26239, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -123.8453369140625, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 220.80436879332746, + "ymin": 86.0061935667162, + "xmax": 237.13967110086304, + "ymax": 96.09122018750134 + }, + "corners_3d": [ + [ + -116.62229919433594, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.69904327392578, + 7.742714881896973 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 230.38511010112563, + 89.27813316176525 + ], + [ + 221.78136883035927, + 92.2470824903018 + ], + [ + 228.51239106865847, + 96.09122018750134 + ], + [ + 237.13967110086304, + 93.08015269384504 + ], + [ + 229.433459526356, + 86.0061935667162 + ], + [ + 220.80436879332746, + 88.96402730672378 + ], + [ + 227.54428613381435, + 92.79388514377018 + ], + [ + 236.19710064796197, + 89.79399213108456 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3985217512616395484, + "instance_id": 56450, + "pixel_count": null, + "type_id": "BP_StreetLight_simple48_110_SM_1", + "bbox_3d": { + "center_world": { + "x": -137.86505126953125, + "y": -128.05545043945312, + "z": 7.743513107299805 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 617.5890301359153, + "ymin": 507.3075868165698, + "xmax": 646.4523858517209, + "ymax": 533.3774897501964 + }, + "corners_3d": [ + [ + -138.06874084472656, + -128.2017364501953, + 7.689445495605469 + ], + [ + -138.06874084472656, + -127.9091567993164, + 7.689445495605469 + ], + [ + -137.66136169433594, + -127.9091567993164, + 7.689445495605469 + ], + [ + -137.66136169433594, + -128.2017364501953, + 7.689445495605469 + ], + [ + -138.06874084472656, + -128.2017364501953, + 7.797580718994141 + ], + [ + -138.06874084472656, + -127.9091567993164, + 7.797580718994141 + ], + [ + -137.66136169433594, + -127.9091567993164, + 7.797580718994141 + ], + [ + -137.66136169433594, + -128.2017364501953, + 7.797580718994141 + ] + ], + "corners_2d": [ + [ + 634.9277059914288, + 533.3774897501964 + ], + [ + 646.4252718322396, + 523.6174868053453 + ], + [ + 629.2054386362117, + 511.4168440035991 + ], + [ + 617.6829451648529, + 520.9326049729432 + ], + [ + 634.9060859491244, + 529.2675856504288 + ], + [ + 646.4523858517209, + 519.5073541790962 + ], + [ + 629.1604597712283, + 507.3075868165698 + ], + [ + 617.5890301359153, + 516.8225542852191 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5736675163518273754, + "instance_id": 55816, + "pixel_count": null, + "type_id": "AmericanLights_Town04_21_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1110.4599401824992, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 85.81707264687492 + }, + "corners_3d": [ + [ + -140.57330322265625, + -78.3179702758789, + 0.0 + ], + [ + -140.5771484375, + -77.8851547241211, + 0.0 + ], + [ + -128.5230712890625, + -77.77800750732422, + 0.0 + ], + [ + -128.51922607421875, + -78.21082305908203, + 0.0 + ], + [ + -140.57330322265625, + -78.3179702758789, + 8.446706771850586 + ], + [ + -140.5771484375, + -77.8851547241211, + 8.446706771850586 + ], + [ + -128.5230712890625, + -77.77800750732422, + 8.446706771850586 + ], + [ + -128.51922607421875, + -78.21082305908203, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1347.3750849427681, + 85.81707264687492 + ], + [ + 1349.7052648030858, + 83.14224242571999 + ], + [ + 1113.568607487995, + 21.818840290556693 + ], + [ + 1110.4599401824992, + 23.912645047050432 + ], + [ + 1437.5599521019612, + -94.17501262270298 + ], + [ + 1439.6783742001262, + -96.17673495087388 + ], + [ + 1165.9379451477494, + -141.38021524346573 + ], + [ + 1162.7419731946763, + -139.85823430377735 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5944504550537153523, + "instance_id": 62411, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_1", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88526153564453, + "z": 3.6450090408325195 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 58.34963464753491, + "xmax": 34.398640916034424, + "ymax": 94.73224027002408 + }, + "corners_3d": [ + [ + -100.3021469116211, + -126.97334289550781, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -126.97334289550781, + 3.8072457313537598 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.8072457313537598 + ] + ], + "corners_2d": [ + [ + -20.351814370587476, + 94.73224027002408 + ], + [ + 34.398640916034424, + 78.28607267586744 + ], + [ + 16.087222187971065, + 65.59280530035062 + ], + [ + -37.863928476651495, + 81.24663334733316 + ], + [ + -23.88163048425031, + 87.23338412505996 + ], + [ + 31.259703157170293, + 70.92949387805254 + ], + [ + 12.931448520873346, + 58.34963464753491 + ], + [ + -41.39720293815458, + 73.86405548222336 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6967274615413648305, + "instance_id": 45483, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_2", + "bbox_3d": { + "center_world": { + "x": -99.33560943603516, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 33.13491438682644, + "xmax": 66.51201691439735, + "ymax": 167.5150060183574 + }, + "corners_3d": [ + [ + -100.3640365600586, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -127.03557586669922, + 4.877264976501465 + ], + [ + -100.3640365600586, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + 12.505222028011758, + 167.5150060183574 + ], + [ + 66.51201691439735, + 148.7859911726865 + ], + [ + 47.215662741500864, + 134.23842217378782 + ], + [ + -6.027633209938017, + 152.05509383518256 + ], + [ + -36.88648133563515, + 62.82024493104785 + ], + [ + 22.844382116238535, + 46.08158859168162 + ], + [ + 3.2564136321569777, + 33.13491438682644 + ], + [ + -55.50779419664059, + 48.997534075368605 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8232706723728016641, + "instance_id": 325, + "pixel_count": null, + "type_id": "BP_StreetLight_wall40_71_SM_0", + "bbox_3d": { + "center_world": { + "x": -140.893310546875, + "y": -111.95197296142578, + "z": 4.334987163543701 + }, + "extent": { + "x": 0.11768747121095657, + "y": 1.147606611251831, + "z": 0.41115570068359375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1067.6202669680438, + "ymin": 294.2694384325021, + "xmax": 1163.8650675401295, + "ymax": 356.84685690878763 + }, + "corners_3d": [ + [ + -142.04092407226562, + -111.83428192138672, + 3.9238314628601074 + ], + [ + -139.74569702148438, + -111.83428955078125, + 3.9238314628601074 + ], + [ + -139.74569702148438, + -112.06966400146484, + 3.9238314628601074 + ], + [ + -142.04092407226562, + -112.06965637207031, + 3.9238314628601074 + ], + [ + -142.04092407226562, + -111.83428192138672, + 4.746142864227295 + ], + [ + -139.74569702148438, + -111.83428955078125, + 4.746142864227295 + ], + [ + -139.74569702148438, + -112.06966400146484, + 4.746142864227295 + ], + [ + -142.04092407226562, + -112.06965637207031, + 4.746142864227295 + ] + ], + "corners_2d": [ + [ + 1153.1877943271134, + 352.7377627804728 + ], + [ + 1071.1553596285448, + 317.7259411993015 + ], + [ + 1067.6202669680438, + 321.4836253981506 + ], + [ + 1149.910533487559, + 356.84685690878763 + ], + [ + 1163.8650675401295, + 328.9179026938432 + ], + [ + 1079.7269126768417, + 294.2694384325021 + ], + [ + 1076.163975454575, + 297.9851154221801 + ], + [ + 1160.5750543517127, + 332.98847511001736 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9919303964700251881, + "instance_id": 59670, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_Poles_4", + "bbox_3d": { + "center_world": { + "x": -112.9144515991211, + "y": -134.7008514404297, + "z": 4.223348617553711 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 78.60711989389767, + "xmax": 110.77706338416169, + "ymax": 497.1347575606883 + }, + "corners_3d": [ + [ + -113.18444061279297, + -128.6757354736328, + -4.76837158203125e-06 + ], + [ + -112.75162506103516, + -128.67189025878906, + -4.76837158203125e-06 + ], + [ + -112.64446258544922, + -140.72596740722656, + -4.76837158203125e-06 + ], + [ + -113.07727813720703, + -140.7298126220703, + -4.76837158203125e-06 + ], + [ + -113.18444061279297, + -128.6757354736328, + 8.446702003479004 + ], + [ + -112.75162506103516, + -128.67189025878906, + 8.446702003479004 + ], + [ + -112.64446258544922, + -140.72596740722656, + 8.446702003479004 + ], + [ + -113.07727813720703, + -140.7298126220703, + 8.446702003479004 + ] + ], + "corners_2d": [ + [ + 110.77706338416169, + 309.5629285012583 + ], + [ + 105.39909479830476, + 304.5469892274043 + ], + [ + -313.0660506065125, + 489.3487820809774 + ], + [ + -309.82829945791536, + 497.1347575606883 + ], + [ + 9.760188443633524, + 82.7921289568556 + ], + [ + 4.1570374645480115, + 78.60711989389767 + ], + [ + -548.681161288401, + 240.08963981093797 + ], + [ + -547.0751145737988, + 247.238639628539 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12065512595391554584, + "instance_id": 6308, + "pixel_count": null, + "type_id": "AmericanLights_Town04_20_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -94.9981918334961, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1146.8126604573438, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 268.79978546783923 + }, + "corners_3d": [ + [ + -139.1320343017578, + -101.02330780029297, + 0.0 + ], + [ + -139.56484985351562, + -101.02715301513672, + 0.0 + ], + [ + -139.67198181152344, + -88.97307586669922, + 0.0 + ], + [ + -139.23916625976562, + -88.96923065185547, + 0.0 + ], + [ + -139.1320343017578, + -101.02330780029297, + 8.446706771850586 + ], + [ + -139.56484985351562, + -101.02715301513672, + 8.446706771850586 + ], + [ + -139.67198181152344, + -88.97307586669922, + 8.446706771850586 + ], + [ + -139.23916625976562, + -88.96923065185547, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1146.8126604573438, + 264.30610084082616 + ], + [ + 1158.4524431333639, + 268.79978546783923 + ], + [ + 1261.9515111195653, + 155.3412405746158 + ], + [ + 1251.5936390568213, + 152.15085114003003 + ], + [ + 1236.766007036462, + 45.40988560534089 + ], + [ + 1251.1539977780449, + 49.08404210604721 + ], + [ + 1353.0383168767771, + -41.23763440900467 + ], + [ + 1340.62282331587, + -43.705821453630506 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14081937874569997388, + "instance_id": 19500, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_0", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88525390625, + "z": 3.6439085006713867 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 58.33414029967139, + "xmax": 34.46071562442319, + "ymax": 94.80020829017218 + }, + "corners_3d": [ + [ + -100.30333709716797, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.30333709716797, + -126.97452545166016, + 3.807230234146118 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.807230234146118 + ] + ], + "corners_2d": [ + [ + -20.347785735270236, + 94.80020829017218 + ], + [ + 34.46071562442319, + 78.3345940410129 + ], + [ + 16.126182723703096, + 65.62535283329947 + ], + [ + -37.8812442592797, + 81.2967640792146 + ], + [ + -23.901300172152446, + 87.25132635541627 + ], + [ + 31.30111644774206, + 70.92908614176912 + ], + [ + 12.949603883724535, + 58.33414029967139 + ], + [ + -41.4382409643913, + 73.86507281682384 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 598.76949037902, + "ymin": 0.0, + "xmax": 669.9448773766278, + "ymax": 108.95315357261671 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 609.2038013124742, + 83.02991406833723 + ], + [ + 603.0808262078918, + 85.78634227977881 + ], + [ + 660.6182269554711, + 108.95315357261671 + ], + [ + 666.6958061070675, + 105.953926013667 + ], + [ + 605.6281375362772, + -81.21260619071671 + ], + [ + 598.76949037902, + -79.08259198908956 + ], + [ + 663.142804921611, + -61.078932087897385 + ], + [ + 669.9448773766278, + -63.42001463602816 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 165.4766121943877, + "ymin": 51.5334791862353, + "xmax": 296.51302797747474, + "ymax": 293.93852844933997 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 241.15751459668888, + 248.71622676630795 + ], + [ + 230.62063969024177, + 253.45969522020158 + ], + [ + 285.76729097156885, + 293.93852844933997 + ], + [ + 296.51302797747474, + 288.63560934858697 + ], + [ + 178.1856536260114, + 51.5334791862353 + ], + [ + 165.4766121943877, + 55.48038564136374 + ], + [ + 225.60486610557388, + 89.50935397951014 + ], + [ + 238.66144096440377, + 85.0156471361164 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16194625468754558244, + "instance_id": 9469, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.53463745117188, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 5.393583940627593, + "xmax": 22.885525399752282, + "ymax": 132.59561855223038 + }, + "corners_3d": [ + [ + -95.56306457519531, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -127.03557586669922, + 4.877264976501465 + ], + [ + -95.56306457519531, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + -29.355038576308743, + 132.59561855223038 + ], + [ + 22.885525399752282, + 115.8958716297625 + ], + [ + 5.627340394597695, + 102.88488339288148 + ], + [ + -45.87492757868654, + 118.81490155134537 + ], + [ + -78.84269738315425, + 31.675897196161316 + ], + [ + -21.338564813905236, + 16.878855302630143 + ], + [ + -38.715470257749985, + 5.393583940627593 + ], + [ + -95.29832438440485, + 19.460787784433535 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 623.0568229361252, + "ymin": 0.0, + "xmax": 849.8823539192995, + "ymax": 146.51206461283044 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 630.6891369215017, + 68.25577381235598 + ], + [ + 624.9189456791721, + 70.78299512800226 + ], + [ + 818.0769056609465, + 146.51206461283044 + ], + [ + 823.6087015284892, + 143.1989541645185 + ], + [ + 629.5457471319919, + -107.27075072927704 + ], + [ + 623.0568229361252, + -105.39287785033036 + ], + [ + 843.7217641588243, + -48.05886999597732 + ], + [ + 849.8823539192995, + -50.611013655304646 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17718493663991687542, + "instance_id": 30441, + "pixel_count": null, + "type_id": "BP_StreetLight_simple48_110_SM_0", + "bbox_3d": { + "center_world": { + "x": -137.86505126953125, + "y": -128.05545043945312, + "z": 7.743518352508545 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 617.4329161718256, + "ymin": 507.16963718065324, + "xmax": 646.608400073396, + "ymax": 533.5207554339452 + }, + "corners_3d": [ + [ + -138.07093811035156, + -128.2033233642578, + 7.688869476318359 + ], + [ + -138.07093811035156, + -127.90758514404297, + 7.688869476318359 + ], + [ + -137.65916442871094, + -127.90758514404297, + 7.688869476318359 + ], + [ + -137.65916442871094, + -128.2033233642578, + 7.688869476318359 + ], + [ + -138.07093811035156, + -128.2033233642578, + 7.7981672286987305 + ], + [ + -138.07093811035156, + -127.90758514404297, + 7.7981672286987305 + ], + [ + -137.65916442871094, + -127.90758514404297, + 7.7981672286987305 + ], + [ + -137.65916442871094, + -128.2033233642578, + 7.7981672286987305 + ] + ], + "corners_2d": [ + [ + 634.9590419151812, + 533.5207554339452 + ], + [ + 646.5803321165533, + 523.6540220082219 + ], + [ + 629.1752563373024, + 511.32305919132085 + ], + [ + 617.5284985679151, + 520.9402554136252 + ], + [ + 634.9373212480401, + 529.3666730136464 + ], + [ + 646.608400073396, + 519.4997002170733 + ], + [ + 629.1296712751478, + 507.16963718065324 + ], + [ + 617.4329161718256, + 516.7860173329618 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 202.4174309387222, + "ymax": 288.6160560414293 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 99.3345578022064, + 159.40888529939258 + ], + [ + -60.11871919429177, + 230.00716024068512 + ], + [ + 42.19207441845606, + 288.6160560414293 + ], + [ + 202.4174309387222, + 206.06467487810897 + ], + [ + -22.91145225969342, + -143.16112636228684 + ], + [ + -241.50243624920927, + -98.39661122977861 + ], + [ + -129.87308770254685, + -59.363434814890695 + ], + [ + 94.02979095072703, + -113.84527951837299 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 14.462843815651468, + "ymax": 87.21576157467439 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + -82.74576091031292, + 13.296088163887418 + ], + [ + -215.69144367976514, + 62.10731004399986 + ], + [ + -114.25883650301807, + 87.21576157467439 + ], + [ + 14.462843815651468, + 33.75174111754387 + ], + [ + -194.46135797980514, + -216.13516910477506 + ], + [ + -364.30746543489795, + -187.20916243569275 + ], + [ + -252.8593693889287, + -171.95351269747607 + ], + [ + -87.1886345318137, + -204.12838728213956 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 229.33000363735937, + "ymax": 329.2691517372031 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 12.997752592525785, + 329.2691517372031 + ], + [ + 223.8798254309508, + 295.31833911647317 + ], + [ + 229.33000363735937, + 197.85965218683137 + ], + [ + 47.31831794575953, + 223.36142559832157 + ], + [ + -180.4658605104106, + -31.224764736397674 + ], + [ + 102.70621788044593, + -54.78587174130894 + ], + [ + 129.19059889404696, + -119.07544805694607 + ], + [ + -104.34676571463012, + -102.71289195151354 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 38.081224584839106, + "ymax": 144.8982052952062 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -38.12921669887248, + 58.121314730920005 + ], + [ + -181.6001976432292, + 106.27914783015956 + ], + [ + -107.62529186624374, + 144.8982052952062 + ], + [ + 38.081224584839106, + 90.15217255212798 + ], + [ + -161.34783400932338, + -203.4382797053953 + ], + [ + -347.89667979214437, + -175.3330203469801 + ], + [ + -271.75783046285767, + -152.07304576279273 + ], + [ + -79.52931439773783, + -184.85386701349364 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00006/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00006/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9fb145c0563d52a3adb9f5a54c93cf6aaf6f04de --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00006/meta.json @@ -0,0 +1,3637 @@ +{ + "frame_id": 6, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 3.0, + "sim_timestamp": 9774.781650813296 + }, + "drone_pose": { + "x": -144.60996282683485, + "y": -135.61960952680974, + "z": 20.623827821354304, + "pitch": -42.10043916071531, + "yaw": 44.06702471009786, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5331257581710815, + -0.5160401463508606, + 0.6704323291778564, + 133.25360107421875 + ], + [ + 0.6954993605613708, + 0.7185267210006714, + 0.0, + -3.12982177734375 + ], + [ + -0.4817235469818115, + 0.46628525853157043, + 0.7419706583023071, + -148.20172119140625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -144.279574296757, + "y": -134.9835399795555, + "z": 20.546594821330586 + }, + "t1_image_uv": [ + 1032.2607773526272, + -327.76350691567177 + ], + "t1_depth": 0.5561555666150544 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -128.66718292236328, + "y": -120.18776321411131, + "z": 0.5749846434596475 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 29.90435126320214, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 183, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -128.66717529296875, + "y": -120.18775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.25194334983825684, + "y": 0.2563232481479645, + "z": 0.5296705365180969 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 631.4873351444029, + "ymin": 341.77131848504575, + "xmax": 648.4072471358287, + "ymax": 378.0281590023838 + }, + "corners_3d": [ + [ + -128.66407775878906, + -120.54715728759766, + 0.045314133167266846 + ], + [ + -129.02658081054688, + -120.18466186523438, + 0.045314133167266846 + ], + [ + -128.67027282714844, + -119.82836151123047, + 0.045314133167266846 + ], + [ + -128.30776977539062, + -120.19085693359375, + 0.045314133167266846 + ], + [ + -128.66407775878906, + -120.54715728759766, + 1.1046552658081055 + ], + [ + -129.02658081054688, + -120.18466186523438, + 1.1046552658081055 + ], + [ + -128.67027282714844, + -119.82836151123047, + 1.1046552658081055 + ], + [ + -128.30776977539062, + -120.19085693359375, + 1.1046552658081055 + ] + ], + "corners_2d": [ + [ + 631.6883560554357, + 377.84569568550523 + ], + [ + 648.0514205810947, + 378.0281590023838 + ], + [ + 648.2111130069118, + 367.15522738315053 + ], + [ + 632.0489021223167, + 366.97721714877326 + ], + [ + 631.4873351444029, + 352.58178484425764 + ], + [ + 648.2461889765224, + 352.7633290279027 + ], + [ + 648.4072471358287, + 341.9483268658531 + ], + [ + 631.8590184041815, + 341.77131848504575 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 6, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 80, + "semantic_pixel_counts": { + "1": 520083, + "2": 220531, + "3": 103665, + "5": 3598, + "6": 7816, + "7": 435, + "9": 24955, + "10": 4994, + "12": 3170, + "14": 936, + "20": 2394, + "21": 1871, + "24": 27152 + }, + "instance_pixel_counts": { + "1115": 2611, + "10370": 1112, + "11394": 248, + "11906": 2478, + "14672": 320, + "14723": 115, + "14928": 3278, + "14999": 678, + "15511": 3172, + "16023": 346, + "16535": 524, + "17047": 878, + "18011": 3910, + "20119": 13190, + "20631": 6909, + "23488": 875, + "24064": 265, + "24320": 281, + "25024": 156, + "26560": 7089, + "27072": 1474, + "27584": 2053, + "28608": 10052, + "29843": 12159, + "30144": 87170, + "30355": 168398, + "30656": 29477, + "30867": 228, + "31168": 1151, + "31301": 539, + "31323": 25248, + "31488": 3559, + "31813": 4425, + "31891": 260127, + "33883": 46207, + "34120": 22780, + "34453": 1568, + "34965": 7374, + "35477": 37, + "35931": 1150, + "36180": 2394, + "36181": 1, + "36443": 21182, + "36501": 15859, + "39507": 1, + "43649": 192, + "43867": 31, + "44123": 2, + "44171": 398, + "44379": 188, + "44691": 78701, + "45203": 153, + "45707": 337, + "46227": 317, + "47195": 81, + "47253": 2193, + "47765": 92, + "48779": 89, + "48789": 29, + "49664": 183, + "49920": 356, + "50176": 383, + "50432": 782, + "50688": 900, + "50944": 566, + "53184": 785, + "53696": 309, + "54177": 10, + "55552": 936, + "55744": 804, + "56225": 377, + "57173": 24955, + "58017": 1070, + "58020": 75, + "59044": 34, + "59809": 2, + "60013": 2561, + "61037": 796, + "64351": 3062, + "65375": 26773 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 183, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -128.66717529296875, + "y": -120.18775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.24208007752895355, + "y": 0.2547704875469208, + "z": 0.5548697710037231 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 631.5406060508038, + "ymin": 341.3665313181623, + "xmax": 648.3587053109713, + "ymax": 378.39866295639206 + }, + "corners_3d": [ + [ + -128.658203125, + -120.5390853881836, + 0.020114898681640625 + ], + [ + -129.0185089111328, + -120.17878723144531, + 0.020114898681640625 + ], + [ + -128.6761474609375, + -119.83643341064453, + 0.020114898681640625 + ], + [ + -128.3158416748047, + -120.19673156738281, + 0.020114898681640625 + ], + [ + -128.658203125, + -120.5390853881836, + 1.129854440689087 + ], + [ + -129.0185089111328, + -120.17878723144531, + 1.129854440689087 + ], + [ + -128.6761474609375, + -119.83643341064453, + 1.129854440689087 + ], + [ + -128.3158416748047, + -120.19673156738281, + 1.129854440689087 + ] + ], + "corners_2d": [ + [ + 631.7497045844899, + 378.21737485103966 + ], + [ + 648.0005034850078, + 378.39866295639206 + ], + [ + 648.1544907477277, + 367.95024419586923 + ], + [ + 632.0952992434363, + 367.77320700922405 + ], + [ + 631.5406060508038, + 351.75229514147736 + ], + [ + 648.2033137570977, + 351.9326242947313 + ], + [ + 648.3587053109713, + 341.54252679989895 + ], + [ + 631.8973812587648, + 341.3665313181623 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 356, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -124.54119873046875, + "y": -117.19005584716797, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.5170654058456421, + "y": 0.38083982467651367, + "z": 0.9184767007827759 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 605.7901706039718, + "ymin": 232.17352534250585, + "xmax": 633.1368558291435, + "ymax": 294.3279365418077 + }, + "corners_3d": [ + [ + -124.76742553710938, + -117.79106903076172, + -0.3434920310974121 + ], + [ + -125.18226623535156, + -117.15226745605469, + -0.3434920310974121 + ], + [ + -124.31497192382812, + -116.58904266357422, + -0.3434920310974121 + ], + [ + -123.90013122558594, + -117.22784423828125, + -0.3434920310974121 + ], + [ + -124.76742553710938, + -117.79106903076172, + 1.4934613704681396 + ], + [ + -125.18226623535156, + -117.15226745605469, + 1.4934613704681396 + ], + [ + -124.31497192382812, + -116.58904266357422, + 1.4934613704681396 + ], + [ + -123.90013122558594, + -117.22784423828125, + 1.4934613704681396 + ] + ], + "corners_2d": [ + [ + 611.90616295004, + 294.3279365418077 + ], + [ + 633.1368558291435, + 291.7655218735367 + ], + [ + 627.7934697496174, + 274.42073513749676 + ], + [ + 607.0082229138693, + 276.8729642669046 + ], + [ + 610.8449865854295, + 251.71637250426892 + ], + [ + 632.8784769570559, + 249.1988014944674 + ], + [ + 627.344267065511, + 232.17352534250585 + ], + [ + 605.7901706039718, + 234.57889420601242 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 383, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -130.92300415039062, + "y": -113.24504852294922, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.40535643696784973, + "y": 0.38759276270866394, + "z": 0.8886193037033081 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 817.6580314126019, + "ymin": 266.9320242620327, + "xmax": 853.2824705004673, + "ymax": 324.68402320142263 + }, + "corners_3d": [ + [ + -130.99411010742188, + -113.80136108398438, + -0.31362980604171753 + ], + [ + -131.48194885253906, + -113.19892883300781, + -0.31362980604171753 + ], + [ + -130.85189819335938, + -112.68873596191406, + -0.31362980604171753 + ], + [ + -130.3640594482422, + -113.29116821289062, + -0.31362980604171753 + ], + [ + -130.99411010742188, + -113.80136108398438, + 1.463608741760254 + ], + [ + -131.48194885253906, + -113.19892883300781, + 1.463608741760254 + ], + [ + -130.85189819335938, + -112.68873596191406, + 1.463608741760254 + ], + [ + -130.3640594482422, + -113.29116821289062, + 1.463608741760254 + ] + ], + "corners_2d": [ + [ + 823.0395557002237, + 324.68402320142263 + ], + [ + 845.4885087873606, + 323.38758210488714 + ], + [ + 839.7101337807544, + 308.39557979985454 + ], + [ + 817.6580314126019, + 309.6456201477679 + ], + [ + 829.9932971548102, + 282.9799875058179 + ], + [ + 853.2824705004673, + 281.70181266929853 + ], + [ + 847.143155967518, + 266.9320242620327 + ], + [ + 824.2808043500199, + 268.1627642061051 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 782, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -138.16717529296875, + "y": -120.18775939941406, + "z": 0.7273821234703064 + }, + "extent": { + "x": 0.3971875011920929, + "y": 0.45143553614616394, + "z": 0.8973466157913208 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 870.7339965482424, + "ymin": 498.5356563455448, + "xmax": 924.0296939957582, + "ymax": 567.0477972560946 + }, + "corners_3d": [ + [ + -138.12881469726562, + -120.78782653808594, + -0.1699644923210144 + ], + [ + -138.76724243164062, + -120.14939880371094, + -0.1699644923210144 + ], + [ + -138.20553588867188, + -119.58769226074219, + -0.1699644923210144 + ], + [ + -137.56710815429688, + -120.22611999511719, + -0.1699644923210144 + ], + [ + -138.12881469726562, + -120.78782653808594, + 1.6247286796569824 + ], + [ + -138.76724243164062, + -120.14939880371094, + 1.6247286796569824 + ], + [ + -138.20553588867188, + -119.58769226074219, + 1.6247286796569824 + ], + [ + -137.56710815429688, + -120.22611999511719, + 1.6247286796569824 + ] + ], + "corners_2d": [ + [ + 875.6665415782005, + 566.5799141081434 + ], + [ + 910.3809662471884, + 567.0477972560946 + ], + [ + 904.6480630736569, + 542.3399346662038 + ], + [ + 870.7339965482424, + 541.8933176043381 + ], + [ + 887.5574568311231, + 523.3963539061995 + ], + [ + 924.0296939957582, + 523.8680936038728 + ], + [ + 917.6850648997226, + 498.98491155330254 + ], + [ + 882.0952615093058, + 498.5356563455448 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 900, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -132.28268432617188, + "y": -131.31512451171875, + "z": 0.5839006304740906 + }, + "extent": { + "x": 0.6117236018180847, + "y": 0.45751953125, + "z": 0.9099389314651489 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 368.02217830684395, + "ymin": 612.016082106732, + "xmax": 435.4862248782945, + "ymax": 705.5087527869052 + }, + "corners_3d": [ + [ + -132.3120880126953, + -132.0784454345703, + -0.32603830099105835 + ], + [ + -133.02320861816406, + -131.50259399414062, + -0.32603830099105835 + ], + [ + -132.25328063964844, + -130.5518035888672, + -0.32603830099105835 + ], + [ + -131.5421600341797, + -131.12765502929688, + -0.32603830099105835 + ], + [ + -132.3120880126953, + -132.0784454345703, + 1.4938395023345947 + ], + [ + -133.02320861816406, + -131.50259399414062, + 1.4938395023345947 + ], + [ + -132.25328063964844, + -130.5518035888672, + 1.4938395023345947 + ], + [ + -131.5421600341797, + -131.12765502929688, + 1.4938395023345947 + ] + ], + "corners_2d": [ + [ + 382.81726691566564, + 701.076742389601 + ], + [ + 420.895283475823, + 705.5087527869052 + ], + [ + 435.4862248782945, + 658.4943696460721 + ], + [ + 398.82768827246673, + 654.3986937173609 + ], + [ + 368.02217830684395, + 659.5786834601287 + ], + [ + 408.24183490836947, + 664.1056702228555 + ], + [ + 424.1585613937492, + 616.1809292851492 + ], + [ + 385.5190855912015, + 612.016082106732 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 566, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -117.42184448242188, + "y": -128.35797119140625, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.4063769578933716, + "y": 0.46266600489616394, + "z": 0.8626020550727844 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 197.6220097403339, + "ymin": 281.2351115242807, + "xmax": 251.32207168729497, + "ymax": 340.95988177549145 + }, + "corners_3d": [ + [ + -117.2551498413086, + -128.95077514648438, + -0.28761738538742065 + ], + [ + -118.03119659423828, + -128.44680786132812, + -0.28761738538742065 + ], + [ + -117.58853912353516, + -127.76516723632812, + -0.28761738538742065 + ], + [ + -116.81249237060547, + -128.26913452148438, + -0.28761738538742065 + ], + [ + -117.2551498413086, + -128.95077514648438, + 1.437586784362793 + ], + [ + -118.03119659423828, + -128.44680786132812, + 1.437586784362793 + ], + [ + -117.58853912353516, + -127.76516723632812, + 1.437586784362793 + ], + [ + -116.81249237060547, + -128.26913452148438, + 1.437586784362793 + ] + ], + "corners_2d": [ + [ + 213.58938046550742, + 336.8915649504524 + ], + [ + 238.68287234107186, + 340.95988177549145 + ], + [ + 251.32207168729497, + 325.6069544576769 + ], + [ + 226.62102482675346, + 321.68420819614875 + ], + [ + 197.6220097403339, + 296.24224592417386 + ], + [ + 223.58001804930484, + 300.26043140184345 + ], + [ + 236.96934438430532, + 285.1042739125815 + ], + [ + 211.43068318376953, + 281.2351115242807 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 217, + "instance_id": 55552, + "pixel_count": 936, + "type_id": "vehicle.mini.cooper_s", + "bbox_3d": { + "center_world": { + "x": -131.65988159179688, + "y": -76.91120147705078, + "z": 0.7358787059783936 + }, + "extent": { + "x": 1.9029000997543335, + "y": 0.9851378202438354, + "z": 0.7375150918960571 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 1230.6368082430154, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 31.413266613929522 + }, + "corners_3d": [ + [ + -130.6616973876953, + -78.80728912353516, + -0.001636367291212082 + ], + [ + -132.63192749023438, + -78.8208236694336, + -0.001636367291212082 + ], + [ + -132.65806579589844, + -75.0151138305664, + -0.001636367291212082 + ], + [ + -130.68783569335938, + -75.00157928466797, + -0.001636367291212082 + ], + [ + -130.6616973876953, + -78.80728912353516, + 1.4733937978744507 + ], + [ + -132.63192749023438, + -78.8208236694336, + 1.4733937978744507 + ], + [ + -132.65806579589844, + -75.0151138305664, + 1.4733937978744507 + ], + [ + -130.68783569335938, + -75.00157928466797, + 1.4733937978744507 + ] + ], + "corners_2d": [ + [ + 1230.6368082430154, + 20.149003790396193 + ], + [ + 1269.6210515764615, + 31.413266613929522 + ], + [ + 1297.10739657991, + 11.000234617714625 + ], + [ + 1259.0169927275963, + 0.5649768586869754 + ], + [ + 1242.414459561927, + -7.813451448663216 + ], + [ + 1282.4495890390372, + 3.0711456820927765 + ], + [ + 1309.978843082475, + -16.647040102037522 + ], + [ + 1270.8935793974256, + -26.715344567182967 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10476196482746081849, + "instance_id": 14818, + "pixel_count": null, + "type_id": "AmericanLights_Town04_20_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -100.74504852294922, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1250.3455353899926, + "ymin": 171.70081479831995, + "xmax": 1274.2241165949163, + "ymax": 201.02651115800515 + }, + "corners_3d": [ + [ + -139.20529174804688, + -100.55508422851562, + 2.645533323287964 + ], + [ + -138.92662048339844, + -100.55508422851562, + 2.645533323287964 + ], + [ + -138.9266357421875, + -100.93501281738281, + 2.645533323287964 + ], + [ + -139.20530700683594, + -100.93501281738281, + 2.645533323287964 + ], + [ + -139.20529174804688, + -100.55508422851562, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -100.55508422851562, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -100.93501281738281, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -100.93501281738281, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1263.0352045222876, + 196.82095551904325 + ], + [ + 1254.637274299069, + 193.6673531443645 + ], + [ + 1250.3455353899926, + 197.83521763554936 + ], + [ + 1258.7741949370998, + 201.02651115800515 + ], + [ + 1274.2241165949163, + 174.810471216307 + ], + [ + 1265.6250593509988, + 171.70081479831995 + ], + [ + 1261.3226270515956, + 175.81070572425836 + ], + [ + 1269.9541423209837, + 178.9582000573576 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11529003171770300666, + "instance_id": 64120, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.25050354003906, + "y": -128.95399475097656, + "z": 3.0800981521606445 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 115.89769100920046, + "ymin": 188.659025658794, + "xmax": 140.04524863056997, + "ymax": 218.58516754737957 + }, + "corners_3d": [ + [ + -113.11116790771484, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -128.7640380859375, + 3.5146679878234863 + ], + [ + -113.11116790771484, + -128.7640380859375, + 3.5146679878234863 + ] + ], + "corners_2d": [ + [ + 125.38558758965848, + 215.23410256516578 + ], + [ + 128.80666195180999, + 218.58516754737957 + ], + [ + 140.04524863056997, + 214.1695766611976 + ], + [ + 136.5933262005408, + 210.85905628302316 + ], + [ + 115.89769100920046, + 192.97702436974507 + ], + [ + 119.33732659878888, + 196.2850457552946 + ], + [ + 130.84145867010432, + 191.9262904125529 + ], + [ + 127.36928364215294, + 188.659025658794 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 162269529527095271, + "instance_id": 59151, + "pixel_count": null, + "type_id": "BP_StreetLight_simple36_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -72.95545959472656, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1263.4016704421933, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 29.34507139722041 + }, + "corners_3d": [ + [ + -138.1054229736328, + -73.32183837890625, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -72.58908081054688, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -72.58908081054688, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -73.32183837890625, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -73.32183837890625, + 11.111722946166992 + ], + [ + -138.1054229736328, + -72.58908081054688, + 11.111722946166992 + ], + [ + -130.23475646972656, + -72.58908081054688, + 11.111722946166992 + ], + [ + -130.23475646972656, + -73.32183837890625, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1422.9275922129439, + 29.34507139722041 + ], + [ + 1427.1392955337733, + 25.26249028197452 + ], + [ + 1268.4044431469101, + -16.197366539563347 + ], + [ + 1263.4016704421933, + -12.727614089235544 + ], + [ + 1559.892761346189, + -214.36204768889752 + ], + [ + 1563.6123698495371, + -216.97755321177465 + ], + [ + 1367.5389372226882, + -243.15034250217752 + ], + [ + 1362.5520613805695, + -240.9867087998125 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1184484105883362010, + "instance_id": 55842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple48_110_SM_2", + "bbox_3d": { + "center_world": { + "x": -139.474609375, + "y": -128.0553741455078, + "z": 4.084396839141846 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 656.8428375955543, + "ymin": 499.80003727552855, + "xmax": 866.4180856995617, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -141.39132690429688, + -128.2749786376953, + 0.20767807960510254 + ], + [ + -141.39132690429688, + -127.83576965332031, + 0.20767807960510254 + ], + [ + -137.55789184570312, + -127.83576965332031, + 0.20767807960510254 + ], + [ + -137.55789184570312, + -128.2749786376953, + 0.20767807960510254 + ], + [ + -141.39132690429688, + -128.2749786376953, + 7.961115837097168 + ], + [ + -141.39132690429688, + -127.83576965332031, + 7.961115837097168 + ], + [ + -137.55789184570312, + -127.83576965332031, + 7.961115837097168 + ], + [ + -137.55789184570312, + -128.2749786376953, + 7.961115837097168 + ] + ], + "corners_2d": [ + [ + 791.9875066680131, + 868.8166926337515 + ], + [ + 805.8138303327936, + 852.7547929846987 + ], + [ + 670.7797447017599, + 723.2437006113516 + ], + [ + 656.8428375955543, + 736.3777776750792 + ], + [ + 848.437910371099, + 663.1940560345075 + ], + [ + 866.4180856995617, + 644.53846651553 + ], + [ + 680.6161405236451, + 499.80003727552855 + ], + [ + 662.3014250071391, + 514.0332663656535 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2334590930876643410, + "instance_id": 21048, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -123.8453369140625, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 279.05618546135065, + "ymin": 53.499877678801, + "xmax": 295.33398535118613, + "ymax": 64.00806383686933 + }, + "corners_3d": [ + [ + -116.6200942993164, + -123.69747161865234, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.69747161865234, + 7.743301868438721 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 288.64310769966096, + 56.867922983724725 + ], + [ + 279.9488026123259, + 59.77439744812807 + ], + [ + 286.60950496365024, + 64.00806383686933 + ], + [ + 295.33398535118613, + 61.05815264163908 + ], + [ + 287.7765193829858, + 53.499877678801 + ], + [ + 279.05618546135065, + 56.39616753453146 + ], + [ + 285.7268450803321, + 60.615130349080005 + ], + [ + 294.4775715074465, + 57.675447736447495 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3639812104533344102, + "instance_id": 26239, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -123.8453369140625, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 279.14325176123015, + "ymin": 53.555520094586655, + "xmax": 295.2475447561043, + "ymax": 63.95196338516638 + }, + "corners_3d": [ + [ + -116.62229919433594, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.69904327392578, + 7.742714881896973 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 288.62814854365087, + 56.887871691555745 + ], + [ + 280.02618393996283, + 59.763553240296346 + ], + [ + 286.61604048506956, + 63.95196338516638 + ], + [ + 295.2475447561043, + 61.033764395802336 + ], + [ + 287.77069508449995, + 53.555520094586655 + ], + [ + 279.14325176123015, + 56.42123249342643 + ], + [ + 285.742855383776, + 60.59525014459683 + ], + [ + 294.40004873077754, + 57.68706289074174 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3985217512616395484, + "instance_id": 56450, + "pixel_count": null, + "type_id": "BP_StreetLight_simple48_110_SM_1", + "bbox_3d": { + "center_world": { + "x": -137.86505126953125, + "y": -128.05545043945312, + "z": 7.743513107299805 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 669.45591151083, + "ymin": 511.7677165647442, + "xmax": 699.2032915755528, + "ymax": 539.3691574343508 + }, + "corners_3d": [ + [ + -138.06874084472656, + -128.2017364501953, + 7.689445495605469 + ], + [ + -138.06874084472656, + -127.9091567993164, + 7.689445495605469 + ], + [ + -137.66136169433594, + -127.9091567993164, + 7.689445495605469 + ], + [ + -137.66136169433594, + -128.2017364501953, + 7.689445495605469 + ], + [ + -138.06874084472656, + -128.2017364501953, + 7.797580718994141 + ], + [ + -138.06874084472656, + -127.9091567993164, + 7.797580718994141 + ], + [ + -137.66136169433594, + -127.9091567993164, + 7.797580718994141 + ], + [ + -137.66136169433594, + -128.2017364501953, + 7.797580718994141 + ] + ], + "corners_2d": [ + [ + 686.8699841922742, + 539.3691574343508 + ], + [ + 698.9373275072905, + 529.5753828394221 + ], + [ + 681.5237677336099, + 515.8044665846536 + ], + [ + 669.45591151083, + 525.3386620888473 + ], + [ + 687.0834990786041, + 535.346368325236 + ], + [ + 699.2032915755528, + 525.5462041619577 + ], + [ + 681.7086509393112, + 511.7677165647442 + ], + [ + 669.5882904955248, + 521.3069781637194 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5736675163518273754, + "instance_id": 55816, + "pixel_count": null, + "type_id": "AmericanLights_Town04_21_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1194.6035274883766, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 78.39612468601996 + }, + "corners_3d": [ + [ + -140.57330322265625, + -78.3179702758789, + 0.0 + ], + [ + -140.5771484375, + -77.8851547241211, + 0.0 + ], + [ + -128.5230712890625, + -77.77800750732422, + 0.0 + ], + [ + -128.51922607421875, + -78.21082305908203, + 0.0 + ], + [ + -140.57330322265625, + -78.3179702758789, + 8.446706771850586 + ], + [ + -140.5771484375, + -77.8851547241211, + 8.446706771850586 + ], + [ + -128.5230712890625, + -77.77800750732422, + 8.446706771850586 + ], + [ + -128.51922607421875, + -78.21082305908203, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1448.5963215888596, + 78.39612468601996 + ], + [ + 1451.2656312332538, + 75.56358908444611 + ], + [ + 1198.0174464442882, + 3.244293412956438 + ], + [ + 1194.6035274883766, + 5.416375556718776 + ], + [ + 1563.3996268038904, + -112.42875802520882 + ], + [ + 1565.812378134795, + -114.60831669887108 + ], + [ + 1265.8452935590662, + -169.2606433357479 + ], + [ + 1262.338151718634, + -167.6466021750182 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5944504550537153523, + "instance_id": 62411, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_1", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88526153564453, + "z": 3.6450090408325195 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 23.244754771607973, + "ymin": 16.714023234069884, + "xmax": 96.53177531478082, + "ymax": 52.95868116569255 + }, + "corners_3d": [ + [ + -100.3021469116211, + -126.97334289550781, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -126.97334289550781, + 3.8072457313537598 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.8072457313537598 + ] + ], + "corners_2d": [ + [ + 43.18080071998202, + 52.95868116569255 + ], + [ + 96.53177531478082, + 37.49560982275125 + ], + [ + 79.03039931396881, + 24.04235626077167 + ], + [ + 26.548953036771877, + 38.74105992738339 + ], + [ + 39.88204361283056, + 45.389260994447454 + ], + [ + 93.6112319881853, + 30.053076441876442 + ], + [ + 76.09061903994859, + 16.714023234069884 + ], + [ + 23.244754771607973, + 31.288134883286887 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6519504943767973976, + "instance_id": 22640, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_0", + "bbox_3d": { + "center_world": { + "x": -94.53499603271484, + "y": -125.88525390625, + "z": 3.6439085006713867 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 54.643113688629, + "ymax": 18.98107363372378 + }, + "corners_3d": [ + [ + -95.50235748291016, + -126.97452545166016, + 3.480583429336548 + ], + [ + -95.50236511230469, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -93.56763458251953, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -93.567626953125, + -126.97452545166016, + 3.480583429336548 + ], + [ + -95.50235748291016, + -126.97452545166016, + 3.807230234146118 + ], + [ + -95.50236511230469, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -93.56763458251953, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -93.567626953125, + -126.97452545166016, + 3.807230234146118 + ] + ], + "corners_2d": [ + [ + 3.360566150057707, + 18.98107363372378 + ], + [ + 54.643113688629, + 5.3005169462500135 + ], + [ + 39.109169777134184, + -6.6403074588773165 + ], + [ + -11.352552533727021, + 6.40237469851553 + ], + [ + 0.034386493771421556, + 11.64859430225448 + ], + [ + 51.66474546096913, + -1.910047112204154 + ], + [ + 36.12331836118699, + -13.741450187958378 + ], + [ + -14.673872534703492, + -0.8181436611233721 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6967274615413648305, + "instance_id": 45483, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_2", + "bbox_3d": { + "center_world": { + "x": -99.33560943603516, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 9.975722582050821, + "ymin": 0.0, + "xmax": 126.43607088178021, + "ymax": 126.26817159229063 + }, + "corners_3d": [ + [ + -100.3640365600586, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -127.03557586669922, + 4.877264976501465 + ], + [ + -100.3640365600586, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + 73.7779806599757, + 126.26817159229063 + ], + [ + 126.43607088178021, + 108.7319632084297 + ], + [ + 108.0234842173046, + 93.37601498567267 + ], + [ + 56.20350692691113, + 110.03723918756319 + ], + [ + 27.66729220437867, + 20.713777220691725 + ], + [ + 85.86239086817477, + 4.94384290442656 + ], + [ + 67.12307343954762, + -8.80730623801577 + ], + [ + 9.975722582050821, + 6.115206255976943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8232706723728016641, + "instance_id": 325, + "pixel_count": null, + "type_id": "BP_StreetLight_wall40_71_SM_0", + "bbox_3d": { + "center_world": { + "x": -140.893310546875, + "y": -111.95197296142578, + "z": 4.334987163543701 + }, + "extent": { + "x": 0.11768747121095657, + "y": 1.147606611251831, + "z": 0.41115570068359375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1140.9846413896107, + "ymin": 297.79210392884215, + "xmax": 1244.8686003092516, + "ymax": 366.69343050345776 + }, + "corners_3d": [ + [ + -142.04092407226562, + -111.83428192138672, + 3.9238314628601074 + ], + [ + -139.74569702148438, + -111.83428955078125, + 3.9238314628601074 + ], + [ + -139.74569702148438, + -112.06966400146484, + 3.9238314628601074 + ], + [ + -142.04092407226562, + -112.06965637207031, + 3.9238314628601074 + ], + [ + -142.04092407226562, + -111.83428192138672, + 4.746142864227295 + ], + [ + -139.74569702148438, + -111.83428955078125, + 4.746142864227295 + ], + [ + -139.74569702148438, + -112.06966400146484, + 4.746142864227295 + ], + [ + -142.04092407226562, + -112.06965637207031, + 4.746142864227295 + ] + ], + "corners_2d": [ + [ + 1231.4440326912572, + 362.4190956723362 + ], + [ + 1144.879219891312, + 321.5808247383959 + ], + [ + 1140.9846413896107, + 325.4623410920342 + ], + [ + 1227.782025527182, + 366.69343050345776 + ], + [ + 1244.8686003092516, + 338.3588685565355 + ], + [ + 1155.7893047442212, + 297.79210392884215 + ], + [ + 1151.8623552237577, + 301.64410003434205 + ], + [ + 1241.1905261223228, + 342.60978488288583 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9919303964700251881, + "instance_id": 59670, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_Poles_4", + "bbox_3d": { + "center_world": { + "x": -112.9144515991211, + "y": -134.7008514404297, + "z": 4.223348617553711 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 40.88386689699058, + "xmax": 166.03881601286383, + "ymax": 445.54265094701157 + }, + "corners_3d": [ + [ + -113.18444061279297, + -128.6757354736328, + -4.76837158203125e-06 + ], + [ + -112.75162506103516, + -128.67189025878906, + -4.76837158203125e-06 + ], + [ + -112.64446258544922, + -140.72596740722656, + -4.76837158203125e-06 + ], + [ + -113.07727813720703, + -140.7298126220703, + -4.76837158203125e-06 + ], + [ + -113.18444061279297, + -128.6757354736328, + 8.446702003479004 + ], + [ + -112.75162506103516, + -128.67189025878906, + 8.446702003479004 + ], + [ + -112.64446258544922, + -140.72596740722656, + 8.446702003479004 + ], + [ + -113.07727813720703, + -140.7298126220703, + 8.446702003479004 + ] + ], + "corners_2d": [ + [ + 166.03881601286383, + 273.62238842028046 + ], + [ + 160.9213186225557, + 268.3376884250752 + ], + [ + -240.6935246532421, + 437.6871734977438 + ], + [ + -237.78765526436212, + 445.54265094701157 + ], + [ + 71.8661534249718, + 45.361289362376226 + ], + [ + 66.50283495995359, + 40.88386689699058 + ], + [ + -461.65994313638475, + 190.6130600596531 + ], + [ + -460.3195669769907, + 197.88583465047523 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12065512595391554584, + "instance_id": 6308, + "pixel_count": null, + "type_id": "AmericanLights_Town04_20_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -94.9981918334961, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1223.997282491793, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 268.9927829131403 + }, + "corners_3d": [ + [ + -139.1320343017578, + -101.02330780029297, + 0.0 + ], + [ + -139.56484985351562, + -101.02715301513672, + 0.0 + ], + [ + -139.67198181152344, + -88.97307586669922, + 0.0 + ], + [ + -139.23916625976562, + -88.96923065185547, + 0.0 + ], + [ + -139.1320343017578, + -101.02330780029297, + 8.446706771850586 + ], + [ + -139.56484985351562, + -101.02715301513672, + 8.446706771850586 + ], + [ + -139.67198181152344, + -88.97307586669922, + 8.446706771850586 + ], + [ + -139.23916625976562, + -88.96923065185547, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1223.997282491793, + 263.7703348123272 + ], + [ + 1236.2833395588011, + 268.9927829131403 + ], + [ + 1352.5205408525085, + 150.92574474366387 + ], + [ + 1341.4284519276832, + 147.16697890621873 + ], + [ + 1338.2832869377555, + 37.02382214581752 + ], + [ + 1353.9197688614527, + 41.43817490951608 + ], + [ + 1468.2417302901117, + -55.58164628627833 + ], + [ + 1454.5928383081516, + -58.577616897073995 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14081937874569997388, + "instance_id": 19500, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_0", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88525390625, + "z": 3.6439085006713867 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 23.205157153631035, + "ymin": 16.698564048289768, + "xmax": 96.59120085419136, + "ymax": 53.02700665083216 + }, + "corners_3d": [ + [ + -100.30333709716797, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.30333709716797, + -126.97452545166016, + 3.807230234146118 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.807230234146118 + ] + ], + "corners_2d": [ + [ + 43.18359202587351, + 53.02700665083216 + ], + [ + 96.59120085419136, + 37.54569214636763 + ], + [ + 79.06769141074187, + 24.075503865915437 + ], + [ + 26.531542843342663, + 38.79065623301187 + ], + [ + 39.86268679574539, + 45.4071093263762 + ], + [ + 93.65144827185554, + 30.053658768092077 + ], + [ + 76.10853897618335, + 16.698564048289768 + ], + [ + 23.205157153631035, + 31.288167256930194 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14132762880190184296, + "instance_id": 26875, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_1", + "bbox_3d": { + "center_world": { + "x": -94.53499603271484, + "y": -125.88526153564453, + "z": 3.6450090408325195 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 54.58579940850916, + "ymax": 18.916720590600846 + }, + "corners_3d": [ + [ + -95.50116729736328, + -126.97334289550781, + 3.4827687740325928 + ], + [ + -95.50116729736328, + -124.79718780517578, + 3.4827723503112793 + ], + [ + -93.5688247680664, + -124.79718017578125, + 3.4827723503112793 + ], + [ + -93.5688247680664, + -126.97333526611328, + 3.4827687740325928 + ], + [ + -95.50116729736328, + -126.97334289550781, + 3.8072457313537598 + ], + [ + -95.50116729736328, + -124.79718780517578, + 3.8072493076324463 + ], + [ + -93.5688247680664, + -124.79718017578125, + 3.8072493076324463 + ], + [ + -93.5688247680664, + -126.97333526611328, + 3.8072457313537598 + ] + ], + "corners_2d": [ + [ + 3.3577361349787225, + 18.916720590600846 + ], + [ + 54.58579940850916, + 5.2523180150544135 + ], + [ + 39.071580666603836, + -6.673424381022528 + ], + [ + -11.337481991787513, + 6.354601620219398 + ], + [ + 0.053734216585439754, + 11.63282992628939 + ], + [ + 51.626926593978396, + -1.910590368605881 + ], + [ + 36.105293085978246, + -13.727761338755613 + ], + [ + -14.63666548443473, + -0.8182001150842098 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.9941623754639, + "ymin": 0.0, + "xmax": 737.7703644592226, + "ymax": 83.9990374456986 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 668.3268597593503, + 55.46189386736796 + ], + [ + 661.9941623754639, + 58.18643364846935 + ], + [ + 720.1515222510925, + 83.9990374456986 + ], + [ + 726.47890450438, + 81.02080712694499 + ], + [ + 671.8448737326798, + -114.30759148295078 + ], + [ + 664.740568020337, + -112.16715913052587 + ], + [ + 730.6767431991234, + -91.75996911783909 + ], + [ + 737.7703644592226, + -94.12645810964142 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 225.16571055952636, + "ymin": 16.46273409770754, + "xmax": 348.5682201582277, + "ymax": 263.95787402570693 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 294.9180552844121, + 216.1149427552249 + ], + [ + 284.440337071437, + 220.62281015451987 + ], + [ + 337.82100142853255, + 263.95787402570693 + ], + [ + 348.5682201582277, + 258.89927453198663 + ], + [ + 237.8052882372237, + 16.46273409770754 + ], + [ + 225.16571055952636, + 20.27086990685899 + ], + [ + 283.91202597839987, + 57.284326660329896 + ], + [ + 296.9778587041157, + 52.92545998555266 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16194625468754558244, + "instance_id": 9469, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.53463745117188, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 84.84159919725028, + "ymax": 89.63479856894037 + }, + "corners_3d": [ + [ + -95.56306457519531, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -127.03557586669922, + 4.877264976501465 + ], + [ + -95.56306457519531, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + 34.11222173136912, + 89.63479856894037 + ], + [ + 84.84159919725028, + 74.04251054326471 + ], + [ + 68.42081075788656, + 60.34770591604649 + ], + [ + 18.487773516462653, + 75.20481524829131 + ], + [ + -12.158553266303898, + -12.149357240806978 + ], + [ + 43.63430002242808, + -26.043666508983506 + ], + [ + 27.06615365422647, + -38.20158275063409 + ], + [ + -27.74378997418023, + -25.009843276747063 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 684.7164068037409, + "ymin": 0.0, + "xmax": 925.6779162909428, + "ymax": 127.93033662376138 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 690.6962221300653, + 40.48112357044903 + ], + [ + 684.7164068037409, + 42.98228687248411 + ], + [ + 881.4928944644655, + 127.93033662376138 + ], + [ + 887.359308050537, + 124.59991322940641 + ], + [ + 697.3668652740649, + -141.35752196003466 + ], + [ + 690.6306327265045, + -139.46539891448072 + ], + [ + 919.1305796548424, + -73.82393188667191 + ], + [ + 925.6779162909428, + -76.44891352718116 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17718493663991687542, + "instance_id": 30441, + "pixel_count": null, + "type_id": "BP_StreetLight_simple48_110_SM_0", + "bbox_3d": { + "center_world": { + "x": -137.86505126953125, + "y": -128.05545043945312, + "z": 7.743518352508545 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 669.2964856711169, + "ymin": 511.6216462856125, + "xmax": 699.3648762913855, + "ymax": 539.5208299066553 + }, + "corners_3d": [ + [ + -138.07093811035156, + -128.2033233642578, + 7.688869476318359 + ], + [ + -138.07093811035156, + -127.90758514404297, + 7.688869476318359 + ], + [ + -137.65916442871094, + -127.90758514404297, + 7.688869476318359 + ], + [ + -137.65916442871094, + -128.2033233642578, + 7.688869476318359 + ], + [ + -138.07093811035156, + -128.2033233642578, + 7.7981672286987305 + ], + [ + -138.07093811035156, + -127.90758514404297, + 7.7981672286987305 + ], + [ + -137.65916442871094, + -127.90758514404297, + 7.7981672286987305 + ], + [ + -137.65916442871094, + -128.2033233642578, + 7.7981672286987305 + ] + ], + "corners_2d": [ + [ + 686.8979865842532, + 539.5208299066553 + ], + [ + 699.0953196501001, + 529.6199072443435 + ], + [ + 681.4943425675011, + 515.701857709299 + ], + [ + 669.2964856711169, + 525.3375748065221 + ], + [ + 687.1139581866777, + 535.4548824088511 + ], + [ + 699.3648762913855, + 525.5474241392719 + ], + [ + 681.6810627487281, + 511.6216462856125 + ], + [ + 669.4295639732541, + 521.2625322480251 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 257.8110644525314, + "ymax": 249.7566581081328 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 158.12423696706207, + 120.23372394057358 + ], + [ + 2.7893814210785877, + 187.12994408689653 + ], + [ + 100.05283619545708, + 249.7566581081328 + ], + [ + 257.8110644525314, + 170.93756938645106 + ], + [ + 44.34269645226607, + -187.24523620556988 + ], + [ + -168.0039275818982, + -143.97270723329376 + ], + [ + -61.627251322526945, + -101.38697495406916 + ], + [ + 158.38135665248063, + -154.65058721169248 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 78.31642436309232, + "ymax": 41.584085952655016 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + -14.984793360951471, + -32.74533856810939 + ], + [ + -142.63698821418996, + 13.75014811031815 + ], + [ + -46.526247220400364, + 41.584085952655016 + ], + [ + 78.31642436309232, + -9.765510592000453 + ], + [ + -119.7756938891506, + -265.5596509413663 + ], + [ + -282.30410741411936, + -237.63995086486955 + ], + [ + -176.82642722973833, + -220.49670477056247 + ], + [ + -16.632892787720266, + -251.87089880087933 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 284.4436674451854, + "ymax": 289.85832367060266 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 71.09196419499233, + 289.85832367060266 + ], + [ + 276.8128270072316, + 262.85351842748094 + ], + [ + 284.4436674451854, + 163.36467276212431 + ], + [ + 106.3327455721111, + 183.7518548045792 + ], + [ + -111.17246030486649, + -72.99248795370875 + ], + [ + 165.6042003371188, + -92.21312662016123 + ], + [ + 193.2401445449908, + -159.59906670249995 + ], + [ + -35.82654686980209, + -146.21135169579895 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 100.10112655000535, + "ymax": 99.74083686773963 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 27.14408100742196, + 13.534610846442774 + ], + [ + -110.87130867124574, + 58.80027988567616 + ], + [ + -41.095640702973924, + 99.74083686773963 + ], + [ + 100.10112655000535, + 47.99204555352503 + ], + [ + -88.33051293538824, + -251.9313648167299 + ], + [ + -267.20282424549555, + -225.10901701227135 + ], + [ + -195.47660008857144, + -200.06882453114918 + ], + [ + -9.723851892690277, + -231.5942990394518 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00007/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00007/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2e8045cba503f691c8cd1b91c0fa8bb60d33180f --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00007/meta.json @@ -0,0 +1,3097 @@ +{ + "frame_id": 7, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 3.5, + "sim_timestamp": 9786.96863267757 + }, + "drone_pose": { + "x": -144.279574296757, + "y": -134.9835399795555, + "z": 20.546594821330586, + "pitch": -42.42079208405609, + "yaw": 48.51064119482684, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.4890504479408264, + -0.5529779195785522, + 0.6745703220367432, + 131.3427734375 + ], + [ + 0.7490787506103516, + 0.662480890750885, + -2.9802322387695312e-08, + -18.652755737304688 + ], + [ + -0.4468899667263031, + 0.5053063631057739, + 0.7382106184959412, + -147.8528289794922 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -143.77541980097007, + "y": -134.627365111261, + "z": 20.572977778162624 + }, + "t1_image_uv": [ + 320.4807234616626, + -597.8318668633474 + ], + "t1_depth": 0.4257166472825654 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -128.16718292236328, + "y": -119.68776321411131, + "z": 0.5749846434596475 + }, + "image_uv": [ + 577.6443347194516, + 354.0015963141219 + ], + "depth": 29.810253991684426, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 167, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -128.16717529296875, + "y": -119.68775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.20122069120407104, + "y": 0.23676757514476776, + "z": 0.5304160714149475 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 569.1130976565464, + "ymin": 336.5573204927109, + "xmax": 586.0502571106522, + "ymax": 371.2143684701175 + }, + "corners_3d": [ + [ + -128.1420440673828, + -119.99746704101562, + 0.04456859827041626 + ], + [ + -128.4768829345703, + -119.6626205444336, + 0.04456859827041626 + ], + [ + -128.1923065185547, + -119.3780517578125, + 0.04456859827041626 + ], + [ + -127.85746765136719, + -119.71289825439453, + 0.04456859827041626 + ], + [ + -128.1420440673828, + -119.99746704101562, + 1.105400800704956 + ], + [ + -128.4768829345703, + -119.6626205444336, + 1.105400800704956 + ], + [ + -128.1923065185547, + -119.3780517578125, + 1.105400800704956 + ], + [ + -127.85746765136719, + -119.71289825439453, + 1.105400800704956 + ] + ], + "corners_2d": [ + [ + 570.8915461588977, + 371.2143684701175 + ], + [ + 586.0502571106522, + 370.58096408048686 + ], + [ + 585.7975137982125, + 361.90000956447324 + ], + [ + 570.7869482476888, + 362.52108354253585 + ], + [ + 569.203306697563, + 345.8241569936077 + ], + [ + 584.733289922075, + 345.1938338565411 + ], + [ + 584.4876269477649, + 336.5573204927109 + ], + [ + 569.1130976565464, + 337.1750780525438 + ] + ], + "center_offset_px": [ + -62.35566528054835, + -5.998403685878088 + ] + }, + "trace_timestep_index": 7, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 61, + "semantic_pixel_counts": { + "1": 489680, + "2": 213665, + "3": 154148, + "5": 3077, + "6": 7012, + "7": 489, + "9": 17119, + "10": 4963, + "12": 3372, + "14": 102, + "21": 1, + "24": 27972 + }, + "instance_pixel_counts": { + "1115": 2778, + "6254": 273, + "10370": 1239, + "11394": 253, + "11906": 2487, + "14928": 3077, + "14999": 12, + "15511": 2164, + "16023": 357, + "16535": 501, + "18011": 4362, + "20119": 13397, + "20631": 7318, + "24064": 248, + "24320": 1390, + "26560": 6206, + "27072": 1520, + "27584": 2168, + "28608": 1896, + "29843": 12060, + "30144": 85423, + "30355": 127367, + "30656": 32185, + "31168": 1182, + "31323": 46260, + "31488": 1690, + "31813": 4931, + "31891": 273700, + "33883": 68675, + "34120": 25250, + "34453": 1556, + "34965": 7213, + "35931": 1517, + "36443": 25298, + "36501": 16930, + "43649": 194, + "44171": 418, + "44691": 75623, + "44891": 1, + "45203": 779, + "45707": 367, + "46227": 151, + "47253": 2068, + "47765": 186, + "48779": 80, + "48789": 19, + "49664": 167, + "49920": 376, + "50176": 381, + "50432": 864, + "50688": 991, + "50944": 593, + "53184": 807, + "53696": 402, + "55552": 102, + "55744": 744, + "57173": 17119, + "60013": 3172, + "61037": 1813, + "64351": 3639, + "65375": 27629 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 167, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -128.16717529296875, + "y": -119.68775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.2155419886112213, + "y": 0.19523437321186066, + "z": 0.5224580764770508 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 570.4714584829339, + "ymin": 336.501998858013, + "xmax": 584.7202660483669, + "ymax": 371.2852328546315 + }, + "corners_3d": [ + [ + -128.18153381347656, + -119.97822570800781, + 0.05252659320831299 + ], + [ + -128.4576416015625, + -119.70211791992188, + 0.05252659320831299 + ], + [ + -128.15281677246094, + -119.39729309082031, + 0.05252659320831299 + ], + [ + -127.876708984375, + -119.67340087890625, + 0.05252659320831299 + ], + [ + -128.18153381347656, + -119.97822570800781, + 1.0974427461624146 + ], + [ + -128.4576416015625, + -119.70211791992188, + 1.0974427461624146 + ], + [ + -128.15281677246094, + -119.39729309082031, + 1.0974427461624146 + ], + [ + -127.876708984375, + -119.67340087890625, + 1.0974427461624146 + ] + ], + "corners_2d": [ + [ + 572.2139142951842, + 371.2852328546315 + ], + [ + 584.7202660483669, + 370.7626797899079 + ], + [ + 584.4636766325123, + 361.4630286170208 + ], + [ + 572.0882251804383, + 361.9746909086569 + ], + [ + 570.5826393548374, + 346.27484400831713 + ], + [ + 583.3907581660106, + 345.7547859519479 + ], + [ + 583.142318416209, + 336.501998858013 + ], + [ + 570.4714584829339, + 337.0109615711097 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 376, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -124.04119873046875, + "y": -116.69005584716797, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.34145018458366394, + "y": 0.40861815214157104, + "z": 0.876891553401947 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 537.5976755007413, + "ymin": 230.29961144150053, + "xmax": 567.6495982643476, + "ymax": 285.9985059733982 + }, + "corners_3d": [ + [ + -124.10501098632812, + -117.21871948242188, + -0.30190688371658325 + ], + [ + -124.55010986328125, + -116.5333251953125, + -0.30190688371658325 + ], + [ + -123.97738647460938, + -116.16139221191406, + -0.30190688371658325 + ], + [ + -123.53228759765625, + -116.84678649902344, + -0.30190688371658325 + ], + [ + -124.10501098632812, + -117.21871948242188, + 1.451876163482666 + ], + [ + -124.55010986328125, + -116.5333251953125, + 1.451876163482666 + ], + [ + -123.97738647460938, + -116.16139221191406, + 1.451876163482666 + ], + [ + -123.53228759765625, + -116.84678649902344, + 1.451876163482666 + ] + ], + "corners_2d": [ + [ + 544.9069675500047, + 285.9985059733982 + ], + [ + 567.6495982643476, + 282.17754503101116 + ], + [ + 563.5750793136156, + 270.88926566078527 + ], + [ + 541.1359036193368, + 274.6028290213493 + ], + [ + 541.4529447406516, + 245.1512484093697 + ], + [ + 565.0345989882848, + 241.3935156688535 + ], + [ + 560.8532066516038, + 230.29961144150053 + ], + [ + 537.5976755007413, + 233.94798075093976 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 381, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -130.42300415039062, + "y": -112.74504852294922, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.4836816191673279, + "y": 0.4208154082298279, + "z": 0.8945721983909607 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 750.7202938433161, + "ymin": 249.7298434548037, + "xmax": 787.0816503738586, + "ymax": 311.41448879056355 + }, + "corners_3d": [ + [ + -130.53407287597656, + -113.37647247314453, + -0.3195827007293701 + ], + [ + -131.063720703125, + -112.72240447998047, + -0.3195827007293701 + ], + [ + -130.3119354248047, + -112.1136245727539, + -0.3195827007293701 + ], + [ + -129.78228759765625, + -112.76769256591797, + -0.3195827007293701 + ], + [ + -130.53407287597656, + -113.37647247314453, + 1.4695616960525513 + ], + [ + -131.063720703125, + -112.72240447998047, + 1.4695616960525513 + ], + [ + -130.3119354248047, + -112.1136245727539, + 1.4695616960525513 + ], + [ + -129.78228759765625, + -112.76769256591797, + 1.4695616960525513 + ] + ], + "corners_2d": [ + [ + 757.7876304752965, + 311.41448879056355 + ], + [ + 781.677703202236, + 308.8247429939228 + ], + [ + 774.130521584442, + 291.48510480249 + ], + [ + 750.7202938433161, + 293.96710735718045 + ], + [ + 762.294973483538, + 269.35350958605915 + ], + [ + 787.0816503738586, + 266.80144899359664 + ], + [ + 779.1352032705013, + 249.7298434548037 + ], + [ + 754.864645834529, + 252.1718044437946 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 864, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -137.66717529296875, + "y": -119.68775939941406, + "z": 0.7273821234703064 + }, + "extent": { + "x": 0.5203564167022705, + "y": 0.45247557759284973, + "z": 0.9314709901809692 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 813.0565855534915, + "ymin": 471.70471003150345, + "xmax": 865.8774121892332, + "ymax": 549.956149493087 + }, + "corners_3d": [ + [ + -137.71517944335938, + -120.37565612792969, + -0.20408886671066284 + ], + [ + -138.35507202148438, + -119.73575592041016, + -0.20408886671066284 + ], + [ + -137.61917114257812, + -118.99986267089844, + -0.20408886671066284 + ], + [ + -136.97927856445312, + -119.63976287841797, + -0.20408886671066284 + ], + [ + -137.71517944335938, + -120.37565612792969, + 1.6588530540466309 + ], + [ + -138.35507202148438, + -119.73575592041016, + 1.6588530540466309 + ], + [ + -137.61917114257812, + -118.99986267089844, + 1.6588530540466309 + ], + [ + -136.97927856445312, + -119.63976287841797, + 1.6588530540466309 + ] + ], + "corners_2d": [ + [ + 820.7243748235601, + 549.956149493087 + ], + [ + 854.6696748677732, + 548.2322901927367 + ], + [ + 846.0163438206329, + 516.9208568198327 + ], + [ + 813.0565855534915, + 518.5448082197765 + ], + [ + 830.1759186728593, + 504.9477596215578 + ], + [ + 865.8774121892332, + 503.2103975380071 + ], + [ + 856.4402147858015, + 471.70471003150345 + ], + [ + 821.8272284992265, + 473.3363627286269 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 991, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -131.78268432617188, + "y": -130.81512451171875, + "z": 0.5825188159942627 + }, + "extent": { + "x": 0.4174511730670929, + "y": 0.4371923804283142, + "z": 0.8610423803329468 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 317.6456381237948, + "ymin": 631.54732715634, + "xmax": 380.80209171607214, + "ymax": 705.8173425266843 + }, + "corners_3d": [ + [ + -131.70562744140625, + -131.4146728515625, + -0.2785235643386841 + ], + [ + -132.38516235351562, + -130.86441040039062, + -0.2785235643386841 + ], + [ + -131.8597412109375, + -130.215576171875, + -0.2785235643386841 + ], + [ + -131.18020629882812, + -130.76583862304688, + -0.2785235643386841 + ], + [ + -131.70562744140625, + -131.4146728515625, + 1.4435611963272095 + ], + [ + -132.38516235351562, + -130.86441040039062, + 1.4435611963272095 + ], + [ + -131.8597412109375, + -130.215576171875, + 1.4435611963272095 + ], + [ + -131.18020629882812, + -130.76583862304688, + 1.4435611963272095 + ] + ], + "corners_2d": [ + [ + 334.53580063296266, + 704.2702960546444 + ], + [ + 372.0222995011785, + 705.8173425266843 + ], + [ + 380.80209171607214, + 672.7266292897169 + ], + [ + 344.3177642585461, + 671.262113225356 + ], + [ + 317.6456381237948, + 665.2166607862712 + ], + [ + 357.18508865710965, + 666.7971629758123 + ], + [ + 366.86015924481, + 633.0390473570706 + ], + [ + 328.43401061775455, + 631.54732715634 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 593, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -116.92184448242188, + "y": -127.85797882080078, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.43391600251197815, + "y": 0.4810449182987213, + "z": 0.9157519340515137 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 116.42821031457936, + "ymin": 294.1004456265248, + "xmax": 178.3145356982592, + "ymax": 357.840630806157 + }, + "corners_3d": [ + [ + -116.7547378540039, + -128.48388671875, + -0.3407575488090515 + ], + [ + -117.56160736083984, + -127.95989227294922, + -0.3407575488090515 + ], + [ + -117.08895111083984, + -127.23207092285156, + -0.3407575488090515 + ], + [ + -116.2820816040039, + -127.75606536865234, + -0.3407575488090515 + ], + [ + -116.7547378540039, + -128.48388671875, + 1.490746259689331 + ], + [ + -117.56160736083984, + -127.95989227294922, + 1.490746259689331 + ], + [ + -117.08895111083984, + -127.23207092285156, + 1.490746259689331 + ], + [ + -116.2820816040039, + -127.75606536865234, + 1.490746259689331 + ] + ], + "corners_2d": [ + [ + 137.19743882503707, + 354.89489029071876 + ], + [ + 164.92806754307014, + 357.840630806157 + ], + [ + 178.3145356982592, + 340.33508931800907 + ], + [ + 151.0926504526969, + 337.50583558965593 + ], + [ + 116.42821031457936, + 311.28826775434567 + ], + [ + 145.23527690506808, + 314.20272372447687 + ], + [ + 159.57502735753985, + 296.8950310485261 + ], + [ + 131.3163414189553, + 294.1004456265248 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 217, + "instance_id": 55552, + "pixel_count": 102, + "type_id": "vehicle.mini.cooper_s", + "bbox_3d": { + "center_world": { + "x": -131.65988159179688, + "y": -76.91120147705078, + "z": 0.7358787059783936 + }, + "extent": { + "x": 1.9029000997543335, + "y": 0.9851378202438354, + "z": 0.7375150918960571 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 1142.7449586441446, + "ymin": 0.0, + "xmax": 1215.9248911127686, + "ymax": 10.710197699834396 + }, + "corners_3d": [ + [ + -130.6616973876953, + -78.80728912353516, + -0.001636367291212082 + ], + [ + -132.63192749023438, + -78.8208236694336, + -0.001636367291212082 + ], + [ + -132.65806579589844, + -75.0151138305664, + -0.001636367291212082 + ], + [ + -130.68783569335938, + -75.00157928466797, + -0.001636367291212082 + ], + [ + -130.6616973876953, + -78.80728912353516, + 1.4733937978744507 + ], + [ + -132.63192749023438, + -78.8208236694336, + 1.4733937978744507 + ], + [ + -132.65806579589844, + -75.0151138305664, + 1.4733937978744507 + ], + [ + -130.68783569335938, + -75.00157928466797, + 1.4733937978744507 + ] + ], + "corners_2d": [ + [ + 1142.7449586441446, + 0.7722266865761753 + ], + [ + 1180.2125475065318, + 10.710197699834396 + ], + [ + 1205.0522668026128, + -10.242038134283064 + ], + [ + 1168.595364233509, + -19.41371535853051 + ], + [ + 1152.6329680640863, + -26.955702237559194 + ], + [ + 1191.0453960390944, + -17.36106878739622 + ], + [ + 1215.9248911127686, + -37.58098980318965 + ], + [ + 1178.579019262422, + -46.421986199340154 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 336081800985065791, + "instance_id": 16185, + "pixel_count": null, + "type_id": "AmericanLights_Town04_20_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -95.84429168701172, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1253.3968536635452, + "ymin": 25.632009640348656, + "xmax": 1275.8091798697951, + "ymax": 55.00381505513383 + }, + "corners_3d": [ + [ + -139.30453491210938, + -95.65432739257812, + 5.545533180236816 + ], + [ + -139.02737426757812, + -95.65432739257812, + 5.545533180236816 + ], + [ + -139.02737426757812, + -96.03425598144531, + 5.545533180236816 + ], + [ + -139.30453491210938, + -96.03425598144531, + 5.545533180236816 + ], + [ + -139.30453491210938, + -95.65432739257812, + 6.416468620300293 + ], + [ + -139.02737426757812, + -95.65432739257812, + 6.416468620300293 + ], + [ + -139.02737426757812, + -96.03425598144531, + 6.416468620300293 + ], + [ + -139.30453491210938, + -96.03425598144531, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1264.9188878999785, + 51.49879894224193 + ], + [ + 1256.6712653146988, + 49.260158075806146 + ], + [ + 1253.3968536635452, + 52.73755158227243 + ], + [ + 1261.6822853736778, + 55.00381505513383 + ], + [ + 1275.8091798697951, + 27.81466400935983 + ], + [ + 1267.374793889619, + 25.632009640348656 + ], + [ + 1264.110043399574, + 29.02256519727871 + ], + [ + 1272.5841117804216, + 31.232624151671644 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5334257868772976186, + "instance_id": 15014, + "pixel_count": null, + "type_id": "AmericanLights_Town04_20_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -139.16595458984375, + "y": -92.84429168701172, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1278.208423724851, + "ymin": 0.2686768500263952, + "xmax": 1280.0, + "ymax": 28.44909648040374 + }, + "corners_3d": [ + [ + -139.30453491210938, + -92.65432739257812, + 5.545533180236816 + ], + [ + -139.02737426757812, + -92.65432739257812, + 5.545533180236816 + ], + [ + -139.02737426757812, + -93.03425598144531, + 5.545533180236816 + ], + [ + -139.30453491210938, + -93.03425598144531, + 5.545533180236816 + ], + [ + -139.30453491210938, + -92.65432739257812, + 6.416468620300293 + ], + [ + -139.02737426757812, + -92.65432739257812, + 6.416468620300293 + ], + [ + -139.02737426757812, + -93.03425598144531, + 6.416468620300293 + ], + [ + -139.30453491210938, + -93.03425598144531, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1289.1474702687383, + 25.260924224862947 + ], + [ + 1281.1879260373669, + 23.22370149063562 + ], + [ + 1278.208423724851, + 26.38790413155664 + ], + [ + 1286.2034477466702, + 28.44909648040374 + ], + [ + 1299.9294332451932, + 2.251772816083246 + ], + [ + 1291.7970314155998, + 0.2686768500263952 + ], + [ + 1288.831082806995, + 3.348916386596727 + ], + [ + 1297.0006423199254, + 5.355735389993754 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10476196482746081849, + "instance_id": 14818, + "pixel_count": null, + "type_id": "AmericanLights_Town04_20_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -100.74504852294922, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1171.147991418259, + "ymin": 151.00141680161738, + "xmax": 1192.785026456127, + "ymax": 180.0546275746158 + }, + "corners_3d": [ + [ + -139.20529174804688, + -100.55508422851562, + 2.645533323287964 + ], + [ + -138.92662048339844, + -100.55508422851562, + 2.645533323287964 + ], + [ + -138.9266357421875, + -100.93501281738281, + 2.645533323287964 + ], + [ + -139.20530700683594, + -100.93501281738281, + 2.645533323287964 + ], + [ + -139.20529174804688, + -100.55508422851562, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -100.55508422851562, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -100.93501281738281, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -100.93501281738281, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1183.1379701384408, + 175.6938601504599 + ], + [ + 1175.002621246828, + 172.89422875506207 + ], + [ + 1171.147991418259, + 177.21972010941505 + ], + [ + 1179.3188023846494, + 180.0546275746158 + ], + [ + 1192.785026456127, + 153.76038549450445 + ], + [ + 1184.466107968041, + 151.00141680161738 + ], + [ + 1180.6032292400175, + 155.26425012390854 + ], + [ + 1188.959385319507, + 158.05860463697147 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11529003171770300666, + "instance_id": 64120, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.25050354003906, + "y": -128.95399475097656, + "z": 3.0800981521606445 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 15.868044729168787, + "ymin": 216.8672743328072, + "xmax": 43.757066728781865, + "ymax": 248.2415346823936 + }, + "corners_3d": [ + [ + -113.11116790771484, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -128.7640380859375, + 3.5146679878234863 + ], + [ + -113.11116790771484, + -128.7640380859375, + 3.5146679878234863 + ] + ], + "corners_2d": [ + [ + 27.846916600621512, + 244.82643807700993 + ], + [ + 31.6931804800397, + 248.2415346823936 + ], + [ + 43.757066728781865, + 242.98981541636783 + ], + [ + 39.88362002403585, + 239.6213147211809 + ], + [ + 15.868044729168787, + 222.01470629595514 + ], + [ + 19.73518088015078, + 225.39269903289065 + ], + [ + 32.11819977126686, + 220.19828289273835 + ], + [ + 28.222056384420853, + 216.8672743328072 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 162269529527095271, + "instance_id": 59151, + "pixel_count": null, + "type_id": "BP_StreetLight_simple36_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -72.95545959472656, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1172.0660834466266, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 4.039709362237545 + }, + "corners_3d": [ + [ + -138.1054229736328, + -73.32183837890625, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -72.58908081054688, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -72.58908081054688, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -73.32183837890625, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -73.32183837890625, + 11.111722946166992 + ], + [ + -138.1054229736328, + -72.58908081054688, + 11.111722946166992 + ], + [ + -130.23475646972656, + -72.58908081054688, + 11.111722946166992 + ], + [ + -130.23475646972656, + -73.32183837890625, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1323.5787652721851, + 4.039709362237545 + ], + [ + 1327.2652190711206, + -0.07941319094504706 + ], + [ + 1176.6087894836182, + -36.18896573122339 + ], + [ + 1172.0660834466266, + -32.626959604636 + ], + [ + 1439.7832286283337, + -235.0620649930579 + ], + [ + 1443.0176758733173, + -237.6673626291954 + ], + [ + 1259.6993870096826, + -260.2104967001718 + ], + [ + 1255.1585889246512, + -258.01006635033593 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1184484105883362010, + "instance_id": 55842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple48_110_SM_2", + "bbox_3d": { + "center_world": { + "x": -139.474609375, + "y": -128.0553741455078, + "z": 4.084396839141846 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 603.3786457485206, + "ymin": 523.2633156699994, + "xmax": 818.195189943958, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -141.39132690429688, + -128.2749786376953, + 0.20767807960510254 + ], + [ + -141.39132690429688, + -127.83576965332031, + 0.20767807960510254 + ], + [ + -137.55789184570312, + -127.83576965332031, + 0.20767807960510254 + ], + [ + -137.55789184570312, + -128.2749786376953, + 0.20767807960510254 + ], + [ + -141.39132690429688, + -128.2749786376953, + 7.961115837097168 + ], + [ + -141.39132690429688, + -127.83576965332031, + 7.961115837097168 + ], + [ + -137.55789184570312, + -127.83576965332031, + 7.961115837097168 + ], + [ + -137.55789184570312, + -128.2749786376953, + 7.961115837097168 + ] + ], + "corners_2d": [ + [ + 756.2038808218067, + 886.5010036672327 + ], + [ + 769.3610702878227, + 868.6372933186701 + ], + [ + 626.2682224872128, + 744.6781298049904 + ], + [ + 612.6241363317241, + 759.4720754790735 + ], + [ + 800.8538345548064, + 685.1344168971134 + ], + [ + 818.195189943958, + 664.0570302976952 + ], + [ + 621.7022756178906, + 523.2633156699994 + ], + [ + 603.3786457485206, + 539.5811621960431 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2334590930876643410, + "instance_id": 21048, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -123.8453369140625, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 183.1921742868492, + "ymin": 68.93204519114448, + "xmax": 200.8955801289169, + "ymax": 80.05905563035333 + }, + "corners_3d": [ + [ + -116.6200942993164, + -123.69747161865234, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.69747161865234, + 7.743301868438721 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 193.60252756099305, + 72.4054828885682 + ], + [ + 184.38166047206738, + 75.81107983795613 + ], + [ + 191.6510886872681, + 80.05905563035333 + ], + [ + 200.8955801289169, + 76.6046379820217 + ], + [ + 192.4438241262011, + 68.93204519114448 + ], + [ + 183.1921742868492, + 72.32641934164337 + ], + [ + 190.47217454878637, + 76.5605390163177 + ], + [ + 199.74766898999417, + 73.11737701636912 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3639812104533344102, + "instance_id": 26239, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -123.8453369140625, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 183.28697217548108, + "ymin": 68.99093852196359, + "xmax": 200.80168504634406, + "ymax": 79.9996272329945 + }, + "corners_3d": [ + [ + -116.62229919433594, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.69904327392578, + 7.742714881896973 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 193.58649321711187, + 72.42756252872238 + ], + [ + 184.46358700340687, + 75.7970713418 + ], + [ + 191.65565095342276, + 79.9996272329945 + ], + [ + 200.80168504634406, + 76.58233073024189 + ], + [ + 192.4400103587517, + 68.99093852196359 + ], + [ + 183.28697217548108, + 72.34946203911454 + ], + [ + 190.48938487302456, + 76.53845487739369 + ], + [ + 199.66576424309847, + 73.13217548304647 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3985217512616395484, + "instance_id": 56450, + "pixel_count": null, + "type_id": "BP_StreetLight_simple48_110_SM_1", + "bbox_3d": { + "center_world": { + "x": -137.86505126953125, + "y": -128.05545043945312, + "z": 7.743513107299805 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 611.3762093751911, + "ymin": 535.5030699297373, + "xmax": 642.1139520551101, + "ymax": 564.2141260151586 + }, + "corners_3d": [ + [ + -138.06874084472656, + -128.2017364501953, + 7.689445495605469 + ], + [ + -138.06874084472656, + -127.9091567993164, + 7.689445495605469 + ], + [ + -137.66136169433594, + -127.9091567993164, + 7.689445495605469 + ], + [ + -137.66136169433594, + -128.2017364501953, + 7.689445495605469 + ], + [ + -138.06874084472656, + -128.2017364501953, + 7.797580718994141 + ], + [ + -138.06874084472656, + -127.9091567993164, + 7.797580718994141 + ], + [ + -137.66136169433594, + -127.9091567993164, + 7.797580718994141 + ], + [ + -137.66136169433594, + -128.2017364501953, + 7.797580718994141 + ] + ], + "corners_2d": [ + [ + 630.0906869290917, + 564.2141260151586 + ], + [ + 642.1040815202102, + 553.0143088166012 + ], + [ + 623.561669113322, + 539.5375031974901 + ], + [ + 611.5095409990257, + 550.4555978220086 + ], + [ + 630.0437122182567, + 560.2020173522168 + ], + [ + 642.1139520551101, + 548.991405642479 + ], + [ + 623.4855301844689, + 535.5030699297373 + ], + [ + 611.3762093751911, + 546.430382986739 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5736675163518273754, + "instance_id": 55816, + "pixel_count": null, + "type_id": "AmericanLights_Town04_21_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1107.7504026530594, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 51.17323191813432 + }, + "corners_3d": [ + [ + -140.57330322265625, + -78.3179702758789, + 0.0 + ], + [ + -140.5771484375, + -77.8851547241211, + 0.0 + ], + [ + -128.5230712890625, + -77.77800750732422, + 0.0 + ], + [ + -128.51922607421875, + -78.21082305908203, + 0.0 + ], + [ + -140.57330322265625, + -78.3179702758789, + 8.446706771850586 + ], + [ + -140.5771484375, + -77.8851547241211, + 8.446706771850586 + ], + [ + -128.5230712890625, + -77.77800750732422, + 8.446706771850586 + ], + [ + -128.51922607421875, + -78.21082305908203, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1349.9513831810605, + 51.17323191813432 + ], + [ + 1352.2679286458913, + 48.316343050497665 + ], + [ + 1110.8887434503913, + -14.983249014159128 + ], + [ + 1107.7504026530594, + -12.731356842197158 + ], + [ + 1447.8761208748315, + -136.33031399371862 + ], + [ + 1449.9506883958347, + -138.5073529132443 + ], + [ + 1167.3729527357082, + -185.98149654402482 + ], + [ + 1164.14004971734, + -184.31723412720976 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6967274615413648305, + "instance_id": 45483, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_2", + "bbox_3d": { + "center_world": { + "x": -99.33560943603516, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 9.02502659494371, + "xmax": 26.85399847247902, + "ymax": 151.15894557033553 + }, + "corners_3d": [ + [ + -100.3640365600586, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -127.03557586669922, + 4.877264976501465 + ], + [ + -100.3640365600586, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + -29.790303338296212, + 151.15894557033553 + ], + [ + 26.85399847247902, + 130.35500181535156 + ], + [ + 6.2635235306090635, + 114.80094793185401 + ], + [ + -49.622744039910685, + 134.60226806047797 + ], + [ + -87.88458666210079, + 41.92403831421677 + ], + [ + -24.533243488698304, + 23.06142342770147 + ], + [ + -45.46957618607348, + 9.02502659494371 + ], + [ + -107.83049228986863, + 26.904098286401847 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8232706723728016641, + "instance_id": 325, + "pixel_count": null, + "type_id": "BP_StreetLight_wall40_71_SM_0", + "bbox_3d": { + "center_world": { + "x": -140.893310546875, + "y": -111.95197296142578, + "z": 4.334987163543701 + }, + "extent": { + "x": 0.11768747121095657, + "y": 1.147606611251831, + "z": 0.41115570068359375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1073.403214820781, + "ymin": 282.9981497757618, + "xmax": 1174.0256458567194, + "ymax": 348.1681827691043 + }, + "corners_3d": [ + [ + -142.04092407226562, + -111.83428192138672, + 3.9238314628601074 + ], + [ + -139.74569702148438, + -111.83428955078125, + 3.9238314628601074 + ], + [ + -139.74569702148438, + -112.06966400146484, + 3.9238314628601074 + ], + [ + -142.04092407226562, + -112.06965637207031, + 3.9238314628601074 + ], + [ + -142.04092407226562, + -111.83428192138672, + 4.746142864227295 + ], + [ + -139.74569702148438, + -111.83428955078125, + 4.746142864227295 + ], + [ + -139.74569702148438, + -112.06966400146484, + 4.746142864227295 + ], + [ + -142.04092407226562, + -112.06965637207031, + 4.746142864227295 + ] + ], + "corners_2d": [ + [ + 1162.2280058246015, + 343.6822028465944 + ], + [ + 1076.9593703237495, + 306.84237919909566 + ], + [ + 1073.403214820781, + 310.9517366456623 + ], + [ + 1158.956354107087, + 348.1681827691043 + ], + [ + 1174.0256458567194, + 319.58020612442556 + ], + [ + 1086.3991774663423, + 282.9981497757618 + ], + [ + 1082.8139000485612, + 287.07525248438924 + ], + [ + 1170.7425602407975, + 324.039628923262 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9919303964700251881, + "instance_id": 59670, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_Poles_4", + "bbox_3d": { + "center_world": { + "x": -112.9144515991211, + "y": -134.7008514404297, + "z": 4.223348617553711 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 64.01340465974374, + "xmax": 76.36357770965242, + "ymax": 512.7348840955177 + }, + "corners_3d": [ + [ + -113.18444061279297, + -128.6757354736328, + -4.76837158203125e-06 + ], + [ + -112.75162506103516, + -128.67189025878906, + -4.76837158203125e-06 + ], + [ + -112.64446258544922, + -140.72596740722656, + -4.76837158203125e-06 + ], + [ + -113.07727813720703, + -140.7298126220703, + -4.76837158203125e-06 + ], + [ + -113.18444061279297, + -128.6757354736328, + 8.446702003479004 + ], + [ + -112.75162506103516, + -128.67189025878906, + 8.446702003479004 + ], + [ + -112.64446258544922, + -140.72596740722656, + 8.446702003479004 + ], + [ + -113.07727813720703, + -140.7298126220703, + 8.446702003479004 + ] + ], + "corners_2d": [ + [ + 76.36357770965242, + 303.50751960162097 + ], + [ + 70.61742082094884, + 298.1527295582623 + ], + [ + -369.38701226542776, + 504.3159919382456 + ], + [ + -365.80221293678585, + 512.7348840955177 + ], + [ + -43.21402073074103, + 68.64039657131559 + ], + [ + -49.225253768885295, + 64.01340465974374 + ], + [ + -650.5188697987112, + 251.9089557250482 + ], + [ + -648.8940799913416, + 260.0317938973873 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12065512595391554584, + "instance_id": 6308, + "pixel_count": null, + "type_id": "AmericanLights_Town04_20_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -94.9981918334961, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1149.0456555311687, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 247.42461949866072 + }, + "corners_3d": [ + [ + -139.1320343017578, + -101.02330780029297, + 0.0 + ], + [ + -139.56484985351562, + -101.02715301513672, + 0.0 + ], + [ + -139.67198181152344, + -88.97307586669922, + 0.0 + ], + [ + -139.23916625976562, + -88.96923065185547, + 0.0 + ], + [ + -139.1320343017578, + -101.02330780029297, + 8.446706771850586 + ], + [ + -139.56484985351562, + -101.02715301513672, + 8.446706771850586 + ], + [ + -139.67198181152344, + -88.97307586669922, + 8.446706771850586 + ], + [ + -139.23916625976562, + -88.96923065185547, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1149.0456555311687, + 242.77455472272834 + ], + [ + 1160.997417697577, + 247.42461949866072 + ], + [ + 1264.4170091336216, + 125.73623408017949 + ], + [ + 1253.828170166868, + 122.44523891466838 + ], + [ + 1247.504562890886, + 16.9015093104382 + ], + [ + 1262.504697358835, + 20.80632346774638 + ], + [ + 1363.637002925399, + -78.4238448379607 + ], + [ + 1350.7875033022187, + -81.024649586708 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 579.906116505355, + "ymin": 0.0, + "xmax": 654.7040523758511, + "ymax": 81.88761944561918 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 593.0191571390541, + 54.53490373062721 + ], + [ + 586.7180093551481, + 57.54457947062451 + ], + [ + 646.7371296906725, + 81.88761944561918 + ], + [ + 652.9761766399548, + 78.61834105983229 + ], + [ + 587.0482884717494, + -117.80549289470196 + ], + [ + 579.906116505355, + -115.43417449593517 + ], + [ + 647.639810880093, + -96.13701094025225 + ], + [ + 654.7040523758511, + -98.74083138221624 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 123.96341966683451, + "ymin": 31.46156308347713, + "xmax": 270.8378882582816, + "ymax": 284.70648383908826 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 212.16468555174498, + 236.44596230530954 + ], + [ + 201.1979233984863, + 241.68411876995987 + ], + [ + 259.68033371629116, + 284.70648383908826 + ], + [ + 270.8378882582816, + 278.8598934545482 + ], + [ + 137.47096335676412, + 31.46156308347713 + ], + [ + 123.96341966683451, + 35.946289441900035 + ], + [ + 188.23174995627244, + 73.19696510724799 + ], + [ + 202.08519352685215, + 68.090701457806 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 604.9031894899794, + "ymin": 0.0, + "xmax": 843.0703497311074, + "ymax": 120.53707981913917 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 615.0169903595588, + 38.415542400136815 + ], + [ + 609.082519434499, + 41.173035761032736 + ], + [ + 809.9666042457881, + 120.53707981913917 + ], + [ + 815.6075797156864, + 116.9425954766277 + ], + [ + 611.6587821691046, + -146.02878871968494 + ], + [ + 604.9031894899794, + -143.9375997577249 + ], + [ + 836.7215697149365, + -82.53069278427438 + ], + [ + 843.0703497311074, + -85.36384386548951 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17718493663991687542, + "instance_id": 30441, + "pixel_count": null, + "type_id": "BP_StreetLight_simple48_110_SM_0", + "bbox_3d": { + "center_world": { + "x": -137.86505126953125, + "y": -128.05545043945312, + "z": 7.743518352508545 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 611.2097203122912, + "ymin": 535.351174721731, + "xmax": 642.2799383188706, + "ymax": 564.3719601832009 + }, + "corners_3d": [ + [ + -138.07093811035156, + -128.2033233642578, + 7.688869476318359 + ], + [ + -138.07093811035156, + -127.90758514404297, + 7.688869476318359 + ], + [ + -137.65916442871094, + -127.90758514404297, + 7.688869476318359 + ], + [ + -137.65916442871094, + -128.2033233642578, + 7.688869476318359 + ], + [ + -138.07093811035156, + -128.2033233642578, + 7.7981672286987305 + ], + [ + -138.07093811035156, + -127.90758514404297, + 7.7981672286987305 + ], + [ + -137.65916442871094, + -127.90758514404297, + 7.7981672286987305 + ], + [ + -137.65916442871094, + -128.2033233642578, + 7.7981672286987305 + ] + ], + "corners_2d": [ + [ + 630.1266105377293, + 564.3719601832009 + ], + [ + 642.2691784342875, + 553.0497148431591 + ], + [ + 623.5274043227348, + 539.4290876758436 + ], + [ + 611.3452641303172, + 550.4635047242721 + ], + [ + 630.0792957223189, + 560.3168561089385 + ], + [ + 642.2799383188706, + 548.9835733449805 + ], + [ + 623.4502940133175, + 535.351174721731 + ], + [ + 611.2097203122912, + 546.3950015884157 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 171.03702842040911, + "ymax": 281.2747762449025 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 61.92920336675377, + 141.0764975745612 + ], + [ + -104.98911262711874, + 219.0701550114116 + ], + [ + 4.03593174969717, + 281.2747762449025 + ], + [ + 171.03702842040911, + 190.3600575870072 + ], + [ + -83.76477406077197, + -178.87964895668176 + ], + [ + -321.46126462448035, + -127.14451445407593 + ], + [ + -201.41159897934267, + -83.54230975001724 + ], + [ + 41.55041572857874, + -146.5548734014787 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 199.1091908281798, + "ymax": 325.5753774102683 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -26.02627162941053, + 325.5753774102683 + ], + [ + 195.10545040214845, + 286.3238040793211 + ], + [ + 199.1091908281798, + 181.23234232866798 + ], + [ + 8.286698846623835, + 210.70015510266708 + ], + [ + -257.266501861948, + -51.12748730807107 + ], + [ + 50.17793038342393, + -79.90671362579513 + ], + [ + 79.3704678106651, + -152.6351599047025 + ], + [ + -172.58677289620823, + -132.8485873164085 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00008/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00008/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eca6306b40c2b5cce90f40c661a5deab53f29201 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00008/meta.json @@ -0,0 +1,3200 @@ +{ + "frame_id": 8, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 4.0, + "sim_timestamp": 9799.024576688185 + }, + "drone_pose": { + "x": -143.77541980097007, + "y": -134.627365111261, + "z": 20.572977778162624, + "pitch": -44.46013532594222, + "yaw": 44.08509618922774, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5126832127571106, + -0.49656596779823303, + 0.7004128098487854, + 126.15304565429688 + ], + [ + 0.6957259178161621, + 0.718307375907898, + -1.4901161193847656e-08, + -3.3244705200195312 + ], + [ + -0.5031116604804993, + 0.48729538917541504, + 0.713737964630127, + -152.62210083007812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -143.13042008489663, + "y": -133.82115383018152, + "z": 20.436332328821873 + }, + "t1_image_uv": [ + 791.3800630435534, + -359.76367373016603 + ], + "t1_depth": 0.8267258629909802 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -127.66718292236328, + "y": -119.18776321411131, + "z": 0.5749846434596475 + }, + "image_uv": [ + 636.2622509033308, + 316.55561933207593 + ], + "depth": 29.932054915979627, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 180, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -127.66718292236328, + "y": -119.18775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.214599609375, + "y": 0.23588865995407104, + "z": 0.5366725921630859 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 628.3835964500391, + "ymin": 298.91648629908013, + "xmax": 643.9666831615056, + "ymax": 333.9371708816475 + }, + "corners_3d": [ + [ + -127.65213012695312, + -119.50630187988281, + 0.03831207752227783 + ], + [ + -127.98572540283203, + -119.1727066040039, + 0.03831207752227783 + ], + [ + -127.68223571777344, + -118.86921691894531, + 0.03831207752227783 + ], + [ + -127.34864044189453, + -119.20281219482422, + 0.03831207752227783 + ], + [ + -127.65213012695312, + -119.50630187988281, + 1.1116572618484497 + ], + [ + -127.98572540283203, + -119.1727066040039, + 1.1116572618484497 + ], + [ + -127.68223571777344, + -118.86921691894531, + 1.1116572618484497 + ], + [ + -127.34864044189453, + -119.20281219482422, + 1.1116572618484497 + ] + ], + "corners_2d": [ + [ + 628.6731774211881, + 333.77385997749195 + ], + [ + 643.6898806676486, + 333.9371708816475 + ], + [ + 643.8687761477892, + 324.72551999603945 + ], + [ + 629.003026074663, + 324.5654768732236 + ], + [ + 628.3835964500391, + 308.09312454864875 + ], + [ + 643.7842332211437, + 308.25591503376484 + ], + [ + 643.9666831615056, + 299.07593741660094 + ], + [ + 628.7247763123215, + 298.91648629908013 + ] + ], + "center_offset_px": [ + -3.7377490966691767, + -43.444380667924065 + ] + }, + "trace_timestep_index": 8, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 60, + "semantic_pixel_counts": { + "1": 534723, + "2": 237000, + "3": 78869, + "5": 3298, + "6": 8086, + "7": 362, + "9": 22504, + "10": 4847, + "12": 3144, + "20": 438, + "21": 668, + "24": 27661 + }, + "instance_pixel_counts": { + "1115": 2117, + "10370": 1221, + "11394": 180, + "11906": 2502, + "14928": 3298, + "14999": 416, + "15511": 3453, + "16023": 384, + "16535": 587, + "17047": 116, + "18011": 893, + "20119": 14495, + "20631": 7384, + "23488": 83, + "24064": 42, + "24320": 757, + "25024": 9, + "26560": 7809, + "27072": 1376, + "27584": 3037, + "28608": 10114, + "29843": 13421, + "30144": 96481, + "30355": 168955, + "30656": 32436, + "31323": 17564, + "31488": 3492, + "31813": 4819, + "31891": 286332, + "33883": 42713, + "34120": 24891, + "34453": 1732, + "34965": 7149, + "35931": 611, + "36180": 438, + "36443": 14307, + "36501": 17291, + "43649": 254, + "43867": 28, + "44123": 4, + "44171": 203, + "44379": 220, + "44691": 66015, + "45707": 483, + "47253": 1489, + "49664": 180, + "49920": 364, + "50176": 381, + "50432": 762, + "50688": 914, + "50944": 543, + "53184": 150, + "53696": 695, + "56225": 248, + "57173": 22504, + "58017": 163, + "59044": 5, + "60013": 664, + "64351": 3108, + "65375": 29290 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 180, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -127.66718292236328, + "y": -119.18775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.25541016459465027, + "y": 0.24559569358825684, + "z": 0.5359510183334351 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 628.0339168946776, + "ymin": 298.0681435928414, + "xmax": 644.2970667931868, + "ymax": 334.8094903270248 + }, + "corners_3d": [ + [ + -127.67412567138672, + -119.54202270507812, + 0.03903365135192871 + ], + [ + -128.02145385742188, + -119.1947021484375, + 0.03903365135192871 + ], + [ + -127.66024017333984, + -118.83349609375, + 0.03903365135192871 + ], + [ + -127.31291961669922, + -119.18081665039062, + 0.03903365135192871 + ], + [ + -127.67412567138672, + -119.54202270507812, + 1.1109356880187988 + ], + [ + -128.02145385742188, + -119.1947021484375, + 1.1109356880187988 + ], + [ + -127.66024017333984, + -118.83349609375, + 1.1109356880187988 + ], + [ + -127.31291961669922, + -119.18081665039062, + 1.1109356880187988 + ] + ], + "corners_2d": [ + [ + 628.3321057094693, + 334.6390125246809 + ], + [ + 643.9821917966971, + 334.8094903270248 + ], + [ + 644.1912467900335, + 323.8457109420005 + ], + [ + 628.7283912899935, + 323.6794015967901 + ], + [ + 628.0339168946776, + 308.99002746937174 + ], + [ + 644.0839815019476, + 309.15997113887954 + ], + [ + 644.2970667931868, + 298.2338305847565 + ], + [ + 628.4438608783091, + 298.0681435928414 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 364, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -123.54119873046875, + "y": -116.19005584716797, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.37376952171325684, + "y": 0.36686521768569946, + "z": 0.8896920084953308 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 603.3176833812374, + "ymin": 191.47645722376373, + "xmax": 628.6336840352042, + "ymax": 247.97074469273923 + }, + "corners_3d": [ + [ + -123.65486145019531, + -116.70130157470703, + -0.31470733880996704 + ], + [ + -124.05447387695312, + -116.08594512939453, + -0.31470733880996704 + ], + [ + -123.42753601074219, + -115.6788101196289, + -0.31470733880996704 + ], + [ + -123.02792358398438, + -116.2941665649414, + -0.31470733880996704 + ], + [ + -123.65486145019531, + -116.70130157470703, + 1.4646766185760498 + ], + [ + -124.05447387695312, + -116.08594512939453, + 1.4646766185760498 + ], + [ + -123.42753601074219, + -115.6788101196289, + 1.4646766185760498 + ], + [ + -123.02792358398438, + -116.2941665649414, + 1.4646766185760498 + ] + ], + "corners_2d": [ + [ + 608.1775175361639, + 247.97074469273923 + ], + [ + 628.6336840352042, + 245.50877716499738 + ], + [ + 624.8035779303667, + 232.9384182345939 + ], + [ + 604.6478136757486, + 235.32605531321227 + ], + [ + 606.9609628767157, + 206.2894919308395 + ], + [ + 628.2004944587485, + 203.86203520683878 + ], + [ + 624.2335434903473, + 191.47645722376373 + ], + [ + 603.3176833812374, + 193.82789400795025 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 381, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -129.92300415039062, + "y": -112.24504852294922, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.31233400106430054, + "y": 0.4033300578594208, + "z": 0.8711501955986023 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 814.6925733426007, + "ymin": 225.38787595273567, + "xmax": 849.908197764069, + "ymax": 279.33405942054833 + }, + "corners_3d": [ + [ + -129.9119110107422, + -112.75505065917969, + -0.2961606979370117 + ], + [ + -130.4195556640625, + -112.12815856933594, + -0.2961606979370117 + ], + [ + -129.93409729003906, + -111.73504638671875, + -0.2961606979370117 + ], + [ + -129.42645263671875, + -112.3619384765625, + -0.2961606979370117 + ], + [ + -129.9119110107422, + -112.75505065917969, + 1.4461396932601929 + ], + [ + -130.4195556640625, + -112.12815856933594, + 1.4461396932601929 + ], + [ + -129.93409729003906, + -111.73504638671875, + 1.4461396932601929 + ], + [ + -129.42645263671875, + -112.3619384765625, + 1.4461396932601929 + ] + ], + "corners_2d": [ + [ + 818.7046305623546, + 279.33405942054833 + ], + [ + 842.0594468793571, + 277.9871109800197 + ], + [ + 837.7400524203091, + 266.4411852476912 + ], + [ + 814.6925733426007, + 267.75218467811766 + ], + [ + 825.657486467693, + 238.1343157212112 + ], + [ + 849.908197764069, + 236.801971222904 + ], + [ + 845.3139591711122, + 225.38787595273567 + ], + [ + 821.3944424239606, + 226.68330768504097 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 762, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -137.16717529296875, + "y": -119.18775939941406, + "z": 0.7273821234703064 + }, + "extent": { + "x": 0.3935595750808716, + "y": 0.43882322311401367, + "z": 0.8677434325218201 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 865.0795160997418, + "ymin": 454.1708145762177, + "xmax": 916.3088175827729, + "ymax": 520.1251544118436 + }, + "corners_3d": [ + [ + -137.13516235351562, + -119.7763442993164, + -0.14036130905151367 + ], + [ + -137.75575256347656, + -119.15575408935547, + -0.14036130905151367 + ], + [ + -137.19918823242188, + -118.59917449951172, + -0.14036130905151367 + ], + [ + -136.57859802246094, + -119.21976470947266, + -0.14036130905151367 + ], + [ + -137.13516235351562, + -119.7763442993164, + 1.5951255559921265 + ], + [ + -137.75575256347656, + -119.15575408935547, + 1.5951255559921265 + ], + [ + -137.19918823242188, + -118.59917449951172, + 1.5951255559921265 + ], + [ + -136.57859802246094, + -119.21976470947266, + 1.5951255559921265 + ] + ], + "corners_2d": [ + [ + 869.6018780660709, + 519.6891795714378 + ], + [ + 903.0211428536693, + 520.1251544118436 + ], + [ + 897.770506554358, + 496.1636390982616 + ], + [ + 865.0795160997418, + 495.7464105190043 + ], + [ + 881.196411227732, + 478.35245740484993 + ], + [ + 916.3088175827729, + 478.7932739255687 + ], + [ + 910.4958432867302, + 454.5917519042431 + ], + [ + 876.1864874308678, + 454.1708145762177 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 914, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -131.28268432617188, + "y": -130.31512451171875, + "z": 0.581146776676178 + }, + "extent": { + "x": 0.41834959387779236, + "y": 0.5241503715515137, + "z": 0.8867294192314148 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 366.97599919652725, + "ymin": 571.8545571802428, + "xmax": 434.1016930824386, + "ymax": 648.0777076566459 + }, + "corners_3d": [ + [ + -131.1386260986328, + -130.97010803222656, + -0.3055826425552368 + ], + [ + -131.95330810546875, + -130.3103790283203, + -0.3055826425552368 + ], + [ + -131.42674255371094, + -129.66014099121094, + -0.3055826425552368 + ], + [ + -130.612060546875, + -130.3198699951172, + -0.3055826425552368 + ], + [ + -131.1386260986328, + -130.97010803222656, + 1.4678761959075928 + ], + [ + -131.95330810546875, + -130.3103790283203, + 1.4678761959075928 + ], + [ + -131.42674255371094, + -129.66014099121094, + 1.4678761959075928 + ], + [ + -130.612060546875, + -130.3198699951172, + 1.4678761959075928 + ] + ], + "corners_2d": [ + [ + 381.77364522792743, + 643.2428968392646 + ], + [ + 424.5187251065066, + 648.0777076566459 + ], + [ + 434.1016930824386, + 616.9393995073503 + ], + [ + 392.3977394144289, + 612.345796294885 + ], + [ + 366.97599919652725, + 603.4147725801633 + ], + [ + 412.11905693668876, + 608.3616029579401 + ], + [ + 422.570172756783, + 576.5409835162022 + ], + [ + 378.5866421264314, + 571.8545571802428 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 543, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -116.42184448242188, + "y": -127.35797882080078, + "z": 0.5749797821044922 + }, + "extent": { + "x": 0.5092480182647705, + "y": 0.45363280177116394, + "z": 0.92892986536026 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 190.917516940817, + "ymin": 234.3297921490908, + "xmax": 249.4032609196729, + "ymax": 301.27424600661317 + }, + "corners_3d": [ + [ + -116.31875610351562, + -128.03213500976562, + -0.3539500832557678 + ], + [ + -117.07965087890625, + -127.53800201416016, + -0.3539500832557678 + ], + [ + -116.52493286132812, + -126.68382263183594, + -0.3539500832557678 + ], + [ + -115.7640380859375, + -127.1779556274414, + -0.3539500832557678 + ], + [ + -116.31875610351562, + -128.03213500976562, + 1.5039095878601074 + ], + [ + -117.07965087890625, + -127.53800201416016, + 1.5039095878601074 + ], + [ + -116.52493286132812, + -126.68382263183594, + 1.5039095878601074 + ], + [ + -115.7640380859375, + -127.1779556274414, + 1.5039095878601074 + ] + ], + "corners_2d": [ + [ + 209.17414910383917, + 297.280186309076 + ], + [ + 233.85971969827693, + 301.27424600661317 + ], + [ + 249.4032609196729, + 282.0588654869836 + ], + [ + 225.18353769439267, + 278.2363039549347 + ], + [ + 190.917516940817, + 253.1675768647347 + ], + [ + 216.5676617974945, + 257.1227988733303 + ], + [ + 233.14980199412236, + 238.10821345989433 + ], + [ + 208.00177000580726, + 234.3297921490908 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10476196482746081849, + "instance_id": 14818, + "pixel_count": null, + "type_id": "AmericanLights_Town04_20_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -100.74504852294922, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1269.3056566852038, + "ymin": 149.71986603064602, + "xmax": 1280.0, + "ymax": 180.2651942552071 + }, + "corners_3d": [ + [ + -139.20529174804688, + -100.55508422851562, + 2.645533323287964 + ], + [ + -138.92662048339844, + -100.55508422851562, + 2.645533323287964 + ], + [ + -138.9266357421875, + -100.93501281738281, + 2.645533323287964 + ], + [ + -139.20530700683594, + -100.93501281738281, + 2.645533323287964 + ], + [ + -139.20529174804688, + -100.55508422851562, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -100.55508422851562, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -100.93501281738281, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -100.93501281738281, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1282.4828505801452, + 175.74493197943423 + ], + [ + 1273.7875774568051, + 172.35743088376574 + ], + [ + 1269.3056566852038, + 176.83725246449313 + ], + [ + 1278.0325510301577, + 180.2651942552071 + ], + [ + 1295.0145841981011, + 153.06981294241507 + ], + [ + 1286.0933761054507, + 149.71986603064602 + ], + [ + 1281.5984052708095, + 154.15014840650687 + ], + [ + 1290.553169115087, + 157.54087305914322 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11529003171770300666, + "instance_id": 64120, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.25050354003906, + "y": -128.95399475097656, + "z": 3.0800981521606445 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 90.53124013466152, + "ymin": 168.205156941689, + "xmax": 116.5488453245224, + "ymax": 199.34866509087558 + }, + "corners_3d": [ + [ + -113.11116790771484, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -128.7640380859375, + 3.5146679878234863 + ], + [ + -113.11116790771484, + -128.7640380859375, + 3.5146679878234863 + ] + ], + "corners_2d": [ + [ + 101.32114052105044, + 195.74736050819985 + ], + [ + 104.85875702540636, + 199.34866509087558 + ], + [ + 116.5488453245224, + 194.60035318463585 + ], + [ + 112.9790771331609, + 191.04258243917346 + ], + [ + 90.53124013466152, + 172.86241352630515 + ], + [ + 94.08908855757682, + 176.42810505706785 + ], + [ + 106.07973107468365, + 171.72688774047083 + ], + [ + 102.48781156886594, + 168.205156941689 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1184484105883362010, + "instance_id": 55842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple48_110_SM_2", + "bbox_3d": { + "center_world": { + "x": -139.474609375, + "y": -128.0553741455078, + "z": 4.084396839141846 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.0539525916802, + "ymin": 519.8964274216116, + "xmax": 870.184986136193, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -141.39132690429688, + -128.2749786376953, + 0.20767807960510254 + ], + [ + -141.39132690429688, + -127.83576965332031, + 0.20767807960510254 + ], + [ + -137.55789184570312, + -127.83576965332031, + 0.20767807960510254 + ], + [ + -137.55789184570312, + -128.2749786376953, + 0.20767807960510254 + ], + [ + -141.39132690429688, + -128.2749786376953, + 7.961115837097168 + ], + [ + -141.39132690429688, + -127.83576965332031, + 7.961115837097168 + ], + [ + -137.55789184570312, + -127.83576965332031, + 7.961115837097168 + ], + [ + -137.55789184570312, + -128.2749786376953, + 7.961115837097168 + ] + ], + "corners_2d": [ + [ + 789.5709105785284, + 887.3873586890463 + ], + [ + 803.9008559413519, + 870.3935183157832 + ], + [ + 665.4821897479062, + 733.3129311437393 + ], + [ + 651.0539525916802, + 747.2350917362921 + ], + [ + 851.0584357367395, + 702.0353523534845 + ], + [ + 870.184986136193, + 681.1793394919665 + ], + [ + 674.4718801783869, + 519.8964274216116 + ], + [ + 655.0096463966795, + 535.7335446380436 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2334590930876643410, + "instance_id": 21048, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -123.8453369140625, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 256.7291227363116, + "ymin": 26.921302799335308, + "xmax": 273.8801437575702, + "ymax": 38.27022966340513 + }, + "corners_3d": [ + [ + -116.6200942993164, + -123.69747161865234, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.69747161865234, + 7.743301868438721 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 266.9205187204897, + 30.454581112607627 + ], + [ + 257.76717240360637, + 33.637020543998915 + ], + [ + 264.69435028943144, + 38.27022966340513 + ], + [ + 273.8801437575702, + 35.039840382940554 + ], + [ + 265.9125782998915, + 26.921302799335308 + ], + [ + 256.7291227363116, + 30.09397777328502 + ], + [ + 263.6674224435101, + 34.71313037222649 + ], + [ + 272.8835814085494, + 31.492521721996297 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3639812104533344102, + "instance_id": 26239, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -123.8453369140625, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 256.82088150916803, + "ymin": 26.98140137720884, + "xmax": 273.78908776041544, + "ymax": 38.209645397128554 + }, + "corners_3d": [ + [ + -116.62229919433594, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.69904327392578, + 7.742714881896973 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 266.9038194572936, + 30.47722301290088 + ], + [ + 257.8476714626855, + 33.625955031334286 + ], + [ + 264.70117601746256, + 38.209645397128554 + ], + [ + 273.78908776041544, + 35.01397816821839 + ], + [ + 265.90650242140117, + 26.98140137720884 + ], + [ + 256.82088150916803, + 30.12057564243605 + ], + [ + 263.68527315809337, + 34.69050674354071 + ], + [ + 272.8029059886268, + 31.504412930005685 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3985217512616395484, + "instance_id": 56450, + "pixel_count": null, + "type_id": "BP_StreetLight_simple48_110_SM_1", + "bbox_3d": { + "center_world": { + "x": -137.86505126953125, + "y": -128.05545043945312, + "z": 7.743513107299805 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 662.6327208032659, + "ymin": 532.3716886360473, + "xmax": 693.9937998341078, + "ymax": 562.4709360550924 + }, + "corners_3d": [ + [ + -138.06874084472656, + -128.2017364501953, + 7.689445495605469 + ], + [ + -138.06874084472656, + -127.9091567993164, + 7.689445495605469 + ], + [ + -137.66136169433594, + -127.9091567993164, + 7.689445495605469 + ], + [ + -137.66136169433594, + -128.2017364501953, + 7.689445495605469 + ], + [ + -138.06874084472656, + -128.2017364501953, + 7.797580718994141 + ], + [ + -138.06874084472656, + -127.9091567993164, + 7.797580718994141 + ], + [ + -137.66136169433594, + -127.9091567993164, + 7.797580718994141 + ], + [ + -137.66136169433594, + -128.2017364501953, + 7.797580718994141 + ] + ], + "corners_2d": [ + [ + 680.9160462648335, + 562.4709360550924 + ], + [ + 693.7262625710251, + 551.5923028422806 + ], + [ + 675.4416978827494, + 536.3110275353464 + ], + [ + 662.6327208032659, + 546.8969914703129 + ], + [ + 681.1217582816099, + 558.5705130694707 + ], + [ + 693.9937998341078, + 547.6749653297786 + ], + [ + 675.6157940228636, + 532.3716886360473 + ], + [ + 662.7449544331726, + 542.9726751947444 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5736675163518273754, + "instance_id": 55816, + "pixel_count": null, + "type_id": "AmericanLights_Town04_21_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1211.4691312068453, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 46.63615528775841 + }, + "corners_3d": [ + [ + -140.57330322265625, + -78.3179702758789, + 0.0 + ], + [ + -140.5771484375, + -77.8851547241211, + 0.0 + ], + [ + -128.5230712890625, + -77.77800750732422, + 0.0 + ], + [ + -128.51922607421875, + -78.21082305908203, + 0.0 + ], + [ + -140.57330322265625, + -78.3179702758789, + 8.446706771850586 + ], + [ + -140.5771484375, + -77.8851547241211, + 8.446706771850586 + ], + [ + -128.5230712890625, + -77.77800750732422, + 8.446706771850586 + ], + [ + -128.51922607421875, + -78.21082305908203, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1473.6449700097228, + 46.63615528775841 + ], + [ + 1476.4375241988796, + 43.6088404416999 + ], + [ + 1215.0231806247343, + -33.68179654314184 + ], + [ + 1211.4691312068453, + -31.357600278450548 + ], + [ + 1603.1058973958093, + -153.9471884017711 + ], + [ + 1605.610076501259, + -156.32703461136134 + ], + [ + 1291.3984038198664, + -215.9051303816483 + ], + [ + 1287.7369251167443, + -214.14611301051934 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5944504550537153523, + "instance_id": 62411, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_1", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88526153564453, + "z": 3.6450090408325195 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 71.34188026834886, + "ymax": 21.90341586215044 + }, + "corners_3d": [ + [ + -100.3021469116211, + -126.97334289550781, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -126.97334289550781, + 3.8072457313537598 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.8072457313537598 + ] + ], + "corners_2d": [ + [ + 15.767155982674808, + 21.90341586215044 + ], + [ + 71.34188026834886, + 5.228013362652177 + ], + [ + 53.21987374463413, + -9.270621785622836 + ], + [ + -1.4464098551776488, + 6.580514233236443 + ], + [ + 12.017175727575136, + 13.99558948202855 + ], + [ + 68.02062287460774, + -2.5576039844532943 + ], + [ + 49.87786012696745, + -16.94552034248227 + ], + [ + -5.201465713787002, + -1.2152182686137962 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6967274615413648305, + "instance_id": 45483, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_2", + "bbox_3d": { + "center_world": { + "x": -99.33560943603516, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 104.99492495673576, + "ymax": 98.13531199468724 + }, + "corners_3d": [ + [ + -100.3640365600586, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -127.03557586669922, + 4.877264976501465 + ], + [ + -100.3640365600586, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + 50.46277655218023, + 98.13531199468724 + ], + [ + 104.99492495673576, + 79.38443082759255 + ], + [ + 85.94491020231249, + 62.97157062138223 + ], + [ + 32.276994915482874, + 80.79093066644032 + ], + [ + -1.801334460710791, + -11.805508450259481 + ], + [ + 58.9851363771586, + -28.87765904098501 + ], + [ + 39.57807732106164, + -43.75293495117933 + ], + [ + -20.10715716815912, + -27.599968678329333 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8232706723728016641, + "instance_id": 325, + "pixel_count": null, + "type_id": "BP_StreetLight_wall40_71_SM_0", + "bbox_3d": { + "center_world": { + "x": -140.893310546875, + "y": -111.95197296142578, + "z": 4.334987163543701 + }, + "extent": { + "x": 0.11768747121095657, + "y": 1.147606611251831, + "z": 0.41115570068359375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1156.0245379031062, + "ymin": 287.8849704224673, + "xmax": 1265.0452319116334, + "ymax": 360.7362002750583 + }, + "corners_3d": [ + [ + -142.04092407226562, + -111.83428192138672, + 3.9238314628601074 + ], + [ + -139.74569702148438, + -111.83428955078125, + 3.9238314628601074 + ], + [ + -139.74569702148438, + -112.06966400146484, + 3.9238314628601074 + ], + [ + -142.04092407226562, + -112.06965637207031, + 3.9238314628601074 + ], + [ + -142.04092407226562, + -111.83428192138672, + 4.746142864227295 + ], + [ + -139.74569702148438, + -111.83428955078125, + 4.746142864227295 + ], + [ + -139.74569702148438, + -112.06966400146484, + 4.746142864227295 + ], + [ + -142.04092407226562, + -112.06965637207031, + 4.746142864227295 + ] + ], + "corners_2d": [ + [ + 1249.962799414785, + 356.1195002687886 + ], + [ + 1160.0969609573458, + 312.03993288023037 + ], + [ + 1156.0245379031062, + 316.23203926510143 + ], + [ + 1246.1308336811235, + 360.7362002750583 + ], + [ + 1265.0452319116334, + 331.83421087949495 + ], + [ + 1172.3388553374043, + 287.8849704224673 + ], + [ + 1168.228870803247, + 292.060292950587 + ], + [ + 1261.1940984565258, + 336.4431693947936 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9919303964700251881, + "instance_id": 59670, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_Poles_4", + "bbox_3d": { + "center_world": { + "x": -112.9144515991211, + "y": -134.7008514404297, + "z": 4.223348617553711 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 14.142345353518749, + "xmax": 145.9516589604898, + "ymax": 438.33646726690847 + }, + "corners_3d": [ + [ + -113.18444061279297, + -128.6757354736328, + -4.76837158203125e-06 + ], + [ + -112.75162506103516, + -128.67189025878906, + -4.76837158203125e-06 + ], + [ + -112.64446258544922, + -140.72596740722656, + -4.76837158203125e-06 + ], + [ + -113.07727813720703, + -140.7298126220703, + -4.76837158203125e-06 + ], + [ + -113.18444061279297, + -128.6757354736328, + 8.446702003479004 + ], + [ + -112.75162506103516, + -128.67189025878906, + 8.446702003479004 + ], + [ + -112.64446258544922, + -140.72596740722656, + 8.446702003479004 + ], + [ + -113.07727813720703, + -140.7298126220703, + 8.446702003479004 + ] + ], + "corners_2d": [ + [ + 145.9516589604898, + 255.2181971432197 + ], + [ + 140.6663736008873, + 249.5861063633935 + ], + [ + -274.2760177495212, + 429.983777923566 + ], + [ + -271.2594102107598, + 438.33646726690847 + ], + [ + 38.2245403470057, + 19.060400164796306 + ], + [ + 32.67757028283188, + 14.142345353518749 + ], + [ + -526.7349528776324, + 179.18055307346177 + ], + [ + -525.5415699386983, + 187.21650137955413 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12065512595391554584, + "instance_id": 6308, + "pixel_count": null, + "type_id": "AmericanLights_Town04_20_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -94.9981918334961, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1239.5560207976246, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 250.0674885034781 + }, + "corners_3d": [ + [ + -139.1320343017578, + -101.02330780029297, + 0.0 + ], + [ + -139.56484985351562, + -101.02715301513672, + 0.0 + ], + [ + -139.67198181152344, + -88.97307586669922, + 0.0 + ], + [ + -139.23916625976562, + -88.96923065185547, + 0.0 + ], + [ + -139.1320343017578, + -101.02330780029297, + 8.446706771850586 + ], + [ + -139.56484985351562, + -101.02715301513672, + 8.446706771850586 + ], + [ + -139.67198181152344, + -88.97307586669922, + 8.446706771850586 + ], + [ + -139.23916625976562, + -88.96923065185547, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1239.5560207976246, + 244.50424587232027 + ], + [ + 1252.2047854214782, + 250.0674885034781 + ], + [ + 1373.5033527555502, + 124.11672712978233 + ], + [ + 1362.0693020813997, + 120.10604756106227 + ], + [ + 1368.2571574128904, + 9.717043625243264 + ], + [ + 1384.6970216405193, + 14.56206842359552 + ], + [ + 1503.9470438131802, + -91.8029517089206 + ], + [ + 1489.6214963266198, + -95.07922188397134 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14081937874569997388, + "instance_id": 19500, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_0", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88525390625, + "z": 3.6439085006713867 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 71.40557157059357, + "ymax": 21.97535858166424 + }, + "corners_3d": [ + [ + -100.30333709716797, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.30333709716797, + -126.97452545166016, + 3.807230234146118 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.807230234146118 + ] + ], + "corners_2d": [ + [ + 15.772081938471956, + 21.97535858166424 + ], + [ + 71.40557157059357, + 5.280381335125696 + ], + [ + 53.26064747656028, + -9.236420533875787 + ], + [ + -1.4623914431092544, + 6.632362542601697 + ], + [ + 11.996936141852302, + 14.01483625995155 + ], + [ + 68.06247830288532, + -2.5569931206528054 + ], + [ + 49.89662138774679, + -16.962211262669882 + ], + [ + -5.242649048104113, + -1.2151892917317468 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.669852137711, + "ymin": 0.0, + "xmax": 738.6351796544728, + "ymax": 52.827652142476666 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 666.2402177519131, + 22.32205327848601 + ], + [ + 659.669852137711, + 25.236753185435873 + ], + [ + 719.7491153087782, + 52.827652142476666 + ], + [ + 726.3151079844403, + 49.642795183890826 + ], + [ + 669.801615693149, + -156.28133328837202 + ], + [ + 662.3541323577718, + -153.94772411129577 + ], + [ + 731.1976246685014, + -131.7051316153217 + ], + [ + 738.6351796544728, + -134.2867841207285 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 200.5050522906431, + "ymin": 0.0, + "xmax": 334.5991776280394, + "ymax": 245.0429112141598 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 279.2123210043857, + 194.01267764779425 + ], + [ + 268.3640367579199, + 198.82511807202152 + ], + [ + 323.47261070382564, + 245.0429112141598 + ], + [ + 334.5991776280394, + 239.64593228893122 + ], + [ + 213.8137586006285, + -13.401195122536876 + ], + [ + 200.5050522906431, + -9.231018731209474 + ], + [ + 261.5867101913064, + 31.301689337686184 + ], + [ + 275.3538835273106, + 26.52296062881578 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16194625468754558244, + "instance_id": 9469, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.53463745117188, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 61.95445727689014, + "ymax": 58.98310775837399 + }, + "corners_3d": [ + [ + -95.56306457519531, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -127.03557586669922, + 4.877264976501465 + ], + [ + -95.56306457519531, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + 9.411243876443109, + 58.98310775837399 + ], + [ + 61.95445727689014, + 42.3021929214413 + ], + [ + 44.95685451486702, + 27.657622742879994 + ], + [ + -6.7650261719517175, + 43.55526408395639 + ], + [ + -43.006988910511154, + -47.358189189058066 + ], + [ + 15.255248874815152, + -62.3960886102891 + ], + [ + -1.8992535935736896, + -75.54480715552523 + ], + [ + -59.12930469395894, + -61.2686962171 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 683.2869486042214, + "ymin": 0.0, + "xmax": 935.3770733054055, + "ymax": 99.64305568895838 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 689.4908362845712, + 6.217209238332657 + ], + [ + 683.2869486042214, + 8.892731409818225 + ], + [ + 886.4583421806221, + 99.64305568895838 + ], + [ + 892.5495982793558, + 96.08519996250425 + ], + [ + 696.6113292974418, + -185.4309464418576 + ], + [ + 689.5472778437945, + -183.36613663602373 + ], + [ + 928.5095383530052, + -111.69277436888115 + ], + [ + 935.3770733054055, + -114.56398597010298 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17718493663991687542, + "instance_id": 30441, + "pixel_count": null, + "type_id": "BP_StreetLight_simple48_110_SM_0", + "bbox_3d": { + "center_world": { + "x": -137.86505126953125, + "y": -128.05545043945312, + "z": 7.743518352508545 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 662.4647299561236, + "ymin": 532.2124011711035, + "xmax": 694.1642370305698, + "ymax": 562.6363554324305 + }, + "corners_3d": [ + [ + -138.07093811035156, + -128.2033233642578, + 7.688869476318359 + ], + [ + -138.07093811035156, + -127.90758514404297, + 7.688869476318359 + ], + [ + -137.65916442871094, + -127.90758514404297, + 7.688869476318359 + ], + [ + -137.65916442871094, + -128.2033233642578, + 7.688869476318359 + ], + [ + -138.07093811035156, + -128.2033233642578, + 7.7981672286987305 + ], + [ + -138.07093811035156, + -127.90758514404297, + 7.7981672286987305 + ], + [ + -137.65916442871094, + -127.90758514404297, + 7.7981672286987305 + ], + [ + -137.65916442871094, + -128.2033233642578, + 7.7981672286987305 + ] + ], + "corners_2d": [ + [ + 680.9447855777314, + 562.6363554324305 + ], + [ + 693.8929709848045, + 551.6387330212127 + ], + [ + 675.4116491389864, + 536.1942839616461 + ], + [ + 662.4647299561236, + 546.8928955007361 + ], + [ + 681.1528873087955, + 558.6942323031999 + ], + [ + 694.1642370305698, + 547.6793180640078 + ], + [ + 675.5874506833806, + 532.2124011711035 + ], + [ + 662.5773287013906, + 542.9263507831854 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 241.23428849514812, + "ymax": 229.44599620383298 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 138.17118012609848, + 91.30989301591939 + ], + [ + -22.50856141397594, + 162.71213066800328 + ], + [ + 78.06509995375211, + 229.44599620383298 + ], + [ + 241.23428849514812, + 145.39714409988832 + ], + [ + 7.616507573465469, + -233.09483472129432 + ], + [ + -218.54898161723509, + -185.14090946174736 + ], + [ + -108.0483176732339, + -137.7955584040875 + ], + [ + 126.76769154165845, + -197.01788202690113 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 54.977940450419055, + "ymax": 7.820993415994167 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + -41.729159136564704, + -71.81133843555489 + ], + [ + -174.07855945226788, + -21.97557931729625 + ], + [ + -74.46476989819769, + 7.820993415994167 + ], + [ + 54.977940450419055, + -47.19775440649232 + ], + [ + -161.44445386008, + -319.4280680768629 + ], + [ + -333.7353767584052, + -288.7452495885441 + ], + [ + -223.59549094074305, + -269.8832176414272 + ], + [ + -53.630561225014276, + -304.40666931444423 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 268.7895643598586, + "ymax": 272.1601420593076 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 48.1332649971547, + 272.1601420593076 + ], + [ + 260.7367049169348, + 243.3617330063743 + ], + [ + 268.7895643598586, + 137.31459486992534 + ], + [ + 84.57082697696183, + 159.09098189165917 + ], + [ + -161.87233474534503, + -106.11371073923374 + ], + [ + 132.24057909654988, + -127.5960119851153 + ], + [ + 163.75165706433023, + -202.50660954355658 + ], + [ + -78.75007558254367, + -187.6382800881587 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 78.14992675478845, + "ymax": 69.46160937185965 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 2.604532043332256, + -22.670216095360615 + ], + [ + -140.25552589574625, + 25.73727061409585 + ], + [ + -67.97940059907728, + 69.46160937185965 + ], + [ + 78.14992675478845, + 14.1559466518043 + ], + [ + -129.34070447841304, + -304.3928704822482 + ], + [ + -318.95151241101235, + -274.86066363679004 + ], + [ + -244.69809358754264, + -247.2439912960574 + ], + [ + -47.52609288808492, + -282.02375648599195 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00009/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00009/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1609069c26225e4d06d0e79d13f83311108bf50a --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00009/meta.json @@ -0,0 +1,3733 @@ +{ + "frame_id": 9, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 4.5, + "sim_timestamp": 9809.724522160366 + }, + "drone_pose": { + "x": -143.13042008489663, + "y": -133.82115383018152, + "z": 20.436332328821873, + "pitch": -42.079941739250735, + "yaw": 43.47136405966965, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5386357307434082, + -0.5106348991394043, + 0.6701669096946716, + 131.733154296875 + ], + [ + 0.6879919767379761, + 0.7257182598114014, + -1.4901161193847656e-08, + -1.3561172485351562 + ], + [ + -0.4863523840904236, + 0.46106940507888794, + 0.7422105073928833, + -146.480712890625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -142.82393287992517, + "y": -133.3619286348963, + "z": 20.386981027829684 + }, + "t1_image_uv": [ + 911.6046689492832, + -359.2792526954487 + ], + "t1_depth": 0.43265496085608285 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -127.16718292236328, + "y": -118.68776321411131, + "z": 0.5749846434596475 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 29.636423268078264, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 178, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -127.16718292236328, + "y": -118.68775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.2310498058795929, + "y": 0.24277342855930328, + "z": 0.5407767295837402 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 631.7925669720005, + "ymin": 341.72924809998295, + "xmax": 648.1147140099498, + "ymax": 378.04251402057946 + }, + "corners_3d": [ + [ + -127.15888977050781, + -119.0228042602539, + 0.034207940101623535 + ], + [ + -127.50222778320312, + -118.6794662475586, + 0.034207940101623535 + ], + [ + -127.17547607421875, + -118.35271453857422, + 0.034207940101623535 + ], + [ + -126.83213806152344, + -118.69605255126953, + 0.034207940101623535 + ], + [ + -127.15888977050781, + -119.0228042602539, + 1.115761399269104 + ], + [ + -127.50222778320312, + -118.6794662475586, + 1.115761399269104 + ], + [ + -127.17547607421875, + -118.35271453857422, + 1.115761399269104 + ], + [ + -126.83213806152344, + -118.69605255126953, + 1.115761399269104 + ] + ], + "corners_2d": [ + [ + 631.9919796339243, + 377.757358138387 + ], + [ + 647.6139647633815, + 378.04251402057946 + ], + [ + 647.9197321259477, + 367.9854902094171 + ], + [ + 632.4751475259735, + 367.7067784524834 + ], + [ + 631.7925669720005, + 351.7241186595395 + ], + [ + 647.8036274463055, + 352.0077764678167 + ], + [ + 648.1147140099498, + 342.0063387677159 + ], + [ + 632.2899479597318, + 341.72924809998295 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 9, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 72, + "semantic_pixel_counts": { + "1": 542821, + "2": 223978, + "3": 76640, + "5": 3230, + "6": 7355, + "7": 407, + "9": 28594, + "10": 4957, + "12": 3374, + "14": 222, + "20": 282, + "21": 617, + "24": 29123 + }, + "instance_pixel_counts": { + "1115": 2812, + "6254": 234, + "10370": 1218, + "11394": 310, + "11906": 1659, + "14416": 9, + "14672": 6, + "14723": 3, + "14928": 3215, + "15511": 3468, + "16023": 385, + "16535": 633, + "17047": 6, + "18011": 6238, + "20119": 12929, + "20631": 7691, + "23488": 125, + "24064": 514, + "24320": 231, + "26560": 8209, + "27072": 1654, + "27584": 3157, + "28608": 10035, + "29843": 13957, + "30144": 87378, + "30355": 130426, + "30656": 33206, + "31168": 1304, + "31301": 5, + "31323": 1589, + "31488": 3512, + "31813": 4919, + "31891": 306050, + "33883": 32168, + "34120": 26068, + "34453": 1812, + "34965": 6277, + "35931": 1576, + "36180": 282, + "36443": 27254, + "36501": 17869, + "43649": 315, + "43867": 16, + "44171": 457, + "44379": 200, + "44691": 89491, + "44891": 1, + "45203": 1350, + "45707": 455, + "46227": 1547, + "47253": 2821, + "47765": 269, + "48779": 226, + "48789": 75, + "49664": 178, + "49920": 369, + "50176": 404, + "50432": 916, + "50688": 952, + "50944": 555, + "53184": 865, + "53696": 514, + "55552": 222, + "55744": 1544, + "56225": 226, + "57173": 28594, + "58017": 166, + "59044": 8, + "60013": 3042, + "61037": 1727, + "64351": 4326, + "65375": 19343 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 178, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -127.16718292236328, + "y": -118.68775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.25224119424819946, + "y": 0.24723632633686066, + "z": 0.5335540771484375 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 631.6237170959954, + "ymin": 341.4515234499002, + "xmax": 648.272826131186, + "ymax": 378.3423216388649 + }, + "corners_3d": [ + [ + -127.17072296142578, + -119.04094696044922, + 0.04143059253692627 + ], + [ + -127.52037048339844, + -118.69129943847656, + 0.04143059253692627 + ], + [ + -127.16364288330078, + -118.3345718383789, + 0.04143059253692627 + ], + [ + -126.81399536132812, + -118.68421936035156, + 0.04143059253692627 + ], + [ + -127.17072296142578, + -119.04094696044922, + 1.1085387468338013 + ], + [ + -127.52037048339844, + -118.69129943847656, + 1.1085387468338013 + ], + [ + -127.16364288330078, + -118.3345718383789, + 1.1085387468338013 + ], + [ + -126.81399536132812, + -118.68421936035156, + 1.1085387468338013 + ] + ], + "corners_2d": [ + [ + 631.8246520046727, + 378.0516275179265 + ], + [ + 647.7446930310633, + 378.3423216388649 + ], + [ + 648.0767702108126, + 367.362885982199 + ], + [ + 632.3540283307613, + 367.07935747352576 + ], + [ + 631.6237170959954, + 352.36379057751 + ], + [ + 647.9351073092599, + 352.652985454011 + ], + [ + 648.272826131186, + 341.73341776365226 + ], + [ + 632.1684912927569, + 341.4515234499002 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 369, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -123.04119873046875, + "y": -115.69005584716797, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.3721630871295929, + "y": 0.3480566442012787, + "z": 0.8849027752876282 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 608.8040261624375, + "ymin": 234.37944179350546, + "xmax": 632.7979897473724, + "ymax": 290.2928654030431 + }, + "corners_3d": [ + [ + -123.16375732421875, + -116.18465423583984, + -0.3099181056022644 + ], + [ + -123.54288482666016, + -115.60084533691406, + -0.3099181056022644 + ], + [ + -122.91864013671875, + -115.1954574584961, + -0.3099181056022644 + ], + [ + -122.53951263427734, + -115.77926635742188, + -0.3099181056022644 + ], + [ + -123.16375732421875, + -116.18465423583984, + 1.4598875045776367 + ], + [ + -123.54288482666016, + -115.60084533691406, + 1.4598875045776367 + ], + [ + -122.91864013671875, + -115.1954574584961, + 1.4598875045776367 + ], + [ + -122.53951263427734, + -115.77926635742188, + 1.4598875045776367 + ] + ], + "corners_2d": [ + [ + 613.2574509327426, + 290.2928654030431 + ], + [ + 632.7979897473724, + 288.07561447660663 + ], + [ + 629.12597640402, + 275.48649136213214 + ], + [ + 609.8856810012288, + 277.6339720177606 + ], + [ + 612.2808376259388, + 248.920099564248 + ], + [ + 632.5357371889077, + 246.7413838337541 + ], + [ + 628.7365075950643, + 234.37944179350546 + ], + [ + 608.8040261624375, + 236.48716121218877 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 404, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -129.42300415039062, + "y": -111.74504852294922, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.35584959387779236, + "y": 0.4163867235183716, + "z": 0.8845140933990479 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 819.9371956158868, + "ymin": 268.4318079225026, + "xmax": 856.8642101269521, + "ymax": 324.6619941092795 + }, + "corners_3d": [ + [ + -129.43751525878906, + -112.29258728027344, + -0.3095294237136841 + ], + [ + -129.9615936279297, + -111.64540100097656, + -0.3095294237136841 + ], + [ + -129.4084930419922, + -111.197509765625, + -0.3095294237136841 + ], + [ + -128.88441467285156, + -111.84469604492188, + -0.3095294237136841 + ], + [ + -129.43751525878906, + -112.29258728027344, + 1.4594987630844116 + ], + [ + -129.9615936279297, + -111.64540100097656, + 1.4594987630844116 + ], + [ + -129.4084930419922, + -111.197509765625, + 1.4594987630844116 + ], + [ + -128.88441467285156, + -111.84469604492188, + 1.4594987630844116 + ] + ], + "corners_2d": [ + [ + 824.5240487167256, + 324.6619941092795 + ], + [ + 848.9093444770981, + 323.4222792305733 + ], + [ + 843.9382533980083, + 310.111139981547 + ], + [ + 819.9371956158868, + 311.3113923284634 + ], + [ + 831.5612610982578, + 282.76689812507936 + ], + [ + 856.8642101269521, + 281.5448204414438 + ], + [ + 851.5746626515312, + 268.4318079225026 + ], + [ + 826.685162610546, + 269.6135389797074 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 916, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -136.66717529296875, + "y": -118.68775939941406, + "z": 0.7273772358894348 + }, + "extent": { + "x": 0.40897947549819946, + "y": 0.46163085103034973, + "z": 0.8805735111236572 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 870.7248980104399, + "ymin": 502.0301433540035, + "xmax": 925.228527081887, + "ymax": 571.5960035744431 + }, + "corners_3d": [ + [ + -136.62994384765625, + -119.30337524414062, + -0.1531962752342224 + ], + [ + -137.2827911376953, + -118.65052795410156, + -0.1531962752342224 + ], + [ + -136.70440673828125, + -118.0721435546875, + -0.1531962752342224 + ], + [ + -136.0515594482422, + -118.72499084472656, + -0.1531962752342224 + ], + [ + -136.62994384765625, + -119.30337524414062, + 1.6079506874084473 + ], + [ + -137.2827911376953, + -118.65052795410156, + 1.6079506874084473 + ], + [ + -136.70440673828125, + -118.0721435546875, + 1.6079506874084473 + ], + [ + -136.0515594482422, + -118.72499084472656, + 1.6079506874084473 + ] + ], + "corners_2d": [ + [ + 875.5432026799908, + 570.7983003307008 + ], + [ + 911.5963327001832, + 571.5960035744431 + ], + [ + 905.9097831018541, + 545.7294049927626 + ], + [ + 870.7248980104399, + 544.9694964584182 + ], + [ + 887.3566038730739, + 528.0470101603619 + ], + [ + 925.228527081887, + 528.8515173665928 + ], + [ + 918.9207560473945, + 502.79469284816753 + ], + [ + 882.005724447118, + 502.0301433540035 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 952, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -130.78268432617188, + "y": -129.81512451171875, + "z": 0.5797649025917053 + }, + "extent": { + "x": 0.40903806686401367, + "y": 0.4836962819099426, + "z": 0.8889373540878296 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 362.22044816613794, + "ymin": 620.8415396349305, + "xmax": 427.6650526080264, + "ymax": 699.0777574322424 + }, + "corners_3d": [ + [ + -130.66419982910156, + -130.43740844726562, + -0.30917245149612427 + ], + [ + -131.41600036621094, + -129.82861328125, + -0.30917245149612427 + ], + [ + -130.9011688232422, + -129.19284057617188, + -0.30917245149612427 + ], + [ + -130.1493682861328, + -129.8016357421875, + -0.30917245149612427 + ], + [ + -130.66419982910156, + -130.43740844726562, + 1.4687023162841797 + ], + [ + -131.41600036621094, + -129.82861328125, + 1.4687023162841797 + ], + [ + -130.9011688232422, + -129.19284057617188, + 1.4687023162841797 + ], + [ + -130.1493682861328, + -129.8016357421875, + 1.4687023162841797 + ] + ], + "corners_2d": [ + [ + 377.0317466668537, + 694.0009535325246 + ], + [ + 417.2962968555844, + 699.0777574322424 + ], + [ + 427.6650526080264, + 667.3147830631442 + ], + [ + 388.41420637790054, + 662.5013669147515 + ], + [ + 362.22044816613794, + 652.9298343344888 + ], + [ + 404.69680832675465, + 658.1103952172386 + ], + [ + 415.98599790284027, + 625.7387857309866 + ], + [ + 374.6360745188805, + 620.8415396349305 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 555, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -115.92184448242188, + "y": -126.85797882080078, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.5183300375938416, + "y": 0.4899072051048279, + "z": 0.9327222108840942 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 192.6259641542734, + "ymin": 273.9987438329351, + "xmax": 253.2130520572295, + "ymax": 341.96317556066566 + }, + "corners_3d": [ + [ + -115.79327392578125, + -127.55950927734375, + -0.3577278256416321 + ], + [ + -116.61502075195312, + -127.02586364746094, + -0.3577278256416321 + ], + [ + -116.0504150390625, + -126.15644836425781, + -0.3577278256416321 + ], + [ + -115.22866821289062, + -126.69009399414062, + -0.3577278256416321 + ], + [ + -115.79327392578125, + -127.55950927734375, + 1.5077166557312012 + ], + [ + -116.61502075195312, + -127.02586364746094, + 1.5077166557312012 + ], + [ + -116.0504150390625, + -126.15644836425781, + 1.5077166557312012 + ], + [ + -115.22866821289062, + -126.69009399414062, + 1.5077166557312012 + ] + ], + "corners_2d": [ + [ + 210.1818219176365, + 337.4305808217759 + ], + [ + 236.73496551791584, + 341.96317556066566 + ], + [ + 253.2130520572295, + 322.38756530346103 + ], + [ + 227.18313858554336, + 318.06109946787126 + ], + [ + 192.6259641542734, + 293.0824515225157 + ], + [ + 220.17160354960367, + 297.55333845395876 + ], + [ + 237.70758044061887, + 278.25827778770525 + ], + [ + 210.72397144723294, + 273.9987438329351 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 217, + "instance_id": 55552, + "pixel_count": 222, + "type_id": "vehicle.mini.cooper_s", + "bbox_3d": { + "center_world": { + "x": -131.65988159179688, + "y": -76.91120147705078, + "z": 0.7358787059783936 + }, + "extent": { + "x": 1.9029000997543335, + "y": 0.9851378202438354, + "z": 0.7375150918960571 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 1260.3973772909105, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 50.454791639837595 + }, + "corners_3d": [ + [ + -130.6616973876953, + -78.80728912353516, + -0.001636367291212082 + ], + [ + -132.63192749023438, + -78.8208236694336, + -0.001636367291212082 + ], + [ + -132.65806579589844, + -75.0151138305664, + -0.001636367291212082 + ], + [ + -130.68783569335938, + -75.00157928466797, + -0.001636367291212082 + ], + [ + -130.6616973876953, + -78.80728912353516, + 1.4733937978744507 + ], + [ + -132.63192749023438, + -78.8208236694336, + 1.4733937978744507 + ], + [ + -132.65806579589844, + -75.0151138305664, + 1.4733937978744507 + ], + [ + -130.68783569335938, + -75.00157928466797, + 1.4733937978744507 + ] + ], + "corners_2d": [ + [ + 1260.3973772909105, + 38.18289320190746 + ], + [ + 1301.6001786030236, + 50.454791639837595 + ], + [ + 1329.8031763826932, + 28.676367363662337 + ], + [ + 1289.5791852278753, + 17.335149400759292 + ], + [ + 1273.3039219179175, + 9.369427086136056 + ], + [ + 1315.680410027813, + 21.239888434327668 + ], + [ + 1343.8981842820876, + 0.18151946469038194 + ], + [ + 1302.5655498399865, + -10.770873322936893 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.5864538362313, + "ymin": 0.0, + "xmax": 909.4688767130331, + "ymax": 11.122115156925986 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 899.5271889119144, + 11.122115156925986 + ], + [ + 905.2612848476683, + 8.434007555177914 + ], + [ + 899.3284500690315, + 6.384402989122691 + ], + [ + 893.5864538362313, + 9.051111837743747 + ], + [ + 903.6656455158377, + -11.395091878805715 + ], + [ + 909.4688767130331, + -14.007120083994494 + ], + [ + 903.4253134644396, + -15.998425844563315 + ], + [ + 897.6137528255805, + -13.40751945029399 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 699.3679181671098, + "ymin": 0.0, + "xmax": 710.1963514757745, + "ymax": 7.024894003636746 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 703.6768527392181, + 7.024894003636746 + ], + [ + 709.2872779753849, + 4.80846769326547 + ], + [ + 704.978206370232, + 3.1066857725588193 + ], + [ + 699.3679181671098, + 5.308360189636062 + ], + [ + 704.5159825144884, + -11.637391249779057 + ], + [ + 710.1963514757745, + -13.801342918408409 + ], + [ + 705.8278705178712, + -15.46266763707564 + ], + [ + 700.1476172331832, + -13.31330703015999 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11529003171770300666, + "instance_id": 64120, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.25050354003906, + "y": -128.95399475097656, + "z": 3.0800981521606445 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 85.84061228368205, + "ymin": 220.51861256991054, + "xmax": 111.91284069094013, + "ymax": 251.86661177778262 + }, + "corners_3d": [ + [ + -113.11116790771484, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -128.7640380859375, + 3.5146679878234863 + ], + [ + -113.11116790771484, + -128.7640380859375, + 3.5146679878234863 + ] + ], + "corners_2d": [ + [ + 96.4303157736689, + 248.13046208312363 + ], + [ + 99.80855275700776, + 251.86661177778262 + ], + [ + 111.91284069094013, + 247.04483704770172 + ], + [ + 108.49673804126508, + 243.35591084827047 + ], + [ + 85.84061228368205, + 225.2379984351976 + ], + [ + 89.23156197694959, + 228.9317916377422 + ], + [ + 101.639846513071, + 224.164814609259 + ], + [ + 98.20886381118146, + 220.51861256991054 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 831.2508977374873, + "ymin": 0.0, + "xmax": 998.2570606905231, + "ymax": 4.0954682589482445 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 963.1917137692835, + -49.7700567991381 + ], + [ + 957.0066520435466, + -51.62039820235282 + ], + [ + 831.2508977374873, + 1.784381624046432 + ], + [ + 837.5934691019033, + 4.0954682589482445 + ], + [ + 998.2570606905231, + -209.5830751910845 + ], + [ + 991.2466536837023, + -210.91639057839018 + ], + [ + 854.6277510572156, + -171.95728256598534 + ], + [ + 861.8688138889179, + -170.24874332603758 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1184484105883362010, + "instance_id": 55842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple48_110_SM_2", + "bbox_3d": { + "center_world": { + "x": -139.474609375, + "y": -128.0553741455078, + "z": 4.084396839141846 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 649.4615840594847, + "ymin": 612.3010220864558, + "xmax": 884.5717693170488, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -141.39132690429688, + -128.2749786376953, + 0.20767807960510254 + ], + [ + -141.39132690429688, + -127.83576965332031, + 0.20767807960510254 + ], + [ + -137.55789184570312, + -127.83576965332031, + 0.20767807960510254 + ], + [ + -137.55789184570312, + -128.2749786376953, + 0.20767807960510254 + ], + [ + -141.39132690429688, + -128.2749786376953, + 7.961115837097168 + ], + [ + -141.39132690429688, + -127.83576965332031, + 7.961115837097168 + ], + [ + -137.55789184570312, + -127.83576965332031, + 7.961115837097168 + ], + [ + -137.55789184570312, + -128.2749786376953, + 7.961115837097168 + ] + ], + "corners_2d": [ + [ + 796.7261133725387, + 1003.362386740629 + ], + [ + 812.1590370381267, + 984.0630945458846 + ], + [ + 664.9537254013388, + 827.1175612019807 + ], + [ + 649.4615840594847, + 842.5464103515752 + ], + [ + 863.8664349012606, + 823.5065665346285 + ], + [ + 884.5717693170488, + 799.3549279533995 + ], + [ + 673.946547579335, + 612.3010220864558 + ], + [ + 652.9252255261399, + 629.9837445542153 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2334590930876643410, + "instance_id": 21048, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -123.8453369140625, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 256.5236805430212, + "ymin": 80.46252958310794, + "xmax": 273.74806347222534, + "ymax": 91.93548616759568 + }, + "corners_3d": [ + [ + -116.6200942993164, + -123.69747161865234, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.69747161865234, + 7.743301868438721 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 266.9429233341126, + 83.97153508547831 + ], + [ + 257.5312555633414, + 87.17186042261983 + ], + [ + 264.29807604931955, + 91.93548616759568 + ], + [ + 273.74806347222534, + 88.68376399960215 + ], + [ + 265.9654513563061, + 80.46252958310794 + ], + [ + 256.5236805430212, + 83.65222732886548 + ], + [ + 263.30036893301167, + 88.4002017989344 + ], + [ + 272.78074761416883, + 85.15914169248111 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3639812104533344102, + "instance_id": 26239, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -123.8453369140625, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 256.61579611327574, + "ymin": 80.52323675213796, + "xmax": 273.656572887436, + "ymax": 91.8741911000032 + }, + "corners_3d": [ + [ + -116.62229919433594, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.69904327392578, + 7.742714881896973 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 266.9241899869446, + 83.99505658299404 + ], + [ + 257.61244217483807, + 87.16149725311891 + ], + [ + 264.30731284730746, + 91.8741911000032 + ], + [ + 273.656572887436, + 88.65744128686197 + ], + [ + 265.9570109345276, + 80.52323675213796 + ], + [ + 256.61579611327574, + 83.67927471903698 + ], + [ + 263.32032666238445, + 88.37664836243874 + ], + [ + 272.6993328379986, + 85.17033463439896 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3985217512616395484, + "instance_id": 56450, + "pixel_count": null, + "type_id": "BP_StreetLight_simple48_110_SM_1", + "bbox_3d": { + "center_world": { + "x": -137.86505126953125, + "y": -128.05545043945312, + "z": 7.743513107299805 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.0914783838439, + "ymin": 625.684006719998, + "xmax": 694.569756939153, + "ymax": 659.3154663634882 + }, + "corners_3d": [ + [ + -138.06874084472656, + -128.2017364501953, + 7.689445495605469 + ], + [ + -138.06874084472656, + -127.9091567993164, + 7.689445495605469 + ], + [ + -137.66136169433594, + -127.9091567993164, + 7.689445495605469 + ], + [ + -137.66136169433594, + -128.2017364501953, + 7.689445495605469 + ], + [ + -138.06874084472656, + -128.2017364501953, + 7.797580718994141 + ], + [ + -138.06874084472656, + -127.9091567993164, + 7.797580718994141 + ], + [ + -137.66136169433594, + -127.9091567993164, + 7.797580718994141 + ], + [ + -137.66136169433594, + -128.2017364501953, + 7.797580718994141 + ] + ], + "corners_2d": [ + [ + 680.4494308405464, + 659.3154663634882 + ], + [ + 694.2929758945106, + 647.1217409659799 + ], + [ + 674.9249891153589, + 629.6678771692702 + ], + [ + 661.0914783838439, + 641.4936302775542 + ], + [ + 680.6578288872103, + 655.3798790693506 + ], + [ + 694.569756939153, + 643.1653535742486 + ], + [ + 675.1003272545599, + 625.684006719998 + ], + [ + 661.198473893362, + 637.5280863046337 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5736675163518273754, + "instance_id": 55816, + "pixel_count": null, + "type_id": "AmericanLights_Town04_21_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1222.2944509864528, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 102.02994644840851 + }, + "corners_3d": [ + [ + -140.57330322265625, + -78.3179702758789, + 0.0 + ], + [ + -140.5771484375, + -77.8851547241211, + 0.0 + ], + [ + -128.5230712890625, + -77.77800750732422, + 0.0 + ], + [ + -128.51922607421875, + -78.21082305908203, + 0.0 + ], + [ + -140.57330322265625, + -78.3179702758789, + 8.446706771850586 + ], + [ + -140.5771484375, + -77.8851547241211, + 8.446706771850586 + ], + [ + -128.5230712890625, + -77.77800750732422, + 8.446706771850586 + ], + [ + -128.51922607421875, + -78.21082305908203, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1491.770436705159, + 102.02994644840851 + ], + [ + 1494.4653941550912, + 98.97497099103532 + ], + [ + 1225.8134949243856, + 19.933692420725777 + ], + [ + 1222.2944509864528, + 22.241954473973692 + ], + [ + 1619.4810233143705, + -96.06044381127288 + ], + [ + 1621.841388405823, + -98.42871106451838 + ], + [ + 1300.298352378552, + -158.4885715290252 + ], + [ + 1296.6977635212609, + -156.76713306355066 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5944504550537153523, + "instance_id": 62411, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_1", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88526153564453, + "z": 3.6450090408325195 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.20860781904309533, + "ymin": 32.76220045433678, + "xmax": 76.45422926311653, + "ymax": 71.35080576681861 + }, + "corners_3d": [ + [ + -100.3021469116211, + -126.97334289550781, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -126.97334289550781, + 3.8072457313537598 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.8072457313537598 + ] + ], + "corners_2d": [ + [ + 19.96911932582634, + 71.35080576681861 + ], + [ + 76.45422926311653, + 54.893350260709894 + ], + [ + 59.245947946010574, + 40.306139253695335 + ], + [ + 3.7788340816263144, + 55.908048395062565 + ], + [ + 16.393712164435556, + 63.55536325089389 + ], + [ + 73.29756278868342, + 47.22885998212064 + ], + [ + 56.077830865594024, + 32.76220045433678 + ], + [ + 0.20860781904309533, + 48.23533065405451 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6519504943767973976, + "instance_id": 22640, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_0", + "bbox_3d": { + "center_world": { + "x": -94.53499603271484, + "y": -125.88525390625, + "z": 3.6439085006713867 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 35.3462694919333, + "ymax": 34.512984858954894 + }, + "corners_3d": [ + [ + -95.50235748291016, + -126.97452545166016, + 3.480583429336548 + ], + [ + -95.50236511230469, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -93.56763458251953, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -93.567626953125, + -126.97452545166016, + 3.480583429336548 + ], + [ + -95.50235748291016, + -126.97452545166016, + 3.807230234146118 + ], + [ + -95.50236511230469, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -93.56763458251953, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -93.567626953125, + -126.97452545166016, + 3.807230234146118 + ] + ], + "corners_2d": [ + [ + -18.71993830077372, + 34.512984858954894 + ], + [ + 35.3462694919333, + 20.046103233337533 + ], + [ + 20.16588553984377, + 7.178127476683699 + ], + [ + -32.95084642390498, + 20.93774161937705 + ], + [ + -22.29855799591064, + 26.968676245481504 + ], + [ + 32.149626043066064, + 12.627996172411997 + ], + [ + 16.969434437867562, + -0.12422643527008859 + ], + [ + -36.51461065211515, + 13.511737346723976 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6967274615413648305, + "instance_id": 45483, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_2", + "bbox_3d": { + "center_world": { + "x": -99.33560943603516, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 6.4314791982776, + "xmax": 108.61534736319936, + "ymax": 146.70603110858974 + }, + "corners_3d": [ + [ + -100.3640365600586, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -127.03557586669922, + 4.877264976501465 + ], + [ + -100.3640365600586, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + 53.03059064657407, + 146.70603110858974 + ], + [ + 108.61534736319936, + 128.09006304364368 + ], + [ + 90.43902084195577, + 111.48082409921162 + ], + [ + 35.831252583704554, + 129.12200797071205 + ], + [ + 3.117227718998265, + 38.15836447962232 + ], + [ + 64.82192339439939, + 21.355055180041973 + ], + [ + 46.42733362261788, + 6.4314791982776 + ], + [ + -14.048195164398976, + 22.2843920742215 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8232706723728016641, + "instance_id": 325, + "pixel_count": null, + "type_id": "BP_StreetLight_wall40_71_SM_0", + "bbox_3d": { + "center_world": { + "x": -140.893310546875, + "y": -111.95197296142578, + "z": 4.334987163543701 + }, + "extent": { + "x": 0.11768747121095657, + "y": 1.147606611251831, + "z": 0.41115570068359375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1178.3539718318575, + "ymin": 354.36946661436315, + "xmax": 1280.0, + "ymax": 431.57482291286647 + }, + "corners_3d": [ + [ + -142.04092407226562, + -111.83428192138672, + 3.9238314628601074 + ], + [ + -139.74569702148438, + -111.83428955078125, + 3.9238314628601074 + ], + [ + -139.74569702148438, + -112.06966400146484, + 3.9238314628601074 + ], + [ + -142.04092407226562, + -112.06965637207031, + 3.9238314628601074 + ], + [ + -142.04092407226562, + -111.83428192138672, + 4.746142864227295 + ], + [ + -139.74569702148438, + -111.83428955078125, + 4.746142864227295 + ], + [ + -139.74569702148438, + -112.06966400146484, + 4.746142864227295 + ], + [ + -142.04092407226562, + -112.06965637207031, + 4.746142864227295 + ] + ], + "corners_2d": [ + [ + 1278.0372737202888, + 426.645432904932 + ], + [ + 1182.4705665945935, + 378.79330059282466 + ], + [ + 1178.3539718318575, + 383.22905224457645 + ], + [ + 1274.2017375510623, + 431.57482291286647 + ], + [ + 1293.7841028550747, + 402.0503318567714 + ], + [ + 1195.1564269857968, + 354.36946661436315 + ], + [ + 1191.0081038976791, + 358.7842745541264 + ], + [ + 1289.938611606739, + 406.96893441428233 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9919303964700251881, + "instance_id": 59670, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_Poles_4", + "bbox_3d": { + "center_world": { + "x": -112.9144515991211, + "y": -134.7008514404297, + "z": 4.223348617553711 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 66.96084203247699, + "xmax": 141.01223724627403, + "ymax": 496.1202781728845 + }, + "corners_3d": [ + [ + -113.18444061279297, + -128.6757354736328, + -4.76837158203125e-06 + ], + [ + -112.75162506103516, + -128.67189025878906, + -4.76837158203125e-06 + ], + [ + -112.64446258544922, + -140.72596740722656, + -4.76837158203125e-06 + ], + [ + -113.07727813720703, + -140.7298126220703, + -4.76837158203125e-06 + ], + [ + -113.18444061279297, + -128.6757354736328, + 8.446702003479004 + ], + [ + -112.75162506103516, + -128.67189025878906, + 8.446702003479004 + ], + [ + -112.64446258544922, + -140.72596740722656, + 8.446702003479004 + ], + [ + -113.07727813720703, + -140.7298126220703, + 8.446702003479004 + ] + ], + "corners_2d": [ + [ + 141.01223724627403, + 307.6820471720362 + ], + [ + 135.9377842831184, + 301.82418732879177 + ], + [ + -298.13253247122884, + 487.2531398624034 + ], + [ + -295.75600389519377, + 496.1202781728845 + ], + [ + 35.58624780586763, + 71.9955139750827 + ], + [ + 30.366017233703815, + 66.96084203247699 + ], + [ + -551.8582369251062, + 234.11828126081292 + ], + [ + -551.7139645731895, + 242.53525611025228 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12065512595391554584, + "instance_id": 6308, + "pixel_count": null, + "type_id": "AmericanLights_Town04_20_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -94.9981918334961, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1259.9651026279735, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 309.9748150608037 + }, + "corners_3d": [ + [ + -139.1320343017578, + -101.02330780029297, + 0.0 + ], + [ + -139.56484985351562, + -101.02715301513672, + 0.0 + ], + [ + -139.67198181152344, + -88.97307586669922, + 0.0 + ], + [ + -139.23916625976562, + -88.96923065185547, + 0.0 + ], + [ + -139.1320343017578, + -101.02330780029297, + 8.446706771850586 + ], + [ + -139.56484985351562, + -101.02715301513672, + 8.446706771850586 + ], + [ + -139.67198181152344, + -88.97307586669922, + 8.446706771850586 + ], + [ + -139.23916625976562, + -88.96923065185547, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1259.9651026279735, + 304.08404758995846 + ], + [ + 1273.2193125467597, + 309.9748150608037 + ], + [ + 1393.0239404215808, + 180.4776812592716 + ], + [ + 1381.1304505087292, + 176.3019569337785 + ], + [ + 1390.2509648792118, + 68.90125325920172 + ], + [ + 1407.4621837589057, + 73.97018794480556 + ], + [ + 1522.9870578200707, + -34.001827288212496 + ], + [ + 1508.1305883857235, + -37.366713937228155 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14081937874569997388, + "instance_id": 19500, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_0", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88525390625, + "z": 3.6439085006713867 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.16758360121286842, + "ymin": 32.74561171681171, + "xmax": 76.51672082448226, + "ymax": 71.42198430227148 + }, + "corners_3d": [ + [ + -100.30333709716797, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.30333709716797, + -126.97452545166016, + 3.807230234146118 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.807230234146118 + ] + ], + "corners_2d": [ + [ + 19.971713165419942, + 71.42198430227148 + ], + [ + 76.51672082448226, + 54.94511312068761 + ], + [ + 59.28652914605527, + 40.33957418963962 + ], + [ + 3.7617766620406883, + 55.95889304853745 + ], + [ + 16.37229370372461, + 63.57456826556904 + ], + [ + 73.3392958598265, + 47.22965683000086 + ], + [ + 56.097550102965556, + 32.74561171681171 + ], + [ + 0.16758360121286842, + 48.23516294714517 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14132762880190184296, + "instance_id": 26875, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_1", + "bbox_3d": { + "center_world": { + "x": -94.53499603271484, + "y": -125.88526153564453, + "z": 3.6450090408325195 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 35.286240898392975, + "ymax": 34.44614960364595 + }, + "corners_3d": [ + [ + -95.50116729736328, + -126.97334289550781, + 3.4827687740325928 + ], + [ + -95.50116729736328, + -124.79718780517578, + 3.4827723503112793 + ], + [ + -93.5688247680664, + -124.79718017578125, + 3.4827723503112793 + ], + [ + -93.5688247680664, + -126.97333526611328, + 3.4827687740325928 + ], + [ + -95.50116729736328, + -126.97334289550781, + 3.8072457313537598 + ], + [ + -95.50116729736328, + -124.79718780517578, + 3.8072493076324463 + ], + [ + -93.5688247680664, + -124.79718017578125, + 3.8072493076324463 + ], + [ + -93.5688247680664, + -126.97333526611328, + 3.8072457313537598 + ] + ], + "corners_2d": [ + [ + -18.72257631448565, + 34.44614960364595 + ], + [ + 35.286240898392975, + 19.99635302215853 + ], + [ + 20.125272337598062, + 7.14460694926521 + ], + [ + -32.93617750051885, + 20.888795265013698 + ], + [ + -22.277329301388704, + 26.951825207386833 + ], + [ + 32.1105183116573, + 12.627265049464881 + ], + [ + 16.94975205137689, + -0.1096265269221135 + ], + [ + -36.4761953052888, + 13.511854391295458 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 666.6634535534245, + "ymin": 0.0, + "xmax": 746.3986084805405, + "ymax": 104.5002056203094 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 673.3001168437187, + 73.54454032916055 + ], + [ + 666.6634535534245, + 76.43821965570123 + ], + [ + 726.9423886074482, + 104.5002056203094 + ], + [ + 733.583326643271, + 101.32214068425674 + ], + [ + 677.6248873458138, + -101.73876998599877 + ], + [ + 670.1458245504513, + -99.45526892619381 + ], + [ + 738.9190514113109, + -77.1561274155531 + ], + [ + 746.3986084805405, + -79.69569169126481 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 201.74163806640593, + "ymin": 39.397395449046826, + "xmax": 333.08771890073444, + "ymax": 298.487949808078 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 278.6479093234575, + 245.61850040864198 + ], + [ + 267.47583449034573, + 250.48968349644753 + ], + [ + 321.5823299611684, + 298.487949808078 + ], + [ + 333.08771890073444, + 292.9819696337045 + ], + [ + 215.36705766233615, + 39.397395449046826 + ], + [ + 201.74163806640593, + 43.55749691348245 + ], + [ + 261.1586575606787, + 85.05979223623217 + ], + [ + 275.32048256134533, + 80.25137049177727 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16194625468754558244, + "instance_id": 9469, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.53463745117188, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 67.62015625442996, + "ymax": 107.08485495173394 + }, + "corners_3d": [ + [ + -95.56306457519531, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -127.03557586669922, + 4.877264976501465 + ], + [ + -95.56306457519531, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + 14.276205610401917, + 107.08485495173394 + ], + [ + 67.62015625442996, + 90.62930748875169 + ], + [ + 51.500552850450504, + 75.89946951443602 + ], + [ + -0.9256567743577762, + 91.54298357649049 + ], + [ + -35.450399553048214, + 2.492394860522438 + ], + [ + 23.4462052704705, + -12.21316682889676 + ], + [ + 7.28645147831503, + -25.323614876713066 + ], + [ + -50.471188332341626, + -11.39829622291603 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.5748979116329, + "ymin": 0.0, + "xmax": 944.5661212977975, + "ymax": 152.7321832707159 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 696.8298207802185, + 57.46307993659241 + ], + [ + 690.5748979116329, + 60.11280009931818 + ], + [ + 895.6245569569811, + 152.7321832707159 + ], + [ + 901.7817153751366, + 149.14870742838167 + ], + [ + 704.6411817589196, + -130.26005971478645 + ], + [ + 697.563662426164, + -128.24749859664746 + ], + [ + 937.6684331410466, + -56.22832068929114 + ], + [ + 944.5661212977975, + -59.07658072864979 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17718493663991687542, + "instance_id": 30441, + "pixel_count": null, + "type_id": "BP_StreetLight_simple48_110_SM_0", + "bbox_3d": { + "center_world": { + "x": -137.86505126953125, + "y": -128.05545043945312, + "z": 7.743518352508545 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 660.9122943057447, + "ymin": 625.506490184383, + "xmax": 694.7518537613513, + "ymax": 659.5007971295538 + }, + "corners_3d": [ + [ + -138.07093811035156, + -128.2033233642578, + 7.688869476318359 + ], + [ + -138.07093811035156, + -127.90758514404297, + 7.688869476318359 + ], + [ + -137.65916442871094, + -127.90758514404297, + 7.688869476318359 + ], + [ + -137.65916442871094, + -128.2033233642578, + 7.688869476318359 + ], + [ + -138.07093811035156, + -128.2033233642578, + 7.7981672286987305 + ], + [ + -138.07093811035156, + -127.90758514404297, + 7.7981672286987305 + ], + [ + -137.65916442871094, + -127.90758514404297, + 7.7981672286987305 + ], + [ + -137.65916442871094, + -128.2033233642578, + 7.7981672286987305 + ] + ], + "corners_2d": [ + [ + 680.478481419549, + 659.5007971295538 + ], + [ + 694.4711636914612, + 647.1734788076105 + ], + [ + 674.8947248643038, + 629.5334278562432 + ], + [ + 660.9122943057447, + 641.4848008273075 + ], + [ + 680.6893069459215, + 655.5231896513988 + ], + [ + 694.7518537613513, + 643.1746063420733 + ], + [ + 675.0717748988576, + 625.506490184383 + ], + [ + 661.0195214808388, + 637.4765736467327 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 242.60239598685797, + "ymax": 280.3891180344139 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 141.57629388291537, + 140.0540518187005 + ], + [ + -23.476222749189105, + 211.4720335506526 + ], + [ + 73.937903057997, + 280.3891180344139 + ], + [ + 242.60239598685797, + 195.41976529803756 + ], + [ + 18.041606914628687, + -177.97489088738348 + ], + [ + -211.21191437182097, + -131.39599920544947 + ], + [ + -106.50024999235552, + -83.8940191408372 + ], + [ + 133.35944565186776, + -142.0922123733643 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 65.35517233947996, + "ymax": 55.69047698878103 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + -28.834101730538237, + -22.99453024770588 + ], + [ + -162.94530964104365, + 25.652398701459276 + ], + [ + -66.31690646730294, + 55.69047698878103 + ], + [ + 65.35517233947996, + 1.6784839920430272 + ], + [ + -139.43068842461446, + -262.13349731848245 + ], + [ + -311.5386451362547, + -232.97843823086134 + ], + [ + -205.85873735006044, + -214.4785209225431 + ], + [ + -35.36156832274503, + -247.46866564718073 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 270.68013766062086, + "ymax": 324.2620566794462 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 41.25645899385427, + 324.2620566794462 + ], + [ + 258.2485710835109, + 295.9542068263714 + ], + [ + 270.68013766062086, + 187.36120877476475 + ], + [ + 84.30942675325184, + 208.42792852785925 + ], + [ + -163.88043311256695, + -52.24794600377135 + ], + [ + 133.36819430860044, + -72.79624534982776 + ], + [ + 170.6362898370748, + -147.41140122996876 + ], + [ + -72.07358738938888, + -133.43477943807392 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 85.62044691723054, + "ymax": 116.98852483948878 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 12.672777265222294, + 25.479729864493663 + ], + [ + -132.02677769710897, + 72.91144432468917 + ], + [ + -63.08611737801107, + 116.98852483948878 + ], + [ + 85.62044691723054, + 62.40965640699869 + ], + [ + -109.89085484326438, + -247.5991306924385 + ], + [ + -299.2120795589042, + -219.4988501188502 + ], + [ + -229.66078540510944, + -192.47843009682265 + ], + [ + -31.79715117354465, + -225.80598483714527 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00010/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00010/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8e4971a5f7f97d8a241c8e362b309e4e7ab884ec --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00010/meta.json @@ -0,0 +1,3633 @@ +{ + "frame_id": 10, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 5.0, + "sim_timestamp": 9820.800032781437 + }, + "drone_pose": { + "x": -142.82393287992517, + "y": -133.3619286348963, + "z": 20.386981027829684, + "pitch": -41.274813909897944, + "yaw": 39.025202590037104, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5838592052459717, + -0.47322529554367065, + 0.6596713662147522, + 133.0505828857422 + ], + [ + 0.6296622157096863, + 0.7768690586090088, + 0.0, + 13.673919677734375 + ], + [ + -0.5124782919883728, + 0.4153701364994049, + 0.7515541911125183, + -143.91062927246094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -142.21506514745198, + "y": -132.76573773877368, + "z": 20.311988764274844 + }, + "t1_image_uv": [ + 751.4692150219732, + -343.21801994949215 + ], + "t1_depth": 0.687095855410024 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -126.66718292236328, + "y": -118.18776321411131, + "z": 0.5749846434596475 + }, + "image_uv": [ + 692.2325579705509, + 369.92587094586474 + ], + "depth": 29.68347183247944, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 183, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -118.18775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.19850097596645355, + "y": 0.2223193347454071, + "z": 0.5156555771827698 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 684.1025980271793, + "ymin": 352.643433141417, + "xmax": 700.4781046835285, + "ymax": 387.00630826370207 + }, + "corners_3d": [ + [ + -126.65033721923828, + -118.48532104492188, + 0.059329092502593994 + ], + [ + -126.9647445678711, + -118.17091369628906, + 0.059329092502593994 + ], + [ + -126.68402862548828, + -117.89019775390625, + 0.059329092502593994 + ], + [ + -126.36962127685547, + -118.20460510253906, + 0.059329092502593994 + ], + [ + -126.65033721923828, + -118.48532104492188, + 1.0906403064727783 + ], + [ + -126.9647445678711, + -118.17091369628906, + 1.0906403064727783 + ], + [ + -126.68402862548828, + -117.89019775390625, + 1.0906403064727783 + ], + [ + -126.36962127685547, + -118.20460510253906, + 1.0906403064727783 + ] + ], + "corners_2d": [ + [ + 684.1025980271793, + 385.99436570496346 + ], + [ + 698.372497832566, + 387.00630826370207 + ], + [ + 699.1136417067058, + 378.44850629875475 + ], + [ + 684.9831509863419, + 377.4563706923101 + ], + [ + 685.1297041421265, + 361.1282184921307 + ], + [ + 699.7335565330994, + 362.1341120170069 + ], + [ + 700.4781046835285, + 353.62918622506095 + ], + [ + 686.0202296124007, + 352.643433141417 + ] + ], + "center_offset_px": [ + 52.23255797055094, + 9.925870945864744 + ] + }, + "trace_timestep_index": 10, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 77, + "semantic_pixel_counts": { + "1": 567495, + "2": 207458, + "3": 55815, + "5": 3471, + "6": 7961, + "7": 745, + "9": 29177, + "10": 6003, + "12": 3360, + "20": 5082, + "21": 3824, + "24": 31209 + }, + "instance_pixel_counts": { + "1115": 2778, + "1442": 191, + "6254": 356, + "10370": 1171, + "11394": 370, + "11906": 1410, + "14416": 79, + "14672": 461, + "14723": 119, + "14928": 2931, + "15511": 3450, + "16023": 403, + "16535": 504, + "17047": 2338, + "18011": 8592, + "20119": 13220, + "20631": 7796, + "23488": 5466, + "24064": 1385, + "26560": 7757, + "27072": 1703, + "27584": 217, + "28608": 10881, + "29843": 15298, + "30144": 75360, + "30355": 142422, + "30656": 32720, + "30867": 2478, + "31168": 1328, + "31301": 1310, + "31488": 4195, + "31813": 4658, + "31891": 317079, + "33883": 8204, + "34120": 25452, + "34453": 1966, + "34965": 6709, + "35477": 556, + "35931": 1748, + "36180": 5082, + "36181": 1, + "36443": 29424, + "36501": 17921, + "36956": 105, + "39507": 1, + "43649": 55, + "43867": 13, + "44171": 473, + "44379": 178, + "44691": 82695, + "44891": 11, + "45203": 2344, + "46227": 5179, + "47195": 201, + "47253": 3461, + "47765": 366, + "48779": 313, + "48789": 230, + "49664": 183, + "49920": 375, + "50176": 416, + "50432": 949, + "50688": 888, + "50944": 549, + "53184": 901, + "54177": 1535, + "55716": 176, + "55744": 1732, + "56225": 253, + "57173": 29177, + "58017": 1087, + "58020": 58, + "59044": 15, + "60013": 2833, + "61037": 1880, + "64351": 4476, + "65375": 10968 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 183, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -118.18775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.23862303793430328, + "y": 0.24488280713558197, + "z": 0.5469035506248474 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 683.2588705051699, + "ymin": 350.9759744949129, + "xmax": 701.3291395637198, + "ymax": 388.6683597812906 + }, + "corners_3d": [ + [ + -126.66275787353516, + -118.52964782714844, + 0.028081119060516357 + ], + [ + -127.00907135009766, + -118.18333435058594, + 0.028081119060516357 + ], + [ + -126.6716079711914, + -117.84587097167969, + 0.028081119060516357 + ], + [ + -126.3252944946289, + -118.19218444824219, + 0.028081119060516357 + ], + [ + -126.66275787353516, + -118.52964782714844, + 1.1218881607055664 + ], + [ + -127.00907135009766, + -118.18333435058594, + 1.1218881607055664 + ], + [ + -126.6716079711914, + -117.84587097167969, + 1.1218881607055664 + ], + [ + -126.3252944946289, + -118.19218444824219, + 1.1218881607055664 + ] + ], + "corners_2d": [ + [ + 683.2588705051699, + 387.55131021512364 + ], + [ + 698.9816690551927, + 388.6683597812906 + ], + [ + 699.8640014494323, + 378.37758269002705 + ], + [ + 684.3255487690794, + 377.2867473034346 + ], + [ + 684.3291667979154, + 361.17266684204634 + ], + [ + 700.4428932016684, + 362.2826894468522 + ], + [ + 701.3291395637198, + 352.05931457111643 + ], + [ + 685.4089838945847, + 350.9759744949129 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 375, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -122.54119873046875, + "y": -115.19005584716797, + "z": 0.5749797821044922 + }, + "extent": { + "x": 0.35728514194488525, + "y": 0.4063378870487213, + "z": 0.8843119740486145 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 665.2881492875807, + "ymin": 245.01264203959084, + "xmax": 692.4885088298536, + "ymax": 299.61997339200144 + }, + "corners_3d": [ + [ + -122.61953735351562, + -115.72543334960938, + -0.3093321919441223 + ], + [ + -123.06214904785156, + -115.04386138916016, + -0.3093321919441223 + ], + [ + -122.46286010742188, + -114.65467834472656, + -0.3093321919441223 + ], + [ + -122.02024841308594, + -115.33625030517578, + -0.3093321919441223 + ], + [ + -122.61953735351562, + -115.72543334960938, + 1.459291696548462 + ], + [ + -123.06214904785156, + -115.04386138916016, + 1.459291696548462 + ], + [ + -122.46286010742188, + -114.65467834472656, + 1.459291696548462 + ], + [ + -122.02024841308594, + -115.33625030517578, + 1.459291696548462 + ] + ], + "corners_2d": [ + [ + 667.8184041156414, + 299.61997339200144 + ], + [ + 690.679887573807, + 298.1387469053893 + ], + [ + 687.7993502447616, + 286.0147109826256 + ], + [ + 665.2881492875807, + 287.4502505801401 + ], + [ + 668.8131146942745, + 258.3526939529771 + ], + [ + 692.4885088298536, + 256.8995365181014 + ], + [ + 689.4777547227238, + 245.01264203959084 + ], + [ + 666.1778224778761, + 246.41941576689442 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 416, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -128.92300415039062, + "y": -111.24504852294922, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.48588865995407104, + "y": 0.42464354634284973, + "z": 0.8826689720153809 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 875.7119477556126, + "ymin": 286.5576191004431, + "xmax": 916.8230284476388, + "ymax": 346.8419233693927 + }, + "corners_3d": [ + [ + -129.0333709716797, + -111.8808364868164, + -0.3076843023300171 + ], + [ + -129.56784057617188, + -111.22081756591797, + -0.3076843023300171 + ], + [ + -128.81263732910156, + -110.60926055908203, + -0.3076843023300171 + ], + [ + -128.27816772460938, + -111.26927947998047, + -0.3076843023300171 + ], + [ + -129.0333709716797, + -111.8808364868164, + 1.4576536417007446 + ], + [ + -129.56784057617188, + -111.22081756591797, + 1.4576536417007446 + ], + [ + -128.81263732910156, + -110.60926055908203, + 1.4576536417007446 + ], + [ + -128.27816772460938, + -111.26927947998047, + 1.4576536417007446 + ] + ], + "corners_2d": [ + [ + 881.1264979656871, + 346.8419233693927 + ], + [ + 906.707516320257, + 346.83456753360514 + ], + [ + 900.719912591085, + 328.2517123290386 + ], + [ + 875.7119477556126, + 328.2587422646971 + ], + [ + 890.2718737649489, + 304.8607884776434 + ], + [ + 916.8230284476388, + 304.85354006569844 + ], + [ + 910.3785900624858, + 286.5576191004431 + ], + [ + 884.4442541052548, + 286.5645346143492 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 949, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -136.16717529296875, + "y": -118.18775939941406, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.5104541182518005, + "y": 0.46712401509284973, + "z": 0.9197238087654114 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 914.1463045619919, + "ymin": 525.046031195655, + "xmax": 972.639111157175, + "ymax": 606.0100401199519 + }, + "corners_3d": [ + [ + -136.19781494140625, + -118.87901306152344, + -0.3447343111038208 + ], + [ + -136.85842895507812, + -118.21839904785156, + -0.3447343111038208 + ], + [ + -136.13653564453125, + -117.49650573730469, + -0.3447343111038208 + ], + [ + -135.47592163085938, + -118.15711975097656, + -0.3447343111038208 + ], + [ + -136.19781494140625, + -118.87901306152344, + 1.494713306427002 + ], + [ + -136.85842895507812, + -118.21839904785156, + 1.494713306427002 + ], + [ + -136.13653564453125, + -117.49650573730469, + 1.494713306427002 + ], + [ + -135.47592163085938, + -118.15711975097656, + 1.494713306427002 + ] + ], + "corners_2d": [ + [ + 918.5393856666801, + 602.7489835483217 + ], + [ + 956.0460017797507, + 606.0100401199519 + ], + [ + 950.499307921425, + 572.8974646771019 + ], + [ + 914.1463045619919, + 569.8314907762849 + ], + [ + 933.1172162989851, + 558.2122709685011 + ], + [ + 972.639111157175, + 561.5037031589802 + ], + [ + 966.280158342092, + 528.1307334762975 + ], + [ + 928.0370238111562, + 525.046031195655 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 888, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -130.28268432617188, + "y": -129.31512451171875, + "z": 0.5783928632736206 + }, + "extent": { + "x": 0.4371435344219208, + "y": 0.5029345750808716, + "z": 0.871296763420105 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 401.6125829354463, + "ymin": 610.4562602406614, + "xmax": 466.8590755022693, + "ymax": 692.4609178745736 + }, + "corners_3d": [ + [ + -130.16693115234375, + -129.9713592529297, + -0.2929039001464844 + ], + [ + -130.94863891601562, + -129.33834838867188, + -0.2929039001464844 + ], + [ + -130.3984375, + -128.6588897705078, + -0.2929039001464844 + ], + [ + -129.61672973632812, + -129.29190063476562, + -0.2929039001464844 + ], + [ + -130.16693115234375, + -129.9713592529297, + 1.4496896266937256 + ], + [ + -130.94863891601562, + -129.33834838867188, + 1.4496896266937256 + ], + [ + -130.3984375, + -128.6588897705078, + 1.4496896266937256 + ], + [ + -129.61672973632812, + -129.29190063476562, + 1.4496896266937256 + ] + ], + "corners_2d": [ + [ + 413.7185890820101, + 684.3185159821584 + ], + [ + 454.1610983094043, + 692.4609178745736 + ], + [ + 466.8590755022693, + 659.7944104327787 + ], + [ + 427.4476980520516, + 652.0969356521744 + ], + [ + 401.6125829354463, + 643.156008176246 + ], + [ + 444.1456462241098, + 651.4345401182576 + ], + [ + 457.80092497215674, + 618.2591923521634 + ], + [ + 416.4064936364825, + 610.4562602406614 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 549, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -115.42184448242188, + "y": -126.35797882080078, + "z": 0.7273821234703064 + }, + "extent": { + "x": 0.4253271520137787, + "y": 0.44084471464157104, + "z": 0.8966052532196045 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 263.07637563581807, + "ymin": 264.06837599631564, + "xmax": 313.11721920426635, + "ymax": 326.10079562689714 + }, + "corners_3d": [ + [ + -115.28376770019531, + -126.95478820800781, + -0.1692231297492981 + ], + [ + -116.0232162475586, + -126.4745864868164, + -0.1692231297492981 + ], + [ + -115.55992126464844, + -125.76116943359375, + -0.1692231297492981 + ], + [ + -114.82047271728516, + -126.24137115478516, + -0.1692231297492981 + ], + [ + -115.28376770019531, + -126.95478820800781, + 1.6239874362945557 + ], + [ + -116.0232162475586, + -126.4745864868164, + 1.6239874362945557 + ], + [ + -115.55992126464844, + -125.76116943359375, + 1.6239874362945557 + ], + [ + -114.82047271728516, + -126.24137115478516, + 1.6239874362945557 + ] + ], + "corners_2d": [ + [ + 276.7233814103856, + 321.03901374101434 + ], + [ + 299.2328141968552, + 326.10079562689714 + ], + [ + 313.11721920426635, + 311.23192942992546 + ], + [ + 290.9337744242829, + 306.35400061052604 + ], + [ + 263.07637563581807, + 278.4884457543908 + ], + [ + 286.3477314720789, + 283.46349321108346 + ], + [ + 300.99280672176445, + 268.8561036546215 + ], + [ + 278.06904211707206, + 264.06837599631564 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 970.0251589783709, + "ymin": 12.487652767219345, + "xmax": 987.710699081043, + "ymax": 39.976700664228986 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 976.1158927912252, + 39.976700664228986 + ], + [ + 982.2307706468279, + 37.39924770808483 + ], + [ + 976.1429190462728, + 35.10103715533842 + ], + [ + 970.0251589783709, + 37.65570310966564 + ], + [ + 981.5250118186549, + 17.22539605377682 + ], + [ + 987.710699081043, + 14.720675507758699 + ], + [ + 981.501200351644, + 12.487652767219345 + ], + [ + 975.312294355226, + 14.9698762566602 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 770.6989716116957, + "ymin": 6.328790349050564, + "xmax": 782.642763190062, + "ymax": 28.837785770827168 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 774.9807431096963, + 28.837785770827168 + ], + [ + 780.8044087614844, + 26.770725326278694 + ], + [ + 776.5186571927471, + 24.914462588910226 + ], + [ + 770.6989716116957, + 26.966455444738756 + ], + [ + 776.7503081570361, + 10.157997415710042 + ], + [ + 782.642763190062, + 8.14042744503763 + ], + [ + 778.2944769497867, + 6.328790349050564 + ], + [ + 772.4060528132538, + 8.33146214360329 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 917.4368924711844, + "ymin": 0.0, + "xmax": 933.6472570158146, + "ymax": 19.761347420916024 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 923.0665067302918, + 19.761347420916024 + ], + [ + 929.1975345446591, + 17.378983104941256 + ], + [ + 923.5684460288282, + 15.253958328431281 + ], + [ + 917.4368924711844, + 17.616068004281942 + ], + [ + 927.4429670435893, + -2.408842729704645 + ], + [ + 933.6472570158146, + -4.721114112967257 + ], + [ + 927.9127297644304, + -6.783331239074869 + ], + [ + 921.7077156788903, + -4.491019817747542 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11529003171770300666, + "instance_id": 64120, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.25050354003906, + "y": -128.95399475097656, + "z": 3.0800981521606445 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 153.85601763152135, + "ymin": 220.43445781111058, + "xmax": 177.63923922316752, + "ymax": 251.1254581601349 + }, + "corners_3d": [ + [ + -113.11116790771484, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -128.7640380859375, + 3.5146679878234863 + ], + [ + -113.11116790771484, + -128.7640380859375, + 3.5146679878234863 + ] + ], + "corners_2d": [ + [ + 162.83347490860996, + 247.2802063675652 + ], + [ + 165.77383046845216, + 251.1254581601349 + ], + [ + 177.63923922316752, + 246.8788904472313 + ], + [ + 174.6539895484753, + 243.0779027363998 + ], + [ + 153.85601763152135, + 224.58223794115193 + ], + [ + 156.8038016176917, + 228.3783862200429 + ], + [ + 168.94521173366377, + 224.18609015451412 + ], + [ + 165.95027256050315, + 220.43445781111058 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 906.0077379498139, + "ymin": 0.0, + "xmax": 1089.927067114645, + "ymax": 29.626764803209028 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1045.5377792137192, + -21.54409453307295 + ], + [ + 1039.1573527563464, + -23.61271160197748 + ], + [ + 906.0077379498139, + 27.07479791283066 + ], + [ + 912.4296096582791, + 29.626764803209028 + ], + [ + 1089.927067114645, + -183.0226888505788 + ], + [ + 1082.6308908821409, + -184.5132502677783 + ], + [ + 938.5703573010633, + -147.56342913987902 + ], + [ + 945.9658668453184, + -145.67931370048098 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1184484105883362010, + "instance_id": 55842, + "pixel_count": null, + "type_id": "BP_StreetLight_simple48_110_SM_2", + "bbox_3d": { + "center_world": { + "x": -139.474609375, + "y": -128.0553741455078, + "z": 4.084396839141846 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 672.4910778862813, + "ymin": 660.3438849153131, + "xmax": 919.4685753465286, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -141.39132690429688, + -128.2749786376953, + 0.20767807960510254 + ], + [ + -141.39132690429688, + -127.83576965332031, + 0.20767807960510254 + ], + [ + -137.55789184570312, + -127.83576965332031, + 0.20767807960510254 + ], + [ + -137.55789184570312, + -128.2749786376953, + 0.20767807960510254 + ], + [ + -141.39132690429688, + -128.2749786376953, + 7.961115837097168 + ], + [ + -141.39132690429688, + -127.83576965332031, + 7.961115837097168 + ], + [ + -137.55789184570312, + -127.83576965332031, + 7.961115837097168 + ], + [ + -137.55789184570312, + -128.2749786376953, + 7.961115837097168 + ] + ], + "corners_2d": [ + [ + 816.8509997975758, + 1074.3246328735127 + ], + [ + 834.1985737320525, + 1055.0201878533903 + ], + [ + 689.3743374830426, + 873.8995735086366 + ], + [ + 672.4910778862813, + 888.901921833203 + ], + [ + 895.9146443609128, + 904.7133132997175 + ], + [ + 919.4685753465286, + 879.958915704989 + ], + [ + 707.5597504754109, + 660.3438849153131 + ], + [ + 684.6399312908574, + 677.7109277660375 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2080193722244522285, + "instance_id": 11745, + "pixel_count": null, + "type_id": "BP_StreetLight_simple51_120_SM_2", + "bbox_3d": { + "center_world": { + "x": -78.77368927001953, + "y": -128.03121948242188, + "z": 4.08544921875 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 16.799879725946653, + "ymax": 7.751963295976509 + }, + "corners_3d": [ + [ + -80.54341888427734, + -127.2630386352539, + 0.20873045921325684 + ], + [ + -80.32381439208984, + -126.88267517089844, + 0.20873045921325684 + ], + [ + -77.00395965576172, + -128.7993927001953, + 0.20873045921325684 + ], + [ + -77.22356414794922, + -129.1797637939453, + 0.20873045921325684 + ], + [ + -80.54341888427734, + -127.2630386352539, + 7.962167739868164 + ], + [ + -80.32381439208984, + -126.88267517089844, + 7.962167739868164 + ], + [ + -77.00395965576172, + -128.7993927001953, + 7.962167739868164 + ], + [ + -77.22356414794922, + -129.1797637939453, + 7.962167739868164 + ] + ], + "corners_2d": [ + [ + 10.27389051657417, + 7.751963295976509 + ], + [ + 16.799879725946653, + 4.8930850231033105 + ], + [ + -35.02876420222424, + -4.4349843375091496 + ], + [ + -41.72739970803946, + -1.6847361515903572 + ], + [ + -57.61186319033959, + -148.12571590173246 + ], + [ + -49.94874626820865, + -150.28472008087414 + ], + [ + -105.80018289165821, + -157.3103882668213 + ], + [ + -113.65555298584707, + -155.24195931651286 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2334590930876643410, + "instance_id": 21048, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -123.8453369140625, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 324.66939641188515, + "ymin": 89.80365310756821, + "xmax": 341.090368870844, + "ymax": 101.1303393077057 + }, + "corners_3d": [ + [ + -116.6200942993164, + -123.69747161865234, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.69747161865234, + 7.743301868438721 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 334.8309721049411, + 93.28029159493587 + ], + [ + 325.4771778235709, + 96.1439517680343 + ], + [ + 331.68738029727024, + 101.1303393077057 + ], + [ + 341.090368870844, + 98.21724769104713 + ], + [ + 334.05110158958115, + 89.80365310756821 + ], + [ + 324.66939641188515, + 92.65733638783263 + ], + [ + 330.8887087915065, + 97.62652462027393 + ], + [ + 340.3199293621774, + 94.72345428224202 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3639812104533344102, + "instance_id": 26239, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -123.8453369140625, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 324.75711126687327, + "ymin": 89.8635855475186, + "xmax": 341.00302509819676, + "ymax": 101.06982329459163 + }, + "corners_3d": [ + [ + -116.62229919433594, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.69904327392578, + 7.742714881896973 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 334.81064141201665, + 93.30338732414526 + ], + [ + 325.5561046321437, + 96.13674285539923 + ], + [ + 331.70033178428065, + 101.06982329459163 + ], + [ + 341.00302509819676, + 98.18808259549076 + ], + [ + 334.0389695061361, + 89.8635855475186 + ], + [ + 324.75711126687327, + 92.68717524203106 + ], + [ + 330.91025656131677, + 97.60342026793103 + ], + [ + 340.2405823053285, + 94.73148838993416 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3985217512616395484, + "instance_id": 56450, + "pixel_count": null, + "type_id": "BP_StreetLight_simple48_110_SM_1", + "bbox_3d": { + "center_world": { + "x": -137.86505126953125, + "y": -128.05545043945312, + "z": 7.743513107299805 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 692.6153021625911, + "ymin": 674.3251175050015, + "xmax": 727.2699087835176, + "ymax": 710.4404352978672 + }, + "corners_3d": [ + [ + -138.06874084472656, + -128.2017364501953, + 7.689445495605469 + ], + [ + -138.06874084472656, + -127.9091567993164, + 7.689445495605469 + ], + [ + -137.66136169433594, + -127.9091567993164, + 7.689445495605469 + ], + [ + -137.66136169433594, + -128.2017364501953, + 7.689445495605469 + ], + [ + -138.06874084472656, + -128.2017364501953, + 7.797580718994141 + ], + [ + -138.06874084472656, + -127.9091567993164, + 7.797580718994141 + ], + [ + -137.66136169433594, + -127.9091567993164, + 7.797580718994141 + ], + [ + -137.66136169433594, + -128.2017364501953, + 7.797580718994141 + ] + ], + "corners_2d": [ + [ + 711.6498763100153, + 710.4404352978672 + ], + [ + 726.81659865897, + 698.4118278858402 + ], + [ + 707.7124520123587, + 678.3046108503831 + ], + [ + 692.6153021625911, + 689.9251172453204 + ], + [ + 712.027824253265, + 706.519719020398 + ], + [ + 727.2699087835176, + 694.4680398031514 + ], + [ + 708.0599602376194, + 674.3251175050015 + ], + [ + 692.8880469268738, + 685.9658221782032 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5944504550537153523, + "instance_id": 62411, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_1", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88526153564453, + "z": 3.6450090408325195 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 86.15665419834238, + "ymin": 34.59909717783853, + "xmax": 157.47780409127915, + "ymax": 71.00735390006764 + }, + "corners_3d": [ + [ + -100.3021469116211, + -126.97334289550781, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -126.97334289550781, + 3.8072457313537598 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.8072457313537598 + ] + ], + "corners_2d": [ + [ + 103.12384027658243, + 71.00735390006764 + ], + [ + 157.47780409127915, + 56.76467843131155 + ], + [ + 142.32549419559388, + 41.97919156778465 + ], + [ + 89.11082464565322, + 55.44201288499619 + ], + [ + 100.16107180830636, + 63.37684073899311 + ], + [ + 154.8838596430242, + 49.25495183168954 + ], + [ + 139.7238129368061, + 34.59909717783853 + ], + [ + 86.15665419834238, + 47.943708481179044 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6519504943767973976, + "instance_id": 22640, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_0", + "bbox_3d": { + "center_world": { + "x": -94.53499603271484, + "y": -125.88525390625, + "z": 3.6439085006713867 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 54.52805497353302, + "ymin": 1.4447048620694432, + "xmax": 121.35669575078032, + "ymax": 33.9486541735817 + }, + "corners_3d": [ + [ + -95.50235748291016, + -126.97452545166016, + 3.480583429336548 + ], + [ + -95.50236511230469, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -93.56763458251953, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -93.567626953125, + -126.97452545166016, + 3.480583429336548 + ], + [ + -95.50235748291016, + -126.97452545166016, + 3.807230234146118 + ], + [ + -95.50236511230469, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -93.56763458251953, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -93.567626953125, + -126.97452545166016, + 3.807230234146118 + ] + ], + "corners_2d": [ + [ + 69.7010613019346, + 33.9486541735817 + ], + [ + 121.35669575078032, + 21.515799459613675 + ], + [ + 108.08176338436624, + 8.562507359118399 + ], + [ + 57.46644763954657, + 20.357214664385424 + ], + [ + 66.74624772302809, + 26.592612304682007 + ], + [ + 118.73451880301832, + 14.274834586991119 + ], + [ + 105.46190786650072, + 1.4447048620694432 + ], + [ + 54.52805497353302, + 13.127131535922217 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6967274615413648305, + "instance_id": 45483, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_2", + "bbox_3d": { + "center_world": { + "x": -99.33560943603516, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 74.13951507578417, + "ymin": 8.898865355904434, + "xmax": 184.21707282214516, + "ymax": 144.91934602192003 + }, + "corners_3d": [ + [ + -100.3640365600586, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -127.03557586669922, + 4.877264976501465 + ], + [ + -100.3640365600586, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + 130.40376947304344, + 144.91934602192003 + ], + [ + 184.21707282214516, + 128.72686739522453 + ], + [ + 168.17972297503644, + 111.80861858466275 + ], + [ + 115.48121718946811, + 127.10609191393846 + ], + [ + 88.96941214852473, + 38.5035693652419 + ], + [ + 148.1899776475496, + 23.994008296168317 + ], + [ + 131.99617580486108, + 8.898865355904434 + ], + [ + 74.13951507578417, + 22.545027523370948 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8232706723728016641, + "instance_id": 325, + "pixel_count": null, + "type_id": "BP_StreetLight_wall40_71_SM_0", + "bbox_3d": { + "center_world": { + "x": -140.893310546875, + "y": -111.95197296142578, + "z": 4.334987163543701 + }, + "extent": { + "x": 0.11768747121095657, + "y": 1.147606611251831, + "z": 0.41115570068359375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1256.662324157388, + "ymin": 413.1802404078344, + "xmax": 1280.0, + "ymax": 500.34187823649233 + }, + "corners_3d": [ + [ + -142.04092407226562, + -111.83428192138672, + 3.9238314628601074 + ], + [ + -139.74569702148438, + -111.83428955078125, + 3.9238314628601074 + ], + [ + -139.74569702148438, + -112.06966400146484, + 3.9238314628601074 + ], + [ + -142.04092407226562, + -112.06965637207031, + 3.9238314628601074 + ], + [ + -142.04092407226562, + -111.83428192138672, + 4.746142864227295 + ], + [ + -139.74569702148438, + -111.83428955078125, + 4.746142864227295 + ], + [ + -139.74569702148438, + -112.06966400146484, + 4.746142864227295 + ], + [ + -142.04092407226562, + -112.06965637207031, + 4.746142864227295 + ] + ], + "corners_2d": [ + [ + 1364.5750876784632, + 495.25052665750354 + ], + [ + 1261.33967850218, + 437.8878142031469 + ], + [ + 1256.662324157388, + 442.39798974547455 + ], + [ + 1360.1422393402077, + 500.34187823649233 + ], + [ + 1383.3253012617943, + 470.4478510491558 + ], + [ + 1276.452294542055, + 413.1802404078344 + ], + [ + 1271.7364592471147, + 417.6766497239112 + ], + [ + 1378.877291698976, + 475.53916336350426 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9919303964700251881, + "instance_id": 59670, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_Poles_4", + "bbox_3d": { + "center_world": { + "x": -112.9144515991211, + "y": -134.7008514404297, + "z": 4.223348617553711 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 68.89269588567083, + "xmax": 202.61131014268653, + "ymax": 470.21981338593116 + }, + "corners_3d": [ + [ + -113.18444061279297, + -128.6757354736328, + -4.76837158203125e-06 + ], + [ + -112.75162506103516, + -128.67189025878906, + -4.76837158203125e-06 + ], + [ + -112.64446258544922, + -140.72596740722656, + -4.76837158203125e-06 + ], + [ + -113.07727813720703, + -140.7298126220703, + -4.76837158203125e-06 + ], + [ + -113.18444061279297, + -128.6757354736328, + 8.446702003479004 + ], + [ + -112.75162506103516, + -128.67189025878906, + 8.446702003479004 + ], + [ + -112.64446258544922, + -140.72596740722656, + 8.446702003479004 + ], + [ + -113.07727813720703, + -140.7298126220703, + 8.446702003479004 + ] + ], + "corners_2d": [ + [ + 202.61131014268653, + 307.17855398406545 + ], + [ + 198.17404418953612, + 301.12834172458463 + ], + [ + -220.44265330975384, + 461.42778601948226 + ], + [ + -218.98797190488062, + 470.21981338593116 + ], + [ + 113.66278164187838, + 74.01598781828608 + ], + [ + 109.1501118741819, + 68.89269588567083 + ], + [ + -438.2487976735533, + 210.24764817887538 + ], + [ + -438.969474346967, + 218.3529578786209 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14081937874569997388, + "instance_id": 19500, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_0", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88525390625, + "z": 3.6439085006713867 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 86.11830752729486, + "ymin": 34.5835187773165, + "xmax": 157.53417220847956, + "ymax": 71.07627130131357 + }, + "corners_3d": [ + [ + -100.30333709716797, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.30333709716797, + -126.97452545166016, + 3.807230234146118 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.807230234146118 + ] + ], + "corners_2d": [ + [ + 103.12224906173753, + 71.07627130131357 + ], + [ + 157.53417220847956, + 56.81672658154673 + ], + [ + 142.36240573176087, + 42.012559040124586 + ], + [ + 89.0923221301091, + 55.49041722601169 + ], + [ + 100.13956339632068, + 63.394867697357256 + ], + [ + 154.92317877132763, + 49.25703998615734 + ], + [ + 139.74360208354204, + 34.5835187773165 + ], + [ + 86.11830752729486, + 47.942259023621034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14132762880190184296, + "instance_id": 26875, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_1", + "bbox_3d": { + "center_world": { + "x": -94.53499603271484, + "y": -125.88526153564453, + "z": 3.6450090408325195 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 54.56377718912677, + "ymin": 1.4583214889979672, + "xmax": 121.30290757211674, + "ymax": 33.88419171578204 + }, + "corners_3d": [ + [ + -95.50116729736328, + -126.97334289550781, + 3.4827687740325928 + ], + [ + -95.50116729736328, + -124.79718780517578, + 3.4827723503112793 + ], + [ + -93.5688247680664, + -124.79718017578125, + 3.4827723503112793 + ], + [ + -93.5688247680664, + -126.97333526611328, + 3.4827687740325928 + ], + [ + -95.50116729736328, + -126.97334289550781, + 3.8072457313537598 + ], + [ + -95.50116729736328, + -124.79718780517578, + 3.8072493076324463 + ], + [ + -93.5688247680664, + -124.79718017578125, + 3.8072493076324463 + ], + [ + -93.5688247680664, + -126.97333526611328, + 3.8072457313537598 + ] + ], + "corners_2d": [ + [ + 69.70239624641681, + 33.88419171578204 + ], + [ + 121.30290757211674, + 21.466075412114662 + ], + [ + 108.04509725701644, + 8.52921039932761 + ], + [ + 57.482579884125926, + 20.310679559371067 + ], + [ + 66.76730557092264, + 26.576901372161842 + ], + [ + 118.69788631288554, + 14.272981056256981 + ], + [ + 105.4423898285213, + 1.4583214889979672 + ], + [ + 54.56377718912677, + 13.128366607290673 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 733.9226198813312, + "ymin": 0.0, + "xmax": 822.5325966707342, + "ymax": 127.98550764799302 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 740.8024856388369, + 94.6270364015295 + ], + [ + 733.9226198813312, + 97.31923337714335 + ], + [ + 793.633788288608, + 127.98550764799302 + ], + [ + 800.583894284953, + 125.00180387166904 + ], + [ + 753.802677320522, + -80.65033992901715 + ], + [ + 746.0993516229939, + -78.53253840169492 + ], + [ + 814.7498294430492, + -54.22795263111152 + ], + [ + 822.5325966707342, + -56.607414923011845 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 274.6551524484187, + "ymin": 47.38912385001095, + "xmax": 389.1034680819308, + "ymax": 306.6295382838986 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 339.21669735745706, + 251.77371378852928 + ], + [ + 328.0670296534118, + 256.1367497444536 + ], + [ + 377.5083812069712, + 306.6295382838986 + ], + [ + 389.1034680819308, + 301.65172866289197 + ], + [ + 288.0698506595447, + 47.38912385001095 + ], + [ + 274.6551524484187, + 51.07709830099469 + ], + [ + 328.9217377658967, + 94.30657123073718 + ], + [ + 343.00975586941524, + 89.99937472026079 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16194625468754558244, + "instance_id": 9469, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.53463745117188, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 42.822973795968096, + "ymin": 0.0, + "xmax": 148.1165781532103, + "ymax": 104.8579513330202 + }, + "corners_3d": [ + [ + -95.56306457519531, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -127.03557586669922, + 4.877264976501465 + ], + [ + -95.56306457519531, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + 96.84346358091625, + 104.8579513330202 + ], + [ + 148.1165781532103, + 90.64344608085383 + ], + [ + 133.9906735926337, + 75.74163435332781 + ], + [ + 83.74159459353609, + 89.21807169804867 + ], + [ + 55.71312705808441, + 2.716280045714143 + ], + [ + 111.83656951900252, + -9.8930243720705 + ], + [ + 97.70848737633992, + -23.06259514285091 + ], + [ + 42.822973795968096, + -11.154891761656984 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 759.0729246263082, + "ymin": 0.0, + "xmax": 1026.6232946129612, + "ymax": 183.99785987385042 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 765.5661318904109, + 79.14437163332838 + ], + [ + 759.0729246263082, + 81.61013314427191 + ], + [ + 965.1582236109756, + 183.99785987385042 + ], + [ + 971.7604319549037, + 180.55875807075063 + ], + [ + 782.7217223785055, + -108.657536345437 + ], + [ + 775.4225848491367, + -106.79069206614321 + ], + [ + 1019.2545161026858, + -27.243769796125036 + ], + [ + 1026.6232946129612, + -29.981595922669726 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17718493663991687542, + "instance_id": 30441, + "pixel_count": null, + "type_id": "BP_StreetLight_simple48_110_SM_0", + "bbox_3d": { + "center_world": { + "x": -137.86505126953125, + "y": -128.05545043945312, + "z": 7.743518352508545 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 692.4302636800858, + "ymin": 674.1347523299535, + "xmax": 727.4588553907548, + "ymax": 710.6397297677638 + }, + "corners_3d": [ + [ + -138.07093811035156, + -128.2033233642578, + 7.688869476318359 + ], + [ + -138.07093811035156, + -127.90758514404297, + 7.688869476318359 + ], + [ + -137.65916442871094, + -127.90758514404297, + 7.688869476318359 + ], + [ + -137.65916442871094, + -128.2033233642578, + 7.688869476318359 + ], + [ + -138.07093811035156, + -128.2033233642578, + 7.7981672286987305 + ], + [ + -138.07093811035156, + -127.90758514404297, + 7.7981672286987305 + ], + [ + -137.65916442871094, + -127.90758514404297, + 7.7981672286987305 + ], + [ + -137.65916442871094, + -128.2033233642578, + 7.7981672286987305 + ] + ], + "corners_2d": [ + [ + 711.6692381421452, + 710.6397297677638 + ], + [ + 726.9996745392637, + 698.4790945419645 + ], + [ + 707.689621146366, + 678.1573175080252 + ], + [ + 692.4302636800858, + 689.9010096264005 + ], + [ + 712.0514209334594, + 706.6772162996699 + ], + [ + 727.4588553907548, + 694.4929927991366 + ], + [ + 708.0407054789889, + 674.1347523299535 + ], + [ + 692.7049682396904, + 685.8990652423596 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 307.89051706105687, + "ymax": 276.9437583923082 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 214.8935920827456, + 141.55461637971985 + ], + [ + 54.24125540677369, + 205.11660320070212 + ], + [ + 140.91922895014824, + 276.9437583923082 + ], + [ + 307.89051706105687, + 200.15318089502347 + ], + [ + 114.21295332703687, + -169.21246390479075 + ], + [ + -102.39226329015435, + -128.76190183641302 + ], + [ + -10.708692854897095, + -80.57607643554394 + ], + [ + 219.89424518447936, + -131.9924293776886 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 152.10374060371885, + "ymax": 52.41837446050738 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + 65.85964233865229, + -22.456362324341455 + ], + [ + -61.432622129495826, + 20.56253797585788 + ], + [ + 25.32577741518344, + 52.41837446050738 + ], + [ + 152.10374060371885, + 4.042087151257817 + ], + [ + -23.634001998644408, + -252.5532233811589 + ], + [ + -182.75676266640187, + -227.3242908289036 + ], + [ + -88.97434620041759, + -208.15591678657847 + ], + [ + 70.9456436215263, + -237.10065061640773 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 335.53461129946385, + "ymax": 318.7191713322869 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 106.89552309884175, + 318.7191713322869 + ], + [ + 316.3151724224565, + 300.89266216431474 + ], + [ + 335.53461129946385, + 193.29857483299844 + ], + [ + 155.81147706035125, + 206.52396514435173 + ], + [ + -66.88074709459511, + -51.255631585697074 + ], + [ + 213.89336833610486, + -63.88833470612775 + ], + [ + 255.88470819921434, + -136.43345962654814 + ], + [ + 26.00214245781285, + -127.84362625980197 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 167.26571870345595, + "ymax": 111.678493059364 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 101.39085226925806, + 25.450834968783283 + ], + [ + -36.18133389374236, + 66.78305733223851 + ], + [ + 24.24878124083625, + 111.678493059364 + ], + [ + 167.26571870345595, + 63.610903994285025 + ], + [ + 1.9374631139576195, + -238.2759228837116 + ], + [ + -173.2531066411717, + -214.36804436812645 + ], + [ + -113.04698355479843, + -187.55897452568718 + ], + [ + 72.10029175274849, + -216.2287234827577 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00011/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00011/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..236297f99094de5f474f1342dce788fc565150f3 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00011/meta.json @@ -0,0 +1,4261 @@ +{ + "frame_id": 11, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 5.5, + "sim_timestamp": 9833.640360692516 + }, + "drone_pose": { + "x": -142.21506514745198, + "y": -132.76573773877368, + "z": 20.311988764274844, + "pitch": -37.77091623852378, + "yaw": 46.57049103133532, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5434150695800781, + -0.5740528106689453, + 0.6125059127807617, + 141.05514526367188 + ], + [ + 0.7262207269668579, + 0.6874616146087646, + 0.0, + -12.008186340332031 + ], + [ + -0.4210743010044098, + 0.44481444358825684, + 0.7904660701751709, + -134.9951629638672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -141.9321568482271, + "y": -132.44064807704203, + "z": 20.379549998301254 + }, + "t1_image_uv": [ + 697.9030745506736, + -658.3155073921798 + ], + "t1_depth": 0.298973605957969 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -126.16718292236328, + "y": -117.68776321411131, + "z": 0.5749846434596475 + }, + "image_uv": [ + 598.0107203758486, + 429.6309265710744 + ], + "depth": 29.465245507994638, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 184, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -126.16718292236328, + "y": -117.68775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.23886717855930328, + "y": 0.2527197301387787, + "z": 0.5582641959190369 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 589.0666089494761, + "ymin": 410.6038358690092, + "xmax": 606.6353229758932, + "ymax": 448.46806798505395 + }, + "corners_3d": [ + [ + -126.15738677978516, + -118.03536224365234, + 0.016720473766326904 + ], + [ + -126.51478576660156, + -117.67796325683594, + 0.016720473766326904 + ], + [ + -126.1769790649414, + -117.34015655517578, + 0.016720473766326904 + ], + [ + -125.819580078125, + -117.69755554199219, + 0.016720473766326904 + ], + [ + -126.15738677978516, + -118.03536224365234, + 1.1332488059997559 + ], + [ + -126.51478576660156, + -117.67796325683594, + 1.1332488059997559 + ], + [ + -126.1769790649414, + -117.34015655517578, + 1.1332488059997559 + ], + [ + -125.819580078125, + -117.69755554199219, + 1.1332488059997559 + ] + ], + "corners_2d": [ + [ + 590.2428617149186, + 448.46806798505395 + ], + [ + 606.6344650147623, + 448.1604098992393 + ], + [ + 606.6353229758932, + 437.6914871634364 + ], + [ + 590.4500401432275, + 437.99145043870806 + ], + [ + 589.0666089494761, + 421.2714611735015 + ], + [ + 605.8460062181999, + 420.96682308134154 + ], + [ + 605.8570362713865, + 410.6038358690092 + ], + [ + 589.2937728807904, + 410.90067806977464 + ] + ], + "center_offset_px": [ + -41.989279624151436, + 69.63092657107438 + ] + }, + "trace_timestep_index": 11, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 79, + "semantic_pixel_counts": { + "1": 525695, + "2": 205583, + "3": 117412, + "4": 1231, + "5": 3149, + "6": 7347, + "7": 1186, + "9": 19491, + "10": 5734, + "12": 2321, + "14": 3012, + "16": 505, + "21": 32, + "24": 28902 + }, + "instance_pixel_counts": { + "1115": 2843, + "6254": 2310, + "10370": 1329, + "11394": 759, + "14416": 81, + "14928": 3068, + "15511": 2177, + "16023": 383, + "16535": 648, + "17232": 1231, + "18011": 19069, + "20119": 10575, + "20631": 8695, + "23808": 173, + "24064": 2682, + "24320": 1534, + "24576": 37, + "26560": 6449, + "27072": 1649, + "27584": 4782, + "28608": 1369, + "29843": 14121, + "30144": 66509, + "30355": 57740, + "30656": 36224, + "31168": 1304, + "31488": 1617, + "31813": 5590, + "31891": 311775, + "33883": 18989, + "34120": 28404, + "34395": 820, + "34453": 1842, + "34907": 1717, + "34965": 4602, + "35419": 2927, + "35931": 7058, + "36443": 55805, + "36501": 16714, + "43649": 402, + "44171": 454, + "44179": 1467, + "44691": 105648, + "44891": 28, + "45203": 21087, + "45707": 652, + "46227": 13857, + "46731": 710, + "46741": 52, + "47253": 3991, + "47765": 1112, + "48267": 692, + "48779": 296, + "48789": 589, + "49664": 184, + "49803": 860, + "49920": 369, + "50176": 365, + "50432": 812, + "50944": 591, + "52736": 505, + "53184": 864, + "53248": 535, + "53696": 1437, + "53760": 326, + "54016": 464, + "54720": 1273, + "55232": 2160, + "55552": 1687, + "55744": 1672, + "56135": 48, + "56768": 2466, + "56993": 1, + "57173": 19491, + "58529": 3, + "60013": 3178, + "61037": 2696, + "64351": 6780, + "65375": 16099 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 184, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -126.16718292236328, + "y": -117.68775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.25843748450279236, + "y": 0.2457910031080246, + "z": 0.5384600758552551 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 589.3086087811824, + "ymin": 410.68039707024514, + "xmax": 606.4001580392621, + "ymax": 448.42725175244084 + }, + "corners_3d": [ + [ + -126.1761245727539, + -118.04430389404297, + 0.03652459383010864 + ], + [ + -126.52372741699219, + -117.69670104980469, + 0.03652459383010864 + ], + [ + -126.15824127197266, + -117.33121490478516, + 0.03652459383010864 + ], + [ + -125.81063842773438, + -117.67881774902344, + 0.03652459383010864 + ], + [ + -126.1761245727539, + -118.04430389404297, + 1.1134448051452637 + ], + [ + -126.52372741699219, + -117.69670104980469, + 1.1134448051452637 + ], + [ + -126.15824127197266, + -117.33121490478516, + 1.1134448051452637 + ], + [ + -125.81063842773438, + -117.67881774902344, + 1.1134448051452637 + ] + ], + "corners_2d": [ + [ + 590.438791728524, + 448.42725175244084 + ], + [ + 606.3959836964705, + 448.127760604997 + ], + [ + 606.4001580392621, + 436.8026747529675 + ], + [ + 590.6602521179575, + 437.09406668601525 + ], + [ + 589.3086087811824, + 422.1916075844351 + ], + [ + 605.6299670900105, + 421.89494514538336 + ], + [ + 605.6448965710181, + 410.68039707024514 + ], + [ + 589.5507844235199, + 410.9688576879954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 369, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -122.04119873046875, + "y": -114.69005584716797, + "z": 0.5749797821044922 + }, + "extent": { + "x": 0.48708006739616394, + "y": 0.3241015672683716, + "z": 0.9199898838996887 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 563.218188485282, + "ymin": 302.41588929144126, + "xmax": 588.8323152647516, + "ymax": 363.7253722805063 + }, + "corners_3d": [ + [ + -122.27317810058594, + -115.2271499633789, + -0.34501010179519653 + ], + [ + -122.62621307373047, + -114.68352508544922, + -0.34501010179519653 + ], + [ + -121.80921936035156, + -114.15296173095703, + -0.34501010179519653 + ], + [ + -121.45618438720703, + -114.69658660888672, + -0.34501010179519653 + ], + [ + -122.27317810058594, + -115.2271499633789, + 1.4949696063995361 + ], + [ + -122.62621307373047, + -114.68352508544922, + 1.4949696063995361 + ], + [ + -121.80921936035156, + -114.15296173095703, + 1.4949696063995361 + ], + [ + -121.45618438720703, + -114.69658660888672, + 1.4949696063995361 + ] + ], + "corners_2d": [ + [ + 570.6231768533357, + 363.7253722805063 + ], + [ + 588.8323152647516, + 361.0565382674562 + ], + [ + 583.570846593863, + 344.85930494746543 + ], + [ + 565.7405842886318, + 347.4131430687702 + ], + [ + 568.2122373475784, + 320.8005789400388 + ], + [ + 587.0607357793647, + 318.19788375162716 + ], + [ + 581.6610179427734, + 302.41588929144126 + ], + [ + 563.218188485282, + 304.9026792525959 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 365, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -128.42300415039062, + "y": -110.74504852294922, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.4464697241783142, + "y": 0.4022851586341858, + "z": 0.8960536122322083 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 775.3653941562138, + "ymin": 329.67371258009484, + "xmax": 810.7692397769296, + "ymax": 389.962541775952 + }, + "corners_3d": [ + [ + -128.51681518554688, + -111.33865356445312, + -0.3210689425468445 + ], + [ + -129.0231475830078, + -110.71338653564453, + -0.3210689425468445 + ], + [ + -128.32919311523438, + -110.15144348144531, + -0.3210689425468445 + ], + [ + -127.82286834716797, + -110.7767105102539, + -0.3210689425468445 + ], + [ + -128.51681518554688, + -111.33865356445312, + 1.4710383415222168 + ], + [ + -129.0231475830078, + -110.71338653564453, + 1.4710383415222168 + ], + [ + -128.32919311523438, + -110.15144348144531, + 1.4710383415222168 + ], + [ + -127.82286834716797, + -110.7767105102539, + 1.4710383415222168 + ] + ], + "corners_2d": [ + [ + 781.7779662627845, + 389.962541775952 + ], + [ + 804.9954866363646, + 387.9654298035298 + ], + [ + 798.1091186146714, + 371.68200579823946 + ], + [ + 775.3653941562138, + 373.59573114500864 + ], + [ + 786.7525470684823, + 347.54361262822925 + ], + [ + 810.7692397769296, + 345.58992055184376 + ], + [ + 803.5211741162948, + 329.67371258009484 + ], + [ + 780.0110737601199, + 331.5430626397686 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 812, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -135.66717529296875, + "y": -117.68775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.4156249761581421, + "y": 0.48287108540534973, + "z": 0.9259137511253357 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 834.997999219945, + "ymin": 565.078658713146, + "xmax": 890.2472878134495, + "ymax": 639.0989197974222 + }, + "corners_3d": [ + [ + -135.61962890625, + -118.32308959960938, + -0.3509290814399719 + ], + [ + -136.30250549316406, + -117.64020538330078, + -0.3509290814399719 + ], + [ + -135.7147216796875, + -117.05242919921875, + -0.3509290814399719 + ], + [ + -135.03184509277344, + -117.73531341552734, + -0.3509290814399719 + ], + [ + -135.61962890625, + -118.32308959960938, + 1.5008983612060547 + ], + [ + -136.30250549316406, + -117.64020538330078, + 1.5008983612060547 + ], + [ + -135.7147216796875, + -117.05242919921875, + 1.5008983612060547 + ], + [ + -135.03184509277344, + -117.73531341552734, + 1.5008983612060547 + ] + ], + "corners_2d": [ + [ + 841.1108740401193, + 639.0989197974222 + ], + [ + 878.6863379431547, + 638.2270201948782 + ], + [ + 871.5994945694015, + 611.5958398958336 + ], + [ + 834.997999219945, + 612.4228776855934 + ], + [ + 850.8605407755094, + 592.5675670727338 + ], + [ + 890.2472878134495, + 591.6950169544255 + ], + [ + 882.5111360591472, + 565.078658713146 + ], + [ + 844.1931805848549, + 565.9042266796762 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 591, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -114.92184448242188, + "y": -125.85797882080078, + "z": 0.7270110249519348 + }, + "extent": { + "x": 0.49772459268569946, + "y": 0.5146825909614563, + "z": 0.9115206003189087 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 137.29322963606938, + "ymin": 354.955307813124, + "xmax": 201.12434992341906, + "ymax": 421.95371703536745 + }, + "corners_3d": [ + [ + -114.76127624511719, + -126.55572509765625, + -0.18450957536697388 + ], + [ + -115.62457275390625, + -125.99508666992188, + -0.18450957536697388 + ], + [ + -115.08241271972656, + -125.16023254394531, + -0.18450957536697388 + ], + [ + -114.2191162109375, + -125.72087097167969, + -0.18450957536697388 + ], + [ + -114.76127624511719, + -126.55572509765625, + 1.6385316848754883 + ], + [ + -115.62457275390625, + -125.99508666992188, + 1.6385316848754883 + ], + [ + -115.08241271972656, + -125.16023254394531, + 1.6385316848754883 + ], + [ + -114.2191162109375, + -125.72087097167969, + 1.6385316848754883 + ] + ], + "corners_2d": [ + [ + 155.37867144084538, + 418.1296211882006 + ], + [ + 184.52946355097606, + 421.95371703536745 + ], + [ + 201.12434992341906, + 402.2596285048521 + ], + [ + 172.60585754542063, + 398.61974539130404 + ], + [ + 137.29322963606938, + 374.0639528779171 + ], + [ + 167.44780445328416, + 377.8134716493759 + ], + [ + 185.08201726215293, + 358.5177041459081 + ], + [ + 155.60306340744182, + 354.955307813124 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 505, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 568.8879089967834, + "ymin": 0.0, + "xmax": 726.9183352019076, + "ymax": 23.256150088036634 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 683.4013601574804, + 23.256150088036634 + ], + [ + 723.316389969752, + 8.612397612380278 + ], + [ + 612.0313296045537, + -23.44706084527769 + ], + [ + 571.6865602022618, + -11.135424865020923 + ], + [ + 685.3508447926207, + -47.51899440207421 + ], + [ + 726.9183352019076, + -60.14010422933484 + ], + [ + 610.9248587227685, + -87.62976116579085 + ], + [ + 568.8879089967834, + -77.09595691254248 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 208, + "instance_id": 53248, + "pixel_count": 535, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -128.2843017578125, + "y": -58.79532241821289, + "z": 0.7657890915870667 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 1237.599386425492, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 23.683291127508596 + }, + "corners_3d": [ + [ + -127.32632446289062, + -61.2927131652832, + -0.0015733742620795965 + ], + [ + -129.20790100097656, + -61.30563735961914, + -0.0015733742620795965 + ], + [ + -129.24229431152344, + -56.29792785644531, + -0.0015733742620795965 + ], + [ + -127.3607177734375, + -56.285003662109375, + -0.0015733742620795965 + ], + [ + -127.32632446289062, + -61.2927131652832, + 1.533151626586914 + ], + [ + -129.20790100097656, + -61.30563735961914, + 1.533151626586914 + ], + [ + -129.24229431152344, + -56.29792785644531, + 1.533151626586914 + ], + [ + -127.3607177734375, + -56.285003662109375, + 1.533151626586914 + ] + ], + "corners_2d": [ + [ + 1237.599386425492, + 16.865153267923006 + ], + [ + 1269.2967936048583, + 23.683291127508596 + ], + [ + 1293.4591307365936, + 5.320634896097658 + ], + [ + 1262.7807377025897, + -0.9016432325493611 + ], + [ + 1246.8659616938369, + -7.666756823554863 + ], + [ + 1279.2235222655825, + -1.1650369809370318 + ], + [ + 1303.2955853855829, + -18.667695408085876 + ], + [ + 1272.0032953524, + -24.592920802700178 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 210, + "instance_id": 53760, + "pixel_count": 326, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -124.77603912353516, + "y": -59.85369110107422, + "z": 0.7624127268791199 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -89.60662078857422 + }, + "bbox_2d": { + "xmin": 1174.0678385810706, + "ymin": 0.0, + "xmax": 1241.6216096271924, + "ymax": 15.422306844368393 + }, + "corners_3d": [ + [ + -125.81224822998047, + -57.37419128417969, + -0.01052013412117958 + ], + [ + -123.77389526367188, + -57.36019515991211, + -0.010407144203782082 + ], + [ + -123.73974609375, + -62.334320068359375, + -0.006772199645638466 + ], + [ + -125.7780990600586, + -62.34831619262695, + -0.006885191425681114 + ], + [ + -125.81233978271484, + -57.37306594848633, + 1.5315977334976196 + ], + [ + -123.77398681640625, + -57.35906982421875, + 1.5317107439041138 + ], + [ + -123.73983764648438, + -62.333194732666016, + 1.5353456735610962 + ], + [ + -125.77819061279297, + -62.347190856933594, + 1.535232663154602 + ] + ], + "corners_2d": [ + [ + 1232.823436038589, + -2.0469924604117296 + ], + [ + 1201.2942203992068, + -8.527288401547196 + ], + [ + 1174.0678385810706, + 8.3398240889656 + ], + [ + 1206.553986026944, + 15.422306844368393 + ], + [ + 1241.6216096271924, + -25.791567235685704 + ], + [ + 1209.4817335422554, + -31.957518740024568 + ], + [ + 1182.2157273867242, + -15.90687125135861 + ], + [ + 1215.3551403732486, + -9.159024626619498 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 464, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 527.8066102560799, + "ymin": 0.0, + "xmax": 608.5035333488811, + "ymax": 36.19058959952332 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 550.3722816413195, + 9.699637190325802 + ], + [ + 529.5623260942765, + 16.29001937304821 + ], + [ + 587.6804922778508, + 36.19058959952332 + ], + [ + 608.5035333488811, + 28.934414031742392 + ], + [ + 548.9712319061128, + -15.142905423090156 + ], + [ + 527.8066102560799, + -8.870353816531008 + ], + [ + 586.8066717271931, + 10.090432961800616 + ], + [ + 607.9867272888667, + 3.17344794694111 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 217, + "instance_id": 55552, + "pixel_count": 1687, + "type_id": "vehicle.mini.cooper_s", + "bbox_3d": { + "center_world": { + "x": -131.65988159179688, + "y": -76.91120147705078, + "z": 0.7358787059783936 + }, + "extent": { + "x": 1.9029000997543335, + "y": 0.9851378202438354, + "z": 0.7375150918960571 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 1194.49512168328, + "ymin": 65.06531343740687, + "xmax": 1270.4700108505053, + "ymax": 123.57022799043258 + }, + "corners_3d": [ + [ + -130.6616973876953, + -78.80728912353516, + -0.001636367291212082 + ], + [ + -132.63192749023438, + -78.8208236694336, + -0.001636367291212082 + ], + [ + -132.65806579589844, + -75.0151138305664, + -0.001636367291212082 + ], + [ + -130.68783569335938, + -75.00157928466797, + -0.001636367291212082 + ], + [ + -130.6616973876953, + -78.80728912353516, + 1.4733937978744507 + ], + [ + -132.63192749023438, + -78.8208236694336, + 1.4733937978744507 + ], + [ + -132.65806579589844, + -75.0151138305664, + 1.4733937978744507 + ], + [ + -130.68783569335938, + -75.00157928466797, + 1.4733937978744507 + ] + ], + "corners_2d": [ + [ + 1194.49512168328, + 112.55842054257187 + ], + [ + 1234.8644157897006, + 123.57022799043258 + ], + [ + 1259.2545162709612, + 101.88398996242114 + ], + [ + 1220.0674559679078, + 91.78391280109537 + ], + [ + 1204.7625121118876, + 85.03593970665253 + ], + [ + 1246.1282687050364, + 95.63419469094026 + ], + [ + 1270.4700108505053, + 74.77069811454157 + ], + [ + 1230.3509090309808, + 65.06531343740687 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 730.2035170373772, + "ymin": 36.670389468345206, + "xmax": 742.360222144084, + "ymax": 61.20173724754329 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 735.3362503378609, + 61.20173724754329 + ], + [ + 741.0123433084538, + 58.8056131059505 + ], + [ + 735.8861160762685, + 57.165919507925935 + ], + [ + 730.2035170373772, + 59.54427818748235 + ], + [ + 736.615367280844, + 40.57029009633459 + ], + [ + 742.360222144084, + 38.25474749465235 + ], + [ + 737.1607898273058, + 36.670389468345206 + ], + [ + 731.4092013813959, + 38.968535640756386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 839.7761957127569, + "ymin": 70.51303630451298, + "xmax": 854.2955130761085, + "ymax": 96.8603434374981 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 845.7625447649593, + 96.8603434374981 + ], + [ + 851.2489035718286, + 94.06609665639394 + ], + [ + 845.2752770651002, + 92.15535158524392 + ], + [ + 839.7761957127569, + 94.92723604900891 + ], + [ + 848.7476315595945, + 75.06927249708741 + ], + [ + 854.2955130761085, + 72.36321417380447 + ], + [ + 848.2237299646612, + 70.51303630451298 + ], + [ + 842.6626132327037, + 73.19712673390654 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 646.6081337863441, + "ymin": 73.24964397902971, + "xmax": 656.6833226756428, + "ymax": 95.15467356357101 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 650.9681250887912, + 95.15467356357101 + ], + [ + 656.4859917570328, + 92.83339972230567 + ], + [ + 652.1285540113237, + 91.2348431305146 + ], + [ + 646.6081337863441, + 93.54053737590641 + ], + [ + 651.1000562523224, + 77.0664542238884 + ], + [ + 656.6833226756428, + 74.80609690775577 + ], + [ + 652.2732354668642, + 73.24964397902971 + ], + [ + 646.6873493188256, + 75.49464944203697 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 787.8783791909783, + "ymin": 54.47866273582491, + "xmax": 801.2527083326299, + "ymax": 79.96850748933662 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 793.4522116208111, + 79.96850748933662 + ], + [ + 799.040302596484, + 77.36664620913092 + ], + [ + 793.476052299857, + 75.5868449681904 + ], + [ + 787.8783791909783, + 78.16860897148115 + ], + [ + 795.5990917660945, + 58.71751116565662 + ], + [ + 801.2527083326299, + 56.200318760368134 + ], + [ + 795.6027013116476, + 54.47866273582491 + ], + [ + 789.9391382963257, + 56.97614220745106 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10476196482746081849, + "instance_id": 14818, + "pixel_count": null, + "type_id": "AmericanLights_Town04_20_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -100.74504852294922, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1246.0336634168839, + "ymin": 283.53130012641293, + "xmax": 1269.9441242453909, + "ymax": 314.3455125365755 + }, + "corners_3d": [ + [ + -139.20529174804688, + -100.55508422851562, + 2.645533323287964 + ], + [ + -138.92662048339844, + -100.55508422851562, + 2.645533323287964 + ], + [ + -138.9266357421875, + -100.93501281738281, + 2.645533323287964 + ], + [ + -139.20530700683594, + -100.93501281738281, + 2.645533323287964 + ], + [ + -139.20529174804688, + -100.55508422851562, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -100.55508422851562, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -100.93501281738281, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -100.93501281738281, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1259.1077599206571, + 309.4246314423039 + ], + [ + 1249.8456852179336, + 306.0486131366326 + ], + [ + 1246.0336634168839, + 310.92151789555624 + ], + [ + 1255.3426925380709, + 314.3455125365755 + ], + [ + 1269.9441242453909, + 286.8542960353895 + ], + [ + 1260.467049953087, + 283.53130012641293 + ], + [ + 1256.6644935664199, + 288.32785425318184 + ], + [ + 1266.1909504614616, + 291.6989064300622 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11529003171770300666, + "instance_id": 64120, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.25050354003906, + "y": -128.95399475097656, + "z": 3.0800981521606445 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 4.860339905660339, + "ymin": 334.405353032484, + "xmax": 33.5401893418416, + "ymax": 367.2646118920941 + }, + "corners_3d": [ + [ + -113.11116790771484, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -128.7640380859375, + 3.5146679878234863 + ], + [ + -113.11116790771484, + -128.7640380859375, + 3.5146679878234863 + ] + ], + "corners_2d": [ + [ + 16.6351563817949, + 363.3034012039684 + ], + [ + 20.131975541095812, + 367.2646118920941 + ], + [ + 33.5401893418416, + 361.5730232306392 + ], + [ + 29.99955109684788, + 357.6714597674747 + ], + [ + 4.860339905660339, + 339.9636356376822 + ], + [ + 8.359957094072115, + 343.873986797041 + ], + [ + 22.111723778952637, + 338.25572043399836 + ], + [ + 18.565655827141995, + 334.405353032484 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12759822062466628084, + "instance_id": 62713, + "pixel_count": null, + "type_id": "AmericanLights_Town04_21_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -132.394287109375, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1273.1720652960037, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 10.509931441167339 + }, + "corners_3d": [ + [ + -132.25570678710938, + -78.09407806396484, + 5.545533180236816 + ], + [ + -132.25570678710938, + -78.47399139404297, + 5.545533180236816 + ], + [ + -132.53286743164062, + -78.47399139404297, + 5.545533180236816 + ], + [ + -132.53286743164062, + -78.09407806396484, + 5.545533180236816 + ], + [ + -132.25570678710938, + -78.09407806396484, + 6.416468620300293 + ], + [ + -132.25570678710938, + -78.47399139404297, + 6.416468620300293 + ], + [ + -132.53286743164062, + -78.47399139404297, + 6.416468620300293 + ], + [ + -132.53286743164062, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1275.629255338273, + 7.3378802578267255 + ], + [ + 1273.1720652960037, + 9.20797285515755 + ], + [ + 1279.5186231519372, + 10.509931441167339 + ], + [ + 1281.9536195370508, + 8.627459762908643 + ], + [ + 1283.1131784304732, + -11.401498939916792 + ], + [ + 1280.6631158929167, + -9.599920554868902 + ], + [ + 1287.1101178099718, + -8.345541815404886 + ], + [ + 1289.5372156320745, + -10.159187210012078 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 162269529527095271, + "instance_id": 59151, + "pixel_count": null, + "type_id": "BP_StreetLight_simple36_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -72.95545959472656, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1222.8215213915835, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 118.7788119073073 + }, + "corners_3d": [ + [ + -138.1054229736328, + -73.32183837890625, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -72.58908081054688, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -72.58908081054688, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -73.32183837890625, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -73.32183837890625, + 11.111722946166992 + ], + [ + -138.1054229736328, + -72.58908081054688, + 11.111722946166992 + ], + [ + -130.23475646972656, + -72.58908081054688, + 11.111722946166992 + ], + [ + -130.23475646972656, + -73.32183837890625, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1386.6677933074284, + 118.7788119073073 + ], + [ + 1390.1184801820957, + 114.47473653682053 + ], + [ + 1227.2864440500641, + 74.56116828713743 + ], + [ + 1222.8215213915835, + 78.2008918818945 + ], + [ + 1506.00578039471, + -117.78875130704785 + ], + [ + 1508.818948572452, + -120.42769750715229 + ], + [ + 1311.7068306811395, + -144.5604934185331 + ], + [ + 1307.36173293323, + -142.38487969394436 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 776.993901523887, + "ymin": 0.0, + "xmax": 927.7369110274444, + "ymax": 88.26523742676324 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 902.5523541066036, + 33.459709548832905 + ], + [ + 896.4603900613581, + 31.790260392290122 + ], + [ + 776.993901523887, + 86.12964281893915 + ], + [ + 783.3430523653246, + 88.26523742676324 + ], + [ + 927.7369110274444, + -116.70268161337822 + ], + [ + 920.9527872548916, + -117.87350535529004 + ], + [ + 791.9744339106978, + -79.29701963022995 + ], + [ + 799.0969269034462, + -77.76099254081271 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2334590930876643410, + "instance_id": 21048, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -123.8453369140625, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 187.552565933099, + "ymin": 185.4218024113867, + "xmax": 205.86443248271638, + "ymax": 197.453033893299 + }, + "corners_3d": [ + [ + -116.6200942993164, + -123.69747161865234, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.69747161865234, + 7.743301868438721 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 198.79813067365535, + 188.94221201757597 + ], + [ + 188.68657604217054, + 192.58304264891282 + ], + [ + 195.71274685248778, + 197.453033893299 + ], + [ + 205.86443248271638, + 193.75062425135317 + ], + [ + 197.6965470550807, + 185.4218024113867 + ], + [ + 187.552565933099, + 189.0493492302613 + ], + [ + 194.58693626352903, + 193.90175199717066 + ], + [ + 204.7713699573078, + 190.21269521606982 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3639812104533344102, + "instance_id": 26239, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -123.8453369140625, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 187.65053540026452, + "ymin": 185.48535603883096, + "xmax": 205.7671990196527, + "ymax": 197.38864912114025 + }, + "corners_3d": [ + [ + -116.62229919433594, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.69904327392578, + 7.742714881896973 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 198.7764665473357, + 188.96848259381747 + ], + [ + 188.77226789482813, + 192.5707740973819 + ], + [ + 195.7237143195593, + 197.38864912114025 + ], + [ + 205.7671990196527, + 193.72608180588247 + ], + [ + 197.6864754717672, + 185.48535603883096 + ], + [ + 187.65053540026452, + 189.07464469129064 + ], + [ + 194.6100087391804, + 193.87530340893724 + ], + [ + 204.6855462916289, + 190.2258058133862 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 779.5178659394913, + "ymin": 0.0, + "xmax": 960.5140987313326, + "ymax": 49.947103277735835 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 834.4579491900304, + 49.947103277735835 + ], + [ + 919.7465075047353, + 11.211866469049141 + ], + [ + 866.6472248363509, + -2.2128376249669373 + ], + [ + 779.5178659394913, + 33.814701565682356 + ], + [ + 866.0258234153189, + -201.5101598205306 + ], + [ + 960.5140987313326, + -220.16597195302666 + ], + [ + 898.3970941369582, + -226.50784475113255 + ], + [ + 801.1937867957068, + -209.3452316208759 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5736675163518273754, + "instance_id": 55816, + "pixel_count": null, + "type_id": "AmericanLights_Town04_21_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1156.7049126160805, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 169.36352849820358 + }, + "corners_3d": [ + [ + -140.57330322265625, + -78.3179702758789, + 0.0 + ], + [ + -140.5771484375, + -77.8851547241211, + 0.0 + ], + [ + -128.5230712890625, + -77.77800750732422, + 0.0 + ], + [ + -128.51922607421875, + -78.21082305908203, + 0.0 + ], + [ + -140.57330322265625, + -78.3179702758789, + 8.446706771850586 + ], + [ + -140.5771484375, + -77.8851547241211, + 8.446706771850586 + ], + [ + -128.5230712890625, + -77.77800750732422, + 8.446706771850586 + ], + [ + -128.51922607421875, + -78.21082305908203, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1420.208674353852, + 169.36352849820358 + ], + [ + 1422.3521375373916, + 166.3235278433699 + ], + [ + 1159.834759042708, + 95.6140772175745 + ], + [ + 1156.7049126160805, + 97.92126698892861 + ], + [ + 1522.6181747500293, + -18.279130724754282 + ], + [ + 1524.4050993268538, + -20.550095248532273 + ], + [ + 1217.9549933510475, + -72.46364771654169 + ], + [ + 1214.7844385309306, + -70.79678416555674 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5944504550537153523, + "instance_id": 62411, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_1", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88526153564453, + "z": 3.6450090408325195 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 136.63352726295543, + "xmax": 3.714026356856607, + "ymax": 177.4863681702587 + }, + "corners_3d": [ + [ + -100.3021469116211, + -126.97334289550781, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -126.97334289550781, + 3.8072457313537598 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.8072457313537598 + ] + ], + "corners_2d": [ + [ + -57.56290562378865, + 177.4863681702587 + ], + [ + 3.714026356856607, + 158.86458774205806 + ], + [ + -13.827994022623443, + 144.1414630631898 + ], + [ + -73.97220304051382, + 161.75023382266977 + ], + [ + -61.391531581287154, + 169.6847095468252 + ], + [ + 0.3381864630069913, + 151.22430413990207 + ], + [ + -17.20231506337177, + 136.63352726295543 + ], + [ + -77.78045708822845, + 154.0845047349483 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 674.0873181180777, + "ymin": 13.278324336740297, + "xmax": 686.816172268226, + "ymax": 20.165108706142746 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 679.0063189020535, + 16.0353994808803 + ], + [ + 674.0873181180777, + 17.80656616914638 + ], + [ + 681.8208376875182, + 20.165108706142746 + ], + [ + 686.7342937277143, + 18.373127779908145 + ], + [ + 679.074260162937, + 13.278324336740297 + ], + [ + 674.1469548775508, + 15.04035744767475 + ], + [ + 681.8944348359953, + 17.386779624362475 + ], + [ + 686.816172268226, + 15.60400314458036 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6967274615413648305, + "instance_id": 45483, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_2", + "bbox_3d": { + "center_world": { + "x": -99.33560943603516, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 110.40485641997628, + "xmax": 38.200368160393396, + "ymax": 253.20743397272514 + }, + "corners_3d": [ + [ + -100.3640365600586, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -127.03557586669922, + 4.877264976501465 + ], + [ + -100.3640365600586, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + -22.108542186167256, + 253.20743397272514 + ], + [ + 38.200368160393396, + 232.00071720036306 + ], + [ + 19.537562789027902, + 215.12633444637507 + ], + [ + -39.688079229963705, + 235.16797172412342 + ], + [ + -75.65802189077624, + 144.36977000231113 + ], + [ + -8.725004782113842, + 125.41487734898297 + ], + [ + -27.41714077084964, + 110.40485641997628 + ], + [ + -92.98073743644613, + 128.2393502609862 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8232706723728016641, + "instance_id": 325, + "pixel_count": null, + "type_id": "BP_StreetLight_wall40_71_SM_0", + "bbox_3d": { + "center_world": { + "x": -140.893310546875, + "y": -111.95197296142578, + "z": 4.334987163543701 + }, + "extent": { + "x": 0.11768747121095657, + "y": 1.147606611251831, + "z": 0.41115570068359375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1153.193486839104, + "ymin": 441.9384031757511, + "xmax": 1272.6107375653958, + "ymax": 520.2697838604682 + }, + "corners_3d": [ + [ + -142.04092407226562, + -111.83428192138672, + 3.9238314628601074 + ], + [ + -139.74569702148438, + -111.83428955078125, + 3.9238314628601074 + ], + [ + -139.74569702148438, + -112.06966400146484, + 3.9238314628601074 + ], + [ + -142.04092407226562, + -112.06965637207031, + 3.9238314628601074 + ], + [ + -142.04092407226562, + -111.83428192138672, + 4.746142864227295 + ], + [ + -139.74569702148438, + -111.83428955078125, + 4.746142864227295 + ], + [ + -139.74569702148438, + -112.06966400146484, + 4.746142864227295 + ], + [ + -142.04092407226562, + -112.06965637207031, + 4.746142864227295 + ] + ], + "corners_2d": [ + [ + 1258.2246060503958, + 514.753982102987 + ], + [ + 1156.8692856022956, + 466.84657437616545 + ], + [ + 1153.193486839104, + 471.78832075938504 + ], + [ + 1254.9626605042522, + 520.2697838604682 + ], + [ + 1272.6107375653958, + 489.52529954385875 + ], + [ + 1168.2415506718921, + 441.9384031757511 + ], + [ + 1164.55191856814, + 446.84163281379443 + ], + [ + 1269.3627798336647, + 495.0117799525889 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9919303964700251881, + "instance_id": 59670, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_Poles_4", + "bbox_3d": { + "center_world": { + "x": -112.9144515991211, + "y": -134.7008514404297, + "z": 4.223348617553711 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 178.3950546686372, + "xmax": 66.13396565665528, + "ymax": 656.8414873685546 + }, + "corners_3d": [ + [ + -113.18444061279297, + -128.6757354736328, + -4.76837158203125e-06 + ], + [ + -112.75162506103516, + -128.67189025878906, + -4.76837158203125e-06 + ], + [ + -112.64446258544922, + -140.72596740722656, + -4.76837158203125e-06 + ], + [ + -113.07727813720703, + -140.7298126220703, + -4.76837158203125e-06 + ], + [ + -113.18444061279297, + -128.6757354736328, + 8.446702003479004 + ], + [ + -112.75162506103516, + -128.67189025878906, + 8.446702003479004 + ], + [ + -112.64446258544922, + -140.72596740722656, + 8.446702003479004 + ], + [ + -113.07727813720703, + -140.7298126220703, + 8.446702003479004 + ] + ], + "corners_2d": [ + [ + 66.13396565665528, + 423.2131354467106 + ], + [ + 60.843106577183676, + 416.9925764468925 + ], + [ + -440.55377550934804, + 646.5213570642106 + ], + [ + -438.75321202595615, + 656.8414873685546 + ], + [ + -50.79616994212279, + 183.65222922846868 + ], + [ + -56.07193629134713, + 178.3950546686372 + ], + [ + -738.4379569242458, + 383.96592357559655 + ], + [ + -739.9512109157399, + 393.80361822227246 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 452.20665994338, + "ymin": 0.0, + "xmax": 521.2371850602444, + "ymax": 44.578432933708086 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 467.74928981339497, + 42.796317581709275 + ], + [ + 472.3884566611984, + 44.578432933708086 + ], + [ + 521.2371850602444, + 28.69009279902542 + ], + [ + 516.5736855219836, + 27.037445089564017 + ], + [ + 452.20665994338, + -97.61700685917293 + ], + [ + 457.19553464287986, + -96.31299533592528 + ], + [ + 510.90602156391435, + -107.90425096078337 + ], + [ + 505.8835796643419, + -109.10547373693964 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12065512595391554584, + "instance_id": 6308, + "pixel_count": null, + "type_id": "AmericanLights_Town04_20_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -94.9981918334961, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1221.3344801787325, + "ymin": 39.62697507430363, + "xmax": 1280.0, + "ymax": 384.58893534744965 + }, + "corners_3d": [ + [ + -139.1320343017578, + -101.02330780029297, + 0.0 + ], + [ + -139.56484985351562, + -101.02715301513672, + 0.0 + ], + [ + -139.67198181152344, + -88.97307586669922, + 0.0 + ], + [ + -139.23916625976562, + -88.96923065185547, + 0.0 + ], + [ + -139.1320343017578, + -101.02330780029297, + 8.446706771850586 + ], + [ + -139.56484985351562, + -101.02715301513672, + 8.446706771850586 + ], + [ + -139.67198181152344, + -88.97307586669922, + 8.446706771850586 + ], + [ + -139.23916625976562, + -88.96923065185547, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1221.3344801787325, + 378.94743480915565 + ], + [ + 1234.9546569718523, + 384.58893534744965 + ], + [ + 1336.2747144633972, + 249.25958938385202 + ], + [ + 1324.424959904527, + 245.4251588370194 + ], + [ + 1332.0524305060412, + 146.59729137294605 + ], + [ + 1349.2656544101924, + 151.27419292088447 + ], + [ + 1442.8865641936939, + 42.6025512996614 + ], + [ + 1428.4912176450941, + 39.62697507430363 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 674.1551849703909, + "ymin": 13.314862309199668, + "xmax": 686.7484468592905, + "ymax": 20.128412562720996 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 679.0217902927161, + 16.042723175706442 + ], + [ + 674.1551849703909, + 17.795080522131173 + ], + [ + 681.8063772628276, + 20.128412562720996 + ], + [ + 686.6675562312745, + 18.355681709326404 + ], + [ + 679.0890386140637, + 13.314862309199668 + ], + [ + 674.2143047796502, + 15.058279140205343 + ], + [ + 681.8791617544451, + 17.379747409226297 + ], + [ + 686.7484468592905, + 15.61602570309583 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14081937874569997388, + "instance_id": 19500, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_0", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88525390625, + "z": 3.6439085006713867 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 136.61585821222576, + "xmax": 3.7806371852353777, + "ymax": 177.55906366421812 + }, + "corners_3d": [ + [ + -100.30333709716797, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.30333709716797, + -126.97452545166016, + 3.807230234146118 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.807230234146118 + ] + ], + "corners_2d": [ + [ + -57.56130343926043, + 177.55906366421812 + ], + [ + 3.7806371852353777, + 158.9151850170034 + ], + [ + -13.7838603296384, + 144.1735706214884 + ], + [ + -73.99056787917459, + 161.80205734605747 + ], + [ + -61.415663485061714, + 169.70534987309756 + ], + [ + 0.38258269117352484, + 151.22408984220505 + ], + [ + -17.18039835160164, + 136.61585821222576 + ], + [ + -77.82438950402525, + 154.08533941482517 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 613.5613288920105, + "ymin": 0.0, + "xmax": 690.0505935526855, + "ymax": 190.92099602015116 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 622.9557600069654, + 161.04530513205546 + ], + [ + 616.3716637849669, + 164.1204645914767 + ], + [ + 677.9612581371985, + 190.92099602015116 + ], + [ + 684.5030413166144, + 187.53861742538643 + ], + [ + 620.94125284391, + -8.901498794694817 + ], + [ + 613.5613288920105, + -6.533722475239244 + ], + [ + 682.7248664332659, + 14.236437719956257 + ], + [ + 690.0505935526855, + 11.6017344046424 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 130.68461574422042, + "ymin": 143.6934221986006, + "xmax": 273.15777430498554, + "ymax": 406.6044354660954 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 215.86157179221942, + 351.1821897634289 + ], + [ + 203.85747054189108, + 356.78880975608035 + ], + [ + 260.8127170395362, + 406.6044354660954 + ], + [ + 273.15777430498554, + 400.2215187137966 + ], + [ + 145.3309077604751, + 143.6934221986006 + ], + [ + 130.68461574422042, + 148.39254154318314 + ], + [ + 192.14171688037328, + 190.67503958074954 + ], + [ + 207.3551459373105, + 185.20351828051588 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 639.8441491151391, + "ymin": 0.0, + "xmax": 886.6868716378937, + "ymax": 235.16076229669795 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 646.0351056191026, + 144.2669106313034 + ], + [ + 639.861503594165, + 147.06743733485243 + ], + [ + 848.9497101073065, + 235.16076229669795 + ], + [ + 854.8566073202009, + 231.35714275323383 + ], + [ + 646.786856909014, + -36.929469457093944 + ], + [ + 639.8441491151391, + -34.85923314515571 + ], + [ + 880.1248201232172, + 31.688714711143064 + ], + [ + 886.6868716378937, + 28.757043312249607 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 178.99228694304838, + "ymax": 395.47786855661127 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 73.31888590973267, + 243.2139506528599 + ], + [ + -107.77394488556797, + 324.2248041839674 + ], + [ + -5.297753250840742, + 395.47786855661127 + ], + [ + 178.99228694304838, + 298.4600882570673 + ], + [ + -58.35642355740822, + -71.80158744562834 + ], + [ + -310.0468965324985, + -20.581119570025407 + ], + [ + -202.7911381200372, + 27.16359422138686 + ], + [ + 59.9982368876133, + -37.211738823051405 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 208.89417421649983, + "ymax": 444.87160588625807 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -43.24077899549468, + 444.87160588625807 + ], + [ + 193.47503393732256, + 405.598352816961 + ], + [ + 208.89417421649983, + 289.06927045661325 + ], + [ + 9.238655083871663, + 317.396297174382 + ], + [ + -269.99773889393475, + 61.86007719677326 + ], + [ + 54.489064070541986, + 34.16261997185586 + ], + [ + 99.53826584196668, + -43.19300074255017 + ], + [ + -159.2973590365582, + -25.02058836044131 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 17.022378125413525, + "ymax": 224.84467139179176 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -58.50227857119603, + 127.80513522955428 + ], + [ + -216.40791696704548, + 180.48885594966265 + ], + [ + -144.9062268705743, + 224.84467139179176 + ], + [ + 17.022378125413525, + 164.000647360895 + ], + [ + -185.50598746046023, + -139.67770641604426 + ], + [ + -391.4319168456268, + -109.3963059081762 + ], + [ + -320.7493769910418, + -82.99107176640689 + ], + [ + -105.84221198118121, + -118.99683357867974 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00012/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00012/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a9d3a4a2e1283e788890092e456d07f248d5e58b --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00012/meta.json @@ -0,0 +1,3307 @@ +{ + "frame_id": 12, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 6.0, + "sim_timestamp": 9845.686517974362 + }, + "drone_pose": { + "x": -141.9321568482271, + "y": -132.44064807704203, + "z": 20.379549998301254, + "pitch": -41.61076500912722, + "yaw": 43.16077250625912, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5453806519508362, + -0.5114443898200989, + 0.6640666723251343, + 131.6096954345703 + ], + [ + 0.6840478777885437, + 0.7294371128082275, + 1.4901161193847656e-08, + -0.4812774658203125 + ], + [ + -0.4843948781490326, + 0.4542534351348877, + 0.7476733922958374, + -144.1500701904297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -141.37865770251975, + "y": -131.75823243368347, + "z": 20.29880791894738 + }, + "t1_image_uv": [ + 802.3739679568024, + -345.4951146844504 + ], + "t1_depth": 0.7045034946603174 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -125.66718292236328, + "y": -117.18776321411131, + "z": 0.5749846434596475 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 29.82315681387608, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 184, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -125.66718292236328, + "y": -117.18775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.23167480528354645, + "y": 0.2497900277376175, + "z": 0.5272300839424133 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 631.5781409401897, + "ymin": 342.08704906317377, + "xmax": 648.3270619687529, + "ymax": 377.70859644808917 + }, + "corners_3d": [ + [ + -125.65437316894531, + -117.52820587158203, + 0.04775458574295044 + ], + [ + -126.00762939453125, + -117.1749496459961, + 0.04775458574295044 + ], + [ + -125.67999267578125, + -116.8473129272461, + 0.04775458574295044 + ], + [ + -125.32673645019531, + -117.20056915283203, + 0.04775458574295044 + ], + [ + -125.65437316894531, + -117.52820587158203, + 1.1022148132324219 + ], + [ + -126.00762939453125, + -117.1749496459961, + 1.1022148132324219 + ], + [ + -125.67999267578125, + -116.8473129272461, + 1.1022148132324219 + ], + [ + -125.32673645019531, + -117.20056915283203, + 1.1022148132324219 + ] + ], + "corners_2d": [ + [ + 631.7746758590483, + 377.36086557004836 + ], + [ + 647.7528188808126, + 377.70859644808917 + ], + [ + 648.1348801548877, + 367.77577311180323 + ], + [ + 632.3388620187852, + 367.4359322330354 + ], + [ + 631.5781409401897, + 351.94962588327587 + ], + [ + 647.9381396245863, + 352.29526952152986 + ], + [ + 648.3270619687529, + 342.4246659091493 + ], + [ + 632.1579452616829, + 342.08704906317377 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 12, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 64, + "semantic_pixel_counts": { + "1": 555643, + "2": 218016, + "3": 69052, + "5": 3256, + "6": 6034, + "7": 788, + "9": 29217, + "10": 5436, + "12": 3405, + "21": 110, + "24": 30643 + }, + "instance_pixel_counts": { + "1115": 2945, + "6254": 1301, + "10370": 1305, + "11394": 391, + "14416": 94, + "14928": 3162, + "15511": 3124, + "16023": 421, + "16535": 732, + "18011": 9819, + "20119": 12842, + "20631": 8705, + "24064": 1408, + "26560": 8812, + "27072": 1785, + "27584": 2475, + "28608": 7198, + "29843": 15555, + "30144": 77832, + "30355": 96777, + "30656": 36659, + "31168": 1417, + "31488": 3385, + "31813": 5406, + "31891": 335895, + "33883": 10954, + "34120": 28954, + "34453": 2017, + "34907": 2, + "34965": 5789, + "35419": 140, + "35931": 2489, + "36443": 35591, + "36501": 18552, + "39507": 2, + "43649": 331, + "43867": 1, + "44171": 493, + "44379": 61, + "44691": 98609, + "44891": 36, + "45203": 3758, + "45707": 334, + "46227": 5049, + "47253": 3583, + "47765": 482, + "48779": 329, + "48789": 220, + "49664": 184, + "49920": 360, + "50176": 389, + "50432": 878, + "50688": 1030, + "50944": 564, + "53184": 943, + "53696": 161, + "55744": 1808, + "56225": 11, + "57173": 29217, + "58529": 1, + "60013": 3181, + "61037": 2630, + "64351": 6502, + "65375": 16490 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 184, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -125.66718292236328, + "y": -117.18775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.24486327171325684, + "y": 0.21583496034145355, + "z": 0.5285177230834961 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 632.6731144300205, + "ymin": 341.8010125230149, + "xmax": 647.2391920555629, + "ymax": 378.00124926621953 + }, + "corners_3d": [ + [ + -125.68770599365234, + -117.51351928710938, + 0.046466946601867676 + ], + [ + -125.9929428100586, + -117.20828247070312, + 0.046466946601867676 + ], + [ + -125.64665985107422, + -116.86199951171875, + 0.046466946601867676 + ], + [ + -125.34142303466797, + -117.167236328125, + 0.046466946601867676 + ], + [ + -125.68770599365234, + -117.51351928710938, + 1.1035023927688599 + ], + [ + -125.9929428100586, + -117.20828247070312, + 1.1035023927688599 + ], + [ + -125.64665985107422, + -116.86199951171875, + 1.1035023927688599 + ], + [ + -125.34142303466797, + -117.167236328125, + 1.1035023927688599 + ] + ], + "corners_2d": [ + [ + 632.8445703786338, + 377.7005873653491 + ], + [ + 646.6548832845003, + 378.00124926621953 + ], + [ + 647.0717729447694, + 367.50359269084515 + ], + [ + 633.4277752521284, + 367.210136163923 + ], + [ + 632.6731144300205, + 352.22540851414016 + ], + [ + 646.8144017200091, + 352.5242659996685 + ], + [ + 647.2391920555629, + 342.09253940118714 + ], + [ + 633.2722369230795, + 341.8010125230149 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 360, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -121.54119873046875, + "y": -114.19005584716797, + "z": 0.5749748945236206 + }, + "extent": { + "x": 0.41694334149360657, + "y": 0.29190918803215027, + "z": 0.8933518528938293 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 611.2528490387649, + "ymin": 235.24724559364984, + "xmax": 632.2239768729878, + "ymax": 292.35086410453835 + }, + "corners_3d": [ + [ + -121.73188781738281, + -114.66195678710938, + -0.31837695837020874 + ], + [ + -122.04986572265625, + -114.17232513427734, + -0.31837695837020874 + ], + [ + -121.35050964355469, + -113.71815490722656, + -0.31837695837020874 + ], + [ + -121.03253173828125, + -114.2077865600586, + -0.31837695837020874 + ], + [ + -121.73188781738281, + -114.66195678710938, + 1.4683268070220947 + ], + [ + -122.04986572265625, + -114.17232513427734, + 1.4683268070220947 + ], + [ + -121.35050964355469, + -113.71815490722656, + 1.4683268070220947 + ], + [ + -121.03253173828125, + -114.2077865600586, + 1.4683268070220947 + ] + ], + "corners_2d": [ + [ + 615.910622673152, + 292.35086410453835 + ], + [ + 632.2239768729878, + 290.56946783970466 + ], + [ + 628.2741288448053, + 276.65548597946366 + ], + [ + 612.2424066684271, + 278.37408163911175 + ], + [ + 615.0357037767878, + 250.6371810351788 + ], + [ + 631.9422181876083, + 248.88932756786465 + ], + [ + 627.8570666935237, + 235.24724559364984 + ], + [ + 611.2528490387649, + 236.9313071954664 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 389, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -127.92300415039062, + "y": -110.24504852294922, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.4072607457637787, + "y": 0.41447263956069946, + "z": 0.8987843990325928 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 819.2107738964106, + "ymin": 268.95638475986044, + "xmax": 856.4766819869833, + "ymax": 327.4413088959466 + }, + "corners_3d": [ + [ + -127.97866821289062, + -110.82344818115234, + -0.323799729347229 + ], + [ + -128.50033569335938, + -110.17923736572266, + -0.323799729347229 + ], + [ + -127.86734008789062, + -109.6666488647461, + -0.323799729347229 + ], + [ + -127.34566497802734, + -110.31085968017578, + -0.323799729347229 + ], + [ + -127.97866821289062, + -110.82344818115234, + 1.4737690687179565 + ], + [ + -128.50033569335938, + -110.17923736572266, + 1.4737690687179565 + ], + [ + -127.86734008789062, + -109.6666488647461, + 1.4737690687179565 + ], + [ + -127.34566497802734, + -110.31085968017578, + 1.4737690687179565 + ] + ], + "corners_2d": [ + [ + 824.3193055476386, + 327.4413088959466 + ], + [ + 848.515661401952, + 326.3051172181564 + ], + [ + 842.9698020521473, + 311.26217911011054 + ], + [ + 819.2107738964106, + 312.3568846625479 + ], + [ + 831.366658214898, + 284.8701368773696 + ], + [ + 856.4766819869833, + 283.7517978089862 + ], + [ + 850.5714113491292, + 268.95638475986044 + ], + [ + 825.9320442802533, + 270.0323777263877 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 878, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -135.16717529296875, + "y": -117.18775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.41447263956069946, + "y": 0.48386716842651367, + "z": 0.9107274413108826 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 866.3364298937181, + "ymin": 503.2756771378979, + "xmax": 922.0898041067826, + "ymax": 574.4534563535972 + }, + "corners_3d": [ + [ + -135.11810302734375, + -117.82298278808594, + -0.3357427716255188 + ], + [ + -135.80239868164062, + -117.13868713378906, + -0.3357427716255188 + ], + [ + -135.21624755859375, + -116.55253601074219, + -0.3357427716255188 + ], + [ + -134.53195190429688, + -117.23683166503906, + -0.3357427716255188 + ], + [ + -135.11810302734375, + -117.82298278808594, + 1.4857120513916016 + ], + [ + -135.80239868164062, + -117.13868713378906, + 1.4857120513916016 + ], + [ + -135.21624755859375, + -116.55253601074219, + 1.4857120513916016 + ], + [ + -134.53195190429688, + -117.23683166503906, + 1.4857120513916016 + ] + ], + "corners_2d": [ + [ + 870.9324750298736, + 573.4601859374169 + ], + [ + 908.4007384976215, + 574.4534563535972 + ], + [ + 902.8919183156225, + 548.5764287772907 + ], + [ + 866.3364298937181, + 547.6307260834474 + ], + [ + 882.699049778723, + 529.2637919406998 + ], + [ + 922.0898041067826, + 530.2644446132732 + ], + [ + 915.9587168129717, + 504.226058463261 + ], + [ + 877.5755466704966, + 503.2756771378979 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 1030, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -129.28268432617188, + "y": -128.31512451171875, + "z": 0.5756438374519348 + }, + "extent": { + "x": 0.4185839891433716, + "y": 0.435546875, + "z": 0.8856692910194397 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 363.7028546298281, + "ymin": 615.1891055655639, + "xmax": 424.9635182198474, + "ymax": 693.6316216867982 + }, + "corners_3d": [ + [ + -129.20762634277344, + -128.91452026367188, + -0.3100254535675049 + ], + [ + -129.8845977783203, + -128.3663330078125, + -0.3100254535675049 + ], + [ + -129.3577423095703, + -127.71572875976562, + -0.3100254535675049 + ], + [ + -128.68077087402344, + -128.263916015625, + -0.3100254535675049 + ], + [ + -129.20762634277344, + -128.91452026367188, + 1.4613131284713745 + ], + [ + -129.8845977783203, + -128.3663330078125, + 1.4613131284713745 + ], + [ + -129.3577423095703, + -127.71572875976562, + 1.4613131284713745 + ], + [ + -128.68077087402344, + -128.263916015625, + 1.4613131284713745 + ] + ], + "corners_2d": [ + [ + 378.1588238879357, + 688.9439900983875 + ], + [ + 414.11422687988147, + 693.6316216867982 + ], + [ + 424.9635182198474, + 661.6681633308739 + ], + [ + 389.9314598043437, + 657.2292651982507 + ], + [ + 363.7028546298281, + 647.4312455271258 + ], + [ + 401.59109910492634, + 652.2049397129406 + ], + [ + 413.3803983675297, + 619.6960786021209 + ], + [ + 376.5158868009898, + 615.1891055655639 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 564, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -114.42184448242188, + "y": -125.35797882080078, + "z": 0.7265129685401917 + }, + "extent": { + "x": 0.5151953101158142, + "y": 0.5119482278823853, + "z": 0.9252712726593018 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 194.85932175225224, + "ymin": 270.0399060386666, + "xmax": 255.93623874356854, + "ymax": 337.56334734495084 + }, + "corners_3d": [ + [ + -114.27308654785156, + -126.06888580322266, + -0.1987583041191101 + ], + [ + -115.13179779052734, + -125.51123046875, + -0.1987583041191101 + ], + [ + -114.57060241699219, + -124.6470718383789, + -0.1987583041191101 + ], + [ + -113.7118911743164, + -125.20472717285156, + -0.1987583041191101 + ], + [ + -114.27308654785156, + -126.06888580322266, + 1.6517841815948486 + ], + [ + -115.13179779052734, + -125.51123046875, + 1.6517841815948486 + ], + [ + -114.57060241699219, + -124.6470718383789, + 1.6517841815948486 + ], + [ + -113.7118911743164, + -125.20472717285156, + 1.6517841815948486 + ] + ], + "corners_2d": [ + [ + 211.94913742777783, + 332.8139019328932 + ], + [ + 239.47476844539102, + 337.56334734495084 + ], + [ + 255.93623874356854, + 318.49808452624495 + ], + [ + 228.94715902901862, + 313.9636739441702 + ], + [ + 194.85932175225224, + 288.57526271656485 + ], + [ + 223.38820482954543, + 293.2507059571067 + ], + [ + 240.87894943560747, + 274.4954894578634 + ], + [ + 212.92535620443, + 270.0399060386666 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 903.2614379356194, + "ymin": 10.608838034729274, + "xmax": 919.8641866739439, + "ymax": 38.52673786897492 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 909.4470971506726, + 38.52673786897492 + ], + [ + 915.3744669681523, + 35.66378608145118 + ], + [ + 909.1972595742452, + 33.457911627947794 + ], + [ + 903.2614379356194, + 36.29694168243026 + ], + [ + 913.8643732224289, + 15.537011995048772 + ], + [ + 919.8641866739439, + 12.753313314413731 + ], + [ + 913.5676428066597, + 10.608838034729274 + ], + [ + 907.5588941525039, + 13.368899344565136 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 702.2825843971402, + "ymin": 7.731158425021192, + "xmax": 713.4681329045923, + "ymax": 30.726377368479802 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 706.7064362504531, + 30.726377368479802 + ], + [ + 712.4978173936463, + 28.399210269079447 + ], + [ + 708.0734963245985, + 26.59338377877566 + ], + [ + 702.2825843971402, + 28.90441231270478 + ], + [ + 707.6032806820488, + 11.76756362044199 + ], + [ + 713.4681329045923, + 9.494677179539565 + ], + [ + 708.9813966778656, + 7.731158425021192 + ], + [ + 703.1169976328703, + 9.988072404660784 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 849.7275560228168, + "ymin": 0.0, + "xmax": 864.9379868734094, + "ymax": 19.0690765769304 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 855.4692198686197, + 19.0690765769304 + ], + [ + 861.4609200683221, + 16.411505194453525 + ], + [ + 855.724845866542, + 14.363158182248071 + ], + [ + 849.7275560228168, + 16.99933031891061 + ], + [ + 858.8701532183887, + -3.3723324880689347 + ], + [ + 864.9379868734094, + -5.953251919767695 + ], + [ + 859.0980113003366, + -7.942230046820953 + ], + [ + 853.0242641965153, + -5.382417793667059 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11529003171770300666, + "instance_id": 64120, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.25050354003906, + "y": -128.95399475097656, + "z": 3.0800981521606445 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 59.037334965477726, + "ymin": 259.2793565084851, + "xmax": 86.71851134610677, + "ymax": 291.74180460824266 + }, + "corners_3d": [ + [ + -113.11116790771484, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -128.7640380859375, + 3.5146679878234863 + ], + [ + -113.11116790771484, + -128.7640380859375, + 3.5146679878234863 + ] + ], + "corners_2d": [ + [ + 70.5280861707439, + 287.65650243477154 + ], + [ + 73.8506188259488, + 291.74180460824266 + ], + [ + 86.71851134610677, + 286.5264273515537 + ], + [ + 83.3513799614592, + 282.49513083043286 + ], + [ + 59.037334965477726, + 264.387170437563 + ], + [ + 62.36588720690338, + 268.4310477156721 + ], + [ + 75.57094308007197, + 263.26870515343734 + ], + [ + 72.1951595138147, + 259.2793565084851 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 837.8345863614695, + "ymin": 0.0, + "xmax": 1009.4109242934891, + "ymax": 26.007778288932627 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 972.7742683347792, + -29.991606920897254 + ], + [ + 966.422808167502, + -31.930482471044968 + ], + [ + 837.8345863614695, + 23.5723771682961 + ], + [ + 844.3481708913134, + 26.007778288932627 + ], + [ + 1009.4109242934891, + -191.92499452648804 + ], + [ + 1002.1930952965881, + -193.3233543773913 + ], + [ + 862.450490599417, + -152.77665349759934 + ], + [ + 869.9094985328994, + -150.97265091716804 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2334590930876643410, + "instance_id": 21048, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -123.8453369140625, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 236.22463903976575, + "ymin": 115.75400917557278, + "xmax": 254.22184377695663, + "ymax": 128.07479120205903 + }, + "corners_3d": [ + [ + -116.6200942993164, + -123.69747161865234, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.69747161865234, + 7.743301868438721 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 247.34915890389237, + 119.35075448541627 + ], + [ + 237.32684000833706, + 122.83217253675215 + ], + [ + 244.1535846210254, + 128.07479120205903 + ], + [ + 254.22184377695663, + 124.53398242685506 + ], + [ + 246.2804869918814, + 115.75400917557278 + ], + [ + 236.22463903976575, + 119.2244402209555 + ], + [ + 243.06081513903496, + 124.45071647406445 + ], + [ + 253.1629602479203, + 120.92091847501845 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3639812104533344102, + "instance_id": 26239, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -123.8453369140625, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 236.32087442051818, + "ymin": 115.81915495410036, + "xmax": 254.1262265580002, + "ymax": 128.00891896433154 + }, + "corners_3d": [ + [ + -116.62229919433594, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.69904327392578, + 7.742714881896973 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 247.3270742078244, + 119.3777869506277 + ], + [ + 237.4111239516708, + 122.82236506393355 + ], + [ + 244.16530418746805, + 128.00891896433154 + ], + [ + 254.1262265580002, + 124.50620691812867 + ], + [ + 246.2696454959967, + 115.81915495410036 + ], + [ + 236.32087442051818, + 119.25297861492356 + ], + [ + 243.08428762600545, + 124.4235357322145 + ], + [ + 253.0783764557906, + 120.931601158244 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5736675163518273754, + "instance_id": 55816, + "pixel_count": null, + "type_id": "AmericanLights_Town04_21_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1240.3382217226715, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 131.03843056364292 + }, + "corners_3d": [ + [ + -140.57330322265625, + -78.3179702758789, + 0.0 + ], + [ + -140.5771484375, + -77.8851547241211, + 0.0 + ], + [ + -128.5230712890625, + -77.77800750732422, + 0.0 + ], + [ + -128.51922607421875, + -78.21082305908203, + 0.0 + ], + [ + -140.57330322265625, + -78.3179702758789, + 8.446706771850586 + ], + [ + -140.5771484375, + -77.8851547241211, + 8.446706771850586 + ], + [ + -128.5230712890625, + -77.77800750732422, + 8.446706771850586 + ], + [ + -128.51922607421875, + -78.21082305908203, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1522.073684663924, + 131.03843056364292 + ], + [ + 1524.734094685671, + 127.79588863970497 + ], + [ + 1243.903056521167, + 43.521881120818364 + ], + [ + 1240.3382217226715, + 45.94167166645866 + ], + [ + 1658.2015270421916, + -71.10324664328601 + ], + [ + 1660.4537571561705, + -73.63105641406918 + ], + [ + 1322.325673561128, + -137.9365448790096 + ], + [ + 1318.6956720004882, + -136.12674443453966 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5944504550537153523, + "instance_id": 62411, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_1", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88526153564453, + "z": 3.6450090408325195 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 57.57558082023695, + "xmax": 58.897337074598795, + "ymax": 98.16060006031779 + }, + "corners_3d": [ + [ + -100.3021469116211, + -126.97334289550781, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -126.97334289550781, + 3.8072457313537598 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.8072457313537598 + ] + ], + "corners_2d": [ + [ + -0.21402180879795196, + 98.16060006031779 + ], + [ + 58.897337074598795, + 80.78032055304266 + ], + [ + 42.01463013354078, + 65.24026968434043 + ], + [ + -15.945028226594786, + 81.67779965189237 + ], + [ + -3.992891815409166, + 90.2352736640737 + ], + [ + 55.56885126075133, + 72.98992035843025 + ], + [ + 38.68278245197689, + 57.57558082023695 + ], + [ + -19.708115365954313, + 73.88028712207512 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6519504943767973976, + "instance_id": 22640, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_0", + "bbox_3d": { + "center_world": { + "x": -94.53499603271484, + "y": -125.88525390625, + "z": 3.6439085006713867 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 22.6688232329505, + "xmax": 18.63542551474643, + "ymax": 58.90578634110426 + }, + "corners_3d": [ + [ + -95.50235748291016, + -126.97452545166016, + 3.480583429336548 + ], + [ + -95.50236511230469, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -93.56763458251953, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -93.567626953125, + -126.97452545166016, + 3.480583429336548 + ], + [ + -95.50235748291016, + -126.97452545166016, + 3.807230234146118 + ], + [ + -95.50236511230469, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -93.56763458251953, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -93.567626953125, + -126.97452545166016, + 3.807230234146118 + ] + ], + "corners_2d": [ + [ + -37.742242290563354, + 58.90578634110426 + ], + [ + 18.63542551474643, + 43.714453303675214 + ], + [ + 3.822509415281047, + 30.079959485412303 + ], + [ + -51.49107887698142, + 44.498398009897755 + ], + [ + -41.49997863050146, + 51.243525179388655 + ], + [ + 15.28567422635922, + 36.18247164341028 + ], + [ + 0.4805415094942873, + 22.6688232329505 + ], + [ + -55.22435649799513, + 36.95958218075225 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6967274615413648305, + "instance_id": 45483, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_2", + "bbox_3d": { + "center_world": { + "x": -99.33560943603516, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 30.773148427884223, + "xmax": 92.71276302858337, + "ymax": 174.71088723442526 + }, + "corners_3d": [ + [ + -100.3640365600586, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -127.03557586669922, + 4.877264976501465 + ], + [ + -100.3640365600586, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + 34.653614689250844, + 174.71088723442526 + ], + [ + 92.71276302858337, + 155.08773986805275 + ], + [ + 74.80348153142177, + 137.42555072602067 + ], + [ + 17.846744636181484, + 155.9778152739583 + ], + [ + -18.06449464064383, + 64.44468526770225 + ], + [ + 46.57049198936295, + 46.68272841946788 + ], + [ + 28.556937320603083, + 30.773148427884223 + ], + [ + -34.6857116526852, + 47.48641843932455 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8232706723728016641, + "instance_id": 325, + "pixel_count": null, + "type_id": "BP_StreetLight_wall40_71_SM_0", + "bbox_3d": { + "center_world": { + "x": -140.893310546875, + "y": -111.95197296142578, + "z": 4.334987163543701 + }, + "extent": { + "x": 0.11768747121095657, + "y": 1.147606611251831, + "z": 0.41115570068359375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1209.2040587479355, + "ymin": 415.0941079670969, + "xmax": 1280.0, + "ymax": 499.9206829601892 + }, + "corners_3d": [ + [ + -142.04092407226562, + -111.83428192138672, + 3.9238314628601074 + ], + [ + -139.74569702148438, + -111.83428955078125, + 3.9238314628601074 + ], + [ + -139.74569702148438, + -112.06966400146484, + 3.9238314628601074 + ], + [ + -142.04092407226562, + -112.06965637207031, + 3.9238314628601074 + ], + [ + -142.04092407226562, + -111.83428192138672, + 4.746142864227295 + ], + [ + -139.74569702148438, + -111.83428955078125, + 4.746142864227295 + ], + [ + -139.74569702148438, + -112.06966400146484, + 4.746142864227295 + ], + [ + -142.04092407226562, + -112.06965637207031, + 4.746142864227295 + ] + ], + "corners_2d": [ + [ + 1317.393939061216, + 494.33912107764945 + ], + [ + 1213.4540814121665, + 439.81446147719623 + ], + [ + 1209.2040587479355, + 444.7948125597762 + ], + [ + 1313.4817907169652, + 499.9206829601892 + ], + [ + 1335.1255274598616, + 469.5626875641743 + ], + [ + 1227.6151933510682, + 415.0941079670969 + ], + [ + 1223.3371577398702, + 420.0628078776869 + ], + [ + 1331.2132942481753, + 475.1473983515993 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9919303964700251881, + "instance_id": 59670, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_Poles_4", + "bbox_3d": { + "center_world": { + "x": -112.9144515991211, + "y": -134.7008514404297, + "z": 4.223348617553711 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 101.9877261654558, + "xmax": 118.3823590866831, + "ymax": 552.7405266398196 + }, + "corners_3d": [ + [ + -113.18444061279297, + -128.6757354736328, + -4.76837158203125e-06 + ], + [ + -112.75162506103516, + -128.67189025878906, + -4.76837158203125e-06 + ], + [ + -112.64446258544922, + -140.72596740722656, + -4.76837158203125e-06 + ], + [ + -113.07727813720703, + -140.7298126220703, + -4.76837158203125e-06 + ], + [ + -113.18444061279297, + -128.6757354736328, + 8.446702003479004 + ], + [ + -112.75162506103516, + -128.67189025878906, + 8.446702003479004 + ], + [ + -112.64446258544922, + -140.72596740722656, + 8.446702003479004 + ], + [ + -113.07727813720703, + -140.7298126220703, + 8.446702003479004 + ] + ], + "corners_2d": [ + [ + 118.3823590866831, + 347.722370042731 + ], + [ + 113.36639089185815, + 341.3472444122098 + ], + [ + -350.7334490365464, + 542.893633353784 + ], + [ + -348.9068629663925, + 552.7405266398196 + ], + [ + 3.7700653481514337, + 107.53192147336554 + ], + [ + -1.2791210890005686, + 101.9877261654558 + ], + [ + -633.4034479637044, + 286.6899660879566 + ], + [ + -634.513496296916, + 296.2409231264388 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14081937874569997388, + "instance_id": 19500, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_0", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88525390625, + "z": 3.6439085006713867 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 57.55800357276928, + "xmax": 58.96216404220763, + "ymax": 98.23383782529697 + }, + "corners_3d": [ + [ + -100.30333709716797, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.30333709716797, + -126.97452545166016, + 3.807230234146118 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.807230234146118 + ] + ], + "corners_2d": [ + [ + -0.21184880854627863, + 98.23383782529697 + ], + [ + 58.96216404220763, + 80.83305057860423 + ], + [ + 42.05781780027576, + 65.27350762367502 + ], + [ + -15.961940562659152, + 81.7293367551627 + ], + [ + -4.016105621675251, + 90.2556764474138 + ], + [ + 55.611791386891696, + 72.99085286417937 + ], + [ + 38.704041901427104, + 57.55800357276928 + ], + [ + -19.750284419928107, + 73.87998967643739 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14132762880190184296, + "instance_id": 26875, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_1", + "bbox_3d": { + "center_world": { + "x": -94.53499603271484, + "y": -125.88526153564453, + "z": 3.6450090408325195 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 22.684210921271244, + "xmax": 18.57338437265207, + "ymax": 58.83722591438021 + }, + "corners_3d": [ + [ + -95.50116729736328, + -126.97334289550781, + 3.4827687740325928 + ], + [ + -95.50116729736328, + -124.79718780517578, + 3.4827723503112793 + ], + [ + -93.5688247680664, + -124.79718017578125, + 3.4827723503112793 + ], + [ + -93.5688247680664, + -126.97333526611328, + 3.4827687740325928 + ], + [ + -95.50116729736328, + -126.97334289550781, + 3.8072457313537598 + ], + [ + -95.50116729736328, + -124.79718780517578, + 3.8072493076324463 + ], + [ + -93.5688247680664, + -124.79718017578125, + 3.8072493076324463 + ], + [ + -93.5688247680664, + -126.97333526611328, + 3.8072457313537598 + ] + ], + "corners_2d": [ + [ + -37.74445888581215, + 58.83722591438021 + ], + [ + 18.57338437265207, + 43.663838293523725 + ], + [ + 3.7795468951534303, + 30.0465178556438 + ], + [ + -51.476578476278746, + 44.448822967305944 + ], + [ + -41.477126911539585, + 51.22572792185497 + ], + [ + 15.245554728039679, + 36.181623876387505 + ], + [ + 0.459452513679139, + 22.684210921271244 + ], + [ + -55.18498399857765, + 36.95980984567524 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 668.3749826869602, + "ymin": 0.0, + "xmax": 750.8381481610586, + "ymax": 131.72476814114424 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 675.2341356741541, + 98.8025634649685 + ], + [ + 668.3749826869602, + 101.84381528596418 + ], + [ + 730.3224783925845, + 131.72476814114424 + ], + [ + 737.1917923311183, + 128.37097170097198 + ], + [ + 679.9144039456338, + -79.46807522988303 + ], + [ + 672.1660970714576, + -77.0596304416639 + ], + [ + 743.0825013125518, + -53.21987303440676 + ], + [ + 750.8381481610586, + -55.91166192169106 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 180.93881765850733, + "ymin": 71.13724889590964, + "xmax": 318.6125982471159, + "ymax": 338.66818617114916 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 263.61589225125067, + 281.30829481433005 + ], + [ + 251.8518863246834, + 286.52428934210536 + ], + [ + 306.4567693907623, + 338.66818617114916 + ], + [ + 318.6125982471159, + 332.7333612511395 + ], + [ + 195.39581588438676, + 71.13724889590964 + ], + [ + 180.93881765850733, + 75.63098960543914 + ], + [ + 240.63703104097107, + 121.1662432704758 + ], + [ + 255.7329790497712, + 115.92682148054078 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16194625468754558244, + "instance_id": 9469, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.53463745117188, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 52.37744910567403, + "ymax": 132.56379200631912 + }, + "corners_3d": [ + [ + -95.56306457519531, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -127.03557586669922, + 4.877264976501465 + ], + [ + -95.56306457519531, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + -3.159764456891935, + 132.56379200631912 + ], + [ + 52.37744910567403, + 115.30892776313533 + ], + [ + 36.573845098741, + 99.72336431434678 + ], + [ + -17.936995921939797, + 116.09297147060218 + ], + [ + -55.34654289325124, + 26.40662092390994 + ], + [ + 6.116523329872962, + 10.953764192249082 + ], + [ + -9.620166395533829, + -2.9448876059598206 + ], + [ + -69.8055315472185, + 11.654428741783647 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 693.1393579856577, + "ymin": 0.0, + "xmax": 956.8248876365776, + "ymax": 183.39322035798415 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 699.5922603738167, + 81.76414000631252 + ], + [ + 693.1393579856577, + 84.54231576936263 + ], + [ + 904.8106558685682, + 183.39322035798415 + ], + [ + 911.170135944107, + 179.58510933617137 + ], + [ + 707.9603492085687, + -109.0840674572911 + ], + [ + 700.6425005372386, + -106.96699557765368 + ], + [ + 949.6900779815576, + -29.719817200180103 + ], + [ + 956.8248876365776, + -32.76650680862747 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 228.60368253108646, + "ymax": 317.36177003728403 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 126.67821457159414, + 167.33242652620712 + ], + [ + -46.7465710435456, + 242.94558508202812 + ], + [ + 50.49345711954152, + 317.36177003728403 + ], + [ + 228.60368253108646, + 226.6197286485128 + ], + [ + -3.93490508615173, + -156.71392571416425 + ], + [ + -247.3548621201079, + -106.98342944274356 + ], + [ + -144.904820066536, + -55.035420069945644 + ], + [ + 111.85313478273713, + -117.97205618896135 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 53.91657284563075, + "ymax": 78.48703230903016 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + -40.7880441724883, + -3.811318794063709 + ], + [ + -180.29756774774785, + 46.7154926508008 + ], + [ + -83.44545228071729, + 78.48703230903016 + ], + [ + 53.91657284563075, + 22.143215600177655 + ], + [ + -154.86471985060484, + -245.8893991625764 + ], + [ + -334.63158920507806, + -215.5852824033982 + ], + [ + -229.19029616396926, + -195.97671900311764 + ], + [ + -50.43348969136082, + -230.45512078981483 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 257.885081307843, + "ymax": 364.7483757841986 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 14.41836615531929, + 364.7483757841986 + ], + [ + 241.18049296648115, + 334.8570656398526 + ], + [ + 257.885081307843, + 218.0943327599102 + ], + [ + 64.62298797315555, + 240.0334392725694 + ], + [ + -209.40810480877747, + -20.2747061591769 + ], + [ + 105.15846883012466, + -42.35975687934234 + ], + [ + 151.0888937411188, + -123.65426356207297 + ], + [ + -102.59392399056924, + -108.95396893506728 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 72.7217693192274, + "ymax": 142.32067230043077 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -0.017028853119882115, + 46.28309948833578 + ], + [ + -150.32793658984008, + 95.6653744462194 + ], + [ + -82.31550033233873, + 142.32067230043077 + ], + [ + 72.7217693192274, + 85.17593100820056 + ], + [ + -127.06914635645694, + -230.56043040484246 + ], + [ + -324.76768373674395, + -201.2446269665711 + ], + [ + -257.45235446983895, + -172.531984990546 + ], + [ + -49.77237701186709, + -207.56219385299084 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00013/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00013/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e09961e97eca9fc6995e1ce72304f834c6abb304 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00013/meta.json @@ -0,0 +1,4264 @@ +{ + "frame_id": 13, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 6.5, + "sim_timestamp": 9857.210698036477 + }, + "drone_pose": { + "x": -141.37865770251975, + "y": -131.75823243368347, + "z": 20.29880791894738, + "pitch": -38.225690815796646, + "yaw": 43.365774764879134, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5711045265197754, + -0.5394208431243896, + 0.6187607049942017, + 139.25503540039062 + ], + [ + 0.6866533756256104, + 0.726984977722168, + -1.4901161193847656e-08, + -1.2918701171875 + ], + [ + -0.44982969760894775, + 0.42487412691116333, + 0.7855795621871948, + -135.52333068847656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -140.97715774877958, + "y": -131.34985654023703, + "z": 20.389315083801513 + }, + "t1_image_uv": [ + 691.6896922858373, + -677.1568729076903 + ], + "t1_depth": 0.39358262058039883 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -125.16718292236328, + "y": -116.68776321411131, + "z": 0.5749846434596475 + }, + "image_uv": [ + 634.3014214316491, + 418.3672358638392 + ], + "depth": 29.59209812012921, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 180, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -125.16718292236328, + "y": -116.68775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.2510009706020355, + "y": 0.2473437488079071, + "z": 0.5331612229347229 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 625.7981169483302, + "ymin": 399.7725536329367, + "xmax": 642.5666449411697, + "ymax": 436.80256235303915 + }, + "corners_3d": [ + [ + -125.16976928710938, + -117.04014587402344, + 0.04182344675064087 + ], + [ + -125.51956939697266, + -116.69034576416016, + 0.04182344675064087 + ], + [ + -125.16459655761719, + -116.33537292480469, + 0.04182344675064087 + ], + [ + -124.8147964477539, + -116.68517303466797, + 0.04182344675064087 + ], + [ + -125.16976928710938, + -117.04014587402344, + 1.1081459522247314 + ], + [ + -125.51956939697266, + -116.69034576416016, + 1.1081459522247314 + ], + [ + -125.16459655761719, + -116.33537292480469, + 1.1081459522247314 + ], + [ + -124.8147964477539, + -116.68517303466797, + 1.1081459522247314 + ] + ], + "corners_2d": [ + [ + 626.1132949726311, + 436.49205586336143 + ], + [ + 642.0812495965274, + 436.80256235303915 + ], + [ + 642.5104088691904, + 425.89875983938526 + ], + [ + 626.7512504880249, + 425.59632813241376 + ], + [ + 625.7981169483302, + 410.565397109666 + ], + [ + 642.128504457286, + 410.8730655576037 + ], + [ + 642.5666449411697, + 400.0720431113488 + ], + [ + 626.45457475795, + 399.7725536329367 + ] + ], + "center_offset_px": [ + -5.698578568350854, + 58.3672358638392 + ] + }, + "trace_timestep_index": 13, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 82, + "semantic_pixel_counts": { + "1": 540540, + "2": 202509, + "3": 97601, + "4": 1659, + "5": 3215, + "6": 7387, + "7": 960, + "9": 28632, + "10": 5856, + "12": 2737, + "14": 829, + "16": 476, + "21": 91, + "24": 29108 + }, + "instance_pixel_counts": { + "1115": 2918, + "2978": 2, + "6254": 2234, + "10370": 1343, + "11394": 814, + "14416": 73, + "14928": 3142, + "15511": 2808, + "16023": 418, + "16535": 780, + "17232": 1659, + "18011": 19693, + "20119": 10462, + "20631": 9087, + "23488": 118, + "23808": 210, + "24064": 2874, + "26560": 8461, + "27072": 1796, + "27584": 2248, + "28608": 4633, + "29843": 16051, + "30144": 59574, + "30355": 59633, + "30656": 38150, + "31168": 1398, + "31488": 2839, + "31813": 5672, + "31891": 328458, + "33883": 734, + "34120": 29830, + "34395": 1027, + "34453": 2092, + "34907": 1258, + "34965": 4376, + "35419": 2365, + "35931": 6125, + "36443": 55221, + "36501": 16910, + "36955": 296, + "43649": 267, + "44171": 490, + "44179": 1350, + "44379": 3, + "44691": 102518, + "44891": 70, + "45203": 17484, + "45707": 314, + "46227": 15046, + "46731": 770, + "46741": 50, + "47253": 4052, + "47765": 1003, + "48267": 848, + "48779": 334, + "48789": 625, + "49664": 180, + "49803": 916, + "49920": 360, + "50176": 388, + "50432": 822, + "50688": 409, + "50944": 578, + "52736": 476, + "53184": 934, + "53696": 101, + "53760": 306, + "54016": 513, + "54720": 1411, + "55232": 2745, + "55552": 10, + "55744": 1772, + "56135": 55, + "56225": 9, + "56768": 2686, + "56993": 3, + "57173": 28632, + "58529": 4, + "60013": 3103, + "61037": 2627, + "64351": 10505, + "65375": 8920 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 180, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -125.16718292236328, + "y": -116.68775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.216796875, + "y": 0.23770995438098907, + "z": 0.5368310809135437 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 626.1599822234226, + "ymin": 400.4136658767475, + "xmax": 642.2231209946895, + "ymax": 436.13167540776595 + }, + "corners_3d": [ + [ + -125.15239715576172, + -117.00914764404297, + 0.03815358877182007 + ], + [ + -125.48857116699219, + -116.6729736328125, + 0.03815358877182007 + ], + [ + -125.18196868896484, + -116.36637115478516, + 0.03815358877182007 + ], + [ + -124.84579467773438, + -116.70254516601562, + 0.03815358877182007 + ], + [ + -125.15239715576172, + -117.00914764404297, + 1.1118156909942627 + ], + [ + -125.48857116699219, + -116.6729736328125, + 1.1118156909942627 + ], + [ + -125.18196868896484, + -116.36637115478516, + 1.1118156909942627 + ], + [ + -124.84579467773438, + -116.70254516601562, + 1.1118156909942627 + ] + ], + "corners_2d": [ + [ + 626.4689431383356, + 435.8337944190328 + ], + [ + 641.7998724424134, + 436.13167540776595 + ], + [ + 642.1740366542598, + 426.71364253995154 + ], + [ + 627.0163986351531, + 426.42246388106014 + ], + [ + 626.1599822234226, + 409.73551686672687 + ], + [ + 641.8409848176481, + 410.0306443317396 + ], + [ + 642.2231209946895, + 400.7020039422673 + ], + [ + 626.7233672806058, + 400.4136658767475 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 360, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -121.04119873046875, + "y": -113.69005584716797, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.39864256978034973, + "y": 0.3703906238079071, + "z": 0.8857819437980652 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 603.4857345705932, + "ymin": 293.5551543445731, + "xmax": 628.8450839927949, + "ymax": 350.0245078652441 + }, + "corners_3d": [ + [ + -121.17379760742188, + -114.21781158447266, + -0.3107972741127014 + ], + [ + -121.57725524902344, + -113.5965347290039, + -0.3107972741127014 + ], + [ + -120.90859985351562, + -113.16230010986328, + -0.3107972741127014 + ], + [ + -120.50514221191406, + -113.78357696533203, + -0.3107972741127014 + ], + [ + -121.17379760742188, + -114.21781158447266, + 1.4607665538787842 + ], + [ + -121.57725524902344, + -113.5965347290039, + 1.4607665538787842 + ], + [ + -120.90859985351562, + -113.16230010986328, + 1.4607665538787842 + ], + [ + -120.50514221191406, + -113.78357696533203, + 1.4607665538787842 + ] + ], + "corners_2d": [ + [ + 608.0851139895929, + 350.0245078652441 + ], + [ + 628.8450839927949, + 347.7168158676929 + ], + [ + 625.0497089337357, + 334.4228126772412 + ], + [ + 604.6503209611398, + 336.6486337759016 + ], + [ + 607.0138497469509, + 308.7784903919661 + ], + [ + 628.4718516268864, + 306.5254161318072 + ], + [ + 624.5587204913127, + 293.5551543445731 + ], + [ + 603.4857345705932, + 295.72569066940696 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 388, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -127.42300415039062, + "y": -109.74504852294922, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.26255372166633606, + "y": 0.38814452290534973, + "z": 0.862881600856781 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 816.1933569267806, + "ymin": 329.9393241276923, + "xmax": 849.1906540681427, + "ymax": 381.4308890099689 + }, + "corners_3d": [ + [ + -127.38278198242188, + -110.21192169189453, + -0.28789693117141724 + ], + [ + -127.8713150024414, + -109.60863494873047, + -0.28789693117141724 + ], + [ + -127.46322631835938, + -109.2781753540039, + -0.28789693117141724 + ], + [ + -126.97469329833984, + -109.88146209716797, + -0.28789693117141724 + ], + [ + -127.38278198242188, + -110.21192169189453, + 1.4378662109375 + ], + [ + -127.8713150024414, + -109.60863494873047, + 1.4378662109375 + ], + [ + -127.46322631835938, + -109.2781753540039, + 1.4378662109375 + ], + [ + -126.97469329833984, + -109.88146209716797, + 1.4378662109375 + ] + ], + "corners_2d": [ + [ + 819.6194922784722, + 381.4308890099689 + ], + [ + 842.2962437698314, + 380.3168085019961 + ], + [ + 838.5906857784759, + 370.58331007415853 + ], + [ + 816.1933569267806, + 371.66961445924005 + ], + [ + 825.7501447321353, + 340.56249106157884 + ], + [ + 849.1906540681427, + 339.4709922533111 + ], + [ + 845.2711103259339, + 329.9393241276923 + ], + [ + 822.1290343858842, + 331.0026996969256 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 822, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -134.66717529296875, + "y": -116.68775939941406, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.3604785203933716, + "y": 0.4253271520137787, + "z": 0.8606939315795898 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 867.8896466342474, + "ymin": 567.2711281374484, + "xmax": 918.1284883311281, + "ymax": 634.5159100527353 + }, + "corners_3d": [ + [ + -134.62132263183594, + -117.243408203125, + -0.28570443391799927 + ], + [ + -135.2228240966797, + -116.64190673828125, + -0.28570443391799927 + ], + [ + -134.71302795410156, + -116.13211059570312, + -0.28570443391799927 + ], + [ + -134.1115264892578, + -116.73361206054688, + -0.28570443391799927 + ], + [ + -134.62132263183594, + -117.243408203125, + 1.4356834888458252 + ], + [ + -135.2228240966797, + -116.64190673828125, + 1.4356834888458252 + ], + [ + -134.71302795410156, + -116.13211059570312, + 1.4356834888458252 + ], + [ + -134.1115264892578, + -116.73361206054688, + 1.4356834888458252 + ] + ], + "corners_2d": [ + [ + 872.3636084832431, + 633.7117521811243 + ], + [ + 905.9906833746618, + 634.5159100527353 + ], + [ + 900.7509678552819, + 611.1504608962005 + ], + [ + 867.8896466342474, + 610.3823373117003 + ], + [ + 882.9582775145187, + 590.6194530558569 + ], + [ + 918.1284883311281, + 591.4251227020948 + ], + [ + 912.3679055631537, + 568.0391072289929 + ], + [ + 878.034464850431, + 567.2711281374484 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 409, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -128.78268432617188, + "y": -127.81512451171875, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.42744627594947815, + "y": 0.5690380930900574, + "z": 0.9048874378204346 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 342.9162507728439, + "ymin": 680.6474942446157, + "xmax": 418.37123407490174, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -128.6094512939453, + -128.5054168701172, + -0.3299027681350708 + ], + [ + -129.49391174316406, + -127.7892074584961, + -0.3299027681350708 + ], + [ + -128.95591735839844, + -127.12483215332031, + -0.3299027681350708 + ], + [ + -128.0714569091797, + -127.8410415649414, + -0.3299027681350708 + ], + [ + -128.6094512939453, + -128.5054168701172, + 1.4798721075057983 + ], + [ + -129.49391174316406, + -127.7892074584961, + 1.4798721075057983 + ], + [ + -128.95591735839844, + -127.12483215332031, + 1.4798721075057983 + ], + [ + -128.0714569091797, + -127.8410415649414, + 1.4798721075057983 + ] + ], + "corners_2d": [ + [ + 358.1687906133225, + 759.6212133670194 + ], + [ + 406.54442659072527, + 765.9497593577021 + ], + [ + 418.37123407490174, + 731.3530608733394 + ], + [ + 371.36568079665375, + 725.3947545359347 + ], + [ + 342.9162507728439, + 715.2867929802812 + ], + [ + 393.83700027210784, + 721.7038405291623 + ], + [ + 406.6856475505525, + 686.6696982946823 + ], + [ + 357.2804569142278, + 680.6474942446157 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 578, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -113.92184448242188, + "y": -124.85797882080078, + "z": 0.7260100245475769 + }, + "extent": { + "x": 0.4196484386920929, + "y": 0.43104490637779236, + "z": 0.8799910545349121 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 191.54059704374788, + "ymin": 332.0545415556163, + "xmax": 244.12290632330564, + "ymax": 393.35275099902674 + }, + "corners_3d": [ + [ + -113.78889465332031, + -125.44468688964844, + -0.1539810299873352 + ], + [ + -114.51190948486328, + -124.97515869140625, + -0.1539810299873352 + ], + [ + -114.05479431152344, + -124.27127075195312, + -0.1539810299873352 + ], + [ + -113.33177947998047, + -124.74079895019531, + -0.1539810299873352 + ], + [ + -113.78889465332031, + -125.44468688964844, + 1.6060011386871338 + ], + [ + -114.51190948486328, + -124.97515869140625, + 1.6060011386871338 + ], + [ + -114.05479431152344, + -124.27127075195312, + 1.6060011386871338 + ], + [ + -113.33177947998047, + -124.74079895019531, + 1.6060011386871338 + ] + ], + "corners_2d": [ + [ + 206.8897934317356, + 389.39149353420027 + ], + [ + 230.11123399435138, + 393.35275099902674 + ], + [ + 244.12290632330564, + 377.6905184014403 + ], + [ + 221.2909583144127, + 373.88449217626277 + ], + [ + 191.54059704374788, + 347.23886725795586 + ], + [ + 215.50913129867683, + 351.12110478710264 + ], + [ + 230.309503613806, + 335.77940420051607 + ], + [ + 206.75522970855025, + 332.0545415556163 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 476, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 623.7094261877043, + "ymin": 0.0, + "xmax": 784.8173298286405, + "ymax": 22.899349454305593 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 737.0149420849613, + 22.899349454305593 + ], + [ + 778.6032993898302, + 8.385054317562208 + ], + [ + 665.8814280755713, + -26.98076141064564 + ], + [ + 624.3681554419359, + -14.93115252338498 + ], + [ + 741.5277503601416, + -49.476719138952205 + ], + [ + 784.8173298286405, + -62.022466887650125 + ], + [ + 666.9361979988985, + -92.42335046797928 + ], + [ + 623.7094261877043, + -82.09205780679264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 210, + "instance_id": 53760, + "pixel_count": 306, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -124.77603912353516, + "y": -59.85369110107422, + "z": 0.7624127268791199 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -89.60662078857422 + }, + "bbox_2d": { + "xmin": 1252.8479884194808, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 25.041854856538066 + }, + "corners_3d": [ + [ + -125.81224822998047, + -57.37419128417969, + -0.01052013412117958 + ], + [ + -123.77389526367188, + -57.36019515991211, + -0.010407144203782082 + ], + [ + -123.73974609375, + -62.334320068359375, + -0.006772199645638466 + ], + [ + -125.7780990600586, + -62.34831619262695, + -0.006885191425681114 + ], + [ + -125.81233978271484, + -57.37306594848633, + 1.5315977334976196 + ], + [ + -123.77398681640625, + -57.35906982421875, + 1.5317107439041138 + ], + [ + -123.73983764648438, + -62.333194732666016, + 1.5353456735610962 + ], + [ + -125.77819061279297, + -62.347190856933594, + 1.535232663154602 + ] + ], + "corners_2d": [ + [ + 1316.3755664023752, + 6.88054176676485 + ], + [ + 1282.4912916480832, + -0.6461182134362957 + ], + [ + 1252.8479884194808, + 16.82713985127674 + ], + [ + 1287.676028175098, + 25.041854856538066 + ], + [ + 1327.0286753092323, + -17.863566109439375 + ], + [ + 1292.4195538038816, + -25.03727144218442 + ], + [ + 1262.7457841037872, + -8.381845297422956 + ], + [ + 1298.3469214840416, + -0.541529295624855 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 513, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 579.5559906948985, + "ymin": 0.0, + "xmax": 660.5113552146588, + "ymax": 34.4694609832689 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 601.8788734969532, + 6.257991194008753 + ], + [ + 580.5268386623154, + 12.689998538102941 + ], + [ + 638.6619602150241, + 34.4694609832689 + ], + [ + 660.1700976362482, + 27.339940970836892 + ], + [ + 601.2665266286872, + -19.002329033989497 + ], + [ + 579.5559906948985, + -12.875678883009186 + ], + [ + 638.6389342559073, + 7.89320056474952 + ], + [ + 660.5113552146588, + 1.090516253246392 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 217, + "instance_id": 55552, + "pixel_count": 10, + "type_id": "vehicle.mini.cooper_s", + "bbox_3d": { + "center_world": { + "x": -131.65988159179688, + "y": -76.91120147705078, + "z": 0.7358787059783936 + }, + "extent": { + "x": 1.9029000997543335, + "y": 0.9851378202438354, + "z": 0.7375150918960571 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 1272.6725418847577, + "ymin": 79.46835991789328, + "xmax": 1280.0, + "ymax": 141.84584533077583 + }, + "corners_3d": [ + [ + -130.6616973876953, + -78.80728912353516, + -0.001636367291212082 + ], + [ + -132.63192749023438, + -78.8208236694336, + -0.001636367291212082 + ], + [ + -132.65806579589844, + -75.0151138305664, + -0.001636367291212082 + ], + [ + -130.68783569335938, + -75.00157928466797, + -0.001636367291212082 + ], + [ + -130.6616973876953, + -78.80728912353516, + 1.4733937978744507 + ], + [ + -132.63192749023438, + -78.8208236694336, + 1.4733937978744507 + ], + [ + -132.65806579589844, + -75.0151138305664, + 1.4733937978744507 + ], + [ + -130.68783569335938, + -75.00157928466797, + 1.4733937978744507 + ] + ], + "corners_2d": [ + [ + 1272.6725418847577, + 128.94959425186067 + ], + [ + 1316.171271782621, + 141.84584533077583 + ], + [ + 1343.0716747700953, + 119.07540300514194 + ], + [ + 1300.7535561704412, + 107.23570819351335 + ], + [ + 1285.1355734584909, + 100.38861249286941 + ], + [ + 1329.8249282720608, + 112.82965141011215 + ], + [ + 1356.6560269730676, + 90.8710948620411 + ], + [ + 1313.2213474816708, + 79.46835991789328 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 783.8082719570705, + "ymin": 41.50486297522394, + "xmax": 797.2429555004543, + "ymax": 66.86322824889362 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 789.0848516955758, + 66.86322824889362 + ], + [ + 795.0781582741398, + 64.43911090478565 + ], + [ + 789.8049555328327, + 62.584133202862404 + ], + [ + 783.8082719570705, + 64.98871279806917 + ], + [ + 791.1770930561174, + 45.6446192969953 + ], + [ + 797.2429555004543, + 43.29930581740689 + ], + [ + 791.8876027701648, + 41.50486297522394 + ], + [ + 785.818177347553, + 43.83101089313067 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 897.2037012767631, + "ymin": 80.0955314719705, + "xmax": 913.4022673037482, + "ymax": 107.4895834697042 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 903.444676164472, + 107.4895834697042 + ], + [ + 909.3098899448008, + 104.62271228027831 + ], + [ + 903.0786117750847, + 102.4307090363368 + ], + [ + 897.2037012767631, + 105.27246560356622 + ], + [ + 907.4711957593836, + 85.00163422686398 + ], + [ + 913.4022673037482, + 82.22115402462327 + ], + [ + 907.0585360888381, + 80.0955314719705 + ], + [ + 901.117263907397, + 82.85128512660378 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 696.2642298442802, + "ymin": 76.32406458071858, + "xmax": 707.281629359514, + "ymax": 98.80962546016974 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 700.6842920208155, + 98.80962546016974 + ], + [ + 706.4553468036564, + 96.49322895322837 + ], + [ + 702.0349976613601, + 94.70929742078101 + ], + [ + 696.2642298442802, + 97.00890889528796 + ], + [ + 701.4424114419326, + 80.32011785064452 + ], + [ + 707.281629359514, + 78.06252760040923 + ], + [ + 702.8034914333891, + 76.32406458071858 + ], + [ + 696.9645410218376, + 78.5650931562592 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 843.2979478418904, + "ymin": 61.7432096050382, + "xmax": 858.150338829367, + "ymax": 88.17319275775662 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 849.0703412290305, + 88.17319275775662 + ], + [ + 855.0095448957633, + 85.52143815110912 + ], + [ + 849.2436135362068, + 83.4931311377996 + ], + [ + 843.2979478418904, + 86.12253852174263 + ], + [ + 852.1414377582639, + 66.27667508977726 + ], + [ + 858.150338829367, + 63.707824836610826 + ], + [ + 852.2871219594601, + 61.7432096050382 + ], + [ + 846.2714226412011, + 64.29009621336309 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11529003171770300666, + "instance_id": 64120, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.25050354003906, + "y": -128.95399475097656, + "z": 3.0800981521606445 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 38.37166549834285, + "ymin": 332.62884764393993, + "xmax": 66.4170537687944, + "ymax": 365.6652345151122 + }, + "corners_3d": [ + [ + -113.11116790771484, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -128.7640380859375, + 3.5146679878234863 + ], + [ + -113.11116790771484, + -128.7640380859375, + 3.5146679878234863 + ] + ], + "corners_2d": [ + [ + 49.733427052479556, + 361.4076978594404 + ], + [ + 52.90299086688776, + 365.6652345151122 + ], + [ + 66.4170537687944, + 360.19173342712037 + ], + [ + 63.195149770100784, + 355.9949882716869 + ], + [ + 38.37166549834285, + 337.9743543329574 + ], + [ + 41.537497468857396, + 342.18006368302923 + ], + [ + 55.39448959967615, + 336.7733589720395 + ], + [ + 52.17335093156419, + 332.62884764393993 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 831.3042492699598, + "ymin": 0.0, + "xmax": 996.613869164873, + "ymax": 93.16534089860062 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 963.993051425979, + 38.00551346616771 + ], + [ + 957.6608086037876, + 36.11977433875393 + ], + [ + 831.3042492699598, + 90.77130497234879 + ], + [ + 837.8197584211246, + 93.16534089860062 + ], + [ + 996.613869164873, + -117.12912691746351 + ], + [ + 989.4912320541841, + -118.46246906790577 + ], + [ + 853.1740705171156, + -79.34150452465309 + ], + [ + 860.5584016332862, + -77.60482702147993 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2334590930876643410, + "instance_id": 21048, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -123.8453369140625, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 222.2816904788964, + "ymin": 188.2095550062578, + "xmax": 240.46909720988765, + "ymax": 200.7312407723051 + }, + "corners_3d": [ + [ + -116.6200942993164, + -123.69747161865234, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.69747161865234, + 7.743301868438721 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 233.72678818313926, + 191.78212669503574 + ], + [ + 223.36138185539494, + 195.36671416830467 + ], + [ + 230.05116556721725, + 200.7312407723051 + ], + [ + 240.46909720988765, + 197.08154026353282 + ], + [ + 232.68035472563201, + 188.2095550062578 + ], + [ + 222.2816904788964, + 191.7815932270285 + ], + [ + 228.97915039915222, + 197.12754879751395 + ], + [ + 239.43072997068333, + 193.49045557587414 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3639812104533344102, + "instance_id": 26239, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -123.8453369140625, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 222.37891179981483, + "ymin": 188.27568761497835, + "xmax": 240.37242820333603, + "ymax": 200.66421837174158 + }, + "corners_3d": [ + [ + -116.62229919433594, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.69904327392578, + 7.742714881896973 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 233.70231680479105, + 191.81042283381936 + ], + [ + 223.44690174621542, + 195.35709252558019 + ], + [ + 230.06559494448186, + 200.66421837174158 + ], + [ + 240.37242820333603, + 197.05381368978232 + ], + [ + 232.66688245106644, + 188.27568761497835 + ], + [ + 222.37891179981483, + 191.81007351473477 + ], + [ + 229.00512001149895, + 197.09902124899548 + ], + [ + 239.34488657138627, + 193.5009565614881 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 835.7652011179321, + "ymin": 0.0, + "xmax": 1035.2985751623896, + "ymax": 54.04183208269404 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 892.3159963783437, + 54.04183208269404 + ], + [ + 982.7386500066357, + 14.956569302690752 + ], + [ + 927.5852607409522, + -0.18969814924815864 + ], + [ + 835.7652011179321, + 35.94199294951869 + ], + [ + 935.3150535308891, + -205.80659252139287 + ], + [ + 1035.2985751623896, + -224.8658467360375 + ], + [ + 969.8237472702705, + -232.10308690474312 + ], + [ + 867.5677882230314, + -214.70230439714032 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5736675163518273754, + "instance_id": 55816, + "pixel_count": null, + "type_id": "AmericanLights_Town04_21_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1232.2317929082778, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 196.63099994624787 + }, + "corners_3d": [ + [ + -140.57330322265625, + -78.3179702758789, + 0.0 + ], + [ + -140.5771484375, + -77.8851547241211, + 0.0 + ], + [ + -128.5230712890625, + -77.77800750732422, + 0.0 + ], + [ + -128.51922607421875, + -78.21082305908203, + 0.0 + ], + [ + -140.57330322265625, + -78.3179702758789, + 8.446706771850586 + ], + [ + -140.5771484375, + -77.8851547241211, + 8.446706771850586 + ], + [ + -128.5230712890625, + -77.77800750732422, + 8.446706771850586 + ], + [ + -128.51922607421875, + -78.21082305908203, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1518.5700402435427, + 196.63099994624787 + ], + [ + 1520.9800570030875, + 193.37294051660785 + ], + [ + 1235.6514441227682, + 109.8891377298676 + ], + [ + 1232.2317929082778, + 112.28788375367708 + ], + [ + 1643.9603802170273, + -0.6359470092979222 + ], + [ + 1645.9252724645196, + -3.1180719817945146 + ], + [ + 1306.7387628384795, + -65.41837894234726 + ], + [ + 1303.2862357978831, + -63.66255140514386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5944504550537153523, + "instance_id": 62411, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_1", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88526153564453, + "z": 3.6450090408325195 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 127.01905091121637, + "xmax": 49.3689066076746, + "ymax": 167.7090722410008 + }, + "corners_3d": [ + [ + -100.3021469116211, + -126.97334289550781, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -126.97334289550781, + 3.8072457313537598 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.8072457313537598 + ] + ], + "corners_2d": [ + [ + -11.326945672275201, + 167.7090722410008 + ], + [ + 49.3689066076746, + 150.11456179186345 + ], + [ + 33.306826889867466, + 134.54651197894634 + ], + [ + -26.107285784937176, + 151.1372183075485 + ], + [ + -14.934932585495517, + 159.89232120295407 + ], + [ + 46.199780510806136, + 142.4486267019491 + ], + [ + 30.144775294064402, + 127.01905091121637 + ], + [ + -29.688117868773816, + 143.4623537524476 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6519504943767973976, + "instance_id": 22640, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_0", + "bbox_3d": { + "center_world": { + "x": -94.53499603271484, + "y": -125.88525390625, + "z": 3.6439085006713867 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 92.24100365326433, + "xmax": 11.14238129836076, + "ymax": 128.32482695953811 + }, + "corners_3d": [ + [ + -95.50235748291016, + -126.97452545166016, + 3.480583429336548 + ], + [ + -95.50236511230469, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -93.56763458251953, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -93.567626953125, + -126.97452545166016, + 3.480583429336548 + ], + [ + -95.50235748291016, + -126.97452545166016, + 3.807230234146118 + ], + [ + -95.50236511230469, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -93.56763458251953, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -93.567626953125, + -126.97452545166016, + 3.807230234146118 + ] + ], + "corners_2d": [ + [ + -46.51496648664261, + 128.32482695953811 + ], + [ + 11.14238129836076, + 113.05485443345185 + ], + [ + -2.8567540645512963, + 99.48677177454965 + ], + [ + -59.34125041852349, + 113.94227042284749 + ], + [ + -50.074182555408925, + 120.80479182276125 + ], + [ + 7.977489155569515, + 105.678016815104 + ], + [ + -6.005469241950095, + 92.24100365326433 + ], + [ + -62.86703418357479, + 106.55698728522825 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 727.0434739991297, + "ymin": 16.558066600260418, + "xmax": 740.3157535702101, + "ymax": 23.84544009765716 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 732.212247493238, + 19.394795552314577 + ], + [ + 727.0434739991297, + 21.182272100103432 + ], + [ + 734.9649730312138, + 23.84544009765716 + ], + [ + 740.1324442188995, + 22.03512660457227 + ], + [ + 732.3799897987554, + 16.558066600260418 + ], + [ + 727.20249620359, + 18.33658397238662 + ], + [ + 735.13957644053, + 20.986455289320077 + ], + [ + 740.3157535702101, + 19.185173614763812 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6967274615413648305, + "instance_id": 45483, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_2", + "bbox_3d": { + "center_world": { + "x": -99.33560943603516, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 100.7198242084782, + "xmax": 81.80092263723998, + "ymax": 243.53015640549785 + }, + "corners_3d": [ + [ + -100.3640365600586, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -127.03557586669922, + 4.877264976501465 + ], + [ + -100.3640365600586, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + 21.965809678816413, + 243.53015640549785 + ], + [ + 81.80092263723998, + 223.5102225804169 + ], + [ + 64.65238254674182, + 205.6821139802412 + ], + [ + 6.055161625843766, + 224.54909041266387 + ], + [ + -28.49021865958582, + 134.51791268054401 + ], + [ + 37.76855762388584, + 116.5996503667522 + ], + [ + 20.672884290635693, + 100.7198242084782 + ], + [ + -44.04271352176761, + 117.52721193620914 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8232706723728016641, + "instance_id": 325, + "pixel_count": null, + "type_id": "BP_StreetLight_wall40_71_SM_0", + "bbox_3d": { + "center_world": { + "x": -140.893310546875, + "y": -111.95197296142578, + "z": 4.334987163543701 + }, + "extent": { + "x": 0.11768747121095657, + "y": 1.147606611251831, + "z": 0.41115570068359375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1224.0080130307842, + "ymin": 496.0070902030624, + "xmax": 1280.0, + "ymax": 586.0053844742357 + }, + "corners_3d": [ + [ + -142.04092407226562, + -111.83428192138672, + 3.9238314628601074 + ], + [ + -139.74569702148438, + -111.83428955078125, + 3.9238314628601074 + ], + [ + -139.74569702148438, + -112.06966400146484, + 3.9238314628601074 + ], + [ + -142.04092407226562, + -112.06965637207031, + 3.9238314628601074 + ], + [ + -142.04092407226562, + -111.83428192138672, + 4.746142864227295 + ], + [ + -139.74569702148438, + -111.83428955078125, + 4.746142864227295 + ], + [ + -139.74569702148438, + -112.06966400146484, + 4.746142864227295 + ], + [ + -142.04092407226562, + -112.06965637207031, + 4.746142864227295 + ] + ], + "corners_2d": [ + [ + 1339.543432619648, + 579.9228957880928 + ], + [ + 1228.1396530797883, + 521.2658781378672 + ], + [ + 1224.0080130307842, + 526.6372631984841 + ], + [ + 1335.8402068456787, + 586.0053844742357 + ], + [ + 1357.3469395867442, + 554.5008484671732 + ], + [ + 1242.1869062786195, + 496.0070902030624 + ], + [ + 1238.0402157757876, + 501.3560933371359 + ], + [ + 1353.662650328432, + 560.5766483295893 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9919303964700251881, + "instance_id": 59670, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_Poles_4", + "bbox_3d": { + "center_world": { + "x": -112.9144515991211, + "y": -134.7008514404297, + "z": 4.223348617553711 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 175.25926258943272, + "xmax": 98.06658871090394, + "ymax": 642.461692136146 + }, + "corners_3d": [ + [ + -113.18444061279297, + -128.6757354736328, + -4.76837158203125e-06 + ], + [ + -112.75162506103516, + -128.67189025878906, + -4.76837158203125e-06 + ], + [ + -112.64446258544922, + -140.72596740722656, + -4.76837158203125e-06 + ], + [ + -113.07727813720703, + -140.7298126220703, + -4.76837158203125e-06 + ], + [ + -113.18444061279297, + -128.6757354736328, + 8.446702003479004 + ], + [ + -112.75162506103516, + -128.67189025878906, + 8.446702003479004 + ], + [ + -112.64446258544922, + -140.72596740722656, + 8.446702003479004 + ], + [ + -113.07727813720703, + -140.7298126220703, + 8.446702003479004 + ] + ], + "corners_2d": [ + [ + 98.06658871090394, + 421.8603978615863 + ], + [ + 93.24084545101061, + 415.19155236293346 + ], + [ + -404.20901360272114, + 631.7344704177212 + ], + [ + -403.27338035904563, + 642.461692136146 + ], + [ + -14.786399233246584, + 180.93400705624398 + ], + [ + -19.497428585958005, + 175.25926258943272 + ], + [ + -692.8694729610941, + 369.92346719555707 + ], + [ + -695.5281931777242, + 380.1579820972851 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 505.54175475615745, + "ymin": 0.0, + "xmax": 571.5423885492369, + "ymax": 40.89842214223785 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 516.9426113423511, + 38.960953688311406 + ], + [ + 521.5343182765664, + 40.89842214223785 + ], + [ + 571.5423885492369, + 25.422988781154118 + ], + [ + 566.8986998200294, + 23.620017822211594 + ], + [ + 505.54175475615745, + -103.70161479335889 + ], + [ + 510.5054456531581, + -102.27817443379183 + ], + [ + 565.4150208257789, + -113.61515341150994 + ], + [ + 560.3861704744147, + -114.93112865430402 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 727.114179036964, + "ymin": 16.59672040257101, + "xmax": 740.2450755979405, + "ymax": 23.80659947858203 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 732.227920456768, + 19.40339308998375 + ], + [ + 727.114179036964, + 21.171897982426344 + ], + [ + 734.9513761972779, + 23.80659947858203 + ], + [ + 740.063843932006, + 22.015741221515327 + ], + [ + 732.3939145898592, + 16.59672040257101 + ], + [ + 727.2716378126254, + 18.356455478594114 + ], + [ + 735.1240862137067, + 20.97814178595104 + ], + [ + 740.2450755979405, + 19.196123694750156 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14081937874569997388, + "instance_id": 19500, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_0", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88525390625, + "z": 3.6439085006713867 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 127.00141225042421, + "xmax": 49.4329578184537, + "ymax": 167.781812939791 + }, + "corners_3d": [ + [ + -100.30333709716797, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.30333709716797, + -126.97452545166016, + 3.807230234146118 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.807230234146118 + ] + ], + "corners_2d": [ + [ + -11.327445826605071, + 167.781812939791 + ], + [ + 49.4329578184537, + 150.16641124131277 + ], + [ + 33.35011263460649, + 134.5787790634796 + ], + [ + -26.125700816416497, + 151.1880169373258 + ], + [ + -14.959694001136427, + 159.91291125527354 + ], + [ + 46.2429830117801, + 142.44948748481602 + ], + [ + 30.16725318086003, + 127.00141225042421 + ], + [ + -29.730573368614614, + 143.462114498438 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14132762880190184296, + "instance_id": 26875, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_1", + "bbox_3d": { + "center_world": { + "x": -94.53499603271484, + "y": -125.88526153564453, + "z": 3.6450090408325195 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 92.25634518044382, + "xmax": 11.081430435017865, + "ymax": 128.25714099862282 + }, + "corners_3d": [ + [ + -95.50116729736328, + -126.97334289550781, + 3.4827687740325928 + ], + [ + -95.50116729736328, + -124.79718780517578, + 3.4827723503112793 + ], + [ + -93.5688247680664, + -124.79718017578125, + 3.4827723503112793 + ], + [ + -93.5688247680664, + -126.97333526611328, + 3.4827687740325928 + ], + [ + -95.50116729736328, + -126.97334289550781, + 3.8072457313537598 + ], + [ + -95.50116729736328, + -124.79718780517578, + 3.8072493076324463 + ], + [ + -93.5688247680664, + -124.79718017578125, + 3.8072493076324463 + ], + [ + -93.5688247680664, + -126.97333526611328, + 3.8072457313537598 + ] + ], + "corners_2d": [ + [ + -46.51453238680324, + 128.25714099862282 + ], + [ + 11.081430435017865, + 113.00531493786846 + ], + [ + -2.89951612494076, + 99.45437176804552 + ], + [ + -59.325238006975724, + 113.8936398448786 + ], + [ + -50.04998445834542, + 120.78696196285864 + ], + [ + 7.937259192384317, + 105.67723686638809 + ], + [ + -6.027624337311977, + 92.25634518044382 + ], + [ + -62.82752503733002, + 106.5571626237192 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 662.7020798972409, + "ymin": 0.0, + "xmax": 743.8139068634465, + "ymax": 198.76374425971719 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 669.5761705898575, + 165.81709803804713 + ], + [ + 662.7020798972409, + 168.87268563472946 + ], + [ + 724.9660199107811, + 198.76374425971719 + ], + [ + 731.8472672315388, + 195.3772737418563 + ], + [ + 673.2133544378897, + -7.949213613350423 + ], + [ + 665.5109682840119, + -5.577298993208785 + ], + [ + 736.1077997159645, + 17.794286324948644 + ], + [ + 743.8139068634465, + 15.130973527544086 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 168.2472964109238, + "ymin": 142.96724102360486, + "xmax": 304.2676610658194, + "ymax": 412.03926874422973 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 249.78185200710612, + 352.41898771007817 + ], + [ + 237.56259608528546, + 357.85054346122735 + ], + [ + 291.5939814708152, + 412.03926874422973 + ], + [ + 304.2676610658194, + 405.8021666171445 + ], + [ + 183.1380369213714, + 142.96724102360486 + ], + [ + 168.2472964109238, + 147.5527765207683 + ], + [ + 226.46599794430898, + 193.93192713030862 + ], + [ + 242.082832859475, + 188.53458246736716 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16194625468754558244, + "instance_id": 9469, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.53463745117188, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 67.22354219897136, + "xmax": 43.25356546885803, + "ymax": 200.9129419423832 + }, + "corners_3d": [ + [ + -95.56306457519531, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -127.03557586669922, + 4.877264976501465 + ], + [ + -95.56306457519531, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + -13.757552780208357, + 200.9129419423832 + ], + [ + 43.25356546885803, + 183.4352968887273 + ], + [ + 28.223433749083938, + 167.80954570752016 + ], + [ + -27.64623560978714, + 184.3440376171743 + ], + [ + -63.304670262795526, + 96.48401946855256 + ], + [ + -0.5516835464198948, + 81.00475122089324 + ], + [ + -15.38805802733691, + 67.22354219897136 + ], + [ + -76.73850700344974, + 81.80789824611526 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 687.4992595245291, + "ymin": 0.0, + "xmax": 949.575624774918, + "ymax": 250.60291995857077 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 693.9483601632955, + 148.7039594598367 + ], + [ + 687.4992595245291, + 151.48581837189005 + ], + [ + 901.315604840728, + 250.60291995857077 + ], + [ + 907.6433954619229, + 246.72649973615103 + ], + [ + 700.944662192574, + -36.760546259146736 + ], + [ + 693.6947624195125, + -34.686289915999055 + ], + [ + 942.542261886443, + 41.05613395978037 + ], + [ + 949.575624774918, + 38.02512934733954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 216.53025386317688, + "ymax": 390.01955658247454 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 115.8556847955524, + 235.61845680434772 + ], + [ + -64.54241093722919, + 313.18675615296786 + ], + [ + 30.291940673789554, + 390.01955658247454 + ], + [ + 216.53025386317688, + 295.85265011907586 + ], + [ + -7.756538106294556, + -81.15654040415438 + ], + [ + -256.6630117728022, + -31.936158456084172 + ], + [ + -159.5857364420815, + 19.79944863317604 + ], + [ + 104.62256525590215, + -43.18839639228332 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 49.724982413830844, + "ymax": 146.8819615487609 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + -43.28679561042634, + 65.13372364229417 + ], + [ + -186.36613961724413, + 115.34590554368523 + ], + [ + -91.42694983707281, + 146.8819615487609 + ], + [ + 49.724982413830844, + 90.62768226635723 + ], + [ + -148.21988986836436, + -167.32432866603665 + ], + [ + -329.47881968115473, + -138.10268778718927 + ], + [ + -227.35914792966867, + -119.2363968411658 + ], + [ + -46.75308447758687, + -152.61092377032674 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 246.59823213632882, + "ymax": 439.7139010893112 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -9.605396207654167, + 439.7139010893112 + ], + [ + 225.04924343350103, + 407.82309628504163 + ], + [ + 246.59823213632882, + 287.06448603244627 + ], + [ + 49.09294271265935, + 309.95806858192606 + ], + [ + -229.01506510338675, + 54.97212539790621 + ], + [ + 91.95856097018213, + 32.24012429011674 + ], + [ + 144.30002861390386, + -48.8364146006615 + ], + [ + -111.10832386293077, + -34.04337517912609 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 65.6791175075681, + "ymax": 210.68581783858303 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -5.064229504156401, + 114.37742235329816 + ], + [ + -159.2075969506692, + 163.86425535912554 + ], + [ + -93.92103154715937, + 210.68581783858303 + ], + [ + 65.6791175075681, + 153.0041946814545 + ], + [ + -122.6756345003945, + -152.62676407169727 + ], + [ + -321.92379383191235, + -124.21584337153047 + ], + [ + -258.64223238647014, + -96.37758069905897 + ], + [ + -48.53230831978226, + -130.53793378093712 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00014/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00014/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6a116ca43b03191fa5cee77b22bced4716c57500 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00014/meta.json @@ -0,0 +1,3411 @@ +{ + "frame_id": 14, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 7.0, + "sim_timestamp": 9870.767074299976 + }, + "drone_pose": { + "x": -140.97715774877958, + "y": -131.34985654023703, + "z": 20.389315083801513, + "pitch": -41.66190412443553, + "yaw": 42.91117556597815, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5471691489219666, + -0.5086599588394165, + 0.6647337675094604, + 130.3972930908203 + ], + [ + 0.6808637380599976, + 0.7324100732803345, + 0.0, + 0.215728759765625 + ], + [ + -0.48685774207115173, + 0.4525931179523468, + 0.7470803260803223, + -143.31631469726562 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -140.44296016695975, + "y": -130.80707748041615, + "z": 20.222299400777896 + }, + "t1_image_uv": [ + 687.7890959260436, + -178.29807055533286 + ], + "t1_depth": 0.6794073651003639 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -124.66718292236328, + "y": -116.18776321411131, + "z": 0.5749846434596475 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 29.807919143535287, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 174, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -124.66718292236328, + "y": -116.18775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.2385839819908142, + "y": 0.2516113221645355, + "z": 0.518846333026886 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 631.4744366604642, + "ymin": 342.11955182091134, + "xmax": 648.4271968663685, + "ymax": 377.6895012069978 + }, + "corners_3d": [ + [ + -124.65797424316406, + -116.53437805175781, + 0.05613833665847778 + ], + [ + -125.01380157470703, + -116.17855072021484, + 0.05613833665847778 + ], + [ + -124.6763916015625, + -115.84114074707031, + 0.05613833665847778 + ], + [ + -124.32056427001953, + -116.19696807861328, + 0.05613833665847778 + ], + [ + -124.65797424316406, + -116.53437805175781, + 1.0938310623168945 + ], + [ + -125.01380157470703, + -116.17855072021484, + 1.0938310623168945 + ], + [ + -124.6763916015625, + -115.84114074707031, + 1.0938310623168945 + ], + [ + -124.32056427001953, + -116.19696807861328, + 1.0938310623168945 + ] + ], + "corners_2d": [ + [ + 631.6705854412636, + 377.2910231327028 + ], + [ + 647.7762525870099, + 377.6895012069978 + ], + [ + 648.2355013722669, + 367.4467292148685 + ], + [ + 632.3187506509264, + 367.05755669253256 + ], + [ + 631.4744366604642, + 352.2907085958489 + ], + [ + 647.9594607011383, + 352.6868741966828 + ], + [ + 648.4271968663685, + 342.506251877779 + ], + [ + 632.1400389631112, + 342.11955182091134 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 14, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 64, + "semantic_pixel_counts": { + "1": 564279, + "2": 210051, + "3": 69049, + "5": 3288, + "6": 5684, + "7": 936, + "9": 27971, + "10": 5818, + "12": 3291, + "21": 157, + "24": 31076 + }, + "instance_pixel_counts": { + "1115": 3073, + "2978": 15, + "4002": 4, + "6254": 1863, + "10370": 1405, + "11394": 439, + "14416": 88, + "14928": 3200, + "15511": 2887, + "16023": 449, + "16535": 826, + "18011": 12060, + "20119": 12256, + "20631": 9462, + "24064": 1897, + "26560": 8733, + "27072": 1936, + "27584": 1680, + "28608": 4442, + "29843": 17069, + "30144": 68966, + "30355": 76323, + "30656": 40124, + "31168": 1517, + "31488": 2653, + "31813": 5787, + "31891": 354868, + "33883": 1561, + "34120": 31649, + "34453": 2220, + "34907": 2, + "34965": 5263, + "35419": 317, + "35931": 3137, + "36443": 40954, + "36501": 18612, + "43649": 226, + "44171": 529, + "44379": 4, + "44691": 103848, + "44891": 69, + "45203": 4949, + "45707": 187, + "46227": 7222, + "47253": 4111, + "47765": 563, + "48779": 362, + "48789": 307, + "49664": 174, + "49920": 373, + "50176": 388, + "50432": 883, + "50688": 906, + "50944": 567, + "53184": 1013, + "53696": 6, + "55744": 1921, + "56993": 40, + "57173": 27971, + "58529": 25, + "60013": 3292, + "61037": 2790, + "64351": 9293, + "65375": 11813 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 174, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -124.66718292236328, + "y": -116.18775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.25052735209465027, + "y": 0.24580077826976776, + "z": 0.537613034248352 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 631.6441398092604, + "ymin": 341.4108896404427, + "xmax": 648.2543258162241, + "ymax": 378.38601696827845 + }, + "corners_3d": [ + [ + -124.67052459716797, + -116.5387191772461, + 0.03737163543701172 + ], + [ + -125.01814270019531, + -116.19110107421875, + 0.03737163543701172 + ], + [ + -124.6638412475586, + -115.83679962158203, + 0.03737163543701172 + ], + [ + -124.31622314453125, + -116.18441772460938, + 0.03737163543701172 + ], + [ + -124.67052459716797, + -116.5387191772461, + 1.1125977039337158 + ], + [ + -125.01814270019531, + -116.19110107421875, + 1.1125977039337158 + ], + [ + -124.6638412475586, + -115.83679962158203, + 1.1125977039337158 + ], + [ + -124.31622314453125, + -116.18441772460938, + 1.1125977039337158 + ] + ], + "corners_2d": [ + [ + 631.8433151022044, + 377.9964652916816 + ], + [ + 647.5755378340353, + 378.38601696827845 + ], + [ + 648.0599094335267, + 367.6295213887843 + ], + [ + 632.5213244711957, + 367.249512714986 + ], + [ + 631.6441398092604, + 352.09004319654304 + ], + [ + 647.7606069360664, + 352.4772580125139 + ], + [ + 648.2543258162241, + 341.78839139509375 + ], + [ + 632.3410097318475, + 341.4108896404427 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 373, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -120.54119873046875, + "y": -113.19005584716797, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.5165331959724426, + "y": 0.3885791003704071, + "z": 0.9118876457214355 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 608.7236285042085, + "ymin": 232.7402762627661, + "xmax": 635.9748337511994, + "ymax": 294.5646820304248 + }, + "corners_3d": [ + [ + -120.76276397705078, + -113.79727172851562, + -0.3368834853172302 + ], + [ + -121.18603515625, + -113.14549255371094, + -0.3368834853172302 + ], + [ + -120.31963348388672, + -112.58283996582031, + -0.3368834853172302 + ], + [ + -119.8963623046875, + -113.234619140625, + -0.3368834853172302 + ], + [ + -120.76276397705078, + -113.79727172851562, + 1.486891746520996 + ], + [ + -121.18603515625, + -113.14549255371094, + 1.486891746520996 + ], + [ + -120.31963348388672, + -112.58283996582031, + 1.486891746520996 + ], + [ + -119.8963623046875, + -113.234619140625, + 1.486891746520996 + ] + ], + "corners_2d": [ + [ + 614.1975742549495, + 294.5646820304248 + ], + [ + 635.9748337511994, + 292.2372356436685 + ], + [ + 631.1335699326619, + 274.97043294860794 + ], + [ + 609.8218269920648, + 277.19665309348983 + ], + [ + 613.2366828298317, + 251.9483435958947 + ], + [ + 635.8253938856473, + 249.66490886239654 + ], + [ + 630.8118811719555, + 232.7402762627661 + ], + [ + 608.7236285042085, + 234.92083188007172 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 388, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -126.92300415039062, + "y": -109.24504852294922, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.38316404819488525, + "y": 0.3814404308795929, + "z": 0.8894608020782471 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 820.9805395704242, + "ymin": 270.09519839381954, + "xmax": 855.9010841805432, + "ymax": 327.159798973102 + }, + "corners_3d": [ + [ + -126.98072814941406, + -109.7826156616211, + -0.3144761323928833 + ], + [ + -127.46082305908203, + -109.18974304199219, + -0.3144761323928833 + ], + [ + -126.86528015136719, + -108.70748138427734, + -0.3144761323928833 + ], + [ + -126.38518524169922, + -109.30035400390625, + -0.3144761323928833 + ], + [ + -126.98072814941406, + -109.7826156616211, + 1.4644454717636108 + ], + [ + -127.46082305908203, + -109.18974304199219, + 1.4644454717636108 + ], + [ + -126.86528015136719, + -108.70748138427734, + 1.4644454717636108 + ], + [ + -126.38518524169922, + -109.30035400390625, + 1.4644454717636108 + ] + ], + "corners_2d": [ + [ + 825.7210103887222, + 327.159798973102 + ], + [ + 848.0286352594791, + 326.17516954247566 + ], + [ + 842.907660551478, + 311.97682427578434 + ], + [ + 820.9805395704242, + 312.92764602154307 + ], + [ + 832.7580248134985, + 285.0347878071025 + ], + [ + 855.9010841805432, + 284.06530756584453 + ], + [ + 850.4484788538801, + 270.09519839381954 + ], + [ + 827.7146909089925, + 271.0301644702466 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 883, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -134.16717529296875, + "y": -116.18775939941406, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.3952392637729645, + "y": 0.44841307401657104, + "z": 0.8950446844100952 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 867.0733429826125, + "ymin": 505.3706277637678, + "xmax": 919.4821284212519, + "ymax": 574.661925445849 + }, + "corners_3d": [ + [ + -134.12957763671875, + -116.78430938720703, + -0.32005518674850464 + ], + [ + -134.76373291015625, + -116.15016174316406, + -0.32005518674850464 + ], + [ + -134.20477294921875, + -115.5912094116211, + -0.32005518674850464 + ], + [ + -133.57061767578125, + -116.22535705566406, + -0.32005518674850464 + ], + [ + -134.12957763671875, + -116.78430938720703, + 1.470034122467041 + ], + [ + -134.76373291015625, + -116.15016174316406, + 1.470034122467041 + ], + [ + -134.20477294921875, + -115.5912094116211, + 1.470034122467041 + ], + [ + -133.57061767578125, + -116.22535705566406, + 1.470034122467041 + ] + ], + "corners_2d": [ + [ + 871.3408978570865, + 573.614401526653 + ], + [ + 906.1247584034566, + 574.661925445849 + ], + [ + 901.0476994236305, + 549.912964370367 + ], + [ + 867.0733429826125, + 548.9133666263442 + ], + [ + 882.9404411753724, + 530.2273719149189 + ], + [ + 919.4821284212519, + 531.2827737451341 + ], + [ + 913.8319960421613, + 506.3754084605681 + ], + [ + 878.1826450689182, + 505.3706277637678 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 906, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -128.28268432617188, + "y": -127.31512451171875, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.610156238079071, + "y": 0.4560205042362213, + "z": 0.9094399213790894 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 357.5813838874471, + "ymin": 606.8176032717865, + "xmax": 426.656762344514, + "ymax": 701.3363368288944 + }, + "corners_3d": [ + [ + -128.31227111816406, + -128.0762939453125, + -0.3344504237174988 + ], + [ + -129.02105712890625, + -127.5023193359375, + -0.3344504237174988 + ], + [ + -128.2530975341797, + -126.55396270751953, + -0.3344504237174988 + ], + [ + -127.54430389404297, + -127.1279296875, + -0.3344504237174988 + ], + [ + -128.31227111816406, + -128.0762939453125, + 1.4844293594360352 + ], + [ + -129.02105712890625, + -127.5023193359375, + 1.4844293594360352 + ], + [ + -128.2530975341797, + -126.55396270751953, + 1.4844293594360352 + ], + [ + -127.54430389404297, + -127.1279296875, + 1.4844293594360352 + ] + ], + "corners_2d": [ + [ + 372.8452471005744, + 696.2130321239495 + ], + [ + 410.6115955652614, + 701.3363368288944 + ], + [ + 426.656762344514, + 654.7794668570692 + ], + [ + 390.28909027548775, + 650.046237748144 + ], + [ + 357.5813838874471, + 653.7783153615351 + ], + [ + 397.44586510857016, + 659.0025564494888 + ], + [ + 414.91503412909015, + 611.6226727464118 + ], + [ + 376.6055206984915, + 606.8176032717865 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 567, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -113.42184448242188, + "y": -124.35797882080078, + "z": 0.7255070209503174 + }, + "extent": { + "x": 0.4001513719558716, + "y": 0.4544677734375, + "z": 0.862157940864563 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 199.84865239032132, + "ymin": 272.692872324883, + "xmax": 252.80591735830052, + "ymax": 332.5014568399683 + }, + "corners_3d": [ + [ + -113.25863647460938, + -124.94109344482422, + -0.1366509199142456 + ], + [ + -114.02093505859375, + -124.44605255126953, + -0.1366509199142456 + ], + [ + -113.58505249023438, + -123.77486419677734, + -0.1366509199142456 + ], + [ + -112.82275390625, + -124.26990509033203, + -0.1366509199142456 + ], + [ + -113.25863647460938, + -124.94109344482422, + 1.5876649618148804 + ], + [ + -114.02093505859375, + -124.44605255126953, + 1.5876649618148804 + ], + [ + -113.58505249023438, + -123.77486419677734, + 1.5876649618148804 + ], + [ + -112.82275390625, + -124.26990509033203, + 1.5876649618148804 + ] + ], + "corners_2d": [ + [ + 215.57961868569816, + 328.2405783381063 + ], + [ + 239.90683125261558, + 332.5014568399683 + ], + [ + 252.80591735830052, + 317.7440518237725 + ], + [ + 228.84547496071485, + 313.63356161563127 + ], + [ + 199.84865239032132, + 287.073561345516 + ], + [ + 224.99785149153905, + 291.2719875643161 + ], + [ + 238.64459024924838, + 276.73775930481503 + ], + [ + 213.88671285939245, + 272.692872324883 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 795.345116076425, + "ymin": 0.0, + "xmax": 809.5762160195015, + "ymax": 11.065647646179457 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 800.767821284128, + 11.065647646179457 + ], + [ + 806.9889619293672, + 8.492431036573123 + ], + [ + 801.5689997778891, + 6.491416188595224 + ], + [ + 795.345116076425, + 9.044135058231745 + ], + [ + 803.2716371314007, + -11.171974014186901 + ], + [ + 809.5762160195015, + -13.67004896479159 + ], + [ + 804.0621607239593, + -15.612357412654717 + ], + [ + 797.7546480688626, + -13.134488873086923 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 911.766913696853, + "ymin": 26.12276005192598, + "xmax": 929.0653711163692, + "ymax": 54.83048417822016 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 918.1675209511627, + 54.83048417822016 + ], + [ + 924.2751406057705, + 51.79351559864773 + ], + [ + 917.8833883787478, + 49.43372307571377 + ], + [ + 911.766913696853, + 52.4444236084708 + ], + [ + 922.881348611681, + 31.37563383578157 + ], + [ + 929.0653711163692, + 28.419420990681203 + ], + [ + 922.5453354370337, + 26.12276005192598 + ], + [ + 916.3519237116992, + 29.052974108968726 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 704.7187718953473, + "ymin": 19.898257726936322, + "xmax": 716.2358465909117, + "ymax": 43.41932588241582 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 709.246180147843, + 43.41932588241582 + ], + [ + 715.2020517998196, + 40.980787427663586 + ], + [ + 710.6738668084599, + 39.07230571100354 + ], + [ + 704.7187718953473, + 41.49344342824264 + ], + [ + 710.2024976199704, + 24.146849736566764 + ], + [ + 716.2358465909117, + 21.763409474768196 + ], + [ + 711.6419009708935, + 19.898257726936322 + ], + [ + 705.6093181161931, + 22.264457347015934 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 856.4522705915549, + "ymin": 6.284332865116426, + "xmax": 872.2563800124245, + "ymax": 34.03314649745033 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 862.3781107135609, + 34.03314649745033 + ], + [ + 868.5525783782268, + 31.221318649890463 + ], + [ + 862.6324661484059, + 29.035651639220248 + ], + [ + 856.4522705915549, + 31.824071885800038 + ], + [ + 866.0014526852673, + 11.14240684193311 + ], + [ + 872.2563800124245, + 8.408839532269042 + ], + [ + 866.2250788298984, + 6.284332865116426 + ], + [ + 859.9640704530918, + 8.994776639082431 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11529003171770300666, + "instance_id": 64120, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.25050354003906, + "y": -128.95399475097656, + "z": 3.0800981521606445 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 35.97436296397825, + "ymin": 286.3796090692093, + "xmax": 65.14875925021511, + "ymax": 319.7847378818785 + }, + "corners_3d": [ + [ + -113.11116790771484, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -128.7640380859375, + 3.5146679878234863 + ], + [ + -113.11116790771484, + -128.7640380859375, + 3.5146679878234863 + ] + ], + "corners_2d": [ + [ + 48.364975878358905, + 315.3779524887839 + ], + [ + 51.64697510760743, + 319.7847378818785 + ], + [ + 65.14875925021511, + 314.20784944363766 + ], + [ + 61.816525845126876, + 309.86108189337057 + ], + [ + 35.97436296397825, + 291.8475296920522 + ], + [ + 39.25661147401388, + 296.2163360544338 + ], + [ + 53.127413771872966, + 290.6876783070886 + ], + [ + 49.79186258770528, + 286.3796090692093 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 843.6204225292777, + "ymin": 0.0, + "xmax": 1019.990423943683, + "ymax": 36.94489937425283 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 981.4797979815933, + -21.27356351633 + ], + [ + 974.9785580496325, + -23.303025464226835 + ], + [ + 843.6204225292777, + 34.38635174067622 + ], + [ + 850.2861689302508, + 36.94489937425283 + ], + [ + 1019.990423943683, + -185.9483601041968 + ], + [ + 1012.5756871613878, + -187.4195969842939 + ], + [ + 869.6318310084998, + -145.03572211438166 + ], + [ + 877.2958218461373, + -143.12859256452316 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2334590930876643410, + "instance_id": 21048, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -123.8453369140625, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 218.11053512062216, + "ymin": 139.94008266741938, + "xmax": 236.8026390450682, + "ymax": 153.07593442499345 + }, + "corners_3d": [ + [ + -116.6200942993164, + -123.69747161865234, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.69747161865234, + 7.743301868438721 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 229.86418248148112, + 143.61248417774556 + ], + [ + 219.31029619524958, + 147.3678696311186 + ], + [ + 226.19606950077394, + 153.07593442499345 + ], + [ + 236.8026390450682, + 149.2536253987567 + ], + [ + 228.7013860759198, + 139.94008266741938 + ], + [ + 218.11053512062216, + 143.6844930896384 + ], + [ + 225.00541580866894, + 149.3761156203689 + ], + [ + 235.64937465319701, + 145.56478492808242 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3639812104533344102, + "instance_id": 26239, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -123.8453369140625, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 218.2104790609195, + "ymin": 140.00950187856571, + "xmax": 236.703316119619, + "ymax": 153.0056682253325 + }, + "corners_3d": [ + [ + -116.62229919433594, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.69904327392578, + 7.742714881896973 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 229.83914137276952, + 143.64298597612606 + ], + [ + 219.39723436045983, + 147.35865166681685 + ], + [ + 226.20983618309106, + 153.0056682253325 + ], + [ + 236.703316119619, + 149.22449505093914 + ], + [ + 228.68857009268987, + 140.00950187856571 + ], + [ + 218.2104790609195, + 143.71442494179314 + ], + [ + 225.03199687821382, + 149.3453468712596 + ], + [ + 235.56207207163908, + 145.57491952288086 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5736675163518273754, + "instance_id": 55816, + "pixel_count": null, + "type_id": "AmericanLights_Town04_21_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1256.4570452742678, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 148.7738469423144 + }, + "corners_3d": [ + [ + -140.57330322265625, + -78.3179702758789, + 0.0 + ], + [ + -140.5771484375, + -77.8851547241211, + 0.0 + ], + [ + -128.5230712890625, + -77.77800750732422, + 0.0 + ], + [ + -128.51922607421875, + -78.21082305908203, + 0.0 + ], + [ + -140.57330322265625, + -78.3179702758789, + 8.446706771850586 + ], + [ + -140.5771484375, + -77.8851547241211, + 8.446706771850586 + ], + [ + -128.5230712890625, + -77.77800750732422, + 8.446706771850586 + ], + [ + -128.51922607421875, + -78.21082305908203, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1548.559620408855, + 148.7738469423144 + ], + [ + 1551.2133875709053, + 145.3516791598149 + ], + [ + 1260.0777963950773, + 56.03650837028539 + ], + [ + 1256.4570452742678, + 58.567676339359934 + ], + [ + 1693.7543270653978, + -57.4018915109736 + ], + [ + 1695.9340285794494, + -60.095909451075954 + ], + [ + 1342.9675865194536, + -128.8229429021058 + ], + [ + 1339.2928553143602, + -126.9163283292952 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5944504550537153523, + "instance_id": 62411, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_1", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88526153564453, + "z": 3.6450090408325195 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 71.47683129001632, + "xmax": 43.1884342486843, + "ymax": 114.0062880475081 + }, + "corners_3d": [ + [ + -100.3021469116211, + -126.97334289550781, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -126.97334289550781, + 3.8072457313537598 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.8072457313537598 + ] + ], + "corners_2d": [ + [ + -18.14049270825717, + 114.0062880475081 + ], + [ + 43.1884342486843, + 95.72585559897306 + ], + [ + 26.50609877027341, + 79.26214958126525 + ], + [ + -33.561789355861606, + 96.52152659464713 + ], + [ + -22.138665336981376, + 105.9574760164889 + ], + [ + 39.672448211169126, + 87.81269564843211 + ], + [ + 22.993279880736964, + 71.47683129001632 + ], + [ + -37.535315667593295, + 88.60232597835949 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6519504943767973976, + "instance_id": 22640, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_0", + "bbox_3d": { + "center_world": { + "x": -94.53499603271484, + "y": -125.88525390625, + "z": 3.6439085006713867 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 34.58457802511282, + "xmax": 3.4530582951094857, + "ymax": 72.41328282643866 + }, + "corners_3d": [ + [ + -95.50235748291016, + -126.97452545166016, + 3.480583429336548 + ], + [ + -95.50236511230469, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -93.56763458251953, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -93.567626953125, + -126.97452545166016, + 3.480583429336548 + ], + [ + -95.50235748291016, + -126.97452545166016, + 3.807230234146118 + ], + [ + -95.50236511230469, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -93.56763458251953, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -93.567626953125, + -126.97452545166016, + 3.807230234146118 + ] + ], + "corners_2d": [ + [ + -54.88530097501416, + 72.41328282643866 + ], + [ + 3.4530582951094857, + 56.50010158007893 + ], + [ + -11.127684658571411, + 42.11098043957048 + ], + [ + -68.30884427912542, + 57.19203472787433 + ], + [ + -58.84229345255574, + 64.63175109500281 + ], + [ + -0.0693624591402795, + 48.85026812753665 + ], + [ + -14.63613528822259, + 34.58457802511282 + ], + [ + -72.23332084737831, + 49.53637129654982 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6967274615413648305, + "instance_id": 45483, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_2", + "bbox_3d": { + "center_world": { + "x": -99.33560943603516, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 44.198686639794005, + "xmax": 78.78278306638958, + "ymax": 191.65438630455765 + }, + "corners_3d": [ + [ + -100.3640365600586, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -127.03557586669922, + 4.877264976501465 + ], + [ + -100.3640365600586, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + 18.680628051225767, + 191.65438630455765 + ], + [ + 78.78278306638958, + 171.08128119654623 + ], + [ + 61.024311617865806, + 152.42786171902142 + ], + [ + 2.1246596072911643, + 171.84660259475703 + ], + [ + -37.04449381189488, + 79.78882121890427 + ], + [ + 30.089018826262077, + 61.07748037771347 + ], + [ + 12.316766544555321, + 44.198686639794005 + ], + [ + -53.289512830190006, + 61.771745619643184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8232706723728016641, + "instance_id": 325, + "pixel_count": null, + "type_id": "BP_StreetLight_wall40_71_SM_0", + "bbox_3d": { + "center_world": { + "x": -140.893310546875, + "y": -111.95197296142578, + "z": 4.334987163543701 + }, + "extent": { + "x": 0.11768747121095657, + "y": 1.147606611251831, + "z": 0.41115570068359375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1235.1285535735205, + "ymin": 463.0692625360133, + "xmax": 1280.0, + "ymax": 554.7996500150244 + }, + "corners_3d": [ + [ + -142.04092407226562, + -111.83428192138672, + 3.9238314628601074 + ], + [ + -139.74569702148438, + -111.83428955078125, + 3.9238314628601074 + ], + [ + -139.74569702148438, + -112.06966400146484, + 3.9238314628601074 + ], + [ + -142.04092407226562, + -112.06965637207031, + 3.9238314628601074 + ], + [ + -142.04092407226562, + -111.83428192138672, + 4.746142864227295 + ], + [ + -139.74569702148438, + -111.83428955078125, + 4.746142864227295 + ], + [ + -139.74569702148438, + -112.06966400146484, + 4.746142864227295 + ], + [ + -142.04092407226562, + -112.06965637207031, + 4.746142864227295 + ] + ], + "corners_2d": [ + [ + 1350.5496606113916, + 548.6098590718198 + ], + [ + 1239.5026337437773, + 487.82678632092905 + ], + [ + 1235.1285535735205, + 493.3141198375037 + ], + [ + 1346.5623830738155, + 554.7996500150244 + ], + [ + 1370.2221488793289, + 523.9603624427181 + ], + [ + 1255.107981864514, + 463.0692625360133 + ], + [ + 1250.7088726109, + 468.5582899733115 + ], + [ + 1366.2438290023006, + 530.1721819023455 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9919303964700251881, + "instance_id": 59670, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_Poles_4", + "bbox_3d": { + "center_world": { + "x": -112.9144515991211, + "y": -134.7008514404297, + "z": 4.223348617553711 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 125.99343346182135, + "xmax": 99.31686336018731, + "ymax": 595.3069141742109 + }, + "corners_3d": [ + [ + -113.18444061279297, + -128.6757354736328, + -4.76837158203125e-06 + ], + [ + -112.75162506103516, + -128.67189025878906, + -4.76837158203125e-06 + ], + [ + -112.64446258544922, + -140.72596740722656, + -4.76837158203125e-06 + ], + [ + -113.07727813720703, + -140.7298126220703, + -4.76837158203125e-06 + ], + [ + -113.18444061279297, + -128.6757354736328, + 8.446702003479004 + ], + [ + -112.75162506103516, + -128.67189025878906, + 8.446702003479004 + ], + [ + -112.64446258544922, + -140.72596740722656, + 8.446702003479004 + ], + [ + -113.07727813720703, + -140.7298126220703, + 8.446702003479004 + ] + ], + "corners_2d": [ + [ + 99.31686336018731, + 375.6511651959065 + ], + [ + 94.34010394963377, + 368.80992138634593 + ], + [ + -393.95039671530367, + 584.5955058614243 + ], + [ + -392.5652060083137, + 595.3069141742109 + ], + [ + -24.56339534589017, + 132.03621615074317 + ], + [ + -29.474021353968396, + 125.99343346182135 + ], + [ + -704.8640110682288, + 327.69506562466216 + ], + [ + -707.0843469537288, + 338.3413771178564 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14081937874569997388, + "instance_id": 19500, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_0", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88525390625, + "z": 3.6439085006713867 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 71.45828305932707, + "xmax": 43.255564707246435, + "ymax": 114.08149861403464 + }, + "corners_3d": [ + [ + -100.30333709716797, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.30333709716797, + -126.97452545166016, + 3.807230234146118 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.807230234146118 + ] + ], + "corners_2d": [ + [ + -18.138307863286173, + 114.08149861403464 + ], + [ + 43.255564707246435, + 95.77951884156477 + ], + [ + 26.551730618573856, + 79.29520847573497 + ], + [ + -33.57830984998259, + 96.573744099632 + ], + [ + -22.163344625324385, + 105.97903885943145 + ], + [ + 39.71646156838972, + 87.813753225153 + ], + [ + 23.015803085843572, + 71.45828305932707 + ], + [ + -37.57849950266689, + 88.6019093334753 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14132762880190184296, + "instance_id": 26875, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_1", + "bbox_3d": { + "center_world": { + "x": -94.53499603271484, + "y": -125.88526153564453, + "z": 3.6450090408325195 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 34.60075404900948, + "xmax": 3.388974471391407, + "ymax": 72.34300722497863 + }, + "corners_3d": [ + [ + -95.50116729736328, + -126.97334289550781, + 3.4827687740325928 + ], + [ + -95.50116729736328, + -124.79718780517578, + 3.4827723503112793 + ], + [ + -93.5688247680664, + -124.79718017578125, + 3.4827723503112793 + ], + [ + -93.5688247680664, + -126.97333526611328, + 3.4827687740325928 + ], + [ + -95.50116729736328, + -126.97334289550781, + 3.8072457313537598 + ], + [ + -95.50116729736328, + -124.79718780517578, + 3.8072493076324463 + ], + [ + -93.5688247680664, + -124.79718017578125, + 3.8072493076324463 + ], + [ + -93.5688247680664, + -126.97333526611328, + 3.8072457313537598 + ] + ], + "corners_2d": [ + [ + -54.887527726389635, + 72.34300722497863 + ], + [ + 3.388974471391407, + 56.448607003421216 + ], + [ + -11.172881194955607, + 42.07757474232477 + ], + [ + -68.29474955909495, + 57.14179653453482 + ], + [ + -58.818119238743634, + 64.61302095843212 + ], + [ + -0.11039699316688711, + 48.849312916361555 + ], + [ + -14.658377754579192, + 34.60075404900948 + ], + [ + -72.19308506169136, + 49.536699893740774 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 669.7197170158747, + "ymin": 0.0, + "xmax": 754.7130280662855, + "ymax": 147.85518746478803 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 676.776064560547, + 113.05769987528114 + ], + [ + 669.7197170158747, + 116.24229942504422 + ], + [ + 733.1236837447154, + 147.85518746478803 + ], + [ + 740.1956467033713, + 144.33314916169516 + ], + [ + 681.8078539500655, + -68.35048738121179 + ], + [ + 673.810300469859, + -65.80987983077011 + ], + [ + 746.7016829817225, + -40.39047203418954 + ], + [ + 754.7130280662855, + -43.240537662979534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 162.28919100420848, + "ymin": 91.86380824257418, + "xmax": 306.28024545584395, + "ymax": 366.75662656468876 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 250.76398552928242, + 305.32117137917123 + ], + [ + 238.5115928885789, + 310.85079755476494 + ], + [ + 293.58761522680453, + 366.75662656468876 + ], + [ + 306.28024545584395, + 360.435336408756 + ], + [ + 177.47085104616167, + 91.86380824257418 + ], + [ + 162.28919100420848, + 96.68661314488423 + ], + [ + 222.31454914783535, + 146.16218929100103 + ], + [ + 238.22558223763957, + 140.50178045214412 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16194625468754558244, + "instance_id": 9469, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.53463745117188, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 8.529738210433209, + "xmax": 38.82680981130011, + "ymax": 147.13573769395515 + }, + "corners_3d": [ + [ + -95.56306457519531, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -127.03557586669922, + 4.877264976501465 + ], + [ + -95.56306457519531, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + -18.529458264441473, + 147.13573769395515 + ], + [ + 38.82680981130011, + 129.11170448379903 + ], + [ + 23.210692043118797, + 112.70860378987467 + ], + [ + -33.03303797423564, + 129.78345951812267 + ], + [ + -73.43840851670132, + 39.42494649206651 + ], + [ + -9.777025835922927, + 23.21560815500561 + ], + [ + -25.24027455404166, + 8.529738210433209 + ], + [ + -87.51001159767964, + 23.81836971753279 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 695.2434868572794, + "ymin": 0.0, + "xmax": 967.8119311490941, + "ymax": 202.74699678864667 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 701.8735522714641, + 95.08997837004938 + ], + [ + 695.2434868572794, + 97.9941596631989 + ], + [ + 912.5913174518108, + 202.74699678864667 + ], + [ + 919.1340458255569, + 198.7279616026956 + ], + [ + 710.8164993117887, + -99.1422043423591 + ], + [ + 703.2732231614502, + -96.91228808000022 + ], + [ + 960.4523583441952, + -14.29847364989314 + ], + [ + 967.8119311490941, + -17.548461663379896 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 216.54059533974953, + "ymax": 342.49160836973334 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 113.66642884536554, + 183.58087374767544 + ], + [ + -66.57249027418925, + 263.0831538215765 + ], + [ + 30.73430661153145, + 342.49160836973334 + ], + [ + 216.54059533974953, + 246.49848355002644 + ], + [ + -24.76975952458656, + -146.59927380477234 + ], + [ + -280.82473808473196, + -93.46414295201674 + ], + [ + -180.08817489581043, + -36.903732063041275 + ], + [ + 91.7767249234156, + -104.82587428365156 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 43.16797385525592, + "ymax": 90.49582390185282 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + -52.2645961742146, + 4.588964037369635 + ], + [ + -196.23584242024003, + 57.04741960157145 + ], + [ + -98.89319856166662, + 90.49582390185282 + ], + [ + 43.16797385525592, + 31.816773236037136 + ], + [ + -170.98674830559298, + -241.3969277927157 + ], + [ + -357.6436176086553, + -209.6782913371478 + ], + [ + -251.9589434632312, + -188.83837495321438 + ], + [ + -65.7953231711349, + -225.0779964964138 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 246.82307757125045, + "ymax": 393.0309601324138 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -8.047962505822852, + 393.0309601324138 + ], + [ + 226.7297612887789, + 361.74083804033455 + ], + [ + 246.82307757125045, + 237.54179785860714 + ], + [ + 47.79671627268408, + 260.2892917082677 + ], + [ + -250.91177180529326, + 1.069955554262151 + ], + [ + 79.26301918129616, + -22.629130974124507 + ], + [ + 132.7884325984689, + -110.89974977460156 + ], + [ + -130.91319516530245, + -95.38870369635828 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 61.04868361212027, + "ymax": 156.7657807590991 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -11.783774619691258, + 56.34083388269772 + ], + [ + -166.72634960503547, + 107.66423826568379 + ], + [ + -99.19077541411605, + 156.7657807590991 + ], + [ + 61.04868361212027, + 97.14124714231565 + ], + [ + -144.47985753646424, + -225.1380202540106 + ], + [ + -349.75240443822656, + -194.36530879812415 + ], + [ + -283.99741748487895, + -163.78925663534574 + ], + [ + -67.49442901256634, + -200.77138704636445 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00015/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00015/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2c9fa6bfda566eaf4de2e5284d0268f010d51843 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00015/meta.json @@ -0,0 +1,3738 @@ +{ + "frame_id": 15, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 7.5, + "sim_timestamp": 9885.334197631106 + }, + "drone_pose": { + "x": -140.44296016695975, + "y": -130.80707748041615, + "z": 20.222299400777896, + "pitch": -38.632761887684886, + "yaw": 47.890418535189184, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5238097310066223, + -0.5795169472694397, + 0.6243264079093933, + 136.74501037597656 + ], + [ + 0.7418637871742249, + 0.6705506443977356, + 0.0, + -16.47675323486328 + ], + [ + -0.41864246129989624, + 0.46316513419151306, + 0.7811635732650757, + -135.17758178710938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -139.89341693767798, + "y": -130.17085394051975, + "z": 20.14788628655957 + }, + "t1_image_uv": [ + 665.855142972838, + -277.17629253313214 + ], + "t1_depth": 0.7030165138023318 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -124.16718292236328, + "y": -115.68776321411131, + "z": 0.5749846434596475 + }, + "image_uv": [ + 577.1077173326792, + 409.74158609517497 + ], + "depth": 29.553646968437427, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 182, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -124.16718292236328, + "y": -115.68775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.2605859339237213, + "y": 0.24956542253494263, + "z": 0.5422683954238892 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 568.0958948731356, + "ymin": 390.5781521560016, + "xmax": 585.8967437937108, + "ymax": 428.74293089945866 + }, + "corners_3d": [ + [ + -124.17497253417969, + -116.04849243164062, + 0.03271627426147461 + ], + [ + -124.52791595458984, + -115.69554901123047, + 0.03271627426147461 + ], + [ + -124.15939331054688, + -115.3270263671875, + 0.03271627426147461 + ], + [ + -123.80644989013672, + -115.67996978759766, + 0.03271627426147461 + ], + [ + -124.17497253417969, + -116.04849243164062, + 1.117253065109253 + ], + [ + -124.52791595458984, + -115.69554901123047, + 1.117253065109253 + ], + [ + -124.15939331054688, + -115.3270263671875, + 1.117253065109253 + ], + [ + -123.80644989013672, + -115.67996978759766, + 1.117253065109253 + ] + ], + "corners_2d": [ + [ + 569.7363311294705, + 428.74293089945866 + ], + [ + 585.8967437937108, + 428.1894733073825 + ], + [ + 585.7894267599869, + 416.9059803292074 + ], + [ + 569.8473481993923, + 417.4445841261996 + ], + [ + 568.0958948731356, + 402.3044997199612 + ], + [ + 584.6344582276105, + 401.7560407981464 + ], + [ + 584.5421125859419, + 390.5781521560016 + ], + [ + 568.2321485706246, + 391.11155500229944 + ] + ], + "center_offset_px": [ + -62.89228266732084, + 49.741586095174966 + ] + }, + "trace_timestep_index": 15, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 76, + "semantic_pixel_counts": { + "1": 542069, + "2": 209229, + "3": 112033, + "4": 666, + "5": 2988, + "6": 6255, + "7": 869, + "9": 8316, + "10": 4192, + "12": 2398, + "14": 2675, + "16": 260, + "21": 102, + "24": 29548 + }, + "instance_pixel_counts": { + "1115": 3181, + "6254": 855, + "10370": 1588, + "11394": 849, + "14416": 74, + "14928": 2914, + "15511": 1199, + "16023": 445, + "16535": 785, + "17232": 666, + "18011": 22032, + "20119": 10115, + "20631": 10423, + "23808": 154, + "24064": 3000, + "24320": 1075, + "24576": 7, + "26560": 2355, + "27072": 1922, + "27584": 4768, + "29843": 16490, + "30144": 61264, + "30355": 27107, + "30656": 44573, + "31168": 1514, + "31813": 4115, + "31891": 340644, + "33883": 3184, + "34120": 34867, + "34453": 2142, + "34907": 178, + "34965": 3407, + "35419": 1984, + "35931": 8020, + "36443": 65921, + "36501": 17430, + "43649": 451, + "44171": 520, + "44179": 1374, + "44691": 118805, + "44891": 91, + "45203": 21863, + "45707": 704, + "46227": 15786, + "46731": 786, + "46741": 47, + "47253": 4687, + "47765": 1206, + "48267": 599, + "48779": 360, + "48789": 629, + "49664": 182, + "49803": 846, + "49920": 381, + "50176": 367, + "50432": 788, + "50688": 205, + "50944": 475, + "52736": 260, + "53184": 994, + "53248": 286, + "53696": 1106, + "53760": 28, + "54016": 552, + "54720": 1417, + "55232": 1838, + "55552": 1809, + "55744": 1902, + "56135": 38, + "56768": 2199, + "56993": 11, + "57173": 8316, + "60013": 3639, + "61037": 3039, + "64351": 5923, + "65375": 15805 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 182, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -124.16718292236328, + "y": -115.68775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.2400781214237213, + "y": 0.2539990246295929, + "z": 0.5561518669128418 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 567.9330256793914, + "ymin": 390.66242919080105, + "xmax": 586.0514301919884, + "ymax": 428.62803687880535 + }, + "corners_3d": [ + [ + -124.15734100341797, + -116.03712463378906, + 0.018832802772521973 + ], + [ + -124.51654815673828, + -115.67791748046875, + 0.018832802772521973 + ], + [ + -124.1770248413086, + -115.33839416503906, + 0.018832802772521973 + ], + [ + -123.81781768798828, + -115.69760131835938, + 0.018832802772521973 + ], + [ + -124.15734100341797, + -116.03712463378906, + 1.1311365365982056 + ], + [ + -124.51654815673828, + -115.67791748046875, + 1.1311365365982056 + ], + [ + -124.1770248413086, + -115.33839416503906, + 1.1311365365982056 + ], + [ + -123.81781768798828, + -115.69760131835938, + 1.1311365365982056 + ] + ], + "corners_2d": [ + [ + 569.6178818611468, + 428.62803687880535 + ], + [ + 586.0514301919884, + 428.06530508731083 + ], + [ + 585.9506092681399, + 417.66879274822884 + ], + [ + 569.7216636452403, + 418.2175994677224 + ], + [ + 567.9330256793914, + 401.51665160886114 + ], + [ + 584.7608619700711, + 400.9591464977798 + ], + [ + 584.6741018225707, + 390.66242919080105 + ], + [ + 568.0607399653395, + 391.2058147258099 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 381, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -120.04119873046875, + "y": -112.69005584716797, + "z": 0.5749455690383911 + }, + "extent": { + "x": 0.3606542944908142, + "y": 0.36388182640075684, + "z": 0.8841104507446289 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 540.4804731704307, + "ymin": 286.3359766530041, + "xmax": 567.7944172283322, + "ymax": 342.379405701662 + }, + "corners_3d": [ + [ + -120.1454849243164, + -113.19165802001953, + -0.3091648817062378 + ], + [ + -120.54185485839844, + -112.58130645751953, + -0.3091648817062378 + ], + [ + -119.9369125366211, + -112.1884536743164, + -0.3091648817062378 + ], + [ + -119.54054260253906, + -112.7988052368164, + -0.3091648817062378 + ], + [ + -120.1454849243164, + -113.19165802001953, + 1.45905601978302 + ], + [ + -120.54185485839844, + -112.58130645751953, + 1.45905601978302 + ], + [ + -119.9369125366211, + -112.1884536743164, + 1.45905601978302 + ], + [ + -119.54054260253906, + -112.7988052368164, + 1.45905601978302 + ] + ], + "corners_2d": [ + [ + 547.4211494675808, + 342.379405701662 + ], + [ + 567.7944172283322, + 339.13987682811165 + ], + [ + 563.7587155296417, + 327.3072817605075 + ], + [ + 543.6925666924603, + 330.4446967190126 + ], + [ + 544.2817654322093, + 301.0500269188266 + ], + [ + 565.3568368527781, + 297.8857681200682 + ], + [ + 561.227051895559, + 286.3359766530041 + ], + [ + 540.4804731704307, + 289.397202275013 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 367, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -126.42300415039062, + "y": -108.74504852294922, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.29298830032348633, + "y": 0.4003955125808716, + "z": 0.8659130930900574 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 754.570352519782, + "ymin": 311.12590411707646, + "xmax": 786.4888449252705, + "ymax": 364.5802767102867 + }, + "corners_3d": [ + [ + -126.39871978759766, + -109.2406005859375, + -0.2909284234046936 + ], + [ + -126.90267944335938, + -108.6182632446289, + -0.2909284234046936 + ], + [ + -126.4472885131836, + -108.24949645996094, + -0.2909284234046936 + ], + [ + -125.94332885742188, + -108.87183380126953, + -0.2909284234046936 + ], + [ + -126.39871978759766, + -109.2406005859375, + 1.4408977031707764 + ], + [ + -126.90267944335938, + -108.6182632446289, + 1.4408977031707764 + ], + [ + -126.4472885131836, + -108.24949645996094, + 1.4408977031707764 + ], + [ + -125.94332885742188, + -108.87183380126953, + 1.4408977031707764 + ] + ], + "corners_2d": [ + [ + 758.818539843918, + 364.5802767102867 + ], + [ + 781.6538112419989, + 362.3024348405122 + ], + [ + 777.1070307088995, + 351.82294455458725 + ], + [ + 754.570352519782, + 354.039082391253 + ], + [ + 762.8865582817716, + 323.6126279706023 + ], + [ + 786.4888449252705, + 321.3820673517288 + ], + [ + 781.7209978986452, + 311.12590411707646 + ], + [ + 758.4375448701823, + 313.29401949422277 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 788, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -133.66717529296875, + "y": -115.68775939941406, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.3745459020137787, + "y": 0.426826149225235, + "z": 0.8646777272224426 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 816.4184817599075, + "ymin": 540.8266401522385, + "xmax": 864.4931247385957, + "ymax": 608.8521055479348 + }, + "corners_3d": [ + [ + -133.6302032470703, + -116.2544174194336, + -0.28968822956085205 + ], + [ + -134.23382568359375, + -115.65079498291016, + -0.28968822956085205 + ], + [ + -133.7041473388672, + -115.12110137939453, + -0.28968822956085205 + ], + [ + -133.10052490234375, + -115.72472381591797, + -0.28968822956085205 + ], + [ + -133.6302032470703, + -116.2544174194336, + 1.4396672248840332 + ], + [ + -134.23382568359375, + -115.65079498291016, + 1.4396672248840332 + ], + [ + -133.7041473388672, + -115.12110137939453, + 1.4396672248840332 + ], + [ + -133.10052490234375, + -115.72472381591797, + 1.4396672248840332 + ] + ], + "corners_2d": [ + [ + 822.0357283221186, + 608.8521055479348 + ], + [ + 854.7361734652518, + 607.4766968171098 + ], + [ + 848.3747447263552, + 584.153313742273 + ], + [ + 816.4184817599075, + 585.4661813976339 + ], + [ + 830.3185930812172, + 565.52075785726 + ], + [ + 864.4931247385957, + 564.1441732706056 + ], + [ + 857.6153844230838, + 540.8266401522385 + ], + [ + 824.2528011309453, + 542.1378861915489 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 205, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -127.78268432617188, + "y": -126.81512451171875, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.4240087866783142, + "y": 0.5494140386581421, + "z": 0.8917915225028992 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 296.1905583840054, + "ymin": 689.883002273109, + "xmax": 372.82502594942616, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -127.62254333496094, + -127.49040222167969, + -0.3168020248413086 + ], + [ + -128.47650146484375, + -126.79888153076172, + -0.3168020248413086 + ], + [ + -127.94282531738281, + -126.13984680175781, + -0.3168020248413086 + ], + [ + -127.08887481689453, + -126.83136749267578, + -0.3168020248413086 + ], + [ + -127.62254333496094, + -127.49040222167969, + 1.4667810201644897 + ], + [ + -128.47650146484375, + -126.79888153076172, + 1.4667810201644897 + ], + [ + -127.94282531738281, + -126.13984680175781, + 1.4667810201644897 + ], + [ + -127.08887481689453, + -126.83136749267578, + 1.4667810201644897 + ] + ], + "corners_2d": [ + [ + 314.02996089930656, + 768.907666704946 + ], + [ + 362.50991508460265, + 771.4651704349814 + ], + [ + 372.82502594942616, + 736.1461901815214 + ], + [ + 325.773134191157, + 733.7397048895915 + ], + [ + 296.1905583840054, + 725.5498702902735 + ], + [ + 347.28884806885117, + 728.1482093488574 + ], + [ + 358.63222424298567, + 692.319912072243 + ], + [ + 309.11784758235507, + 689.883002273109 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 475, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -112.92184448242188, + "y": -123.85797882080078, + "z": 0.7250138521194458 + }, + "extent": { + "x": 0.4746337831020355, + "y": 0.43104490637779236, + "z": 0.9044446349143982 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 115.16507114505282, + "ymin": 342.6327874046575, + "xmax": 174.9394994678981, + "ymax": 407.817564521196 + }, + "corners_3d": [ + [ + -112.81884765625, + -124.49080657958984, + -0.1794307827949524 + ], + [ + -113.54185485839844, + -124.02127838134766, + -0.1794307827949524 + ], + [ + -113.02484130859375, + -123.22515106201172, + -0.1794307827949524 + ], + [ + -112.30183410644531, + -123.6946792602539, + -0.1794307827949524 + ], + [ + -112.81884765625, + -124.49080657958984, + 1.6294584274291992 + ], + [ + -113.54185485839844, + -124.02127838134766, + 1.6294584274291992 + ], + [ + -113.02484130859375, + -123.22515106201172, + 1.6294584274291992 + ], + [ + -112.30183410644531, + -123.6946792602539, + 1.6294584274291992 + ] + ], + "corners_2d": [ + [ + 134.36699984216767, + 405.0022346321926 + ], + [ + 159.17957232770152, + 407.817564521196 + ], + [ + 174.9394994678981, + 388.86780093212377 + ], + [ + 150.64867625626266, + 386.1816414390186 + ], + [ + 115.16507114505282, + 361.0958916656036 + ], + [ + 140.85422545180063, + 363.8605397345072 + ], + [ + 157.64221569241676, + 345.2659381765727 + ], + [ + 132.51161499384904, + 342.6327874046575 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 260, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 541.1420511473139, + "ymin": 0.0, + "xmax": 706.1856088255456, + "ymax": 19.88264998680029 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 662.0557658053606, + 19.88264998680029 + ], + [ + 703.2795261894879, + 3.759472480367208 + ], + [ + 587.1683466007863, + -29.877113151208505 + ], + [ + 545.2705693097337, + -16.32840763731872 + ], + [ + 663.1102999083834, + -53.809262196442205 + ], + [ + 706.1856088255456, + -67.76350650861531 + ], + [ + 584.9489786901556, + -96.71395729109327 + ], + [ + 541.1420511473139, + -85.07892622772891 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 208, + "instance_id": 53248, + "pixel_count": 286, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -128.2843017578125, + "y": -58.79532241821289, + "z": 0.7657890915870667 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 1232.269541536927, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 15.509336870026402 + }, + "corners_3d": [ + [ + -127.32632446289062, + -61.2927131652832, + -0.0015733742620795965 + ], + [ + -129.20790100097656, + -61.30563735961914, + -0.0015733742620795965 + ], + [ + -129.24229431152344, + -56.29792785644531, + -0.0015733742620795965 + ], + [ + -127.3607177734375, + -56.285003662109375, + -0.0015733742620795965 + ], + [ + -127.32632446289062, + -61.2927131652832, + 1.533151626586914 + ], + [ + -129.20790100097656, + -61.30563735961914, + 1.533151626586914 + ], + [ + -129.24229431152344, + -56.29792785644531, + 1.533151626586914 + ], + [ + -127.3607177734375, + -56.285003662109375, + 1.533151626586914 + ] + ], + "corners_2d": [ + [ + 1232.269541536927, + 8.486447843099086 + ], + [ + 1264.9270439374072, + 15.509336870026402 + ], + [ + 1288.3699879610936, + -4.260761842626437 + ], + [ + 1256.8439619771104, + -10.647138126381606 + ], + [ + 1241.9169523531164, + -16.804905389520684 + ], + [ + 1275.2812115932368, + -10.099966138033494 + ], + [ + 1298.6022819683933, + -28.965583882442672 + ], + [ + 1266.4220614231115, + -35.053543046246716 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 210, + "instance_id": 53760, + "pixel_count": 28, + "type_id": "vehicle.dodge.charger_police", + "bbox_3d": { + "center_world": { + "x": -124.77603912353516, + "y": -59.85369110107422, + "z": 0.7624127268791199 + }, + "extent": { + "x": 2.487122058868408, + "y": 1.0192005634307861, + "z": 0.7710590958595276 + }, + "yaw": -89.60662078857422 + }, + "bbox_2d": { + "xmin": 1167.0560550468904, + "ymin": 0.0, + "xmax": 1235.4499252090095, + "ymax": 7.191409882768028 + }, + "corners_3d": [ + [ + -125.81224822998047, + -57.37419128417969, + -0.01052013412117958 + ], + [ + -123.77389526367188, + -57.36019515991211, + -0.010407144203782082 + ], + [ + -123.73974609375, + -62.334320068359375, + -0.006772199645638466 + ], + [ + -125.7780990600586, + -62.34831619262695, + -0.006885191425681114 + ], + [ + -125.81233978271484, + -57.37306594848633, + 1.5315977334976196 + ], + [ + -123.77398681640625, + -57.35906982421875, + 1.5317107439041138 + ], + [ + -123.73983764648438, + -62.333194732666016, + 1.5353456735610962 + ], + [ + -125.77819061279297, + -62.347190856933594, + 1.535232663154602 + ] + ], + "corners_2d": [ + [ + 1226.3216975080375, + -11.64267707871943 + ], + [ + 1193.8875084981437, + -18.302168584712945 + ], + [ + 1167.0560550468904, + -0.11258463984023592 + ], + [ + 1200.5592578580724, + 7.191409882768028 + ], + [ + 1235.4499252090095, + -36.114087771654454 + ], + [ + 1202.3641458800805, + -42.457252220959276 + ], + [ + 1175.5074929301804, + -25.12876899818997 + ], + [ + 1209.7109046339365, + -18.161654924939114 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 552, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 499.0942146022645, + "ymin": 0.0, + "xmax": 584.0560522015263, + "ymax": 34.69786897527996 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 523.167345628793, + 6.32609485400053 + ], + [ + 501.44072816127664, + 13.625671423191648 + ], + [ + 562.3701203134667, + 34.69786897527996 + ], + [ + 584.0560522015263, + 26.656110544976343 + ], + [ + 521.2236604861754, + -19.540913961576393 + ], + [ + 499.0942146022645, + -12.581992285222327 + ], + [ + 560.9884588353453, + 7.5297657751174825 + ], + [ + 583.0787923138015, + -0.14948752429279466 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 217, + "instance_id": 55552, + "pixel_count": 1809, + "type_id": "vehicle.mini.cooper_s", + "bbox_3d": { + "center_world": { + "x": -131.65988159179688, + "y": -76.91120147705078, + "z": 0.7358787059783936 + }, + "extent": { + "x": 1.9029000997543335, + "y": 0.9851378202438354, + "z": 0.7375150918960571 + }, + "yaw": 90.39354705810547 + }, + "bbox_2d": { + "xmin": 1193.5732993025872, + "ymin": 61.484036881726524, + "xmax": 1271.1996717541008, + "ymax": 123.30231359446128 + }, + "corners_3d": [ + [ + -130.6616973876953, + -78.80728912353516, + -0.001636367291212082 + ], + [ + -132.63192749023438, + -78.8208236694336, + -0.001636367291212082 + ], + [ + -132.65806579589844, + -75.0151138305664, + -0.001636367291212082 + ], + [ + -130.68783569335938, + -75.00157928466797, + -0.001636367291212082 + ], + [ + -130.6616973876953, + -78.80728912353516, + 1.4733937978744507 + ], + [ + -132.63192749023438, + -78.8208236694336, + 1.4733937978744507 + ], + [ + -132.65806579589844, + -75.0151138305664, + 1.4733937978744507 + ], + [ + -130.68783569335938, + -75.00157928466797, + 1.4733937978744507 + ] + ], + "corners_2d": [ + [ + 1193.5732993025872, + 111.78060796235658 + ], + [ + 1235.6294102791228, + 123.30231359446128 + ], + [ + 1259.3458162134639, + 99.5879421434708 + ], + [ + 1218.637962285698, + 89.06297179386411 + ], + [ + 1204.4281852952995, + 83.36003752163322 + ], + [ + 1247.5734285924923, + 94.46924856463784 + ], + [ + 1271.1996717541008, + 71.61441525294077 + ], + [ + 1229.478414739168, + 61.484036881726524 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 712.5333581802777, + "ymin": 40.8076162295481, + "xmax": 725.1513271095305, + "ymax": 66.8400554742779 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 717.9985627989191, + 66.8400554742779 + ], + [ + 723.9413124039293, + 64.11210154120124 + ], + [ + 718.484973641056, + 62.33044771623656 + ], + [ + 712.5333581802777, + 65.03775947803916 + ], + [ + 719.1295140166901, + 45.17292371633522 + ], + [ + 725.1513271095305, + 42.53211609101328 + ], + [ + 719.6119975183226, + 40.8076162295481 + ], + [ + 713.5810100398003, + 43.42815387732617 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 829.3886056044952, + "ymin": 77.70464560432254, + "xmax": 844.6221832394117, + "ymax": 105.68272920374517 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 835.7840319928267, + 105.68272920374517 + ], + [ + 841.4777214102526, + 102.49096726308909 + ], + [ + 835.0986621447719, + 100.40801909230436 + ], + [ + 829.3886056044952, + 103.57366877976267 + ], + [ + 838.8590654276311, + 82.822605512888 + ], + [ + 844.6221832394117, + 79.72549665395195 + ], + [ + 838.1309304675964, + 77.70464560432254 + ], + [ + 832.3507689268903, + 80.77602234606087 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 624.4021783719927, + "ymin": 78.11027601183503, + "xmax": 635.0031180720308, + "ymax": 101.23800085529876 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 629.2198589852032, + 101.23800085529876 + ], + [ + 635.0031180720308, + 98.61602753900115 + ], + [ + 630.3880321941609, + 96.89257755523505 + ], + [ + 624.6007393836635, + 99.49666981396479 + ], + [ + 629.0803739624376, + 82.34793982602451 + ], + [ + 634.9388007304137, + 79.79087509041085 + ], + [ + 630.264738704355, + 78.11027601183503 + ], + [ + 624.4021783719927, + 80.64967846474951 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 773.9930528321247, + "ymin": 60.20719325248734, + "xmax": 787.9564783281062, + "ymax": 87.26634472975115 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 779.9383610416509, + 87.26634472975115 + ], + [ + 785.7639505835854, + 84.29899692454387 + ], + [ + 779.8312176177285, + 82.36178649086713 + ], + [ + 773.9930528321247, + 85.30572185647645 + ], + [ + 782.0561612434267, + 64.96069292556422 + ], + [ + 787.9564783281062, + 62.084567843956165 + ], + [ + 781.9260941798177, + 60.20719325248734 + ], + [ + 776.0127170437654, + 63.06028531889717 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 10476196482746081849, + "instance_id": 14818, + "pixel_count": null, + "type_id": "AmericanLights_Town04_20_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -139.0659637451172, + "y": -100.74504852294922, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1264.1419873969683, + "ymin": 306.75079820767377, + "xmax": 1280.0, + "ymax": 339.31237177707465 + }, + "corners_3d": [ + [ + -139.20529174804688, + -100.55508422851562, + 2.645533323287964 + ], + [ + -138.92662048339844, + -100.55508422851562, + 2.645533323287964 + ], + [ + -138.9266357421875, + -100.93501281738281, + 2.645533323287964 + ], + [ + -139.20530700683594, + -100.93501281738281, + 2.645533323287964 + ], + [ + -139.20529174804688, + -100.55508422851562, + 3.5146729946136475 + ], + [ + -138.92662048339844, + -100.55508422851562, + 3.5146729946136475 + ], + [ + -138.9266357421875, + -100.93501281738281, + 3.5146729946136475 + ], + [ + -139.20530700683594, + -100.93501281738281, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1277.7495444028214, + 333.67387115819236 + ], + [ + 1267.7985254690568, + 329.982531493142 + ], + [ + 1264.1419873969683, + 335.5647780720781 + ], + [ + 1274.1502862828988, + 339.31237177707465 + ], + [ + 1289.8449529343225, + 310.3936201591965 + ], + [ + 1279.6447665513638, + 306.75079820767377 + ], + [ + 1276.0101023129635, + 312.2599402886803 + ], + [ + 1286.270708306742, + 315.9593393107031 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 12759822062466628084, + "instance_id": 62713, + "pixel_count": null, + "type_id": "AmericanLights_Town04_21_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -132.394287109375, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1276.3113465876736, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 6.105090389418876 + }, + "corners_3d": [ + [ + -132.25570678710938, + -78.09407806396484, + 5.545533180236816 + ], + [ + -132.25570678710938, + -78.47399139404297, + 5.545533180236816 + ], + [ + -132.53286743164062, + -78.47399139404297, + 5.545533180236816 + ], + [ + -132.53286743164062, + -78.09407806396484, + 5.545533180236816 + ], + [ + -132.25570678710938, + -78.09407806396484, + 6.416468620300293 + ], + [ + -132.25570678710938, + -78.47399139404297, + 6.416468620300293 + ], + [ + -132.53286743164062, + -78.47399139404297, + 6.416468620300293 + ], + [ + -132.53286743164062, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1278.6856074742595, + 2.672794867615437 + ], + [ + 1276.3113465876736, + 4.734320775775814 + ], + [ + 1282.9522134169902, + 6.105090389418876 + ], + [ + 1285.3009946097552, + 4.029858073627622 + ], + [ + 1286.677234116506, + -16.827978441326877 + ], + [ + 1284.3138088438895, + -14.839828289997229 + ], + [ + 1291.0654364131706, + -13.517709875620483 + ], + [ + 1293.4024627429906, + -15.519245240552152 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 162269529527095271, + "instance_id": 59151, + "pixel_count": null, + "type_id": "BP_StreetLight_simple36_SM_2", + "bbox_3d": { + "center_world": { + "x": -134.1700897216797, + "y": -72.95545959472656, + "z": 5.632970333099365 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1220.8713761304982, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 116.72614615462993 + }, + "corners_3d": [ + [ + -138.1054229736328, + -73.32183837890625, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -72.58908081054688, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -72.58908081054688, + 0.15421819686889648 + ], + [ + -130.23475646972656, + -73.32183837890625, + 0.15421819686889648 + ], + [ + -138.1054229736328, + -73.32183837890625, + 11.111722946166992 + ], + [ + -138.1054229736328, + -72.58908081054688, + 11.111722946166992 + ], + [ + -130.23475646972656, + -72.58908081054688, + 11.111722946166992 + ], + [ + -130.23475646972656, + -73.32183837890625, + 11.111722946166992 + ] + ], + "corners_2d": [ + [ + 1390.8452217262047, + 116.72614615462993 + ], + [ + 1394.0637594821333, + 112.04097500378424 + ], + [ + 1225.2312489946294, + 70.56180414789259 + ], + [ + 1220.8713761304982, + 74.525550260969 + ], + [ + 1518.5379562132503, + -128.92228969231888 + ], + [ + 1520.9642341189829, + -131.82983026633457 + ], + [ + 1314.650358186299, + -157.1911313258911 + ], + [ + 1310.4741490775134, + -154.79671786255733 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 760.7588425192927, + "ymin": 0.0, + "xmax": 914.9450723337354, + "ymax": 89.4775686972597 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 889.4899373032029, + 29.04785571213381 + ], + [ + 883.1444773690394, + 27.301218357159485 + ], + [ + 760.7588425192927, + 87.21484948063568 + ], + [ + 767.423129620212, + 89.4775686972597 + ], + [ + 914.9450723337354, + -127.27175747643025 + ], + [ + 907.842793942504, + -128.50646315229477 + ], + [ + 774.9148482314417, + -85.56921148586338 + ], + [ + 782.4367661268925, + -83.92371277215875 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2334590930876643410, + "instance_id": 21048, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -123.8453369140625, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 120.55523938368799, + "ymin": 221.52693139643785, + "xmax": 141.0184053648773, + "ymax": 235.43574625252646 + }, + "corners_3d": [ + [ + -116.6200942993164, + -123.69747161865234, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.69747161865234, + 7.743301868438721 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 133.42816703823013, + 225.26449499015658 + ], + [ + 122.01471027154605, + 229.72806235940345 + ], + [ + 129.5567213138985, + 235.43574625252646 + ], + [ + 141.0184053648773, + 230.8921145047714 + ], + [ + 132.0108842445169, + 221.52693139643785 + ], + [ + 120.55523938368799, + 225.97662578602754 + ], + [ + 128.10557696752358, + 231.66682592740122 + ], + [ + 139.60990262631748, + 227.1370888885532 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3639812104533344102, + "instance_id": 26239, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -123.8453369140625, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 120.66477432770546, + "ymin": 221.6003216663845, + "xmax": 140.9097989589909, + "ymax": 235.36123272819668 + }, + "corners_3d": [ + [ + -116.62229919433594, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.69904327392578, + 7.742714881896973 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 133.40077488002703, + 225.2982953145387 + ], + [ + 122.10845289987196, + 229.71465056277094 + ], + [ + 129.5702646114231, + 235.36123272819668 + ], + [ + 140.9097989589909, + 230.86650709475862 + ], + [ + 131.99839327140842, + 221.6003216663845 + ], + [ + 120.66477432770546, + 226.0030976139405 + ], + [ + 128.13473774242902, + 231.63256571786874 + ], + [ + 139.51600826738604, + 227.15144042849943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 762.1940467722535, + "ymin": 0.0, + "xmax": 947.9442529820016, + "ymax": 47.594648117006386 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 819.6122368786348, + 47.594648117006386 + ], + [ + 906.5784138369713, + 5.114896190032255 + ], + [ + 851.3892750153033, + -8.879872415382124 + ], + [ + 762.1940467722535, + 30.6273968225226 + ], + [ + 850.8537254255489, + -215.67301972233736 + ], + [ + 947.9442529820016, + -236.34197998112597 + ], + [ + 882.9120243077175, + -243.0073319443958 + ], + [ + 782.5235502936137, + -224.00863401774757 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5736675163518273754, + "instance_id": 55816, + "pixel_count": null, + "type_id": "AmericanLights_Town04_21_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1153.9815452231524, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 171.0255815416436 + }, + "corners_3d": [ + [ + -140.57330322265625, + -78.3179702758789, + 0.0 + ], + [ + -140.5771484375, + -77.8851547241211, + 0.0 + ], + [ + -128.5230712890625, + -77.77800750732422, + 0.0 + ], + [ + -128.51922607421875, + -78.21082305908203, + 0.0 + ], + [ + -140.57330322265625, + -78.3179702758789, + 8.446706771850586 + ], + [ + -140.5771484375, + -77.8851547241211, + 8.446706771850586 + ], + [ + -128.5230712890625, + -77.77800750732422, + 8.446706771850586 + ], + [ + -128.51922607421875, + -78.21082305908203, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1428.3951759170677, + 171.0255815416436 + ], + [ + 1430.3661530778825, + 167.69683366674158 + ], + [ + 1157.0756921901816, + 93.78630993351817 + ], + [ + 1153.9815452231524, + 96.31236261609644 + ], + [ + 1538.6709778027946, + -23.418023127498145 + ], + [ + 1540.192852361669, + -25.934524225348923 + ], + [ + 1218.59149880606, + -80.78541308295115 + ], + [ + 1215.474409440131, + -78.94255854099208 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 652.55998052454, + "ymin": 17.297832829067943, + "xmax": 666.0687652220623, + "ymax": 24.83014575042091 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 657.760862713834, + 20.208799867317623 + ], + [ + 652.55998052454, + 22.242757546045937 + ], + [ + 660.8266362920365, + 24.83014575042091 + ], + [ + 666.0193176791512, + 22.77166709217721 + ], + [ + 657.7944142120053, + 17.297832829067943 + ], + [ + 652.5838203064666, + 19.321773929685207 + ], + [ + 660.8664053985731, + 21.896472673641426 + ], + [ + 666.0687652220623, + 19.84808472976738 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8232706723728016641, + "instance_id": 325, + "pixel_count": null, + "type_id": "BP_StreetLight_wall40_71_SM_0", + "bbox_3d": { + "center_world": { + "x": -140.893310546875, + "y": -111.95197296142578, + "z": 4.334987163543701 + }, + "extent": { + "x": 0.11768747121095657, + "y": 1.147606611251831, + "z": 0.41115570068359375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1180.4451747934636, + "ymin": 497.45179237037564, + "xmax": 1280.0, + "ymax": 584.4538979308697 + }, + "corners_3d": [ + [ + -142.04092407226562, + -111.83428192138672, + 3.9238314628601074 + ], + [ + -139.74569702148438, + -111.83428955078125, + 3.9238314628601074 + ], + [ + -139.74569702148438, + -112.06966400146484, + 3.9238314628601074 + ], + [ + -142.04092407226562, + -112.06965637207031, + 3.9238314628601074 + ], + [ + -142.04092407226562, + -111.83428192138672, + 4.746142864227295 + ], + [ + -139.74569702148438, + -111.83428955078125, + 4.746142864227295 + ], + [ + -139.74569702148438, + -112.06966400146484, + 4.746142864227295 + ], + [ + -142.04092407226562, + -112.06965637207031, + 4.746142864227295 + ] + ], + "corners_2d": [ + [ + 1296.6171786516325, + 577.8012199362831 + ], + [ + 1184.057694483572, + 522.8094595956286 + ], + [ + 1180.4451747934636, + 528.7378523221205 + ], + [ + 1293.5498004574836, + 584.4538979308697 + ], + [ + 1313.625137713006, + 552.3298202482916 + ], + [ + 1197.3441597632407, + 497.45179237037564 + ], + [ + 1193.729614134123, + 503.3603013781827 + ], + [ + 1310.5956171246194, + 558.979502651118 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 416.8992147694223, + "ymin": 0.0, + "xmax": 492.7359712001962, + "ymax": 44.937744840082814 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 436.6165962396973, + 43.038394676160976 + ], + [ + 441.49366751531414, + 44.937744840082814 + ], + [ + 492.7359712001962, + 27.24029112266561 + ], + [ + 487.8421592549057, + 25.48641236632028 + ], + [ + 416.8992147694223, + -104.13890787531813 + ], + [ + 422.1600230670334, + -102.73582717797007 + ], + [ + 479.0067681001556, + -115.7649071643495 + ], + [ + 473.7192887535863, + -117.05074693114369 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12065512595391554584, + "instance_id": 6308, + "pixel_count": null, + "type_id": "AmericanLights_Town04_20_Poles_4", + "bbox_3d": { + "center_world": { + "x": -139.40200805664062, + "y": -94.9981918334961, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1236.5892277932728, + "ymin": 41.77474107815863, + "xmax": 1280.0, + "ymax": 411.76892699341596 + }, + "corners_3d": [ + [ + -139.1320343017578, + -101.02330780029297, + 0.0 + ], + [ + -139.56484985351562, + -101.02715301513672, + 0.0 + ], + [ + -139.67198181152344, + -88.97307586669922, + 0.0 + ], + [ + -139.23916625976562, + -88.96923065185547, + 0.0 + ], + [ + -139.1320343017578, + -101.02330780029297, + 8.446706771850586 + ], + [ + -139.56484985351562, + -101.02715301513672, + 8.446706771850586 + ], + [ + -139.67198181152344, + -88.97307586669922, + 8.446706771850586 + ], + [ + -139.23916625976562, + -88.96923065185547, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1236.5892277932728, + 405.6356091261545 + ], + [ + 1251.1676024771214, + 411.76892699341596 + ], + [ + 1347.7749213488105, + 259.5024291093629 + ], + [ + 1335.3005185084323, + 255.43196830992557 + ], + [ + 1360.9480236971676, + 164.76659159413293 + ], + [ + 1379.7286730679957, + 169.9904137963565 + ], + [ + 1464.4170757863649, + 44.98738588969087 + ], + [ + 1449.0728802556027, + 41.77474107815863 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 652.6320117154244, + "ymin": 17.337776950523846, + "xmax": 665.9968969979168, + "ymax": 24.789991723527464 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 657.7774884681539, + 20.217900407674733 + ], + [ + 652.6320117154244, + 22.23026361353351 + ], + [ + 660.810659401885, + 24.789991723527464 + ], + [ + 665.9481100829781, + 22.75362668779877 + ], + [ + 657.8107157371255, + 17.337776950523846 + ], + [ + 652.6557331118661, + 19.340335323564318 + ], + [ + 660.8499726683109, + 21.887642598427988 + ], + [ + 665.9968969979168, + 19.861154191418223 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 587.8364119524092, + "ymin": 0.0, + "xmax": 669.4551220777498, + "ymax": 203.55099499093433 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 600.6996846999718, + 171.14256440529036 + ], + [ + 593.7935274408522, + 174.61574968505533 + ], + [ + 659.1078637104264, + 203.55099499093433 + ], + [ + 665.946172478043, + 199.72492910802015 + ], + [ + 595.6670535899035, + -6.857398697478175 + ], + [ + 587.8364119524092, + -4.143095856238574 + ], + [ + 661.7105108864484, + 18.633292813460173 + ], + [ + 669.4551220777498, + 15.604754822579537 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 59.27132080542253, + "ymin": 173.34647033047523, + "xmax": 225.5503300069965, + "ymax": 453.7108267956937 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 164.14736115272092, + 390.68970865679506 + ], + [ + 150.9733113409266, + 397.315088613325 + ], + [ + 211.9984245407599, + 453.7108267956937 + ], + [ + 225.5503300069965, + 446.1284720183854 + ], + [ + 75.7869950318925, + 173.34647033047523 + ], + [ + 59.27132080542253, + 179.0712300057553 + ], + [ + 124.97027699143564, + 228.52610078438352 + ], + [ + 142.16925662903634, + 221.80042250948665 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 615.3996444969682, + "ymin": 0.0, + "xmax": 879.2332986444985, + "ymax": 250.2535816800832 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 624.7915206454127, + 152.19447266633983 + ], + [ + 618.3364998069147, + 155.34564395527676 + ], + [ + 839.9860250958739, + 250.2535816800832 + ], + [ + 846.0733186416591, + 245.95362787610696 + ], + [ + 622.7428566917977, + -37.60101985627722 + ], + [ + 615.3996444969682, + -35.23662439621677 + ], + [ + 872.4126630285449, + 37.696978472128365 + ], + [ + 879.2332986444985, + 34.318851036893534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 126.09606339366007, + "ymax": 444.05056097418856 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 13.179910968569288, + 268.98139670868625 + ], + [ + -187.30360756007258, + 363.7340988020936 + ], + [ + -77.80250351016309, + 444.05056097418856 + ], + [ + 126.09606339366007, + 329.98863817671673 + ], + [ + -149.15508324538587, + -65.6698407236496 + ], + [ + -440.77931707636503, + -3.1431453500269413 + ], + [ + -328.6449773348181, + 53.66605200335579 + ], + [ + -22.47386856549042, + -25.944286819834872 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 158.63459116011728, + "ymax": 502.0500128174856 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -121.5584618801048, + 502.0500128174856 + ], + [ + 139.44643672580645, + 452.2811072875385 + ], + [ + 158.63459116011728, + 318.90337261429175 + ], + [ + -58.97514463584196, + 354.1085897664343 + ], + [ + -412.75647973419655, + 97.07612742783863 + ], + [ + -37.766370394778164, + 59.69997964781686 + ], + [ + 22.157286904255443, + -33.30327785489885 + ], + [ + -269.653044923258, + -9.709013719977008 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00016/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00016/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..67500ddf414cb5521fc13b1a135043a1d34b8778 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00016/meta.json @@ -0,0 +1,3318 @@ +{ + "frame_id": 16, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 8.0, + "sim_timestamp": 9898.08733019419 + }, + "drone_pose": { + "x": -139.89341693767798, + "y": -130.17085394051975, + "z": 20.14788628655957, + "pitch": -41.133115345568136, + "yaw": 39.10976548216623, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5844243168830872, + -0.475114107131958, + 0.657810628414154, + 130.34962463378906 + ], + [ + 0.6308079957962036, + 0.7759389281272888, + -1.4901161193847656e-08, + 12.758743286132812 + ], + [ + -0.5104208588600159, + 0.41495221853256226, + 0.7531833648681641, + -140.59425354003906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -139.44768717798877, + "y": -129.80612586323588, + "z": 20.1907122672881 + }, + "t1_image_uv": [ + 644.3472773039447, + -613.0150126645855 + ], + "t1_depth": 0.40561134724962244 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -123.66718292236328, + "y": -115.18776321411131, + "z": 0.5749797606472566 + }, + "image_uv": [ + 685.2798120397235, + 367.89802987889186 + ], + "depth": 29.476949244986578, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 179, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -123.66718292236328, + "y": -115.18775939941406, + "z": 0.5749797821044922 + }, + "extent": { + "x": 0.20060546696186066, + "y": 0.2042822241783142, + "z": 0.5272806286811829 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 677.7197325408786, + "ymin": 350.17970437159835, + "xmax": 692.9497929141515, + "ymax": 385.4002635181702 + }, + "corners_3d": [ + [ + -123.66458129882812, + -115.47406005859375, + 0.047699153423309326 + ], + [ + -123.95348358154297, + -115.1851577758789, + 0.047699153423309326 + ], + [ + -123.66978454589844, + -114.90145874023438, + 0.047699153423309326 + ], + [ + -123.3808822631836, + -115.19036102294922, + 0.047699153423309326 + ], + [ + -123.66458129882812, + -115.47406005859375, + 1.1022603511810303 + ], + [ + -123.95348358154297, + -115.1851577758789, + 1.1022603511810303 + ], + [ + -123.66978454589844, + -114.90145874023438, + 1.1022603511810303 + ], + [ + -123.3808822631836, + -115.19036102294922, + 1.1022603511810303 + ] + ], + "corners_2d": [ + [ + 677.7197325408786, + 384.48141403113584 + ], + [ + 690.9151886569199, + 385.4002635181702 + ], + [ + 691.723710383688, + 376.7328363428406 + ], + [ + 678.6596615395688, + 375.8323234987659 + ], + [ + 678.6221537221236, + 358.7697848033322 + ], + [ + 692.1346310629511, + 359.6826073477405 + ], + [ + 692.9497929141515, + 351.07388119714307 + ], + [ + 679.5750800263386, + 350.17970437159835 + ] + ], + "center_offset_px": [ + 45.27981203972354, + 7.898029878891862 + ] + }, + "trace_timestep_index": 16, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 74, + "semantic_pixel_counts": { + "1": 575841, + "2": 178581, + "3": 75525, + "5": 3468, + "6": 7850, + "7": 1082, + "9": 37305, + "10": 5952, + "12": 3212, + "20": 81, + "21": 801, + "24": 31902 + }, + "instance_pixel_counts": { + "1115": 3191, + "2978": 28, + "4002": 29, + "6254": 1965, + "10370": 1436, + "11394": 518, + "14416": 96, + "14672": 9, + "14928": 3363, + "15511": 3661, + "16023": 491, + "18011": 15342, + "20119": 10748, + "20631": 10147, + "23488": 199, + "23808": 13, + "24064": 3077, + "26560": 10383, + "27072": 2113, + "28608": 9589, + "29843": 18767, + "30144": 34729, + "30355": 71433, + "30656": 43297, + "31168": 1631, + "31301": 11, + "31488": 3888, + "31813": 5912, + "31891": 374295, + "34120": 33329, + "34453": 2352, + "34907": 2, + "34965": 4736, + "35419": 409, + "35931": 3454, + "36180": 81, + "36443": 45219, + "36501": 19315, + "44171": 582, + "44379": 83, + "44691": 93399, + "44891": 85, + "45203": 5363, + "45915": 10, + "46227": 12584, + "46731": 949, + "47195": 18, + "47253": 4438, + "47765": 570, + "48267": 281, + "48779": 393, + "48789": 491, + "49664": 179, + "49803": 157, + "49920": 376, + "50176": 405, + "50432": 886, + "50688": 903, + "50944": 463, + "53184": 1115, + "54177": 5, + "54720": 1245, + "55232": 188, + "55744": 2064, + "56225": 48, + "56768": 40, + "56993": 135, + "57173": 37305, + "58017": 192, + "58529": 115, + "59809": 53, + "60013": 3261, + "61037": 2682, + "64351": 11250 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 179, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -123.66718292236328, + "y": -115.18775939941406, + "z": 0.5749797821044922 + }, + "extent": { + "x": 0.18583495914936066, + "y": 0.2171337902545929, + "z": 0.5172764658927917 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 677.3485320850332, + "ymin": 350.7137960371936, + "xmax": 693.329372347935, + "ymax": 384.86865760942203 + }, + "corners_3d": [ + [ + -123.64505004882812, + -115.47270202636719, + 0.05770331621170044 + ], + [ + -123.9521255493164, + -115.1656265258789, + 0.05770331621170044 + ], + [ + -123.68931579589844, + -114.90281677246094, + 0.05770331621170044 + ], + [ + -123.38224029541016, + -115.20989227294922, + 0.05770331621170044 + ], + [ + -123.64505004882812, + -115.47270202636719, + 1.0922563076019287 + ], + [ + -123.9521255493164, + -115.1656265258789, + 1.0922563076019287 + ], + [ + -123.68931579589844, + -114.90281677246094, + 1.0922563076019287 + ], + [ + -123.38224029541016, + -115.20989227294922, + 1.0922563076019287 + ] + ], + "corners_2d": [ + [ + 677.3485320850332, + 383.89278958621503 + ], + [ + 691.3719686556917, + 384.86865760942203 + ], + [ + 692.1171754335353, + 376.8393742666568 + ], + [ + 678.2231847039171, + 375.8815640862568 + ], + [ + 678.2245561954761, + 358.6713864129096 + ], + [ + 692.5783134523899, + 359.6409579621046 + ], + [ + 693.329372347935, + 351.66501118901823 + ], + [ + 679.1112016017308, + 350.7137960371936 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 376, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -119.54119873046875, + "y": -112.19005584716797, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.4874023199081421, + "y": 0.3778418004512787, + "z": 0.8854039311408997 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 659.2418143850005, + "ymin": 240.613408029053, + "xmax": 685.6726049001729, + "ymax": 299.95592826364395 + }, + "corners_3d": [ + [ + -119.74417877197266, + -112.77239990234375, + -0.3104192614555359 + ], + [ + -120.15575408935547, + -112.13862609863281, + -0.3104192614555359 + ], + [ + -119.33821868896484, + -111.60771179199219, + -0.3104192614555359 + ], + [ + -118.92664337158203, + -112.24148559570312, + -0.3104192614555359 + ], + [ + -119.74417877197266, + -112.77239990234375, + 1.4603886604309082 + ], + [ + -120.15575408935547, + -112.13862609863281, + 1.4603886604309082 + ], + [ + -119.33821868896484, + -111.60771179199219, + 1.4603886604309082 + ], + [ + -118.92664337158203, + -112.24148559570312, + 1.4603886604309082 + ] + ], + "corners_2d": [ + [ + 662.6343270689529, + 299.95592826364395 + ], + [ + 684.0873347839088, + 298.55083086136716 + ], + [ + 680.2440856052599, + 282.0088816851861 + ], + [ + 659.2418143850005, + 283.3547356839598 + ], + [ + 663.4497255884572, + 258.1948405109605 + ], + [ + 685.6726049001729, + 256.81731377948597 + ], + [ + 681.6592707915759, + 240.613408029053 + ], + [ + 659.91969342042, + 241.93083232308916 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 405, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -125.92300415039062, + "y": -108.24504852294922, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.3290771543979645, + "y": 0.4209277331829071, + "z": 0.8657616376876831 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 871.3857393481474, + "ymin": 287.35745454777623, + "xmax": 910.1370442578061, + "ymax": 341.33388771516803 + }, + "corners_3d": [ + [ + -125.91384887695312, + -108.77926635742188, + -0.29077696800231934 + ], + [ + -126.44364166259766, + -108.1250228881836, + -0.29077696800231934 + ], + [ + -125.93215942382812, + -107.71083068847656, + -0.29077696800231934 + ], + [ + -125.4023666381836, + -108.36507415771484, + -0.29077696800231934 + ], + [ + -125.91384887695312, + -108.77926635742188, + 1.4407463073730469 + ], + [ + -126.44364166259766, + -108.1250228881836, + 1.4407463073730469 + ], + [ + -125.93215942382812, + -107.71083068847656, + 1.4407463073730469 + ], + [ + -125.4023666381836, + -108.36507415771484, + 1.4407463073730469 + ] + ], + "corners_2d": [ + [ + 875.0331880681968, + 341.33388771516803 + ], + [ + 900.4549952713626, + 341.3025056717306 + ], + [ + 896.4172326498102, + 328.7121657191412 + ], + [ + 871.3857393481474, + 328.7425911592954 + ], + [ + 883.7705639556597, + 299.77767066579565 + ], + [ + 910.1370442578061, + 299.74677200549246 + ], + [ + 905.7974274641286, + 287.35745454777623 + ], + [ + 879.850568710357, + 287.38737716004823 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 886, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -133.16717529296875, + "y": -115.18775939941406, + "z": 0.5749797821044922 + }, + "extent": { + "x": 0.4177587926387787, + "y": 0.45734861493110657, + "z": 0.8658076524734497 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 909.3779821033795, + "ymin": 527.4739839387745, + "xmax": 965.2591489686383, + "ymax": 600.4497100866961 + }, + "corners_3d": [ + [ + -133.13917541503906, + -115.80655670166016, + -0.2908278703689575 + ], + [ + -133.7859649658203, + -115.1597671508789, + -0.2908278703689575 + ], + [ + -133.19517517089844, + -114.56896209716797, + -0.2908278703689575 + ], + [ + -132.5483856201172, + -115.21575164794922, + -0.2908278703689575 + ], + [ + -133.13917541503906, + -115.80655670166016, + 1.440787434577942 + ], + [ + -133.7859649658203, + -115.1597671508789, + 1.440787434577942 + ], + [ + -133.19517517089844, + -114.56896209716797, + 1.440787434577942 + ], + [ + -132.5483856201172, + -115.21575164794922, + 1.440787434577942 + ] + ], + "corners_2d": [ + [ + 912.9415984985936, + 597.2999115298587 + ], + [ + 949.9152976674636, + 600.4497100866961 + ], + [ + 945.407213871634, + 573.1870304672879 + ], + [ + 909.3779821033795, + 570.1941857967689 + ], + [ + 926.4134894182607, + 554.7588353533582 + ], + [ + 965.2591489686383, + 557.9338511914582 + ], + [ + 960.1273674676598, + 530.483277149588 + ], + [ + 922.322856721087, + 527.4739839387745 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 903, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -127.28268432617188, + "y": -126.31512451171875, + "z": 0.5749797821044922 + }, + "extent": { + "x": 0.43070799112319946, + "y": 0.5632177591323853, + "z": 0.9002278447151184 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 386.9346161937438, + "ymin": 608.8229359601308, + "xmax": 458.758137375344, + "ymax": 693.597986485229 + }, + "corners_3d": [ + [ + -127.11603546142578, + -127.0042953491211, + -0.3252480626106262 + ], + [ + -127.99143981933594, + -126.29540252685547, + -0.3252480626106262 + ], + [ + -127.44933319091797, + -125.6259536743164, + -0.3252480626106262 + ], + [ + -126.57392883300781, + -126.33484649658203, + -0.3252480626106262 + ], + [ + -127.11603546142578, + -127.0042953491211, + 1.4752075672149658 + ], + [ + -127.99143981933594, + -126.29540252685547, + 1.4752075672149658 + ], + [ + -127.44933319091797, + -125.6259536743164, + 1.4752075672149658 + ], + [ + -126.57392883300781, + -126.33484649658203, + 1.4752075672149658 + ] + ], + "corners_2d": [ + [ + 400.29152961244506, + 684.4678120533918 + ], + [ + 445.93709799712934, + 693.597986485229 + ], + [ + 458.758137375344, + 661.1033374497283 + ], + [ + 414.2713743832983, + 652.4705474158718 + ], + [ + 386.9346161937438, + 641.2993843399556 + ], + [ + 435.03395543808017, + 650.5845600036623 + ], + [ + 448.8730419582463, + 617.5752102988479 + ], + [ + 402.0582442325885, + 608.8229359601308 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 463, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -112.42184448242188, + "y": -123.35797882080078, + "z": 0.7245110273361206 + }, + "extent": { + "x": 0.40776365995407104, + "y": 0.4323144555091858, + "z": 0.8884750008583069 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 254.07553921068944, + "ymin": 262.6792006880224, + "xmax": 303.69903898384865, + "ymax": 324.0557554339038 + }, + "corners_3d": [ + [ + -112.28135681152344, + -123.93541717529297, + -0.16396397352218628 + ], + [ + -113.00650024414062, + -123.4645004272461, + -0.16396397352218628 + ], + [ + -112.56233215332031, + -122.7805404663086, + -0.16396397352218628 + ], + [ + -111.83718872070312, + -123.25145721435547, + -0.16396397352218628 + ], + [ + -112.28135681152344, + -123.93541717529297, + 1.6129860877990723 + ], + [ + -113.00650024414062, + -123.4645004272461, + 1.6129860877990723 + ], + [ + -112.56233215332031, + -122.7805404663086, + 1.6129860877990723 + ], + [ + -111.83718872070312, + -123.25145721435547, + 1.6129860877990723 + ] + ], + "corners_2d": [ + [ + 267.9723722097009, + 319.1101106161202 + ], + [ + 290.150569542426, + 324.0557554339038 + ], + [ + 303.69903898384865, + 309.7740131602823 + ], + [ + 281.8311304656728, + 305.0023107200293 + ], + [ + 254.07553921068944, + 276.5233863206485 + ], + [ + 276.99810333681603, + 281.3809502509509 + ], + [ + 291.2892311256193, + 267.35969384412425 + ], + [ + 268.69732299615674, + 262.6792006880224 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 861.48084308606, + "ymin": 8.85054411074276, + "xmax": 877.5243902529941, + "ymax": 36.45434701402445 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 867.1165882787839, + 36.45434701402445 + ], + [ + 873.7784951223324, + 33.895892590328685 + ], + [ + 868.141056676526, + 31.621622307473444 + ], + [ + 861.48084308606, + 34.15735681868921 + ], + [ + 870.7742034441211, + 13.541871659650496 + ], + [ + 877.5243902529941, + 11.058096529907516 + ], + [ + 871.7801356231569, + 8.85054411074276 + ], + [ + 865.0315298089504, + 11.311910585841872 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 983.632001700001, + "ymin": 56.746081852080806, + "xmax": 1003.3413522668203, + "ymax": 86.70896096274168 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 990.4186016106291, + 86.70896096274168 + ], + [ + 997.0550313585804, + 83.62820790454606 + ], + [ + 990.2729416876982, + 80.89216052578121 + ], + [ + 983.632001700001, + 83.94291202390758 + ], + [ + 996.6224956384274, + 62.41030990023677 + ], + [ + 1003.3413522668203, + 59.410106678845864 + ], + [ + 996.4093115343924, + 56.746081852080806 + ], + [ + 989.6854434653237, + 59.71655594234426 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 765.1687046479008, + "ymin": 41.975139696992585, + "xmax": 778.0120896745834, + "ymax": 66.11594698511482 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 769.7857299797867, + 66.11594698511482 + ], + [ + 776.0944239878268, + 63.72699805179377 + ], + [ + 771.4727016431331, + 61.589516604935966 + ], + [ + 765.1687046479008, + 63.959624704172995 + ], + [ + 771.6226739318539, + 46.398904240005265 + ], + [ + 778.0120896745834, + 44.06401034252673 + ], + [ + 773.3178379041481, + 41.975139696992585 + ], + [ + 766.9331867255021, + 44.29136058160259 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 925.2915187642659, + "ymin": 33.858175518706446, + "xmax": 943.2027434392442, + "ymax": 62.701573409027276 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 931.515069507992, + 62.701573409027276 + ], + [ + 938.1785846454982, + 59.87634651878079 + ], + [ + 931.9563022334685, + 57.366136940929096 + ], + [ + 925.2915187642659, + 60.16500822560363 + ], + [ + 936.4531670194875, + 39.04593848388481 + ], + [ + 943.2027434392442, + 36.298692012906145 + ], + [ + 936.8522948386602, + 33.858175518706446 + ], + [ + 930.1011581277651, + 36.57936394580264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11529003171770300666, + "instance_id": 64120, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.25050354003906, + "y": -128.95399475097656, + "z": 3.0800981521606445 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 69.3638731957268, + "ymin": 299.21695527552436, + "xmax": 97.84389912509346, + "ymax": 333.05441149675585 + }, + "corners_3d": [ + [ + -113.11116790771484, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -128.7640380859375, + 3.5146679878234863 + ], + [ + -113.11116790771484, + -128.7640380859375, + 3.5146679878234863 + ] + ], + "corners_2d": [ + [ + 81.16170844527699, + 328.27518112633254 + ], + [ + 83.98970336651837, + 333.05441149675585 + ], + [ + 97.84389912509346, + 327.7609095835519 + ], + [ + 94.95317959764486, + 323.0436460004994 + ], + [ + 69.3638731957268, + 304.4001273960283 + ], + [ + 72.18055353754744, + 309.13641673004344 + ], + [ + 86.40569799293075, + 303.8905471458514 + ], + [ + 83.5226866707219, + 299.21695527552436 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 910.437109451901, + "ymin": 0.0, + "xmax": 1106.6451171117887, + "ymax": 62.093240825079306 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1057.8834959287924, + 4.512071515135631 + ], + [ + 1051.0387478712332, + 2.2091094585492215 + ], + [ + 910.437109451901, + 59.210026789099004 + ], + [ + 917.3439465371657, + 62.093240825079306 + ], + [ + 1106.6451171117887, + -165.22958588643155 + ], + [ + 1098.7464171721367, + -166.89648133875426 + ], + [ + 946.0381518216125, + -125.08638168138839 + ], + [ + 954.0759450358116, + -122.94051713793596 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2334590930876643410, + "instance_id": 21048, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -123.8453369140625, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 255.65224593368544, + "ymin": 158.14305031367047, + "xmax": 274.25139024322266, + "ymax": 171.84913040774552 + }, + "corners_3d": [ + [ + -116.6200942993164, + -123.69747161865234, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.69747161865234, + 7.743301868438721 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 267.7737913168184, + 161.89839561098063 + ], + [ + 256.76792556687616, + 165.53099279624462 + ], + [ + 263.1746509908543, + 171.84913040774552 + ], + [ + 274.25139024322266, + 168.14510805001606 + ], + [ + 266.6962828134436, + 158.14305031367047 + ], + [ + 255.65224593368544, + 161.76485697317105 + ], + [ + 262.0668280195118, + 168.06451012298712 + ], + [ + 273.18227415023864, + 164.37128067655325 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3639812104533344102, + "instance_id": 26239, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -123.8453369140625, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 255.75157954736153, + "ymin": 158.21544755981657, + "xmax": 274.15242574303346, + "ymax": 171.77577650515008 + }, + "corners_3d": [ + [ + -116.62229919433594, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.69904327392578, + 7.742714881896973 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 267.7443203498683, + 161.93100302298305 + ], + [ + 256.8551479965762, + 165.52521279371237 + ], + [ + 263.1938748332688, + 171.77577650515008 + ], + [ + 274.15242574303346, + 168.11165305251777 + ], + [ + 266.678117402017, + 158.21544755981657 + ], + [ + 255.75157954736153, + 161.79909530350236 + ], + [ + 262.09799867444036, + 168.03156539666855 + ], + [ + 273.09443393056756, + 164.37800628135858 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 918.4017908797846, + "ymin": 0.0, + "xmax": 1158.7005451531409, + "ymax": 20.37995187663148 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 978.7198907789466, + 20.37995187663148 + ], + [ + 1079.8281287859938, + -20.653334563452233 + ], + [ + 1020.1858217646145, + -39.15131443056276 + ], + [ + 918.4017908797846, + -1.503493051096541 + ], + [ + 1045.9867332538377, + -265.3544035284664 + ], + [ + 1158.7005451531409, + -286.02624088133064 + ], + [ + 1085.1373398430592, + -295.1294401139721 + ], + [ + 970.8078806522792, + -276.46221721036056 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5944504550537153523, + "instance_id": 62411, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_1", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88526153564453, + "z": 3.6450090408325195 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 16.941070228024728, + "ymin": 75.93575176221458, + "xmax": 95.09823500945151, + "ymax": 117.89256406861566 + }, + "corners_3d": [ + [ + -100.3021469116211, + -126.97334289550781, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -126.97334289550781, + 3.8072457313537598 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.8072457313537598 + ] + ], + "corners_2d": [ + [ + 33.77259109707916, + 117.89256406861566 + ], + [ + 95.09823500945151, + 101.07124522372874 + ], + [ + 80.41411174828761, + 83.75003072404422 + ], + [ + 20.55989355719919, + 99.56710000338433 + ], + [ + 30.11799443957341, + 109.80667946756651 + ], + [ + 91.90653791663397, + 93.11625266707028 + ], + [ + 77.2349294701628, + 75.93575176221458 + ], + [ + 16.941070228024728, + 91.6240899824981 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6519504943767973976, + "instance_id": 22640, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_0", + "bbox_3d": { + "center_world": { + "x": -94.53499603271484, + "y": -125.88525390625, + "z": 3.6439085006713867 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 37.39474982163836, + "xmax": 60.22492136589142, + "ymax": 74.41875332418226 + }, + "corners_3d": [ + [ + -95.50235748291016, + -126.97452545166016, + 3.480583429336548 + ], + [ + -95.50236511230469, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -93.56763458251953, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -93.567626953125, + -126.97452545166016, + 3.480583429336548 + ], + [ + -95.50235748291016, + -126.97452545166016, + 3.807230234146118 + ], + [ + -95.50236511230469, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -93.56763458251953, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -93.567626953125, + -126.97452545166016, + 3.807230234146118 + ] + ], + "corners_2d": [ + [ + 2.375698568940038, + 74.41875332418226 + ], + [ + 60.22492136589142, + 59.917287932260535 + ], + [ + 47.511126002909464, + 44.921019391721245 + ], + [ + -9.017177418314759, + 58.61556882309088 + ], + [ + -1.2098617953174653, + 66.63177761469132 + ], + [ + 57.05064935472592, + 52.25628584647785 + ], + [ + 44.35808717587042, + 37.39474982163836 + ], + [ + -12.561910811028838, + 50.96608378495614 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6967274615413648305, + "instance_id": 45483, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_2", + "bbox_3d": { + "center_world": { + "x": -99.33560943603516, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 2.474620313293599, + "ymin": 48.57930077238092, + "xmax": 127.56267454109297, + "ymax": 195.9180259384083 + }, + "corners_3d": [ + [ + -100.3640365600586, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -127.03557586669922, + 4.877264976501465 + ], + [ + -100.3640365600586, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + 67.27627615464894, + 195.9180259384083 + ], + [ + 127.56267454109297, + 176.9255443653147 + ], + [ + 111.82842862989241, + 157.23757559543932 + ], + [ + 52.96207709340342, + 175.09053896588887 + ], + [ + 16.310439778238447, + 83.50171882275498 + ], + [ + 83.3567273424444, + 66.31003028055204 + ], + [ + 67.74816367589187, + 48.57930077238092 + ], + [ + 2.474620313293599, + 64.65356557504504 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9919303964700251881, + "instance_id": 59670, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_Poles_4", + "bbox_3d": { + "center_world": { + "x": -112.9144515991211, + "y": -134.7008514404297, + "z": 4.223348617553711 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 136.03120779353878, + "xmax": 130.73550367911673, + "ymax": 595.655678124868 + }, + "corners_3d": [ + [ + -113.18444061279297, + -128.6757354736328, + -4.76837158203125e-06 + ], + [ + -112.75162506103516, + -128.67189025878906, + -4.76837158203125e-06 + ], + [ + -112.64446258544922, + -140.72596740722656, + -4.76837158203125e-06 + ], + [ + -113.07727813720703, + -140.7298126220703, + -4.76837158203125e-06 + ], + [ + -113.18444061279297, + -128.6757354736328, + 8.446702003479004 + ], + [ + -112.75162506103516, + -128.67189025878906, + 8.446702003479004 + ], + [ + -112.64446258544922, + -140.72596740722656, + 8.446702003479004 + ], + [ + -113.07727813720703, + -140.7298126220703, + 8.446702003479004 + ] + ], + "corners_2d": [ + [ + 130.73550367911673, + 389.92436165326916 + ], + [ + 126.39426270412548, + 382.50726615141406 + ], + [ + -368.2876931172391, + 584.330682043618 + ], + [ + -368.18931997630284, + 595.655678124868 + ], + [ + 12.916598411788527, + 142.5496009934009 + ], + [ + 8.818270558573658, + 136.03120779353878 + ], + [ + -669.3740488484746, + 323.0889091022181 + ], + [ + -673.4256723272474, + 334.21598260229666 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14081937874569997388, + "instance_id": 19500, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_0", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88525390625, + "z": 3.6439085006713867 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 16.89941930252178, + "ymin": 75.91747204791955, + "xmax": 95.16200091347491, + "ymax": 117.96774684822165 + }, + "corners_3d": [ + [ + -100.30333709716797, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.30333709716797, + -126.97452545166016, + 3.807230234146118 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.807230234146118 + ] + ], + "corners_2d": [ + [ + 33.77116082877012, + 117.96774684822165 + ], + [ + 95.16200091347491, + 101.12652655531002 + ], + [ + 80.45867134117952, + 83.78354812825461 + ], + [ + 20.542530167788073, + 99.61816670128047 + ], + [ + 30.091986811147308, + 109.82795972198534 + ], + [ + 91.9493259404768, + 93.11863751274456 + ], + [ + 77.25859263766301, + 75.91747204791955 + ], + [ + 16.89941930252178, + 91.6223720670867 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14132762880190184296, + "instance_id": 26875, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_1", + "bbox_3d": { + "center_world": { + "x": -94.53499603271484, + "y": -125.88526153564453, + "z": 3.6450090408325195 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 37.4105427042162, + "xmax": 60.1645293942513, + "ymax": 74.34885620135839 + }, + "corners_3d": [ + [ + -95.50116729736328, + -126.97334289550781, + 3.4827687740325928 + ], + [ + -95.50116729736328, + -124.79718780517578, + 3.4827723503112793 + ], + [ + -93.5688247680664, + -124.79718017578125, + 3.4827723503112793 + ], + [ + -93.5688247680664, + -126.97333526611328, + 3.4827687740325928 + ], + [ + -95.50116729736328, + -126.97334289550781, + 3.8072457313537598 + ], + [ + -95.50116729736328, + -124.79718780517578, + 3.8072493076324463 + ], + [ + -93.5688247680664, + -124.79718017578125, + 3.8072493076324463 + ], + [ + -93.5688247680664, + -126.97333526611328, + 3.8072457313537598 + ] + ], + "corners_2d": [ + [ + 2.376877233225059, + 74.34885620135839 + ], + [ + 60.1645293942513, + 59.864568939628896 + ], + [ + 47.4674530872893, + 44.8872315292781 + ], + [ + -9.00222053784421, + 58.5664948789161 + ], + [ + -1.1847421540428513, + 66.61346981432183 + ], + [ + 57.01102436649205, + 52.25419327413448 + ], + [ + 44.33502946215606, + 37.4105427042162 + ], + [ + -12.523338804512832, + 50.96752958949082 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 725.5157305251146, + "ymin": 0.0, + "xmax": 821.1213263335187, + "ymax": 175.46439359509526 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 732.9830535678661, + 136.80461575651907 + ], + [ + 725.5157305251146, + 139.91965202000506 + ], + [ + 789.9946767768635, + 175.46439359509526 + ], + [ + 797.5455632474767, + 171.98195340253517 + ], + [ + 746.0392065151312, + -48.8766142685825 + ], + [ + 737.5927460345018, + -46.39454581318307 + ], + [ + 812.5787668906215, + -17.820294535450387 + ], + [ + 821.1213263335187, + -20.640462984118358 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 203.84266227994937, + "ymin": 105.85097213074397, + "xmax": 338.7019406888703, + "ymax": 389.72669065470393 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 286.9347736523907, + 322.8761917747793 + ], + [ + 274.2482393290555, + 328.16845169830157 + ], + [ + 325.4151892421255, + 389.72669065470393 + ], + [ + 338.7019406888703, + 383.59889129673775 + ], + [ + 219.50238157699818, + 105.85097213074397 + ], + [ + 203.84266227994937, + 110.45272163004645 + ], + [ + 259.26574095986297, + 164.84579615992877 + ], + [ + 275.8867837656884, + 159.35866542138612 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16194625468754558244, + "instance_id": 9469, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.53463745117188, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 11.367528145887036, + "xmax": 92.25206239764464, + "ymax": 149.22775153869014 + }, + "corners_3d": [ + [ + -95.56306457519531, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -127.03557586669922, + 4.877264976501465 + ], + [ + -95.56306457519531, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + 35.18724482486971, + 149.22775153869014 + ], + [ + 92.25206239764464, + 132.74203324893443 + ], + [ + 78.54007948046046, + 115.5844844874515 + ], + [ + 22.759990042056984, + 131.14581164210426 + ], + [ + -14.600970823045827, + 41.391961204707684 + ], + [ + 48.44046158127844, + 26.646491926071974 + ], + [ + 34.990215283625275, + 11.367528145887036 + ], + [ + -26.470708327831744, + 25.222146900095595 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 752.8696644000395, + "ymin": 0.0, + "xmax": 1047.6787787550252, + "ymax": 240.68861055258952 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 759.8862089151736, + 118.64753362730673 + ], + [ + 752.8696644000395, + 121.484549254281 + ], + [ + 977.4746112761055, + 240.68861055258952 + ], + [ + 984.6054382557247, + 236.6159899446169 + ], + [ + 777.671905624456, + -80.2277401639912 + ], + [ + 769.7058522891288, + -78.0534359177675 + ], + [ + 1039.659420071826, + 16.162092736205295 + ], + [ + 1047.6787787550252, + 12.848348142198574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 257.78162772188256, + "ymax": 351.67804392468474 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 161.24283050364085, + 190.56211917170427 + ], + [ + -20.921282621429327, + 265.54033048610006 + ], + [ + 66.5990900803339, + 351.67804392468474 + ], + [ + 257.78162772188256, + 259.40953255251713 + ], + [ + 35.89706366014707, + -141.58241495428223 + ], + [ + -219.1708727033141, + -92.50484386074618 + ], + [ + -132.21641121651658, + -32.328427980392064 + ], + [ + 144.3567578782273, + -96.62892272838542 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 104.34580004641396, + "ymax": 89.69167981861074 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + 15.118977230519818, + 4.840224321973153 + ], + [ + -126.45811713678438, + 53.431434065822316 + ], + [ + -37.30039705544664, + 89.69167981861074 + ], + [ + 104.34580004641396, + 34.59239921183962 + ], + [ + -89.37249555934466, + -238.35276713621863 + ], + [ + -269.9223055376418, + -209.69497703162438 + ], + [ + -174.46954426453442, + -187.66281070004015 + ], + [ + 8.271361280246879, + -220.92130279002367 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 288.58909286993867, + "ymax": 402.6912460820099 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 24.147552464368914, + 402.6912460820099 + ], + [ + 259.1298204105745, + 380.63103953962604 + ], + [ + 288.58909286993867, + 251.26177785745546 + ], + [ + 90.40251910817062, + 267.116685401385 + ], + [ + -207.4442128478803, + 5.395786226436371 + ], + [ + 120.79160705066113, + -11.117415075718327 + ], + [ + 185.79486418926092, + -102.07840068382069 + ], + [ + -74.90881024582188, + -91.44116078266859 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 117.07767912074962, + "ymax": 156.00671093761244 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 50.272426794166336, + 57.38185886339164 + ], + [ + -102.18724835850298, + 104.42946451080311 + ], + [ + -42.48788848742197, + 156.00671093761244 + ], + [ + 117.07767912074962, + 100.65971870112719 + ], + [ + -67.26418205019058, + -222.006895946829 + ], + [ + -265.964517424899, + -194.52238726061546 + ], + [ + -209.68285581660257, + -163.24429326145787 + ], + [ + 2.5949475888554616, + -196.76064765403066 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00017/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00017/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..06f5aca536cc530bfcddc1fc8d6e63191e939711 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00017/meta.json @@ -0,0 +1,2781 @@ +{ + "frame_id": 17, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 8.5, + "sim_timestamp": 9911.946717891842 + }, + "drone_pose": { + "x": -139.44768717798877, + "y": -129.80612586323588, + "z": 20.1907122672881, + "pitch": -44.60427708731335, + "yaw": 41.72800543418577, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5313551425933838, + -0.4738861620426178, + 0.7022061944007874, + 121.43154907226562 + ], + [ + 0.6655951142311096, + 0.7463129758834839, + 0.0, + 4.060279846191406 + ], + [ + -0.5240655541419983, + 0.46738505363464355, + 0.7119736075401306, + -148.1244354248047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -138.93831175703224, + "y": -129.55362913612578, + "z": 20.263881577566508 + }, + "t1_image_uv": [ + 213.44966663797362, + -877.9158145324645 + ], + "t1_depth": 0.33893402555378865 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -123.16718292236328, + "y": -114.68776321411131, + "z": 0.5749846434596475 + }, + "image_uv": [ + 654.4961251492007, + 307.04260024134334 + ], + "depth": 29.589399192009434, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 174, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -123.16718292236328, + "y": -114.68775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.19768066704273224, + "y": 0.20678222179412842, + "z": 0.5282387733459473 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 647.3727299272892, + "ymin": 289.5468789589513, + "xmax": 661.7356305303242, + "ymax": 324.2776150995134 + }, + "corners_3d": [ + [ + -123.1607437133789, + -114.9737548828125, + 0.046745896339416504 + ], + [ + -123.45317840576172, + -114.68132019042969, + 0.046745896339416504 + ], + [ + -123.17362213134766, + -114.40176391601562, + 0.046745896339416504 + ], + [ + -122.88118743896484, + -114.69419860839844, + 0.046745896339416504 + ], + [ + -123.1607437133789, + -114.9737548828125, + 1.103223443031311 + ], + [ + -123.45317840576172, + -114.68132019042969, + 1.103223443031311 + ], + [ + -123.17362213134766, + -114.40176391601562, + 1.103223443031311 + ], + [ + -122.88118743896484, + -114.69419860839844, + 1.103223443031311 + ] + ], + "corners_2d": [ + [ + 647.3727299272892, + 323.7642765356293 + ], + [ + 660.6729752354167, + 324.2776150995134 + ], + [ + 661.1997848258308, + 315.7691380880319 + ], + [ + 648.0233819306699, + 315.26533984125007 + ], + [ + 647.5607758296209, + 298.01410398855825 + ], + [ + 661.2005567107865, + 298.5256562591257 + ], + [ + 661.7356305303242, + 290.04868503235775 + ], + [ + 648.2260648563109, + 289.5468789589513 + ] + ], + "center_offset_px": [ + 14.49612514920068, + -52.95739975865666 + ] + }, + "trace_timestep_index": 17, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 58, + "semantic_pixel_counts": { + "1": 590581, + "2": 203039, + "3": 50615, + "5": 3617, + "6": 4226, + "7": 620, + "9": 25793, + "10": 6476, + "12": 3370, + "21": 704, + "24": 32559 + }, + "instance_pixel_counts": { + "1115": 3438, + "2978": 48, + "4002": 89, + "6254": 25, + "10370": 1585, + "11394": 384, + "14928": 3617, + "15511": 2793, + "16023": 523, + "16535": 456, + "18011": 7429, + "20119": 13314, + "20631": 10878, + "24064": 880, + "26560": 8700, + "27072": 2268, + "27584": 27, + "28608": 2431, + "29843": 20310, + "30144": 59793, + "30355": 71334, + "30656": 47105, + "31168": 1781, + "31488": 1997, + "31813": 6439, + "31891": 403998, + "34120": 36695, + "34453": 2524, + "34965": 5514, + "35931": 1548, + "36443": 33214, + "36501": 21055, + "44171": 627, + "44691": 93776, + "44891": 82, + "45203": 28, + "45915": 20, + "46227": 1135, + "47253": 3386, + "47765": 23, + "48779": 234, + "48789": 57, + "49664": 174, + "49920": 376, + "50176": 412, + "50432": 906, + "50688": 945, + "50944": 557, + "53184": 1188, + "55744": 1636, + "56993": 165, + "57173": 25793, + "58529": 149, + "59809": 151, + "60013": 3565, + "61037": 1396, + "64351": 9653, + "65375": 2937 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 174, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -123.16718292236328, + "y": -114.68775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.22199706733226776, + "y": 0.2270800769329071, + "z": 0.5212403535842896 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 646.6807210610118, + "ymin": 289.18135484569865, + "xmax": 662.4274325779044, + "ymax": 324.6651018388666 + }, + "corners_3d": [ + [ + -123.16358947753906, + -115.00530242919922, + 0.05374431610107422 + ], + [ + -123.48472595214844, + -114.68416595458984, + 0.05374431610107422 + ], + [ + -123.1707763671875, + -114.3702163696289, + 0.05374431610107422 + ], + [ + -122.84963989257812, + -114.69135284423828, + 0.05374431610107422 + ], + [ + -123.16358947753906, + -115.00530242919922, + 1.0962250232696533 + ], + [ + -123.48472595214844, + -114.68416595458984, + 1.0962250232696533 + ], + [ + -123.1707763671875, + -114.3702163696289, + 1.0962250232696533 + ], + [ + -122.84963989257812, + -114.69135284423828, + 1.0962250232696533 + ] + ], + "corners_2d": [ + [ + 646.6807210610118, + 324.1007360946979 + ], + [ + 661.2972155295059, + 324.6651018388666 + ], + [ + 661.8820664006403, + 315.10944518340835 + ], + [ + 647.4183517173408, + 314.55684688084625 + ], + [ + 646.8489261374189, + 298.69009656656846 + ], + [ + 661.8337706492573, + 299.2525410068407 + ], + [ + 662.4274325779044, + 289.7317812930194 + ], + [ + 647.603123008287, + 289.18135484569865 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 376, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -119.04119873046875, + "y": -111.69005584716797, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.49446776509284973, + "y": 0.38081541657447815, + "z": 0.8894561529159546 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 625.0052904640735, + "ymin": 179.0856196520844, + "xmax": 651.5789508680771, + "ymax": 240.03239432893673 + }, + "corners_3d": [ + [ + -119.24848937988281, + -112.27873992919922, + -0.314466655254364 + ], + [ + -119.66329956054688, + -111.63998413085938, + -0.314466655254364 + ], + [ + -118.83390808105469, + -111.10137176513672, + -0.314466655254364 + ], + [ + -118.41909790039062, + -111.74012756347656, + -0.314466655254364 + ], + [ + -119.24848937988281, + -112.27873992919922, + 1.4644455909729004 + ], + [ + -119.66329956054688, + -111.63998413085938, + 1.4644455909729004 + ], + [ + -118.83390808105469, + -111.10137176513672, + 1.4644455909729004 + ], + [ + -118.41909790039062, + -111.74012756347656, + 1.4644455909729004 + ] + ], + "corners_2d": [ + [ + 629.5617623967624, + 240.03239432893673 + ], + [ + 651.1474483899452, + 238.00258880550152 + ], + [ + 646.7103175904197, + 221.22577402938194 + ], + [ + 625.5540389796784, + 223.17375066925956 + ], + [ + 629.1566795968794, + 197.60325192994435 + ], + [ + 651.5789508680771, + 195.60306344069684 + ], + [ + 646.9645814474217, + 179.0856196520844 + ], + [ + 625.0052904640735, + 181.002146688635 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 412, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -125.42300415039062, + "y": -107.74504852294922, + "z": 0.5749748945236206 + }, + "extent": { + "x": 0.35709959268569946, + "y": 0.4197753667831421, + "z": 0.8692128658294678 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 837.5250884903219, + "ymin": 219.75108972576302, + "xmax": 875.5884408173291, + "ymax": 275.71182153604207 + }, + "corners_3d": [ + [ + -125.43634796142578, + -108.29600524902344, + -0.29423797130584717 + ], + [ + -125.9646987915039, + -107.6435546875, + -0.29423797130584717 + ], + [ + -125.40966033935547, + -107.194091796875, + -0.29423797130584717 + ], + [ + -124.88130950927734, + -107.84654235839844, + -0.29423797130584717 + ], + [ + -125.43634796142578, + -108.29600524902344, + 1.4441877603530884 + ], + [ + -125.9646987915039, + -107.6435546875, + 1.4441877603530884 + ], + [ + -125.40966033935547, + -107.194091796875, + 1.4441877603530884 + ], + [ + -124.88130950927734, + -107.84654235839844, + 1.4441877603530884 + ] + ], + "corners_2d": [ + [ + 841.6770298885032, + 275.71182153604207 + ], + [ + 866.6156596765907, + 274.94632218461686 + ], + [ + 862.0783101423937, + 261.5028595537538 + ], + [ + 837.5250884903219, + 262.2446517707092 + ], + [ + 849.6697475765593, + 233.7961443560096 + ], + [ + 875.5884408173291, + 233.03900804665074 + ], + [ + 870.7289228127983, + 219.75108972576302 + ], + [ + 845.2262701330369, + 220.48387157669814 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 906, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -132.66717529296875, + "y": -114.68775939941406, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.3907519578933716, + "y": 0.4445165991783142, + "z": 0.8631354570388794 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 879.5324389256806, + "ymin": 456.67095417969244, + "xmax": 932.0430982950162, + "ymax": 524.2747647613223 + }, + "corners_3d": [ + [ + -132.62916564941406, + -115.27838134765625, + -0.2881459593772888 + ], + [ + -133.25779724121094, + -114.64974212646484, + -0.2881459593772888 + ], + [ + -132.70518493652344, + -114.09713745117188, + -0.2881459593772888 + ], + [ + -132.07655334472656, + -114.72577667236328, + -0.2881459593772888 + ], + [ + -132.62916564941406, + -115.27838134765625, + 1.4381248950958252 + ], + [ + -133.25779724121094, + -114.64974212646484, + 1.4381248950958252 + ], + [ + -132.70518493652344, + -114.09713745117188, + 1.4381248950958252 + ], + [ + -132.07655334472656, + -114.72577667236328, + 1.4381248950958252 + ] + ], + "corners_2d": [ + [ + 883.1585165720202, + 522.6620720866393 + ], + [ + 917.7980976645682, + 524.2747647613223 + ], + [ + 913.4095054308, + 499.98159150452113 + ], + [ + 879.5324389256806, + 498.43859870952275 + ], + [ + 895.6082359381511, + 481.1546731870823 + ], + [ + 932.0430982950162, + 482.7866354391389 + ], + [ + 927.1075769992742, + 458.22889356043595 + ], + [ + 891.5153474266831, + 456.67095417969244 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 945, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -126.78268432617188, + "y": -125.81512451171875, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.42653319239616394, + "y": 0.5718798637390137, + "z": 0.905849039554596 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 368.6413467339914, + "ymin": 553.4375693540305, + "xmax": 441.19082904524197, + "ymax": 633.9684450360371 + }, + "corners_3d": [ + [ + -126.60667419433594, + -126.50650024414062, + -0.3308643698692322 + ], + [ + -127.49554443359375, + -125.78670501708984, + -0.3308643698692322 + ], + [ + -126.95869445800781, + -125.12374877929688, + -0.3308643698692322 + ], + [ + -126.06982421875, + -125.84354400634766, + -0.3308643698692322 + ], + [ + -126.60667419433594, + -126.50650024414062, + 1.4808337688446045 + ], + [ + -127.49554443359375, + -125.78670501708984, + 1.4808337688446045 + ], + [ + -126.95869445800781, + -125.12374877929688, + 1.4808337688446045 + ], + [ + -126.06982421875, + -125.84354400634766, + 1.4808337688446045 + ] + ], + "corners_2d": [ + [ + 383.78439674221164, + 626.9423740030456 + ], + [ + 430.1116123549756, + 633.9684450360371 + ], + [ + 441.19082904524197, + 602.5150339679051 + ], + [ + 395.98839249058994, + 595.8453580662601 + ], + [ + 368.6413467339914, + 585.1915401492156 + ], + [ + 417.63055093324635, + 592.3793667102071 + ], + [ + 429.69081036096634, + 560.2400574490703 + ], + [ + 381.9573659256619, + 553.4375693540305 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 557, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -111.92184448242188, + "y": -122.85797882080078, + "z": 0.7240129709243774 + }, + "extent": { + "x": 0.41303709149360657, + "y": 0.43111327290534973, + "z": 0.8784250617027283 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 213.7911425658774, + "ymin": 213.01038714659592, + "xmax": 266.43531296750206, + "ymax": 274.7327746782679 + }, + "corners_3d": [ + [ + -111.78524017333984, + -123.43917846679688, + -0.15441209077835083 + ], + [ + -112.50836181640625, + -122.9695816040039, + -0.15441209077835083 + ], + [ + -112.0584487915039, + -122.27677917480469, + -0.15441209077835083 + ], + [ + -111.3353271484375, + -122.74637603759766, + -0.15441209077835083 + ], + [ + -111.78524017333984, + -123.43917846679688, + 1.602437973022461 + ], + [ + -112.50836181640625, + -122.9695816040039, + 1.602437973022461 + ], + [ + -112.0584487915039, + -122.27677917480469, + 1.602437973022461 + ], + [ + -111.3353271484375, + -122.74637603759766, + 1.602437973022461 + ] + ], + "corners_2d": [ + [ + 230.22127717831899, + 270.3795281959284 + ], + [ + 253.21838297820352, + 274.7327746782679 + ], + [ + 266.43531296750206, + 259.649200573703 + ], + [ + 243.7732055832787, + 255.44667460343612 + ], + [ + 213.7911425658774, + 227.75945005365747 + ], + [ + 237.62839005582015, + 232.06299708767526 + ], + [ + 251.65209718721786, + 217.15910699169666 + ], + [ + 228.17408533190235, + 213.01038714659592 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 948.763417196674, + "ymin": 0.0, + "xmax": 968.4740428695432, + "ymax": 24.660665443017535 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 955.6555481019673, + 24.660665443017535 + ], + [ + 962.2878295477769, + 21.270357981083407 + ], + [ + 955.4037959351274, + 18.524995172594856 + ], + [ + 948.763417196674, + 21.88467503810375 + ], + [ + 961.7488888441119, + -0.6020294038236216 + ], + [ + 968.4740428695432, + -3.9146594624650106 + ], + [ + 961.4300181208339, + -6.596602114300822 + ], + [ + 954.6961359319769, + -3.31446999515191 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 725.935480333917, + "ymin": 0.0, + "xmax": 738.601572291815, + "ymax": 6.037859320205541 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 730.7167494207365, + 6.037859320205541 + ], + [ + 737.1002439257071, + 3.3748568873745626 + ], + [ + 732.316877165635, + 1.2025757562842614 + ], + [ + 725.935480333917, + 3.8459677127918326 + ], + [ + 732.1258054939545, + -14.578639962486704 + ], + [ + 738.601572291815, + -17.18878119800297 + ], + [ + 733.7389124321809, + -19.317672374043298 + ], + [ + 727.2652602228125, + -16.72704854350161 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 889.3124821703686, + "ymin": 0.0, + "xmax": 907.1974550737284, + "ymax": 0.5008783115943629 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 895.6718983624652, + 0.5008783115943629 + ], + [ + 902.3630359539471, + -2.627506953552256 + ], + [ + 896.0083197330398, + -5.161778206205838 + ], + [ + 889.3124821703686, + -2.0605479933084325 + ], + [ + 900.4087188964738, + -24.19281106103807 + ], + [ + 907.1974550737284, + -27.244888160297194 + ], + [ + 900.7048048281384, + -29.716901426108052 + ], + [ + 893.9109665058663, + -26.691803258790856 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11529003171770300666, + "instance_id": 64120, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.25050354003906, + "y": -128.95399475097656, + "z": 3.0800981521606445 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 11.437156064534179, + "ymin": 271.4598030344995, + "xmax": 43.46878346542462, + "ymax": 306.56927534868765 + }, + "corners_3d": [ + [ + -113.11116790771484, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -128.7640380859375, + 3.5146679878234863 + ], + [ + -113.11116790771484, + -128.7640380859375, + 3.5146679878234863 + ] + ], + "corners_2d": [ + [ + 25.84375630207353, + 301.60127974506224 + ], + [ + 29.133878060071538, + 306.56927534868765 + ], + [ + 43.46878346542462, + 300.53615771887314 + ], + [ + 40.121579241420136, + 295.6348491738558 + ], + [ + 11.437156064534179, + 277.39890746625935 + ], + [ + 14.722437318202424, + 282.3455776488983 + ], + [ + 29.492792325126857, + 276.33852647560917 + ], + [ + 26.146604318783943, + 271.4598030344995 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2334590930876643410, + "instance_id": 21048, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -123.8453369140625, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 198.87775183695754, + "ymin": 119.40344303887142, + "xmax": 218.9499228698345, + "ymax": 134.16597932554606 + }, + "corners_3d": [ + [ + -116.6200942993164, + -123.69747161865234, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.69747161865234, + 7.743301868438721 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 211.77790072705022, + 123.31129615984489 + ], + [ + 200.3061749296951, + 127.51031964856062 + ], + [ + 207.41411543982082, + 134.16597932554606 + ], + [ + 218.9499228698345, + 129.8885792001733 + ], + [ + 210.3949494380348, + 119.40344303887142 + ], + [ + 198.87775183695754, + 123.59292582452301 + ], + [ + 205.9956470396678, + 130.23379083537355 + ], + [ + 217.57749842901364, + 125.96585265298421 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3639812104533344102, + "instance_id": 26239, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -123.8453369140625, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 198.98507563951995, + "ymin": 119.48145237858535, + "xmax": 218.84326083287397, + "ymax": 134.08700522227707 + }, + "corners_3d": [ + [ + -116.62229919433594, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.69904327392578, + 7.742714881896973 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 211.7480820438658, + 123.34786807904288 + ], + [ + 200.39801101151664, + 127.50251207946303 + ], + [ + 207.43045883561967, + 134.08700522227707 + ], + [ + 218.84326083287397, + 129.8556426506352 + ], + [ + 210.3796584181074, + 119.48145237858535 + ], + [ + 198.98507563951995, + 123.6267581232795 + ], + [ + 206.0272694047129, + 130.1967689793663 + ], + [ + 217.48513725467024, + 125.97466839007564 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5944504550537153523, + "instance_id": 62411, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_1", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88526153564453, + "z": 3.6450090408325195 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 31.87239076038611, + "xmax": 26.23703974465286, + "ymax": 78.21459589736935 + }, + "corners_3d": [ + [ + -100.3021469116211, + -126.97334289550781, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -126.97334289550781, + 3.8072457313537598 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.8072457313537598 + ] + ], + "corners_2d": [ + [ + -38.47348572300609, + 78.21459589736935 + ], + [ + 26.23703974465286, + 58.5668270058967 + ], + [ + 9.413616603539367, + 40.12502172880613 + ], + [ + -53.89029578835766, + 58.649877269912 + ], + [ + -43.06792832318092, + 69.71512969765911 + ], + [ + 22.204395612888447, + 50.19102024699333 + ], + [ + 5.389580753480459, + 31.87239076038611 + ], + [ + -58.44999497262393, + 50.27353316741704 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6967274615413648305, + "instance_id": 45483, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_2", + "bbox_3d": { + "center_world": { + "x": -99.33560943603516, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 2.836128578315538, + "xmax": 66.5601690240178, + "ymax": 159.66233209005966 + }, + "corners_3d": [ + [ + -100.3640365600586, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -127.03557586669922, + 4.877264976501465 + ], + [ + -100.3640365600586, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + 3.621743421287988, + 159.66233209005966 + ], + [ + 66.5601690240178, + 137.79206132295212 + ], + [ + 48.61178220389854, + 117.11814102478436 + ], + [ + -13.004169250226255, + 137.7405111073326 + ], + [ + -60.1507923385534, + 42.0447914631892 + ], + [ + 10.941676345503197, + 21.833407745084457 + ], + [ + -6.957273218795535, + 2.836128578315538 + ], + [ + -76.33474255553767, + 21.78590746368417 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9919303964700251881, + "instance_id": 59670, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_Poles_4", + "bbox_3d": { + "center_world": { + "x": -112.9144515991211, + "y": -134.7008514404297, + "z": 4.223348617553711 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 102.57737198284894, + "xmax": 82.893847649745, + "ymax": 596.146586663517 + }, + "corners_3d": [ + [ + -113.18444061279297, + -128.6757354736328, + -4.76837158203125e-06 + ], + [ + -112.75162506103516, + -128.67189025878906, + -4.76837158203125e-06 + ], + [ + -112.64446258544922, + -140.72596740722656, + -4.76837158203125e-06 + ], + [ + -113.07727813720703, + -140.7298126220703, + -4.76837158203125e-06 + ], + [ + -113.18444061279297, + -128.6757354736328, + 8.446702003479004 + ], + [ + -112.75162506103516, + -128.67189025878906, + 8.446702003479004 + ], + [ + -112.64446258544922, + -140.72596740722656, + 8.446702003479004 + ], + [ + -113.07727813720703, + -140.7298126220703, + 8.446702003479004 + ] + ], + "corners_2d": [ + [ + 82.893847649745, + 362.7882678404194 + ], + [ + 77.88828009639349, + 355.1717426996263 + ], + [ + -433.34009597348586, + 584.350011932739 + ], + [ + -432.25375349376554, + 596.146586663517 + ], + [ + -62.43346525379741, + 109.60564021261959 + ], + [ + -67.26500325253483, + 102.57737198284894 + ], + [ + -801.039050478827, + 327.7605998613459 + ], + [ + -804.565087424096, + 340.1713644808375 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14081937874569997388, + "instance_id": 19500, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_0", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88525390625, + "z": 3.6439085006713867 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 31.851999842484247, + "xmax": 26.309543795436298, + "ymax": 78.29487132954398 + }, + "corners_3d": [ + [ + -100.30333709716797, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.30333709716797, + -126.97452545166016, + 3.807230234146118 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.807230234146118 + ] + ], + "corners_2d": [ + [ + -38.469202046445275, + 78.29487132954398 + ], + [ + 26.309543795436298, + 58.62407926167191 + ], + [ + 9.464323762442973, + 40.15931585086656 + ], + [ + -53.90470694097269, + 58.7045809904734 + ], + [ + -43.09450194777105, + 69.73881405384674 + ], + [ + 22.25040572400792, + 50.1926271866422 + ], + [ + 5.413841451958433, + 31.851999842484247 + ], + [ + -58.49498211820048, + 50.27260460478203 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 687.4299717338932, + "ymin": 0.0, + "xmax": 781.6286097375887, + "ymax": 119.67533676214944 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 694.958347607168, + 80.49927790011787 + ], + [ + 687.4299717338932, + 83.94757308860272 + ], + [ + 754.0074578318894, + 119.67533676214944 + ], + [ + 761.5742597545191, + 115.8509714868865 + ], + [ + 703.4970784921002, + -114.15327795646448 + ], + [ + 694.8430687728171, + -111.32906565257906 + ], + [ + 772.9329658463937, + -81.79806977510293 + ], + [ + 781.6286097375887, + -84.98279598530769 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 141.0225705844876, + "ymin": 64.04164154269142, + "xmax": 299.3342745051035, + "ymax": 356.27579689513885 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 242.50777701422652, + 287.73961125560726 + ], + [ + 229.55666091872126, + 293.6717368653523 + ], + [ + 285.8751828607691, + 356.27579689513885 + ], + [ + 299.3342745051035, + 349.47338773371524 + ], + [ + 157.46852279498762, + 64.04164154269142 + ], + [ + 141.0225705844876, + 69.40873287822706 + ], + [ + 202.78377980716687, + 127.01557062070836 + ], + [ + 220.11151359491146, + 120.66939446080852 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16194625468754558244, + "instance_id": 9469, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.53463745117188, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 26.20240589242178, + "ymax": 110.42301453210194 + }, + "corners_3d": [ + [ + -95.56306457519531, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -127.03557586669922, + 4.877264976501465 + ], + [ + -95.56306457519531, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + -33.72226163963296, + 110.42301453210194 + ], + [ + 26.20240589242178, + 91.30581234932959 + ], + [ + 10.454192397572342, + 73.16617039186468 + ], + [ + -48.25534117879454, + 91.260663912332 + ], + [ + -96.3696592102566, + -3.2935723299289634 + ], + [ + -29.166733050352263, + -20.73616582072441 + ], + [ + -44.683422384190635, + -37.20500260692933 + ], + [ + -110.33662007854866, + -20.777254389170878 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 714.7941051924602, + "ymin": 0.0, + "xmax": 1013.2085017412771, + "ymax": 182.59945290180383 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 721.8672247543864, + 60.73163258430617 + ], + [ + 714.7941051924602, + 63.874564233679166 + ], + [ + 943.9544642792164, + 182.59945290180383 + ], + [ + 951.0030977237647, + 178.20886888944057 + ], + [ + 735.3144592561663, + -148.30490492085556 + ], + [ + 727.1490096137192, + -145.82495250685872 + ], + [ + 1005.1692091346874, + -49.15598350930048 + ], + [ + 1013.2085017412771, + -52.837776239352934 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 208.7940372884625, + "ymax": 324.53312595366634 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 103.23043403262659, + 151.23750178174473 + ], + [ + -85.61849999689719, + 236.09234430072593 + ], + [ + 13.090306119618617, + 324.53312595366634 + ], + [ + 208.7940372884625, + 221.59999881174306 + ], + [ + -57.56465667398834, + -202.87796886691626 + ], + [ + -336.62030210606827, + -143.4658703925066 + ], + [ + -236.34570653840433, + -76.85812607958269 + ], + [ + 63.14782646960896, + -153.91115146106654 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 32.79816687365576, + "ymax": 47.99452826353985 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + -65.2108344454972, + -45.490856539428535 + ], + [ + -215.25640601265025, + 10.482616810827494 + ], + [ + -115.90006253395416, + 47.99452826353985 + ], + [ + 32.79816687365576, + -14.860198166977739 + ], + [ + -201.1156346715195, + -311.21498107043044 + ], + [ + -400.81698671291133, + -276.5338141149957 + ], + [ + -292.61123425628, + -252.4912838632398 + ], + [ + -92.20306885184539, + -292.4093370189843 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 240.6071355290759, + "ymax": 379.47458390202587 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -28.456801249133377, + 379.47458390202587 + ], + [ + 216.68475392769756, + 348.6249625928472 + ], + [ + 240.6071355290759, + 212.1409525995331 + ], + [ + 32.905442180513546, + 234.5374298152072 + ], + [ + -317.3878291346301, + -32.82601697870098 + ], + [ + 41.965161603842375, + -57.81285157958223 + ], + [ + 107.80949931163332, + -160.66075423428833 + ], + [ + -176.5635246273689, + -144.59265737826888 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 50.79888306410032, + "ymax": 119.4334961089254 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -23.5321806705914, + 10.707801378541035 + ], + [ + -184.6948346465681, + 65.13436622215698 + ], + [ + -116.45177582003191, + 119.4334961089254 + ], + [ + 50.79888306410032, + 56.00458266608916 + ], + [ + -175.771201172387, + -292.7563741892201 + ], + [ + -395.55177889688935, + -259.1222500452599 + ], + [ + -330.5271307431749, + -224.10499306034524 + ], + [ + -97.20782454563266, + -264.86407139288633 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00018/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00018/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3b3007ed57adeadc9d236031afe62154fb066826 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00018/meta.json @@ -0,0 +1,3312 @@ +{ + "frame_id": 18, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 9.0, + "sim_timestamp": 9922.48260107264 + }, + "drone_pose": { + "x": -138.93831175703224, + "y": -129.55362913612578, + "z": 20.263881577566508, + "pitch": -41.33997620632948, + "yaw": 43.36098226867214, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5458659529685974, + -0.515496015548706, + 0.6605256795883179, + 129.2412872314453 + ], + [ + 0.6865925788879395, + 0.7270424365997314, + 0.0, + -1.2030258178710938 + ], + [ + -0.4802302122116089, + 0.4535120129585266, + 0.7508034706115723, + -140.69070434570312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -138.4896863501937, + "y": -129.07990685807601, + "z": 20.151940875349972 + }, + "t1_image_uv": [ + 702.0526773984028, + -230.3533898546641 + ], + "t1_depth": 0.5630310133237616 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -122.66718292236328, + "y": -114.18776321411131, + "z": 0.5749846434596475 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 29.8079206180103, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 178, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -122.66718292236328, + "y": -114.18775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.27634763717651367, + "y": 0.21186521649360657, + "z": 0.5263665318489075 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 628.8136060967063, + "ymin": 339.844301866745, + "xmax": 651.2182341821554, + "ymax": 380.0374442981812 + }, + "corners_3d": [ + [ + -122.94352722167969, + -114.39962768554688, + 0.0486181378364563 + ], + [ + -122.94352722167969, + -113.97589111328125, + 0.0486181378364563 + ], + [ + -122.39083862304688, + -113.97589111328125, + 0.0486181378364563 + ], + [ + -122.39083862304688, + -114.39962768554688, + 0.0486181378364563 + ], + [ + -122.94352722167969, + -114.39962768554688, + 1.101351261138916 + ], + [ + -122.94352722167969, + -113.97589111328125, + 1.101351261138916 + ], + [ + -122.39083862304688, + -113.97589111328125, + 1.101351261138916 + ], + [ + -122.39083862304688, + -114.39962768554688, + 1.101351261138916 + ] + ], + "corners_2d": [ + [ + 641.1464395959825, + 380.0374442981812 + ], + [ + 650.9591955971615, + 373.7659462857213 + ], + [ + 638.8733403703347, + 365.25210545572236 + ], + [ + 629.0711972724013, + 371.3993606358787 + ], + [ + 641.1737402873673, + 354.529154062796 + ], + [ + 651.2182341821554, + 348.2988191012686 + ], + [ + 638.8469802482265, + 339.844301866745 + ], + [ + 628.8136060967063, + 345.9483257818214 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 18, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 69, + "semantic_pixel_counts": { + "1": 569943, + "2": 186366, + "3": 92135, + "5": 3735, + "6": 5634, + "7": 863, + "9": 20266, + "10": 6647, + "12": 3193, + "21": 678, + "24": 32140 + }, + "instance_pixel_counts": { + "1115": 3354, + "2978": 82, + "4002": 146, + "6254": 2591, + "10370": 1627, + "11394": 551, + "14416": 65, + "14928": 3670, + "15511": 2308, + "16023": 509, + "16535": 742, + "18011": 17857, + "20119": 10732, + "20631": 11252, + "24064": 3169, + "26560": 6892, + "27072": 2226, + "27584": 272, + "28608": 549, + "29843": 20191, + "30144": 43463, + "30355": 39323, + "30656": 48850, + "31168": 1723, + "31488": 1150, + "31813": 6600, + "31891": 376712, + "34120": 37401, + "34395": 205, + "34453": 2618, + "34907": 304, + "34965": 3988, + "35419": 1013, + "35931": 4936, + "36443": 55133, + "36501": 19306, + "44171": 610, + "44179": 3, + "44691": 111625, + "44891": 75, + "45203": 8769, + "45915": 22, + "46227": 13320, + "46731": 929, + "46741": 3, + "47253": 4892, + "47765": 820, + "48267": 114, + "48779": 426, + "48789": 513, + "49664": 178, + "49803": 91, + "49920": 312, + "50176": 357, + "50432": 814, + "50688": 921, + "50944": 611, + "53184": 1148, + "54720": 814, + "55232": 11, + "55744": 2131, + "56993": 173, + "57173": 20266, + "58529": 130, + "59809": 50, + "60013": 3686, + "61037": 3056, + "64351": 13118, + "65375": 55 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 178, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -122.66718292236328, + "y": -114.18775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.23477047681808472, + "y": 0.22026364505290985, + "z": 0.5243110060691833 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.5347673702558, + "ymin": 340.40487476709325, + "xmax": 650.4757983154997, + "ymax": 379.45794075222256 + }, + "corners_3d": [ + [ + -122.9019546508789, + -114.40802001953125, + 0.05067366361618042 + ], + [ + -122.9019546508789, + -113.96749877929688, + 0.05067366361618042 + ], + [ + -122.43241119384766, + -113.96749877929688, + 0.05067366361618042 + ], + [ + -122.43241119384766, + -114.40802001953125, + 0.05067366361618042 + ], + [ + -122.9019546508789, + -114.40802001953125, + 1.0992956161499023 + ], + [ + -122.9019546508789, + -113.96749877929688, + 1.0992956161499023 + ], + [ + -122.43241119384766, + -113.96749877929688, + 1.0992956161499023 + ], + [ + -122.43241119384766, + -114.40802001953125, + 1.0992956161499023 + ] + ], + "corners_2d": [ + [ + 640.0339064002532, + 379.45794075222256 + ], + [ + 650.2350530150223, + 372.94793932881635 + ], + [ + 639.9668080107148, + 365.7171042191419 + ], + [ + 629.7750369148742, + 372.1173702022917 + ], + [ + 640.0347101327798, + 354.05268148966303 + ], + [ + 650.4757983154997, + 347.5854723728819 + ], + [ + 639.9660340173402, + 340.40487476709325 + ], + [ + 629.5347673702558, + 346.76052897439183 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 312, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -118.54119873046875, + "y": -111.19005584716797, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.3788476586341858, + "y": 0.30677732825279236, + "z": 0.8715431094169617 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 606.8535315369722, + "ymin": 236.21498196412233, + "xmax": 635.3039106833304, + "ymax": 292.5299856729546 + }, + "corners_3d": [ + [ + -118.97554779052734, + -111.41136169433594, + -0.2965536117553711 + ], + [ + -118.84798431396484, + -110.81121826171875, + -0.2965536117553711 + ], + [ + -118.10684967041016, + -110.96875, + -0.2965536117553711 + ], + [ + -118.23441314697266, + -111.56889343261719, + -0.2965536117553711 + ], + [ + -118.97554779052734, + -111.41136169433594, + 1.4465326070785522 + ], + [ + -118.84798431396484, + -110.81121826171875, + 1.4465326070785522 + ], + [ + -118.10684967041016, + -110.96875, + 1.4465326070785522 + ], + [ + -118.23441314697266, + -111.56889343261719, + 1.4465326070785522 + ] + ], + "corners_2d": [ + [ + 625.3548702071887, + 292.5299856729546 + ], + [ + 635.3039106833304, + 283.92044624653414 + ], + [ + 618.0176172498085, + 276.7244843771043 + ], + [ + 607.9709428098191, + 285.1726566811808 + ], + [ + 624.8388837306852, + 251.7066867765339 + ], + [ + 635.1403520357578, + 243.26532584066268 + ], + [ + 617.2594159657457, + 236.21498196412233 + ], + [ + 606.8535315369722, + 244.49266622718034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 357, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -124.92300415039062, + "y": -107.24504852294922, + "z": 0.5749748945236206 + }, + "extent": { + "x": 0.583691418170929, + "y": 0.37190917134284973, + "z": 0.9042990207672119 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 812.8758700262055, + "ymin": 264.71283397721265, + "xmax": 862.0242690976158, + "ymax": 331.7608399096127 + }, + "corners_3d": [ + [ + -125.54237365722656, + -107.55390930175781, + -0.3293241262435913 + ], + [ + -125.4646224975586, + -106.81416320800781, + -0.3293241262435913 + ], + [ + -124.30363464355469, + -106.93618774414062, + -0.3293241262435913 + ], + [ + -124.38138580322266, + -107.67593383789062, + -0.3293241262435913 + ], + [ + -125.54237365722656, + -107.55390930175781, + 1.4792739152908325 + ], + [ + -125.4646224975586, + -106.81416320800781, + 1.4792739152908325 + ], + [ + -124.30363464355469, + -106.93618774414062, + 1.4792739152908325 + ], + [ + -124.38138580322266, + -107.67593383789062, + 1.4792739152908325 + ] + ], + "corners_2d": [ + [ + 842.3001105308431, + 331.7608399096127 + ], + [ + 853.9079371240553, + 321.1748590345378 + ], + [ + 824.6594290923923, + 307.34180115552806 + ], + [ + 812.8758700262055, + 317.56511434570024 + ], + [ + 850.0807312909328, + 288.7060007902312 + ], + [ + 862.0242690976158, + 278.29786556243334 + ], + [ + 831.5412098607571, + 264.71283397721265 + ], + [ + 819.4048215559133, + 274.7511371127431 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 814, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -132.16717529296875, + "y": -114.18775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.5329784750938416, + "y": 0.4510204493999481, + "z": 0.9333590269088745 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 861.196111401596, + "ymin": 493.10228028801805, + "xmax": 929.2946666357245, + "ymax": 582.3121244740718 + }, + "corners_3d": [ + [ + -132.7001495361328, + -114.63877868652344, + -0.35837435722351074 + ], + [ + -132.7001495361328, + -113.73674011230469, + -0.35837435722351074 + ], + [ + -131.6342010498047, + -113.73674011230469, + -0.35837435722351074 + ], + [ + -131.6342010498047, + -114.63877868652344, + -0.35837435722351074 + ], + [ + -132.7001495361328, + -114.63877868652344, + 1.5083436965942383 + ], + [ + -132.7001495361328, + -113.73674011230469, + 1.5083436965942383 + ], + [ + -131.6342010498047, + -113.73674011230469, + 1.5083436965942383 + ], + [ + -131.6342010498047, + -114.63877868652344, + 1.5083436965942383 + ] + ], + "corners_2d": [ + [ + 894.8313279199838, + 582.3121244740718 + ], + [ + 915.1286284635677, + 562.6103346412333 + ], + [ + 881.6420796398058, + 538.9587092755587 + ], + [ + 861.196111401596, + 557.772583598384 + ], + [ + 908.2121048359417, + 536.6877878048078 + ], + [ + 929.2946666357245, + 516.8574901001507 + ], + [ + 893.7887980092428, + 493.10228028801805 + ], + [ + 872.5299185670967, + 511.994057942742 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 921, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -126.28268432617188, + "y": -125.31512451171875, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.40092289447784424, + "y": 0.4787256121635437, + "z": 0.8661025762557983 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 362.3674777181596, + "ymin": 610.2245944545592, + "xmax": 428.75470259576866, + "ymax": 698.6268848196385 + }, + "corners_3d": [ + [ + -126.6313705444336, + -125.83313751220703, + -0.29111790657043457 + ], + [ + -126.73145294189453, + -124.88092803955078, + -0.29111790657043457 + ], + [ + -125.93399810791016, + -124.79711151123047, + -0.29111790657043457 + ], + [ + -125.83391571044922, + -125.74932098388672, + -0.29111790657043457 + ], + [ + -126.6313705444336, + -125.83313751220703, + 1.441087245941162 + ], + [ + -126.73145294189453, + -124.88092803955078, + 1.441087245941162 + ], + [ + -125.93399810791016, + -124.79711151123047, + 1.441087245941162 + ], + [ + -125.83391571044922, + -125.74932098388672, + 1.441087245941162 + ] + ], + "corners_2d": [ + [ + 391.7166922202555, + 698.6268848196385 + ], + [ + 428.75470259576866, + 675.8382566083707 + ], + [ + 412.9277063289751, + 651.829510950663 + ], + [ + 376.36647845783887, + 673.676026712693 + ], + [ + 378.23336083614277, + 657.7570045606467 + ], + [ + 417.515474090348, + 634.5849605298248 + ], + [ + 401.10937933531943, + 610.2245944545592 + ], + [ + 362.3674777181596, + 632.3888663392368 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 611, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -111.42184448242188, + "y": -122.35797882080078, + "z": 0.723651647567749 + }, + "extent": { + "x": 0.48747068643569946, + "y": 0.43385252356529236, + "z": 0.9259524345397949 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 200.00117351303788, + "ymin": 270.8469614055315, + "xmax": 250.17311293748713, + "ymax": 339.22654805633215 + }, + "corners_3d": [ + [ + -111.80845642089844, + -122.88370513916016, + -0.2023007869720459 + ], + [ + -111.9888687133789, + -122.03495788574219, + -0.2023007869720459 + ], + [ + -111.03523254394531, + -121.8322525024414, + -0.2023007869720459 + ], + [ + -110.85482025146484, + -122.68099975585938, + -0.2023007869720459 + ], + [ + -111.80845642089844, + -122.88370513916016, + 1.649604082107544 + ], + [ + -111.9888687133789, + -122.03495788574219, + 1.649604082107544 + ], + [ + -111.03523254394531, + -121.8322525024414, + 1.649604082107544 + ], + [ + -110.85482025146484, + -122.68099975585938, + 1.649604082107544 + ] + ], + "corners_2d": [ + [ + 223.62033916238107, + 339.22654805633215 + ], + [ + 250.17311293748713, + 330.5268806052721 + ], + [ + 242.73571525485994, + 314.96090574343174 + ], + [ + 216.61748201657008, + 323.3297628028547 + ], + [ + 206.9444442292958, + 294.6919607450088 + ], + [ + 234.73205537561336, + 286.13663465268576 + ], + [ + 227.31223481492987, + 270.8469614055315 + ], + [ + 200.00117351303788, + 279.06439422903406 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 798.6679149496795, + "ymin": 13.970873623425348, + "xmax": 813.7133997949568, + "ymax": 41.94453044917083 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 804.4505249862141, + 41.94453044917083 + ], + [ + 810.9327867125612, + 39.07528500059624 + ], + [ + 805.1543832134779, + 36.880154430011316 + ], + [ + 798.6679149496795, + 39.72532900163225 + ], + [ + 807.1405872840738, + 18.89195447641748 + ], + [ + 813.7133997949568, + 16.103703434801048 + ], + [ + 807.8295525307549, + 13.970873623425348 + ], + [ + 801.2522681436642, + 16.735354138348896 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 923.3648793052116, + "ymin": 60.00608109278721, + "xmax": 941.8511340123899, + "ymax": 90.2240730554525 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 930.2539456627997, + 90.2240730554525 + ], + [ + 936.5790157882099, + 86.80620856364203 + ], + [ + 929.7018055851713, + 84.19365853669285 + ], + [ + 923.3648793052116, + 87.58024619267815 + ], + [ + 935.4450430135473, + 65.88330721316436 + ], + [ + 941.8511340123899, + 62.551994723732264 + ], + [ + 934.8277076464284, + 60.00608109278721 + ], + [ + 928.4090426263028, + 63.30636901943535 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 702.5200978830252, + "ymin": 48.71259492679627, + "xmax": 714.5683434805188, + "ymax": 73.24444120494957 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 707.3038010589676, + 73.24444120494957 + ], + [ + 713.5134446111782, + 70.55233207329127 + ], + [ + 708.729552475265, + 68.47924493570179 + ], + [ + 702.5200978830252, + 71.15123595582168 + ], + [ + 708.2743443941788, + 53.37373645694515 + ], + [ + 714.5683434805188, + 50.740272184498394 + ], + [ + 709.7120679436275, + 48.71259492679627 + ], + [ + 703.418226888598, + 51.32609785452519 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 863.9747980939966, + "ymin": 38.06956533658746, + "xmax": 880.7784899314336, + "ymax": 67.22519117432677 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 870.3247621365413, + 67.22519117432677 + ], + [ + 876.7403726606362, + 64.07461980197047 + ], + [ + 870.3983329762253, + 61.66537212770862 + ], + [ + 863.9747980939966, + 64.78825537786082 + ], + [ + 874.2763948143387, + 43.480483352624674 + ], + [ + 880.7784899314336, + 40.414059758280416 + ], + [ + 874.3107225477261, + 38.06956533658746 + ], + [ + 867.8002251227118, + 41.108582405458606 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11529003171770300666, + "instance_id": 64120, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.25050354003906, + "y": -128.95399475097656, + "z": 3.0800981521606445 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 353.02783871350385, + "xmax": 13.28387993947922, + "ymax": 388.7680394302325 + }, + "corners_3d": [ + [ + -113.11116790771484, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -128.7640380859375, + 3.5146679878234863 + ], + [ + -113.11116790771484, + -128.7640380859375, + 3.5146679878234863 + ] + ], + "corners_2d": [ + [ + -5.071004790177085, + 383.6479546374177 + ], + [ + -1.7542680590701138, + 388.7680394302325 + ], + [ + 13.28387993947922, + 382.1872563712405 + ], + [ + 9.904486850491367, + 377.1438200275438 + ], + [ + -19.666582572392713, + 359.4929937823118 + ], + [ + -16.362380694769058, + 364.5839356646302 + ], + [ + -0.8719985432260273, + 358.0408587100882 + ], + [ + -4.243050136991201, + 353.02783871350385 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 846.290581482854, + "ymin": 0.0, + "xmax": 1027.7055830616969, + "ymax": 62.48613215831415 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 987.2872482302532, + -0.4326910602520684 + ], + [ + 980.4911091384542, + -2.578319026414931 + ], + [ + 846.290581482854, + 59.748144910662745 + ], + [ + 853.2949075052898, + 62.48613215831415 + ], + [ + 1027.7055830616969, + -169.37907551538808 + ], + [ + 1019.9225267037885, + -170.93772309304404 + ], + [ + 873.6799673109874, + -124.99731369120514 + ], + [ + 881.7757354367122, + -122.94711122444392 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2334590930876643410, + "instance_id": 21048, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -123.8453369140625, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 175.59369096877862, + "ymin": 197.4941590229259, + "xmax": 196.0821376570563, + "ymax": 212.5070304697853 + }, + "corners_3d": [ + [ + -116.6200942993164, + -123.69747161865234, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.69747161865234, + 7.743301868438721 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 188.7920179827114, + 201.33848708627082 + ], + [ + 177.0270045148372, + 205.8088208129878 + ], + [ + 184.25095075553446, + 212.5070304697853 + ], + [ + 196.0821376570563, + 207.94981764392628 + ], + [ + 187.40420060185312, + 197.4941590229259 + ], + [ + 175.59369096877862, + 201.95319978610033 + ], + [ + 182.8262695800462, + 208.63482304920245 + ], + [ + 194.70354143056545, + 204.08885134321105 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3639812104533344102, + "instance_id": 26239, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -123.8453369140625, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 175.70324744336926, + "ymin": 197.57339163820558, + "xmax": 195.97326841972307, + "ymax": 212.42661749535284 + }, + "corners_3d": [ + [ + -116.62229919433594, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.69904327392578, + 7.742714881896973 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 188.76127236333087, + 201.37697646143585 + ], + [ + 177.12102788295488, + 205.80007476800435 + ], + [ + 184.26824494739526, + 212.42661749535284 + ], + [ + 195.97326841972307, + 207.91847813454137 + ], + [ + 187.38802759736137, + 197.57339163820558 + ], + [ + 175.70324744336926, + 201.9854363964724 + ], + [ + 182.85891619662908, + 208.59574311296814 + ], + [ + 194.6090455540911, + 204.09860709370483 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 850.4763488098324, + "ymin": 0.0, + "xmax": 1072.5180634895216, + "ymax": 18.06795839105905 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 911.1636134195187, + 18.06795839105905 + ], + [ + 1007.0176040189972, + -26.427667220468777 + ], + [ + 947.9020739909979, + -43.628712853598984 + ], + [ + 850.4763488098324, + -2.5613238023900067 + ], + [ + 965.1939350992088, + -267.4904559707643 + ], + [ + 1072.5180634895216, + -290.13669729395065 + ], + [ + 1000.4372280459777, + -298.68224028837164 + ], + [ + 890.3670631604678, + -278.0883474935292 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5736675163518273754, + "instance_id": 55816, + "pixel_count": null, + "type_id": "AmericanLights_Town04_21_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1276.104880731093, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 181.4286930174492 + }, + "corners_3d": [ + [ + -140.57330322265625, + -78.3179702758789, + 0.0 + ], + [ + -140.5771484375, + -77.8851547241211, + 0.0 + ], + [ + -128.5230712890625, + -77.77800750732422, + 0.0 + ], + [ + -128.51922607421875, + -78.21082305908203, + 0.0 + ], + [ + -140.57330322265625, + -78.3179702758789, + 8.446706771850586 + ], + [ + -140.5771484375, + -77.8851547241211, + 8.446706771850586 + ], + [ + -128.5230712890625, + -77.77800750732422, + 8.446706771850586 + ], + [ + -128.51922607421875, + -78.21082305908203, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1586.896044286982, + 181.4286930174492 + ], + [ + 1589.3329389241198, + 177.6665126026715 + ], + [ + 1279.6895088590118, + 81.64386470502654 + ], + [ + 1276.104880731093, + 84.39186232960935 + ], + [ + 1745.4259954816837, + -31.158689301719335 + ], + [ + 1747.2237194002764, + -34.145961805638365 + ], + [ + 1368.5125397943289, + -108.52479024470779 + ], + [ + 1364.9186947437306, + -106.44492235780723 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5944504550537153523, + "instance_id": 62411, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_1", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88526153564453, + "z": 3.6450090408325195 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 108.7155629131318, + "xmax": 0.41944710586039946, + "ymax": 155.84563801533963 + }, + "corners_3d": [ + [ + -100.3021469116211, + -126.97334289550781, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -126.97334289550781, + 3.8072457313537598 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.8072457313537598 + ] + ], + "corners_2d": [ + [ + -66.32801346422468, + 155.84563801533963 + ], + [ + 0.41944710586039946, + 135.09794756227743 + ], + [ + -16.368790809094094, + 116.7794705454964 + ], + [ + -81.62396832555328, + 136.29929558070603 + ], + [ + -70.87540098541092, + 147.5060034669325 + ], + [ + -3.5639845038244857, + 126.90095522226082 + ], + [ + -20.33520391219122, + 108.7155629131318 + ], + [ + -86.12714896266755, + 128.0938111280358 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6967274615413648305, + "instance_id": 45483, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_2", + "bbox_3d": { + "center_world": { + "x": -99.33560943603516, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 80.34131907298877, + "xmax": 40.464549104399225, + "ymax": 236.10242376856507 + }, + "corners_3d": [ + [ + -100.3640365600586, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -127.03557586669922, + 4.877264976501465 + ], + [ + -100.3640365600586, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + -24.59243318447102, + 236.10242376856507 + ], + [ + 40.464549104399225, + 212.87554854637906 + ], + [ + 22.464351547099568, + 192.22584936150633 + ], + [ + -41.1853930847094, + 214.0761522659666 + ], + [ + -87.84749843653788, + 120.45015554558896 + ], + [ + -14.59047543677218, + 99.16007422572062 + ], + [ + -32.41541888740778, + 80.34131907298877 + ], + [ + -103.8558763726744, + 100.25737247947882 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9919303964700251881, + "instance_id": 59670, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_Poles_4", + "bbox_3d": { + "center_world": { + "x": -112.9144515991211, + "y": -134.7008514404297, + "z": 4.223348617553711 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 185.35587914131276, + "xmax": 53.440615711011105, + "ymax": 707.234287342249 + }, + "corners_3d": [ + [ + -113.18444061279297, + -128.6757354736328, + -4.76837158203125e-06 + ], + [ + -112.75162506103516, + -128.67189025878906, + -4.76837158203125e-06 + ], + [ + -112.64446258544922, + -140.72596740722656, + -4.76837158203125e-06 + ], + [ + -113.07727813720703, + -140.7298126220703, + -4.76837158203125e-06 + ], + [ + -113.18444061279297, + -128.6757354736328, + 8.446702003479004 + ], + [ + -112.75162506103516, + -128.67189025878906, + 8.446702003479004 + ], + [ + -112.64446258544922, + -140.72596740722656, + 8.446702003479004 + ], + [ + -113.07727813720703, + -140.7298126220703, + 8.446702003479004 + ] + ], + "corners_2d": [ + [ + 53.440615711011105, + 444.2552070829564 + ], + [ + 48.36292287985668, + 436.38977633953596 + ], + [ + -503.3427760338734, + 694.3154097312777 + ], + [ + -502.873334307518, + 707.234287342249 + ], + [ + -93.20451526557804, + 192.5077787819559 + ], + [ + -97.9892666868243, + 185.35587914131276 + ], + [ + -892.3267251883192, + 436.8079325808906 + ], + [ + -897.4295474283649, + 450.39068941168205 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 496.0619960483215, + "ymin": 0.0, + "xmax": 568.2949525575726, + "ymax": 3.01175027567956 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 509.9764235665024, + 0.8052637375676568 + ], + [ + 514.8745496933291, + 3.01175027567956 + ], + [ + 568.2949525575726, + -14.598205317098916 + ], + [ + 563.3399058601464, + -16.648521544414166 + ], + [ + 496.0619960483215, + -154.40914476258502 + ], + [ + 501.4168749525935, + -152.7468305364904 + ], + [ + 560.8901303530034, + -165.96884638576262 + ], + [ + 555.46147334553, + -167.5016301478738 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14081937874569997388, + "instance_id": 19500, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_0", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88525390625, + "z": 3.6439085006713867 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 108.69476044407267, + "xmax": 0.4926089029831928, + "ymax": 155.9255157139598 + }, + "corners_3d": [ + [ + -100.30333709716797, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.30333709716797, + -126.97452545166016, + 3.807230234146118 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.807230234146118 + ] + ], + "corners_2d": [ + [ + -66.32535093752551, + 155.9255157139598 + ], + [ + 0.4926089029831928, + 135.15339675016085 + ], + [ + -16.31748438685338, + 116.81210226474377 + ], + [ + -81.63986723134951, + 136.35349008867118 + ], + [ + -70.90330232909503, + 147.5303149384567 + ], + [ + -3.5170046304643847, + 126.90193172241132 + ], + [ + -20.30996582268699, + 108.69476044407267 + ], + [ + -86.17325481606917, + 128.09348639972714 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 666.196538574709, + "ymin": 0.0, + "xmax": 756.0824240320245, + "ymax": 184.17212688903558 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 673.569853013414, + 146.13624776711927 + ], + [ + 666.196538574709, + 149.6582248945904 + ], + [ + 733.3330511209217, + 184.17212688903558 + ], + [ + 740.7122731436721, + 180.25757841249995 + ], + [ + 678.3923808997787, + -41.34589440578367 + ], + [ + 669.9838951167292, + -38.51302628749386 + ], + [ + 747.6737822754155, + -10.509495868288184 + ], + [ + 756.0824240320245, + -13.707951503180482 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 116.9978152878623, + "ymin": 142.11281335091516, + "xmax": 277.5998001580365, + "ymax": 433.28884822973083 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 219.303750722745, + 363.12344332936516 + ], + [ + 205.95864654459012, + 369.49793774024454 + ], + [ + 263.72905787071556, + 433.28884822973083 + ], + [ + 277.5998001580365, + 425.93066156427363 + ], + [ + 133.85240532191477, + 142.11281335091516 + ], + [ + 116.9978152878623, + 147.791223469722 + ], + [ + 179.5601289952818, + 205.58798672036818 + ], + [ + 197.32748373698007, + 198.8296900137629 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16194625468754558244, + "instance_id": 9469, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.53463745117188, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 40.80690579413664, + "xmax": 0.04623674417280199, + "ymax": 186.70441774364568 + }, + "corners_3d": [ + [ + -95.56306457519531, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -127.03557586669922, + 4.877264976501465 + ], + [ + -95.56306457519531, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + -61.80522850602699, + 186.70441774364568 + ], + [ + 0.04623674417280199, + 166.507946794118 + ], + [ + -15.671071175160364, + 148.47716243760803 + ], + [ + -76.23165828279332, + 167.55409971800765 + ], + [ + -123.62031729270018, + 75.32673493998647 + ], + [ + -54.48055744401995, + 57.0459610227403 + ], + [ + -69.86203399719079, + 40.80690579413664 + ], + [ + -137.36408132833583, + 57.99050969652035 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 692.713193836433, + "ymin": 0.0, + "xmax": 984.2469136884963, + "ymax": 243.89053637532976 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 699.618939217893, + 126.1652247635123 + ], + [ + 692.713193836433, + 129.36358420667446 + ], + [ + 923.822714024102, + 243.89053637532976 + ], + [ + 930.5815376023879, + 239.39195989787555 + ], + [ + 708.6467180628747, + -74.47904996357329 + ], + [ + 700.743441843828, + -72.00428538671122 + ], + [ + 976.6261612138953, + 19.276529004438544 + ], + [ + 984.2469136884963, + 15.590413982113887 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 185.11143949750078, + "ymax": 405.49057764093527 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 77.82807174856407, + 225.67622703005472 + ], + [ + -118.76639135091068, + 315.6880440986053 + ], + [ + -18.421912693161858, + 405.49057764093527 + ], + [ + 185.11143949750078, + 295.53151454331925 + ], + [ + -80.04241029606487, + -118.4807495832656 + ], + [ + -367.7090021237469, + -56.86332662264175 + ], + [ + -267.867790536645, + 9.315947919468442 + ], + [ + 40.81917273989234, + -71.05337032456094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 8.879748287302164, + "ymax": 125.0997730734725 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + -89.95631981804559, + 31.193408635546177 + ], + [ + -245.19695744480737, + 88.77734746955917 + ], + [ + -144.46168575222282, + 125.0997730734725 + ], + [ + 8.879748287302164, + 60.400305483627335 + ], + [ + -220.93372072829004, + -223.6025262070026 + ], + [ + -425.37236735059514, + -188.53564222374666 + ], + [ + -316.4665932886569, + -165.66934338251747 + ], + [ + -112.00442442623773, + -205.99379804014325 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 217.70429448970913, + "ymax": 463.9040578400377 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -63.1144150419218, + 463.9040578400377 + ], + [ + 192.35192097981434, + 426.40086465894376 + ], + [ + 217.70429448970913, + 285.31814919947084 + ], + [ + 4.046849220735794, + 311.9347431198906 + ], + [ + -354.21206584894105, + 55.14833425049147 + ], + [ + 17.215505234049147, + 25.458322510904054 + ], + [ + 86.05111983025381, + -78.15507833876086 + ], + [ + -203.30447908005, + -59.52336410424846 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 25.887503842621186, + "ymax": 196.86502424037747 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -48.873393201829344, + 86.22763969482838 + ], + [ + -215.6241548396846, + 142.95221476262765 + ], + [ + -147.12139076082474, + 196.86502424037747 + ], + [ + 25.887503842621186, + 130.4904111775184 + ], + [ + -196.21844279577124, + -205.73194772055206 + ], + [ + -421.1929734871792, + -171.36421047674446 + ], + [ + -356.80747602016663, + -137.28724665076345 + ], + [ + -118.03993730643924, + -179.04179156056432 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00019/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00019/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..24bedafe8f13789872f920c75ecc59a2bc59c3d8 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00019/meta.json @@ -0,0 +1,3001 @@ +{ + "frame_id": 19, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 9.5, + "sim_timestamp": 9938.663001928478 + }, + "drone_pose": { + "x": -138.4896863501937, + "y": -129.07990685807601, + "z": 20.151940875349972, + "pitch": -40.86637299130759, + "yaw": 44.44528896222431, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5398926734924316, + -0.5295386910438538, + 0.6542971134185791, + 129.93701171875 + ], + [ + 0.7002279162406921, + 0.7139194011688232, + -1.4901161193847656e-08, + -4.821693420410156 + ], + [ + -0.4671154022216797, + 0.45815712213516235, + 0.7562375664710999, + -139.06918334960938 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -138.01233535305113, + "y": -128.78309314498838, + "z": 20.134618498203913 + }, + "t1_image_uv": [ + 364.42063883183573, + -419.0006915758996 + ], + "t1_depth": 0.42622663697946644 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -122.16718292236328, + "y": -114.18776321411131, + "z": 0.5749797606472566 + }, + "image_uv": [ + 614.048166659769, + 371.6277114688205 + ], + "depth": 29.507514906972233, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 184, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -122.16718292236328, + "y": -114.18775939941406, + "z": 0.5749797821044922 + }, + "extent": { + "x": 0.18479980528354645, + "y": 0.2146289050579071, + "z": 0.5261039733886719 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 606.4591822742979, + "ymin": 354.669146057857, + "xmax": 621.3931840277663, + "ymax": 388.35451936997316 + }, + "corners_3d": [ + [ + -122.14608764648438, + -114.47019958496094, + 0.04887580871582031 + ], + [ + -122.44962310791016, + -114.16666412353516, + 0.04887580871582031 + ], + [ + -122.18827819824219, + -113.90531921386719, + 0.04887580871582031 + ], + [ + -121.8847427368164, + -114.20885467529297, + 0.04887580871582031 + ], + [ + -122.14608764648438, + -114.47019958496094, + 1.101083755493164 + ], + [ + -122.44962310791016, + -114.16666412353516, + 1.101083755493164 + ], + [ + -122.18827819824219, + -113.90531921386719, + 1.101083755493164 + ], + [ + -121.8847427368164, + -114.20885467529297, + 1.101083755493164 + ] + ], + "corners_2d": [ + [ + 607.2363152855962, + 388.2636679823983 + ], + [ + 621.1025280510768, + 388.35451936997316 + ], + [ + 621.3931840277663, + 380.34958102855694 + ], + [ + 607.656153153536, + 380.26041503772734 + ], + [ + 606.4591822742979, + 362.6158058484963 + ], + [ + 620.6542439292541, + 362.7060349666395 + ], + [ + 620.9560049882475, + 354.7576621853486 + ], + [ + 606.8962952904342, + 354.669146057857 + ] + ], + "center_offset_px": [ + -25.95183334023102, + 11.627711468820507 + ] + }, + "trace_timestep_index": 19, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 69, + "semantic_pixel_counts": { + "1": 567634, + "2": 184265, + "3": 104409, + "5": 3642, + "6": 5329, + "7": 768, + "9": 14124, + "10": 5891, + "12": 3338, + "14": 1, + "21": 539, + "24": 31660 + }, + "instance_pixel_counts": { + "1115": 3458, + "2978": 137, + "6254": 2690, + "10370": 1738, + "11394": 711, + "14416": 97, + "14928": 3545, + "15511": 1748, + "16023": 519, + "16535": 895, + "18011": 20496, + "20119": 10191, + "20631": 11898, + "23808": 40, + "24064": 3314, + "26560": 4577, + "27072": 2267, + "27584": 480, + "28608": 5, + "29843": 20729, + "30144": 39645, + "30355": 26320, + "30656": 51807, + "31168": 1779, + "31488": 294, + "31813": 5839, + "31891": 375916, + "34120": 39760, + "34395": 306, + "34453": 2701, + "34907": 723, + "34965": 3438, + "35419": 1722, + "35931": 5730, + "36443": 62262, + "36501": 18947, + "44171": 627, + "44179": 254, + "44691": 116922, + "44891": 96, + "45203": 11815, + "45915": 13, + "46227": 15678, + "46731": 931, + "46741": 4, + "47253": 5042, + "47765": 910, + "48267": 293, + "48779": 430, + "48789": 618, + "49664": 184, + "49803": 327, + "49920": 376, + "50176": 380, + "50432": 794, + "50688": 1036, + "50944": 568, + "53184": 1177, + "54016": 1, + "54720": 1498, + "55232": 303, + "55744": 2165, + "56768": 272, + "56993": 227, + "57173": 14124, + "58529": 66, + "60013": 3855, + "61037": 3167, + "64351": 10671 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 184, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -122.16718292236328, + "y": -114.18775939941406, + "z": 0.5749797821044922 + }, + "extent": { + "x": 0.20069335401058197, + "y": 0.20420409739017487, + "z": 0.5272476673126221 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 606.7842820518039, + "ymin": 354.304395395359, + "xmax": 621.0724222480936, + "ymax": 388.72726169395116 + }, + "corners_3d": [ + [ + -122.16470336914062, + -114.47406768798828, + 0.04773211479187012 + ], + [ + -122.4534912109375, + -114.1852798461914, + 0.04773211479187012 + ], + [ + -122.16966247558594, + -113.90145111083984, + 0.04773211479187012 + ], + [ + -121.88087463378906, + -114.19023895263672, + 0.04773211479187012 + ], + [ + -122.16470336914062, + -114.47406768798828, + 1.1022274494171143 + ], + [ + -122.4534912109375, + -114.1852798461914, + 1.1022274494171143 + ], + [ + -122.16966247558594, + -113.90145111083984, + 1.1022274494171143 + ], + [ + -121.88087463378906, + -114.19023895263672, + 1.1022274494171143 + ] + ], + "corners_2d": [ + [ + 607.5558503422598, + 388.6407538701798 + ], + [ + 620.7533634765986, + 388.72726169395116 + ], + [ + 621.0724222480936, + 380.0336001950718 + ], + [ + 608.0083820950632, + 379.9488338148393 + ], + [ + 606.7842820518039, + 362.9347216684575 + ], + [ + 620.2956037489711, + 363.02063733903594 + ], + [ + 620.6269125180902, + 354.3885410477966 + ], + [ + 607.2554530345858, + 354.304395395359 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 376, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -118.04119873046875, + "y": -111.19005584716797, + "z": 0.5749797821044922 + }, + "extent": { + "x": 0.2913281321525574, + "y": 0.3953027129173279, + "z": 0.8714374899864197 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 581.892342032926, + "ymin": 248.36989411258818, + "xmax": 608.6572430511, + "ymax": 301.5683271902593 + }, + "corners_3d": [ + [ + -118.07022857666016, + -111.68025207519531, + -0.2964577078819275 + ], + [ + -118.50082397460938, + -111.01719665527344, + -0.2964577078819275 + ], + [ + -118.01216888427734, + -110.69985961914062, + -0.2964577078819275 + ], + [ + -117.58157348632812, + -111.3629150390625, + -0.2964577078819275 + ], + [ + -118.07022857666016, + -111.68025207519531, + 1.4464173316955566 + ], + [ + -118.50082397460938, + -111.01719665527344, + 1.4464173316955566 + ], + [ + -118.01216888427734, + -110.69985961914062, + 1.4464173316955566 + ], + [ + -117.58157348632812, + -111.3629150390625, + 1.4464173316955566 + ] + ], + "corners_2d": [ + [ + 586.4185984771464, + 301.5683271902593 + ], + [ + 608.6572430511, + 298.85290364458393 + ], + [ + 605.8049672688065, + 289.12754649860483 + ], + [ + 583.8384478753379, + 291.77464291089416 + ], + [ + 584.5372103881851, + 260.556642929742 + ], + [ + 607.5607195683151, + 257.89549018340796 + ], + [ + 604.6242999464854, + 248.36989411258818 + ], + [ + 581.892342032926, + 250.96178440118604 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 380, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -124.42300415039062, + "y": -107.24504852294922, + "z": 0.5749797821044922 + }, + "extent": { + "x": 0.48799315094947815, + "y": 0.3905322253704071, + "z": 0.9066165685653687 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 794.7552323245922, + "ymin": 275.46450929531676, + "xmax": 830.9738362715459, + "ymax": 337.85323172327213 + }, + "corners_3d": [ + [ + -124.55648040771484, + -107.85565185546875, + -0.33163678646087646 + ], + [ + -125.04801940917969, + -107.24864959716797, + -0.33163678646087646 + ], + [ + -124.2895278930664, + -106.63444519042969, + -0.33163678646087646 + ], + [ + -123.79798889160156, + -107.24144744873047, + -0.33163678646087646 + ], + [ + -124.55648040771484, + -107.85565185546875, + 1.4815963506698608 + ], + [ + -125.04801940917969, + -107.24864959716797, + 1.4815963506698608 + ], + [ + -124.2895278930664, + -106.63444519042969, + 1.4815963506698608 + ], + [ + -123.79798889160156, + -107.24144744873047, + 1.4815963506698608 + ] + ], + "corners_2d": [ + [ + 801.0550303200762, + 337.85323172327213 + ], + [ + 823.9418445578768, + 336.44678195411484 + ], + [ + 817.1424829421591, + 318.45322728112785 + ], + [ + 794.7552323245922, + 319.79760821839596 + ], + [ + 807.2232131856105, + 294.51007771236294 + ], + [ + 830.9738362715459, + 293.1281467397322 + ], + [ + 823.757912093656, + 275.46450929531676 + ], + [ + 800.5448194679068, + 276.78320059076486 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 794, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -131.66717529296875, + "y": -114.18775939941406, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.5059961080551147, + "y": 0.4538525342941284, + "z": 0.9322631359100342 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 844.5099303461725, + "ymin": 509.2806057608046, + "xmax": 898.7938235486358, + "ymax": 587.6417996176549 + }, + "corners_3d": [ + [ + -131.70404052734375, + -114.8664779663086, + -0.3572736382484436 + ], + [ + -132.34588623046875, + -114.2246322631836, + -0.3572736382484436 + ], + [ + -131.63031005859375, + -113.50904083251953, + -0.3572736382484436 + ], + [ + -130.98846435546875, + -114.15088653564453, + -0.3572736382484436 + ], + [ + -131.70404052734375, + -114.8664779663086, + 1.5072526931762695 + ], + [ + -132.34588623046875, + -114.2246322631836, + 1.5072526931762695 + ], + [ + -131.63031005859375, + -113.50904083251953, + 1.5072526931762695 + ], + [ + -130.98846435546875, + -114.15088653564453, + 1.5072526931762695 + ] + ], + "corners_2d": [ + [ + 850.4869199923103, + 587.3560237234738 + ], + [ + 885.9611479050399, + 587.6417996176549 + ], + [ + 878.9124461747127, + 555.7181908200214 + ], + [ + 844.5099303461725, + 555.4493945946729 + ], + [ + 861.4656575444644, + 541.3408586036749 + ], + [ + 898.7938235486358, + 541.6284662063622 + ], + [ + 890.9823412298327, + 509.550275551961 + ], + [ + 854.838962148568, + 509.2806057608046 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 1036, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -125.78268432617188, + "y": -125.31512451171875, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.4667724370956421, + "y": 0.4376855492591858, + "z": 0.8664973974227905 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 330.60645934772003, + "ymin": 634.9324360032026, + "xmax": 396.3295592328135, + "ymax": 717.5868227115761 + }, + "corners_3d": [ + [ + -125.73628997802734, + -125.95331573486328, + -0.29151272773742676 + ], + [ + -126.41658020019531, + -125.40242767333984, + -0.29151272773742676 + ], + [ + -125.8290786743164, + -124.67693328857422, + -0.29151272773742676 + ], + [ + -125.14878845214844, + -125.22782135009766, + -0.29151272773742676 + ], + [ + -125.73628997802734, + -125.95331573486328, + 1.4414820671081543 + ], + [ + -126.41658020019531, + -125.40242767333984, + 1.4414820671081543 + ], + [ + -125.8290786743164, + -124.67693328857422, + 1.4414820671081543 + ], + [ + -125.14878845214844, + -125.22782135009766, + 1.4414820671081543 + ] + ], + "corners_2d": [ + [ + 346.61302812067123, + 713.4901610166833 + ], + [ + 383.82138102174844, + 717.5868227115761 + ], + [ + 396.3295592328135, + 680.6198174774928 + ], + [ + 360.2331876818877, + 676.7736909882406 + ], + [ + 330.60645934772003, + 672.2400806533143 + ], + [ + 369.79381719411805, + 676.4105323292157 + ], + [ + 383.42401222746287, + 638.8345793242236 + ], + [ + 345.4679805692706, + 634.9324360032026 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 568, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -110.92184448242188, + "y": -122.35797882080078, + "z": 0.7284660935401917 + }, + "extent": { + "x": 0.4356689453125, + "y": 0.4989550709724426, + "z": 0.9260745644569397 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 162.1106339725074, + "ymin": 288.1049181322868, + "xmax": 222.27233219863433, + "ymax": 353.3019705805259 + }, + "corners_3d": [ + [ + -110.74066925048828, + -122.99510955810547, + -0.19760847091674805 + ], + [ + -111.57758331298828, + -122.45161437988281, + -0.19760847091674805 + ], + [ + -111.10301971435547, + -121.7208480834961, + -0.19760847091674805 + ], + [ + -110.26610565185547, + -122.26434326171875, + -0.19760847091674805 + ], + [ + -110.74066925048828, + -122.99510955810547, + 1.6545406579971313 + ], + [ + -111.57758331298828, + -122.45161437988281, + 1.6545406579971313 + ], + [ + -111.10301971435547, + -121.7208480834961, + 1.6545406579971313 + ], + [ + -110.26610565185547, + -122.26434326171875, + 1.6545406579971313 + ] + ], + "corners_2d": [ + [ + 180.4851462831316, + 349.0138759412592 + ], + [ + 207.90411554377863, + 353.3019705805259 + ], + [ + 222.27233219863433, + 336.7408103702089 + ], + [ + 195.32841619753498, + 332.62294290514086 + ], + [ + 162.1106339725074, + 304.206481344799 + ], + [ + 190.5319674306495, + 308.42312354093576 + ], + [ + 205.82872539474647, + 292.14766698779226 + ], + [ + 177.9169554657975, + 288.1049181322868 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 1, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 556.8498690220177, + "ymin": 0.0, + "xmax": 644.267745744865, + "ymax": 7.0214159764562964 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 581.2487239703773, + -25.03319298194532 + ], + [ + 558.3674680805195, + -17.51986011259521 + ], + [ + 621.1852184462759, + 7.0214159764562964 + ], + [ + 644.1870687694253, + -1.3203370395131628 + ], + [ + 580.1749449888347, + -52.34958645268682 + ], + [ + 556.8498690220177, + -45.16576771325691 + ], + [ + 620.8161221807893, + -21.66991055730813 + ], + [ + 644.267745744865, + -29.66163042469782 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 781.8883557197746, + "ymin": 25.63910685455693, + "xmax": 796.7575297897497, + "ymax": 53.835067612219405 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 787.7583803722533, + 53.835067612219405 + ], + [ + 794.2453299518015, + 50.8678466733586 + ], + [ + 788.3811943808505, + 48.68259604973633 + ], + [ + 781.8883557197746, + 51.62492984328662 + ], + [ + 790.1788450926039, + 30.643589246126453 + ], + [ + 796.7575297897497, + 27.76139605440102 + ], + [ + 790.7875930923508, + 25.63910685455693 + ], + [ + 784.2027068968976, + 28.496733722505496 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 908.4689650377588, + "ymin": 71.44553417029374, + "xmax": 926.7661297908061, + "ymax": 101.91684532640045 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 915.4620125514757, + 101.91684532640045 + ], + [ + 921.7516548078308, + 98.38242007601934 + ], + [ + 914.7728337355429, + 95.78178667880803 + ], + [ + 908.4689650377588, + 99.28387648801566 + ], + [ + 920.3955472123632, + 77.42213629416096 + ], + [ + 926.7661297908061, + 73.97871821982835 + ], + [ + 919.6403550631692, + 71.44553417029374 + ], + [ + 913.2547464560419, + 74.8568908858187 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 685.1730453061278, + "ymin": 60.92366165099571, + "xmax": 697.0743573833283, + "ymax": 85.6521220389879 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 690.0319232475266, + 85.6521220389879 + ], + [ + 696.2660438096283, + 82.86510476153074 + ], + [ + 691.4081484690284, + 80.7990873181588 + ], + [ + 685.1730453061278, + 83.56528395968144 + ], + [ + 690.7543495913669, + 65.66931272367668 + ], + [ + 697.0743573833283, + 62.9438179405617 + ], + [ + 692.143877581389, + 60.92366165099571 + ], + [ + 685.8228305323611, + 63.62850382171314 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 848.1821113869185, + "ymin": 49.618369489999566, + "xmax": 864.8027496065488, + "ymax": 79.01231265315221 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 854.6279896559947, + 79.01231265315221 + ], + [ + 861.028119019814, + 75.75423098224678 + ], + [ + 854.5921894720891, + 73.3559032342622 + ], + [ + 848.1821113869185, + 76.58535878841627 + ], + [ + 858.3155547415406, + 55.1208798777713 + ], + [ + 864.8027496065488, + 51.951206171001445 + ], + [ + 858.2405490770569, + 49.618369489999566 + ], + [ + 851.7428638673751, + 52.75972000392602 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 829.5892647756796, + "ymin": 0.0, + "xmax": 1007.5080856554277, + "ymax": 72.99814213421274 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 969.4626267921184, + 8.592770172268388 + ], + [ + 962.6375962588702, + 6.486365113426075 + ], + [ + 829.5892647756796, + 70.28905845026861 + ], + [ + 836.6652285323449, + 72.99814213421274 + ], + [ + 1007.5080856554277, + -160.11689854982637 + ], + [ + 999.7123232499998, + -161.63851851374488 + ], + [ + 854.6742995831762, + -114.85327534296522 + ], + [ + 862.8341756680884, + -112.8344154795949 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2334590930876643410, + "instance_id": 21048, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -123.8453369140625, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 144.19846404607796, + "ymin": 221.00359479176873, + "xmax": 165.51835811259423, + "ymax": 236.6404718782312 + }, + "corners_3d": [ + [ + -116.6200942993164, + -123.69747161865234, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.69747161865234, + 7.743301868438721 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 158.01983597499674, + 224.91156810458946 + ], + [ + 145.76101786941837, + 229.7116166122668 + ], + [ + 153.19051381411975, + 236.6404718782312 + ], + [ + 165.51835811259423, + 231.74530144428195 + ], + [ + 156.50651609145837, + 221.00359479176873 + ], + [ + 144.19846404607796, + 225.79176251613572 + ], + [ + 151.63617236616636, + 232.7038338965491 + ], + [ + 164.01389773216454, + 227.82047628369912 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3639812104533344102, + "instance_id": 26239, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -123.8453369140625, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 144.31249701910957, + "ymin": 221.08607176599412, + "xmax": 165.40510048795664, + "ymax": 236.55666774843678 + }, + "corners_3d": [ + [ + -116.62229919433594, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.69904327392578, + 7.742714881896973 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 157.98694696645362, + 224.95262913125794 + ], + [ + 145.85812518615376, + 229.70196886979954 + ], + [ + 153.2087066769583, + 236.55666774843678 + ], + [ + 165.40510048795664, + 231.7142184027941 + ], + [ + 156.48951338473591, + 221.08607176599412 + ], + [ + 144.31249701910957, + 225.8237826657202 + ], + [ + 151.6711193074326, + 232.66205211856834 + ], + [ + 163.916334419743, + 227.83116579536005 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 832.7108789297384, + "ymin": 0.0, + "xmax": 1050.218812152921, + "ymax": 27.780296165139248 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 893.8355780455098, + 27.780296165139248 + ], + [ + 988.5892613237354, + -17.60741337967329 + ], + [ + 929.2990609278932, + -34.4598969069761 + ], + [ + 832.7108789297384, + 7.457245877563821 + ], + [ + 944.0999432361052, + -257.7219188937514 + ], + [ + 1050.218812152921, + -280.53589750440267 + ], + [ + 978.221656125166, + -288.80231273681215 + ], + [ + 869.0220166874093, + -268.03815061488615 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5736675163518273754, + "instance_id": 55816, + "pixel_count": null, + "type_id": "AmericanLights_Town04_21_Poles_4", + "bbox_3d": { + "center_world": { + "x": -134.54818725585938, + "y": -78.04798889160156, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1258.858176699132, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 186.34592168448276 + }, + "corners_3d": [ + [ + -140.57330322265625, + -78.3179702758789, + 0.0 + ], + [ + -140.5771484375, + -77.8851547241211, + 0.0 + ], + [ + -128.5230712890625, + -77.77800750732422, + 0.0 + ], + [ + -128.51922607421875, + -78.21082305908203, + 0.0 + ], + [ + -140.57330322265625, + -78.3179702758789, + 8.446706771850586 + ], + [ + -140.5771484375, + -77.8851547241211, + 8.446706771850586 + ], + [ + -128.5230712890625, + -77.77800750732422, + 8.446706771850586 + ], + [ + -128.51922607421875, + -78.21082305908203, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1569.3838187273468, + 186.34592168448276 + ], + [ + 1571.634178441102, + 182.5366447672733 + ], + [ + 1262.32763835167, + 88.78379029451645 + ], + [ + 1258.858176699132, + 91.57562089852945 + ], + [ + 1723.1025268121234, + -25.897361316504828 + ], + [ + 1724.6848057967184, + -28.899552703234065 + ], + [ + 1347.871973241453, + -101.01719091525212 + ], + [ + 1344.4088653314752, + -98.91766327879566 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 719.6265615193993, + "ymin": 0.0, + "xmax": 734.3651017335071, + "ymax": 8.195150056326668 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 725.2931111859792, + 2.7907066422057483 + ], + [ + 719.6265615193993, + 5.009494215076984 + ], + [ + 728.5000757864648, + 8.195150056326668 + ], + [ + 734.1627297587543, + 5.946609627707971 + ], + [ + 725.4752042492328, + -0.3407331951326569 + ], + [ + 719.7973555052513, + 1.8681047265409916 + ], + [ + 728.6911771417986, + 5.039552513696776 + ], + [ + 734.3651017335071, + 2.801031135142807 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6967274615413648305, + "instance_id": 45483, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_2", + "bbox_3d": { + "center_world": { + "x": -99.33560943603516, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 99.89096751629802, + "xmax": 9.840070262005497, + "ymax": 259.07027579765196 + }, + "corners_3d": [ + [ + -100.3640365600586, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -127.03557586669922, + 4.877264976501465 + ], + [ + -100.3640365600586, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + -57.675012973256685, + 259.07027579765196 + ], + [ + 9.840070262005497, + 234.33897441903105 + ], + [ + -8.588589514507817, + 213.21333012689368 + ], + [ + -74.63807412542701, + 236.4600877965621 + ], + [ + -125.23357198973497, + 141.85297156689623 + ], + [ + -48.91963876901514, + 119.15902772655161 + ], + [ + -67.0907820031241, + 99.89096751629802 + ], + [ + -141.49427377552513, + 121.0995815491458 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9919303964700251881, + "instance_id": 59670, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_Poles_4", + "bbox_3d": { + "center_world": { + "x": -112.9144515991211, + "y": -134.7008514404297, + "z": 4.223348617553711 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 211.94071491365645, + "xmax": 21.64344324665467, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.18444061279297, + -128.6757354736328, + -4.76837158203125e-06 + ], + [ + -112.75162506103516, + -128.67189025878906, + -4.76837158203125e-06 + ], + [ + -112.64446258544922, + -140.72596740722656, + -4.76837158203125e-06 + ], + [ + -113.07727813720703, + -140.7298126220703, + -4.76837158203125e-06 + ], + [ + -113.18444061279297, + -128.6757354736328, + 8.446702003479004 + ], + [ + -112.75162506103516, + -128.67189025878906, + 8.446702003479004 + ], + [ + -112.64446258544922, + -140.72596740722656, + 8.446702003479004 + ], + [ + -113.07727813720703, + -140.7298126220703, + 8.446702003479004 + ] + ], + "corners_2d": [ + [ + 21.64344324665467, + 474.72588652447325 + ], + [ + 16.420988655029987, + 466.5631071882983 + ], + [ + -569.0147591514519, + 749.2135824892398 + ], + [ + -568.8539628302399, + 763.0791821458754 + ], + [ + -137.05022914074698, + 219.41139679674035 + ], + [ + -141.8802729329136, + 211.94071491365645 + ], + [ + -1001.6255131094993, + 491.45517180059636 + ], + [ + -1008.1106552109004, + 506.3644621856913 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 473.91910856568995, + "ymin": 0.0, + "xmax": 548.80093455086, + "ymax": 15.503817690654387 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 489.97853116681586, + 13.306796035255445 + ], + [ + 494.9504438142884, + 15.503817690654387 + ], + [ + 548.80093455086, + -2.6829295498056354 + ], + [ + 543.7799080933676, + -4.7189726630194855 + ], + [ + 473.91910856568995, + -142.58248164097728 + ], + [ + 479.34517022640625, + -140.93301402708425 + ], + [ + 539.394168362608, + -154.53903072831304 + ], + [ + 533.9028648411063, + -156.05546449540293 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 719.7050601481153, + "ymin": 0.0, + "xmax": 734.2866011802639, + "ymax": 8.149630486666922 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 725.3112739966124, + 2.8027765064904884 + ], + [ + 719.7050601481153, + 4.998028007067148 + ], + [ + 728.4841461928321, + 8.149630486666922 + ], + [ + 734.0865480295942, + 5.925256009353063 + ], + [ + 725.4914774332099, + -0.2954823105578157 + ], + [ + 719.8742039414116, + 1.8900298912619746 + ], + [ + 728.6731672537906, + 5.027725051095388 + ], + [ + 734.2866011802639, + 2.8131570804297894 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 649.4662751281252, + "ymin": 0.0, + "xmax": 738.2512657668731, + "ymax": 197.64870617432408 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 656.882144507817, + 159.4685798320208 + ], + [ + 649.4662751281252, + 163.1264140733233 + ], + [ + 717.810056539603, + 197.64870617432408 + ], + [ + 725.2116125183936, + 193.5827690477838 + ], + [ + 659.3137585042718, + -29.231366893709037 + ], + [ + 650.8388102545648, + -26.297516840398032 + ], + [ + 729.8011994361276, + 1.6356862297689077 + ], + [ + 738.2512657668731, + -1.6772925469249458 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 83.86456621367199, + "ymin": 163.89629426814727, + "xmax": 253.93528043482962, + "ymax": 460.3437753904678 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 193.81693927323442, + 387.87278666733596 + ], + [ + 180.02081027877324, + 394.6776466843637 + ], + [ + 239.60486062944625, + 460.3437753904678 + ], + [ + 253.93528043482962, + 452.47156769622336 + ], + [ + 101.43012294269317, + 163.89629426814727 + ], + [ + 83.86456621367199, + 169.9771230859111 + ], + [ + 148.10056420566218, + 229.7003881476641 + ], + [ + 166.62081223786583, + 222.43923938643474 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 676.0232485056912, + "ymin": 0.0, + "xmax": 969.0351658558093, + "ymax": 256.5166571038029 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 682.9569481952444, + 138.86555239669894 + ], + [ + 676.0232485056912, + 142.18115685257482 + ], + [ + 910.9682789678313, + 256.5166571038029 + ], + [ + 917.6804978104879, + 251.85303280949395 + ], + [ + 689.4705818071347, + -62.91130602730317 + ], + [ + 681.5197639340738, + -60.355007688789385 + ], + [ + 961.4653630356935, + 30.45465329101347 + ], + [ + 969.0351658558093, + 26.646631286860497 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 158.9358198578076, + "ymax": 434.95335182819997 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 48.60132630020337, + 246.96021089527508 + ], + [ + -156.02638466978487, + 342.5837752936022 + ], + [ + -52.56177531225501, + 434.95335182819997 + ], + [ + 158.9358198578076, + 317.93515679034545 + ], + [ + -120.36166716704201, + -102.34007831087246 + ], + [ + -423.96030916456493, + -36.747510378750405 + ], + [ + -322.46923389392043, + 31.739329629498343 + ], + [ + 3.5086148065877296, + -54.14681653357678 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 192.5359025396827, + "ymax": 496.794417758549 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -99.74714596576928, + 496.794417758549 + ], + [ + 166.05065503474924, + 453.83238727836385 + ], + [ + 192.5359025396827, + 306.98076415802154 + ], + [ + -28.371468345412723, + 337.1544369842874 + ], + [ + -416.1531298149878, + 80.7172984449723 + ], + [ + -24.053914324566676, + 46.412752283205066 + ], + [ + 50.610002493565275, + -61.767154829780225 + ], + [ + -251.3350163070013, + -40.61046678808566 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00020/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00020/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a47456f3740523fd94e363fd5eb3cc49f35fb46e --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00020/meta.json @@ -0,0 +1,4271 @@ +{ + "frame_id": 20, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 10.0, + "sim_timestamp": 9950.42807104811 + }, + "drone_pose": { + "x": -138.01233535305113, + "y": -128.78309314498838, + "z": 20.134618498203913, + "pitch": -38.94963770222749, + "yaw": 37.72357594262974, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6151378154754639, + -0.4758370518684387, + 0.6286370754241943, + 133.5189971923828 + ], + [ + 0.6118525862693787, + 0.7909718155860901, + 1.4901161193847656e-08, + 17.420608520507812 + ], + [ + -0.4972342252731323, + 0.3846331834793091, + 0.777698814868927, + -133.8173828125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -137.5413026319313, + "y": -128.51139645530935, + "z": 20.118668078722727 + }, + "t1_image_uv": [ + 475.99927776953996, + -370.1069848410607 + ], + "t1_depth": 0.42906043106914804 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -121.66718292236328, + "y": -113.68776321411131, + "z": 0.5749748778357753 + }, + "image_uv": [ + 703.0335141173438, + 401.54147470439636 + ], + "depth": 29.533355583735776, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 180, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -121.66718292236328, + "y": -113.68775939941406, + "z": 0.5749748945236206 + }, + "extent": { + "x": 0.17388181388378143, + "y": 0.2186620831489563, + "z": 0.527930498123169 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 693.3486434065027, + "ymin": 382.74438758350715, + "xmax": 712.9406697287928, + "ymax": 420.18522816346893 + }, + "corners_3d": [ + [ + -121.841064453125, + -113.90641784667969, + 0.04704439640045166 + ], + [ + -121.841064453125, + -113.46910095214844, + 0.04704439640045166 + ], + [ + -121.49330139160156, + -113.46910095214844, + 0.04704439640045166 + ], + [ + -121.49330139160156, + -113.90641784667969, + 0.04704439640045166 + ], + [ + -121.841064453125, + -113.90641784667969, + 1.1029053926467896 + ], + [ + -121.841064453125, + -113.46910095214844, + 1.1029053926467896 + ], + [ + -121.49330139160156, + -113.46910095214844, + 1.1029053926467896 + ], + [ + -121.49330139160156, + -113.90641784667969, + 1.1029053926467896 + ] + ], + "corners_2d": [ + [ + 700.6218388935248, + 420.18522816346893 + ], + [ + 711.3194087196708, + 414.35840786034123 + ], + [ + 704.0204468034755, + 408.4523715395288 + ], + [ + 693.3486434065027, + 414.19631149066464 + ], + [ + 702.009810271835, + 394.37164396282316 + ], + [ + 712.9406697287928, + 388.5963336476905 + ], + [ + 705.4651999915047, + 382.74438758350715 + ], + [ + 694.5611437460589, + 388.4356965766215 + ] + ], + "center_offset_px": [ + 63.03351411734377, + 41.541474704396364 + ] + }, + "trace_timestep_index": 20, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 88, + "semantic_pixel_counts": { + "1": 526552, + "2": 172750, + "3": 114298, + "4": 6347, + "5": 3607, + "6": 10080, + "7": 1319, + "9": 43582, + "10": 6607, + "12": 3473, + "14": 669, + "16": 1513, + "21": 1682, + "22": 1, + "24": 29120 + }, + "instance_pixel_counts": { + "1115": 3339, + "1627": 43, + "1957": 198, + "2978": 140, + "4002": 163, + "6254": 2285, + "10370": 1569, + "11394": 991, + "13397": 70, + "13975": 2, + "14416": 101, + "14672": 2, + "14928": 3504, + "15511": 3761, + "16023": 546, + "17232": 6347, + "18011": 26110, + "19784": 1, + "20119": 3594, + "20631": 11618, + "23488": 682, + "23808": 502, + "24064": 4310, + "26560": 11603, + "27072": 2373, + "28608": 8873, + "29843": 18803, + "30144": 1620, + "30355": 38812, + "30656": 50184, + "31168": 1804, + "31488": 4014, + "31813": 6286, + "31891": 353834, + "34120": 37505, + "34395": 638, + "34453": 2307, + "34907": 972, + "34965": 3120, + "35419": 2197, + "35931": 6065, + "36443": 66250, + "36501": 17774, + "36955": 85, + "37460": 13, + "44171": 659, + "44179": 2466, + "44379": 1, + "44691": 88644, + "44891": 92, + "45203": 4794, + "45915": 9, + "46227": 19199, + "46731": 1021, + "46741": 69, + "47195": 31, + "47253": 4653, + "47765": 442, + "48267": 1302, + "48779": 454, + "48789": 755, + "49664": 180, + "49803": 967, + "49920": 339, + "50176": 455, + "50432": 1012, + "50688": 942, + "50944": 545, + "52480": 97, + "52672": 5, + "52736": 1416, + "53184": 1227, + "54016": 669, + "54177": 23, + "54720": 1892, + "55232": 6040, + "55744": 2185, + "56135": 107, + "56225": 38, + "56768": 4650, + "56993": 224, + "57173": 43582, + "58017": 102, + "58529": 244, + "59809": 545, + "60013": 3364, + "61037": 2752, + "64351": 18183 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 180, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -121.66718292236328, + "y": -113.68775939941406, + "z": 0.5749748945236206 + }, + "extent": { + "x": 0.17515134811401367, + "y": 0.2135986089706421, + "z": 0.5241730213165283 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 693.4508588046209, + "ymin": 382.88214240464447, + "xmax": 712.8366573244443, + "ymax": 420.0495165620594 + }, + "corners_3d": [ + [ + -121.84233093261719, + -113.90135955810547, + 0.050801873207092285 + ], + [ + -121.84233093261719, + -113.47415924072266, + 0.050801873207092285 + ], + [ + -121.49203491210938, + -113.47415924072266, + 0.050801873207092285 + ], + [ + -121.49203491210938, + -113.90135955810547, + 0.050801873207092285 + ], + [ + -121.84233093261719, + -113.90135955810547, + 1.099147915840149 + ], + [ + -121.84233093261719, + -113.47415924072266, + 1.099147915840149 + ], + [ + -121.49203491210938, + -113.47415924072266, + 1.099147915840149 + ], + [ + -121.49203491210938, + -113.90135955810547, + 1.099147915840149 + ] + ], + "corners_2d": [ + [ + 700.7779533270368, + 420.0495165620594 + ], + [ + 711.2289321751792, + 414.3573560385828 + ], + [ + 703.8764805403475, + 408.4075208717485 + ], + [ + 693.4508588046209, + 414.01812460183265 + ], + [ + 702.1594047590908, + 394.42009948720454 + ], + [ + 712.8366573244443, + 388.7778945339042 + ], + [ + 705.3076893860725, + 382.88214240464447 + ], + [ + 694.6568068341862, + 388.44169539009977 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 339, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -117.54119873046875, + "y": -110.69005584716797, + "z": 0.5749797821044922 + }, + "extent": { + "x": 0.5091894268989563, + "y": 0.3656933605670929, + "z": 0.9154399037361145 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 672.6697586741668, + "ymin": 273.15997775164305, + "xmax": 710.3769735082187, + "ymax": 336.21847793937286 + }, + "corners_3d": [ + [ + -118.11529541015625, + -110.94189453125, + -0.3404601216316223 + ], + [ + -117.96322631835938, + -110.22648620605469, + -0.3404601216316223 + ], + [ + -116.96710205078125, + -110.43821716308594, + -0.3404601216316223 + ], + [ + -117.11917114257812, + -111.15362548828125, + -0.3404601216316223 + ], + [ + -118.11529541015625, + -110.94189453125, + 1.490419626235962 + ], + [ + -117.96322631835938, + -110.22648620605469, + 1.490419626235962 + ], + [ + -116.96710205078125, + -110.43821716308594, + 1.490419626235962 + ], + [ + -117.11917114257812, + -111.15362548828125, + 1.490419626235962 + ] + ], + "corners_2d": [ + [ + 695.3660700211021, + 336.21847793937286 + ], + [ + 707.9969907257835, + 326.6272031478432 + ], + [ + 685.3985837688749, + 315.6209093508677 + ], + [ + 672.6697586741668, + 324.9282082020417 + ], + [ + 697.3298704892967, + 293.250305974047 + ], + [ + 710.3769735082187, + 283.8903751493379 + ], + [ + 686.9632309447484, + 273.15997775164305 + ], + [ + 673.8105351157808, + 282.2332426026944 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 455, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -123.92300415039062, + "y": -106.74504852294922, + "z": 0.5749797821044922 + }, + "extent": { + "x": 0.544140636920929, + "y": 0.3174999952316284, + "z": 0.8973701000213623 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 885.022022000134, + "ymin": 318.5594863424531, + "xmax": 933.9761148860699, + "ymax": 384.7265323148372 + }, + "corners_3d": [ + [ + -124.49735260009766, + -107.0039291381836, + -0.3223903179168701 + ], + [ + -124.43097686767578, + -106.37240600585938, + -0.3223903179168701 + ], + [ + -123.3486557006836, + -106.48616790771484, + -0.3223903179168701 + ], + [ + -123.41503143310547, + -107.11769104003906, + -0.3223903179168701 + ], + [ + -124.49735260009766, + -107.0039291381836, + 1.4723498821258545 + ], + [ + -124.43097686767578, + -106.37240600585938, + 1.4723498821258545 + ], + [ + -123.3486557006836, + -106.48616790771484, + 1.4723498821258545 + ], + [ + -123.41503143310547, + -107.11769104003906, + 1.4723498821258545 + ] + ], + "corners_2d": [ + [ + 912.6715528592792, + 384.7265323148372 + ], + [ + 923.571673194207, + 376.152899258234 + ], + [ + 896.0074204249568, + 361.2401540158439 + ], + [ + 885.022022000134, + 369.49233537633285 + ], + [ + 922.788360401391, + 341.5797015361129 + ], + [ + 933.9761148860699, + 333.17043544691165 + ], + [ + 905.2173177685454, + 318.5594863424531 + ], + [ + 893.9337108164741, + 326.6421709486294 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 1012, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -131.16717529296875, + "y": -113.68775939941406, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.5024706721305847, + "y": 0.444643497467041, + "z": 0.9260916709899902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 919.4061482089182, + "ymin": 557.4845780167485, + "xmax": 990.9129831274364, + "ymax": 648.7057666701473 + }, + "corners_3d": [ + [ + -131.66964721679688, + -114.13240051269531, + -0.35110217332839966 + ], + [ + -131.66964721679688, + -113.24311828613281, + -0.35110217332839966 + ], + [ + -130.66470336914062, + -113.24311828613281, + -0.35110217332839966 + ], + [ + -130.66470336914062, + -114.13240051269531, + -0.35110217332839966 + ], + [ + -131.66964721679688, + -114.13240051269531, + 1.5010812282562256 + ], + [ + -131.66964721679688, + -113.24311828613281, + 1.5010812282562256 + ], + [ + -130.66470336914062, + -113.24311828613281, + 1.5010812282562256 + ], + [ + -130.66470336914062, + -114.13240051269531, + 1.5010812282562256 + ] + ], + "corners_2d": [ + [ + 951.5312670985993, + 648.7057666701473 + ], + [ + 974.0112523791403, + 630.0688614025242 + ], + [ + 941.8739199876261, + 603.9860276307334 + ], + [ + 919.4061482089182, + 621.6972580930118 + ], + [ + 967.5907955941834, + 602.3657399393506 + ], + [ + 990.9129831274364, + 583.6379622499419 + ], + [ + 956.7497761279946, + 557.4845780167485 + ], + [ + 933.4259083310088, + 575.236525952683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 942, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -125.28268432617188, + "y": -124.81512451171875, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.3445996344089508, + "y": 0.5111768245697021, + "z": 0.8816086649894714 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 404.63401467653705, + "ymin": 636.9359401835279, + "xmax": 468.2578757809165, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -125.57196044921875, + -125.3595199584961, + -0.30662399530410767 + ], + [ + -125.67882537841797, + -124.34276580810547, + -0.30662399530410767 + ], + [ + -124.993408203125, + -124.2707290649414, + -0.30662399530410767 + ], + [ + -124.88654327392578, + -125.28748321533203, + -0.30662399530410767 + ], + [ + -125.57196044921875, + -125.3595199584961, + 1.4565932750701904 + ], + [ + -125.67882537841797, + -124.34276580810547, + 1.4565932750701904 + ], + [ + -124.993408203125, + -124.2707290649414, + 1.4565932750701904 + ], + [ + -124.88654327392578, + -125.28748321533203, + 1.4565932750701904 + ] + ], + "corners_2d": [ + [ + 427.2929019850318, + 724.1264849608872 + ], + [ + 468.2578757809165, + 702.9886432457849 + ], + [ + 456.5389784882925, + 680.8137289167165 + ], + [ + 416.1839285722201, + 701.1144955299587 + ], + [ + 416.0782255274753, + 680.7082211235172 + ], + [ + 459.3795739954613, + 659.3242339469782 + ], + [ + 447.25232231378664, + 636.9359401835279 + ], + [ + 404.63401467653705, + 657.4302776721015 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 545, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -110.42184448242188, + "y": -121.85797882080078, + "z": 0.7296233177185059 + }, + "extent": { + "x": 0.5593408346176147, + "y": 0.4582616984844208, + "z": 0.9105864763259888 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 279.6903519507616, + "ymin": 287.7544716844842, + "xmax": 325.43134582267265, + "ymax": 355.82379845466534 + }, + "corners_3d": [ + [ + -110.87368774414062, + -122.42252349853516, + -0.1809631586074829 + ], + [ + -111.06423950195312, + -121.5260238647461, + -0.1809631586074829 + ], + [ + -109.97000122070312, + -121.2934341430664, + -0.1809631586074829 + ], + [ + -109.77944946289062, + -122.18993377685547, + -0.1809631586074829 + ], + [ + -110.87368774414062, + -122.42252349853516, + 1.6402097940444946 + ], + [ + -111.06423950195312, + -121.5260238647461, + 1.6402097940444946 + ], + [ + -109.97000122070312, + -121.2934341430664, + 1.6402097940444946 + ], + [ + -109.77944946289062, + -122.18993377685547, + 1.6402097940444946 + ] + ], + "corners_2d": [ + [ + 298.0401775026044, + 355.82379845466534 + ], + [ + 325.43134582267265, + 348.5441753348943 + ], + [ + 318.89371343150555, + 330.7018228507048 + ], + [ + 292.086943274729, + 337.6440938457338 + ], + [ + 285.5510529650111, + 312.2962612876564 + ], + [ + 314.05488482434436, + 305.17875719884705 + ], + [ + 307.5613958850815, + 287.7544716844842 + ], + [ + 279.6903519507616, + 294.5305834075619 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 97, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 564.1673106783976, + "ymin": 0.0, + "xmax": 736.2888790499912, + "ymax": 69.21254733598994 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 620.4061367390007, + 2.2862915992997728 + ], + [ + 567.6887189235047, + 15.894953068251311 + ], + [ + 676.2755412057844, + 69.21254733598994 + ], + [ + 731.4426978438033, + 52.10303400043341 + ], + [ + 619.4834380741476, + -70.48600750894275 + ], + [ + 564.1673106783976, + -58.697548029934865 + ], + [ + 678.2721697906327, + -12.16071107802054 + ], + [ + 736.2888790499912, + -27.15551083602071 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 1416, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 722.2316083432328, + "ymin": 0.0, + "xmax": 900.5818508978978, + "ymax": 38.72526860193898 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 841.9153068056289, + 38.72526860193898 + ], + [ + 888.2596731310311, + 23.66008150608741 + ], + [ + 767.4783001404674, + -20.58585414654118 + ], + [ + 722.2316083432328, + -8.442217127275 + ], + [ + 852.2982854022948, + -38.86651817532311 + ], + [ + 900.5818508978978, + -51.981202122093464 + ], + [ + 773.1405418441619, + -90.24195358889597 + ], + [ + 726.0014305013723, + -79.77891577479352 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 669, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 673.5538351598656, + "ymin": 0.0, + "xmax": 760.2258652233974, + "ymax": 48.097654101478724 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 696.7764509540726, + 14.64815340745696 + ], + [ + 673.5538351598656, + 21.125386593505993 + ], + [ + 734.3608307843856, + 48.097654101478724 + ], + [ + 758.0380950993184, + 40.803153610364234 + ], + [ + 697.7674663226186, + -12.109643785635967 + ], + [ + 674.1484720358831, + -5.927212446601402 + ], + [ + 736.1382101778004, + 19.852402502122743 + ], + [ + 760.2258652233974, + 12.87488177204267 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 52908959695452696, + "instance_id": 6202, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": -79.05494689941406, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1104.0713740105145, + "ymin": 0.0, + "xmax": 1118.3173646721052, + "ymax": 19.262364585430987 + }, + "corners_3d": [ + [ + -113.29469299316406, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -78.86498260498047, + 3.5146729946136475 + ], + [ + -113.29469299316406, + -78.86498260498047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1104.0713740105145, + 17.76325066309232 + ], + [ + 1108.9753769154795, + 19.262364585430987 + ], + [ + 1113.0675210709207, + 17.68166807797178 + ], + [ + 1108.1672234327984, + 16.193404205150387 + ], + [ + 1109.2223628729498, + 0.7823533097352993 + ], + [ + 1114.1989888628054, + 2.2388236488086477 + ], + [ + 1118.3173646721052, + 0.7030946173659345 + ], + [ + 1113.34465965144, + -0.7427177453987497 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 896.4360741185723, + "ymin": 76.34797772599842, + "xmax": 913.6478015387386, + "ymax": 104.63554666924287 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 902.4064543040857, + 104.63554666924287 + ], + [ + 909.3389944695272, + 101.92865893592665 + ], + [ + 903.3656781728655, + 99.40153852449822 + ], + [ + 896.4360741185723, + 102.08200682688073 + ], + [ + 906.6266494070262, + 81.4282822524305 + ], + [ + 913.6478015387386, + 78.800680792668 + ], + [ + 907.5580408483634, + 76.34797772599842 + ], + [ + 900.539698090289, + 78.94952529618377 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5668522571212290485, + "instance_id": 46457, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -89.45570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 991.634605098712, + "ymin": 0.0, + "xmax": 1006.6901356487335, + "ymax": 3.8938329551291986 + }, + "corners_3d": [ + [ + -113.19542694091797, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -89.26573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -89.26573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 991.634605098712, + 2.231274719545638 + ], + [ + 996.8282935615919, + 3.8938329551291986 + ], + [ + 1002.0288418386597, + 2.1314263411816228 + ], + [ + 996.8363613884303, + 0.4827679350494236 + ], + [ + 996.1631632346459, + -17.67133730212879 + ], + [ + 1001.4422433249615, + -16.067422248744833 + ], + [ + 1006.6901356487335, + -17.76765851508162 + ], + [ + 1001.4124515729072, + -19.35799208186205 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1027.0439295166634, + "ymin": 130.06192450149467, + "xmax": 1048.4188611297948, + "ymax": 161.07846956478485 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1034.375111398328, + 161.07846956478485 + ], + [ + 1041.294802417338, + 157.75472071815238 + ], + [ + 1033.9682344698585, + 154.65508386133857 + ], + [ + 1027.0439295166634, + 157.9429143386582 + ], + [ + 1041.4176094435088, + 136.3182452552116 + ], + [ + 1048.4188611297948, + 133.08063285178625 + ], + [ + 1040.9237754855342, + 130.06192450149467 + ], + [ + 1033.917290797216, + 133.2639315649421 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 794.1328401459823, + "ymin": 106.28568563448962, + "xmax": 807.8109913571933, + "ymax": 130.895116462878 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 798.9486885955957, + 130.895116462878 + ], + [ + 805.4989268807348, + 128.40194896950385 + ], + [ + 800.6767455927597, + 126.0588089313311 + ], + [ + 794.1328401459823, + 128.5305122547713 + ], + [ + 801.1795566349773, + 111.01097628760647 + ], + [ + 807.8109913571933, + 108.57489269367645 + ], + [ + 802.9116471381035, + 106.28568563448962 + ], + [ + 796.2866329531495, + 108.70050475397056 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 964.3481525195857, + "ymin": 104.26228618513016, + "xmax": 983.667638949132, + "ymax": 133.9767786076432 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 971.0085990121663, + 133.9767786076432 + ], + [ + 977.9530212558055, + 130.95707447434512 + ], + [ + 971.2931831151341, + 128.1395084747836 + ], + [ + 964.3481525195857, + 131.12809645370027 + ], + [ + 976.6372172635351, + 109.93831511698195 + ], + [ + 983.667638949132, + 107.0017676129772 + ], + [ + 976.8658427847192, + 104.26228618513016 + ], + [ + 969.8344625686996, + 107.16806534102312 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11529003171770300666, + "instance_id": 64120, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.25050354003906, + "y": -128.95399475097656, + "z": 3.0800981521606445 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 57.81262806921927, + "ymin": 379.97404693997163, + "xmax": 87.47675260110827, + "ymax": 415.3363814903209 + }, + "corners_3d": [ + [ + -113.11116790771484, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -128.7640380859375, + 3.5146679878234863 + ], + [ + -113.11116790771484, + -128.7640380859375, + 3.5146679878234863 + ] + ], + "corners_2d": [ + [ + 69.98129204299971, + 409.88470367666804 + ], + [ + 72.5217310945851, + 415.3363814903209 + ], + [ + 87.47675260110827, + 409.58922688665393 + ], + [ + 84.85636387866316, + 404.21242163911114 + ], + [ + 57.81262806921927, + 385.59621724973397 + ], + [ + 60.325613448310946, + 391.00128619796266 + ], + [ + 75.68588882308927, + 385.3033101438968 + ], + [ + 73.08837118697329, + 379.97404693997163 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 943.5829564200671, + "ymin": 0.0, + "xmax": 1147.449373063861, + "ymax": 124.99733722613632 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1095.2422414153166, + 65.56629026698829 + ], + [ + 1088.0459463741477, + 63.07799168754798 + ], + [ + 943.5829564200671, + 121.85896518286734 + ], + [ + 950.8244292745089, + 124.99733722613632 + ], + [ + 1147.449373063861, + -104.39710265487219 + ], + [ + 1139.1320389155364, + -106.19075831356486 + ], + [ + 982.9958829631162, + -63.24357276681144 + ], + [ + 991.4437157977305, + -60.9162849154265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2334590930876643410, + "instance_id": 21048, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -123.8453369140625, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 255.62696787977603, + "ymin": 238.5520313233078, + "xmax": 275.01853255874624, + "ymax": 253.64737384146923 + }, + "corners_3d": [ + [ + -116.6200942993164, + -123.69747161865234, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.69747161865234, + 7.743301868438721 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 268.6430454947221, + 242.38970186781773 + ], + [ + 256.76059214404216, + 246.3666636631673 + ], + [ + 263.04440127250774, + 253.64737384146923 + ], + [ + 275.01853255874624, + 249.58277008840523 + ], + [ + 267.5511844549264, + 238.5520313233078 + ], + [ + 255.62696787977603, + 242.51750709074466 + ], + [ + 261.91707138771784, + 249.77755454055915 + ], + [ + 273.9336577158178, + 245.724427960245 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3639812104533344102, + "instance_id": 26239, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -123.8453369140625, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 255.7304501362251, + "ymin": 238.63164493864184, + "xmax": 274.9152502220793, + "ymax": 253.5664611918226 + }, + "corners_3d": [ + [ + -116.62229919433594, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.69904327392578, + 7.742714881896973 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 268.6083086205704, + 242.42866527463954 + ], + [ + 256.8517613515748, + 246.36365069193474 + ], + [ + 263.06895925816673, + 253.5664611918226 + ], + [ + 274.9152502220793, + 249.5456885016558 + ], + [ + 267.5278797251146, + 238.63164493864184 + ], + [ + 255.7304501362251, + 242.5553876081499 + ], + [ + 261.95381184078053, + 249.7379722311923 + ], + [ + 273.8416551116708, + 245.72843371344948 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 950.7040320453247, + "ymin": 0.0, + "xmax": 1201.0461973483189, + "ymax": 81.68006417456672 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 1013.7116325995805, + 81.68006417456672 + ], + [ + 1117.2251921580394, + 39.52520845870549 + ], + [ + 1054.810549523731, + 19.672360860013953 + ], + [ + 950.7040320453247, + 58.07794774428265 + ], + [ + 1086.6106006210025, + -204.27984825076965 + ], + [ + 1201.0461973483189, + -225.36276488339536 + ], + [ + 1123.964164567636, + -235.056181852157 + ], + [ + 1007.9087467097366, + -216.16903078414907 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5944504550537153523, + "instance_id": 62411, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_1", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88526153564453, + "z": 3.6450090408325195 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 22.976937240652546, + "ymin": 135.48774836603891, + "xmax": 102.24193589249955, + "ymax": 179.35711307689834 + }, + "corners_3d": [ + [ + -100.3021469116211, + -126.97334289550781, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -126.97334289550781, + 3.8072457313537598 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.8072457313537598 + ] + ], + "corners_2d": [ + [ + 38.25346970869714, + 179.35711307689834 + ], + [ + 102.24193589249955, + 162.0212984138177 + ], + [ + 88.75090066874009, + 143.3257160218055 + ], + [ + 26.500952000465304, + 159.5425097224201 + ], + [ + 34.677255349394954, + 171.22536321113677 + ], + [ + 99.13960554161122, + 154.02768691109935 + ], + [ + 85.67417459815658, + 135.48774836603891 + ], + [ + 22.976937240652546, + 151.56913841867325 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6519504943767973976, + "instance_id": 22640, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_0", + "bbox_3d": { + "center_world": { + "x": -94.53499603271484, + "y": -125.88525390625, + "z": 3.6439085006713867 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 94.23841808797738, + "xmax": 70.31809282072197, + "ymax": 132.5157851159705 + }, + "corners_3d": [ + [ + -95.50235748291016, + -126.97452545166016, + 3.480583429336548 + ], + [ + -95.50236511230469, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -93.56763458251953, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -93.567626953125, + -126.97452545166016, + 3.480583429336548 + ], + [ + -95.50235748291016, + -126.97452545166016, + 3.807230234146118 + ], + [ + -95.50236511230469, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -93.56763458251953, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -93.567626953125, + -126.97452545166016, + 3.807230234146118 + ] + ], + "corners_2d": [ + [ + 10.424152922879898, + 132.5157851159705 + ], + [ + 70.31809282072197, + 117.7529656219574 + ], + [ + 58.77263977943301, + 101.75472040557827 + ], + [ + 0.41254329595972195, + 115.63431806499563 + ], + [ + 6.955830288883135, + 124.7199216802575 + ], + [ + 67.26464395348853, + 110.08891790209702 + ], + [ + 55.751170472436684, + 94.23841808797738 + ], + [ + -3.001912786766411, + 107.98954524671998 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 835.7086562064272, + "ymin": 47.48670827579099, + "xmax": 851.0347894154072, + "ymax": 56.22968057364841 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 841.6662449548412, + 50.60343476907542 + ], + [ + 835.7086562064272, + 52.59739192132389 + ], + [ + 844.6276307898491, + 56.22968057364841 + ], + [ + 850.5929566767364, + 54.20475822993251 + ], + [ + 842.0861017347909, + 47.48670827579099 + ], + [ + 836.1178544937602, + 49.471487708403856 + ], + [ + 845.0588007789154, + 53.087148550730376 + ], + [ + 851.0347894154072, + 51.071481394944215 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6967274615413648305, + "instance_id": 45483, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_2", + "bbox_3d": { + "center_world": { + "x": -99.33560943603516, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 8.812378472408795, + "ymin": 108.01338845373004, + "xmax": 133.91842639635695, + "ymax": 257.96071463527824 + }, + "corners_3d": [ + [ + -100.3640365600586, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -127.03557586669922, + 4.877264976501465 + ], + [ + -100.3640365600586, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + 70.92343774711276, + 257.96071463527824 + ], + [ + 133.91842639635695, + 238.34932109179752 + ], + [ + 119.31643549651744, + 217.05935419510624 + ], + [ + 58.007456270066086, + 235.397463351427 + ], + [ + 21.007758987231, + 144.838978330204 + ], + [ + 90.92968321981687, + 127.13303589976294 + ], + [ + 76.64432192929428, + 108.01338845373004 + ], + [ + 8.812378472408795, + 124.47578499757233 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9919303964700251881, + "instance_id": 59670, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_Poles_4", + "bbox_3d": { + "center_world": { + "x": -112.9144515991211, + "y": -134.7008514404297, + "z": 4.223348617553711 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 212.9573649879441, + "xmax": 121.72570212538517, + "ymax": 697.9922980261458 + }, + "corners_3d": [ + [ + -113.18444061279297, + -128.6757354736328, + -4.76837158203125e-06 + ], + [ + -112.75162506103516, + -128.67189025878906, + -4.76837158203125e-06 + ], + [ + -112.64446258544922, + -140.72596740722656, + -4.76837158203125e-06 + ], + [ + -113.07727813720703, + -140.7298126220703, + -4.76837158203125e-06 + ], + [ + -113.18444061279297, + -128.6757354736328, + 8.446702003479004 + ], + [ + -112.75162506103516, + -128.67189025878906, + 8.446702003479004 + ], + [ + -112.64446258544922, + -140.72596740722656, + 8.446702003479004 + ], + [ + -113.07727813720703, + -140.7298126220703, + 8.446702003479004 + ] + ], + "corners_2d": [ + [ + 121.72570212538517, + 472.2623725794744 + ], + [ + 117.74778981304587, + 463.8332067497757 + ], + [ + -421.55707536523846, + 684.7665245666967 + ], + [ + -423.0480707523393, + 697.9922980261458 + ], + [ + 0.33817084112081375, + 220.39432642662456 + ], + [ + -3.1419862980615108, + 212.9573649879441 + ], + [ + -747.9608167837673, + 419.45507464147056 + ], + [ + -755.0641249458381, + 432.6282294352252 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 600.3759439855829, + "ymin": 0.0, + "xmax": 665.2825795436911, + "ymax": 50.96956902921602 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 604.013740455355, + 48.59323958802696 + ], + [ + 608.713752353298, + 50.96956902921602 + ], + [ + 663.0274483191956, + 35.38170176222377 + ], + [ + 658.2163420555871, + 33.16099638642527 + ], + [ + 600.3759439855829, + -102.94254339513066 + ], + [ + 605.5332516812772, + -101.17852518498194 + ], + [ + 665.2825795436911, + -112.71668259264862 + ], + [ + 659.9906788051134, + -114.35410315085659 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 835.7901488262514, + "ymin": 47.533034929650114, + "xmax": 850.9530200809074, + "ymax": 56.183033024782844 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 841.6843589408961, + 50.61674554896979 + ], + [ + 835.7901488262514, + 52.58957229111775 + ], + [ + 844.6142744757367, + 56.183033024782844 + ], + [ + 850.5160591905013, + 54.17989677929825 + ], + [ + 842.099809132085, + 47.533034929650114 + ], + [ + 836.1951662214551, + 49.4968779144362 + ], + [ + 845.0407984426814, + 53.07406283226976 + ], + [ + 850.9530200809074, + 51.07998536643146 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14081937874569997388, + "instance_id": 19500, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_0", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88525390625, + "z": 3.6439085006713867 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 22.934806219919096, + "ymin": 135.4684826583269, + "xmax": 102.30576595005448, + "ymax": 179.43388404110755 + }, + "corners_3d": [ + [ + -100.30333709716797, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.30333709716797, + -126.97452545166016, + 3.807230234146118 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.807230234146118 + ] + ], + "corners_2d": [ + [ + 38.249085996369104, + 179.43388404110755 + ], + [ + 102.30576595005448, + 162.07748340348897 + ], + [ + 88.79676400045082, + 143.3583976261344 + ], + [ + 26.48247566196619, + 159.593153922369 + ], + [ + 34.64879569017353, + 171.24790821342094 + ], + [ + 99.18304680247479, + 154.0307082972783 + ], + [ + 85.69983206794723, + 135.4684826583269 + ], + [ + 22.934806219919096, + 151.566796551171 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14132762880190184296, + "instance_id": 26875, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_1", + "bbox_3d": { + "center_world": { + "x": -94.53499603271484, + "y": -125.88526153564453, + "z": 3.6450090408325195 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 94.25487388943151, + "xmax": 70.25815163238133, + "ymax": 132.44496464172627 + }, + "corners_3d": [ + [ + -95.50116729736328, + -126.97334289550781, + 3.4827687740325928 + ], + [ + -95.50116729736328, + -124.79718780517578, + 3.4827723503112793 + ], + [ + -93.5688247680664, + -124.79718017578125, + 3.4827723503112793 + ], + [ + -93.5688247680664, + -126.97333526611328, + 3.4827687740325928 + ], + [ + -95.50116729736328, + -126.97334289550781, + 3.8072457313537598 + ], + [ + -95.50116729736328, + -124.79718780517578, + 3.8072493076324463 + ], + [ + -93.5688247680664, + -124.79718017578125, + 3.8072493076324463 + ], + [ + -93.5688247680664, + -126.97333526611328, + 3.8072457313537598 + ] + ], + "corners_2d": [ + [ + 10.428132593486112, + 132.44496464172627 + ], + [ + 70.25815163238133, + 117.6996954801333 + ], + [ + 58.728164261035204, + 101.7216656520389 + ], + [ + 0.4285673571496318, + 115.58578623548757 + ], + [ + 6.982989868545246, + 124.70076695998011 + ], + [ + 67.22467919287612, + 110.08630529650131 + ], + [ + 55.72643658600771, + 94.25487388943151 + ], + [ + -2.963138112266961, + 107.99150311795532 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 752.0006020261103, + "ymin": 15.575634400633874, + "xmax": 855.3719015604456, + "ymax": 245.57828311278672 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 759.7821549690494, + 202.96116974581085 + ], + [ + 752.0006020261103, + 206.22434505679857 + ], + [ + 819.4782216980802, + 245.57828311278672 + ], + [ + 827.3730583640688, + 241.89050187302155 + ], + [ + 776.4742743590402, + 15.575634400633874 + ], + [ + 767.7021514312834, + 18.169877731552674 + ], + [ + 846.470296186438, + 49.75958863477911 + ], + [ + 855.3719015604456, + 46.7753974406466 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 205.0064467703578, + "ymin": 179.62725317365863, + "xmax": 340.35109090032955, + "ymax": 476.07697216539435 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 289.2178998865772, + 400.29114625285223 + ], + [ + 275.66096853746285, + 405.9762124595054 + ], + [ + 326.02446631461135, + 476.07697216539435 + ], + [ + 340.35109090032955, + 469.3848188490402 + ], + [ + 221.75338552676783, + 179.62725317365863 + ], + [ + 205.0064467703578, + 184.57994644299836 + ], + [ + 258.83271064449525, + 246.76033562768504 + ], + [ + 276.80834893792144, + 240.7341482996342 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16194625468754558244, + "instance_id": 9469, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.53463745117188, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 68.22586081803286, + "xmax": 101.25334945113082, + "ymax": 207.54682152035483 + }, + "corners_3d": [ + [ + -95.56306457519531, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -127.03557586669922, + 4.877264976501465 + ], + [ + -95.56306457519531, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + 42.0647904951453, + 207.54682152035483 + ], + [ + 101.25334945113082, + 190.72304796151013 + ], + [ + 88.66980258437684, + 172.37600898074385 + ], + [ + 30.981084586216298, + 188.1844182818631 + ], + [ + -6.1426998547044604, + 99.5045960371682 + ], + [ + 59.081500375431574, + 84.50716068403267 + ], + [ + 46.91682780384576, + 68.22586081803286 + ], + [ + -16.47650087936347, + 82.24976845140117 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 780.4203630668443, + "ymin": 0.0, + "xmax": 1097.566657881274, + "ymax": 319.6727700756244 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 787.7132820104616, + 183.5658629647131 + ], + [ + 780.4203630668443, + 186.52488337607775 + ], + [ + 1018.6139898965916, + 319.6727700756244 + ], + [ + 1026.0821379486567, + 315.2662353917275 + ], + [ + 809.4136416637374, + -16.82758653601536 + ], + [ + 801.1661814677761, + -14.566515881253224 + ], + [ + 1089.216956202528, + 90.68566507517738 + ], + [ + 1097.566657881274, + 87.08879413398193 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 5199819733356185808, + "instance_id": 53256, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1851_37", + "bbox_3d": { + "center_world": { + "x": -100.25784301757812, + "y": -72.39555358886719, + "z": 8.309331893920898 + }, + "extent": { + "x": 4.9728498458862305, + "y": 4.831793308258057, + "z": 8.307754516601562 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 863.2789522665362, + "ymin": 0.0, + "xmax": 1161.4858376382365, + "ymax": 17.542745815268916 + }, + "corners_3d": [ + [ + -94.59623718261719, + -68.39283752441406, + 0.0015773773193359375 + ], + [ + -96.09391784667969, + -77.93966674804688, + 0.0015773773193359375 + ], + [ + -105.91944885253906, + -76.39826965332031, + 0.0015773773193359375 + ], + [ + -104.42176818847656, + -66.8514404296875, + 0.0015773773193359375 + ], + [ + -94.59623718261719, + -68.39283752441406, + 16.61708641052246 + ], + [ + -96.09391784667969, + -77.93966674804688, + 16.61708641052246 + ], + [ + -105.91944885253906, + -76.39826965332031, + 16.61708641052246 + ], + [ + -104.42176818847656, + -66.8514404296875, + 16.61708641052246 + ] + ], + "corners_2d": [ + [ + 938.8968554814371, + -51.05160940908172 + ], + [ + 863.2789522665362, + -19.21543163749743 + ], + [ + 1005.0590917897055, + 17.542745815268916 + ], + [ + 1074.7346377012946, + -20.184893734032414 + ], + [ + 993.0476833834182, + -340.6838356396905 + ], + [ + 907.9651873966759, + -332.79900772569886 + ], + [ + 1086.3972595858093, + -323.3742195300872 + ], + [ + 1161.4858376382365, + -333.04284965532497 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 262.97036599570606, + "ymax": 427.36924508551454 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 167.97461037997692, + 252.60969635071405 + ], + [ + -24.334469255056433, + 331.1193162575778 + ], + [ + 58.47831416720828, + 427.36924508551454 + ], + [ + 262.97036599570606, + 328.66436228470326 + ], + [ + 46.44070157540568, + -80.82447228739466 + ], + [ + -221.42652956238692, + -29.791401916259133 + ], + [ + -144.0103465924758, + 37.28756512272918 + ], + [ + 151.5908664662037, + -31.435325835138826 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 120.35845034226259, + "ymax": 144.261131126326 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + 33.350086547620776, + 56.47124114344746 + ], + [ + -112.35841325012859, + 105.4016073684397 + ], + [ + -26.527168142643745, + 144.261131126326 + ], + [ + 120.35845034226259, + 88.1578624070545 + ], + [ + -64.01211860193882, + -182.84786769724133 + ], + [ + -247.8628224812719, + -154.35341873304435 + ], + [ + -157.27483320914712, + -131.02810604343665 + ], + [ + 30.398875463021, + -164.50452286090672 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 295.3077127882585, + "ymax": 483.6828729804978 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 10.041020163247026, + 483.6828729804978 + ], + [ + 257.307677410571, + 463.190465197433 + ], + [ + 295.3077127882585, + 320.22039846275914 + ], + [ + 89.77159222084765, + 334.5355719083787 + ], + [ + -229.53076774216913, + 79.06489531275923 + ], + [ + 116.30710351184894, + 63.63399664352801 + ], + [ + 194.9718406673179, + -37.06533619909777 + ], + [ + -74.43713352298755, + -27.498415703276237 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 129.3224508206186, + "ymax": 213.02525568714992 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 65.2780083772077, + 110.40415938920611 + ], + [ + -91.70253379403334, + 157.88318789079776 + ], + [ + -36.41003212393957, + 213.02525568714992 + ], + [ + 129.3224508206186, + 156.43361446073365 + ], + [ + -45.17601251986025, + -165.81258953959923 + ], + [ + -247.7141568206987, + -138.43574692410613 + ], + [ + -197.79652181299116, + -105.40269033116385 + ], + [ + 20.77067156183284, + -139.28587072014648 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00021/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00021/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6a69cb7011ad32523529553e7083656178d188f5 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00021/meta.json @@ -0,0 +1,3415 @@ +{ + "frame_id": 21, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 10.5, + "sim_timestamp": 9962.045030172914 + }, + "drone_pose": { + "x": -137.5413026319313, + "y": -128.51139645530935, + "z": 20.118668078722727, + "pitch": -41.50353490555579, + "yaw": 42.154817574755704, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5551961064338684, + -0.5026238560676575, + 0.6626662611961365, + 127.62332916259766 + ], + [ + 0.671136200428009, + 0.741334080696106, + 0.0, + 2.9609451293945312 + ], + [ + -0.4912571310997009, + 0.44473931193351746, + 0.7489148378372192, + -139.7893829345703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -137.20161696400012, + "y": -128.36506573333074, + "z": 20.10987632570626 + }, + "t1_image_uv": [ + 211.904815079145, + -447.3854363275194 + ], + "t1_depth": 0.26796746344318767 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -121.16718292236328, + "y": -113.68776321411131, + "z": 0.5749846434596475 + }, + "image_uv": [ + 640.0000000000001, + 359.99999999999983 + ], + "depth": 29.49249838434499, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 176, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -121.16718292236328, + "y": -113.68775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.2653222382068634, + "y": 0.21214352548122406, + "z": 0.5193418264389038 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 628.9712513957394, + "ymin": 339.9645575756965, + "xmax": 651.0597593201903, + "ymax": 379.9131278706219 + }, + "corners_3d": [ + [ + -121.43250274658203, + -113.89990234375, + 0.05564284324645996 + ], + [ + -121.43250274658203, + -113.47561645507812, + 0.05564284324645996 + ], + [ + -120.90186309814453, + -113.47561645507812, + 0.05564284324645996 + ], + [ + -120.90186309814453, + -113.89990234375, + 0.05564284324645996 + ], + [ + -121.43250274658203, + -113.89990234375, + 1.0943264961242676 + ], + [ + -121.43250274658203, + -113.47561645507812, + 1.0943264961242676 + ], + [ + -120.90186309814453, + -113.47561645507812, + 1.0943264961242676 + ], + [ + -120.90186309814453, + -113.89990234375, + 1.0943264961242676 + ] + ], + "corners_2d": [ + [ + 640.6749813029035, + 379.9131278706219 + ], + [ + 650.8042738308719, + 373.69096693561266 + ], + [ + 639.3365913957418, + 365.2402585405078 + ], + [ + 629.2253268135815, + 371.34074624154294 + ], + [ + 640.6910601888007, + 354.54269214417576 + ], + [ + 651.0597593201903, + 348.35927308265866 + ], + [ + 639.3210611544297, + 339.9645575756965 + ], + [ + 628.9712513957394, + 346.0242343646242 + ] + ], + "center_offset_px": [ + 1.1368683772161603e-13, + -1.7053025658242404e-13 + ] + }, + "trace_timestep_index": 21, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 68, + "semantic_pixel_counts": { + "1": 570499, + "2": 172517, + "3": 102185, + "5": 3937, + "6": 6318, + "7": 841, + "9": 21695, + "10": 6984, + "12": 3240, + "21": 1510, + "24": 31874 + }, + "instance_pixel_counts": { + "1115": 3548, + "2978": 185, + "4002": 205, + "6254": 2677, + "10370": 1765, + "11394": 741, + "14416": 109, + "14928": 3828, + "15511": 2377, + "16023": 559, + "18011": 20603, + "20119": 8637, + "20631": 12375, + "23808": 43, + "24064": 3559, + "26560": 7149, + "27072": 2454, + "28608": 634, + "29843": 21492, + "30144": 16186, + "30355": 28784, + "30656": 54599, + "31168": 1902, + "31488": 1051, + "31813": 6927, + "31891": 387470, + "34120": 41687, + "34395": 227, + "34453": 2719, + "34907": 400, + "34965": 3306, + "35419": 1135, + "35931": 5166, + "36443": 61384, + "36501": 19379, + "44171": 669, + "44179": 88, + "44691": 108561, + "44891": 119, + "45203": 7999, + "45915": 5, + "46227": 16105, + "46731": 1014, + "46741": 1, + "47253": 5103, + "47765": 745, + "48267": 344, + "48779": 454, + "48789": 621, + "49664": 176, + "49803": 311, + "49920": 317, + "50176": 352, + "50432": 833, + "50688": 953, + "50944": 609, + "53184": 1270, + "54720": 1630, + "55232": 376, + "55744": 2279, + "56768": 241, + "56993": 284, + "57173": 21695, + "58529": 410, + "59809": 302, + "60013": 3849, + "61037": 3196, + "64351": 15370 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 176, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -121.16718292236328, + "y": -113.68775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.24849607050418854, + "y": 0.20049314200878143, + "z": 0.5356830358505249 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.6215429384904, + "ymin": 339.9862655229263, + "xmax": 650.4051723047075, + "ymax": 379.8564779318705 + }, + "corners_3d": [ + [ + -121.41567993164062, + -113.88825225830078, + 0.03930163383483887 + ], + [ + -121.41567993164062, + -113.48726654052734, + 0.03930163383483887 + ], + [ + -120.91868591308594, + -113.48726654052734, + 0.03930163383483887 + ], + [ + -120.91868591308594, + -113.88825225830078, + 0.03930163383483887 + ], + [ + -121.41567993164062, + -113.88825225830078, + 1.1106677055358887 + ], + [ + -121.41567993164062, + -113.48726654052734, + 1.1106677055358887 + ], + [ + -120.91868591308594, + -113.48726654052734, + 1.1106677055358887 + ], + [ + -120.91868591308594, + -113.88825225830078, + 1.1106677055358887 + ] + ], + "corners_2d": [ + [ + 640.5883444289392, + 379.8564779318705 + ], + [ + 650.1573639986593, + 373.979220915981 + ], + [ + 639.421173182998, + 366.06054397446536 + ], + [ + 629.8680997764069, + 371.8301312074043 + ], + [ + 640.6027983213686, + 353.6903181901428 + ], + [ + 650.4051723047075, + 347.8508975801759 + ], + [ + 639.407184239697, + 339.9862655229263 + ], + [ + 629.6215429384904, + 345.7161274403166 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 317, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -117.04119873046875, + "y": -110.69005584716797, + "z": 0.5749797821044922 + }, + "extent": { + "x": 0.41639646887779236, + "y": 0.3013232350349426, + "z": 0.8727914094924927 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 608.8685770909335, + "ymin": 234.12093801409478, + "xmax": 639.0700145377407, + "ymax": 291.71609083617267 + }, + "corners_3d": [ + [ + -117.51114654541016, + -110.89822387695312, + -0.2978116273880005 + ], + [ + -117.38584899902344, + -110.30874633789062, + -0.2978116273880005 + ], + [ + -116.57125091552734, + -110.48188781738281, + -0.2978116273880005 + ], + [ + -116.69654846191406, + -111.07136535644531, + -0.2978116273880005 + ], + [ + -117.51114654541016, + -110.89822387695312, + 1.4477711915969849 + ], + [ + -117.38584899902344, + -110.30874633789062, + 1.4477711915969849 + ], + [ + -116.57125091552734, + -110.48188781738281, + 1.4477711915969849 + ], + [ + -116.69654846191406, + -111.07136535644531, + 1.4477711915969849 + ] + ], + "corners_2d": [ + [ + 628.9475110315126, + 291.71609083617267 + ], + [ + 639.0700145377407, + 283.2779935246137 + ], + [ + 620.1495737858303, + 275.03394629032243 + ], + [ + 609.9318495318628, + 283.2919920509641 + ], + [ + 628.552258821007, + 250.47494109357223 + ], + [ + 639.0371289311951, + 242.19970222709344 + ], + [ + 619.4553853192483, + 234.12093801409478 + ], + [ + 608.8685770909335, + 242.2134252842676 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 352, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -123.42300415039062, + "y": -106.74504852294922, + "z": 0.5749797821044922 + }, + "extent": { + "x": 0.5939697027206421, + "y": 0.3674951195716858, + "z": 0.8985140919685364 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 816.8918928390113, + "ymin": 266.0388583730468, + "xmax": 867.2539682455454, + "ymax": 333.9783155576235 + }, + "corners_3d": [ + [ + -124.05213165283203, + -107.04844665527344, + -0.3235343098640442 + ], + [ + -123.97530364990234, + -106.3174819946289, + -0.3235343098640442 + ], + [ + -122.79387664794922, + -106.441650390625, + -0.3235343098640442 + ], + [ + -122.8707046508789, + -107.17261505126953, + -0.3235343098640442 + ], + [ + -124.05213165283203, + -107.04844665527344, + 1.4734938144683838 + ], + [ + -123.97530364990234, + -106.3174819946289, + 1.4734938144683838 + ], + [ + -122.79387664794922, + -106.441650390625, + 1.4734938144683838 + ], + [ + -122.8707046508789, + -107.17261505126953, + 1.4734938144683838 + ] + ], + "corners_2d": [ + [ + 846.8868649226629, + 333.9783155576235 + ], + [ + 858.8582873948973, + 323.50321498777083 + ], + [ + 829.0215510791023, + 308.80506494917796 + ], + [ + 816.8918928390113, + 318.9024550554372 + ], + [ + 854.9295463663526, + 290.7896237277067 + ], + [ + 867.2539682455454, + 280.48318449784045 + ], + [ + 836.1366212071232, + 266.0388583730468 + ], + [ + 823.6378217830705, + 275.95972175057005 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 833, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -130.66717529296875, + "y": -113.68775939941406, + "z": 0.5749797821044922 + }, + "extent": { + "x": 0.5603124499320984, + "y": 0.45275387167930603, + "z": 0.9304383397102356 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 858.2151871810458, + "ymin": 498.92848041910656, + "xmax": 929.3089040617816, + "ymax": 590.7682672305317 + }, + "corners_3d": [ + [ + -131.2274932861328, + -114.14051055908203, + -0.3554585576057434 + ], + [ + -131.2274932861328, + -113.2350082397461, + -0.3554585576057434 + ], + [ + -130.1068572998047, + -113.2350082397461, + -0.3554585576057434 + ], + [ + -130.1068572998047, + -114.14051055908203, + -0.3554585576057434 + ], + [ + -131.2274932861328, + -114.14051055908203, + 1.505418062210083 + ], + [ + -131.2274932861328, + -113.2350082397461, + 1.505418062210083 + ], + [ + -130.1068572998047, + -113.2350082397461, + 1.505418062210083 + ], + [ + -130.1068572998047, + -114.14051055908203, + 1.505418062210083 + ] + ], + "corners_2d": [ + [ + 893.5206133163074, + 590.7682672305317 + ], + [ + 914.8951166574813, + 570.9052700385632 + ], + [ + 879.6988531134815, + 544.9048145464615 + ], + [ + 858.2151871810458, + 563.7969675685683 + ], + [ + 907.0759817100806, + 545.0965679108322 + ], + [ + 929.3089040617816, + 525.0759287265295 + ], + [ + 891.9432410579395, + 498.92848041910656 + ], + [ + 869.5763354320818, + 517.9207638333299 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 953, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -124.78268432617188, + "y": -124.81512451171875, + "z": 0.5749748945236206 + }, + "extent": { + "x": 0.3404834270477295, + "y": 0.49897468090057373, + "z": 0.861029863357544 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 350.4587834703384, + "ymin": 611.7333431497065, + "xmax": 417.1062759021387, + "ymax": 697.4909365905906 + }, + "corners_3d": [ + [ + -125.06914520263672, + -125.34695434570312, + -0.28605496883392334 + ], + [ + -125.1734619140625, + -124.35447692871094, + -0.28605496883392334 + ], + [ + -124.49622344970703, + -124.28329467773438, + -0.28605496883392334 + ], + [ + -124.39190673828125, + -125.27577209472656, + -0.28605496883392334 + ], + [ + -125.06914520263672, + -125.34695434570312, + 1.4360047578811646 + ], + [ + -125.1734619140625, + -124.35447692871094, + 1.4360047578811646 + ], + [ + -124.49622344970703, + -124.28329467773438, + 1.4360047578811646 + ], + [ + -124.39190673828125, + -125.27577209472656, + 1.4360047578811646 + ] + ], + "corners_2d": [ + [ + 377.54393284800307, + 697.4909365905906 + ], + [ + 417.1062759021387, + 674.2076068309696 + ], + [ + 404.26632753267074, + 653.273524720048 + ], + [ + 365.17749123179226, + 675.7185752486791 + ], + [ + 363.2105318854527, + 656.6703986434989 + ], + [ + 405.1850338210751, + 632.9853626159427 + ], + [ + 391.89707316685656, + 611.7333431497065 + ], + [ + 350.4587834703384, + 634.5208614746161 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 609, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -109.92184448242188, + "y": -121.85797882080078, + "z": 0.7307952046394348 + }, + "extent": { + "x": 0.5037744045257568, + "y": 0.4307275414466858, + "z": 0.9176717400550842 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 200.508579678915, + "ymin": 264.42493511511964, + "xmax": 250.2793211493647, + "ymax": 333.0580296540534 + }, + "corners_3d": [ + [ + -110.32505798339844, + -122.384033203125, + -0.18687653541564941 + ], + [ + -110.50416564941406, + -121.5414047241211, + -0.18687653541564941 + ], + [ + -109.51863098144531, + -121.33192443847656, + -0.18687653541564941 + ], + [ + -109.33952331542969, + -122.17455291748047, + -0.18687653541564941 + ], + [ + -110.32505798339844, + -122.384033203125, + 1.648466944694519 + ], + [ + -110.50416564941406, + -121.5414047241211, + 1.648466944694519 + ], + [ + -109.51863098144531, + -121.33192443847656, + 1.648466944694519 + ], + [ + -109.33952331542969, + -122.17455291748047, + 1.648466944694519 + ] + ], + "corners_2d": [ + [ + 223.69191787987626, + 333.0580296540534 + ], + [ + 250.2793211493647, + 324.72020818052664 + ], + [ + 243.1795274727533, + 308.4368231783576 + ], + [ + 217.05797253308185, + 316.4428242321693 + ], + [ + 207.05282998869137, + 288.61779138190354 + ], + [ + 234.86702962570223, + 280.4185480505034 + ], + [ + 227.81247891031654, + 264.42493511511964 + ], + [ + 200.508579678915, + 272.2853044642677 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 830.7986430550043, + "ymin": 27.470411707798462, + "xmax": 847.1178715612148, + "ymax": 56.59325328787634 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 836.876490487222, + 56.59325328787634 + ], + [ + 843.6432319245228, + 53.56231558641878 + ], + [ + 837.5688390553523, + 51.144326865756284 + ], + [ + 830.7986430550043, + 54.1482565705482 + ], + [ + 840.2547453722035, + 32.770117960194455 + ], + [ + 847.1178715612148, + 29.8219592419876 + ], + [ + 840.924569096147, + 27.470411707798462 + ], + [ + 834.0576962495597, + 30.391853602585343 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 962.5775703541408, + "ymin": 78.51001282726156, + "xmax": 982.8289869026042, + "ymax": 110.10645723687517 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 969.9018796274597, + 110.10645723687517 + ], + [ + 976.5174204737577, + 106.45431187473574 + ], + [ + 969.2051949001057, + 103.54358945419875 + ], + [ + 962.5775703541408, + 107.16003505211191 + ], + [ + 976.1280057508868, + 84.91445137004337 + ], + [ + 982.8289869026042, + 81.35014318470297 + ], + [ + 975.3488940694456, + 78.51001282726156 + ], + [ + 968.6349870829822, + 82.03882925017439 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 728.8414335004946, + "ymin": 60.905197713364316, + "xmax": 741.7670732768942, + "ymax": 86.28522638016824 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 733.8098477278895, + 86.28522638016824 + ], + [ + 740.2678296661594, + 83.4730521906481 + ], + [ + 735.2981316881287, + 81.21468854225839 + ], + [ + 728.8414335004946, + 84.0046819206595 + ], + [ + 735.2195176550495, + 65.86875932822267 + ], + [ + 741.7670732768942, + 63.11575303506186 + ], + [ + 736.7173658637114, + 60.905197713364316 + ], + [ + 730.1710763032124, + 63.63616634555308 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 899.6268850471098, + "ymin": 54.114442506823025, + "xmax": 917.9471382498211, + "ymax": 84.53751960661953 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 906.3412002297302, + 84.53751960661953 + ], + [ + 913.0470176569149, + 81.18936814733223 + ], + [ + 906.340312299536, + 78.51967946301039 + ], + [ + 899.6268850471098, + 81.83648461623937 + ], + [ + 911.1495291838643, + 59.977670158480976 + ], + [ + 917.9471382498211, + 56.715266709121636 + ], + [ + 911.0973124610102, + 54.114442506823025 + ], + [ + 904.2915457428326, + 57.3457566041277 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11529003171770300666, + "instance_id": 64120, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.25050354003906, + "y": -128.95399475097656, + "z": 3.0800981521606445 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 381.4420042417499, + "xmax": 6.856893062475933, + "ymax": 418.4738237018757 + }, + "corners_3d": [ + [ + -113.11116790771484, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -128.7640380859375, + 3.5146679878234863 + ], + [ + -113.11116790771484, + -128.7640380859375, + 3.5146679878234863 + ] + ], + "corners_2d": [ + [ + -12.191476622869686, + 412.8152800422519 + ], + [ + -9.003759931788977, + 418.4738237018757 + ], + [ + 6.856893062475933, + 411.5001722683959 + ], + [ + 3.595413381069875, + 405.9279539624672 + ], + [ + -27.682313258956242, + 388.30009445218775 + ], + [ + -24.517869589981615, + 393.9364794718435 + ], + [ + -8.15906768532102, + 386.9903770660626 + ], + [ + -11.402348111320862, + 381.4420042417499 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 876.917576874248, + "ymin": 0.0, + "xmax": 1069.4498801906343, + "ymax": 74.23707790328876 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1023.0006988846555, + 8.893080688921998 + ], + [ + 1015.9055721199737, + 6.571387362300925 + ], + [ + 876.917576874248, + 71.26841719085587 + ], + [ + 884.2071826751845, + 74.23707790328876 + ], + [ + 1069.4498801906343, + -165.2673391933855 + ], + [ + 1061.2562604079435, + -166.95984431199486 + ], + [ + 909.7449455142278, + -119.06898884427329 + ], + [ + 918.2487252056435, + -116.83471726095615 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2334590930876643410, + "instance_id": 21048, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -123.8453369140625, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 175.3009780024218, + "ymin": 223.9792887956535, + "xmax": 196.69073380198762, + "ymax": 240.28392276765967 + }, + "corners_3d": [ + [ + -116.6200942993164, + -123.69747161865234, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.69747161865234, + 7.743301868438721 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 189.34086271510427, + 227.9434135901005 + ], + [ + 176.8198394009147, + 232.75560952401398 + ], + [ + 184.08900576492277, + 240.28392276765967 + ], + [ + 196.69073380198762, + 235.37121880327507 + ], + [ + 187.87293935329382, + 223.9792887956535 + ], + [ + 175.3009780024218, + 228.7805864807587 + ], + [ + 182.5783453974011, + 236.29227114039227 + ], + [ + 195.23175083478645, + 231.39036016926426 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3639812104533344102, + "instance_id": 26239, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -123.8453369140625, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 175.4153124749551, + "ymin": 224.06527524550646, + "xmax": 196.57702317538286, + "ymax": 240.19652608684993 + }, + "corners_3d": [ + [ + -116.62229919433594, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.69904327392578, + 7.742714881896973 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 189.3060073707914, + 227.98738118739274 + ], + [ + 176.9177040448156, + 232.7487718393565 + ], + [ + 184.1097161514778, + 240.19652608684993 + ], + [ + 196.57702317538286, + 235.33675363588603 + ], + [ + 187.85347886759394, + 224.06527524550646 + ], + [ + 175.4153124749551, + 228.81599897384675 + ], + [ + 182.615354717074, + 236.24747563918788 + ], + [ + 195.13324084644825, + 231.39826817971317 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 881.0780308477676, + "ymin": 0.0, + "xmax": 1118.4475171689553, + "ymax": 27.882035642853168 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 944.1696613078288, + 27.882035642853168 + ], + [ + 1043.331639744445, + -18.259934668493145 + ], + [ + 981.7401849938327, + -36.81772383118442 + ], + [ + 881.0780308477676, + 5.597569332538342 + ], + [ + 1007.5205981952818, + -267.2573239427178 + ], + [ + 1118.4475171689553, + -290.765526519196 + ], + [ + 1042.433465826722, + -299.9802386763704 + ], + [ + 928.6984299515227, + -278.71879336473205 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5944504550537153523, + "instance_id": 62411, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_1", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88526153564453, + "z": 3.6450090408325195 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 117.95487449229321, + "xmax": 3.9528908910212976, + "ymax": 167.26886731376035 + }, + "corners_3d": [ + [ + -100.3021469116211, + -126.97334289550781, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -126.97334289550781, + 3.8072457313537598 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.8072457313537598 + ] + ], + "corners_2d": [ + [ + -65.16562412537837, + 167.26886731376035 + ], + [ + 3.9528908910212976, + 145.86904401705382 + ], + [ + -12.289396764907679, + 126.19217528342938 + ], + [ + -79.7269733915291, + 146.26599684137705 + ], + [ + -69.86612556675243, + 158.7521003215858 + ], + [ + -0.14783091819560923, + 137.49362621830844 + ], + [ + -16.363771250532636, + 117.95487449229321 + ], + [ + -84.37011286309405, + 137.88787483768684 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 768.1690625731133, + "ymin": 0.0, + "xmax": 783.5595671386031, + "ymax": 9.006831526437054 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 774.0618080721244, + 3.218030918515751 + ], + [ + 768.1690625731133, + 5.482785581003384 + ], + [ + 777.3449858024609, + 9.006831526437054 + ], + [ + 783.2372102195019, + 6.709785108080666 + ], + [ + 774.3613875827803, + -0.003711965783395499 + ], + [ + 768.4567935223018, + 2.251283337084999 + ], + [ + 777.65551647296, + 5.760235476333719 + ], + [ + 783.5595671386031, + 3.4730147850165736 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6967274615413648305, + "instance_id": 45483, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_2", + "bbox_3d": { + "center_world": { + "x": -99.33560943603516, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 88.91284147173263, + "xmax": 45.064086875622934, + "ymax": 249.08016305206698 + }, + "corners_3d": [ + [ + -100.3640365600586, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -127.03557586669922, + 4.877264976501465 + ], + [ + -100.3640365600586, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + -22.16681372490359, + 249.08016305206698 + ], + [ + 45.064086875622934, + 225.18739967628528 + ], + [ + 27.555427896470178, + 203.06299255179385 + ], + [ + -38.093358109991755, + 225.47605163455697 + ], + [ + -87.47445638754164, + 131.13512294976204 + ], + [ + -11.533847970835268, + 109.14815260647683 + ], + [ + -28.738557055859474, + 88.91284147173263 + ], + [ + -102.630831983588, + 109.41294570687907 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9919303964700251881, + "instance_id": 59670, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_Poles_4", + "bbox_3d": { + "center_world": { + "x": -112.9144515991211, + "y": -134.7008514404297, + "z": 4.223348617553711 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 209.14839307192344, + "xmax": 49.46735331434206, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.18444061279297, + -128.6757354736328, + -4.76837158203125e-06 + ], + [ + -112.75162506103516, + -128.67189025878906, + -4.76837158203125e-06 + ], + [ + -112.64446258544922, + -140.72596740722656, + -4.76837158203125e-06 + ], + [ + -113.07727813720703, + -140.7298126220703, + -4.76837158203125e-06 + ], + [ + -113.18444061279297, + -128.6757354736328, + 8.446702003479004 + ], + [ + -112.75162506103516, + -128.67189025878906, + 8.446702003479004 + ], + [ + -112.64446258544922, + -140.72596740722656, + 8.446702003479004 + ], + [ + -113.07727813720703, + -140.7298126220703, + 8.446702003479004 + ] + ], + "corners_2d": [ + [ + 49.46735331434206, + 473.8415512223597 + ], + [ + 44.54118412925072, + 465.20408110493935 + ], + [ + -536.9390131905341, + 737.7243355034393 + ], + [ + -537.3707114116924, + 752.0340786621671 + ], + [ + -106.63368974108755, + 217.139931972133 + ], + [ + -111.0817870051311, + 209.14839307192344 + ], + [ + -964.2171628335682, + 480.97262805969706 + ], + [ + -971.6281876254836, + 496.46212641227623 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 518.2553503990797, + "ymin": 0.0, + "xmax": 590.3126896764687, + "ymax": 8.608437055488992 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 530.3708027548624, + 6.2561850315420315 + ], + [ + 535.357411886222, + 8.608437055488992 + ], + [ + 590.3126896764687, + -9.39160555449223 + ], + [ + 585.2552693593075, + -11.577277551757675 + ], + [ + 518.2553503990797, + -152.737944667624 + ], + [ + 523.7320713646469, + -150.962667084558 + ], + [ + 585.0134208718111, + -164.50032435885316 + ], + [ + 579.4460190942132, + -166.13677866581077 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 768.2509746078168, + "ymin": 0.04404599599655512, + "xmax": 783.477535845772, + "ymax": 8.958771103598508 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 774.0809950045012, + 3.2316510154420257 + ], + [ + 768.2509746078168, + 5.472394068554593 + ], + [ + 777.3292785865349, + 8.958771103598508 + ], + [ + 783.1587901823125, + 6.686419921309266 + ], + [ + 774.3774453669816, + 0.04404599599655512 + ], + [ + 768.5358274468836, + 2.2752360274576517 + ], + [ + 777.6364483288795, + 5.74683872123461 + ], + [ + 783.477535845772, + 3.4841048326514397 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14081937874569997388, + "instance_id": 19500, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_0", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88525390625, + "z": 3.6439085006713867 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 117.93299488872458, + "xmax": 4.027761730108409, + "ymax": 167.3512315029488 + }, + "corners_3d": [ + [ + -100.30333709716797, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.30333709716797, + -126.97452545166016, + 3.807230234146118 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.807230234146118 + ] + ], + "corners_2d": [ + [ + -65.16373603045759, + 167.3512315029488 + ], + [ + 4.027761730108409, + 145.9262139653153 + ], + [ + -12.235874506446521, + 126.2248680165298 + ], + [ + -79.74272511550771, + 146.32079308959587 + ], + [ + -69.89584069616023, + 158.77773286957964 + ], + [ + -0.09990258486823222, + 137.49514667604998 + ], + [ + -16.33700697161464, + 117.93299488872458 + ], + [ + -84.41700575199388, + 137.88702014624684 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 689.9735961716976, + "ymin": 0.0, + "xmax": 787.7602791931446, + "ymax": 202.79575580731824 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 697.6423996304304, + 161.44104906854184 + ], + [ + 689.9735961716976, + 165.11588880620056 + ], + [ + 759.6540232520082, + 202.79575580731824 + ], + [ + 767.3480758497424, + 198.68697926432594 + ], + [ + 706.3064522817226, + -31.47891069625831 + ], + [ + 697.5337989284515, + -28.50211983109807 + ], + [ + 778.9659713745842, + 2.3146208235270933 + ], + [ + 787.7602791931446, + -1.0720480198115752 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 116.41418050452387, + "ymin": 162.63518726936482, + "xmax": 282.00808967180313, + "ymax": 465.6724686070965 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 223.4067925800024, + 388.6916055836006 + ], + [ + 209.42058812746944, + 395.39370196379406 + ], + [ + 267.39380081413367, + 465.6724686070965 + ], + [ + 282.00808967180313, + 457.868148778481 + ], + [ + 134.24890119015856, + 162.63518726936482 + ], + [ + 116.41418050452387, + 168.68697473682315 + ], + [ + 179.00077981869168, + 233.35991321616433 + ], + [ + 197.93890231333438, + 226.0668833692241 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16194625468754558244, + "instance_id": 9469, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.53463745117188, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 46.61511503886686, + "xmax": 5.817573389718632, + "ymax": 196.23823294692073 + }, + "corners_3d": [ + [ + -95.56306457519531, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -127.03557586669922, + 4.877264976501465 + ], + [ + -95.56306457519531, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + -57.82116776210023, + 196.23823294692073 + ], + [ + 5.817573389718632, + 175.5944614842249 + ], + [ + -9.377965252878425, + 156.39297473386594 + ], + [ + -71.58159896649408, + 175.8444335483767 + ], + [ + -121.27309698982413, + 82.69477802173088 + ], + [ + -49.958947874197406, + 63.95448800653486 + ], + [ + -64.70143765550085, + 46.61511503886686 + ], + [ + -134.19099262659552, + 64.18079907941632 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.5286486200495, + "ymin": 0.0, + "xmax": 1030.0638482230672, + "ymax": 269.29929511451377 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 724.7031448308227, + 140.31420544990598 + ], + [ + 717.5286486200495, + 143.64432742395317 + ], + [ + 959.1653093461426, + 269.29929511451377 + ], + [ + 966.2331015380128, + 264.5210484108512 + ], + [ + 738.1136820123867, + -66.24053765288909 + ], + [ + 729.878538376825, + -63.64618756187076 + ], + [ + 1022.0869588169538, + 37.52680533585266 + ], + [ + 1030.0638482230672, + 33.55884436021421 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 190.61082646587403, + "ymax": 429.96326961164755 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 83.15156709234498, + 238.63869891038524 + ], + [ + -120.9745455402101, + 331.9775875445109 + ], + [ + -22.445427445385917, + 429.96326961164755 + ], + [ + 190.61082646587403, + 314.591676237792 + ], + [ + -79.9212714017358, + -114.62841174209217 + ], + [ + -382.2020644162412, + -50.08305989918739 + ], + [ + -287.84442385486705, + 23.324707947453476 + ], + [ + 40.698787628800346, + -62.48456378372413 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 18.776974871763514, + "ymax": 130.78364031964963 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + -79.60599708426946, + 33.098863880372505 + ], + [ + -238.4902477833673, + 91.71785512630112 + ], + [ + -139.0089763030129, + 130.78364031964963 + ], + [ + 18.776974871763514, + 64.46862135138849 + ], + [ + -212.0000837059191, + -226.65500303599777 + ], + [ + -422.03559700730375, + -191.01613042392864 + ], + [ + -315.18456108488283, + -166.4191303007317 + ], + [ + -103.7309712073237, + -207.7680033978985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 224.4218150377103, + "ymax": 492.52351137771643 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -70.89818646617607, + 492.52351137771643 + ], + [ + 193.96679394892152, + 455.9817719712206 + ], + [ + 224.4218150377103, + 304.08618404085405 + ], + [ + 4.465261931194391, + 329.6703129274343 + ], + [ + -383.61372906447207, + 73.56358100110378 + ], + [ + 8.105945843450286, + 43.882295385188684 + ], + [ + 88.19395920169995, + -69.89187144188077 + ], + [ + -212.8788746038141, + -51.739217624337584 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 33.944679304901, + "ymax": 205.43237909573776 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -39.83588717560008, + 90.29385587099728 + ], + [ + -210.46913385217067, + 147.96593863895018 + ], + [ + -144.07064642904777, + 205.43237909573776 + ], + [ + 33.944679304901, + 137.44713542089116 + ], + [ + -189.43524570691648, + -207.8006602577501 + ], + [ + -420.8393073838058, + -172.85262205524236 + ], + [ + -360.3247870432333, + -136.43774077141705 + ], + [ + -112.89450471361704, + -179.34295469593644 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00022/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00022/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..710524ffc2afa47606bf188bc40dd3f6d32c9bcb --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00022/meta.json @@ -0,0 +1,2988 @@ +{ + "frame_id": 22, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 11.0, + "sim_timestamp": 9973.313045885414 + }, + "drone_pose": { + "x": -137.20161696400012, + "y": -128.36506573333074, + "z": 20.10987632570626, + "pitch": -44.7723050759587, + "yaw": 39.948384921781496, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5442344546318054, + -0.45583203434944153, + 0.7042911052703857, + 119.01954650878906 + ], + [ + 0.6420972347259521, + 0.7666231989860535, + 1.4901161193847656e-08, + 10.310859680175781 + ], + [ + -0.5399259328842163, + 0.45222336053848267, + 0.7099112868309021, + -146.4046173095703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -136.68570138310628, + "y": -127.90254639255637, + "z": 20.24534390806559 + }, + "t1_image_uv": [ + 696.4805229828204, + -1054.7665586339456 + ], + "t1_depth": 0.3962015488049597 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -120.66718292236328, + "y": -113.68776321411131, + "z": 0.5749846434596475 + }, + "image_uv": [ + 660.7094391503203, + 304.68480832662476 + ], + "depth": 29.447244585965674, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 176, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -120.66718292236328, + "y": -113.68775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.27626463770866394, + "y": 0.19703610241413116, + "z": 0.5442520976066589 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 649.8535231453585, + "ymin": 283.9514180842792, + "xmax": 671.8978112951328, + "ymax": 325.2175003039499 + }, + "corners_3d": [ + [ + -120.94345092773438, + -113.88479614257812, + 0.030732572078704834 + ], + [ + -120.94345092773438, + -113.49072265625, + 0.030732572078704834 + ], + [ + -120.39091491699219, + -113.49072265625, + 0.030732572078704834 + ], + [ + -120.39091491699219, + -113.88479614257812, + 0.030732572078704834 + ], + [ + -120.94345092773438, + -113.88479614257812, + 1.119236707687378 + ], + [ + -120.94345092773438, + -113.49072265625, + 1.119236707687378 + ], + [ + -120.39091491699219, + -113.49072265625, + 1.119236707687378 + ], + [ + -120.39091491699219, + -113.88479614257812, + 1.119236707687378 + ] + ], + "corners_2d": [ + [ + 661.4638347749304, + 325.2175003039499 + ], + [ + 671.0763935540278, + 319.6806258673398 + ], + [ + 659.4393114273236, + 310.5597636341686 + ], + [ + 649.8535231453585, + 315.9861241860634 + ], + [ + 662.0347070234121, + 298.55558456235195 + ], + [ + 671.8978112951328, + 293.0374877744843 + ], + [ + 659.9478626841145, + 283.9514180842792 + ], + [ + 650.1128907742294, + 289.356500474032 + ] + ], + "center_offset_px": [ + 20.70943915032035, + -55.31519167337524 + ] + }, + "trace_timestep_index": 22, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 57, + "semantic_pixel_counts": { + "1": 595141, + "2": 172449, + "3": 67371, + "5": 3790, + "6": 5472, + "7": 1100, + "9": 30616, + "10": 6858, + "12": 3367, + "21": 2143, + "24": 33293 + }, + "instance_pixel_counts": { + "1115": 3695, + "1954": 1, + "2978": 187, + "4002": 211, + "6254": 316, + "10370": 1779, + "11394": 501, + "14416": 64, + "14928": 3726, + "15511": 3135, + "16023": 601, + "18011": 11665, + "20119": 8581, + "20631": 12427, + "24064": 2163, + "26560": 10096, + "27072": 2638, + "28608": 2942, + "29843": 20711, + "30144": 14387, + "30355": 50423, + "30656": 55410, + "31168": 2031, + "31488": 2129, + "31813": 6804, + "31891": 425765, + "34120": 42653, + "34453": 2552, + "34965": 4444, + "35419": 12, + "35931": 1978, + "36443": 43244, + "36501": 21848, + "44171": 730, + "44691": 93864, + "44891": 132, + "45203": 80, + "46227": 4298, + "47253": 4221, + "47765": 55, + "48779": 491, + "48789": 173, + "49664": 176, + "49920": 330, + "50176": 459, + "50432": 894, + "50688": 914, + "50944": 594, + "53184": 1366, + "55744": 2441, + "56993": 303, + "57173": 30616, + "58529": 489, + "59809": 820, + "60013": 3951, + "61037": 2510, + "64351": 12520 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 176, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -120.66718292236328, + "y": -113.68775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.3067382574081421, + "y": 0.21261228621006012, + "z": 0.5278865098953247 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 648.8421580529109, + "ymin": 283.65397537286566, + "xmax": 672.9384330572833, + "ymax": 325.5619327097542 + }, + "corners_3d": [ + [ + -120.97392272949219, + -113.90037536621094, + 0.04709815979003906 + ], + [ + -120.97392272949219, + -113.47514343261719, + 0.04709815979003906 + ], + [ + -120.36044311523438, + -113.47514343261719, + 0.04709815979003906 + ], + [ + -120.36044311523438, + -113.90037536621094, + 0.04709815979003906 + ], + [ + -120.97392272949219, + -113.90037536621094, + 1.1028711795806885 + ], + [ + -120.97392272949219, + -113.47514343261719, + 1.1028711795806885 + ], + [ + -120.36044311523438, + -113.47514343261719, + 1.1028711795806885 + ], + [ + -120.36044311523438, + -113.90037536621094, + 1.1028711795806885 + ] + ], + "corners_2d": [ + [ + 661.7369964083224, + 325.5619327097542 + ], + [ + 672.1151423922934, + 319.5808074196087 + ], + [ + 659.1882074243525, + 309.4591335582767 + ], + [ + 648.8421580529109, + 315.3078061214429 + ], + [ + 662.2979860843224, + 299.69971127181975 + ], + [ + 672.9384330572833, + 293.7380854991677 + ], + [ + 659.6745107124705, + 283.65397537286566 + ], + [ + 649.0677428475967, + 289.4802424275463 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 330, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -116.54119873046875, + "y": -110.69005584716797, + "z": 0.5749797821044922 + }, + "extent": { + "x": 0.4759277105331421, + "y": 0.36061522364616394, + "z": 0.9079508781433105 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 630.7344724581603, + "ymin": 174.86152735219167, + "xmax": 666.0965909799204, + "ymax": 238.04361529635887 + }, + "corners_3d": [ + [ + -117.08170318603516, + -110.94384002685547, + -0.33297109603881836 + ], + [ + -116.93174743652344, + -110.23837280273438, + -0.33297109603881836 + ], + [ + -116.00069427490234, + -110.43627166748047, + -0.33297109603881836 + ], + [ + -116.15065002441406, + -111.14173889160156, + -0.33297109603881836 + ], + [ + -117.08170318603516, + -110.94384002685547, + 1.4829306602478027 + ], + [ + -116.93174743652344, + -110.23837280273438, + 1.4829306602478027 + ], + [ + -116.00069427490234, + -110.43627166748047, + 1.4829306602478027 + ], + [ + -116.15065002441406, + -111.14173889160156, + 1.4829306602478027 + ] + ], + "corners_2d": [ + [ + 652.5901499606878, + 238.04361529635887 + ], + [ + 665.1059837417753, + 228.10585789725448 + ], + [ + 643.7032407573518, + 218.0865750995576 + ], + [ + 631.086046050963, + 227.78167846486215 + ], + [ + 653.0931768686488, + 194.5090528483567 + ], + [ + 666.0965909799204, + 184.7207067204057 + ], + [ + 643.8475058112842, + 174.86152735219167 + ], + [ + 630.7344724581603, + 184.40155880007106 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 459, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -122.92300415039062, + "y": -106.74504852294922, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.5449072122573853, + "y": 0.3180224597454071, + "z": 0.8988131284713745 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 843.0151353620604, + "ymin": 215.78567966406558, + "xmax": 891.2079698690897, + "ymax": 282.42025894923586 + }, + "corners_3d": [ + [ + -123.4981689453125, + -107.0043716430664, + -0.32382363080978394 + ], + [ + -123.43168640136719, + -106.37181091308594, + -0.32382363080978394 + ], + [ + -122.34783935546875, + -106.48572540283203, + -0.32382363080978394 + ], + [ + -122.41432189941406, + -107.1182861328125, + -0.32382363080978394 + ], + [ + -123.4981689453125, + -107.0043716430664, + 1.4738025665283203 + ], + [ + -123.43168640136719, + -106.37181091308594, + 1.4738025665283203 + ], + [ + -122.34783935546875, + -106.48572540283203, + 1.4738025665283203 + ], + [ + -122.41432189941406, + -107.1182861328125, + 1.4738025665283203 + ] + ], + "corners_2d": [ + [ + 870.278570986977, + 282.42025894923586 + ], + [ + 881.2412924911321, + 273.52352832391267 + ], + [ + 854.068780274048, + 259.16799398113415 + ], + [ + 843.0151353620604, + 267.7707192706109 + ], + [ + 879.8941614085248, + 238.77484677448874 + ], + [ + 891.2079698690897, + 229.9727574916809 + ], + [ + 862.7602760670756, + 215.78567966406558 + ], + [ + 851.3445234963735, + 224.28512251124974 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 894, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -130.16717529296875, + "y": -113.68775939941406, + "z": 0.5749797821044922 + }, + "extent": { + "x": 0.4850829541683197, + "y": 0.44325679540634155, + "z": 0.9200652241706848 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 873.7431675579433, + "ymin": 452.31511722449414, + "xmax": 940.8852581032418, + "ymax": 538.5088906721774 + }, + "corners_3d": [ + [ + -130.65225219726562, + -114.13101959228516, + -0.3450854420661926 + ], + [ + -130.65225219726562, + -113.24449920654297, + -0.3450854420661926 + ], + [ + -129.68209838867188, + -113.24449920654297, + -0.3450854420661926 + ], + [ + -129.68209838867188, + -114.13101959228516, + -0.3450854420661926 + ], + [ + -130.65225219726562, + -114.13101959228516, + 1.4950449466705322 + ], + [ + -130.65225219726562, + -113.24449920654297, + 1.4950449466705322 + ], + [ + -129.68209838867188, + -113.24449920654297, + 1.4950449466705322 + ], + [ + -129.68209838867188, + -114.13101959228516, + 1.4950449466705322 + ] + ], + "corners_2d": [ + [ + 903.2386860566098, + 538.5088906721774 + ], + [ + 925.2016184631618, + 520.1280085373694 + ], + [ + 895.7188224093223, + 496.9936961939528 + ], + [ + 873.7431675579433, + 514.6120359049926 + ], + [ + 917.9671008726106, + 494.3552212124234 + ], + [ + 940.8852581032418, + 475.7206505107314 + ], + [ + 909.4730160058214, + 452.31511722449414 + ], + [ + 886.5298179020817, + 470.1351513447038 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 914, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -124.28268432617188, + "y": -124.81512451171875, + "z": 0.5749748945236206 + }, + "extent": { + "x": 0.3378906548023224, + "y": 0.5116309523582458, + "z": 0.8821954131126404 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 367.3284640690272, + "ymin": 544.4249933475401, + "xmax": 433.24008434140353, + "ymax": 627.8160221924481 + }, + "corners_3d": [ + [ + -124.56524658203125, + -125.35926818847656, + -0.3072205185890198 + ], + [ + -124.67220306396484, + -124.34161376953125, + -0.3072205185890198 + ], + [ + -124.0001220703125, + -124.27098083496094, + -0.3072205185890198 + ], + [ + -123.8931655883789, + -125.28863525390625, + -0.3072205185890198 + ], + [ + -124.56524658203125, + -125.35926818847656, + 1.4571702480316162 + ], + [ + -124.67220306396484, + -124.34161376953125, + 1.4571702480316162 + ], + [ + -124.0001220703125, + -124.27098083496094, + 1.4571702480316162 + ], + [ + -123.8931655883789, + -125.28863525390625, + 1.4571702480316162 + ] + ], + "corners_2d": [ + [ + 393.51930048950356, + 627.8160221924481 + ], + [ + 433.24008434140353, + 606.3244608368317 + ], + [ + 421.2892818472134, + 585.964162867748 + ], + [ + 382.0444820122541, + 606.7255350960233 + ], + [ + 379.1962191233661, + 587.1478033368998 + ], + [ + 421.4488773844403, + 565.1877451452176 + ], + [ + 409.04025249833774, + 544.4249933475401 + ], + [ + 367.3284640690272, + 565.5971512605331 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 594, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -109.42184448242188, + "y": -121.85797882080078, + "z": 0.7319670915603638 + }, + "extent": { + "x": 0.5608984231948853, + "y": 0.4581933617591858, + "z": 0.9174296259880066 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 225.24787479815012, + "ymin": 197.8278412749808, + "xmax": 276.6011754668429, + "ymax": 268.6341285186198 + }, + "corners_3d": [ + [ + -109.8752212524414, + -122.42277526855469, + -0.18546253442764282 + ], + [ + -110.06575012207031, + -121.52641296386719, + -0.18546253442764282 + ], + [ + -108.96846771240234, + -121.29318237304688, + -0.18546253442764282 + ], + [ + -108.77793884277344, + -122.18954467773438, + -0.18546253442764282 + ], + [ + -109.8752212524414, + -122.42277526855469, + 1.6493966579437256 + ], + [ + -110.06575012207031, + -121.52641296386719, + 1.6493966579437256 + ], + [ + -108.96846771240234, + -121.29318237304688, + 1.6493966579437256 + ], + [ + -108.77793884277344, + -122.18954467773438, + 1.6493966579437256 + ] + ], + "corners_2d": [ + [ + 248.74410946907972, + 268.6341285186198 + ], + [ + 276.6011754668429, + 260.4758644122496 + ], + [ + 269.02631701044294, + 242.2295226625912 + ], + [ + 241.69990666612267, + 250.0408480716536 + ], + [ + 232.21128424286212, + 223.88413186099638 + ], + [ + 261.3970544351536, + 215.82628109025043 + ], + [ + 253.85091305569824, + 197.8278412749808 + ], + [ + 225.24787479815012, + 205.52909669004367 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 876.9743200582898, + "ymin": 0.0, + "xmax": 895.0705413539965, + "ymax": 3.1133570117942213 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 883.2209311805153, + 3.1133570117942213 + ], + [ + 890.3644136988022, + 0.011201348668919309 + ], + [ + 884.1179308925684, + -2.6645149665436634 + ], + [ + 876.9743200582898, + 0.4096085487690857 + ], + [ + 887.8171748671563, + -21.917144836053694 + ], + [ + 895.0705413539965, + -24.94477192535777 + ], + [ + 888.6855293066426, + -27.555726057898312 + ], + [ + 881.4318046728465, + -24.55596972471409 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1012.5883751272866, + "ymin": 29.199867462525106, + "xmax": 1035.2165224571522, + "ymax": 62.37493521178021 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1020.1366820789641, + 62.37493521178021 + ], + [ + 1027.2031753507374, + 58.62658995215958 + ], + [ + 1019.6628060754324, + 55.396631376461244 + ], + [ + 1012.5883751272866, + 59.10776932782284 + ], + [ + 1028.0500233548178, + 36.03536352791042 + ], + [ + 1035.2165224571522, + 32.36334943272203 + ], + [ + 1027.480316461571, + 29.199867462525106 + ], + [ + 1020.305079466652, + 32.83468113110064 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 769.6853426615719, + "ymin": 5.4000401072006525, + "xmax": 783.8069075370988, + "ymax": 31.930787210745052 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 774.7463805794498, + 31.930787210745052 + ], + [ + 781.4904032270343, + 29.085453654683306 + ], + [ + 776.425529965185, + 26.61491926861487 + ], + [ + 769.6853426615719, + 29.43762482702715 + ], + [ + 776.9627368583405, + 10.61816326578429 + ], + [ + 783.8069075370988, + 7.824966108157298 + ], + [ + 778.6500875995403, + 5.4000401072006525 + ], + [ + 771.8097954250217, + 8.170661574218741 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 947.7595790665737, + "ymin": 2.0497809692348596, + "xmax": 968.1585209406655, + "ymax": 34.0390593071362 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 954.6701945134569, + 34.0390593071362 + ], + [ + 961.7911971359326, + 30.607268882091944 + ], + [ + 954.8844436615342, + 27.64872188374659 + ], + [ + 947.7595790665737, + 31.047906900259363 + ], + [ + 960.9315943704705, + 8.29819805467406 + ], + [ + 968.1585209406655, + 4.94230752345004 + ], + [ + 961.0849317627569, + 2.0497809692348596 + ], + [ + 953.8536498086088, + 5.373159145098612 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11529003171770300666, + "instance_id": 64120, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.25050354003906, + "y": -128.95399475097656, + "z": 3.0800981521606445 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 9.04307775703171, + "ymin": 319.22760029715266, + "xmax": 42.98521727377363, + "ymax": 355.90511841230233 + }, + "corners_3d": [ + [ + -113.11116790771484, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -128.7640380859375, + 3.5146679878234863 + ], + [ + -113.11116790771484, + -128.7640380859375, + 3.5146679878234863 + ] + ], + "corners_2d": [ + [ + 24.457714701882537, + 350.16503637940576 + ], + [ + 27.606670338047024, + 355.90511841230233 + ], + [ + 42.98521727377363, + 349.35639637822175 + ], + [ + 39.76542945831113, + 343.6950826673255 + ], + [ + 9.04307775703171, + 325.68623158679156 + ], + [ + 12.17514469467676, + 331.41812758123297 + ], + [ + 28.047700190669616, + 324.87888529267485 + ], + [ + 24.8398773878165, + 319.22760029715266 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 922.9473211366975, + "ymin": 0.0, + "xmax": 1137.9202393816904, + "ymax": 21.437647461829556 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1078.3665442938966, + -45.65372127847746 + ], + [ + 1071.0031412446874, + -48.24991172003536 + ], + [ + 922.9473211366975, + 18.167111498189513 + ], + [ + 930.4212200936689, + 21.437647461829556 + ], + [ + 1137.9202393816904, + -232.22348634002594 + ], + [ + 1129.2408855230967, + -234.16485682322468 + ], + [ + 966.5654159158244, + -183.6994814528639 + ], + [ + 975.4684748559339, + -181.1706837359792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2334590930876643410, + "instance_id": 21048, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -123.8453369140625, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 207.6879547766091, + "ymin": 166.41326052085174, + "xmax": 228.98202237902007, + "ymax": 183.03959121913053 + }, + "corners_3d": [ + [ + -116.6200942993164, + -123.69747161865234, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.69747161865234, + 7.743301868438721 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 221.6694841997288, + 170.45522271051473 + ], + [ + 209.20193510345587, + 175.1338010617275 + ], + [ + 216.43136402853645, + 183.03959121913053 + ], + [ + 228.98202237902007, + 178.26443525655802 + ], + [ + 220.20831218959916, + 166.41326052085174 + ], + [ + 207.6879547766091, + 171.08340468566274 + ], + [ + 214.9274034112821, + 178.97539761821184 + ], + [ + 227.5316439278073, + 174.2085069511125 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3639812104533344102, + "instance_id": 26239, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -123.8453369140625, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 207.80175279043726, + "ymin": 166.5010335940274, + "xmax": 228.8687949439069, + "ymax": 182.95056036128477 + }, + "corners_3d": [ + [ + -116.62229919433594, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.69904327392578, + 7.742714881896973 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 221.63471750593624, + 170.50012163708828 + ], + [ + 209.29929593196016, + 175.12931102841688 + ], + [ + 216.4520162530606, + 182.95056036128477 + ], + [ + 228.8687949439069, + 178.22683620516838 + ], + [ + 220.18886828279778, + 166.5010335940274 + ], + [ + 207.80175279043726, + 171.12196826864172 + ], + [ + 214.9642835745758, + 178.92971120260216 + ], + [ + 227.4335056178288, + 174.214078204952 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5944504550537153523, + "instance_id": 62411, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_1", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88526153564453, + "z": 3.6450090408325195 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 51.42619608964537, + "xmax": 37.95518442991272, + "ymax": 100.99609995593914 + }, + "corners_3d": [ + [ + -100.3021469116211, + -126.97334289550781, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -126.97334289550781, + 3.8072457313537598 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.8072457313537598 + ] + ], + "corners_2d": [ + [ + -29.852036239821132, + 100.99609995593914 + ], + [ + 37.95518442991272, + 80.41401595969467 + ], + [ + 21.76804872591515, + 59.88719480136882 + ], + [ + -44.388774547118146, + 79.21452905112443 + ], + [ + -34.606308201055185, + 92.2898538161964 + ], + [ + 33.809882152465434, + 71.82625965075243 + ], + [ + 17.642027731723033, + 51.42619608964537 + ], + [ + -49.09258582770144, + 70.63394591513935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6967274615413648305, + "instance_id": 45483, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_2", + "bbox_3d": { + "center_world": { + "x": -99.33560943603516, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 21.560832864746658, + "xmax": 79.27289006842784, + "ymax": 184.2179981327711 + }, + "corners_3d": [ + [ + -100.3640365600586, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -127.03557586669922, + 4.877264976501465 + ], + [ + -100.3640365600586, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + 13.496975258871544, + 184.2179981327711 + ], + [ + 79.27289006842784, + 161.42378894356654 + ], + [ + 61.900402321268416, + 138.52494324550022 + ], + [ + -2.327800480727092, + 159.93568359500784 + ], + [ + -52.383654045961634, + 63.97800546078423 + ], + [ + 22.215727788342633, + 42.752580431120066 + ], + [ + 5.038173040031893, + 21.560832864746658 + ], + [ + -67.54616842457801, + 41.37143321077838 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9919303964700251881, + "instance_id": 59670, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_Poles_4", + "bbox_3d": { + "center_world": { + "x": -112.9144515991211, + "y": -134.7008514404297, + "z": 4.223348617553711 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 145.2616102570796, + "xmax": 85.11918709622853, + "ymax": 663.3212196907728 + }, + "corners_3d": [ + [ + -113.18444061279297, + -128.6757354736328, + -4.76837158203125e-06 + ], + [ + -112.75162506103516, + -128.67189025878906, + -4.76837158203125e-06 + ], + [ + -112.64446258544922, + -140.72596740722656, + -4.76837158203125e-06 + ], + [ + -113.07727813720703, + -140.7298126220703, + -4.76837158203125e-06 + ], + [ + -113.18444061279297, + -128.6757354736328, + 8.446702003479004 + ], + [ + -112.75162506103516, + -128.67189025878906, + 8.446702003479004 + ], + [ + -112.64446258544922, + -140.72596740722656, + 8.446702003479004 + ], + [ + -113.07727813720703, + -140.7298126220703, + 8.446702003479004 + ] + ], + "corners_2d": [ + [ + 85.11918709622853, + 411.3520007670038 + ], + [ + 80.27881114137642, + 402.6364011091855 + ], + [ + -466.9218853584457, + 649.7103682104691 + ], + [ + -466.86258226578116, + 663.3212196907728 + ], + [ + -71.00125574861647, + 153.54076789396856 + ], + [ + -75.45562469131232, + 145.2616102570796 + ], + [ + -879.914551995925, + 396.7670634136 + ], + [ + -886.0722748981111, + 411.71138326474176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14081937874569997388, + "instance_id": 19500, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_0", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88525390625, + "z": 3.6439085006713867 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 51.40416473756767, + "xmax": 38.02970757210312, + "ymax": 101.07969984104108 + }, + "corners_3d": [ + [ + -100.30333709716797, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.30333709716797, + -126.97452545166016, + 3.807230234146118 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.807230234146118 + ] + ], + "corners_2d": [ + [ + -29.848972604901633, + 101.07969984104108 + ], + [ + 38.02970757210312, + 80.47352433950363 + ], + [ + 21.821352482569637, + 59.92121572466846 + ], + [ + -44.40329279155776, + 79.2697278408641 + ], + [ + -34.63519031200144, + 92.3155104037441 + ], + [ + 33.85718983241634, + 71.82872853885073 + ], + [ + 17.668244148614804, + 51.40416473756767 + ], + [ + -49.13864279510631, + 70.6321776577791 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 727.0773311643015, + "ymin": 0.0, + "xmax": 834.6941407015587, + "ymax": 153.81147724528722 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 735.0301378359934, + 109.43991380652423 + ], + [ + 727.0773311643015, + 113.11320631287046 + ], + [ + 797.43765115528, + 153.81147724528722 + ], + [ + 805.4593473537425, + 149.70339957919566 + ], + [ + 750.7591059094251, + -92.194587997349 + ], + [ + 741.5779804250373, + -89.14064934811245 + ], + [ + 825.4364768858331, + -54.9467020804106 + ], + [ + 834.6941407015587, + -58.42830337625554 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 149.03135073269766, + "ymin": 102.05899908735455, + "xmax": 312.6865432748592, + "ymax": 409.45364516283956 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 255.1955424350382, + 331.06894319635006 + ], + [ + 241.40417750290607, + 337.4389858176313 + ], + [ + 298.25434128810974, + 409.45364516283956 + ], + [ + 312.6865432748592, + 402.0626139909473 + ], + [ + 166.7701121347755, + 102.05899908735455 + ], + [ + 149.03135073269766, + 107.95948363334071 + ], + [ + 211.36296016390952, + 175.99267896855423 + ], + [ + 230.233276089691, + 168.89597318100957 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16194625468754558244, + "instance_id": 9469, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.53463745117188, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 40.30253414698018, + "ymax": 129.8094379383506 + }, + "corners_3d": [ + [ + -95.56306457519531, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -127.03557586669922, + 4.877264976501465 + ], + [ + -95.56306457519531, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + -21.961064050031496, + 129.8094379383506 + ], + [ + 40.30253414698018, + 110.0565823562506 + ], + [ + 25.18568734852977, + 90.13091901332353 + ], + [ + -35.67623885873445, + 108.76419886984553 + ], + [ + -86.22021388907194, + 13.529338723577382 + ], + [ + -16.170293622286636, + -4.603803392453926 + ], + [ + -30.91854301163619, + -22.7985454663077 + ], + [ + -99.1758372264062, + -5.786866208261586 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 755.8889730707829, + "ymin": 0.0, + "xmax": 1087.9942046390724, + "ymax": 227.4455615409572 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 763.3508608794905, + 87.89404020678938 + ], + [ + 755.8889730707829, + 91.23229282874246 + ], + [ + 1000.6093974821308, + 227.4455615409572 + ], + [ + 1008.1176567107082, + 222.64915696441028 + ], + [ + 784.9173903643941, + -128.86539038285628 + ], + [ + 776.2677848320159, + -126.19080916863544 + ], + [ + 1079.4178574675684, + -12.9981277760088 + ], + [ + 1087.9942046390724, + -17.123369552784823 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 222.96566541099048, + "ymax": 365.61925472360286 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 116.86274862634457, + 175.7933073470889 + ], + [ + -81.68778642847974, + 265.28752869656967 + ], + [ + 14.99598776698815, + 365.61925472360286 + ], + [ + 222.96566541099048, + 255.30897339359623 + ], + [ + -49.13774743399142, + -189.71410736922212 + ], + [ + -347.18541917687173, + -125.5428892957242 + ], + [ + -253.37967470323713, + -47.47967272658059 + ], + [ + 71.97644067330828, + -132.9409365640821 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 52.181053956169535, + "ymax": 61.561854143021606 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + -45.351046389503836, + -37.81954015929176 + ], + [ + -200.13773049431586, + 19.819994924708453 + ], + [ + -102.33115980115008, + 61.561854143021606 + ], + [ + 52.181053956169535, + -3.7860089666496606 + ], + [ + -181.9862699134835, + -310.04891378737295 + ], + [ + -388.9527213535707, + -274.107899946638 + ], + [ + -283.312952307671, + -247.11550637773473 + ], + [ + -73.74204565670561, + -289.00969366558786 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 256.4030830007184, + "ymax": 426.2739174736168 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -31.19813180205142, + 426.2739174736168 + ], + [ + 226.14182382166024, + 397.48649260781815 + ], + [ + 256.4030830007184, + 245.47869858224584 + ], + [ + 40.290719152457996, + 266.0119260179889 + ], + [ + -346.22118567777045, + 3.2131603111542404 + ], + [ + 39.8598044559742, + -21.194890674132864 + ], + [ + 119.70448608038976, + -140.1676475881697 + ], + [ + -180.5878990476849, + -125.00335870880986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 67.76382210529857, + "ymax": 137.24517163343472 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -5.414972654679445, + 21.6754031859154 + ], + [ + -171.63392446225464, + 77.55632788818099 + ], + [ + -106.0114021324058, + 137.24517163343472 + ], + [ + 67.76382210529857, + 71.4523939959289 + ], + [ + -159.32983472472597, + -289.76846176369145 + ], + [ + -387.48537580501693, + -254.90491645240093 + ], + [ + -327.3308512611777, + -215.91577091287252 + ], + [ + -82.66951565017519, + -258.78816531029963 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00023/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00023/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..52759785915ed9aec3081ab1f573f80d02262da3 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00023/meta.json @@ -0,0 +1,2046 @@ +{ + "frame_id": 23, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 11.5, + "sim_timestamp": 9983.859262583777 + }, + "drone_pose": { + "x": -136.68570138310628, + "y": -127.90254639255637, + "z": 20.24534390806559, + "pitch": -46.03291849308936, + "yaw": 43.976341615830854, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.49959713220596313, + -0.48205679655075073, + 0.7197387218475342, + 115.37273406982422 + ], + [ + 0.6943612694740295, + 0.7196265459060669, + 0.0, + -2.8671798706054688 + ], + [ + -0.5179431438446045, + 0.4997587203979492, + 0.6942449808120728, + -148.77105712890625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -136.0768283559478, + "y": -127.57201081765407, + "z": 20.07900803941153 + }, + "t1_image_uv": [ + 335.6363408064402, + -240.89333940128267 + ], + "t1_depth": 0.583246523828752 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -120.16718292236328, + "y": -113.68776321411131, + "z": 0.5749748778357753 + }, + "image_uv": [ + 599.3040236687448, + 294.2701073442007 + ], + "depth": 29.262465258977194, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 185, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -120.16718292236328, + "y": -113.68775939941406, + "z": 0.5749748945236206 + }, + "extent": { + "x": 0.2446923702955246, + "y": 0.2549804747104645, + "z": 0.5247478485107422 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 589.8641899155117, + "ymin": 275.8455786380965, + "xmax": 608.3992363609838, + "ymax": 312.4385767184443 + }, + "corners_3d": [ + [ + -120.15990447998047, + -114.04108428955078, + 0.05022704601287842 + ], + [ + -120.5205078125, + -113.68048095703125, + 0.05022704601287842 + ], + [ + -120.1744613647461, + -113.33443450927734, + 0.05022704601287842 + ], + [ + -119.81385803222656, + -113.69503784179688, + 0.05022704601287842 + ], + [ + -120.15990447998047, + -114.04108428955078, + 1.0997227430343628 + ], + [ + -120.5205078125, + -113.68048095703125, + 1.0997227430343628 + ], + [ + -120.1744613647461, + -113.33443450927734, + 1.0997227430343628 + ], + [ + -119.81385803222656, + -113.69503784179688, + 1.0997227430343628 + ] + ], + "corners_2d": [ + [ + 591.1490991610617, + 312.2351993830399 + ], + [ + 607.7501078877581, + 312.4385767184443 + ], + [ + 608.3992363609838, + 301.6380763480141 + ], + [ + 591.9872455523331, + 301.4393077490114 + ], + [ + 589.8641899155117, + 286.62269045605103 + ], + [ + 606.9016626697469, + 286.8257760022097 + ], + [ + 607.5775898711842, + 276.0439431174487 + ], + [ + 590.7391452050175, + 275.8455786380965 + ] + ], + "center_offset_px": [ + -40.695976331255224, + -65.72989265579929 + ] + }, + "trace_timestep_index": 23, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 51, + "semantic_pixel_counts": { + "1": 597644, + "2": 189594, + "3": 71004, + "5": 3560, + "6": 3586, + "7": 520, + "9": 12856, + "10": 5846, + "12": 3473, + "21": 492, + "24": 33025 + }, + "instance_pixel_counts": { + "1115": 3887, + "2978": 18, + "6254": 495, + "10370": 1964, + "11394": 469, + "14416": 5, + "14928": 3555, + "15511": 1840, + "16023": 621, + "18011": 10500, + "20119": 11471, + "20631": 13452, + "24064": 1551, + "26560": 4658, + "27072": 2743, + "29843": 23537, + "30144": 29549, + "30355": 31099, + "30656": 60496, + "31168": 2138, + "31488": 122, + "31813": 5785, + "31891": 436806, + "34120": 47673, + "34453": 2969, + "34965": 4034, + "35419": 32, + "35931": 2228, + "36443": 46353, + "36501": 22053, + "44171": 749, + "44691": 104550, + "44891": 225, + "45915": 10, + "46227": 1652, + "47253": 3882, + "48779": 334, + "48789": 87, + "49664": 185, + "49920": 388, + "50176": 410, + "50432": 875, + "50688": 1009, + "50944": 606, + "53184": 1422, + "55744": 2277, + "56993": 239, + "57173": 12856, + "60013": 4458, + "61037": 3051, + "64351": 10171 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 185, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -120.16718292236328, + "y": -113.68775939941406, + "z": 0.5749748945236206 + }, + "extent": { + "x": 0.25828123092651367, + "y": 0.25434568524360657, + "z": 0.5454363226890564 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 589.835029325042, + "ymin": 275.03227149709534, + "xmax": 608.4121674552213, + "ymax": 313.2335020977007 + }, + "corners_3d": [ + [ + -120.16996765136719, + -114.05023956298828, + 0.02953857183456421 + ], + [ + -120.5296630859375, + -113.69054412841797, + 0.02953857183456421 + ], + [ + -120.16439819335938, + -113.32527923583984, + 0.02953857183456421 + ], + [ + -119.80470275878906, + -113.68497467041016, + 0.02953857183456421 + ], + [ + -120.16996765136719, + -114.05023956298828, + 1.1204111576080322 + ], + [ + -120.5296630859375, + -113.69054412841797, + 1.1204111576080322 + ], + [ + -120.16439819335938, + -113.32527923583984, + 1.1204111576080322 + ], + [ + -119.80470275878906, + -113.68497467041016, + 1.1204111576080322 + ] + ], + "corners_2d": [ + [ + 591.1711265305463, + 313.03050417818963 + ], + [ + 607.7272725930255, + 313.2335020977007 + ], + [ + 608.4121674552213, + 301.8329159942176 + ], + [ + 592.0548355445724, + 301.63476821310985 + ], + [ + 589.835029325042, + 286.40739655845454 + ], + [ + 606.8440045384955, + 286.61009514317334 + ], + [ + 607.5583164577068, + 275.2299970114161 + ], + [ + 590.7591108028303, + 275.03227149709534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 388, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -116.04119873046875, + "y": -110.69005584716797, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.3911230266094208, + "y": 0.3114550709724426, + "z": 0.8869149684906006 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 570.9160739647334, + "ymin": 165.45906435946034, + "xmax": 594.6369085472494, + "ymax": 223.5688310012126 + }, + "corners_3d": [ + [ + -116.19959259033203, + -111.1642837524414, + -0.3119205832481384 + ], + [ + -116.53885650634766, + -110.6418685913086, + -0.3119205832481384 + ], + [ + -115.88280487060547, + -110.21582794189453, + -0.3119205832481384 + ], + [ + -115.54354095458984, + -110.73824310302734, + -0.3119205832481384 + ], + [ + -116.19959259033203, + -111.1642837524414, + 1.461909294128418 + ], + [ + -116.53885650634766, + -110.6418685913086, + 1.461909294128418 + ], + [ + -115.88280487060547, + -110.21582794189453, + 1.461909294128418 + ], + [ + -115.54354095458984, + -110.73824310302734, + 1.461909294128418 + ] + ], + "corners_2d": [ + [ + 576.7879724088926, + 223.5688310012126 + ], + [ + 594.6369085472494, + 221.4377196543388 + ], + [ + 591.1131268423542, + 207.89079379693212 + ], + [ + 573.5385017276552, + 209.9549579185344 + ], + [ + 574.2519754280713, + 180.94542600805906 + ], + [ + 592.8216879602721, + 178.8390370577216 + ], + [ + 589.1890523221873, + 165.45906435946034 + ], + [ + 570.9160739647334, + 167.49669670736384 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 410, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -122.42300415039062, + "y": -106.74504852294922, + "z": 0.5750090479850769 + }, + "extent": { + "x": 0.3846728503704071, + "y": 0.4175097644329071, + "z": 0.8935966491699219 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 784.5276361514962, + "ymin": 198.80448459800655, + "xmax": 821.0723536807102, + "ymax": 257.9929417587203 + }, + "corners_3d": [ + [ + -122.4592056274414, + -107.31159973144531, + -0.31858760118484497 + ], + [ + -122.98469543457031, + -106.66266632080078, + -0.31858760118484497 + ], + [ + -122.38680267333984, + -106.17849731445312, + -0.31858760118484497 + ], + [ + -121.86131286621094, + -106.82743072509766, + -0.31858760118484497 + ], + [ + -122.4592056274414, + -107.31159973144531, + 1.4686057567596436 + ], + [ + -122.98469543457031, + -106.66266632080078, + 1.4686057567596436 + ], + [ + -122.38680267333984, + -106.17849731445312, + 1.4686057567596436 + ], + [ + -121.86131286621094, + -106.82743072509766, + 1.4686057567596436 + ] + ], + "corners_2d": [ + [ + 788.9557979111954, + 257.9929417587203 + ], + [ + 813.7673679379501, + 256.58407555718 + ], + [ + 808.938805828348, + 241.94500221049677 + ], + [ + 784.5276361514962, + 243.30796094653815 + ], + [ + 795.2280417502336, + 214.70570256269116 + ], + [ + 821.0723536807102, + 213.30875391283496 + ], + [ + 815.9194113788615, + 198.80448459800655 + ], + [ + 790.509227354738, + 200.15404795787344 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 875, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -129.66717529296875, + "y": -113.68775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.4138232469558716, + "y": 0.4779589772224426, + "z": 0.8976637125015259 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 824.2442600694584, + "ymin": 439.05160985597263, + "xmax": 877.2383766212805, + "ymax": 508.3870592340172 + }, + "corners_3d": [ + [ + -129.621826171875, + -114.31834411621094, + -0.3226790428161621 + ], + [ + -130.29776000976562, + -113.64241027832031, + -0.3226790428161621 + ], + [ + -129.7125244140625, + -113.05717468261719, + -0.3226790428161621 + ], + [ + -129.03659057617188, + -113.73310852050781, + -0.3226790428161621 + ], + [ + -129.621826171875, + -114.31834411621094, + 1.4726483821868896 + ], + [ + -130.29776000976562, + -113.64241027832031, + 1.4726483821868896 + ], + [ + -129.7125244140625, + -113.05717468261719, + 1.4726483821868896 + ], + [ + -129.03659057617188, + -113.73310852050781, + 1.4726483821868896 + ] + ], + "corners_2d": [ + [ + 827.9279229367844, + 507.8421028365873 + ], + [ + 864.9118206192092, + 508.3870592340172 + ], + [ + 860.3913736557595, + 482.5645622749733 + ], + [ + 824.2442600694584, + 482.0439318277274 + ], + [ + 838.2223563497533, + 465.21590669678835 + ], + [ + 877.2383766212805, + 465.7692948104284 + ], + [ + 872.1828594574262, + 439.57899022056074 + ], + [ + 834.0969488032746, + 439.05160985597263 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 1009, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -123.78268432617188, + "y": -124.81512451171875, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.4085644483566284, + "y": 0.4778417944908142, + "z": 0.8890815377235413 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 311.3395037874998, + "ymin": 557.4686408973391, + "xmax": 380.35545461397743, + "ymax": 633.3582919481112 + }, + "corners_3d": [ + [ + -123.66844940185547, + -125.43335723876953, + -0.3140920400619507 + ], + [ + -124.4111557006836, + -124.83192443847656, + -0.3140920400619507 + ], + [ + -123.89691925048828, + -124.19689178466797, + -0.3140920400619507 + ], + [ + -123.15421295166016, + -124.79832458496094, + -0.3140920400619507 + ], + [ + -123.66844940185547, + -125.43335723876953, + 1.4640710353851318 + ], + [ + -124.4111557006836, + -124.83192443847656, + 1.4640710353851318 + ], + [ + -123.89691925048828, + -124.19689178466797, + 1.4640710353851318 + ], + [ + -123.15421295166016, + -124.79832458496094, + 1.4640710353851318 + ] + ], + "corners_2d": [ + [ + 330.0413037658299, + 628.7821992616034 + ], + [ + 369.551685731722, + 633.3582919481112 + ], + [ + 380.35545461397743, + 602.266584484656 + ], + [ + 341.77198447961723, + 597.9116640948653 + ], + [ + 311.3395037874998, + 589.1282730437282 + ], + [ + 353.1711485350512, + 593.8292798025676 + ], + [ + 365.0374439056608, + 561.929233894857 + ], + [ + 324.24325495826736, + 557.4686408973391 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 606, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -108.92184448242188, + "y": -121.85797882080078, + "z": 0.7331388592720032 + }, + "extent": { + "x": 0.517163097858429, + "y": 0.4795849621295929, + "z": 0.9328761100769043 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 141.6533647902025, + "ymin": 204.84017958172342, + "xmax": 206.60968559825153, + "ymax": 274.5312054707616 + }, + "corners_3d": [ + [ + -108.80130004882812, + -122.55290985107422, + -0.19973725080490112 + ], + [ + -109.60572814941406, + -122.03050994873047, + -0.19973725080490112 + ], + [ + -109.04238891601562, + -121.16304779052734, + -0.19973725080490112 + ], + [ + -108.23796081542969, + -121.6854476928711, + -0.19973725080490112 + ], + [ + -108.80130004882812, + -122.55290985107422, + 1.6660149097442627 + ], + [ + -109.60572814941406, + -122.03050994873047, + 1.6660149097442627 + ], + [ + -109.04238891601562, + -121.16304779052734, + 1.6660149097442627 + ], + [ + -108.23796081542969, + -121.6854476928711, + 1.6660149097442627 + ] + ], + "corners_2d": [ + [ + 163.08518937927107, + 270.15888283734387 + ], + [ + 189.65166341552316, + 274.5312054707616 + ], + [ + 206.60968559825153, + 254.4996192656805 + ], + [ + 180.54568912660972, + 250.31727365102657 + ], + [ + 141.6533647902025, + 224.50871557677527 + ], + [ + 169.31155046505768, + 228.84810959551558 + ], + [ + 187.4854885403936, + 208.98282394121864 + ], + [ + 160.3708527631934, + 204.84017958172342 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 950.4879260563906, + "ymin": 8.359526841318768, + "xmax": 971.722923383157, + "ymax": 41.93698087757383 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 958.0752393301439, + 41.93698087757383 + ], + [ + 964.8374360244268, + 37.830130062973694 + ], + [ + 957.2650624666214, + 34.758056193754726 + ], + [ + 950.4879260563906, + 38.8273903951868 + ], + [ + 964.859405320922, + 15.402685839285027 + ], + [ + 971.722923383157, + 11.373112758153752 + ], + [ + 963.9586987491468, + 8.359526841318768 + ], + [ + 957.0792090034543, + 12.351512031699826 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 706.644798067463, + "ymin": 0.0, + "xmax": 719.840496982774, + "ymax": 16.378903436270548 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 711.8669915384012, + 16.378903436270548 + ], + [ + 718.5097395000811, + 13.199002357694951 + ], + [ + 713.2883850031521, + 10.80241672523249 + ], + [ + 706.644798067463, + 13.958799108440417 + ], + [ + 713.0912283946532, + -5.2487157750530855 + ], + [ + 719.840496982774, + -8.375187203513804 + ], + [ + 714.5259706451474, + -10.731161235403306 + ], + [ + 707.7757882399105, + -7.628204043653511 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 885.0734426928485, + "ymin": 0.0, + "xmax": 904.2123766164137, + "ymax": 14.884768722414549 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 892.0679518583737, + 14.884768722414549 + ], + [ + 898.9459934662101, + 11.098565792504587 + ], + [ + 891.9618882779855, + 8.265148291160415 + ], + [ + 885.0734426928485, + 12.01813236880571 + ], + [ + 897.2250954538216, + -11.121324508174496 + ], + [ + 904.2123766164137, + -14.829998602346336 + ], + [ + 897.06331187628, + -17.604819107463356 + ], + [ + 890.0649246781718, + -13.929342938207867 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2334590930876643410, + "instance_id": 21048, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -123.8453369140625, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 129.4289262226477, + "ymin": 186.0194804172652, + "xmax": 152.69121981507902, + "ymax": 203.94807020150392 + }, + "corners_3d": [ + [ + -116.6200942993164, + -123.69747161865234, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.69747161865234, + 7.743301868438721 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 144.44459047364745, + 190.11488914193504 + ], + [ + 131.34278703101614, + 195.72176771453348 + ], + [ + 139.51628946193176, + 203.94807020150392 + ], + [ + 152.69121981507902, + 198.23001255553248 + ], + [ + 142.5926540699371, + 186.0194804172652 + ], + [ + 129.4289262226477, + 191.6195297262254 + ], + [ + 137.6144692487888, + 199.83632710014953 + ], + [ + 150.85212878182443, + 194.12481153977734 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3639812104533344102, + "instance_id": 26239, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -123.8453369140625, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 129.55341582400115, + "ymin": 186.1141002739963, + "xmax": 152.5677219054342, + "ymax": 203.85204092269964 + }, + "corners_3d": [ + [ + -116.62229919433594, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.69904327392578, + 7.742714881896973 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 144.40943921690177, + 190.16603624906628 + ], + [ + 131.4465265207412, + 195.71371959020638 + ], + [ + 139.5332222734463, + 203.85204092269964 + ], + [ + 152.5677219054342, + 198.19552948411456 + ], + [ + 142.57694561631627, + 186.1141002739963 + ], + [ + 129.55341582400115, + 191.65510043678745 + ], + [ + 137.65190010907196, + 199.78411608238838 + ], + [ + 150.74779622809893, + 194.13400971099128 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9919303964700251881, + "instance_id": 59670, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_Poles_4", + "bbox_3d": { + "center_world": { + "x": -112.9144515991211, + "y": -134.7008514404297, + "z": 4.223348617553711 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 177.31561414212993, + "xmax": 15.485564458736349, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.18444061279297, + -128.6757354736328, + -4.76837158203125e-06 + ], + [ + -112.75162506103516, + -128.67189025878906, + -4.76837158203125e-06 + ], + [ + -112.64446258544922, + -140.72596740722656, + -4.76837158203125e-06 + ], + [ + -113.07727813720703, + -140.7298126220703, + -4.76837158203125e-06 + ], + [ + -113.18444061279297, + -128.6757354736328, + 8.446702003479004 + ], + [ + -112.75162506103516, + -128.67189025878906, + 8.446702003479004 + ], + [ + -112.64446258544922, + -140.72596740722656, + 8.446702003479004 + ], + [ + -113.07727813720703, + -140.7298126220703, + 8.446702003479004 + ] + ], + "corners_2d": [ + [ + 15.485564458736349, + 443.9848034383118 + ], + [ + 9.76437610073367, + 434.98684151430626 + ], + [ + -579.7890494640358, + 737.015835449886 + ], + [ + -578.8063929366017, + 751.8441574673482 + ], + [ + -175.68332595569268, + 186.2384346187874 + ], + [ + -181.06036793282738, + 177.31561414212993 + ], + [ + -1097.5936854283702, + 503.97191258309977 + ], + [ + -1104.1946068992986, + 521.5885284019421 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 667.7754675085279, + "ymin": 0.0, + "xmax": 768.2358693720387, + "ymax": 139.98719000688152 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 675.6125643998788, + 96.55752785267515 + ], + [ + 667.7754675085279, + 100.66147767254051 + ], + [ + 740.5597475880486, + 139.98719000688152 + ], + [ + 748.3857263830325, + 135.43426478950926 + ], + [ + 681.7490742019446, + -108.3982338119539 + ], + [ + 672.5930385537766, + -104.93120281543912 + ], + [ + 759.1054785331919, + -71.36546154722691 + ], + [ + 768.2358693720387, + -75.28363914055063 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 62.79592267582609, + "ymin": 118.85182845056246, + "xmax": 256.64542398136814, + "ymax": 430.0935609647466 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 192.0810319845894, + 349.76214850052287 + ], + [ + 177.85488501190008, + 357.21176844466044 + ], + [ + 241.89873318281877, + 430.0935609647466 + ], + [ + 256.64542398136814, + 421.5143682313673 + ], + [ + 81.60743335257803, + 118.85182845056246 + ], + [ + 62.79592267582609, + 125.97500851601114 + ], + [ + 133.52472757146109, + 197.09363560380186 + ], + [ + 153.35271454544045, + 188.58473651575673 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 695.6991655758616, + "ymin": 0.0, + "xmax": 1021.9341671697648, + "ymax": 206.97096540073207 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 703.0386040778193, + 73.1246283499442 + ], + [ + 695.6991655758616, + 76.84946503596933 + ], + [ + 945.3823015478899, + 206.97096540073207 + ], + [ + 952.5113694250341, + 201.7654638001271 + ], + [ + 714.4988191377566, + -147.3714609242915 + ], + [ + 705.8880791414823, + -144.3367670989067 + ], + [ + 1013.7377476565687, + -34.55328386645459 + ], + [ + 1021.9341671697648, + -39.090767379283704 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 153.73983521693987, + "ymax": 398.79471836016455 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 35.78810794087451, + 191.1180632620758 + ], + [ + -174.2866562834513, + 296.30983489829435 + ], + [ + -62.77951467354376, + 398.79471836016455 + ], + [ + 153.73983521693987, + 270.77514030331355 + ], + [ + -173.49063213373495, + -188.110909724228 + ], + [ + -506.89515242747757, + -107.94337611799119 + ], + [ + -396.41444776107573, + -22.39187347799043 + ], + [ + -37.297728221243005, + -128.0757533535081 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 188.6078567256859, + "ymax": 466.25016765727264 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -109.24802779992456, + 466.25016765727264 + ], + [ + 165.26598333315087, + 420.94755842620674 + ], + [ + 188.6078567256859, + 258.7859904878815 + ], + [ + -41.39682319254155, + 291.033131833214 + ], + [ + -500.2559832134991, + 38.45177127308102 + ], + [ + -67.30106780302708, + -2.8302540564942547 + ], + [ + 14.52062662049093, + -137.37537707109828 + ], + [ + -317.50894097641867, + -112.14056829807885 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00024/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00024/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7ff504c7219e89bd389202846e04d35f0fc30a83 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00024/meta.json @@ -0,0 +1,3313 @@ +{ + "frame_id": 24, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 12.0, + "sim_timestamp": 9995.088137878105 + }, + "drone_pose": { + "x": -136.0768283559478, + "y": -127.57201081765407, + "z": 20.07900803941153, + "pitch": -41.79014110638771, + "yaw": 41.23692142304038, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5606769323348999, + -0.49147409200668335, + 0.6664041876792908, + 125.61274719238281 + ], + [ + 0.6591741442680359, + 0.7519903182983398, + 1.4901161193847656e-08, + 6.234580993652344 + ], + [ + -0.5011294484138489, + 0.43927645683288574, + 0.7455906867980957, + -139.20220947265625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -135.5643551054345, + "y": -127.18057274229426, + "z": 20.068490710521534 + }, + "t1_image_uv": [ + 554.2972667684916, + -470.2194499179319 + ], + "t1_depth": 0.48672241795130816 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -119.66718292236328, + "y": -113.18776321411131, + "z": 0.5749846434596475 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 29.267558336933842, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 186, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -119.66718292236328, + "y": -113.18775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.24074217677116394, + "y": 0.2542480528354645, + "z": 0.5554770827293396 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 630.9949884184554, + "ymin": 340.6815993496945, + "xmax": 648.9019230524103, + "ymax": 379.0839186001233 + }, + "corners_3d": [ + [ + -119.65763092041016, + -113.53777313232422, + 0.01950758695602417 + ], + [ + -120.01719665527344, + -113.17820739746094, + 0.01950758695602417 + ], + [ + -119.6767349243164, + -112.8377456665039, + 0.01950758695602417 + ], + [ + -119.31716918945312, + -113.19731140136719, + 0.01950758695602417 + ], + [ + -119.65763092041016, + -113.53777313232422, + 1.1304616928100586 + ], + [ + -120.01719665527344, + -113.17820739746094, + 1.1304616928100586 + ], + [ + -119.6767349243164, + -112.8377456665039, + 1.1304616928100586 + ], + [ + -119.31716918945312, + -113.19731140136719, + 1.1304616928100586 + ] + ], + "corners_2d": [ + [ + 631.2212038748962, + 378.3433450623114 + ], + [ + 647.7561721884766, + 379.0839186001233 + ], + [ + 648.6807983334147, + 368.54179972504534 + ], + [ + 632.3436256666803, + 367.81891368432156 + ], + [ + 630.9949884184554, + 351.1388779540191 + ], + [ + 647.9562095182243, + 351.8749698839557 + ], + [ + 648.9019230524103, + 341.3996659600518 + ], + [ + 632.1487627822573, + 340.6815993496945 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 24, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 69, + "semantic_pixel_counts": { + "1": 556905, + "2": 171565, + "3": 114321, + "4": 16, + "5": 4171, + "6": 7099, + "7": 902, + "9": 22946, + "10": 7311, + "12": 3399, + "21": 2645, + "24": 30320 + }, + "instance_pixel_counts": { + "1115": 3731, + "1954": 2, + "2978": 237, + "4002": 251, + "6254": 2791, + "10370": 1910, + "11394": 1085, + "14416": 100, + "14928": 4071, + "15511": 2461, + "16023": 615, + "17232": 16, + "18011": 23721, + "20119": 3857, + "20631": 13871, + "23808": 108, + "24064": 3978, + "26560": 7369, + "27072": 2721, + "28608": 590, + "29843": 21605, + "30144": 1459, + "30355": 19306, + "30656": 60969, + "31168": 2081, + "31488": 920, + "31813": 7248, + "31891": 384640, + "34120": 46736, + "34395": 249, + "34453": 2665, + "34907": 499, + "34965": 2510, + "35419": 1438, + "35931": 5423, + "36443": 69035, + "36501": 18508, + "44171": 750, + "44179": 274, + "44691": 105581, + "44891": 251, + "45203": 6735, + "45915": 28, + "46227": 18764, + "46731": 1112, + "47253": 5251, + "47765": 649, + "48267": 588, + "48779": 510, + "48789": 737, + "49664": 186, + "49803": 537, + "49920": 407, + "50176": 397, + "50432": 878, + "50688": 937, + "50944": 594, + "53184": 1401, + "54720": 2058, + "55232": 1175, + "55744": 2452, + "56768": 860, + "56993": 417, + "57173": 22946, + "58529": 990, + "59809": 469, + "60013": 4077, + "61037": 3357, + "64351": 17393 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 186, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -119.66718292236328, + "y": -113.18775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.26060545444488525, + "y": 0.25734373927116394, + "z": 0.5451728105545044 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 630.8457092592018, + "ymin": 340.50936544816614, + "xmax": 649.040360470625, + "ymax": 379.2827621786301 + }, + "corners_3d": [ + [ + -119.66948699951172, + -113.55400848388672, + 0.029811859130859375 + ], + [ + -120.03343200683594, + -113.1900634765625, + 0.029811859130859375 + ], + [ + -119.66487884521484, + -112.8215103149414, + 0.029811859130859375 + ], + [ + -119.30093383789062, + -113.18545532226562, + 0.029811859130859375 + ], + [ + -119.66948699951172, + -113.55400848388672, + 1.1201574802398682 + ], + [ + -120.03343200683594, + -113.1900634765625, + 1.1201574802398682 + ], + [ + -119.66487884521484, + -112.8215103149414, + 1.1201574802398682 + ], + [ + -119.30093383789062, + -113.18545532226562, + 1.1201574802398682 + ] + ], + "corners_2d": [ + [ + 631.0715735720529, + 378.53245180598066 + ], + [ + 647.8201964730085, + 379.2827621786301 + ], + [ + 648.8200200303418, + 367.87119918002804 + ], + [ + 632.2882224608925, + 367.1402726516923 + ], + [ + 630.8457092592018, + 351.8302051075517 + ], + [ + 648.0181992764716, + 352.5760782113584 + ], + [ + 649.040360470625, + 341.2354913967073 + ], + [ + 632.0957346519677, + 340.50936544816614 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 407, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -115.54119873046875, + "y": -110.19005584716797, + "z": 0.7273821234703064 + }, + "extent": { + "x": 0.4905322194099426, + "y": 0.33153319358825684, + "z": 0.9213026165962219 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 614.6112316661644, + "ymin": 226.85687804621, + "xmax": 638.0619368409699, + "ymax": 288.916862618959 + }, + "corners_3d": [ + [ + -115.77202606201172, + -110.73526763916016, + -0.19392049312591553 + ], + [ + -116.1331558227539, + -110.17916870117188, + -0.19392049312591553 + ], + [ + -115.31037139892578, + -109.64484405517578, + -0.19392049312591553 + ], + [ + -114.9492416381836, + -110.20094299316406, + -0.19392049312591553 + ], + [ + -115.77202606201172, + -110.73526763916016, + 1.6486847400665283 + ], + [ + -116.1331558227539, + -110.17916870117188, + 1.6486847400665283 + ], + [ + -115.31037139892578, + -109.64484405517578, + 1.6486847400665283 + ], + [ + -114.9492416381836, + -110.20094299316406, + 1.6486847400665283 + ] + ], + "corners_2d": [ + [ + 619.064911778172, + 288.916862618959 + ], + [ + 638.0619368409699, + 287.2399352457848 + ], + [ + 634.1305291395331, + 270.50209673078155 + ], + [ + 615.5310451475509, + 272.10822731492954 + ], + [ + 618.2601039628713, + 244.8935954748809 + ], + [ + 637.9875967108767, + 243.2497519394768 + ], + [ + 633.9103670190444, + 226.85687804621 + ], + [ + 614.6112316661644, + 228.42874468730722 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 397, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -121.92300415039062, + "y": -106.24504852294922, + "z": 0.5749455690383911 + }, + "extent": { + "x": 0.448974609375, + "y": 0.4007958769798279, + "z": 0.8951418995857239 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 826.7434333517442, + "ymin": 270.78840160110417, + "xmax": 864.3214389373074, + "ymax": 331.4267707151081 + }, + "corners_3d": [ + [ + -122.01969146728516, + -106.83907318115234, + -0.32019633054733276 + ], + [ + -122.52415466308594, + -106.21611785888672, + -0.32019633054733276 + ], + [ + -121.8263168334961, + -105.6510238647461, + -0.32019633054733276 + ], + [ + -121.32185363769531, + -106.27397918701172, + -0.32019633054733276 + ], + [ + -122.01969146728516, + -106.83907318115234, + 1.4700875282287598 + ], + [ + -122.52415466308594, + -106.21611785888672, + 1.4700875282287598 + ], + [ + -121.8263168334961, + -105.6510238647461, + 1.4700875282287598 + ], + [ + -121.32185363769531, + -106.27397918701172, + 1.4700875282287598 + ] + ], + "corners_2d": [ + [ + 831.7514037029582, + 331.4267707151081 + ], + [ + 855.8759153749185, + 330.81621156165113 + ], + [ + 850.3727835622013, + 313.67966493645366 + ], + [ + 826.7434333517442, + 314.2652296737574 + ], + [ + 839.2588675370157, + 288.255873387479 + ], + [ + 864.3214389373074, + 287.65444850190306 + ], + [ + 858.4263397997566, + 270.78840160110417 + ], + [ + 833.8977582105957, + 271.3642733468401 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 878, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -129.16717529296875, + "y": -113.18775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.4191650152206421, + "y": 0.48204100131988525, + "z": 0.9256454110145569 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 864.0074753381572, + "ymin": 512.9994335188019, + "xmax": 920.4412683706674, + "ymax": 587.9144133072666 + }, + "corners_3d": [ + [ + -129.12271118164062, + -113.82500457763672, + -0.3506607413291931 + ], + [ + -129.80442810058594, + -113.14330291748047, + -0.3506607413291931 + ], + [ + -129.21163940429688, + -112.5505142211914, + -0.3506607413291931 + ], + [ + -128.52992248535156, + -113.23221588134766, + -0.3506607413291931 + ], + [ + -129.12271118164062, + -113.82500457763672, + 1.5006301403045654 + ], + [ + -129.80442810058594, + -113.14330291748047, + 1.5006301403045654 + ], + [ + -129.21163940429688, + -112.5505142211914, + 1.5006301403045654 + ], + [ + -128.52992248535156, + -113.23221588134766, + 1.5006301403045654 + ] + ], + "corners_2d": [ + [ + 867.5878477789515, + 585.8031403470462 + ], + [ + 906.1577711630653, + 587.9144133072666 + ], + [ + 901.6023973709135, + 560.6541803568891 + ], + [ + 864.0074753381572, + 558.6474755921477 + ], + [ + 879.7764527716505, + 540.3735096049878 + ], + [ + 920.4412683706674, + 542.5048415103367 + ], + [ + 915.2706000960402, + 515.0197674660315 + ], + [ + 875.6880774790251, + 512.9994335188019 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 937, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -123.28268432617188, + "y": -124.31512451171875, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.5089941024780273, + "y": 0.3993261754512787, + "z": 0.8820883631706238 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 342.51082077533067, + "ymin": 611.5806180899039, + "xmax": 407.03279809818133, + "ymax": 698.61146777919 + }, + "corners_3d": [ + [ + -123.29267120361328, + -124.96199035644531, + -0.3070988655090332 + ], + [ + -123.91333770751953, + -124.45938110351562, + -0.3070988655090332 + ], + [ + -123.27269744873047, + -123.66825866699219, + -0.3070988655090332 + ], + [ + -122.65203094482422, + -124.17086791992188, + -0.3070988655090332 + ], + [ + -123.29267120361328, + -124.96199035644531, + 1.4570778608322144 + ], + [ + -123.91333770751953, + -124.45938110351562, + 1.4570778608322144 + ], + [ + -123.27269744873047, + -123.66825866699219, + 1.4570778608322144 + ], + [ + -122.65203094482422, + -124.17086791992188, + 1.4570778608322144 + ] + ], + "corners_2d": [ + [ + 358.38238232825046, + 693.1281119183077 + ], + [ + 391.53336231035746, + 698.61146777919 + ], + [ + 407.03279809818133, + 659.1498305322768 + ], + [ + 374.9014915392882, + 654.0213823821875 + ], + [ + 342.51082077533067, + 651.3695037771345 + ], + [ + 377.46202987412937, + 656.9602814439678 + ], + [ + 394.29810262055105, + 616.7901490264975 + ], + [ + 360.47811700321364, + 611.5806180899039 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 594, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -108.42184448242188, + "y": -121.35797882080078, + "z": 0.7343059182167053 + }, + "extent": { + "x": 0.46595701575279236, + "y": 0.5075927376747131, + "z": 0.8906526565551758 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 195.7750204074822, + "ymin": 261.22345831893506, + "xmax": 255.0757407377668, + "ymax": 326.2746092686455 + }, + "corners_3d": [ + [ + -108.24992370605469, + -122.02521514892578, + -0.15634673833847046 + ], + [ + -109.10132598876953, + -121.47230529785156, + -0.15634673833847046 + ], + [ + -108.59376525878906, + -120.69074249267578, + -0.15634673833847046 + ], + [ + -107.74236297607422, + -121.24365234375, + -0.15634673833847046 + ], + [ + -108.24992370605469, + -122.02521514892578, + 1.6249585151672363 + ], + [ + -109.10132598876953, + -121.47230529785156, + 1.6249585151672363 + ], + [ + -108.59376525878906, + -120.69074249267578, + 1.6249585151672363 + ], + [ + -107.74236297607422, + -121.24365234375, + 1.6249585151672363 + ] + ], + "corners_2d": [ + [ + 212.35085072991836, + 320.94669562587984 + ], + [ + 239.24309043785678, + 326.2746092686455 + ], + [ + 255.0757407377668, + 309.1963920841567 + ], + [ + 228.63690184706212, + 304.0862750071945 + ], + [ + 195.7750204074822, + 277.80151353072824 + ], + [ + 223.60461667342202, + 283.04570193848076 + ], + [ + 240.3781748520999, + 266.24520243951156 + ], + [ + 213.03302486442442, + 261.22345831893506 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 862.1391355993936, + "ymin": 42.859815304969516, + "xmax": 879.8000688272259, + "ymax": 73.15544851156687 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 868.5464683904926, + 73.15544851156687 + ], + [ + 875.5758090921208, + 69.91827170019553 + ], + [ + 869.1716200474552, + 67.25205029606798 + ], + [ + 862.1391355993936, + 70.45881956038431 + ], + [ + 872.6684602243017, + 48.61036155221785 + ], + [ + 879.8000688272259, + 45.456736927547524 + ], + [ + 873.2614067297752, + 42.859815304969516 + ], + [ + 866.1263129034697, + 45.983288304298696 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1001.7677855176586, + "ymin": 99.5193326587243, + "xmax": 1023.906577809651, + "ymax": 132.50804751747216 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1009.5720342942277, + 132.50804751747216 + ], + [ + 1016.4454496361905, + 128.56549605082714 + ], + [ + 1008.654163799481, + 125.32179354363066 + ], + [ + 1001.7677855176586, + 129.22350546866832 + ], + [ + 1016.943938596005, + 106.54554280191965 + ], + [ + 1023.906577809651, + 102.69039972564275 + ], + [ + 1015.9222994326924, + 99.5193326587243 + ], + [ + 1008.9456821369051, + 103.3337538891904 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 753.7555292884657, + "ymin": 74.45986801180834, + "xmax": 767.5850788352387, + "ymax": 100.70264603986095 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 758.9334402563754, + 100.70264603986095 + ], + [ + 765.6237234724559, + 97.73526518702516 + ], + [ + 760.4437382570259, + 95.27478122152053 + ], + [ + 753.7555292884657, + 98.21764233921436 + ], + [ + 760.7997344174793, + 79.77949638302493 + ], + [ + 767.5850788352387, + 76.871100221208 + ], + [ + 762.3163319435816, + 74.45986801180834 + ], + [ + 755.5330477491034, + 77.34385803823966 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 934.882196056247, + "ymin": 72.36045163797888, + "xmax": 954.8128681247329, + "ymax": 104.06955939888257 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 942.0000283654778, + 104.06955939888257 + ], + [ + 948.9688533070112, + 100.47360103776629 + ], + [ + 941.8588546208482, + 97.51353372117808 + ], + [ + 934.882196056247, + 101.07390530996156 + ], + [ + 947.7472035823603, + 78.75908008310262 + ], + [ + 954.8128681247329, + 75.24912527282629 + ], + [ + 947.5396178872725, + 72.36045163797888 + ], + [ + 940.4654678890192, + 75.8350167595085 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 905.6459830248223, + "ymin": 0.0, + "xmax": 1109.0242416916676, + "ymax": 86.4666261679024 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1056.3220640622774, + 18.043032623517263 + ], + [ + 1048.913763648207, + 15.535775727300916 + ], + [ + 905.6459830248223, + 83.25253243855565 + ], + [ + 913.2443346943444, + 86.4666261679024 + ], + [ + 1109.0242416916676, + -161.2121491110555 + ], + [ + 1100.3949810850904, + -163.05456188575863 + ], + [ + 944.1388396183874, + -112.48525271218745 + ], + [ + 953.0890600014691, + -110.04256873634336 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2334590930876643410, + "instance_id": 21048, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -123.8453369140625, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 174.2492225654538, + "ymin": 257.08198324340464, + "xmax": 196.67565767909787, + "ymax": 274.9213966896806 + }, + "corners_3d": [ + [ + -116.6200942993164, + -123.69747161865234, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.69747161865234, + 7.743301868438721 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 189.17897484168168, + 261.14365086655397 + ], + [ + 175.86762196041735, + 266.4079335121422 + ], + [ + 183.268621800635, + 274.9213966896806 + ], + [ + 196.67565767909787, + 269.5396201894696 + ], + [ + 187.6178540113691, + 257.08198324340464 + ], + [ + 174.2492225654538, + 262.33635980743475 + ], + [ + 181.65823041676964, + 270.8343367924077 + ], + [ + 195.12345959251473, + 265.46227313332554 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3639812104533344102, + "instance_id": 26239, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -123.8453369140625, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 174.36906424289282, + "ymin": 257.17599144727797, + "xmax": 196.55639359127196, + "ymax": 274.825699978041 + }, + "corners_3d": [ + [ + -116.62229919433594, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.69904327392578, + 7.742714881896973 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 189.14022529005035, + 261.19459226196227 + ], + [ + 175.96990220587162, + 266.40334576044927 + ], + [ + 183.29240440941214, + 274.825699978041 + ], + [ + 196.55639359127196, + 269.501937902894 + ], + [ + 187.59545753640504, + 257.17599144727797 + ], + [ + 174.36906424289282, + 262.3750496212745 + ], + [ + 181.69940841542945, + 270.7822440341261 + ], + [ + 195.02035367967113, + 265.4679901446605 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 909.3217753598896, + "ymin": 0.0, + "xmax": 1162.1730006955463, + "ymax": 37.78485703762317 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 974.9850514960673, + 37.78485703762317 + ], + [ + 1077.0687058026579, + -10.455698665914099 + ], + [ + 1012.890406180107, + -30.44171578359294 + ], + [ + 909.3217753598896, + 13.745958978418855 + ], + [ + 1048.0734401298976, + -266.8630184380015 + ], + [ + 1162.1730006955463, + -291.72872072549046 + ], + [ + 1081.9706310191737, + -301.75209580931596 + ], + [ + 964.9031928287793, + -279.3748472409718 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5944504550537153523, + "instance_id": 62411, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_1", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88526153564453, + "z": 3.6450090408325195 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 130.1976405249533, + "xmax": 4.70783884843388, + "ymax": 182.23211118787964 + }, + "corners_3d": [ + [ + -100.3021469116211, + -126.97334289550781, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -126.97334289550781, + 3.8072457313537598 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.8072457313537598 + ] + ], + "corners_2d": [ + [ + -66.93494276422416, + 182.23211118787964 + ], + [ + 4.70783884843388, + 159.83258629556494 + ], + [ + -11.216604302147175, + 138.5974788867212 + ], + [ + -80.99488289926694, + 159.55127788853505 + ], + [ + -71.83503602819508, + 173.55501941754775 + ], + [ + 0.4503007560294918, + 151.29300497870653 + ], + [ + -15.439078730896881, + 130.1976405249533 + ], + [ + -85.82469399023034, + 151.01348999322545 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 798.0826480206704, + "ymin": 14.583433768040493, + "xmax": 814.31228364501, + "ymax": 24.239377936102358 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 804.2172340031539, + 17.91253356715049 + ], + [ + 798.0826480206704, + 20.338597605382745 + ], + [ + 807.7655364129256, + 24.239377936102358 + ], + [ + 813.9004109793447, + 21.77675129195859 + ], + [ + 804.603274564993, + 14.583433768040493 + ], + [ + 798.4560189618873, + 16.99953715938119 + ], + [ + 808.1647658763743, + 20.884414114333993 + ], + [ + 814.31228364501, + 18.431811461425923 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6967274615413648305, + "instance_id": 45483, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_2", + "bbox_3d": { + "center_world": { + "x": -99.33560943603516, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 100.50347998684015, + "xmax": 47.24837258047944, + "ymax": 265.4162801626654 + }, + "corners_3d": [ + [ + -100.3640365600586, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -127.03557586669922, + 4.877264976501465 + ], + [ + -100.3640365600586, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + -22.25514284643873, + 265.4162801626654 + ], + [ + 47.24837258047944, + 240.5171925942077 + ], + [ + 29.99700729687993, + 216.74181277608108 + ], + [ + -37.758420927818634, + 240.03833831471468 + ], + [ + -90.2395850204773, + 145.44664685062233 + ], + [ + -11.420179565420199, + 122.38302807813608 + ], + [ + -28.249840120340195, + 100.50347998684015 + ], + [ + -104.79286269169529, + 121.9409815915185 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9919303964700251881, + "instance_id": 59670, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_Poles_4", + "bbox_3d": { + "center_world": { + "x": -112.9144515991211, + "y": -134.7008514404297, + "z": 4.223348617553711 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 240.15557360035092, + "xmax": 44.707320124698754, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.18444061279297, + -128.6757354736328, + -4.76837158203125e-06 + ], + [ + -112.75162506103516, + -128.67189025878906, + -4.76837158203125e-06 + ], + [ + -112.64446258544922, + -140.72596740722656, + -4.76837158203125e-06 + ], + [ + -113.07727813720703, + -140.7298126220703, + -4.76837158203125e-06 + ], + [ + -113.18444061279297, + -128.6757354736328, + 8.446702003479004 + ], + [ + -112.75162506103516, + -128.67189025878906, + 8.446702003479004 + ], + [ + -112.64446258544922, + -140.72596740722656, + 8.446702003479004 + ], + [ + -113.07727813720703, + -140.7298126220703, + 8.446702003479004 + ] + ], + "corners_2d": [ + [ + 44.707320124698754, + 508.9540212834375 + ], + [ + 39.86404450309158, + 499.4521430017228 + ], + [ + -572.9389430954641, + 791.1404912670455 + ], + [ + -574.2273696066702, + 807.056310800989 + ], + [ + -122.4626606540304, + 249.16215004940216 + ], + [ + -126.63461239454364, + 240.15557360035092 + ], + [ + -1046.2525474980885, + 540.2548850110688 + ], + [ + -1056.2153177034857, + 558.1616490418586 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 537.562926777061, + "ymin": 0.0, + "xmax": 609.631746728073, + "ymax": 14.62314020225267 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 548.0875380083057, + 12.112832660074957 + ], + [ + 553.1889833941274, + 14.62314020225267 + ], + [ + 609.631746728073, + -3.9771733339179605 + ], + [ + 604.4481197418182, + -6.309043589155863 + ], + [ + 537.562926777061, + -150.71147312857283 + ], + [ + 543.193977348118, + -148.80559395959733 + ], + [ + 606.2761653104446, + -162.87653276090396 + ], + [ + 600.5403452990704, + -164.6323138329169 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 798.1689856356384, + "ymin": 14.634590684504758, + "xmax": 814.2257426825024, + "ymax": 24.187853217469865 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 804.2382784708602, + 17.928416030728272 + ], + [ + 798.1689856356384, + 20.328770986847815 + ], + [ + 807.7488773078633, + 24.187853217469865 + ], + [ + 813.8184539307374, + 21.75170965658333 + ], + [ + 804.6202818579613, + 14.634590684504758 + ], + [ + 798.5385878484135, + 17.02519560985462 + ], + [ + 808.1437904628207, + 20.868711038406957 + ], + [ + 814.2257426825024, + 18.4423788526762 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14081937874569997388, + "instance_id": 19500, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_0", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88525390625, + "z": 3.6439085006713867 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 130.174390218035, + "xmax": 4.784901437527765, + "ymax": 182.3171865420989 + }, + "corners_3d": [ + [ + -100.30333709716797, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.30333709716797, + -126.97452545166016, + 3.807230234146118 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.807230234146118 + ] + ], + "corners_2d": [ + [ + -66.93346654117852, + 182.3171865420989 + ], + [ + 4.784901437527765, + 159.89132397669908 + ], + [ + -11.160658500373984, + 138.62986758626715 + ], + [ + -81.01041428192082, + 159.60664110800906 + ], + [ + -71.86651328123844, + 173.58231613402947 + ], + [ + 0.49940305352481573, + 151.29501461833075 + ], + [ + -15.410842940572365, + 130.174390218035 + ], + [ + -85.87261349391383, + 151.01215834766973 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 712.4628761832373, + "ymin": 0.0, + "xmax": 818.8352878446706, + "ymax": 223.1723712624534 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 720.4079371465464, + 178.2108776478208 + ], + [ + 712.4628761832373, + 182.0805379303784 + ], + [ + 785.0325213857884, + 223.1723712624534 + ], + [ + 793.0170220554683, + 218.82248408081912 + ], + [ + 733.0852353877842, + -19.791273700513557 + ], + [ + 723.9632877618853, + -16.620296022119476 + ], + [ + 809.6772987409024, + 17.40894998307698 + ], + [ + 818.8352878446706, + 13.775539991451694 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 114.40008899158215, + "ymin": 188.7188003046091, + "xmax": 286.3226726272164, + "ymax": 503.229646646941 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 226.8108537014504, + 418.6184765592067 + ], + [ + 212.18300702822, + 425.74300304832315 + ], + [ + 270.96918836481495, + 503.229646646941 + ], + [ + 286.3226726272164, + 494.86520068477137 + ], + [ + 133.2645594155839, + 188.7188003046091 + ], + [ + 114.40008899158215, + 195.27648042759026 + ], + [ + 177.7606656020073, + 268.1203433583294 + ], + [ + 197.9248493565599, + 260.1202523015914 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16194625468754558244, + "instance_id": 9469, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.53463745117188, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 54.98177852444013, + "xmax": 8.639552402182744, + "ymax": 208.69618283914133 + }, + "corners_3d": [ + [ + -95.56306457519531, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -127.03557586669922, + 4.877264976501465 + ], + [ + -95.56306457519531, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + -56.90521206316396, + 208.69618283914133 + ], + [ + 8.639552402182744, + 187.3075277950155 + ], + [ + -6.2501317700440495, + 166.78695503181564 + ], + [ + -70.22336101138296, + 186.89516709549764 + ], + [ + -122.63034753174873, + 93.1308429281263 + ], + [ + -48.937697237548605, + 73.60804955170278 + ], + [ + -63.26495013531189, + 54.98177852444013 + ], + [ + -134.95003383017024, + 73.23275338637478 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 740.8989121376438, + "ymin": 0.0, + "xmax": 1076.5728806196985, + "ymax": 296.7990610637399 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 748.323896957709, + 155.67608499819409 + ], + [ + 740.8989121376438, + 159.17526021676508 + ], + [ + 994.1654873855139, + 296.7990610637399 + ], + [ + 1001.5062882391433, + 291.68666541522146 + ], + [ + 766.3004986069554, + -56.47692143441287 + ], + [ + 757.7479155718714, + -53.718652478090405 + ], + [ + 1068.283482955685, + 58.7959182857349 + ], + [ + 1076.5728806196985, + 54.470642233156525 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 194.76606692476258, + "ymax": 459.44253833282824 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 86.2415367053909, + 254.54523147022047 + ], + [ + -125.59292792560109, + 352.45178684983796 + ], + [ + -27.822197332161863, + 459.44253833282824 + ], + [ + 194.76606692476258, + 337.1250605520434 + ], + [ + -83.74417259464587, + -107.53129884437715 + ], + [ + -402.2255175549201, + -38.37184052554437 + ], + [ + -312.4192860471552, + 44.09677002859178 + ], + [ + 37.81035059979911, + -49.575748702835256 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 24.927559884542006, + "ymax": 139.01193221941514 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + -73.75442307674359, + 36.56331269518046 + ], + [ + -236.63439639408944, + 97.01055754696034 + ], + [ + -137.50374815001214, + 139.01193221941514 + ], + [ + 24.927559884542006, + 70.22349904306276 + ], + [ + -209.19316187163815, + -228.62175102947538 + ], + [ + -425.84874001188336, + -191.58350288642725 + ], + [ + -319.9463836157545, + -164.87655612574406 + ], + [ + -100.63448080421233, + -208.19538865042375 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 229.8266706504573, + "ymax": 526.9248779482373 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -79.86006283772576, + 526.9248779482373 + ], + [ + 195.14800928392538, + 490.49610321757007 + ], + [ + 229.8266706504573, + 326.1716168610351 + ], + [ + 2.988469406724107, + 351.34161824622294 + ], + [ + -418.4232208567871, + 100.27655350934623 + ], + [ + -3.3203026229573425, + 69.52416289842574 + ], + [ + 87.78380863137295, + -57.49435495210275 + ], + [ + -226.77483567394154, + -39.18827822534814 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 38.81024537556016, + "ymax": 217.0441260152811 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -34.706086716913774, + 96.21300739841615 + ], + [ + -209.61111255173228, + 155.6308737093682 + ], + [ + -144.48578782254356, + 217.0441260152811 + ], + [ + 38.81024537556016, + 146.53921826284397 + ], + [ + -188.32473785987384, + -208.39417283070475 + ], + [ + -427.35112890999676, + -172.01092160576275 + ], + [ + -369.8505027966248, + -132.58039724653543 + ], + [ + -112.58126549266512, + -177.68745569146097 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00025/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00025/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ef9e9edf6387b84440b3509886b8d5f99ee512d2 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00025/meta.json @@ -0,0 +1,2687 @@ +{ + "frame_id": 25, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 12.5, + "sim_timestamp": 10005.196711760014 + }, + "drone_pose": { + "x": -135.5643551054345, + "y": -127.18057274229426, + "z": 20.068490710521534, + "pitch": -41.03480644016621, + "yaw": 44.26357406191868, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5401896834373474, + -0.5264788866043091, + 0.6565173864364624, + 127.0130386352539 + ], + [ + 0.6979601383209229, + 0.716136634349823, + 0.0, + -3.53985595703125 + ], + [ + -0.47015610337257385, + 0.4582229554653168, + 0.7543109059333801, + -137.15135192871094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -135.0469224261821, + "y": -126.75787028083344, + "z": 20.05930106751855 + }, + "t1_image_uv": [ + 529.5915777285636, + -452.5210404157641 + ], + "t1_depth": 0.5080888785375357 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -119.16718292236328, + "y": -112.68776321411131, + "z": 0.5749846434596475 + }, + "image_uv": [ + 605.0643099121876, + 371.6041789808146 + ], + "depth": 29.2855671950132, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 181, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -119.16718292236328, + "y": -112.68775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.21123534440994263, + "y": 0.23509764671325684, + "z": 0.5354500412940979 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 596.5141371629426, + "ymin": 353.7127569880979, + "xmax": 613.322766549463, + "ymax": 389.2649097015416 + }, + "corners_3d": [ + [ + -119.15030670166016, + -113.00336456298828, + 0.03953462839126587 + ], + [ + -119.4827880859375, + -112.67088317871094, + 0.03953462839126587 + ], + [ + -119.1840591430664, + -112.37215423583984, + 0.03953462839126587 + ], + [ + -118.85157775878906, + -112.70463562011719, + 0.03953462839126587 + ], + [ + -119.15030670166016, + -113.00336456298828, + 1.1104347705841064 + ], + [ + -119.4827880859375, + -112.67088317871094, + 1.1104347705841064 + ], + [ + -119.1840591430664, + -112.37215423583984, + 1.1104347705841064 + ], + [ + -118.85157775878906, + -112.70463562011719, + 1.1104347705841064 + ] + ], + "corners_2d": [ + [ + 597.5512236122293, + 389.13118339507963 + ], + [ + 612.8575257671059, + 389.2649097015416 + ], + [ + 613.322766549463, + 380.015928963406 + ], + [ + 598.1800672335788, + 379.88504751821966 + ], + [ + 596.5141371629426, + 362.8949864934397 + ], + [ + 612.1942898762611, + 363.0278237225844 + ], + [ + 612.6780391141051, + 353.84270035467216 + ], + [ + 597.1695338996, + 353.7127569880979 + ] + ], + "center_offset_px": [ + -34.93569008781242, + 11.604178980814595 + ] + }, + "trace_timestep_index": 25, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 66, + "semantic_pixel_counts": { + "1": 553394, + "2": 172703, + "3": 136551, + "4": 380, + "5": 3388, + "6": 6858, + "7": 887, + "9": 10599, + "10": 5349, + "12": 3360, + "14": 406, + "21": 545, + "24": 27180 + }, + "instance_pixel_counts": { + "1115": 3844, + "2978": 9, + "6254": 2503, + "10370": 2132, + "11394": 1128, + "14416": 86, + "14928": 3302, + "15511": 1268, + "16023": 621, + "17232": 380, + "18011": 28177, + "20119": 4900, + "20631": 15044, + "23808": 175, + "24064": 4310, + "26560": 2068, + "27072": 2767, + "29843": 23472, + "30144": 2746, + "30355": 7448, + "30656": 66202, + "31168": 2123, + "31813": 5261, + "31891": 369813, + "34120": 50841, + "34395": 43, + "34453": 2940, + "34907": 501, + "34965": 68, + "35419": 2850, + "35931": 7680, + "36443": 82892, + "36501": 16894, + "44171": 748, + "44179": 900, + "44691": 118741, + "44891": 315, + "45203": 12274, + "45915": 36, + "46227": 20746, + "46731": 1069, + "46741": 50, + "47253": 5557, + "47765": 904, + "48267": 735, + "48779": 525, + "48789": 767, + "49664": 181, + "49803": 867, + "49920": 379, + "50176": 392, + "50432": 809, + "50688": 1006, + "50944": 593, + "53184": 1414, + "54016": 406, + "54720": 2004, + "55232": 2082, + "55744": 2487, + "56135": 26, + "56768": 2070, + "56993": 185, + "57173": 10599, + "60013": 4428, + "61037": 3633, + "64351": 10122 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 181, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -119.16718292236328, + "y": -112.68775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.23555663228034973, + "y": 0.23871581256389618, + "z": 0.5275207757949829 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 596.3632714491015, + "ymin": 353.38769724292314, + "xmax": 613.4609629258173, + "ymax": 389.6147676870979 + }, + "corners_3d": [ + [ + -119.16494750976562, + -113.02311706542969, + 0.04746389389038086 + ], + [ + -119.5025405883789, + -112.6855239868164, + 0.04746389389038086 + ], + [ + -119.16941833496094, + -112.35240173339844, + 0.04746389389038086 + ], + [ + -118.83182525634766, + -112.68999481201172, + 0.04746389389038086 + ], + [ + -119.16494750976562, + -113.02311706542969, + 1.1025054454803467 + ], + [ + -119.5025405883789, + -112.6855239868164, + 1.1025054454803467 + ], + [ + -119.16941833496094, + -112.35240173339844, + 1.1025054454803467 + ], + [ + -118.83182525634766, + -112.68999481201172, + 1.1025054454803467 + ] + ], + "corners_2d": [ + [ + 597.3893631590323, + 389.4788220584739 + ], + [ + 612.9434098360704, + 389.6147676870979 + ], + [ + 613.4609629258173, + 379.3012947690459 + ], + [ + 598.0922262950497, + 379.16857077786005 + ], + [ + 596.3632714491015, + 363.6277453333467 + ], + [ + 612.2917647739849, + 363.7628045636453 + ], + [ + 612.8295837992463, + 353.5194801701715 + ], + [ + 597.0953744654471, + 353.38769724292314 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 379, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -115.04119873046875, + "y": -109.69005584716797, + "z": 0.7272698283195496 + }, + "extent": { + "x": 0.46040037274360657, + "y": 0.40254393219947815, + "z": 0.8789362907409668 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 572.9561631109958, + "ymin": 240.4837348228678, + "xmax": 602.1048798401986, + "ymax": 300.2839527449905 + }, + "corners_3d": [ + [ + -115.20808410644531, + -110.27841186523438, + -0.15166646242141724 + ], + [ + -115.64656066894531, + -109.60320281982422, + -0.15166646242141724 + ], + [ + -114.87431335449219, + -109.10169982910156, + -0.15166646242141724 + ], + [ + -114.43583679199219, + -109.77690887451172, + -0.15166646242141724 + ], + [ + -115.20808410644531, + -110.27841186523438, + 1.6062061786651611 + ], + [ + -115.64656066894531, + -109.60320281982422, + 1.6062061786651611 + ], + [ + -114.87431335449219, + -109.10169982910156, + 1.6062061786651611 + ], + [ + -114.43583679199219, + -109.77690887451172, + 1.6062061786651611 + ] + ], + "corners_2d": [ + [ + 579.1172854427685, + 300.2839527449905 + ], + [ + 602.1048798401986, + 297.5193126925862 + ], + [ + 597.7820335259421, + 282.01718693347016 + ], + [ + 575.2418755197876, + 284.67186986346917 + ], + [ + 576.9226378685939, + 258.3713795885891 + ], + [ + 600.7439118255874, + 255.66216905611185 + ], + [ + 596.2972884816849, + 240.4837348228678 + ], + [ + 572.9561631109958, + 243.0814363000188 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 392, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -121.42300415039062, + "y": -105.74504852294922, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.3667334020137787, + "y": 0.3183642625808716, + "z": 0.8812006711959839 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 791.280197659521, + "ymin": 277.85476154949487, + "xmax": 821.2248560209036, + "ymax": 334.70951969932423 + }, + "corners_3d": [ + [ + -121.50765991210938, + -106.22325897216797, + -0.3062160015106201 + ], + [ + -121.90836334228516, + -105.72842407226562, + -0.3062160015106201 + ], + [ + -121.33834838867188, + -105.26683807373047, + -0.3062160015106201 + ], + [ + -120.9376449584961, + -105.76167297363281, + -0.3062160015106201 + ], + [ + -121.50765991210938, + -106.22325897216797, + 1.4561853408813477 + ], + [ + -121.90836334228516, + -105.72842407226562, + 1.4561853408813477 + ], + [ + -121.33834838867188, + -105.26683807373047, + 1.4561853408813477 + ], + [ + -120.9376449584961, + -105.76167297363281, + 1.4561853408813477 + ] + ], + "corners_2d": [ + [ + 795.9029378300313, + 334.70951969932423 + ], + [ + 814.6818450530743, + 333.59544473338747 + ], + [ + 809.747977578381, + 319.92052173113285 + ], + [ + 791.280197659521, + 320.9972326391808 + ], + [ + 801.7508943071681, + 292.38708637588707 + ], + [ + 821.2248560209036, + 291.2916539225482 + ], + [ + 815.9947696122782, + 277.85476154949487 + ], + [ + 796.8551814163005, + 278.91211419176835 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 809, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -128.66717529296875, + "y": -112.68775939941406, + "z": 0.5749797821044922 + }, + "extent": { + "x": 0.386665016412735, + "y": 0.4168945252895355, + "z": 0.8749423027038574 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 837.6857495263675, + "ymin": 516.9430245222811, + "xmax": 886.4259412021772, + "ymax": 585.4493691561424 + }, + "corners_3d": [ + [ + -128.6457977294922, + -113.2559585571289, + -0.29996252059936523 + ], + [ + -129.23538208007812, + -112.6663818359375, + -0.29996252059936523 + ], + [ + -128.6885528564453, + -112.11956024169922, + -0.29996252059936523 + ], + [ + -128.09896850585938, + -112.70913696289062, + -0.29996252059936523 + ], + [ + -128.6457977294922, + -113.2559585571289, + 1.4499220848083496 + ], + [ + -129.23538208007812, + -112.6663818359375, + 1.4499220848083496 + ], + [ + -128.6885528564453, + -112.11956024169922, + 1.4499220848083496 + ], + [ + -128.09896850585938, + -112.70913696289062, + 1.4499220848083496 + ] + ], + "corners_2d": [ + [ + 842.0133796756663, + 585.0982773233188 + ], + [ + 874.838859582824, + 585.4493691561424 + ], + [ + 869.7444537613144, + 560.7107776698219 + ], + [ + 837.6857495263675, + 560.3758648700073 + ], + [ + 851.9773726108212, + 541.7971688213947 + ], + [ + 886.4259412021772, + 542.1505429889091 + ], + [ + 880.8031422851514, + 517.2793404665384 + ], + [ + 847.1980774214633, + 516.9430245222811 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 1006, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -122.78268432617188, + "y": -123.81512451171875, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.5897167921066284, + "y": 0.5137109160423279, + "z": 0.8774603009223938 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 307.9950710937924, + "ymin": 632.3389370881488, + "xmax": 386.3143034899232, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -122.75457763671875, + -124.59671020507812, + -0.3024708032608032 + ], + [ + -123.55303192138672, + -123.95013427734375, + -0.3024708032608032 + ], + [ + -122.810791015625, + -123.03353881835938, + -0.3024708032608032 + ], + [ + -122.01233673095703, + -123.68011474609375, + -0.3024708032608032 + ], + [ + -122.75457763671875, + -124.59671020507812, + 1.4524497985839844 + ], + [ + -123.55303192138672, + -123.95013427734375, + 1.4524497985839844 + ], + [ + -122.810791015625, + -123.03353881835938, + 1.4524497985839844 + ], + [ + -122.01233673095703, + -123.68011474609375, + 1.4524497985839844 + ] + ], + "corners_2d": [ + [ + 325.65996893627204, + 721.7390708972412 + ], + [ + 369.76028265621227, + 726.7867065296716 + ], + [ + 386.3143034899232, + 679.4619361927585 + ], + [ + 343.8760474962162, + 674.8030704383458 + ], + [ + 307.9950710937924, + 680.0826114588283 + ], + [ + 354.50604087196325, + 685.2296376559116 + ], + [ + 372.58862594700696, + 637.0685871713451 + ], + [ + 327.92235394076255, + 632.3389370881488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 593, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -107.92184448242188, + "y": -120.85797882080078, + "z": 0.7354680299758911 + }, + "extent": { + "x": 0.4236083924770355, + "y": 0.4498681426048279, + "z": 0.8779986500740051 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 152.74849712591777, + "ymin": 287.94550870630036, + "xmax": 209.86313827176338, + "ymax": 350.39226251139695 + }, + "corners_3d": [ + [ + -107.7752685546875, + -121.45825958251953, + -0.142530620098114 + ], + [ + -108.52984619140625, + -120.96823120117188, + -0.142530620098114 + ], + [ + -108.06842041015625, + -120.25769805908203, + -0.142530620098114 + ], + [ + -107.3138427734375, + -120.74772644042969, + -0.142530620098114 + ], + [ + -107.7752685546875, + -121.45825958251953, + 1.613466739654541 + ], + [ + -108.52984619140625, + -120.96823120117188, + 1.613466739654541 + ], + [ + -108.06842041015625, + -120.25769805908203, + 1.613466739654541 + ], + [ + -107.3138427734375, + -120.74772644042969, + 1.613466739654541 + ] + ], + "corners_2d": [ + [ + 170.69901137876622, + 346.4431162213361 + ], + [ + 195.49628541666402, + 350.39226251139695 + ], + [ + 209.86313827176338, + 334.18549083178027 + ], + [ + 185.4828126194966, + 330.3894513098667 + ], + [ + 152.74849712591777, + 303.73541942400817 + ], + [ + 178.40942896208958, + 307.6232992057178 + ], + [ + 193.66521434860982, + 291.67705265590354 + ], + [ + 168.45003196913973, + 287.94550870630036 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 406, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 568.3154572945631, + "ymin": 0.0, + "xmax": 660.6559265233215, + "ymax": 26.53468344830071 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 593.5677588223682, + -8.784843272332807 + ], + [ + 569.6938878921385, + -0.5682995167668423 + ], + [ + 636.2482757984556, + 26.53468344830071 + ], + [ + 660.2437363513708, + 17.362806402855654 + ], + [ + 592.6734539830082, + -37.13204295800091 + ], + [ + 568.3154572945631, + -29.263199718494548 + ], + [ + 636.1704346061198, + -3.2692523629435186 + ], + [ + 660.6559265233215, + -12.072338224098417 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 816.5942575603178, + "ymin": 59.838576727994564, + "xmax": 833.2796885389071, + "ymax": 90.12302305027595 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 823.0869098849315, + 90.12302305027595 + ], + [ + 829.918061176442, + 86.68133355708511 + ], + [ + 823.4337641591145, + 84.13249283439404 + ], + [ + 816.5942575603178, + 87.54295247346954 + ], + [ + 826.3478147442067, + 65.6711377062498 + ], + [ + 833.2796885389071, + 62.31993606891979 + ], + [ + 826.665637795734, + 59.838576727994564 + ], + [ + 819.7249234312649, + 63.15883341253209 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 957.6113021150634, + "ymin": 113.79083194249654, + "xmax": 978.493811841186, + "ymax": 146.70105614452171 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 965.4641293590784, + 146.70105614452171 + ], + [ + 972.0216291659241, + 142.5389872900332 + ], + [ + 964.1883991245415, + 139.4599107176503 + ], + [ + 957.6113021150634, + 143.58047635773104 + ], + [ + 971.8520456645585, + 120.86593448774974 + ], + [ + 978.493811841186, + 116.79890892818281 + ], + [ + 970.4757943449388, + 113.79083194249654 + ], + [ + 963.8132168772646, + 117.81651481508584 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 708.9628062326912, + "ymin": 92.95909253348873, + "xmax": 722.0725703958869, + "ymax": 119.27561008576117 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 714.2500826047617, + 119.27561008576117 + ], + [ + 720.8230331728864, + 116.10107256360894 + ], + [ + 715.5375671743293, + 113.73422103921561 + ], + [ + 708.9628062326912, + 116.88334237381181 + ], + [ + 715.4042560158407, + 98.38821808407135 + ], + [ + 722.0725703958869, + 95.27780143957233 + ], + [ + 716.7006464383273, + 92.95909253348873 + ], + [ + 710.0304139464029, + 96.04422266281193 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 890.183603497897, + "ymin": 87.97818892012663, + "xmax": 909.0010117283255, + "ymax": 119.64181395428741 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 897.3698570669212, + 119.64181395428741 + ], + [ + 904.0798088364868, + 115.83275613947714 + ], + [ + 896.9073373150351, + 113.01340849895948 + ], + [ + 890.183603497897, + 116.78611793609466 + ], + [ + 902.1974898490903, + 94.44368664884138 + ], + [ + 909.0010117283255, + 90.72791476445974 + ], + [ + 901.6716314308906, + 87.97818892012663 + ], + [ + 894.8535029997943, + 91.65784451091616 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 858.8163783598379, + "ymin": 0.0, + "xmax": 1048.0529712353762, + "ymax": 100.2122896291221 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1003.3766285600368, + 28.73014207751112 + ], + [ + 996.0452985151558, + 26.39310104767452 + ], + [ + 858.8163783598379, + 97.16771921402193 + ], + [ + 866.4574292507314, + 100.2122896291221 + ], + [ + 1048.0529712353762, + -147.61008421124785 + ], + [ + 1039.592581925801, + -149.3157586366795 + ], + [ + 889.8890102752899, + -96.78482572953942 + ], + [ + 898.8104919983018, + -94.48366610709797 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2334590930876643410, + "instance_id": 21048, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -123.8453369140625, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 114.97785737384629, + "ymin": 302.57930920074, + "xmax": 139.06116028001134, + "ymax": 321.59437842250446 + }, + "corners_3d": [ + [ + -116.6200942993164, + -123.69747161865234, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.69747161865234, + 7.743301868438721 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 130.9306557305929, + 306.6951754970035 + ], + [ + 116.85448838164837, + 312.7621117385501 + ], + [ + 124.89104708876994, + 321.59437842250446 + ], + [ + 139.06116028001134, + 315.3912655105715 + ], + [ + 129.11862320204767, + 302.57930920074 + ], + [ + 114.97785737384629, + 308.63597203207155 + ], + [ + 123.02246668718192, + 317.45388048388196 + ], + [ + 137.2581743402027, + 311.2607776081837 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3639812104533344102, + "instance_id": 26239, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -123.8453369140625, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 115.10666829248851, + "ymin": 302.67941290916235, + "xmax": 138.93320967975052, + "ymax": 321.49227610164627 + }, + "corners_3d": [ + [ + -116.62229919433594, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.69904327392578, + 7.742714881896973 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 130.8899682438368, + 306.7516324981359 + ], + [ + 116.96295146664522, + 312.75458235509444 + ], + [ + 124.91422593075845, + 321.49227610164627 + ], + [ + 138.93320967975052, + 315.3560296126317 + ], + [ + 129.09692057809679, + 302.67941290916235 + ], + [ + 115.10666829248851, + 308.67230824482664 + ], + [ + 123.06582667631517, + 317.3959458948477 + ], + [ + 137.14901049835862, + 311.26949886888974 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 859.3574257322201, + "ymin": 0.0, + "xmax": 1094.1840579921984, + "ymax": 50.15500713133355 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 924.9602718139369, + 50.15500713133355 + ], + [ + 1022.1764778016642, + 0.09364973602379223 + ], + [ + 958.7782971181379, + -18.490753249051807 + ], + [ + 859.3574257322201, + 27.545616779787792 + ], + [ + 985.5025728975157, + -250.01619359697168 + ], + [ + 1094.1840579921984, + -275.5390191170866 + ], + [ + 1016.0721326742236, + -284.75815426771237 + ], + [ + 903.5535939294463, + -261.6698887081568 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 751.1587951677019, + "ymin": 33.455831929132785, + "xmax": 767.3254144323257, + "ymax": 43.1258609865115 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 757.1805872662192, + 36.7766449969734 + ], + [ + 751.1587951677019, + 39.3720836427276 + ], + [ + 761.0120508954843, + 43.1258609865115 + ], + [ + 767.0274937368716, + 40.49253896171149 + ], + [ + 757.4534301657725, + 33.455831929132785 + ], + [ + 751.4189312279904, + 36.04048157726464 + ], + [ + 761.297315140072, + 39.77876268946386 + ], + [ + 767.3254144323257, + 37.15629811153116 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 482.11465120157897, + "ymin": 0.0, + "xmax": 559.9575739990881, + "ymax": 35.92841612509483 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 498.2552938166053, + 33.49135210909583 + ], + [ + 503.5151899917303, + 35.92841612509483 + ], + [ + 559.9575739990881, + 15.913085854913277 + ], + [ + 554.6441085282136, + 13.662609809394098 + ], + [ + 482.11465120157897, + -129.2885039572095 + ], + [ + 487.89057177741154, + -127.44099840240881 + ], + [ + 551.1922632439735, + -142.55491956879217 + ], + [ + 545.3443955211617, + -144.24586581871353 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 751.2448618511379, + "ymin": 33.50704897287727, + "xmax": 767.2392783035286, + "ymax": 43.074247418711536 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 757.2025278107253, + 36.79267789841498 + ], + [ + 751.2448618511379, + 39.360605444713656 + ], + [ + 760.9932730355351, + 43.074247418711536 + ], + [ + 766.9447254635767, + 40.469238402367296 + ], + [ + 757.472533509557, + 33.50704897287727 + ], + [ + 751.5024300698511, + 36.06441565410955 + ], + [ + 761.2754371853397, + 39.76288936107784 + ], + [ + 767.2392783035286, + 37.168507498034444 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 670.5380475064794, + "ymin": 0.11175162834797447, + "xmax": 771.6871267065933, + "ymax": 241.87103313406294 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 678.3741427710495, + 197.9863322805753 + ], + [ + 670.5380475064794, + 202.15043845277674 + ], + [ + 745.0294807615819, + 241.87103313406294 + ], + [ + 752.8375066618946, + 237.20617089616997 + ], + [ + 684.3766624154151, + 0.11175162834797447 + ], + [ + 675.3490230575509, + 3.515773803582533 + ], + [ + 762.7089241105789, + 36.32041632788241 + ], + [ + 771.6871267065933, + 32.43612243693485 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 49.92672120806674, + "ymin": 231.7877785932084, + "xmax": 242.22164614546648, + "ymax": 551.8102267482616 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 177.5338968521167, + 464.1331680327469 + ], + [ + 162.2439273251049, + 472.2582678854852 + ], + [ + 226.25462143052476, + 551.8102267482616 + ], + [ + 242.22164614546648, + 542.2708154303185 + ], + [ + 69.96009529726678, + 231.7877785932084 + ], + [ + 49.92672120806674, + 239.3416968370734 + ], + [ + 118.69949635713795, + 314.94209579920135 + ], + [ + 140.02406837176545, + 305.71631770857783 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 698.1665952902705, + "ymin": 0.0, + "xmax": 1028.9375154458203, + "ymax": 310.02741374263064 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 705.4682129319445, + 174.25033574654827 + ], + [ + 698.1665952902705, + 178.00455244067197 + ], + [ + 956.0694749824478, + 310.02741374263064 + ], + [ + 963.0572138727447, + 304.6094979239955 + ], + [ + 716.2217125754888, + -37.4335469115336 + ], + [ + 707.7850936524246, + -34.483790220636706 + ], + [ + 1021.0644544251362, + 72.93584365937596 + ], + [ + 1028.9375154458203, + 68.38170116271044 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 141.91368915914643, + "ymax": 517.7734678190835 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 25.200892644636724, + 296.12328381980217 + ], + [ + -200.85948780015792, + 407.4026557469677 + ], + [ + -93.46999584033392, + 517.7734678190835 + ], + [ + 141.91368915914643, + 379.11919792226365 + ], + [ + -169.1045566331328, + -72.66456527198739 + ], + [ + -519.4542526402681, + 7.445603075976578 + ], + [ + -421.65886816340617, + 94.83493854011226 + ], + [ + -38.57123451563962, + -13.632178651693664 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 178.6097206911275, + "ymax": 592.596388855573 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -148.90143595609425, + 592.596388855573 + ], + [ + 145.8727867588642, + 541.1615018940201 + ], + [ + 178.6097206911275, + 366.3395442541927 + ], + [ + -62.01319384023088, + 401.30246221673633 + ], + [ + -541.7224906114668, + 159.19277313913548 + ], + [ + -82.83825570381157, + 114.48075509687277 + ], + [ + 14.809317926346921, + -22.991090378758543 + ], + [ + -325.47287967057616, + 2.8563714519784753 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00026/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00026/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e89d99e0341745812f3b4bba57b458ab96ee544d --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00026/meta.json @@ -0,0 +1,4158 @@ +{ + "frame_id": 26, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 13.0, + "sim_timestamp": 10016.284655816853 + }, + "drone_pose": { + "x": -135.0469224261821, + "y": -126.75787028083344, + "z": 20.05930106751855, + "pitch": -40.77252115937843, + "yaw": 36.65373504412778, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6075566411018372, + -0.45209604501724243, + 0.6530575156211853, + 126.2555160522461 + ], + [ + 0.5969775319099426, + 0.8022579550743103, + 0.0, + 21.072532653808594 + ], + [ + -0.5239205956459045, + 0.3898606598377228, + 0.7573083639144897, + -135.36282348632812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -134.5264844074757, + "y": -126.31165732481192, + "z": 20.051102066665038 + }, + "t1_image_uv": [ + 726.7536772727657, + -447.98458693645784 + ], + "t1_depth": 0.5232811186728422 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -118.66718292236328, + "y": -112.18776321411131, + "z": 0.5749895262720384 + }, + "image_uv": [ + 702.6804006939423, + 376.1942169969527 + ], + "depth": 29.263083041917284, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 182, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -118.66718292236328, + "y": -112.18775939941406, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.1865820288658142, + "y": 0.21583007276058197, + "z": 0.5186353921890259 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 694.3728888581643, + "ymin": 358.6750478736591, + "xmax": 711.1154772870756, + "ymax": 393.50479510578305 + }, + "corners_3d": [ + [ + -118.64649963378906, + -112.47230529785156, + 0.0563541054725647 + ], + [ + -118.95172882080078, + -112.16707611083984, + 0.0563541054725647 + ], + [ + -118.6878662109375, + -111.90321350097656, + 0.0563541054725647 + ], + [ + -118.38263702392578, + -112.20844268798828, + 0.0563541054725647 + ], + [ + -118.64649963378906, + -112.47230529785156, + 1.0936248302459717 + ], + [ + -118.95172882080078, + -112.16707611083984, + 1.0936248302459717 + ], + [ + -118.6878662109375, + -111.90321350097656, + 1.0936248302459717 + ], + [ + -118.38263702392578, + -112.20844268798828, + 1.0936248302459717 + ] + ], + "corners_2d": [ + [ + 694.3728888581643, + 392.11862941064595 + ], + [ + 708.3881231665381, + 393.50479510578305 + ], + [ + 709.4944507163717, + 385.40070478088126 + ], + [ + 695.6091059091245, + 384.0404794751021 + ], + [ + 695.6514106909411, + 366.69695965625647 + ], + [ + 709.9988517155207, + 368.0738314273952 + ], + [ + 711.1154772870756, + 360.025555543742 + ], + [ + 696.9041271044704, + 358.6750478736591 + ] + ], + "center_offset_px": [ + 62.68040069394226, + 16.19421699695272 + ] + }, + "trace_timestep_index": 26, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 80, + "semantic_pixel_counts": { + "1": 486114, + "2": 197187, + "3": 129823, + "4": 4818, + "5": 4468, + "6": 10099, + "7": 1520, + "9": 43576, + "10": 7960, + "12": 3465, + "14": 702, + "16": 687, + "21": 4297, + "24": 26884 + }, + "instance_pixel_counts": { + "1115": 3794, + "1954": 4, + "1957": 484, + "2978": 255, + "3490": 39, + "4002": 255, + "6254": 2594, + "10370": 1923, + "11394": 1187, + "14416": 107, + "14672": 281, + "14723": 41, + "14928": 4080, + "15511": 3570, + "16023": 684, + "17232": 4818, + "18011": 30106, + "20631": 14778, + "23488": 79, + "23808": 495, + "24064": 5313, + "26560": 12110, + "27072": 2999, + "28608": 4198, + "29843": 19560, + "30355": 18057, + "30656": 64554, + "31168": 2239, + "31301": 555, + "31488": 2603, + "31813": 7076, + "31891": 337020, + "34120": 48683, + "34395": 309, + "34453": 2323, + "34907": 678, + "34965": 1936, + "35419": 1983, + "35931": 5799, + "36181": 16, + "36443": 77008, + "36501": 16369, + "39507": 57, + "44171": 833, + "44179": 1977, + "44691": 85397, + "44891": 320, + "45203": 1010, + "45915": 28, + "46227": 23093, + "46731": 1264, + "46741": 63, + "47253": 5151, + "47765": 157, + "48267": 757, + "48779": 554, + "48789": 885, + "49664": 182, + "49803": 1409, + "49920": 383, + "50176": 434, + "50432": 1015, + "50688": 937, + "50944": 514, + "52480": 40, + "52736": 647, + "53184": 1539, + "54016": 702, + "54720": 2341, + "55232": 4985, + "55744": 2614, + "56135": 84, + "56768": 4760, + "56993": 585, + "57173": 43576, + "58529": 1369, + "59809": 1426, + "60013": 3898, + "61037": 3170, + "64351": 22237 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 182, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -118.66718292236328, + "y": -112.18775939941406, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.1995556652545929, + "y": 0.21827636659145355, + "z": 0.5299515128135681 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 694.2366419021155, + "ymin": 358.1080586391705, + "xmax": 711.2526045298442, + "ymax": 394.06821139653863 + }, + "corners_3d": [ + [ + -118.65394592285156, + -112.48320770263672, + 0.04503798484802246 + ], + [ + -118.96263122558594, + -112.17452239990234, + 0.04503798484802246 + ], + [ + -118.680419921875, + -111.8923110961914, + 0.04503798484802246 + ], + [ + -118.37173461914062, + -112.20099639892578, + 0.04503798484802246 + ], + [ + -118.65394592285156, + -112.48320770263672, + 1.1049410104751587 + ], + [ + -118.96263122558594, + -112.17452239990234, + 1.1049410104751587 + ], + [ + -118.680419921875, + -111.8923110961914, + 1.1049410104751587 + ], + [ + -118.37173461914062, + -112.20099639892578, + 1.1049410104751587 + ] + ], + "corners_2d": [ + [ + 694.2366419021155, + 392.665335004887 + ], + [ + 708.4116008961096, + 394.06821139653863 + ], + [ + 709.5939547856012, + 385.3998155946715 + ], + [ + 695.5594204828514, + 384.0249926428207 + ], + [ + 695.5405486509733, + 366.68693475646114 + ], + [ + 710.0590346582386, + 368.0802221182566 + ], + [ + 711.2526045298442, + 359.4728242569966 + ], + [ + 696.881397371304, + 358.1080586391705 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 383, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -114.54119873046875, + "y": -109.19005584716797, + "z": 0.7271672487258911 + }, + "extent": { + "x": 0.4262744188308716, + "y": 0.2933593690395355, + "z": 0.8965308666229248 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 683.3746611971435, + "ymin": 245.15817161541773, + "xmax": 704.9034721817121, + "ymax": 302.7890518024045 + }, + "corners_3d": [ + [ + -114.73892974853516, + -109.66825103759766, + -0.1693636178970337 + ], + [ + -115.05847930908203, + -109.17619323730469, + -0.1693636178970337 + ], + [ + -114.34346771240234, + -108.71186065673828, + -0.1693636178970337 + ], + [ + -114.02391815185547, + -109.20391845703125, + -0.1693636178970337 + ], + [ + -114.73892974853516, + -109.66825103759766, + 1.623698115348816 + ], + [ + -115.05847930908203, + -109.17619323730469, + 1.623698115348816 + ], + [ + -114.34346771240234, + -108.71186065673828, + 1.623698115348816 + ], + [ + -114.02391815185547, + -109.20391845703125, + 1.623698115348816 + ] + ], + "corners_2d": [ + [ + 685.7820572034615, + 302.7890518024045 + ], + [ + 702.6214039577425, + 302.13389063276634 + ], + [ + 699.8964005931904, + 287.5194599392986 + ], + [ + 683.3746611971435, + 288.1499766897141 + ], + [ + 687.4519322292443, + 260.0971533963046 + ], + [ + 704.9034721817121, + 259.45573411774086 + ], + [ + 702.0362539082532, + 245.15817161541773 + ], + [ + 684.92560009256, + 245.77460959840343 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 434, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -120.92300415039062, + "y": -105.24504852294922, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.4133593738079071, + "y": 0.4130566418170929, + "z": 0.8997822999954224 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 893.3808880521855, + "ymin": 297.807439879811, + "xmax": 933.9770269490652, + "ymax": 357.883229342416 + }, + "corners_3d": [ + [ + -120.98429870605469, + -105.82618713378906, + -0.3247976303100586 + ], + [ + -121.50418853759766, + -105.1841812133789, + -0.3247976303100586 + ], + [ + -120.86170959472656, + -104.66390991210938, + -0.3247976303100586 + ], + [ + -120.3418197631836, + -105.30591583251953, + -0.3247976303100586 + ], + [ + -120.98429870605469, + -105.82618713378906, + 1.4747669696807861 + ], + [ + -121.50418853759766, + -105.1841812133789, + 1.4747669696807861 + ], + [ + -120.86170959472656, + -104.66390991210938, + 1.4747669696807861 + ], + [ + -120.3418197631836, + -105.30591583251953, + 1.4747669696807861 + ] + ], + "corners_2d": [ + [ + 897.4043687685119, + 357.20790737784165 + ], + [ + 922.9367431396211, + 357.883229342416 + ], + [ + 918.4096435319996, + 341.70035945683026 + ], + [ + 893.3808880521855, + 341.05123797477285 + ], + [ + 907.4398362880919, + 313.69659949891917 + ], + [ + 933.9770269490652, + 314.3612682592908 + ], + [ + 929.0522313744575, + 298.445346250235 + ], + [ + 903.0586545728313, + 297.807439879811 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 1015, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -128.16717529296875, + "y": -112.18775939941406, + "z": 0.5749797821044922 + }, + "extent": { + "x": 0.41398924589157104, + "y": 0.48542478680610657, + "z": 0.9183025360107422 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 921.1447219228662, + "ymin": 544.194004229882, + "xmax": 980.999114144458, + "ymax": 622.1707139913688 + }, + "corners_3d": [ + [ + -128.11666870117188, + -112.82373809814453, + -0.34332275390625 + ], + [ + -128.80316162109375, + -112.13724517822266, + -0.34332275390625 + ], + [ + -128.21768188476562, + -111.5517807006836, + -0.34332275390625 + ], + [ + -127.53119659423828, + -112.23827362060547, + -0.34332275390625 + ], + [ + -128.11666870117188, + -112.82373809814453, + 1.4932823181152344 + ], + [ + -128.80316162109375, + -112.13724517822266, + 1.4932823181152344 + ], + [ + -128.21768188476562, + -111.5517807006836, + 1.4932823181152344 + ], + [ + -127.53119659423828, + -112.23827362060547, + 1.4932823181152344 + ] + ], + "corners_2d": [ + [ + 923.6221629461085, + 617.2899295611626 + ], + [ + 963.7618101577908, + 622.1707139913688 + ], + [ + 960.2504937306477, + 594.3963964939168 + ], + [ + 921.1447219228662, + 589.7608455267966 + ], + [ + 938.651206781798, + 571.9329089860806 + ], + [ + 980.999114144458, + 576.8586789882812 + ], + [ + 976.8438883828621, + 548.8596704152807 + ], + [ + 935.6450491986113, + 544.194004229882 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 937, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -122.28268432617188, + "y": -123.31512451171875, + "z": 0.5749748945236206 + }, + "extent": { + "x": 0.458251953125, + "y": 0.4034765660762787, + "z": 0.882414698600769 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 397.16189716810004, + "ymin": 610.2995848725745, + "xmax": 457.274566953023, + "ymax": 695.1101380154107 + }, + "corners_3d": [ + [ + -122.25750732421875, + -123.9251708984375, + -0.30743980407714844 + ], + [ + -122.88462829589844, + -123.4173355102539, + -0.30743980407714844 + ], + [ + -122.307861328125, + -122.705078125, + -0.30743980407714844 + ], + [ + -121.68074035644531, + -123.2129135131836, + -0.30743980407714844 + ], + [ + -122.25750732421875, + -123.9251708984375, + 1.4573895931243896 + ], + [ + -122.88462829589844, + -123.4173355102539, + 1.4573895931243896 + ], + [ + -122.307861328125, + -122.705078125, + 1.4573895931243896 + ], + [ + -121.68074035644531, + -123.2129135131836, + 1.4573895931243896 + ] + ], + "corners_2d": [ + [ + 409.6835706225841, + 687.2316757204441 + ], + [ + 441.9196033772065, + 695.1101380154107 + ], + [ + 457.274566953023, + 660.9205923809238 + ], + [ + 425.8790181635252, + 653.497077155484 + ], + [ + 397.16189716810004, + 644.4980308386375 + ], + [ + 431.0730396645882, + 652.5004703010711 + ], + [ + 447.578582395127, + 617.8158644575255 + ], + [ + 414.5957484591976, + 610.2995848725745 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 514, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -107.42184448242188, + "y": -120.35797882080078, + "z": 0.7366301417350769 + }, + "extent": { + "x": 0.4980419874191284, + "y": 0.5149316191673279, + "z": 0.911739706993103 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 273.6813809358308, + "ymin": 257.18366719072475, + "xmax": 329.7209200702717, + "ymax": 323.76993731971993 + }, + "corners_3d": [ + [ + -107.26123809814453, + -121.05612182617188, + -0.17510956525802612 + ], + [ + -108.12495422363281, + -120.4952163696289, + -0.17510956525802612 + ], + [ + -107.58245086669922, + -119.65983581542969, + -0.17510956525802612 + ], + [ + -106.71873474121094, + -120.22074127197266, + -0.17510956525802612 + ], + [ + -107.26123809814453, + -121.05612182617188, + 1.6483697891235352 + ], + [ + -108.12495422363281, + -120.4952163696289, + 1.6483697891235352 + ], + [ + -107.58245086669922, + -119.65983581542969, + 1.6483697891235352 + ], + [ + -106.71873474121094, + -120.22074127197266, + 1.6483697891235352 + ] + ], + "corners_2d": [ + [ + 287.0324981111436, + 317.19989459238536 + ], + [ + 312.687264220529, + 323.76993731971993 + ], + [ + 329.7209200702717, + 306.85966907762605 + ], + [ + 304.47135523513447, + 300.56620695040505 + ], + [ + 273.6813809358308, + 273.4719146249519 + ], + [ + 300.19898007737794, + 279.91270905005626 + ], + [ + 318.14486045352095, + 263.3433609488038 + ], + [ + 292.05872609894936, + 257.18366719072475 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 40, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 581.8713596001144, + "ymin": 0.0, + "xmax": 766.3346258703131, + "ymax": 62.95203715151109 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 640.9541730851026, + -13.201482359917861 + ], + [ + 584.8514129090375, + 1.7326344398693436 + ], + [ + 700.251783353264, + 62.95203715151109 + ], + [ + 759.2756144321379, + 43.94895114520642 + ], + [ + 641.0040081171159, + -90.8366004767667 + ], + [ + 581.8713596001144, + -77.7834403412478 + ], + [ + 703.9581707676774, + -23.802396685634903 + ], + [ + 766.3346258703131, + -40.64042687910148 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 647, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 749.2645871374909, + "ymin": 0.0, + "xmax": 942.9591532404468, + "ymax": 29.64079354353362 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 877.5553049685816, + 29.64079354353362 + ], + [ + 927.0526479706025, + 12.905015790809841 + ], + [ + 797.3930643317385, + -37.881593814180974 + ], + [ + 749.2645871374909, + -24.54404146104895 + ], + [ + 891.20358266819, + -53.2989441075689 + ], + [ + 942.9591532404468, + -68.01735127779853 + ], + [ + 805.1479658662752, + -112.33642518389513 + ], + [ + 754.8236492932092, + -100.74739782637744 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 702, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 697.4263730763513, + "ymin": 0.0, + "xmax": 790.7378261476796, + "ymax": 39.43563727910794 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 722.1815698076874, + 1.2867275580474598 + ], + [ + 697.4263730763513, + 8.425898989061636 + ], + [ + 762.3889703583284, + 39.43563727910794 + ], + [ + 787.6940862111743, + 31.344525457686302 + ], + [ + 723.7712498555088, + -27.186202651637473 + ], + [ + 698.5544371200695, + -20.348598239376543 + ], + [ + 764.9529502112442, + 9.398042786777978 + ], + [ + 790.7378261476796, + 1.6291566899978989 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 52908959695452696, + "instance_id": 6202, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": -79.05494689941406, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1163.7172093711913, + "ymin": 0.0, + "xmax": 1180.161985106408, + "ymax": 13.089983967656849 + }, + "corners_3d": [ + [ + -113.29469299316406, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -78.86498260498047, + 3.5146729946136475 + ], + [ + -113.29469299316406, + -78.86498260498047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1163.7172093711913, + 11.322463708609916 + ], + [ + 1169.1285646010547, + 13.089983967656849 + ], + [ + 1173.507117405016, + 11.296923243028914 + ], + [ + 1168.099831169836, + 9.542533955752674 + ], + [ + 1170.250312164586, + -6.914326043313054 + ], + [ + 1175.7538239117189, + -5.192787219974946 + ], + [ + 1180.161985106408, + -6.93920092119987 + ], + [ + 1174.6628297434056, + -8.647791433952534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 945.6633236340078, + "ymin": 87.3965969288218, + "xmax": 965.8148159675704, + "ymax": 118.53841720000537 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 952.3662844910415, + 118.53841720000537 + ], + [ + 959.9407148558355, + 115.34578543952622 + ], + [ + 953.2338400322811, + 112.24942519902169 + ], + [ + 945.6633236340078, + 115.4081536849092 + ], + [ + 958.1332948544606, + 93.52728714842164 + ], + [ + 965.8148159675704, + 90.41471453461668 + ], + [ + 958.9537118200433, + 87.3965969288218 + ], + [ + 951.2759034874787, + 90.47551282789937 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1093.6435917451838, + "ymin": 154.12305074503703, + "xmax": 1119.2588935132403, + "ymax": 188.43268049789373 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1102.0343707488018, + 188.43268049789373 + ], + [ + 1109.5947172834221, + 184.43619054357845 + ], + [ + 1101.209864131756, + 180.56516048725848 + ], + [ + 1093.6435917451838, + 184.51421256028814 + ], + [ + 1111.6024212489046, + 161.82601549111274 + ], + [ + 1119.2588935132403, + 157.91263732109402 + ], + [ + 1110.644000508443, + 154.12305074503703 + ], + [ + 1102.9806363197533, + 157.98902733148512 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 829.5130839325104, + "ymin": 113.67270398968915, + "xmax": 845.0973970743876, + "ymax": 140.40130918378475 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 834.797785805207, + 140.40130918378475 + ], + [ + 841.9048305738465, + 137.53612732359696 + ], + [ + 836.6120605504439, + 134.73820279026873 + ], + [ + 829.5130839325104, + 137.57689948148732 + ], + [ + 837.8927837165335, + 119.22466778280392 + ], + [ + 845.0973970743876, + 116.41551193149559 + ], + [ + 839.7063419699891, + 113.67270398968915 + ], + [ + 832.5099142432907, + 116.45548387812917 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1022.2547401504307, + "ymin": 121.90774981688384, + "xmax": 1045.1512449822953, + "ymax": 154.70324763268016 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1029.807510005252, + 154.70324763268016 + ], + [ + 1037.3988976503028, + 151.1058739779648 + ], + [ + 1029.846762581282, + 147.61928277508275 + ], + [ + 1022.2547401504307, + 151.17612575046638 + ], + [ + 1037.4568301367099, + 128.82898061060416 + ], + [ + 1045.1512449822953, + 125.31386021753696 + ], + [ + 1037.4081145781033, + 121.90774981688384 + ], + [ + 1029.7125223445994, + 125.38249806565574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11529003171770300666, + "instance_id": 64120, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.25050354003906, + "y": -128.95399475097656, + "z": 3.0800981521606445 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 14.962729203087179, + "ymin": 435.1852713992397, + "xmax": 49.192061481376186, + "ymax": 473.4430432808963 + }, + "corners_3d": [ + [ + -113.11116790771484, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -128.7640380859375, + 3.5146679878234863 + ], + [ + -113.11116790771484, + -128.7640380859375, + 3.5146679878234863 + ] + ], + "corners_2d": [ + [ + 29.9822018155013, + 466.69605347668966 + ], + [ + 32.388237834391816, + 473.4430432808963 + ], + [ + 49.192061481376186, + 466.59917981000257 + ], + [ + 46.68381743018267, + 459.9495978776561 + ], + [ + 14.962729203087179, + 441.91332690533164 + ], + [ + 17.317319840468826, + 448.6443075775047 + ], + [ + 34.64710688649893, + 441.8167005242624 + ], + [ + 32.18359560219915, + 435.1852713992397 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 988.6934655289597, + "ymin": 0.0, + "xmax": 1217.8826181726672, + "ymax": 129.3563564259448 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1151.4210579672256, + 62.31262402067557 + ], + [ + 1143.5323257812806, + 59.40284828237395 + ], + [ + 988.6934655289597, + 125.66667019106686 + ], + [ + 996.6172190219547, + 129.3563564259448 + ], + [ + 1217.8826181726672, + -121.04524748083395 + ], + [ + 1208.5631775468128, + -123.19448975202982 + ], + [ + 1040.2231132994532, + -73.47809037385196 + ], + [ + 1049.6942177668611, + -70.66153187617999 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2334590930876643410, + "instance_id": 21048, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -123.8453369140625, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 228.49007503805564, + "ymin": 289.22597047964206, + "xmax": 250.26772038212602, + "ymax": 307.6968268517409 + }, + "corners_3d": [ + [ + -116.6200942993164, + -123.69747161865234, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.69747161865234, + 7.743301868438721 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 243.5751188126908, + 293.31002775143935 + ], + [ + 229.91872842326137, + 298.2599248864914 + ], + [ + 236.4871694947471, + 307.6968268517409 + ], + [ + 250.26772038212602, + 302.6246366572794 + ], + [ + 242.2029961402851, + 289.22597047964206 + ], + [ + 228.49007503805564, + 294.1664605511401 + ], + [ + 235.06402209040408, + 303.5860443415623 + ], + [ + 248.9021967964427, + 298.52306190909025 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3639812104533344102, + "instance_id": 26239, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -123.8453369140625, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 228.6062519265132, + "ymin": 289.32325226707223, + "xmax": 250.1516763647159, + "ymax": 307.5976853040021 + }, + "corners_3d": [ + [ + -116.62229919433594, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.69904327392578, + 7.742714881896973 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 243.53120863778645, + 293.3640118177897 + ], + [ + 230.01937944519466, + 298.26175621929076 + ], + [ + 236.51830587773242, + 307.5976853040021 + ], + [ + 250.1516763647159, + 302.5802349504127 + ], + [ + 242.17342022800153, + 289.32325226707223 + ], + [ + 228.6062519265132, + 294.21178981873874 + ], + [ + 235.11057219113167, + 303.53076585580584 + ], + [ + 248.8003403966482, + 298.5223293441177 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 995.167695801144, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 80.40706102016793 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 1063.9196233134899, + 80.40706102016793 + ], + [ + 1174.594461459948, + 32.988714266904765 + ], + [ + 1106.408214092288, + 9.881208595824091 + ], + [ + 995.167695801144, + 52.83728295741463 + ], + [ + 1158.6151243049603, + -230.7272207390713 + ], + [ + 1281.61646450213, + -255.34126708160943 + ], + [ + 1194.656737822739, + -267.0009333385518 + ], + [ + 1069.678736043224, + -245.1526662648323 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5944504550537153523, + "instance_id": 62411, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_1", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88526153564453, + "z": 3.6450090408325195 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 141.97621676684787, + "xmax": 79.32313360646845, + "ymax": 192.16883852100466 + }, + "corners_3d": [ + [ + -100.3021469116211, + -126.97334289550781, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -126.97334289550781, + 3.8072457313537598 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.8072457313537598 + ] + ], + "corners_2d": [ + [ + 9.35473292018628, + 192.16883852100466 + ], + [ + 79.32313360646845, + 172.38450478056333 + ], + [ + 66.11024356209055, + 150.27441875349123 + ], + [ + -1.7635971688833934, + 168.6962078833194 + ], + [ + 5.12918938516691, + 183.58514962779563 + ], + [ + 75.67974387243703, + 163.93122441769353 + ], + [ + 62.510589558211564, + 141.97621676684787 + ], + [ + -5.909723832573604, + 160.2681140063845 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6519504943767973976, + "instance_id": 22640, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_0", + "bbox_3d": { + "center_world": { + "x": -94.53499603271484, + "y": -125.88525390625, + "z": 3.6439085006713867 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 93.48966644673555, + "xmax": 48.161384855999245, + "ymax": 136.85166559811086 + }, + "corners_3d": [ + [ + -95.50235748291016, + -126.97452545166016, + 3.480583429336548 + ], + [ + -95.50236511230469, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -93.56763458251953, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -93.567626953125, + -126.97452545166016, + 3.480583429336548 + ], + [ + -95.50235748291016, + -126.97452545166016, + 3.807230234146118 + ], + [ + -95.50236511230469, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -93.56763458251953, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -93.567626953125, + -126.97452545166016, + 3.807230234146118 + ] + ], + "corners_2d": [ + [ + -16.887858164470913, + 136.85166559811086 + ], + [ + 48.161384855999245, + 120.18729976841149 + ], + [ + 36.970506918918886, + 101.4628630285157 + ], + [ + -26.25739267883489, + 117.06877863331874 + ], + [ + -20.944664312930513, + 128.5983427135697 + ], + [ + 44.60764084495463, + 112.06272470842438 + ], + [ + 33.46553609504838, + 93.48966644673555 + ], + [ + -30.23664651037359, + 108.96892410295169 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 881.0153562449311, + "ymin": 56.50043744525402, + "xmax": 898.2563690570438, + "ymax": 66.76465472185134 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 887.5670680912822, + 59.888617420486526 + ], + [ + 881.0153562449311, + 62.26335179561403 + ], + [ + 891.0718619355206, + 66.76465472185134 + ], + [ + 897.6335238168206, + 64.3495120090746 + ], + [ + 888.1605482839227, + 56.50043744525402 + ], + [ + 881.5957365081297, + 58.86560728454407 + ], + [ + 891.6816051611981, + 63.34892069194075 + ], + [ + 898.2563690570438, + 60.94340733418619 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6967274615413648305, + "instance_id": 45483, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_2", + "bbox_3d": { + "center_world": { + "x": -99.33560943603516, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 112.69639320691465, + "xmax": 116.02811275633724, + "ymax": 274.62010966788296 + }, + "corners_3d": [ + [ + -100.3640365600586, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -127.03557586669922, + 4.877264976501465 + ], + [ + -100.3640365600586, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + 47.72435323896286, + 274.62010966788296 + ], + [ + 116.02811275633724, + 252.5307572353832 + ], + [ + 101.55741439495262, + 227.67012285986502 + ], + [ + 35.252611103587356, + 248.2393842470497 + ], + [ + -11.002262767289267, + 155.77095960809183 + ], + [ + 65.76806607283118, + 135.43785505197013 + ], + [ + 51.85625078036833, + 112.69639320691465 + ], + [ + -22.37703225912321, + 131.50154215254526 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9919303964700251881, + "instance_id": 59670, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_Poles_4", + "bbox_3d": { + "center_world": { + "x": -112.9144515991211, + "y": -134.7008514404297, + "z": 4.223348617553711 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 258.5972937009727, + "xmax": 91.06218394952623, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.18444061279297, + -128.6757354736328, + -4.76837158203125e-06 + ], + [ + -112.75162506103516, + -128.67189025878906, + -4.76837158203125e-06 + ], + [ + -112.64446258544922, + -140.72596740722656, + -4.76837158203125e-06 + ], + [ + -113.07727813720703, + -140.7298126220703, + -4.76837158203125e-06 + ], + [ + -113.18444061279297, + -128.6757354736328, + 8.446702003479004 + ], + [ + -112.75162506103516, + -128.67189025878906, + 8.446702003479004 + ], + [ + -112.64446258544922, + -140.72596740722656, + 8.446702003479004 + ], + [ + -113.07727813720703, + -140.7298126220703, + 8.446702003479004 + ] + ], + "corners_2d": [ + [ + 91.06218394952623, + 528.728440291575 + ], + [ + 87.19171538216222, + 518.4961049747901 + ], + [ + -516.9383056669662, + 778.8917186282456 + ], + [ + -519.976165614821, + 795.2848059743342 + ], + [ + -60.34500553875489, + 268.2120415230664 + ], + [ + -63.29132349128702, + 258.5972937009727 + ], + [ + -945.8418486961084, + 521.4773181642722 + ], + [ + -957.7944478143804, + 539.3955767776813 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 621.2923775436286, + "ymin": 0.0, + "xmax": 691.279472172527, + "ymax": 41.890895536561004 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 623.1956161279533, + 39.157981357516974 + ], + [ + 628.1896319959862, + 41.890895536561004 + ], + [ + 686.2117978174989, + 24.64905006081574 + ], + [ + 681.0852159912581, + 22.09742769984723 + ], + [ + 621.2923775436286, + -123.26502880624946 + ], + [ + 626.8439762072121, + -121.19599590215415 + ], + [ + 691.279472172527, + -134.20727014824064 + ], + [ + 685.5648115017002, + -136.12432820390353 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 881.1069472367536, + "ymin": 56.55478419739529, + "xmax": 898.1643058886934, + "ymax": 66.7098502196447 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 887.5889748863347, + 59.9070702057233 + ], + [ + 881.1069472367536, + 62.25666434124702 + ], + [ + 891.0565414505088, + 66.7098502196447 + ], + [ + 897.5483099298752, + 64.32070323040125 + ], + [ + 888.1762274488028, + 56.55478419739529 + ], + [ + 881.6813772793221, + 58.895016015885574 + ], + [ + 891.6597128636332, + 63.33059310659337 + ], + [ + 898.1643058886934, + 60.950871206900615 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14081937874569997388, + "instance_id": 19500, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_0", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88525390625, + "z": 3.6439085006713867 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 141.95379470751365, + "xmax": 79.39359285478565, + "ymax": 192.252338080383 + }, + "corners_3d": [ + [ + -100.30333709716797, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.30333709716797, + -126.97452545166016, + 3.807230234146118 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.807230234146118 + ] + ], + "corners_2d": [ + [ + 9.350906373053135, + 192.252338080383 + ], + [ + 79.39359285478565, + 172.44463884480567 + ], + [ + 66.1627556429728, + 150.30696780761411 + ], + [ + -1.7807265523024398, + 168.7489467904253 + ], + [ + 5.0969120869602875, + 183.61147054484215 + ], + [ + 75.7262805084847, + 163.935177935909 + ], + [ + 62.53949828728116, + 141.95379470751365 + ], + [ + -5.954665241607245, + 160.2648871054377 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14132762880190184296, + "instance_id": 26875, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_1", + "bbox_3d": { + "center_world": { + "x": -94.53499603271484, + "y": -125.88526153564453, + "z": 3.6450090408325195 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 93.50862287427958, + "xmax": 48.095588702652776, + "ymax": 136.77490394004053 + }, + "corners_3d": [ + [ + -95.50116729736328, + -126.97334289550781, + 3.4827687740325928 + ], + [ + -95.50116729736328, + -124.79718780517578, + 3.4827723503112793 + ], + [ + -93.5688247680664, + -124.79718017578125, + 3.4827723503112793 + ], + [ + -93.5688247680664, + -126.97333526611328, + 3.4827687740325928 + ], + [ + -95.50116729736328, + -126.97334289550781, + 3.8072457313537598 + ], + [ + -95.50116729736328, + -124.79718780517578, + 3.8072493076324463 + ], + [ + -93.5688247680664, + -124.79718017578125, + 3.8072493076324463 + ], + [ + -93.5688247680664, + -126.97333526611328, + 3.8072457313537598 + ] + ], + "corners_2d": [ + [ + -16.884480682396315, + 136.77490394004053 + ], + [ + 48.095588702652776, + 120.13025389951417 + ], + [ + 36.92001549738984, + 101.42932393888861 + ], + [ + -26.242755437216942, + 117.01799570346105 + ], + [ + -20.91417203160904, + 128.5762313982828 + ], + [ + 44.56507616903582, + 112.05934764425052 + ], + [ + 33.43791499436543, + 93.50862287427958 + ], + [ + -30.19551117368735, + 108.97160054287377 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 782.2231352495812, + "ymin": 17.862382381634575, + "xmax": 903.3003090200921, + "ymax": 268.83866433514777 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 790.6519221633082, + 218.21451325987977 + ], + [ + 782.2231352495812, + 221.93830468905645 + ], + [ + 856.0302552455981, + 268.83866433514777 + ], + [ + 864.6034536647071, + 264.59283477832844 + ], + [ + 814.701793398242, + 17.862382381634575 + ], + [ + 805.0704771635212, + 20.922216274706784 + ], + [ + 893.503219468402, + 59.91954777967328 + ], + [ + 903.3003090200921, + 56.35374718024059 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 175.49934510095557, + "ymin": 214.87368639932998, + "xmax": 329.5558272068984, + "ymax": 537.4624040844952 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 276.2086087375636, + 445.49272315414737 + ], + [ + 261.2433104211325, + 452.1043091600817 + ], + [ + 313.6239739441447, + 537.4624040844952 + ], + [ + 329.5558272068984, + 529.5722410238645 + ], + [ + 194.57722549109513, + 214.87368639932998 + ], + [ + 175.49934510095557, + 220.93465912653505 + ], + [ + 231.15018277595846, + 300.99306689092805 + ], + [ + 251.87770082489362, + 293.4489696471811 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16194625468754558244, + "instance_id": 9469, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.53463745117188, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 65.74674861251646, + "xmax": 83.73825387612123, + "ymax": 215.83079018905494 + }, + "corners_3d": [ + [ + -95.56306457519531, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -127.03557586669922, + 4.877264976501465 + ], + [ + -95.56306457519531, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + 19.931135988192068, + 215.83079018905494 + ], + [ + 83.73825387612123, + 197.05683637747376 + ], + [ + 71.37757745279305, + 175.82121598651355 + ], + [ + 9.326417195262707, + 193.39926686178111 + ], + [ + -36.24202581334134, + 101.9189368235003 + ], + [ + 34.85090805781954, + 84.89798267910578 + ], + [ + 23.135371353435062, + 65.74674861251646 + ], + [ + -45.76911581412958, + 81.5917623228047 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 812.8062720696098, + "ymin": 0.0, + "xmax": 1180.5142608756287, + "ymax": 358.70597323185217 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 820.6888460077985, + 195.5640362069153 + ], + [ + 812.8062720696098, + 198.92732449293248 + ], + [ + 1076.0866276837728, + 358.70597323185217 + ], + [ + 1084.2020388785008, + 353.5439113283872 + ], + [ + 851.0642186757468, + -19.226072712021562 + ], + [ + 842.0286961291827, + -16.567096932550555 + ], + [ + 1171.3633056825602, + 115.19926372030966 + ], + [ + 1180.5142608756287, + 110.76846455828107 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 5199819733356185808, + "instance_id": 53256, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1851_37", + "bbox_3d": { + "center_world": { + "x": -100.25784301757812, + "y": -72.39555358886719, + "z": 8.309331893920898 + }, + "extent": { + "x": 4.9728498458862305, + "y": 4.831793308258057, + "z": 8.307754516601562 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 899.6100779173844, + "ymin": 0.0, + "xmax": 1236.3285936862317, + "ymax": 6.85063505191556 + }, + "corners_3d": [ + [ + -94.59623718261719, + -68.39283752441406, + 0.0015773773193359375 + ], + [ + -96.09391784667969, + -77.93966674804688, + 0.0015773773193359375 + ], + [ + -105.91944885253906, + -76.39826965332031, + 0.0015773773193359375 + ], + [ + -104.42176818847656, + -66.8514404296875, + 0.0015773773193359375 + ], + [ + -94.59623718261719, + -68.39283752441406, + 16.61708641052246 + ], + [ + -96.09391784667969, + -77.93966674804688, + 16.61708641052246 + ], + [ + -105.91944885253906, + -76.39826965332031, + 16.61708641052246 + ], + [ + -104.42176818847656, + -66.8514404296875, + 16.61708641052246 + ] + ], + "corners_2d": [ + [ + 979.8082173926136, + -70.945076727186 + ], + [ + 899.6100779173844, + -35.69066778858945 + ], + [ + 1052.4582550079035, + 6.85063505191556 + ], + [ + 1126.2619005143883, + -35.34739701351174 + ], + [ + 1049.1029752295854, + -385.8421119346417 + ], + [ + 958.3163326759782, + -376.9109928695957 + ], + [ + 1157.2424650593334, + -365.6851582658488 + ], + [ + 1236.3285936862317, + -376.82241078385937 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 251.30320255926335, + "ymax": 472.21203694909127 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 152.64908253917332, + 268.0326680093511 + ], + [ + -57.07150928330077, + 357.2376636005587 + ], + [ + 25.98415725549785, + 472.21203694909127 + ], + [ + 251.30320255926335, + 358.132463930268 + ], + [ + 8.050201840627778, + -89.55982131957734 + ], + [ + -297.61874180900236, + -27.878630987850613 + ], + [ + -227.62322436672537, + 58.75278670339054 + ], + [ + 116.97497299550628, + -27.236593447580844 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 108.71002813495329, + "ymax": 143.3211181120047 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + 18.93346169871802, + 44.12772824016491 + ], + [ + -137.21275484632963, + 98.2547504458039 + ], + [ + -49.61976089944574, + 143.3211181120047 + ], + [ + 108.71002813495329, + 80.70972236665125 + ], + [ + -92.55119992545258, + -212.40706301547914 + ], + [ + -294.46035184064, + -179.93760260571128 + ], + [ + -202.7186141731463, + -151.92931689191056 + ], + [ + 5.198671619616675, + -190.5991774290851 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 286.47513977391895, + "ymax": 538.90626054553 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -29.767513240833864, + 538.90626054553 + ], + [ + 239.84855204265972, + 518.2185999694876 + ], + [ + 286.47513977391895, + 348.61844201934525 + ], + [ + 64.84218921142303, + 362.7505894613383 + ], + [ + -334.97187523506216, + 113.13810239189851 + ], + [ + 62.90853787053334, + 95.92046808618312 + ], + [ + 166.18791342526748, + -34.038578335440775 + ], + [ + -135.42265882454092, + -23.915336017634274 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 116.17078660393713, + "ymax": 220.00588750534325 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 50.97089962187499, + 103.9233258907554 + ], + [ + -117.01522499060127, + 156.3598481603039 + ], + [ + -62.35441725115743, + 220.00588750534325 + ], + [ + 116.17078660393713, + 156.87184984705635 + ], + [ + -76.39374433330102, + -192.16350689155547 + ], + [ + -299.33019122403255, + -160.7919253949775 + ], + [ + -253.4447963578806, + -120.96559545946513 + ], + [ + -10.113496685328187, + -160.4793474311091 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00027/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00027/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c0bcfded5bdfeae7cebfcd657c5898ed0773f62e --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00027/meta.json @@ -0,0 +1,4264 @@ +{ + "frame_id": 27, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 13.5, + "sim_timestamp": 10027.886515714228 + }, + "drone_pose": { + "x": -134.5264844074757, + "y": -126.31165732481192, + "z": 20.051102066665038, + "pitch": -40.94090743914696, + "yaw": 37.40057502191462, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6000849604606628, + -0.45880913734436035, + 0.655280351638794, + 125.54117584228516 + ], + [ + 0.6073838472366333, + 0.7944085597991943, + -1.4901161193847656e-08, + 18.63385772705078 + ], + [ + -0.5205602645874023, + 0.3980066180229187, + 0.7553858160972595, + -135.44833374023438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -133.9695544490756, + "y": -125.9866555719864, + "z": 19.9996817521098 + }, + "t1_image_uv": [ + 491.29479867270345, + -346.38204009887943 + ], + "t1_depth": 0.5170137597517291 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -118.16718292236328, + "y": -111.68776321411131, + "z": 0.5749895262720384 + }, + "image_uv": [ + 695.0971408039708, + 372.31003849326305 + ], + "depth": 29.28885908930649, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 189, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -118.16718292236328, + "y": -111.68775939941406, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.19954101741313934, + "y": 0.21815916895866394, + "z": 0.5299187898635864 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 686.7935891008176, + "ymin": 354.2875555696945, + "xmax": 703.5263623059677, + "ymax": 390.11706117062755 + }, + "corners_3d": [ + [ + -118.15401458740234, + -111.98311614990234, + 0.04507070779800415 + ], + [ + -118.46253967285156, + -111.67459106445312, + 0.04507070779800415 + ], + [ + -118.18035125732422, + -111.39240264892578, + 0.04507070779800415 + ], + [ + -117.871826171875, + -111.700927734375, + 0.04507070779800415 + ], + [ + -118.15401458740234, + -111.98311614990234, + 1.1049082279205322 + ], + [ + -118.46253967285156, + -111.67459106445312, + 1.1049082279205322 + ], + [ + -118.18035125732422, + -111.39240264892578, + 1.1049082279205322 + ], + [ + -117.871826171875, + -111.700927734375, + 1.1049082279205322 + ] + ], + "corners_2d": [ + [ + 686.7935891008176, + 388.8424741857653 + ], + [ + 700.9537610372896, + 390.11706117062755 + ], + [ + 702.0440721218451, + 381.45417154900554 + ], + [ + 688.0242565211832, + 380.20502956407535 + ], + [ + 687.9214333500603, + 362.86441456740874 + ], + [ + 702.425127110625, + 364.1304121607885 + ], + [ + 703.5263623059677, + 355.52767939406164 + ], + [ + 689.1698825818306, + 354.2875555696945 + ] + ], + "center_offset_px": [ + 55.097140803970774, + 12.31003849326305 + ] + }, + "trace_timestep_index": 27, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 82, + "semantic_pixel_counts": { + "1": 479990, + "2": 203821, + "3": 136946, + "4": 4659, + "5": 4647, + "6": 9649, + "7": 1403, + "9": 35692, + "10": 8504, + "12": 3551, + "14": 728, + "16": 779, + "21": 5093, + "24": 26138 + }, + "instance_pixel_counts": { + "1115": 3891, + "1954": 1, + "1957": 169, + "2466": 6, + "2978": 280, + "3490": 51, + "4002": 291, + "6254": 2707, + "10370": 2022, + "11394": 1203, + "14416": 110, + "14672": 224, + "14723": 57, + "14928": 4313, + "15511": 3098, + "16023": 703, + "17232": 4659, + "18011": 31712, + "20631": 15610, + "23488": 195, + "23808": 489, + "24064": 5482, + "26560": 10405, + "27072": 3114, + "28608": 2301, + "29843": 20412, + "30355": 11554, + "30656": 68501, + "31168": 2322, + "31301": 663, + "31488": 1721, + "31813": 7512, + "31891": 330966, + "34120": 51810, + "34395": 316, + "34453": 2427, + "34907": 764, + "34965": 1453, + "35419": 2176, + "35931": 6230, + "36181": 27, + "36443": 81618, + "36501": 15763, + "36955": 1, + "39507": 78, + "44171": 865, + "44179": 2083, + "44691": 89786, + "44891": 363, + "45203": 1453, + "45915": 35, + "46227": 23736, + "46731": 1283, + "46741": 63, + "47253": 5366, + "47765": 189, + "48267": 885, + "48779": 571, + "48789": 877, + "49664": 189, + "49803": 1435, + "49920": 377, + "50176": 425, + "50432": 985, + "50688": 1032, + "50944": 543, + "52480": 33, + "52736": 746, + "53184": 1589, + "54016": 728, + "54720": 2391, + "55232": 5346, + "55744": 2685, + "56135": 83, + "56768": 4828, + "56993": 704, + "57173": 35692, + "58529": 1624, + "59809": 1711, + "60013": 4084, + "61037": 3278, + "64351": 23884 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 189, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -118.16718292236328, + "y": -111.68775939941406, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.18696777522563934, + "y": 0.2298876941204071, + "z": 0.5225167870521545 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 686.4604378538708, + "ymin": 354.707023664108, + "xmax": 703.8679810082399, + "ymax": 389.6985786097771 + }, + "corners_3d": [ + [ + -118.13683319091797, + -111.9825210571289, + 0.052472710609436035 + ], + [ + -118.46194458007812, + -111.65740966796875, + 0.052472710609436035 + ], + [ + -118.1975326538086, + -111.39299774169922, + 0.052472710609436035 + ], + [ + -117.87242126464844, + -111.71810913085938, + 0.052472710609436035 + ], + [ + -118.13683319091797, + -111.9825210571289, + 1.0975062847137451 + ], + [ + -118.46194458007812, + -111.65740966796875, + 1.0975062847137451 + ], + [ + -118.1975326538086, + -111.39299774169922, + 1.0975062847137451 + ], + [ + -117.87242126464844, + -111.71810913085938, + 1.0975062847137451 + ] + ], + "corners_2d": [ + [ + 686.4604378538708, + 388.35638198608973 + ], + [ + 701.3796247554939, + 389.6985786097771 + ], + [ + 702.3977734733807, + 381.58113603419565 + ], + [ + 687.6172166084386, + 380.2640661374483 + ], + [ + 687.5640194883357, + 362.743353957968 + ], + [ + 702.8399105299496, + 364.07661166800216 + ], + [ + 703.8679810082399, + 356.01473720470705 + ], + [ + 688.7373964760055, + 354.707023664108 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 377, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -114.04119873046875, + "y": -108.69005584716797, + "z": 0.7270549535751343 + }, + "extent": { + "x": 0.3981347680091858, + "y": 0.4065576195716858, + "z": 0.891169548034668 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 671.7277420241328, + "ymin": 241.86051144121853, + "xmax": 699.4320030634248, + "ymax": 298.6978024485897 + }, + "corners_3d": [ + [ + -114.15367889404297, + -109.24786376953125, + -0.1641145944595337 + ], + [ + -114.59652709960938, + -108.56592559814453, + -0.1641145944595337 + ], + [ + -113.92871856689453, + -108.13224792480469, + -0.1641145944595337 + ], + [ + -113.48587036132812, + -108.8141860961914, + -0.1641145944595337 + ], + [ + -114.15367889404297, + -109.24786376953125, + 1.6182245016098022 + ], + [ + -114.59652709960938, + -108.56592559814453, + 1.6182245016098022 + ], + [ + -113.92871856689453, + -108.13224792480469, + 1.6182245016098022 + ], + [ + -113.48587036132812, + -108.8141860961914, + 1.6182245016098022 + ] + ], + "corners_2d": [ + [ + 674.0604768400585, + 298.6978024485897 + ], + [ + 697.3505560065898, + 297.60743102400903 + ], + [ + 694.6096221050958, + 283.9979483104956 + ], + [ + 671.7277420241328, + 285.0501091488648 + ], + [ + 675.2984607965682, + 256.24641629084897 + ], + [ + 699.4320030634248, + 255.17864809980153 + ], + [ + 696.5553307704187, + 241.86051144121853 + ], + [ + 672.8598105336456, + 242.88953930858207 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 425, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -120.42300415039062, + "y": -104.74504852294922, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.48585936427116394, + "y": 0.4241698980331421, + "z": 0.8818193078041077 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 884.1147394148626, + "ymin": 291.5205239823655, + "xmax": 925.6719530490917, + "ymax": 353.21865911075207 + }, + "corners_3d": [ + [ + -120.53365325927734, + -105.38045501708984, + -0.3068346381187439 + ], + [ + -121.0675277709961, + -104.7211685180664, + -0.3068346381187439 + ], + [ + -120.3123550415039, + -104.1096420288086, + -0.3068346381187439 + ], + [ + -119.77848052978516, + -104.76892852783203, + -0.3068346381187439 + ], + [ + -120.53365325927734, + -105.38045501708984, + 1.4568040370941162 + ], + [ + -121.0675277709961, + -104.7211685180664, + 1.4568040370941162 + ], + [ + -120.3123550415039, + -104.1096420288086, + 1.4568040370941162 + ], + [ + -119.77848052978516, + -104.76892852783203, + 1.4568040370941162 + ] + ], + "corners_2d": [ + [ + 888.9991554292848, + 352.7473313467489 + ], + [ + 915.1318044149016, + 353.21865911075207 + ], + [ + 909.6465096908533, + 334.3122949349943 + ], + [ + 884.1147394148626, + 333.862290931828 + ], + [ + 898.5325250794888, + 310.0993538838527 + ], + [ + 925.6719530490917, + 310.5634555977516 + ], + [ + 919.7312316678172, + 291.96285323102757 + ], + [ + 893.2392978938094, + 291.5205239823655 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 985, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -127.66718292236328, + "y": -111.68775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.5094433426856995, + "y": 0.46785154938697815, + "z": 0.9192273616790771 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 915.0993451841932, + "ymin": 534.463863648592, + "xmax": 973.972271383019, + "ymax": 618.0244402125348 + }, + "corners_3d": [ + [ + -127.69659423828125, + -112.37881469726562, + -0.3442426919937134 + ], + [ + -128.3582305908203, + -111.71717071533203, + -0.3442426919937134 + ], + [ + -127.63777160644531, + -110.9967041015625, + -0.3442426919937134 + ], + [ + -126.97612762451172, + -111.6583480834961, + -0.3442426919937134 + ], + [ + -127.69659423828125, + -112.37881469726562, + 1.494212031364441 + ], + [ + -128.3582305908203, + -111.71717071533203, + 1.494212031364441 + ], + [ + -127.63777160644531, + -110.9967041015625, + 1.494212031364441 + ], + [ + -126.97612762451172, + -111.6583480834961, + 1.494212031364441 + ] + ], + "corners_2d": [ + [ + 918.4745317372519, + 613.750532721401 + ], + [ + 957.04046410248, + 618.0244402125348 + ], + [ + 952.4529916338706, + 584.0932633390571 + ], + [ + 915.0993451841932, + 580.0804289685923 + ], + [ + 933.2853233843609, + 568.3883360683438 + ], + [ + 973.972271383019, + 572.7025315957347 + ], + [ + 968.5939166839444, + 538.5011529039667 + ], + [ + 929.2538931537756, + 534.463863648592 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 1032, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -121.78268432617188, + "y": -122.81512451171875, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.4298730492591858, + "y": 0.4758642613887787, + "z": 0.8663500547409058 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 389.93069552626366, + "ymin": 609.8122048501593, + "xmax": 454.8778562091225, + "ymax": 692.7298566795979 + }, + "corners_3d": [ + [ + -121.68339538574219, + -123.44866943359375, + -0.2913605570793152 + ], + [ + -122.42302703857422, + -122.8497314453125, + -0.2913605570793152 + ], + [ + -121.88197326660156, + -122.18157958984375, + -0.2913605570793152 + ], + [ + -121.14234161376953, + -122.780517578125, + -0.2913605570793152 + ], + [ + -121.68339538574219, + -123.44866943359375, + 1.4413394927978516 + ], + [ + -122.42302703857422, + -122.8497314453125, + 1.4413394927978516 + ], + [ + -121.88197326660156, + -122.18157958984375, + 1.4413394927978516 + ], + [ + -121.14234161376953, + -122.780517578125, + 1.4413394927978516 + ] + ], + "corners_2d": [ + [ + 402.63418918691104, + 683.9147732987551 + ], + [ + 440.8604425585023, + 692.7298566795979 + ], + [ + 454.8778562091225, + 660.4800040173031 + ], + [ + 417.59844493806565, + 652.1442572430988 + ], + [ + 389.93069552626366, + 642.0234921983467 + ], + [ + 430.1171624869263, + 650.9776623059154 + ], + [ + 445.18161278792803, + 618.2544445257863 + ], + [ + 406.03973440344157, + 609.8122048501593 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 543, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -110.12037658691406, + "y": -117.53409576416016, + "z": 0.7302628755569458 + }, + "extent": { + "x": 0.4318212866783142, + "y": 0.4767480492591858, + "z": 0.9068804979324341 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 374.65302456753824, + "ymin": 278.0650836417621, + "xmax": 423.06688162591433, + "ymax": 343.3208157263755 + }, + "corners_3d": [ + [ + -109.95572662353516, + -118.1559066772461, + -0.17661762237548828 + ], + [ + -110.75540161132812, + -117.6365966796875, + -0.17661762237548828 + ], + [ + -110.28502655029297, + -116.91228485107422, + -0.17661762237548828 + ], + [ + -109.4853515625, + -117.43159484863281, + -0.17661762237548828 + ], + [ + -109.95572662353516, + -118.1559066772461, + 1.6371433734893799 + ], + [ + -110.75540161132812, + -117.6365966796875, + 1.6371433734893799 + ], + [ + -110.28502655029297, + -116.91228485107422, + 1.6371433734893799 + ], + [ + -109.4853515625, + -117.43159484863281, + 1.6371433734893799 + ] + ], + "corners_2d": [ + [ + 384.58868174338363, + 337.10882252175884 + ], + [ + 410.00525323429093, + 343.3208157263755 + ], + [ + 423.06688162591433, + 327.7027431660349 + ], + [ + 398.03555260625785, + 321.72536773786845 + ], + [ + 374.65302456753824, + 293.1687137704428 + ], + [ + 400.98700073664867, + 299.2740392027007 + ], + [ + 414.7298257794721, + 283.9310805390697 + ], + [ + 388.8085923203729, + 278.0650836417621 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 33, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 567.0691090190647, + "ymin": 0.0, + "xmax": 753.9206681620797, + "ymax": 65.21003928407782 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 627.5111440579883, + -12.309954958856906 + ], + [ + 570.8639102713296, + 3.217481200541158 + ], + [ + 688.0138096387999, + 65.21003928407782 + ], + [ + 747.4670199620267, + 45.45864349592472 + ], + [ + 626.8491918393715, + -90.70026587081838 + ], + [ + 567.0691090190647, + -77.10903482129652 + ], + [ + 691.0139105759187, + -22.358134556819664 + ], + [ + 753.9206681620797, + -39.887657995008794 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 746, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 736.7569522801934, + "ymin": 0.0, + "xmax": 931.6152091370009, + "ymax": 30.2287413228658 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 866.5336768531804, + 30.2287413228658 + ], + [ + 916.1273227518959, + 12.915496518775228 + ], + [ + 785.1283340895748, + -38.19859362018428 + ], + [ + 736.7569522801934, + -24.389478224574475 + ], + [ + 879.7191658889718, + -53.379162781915795 + ], + [ + 931.6152091370009, + -68.6243501888332 + ], + [ + 792.3691225623072, + -113.27931020026864 + ], + [ + 741.7456848209077, + -101.26696070134784 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 728, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 684.7250998465078, + "ymin": 0.0, + "xmax": 778.8608522033612, + "ymax": 40.83354601526037 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 709.6592385641677, + 2.087269981300892 + ], + [ + 684.7250998465078, + 9.498007487119935 + ], + [ + 750.5682002639647, + 40.83354601526037 + ], + [ + 776.0195054503151, + 32.436973494302606 + ], + [ + 711.0252406065573, + -26.632609247279902 + ], + [ + 685.6161088924733, + -19.531366109520604 + ], + [ + 752.9170900851592, + 10.54362872204905 + ], + [ + 778.8608522033612, + 2.4771840608422053 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 52908959695452696, + "instance_id": 6202, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": -79.05494689941406, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1154.0808856888716, + "ymin": 0.0, + "xmax": 1170.490781604583, + "ymax": 12.593888679487122 + }, + "corners_3d": [ + [ + -113.29469299316406, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -78.86498260498047, + 3.5146729946136475 + ], + [ + -113.29469299316406, + -78.86498260498047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1154.0808856888716, + 10.81939761652751 + ], + [ + 1159.53265279562, + 12.593888679487122 + ], + [ + 1163.8865690547627, + 10.74446836187866 + ], + [ + 1158.439642011016, + 8.983449733305804 + ], + [ + 1160.5625028809782, + -7.53604169122201 + ], + [ + 1166.1073464978886, + -5.807299332879211 + ], + [ + 1170.490781604583, + -7.609035651774207 + ], + [ + 1164.9510877777354, + -9.32448807845077 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 937.1422031821273, + "ymin": 91.67152586590214, + "xmax": 957.4013483823376, + "ymax": 123.25971467123136 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 943.9652889608125, + 123.25971467123136 + ], + [ + 951.5773936726303, + 119.91926996210256 + ], + [ + 944.7518556415014, + 116.76675178410417 + ], + [ + 937.1422031821273, + 120.07165674154629 + ], + [ + 949.6795833075927, + 98.00496869307062 + ], + [ + 957.4013483823376, + 94.74626856746903 + ], + [ + 950.4173666110136, + 91.67152586590214 + ], + [ + 942.6977923306865, + 94.89491131811371 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5668522571212290485, + "instance_id": 46457, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -89.45570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1036.7652647705345, + "ymin": 0.0, + "xmax": 1054.2583564352542, + "ymax": 0.367985501852786 + }, + "corners_3d": [ + [ + -113.19542694091797, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -89.26573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -89.26573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1036.7652647705345, + -1.643238101891484 + ], + [ + 1042.6069890246406, + 0.367985501852786 + ], + [ + 1048.217420944514, + -1.739371429714481 + ], + [ + 1042.3778624307633, + -3.7327570110893475 + ], + [ + 1042.6379435223726, + -23.376123975665735 + ], + [ + 1048.5919505149802, + -21.429156888663783 + ], + [ + 1054.2583564352542, + -23.469179781751507 + ], + [ + 1048.3068120482985, + -25.398624337327078 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1087.8079953421734, + "ymin": 159.66651971555928, + "xmax": 1113.6358193423941, + "ymax": 194.46198787804653 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1096.3531552367895, + 194.46198787804653 + ], + [ + 1103.913466431397, + 190.27858017566373 + ], + [ + 1095.376605611113, + 186.3356534257219 + ], + [ + 1087.8079953421734, + 190.46929997788723 + ], + [ + 1105.9786788183574, + 167.6285132586781 + ], + [ + 1113.6358193423941, + 163.52919685422845 + ], + [ + 1104.8621163103257, + 159.66651971555928 + ], + [ + 1097.19557779834, + 163.71605938485715 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 819.4732053012439, + "ymin": 117.75919047395772, + "xmax": 835.090822363254, + "ymax": 144.84057105391605 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 824.8480612941785, + 144.84057105391605 + ], + [ + 832.0035494376541, + 141.8491590472914 + ], + [ + 826.6215116911003, + 139.00649685205883 + ], + [ + 819.4732053012439, + 141.97023548358786 + ], + [ + 827.8349789704965, + 123.48164458751597 + ], + [ + 835.090822363254, + 120.54724739323422 + ], + [ + 829.6081449458641, + 117.75919047395772 + ], + [ + 822.3595773199634, + 120.66600725492484 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1015.1148168133515, + "ymin": 126.83442160432674, + "xmax": 1038.1704025950085, + "ymax": 160.09714600949187 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1022.804808013156, + 160.09714600949187 + ], + [ + 1030.4155763664066, + 156.33234141947142 + ], + [ + 1022.7281185280071, + 152.78172746528583 + ], + [ + 1015.1148168133515, + 156.50403019372257 + ], + [ + 1030.454873597484, + 133.98653676225356 + ], + [ + 1038.1704025950085, + 130.30536194491262 + ], + [ + 1030.2864960633656, + 126.83442160432674 + ], + [ + 1022.5677977964999, + 130.47321785270307 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11529003171770300666, + "instance_id": 64120, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.25050354003906, + "y": -128.95399475097656, + "z": 3.0800981521606445 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 458.6936307295036, + "xmax": 21.871033647224067, + "ymax": 497.8424484234247 + }, + "corners_3d": [ + [ + -113.11116790771484, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -129.14395141601562, + 2.6455283164978027 + ], + [ + -113.38983917236328, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -128.7640380859375, + 2.6455283164978027 + ], + [ + -113.11116790771484, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -129.14395141601562, + 3.5146679878234863 + ], + [ + -113.38983917236328, + -128.7640380859375, + 3.5146679878234863 + ], + [ + -113.11116790771484, + -128.7640380859375, + 3.5146679878234863 + ] + ], + "corners_2d": [ + [ + 1.9816684125055417, + 490.77213947408336 + ], + [ + 4.429974277033466, + 497.8424484234247 + ], + [ + 21.871033647224067, + 490.4750168393807 + ], + [ + 19.315088324099406, + 483.51124888638424 + ], + [ + -14.249274261984851, + 465.9460073747995 + ], + [ + -11.860367175322835, + 473.01069841944707 + ], + [ + 6.151041130408203, + 465.6491785752072 + ], + [ + 3.647091153587894, + 458.6936307295036 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 979.5238439812233, + "ymin": 0.0, + "xmax": 1207.896365618311, + "ymax": 131.36699378476266 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1141.9240185791084, + 62.055417876518675 + ], + [ + 1133.9776685813713, + 59.13613699286475 + ], + [ + 979.5238439812233, + 127.64467144675638 + ], + [ + 987.5424616424528, + 131.36699378476266 + ], + [ + 1207.896365618311, + -122.5638550885925 + ], + [ + 1198.5048666420175, + -124.72513445122354 + ], + [ + 1030.444050254418, + -73.17413145648635 + ], + [ + 1040.037206205185, + -70.32259263923567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2334590930876643410, + "instance_id": 21048, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -123.8453369140625, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 203.6094277732048, + "ymin": 308.92042096884535, + "xmax": 226.2107641578396, + "ymax": 328.31965430374765 + }, + "corners_3d": [ + [ + -116.6200942993164, + -123.69747161865234, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.69747161865234, + 7.743301868438721 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 219.34568270086237, + 313.0494982660085 + ], + [ + 205.17640660323633, + 318.3953441552659 + ], + [ + 211.91103952019967, + 328.31965430374765 + ], + [ + 226.2107641578396, + 322.8393175424206 + ], + [ + 217.8400453452603, + 308.92042096884535 + ], + [ + 203.6094277732048, + 314.2573411535115 + ], + [ + 210.34890834776303, + 324.165770306645 + ], + [ + 224.71118088515453, + 318.6940924865812 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3639812104533344102, + "instance_id": 26239, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -123.8453369140625, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 203.73002403877916, + "ymin": 309.0225428957235, + "xmax": 226.09035632506914, + "ymax": 328.21548032876547 + }, + "corners_3d": [ + [ + -116.62229919433594, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.69904327392578, + 7.742714881896973 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 219.2992910186311, + 313.10783413382603 + ], + [ + 205.27998332654641, + 318.3973741265863 + ], + [ + 211.94335150208616, + 328.21548032876547 + ], + [ + 226.09035632506914, + 322.79429433179155 + ], + [ + 217.8093802942385, + 309.0225428957235 + ], + [ + 203.73002403877916, + 314.30334754320836 + ], + [ + 210.39814213474818, + 324.10590712073787 + ], + [ + 224.60636387475586, + 318.6931981295752 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 985.1051788578267, + "ymin": 0.0, + "xmax": 1270.9282312696641, + "ymax": 81.04931132069026 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 1054.5224505309527, + 81.04931132069026 + ], + [ + 1164.6952481631101, + 32.145010539522445 + ], + [ + 1096.0742553333564, + 8.990100177191948 + ], + [ + 985.1051788578267, + 53.315040947073385 + ], + [ + 1148.4191910194684, + -232.8155303661573 + ], + [ + 1270.9282312696641, + -258.2949416066921 + ], + [ + 1183.3687783484797, + -270.01340541479453 + ], + [ + 1058.5301000655647, + -247.3889500117565 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5944504550537153523, + "instance_id": 62411, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_1", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88526153564453, + "z": 3.6450090408325195 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 152.10807094066863, + "xmax": 54.10826923570471, + "ymax": 204.47143706669914 + }, + "corners_3d": [ + [ + -100.3021469116211, + -126.97334289550781, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -126.97334289550781, + 3.8072457313537598 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.8072457313537598 + ] + ], + "corners_2d": [ + [ + -18.086090663459913, + 204.47143706669914 + ], + [ + 54.10826923570471, + 183.39908312638778 + ], + [ + 40.65406830304096, + 160.51449361028673 + ], + [ + -29.36104831317084, + 180.12070231212329 + ], + [ + -22.617587682331987, + 195.78018964028195 + ], + [ + 50.20025777471517, + 174.8395055506799 + ], + [ + 36.79663611885621, + 152.10807094066863 + ], + [ + -33.80336052132293, + 171.58241813330682 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6519504943767973976, + "instance_id": 22640, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_0", + "bbox_3d": { + "center_world": { + "x": -94.53499603271484, + "y": -125.88525390625, + "z": 3.6439085006713867 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 101.96475685822054, + "xmax": 22.394334379467182, + "ymax": 147.11550270530776 + }, + "corners_3d": [ + [ + -95.50235748291016, + -126.97452545166016, + 3.480583429336548 + ], + [ + -95.50236511230469, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -93.56763458251953, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -93.567626953125, + -126.97452545166016, + 3.480583429336548 + ], + [ + -95.50235748291016, + -126.97452545166016, + 3.807230234146118 + ], + [ + -95.50236511230469, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -93.56763458251953, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -93.567626953125, + -126.97452545166016, + 3.807230234146118 + ] + ], + "corners_2d": [ + [ + -44.682859372187295, + 147.11550270530776 + ], + [ + 22.394334379467182, + 129.39805613863382 + ], + [ + 11.017403811718395, + 110.04904620630583 + ], + [ + -54.166833606474825, + 126.63052673514028 + ], + [ + -49.02415061113993, + 138.74883654090152 + ], + [ + 18.590964715755035, + 121.1628836306345 + ], + [ + 7.269174135991761, + 101.96475685822054 + ], + [ + -58.421918043034225, + 118.41647140064606 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 871.4682553085077, + "ymin": 61.0925427053474, + "xmax": 888.9548426964834, + "ymax": 71.61518890878494 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 878.0780914798502, + 64.52008043768808 + ], + [ + 871.4682553085077, + 67.01386807241113 + ], + [ + 881.724470385294, + 71.61518890878494 + ], + [ + 888.342603163947, + 69.07880465822916 + ], + [ + 878.6600758555, + 61.0925427053474 + ], + [ + 872.0367145160236, + 63.57650734314382 + ], + [ + 882.3231905950896, + 68.15985158775788 + ], + [ + 888.9548426964834, + 65.63335283074667 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6967274615413648305, + "instance_id": 45483, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_2", + "bbox_3d": { + "center_world": { + "x": -99.33560943603516, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 122.38524224966264, + "xmax": 93.30979338482132, + "ymax": 287.8471948463642 + }, + "corners_3d": [ + [ + -100.3640365600586, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -127.03557586669922, + 4.877264976501465 + ], + [ + -100.3640365600586, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + 23.04018499831102, + 287.8471948463642 + ], + [ + 93.30979338482132, + 264.3960578998284 + ], + [ + 78.52177251821502, + 238.74499133003087 + ], + [ + 10.318725562558257, + 260.5683322689138 + ], + [ + -39.870389719805075, + 167.64554538064004 + ], + [ + 39.452539287728655, + 145.95519412850769 + ], + [ + 25.31480181401048, + 122.38524224966264 + ], + [ + -51.360750371037284, + 142.4277659879662 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9919303964700251881, + "instance_id": 59670, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_Poles_4", + "bbox_3d": { + "center_world": { + "x": -112.9144515991211, + "y": -134.7008514404297, + "z": 4.223348617553711 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 280.11736568997355, + "xmax": 66.93575735597585, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.18444061279297, + -128.6757354736328, + -4.76837158203125e-06 + ], + [ + -112.75162506103516, + -128.67189025878906, + -4.76837158203125e-06 + ], + [ + -112.64446258544922, + -140.72596740722656, + -4.76837158203125e-06 + ], + [ + -113.07727813720703, + -140.7298126220703, + -4.76837158203125e-06 + ], + [ + -113.18444061279297, + -128.6757354736328, + 8.446702003479004 + ], + [ + -112.75162506103516, + -128.67189025878906, + 8.446702003479004 + ], + [ + -112.64446258544922, + -140.72596740722656, + 8.446702003479004 + ], + [ + -113.07727813720703, + -140.7298126220703, + 8.446702003479004 + ] + ], + "corners_2d": [ + [ + 66.93575735597585, + 552.197930142687 + ], + [ + 62.97179341061633, + 541.5295466592931 + ], + [ + -568.3366353452238, + 823.5916836167886 + ], + [ + -571.7669091416869, + 841.069575355372 + ], + [ + -97.18531237444586, + 290.30414806955565 + ], + [ + -100.07843286861578, + 280.11736568997355 + ], + [ + -1041.937779279885, + 571.5457319150187 + ], + [ + -1055.672920110211, + 591.2480971371058 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 606.4292549823407, + "ymin": 0.0, + "xmax": 677.2553503690677, + "ymax": 44.10093240853922 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 609.8968658328283, + 41.331354236214 + ], + [ + 614.9692467729411, + 44.10093240853922 + ], + [ + 673.5206780284932, + 26.16389421128514 + ], + [ + 668.3205078981711, + 23.58272364681733 + ], + [ + 606.4292549823407, + -122.85333914293057 + ], + [ + 612.0685958631183, + -120.74979449199469 + ], + [ + 677.2553503690677, + -134.3271575919307 + ], + [ + 671.457677104785, + -136.2720167934362 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 871.5611589077787, + "ymin": 61.148247687757134, + "xmax": 888.8614779192319, + "ymax": 71.55899474141353 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 878.1006851482194, + 64.53947412113882 + ], + [ + 871.5611589077787, + 67.00686312081427 + ], + [ + 881.708333091144, + 71.55899474141353 + ], + [ + 888.255981766132, + 69.0499108926341 + ], + [ + 878.676566598132, + 61.148247687757134 + ], + [ + 872.1238016453642, + 63.606021394778224 + ], + [ + 882.300596185703, + 68.14055686263515 + ], + [ + 888.8614779192319, + 65.6411488298175 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14081937874569997388, + "instance_id": 19500, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_0", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88525390625, + "z": 3.6439085006713867 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 152.08457747367794, + "xmax": 54.18180320671752, + "ymax": 204.5569480008569 + }, + "corners_3d": [ + [ + -100.30333709716797, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.30333709716797, + -126.97452545166016, + 3.807230234146118 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.807230234146118 + ] + ], + "corners_2d": [ + [ + -18.08906751436075, + 204.5569480008569 + ], + [ + 54.18180320671752, + 183.45974232010593 + ], + [ + 40.709263225592736, + 160.5466808088189 + ], + [ + -29.37754211300978, + 180.17432894468553 + ], + [ + -22.651072446494368, + 195.80781985817572 + ], + [ + 50.24813261681288, + 174.84329030644932 + ], + [ + 36.826542916308654, + 152.08457747367794 + ], + [ + -33.84964569016245, + 171.57935475832545 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14132762880190184296, + "instance_id": 26875, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_1", + "bbox_3d": { + "center_world": { + "x": -94.53499603271484, + "y": -125.88526153564453, + "z": 3.6450090408325195 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 101.98458796251828, + "xmax": 22.325707260352488, + "ymax": 147.0369472701555 + }, + "corners_3d": [ + [ + -95.50116729736328, + -126.97334289550781, + 3.4827687740325928 + ], + [ + -95.50116729736328, + -124.79718780517578, + 3.4827723503112793 + ], + [ + -93.5688247680664, + -124.79718017578125, + 3.4827723503112793 + ], + [ + -93.5688247680664, + -126.97333526611328, + 3.4827687740325928 + ], + [ + -95.50116729736328, + -126.97334289550781, + 3.8072457313537598 + ], + [ + -95.50116729736328, + -124.79718780517578, + 3.8072493076324463 + ], + [ + -93.5688247680664, + -124.79718017578125, + 3.8072493076324463 + ], + [ + -93.5688247680664, + -126.97333526611328, + 3.8072457313537598 + ] + ], + "corners_2d": [ + [ + -44.68027215052541, + 147.0369472701555 + ], + [ + 22.325707260352488, + 129.3404364583195 + ], + [ + 10.964394577375742, + 110.0156575644562 + ], + [ + -54.152824730401676, + 126.57885204391027 + ], + [ + -48.99254954461139, + 138.72567128963132 + ], + [ + 18.54719967771598, + 121.15965260555521 + ], + [ + 7.240617736974627, + 101.98458796251828 + ], + [ + -58.37958035249835, + 118.4190036034997 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 772.3128490601541, + "ymin": 21.646983365386745, + "xmax": 894.046341039674, + "ymax": 275.4827216288939 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 780.8062457218779, + 223.90752441661135 + ], + [ + 772.3128490601541, + 227.79687509355006 + ], + [ + 847.4582951678558, + 275.4827216288939 + ], + [ + 856.0809733380064, + 271.0475568528587 + ], + [ + 803.7228137296056, + 21.646983365386745 + ], + [ + 793.98700651121, + 24.859333792515713 + ], + [ + 884.1644555778294, + 64.72505872479326 + ], + [ + 894.046341039674, + 60.97934752105982 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 149.19229577694927, + "ymin": 231.08255093339716, + "xmax": 312.44198304690093, + "ymax": 559.0894035308906 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 257.5814017563341, + 463.50600098835395 + ], + [ + 242.21198150026015, + 470.5440644932068 + ], + [ + 296.0810029060599, + 559.0894035308906 + ], + [ + 312.44198304690093, + 550.6739621343572 + ], + [ + 168.97752152939313, + 231.08255093339716 + ], + [ + 149.19229577694927, + 237.61072851240834 + ], + [ + 206.13496751288085, + 321.73093677435355 + ], + [ + 227.65438606581296, + 313.57403923867804 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16194625468754558244, + "instance_id": 9469, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.53463745117188, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 73.78676985396555, + "xmax": 60.323889935442935, + "ymax": 227.08211840474118 + }, + "corners_3d": [ + [ + -95.56306457519531, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -127.03557586669922, + 4.877264976501465 + ], + [ + -95.56306457519531, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + -5.297523469839007, + 227.08211840474118 + ], + [ + 60.323889935442935, + 207.1792326818166 + ], + [ + 47.70829502896902, + 185.2964217443292 + ], + [ + -16.098527983812687, + 203.92132311052802 + ], + [ + -65.35178958593781, + 111.721772407358 + ], + [ + 8.049166462229778, + 93.60056611915223 + ], + [ + -3.8355523269661944, + 73.78676985396555 + ], + [ + -74.95604570450826, + 90.64340773454234 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 803.01263184517, + "ymin": 0.0, + "xmax": 1175.8990190114582, + "ymax": 366.07959509540586 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 810.9459332662668, + 200.35500323299067 + ], + [ + 803.01263184517, + 203.86315407955598 + ], + [ + 1070.777853794134, + 366.07959509540586 + ], + [ + 1078.8819032752735, + 360.6944387392947 + ], + [ + 840.2199607889784, + -16.495739337413738 + ], + [ + 831.0986556195785, + -13.70802995403568 + ], + [ + 1166.7558721574019, + 120.86918164614124 + ], + [ + 1175.8990190114582, + 116.21574409671129 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 5199819733356185808, + "instance_id": 53256, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1851_37", + "bbox_3d": { + "center_world": { + "x": -100.25784301757812, + "y": -72.39555358886719, + "z": 8.309331893920898 + }, + "extent": { + "x": 4.9728498458862305, + "y": 4.831793308258057, + "z": 8.307754516601562 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 887.9768185077809, + "ymin": 0.0, + "xmax": 1223.9200678178813, + "ymax": 6.1277747835159175 + }, + "corners_3d": [ + [ + -94.59623718261719, + -68.39283752441406, + 0.0015773773193359375 + ], + [ + -96.09391784667969, + -77.93966674804688, + 0.0015773773193359375 + ], + [ + -105.91944885253906, + -76.39826965332031, + 0.0015773773193359375 + ], + [ + -104.42176818847656, + -66.8514404296875, + 0.0015773773193359375 + ], + [ + -94.59623718261719, + -68.39283752441406, + 16.61708641052246 + ], + [ + -96.09391784667969, + -77.93966674804688, + 16.61708641052246 + ], + [ + -105.91944885253906, + -76.39826965332031, + 16.61708641052246 + ], + [ + -104.42176818847656, + -66.8514404296875, + 16.61708641052246 + ] + ], + "corners_2d": [ + [ + 968.047958056837, + -72.604171363619 + ], + [ + 887.9768185077809, + -36.42802111426664 + ], + [ + 1041.9350069049551, + 6.1277747835159175 + ], + [ + 1115.213793066463, + -37.09922454890335 + ], + [ + 1035.7129062647928, + -390.10046678583865 + ], + [ + 944.8095190227007, + -380.9133157458866 + ], + [ + 1145.3480830708731, + -369.6488878826523 + ], + [ + 1223.9200678178813, + -381.08694950395443 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 232.21578180235514, + "ymax": 493.4373418812918 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 131.10441358913988, + 279.880000825262 + ], + [ + -84.99578070548466, + 374.29667594869323 + ], + [ + 0.18929656783870996, + 493.4373418812918 + ], + [ + 232.21578180235514, + 372.48978396339976 + ], + [ + -24.637222279919683, + -83.31936519753009 + ], + [ + -344.6748119129204, + -16.964924036569585 + ], + [ + -275.0777706395352, + 74.72716030705811 + ], + [ + 86.57843849112965, + -18.284465892499156 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 86.11843624948881, + "ymax": 152.66106961829144 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + -5.727008567146527, + 49.819157250466105 + ], + [ + -166.4945473206086, + 106.59183784316184 + ], + [ + -76.66163429908124, + 152.66106961829144 + ], + [ + 86.11843624948881, + 87.01227280002757 + ], + [ + -124.66560402390633, + -211.15285195038837 + ], + [ + -334.54605510943645, + -176.80866638428074 + ], + [ + -240.58479680143307, + -147.89126815014708 + ], + [ + -24.615271425699234, + -188.810501732621 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 268.25889964365416, + "ymax": 563.8071118184297 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -57.726347232981425, + 563.8071118184297 + ], + [ + 220.45590460578813, + 539.2634453206921 + ], + [ + 268.25889964365416, + 362.3072973068652 + ], + [ + 40.63904076799736, + 378.94772049259046 + ], + [ + -390.1904854451625, + 133.60244430999882 + ], + [ + 27.455478113947493, + 112.64009915192648 + ], + [ + 137.6553511122903, + -25.683051091840582 + ], + [ + -175.64419992332432, + -13.559053637973136 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 93.92343821778161, + "ymax": 231.75352900266762 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 27.25360586521333, + 110.97894130450501 + ], + [ + -145.59081208585621, + 166.21986973371645 + ], + [ + -89.69115883858512, + 231.75352900266762 + ], + [ + 93.92343821778161, + 165.19110654801207 + ], + [ + -108.84224059825169, + -190.12788273349895 + ], + [ + -340.6889571008694, + -156.7381151189603 + ], + [ + -294.7136033790399, + -115.21912750169713 + ], + [ + -41.419908719699606, + -157.37303591723185 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00028/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00028/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1ed4c22ffae13705741cc156a477a99f5417535c --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00028/meta.json @@ -0,0 +1,4061 @@ +{ + "frame_id": 28, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 14.0, + "sim_timestamp": 10039.125906059518 + }, + "drone_pose": { + "x": -133.9695544490756, + "y": -125.9866555719864, + "z": 19.9996817521098, + "pitch": -39.8075020223029, + "yaw": 39.57143040902504, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5921521782875061, + -0.48937368392944336, + 0.6402102708816528, + 128.180908203125 + ], + [ + 0.6370396614074707, + 0.7708309888839722, + 1.4901161193847656e-08, + 11.770492553710938 + ], + [ + -0.493493914604187, + 0.4078393578529358, + 0.7681996822357178, + -132.85923767089844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -133.5821455597832, + "y": -125.41429345569219, + "z": 19.907249538872883 + }, + "t1_image_uv": [ + 968.1698245995631, + -236.93492317037806 + ], + "t1_depth": 0.5686800304602895 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -117.66718292236328, + "y": -111.18776321411131, + "z": 0.5749797606472566 + }, + "image_uv": [ + 673.4554017917095, + 387.53700840801594 + ], + "depth": 29.3315671381314, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 182, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -117.66718292236328, + "y": -111.18775939941406, + "z": 0.5749797821044922 + }, + "extent": { + "x": 0.23652832210063934, + "y": 0.24433104693889618, + "z": 0.5444669127464294 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 664.6066686547008, + "ymin": 368.47269942378136, + "xmax": 682.4169251495722, + "ymax": 406.40730508318126 + }, + "corners_3d": [ + [ + -117.66166687011719, + -111.52777862548828, + 0.030512869358062744 + ], + [ + -118.0072021484375, + -111.18224334716797, + 0.030512869358062744 + ], + [ + -117.67269897460938, + -110.84774017333984, + 0.030512869358062744 + ], + [ + -117.32716369628906, + -111.19327545166016, + 0.030512869358062744 + ], + [ + -117.66166687011719, + -111.52777862548828, + 1.1194467544555664 + ], + [ + -118.0072021484375, + -111.18224334716797, + 1.1194467544555664 + ], + [ + -117.67269897460938, + -110.84774017333984, + 1.1194467544555664 + ], + [ + -117.32716369628906, + -111.19327545166016, + 1.1194467544555664 + ] + ], + "corners_2d": [ + [ + 664.6066686547008, + 405.38887908132494 + ], + [ + 680.4771001244503, + 406.40730508318126 + ], + [ + 681.4260546444541, + 396.1461031276331 + ], + [ + 665.7466552336516, + 395.1522046215479 + ], + [ + 665.20189895841, + 378.62209092294654 + ], + [ + 681.4574409683867, + 379.6321584971335 + ], + [ + 682.4169251495722, + 369.4578629282305 + ], + [ + 666.3617404571842, + 368.47269942378136 + ] + ], + "center_offset_px": [ + 33.455401791709505, + 27.537008408015936 + ] + }, + "trace_timestep_index": 28, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 86, + "semantic_pixel_counts": { + "1": 459256, + "2": 209441, + "3": 161941, + "4": 8536, + "5": 4417, + "6": 8833, + "7": 1362, + "9": 23517, + "10": 8533, + "12": 3398, + "14": 690, + "16": 3266, + "21": 4899, + "22": 2, + "24": 23509 + }, + "instance_pixel_counts": { + "1115": 3978, + "1627": 72, + "1954": 4, + "2466": 9, + "2978": 307, + "3490": 1, + "4002": 332, + "6254": 2846, + "10370": 2207, + "11394": 1212, + "13397": 113, + "13909": 9, + "14416": 97, + "14672": 4, + "14928": 4316, + "15511": 2185, + "16023": 712, + "17232": 8536, + "18011": 37276, + "19784": 2, + "20631": 16790, + "23488": 326, + "23808": 874, + "24064": 5466, + "26560": 6461, + "27072": 3160, + "28608": 48, + "29843": 21734, + "30355": 2684, + "30656": 73893, + "31168": 2356, + "31301": 1, + "31488": 328, + "31813": 7905, + "31891": 304904, + "34120": 55750, + "34395": 865, + "34453": 2606, + "34907": 1716, + "34965": 97, + "35419": 3068, + "35931": 7890, + "36181": 1, + "36443": 96265, + "36501": 13835, + "36955": 161, + "37460": 94, + "39507": 14, + "44171": 867, + "44179": 3209, + "44691": 99118, + "44891": 399, + "45203": 4073, + "45915": 74, + "46227": 23534, + "46731": 1243, + "46741": 101, + "47253": 5596, + "47765": 399, + "48267": 1358, + "48779": 582, + "48789": 875, + "49664": 182, + "49803": 1399, + "49920": 381, + "50176": 402, + "50432": 856, + "50688": 1013, + "50944": 564, + "52480": 24, + "52672": 103, + "52736": 3242, + "53184": 1608, + "54016": 690, + "54720": 2318, + "55232": 7148, + "55744": 2693, + "56135": 105, + "56768": 5845, + "56993": 856, + "57173": 23517, + "58529": 1816, + "59809": 978, + "60013": 4339, + "61037": 3465, + "64351": 22596 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 182, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -117.66718292236328, + "y": -111.18775939941406, + "z": 0.5749797821044922 + }, + "extent": { + "x": 0.2587206959724426, + "y": 0.24622558057308197, + "z": 0.5388139486312866 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 664.4940569313037, + "ymin": 368.14077867328604, + "xmax": 682.5183230402233, + "ymax": 406.76300298300305 + }, + "corners_3d": [ + [ + -117.67601776123047, + -111.54480743408203, + 0.036165833473205566 + ], + [ + -118.02423095703125, + -111.19659423828125, + 0.036165833473205566 + ], + [ + -117.6583480834961, + -110.8307113647461, + 0.036165833473205566 + ], + [ + -117.31013488769531, + -111.17892456054688, + 0.036165833473205566 + ], + [ + -117.67601776123047, + -111.54480743408203, + 1.1137937307357788 + ], + [ + -118.02423095703125, + -111.19659423828125, + 1.1137937307357788 + ], + [ + -117.6583480834961, + -110.8307113647461, + 1.1137937307357788 + ], + [ + -117.31013488769531, + -111.17892456054688, + 1.1137937307357788 + ] + ], + "corners_2d": [ + [ + 664.4940569313037, + 405.73554098399575 + ], + [ + 680.4985997118384, + 406.76300298300305 + ], + [ + 681.535831250643, + 395.5394514714346 + ], + [ + 665.7419136315922, + 394.5390284427491 + ], + [ + 665.0806803453664, + 379.24281547885664 + ], + [ + 681.4697323974547, + 380.2619604458907 + ], + [ + 682.5183230402233, + 369.1324738540898 + ], + [ + 666.35006862722, + 368.14077867328604 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 381, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -113.54119873046875, + "y": -108.19005584716797, + "z": 0.7269524335861206 + }, + "extent": { + "x": 0.2633398473262787, + "y": 0.39040037989616394, + "z": 0.8663637638092041 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 648.1222574102662, + "ymin": 260.6883799374028, + "xmax": 673.2344702914015, + "ymax": 312.0200876359063 + }, + "corners_3d": [ + [ + -113.54942321777344, + -108.66089630126953, + -0.1394113302230835 + ], + [ + -113.97467803955078, + -108.00606536865234, + -0.1394113302230835 + ], + [ + -113.53297424316406, + -107.7192153930664, + -0.1394113302230835 + ], + [ + -113.10771942138672, + -108.3740463256836, + -0.1394113302230835 + ], + [ + -113.54942321777344, + -108.66089630126953, + 1.5933161973953247 + ], + [ + -113.97467803955078, + -108.00606536865234, + 1.5933161973953247 + ], + [ + -113.53297424316406, + -107.7192153930664, + 1.5933161973953247 + ], + [ + -113.10771942138672, + -108.3740463256836, + 1.5933161973953247 + ] + ], + "corners_2d": [ + [ + 649.9488197199488, + 312.0200876359063 + ], + [ + 672.1350193355436, + 310.48057944027244 + ], + [ + 670.0493696538123, + 301.5909425814369 + ], + [ + 648.1222574102662, + 303.09416115022594 + ], + [ + 650.2899256381761, + 270.88020018352603 + ], + [ + 673.2344702914015, + 269.37511524535404 + ], + [ + 671.0648746017567, + 260.6883799374028 + ], + [ + 648.3973206428179, + 262.15679385395146 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 402, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -119.92300415039062, + "y": -104.24504852294922, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.47523924708366394, + "y": 0.3765869140625, + "z": 0.907600998878479 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 860.567630592666, + "ymin": 302.09294365623714, + "xmax": 898.2751980247333, + "ymax": 363.85560592055293 + }, + "corners_3d": [ + [ + -120.05534362792969, + -104.8367919921875, + -0.33261632919311523 + ], + [ + -120.52932739257812, + -104.25146484375, + -0.33261632919311523 + ], + [ + -119.79066467285156, + -103.65330505371094, + -0.33261632919311523 + ], + [ + -119.31668090820312, + -104.23863220214844, + -0.33261632919311523 + ], + [ + -120.05534362792969, + -104.8367919921875, + 1.4825856685638428 + ], + [ + -120.52932739257812, + -104.25146484375, + 1.4825856685638428 + ], + [ + -119.79066467285156, + -103.65330505371094, + 1.4825856685638428 + ], + [ + -119.31668090820312, + -104.23863220214844, + 1.4825856685638428 + ] + ], + "corners_2d": [ + [ + 865.9507096507816, + 363.85560592055293 + ], + [ + 888.7806326403474, + 363.7087908387914 + ], + [ + 882.8831320842282, + 345.56393696660695 + ], + [ + 860.567630592666, + 345.70419762968834 + ], + [ + 874.5756198046724, + 320.0320595251367 + ], + [ + 898.2751980247333, + 319.8879501014052 + ], + [ + 891.9355661848431, + 302.09294365623714 + ], + [ + 868.7898718363458, + 302.23038248457163 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 856, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -127.16718292236328, + "y": -111.18775939941406, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.4990771412849426, + "y": 0.4509228467941284, + "z": 0.9264775514602661 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 899.1876166598506, + "ymin": 542.4905323272516, + "xmax": 956.1756338071649, + "ymax": 624.7367296774648 + }, + "corners_3d": [ + [ + -127.20123291015625, + -111.85951232910156, + -0.35148805379867554 + ], + [ + -127.83893585205078, + -111.22180938720703, + -0.35148805379867554 + ], + [ + -127.13313293457031, + -110.51600646972656, + -0.35148805379867554 + ], + [ + -126.49542999267578, + -111.1537094116211, + -0.35148805379867554 + ], + [ + -127.20123291015625, + -111.85951232910156, + 1.501466989517212 + ], + [ + -127.83893585205078, + -111.22180938720703, + 1.501466989517212 + ], + [ + -127.13313293457031, + -110.51600646972656, + 1.501466989517212 + ], + [ + -126.49542999267578, + -111.1537094116211, + 1.501466989517212 + ] + ], + "corners_2d": [ + [ + 903.6633859840581, + 621.8228408736384 + ], + [ + 940.4722208609251, + 624.7367296774648 + ], + [ + 934.8445943782979, + 591.7605405741477 + ], + [ + 899.1876166598506, + 589.0241091485977 + ], + [ + 917.4034048620765, + 575.4380676799116 + ], + [ + 956.1756338071649, + 578.3703072297842 + ], + [ + 949.752544432636, + 545.2353291459497 + ], + [ + 912.2561687195023, + 542.4905323272516 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 1013, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -121.28268432617188, + "y": -122.31512451171875, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.46839842200279236, + "y": 0.4488476514816284, + "z": 0.8642573952674866 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 374.388242359059, + "ymin": 633.1243001453979, + "xmax": 439.38848043398815, + "ymax": 718.8802823884014 + }, + "corners_3d": [ + [ + -121.2286376953125, + -122.96160888671875, + -0.289267897605896 + ], + [ + -121.92627716064453, + -122.39666748046875, + -0.289267897605896 + ], + [ + -121.33673095703125, + -121.66864013671875, + -0.289267897605896 + ], + [ + -120.63909149169922, + -122.23358154296875, + -0.289267897605896 + ], + [ + -121.2286376953125, + -122.96160888671875, + 1.4392468929290771 + ], + [ + -121.92627716064453, + -122.39666748046875, + 1.4392468929290771 + ], + [ + -121.33673095703125, + -121.66864013671875, + 1.4392468929290771 + ], + [ + -120.63909149169922, + -122.23358154296875, + 1.4392468929290771 + ] + ], + "corners_2d": [ + [ + 387.74009236717285, + 711.686798639801 + ], + [ + 424.7751110755307, + 718.8802823884014 + ], + [ + 439.38848043398815, + 682.6808153891945 + ], + [ + 403.4154086820018, + 675.9283828456546 + ], + [ + 374.388242359059, + 669.331245778127 + ], + [ + 413.3085456164426, + 676.629341737861 + ], + [ + 429.05151643547435, + 639.9523290516897 + ], + [ + 391.30192172485215, + 633.1243001453979 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 564, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -110.12037658691406, + "y": -116.67083740234375, + "z": 0.7302483320236206 + }, + "extent": { + "x": 0.43507811427116394, + "y": 0.4913037121295929, + "z": 0.9217921495437622 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 366.46963649872475, + "ymin": 302.94375304230005, + "xmax": 416.3111336558596, + "ymax": 369.30178396353057 + }, + "corners_3d": [ + [ + -109.94529724121094, + -117.30330657958984, + -0.1915438175201416 + ], + [ + -110.76937866210938, + -116.76814270019531, + -0.1915438175201416 + ], + [ + -110.29545593261719, + -116.03836822509766, + -0.1915438175201416 + ], + [ + -109.47137451171875, + -116.57353210449219, + -0.1915438175201416 + ], + [ + -109.94529724121094, + -117.30330657958984, + 1.6520404815673828 + ], + [ + -110.76937866210938, + -116.76814270019531, + 1.6520404815673828 + ], + [ + -110.29545593261719, + -116.03836822509766, + 1.6520404815673828 + ], + [ + -109.47137451171875, + -116.57353210449219, + 1.6520404815673828 + ] + ], + "corners_2d": [ + [ + 376.75058574227074, + 363.47463056338694 + ], + [ + 403.7097098503965, + 369.30178396353057 + ], + [ + 416.3111336558596, + 353.0766888395544 + ], + [ + 389.79972197299776, + 347.48001863456363 + ], + [ + 366.46963649872475, + 318.6231747627189 + ], + [ + 394.41206805862214, + 324.34155837549145 + ], + [ + 407.6925847635227, + 308.4273638645866 + ], + [ + 380.23033578621704, + 302.94375304230005 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 24, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 530.307028154096, + "ymin": 0.0, + "xmax": 718.6254594645249, + "ymax": 89.83156294403148 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 592.4805355655583, + 12.878321525981221 + ], + [ + 535.9127329311734, + 29.257228868306925 + ], + [ + 655.3699574340616, + 89.83156294403148 + ], + [ + 714.26676757798, + 69.04536957988302 + ], + [ + 590.0152851920142, + -64.89014070985269 + ], + [ + 530.307028154096, + -50.5928427584405 + ], + [ + 656.3111007088206, + 2.7532497044423963 + ], + [ + 718.6254594645249, + -15.636524865352328 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 3242, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 701.3820331449957, + "ymin": 0.0, + "xmax": 893.6895723255213, + "ymax": 52.00108951068114 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 832.187200054289, + 52.00108951068114 + ], + [ + 880.5891484309265, + 34.02080433289677 + ], + [ + 749.0568114210323, + -15.071059614669593 + ], + [ + 701.3820331449957, + -0.6783195488828255 + ], + [ + 843.0714479320596, + -30.679395221150912 + ], + [ + 893.6895723255213, + -46.452982504882016 + ], + [ + 754.3503353966607, + -89.18994590707513 + ], + [ + 704.4674393789439, + -76.71007218817527 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 690, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 650.4395763785114, + "ymin": 0.0, + "xmax": 744.4157302319122, + "ymax": 64.36110464896717 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 675.1560410807572, + 26.151205850794724 + ], + [ + 650.4395763785114, + 33.92849970629777 + ], + [ + 717.217001230023, + 64.36110464896717 + ], + [ + 742.327895617781, + 55.56240139341344 + ], + [ + 675.829960525348, + -2.3300783128169087 + ], + [ + 650.6431000736386, + 5.114446655238055 + ], + [ + 718.8210394856724, + 34.29076377097874 + ], + [ + 744.4157302319122, + 25.847766851580786 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 52908959695452696, + "instance_id": 6202, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": -79.05494689941406, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1114.7190075788517, + "ymin": 9.190966183589012, + "xmax": 1130.1658617846138, + "ymax": 30.766757069153527 + }, + "corners_3d": [ + [ + -113.29469299316406, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -78.86498260498047, + 3.5146729946136475 + ], + [ + -113.29469299316406, + -78.86498260498047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1114.7190075788517, + 29.086078196585333 + ], + [ + 1120.1195348110039, + 30.766757069153527 + ], + [ + 1124.2684457917237, + 28.873953911957642 + ], + [ + 1118.8748017141206, + 27.206737325091012 + ], + [ + 1120.5027776209965, + 11.019861300915238 + ], + [ + 1125.9903146191732, + 12.655578176538768 + ], + [ + 1130.1658617846138, + 10.813421973370282 + ], + [ + 1124.6855483952095, + 9.190966183589012 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 907.6686090076669, + "ymin": 114.42326431416495, + "xmax": 927.1781527514449, + "ymax": 146.0026245764469 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 914.5933884757139, + 146.0026245764469 + ], + [ + 922.0140056927836, + 142.488465699765 + ], + [ + 915.0914597840839, + 139.4212876334127 + ], + [ + 907.6686090076669, + 142.8984283384371 + ], + [ + 919.6525432131862, + 120.83671373324859 + ], + [ + 927.1781527514449, + 117.41186960787559 + ], + [ + 920.1018378229081, + 114.42326431416495 + ], + [ + 912.573580506385, + 117.81137377884454 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5668522571212290485, + "instance_id": 46457, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -89.45570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1000.6470869059563, + "ymin": 0.0, + "xmax": 1017.2404831483316, + "ymax": 21.025801539382144 + }, + "corners_3d": [ + [ + -113.19542694091797, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -89.26573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -89.26573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1000.6470869059563, + 19.10215504241205 + ], + [ + 1006.484841286305, + 21.025801539382144 + ], + [ + 1011.896588114382, + 18.84789145528663 + ], + [ + 1006.0638219956714, + 16.9423371402292 + ], + [ + 1005.8322470428741, + -2.360669330275414 + ], + [ + 1011.7763267195387, + -0.5004654796859995 + ], + [ + 1017.2404831483316, + -2.606530432811212 + ], + [ + 1011.3017496664149, + -4.448988520425814 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1060.4116148437777, + "ymin": 180.43385680688647, + "xmax": 1085.267271903197, + "ymax": 215.24743579132294 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1069.064030890225, + 215.24743579132294 + ], + [ + 1076.3205925321458, + 210.8569076691882 + ], + [ + 1067.6831423120716, + 207.0299073337059 + ], + [ + 1060.4116148437777, + 211.36878741009153 + ], + [ + 1077.9224843767274, + 188.47631965034861 + ], + [ + 1085.267271903197, + 184.17880897958617 + ], + [ + 1076.4001011356172, + 180.43385680688647 + ], + [ + 1069.0390016295823, + 184.67978284916495 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7157878223548397302, + "instance_id": 63030, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -86.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1035.3775047158608, + "ymin": 0.0, + "xmax": 1051.9286073599048, + "ymax": 7.062459913683824 + }, + "corners_3d": [ + [ + -113.19542694091797, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -86.76573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -86.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1035.3775047158608, + 5.253331852027088 + ], + [ + 1041.1795661355266, + 7.062459913683824 + ], + [ + 1046.2692346867225, + 5.014170862135245 + ], + [ + 1040.4731461563292, + 3.221547198759822 + ], + [ + 1040.8881552827136, + -15.746141514268174 + ], + [ + 1046.7941183163628, + -13.998201840033971 + ], + [ + 1051.9286073599048, + -15.97719877970178 + ], + [ + 1046.028997692209, + -17.708971103511885 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 790.0346338135142, + "ymin": 141.5171325080317, + "xmax": 805.1211386136259, + "ymax": 168.6482548547428 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 795.5129149463133, + 168.6482548547428 + ], + [ + 802.5557125268575, + 165.48821384434535 + ], + [ + 797.0734398675237, + 162.71094019242628 + ], + [ + 790.0346338135142, + 165.84198619577398 + ], + [ + 797.9802037312436, + 147.336571945708 + ], + [ + 805.1211386136259, + 144.23904395392375 + ], + [ + 799.5407977857955, + 141.5171325080317 + ], + [ + 792.4038595862208, + 144.58579249647448 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 986.7602361160104, + "ymin": 148.58074485877398, + "xmax": 1008.9563852581216, + "ymax": 181.84752060289364 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 994.555472379715, + 181.84752060289364 + ], + [ + 1001.9184544834457, + 177.89179504810193 + ], + [ + 994.131414348821, + 174.4415848194188 + ], + [ + 986.7602361160104, + 178.3531215110748 + ], + [ + 1001.4952212405, + 155.81386138421396 + ], + [ + 1008.9563852581216, + 151.95002414847366 + ], + [ + 1000.9787237762635, + 148.58074485877398 + ], + [ + 993.5085295326342, + 152.4005848169987 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 947.7601506009573, + "ymin": 0.0, + "xmax": 1163.109207041703, + "ymax": 151.2024803933788 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1104.3064322506675, + 79.48108786509516 + ], + [ + 1096.413942321887, + 76.70777009413104 + ], + [ + 947.7601506009573, + 147.61324776056315 + ], + [ + 955.8342749090684, + 151.2024803933788 + ], + [ + 1163.109207041703, + -101.93239111409747 + ], + [ + 1153.8697607084719, + -103.96452447436593 + ], + [ + 992.5929200380893, + -51.13144854653052 + ], + [ + 1002.1654627738252, + -48.40761019232883 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2334590930876643410, + "instance_id": 21048, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -123.8453369140625, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 161.6175308404617, + "ymin": 356.0021609853626, + "xmax": 185.5725234362177, + "ymax": 376.6235964760715 + }, + "corners_3d": [ + [ + -116.6200942993164, + -123.69747161865234, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.69747161865234, + 7.743301868438721 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 178.26938789977476, + 360.1907670466498 + ], + [ + 163.36409518206136, + 366.2336869064258 + ], + [ + 170.5310187605807, + 376.6235964760715 + ], + [ + 185.5725234362177, + 370.42453260581726 + ], + [ + 176.5901686855272, + 356.0021609853626 + ], + [ + 161.6175308404617, + 362.03547880811635 + ], + [ + 168.78846633135015, + 372.40965384067397 + ], + [ + 183.89865170334065, + 366.2198599751309 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3639812104533344102, + "instance_id": 26239, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -123.8453369140625, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 161.7454135817748, + "ymin": 356.11058881013724, + "xmax": 185.4449728963562, + "ymax": 376.5127306924267 + }, + "corners_3d": [ + [ + -116.62229919433594, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.69904327392578, + 7.742714881896973 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 178.22056283687073, + 360.2547790143998 + ], + [ + 163.47302016351233, + 366.23407403813593 + ], + [ + 170.56409027166677, + 376.5127306924267 + ], + [ + 185.4449728963562, + 370.38059428764893 + ], + [ + 176.55888197612006, + 356.11058881013724 + ], + [ + 161.7454135817748, + 362.0804868030755 + ], + [ + 168.8404160929686, + 372.3437398206291 + ], + [ + 183.7885178638324, + 366.2206788991124 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 950.2610198711118, + "ymin": 0.0, + "xmax": 1219.3756203406829, + "ymax": 99.81082999721542 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 1019.7001269081125, + 99.81082999721542 + ], + [ + 1125.1478000968275, + 49.54063852360969 + ], + [ + 1057.1621279508277, + 27.61228795963632 + ], + [ + 950.2610198711118, + 73.27027791056042 + ], + [ + 1102.6742270325424, + -208.77104146980196 + ], + [ + 1219.3756203406829, + -234.49016533034376 + ], + [ + 1133.889048917017, + -245.39054318599506 + ], + [ + 1014.0425715093689, + -222.47869918638537 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5944504550537153523, + "instance_id": 62411, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_1", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88526153564453, + "z": 3.6450090408325195 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 191.7225648616642, + "xmax": 6.107619962959916, + "ymax": 247.3370616588453 + }, + "corners_3d": [ + [ + -100.3021469116211, + -126.97334289550781, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.4827723503112793 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.4827687740325928 + ], + [ + -100.3021469116211, + -126.97334289550781, + 3.8072457313537598 + ], + [ + -100.3021469116211, + -124.79718780517578, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -124.79718017578125, + 3.8072493076324463 + ], + [ + -98.36980438232422, + -126.97333526611328, + 3.8072457313537598 + ] + ], + "corners_2d": [ + [ + -70.00265987337889, + 247.3370616588453 + ], + [ + 6.107619962959916, + 223.79311184055086 + ], + [ + -8.050279776876323, + 200.22988923667293 + ], + [ + -81.85042525614381, + 222.10458917954563 + ], + [ + -74.94872497502251, + 238.52763720944182 + ], + [ + 1.8440236776223173, + 215.12908981519746 + ], + [ + -12.253383416541169, + 191.7225648616642 + ], + [ + -86.69319905689827, + 213.45142613817194 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 841.0938217726605, + "ymin": 85.418652655708, + "xmax": 858.5541122886192, + "ymax": 95.9632007592732 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 847.5878422323709, + 88.83495694609189 + ], + [ + 841.0938217726605, + 91.4677697293751 + ], + [ + 851.5297538594618, + 95.9632007592732 + ], + [ + 858.0262963632929, + 93.28577700509925 + ], + [ + 848.0861839937356, + 85.418652655708 + ], + [ + 841.5789827255777, + 88.040770000272 + ], + [ + 852.044419413459, + 92.51808382571812 + ], + [ + 858.5541122886192, + 89.85142845165984 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6967274615413648305, + "instance_id": 45483, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_2", + "bbox_3d": { + "center_world": { + "x": -99.33560943603516, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 161.5721705559792, + "xmax": 48.757414717018264, + "ymax": 331.86611261484967 + }, + "corners_3d": [ + [ + -100.3640365600586, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -127.03557586669922, + 4.877264976501465 + ], + [ + -100.3640365600586, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + -25.09281692210334, + 331.86611261484967 + ], + [ + 48.757414717018264, + 305.6829944047305 + ], + [ + 33.12978156742008, + 279.2881090650848 + ], + [ + -38.546769283981575, + 303.6203230719756 + ], + [ + -93.73051283140182, + 210.08423391260146 + ], + [ + -9.983662204849338, + 185.8409450248159 + ], + [ + -24.8260739526238, + 161.5721705559792 + ], + [ + -105.75674763711959, + 183.93827583823182 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9919303964700251881, + "instance_id": 59670, + "pixel_count": null, + "type_id": "AmericanLights_Town04_46_Poles_4", + "bbox_3d": { + "center_world": { + "x": -112.9144515991211, + "y": -134.7008514404297, + "z": 4.223348617553711 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 334.2177761943252, + "xmax": 22.19765583445053, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.18444061279297, + -128.6757354736328, + -4.76837158203125e-06 + ], + [ + -112.75162506103516, + -128.67189025878906, + -4.76837158203125e-06 + ], + [ + -112.64446258544922, + -140.72596740722656, + -4.76837158203125e-06 + ], + [ + -113.07727813720703, + -140.7298126220703, + -4.76837158203125e-06 + ], + [ + -113.18444061279297, + -128.6757354736328, + 8.446702003479004 + ], + [ + -112.75162506103516, + -128.67189025878906, + 8.446702003479004 + ], + [ + -112.64446258544922, + -140.72596740722656, + 8.446702003479004 + ], + [ + -113.07727813720703, + -140.7298126220703, + 8.446702003479004 + ] + ], + "corners_2d": [ + [ + 22.19765583445053, + 610.2527939449215 + ], + [ + 17.94285554697035, + 598.9797960966034 + ], + [ + -674.5080274383674, + 931.7855138808792 + ], + [ + -678.8244951621427, + 951.5051265694559 + ], + [ + -159.48670335181396, + 345.08866340241474 + ], + [ + -162.45988475324896, + 334.2177761943252 + ], + [ + -1229.3766446293855, + 686.9037767445684 + ], + [ + -1246.9646146735247, + 710.081967106624 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 569.006293453292, + "ymin": 0.0, + "xmax": 639.7151838975878, + "ymax": 69.76759798124073 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 576.2117451473741, + 67.0565306254162 + ], + [ + 581.3920276580776, + 69.76759798124073 + ], + [ + 639.7151838975878, + 50.83745455137995 + ], + [ + 634.4275782725565, + 48.32348157167553 + ], + [ + 569.006293453292, + -96.15379089354997 + ], + [ + 574.7323205611884, + -94.10634738480701 + ], + [ + 639.684152473539, + -108.35124511190133 + ], + [ + 633.8238951272448, + -110.23400633908699 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 841.1866358898736, + "ymin": 85.47445062936578, + "xmax": 858.4609435357828, + "ymax": 95.90686720244815 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 847.6115482873141, + 88.85456835637854 + ], + [ + 841.1866358898736, + 91.45950719784088 + ], + [ + 851.5115843849055, + 95.90686720244815 + ], + [ + 857.9389668916534, + 93.25826179031549 + ], + [ + 848.1046745593106, + 85.47445062936578 + ], + [ + 841.666860643493, + 88.06892015883932 + ], + [ + 852.0206889791081, + 92.49854640524404 + ], + [ + 858.4609435357828, + 89.86048094348348 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14081937874569997388, + "instance_id": 19500, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_0", + "bbox_3d": { + "center_world": { + "x": -99.33597564697266, + "y": -125.88525390625, + "z": 3.6439085006713867 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 191.69751701627703, + "xmax": 6.1859585223121485, + "ymax": 247.4253635546773 + }, + "corners_3d": [ + [ + -100.30333709716797, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.4805867671966553 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.480583429336548 + ], + [ + -100.30333709716797, + -126.97452545166016, + 3.807230234146118 + ], + [ + -100.3033447265625, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36861419677734, + -124.79598236083984, + 3.8072335720062256 + ], + [ + -98.36860656738281, + -126.97452545166016, + 3.807230234146118 + ] + ], + "corners_2d": [ + [ + -70.00482942530266, + 247.4253635546773 + ], + [ + 6.1859585223121485, + 223.85362655624138 + ], + [ + -7.991287440240512, + 200.26117955157267 + ], + [ + -81.86684242857996, + 222.15978252488492 + ], + [ + -74.98419780799304, + 238.5572690871771 + ], + [ + 1.8943658930398897, + 215.13204522606594 + ], + [ + -12.221941123174474, + 191.69751701627703 + ], + [ + -86.74209024687457, + 213.44916514621454 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 745.1213698279184, + "ymin": 46.75164292576261, + "xmax": 863.5308742303471, + "ymax": 299.7812641167171 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 753.5198641812151, + 248.7263291876132 + ], + [ + 745.1213698279184, + 252.8623749567451 + ], + [ + 822.1711005739024, + 299.7812641167171 + ], + [ + 830.6437962421419, + 295.0680390204142 + ], + [ + 771.6707781782018, + 46.75164292576261 + ], + [ + 762.0466128685407, + 50.14551242395845 + ], + [ + 853.8330956162207, + 89.10699062941569 + ], + [ + 863.5308742303471, + 85.15436205811841 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 103.78984029592027, + "ymin": 274.9283785402007, + "xmax": 281.25116233275645, + "ymax": 610.1584027739368 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 222.63197560407355, + 510.1751690705549 + ], + [ + 206.61105643492374, + 518.0650660163277 + ], + [ + 264.2238384572731, + 610.1584027739368 + ], + [ + 281.25116233275645, + 600.6863748202311 + ], + [ + 124.61860821717801, + 274.9283785402007 + ], + [ + 103.78984029592027, + 282.27344357789246 + ], + [ + 164.22150503572902, + 370.1794490226777 + ], + [ + 186.86778110327043, + 360.94926122609746 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16194625468754558244, + "instance_id": 9469, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.53463745117188, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 111.64105981502172, + "xmax": 13.925237224886018, + "ymax": 269.0054095657265 + }, + "corners_3d": [ + [ + -95.56306457519531, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -127.03557586669922, + 4.877264976501465 + ], + [ + -95.56306457519531, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + -55.03444425644864, + 269.0054095657265 + ], + [ + 13.925237224886018, + 246.85186353328075 + ], + [ + 0.6289399353172485, + 224.3945765570359 + ], + [ + -66.42032279848684, + 245.10142058101812 + ], + [ + -120.37194365180346, + 152.1637172650914 + ], + [ + -42.92382492994852, + 131.98060253282966 + ], + [ + -55.363178559725384, + 111.64105981502172 + ], + [ + -130.3866900255273, + 130.3908895228347 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 775.0687623671008, + "ymin": 8.00440657217274, + "xmax": 1146.130788103258, + "ymax": 386.7079606714856 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 782.8905475742401, + 224.12734597994992 + ], + [ + 775.0687623671008, + 227.84636825861347 + ], + [ + 1048.4277223292684, + 386.7079606714856 + ], + [ + 1056.2154566742627, + 381.0169240886814 + ], + [ + 806.8710382201865, + 8.00440657217274 + ], + [ + 797.8849350658102, + 10.937073676539057 + ], + [ + 1137.40545810517, + 141.57544755545817 + ], + [ + 1146.130788103258, + 136.70687091033972 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 5199819733356185808, + "instance_id": 53256, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1851_37", + "bbox_3d": { + "center_world": { + "x": -100.25784301757812, + "y": -72.39555358886719, + "z": 8.309331893920898 + }, + "extent": { + "x": 4.9728498458862305, + "y": 4.831793308258057, + "z": 8.307754516601562 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 850.9406378859512, + "ymin": 0.0, + "xmax": 1168.578269767363, + "ymax": 25.501262654523885 + }, + "corners_3d": [ + [ + -94.59623718261719, + -68.39283752441406, + 0.0015773773193359375 + ], + [ + -96.09391784667969, + -77.93966674804688, + 0.0015773773193359375 + ], + [ + -105.91944885253906, + -76.39826965332031, + 0.0015773773193359375 + ], + [ + -104.42176818847656, + -66.8514404296875, + 0.0015773773193359375 + ], + [ + -94.59623718261719, + -68.39283752441406, + 16.61708641052246 + ], + [ + -96.09391784667969, + -77.93966674804688, + 16.61708641052246 + ], + [ + -105.91944885253906, + -76.39826965332031, + 16.61708641052246 + ], + [ + -104.42176818847656, + -66.8514404296875, + 16.61708641052246 + ] + ], + "corners_2d": [ + [ + 928.3264619332435, + -51.40769855526969 + ], + [ + 850.9406378859512, + -14.630873141882432 + ], + [ + 1004.026834979063, + 25.501262654523885 + ], + [ + 1073.6626014611259, + -18.18522061063271 + ], + [ + 985.477732592559, + -361.2863843740447 + ], + [ + 897.5841760663563, + -352.18452887120304 + ], + [ + 1093.9910179190097, + -341.8467729389881 + ], + [ + 1168.578269767363, + -353.0793523206064 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 195.16193410329544, + "ymax": 549.3552959405524 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 88.61580761733217, + 320.67512621168663 + ], + [ + -139.43929928432362, + 425.34352263600124 + ], + [ + -48.812888359070485, + 549.3552959405524 + ], + [ + 195.16193410329544, + 414.8705173647394 + ], + [ + -81.62375005977901, + -47.121382928695255 + ], + [ + -425.34740009079496, + 26.77326722668124 + ], + [ + -353.71187116460555, + 123.2812084144513 + ], + [ + 34.676875715737765, + 19.0855471249713 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 40.327602426347426, + "ymax": 193.17455668002464 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + -55.667648566358366, + 85.57800129847777 + ], + [ + -225.15472799622069, + 147.02760830102204 + ], + [ + -130.37727482331627, + 193.17455668002464 + ], + [ + 40.327602426347426, + 122.26830172839163 + ], + [ + -184.1078569398636, + -177.76585302071658 + ], + [ + -407.49648103538357, + -140.64008507565592 + ], + [ + -308.4563411478499, + -111.66458385462937 + ], + [ + -79.66378043421912, + -155.79411543082722 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 10.644968897878925, + "xmax": 232.6326375282341, + "ymax": 626.5313417696409 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -110.72830740511654, + 626.5313417696409 + ], + [ + 184.64921570957017, + 591.0848435245517 + ], + [ + 232.6326375282341, + 403.2642797125161 + ], + [ + -6.098177137926768, + 426.8261258533611 + ], + [ + -481.7651547401506, + 188.93999596567272 + ], + [ + -29.40631153003335, + 158.20959877386798 + ], + [ + 88.36770748766628, + 10.644968897878925 + ], + [ + -243.65039113765874, + 27.867092153637486 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 49.071784634710184, + "ymax": 275.53549835715273 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -20.81648564839884, + 147.74089378277748 + ], + [ + -202.96530166859475, + 208.3351874742915 + ], + [ + -144.00374965899175, + 275.53549835715273 + ], + [ + 49.071784634710184, + 202.43817851254076 + ], + [ + -168.1234483131518, + -156.35750787259326 + ], + [ + -415.1228530193673, + -119.75137376124184 + ], + [ + -367.6047973161369, + -77.08667648165505 + ], + [ + -97.96386624813022, + -123.38932989334148 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00029/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00029/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a0b053cfb1d716dba5da7d33703dae42d1920b13 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00029/meta.json @@ -0,0 +1,3308 @@ +{ + "frame_id": 29, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 14.5, + "sim_timestamp": 10050.927624654025 + }, + "drone_pose": { + "x": -133.5821455597832, + "y": -125.41429345569219, + "z": 19.907249538872883, + "pitch": -39.43377530373629, + "yaw": 45.11250001246223, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5450670719146729, + -0.5472117066383362, + 0.6351858973503113, + 128.79458618164062 + ], + [ + 0.7084937691688538, + 0.7057170271873474, + 1.4901161193847656e-08, + -6.135108947753906 + ], + [ + -0.4482615292072296, + 0.4500252604484558, + 0.7723592519760132, + -131.69488525390625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -132.95537569813197, + "y": -124.89827815053619, + "z": 20.03181010545157 + }, + "t1_image_uv": [ + 499.22512131441636, + -713.6394431734088 + ], + "t1_depth": 0.5448821495919569 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -117.16718292236328, + "y": -110.68776321411131, + "z": 0.5749797606472566 + }, + "image_uv": [ + 599.4455865157594, + 391.0090850735537 + ], + "depth": 29.285372060255003, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 189, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -117.16718292236328, + "y": -110.68775939941406, + "z": 0.5749797821044922 + }, + "extent": { + "x": 0.18480956554412842, + "y": 0.2160009741783142, + "z": 0.5274457335472107 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 591.5864790923719, + "ymin": 373.88895405685844, + "xmax": 607.052390345287, + "ymax": 407.9061212270139 + }, + "corners_3d": [ + [ + -117.14512634277344, + -110.97117614746094, + 0.047534048557281494 + ], + [ + -117.45059967041016, + -110.66570281982422, + 0.047534048557281494 + ], + [ + -117.18923950195312, + -110.40434265136719, + 0.047534048557281494 + ], + [ + -116.8837661743164, + -110.7098159790039, + 0.047534048557281494 + ], + [ + -117.14512634277344, + -110.97117614746094, + 1.1024255752563477 + ], + [ + -117.45059967041016, + -110.66570281982422, + 1.1024255752563477 + ], + [ + -117.18923950195312, + -110.40434265136719, + 1.1024255752563477 + ], + [ + -116.8837661743164, + -110.7098159790039, + 1.1024255752563477 + ] + ], + "corners_2d": [ + [ + 592.6869717260745, + 407.9061212270139 + ], + [ + 606.7569458810358, + 407.8875099503995 + ], + [ + 607.052390345287, + 399.85564399180345 + ], + [ + 593.1173787157645, + 399.87389995424275 + ], + [ + 591.5864790923719, + 381.86876530089285 + ], + [ + 605.9837359316059, + 381.85031327592685 + ], + [ + 606.293571893203, + 373.88895405685844 + ], + [ + 592.0375978268363, + 373.9070457346422 + ] + ], + "center_offset_px": [ + -40.55441348424063, + 31.009085073553706 + ] + }, + "trace_timestep_index": 29, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 62, + "semantic_pixel_counts": { + "1": 491170, + "2": 191855, + "3": 180261, + "4": 7471, + "5": 2259, + "6": 8711, + "7": 1292, + "9": 2209, + "10": 4506, + "12": 3351, + "14": 725, + "16": 4160, + "21": 23, + "24": 23607 + }, + "instance_pixel_counts": { + "1115": 4231, + "1627": 10, + "6254": 38, + "10370": 2598, + "11394": 1213, + "13397": 23, + "14416": 103, + "14928": 2156, + "16023": 718, + "17232": 7471, + "18011": 41848, + "20631": 17532, + "23808": 772, + "24064": 5368, + "27072": 3203, + "29843": 25708, + "30656": 76428, + "31168": 2417, + "31813": 4059, + "31891": 295532, + "34120": 61960, + "34453": 3054, + "34907": 7, + "35419": 1252, + "35931": 8083, + "36443": 117032, + "36501": 12351, + "37460": 52, + "44171": 871, + "44179": 3334, + "44691": 126265, + "45203": 16968, + "46227": 23363, + "46731": 1139, + "46741": 104, + "47253": 6169, + "47765": 1056, + "48267": 1601, + "48779": 592, + "48789": 873, + "49664": 189, + "49803": 1338, + "49920": 382, + "50176": 385, + "50432": 827, + "50688": 988, + "50944": 580, + "52480": 33, + "52672": 163, + "52736": 4127, + "53184": 1612, + "54016": 725, + "54720": 2170, + "55232": 6186, + "55744": 2743, + "55879": 1, + "56135": 101, + "56768": 5593, + "57173": 2209, + "60013": 4993, + "61037": 2767, + "64351": 5589 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 189, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -117.16718292236328, + "y": -110.68775939941406, + "z": 0.5749797821044922 + }, + "extent": { + "x": 0.20263671875, + "y": 0.2023632824420929, + "z": 0.526543915271759 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 592.0201905307322, + "ymin": 373.53225462026097, + "xmax": 606.6261479080954, + "ymax": 408.2750546219373 + }, + "corners_3d": [ + [ + -117.16737365722656, + -110.97413635253906, + 0.048435866832733154 + ], + [ + -117.45355987548828, + -110.68795013427734, + 0.048435866832733154 + ], + [ + -117.1669921875, + -110.40138244628906, + 0.048435866832733154 + ], + [ + -116.88080596923828, + -110.68756866455078, + 0.048435866832733154 + ], + [ + -117.16737365722656, + -110.97413635253906, + 1.1015236377716064 + ], + [ + -117.45355987548828, + -110.68795013427734, + 1.1015236377716064 + ], + [ + -117.1669921875, + -110.40138244628906, + 1.1015236377716064 + ], + [ + -116.88080596923828, + -110.68756866455078, + 1.1015236377716064 + ] + ], + "corners_2d": [ + [ + 593.1094886937409, + 408.2750546219373 + ], + [ + 606.2975224374699, + 408.25760224850114 + ], + [ + 606.6261479080954, + 399.45108900337596 + ], + [ + 593.5767563107464, + 399.4681763831472 + ], + [ + 592.0201905307322, + 382.2788987979288 + ], + [ + 605.5146078705012, + 382.26159512932145 + ], + [ + 605.8592043969481, + 373.53225462026097 + ], + [ + 592.5099104400553, + 373.54918813381363 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 382, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -113.04119873046875, + "y": -107.69005584716797, + "z": 0.7268401384353638 + }, + "extent": { + "x": 0.48139646649360657, + "y": 0.39394041895866394, + "z": 0.8795009255409241 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 565.9648985324451, + "ymin": 260.9121633512625, + "xmax": 595.1158849624912, + "ymax": 321.28900344566625 + }, + "corners_3d": [ + [ + -113.23037719726562, + -108.28263092041016, + -0.1526607871055603 + ], + [ + -113.65948486328125, + -107.62185668945312, + -0.1526607871055603 + ], + [ + -112.85202026367188, + -107.09748077392578, + -0.1526607871055603 + ], + [ + -112.42291259765625, + -107.75825500488281, + -0.1526607871055603 + ], + [ + -113.23037719726562, + -108.28263092041016, + 1.6063411235809326 + ], + [ + -113.65948486328125, + -107.62185668945312, + 1.6063411235809326 + ], + [ + -112.85202026367188, + -107.09748077392578, + 1.6063411235809326 + ], + [ + -112.42291259765625, + -107.75825500488281, + 1.6063411235809326 + ] + ], + "corners_2d": [ + [ + 572.6747919808005, + 321.28900344566625 + ], + [ + 595.1158849624912, + 318.41326265448606 + ], + [ + 590.380481453677, + 302.44978877838986 + ], + [ + 568.4023554934003, + 305.2038540923084 + ], + [ + 570.3308583457331, + 279.3009355921828 + ], + [ + 593.5594330843481, + 276.4918756930571 + ], + [ + 588.6977906438676, + 260.9121633512625 + ], + [ + 565.9648985324451, + 263.5983758145995 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 385, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -119.42300415039062, + "y": -103.74504852294922, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.37388670444488525, + "y": 0.3412109315395355, + "z": 0.8841003179550171 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 783.4204157533552, + "ymin": 295.93698028261525, + "xmax": 814.4580687497937, + "ymax": 353.2655298021847 + }, + "corners_3d": [ + [ + -119.49884033203125, + -104.24551391601562, + -0.3091156482696533 + ], + [ + -119.92829895019531, + -103.71517181396484, + -0.3091156482696533 + ], + [ + -119.34716796875, + -103.24458312988281, + -0.3091156482696533 + ], + [ + -118.91770935058594, + -103.7749252319336, + -0.3091156482696533 + ], + [ + -119.49884033203125, + -104.24551391601562, + 1.4590849876403809 + ], + [ + -119.92829895019531, + -103.71517181396484, + 1.4590849876403809 + ], + [ + -119.34716796875, + -103.24458312988281, + 1.4590849876403809 + ], + [ + -118.91770935058594, + -103.7749252319336, + 1.4590849876403809 + ] + ], + "corners_2d": [ + [ + 788.3673139099265, + 353.2655298021847 + ], + [ + 808.3649145952681, + 351.8993349527065 + ], + [ + 803.0756475232283, + 338.1899163576312 + ], + [ + 783.4204157533552, + 339.5085523974857 + ], + [ + 793.7464798330841, + 310.6993415846177 + ], + [ + 814.4580687497937, + 309.3606850991548 + ], + [ + 808.8701589977111, + 295.93698028261525 + ], + [ + 788.5255895611247, + 297.227394500462 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 827, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -126.66718292236328, + "y": -110.68775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.377875953912735, + "y": 0.4180566370487213, + "z": 0.8795445561408997 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 835.205406345601, + "ymin": 532.5250534000908, + "xmax": 884.0461475499412, + "ymax": 601.2187882019706 + }, + "corners_3d": [ + [ + -126.6387710571289, + -111.25057220458984, + -0.3045598864555359 + ], + [ + -127.22999572753906, + -110.65934753417969, + -0.3045598864555359 + ], + [ + -126.69559478759766, + -110.12494659423828, + -0.3045598864555359 + ], + [ + -126.1043701171875, + -110.71617126464844, + -0.3045598864555359 + ], + [ + -126.6387710571289, + -111.25057220458984, + 1.4545292854309082 + ], + [ + -127.22999572753906, + -110.65934753417969, + 1.4545292854309082 + ], + [ + -126.69559478759766, + -110.12494659423828, + 1.4545292854309082 + ], + [ + -126.1043701171875, + -110.71617126464844, + 1.4545292854309082 + ] + ], + "corners_2d": [ + [ + 839.9387953035796, + 601.2187882019706 + ], + [ + 872.858940653543, + 601.1651692631759 + ], + [ + 867.3558719070127, + 577.0604507479893 + ], + [ + 835.205406345601, + 577.1115909257647 + ], + [ + 849.5449483601658, + 556.7238466741617 + ], + [ + 884.0461475499412, + 556.6700775972254 + ], + [ + 878.0112656117617, + 532.5250534000908 + ], + [ + 844.3545040625389, + 532.5762217188606 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 988, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -120.78268432617188, + "y": -121.81512451171875, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.6109765768051147, + "y": 0.5180907845497131, + "z": 0.8901964426040649 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 302.8029174708157, + "ymin": 653.2458010277021, + "xmax": 382.91446977931014, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -120.7645492553711, + -122.6159896850586, + -0.31520694494247437 + ], + [ + -121.56981658935547, + -121.96389770507812, + -0.31520694494247437 + ], + [ + -120.80081939697266, + -121.0142593383789, + -0.31520694494247437 + ], + [ + -119.99555206298828, + -121.66635131835938, + -0.31520694494247437 + ], + [ + -120.7645492553711, + -122.6159896850586, + 1.4651858806610107 + ], + [ + -121.56981658935547, + -121.96389770507812, + 1.4651858806610107 + ], + [ + -120.80081939697266, + -121.0142593383789, + 1.4651858806610107 + ], + [ + -119.99555206298828, + -121.66635131835938, + 1.4651858806610107 + ] + ], + "corners_2d": [ + [ + 320.6531414596987, + 747.0991738366808 + ], + [ + 365.9184414609175, + 751.6380328335575 + ], + [ + 382.91446977931014, + 701.7329608736936 + ], + [ + 339.4921005120674, + 697.5688715280376 + ], + [ + 302.8029174708157, + 703.4879502375786 + ], + [ + 350.53595274318957, + 708.103870239293 + ], + [ + 369.12818627544556, + 657.4606526604294 + ], + [ + 323.4397678546003, + 653.2458010277021 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 580, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -110.12037658691406, + "y": -115.80756378173828, + "z": 0.7302336692810059 + }, + "extent": { + "x": 0.4138232469558716, + "y": 0.43720701336860657, + "z": 0.8665317893028259 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 302.2196680455901, + "ymin": 327.6648209359355, + "xmax": 351.26069578002864, + "ymax": 390.16244795773105 + }, + "corners_3d": [ + [ + -109.97908782958984, + -116.39274597167969, + -0.13629812002182007 + ], + [ + -110.71243286132812, + -115.91650390625, + -0.13629812002182007 + ], + [ + -110.26166534423828, + -115.22238159179688, + -0.13629812002182007 + ], + [ + -109.5283203125, + -115.69862365722656, + -0.13629812002182007 + ], + [ + -109.97908782958984, + -116.39274597167969, + 1.5967655181884766 + ], + [ + -110.71243286132812, + -115.91650390625, + 1.5967655181884766 + ], + [ + -110.26166534423828, + -115.22238159179688, + 1.5967655181884766 + ], + [ + -109.5283203125, + -115.69862365722656, + 1.5967655181884766 + ] + ], + "corners_2d": [ + [ + 314.397658149576, + 386.42786922676214 + ], + [ + 339.9334184396996, + 390.16244795773105 + ], + [ + 351.26069578002864, + 373.6334733166076 + ], + [ + 326.18700567884406, + 370.0476662063759 + ], + [ + 302.2196680455901, + 343.75690228680924 + ], + [ + 328.6572033961867, + 347.42917462077725 + ], + [ + 340.637006997419, + 331.18549022161005 + ], + [ + 314.69421080926145, + 327.6648209359355 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 33, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 427.2927941881577, + "ymin": 0.0, + "xmax": 622.0567951052316, + "ymax": 101.8831069675133 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 495.54072885412927, + 25.982735028175853 + ], + [ + 438.3018719456602, + 44.789657548454784 + ], + [ + 563.7801792884246, + 101.8831069675133 + ], + [ + 622.0567951052316, + 78.38798865403083 + ], + [ + 487.9848696028716, + -52.543821665119026 + ], + [ + 427.2927941881577, + -36.12971571376346 + ], + [ + 559.0883319419377, + 14.137822220535725 + ], + [ + 621.0039710966525, + -6.628588454698047 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 4127, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 603.4229782061888, + "ymin": 0.0, + "xmax": 792.609084727379, + "ymax": 56.666171237999095 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 738.395433891096, + 56.666171237999095 + ], + [ + 784.838966729721, + 36.91881501028047 + ], + [ + 652.0696704105025, + -7.66710080648005 + ], + [ + 605.1715141903607, + 8.420224004865474 + ], + [ + 743.9100249093035, + -25.75687641028088 + ], + [ + 792.609084727379, + -43.03611220527722 + ], + [ + 652.6522840582112, + -81.7622584634999 + ], + [ + 603.4229782061888, + -67.83488575433734 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 725, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 554.0381993294511, + "ymin": 7.839282477770325, + "xmax": 649.5948922291462, + "ymax": 73.53459624909016 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 580.2599995613986, + 36.46584707166346 + ], + [ + 555.6882689483595, + 45.2627988600442 + ], + [ + 624.7517038004208, + 73.53459624909016 + ], + [ + 649.4035739152802, + 63.669713972756654 + ], + [ + 579.1129044060878, + 7.839282477770325 + ], + [ + 554.0381993294511, + 16.257384368917712 + ], + [ + 624.4351386243317, + 43.35301647195416 + ], + [ + 649.5948922291462, + 33.891354367425265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 52908959695452696, + "instance_id": 6202, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": -79.05494689941406, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1009.6719972126416, + "ymin": 4.540299232234247, + "xmax": 1023.1429271349871, + "ymax": 25.68893111174566 + }, + "corners_3d": [ + [ + -113.29469299316406, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -78.86498260498047, + 3.5146729946136475 + ], + [ + -113.29469299316406, + -78.86498260498047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1009.6719972126416, + 24.226772525164336 + ], + [ + 1014.8844884735254, + 25.68893111174566 + ], + [ + 1018.6750957056324, + 23.690009961520673 + ], + [ + 1013.4732985038784, + 22.240644577846126 + ], + [ + 1014.0388317331394, + 6.471148137064915 + ], + [ + 1019.3273366046019, + 7.892738711852701 + ], + [ + 1023.1429271349871, + 5.949305364148302 + ], + [ + 1017.8654979013227, + 4.540299232234247 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 817.7526946870446, + "ymin": 117.69225236256824, + "xmax": 835.2694738871344, + "ymax": 149.34891302381624 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 824.7363603170324, + 149.34891302381624 + ], + [ + 831.7900208623068, + 145.4726500163074 + ], + [ + 824.8187379727253, + 142.68838114581365 + ], + [ + 817.7526946870446, + 146.52706868258798 + ], + [ + 828.1108531037382, + 124.17816842418208 + ], + [ + 835.2694738871344, + 120.40319584850005 + ], + [ + 828.1551883634129, + 117.69225236256824 + ], + [ + 820.9835039356667, + 121.42997012217353 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5668522571212290485, + "instance_id": 46457, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -89.45570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 900.4211886762009, + "ymin": 0.0, + "xmax": 915.0528868715328, + "ymax": 20.635831590732096 + }, + "corners_3d": [ + [ + -113.19542694091797, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -89.26573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -89.26573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 900.4211886762009, + 18.927496037247863 + ], + [ + 906.1670502332424, + 20.635831590732096 + ], + [ + 911.2359178924883, + 18.288313503597692 + ], + [ + 905.5007714110056, + 16.597716377266806 + ], + [ + 904.0912722098333, + -2.3300852542651 + ], + [ + 909.9326016998414, + -0.6797099943637477 + ], + [ + 915.0528868715328, + -2.947536090451422 + ], + [ + 909.2227287734975, + -4.580534694104756 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 970.4317204553095, + "ymin": 177.0277718160873, + "xmax": 992.6147229374279, + "ymax": 211.6792467448889 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 978.9958659915291, + 211.6792467448889 + ], + [ + 985.660026594315, + 206.9266769715497 + ], + [ + 977.1233189366296, + 203.51719284560545 + ], + [ + 970.4317204553095, + 208.21878979509754 + ], + [ + 985.8684451090933, + 185.00682235544636 + ], + [ + 992.6147229374279, + 180.36031030197728 + ], + [ + 983.8691914965555, + 177.0277718160873 + ], + [ + 977.0937924567801, + 181.6234502992575 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7157878223548397302, + "instance_id": 63030, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -86.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 932.9030278941616, + "ymin": 0.0, + "xmax": 947.4390227930585, + "ymax": 5.625259682558578 + }, + "corners_3d": [ + [ + -113.19542694091797, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -86.76573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -86.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 932.9030278941616, + 4.0287570507837245 + ], + [ + 938.5769005872614, + 5.625259682558578 + ], + [ + 943.3141772191343, + 3.431313480386166 + ], + [ + 937.651514253457, + 1.8508404428625909 + ], + [ + 936.8918613672669, + -16.715832292875064 + ], + [ + 942.6581807779404, + -15.17494445844818 + ], + [ + 947.4390227930585, + -17.292423942221433 + ], + [ + 941.6843745094786, + -18.817631108454975 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 703.0641907429085, + "ymin": 149.1101854718641, + "xmax": 716.7035199990664, + "ymax": 176.47964629050523 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 708.6880518478981, + 176.47964629050523 + ], + [ + 715.5145085912246, + 172.94214578665844 + ], + [ + 709.8943467486242, + 170.38361750671697 + ], + [ + 703.0641907429085, + 173.89104738321208 + ], + [ + 709.7760287137326, + 155.0831668347862 + ], + [ + 716.7035199990664, + 151.61683846764015 + ], + [ + 710.9901189767528, + 149.1101854718641 + ], + [ + 704.0587547381562, + 152.5465858922143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 897.1660721334625, + "ymin": 148.536871541542, + "xmax": 917.0413834937779, + "ymax": 181.76096043831436 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 904.951593389614, + 181.76096043831436 + ], + [ + 911.8303981781953, + 177.4400704284457 + ], + [ + 904.0644773549412, + 174.33843017924292 + ], + [ + 897.1660721334625, + 178.61511551042346 + ], + [ + 910.0675691805474, + 155.77944158327804 + ], + [ + 917.0413834937779, + 151.5628990880145 + ], + [ + 909.1002279219373, + 148.536871541542 + ], + [ + 902.1056701138912, + 152.70945343203545 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 857.2498389915465, + "ymin": 0.0, + "xmax": 1047.3109832740124, + "ymax": 150.71082693266047 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1002.8791064324928, + 73.58624816517374 + ], + [ + 995.2276309246776, + 71.16334436978542 + ], + [ + 857.2498389915465, + 147.4904837356814 + ], + [ + 865.3042146166547, + 150.71082693266047 + ], + [ + 1047.3109832740124, + -104.4126909897285 + ], + [ + 1038.487655767934, + -106.16900589355919 + ], + [ + 888.3169596205997, + -49.82756318093561 + ], + [ + 897.7288269444343, + -47.40354047580922 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2334590930876643410, + "instance_id": 21048, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -123.8453369140625, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 44.26120735457687, + "ymin": 414.60992313487424, + "xmax": 71.54701699849818, + "ymax": 437.5322325713702 + }, + "corners_3d": [ + [ + -116.6200942993164, + -123.69747161865234, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.69747161865234, + 7.743301868438721 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 63.066204220785494, + 418.9061478576575 + ], + [ + 46.582273514387225, + 426.6113988852184 + ], + [ + 54.930817646331775, + 437.5322325713702 + ], + [ + 71.54701699849818, + 429.6300538760998 + ], + [ + 60.83000120745237, + 414.60992313487424 + ], + [ + 44.26120735457687, + 422.30614110728135 + ], + [ + 52.613098261058894, + 433.21510032619756 + ], + [ + 69.31572620250495, + 425.3214049814987 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3639812104533344102, + "instance_id": 26239, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -123.8453369140625, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 44.407161098073175, + "ymin": 414.73026607998804, + "xmax": 71.40204193032446, + "ymax": 437.4088152824688 + }, + "corners_3d": [ + [ + -116.62229919433594, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.69904327392578, + 7.742714881896973 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 63.01249661636507, + 418.9809087938871 + ], + [ + 46.70306758882293, + 426.6050369187129 + ], + [ + 54.963129776953565, + 437.4088152824688 + ], + [ + 71.40204193032446, + 429.59192348435295 + ], + [ + 60.79966401490151, + 414.73026607998804 + ], + [ + 44.407161098073175, + 422.3455551991037 + ], + [ + 52.67050543440598, + 433.13770716624157 + ], + [ + 69.19400753505226, + 425.3291220260256 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 855.0466300947418, + "ymin": 0.0, + "xmax": 1091.7483751060308, + "ymax": 96.99001909022729 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 923.6313083074865, + 96.99001909022729 + ], + [ + 1020.6121824108116, + 43.49325061627786 + ], + [ + 954.7950460957643, + 24.376190374415046 + ], + [ + 855.0466300947418, + 73.41182434182303 + ], + [ + 983.9117001762362, + -206.99906100598605 + ], + [ + 1091.7483751060308, + -233.83299790733872 + ], + [ + 1010.8288387686376, + -243.14902586280982 + ], + [ + 898.2922632346775, + -218.96735470201475 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 748.7275473820031, + "ymin": 92.03161022290823, + "xmax": 765.9284425360024, + "ymax": 102.5327076921352 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 755.0169033608009, + 95.46060986467478 + ], + [ + 748.7275473820031, + 98.40050736130269 + ], + [ + 759.3465367702212, + 102.5327076921352 + ], + [ + 765.6252492559872, + 99.5467355701602 + ], + [ + 755.29234455701, + 92.03161022290823 + ], + [ + 748.9893885912034, + 94.95933830100921 + ], + [ + 759.6362061970817, + 99.0745665566418 + ], + [ + 765.9284425360024, + 96.1008430880712 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 463.6494751563247, + "ymin": 0.0, + "xmax": 545.7094813430983, + "ymax": 84.49635675597824 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 481.74018259543453, + 81.93330007487094 + ], + [ + 487.20059814740335, + 84.49635675597824 + ], + [ + 545.7094813430983, + 62.874458778873645 + ], + [ + 540.1981259439242, + 60.522009049964595 + ], + [ + 463.6494751563247, + -83.28904742014117 + ], + [ + 469.6364762670628, + -81.3545622169595 + ], + [ + 535.376791894832, + -97.60462066579038 + ], + [ + 529.3194309124831, + -99.36318877027276 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 748.8191175039158, + "ymin": 92.08716613981926, + "xmax": 765.8367986512391, + "ymax": 102.47659570660466 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 755.0414788550352, + 95.47984583389331 + ], + [ + 748.8191175039158, + 98.38859758110561 + ], + [ + 759.3251034540492, + 102.47659570660466 + ], + [ + 765.5370480777418, + 99.52274459247639 + ], + [ + 755.3140644711547, + 92.08716613981926 + ], + [ + 749.0783915384555, + 94.98400577899349 + ], + [ + 759.6116161668799, + 99.05539104165666 + ], + [ + 765.8367986512391, + 96.11352876897314 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 663.5718091486328, + "ymin": 55.822673780255855, + "xmax": 770.5531499419819, + "ymax": 307.1744182560164 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 671.7572303379358, + 259.04470624247733 + ], + [ + 663.5718091486328, + 263.71681249528393 + ], + [ + 743.2765458147765, + 307.1744182560164 + ], + [ + 751.4008106544986, + 301.9003933275766 + ], + [ + 676.8458507380765, + 55.822673780255855 + ], + [ + 667.3786063619477, + 59.64765984824908 + ], + [ + 761.182369639843, + 95.62878248635758 + ], + [ + 770.5531499419819, + 91.22291253341888 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 329.34876130632836, + "xmax": 196.46108028983502, + "ymax": 673.9411512784911 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 128.09416748090769, + 569.358804521709 + ], + [ + 110.81532428655919, + 579.2212892323404 + ], + [ + 178.29816328830037, + 673.9411512784911 + ], + [ + 196.46108028983502, + 662.1503395645598 + ], + [ + -0.16009590433668563, + 329.34876130632836 + ], + [ + -23.409164415411738, + 338.74192362639116 + ], + [ + 47.06820906011808, + 431.3846130171537 + ], + [ + 72.11832809232385, + 419.60677134303586 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 692.1180831278863, + "ymin": 15.418789799746662, + "xmax": 1047.9897157140263, + "ymax": 381.2818424040349 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 699.7048788600355, + 232.41440966463358 + ], + [ + 692.1180831278863, + 236.5972929507286 + ], + [ + 969.7075962337266, + 381.2818424040349 + ], + [ + 976.810835196668, + 375.09290341842825 + ], + [ + 709.7100116519429, + 15.418789799746662 + ], + [ + 700.916356455318, + 18.705038984518694 + ], + [ + 1040.035619787139, + 136.82717105254915 + ], + [ + 1047.9897157140263, + 131.59064825399003 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 5199819733356185808, + "instance_id": 53256, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1851_37", + "bbox_3d": { + "center_world": { + "x": -100.25784301757812, + "y": -72.39555358886719, + "z": 8.309331893920898 + }, + "extent": { + "x": 4.9728498458862305, + "y": 4.831793308258057, + "z": 8.307754516601562 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 752.8712887516394, + "ymin": 0.0, + "xmax": 1036.6000122489827, + "ymax": 24.10820753390618 + }, + "corners_3d": [ + [ + -94.59623718261719, + -68.39283752441406, + 0.0015773773193359375 + ], + [ + -96.09391784667969, + -77.93966674804688, + 0.0015773773193359375 + ], + [ + -105.91944885253906, + -76.39826965332031, + 0.0015773773193359375 + ], + [ + -104.42176818847656, + -66.8514404296875, + 0.0015773773193359375 + ], + [ + -94.59623718261719, + -68.39283752441406, + 16.61708641052246 + ], + [ + -96.09391784667969, + -77.93966674804688, + 16.61708641052246 + ], + [ + -105.91944885253906, + -76.39826965332031, + 16.61708641052246 + ], + [ + -104.42176818847656, + -66.8514404296875, + 16.61708641052246 + ] + ], + "corners_2d": [ + [ + 826.1073637681669, + -49.4248269224658 + ], + [ + 752.8712887516394, + -10.549222192503123 + ], + [ + 903.8767948757297, + 24.10820753390618 + ], + [ + 967.5114603116049, + -21.11816941132929 + ], + [ + 862.1189404701709, + -354.52317152620844 + ], + [ + 777.431783412759, + -345.1853950020296 + ], + [ + 967.1852039166665, + -336.5370483537158 + ], + [ + 1036.6000122489827, + -347.761136252524 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 94.01503649529877, + "ymax": 635.091467506951 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -28.19729111700417, + 374.2518569739588 + ], + [ + -284.3609145581395, + 505.3670414733838 + ], + [ + -174.9913667629205, + 635.091467506951 + ], + [ + 94.01503649529877, + 468.30992075660504 + ], + [ + -250.6582454902973, + -9.635548185600499 + ], + [ + -662.8641726550466, + 86.90243300775592 + ], + [ + -577.9119344584112, + 193.98615940716977 + ], + [ + -117.26127123948993, + 58.511767295750815 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 47.11943037479426, + "xmax": 134.60287956021466, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -243.8339454948, + 726.8258816335886 + ], + [ + 90.27395697609245, + 659.8700462820946 + ], + [ + 134.60287956021466, + 453.0995686249652 + ], + [ + -130.78515138361047, + 496.543246464945 + ], + [ + -739.5593398652111, + 277.84447790331643 + ], + [ + -191.0660860066614, + 215.92480391557672 + ], + [ + -56.401951347701015, + 47.11943037479426 + ], + [ + -442.220255321726, + 80.05895984319181 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00030/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00030/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fe987eee39c3db86282c55dc4cba8e1eb8e9f69c --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00030/meta.json @@ -0,0 +1,3523 @@ +{ + "frame_id": 30, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 15.0, + "sim_timestamp": 10062.84717136994 + }, + "drone_pose": { + "x": -132.95537569813197, + "y": -124.89827815053619, + "z": 20.03181010545157, + "pitch": -41.585148240120375, + "yaw": 39.682682505064726, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5756323337554932, + -0.47760534286499023, + 0.6637323498725891, + 122.88972473144531 + ], + [ + 0.6385352611541748, + 0.7695925831794739, + 0.0, + 11.224090576171875 + ], + [ + -0.5108035206794739, + 0.4238165020942688, + 0.7479701638221741, + -135.8312225341797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -132.4136909230273, + "y": -124.3752842338422, + "z": 19.862865688824556 + }, + "t1_image_uv": [ + 720.6601202808326, + -170.0392612167733 + ], + "t1_depth": 0.673729793799096 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -116.66718292236328, + "y": -110.18776321411131, + "z": 0.5749797606472566 + }, + "image_uv": [ + 670.143904653391, + 359.9510056316563 + ], + "depth": 29.315957510393453, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 182, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -116.66718292236328, + "y": -110.18775939941406, + "z": 0.5749797821044922 + }, + "extent": { + "x": 0.19145508110523224, + "y": 0.22954100370407104, + "z": 0.5180611610412598 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 661.9162031392464, + "ymin": 342.54570473230945, + "xmax": 678.4946104781488, + "ymax": 377.1374862166536 + }, + "corners_3d": [ + [ + -116.64025115966797, + -110.4854507446289, + 0.05691862106323242 + ], + [ + -116.96487426757812, + -110.16082763671875, + 0.05691862106323242 + ], + [ + -116.6941146850586, + -109.89006805419922, + 0.05691862106323242 + ], + [ + -116.36949157714844, + -110.21469116210938, + 0.05691862106323242 + ], + [ + -116.64025115966797, + -110.4854507446289, + 1.093040943145752 + ], + [ + -116.96487426757812, + -110.16082763671875, + 1.093040943145752 + ], + [ + -116.6941146850586, + -109.89006805419922, + 1.093040943145752 + ], + [ + -116.36949157714844, + -110.21469116210938, + 1.093040943145752 + ] + ], + "corners_2d": [ + [ + 661.9162031392464, + 376.20112050327856 + ], + [ + 676.8146511307224, + 377.1374862166536 + ], + [ + 677.6058502230567, + 368.817533126728 + ], + [ + 662.8490425526004, + 367.8990015354579 + ], + [ + 662.4387103990517, + 350.79510572601555 + ], + [ + 677.6933237075592, + 351.7257616497054 + ], + [ + 678.4946104781488, + 343.45821865845676 + ], + [ + 663.3884569618315, + 342.54570473230945 + ] + ], + "center_offset_px": [ + 30.14390465339102, + -0.04899436834369908 + ] + }, + "trace_timestep_index": 30, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 69, + "semantic_pixel_counts": { + "1": 465256, + "2": 220028, + "3": 162723, + "4": 3905, + "5": 3884, + "6": 8949, + "7": 1154, + "9": 16181, + "10": 7585, + "12": 3344, + "14": 761, + "16": 844, + "21": 3637, + "24": 23349 + }, + "instance_pixel_counts": { + "1115": 4238, + "2978": 349, + "4002": 323, + "6254": 3049, + "10370": 2316, + "11394": 1329, + "14416": 108, + "14928": 3776, + "15511": 1348, + "16023": 784, + "17232": 3905, + "18011": 37296, + "20631": 18542, + "23808": 467, + "24064": 5991, + "26560": 2826, + "27072": 3504, + "29843": 23160, + "30355": 415, + "30656": 82978, + "31168": 2608, + "31813": 7240, + "31891": 305934, + "34120": 63004, + "34395": 346, + "34453": 2714, + "34907": 986, + "35419": 2672, + "35931": 6938, + "36443": 98785, + "36501": 13040, + "36955": 21, + "44171": 969, + "44179": 2304, + "44691": 104093, + "44891": 458, + "45203": 3283, + "45403": 1, + "45915": 239, + "46227": 26067, + "46731": 1348, + "46741": 74, + "47253": 6136, + "47765": 345, + "48267": 1297, + "48779": 639, + "48789": 1040, + "49664": 182, + "49803": 1517, + "49920": 371, + "50176": 423, + "50432": 835, + "50688": 963, + "50944": 570, + "52480": 25, + "52736": 819, + "53184": 1781, + "54016": 761, + "54720": 2560, + "55232": 5764, + "55744": 2947, + "56135": 80, + "56768": 4921, + "56993": 1107, + "57173": 16181, + "58529": 1160, + "60013": 4651, + "61037": 3741, + "64351": 20691 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 182, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -116.66718292236328, + "y": -110.18775939941406, + "z": 0.5749797821044922 + }, + "extent": { + "x": 0.2224414050579071, + "y": 0.20570312440395355, + "z": 0.5245999097824097 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 662.6100728082561, + "ymin": 341.76877288245464, + "xmax": 677.7797555858918, + "ymax": 377.92559050728477 + }, + "corners_3d": [ + [ + -116.67901611328125, + -110.4905014038086, + 0.05037987232208252 + ], + [ + -116.96992492675781, + -110.19959259033203, + 0.05037987232208252 + ], + [ + -116.65534973144531, + -109.88501739501953, + 0.05037987232208252 + ], + [ + -116.36444091796875, + -110.1759262084961, + 0.05037987232208252 + ], + [ + -116.67901611328125, + -110.4905014038086, + 1.0995796918869019 + ], + [ + -116.96992492675781, + -110.19959259033203, + 1.0995796918869019 + ], + [ + -116.65534973144531, + -109.88501739501953, + 1.0995796918869019 + ], + [ + -116.36444091796875, + -110.1759262084961, + 1.0995796918869019 + ] + ], + "corners_2d": [ + [ + 662.6100728082561, + 377.08513152359967 + ], + [ + 675.9696228014523, + 377.92559050728477 + ], + [ + 676.8973516726409, + 368.25992851819547 + ], + [ + 663.685230032382, + 367.4380359600341 + ], + [ + 663.1564769644305, + 351.35386609686697 + ], + [ + 676.8397403169137, + 352.1891669716905 + ], + [ + 677.7797555858918, + 342.5851827235585 + ], + [ + 664.2511105377931, + 341.76877288245464 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 371, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -112.54119873046875, + "y": -107.19005584716797, + "z": 0.7267277240753174 + }, + "extent": { + "x": 0.2930371165275574, + "y": 0.3946777284145355, + "z": 0.8701363801956177 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 644.7413913343604, + "ymin": 231.7649467057864, + "xmax": 670.3237032017461, + "ymax": 284.6178848967803 + }, + "corners_3d": [ + [ + -112.57200622558594, + -107.68065643310547, + -0.1434086561203003 + ], + [ + -113.00191497802734, + -107.0186538696289, + -0.1434086561203003 + ], + [ + -112.51039123535156, + -106.69945526123047, + -0.1434086561203003 + ], + [ + -112.08048248291016, + -107.36145782470703, + -0.1434086561203003 + ], + [ + -112.57200622558594, + -107.68065643310547, + 1.596864104270935 + ], + [ + -113.00191497802734, + -107.0186538696289, + 1.596864104270935 + ], + [ + -112.51039123535156, + -106.69945526123047, + 1.596864104270935 + ], + [ + -112.08048248291016, + -107.36145782470703, + 1.596864104270935 + ] + ], + "corners_2d": [ + [ + 646.7666886299884, + 284.6178848967803 + ], + [ + 669.2755242904996, + 283.02133265702054 + ], + [ + 666.9648364918223, + 273.05477199382 + ], + [ + 644.7413913343604, + 274.61047847050685 + ], + [ + 647.0094797692195, + 243.09639932483634 + ], + [ + 670.3237032017461, + 241.53111260645733 + ], + [ + 667.9174277657102, + 231.7649467057864 + ], + [ + 644.909243972293, + 233.288780851591 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 423, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -118.92300415039062, + "y": -103.24504852294922, + "z": 0.5749797821044922 + }, + "extent": { + "x": 0.46027830243110657, + "y": 0.33549803495407104, + "z": 0.898753821849823 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 859.0355845467394, + "ymin": 274.38865244747734, + "xmax": 894.0888462022607, + "ymax": 335.3400068101256 + }, + "corners_3d": [ + [ + -119.06957244873047, + -103.79544067382812, + -0.3237740397453308 + ], + [ + -119.4918441772461, + -103.27397918701172, + -0.3237740397453308 + ], + [ + -118.77643585205078, + -102.69465637207031, + -0.3237740397453308 + ], + [ + -118.35416412353516, + -103.21611785888672, + -0.3237740397453308 + ], + [ + -119.06957244873047, + -103.79544067382812, + 1.47373366355896 + ], + [ + -119.4918441772461, + -103.27397918701172, + 1.47373366355896 + ], + [ + -118.77643585205078, + -102.69465637207031, + 1.47373366355896 + ], + [ + -118.35416412353516, + -103.21611785888672, + 1.47373366355896 + ] + ], + "corners_2d": [ + [ + 864.1440297616773, + 335.3400068101256 + ], + [ + 884.4922062607548, + 335.1834184229392 + ], + [ + 878.9506621488521, + 317.54133336709106 + ], + [ + 859.0355845467394, + 317.6913120497038 + ], + [ + 872.9437081814804, + 291.8999346500791 + ], + [ + 894.0888462022607, + 291.7457456716537 + ], + [ + 888.1220449374484, + 274.38865244747734 + ], + [ + 867.4442061598115, + 274.5360859691857 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 835, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -126.16718292236328, + "y": -110.18775939941406, + "z": 0.5749797821044922 + }, + "extent": { + "x": 0.44096678495407104, + "y": 0.43342772126197815, + "z": 0.8942512273788452 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 895.33109212679, + "ymin": 517.1044753181699, + "xmax": 949.3283246004191, + "ymax": 592.7234525824176 + }, + "corners_3d": [ + [ + -126.17251586914062, + -110.8060531616211, + -0.319271445274353 + ], + [ + -126.78547668457031, + -110.1930923461914, + -0.319271445274353 + ], + [ + -126.16184997558594, + -109.56946563720703, + -0.319271445274353 + ], + [ + -125.54888916015625, + -110.18242645263672, + -0.319271445274353 + ], + [ + -126.17251586914062, + -110.8060531616211, + 1.4692310094833374 + ], + [ + -126.78547668457031, + -110.1930923461914, + 1.4692310094833374 + ], + [ + -126.16184997558594, + -109.56946563720703, + 1.4692310094833374 + ], + [ + -125.54888916015625, + -110.18242645263672, + 1.4692310094833374 + ] + ], + "corners_2d": [ + [ + 899.0277386196258, + 590.0240601104551 + ], + [ + 934.0807789488929, + 592.7234525824176 + ], + [ + 929.4445002183949, + 563.9272863943427 + ], + [ + 895.33109212679, + 561.3691591651203 + ], + [ + 912.422695170455, + 545.9746452193656 + ], + [ + 949.3283246004191, + 548.6983931636821 + ], + [ + 944.0331428859688, + 519.6786095173328 + ], + [ + 908.1675950594622, + 517.1044753181699 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 963, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -120.28268432617188, + "y": -121.31512451171875, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.533154308795929, + "y": 0.4860595464706421, + "z": 0.8750555515289307 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 369.82593746505137, + "ymin": 602.0250810953743, + "xmax": 440.0489685107233, + "ymax": 692.1903243814088 + }, + "corners_3d": [ + [ + -120.24047088623047, + -122.03534698486328, + -0.3000660538673401 + ], + [ + -120.9959487915039, + -121.42357635498047, + -0.3000660538673401 + ], + [ + -120.32489776611328, + -120.59490203857422, + -0.3000660538673401 + ], + [ + -119.56941986083984, + -121.20667266845703, + -0.3000660538673401 + ], + [ + -120.24047088623047, + -122.03534698486328, + 1.450045108795166 + ], + [ + -120.9959487915039, + -121.42357635498047, + 1.450045108795166 + ], + [ + -120.32489776611328, + -120.59490203857422, + 1.450045108795166 + ], + [ + -119.56941986083984, + -121.20667266845703, + 1.450045108795166 + ] + ], + "corners_2d": [ + [ + 383.97454229400284, + 684.5731952029494 + ], + [ + 423.83861064382967, + 692.1903243814088 + ], + [ + 440.0489685107233, + 651.6126102635054 + ], + [ + 401.4418071379806, + 644.5070409040379 + ], + [ + 369.82593746505137, + 642.7248152671077 + ], + [ + 411.81134660583416, + 650.4797340301666 + ], + [ + 429.32535963533934, + 609.2318551589331 + ], + [ + 388.7313883034006, + 602.0250810953743 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 570, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -110.12037658691406, + "y": -114.94428253173828, + "z": 0.7302140593528748 + }, + "extent": { + "x": 0.4337207078933716, + "y": 0.4804980456829071, + "z": 0.8967519402503967 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 399.0275402669186, + "ymin": 281.82125155574636, + "xmax": 447.05317192221776, + "ymax": 347.40188363463034 + }, + "corners_3d": [ + [ + -109.95362091064453, + -115.56973266601562, + -0.16653788089752197 + ], + [ + -110.75957489013672, + -115.04633331298828, + -0.16653788089752197 + ], + [ + -110.2871322631836, + -114.31883239746094, + -0.16653788089752197 + ], + [ + -109.4811782836914, + -114.84223175048828, + -0.16653788089752197 + ], + [ + -109.95362091064453, + -115.56973266601562, + 1.6269659996032715 + ], + [ + -110.75957489013672, + -115.04633331298828, + 1.6269659996032715 + ], + [ + -110.2871322631836, + -114.31883239746094, + 1.6269659996032715 + ], + [ + -109.4811782836914, + -114.84223175048828, + 1.6269659996032715 + ] + ], + "corners_2d": [ + [ + 408.2505237634816, + 341.6283699608542 + ], + [ + 435.1589040449396, + 347.40188363463034 + ], + [ + 447.05317192221776, + 330.90232218071327 + ], + [ + 420.5899934654111, + 325.35283050911715 + ], + [ + 399.0275402669186, + 297.84306332701647 + ], + [ + 426.94806819385747, + 303.53255579604956 + ], + [ + 439.47711965586495, + 287.28143304600934 + ], + [ + 412.03523775121266, + 281.82125155574636 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 25, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 520.5366833692912, + "ymin": 0.0, + "xmax": 715.4995115255489, + "ymax": 71.30083624640758 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 585.6061287584038, + -10.86031178787573 + ], + [ + 527.072803969821, + 6.670892042071671 + ], + [ + 650.0595080480457, + 71.30083624640758 + ], + [ + 711.0177790442922, + 49.03123261535808 + ], + [ + 582.5747379860389, + -91.81977159950907 + ], + [ + 520.5366833692912, + -76.39528085306154 + ], + [ + 650.7221931178508, + -18.985387220336293 + ], + [ + 715.4995115255489, + -38.86493408690842 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 819, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 698.1001714291418, + "ymin": 0.0, + "xmax": 897.0696102714511, + "ymax": 30.728753288996018 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 832.8459625630326, + 30.728753288996018 + ], + [ + 882.8639885247337, + 11.49122133646307 + ], + [ + 747.3679851905919, + -40.79301669452957 + ], + [ + 698.1001714291418, + -25.405339406571898 + ], + [ + 844.5832512263867, + -55.15639964348685 + ], + [ + 897.0696102714511, + -72.1727900390199 + ], + [ + 752.9618709900236, + -118.03832021466496 + ], + [ + 701.2360295878722, + -104.59734751794383 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 761, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 645.310127352655, + "ymin": 0.0, + "xmax": 742.2535986014317, + "ymax": 44.02937751185789 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 670.875909022045, + 3.251397132910938 + ], + [ + 645.310127352655, + 11.575139904364733 + ], + [ + 714.0889443489776, + 44.02937751185789 + ], + [ + 740.0646443092342, + 34.60803292583586 + ], + [ + 671.5102787580823, + -26.305506215752132 + ], + [ + 645.4211005091322, + -18.31507802694574 + ], + [ + 715.739318038881, + 12.892373486579231 + ], + [ + 742.2535986014317, + 3.8242963858519374 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 52908959695452696, + "instance_id": 6202, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": -79.05494689941406, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1125.367951979497, + "ymin": 0.0, + "xmax": 1141.7219148390295, + "ymax": 9.562146969089554 + }, + "corners_3d": [ + [ + -113.29469299316406, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -78.86498260498047, + 3.5146729946136475 + ], + [ + -113.29469299316406, + -78.86498260498047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1125.367951979497, + 7.761087905986585 + ], + [ + 1130.956197031539, + 9.562146969089554 + ], + [ + 1135.2444026020537, + 7.525774804237983 + ], + [ + 1129.6634304886986, + 5.739288207284744 + ], + [ + 1131.7193162885567, + -11.00477711799391 + ], + [ + 1137.4041496708862, + -9.24859734958926 + ], + [ + 1141.7219148390295, + -11.234214384846894 + ], + [ + 1136.0447379940335, + -12.97599967565833 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 911.4874343073601, + "ymin": 104.80312326936811, + "xmax": 932.1411015336212, + "ymax": 137.8737159944683 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 918.7091410331818, + 137.8737159944683 + ], + [ + 926.4559817617915, + 134.02680689137298 + ], + [ + 919.2367686187506, + 130.68308484913462 + ], + [ + 911.4874343073601, + 134.488877028266 + ], + [ + 924.2751892615181, + 111.83247436088405 + ], + [ + 932.1411015336212, + 108.07144961164761 + ], + [ + 924.7484231186943, + 104.80312326936811 + ], + [ + 916.8795389719365, + 108.523155293499 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5668522571212290485, + "instance_id": 46457, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -89.45570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1008.3207590222755, + "ymin": 0.0, + "xmax": 1025.9071756171431, + "ymax": 1.7287226425562494 + }, + "corners_3d": [ + [ + -113.19542694091797, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -89.26573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -89.26573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1008.3207590222755, + -0.3532746299317182 + ], + [ + 1014.3915467787924, + 1.7287226425562494 + ], + [ + 1020.0130902757684, + -0.6377455866369246 + ], + [ + 1013.9476870303594, + -2.6998694310334486 + ], + [ + 1014.0368532515818, + -22.735139139439696 + ], + [ + 1020.2268502219929, + -20.716973272873133 + ], + [ + 1025.9071756171431, + -23.010867972814253 + ], + [ + 1019.7229736562863, + -25.00947227603899 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1071.0436936329188, + "ymin": 177.1247922597605, + "xmax": 1097.6341932037249, + "ymax": 213.5171891856167 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1080.098627769779, + 213.5171891856167 + ], + [ + 1087.6661560439977, + 208.6941708227947 + ], + [ + 1078.6275420806135, + 204.50775911678073 + ], + [ + 1071.0436936329188, + 209.2731122160001 + ], + [ + 1089.967137408517, + 185.9740384507615 + ], + [ + 1097.6341932037249, + 181.23614099437162 + ], + [ + 1088.3346647908202, + 177.1247922597605 + ], + [ + 1080.6497120682438, + 181.8047879992387 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 788.7330079021712, + "ymin": 130.1280919187885, + "xmax": 804.4808205434149, + "ymax": 158.37482922627433 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 794.4060841113999, + 158.37482922627433 + ], + [ + 801.7303974323511, + 154.95457502226174 + ], + [ + 796.0531232701915, + 151.9607974499973 + ], + [ + 788.7330079021712, + 155.3493818629785 + ], + [ + 797.0460703819903, + 136.43057059379376 + ], + [ + 804.4808205434149, + 133.06953706237832 + ], + [ + 798.6945064850645, + 130.1280919187885 + ], + [ + 791.2639646357123, + 133.457477080715 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 994.0379730227262, + "ymin": 142.1915462973051, + "xmax": 1017.6689039565326, + "ymax": 176.99780011778788 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1002.1821405691096, + 176.99780011778788 + ], + [ + 1009.8657653060077, + 172.65970583050276 + ], + [ + 1001.7305516091185, + 168.89171992710416 + ], + [ + 994.0379730227262, + 173.18060056858556 + ], + [ + 1009.874115678664, + 150.1352805034363 + ], + [ + 1017.6689039565326, + 145.883559643604 + ], + [ + 1009.3178812879182, + 142.1915462973051 + ], + [ + 1001.5131675722357, + 146.39402126231212 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 951.8560020769469, + "ymin": 0.0, + "xmax": 1178.3447075618747, + "ymax": 136.67806066806327 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1113.5758988289704, + 59.85414003652744 + ], + [ + 1105.4364825542057, + 56.898428704594494 + ], + [ + 951.8560020769469, + 132.8447969676085 + ], + [ + 960.1863977007176, + 136.67806066806327 + ], + [ + 1178.3447075618747, + -129.15356706794233 + ], + [ + 1168.7047365064736, + -131.36088742645308 + ], + [ + 1001.039418689516, + -73.59918010579071 + ], + [ + 1011.0426766296249, + -70.62498185294169 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2334590930876643410, + "instance_id": 21048, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -123.8453369140625, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 120.60637626274422, + "ymin": 377.915557549427, + "xmax": 146.1426018142463, + "ymax": 400.7011473574914 + }, + "corners_3d": [ + [ + -116.6200942993164, + -123.69747161865234, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.69747161865234, + 7.743301868438721 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 138.70729997164221, + 382.1550416962797 + ], + [ + 122.69222090698543, + 388.98924754140796 + ], + [ + 129.9734999656892, + 400.7011473574914 + ], + [ + 146.1426018142463, + 393.68472470265056 + ], + [ + 136.70177464084736, + 377.915557549427 + ], + [ + 120.60637626274422, + 384.74403701661197 + ], + [ + 127.88955993873253, + 396.4471169176981 + ], + [ + 144.14065423946477, + 389.43582744640713 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3639812104533344102, + "instance_id": 26239, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -123.8453369140625, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 120.74273370858145, + "ymin": 378.03531525452, + "xmax": 146.00665879845286, + "ymax": 400.57859744282257 + }, + "corners_3d": [ + [ + -116.62229919433594, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.69904327392578, + 7.742714881896973 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 138.65161734695897, + 382.2297880165452 + ], + [ + 122.80595325047693, + 388.99209287437037 + ], + [ + 130.0102187496127, + 400.57859744282257 + ], + [ + 146.00665879845286, + 393.63792883036035 + ], + [ + 136.66702465755787, + 378.03531525452 + ], + [ + 120.74273370858145, + 384.79201798090463 + ], + [ + 127.94887037171611, + 396.36988593797287 + ], + [ + 144.02555761449156, + 389.4342449939389 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 954.674146816833, + "ymin": 0.0, + "xmax": 1239.5106913163777, + "ymax": 81.80774149494209 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 1026.3006598363309, + 81.80774149494209 + ], + [ + 1135.16982262834, + 27.99322649711928 + ], + [ + 1065.0682485446448, + 4.632721316586185 + ], + [ + 954.674146816833, + 53.49234720801587 + ], + [ + 1118.1299816954465, + -241.49153088595017 + ], + [ + 1239.5106913163777, + -269.92853689272056 + ], + [ + 1149.8103453357799, + -281.89032542919074 + ], + [ + 1024.9601475571137, + -256.6103892447544 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 842.3792278488672, + "ymin": 75.4096379575858, + "xmax": 860.6987228945966, + "ymax": 86.81904038345704 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 849.192162634553, + 78.96579225937631 + ], + [ + 842.3792278488672, + 81.87311469886185 + ], + [ + 853.3038929261706, + 86.81904038345704 + ], + [ + 860.1194248828579, + 83.86150735078826 + ], + [ + 849.7380092760179, + 75.4096379575858 + ], + [ + 842.909993952006, + 78.30642630332011 + ], + [ + 853.8681454776591, + 83.23460833342949 + ], + [ + 860.6987228945966, + 80.28765875329839 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6967274615413648305, + "instance_id": 45483, + "pixel_count": null, + "type_id": "BP_Lamppost_tall35_93_SM_2", + "bbox_3d": { + "center_world": { + "x": -99.33560943603516, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 154.71499517174524, + "xmax": 19.591728679547032, + "ymax": 331.98203366212704 + }, + "corners_3d": [ + [ + -100.3640365600586, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -98.30718231201172, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -100.3640365600586, + -127.03557586669922, + 4.877264976501465 + ], + [ + -100.3640365600586, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -124.73487091064453, + 4.877264976501465 + ], + [ + -98.30718231201172, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + -57.458591419196864, + 331.98203366212704 + ], + [ + 19.591728679547032, + 303.6982331457229 + ], + [ + 3.735717721217725, + 275.31841021029015 + ], + [ + -71.01487199752637, + 301.5870193407211 + ], + [ + -135.48855067543718, + 207.8139857015872 + ], + [ + -47.178695527981176, + 181.2077273459708 + ], + [ + -62.04594490580041, + 154.71499517174524 + ], + [ + -147.3118290123732, + 179.2298954093579 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 559.6453692018559, + "ymin": 0.0, + "xmax": 634.1001759945985, + "ymax": 50.023550152797156 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 568.3816273504198, + 47.12913736268831 + ], + [ + 573.7154259858459, + 50.023550152797156 + ], + [ + 634.1001759945985, + 29.73900741411029 + ], + [ + 628.6544900632107, + 27.056689091400187 + ], + [ + 559.6453692018559, + -123.0023873377881 + ], + [ + 565.5810563057371, + -120.77846927600251 + ], + [ + 633.4064442063781, + -136.30297217931803 + ], + [ + 627.3280885102964, + -138.34522674457895 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 842.4765825729032, + "ymin": 75.4700037810461, + "xmax": 860.6009423805222, + "ymax": 86.75807812281454 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 849.217021749565, + 78.98848132615132 + ], + [ + 842.4765825729032, + 81.86503508310835 + ], + [ + 853.2850793854813, + 86.75807812281454 + ], + [ + 860.0280623035229, + 83.83237654479285 + ], + [ + 849.7571584230407, + 75.4700037810461 + ], + [ + 843.0019582530638, + 78.33624627510767 + ], + [ + 853.8432324307483, + 83.21192108407837 + ], + [ + 860.6009423805222, + 80.29657856930629 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 741.9274615116949, + "ymin": 33.186416694626246, + "xmax": 865.9554011837531, + "ymax": 296.33636517803495 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 750.6410868329687, + 241.58235669474675 + ], + [ + 741.9274615116949, + 246.0322025142412 + ], + [ + 821.4717985867982, + 296.33636517803495 + ], + [ + 830.2634477317145, + 291.2612283806188 + ], + [ + 769.8512772920601, + 33.186416694626246 + ], + [ + 759.7508802826596, + 36.928983698103934 + ], + [ + 855.7768231442459, + 79.7931521978341 + ], + [ + 865.9554011837531, + 75.42177693246981 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 61.412424555885764, + "ymin": 287.4162795499305, + "xmax": 257.6833832641056, + "ymax": 632.0846516990945 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 197.7129529524621, + 523.9498965316967 + ], + [ + 180.95967674376288, + 532.5054051003412 + ], + [ + 239.85572518306458, + 632.0846516990945 + ], + [ + 257.6833832641056, + 621.7933170419144 + ], + [ + 83.73863212151764, + 287.4162795499305 + ], + [ + 61.412424555885764, + 295.68895711598645 + ], + [ + 122.54691361956304, + 394.6920583005006 + ], + [ + 146.92460496954692, + 384.2226158518221 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 773.050759690029, + "ymin": 0.0, + "xmax": 1163.3905313635737, + "ymax": 389.2712075279947 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 781.1590010191045, + 214.9804494859119 + ], + [ + 773.050759690029, + 218.9772201257034 + ], + [ + 1055.452881372938, + 389.2712075279947 + ], + [ + 1063.524503519214, + 383.1383894764198 + ], + [ + 806.8817664877921, + -8.58437646784597 + ], + [ + 797.4582334111727, + -5.350396900527812 + ], + [ + 1154.2655412105355, + 138.92513943108457 + ], + [ + 1163.3905313635737, + 133.49947703780077 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 5199819733356185808, + "instance_id": 53256, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1851_37", + "bbox_3d": { + "center_world": { + "x": -100.25784301757812, + "y": -72.39555358886719, + "z": 8.309331893920898 + }, + "extent": { + "x": 4.9728498458862305, + "y": 4.831793308258057, + "z": 8.307754516601562 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 852.4582336184953, + "ymin": 0.0, + "xmax": 1187.1226966751547, + "ymax": 2.3042473708582065 + }, + "corners_3d": [ + [ + -94.59623718261719, + -68.39283752441406, + 0.0015773773193359375 + ], + [ + -96.09391784667969, + -77.93966674804688, + 0.0015773773193359375 + ], + [ + -105.91944885253906, + -76.39826965332031, + 0.0015773773193359375 + ], + [ + -104.42176818847656, + -66.8514404296875, + 0.0015773773193359375 + ], + [ + -94.59623718261719, + -68.39283752441406, + 16.61708641052246 + ], + [ + -96.09391784667969, + -77.93966674804688, + 16.61708641052246 + ], + [ + -105.91944885253906, + -76.39826965332031, + 16.61708641052246 + ], + [ + -104.42176818847656, + -66.8514404296875, + 16.61708641052246 + ] + ], + "corners_2d": [ + [ + 932.3668404101095, + -79.64543444054641 + ], + [ + 852.4582336184953, + -40.39359542770643 + ], + [ + 1010.2208626277132, + 2.3042473708582065 + ], + [ + 1082.082911731493, + -44.339328504205525 + ], + [ + 995.1763277670236, + -406.5075350768875 + ], + [ + 903.4906953842514, + -396.4257555162593 + ], + [ + 1109.8203291448979, + -384.969620051658 + ], + [ + 1187.1226966751547, + -397.45820781555506 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 170.88322118447394, + "ymax": 565.5686301099033 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 61.44653641501782, + 319.0116963927378 + ], + [ + -176.71552821492264, + 431.93981395439346 + ], + [ + -84.28307727445656, + 565.5686301099033 + ], + [ + 170.88322118447394, + 420.1790037791778 + ], + [ + -134.96131173914648, + -62.16662673562354 + ], + [ + -508.26159385510437, + 21.970863152275115 + ], + [ + -441.83103813116645, + 132.99110237103892 + ], + [ + -16.16391492052935, + 12.820895567655612 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 12.93557620067395, + "ymax": 183.39673659016577 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + -85.9870063560395, + 67.81929807255818 + ], + [ + -262.7638066464093, + 133.90900921476626 + ], + [ + -165.21625189530334, + 183.39673659016577 + ], + [ + 12.93557620067395, + 107.07833632563484 + ], + [ + -231.7894589551861, + -208.1297196585416 + ], + [ + -470.40149072490544, + -166.91773371864315 + ], + [ + -368.765830935891, + -134.72319067602513 + ], + [ + -123.7589898651687, + -183.88776571857977 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 3.163352335717832, + "xmax": 209.89381284483267, + "ymax": 649.1011026845853 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -149.8139001331158, + 649.1011026845853 + ], + [ + 157.98540457936525, + 610.2533815339503 + ], + [ + 209.89381284483267, + 407.63320220664434 + ], + [ + -38.21737026039875, + 433.3434148414053 + ], + [ + -587.5825504294064, + 209.71193053562368 + ], + [ + -95.30364543821327, + 173.2718839030573 + ], + [ + 41.68257982219393, + 3.163352335717832 + ], + [ + -314.1285256913543, + 23.06919238870148 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 21.934471945801874, + "ymax": 270.8078000465905 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -49.739127130862926, + 133.63174604188612 + ], + [ + -239.36177384229893, + 198.75514442742815 + ], + [ + -179.2302714707455, + 270.8078000465905 + ], + [ + 21.934471945801874, + 192.160994975077 + ], + [ + -217.35377580366185, + -184.27779875254691 + ], + [ + -481.42950098752794, + -143.43668624599138 + ], + [ + -435.6363630187043, + -95.70631828409023 + ], + [ + -146.13829105508137, + -147.66832436511726 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00031/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00031/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b9a94b4ad159cde113f0e1a14d896acef536094e --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00031/meta.json @@ -0,0 +1,3201 @@ +{ + "frame_id": 31, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 15.5, + "sim_timestamp": 10073.784771075472 + }, + "drone_pose": { + "x": -132.4136909230273, + "y": -124.3752842338422, + "z": 19.862865688824556, + "pitch": -41.36932456922996, + "yaw": 42.11489680319092, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5566960573196411, + -0.503276526927948, + 0.6609102487564087, + 123.1817855834961 + ], + [ + 0.670619547367096, + 0.7418015003204346, + 0.0, + 3.4625625610351562 + ], + [ + -0.4902642071247101, + 0.44321930408477783, + 0.7504650354385376, + -134.9495849609375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -131.90805381044595, + "y": -123.93236222200458, + "z": 20.022705187241307 + }, + "t1_image_uv": [ + 614.6495911485946, + -998.2012695158148 + ], + "t1_depth": 0.39875888179904184 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -116.16718292236328, + "y": -109.68776321411131, + "z": 0.5749944090844292 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 29.18380157595135, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 183, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -116.16718292236328, + "y": -109.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.1997411996126175, + "y": 0.22037597000598907, + "z": 0.5305346846580505 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 632.299612792602, + "ymin": 342.2073026811379, + "xmax": 647.6254244541221, + "ymax": 377.55927775531586 + }, + "corners_3d": [ + [ + -116.15259552001953, + -109.98482513427734, + 0.04445970058441162 + ], + [ + -116.46424865722656, + -109.67317199707031, + 0.04445970058441162 + ], + [ + -116.18177032470703, + -109.39069366455078, + 0.04445970058441162 + ], + [ + -115.8701171875, + -109.70234680175781, + 0.04445970058441162 + ], + [ + -116.15259552001953, + -109.98482513427734, + 1.1055290699005127 + ], + [ + -116.46424865722656, + -109.67317199707031, + 1.1055290699005127 + ], + [ + -116.18177032470703, + -109.39069366455078, + 1.1055290699005127 + ], + [ + -115.8701171875, + -109.70234680175781, + 1.1055290699005127 + ] + ], + "corners_2d": [ + [ + 632.4833317899736, + 377.07046980190086 + ], + [ + 646.8640184641187, + 377.55927775531586 + ], + [ + 647.4452275031276, + 368.851891409927 + ], + [ + 633.2092299790107, + 368.37289477979255 + ], + [ + 632.299612792602, + 350.84440320957464 + ], + [ + 647.0318830955514, + 351.3299388307364 + ], + [ + 647.6254244541221, + 342.6828580790998 + ], + [ + 633.0449672552379, + 342.2073026811379 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 31, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 59, + "semantic_pixel_counts": { + "1": 469967, + "2": 215351, + "3": 179232, + "4": 3763, + "5": 2627, + "6": 9269, + "7": 1161, + "9": 4672, + "10": 6748, + "12": 3347, + "14": 780, + "16": 1159, + "21": 152, + "24": 23372 + }, + "instance_pixel_counts": { + "1115": 4446, + "6254": 2259, + "10370": 2517, + "11394": 1362, + "14416": 104, + "14928": 2523, + "16023": 808, + "17232": 3763, + "18011": 40787, + "20631": 18917, + "23808": 454, + "24064": 6097, + "27072": 3618, + "29843": 24960, + "30656": 86211, + "31168": 2714, + "31813": 6416, + "31891": 291755, + "34120": 69002, + "34395": 9, + "34453": 2987, + "34907": 515, + "35419": 2583, + "35931": 7761, + "36443": 111758, + "36501": 12158, + "44171": 995, + "44179": 2738, + "44691": 116710, + "44891": 152, + "45203": 7378, + "46227": 26426, + "46731": 1326, + "46741": 92, + "47253": 6460, + "47765": 590, + "48267": 1522, + "48779": 659, + "48789": 1085, + "49664": 183, + "49803": 1525, + "49920": 388, + "50176": 406, + "50432": 840, + "50688": 965, + "50944": 565, + "52480": 22, + "52736": 1137, + "53184": 1830, + "54016": 780, + "54720": 2529, + "55232": 5381, + "55744": 3031, + "56135": 68, + "56768": 5091, + "57173": 4672, + "60013": 5059, + "61037": 4055, + "64351": 10192 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 183, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -116.16718292236328, + "y": -109.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.184326171875, + "y": 0.22087401151657104, + "z": 0.5239913463592529 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 632.3130628044723, + "ymin": 342.7019409032179, + "xmax": 647.6182281675892, + "ymax": 377.0626952498406 + }, + "corners_3d": [ + [ + -116.14134216308594, + -109.97428131103516, + 0.05100303888320923 + ], + [ + -116.45370483398438, + -109.66191864013672, + 0.05100303888320923 + ], + [ + -116.19302368164062, + -109.40123748779297, + 0.05100303888320923 + ], + [ + -115.88066101074219, + -109.7136001586914, + 0.05100303888320923 + ], + [ + -116.14134216308594, + -109.97428131103516, + 1.0989856719970703 + ], + [ + -116.45370483398438, + -109.66191864013672, + 1.0989856719970703 + ], + [ + -116.19302368164062, + -109.40123748779297, + 1.0989856719970703 + ], + [ + -115.88066101074219, + -109.7136001586914, + 1.0989856719970703 + ] + ], + "corners_2d": [ + [ + 632.4941543125191, + 376.5731770321501 + ], + [ + 646.9040512656687, + 377.0626952498406 + ], + [ + 647.4403263482893, + 369.027526079959 + ], + [ + 633.1642964254195, + 368.5470836383309 + ], + [ + 632.3130628044723, + 350.67291505923424 + ], + [ + 647.0707203186292, + 351.15918738096644 + ], + [ + 647.6182281675892, + 343.17898315560643 + ], + [ + 633.0009455269446, + 342.7019409032179 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 388, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -112.04119873046875, + "y": -106.69005584716797, + "z": 0.726410448551178 + }, + "extent": { + "x": 0.36161619424819946, + "y": 0.34221190214157104, + "z": 0.8792692422866821 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 612.3102222900391, + "ymin": 230.59154914831035, + "xmax": 635.7235669013625, + "ymax": 286.659916824999 + }, + "corners_3d": [ + [ + -112.15809631347656, + -107.17401123046875, + -0.15285879373550415 + ], + [ + -112.5308609008789, + -106.60000610351562, + -0.15285879373550415 + ], + [ + -111.92430114746094, + -106.20610046386719, + -0.15285879373550415 + ], + [ + -111.5515365600586, + -106.78010559082031, + -0.15285879373550415 + ], + [ + -112.15809631347656, + -107.17401123046875, + 1.6056797504425049 + ], + [ + -112.5308609008789, + -106.60000610351562, + 1.6056797504425049 + ], + [ + -111.92430114746094, + -106.20610046386719, + 1.6056797504425049 + ], + [ + -111.5515365600586, + -106.78010559082031, + 1.6056797504425049 + ] + ], + "corners_2d": [ + [ + 616.1499085068067, + 286.659916824999 + ], + [ + 635.7235669013625, + 284.7701064276363 + ], + [ + 632.5353105767852, + 272.55053331829714 + ], + [ + 613.2652442148178, + 274.38078359340875 + ], + [ + 615.2836644155257, + 244.40399142589763 + ], + [ + 635.5686392204203, + 242.55288998229707 + ], + [ + 632.2693213115998, + 230.59154914831035 + ], + [ + 612.3102222900391, + 232.3822462594178 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 406, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -118.42300415039062, + "y": -102.74504852294922, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.35365721583366394, + "y": 0.42051756381988525, + "z": 0.881870687007904 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 825.250497217256, + "ymin": 271.11480101885434, + "xmax": 862.8713004782886, + "ymax": 327.8953565954158 + }, + "corners_3d": [ + [ + -118.4332046508789, + -103.29441833496094, + -0.3068860173225403 + ], + [ + -118.96248626708984, + -102.64080810546875, + -0.3068860173225403 + ], + [ + -118.41280364990234, + -102.1956787109375, + -0.3068860173225403 + ], + [ + -117.8835220336914, + -102.84928894042969, + -0.3068860173225403 + ], + [ + -118.4332046508789, + -103.29441833496094, + 1.456855297088623 + ], + [ + -118.96248626708984, + -102.64080810546875, + 1.456855297088623 + ], + [ + -118.41280364990234, + -102.1956787109375, + 1.456855297088623 + ], + [ + -117.8835220336914, + -102.84928894042969, + 1.456855297088623 + ] + ], + "corners_2d": [ + [ + 829.5086743471596, + 327.8953565954158 + ], + [ + 854.6905915780426, + 327.01695322535784 + ], + [ + 850.0235481825786, + 313.679541518615 + ], + [ + 825.250497217256, + 314.5293265602981 + ], + [ + 836.737940332547, + 285.08682936256093 + ], + [ + 862.8713004782886, + 284.2229496690927 + ], + [ + 857.8901240691519, + 271.11480101885434 + ], + [ + 832.1968367838501, + 271.9494898481333 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 840, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -125.66718292236328, + "y": -109.68775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.3987695276737213, + "y": 0.4412255883216858, + "z": 0.8758081793785095 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 870.4308367626509, + "ymin": 511.21349994294326, + "xmax": 923.4604586174661, + "ymax": 582.2393401631784 + }, + "corners_3d": [ + [ + -125.63716125488281, + -110.28172302246094, + -0.30082350969314575 + ], + [ + -126.26114654541016, + -109.6577377319336, + -0.30082350969314575 + ], + [ + -125.69720458984375, + -109.09379577636719, + -0.30082350969314575 + ], + [ + -125.0732192993164, + -109.71778106689453, + -0.30082350969314575 + ], + [ + -125.63716125488281, + -110.28172302246094, + 1.4507927894592285 + ], + [ + -126.26114654541016, + -109.6577377319336, + 1.4507927894592285 + ], + [ + -125.69720458984375, + -109.09379577636719, + 1.4507927894592285 + ], + [ + -125.0732192993164, + -109.71778106689453, + 1.4507927894592285 + ] + ], + "corners_2d": [ + [ + 874.5316544875329, + 580.7682213862316 + ], + [ + 909.8771897084287, + 582.2393401631784 + ], + [ + 904.9173989058113, + 556.4591881776068 + ], + [ + 870.4308367626509, + 555.0582082097415 + ], + [ + 886.3188546336623, + 537.0778377026746 + ], + [ + 923.4604586174661, + 538.559683201715 + ], + [ + 917.9132879324845, + 512.6212761800925 + ], + [ + 881.7189952883582, + 511.21349994294326 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 965, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -119.78268432617188, + "y": -120.81512451171875, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.4093066453933716, + "y": 0.5128710865974426, + "z": 0.8817038536071777 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 343.8385956899107, + "ymin": 617.3250468818205, + "xmax": 414.5598076464251, + "ymax": 698.5979687832232 + }, + "corners_3d": [ + [ + -119.64169311523438, + -121.45597839355469, + -0.30671435594558716 + ], + [ + -120.4388427734375, + -120.81045532226562, + -0.30671435594558716 + ], + [ + -119.92367553710938, + -120.17427062988281, + -0.30671435594558716 + ], + [ + -119.12652587890625, + -120.81979370117188, + -0.30671435594558716 + ], + [ + -119.64169311523438, + -121.45597839355469, + 1.456693410873413 + ], + [ + -120.4388427734375, + -120.81045532226562, + 1.456693410873413 + ], + [ + -119.92367553710938, + -120.17427062988281, + 1.456693410873413 + ], + [ + -119.12652587890625, + -120.81979370117188, + 1.456693410873413 + ] + ], + "corners_2d": [ + [ + 359.59252185804826, + 692.1727304430287 + ], + [ + 402.70985979417145, + 698.5979687832232 + ], + [ + 414.5598076464251, + 666.511001048369 + ], + [ + 372.54219132986594, + 660.4283922706327 + ], + [ + 343.8385956899107, + 649.5916621419311 + ], + [ + 389.3015143166725, + 656.1345090084494 + ], + [ + 402.18522082419906, + 623.5001703173314 + ], + [ + 357.94297576340614, + 617.3250468818205 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 565, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -110.12037658691406, + "y": -114.08101654052734, + "z": 0.7302042841911316 + }, + "extent": { + "x": 0.49800780415534973, + "y": 0.4434521496295929, + "z": 0.9250799417495728 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 382.5594130205676, + "ymin": 289.08294977694266, + "xmax": 431.5653010784732, + "ymax": 358.54050668972764 + }, + "corners_3d": [ + [ + -110.01969909667969, + -114.74020385742188, + -0.19487565755844116 + ], + [ + -110.76351928710938, + -114.25715637207031, + -0.19487565755844116 + ], + [ + -110.22105407714844, + -113.42182922363281, + -0.19487565755844116 + ], + [ + -109.47723388671875, + -113.90487670898438, + -0.19487565755844116 + ], + [ + -110.01969909667969, + -114.74020385742188, + 1.6552841663360596 + ], + [ + -110.76351928710938, + -114.25715637207031, + 1.6552841663360596 + ], + [ + -110.22105407714844, + -113.42182922363281, + 1.6552841663360596 + ], + [ + -109.47723388671875, + -113.90487670898438, + 1.6552841663360596 + ] + ], + "corners_2d": [ + [ + 392.85623281782966, + 353.82052031223367 + ], + [ + 418.53303934628866, + 358.54050668972764 + ], + [ + 431.5653010784732, + 338.95138802058773 + ], + [ + 406.4100058523044, + 334.44737950279944 + ], + [ + 382.5594130205676, + 308.14666336924097 + ], + [ + 409.25193216512105, + 312.7968187428827 + ], + [ + 423.04137499153023, + 293.51175130834474 + ], + [ + 396.9116676980817, + 289.08294977694266 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 22, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 474.6092944722301, + "ymin": 0.0, + "xmax": 673.589168238417, + "ymax": 79.03682372764047 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 542.9655888703487, + -3.462849873560856 + ], + [ + 483.76763054336504, + 15.353972968179164 + ], + [ + 610.5148158406093, + 79.03682372764047 + ], + [ + 671.5810516532306, + 55.243782263882736 + ], + [ + 537.5031926624914, + -85.28783267216846 + ], + [ + 474.6092944722301, + -68.74974643874384 + ], + [ + 608.5519715865979, + -12.234390430839369 + ], + [ + 673.589168238417, + -33.44858335510406 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 1137, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 656.4464455405492, + "ymin": 0.0, + "xmax": 854.6691237888351, + "ymax": 34.53800737828192 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 793.4757329330239, + 34.53800737828192 + ], + [ + 842.8036704483475, + 14.274527560720173 + ], + [ + 705.5814027712028, + -36.30373711721927 + ], + [ + 656.4464455405492, + -20.001485655071292 + ], + [ + 802.841487787311, + -51.844639124330286 + ], + [ + 854.6691237888351, + -69.73040697075061 + ], + [ + 709.0097220146342, + -114.00572776444983 + ], + [ + 657.3390963585821, + -99.79206472162355 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 780, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 603.3542055025644, + "ymin": 0.0, + "xmax": 701.7813112940266, + "ymax": 50.10968292825726 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 629.7551732333625, + 9.469221134565714 + ], + [ + 604.1105391970556, + 18.34759747557979 + ], + [ + 674.5379429071104, + 50.10968292825726 + ], + [ + 700.4511798142835, + 40.087738789273544 + ], + [ + 629.5431575648745, + -20.34412103002768 + ], + [ + 603.3542055025644, + -11.824745730323968 + ], + [ + 675.3127126284561, + 18.70490797095863 + ], + [ + 701.7813112940266, + 9.063066684762987 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 52908959695452696, + "instance_id": 6202, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": -79.05494689941406, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1083.2698160339337, + "ymin": 0.0, + "xmax": 1098.849944894627, + "ymax": 8.598698611741497 + }, + "corners_3d": [ + [ + -113.29469299316406, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -78.86498260498047, + 3.5146729946136475 + ], + [ + -113.29469299316406, + -78.86498260498047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1083.2698160339337, + 6.885457756750725 + ], + [ + 1088.8366857346846, + 8.598698611741497 + ], + [ + 1092.9628775472322, + 6.488775567215043 + ], + [ + 1087.4054525042054, + 4.790111979038386 + ], + [ + 1089.0356106660588, + -11.886801902411548 + ], + [ + 1094.6954724544316, + -10.217375742520574 + ], + [ + 1098.849944894627, + -12.273317731077157 + ], + [ + 1093.1999520665222, + -13.928355534026366 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 876.8205983667858, + "ymin": 109.78749645924049, + "xmax": 896.8797113516388, + "ymax": 143.33416548951098 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 884.2009924484826, + 143.33416548951098 + ], + [ + 891.8364791393386, + 139.23349727463452 + ], + [ + 884.4639934708216, + 135.96329499761538 + ], + [ + 876.8205983667858, + 140.02100173041944 + ], + [ + 889.124067447081, + 116.9902159355359 + ], + [ + 896.8797113516388, + 112.9826758101407 + ], + [ + 889.3334464337267, + 109.78749645924049 + ], + [ + 881.5692238570986, + 113.752213926047 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5668522571212290485, + "instance_id": 46457, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -89.45570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 968.358934799126, + "ymin": 0.0, + "xmax": 985.2288099236707, + "ymax": 3.143515276537812 + }, + "corners_3d": [ + [ + -113.19542694091797, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -89.26573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -89.26573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 968.358934799126, + 1.1406400606542206 + ], + [ + 974.4707577838594, + 3.143515276537812 + ], + [ + 979.9545385029897, + 0.6640070602511514 + ], + [ + 973.851239511943, + -1.3186322710913032 + ], + [ + 973.4583773117604, + -21.361547197450818 + ], + [ + 979.6868319870233, + -19.42150549757372 + ], + [ + 985.2288099236707, + -21.82319089464903 + ], + [ + 979.0093684947514, + -23.743328850831176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1039.518545261701, + "ymin": 180.32827941006454, + "xmax": 1065.3818978533977, + "ymax": 217.19275938821428 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1048.7289418411472, + 217.19275938821428 + ], + [ + 1056.0566745457545, + 212.07606648286293 + ], + [ + 1046.870149589458, + 208.00121550138604 + ], + [ + 1039.518545261701, + 213.0580835096722 + ], + [ + 1057.9586447810655, + 189.3522954044219 + ], + [ + 1065.3818978533977, + 184.32820315470704 + ], + [ + 1055.9350106567513, + 180.32827941006454 + ], + [ + 1048.485983571447, + 185.29231976438967 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 753.3168326137803, + "ymin": 137.06354476652214, + "xmax": 768.5973123102726, + "ymax": 165.7375684543229 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 759.1409463535199, + 165.7375684543229 + ], + [ + 766.4255666810033, + 162.07695688712428 + ], + [ + 760.6009707090273, + 159.13706869282743 + ], + [ + 753.3168326137803, + 162.7644224810585 + ], + [ + 761.1993263503205, + 143.54814156521323 + ], + [ + 768.5973123102726, + 139.95152884449794 + ], + [ + 762.6630942864334, + 137.06354476652214 + ], + [ + 755.265497851346, + 140.62692213040825 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 961.091758304206, + "ymin": 146.29764651796296, + "xmax": 984.0650685887024, + "ymax": 181.57878902305077 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 969.3946060780903, + 181.57878902305077 + ], + [ + 976.9021362345022, + 176.96594166807208 + ], + [ + 968.61472594165, + 173.28990766423414 + ], + [ + 961.091758304206, + 177.85152269591688 + ], + [ + 976.4477333096761, + 154.41709343091392 + ], + [ + 984.0650685887024, + 149.89800493985396 + ], + [ + 975.5618656485074, + 146.29764651796296 + ], + [ + 967.9278647218405, + 150.765482212308 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 915.7327502708024, + "ymin": 0.0, + "xmax": 1131.7838887256212, + "ymax": 139.28040251854213 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1072.9695723050454, + 58.88832293632271 + ], + [ + 1064.8482664370265, + 56.07070687969582 + ], + [ + 915.7327502708024, + 135.57189407658893 + ], + [ + 924.1630186539364, + 139.28040251854213 + ], + [ + 1131.7838887256212, + -130.09058619338225 + ], + [ + 1122.2203181448206, + -132.1783842459767 + ], + [ + 959.2984242248249, + -72.12025625716774 + ], + [ + 969.3714431662314, + -69.25934636519213 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2334590930876643410, + "instance_id": 21048, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -123.8453369140625, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 57.70761363239296, + "ymin": 418.9023307233496, + "xmax": 85.43338343140897, + "ymax": 443.6323281933559 + }, + "corners_3d": [ + [ + -116.6200942993164, + -123.69747161865234, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.69747161865234, + 7.743301868438721 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 77.41850639049676, + 423.2291370827545 + ], + [ + 60.172206501476694, + 431.1536152360844 + ], + [ + 68.02313777690279, + 443.6323281933559 + ], + [ + 85.43338343140897, + 435.49156836659796 + ], + [ + 75.04798109426793, + 418.9023307233496 + ], + [ + 57.70761363239296, + 426.82259803362183 + ], + [ + 65.5586739720402, + 439.2958602900429 + ], + [ + 83.06496109323734, + 431.1584926506706 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3639812104533344102, + "instance_id": 26239, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -123.8453369140625, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 57.8557875448148, + "ymin": 419.0321545760812, + "xmax": 85.28591504547353, + "ymax": 443.4991664135699 + }, + "corners_3d": [ + [ + -116.62229919433594, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.69904327392578, + 7.742714881896973 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 77.35754997424601, + 423.3129970642076 + ], + [ + 60.29366179453166, + 431.15414102675425 + ], + [ + 68.06153530766801, + 443.4991664135699 + ], + [ + 85.28591504547353, + 435.446313315566 + ], + [ + 75.01176118746696, + 419.0321545760812 + ], + [ + 57.8557875448148, + 426.86918097489826 + ], + [ + 65.62379550962976, + 439.2088665015755 + ], + [ + 82.94217232154006, + 431.15933816174396 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 915.7457417159574, + "ymin": 0.0, + "xmax": 1187.530096125399, + "ymax": 82.59898398776761 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 987.801507782884, + 82.59898398776761 + ], + [ + 1092.9477706481016, + 26.631872940652727 + ], + [ + 1023.1214860139537, + 4.414871652171826 + ], + [ + 915.7457417159574, + 55.389192291204324 + ], + [ + 1070.2470185325406, + -241.55962506207618 + ], + [ + 1187.530096125399, + -270.60602462717 + ], + [ + 1098.9649277829337, + -281.77212274997953 + ], + [ + 977.2808279808555, + -255.84881489395968 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 805.8938547624297, + "ymin": 81.77911920962111, + "xmax": 824.379833553435, + "ymax": 93.37100838689383 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 812.6778604434062, + 85.38584746599491 + ], + [ + 805.8938547624297, + 88.50302072384784 + ], + [ + 817.1099246217912, + 93.37100838689383 + ], + [ + 823.8897247249959, + 90.20087940601218 + ], + [ + 813.1342272483091, + 81.77911920962111 + ], + [ + 806.334692840755, + 84.88482790994874 + ], + [ + 817.5845702517017, + 89.73509106523079 + ], + [ + 824.379833553435, + 86.57647980119032 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 512.8482705400635, + "ymin": 0.0, + "xmax": 593.2194255821764, + "ymax": 58.78564064283967 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 526.8388048373675, + 55.92846604280237 + ], + [ + 532.3449843095894, + 58.78564064283967 + ], + [ + 593.2194255821764, + 37.02782198288605 + ], + [ + 587.6253931902539, + 34.393983755317606 + ], + [ + 512.8482705400635, + -116.43588322738555 + ], + [ + 518.9562182464813, + -114.24618856195951 + ], + [ + 587.661683411926, + -130.8493804115442 + ], + [ + 581.4381281708597, + -132.84809733165673 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 805.9921501529905, + "ymin": 81.84043209616232, + "xmax": 824.2812249907466, + "ymax": 93.30905329790636 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 812.7039350498363, + 85.40895040205618 + ], + [ + 805.9921501529905, + 88.49312858393029 + ], + [ + 817.0889191828724, + 93.30905329790636 + ], + [ + 823.796589087777, + 90.17304020504935 + ], + [ + 813.1555428977298, + 81.84043209616232 + ], + [ + 806.4285584683942, + 84.91338823699402 + ], + [ + 817.558419002305, + 89.71196345796824 + ], + [ + 824.2812249907466, + 86.58722388711345 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 708.5856570003141, + "ymin": 39.99532015289003, + "xmax": 829.5636463405759, + "ymax": 305.4794285705692 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 717.2792958780315, + 251.06797504651394 + ], + [ + 708.5856570003141, + 255.85447940167055 + ], + [ + 790.5949550219253, + 305.4794285705692 + ], + [ + 799.3018352274612, + 300.03297669723224 + ], + [ + 730.883426402404, + 39.99532015289003 + ], + [ + 720.7517571848762, + 44.01581158291782 + ], + [ + 819.4391211561954, + 86.24822807746756 + ], + [ + 829.5636463405759, + 81.56359992398097 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 322.95724641454103, + "xmax": 215.36977288730066, + "ymax": 677.0301062188703 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 150.4161423146923, + 563.1689251173957 + ], + [ + 132.74473329031656, + 572.8983695360876 + ], + [ + 196.6216094744134, + 677.0301062188703 + ], + [ + 215.36977288730066, + 665.3024876768322 + ], + [ + 17.81720354574452, + 322.95724641454103 + ], + [ + -6.264373841402858, + 332.513398853774 + ], + [ + 59.464203004136266, + 437.889399656677 + ], + [ + 85.74179398046533, + 425.7307314473839 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 739.2516936331756, + "ymin": 0.0, + "xmax": 1130.3738592170282, + "ymax": 394.18584617253447 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 747.3175561135816, + 222.9964925661539 + ], + [ + 739.2516936331756, + 227.2825723395975 + ], + [ + 1028.5089413745131, + 394.18584617253447 + ], + [ + 1036.305815741392, + 387.66650323283204 + ], + [ + 767.1007663253321, + -3.2078263702550203 + ], + [ + 757.6792664189944, + 0.25139034423960993 + ], + [ + 1121.579825944072, + 141.23617602368685 + ], + [ + 1130.3738592170282, + 135.48911168609308 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 5199819733356185808, + "instance_id": 53256, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1851_37", + "bbox_3d": { + "center_world": { + "x": -100.25784301757812, + "y": -72.39555358886719, + "z": 8.309331893920898 + }, + "extent": { + "x": 4.9728498458862305, + "y": 4.831793308258057, + "z": 8.307754516601562 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 810.7766370620043, + "ymin": 0.0, + "xmax": 1131.5183907082383, + "ymax": 2.9478281043674883 + }, + "corners_3d": [ + [ + -94.59623718261719, + -68.39283752441406, + 0.0015773773193359375 + ], + [ + -96.09391784667969, + -77.93966674804688, + 0.0015773773193359375 + ], + [ + -105.91944885253906, + -76.39826965332031, + 0.0015773773193359375 + ], + [ + -104.42176818847656, + -66.8514404296875, + 0.0015773773193359375 + ], + [ + -94.59623718261719, + -68.39283752441406, + 16.61708641052246 + ], + [ + -96.09391784667969, + -77.93966674804688, + 16.61708641052246 + ], + [ + -105.91944885253906, + -76.39826965332031, + 16.61708641052246 + ], + [ + -104.42176818847656, + -66.8514404296875, + 16.61708641052246 + ] + ], + "corners_2d": [ + [ + 888.9025600989787, + -77.98188960695666 + ], + [ + 810.7766370620043, + -37.47385339715106 + ], + [ + 968.8832664580543, + 2.9478281043674883 + ], + [ + 1037.908480114724, + -44.81071650197765 + ], + [ + 942.1076910681145, + -404.6191508002755 + ], + [ + 851.7822656744572, + -394.65486196135214 + ], + [ + 1056.884613720635, + -384.2709459762525 + ], + [ + 1131.5183907082383, + -396.49156816816003 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 121.00881264598638, + "ymax": 617.7870878667927 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 3.8174887714189936, + 349.9201502094961 + ], + [ + -251.3909399467119, + 477.50817052660915 + ], + [ + -150.870562402092, + 617.7870878667927 + ], + [ + 121.00881264598638, + 453.48967868328396 + ], + [ + -223.2367869462438, + -42.72896413862992 + ], + [ + -639.2632423040386, + 54.31054208384478 + ], + [ + -571.8184942625251, + 174.79056365184417 + ], + [ + -96.82362620909896, + 35.19706240475756 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 23.84353141374936, + "xmax": 162.0739110255479, + "ymax": 710.7728185860194 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -221.77901456924997, + 710.7728185860194 + ], + [ + 109.66972824270238, + 656.2991935133145 + ], + [ + 162.0739110255479, + 438.97411153970086 + ], + [ + -101.86342706842925, + 474.3622548933492 + ], + [ + -742.4891779161226, + 264.06211047994407 + ], + [ + -187.9876424195976, + 210.77424789388579 + ], + [ + -34.14816941013191, + 23.84353141374936 + ], + [ + -423.160251051738, + 51.783500975454444 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00032/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00032/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7606e88b4254a0e7b912bc5302815d855f30d28a --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00032/meta.json @@ -0,0 +1,2680 @@ +{ + "frame_id": 32, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 16.0, + "sim_timestamp": 10086.103378718719 + }, + "drone_pose": { + "x": -131.90805381044595, + "y": -123.93236222200458, + "z": 20.022705187241307, + "pitch": -43.86391920312542, + "yaw": 41.09294981426821, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5433682203292847, + -0.47389253973960876, + 0.6929479241371155, + 116.53057861328125 + ], + [ + 0.6572824716567993, + 0.7536442875862122, + 0.0, + 6.7000579833984375 + ], + [ + -0.5222362875938416, + 0.4554625451564789, + 0.7209876179695129, + -139.76983642578125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -131.38790323744504, + "y": -123.42934299020078, + "z": 20.213121875432968 + }, + "t1_image_uv": [ + 731.8189548638011, + -1214.3386392345285 + ], + "t1_depth": 0.389061497739815 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -115.66718292236328, + "y": -109.18776321411131, + "z": 0.7273820978403092 + }, + "image_uv": [ + 654.3868556134698, + 317.71220976598084 + ], + "depth": 29.18278283731015, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 186, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -115.66718292236328, + "y": -109.18775939941406, + "z": 0.7273821234703064 + }, + "extent": { + "x": 0.24684569239616394, + "y": 0.2566601634025574, + "z": 0.5273446440696716 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 645.3731567558725, + "ymin": 298.82491125501605, + "xmax": 663.5254403159664, + "ymax": 336.3738999276398 + }, + "corners_3d": [ + [ + -115.66024017333984, + -109.54379272460938, + 0.20003747940063477 + ], + [ + -116.0232162475586, + -109.18081665039062, + 0.20003747940063477 + ], + [ + -115.67412567138672, + -108.83172607421875, + 0.20003747940063477 + ], + [ + -115.31114959716797, + -109.1947021484375, + 0.20003747940063477 + ], + [ + -115.66024017333984, + -109.54379272460938, + 1.254726767539978 + ], + [ + -116.0232162475586, + -109.18081665039062, + 1.254726767539978 + ], + [ + -115.67412567138672, + -108.83172607421875, + 1.254726767539978 + ], + [ + -115.31114959716797, + -109.1947021484375, + 1.254726767539978 + ] + ], + "corners_2d": [ + [ + 645.3731567558725, + 335.60230555169153 + ], + [ + 662.1243725143079, + 336.3738999276398 + ], + [ + 662.946792765559, + 325.6290563429428 + ], + [ + 646.3949116219296, + 324.8757874146613 + ], + [ + 645.510211302827, + 309.5021606972964 + ], + [ + 662.6892019295628, + 310.2704617859362 + ], + [ + 663.5254403159664, + 299.5745080062479 + ], + [ + 646.5560314351488, + 298.82491125501605 + ] + ], + "center_offset_px": [ + 14.386855613469834, + -42.287790234019155 + ] + }, + "trace_timestep_index": 32, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 59, + "semantic_pixel_counts": { + "1": 486262, + "2": 219447, + "3": 162049, + "4": 99, + "5": 2812, + "6": 9030, + "7": 1174, + "9": 5963, + "10": 6712, + "12": 3295, + "14": 55, + "21": 417, + "24": 24285 + }, + "instance_pixel_counts": { + "1115": 4540, + "6254": 2799, + "10370": 2414, + "11394": 1445, + "14416": 113, + "14928": 2699, + "15511": 24, + "16023": 858, + "17232": 99, + "18011": 35529, + "20631": 20584, + "23808": 174, + "24064": 6171, + "27072": 3877, + "29843": 25017, + "30656": 90361, + "31168": 2878, + "31813": 6620, + "31891": 316470, + "34120": 72635, + "34395": 4, + "34453": 3000, + "34907": 418, + "35419": 2060, + "35931": 5960, + "36443": 101364, + "36501": 13037, + "44171": 1069, + "44179": 403, + "44691": 114813, + "44891": 412, + "45203": 3844, + "45915": 5, + "46227": 25715, + "46731": 1437, + "46741": 2, + "47253": 6665, + "47765": 426, + "48267": 847, + "48779": 700, + "48789": 1155, + "49664": 186, + "49803": 788, + "49920": 384, + "50176": 414, + "50432": 810, + "50688": 924, + "50944": 577, + "53184": 1957, + "54016": 55, + "54720": 2781, + "55232": 1981, + "55744": 3226, + "56135": 7, + "56768": 1541, + "57173": 5963, + "60013": 5209, + "61037": 4166, + "64351": 11903 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 186, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -115.66718292236328, + "y": -109.18775939941406, + "z": 0.7273821234703064 + }, + "extent": { + "x": 0.23583006858825684, + "y": 0.2439257800579071, + "z": 0.5430925488471985 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 645.8092447652086, + "ymin": 298.6798435654795, + "xmax": 663.094177925348, + "ymax": 336.49217376182975 + }, + "corners_3d": [ + [ + -115.66146087646484, + -109.5270004272461, + 0.1842895746231079 + ], + [ + -116.00642395019531, + -109.18203735351562, + 0.1842895746231079 + ], + [ + -115.67290496826172, + -108.84851837158203, + 0.1842895746231079 + ], + [ + -115.32794189453125, + -109.1934814453125, + 0.1842895746231079 + ], + [ + -115.66146087646484, + -109.5270004272461, + 1.2704746723175049 + ], + [ + -116.00642395019531, + -109.18203735351562, + 1.2704746723175049 + ], + [ + -115.67290496826172, + -108.84851837158203, + 1.2704746723175049 + ], + [ + -115.32794189453125, + -109.1934814453125, + 1.2704746723175049 + ] + ], + "corners_2d": [ + [ + 645.8092447652086, + 335.7592281110701 + ], + [ + 661.7189780973415, + 336.49217376182975 + ], + [ + 662.5092460454025, + 326.22651602109505 + ], + [ + 646.7803705854021, + 325.5102042158885 + ], + [ + 645.961866983265, + 308.8803920779708 + ], + [ + 662.2900633426157, + 309.61010534585375 + ], + [ + 663.094177925348, + 299.392568710116 + ], + [ + 646.9564216126815, + 298.6798435654795 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 384, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -111.54119873046875, + "y": -106.19005584716797, + "z": 0.7260246872901917 + }, + "extent": { + "x": 0.39482420682907104, + "y": 0.4102490246295929, + "z": 0.8744882941246033 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 625.8976053911007, + "ymin": 190.60476828050508, + "xmax": 653.3906916512012, + "ymax": 248.05229466262563 + }, + "corners_3d": [ + [ + -111.64888763427734, + -106.74915313720703, + -0.14846360683441162 + ], + [ + -112.09576416015625, + -106.06102752685547, + -0.14846360683441162 + ], + [ + -111.43350982666016, + -105.6309585571289, + -0.14846360683441162 + ], + [ + -110.98663330078125, + -106.31908416748047, + -0.14846360683441162 + ], + [ + -111.64888763427734, + -106.74915313720703, + 1.600512981414795 + ], + [ + -112.09576416015625, + -106.06102752685547, + 1.600512981414795 + ], + [ + -111.43350982666016, + -105.6309585571289, + 1.600512981414795 + ], + [ + -110.98663330078125, + -106.31908416748047, + 1.600512981414795 + ] + ], + "corners_2d": [ + [ + 629.395018402911, + 248.05229466262563 + ], + [ + 652.9020480842537, + 246.01942238725323 + ], + [ + 649.5269956806933, + 232.52395850070297 + ], + [ + 626.4048827089389, + 234.48946462357452 + ], + [ + 628.9923244032209, + 205.8730731398079 + ], + [ + 653.3906916512012, + 203.87297919568752 + ], + [ + 649.8815692488746, + 190.60476828050508 + ], + [ + 625.8976053911007, + 192.5361339203149 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 414, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -117.92300415039062, + "y": -102.24504852294922, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.3914209008216858, + "y": 0.29615235328674316, + "z": 0.8831494450569153 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 843.7429401488466, + "ymin": 233.93142323646214, + "xmax": 875.1475471443533, + "ymax": 291.9767574921471 + }, + "corners_3d": [ + [ + -118.04081726074219, + -102.7215347290039, + -0.3081647753715515 + ], + [ + -118.41356658935547, + -102.26122283935547, + -0.3081647753715515 + ], + [ + -117.80519104003906, + -101.76856231689453, + -0.3081647753715515 + ], + [ + -117.43244171142578, + -102.22887420654297, + -0.3081647753715515 + ], + [ + -118.04081726074219, + -102.7215347290039, + 1.4581341743469238 + ], + [ + -118.41356658935547, + -102.26122283935547, + 1.4581341743469238 + ], + [ + -117.80519104003906, + -101.76856231689453, + 1.4581341743469238 + ], + [ + -117.43244171142578, + -102.22887420654297, + 1.4581341743469238 + ] + ], + "corners_2d": [ + [ + 848.2373393787082, + 291.9767574921471 + ], + [ + 866.0656587278277, + 291.5560978603097 + ], + [ + 861.2616664457607, + 276.61820394785695 + ], + [ + 843.7429401488466, + 277.0242764425557 + ], + [ + 856.6072839192495, + 249.09475320726148 + ], + [ + 875.1475471443533, + 248.67914884064635 + ], + [ + 869.9889882386417, + 233.93142323646214 + ], + [ + 851.7833047472288, + 234.33205238557537 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 810, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -125.16718292236328, + "y": -109.18775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.3874804675579071, + "y": 0.41685545444488525, + "z": 0.8749319314956665 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 881.3068848072453, + "ymin": 475.5600602965608, + "xmax": 932.3301759943718, + "ymax": 544.8217511946827 + }, + "corners_3d": [ + [ + -125.14640808105469, + -109.75650787353516, + -0.29994726181030273 + ], + [ + -125.73593139648438, + -109.16698455810547, + -0.29994726181030273 + ], + [ + -125.18795776367188, + -108.61901092529297, + -0.29994726181030273 + ], + [ + -124.59843444824219, + -109.20853424072266, + -0.29994726181030273 + ], + [ + -125.14640808105469, + -109.75650787353516, + 1.4499166011810303 + ], + [ + -125.73593139648438, + -109.16698455810547, + 1.4499166011810303 + ], + [ + -125.18795776367188, + -108.61901092529297, + 1.4499166011810303 + ], + [ + -124.59843444824219, + -109.20853424072266, + 1.4499166011810303 + ] + ], + "corners_2d": [ + [ + 884.7317091192631, + 542.9683929792948 + ], + [ + 917.8226542237828, + 544.8217511946827 + ], + [ + 913.6541104367122, + 520.1188244490688 + ], + [ + 881.3068848072453, + 518.3471577667897 + ], + [ + 897.4887655187242, + 500.4393975717908 + ], + [ + 932.3301759943718, + 502.3145221503921 + ], + [ + 927.6089618590179, + 477.34837268531953 + ], + [ + 893.5910468884517, + 475.5600602965608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 924, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -119.28268432617188, + "y": -120.31512451171875, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.5982909798622131, + "y": 0.5165478587150574, + "z": 0.8828459978103638 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 358.344808148709, + "ymin": 564.6320587286071, + "xmax": 433.1605624140184, + "ymax": 658.178585606543 + }, + "corners_3d": [ + [ + -119.25776672363281, + -121.10515594482422, + -0.3078565001487732 + ], + [ + -120.06063079833984, + -120.45500946044922, + -0.3078565001487732 + ], + [ + -119.30760192871094, + -119.52509307861328, + -0.3078565001487732 + ], + [ + -118.5047378540039, + -120.17523956298828, + -0.3078565001487732 + ], + [ + -119.25776672363281, + -121.10515594482422, + 1.4578354358673096 + ], + [ + -120.06063079833984, + -120.45500946044922, + 1.4578354358673096 + ], + [ + -119.30760192871094, + -119.52509307861328, + 1.4578354358673096 + ], + [ + -118.5047378540039, + -120.17523956298828, + 1.4578354358673096 + ] + ], + "corners_2d": [ + [ + 373.7972720454295, + 651.1632701897662 + ], + [ + 416.31961445283827, + 658.178585606543 + ], + [ + 433.1605624140184, + 613.1138981459113 + ], + [ + 392.1059275287763, + 606.6055526195547 + ], + [ + 358.344808148709, + 610.0839079070761 + ], + [ + 403.25605155155574, + 617.2576535642768 + ], + [ + 421.5514912370751, + 571.2589477647905 + ], + [ + 378.27393599878764, + 564.6320587286071 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 577, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -110.12037658691406, + "y": -113.2177505493164, + "z": 0.7301897406578064 + }, + "extent": { + "x": 0.41991209983825684, + "y": 0.4458886682987213, + "z": 0.8730671405792236 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 418.8790889315495, + "ymin": 253.24317677536948, + "xmax": 463.9581377678842, + "ymax": 317.37323724179566 + }, + "corners_3d": [ + [ + -109.9751205444336, + -113.8127670288086, + -0.14287739992141724 + ], + [ + -110.72303009033203, + -113.32707214355469, + -0.14287739992141724 + ], + [ + -110.26563262939453, + -112.62273406982422, + -0.14287739992141724 + ], + [ + -109.5177230834961, + -113.10842895507812, + -0.14287739992141724 + ], + [ + -109.9751205444336, + -113.8127670288086, + 1.6032569408416748 + ], + [ + -110.72303009033203, + -113.32707214355469, + 1.6032569408416748 + ], + [ + -110.26563262939453, + -112.62273406982422, + 1.6032569408416748 + ], + [ + -109.5177230834961, + -113.10842895507812, + 1.6032569408416748 + ] + ], + "corners_2d": [ + [ + 427.59783913973934, + 312.31952576521127 + ], + [ + 453.35578021225166, + 317.37323724179566 + ], + [ + 463.9581377678842, + 300.89173604495267 + ], + [ + 438.62012573639083, + 296.0250220916323 + ], + [ + 418.8790889315495, + 269.3613897171865 + ], + [ + 445.64827199154763, + 274.36543272052546 + ], + [ + 456.83011639721263, + 258.0546580993917 + ], + [ + 430.5139586003854, + 253.24317677536948 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 55, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 620.065683989095, + "ymin": 0.0, + "xmax": 720.8049827804062, + "ymax": 12.762003772733408 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 646.8765990356042, + -30.551462118465054 + ], + [ + 620.5074264744446, + -21.347417977784687 + ], + [ + 692.2301063989784, + 12.762003772733408 + ], + [ + 718.9358882106778, + 2.372711341102274 + ], + [ + 647.0297284260554, + -61.490818969348595 + ], + [ + 620.065683989095, + -52.62548236451778 + ], + [ + 693.4901327106869, + -19.71162268669775 + ], + [ + 720.8049827804062, + -29.74672746236388 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 899.1660220210363, + "ymin": 82.77239622178053, + "xmax": 920.6050026561024, + "ymax": 117.4750110141122 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 906.7137326371472, + 117.4750110141122 + ], + [ + 914.6675119535475, + 113.18161321619544 + ], + [ + 907.1254195588683, + 109.63178162284808 + ], + [ + 899.1660220210363, + 113.88005464009521 + ], + [ + 912.5167096778848, + 90.46610543176905 + ], + [ + 920.6050026561024, + 86.25407706208551 + ], + [ + 912.8688907754308, + 82.77239622178053 + ], + [ + 904.7743318225641, + 86.93920267907788 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1065.6100732387574, + "ymin": 159.68076994624812, + "xmax": 1093.4518436445346, + "ymax": 197.64620880043515 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1075.0361526348001, + 197.64620880043515 + ], + [ + 1082.7339672468493, + 192.28498126358676 + ], + [ + 1073.3288280517218, + 187.85827277703223 + ], + [ + 1065.6100732387574, + 193.15659206019805 + ], + [ + 1085.644289959129, + 169.33094270640854 + ], + [ + 1093.4518436445346, + 164.0444230832377 + ], + [ + 1083.7560309826674, + 159.68076994624812 + ], + [ + 1075.9255915362144, + 164.9037643758002 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 771.3899912133345, + "ymin": 107.66749217199714, + "xmax": 787.5083219639971, + "ymax": 137.18045693499755 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 777.3103309138486, + 137.18045693499755 + ], + [ + 784.8357608351314, + 133.38988332309887 + ], + [ + 778.9132176845658, + 130.23359255326133 + ], + [ + 771.3899912133345, + 133.98977431189937 + ], + [ + 779.8580841555192, + 114.51281244838998 + ], + [ + 787.5083219639971, + 110.7773340944104 + ], + [ + 781.4646571609085, + 107.66749217199714 + ], + [ + 773.8165742974875, + 111.36845577824798 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 985.3624279845038, + "ymin": 122.5671517802264, + "xmax": 1010.0131149849632, + "ymax": 158.98100368381637 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 993.8567154476161, + 158.98100368381637 + ], + [ + 1001.7091928194163, + 154.14946305236336 + ], + [ + 993.227728592308, + 150.1574979456411 + ], + [ + 985.3624279845038, + 154.93519503913066 + ], + [ + 1002.0363862389148, + 131.24520451256984 + ], + [ + 1010.0131149849632, + 126.4927029331744 + ], + [ + 1001.2907465929641, + 122.5671517802264 + ], + [ + 993.2999607284223, + 127.26548100159945 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 938.3267763843498, + "ymin": 0.0, + "xmax": 1170.994923530849, + "ymax": 108.98875027732049 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1102.4582703536798, + 25.244799839911423 + ], + [ + 1094.1238204092815, + 22.18818683036619 + ], + [ + 938.3267763843498, + 105.00228081710932 + ], + [ + 946.9181908223744, + 108.98875027732049 + ], + [ + 1170.994923530849, + -172.39583745152026 + ], + [ + 1161.0238462323173, + -174.72380702255714 + ], + [ + 989.567184200624, + -110.35703952457976 + ], + [ + 1000.0034488709176, + -107.18932088604816 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2334590930876643410, + "instance_id": 21048, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -123.8453369140625, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 62.73730995232654, + "ymin": 403.23738713732587, + "xmax": 90.70409176645148, + "ymax": 428.71088095052653 + }, + "corners_3d": [ + [ + -116.6200942993164, + -123.69747161865234, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.69747161865234, + 7.743301868438721 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 82.65076062537355, + 407.4940132087849 + ], + [ + 65.33001767954113, + 415.55704712870903 + ], + [ + 73.21827401004248, + 428.71088095052653 + ], + [ + 90.70409176645148, + 420.4304648877995 + ], + [ + 80.15701708363792, + 403.23738713732587 + ], + [ + 62.73730995232654, + 411.3012619998741 + ], + [ + 70.62661333332164, + 424.45775508316024 + ], + [ + 88.21346058425002, + 416.17547884195045 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3639812104533344102, + "instance_id": 26239, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -123.8453369140625, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 62.886776542636426, + "ymin": 403.3712253738185, + "xmax": 90.55534875672834, + "ymax": 428.57382947213875 + }, + "corners_3d": [ + [ + -116.62229919433594, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.69904327392578, + 7.742714881896973 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 82.58894206175341, + 407.5825666568719 + ], + [ + 65.4513721966, + 415.56082262902316 + ], + [ + 73.25618204070656, + 428.57382947213875 + ], + [ + 90.55534875672834, + 420.38278626175645 + ], + [ + 80.12122525330051, + 403.3712253738185 + ], + [ + 62.886776542636426, + 411.3503096048304 + ], + [ + 70.69261975453401, + 424.3659140243291 + ], + [ + 88.09066545546796, + 416.1730555028794 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 940.0957863868762, + "ymin": 0.0, + "xmax": 1235.1975477767783, + "ymax": 49.78361434739321 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 1013.8296027025079, + 49.78361434739321 + ], + [ + 1124.079286518307, + -8.784486762043002 + ], + [ + 1052.2776511187246, + -32.95551847818376 + ], + [ + 940.0957863868762, + 20.366308624942064 + ], + [ + 1111.0746835929494, + -290.74547817354016 + ], + [ + 1235.1975477767783, + -322.7179695160776 + ], + [ + 1141.8866454056044, + -335.46503726074513 + ], + [ + 1013.4936288561929, + -307.0008495396876 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 827.3561462385311, + "ymin": 53.82233844535631, + "xmax": 846.507991903737, + "ymax": 66.14153086878088 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 834.4136161815768, + 57.53850477332452 + ], + [ + 827.3561462385311, + 60.82384996420819 + ], + [ + 838.8587359823273, + 66.14153086878088 + ], + [ + 845.9149538896047, + 62.80005602811411 + ], + [ + 834.9688066063208, + 53.82233844535631 + ], + [ + 827.89402485448, + 57.09737368542284 + ], + [ + 839.4345205163013, + 62.39857683109159 + ], + [ + 846.507991903737, + 59.06742581924976 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 527.9395072557562, + "ymin": 0.0, + "xmax": 609.1502472557795, + "ymax": 20.859981262225062 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 541.149363854813, + 17.804581944724077 + ], + [ + 546.7415294423454, + 20.859981262225062 + ], + [ + 609.1502472557795, + -1.6199693478284871 + ], + [ + 603.4581785253176, + -4.44505827199157 + ], + [ + 527.9395072557562, + -161.4048040405986 + ], + [ + 534.2045618321213, + -159.00876862409393 + ], + [ + 605.183351469812, + -176.55899914114582 + ], + [ + 598.7860389164755, + -178.75177937229967 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 827.4579315551704, + "ymin": 53.887518692376716, + "xmax": 846.4057787085738, + "ymax": 66.07570920612102 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 834.4402918786983, + 57.5642986617097 + ], + [ + 827.4579315551704, + 60.81487960108609 + ], + [ + 838.8382032389158, + 66.07570920612102 + ], + [ + 845.8193396231798, + 62.77018641882296 + ], + [ + 834.989684293266, + 53.887518692376716 + ], + [ + 827.9903790788742, + 57.12800794746016 + ], + [ + 839.4077539095908, + 62.37270825343188 + ], + [ + 846.4057787085738, + 59.077290590252176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 724.0970523251241, + "ymin": 8.487652777467986, + "xmax": 851.9895803025382, + "ymax": 281.8405401115636 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 733.0283098925402, + 224.2890675772766 + ], + [ + 724.0970523251241, + 229.19145879111622 + ], + [ + 806.8991134196915, + 281.8405401115636 + ], + [ + 815.8737875578906, + 276.26686929735365 + ], + [ + 750.7230102290855, + 8.487652777467986 + ], + [ + 740.2117009582718, + 12.727482666078743 + ], + [ + 841.4467855465559, + 58.90332461920656 + ], + [ + 851.9895803025382, + 53.958611735898785 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 302.2659244413512, + "xmax": 225.22796301737327, + "ymax": 654.6310282234656 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 160.5076623302175, + 538.5471853356419 + ], + [ + 142.97541424542487, + 548.1706832944641 + ], + [ + 206.63525425979122, + 654.6310282234656 + ], + [ + 225.22796301737327, + 643.0841311926131 + ], + [ + 22.393253698218928, + 302.2659244413512 + ], + [ + -1.8045919310653744, + 312.0263402464404 + ], + [ + 64.32790337276651, + 423.38255782878247 + ], + [ + 90.73693903215167, + 410.99636404590575 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 755.7965412914364, + "ymin": 0.0, + "xmax": 1163.367648085787, + "ymax": 376.8553911845846 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 764.0983436201928, + 195.15878347847075 + ], + [ + 755.7965412914364, + 199.55743738117198 + ], + [ + 1048.0382927936428, + 376.8553911845846 + ], + [ + 1056.18145592857, + 370.1813914416316 + ], + [ + 788.866045580486, + -37.09131474458229 + ], + [ + 779.0684608427955, + -33.42762891038666 + ], + [ + 1154.074475603114, + 121.66730387433805 + ], + [ + 1163.367648085787, + 115.5540679185143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 131.0496220611015, + "ymax": 588.6348677107637 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 13.677717393998705, + 318.1765467685457 + ], + [ + -237.80377029876274, + 445.2470431599546 + ], + [ + -136.8669630427139, + 588.6348677107637 + ], + [ + 131.0496220611015, + 425.7593559091323 + ], + [ + -226.49482423158577, + -80.88345739146354 + ], + [ + -645.524214003045, + 20.90063283235122 + ], + [ + -578.2003272002635, + 151.0827700367865 + ], + [ + -98.7125342915133, + 4.523895225570641 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 171.95201662271518, + "ymax": 680.9367929450281 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -205.26609050411957, + 680.9367929450281 + ], + [ + 120.6146235908111, + 631.5546448818722 + ], + [ + 171.95201662271518, + 411.455491448045 + ], + [ + -90.1383252520726, + 444.06376742974675 + ], + [ + -748.705418717866, + 245.09486807607712 + ], + [ + -192.0667063420965, + 193.70951666385855 + ], + [ + -34.93567588092162, + -7.312233031901883 + ], + [ + -428.68868811182256, + 19.897868018196334 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00033/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00033/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..76439178865f190dff5e2baf676757b0aed16535 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00033/meta.json @@ -0,0 +1,3629 @@ +{ + "frame_id": 33, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 16.5, + "sim_timestamp": 10096.802742950618 + }, + "drone_pose": { + "x": -131.38790323744504, + "y": -123.42934299020078, + "z": 20.213121875432968, + "pitch": -39.581133513737825, + "yaw": 41.64854093368922, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5759115219116211, + -0.5121912956237793, + 0.6371702551841736, + 126.00807189941406 + ], + [ + 0.6645594835281372, + 0.7472353577613831, + 0.0, + 4.9156951904296875 + ], + [ + -0.4761161208152771, + 0.42343753576278687, + 0.7707231044769287, + -130.3992462158203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -130.86819159601464, + "y": -122.92396758537318, + "z": 19.83744943107229 + }, + "t1_image_uv": [ + 678.8262223124739, + 153.08132652975553 + ], + "t1_depth": 0.7975241467833178 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -115.16718292236328, + "y": -108.68776321411131, + "z": 0.7272990983724594 + }, + "image_uv": [ + 647.7236159545997, + 394.4945215557655 + ], + "depth": 29.3079961010858, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 187, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -115.16718292236328, + "y": -108.68775939941406, + "z": 0.7272990942001343 + }, + "extent": { + "x": 0.23167480528354645, + "y": 0.2513720691204071, + "z": 0.5274083018302917 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 639.0437848120112, + "ymin": 376.1267122020713, + "xmax": 656.4823350275299, + "ymax": 412.6795435626052 + }, + "corners_3d": [ + [ + -115.15325164794922, + -109.02932739257812, + 0.19989079236984253 + ], + [ + -115.50875091552734, + -108.673828125, + 0.19989079236984253 + ], + [ + -115.18111419677734, + -108.34619140625, + 0.19989079236984253 + ], + [ + -114.82561492919922, + -108.70169067382812, + 0.19989079236984253 + ], + [ + -115.15325164794922, + -109.02932739257812, + 1.2547073364257812 + ], + [ + -115.50875091552734, + -108.673828125, + 1.2547073364257812 + ], + [ + -115.18111419677734, + -108.34619140625, + 1.2547073364257812 + ], + [ + -114.82561492919922, + -108.70169067382812, + 1.2547073364257812 + ] + ], + "corners_2d": [ + [ + 639.0655871453185, + 412.0291601334687 + ], + [ + 655.4228733804855, + 412.6795435626052 + ], + [ + 656.110735616287, + 402.55850068014377 + ], + [ + 639.948391536415, + 401.9235739708812 + ], + [ + 639.0437848120112, + 386.14881628122055 + ], + [ + 655.7830131896278, + 386.7940183216714 + ], + [ + 656.4823350275299, + 376.7562292992702 + ], + [ + 639.9472020949114, + 376.1267122020713 + ] + ], + "center_offset_px": [ + 7.7236159545997225, + 34.494521555765516 + ] + }, + "trace_timestep_index": 33, + "instance_stats": { + "semantic_tags_present": 16, + "instances_present": 69, + "semantic_pixel_counts": { + "1": 394350, + "2": 227972, + "3": 224447, + "4": 13547, + "5": 2450, + "6": 10948, + "7": 1890, + "9": 2564, + "10": 8015, + "12": 3255, + "14": 739, + "16": 8885, + "20": 71, + "21": 1156, + "22": 2, + "24": 21309 + }, + "instance_pixel_counts": { + "1115": 4514, + "1445": 52, + "1627": 391, + "6254": 2224, + "10370": 2675, + "11394": 1395, + "13397": 177, + "13909": 100, + "14416": 120, + "14928": 2330, + "16023": 880, + "17232": 13547, + "18011": 54485, + "19784": 2, + "20631": 16090, + "23808": 2053, + "24064": 6321, + "27072": 3935, + "29843": 25842, + "30656": 86480, + "31168": 2870, + "31813": 4724, + "31891": 212154, + "34120": 77058, + "34453": 3134, + "34907": 427, + "35419": 2775, + "35931": 9185, + "36443": 141072, + "36501": 9561, + "37460": 394, + "44171": 1077, + "44179": 4107, + "44691": 118078, + "44891": 38, + "45203": 6130, + "46227": 28039, + "46731": 1377, + "46741": 130, + "47253": 6742, + "47765": 531, + "48267": 1735, + "48779": 686, + "48789": 1211, + "49664": 187, + "49803": 1572, + "49920": 382, + "50176": 392, + "50432": 821, + "50688": 892, + "50944": 581, + "52480": 10, + "52672": 243, + "52736": 8875, + "53184": 1977, + "53339": 19, + "54016": 739, + "54720": 2672, + "55232": 9786, + "55744": 3189, + "55879": 7, + "56135": 563, + "56768": 6688, + "57173": 2564, + "60013": 5239, + "61037": 4135, + "62555": 231, + "63067": 610, + "64351": 9657 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 187, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -115.16718292236328, + "y": -108.68775939941406, + "z": 0.7272990942001343 + }, + "extent": { + "x": 0.23914550244808197, + "y": 0.25279295444488525, + "z": 0.5569223165512085 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 638.9811556605905, + "ymin": 375.2264592540503, + "xmax": 656.5508427886963, + "ymax": 413.55393479605175 + }, + "corners_3d": [ + [ + -115.15753173828125, + -109.03561401367188, + 0.17037677764892578 + ], + [ + -115.5150375366211, + -108.67810821533203, + 0.17037677764892578 + ], + [ + -115.17683410644531, + -108.33990478515625, + 0.17037677764892578 + ], + [ + -114.81932830810547, + -108.6974105834961, + 0.17037677764892578 + ], + [ + -115.15753173828125, + -109.03561401367188, + 1.2842214107513428 + ], + [ + -115.5150375366211, + -108.67810821533203, + 1.2842214107513428 + ], + [ + -115.17683410644531, + -108.33990478515625, + 1.2842214107513428 + ], + [ + -114.81932830810547, + -108.6974105834961, + 1.2842214107513428 + ] + ], + "corners_2d": [ + [ + 639.0056750466888, + 412.8994959879981 + ], + [ + 655.4479868594426, + 413.55393479605175 + ], + [ + 656.1571409517603, + 403.10426583042624 + ], + [ + 639.9169380918696, + 402.465865491462 + ], + [ + 638.9811556605905, + 385.56908145730284 + ], + [ + 655.8292256065126, + 386.2180213988712 + ], + [ + 656.5508427886963, + 375.8591105748052 + ], + [ + 639.9149157001146, + 375.2264592540503 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 382, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -111.04119873046875, + "y": -105.69005584716797, + "z": 0.7279094457626343 + }, + "extent": { + "x": 0.36474609375, + "y": 0.3958740234375, + "z": 0.8747736811637878 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 619.2089687272213, + "ymin": 269.1074194163821, + "xmax": 645.3297949931776, + "ymax": 324.43647252276054 + }, + "corners_3d": [ + [ + -111.1314926147461, + -106.22071838378906, + -0.14686423540115356 + ], + [ + -111.56270599365234, + -105.55670166015625, + -0.14686423540115356 + ], + [ + -110.9509048461914, + -105.15939331054688, + -0.14686423540115356 + ], + [ + -110.51969146728516, + -105.82341003417969, + -0.14686423540115356 + ], + [ + -111.1314926147461, + -106.22071838378906, + 1.6026830673217773 + ], + [ + -111.56270599365234, + -105.55670166015625, + 1.6026830673217773 + ], + [ + -110.9509048461914, + -105.15939331054688, + 1.6026830673217773 + ], + [ + -110.51969146728516, + -105.82341003417969, + 1.6026830673217773 + ] + ], + "corners_2d": [ + [ + 622.7042858379167, + 324.43647252276054 + ], + [ + 645.1526741330684, + 322.362690721282 + ], + [ + 641.980520455602, + 310.0395959823858 + ], + [ + 619.8904722314852, + 312.04623317592 + ], + [ + 622.1080663741913, + 283.18087513385933 + ], + [ + 645.3297949931776, + 281.1525442612635 + ], + [ + 642.0474527486938, + 269.1074194163821 + ], + [ + 619.2089687272213, + 271.0678736518404 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 392, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -117.42300415039062, + "y": -101.74504852294922, + "z": 0.5749797821044922 + }, + "extent": { + "x": 0.428657203912735, + "y": 0.31125977635383606, + "z": 0.8887348771095276 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 834.4365405759435, + "ymin": 309.23879229096326, + "xmax": 866.2544611868796, + "ymax": 368.1792646301346 + }, + "corners_3d": [ + [ + -117.56024932861328, + -102.25670623779297, + -0.3137550950050354 + ], + [ + -117.95201873779297, + -101.77291870117188, + -0.3137550950050354 + ], + [ + -117.28575897216797, + -101.23339080810547, + -0.3137550950050354 + ], + [ + -116.89398956298828, + -101.71717834472656, + -0.3137550950050354 + ], + [ + -117.56024932861328, + -102.25670623779297, + 1.463714599609375 + ], + [ + -117.95201873779297, + -101.77291870117188, + 1.463714599609375 + ], + [ + -117.28575897216797, + -101.23339080810547, + 1.463714599609375 + ], + [ + -116.89398956298828, + -101.71717834472656, + 1.463714599609375 + ] + ], + "corners_2d": [ + [ + 839.6539495399458, + 368.1792646301346 + ], + [ + 858.2240363349849, + 367.6222363997803 + ], + [ + 852.6338374991735, + 351.38369726846213 + ], + [ + 834.4365405759435, + 351.9183693011197 + ], + [ + 847.006309518174, + 325.717980908042 + ], + [ + 866.2544611868796, + 325.171037851356 + ], + [ + 860.2942603553636, + 309.23879229096326 + ], + [ + 841.446323963986, + 309.7630011998813 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 821, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -124.66718292236328, + "y": -108.68775939941406, + "z": 0.5749797821044922 + }, + "extent": { + "x": 0.44215819239616394, + "y": 0.43373534083366394, + "z": 0.8949416279792786 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 877.1431416895603, + "ymin": 550.4521537720454, + "xmax": 930.2985027133282, + "ymax": 625.6316945939174 + }, + "corners_3d": [ + [ + -124.67314147949219, + -109.3071060180664, + -0.3199618458747864 + ], + [ + -125.28652954101562, + -108.69371795654297, + -0.3199618458747864 + ], + [ + -124.66122436523438, + -108.06841278076172, + -0.3199618458747864 + ], + [ + -124.04783630371094, + -108.68180084228516, + -0.3199618458747864 + ], + [ + -124.67314147949219, + -109.3071060180664, + 1.469921350479126 + ], + [ + -125.28652954101562, + -108.69371795654297, + 1.469921350479126 + ], + [ + -124.66122436523438, + -108.06841278076172, + 1.469921350479126 + ], + [ + -124.04783630371094, + -108.68180084228516, + 1.469921350479126 + ] + ], + "corners_2d": [ + [ + 881.7628934018055, + 623.9196909039215 + ], + [ + 916.5862474245985, + 625.6316945939174 + ], + [ + 911.0047852756852, + 596.5989840661865 + ], + [ + 877.1431416895603, + 594.9794676252027 + ], + [ + 893.7283887863763, + 579.5099377972236 + ], + [ + 930.2985027133282, + 581.2313619842826 + ], + [ + 924.0543571266194, + 552.0761725783327 + ], + [ + 888.5433756986372, + 550.4521537720454 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 892, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -118.78268432617188, + "y": -119.81512451171875, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.5930370688438416, + "y": 0.43333494663238525, + "z": 0.9072554707527161 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 351.74083970166686, + "ymin": 648.9561192132744, + "xmax": 421.12440154823753, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -118.81912994384766, + -120.5487060546875, + -0.3322708010673523 + ], + [ + -119.49266052246094, + -120.0032958984375, + -0.3322708010673523 + ], + [ + -118.7462387084961, + -119.08154296875, + -0.3322708010673523 + ], + [ + -118.07270812988281, + -119.626953125, + -0.3322708010673523 + ], + [ + -118.81912994384766, + -120.5487060546875, + 1.4822402000427246 + ], + [ + -119.49266052246094, + -120.0032958984375, + 1.4822402000427246 + ], + [ + -118.7462387084961, + -119.08154296875, + 1.4822402000427246 + ], + [ + -118.07270812988281, + -119.626953125, + 1.4822402000427246 + ] + ], + "corners_2d": [ + [ + 367.0251226550764, + 739.9892601223919 + ], + [ + 403.4975083905657, + 745.8605931265628 + ], + [ + 421.12440154823753, + 698.7817443082586 + ], + [ + 386.01655602739936, + 693.3686779744737 + ], + [ + 351.74083970166686, + 696.2470077809563 + ], + [ + 390.1853953980433, + 702.2176772367523 + ], + [ + 409.3227122249821, + 654.4362406634541 + ], + [ + 372.39083805467203, + 648.9561192132744 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 581, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -110.12037658691406, + "y": -112.3544692993164, + "z": 0.7301750779151917 + }, + "extent": { + "x": 0.4835742115974426, + "y": 0.43392089009284973, + "z": 0.9082620143890381 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 431.4779355530908, + "ymin": 332.3570867300623, + "xmax": 476.4852084968552, + "ymax": 400.0495950761175 + }, + "corners_3d": [ + [ + -110.01983642578125, + -112.9963607788086, + -0.17808693647384644 + ], + [ + -110.74766540527344, + -112.52369689941406, + -0.17808693647384644 + ], + [ + -110.22091674804688, + -111.71257781982422, + -0.17808693647384644 + ], + [ + -109.49308776855469, + -112.18524169921875, + -0.17808693647384644 + ], + [ + -110.01983642578125, + -112.9963607788086, + 1.638437032699585 + ], + [ + -110.74766540527344, + -112.52369689941406, + 1.638437032699585 + ], + [ + -110.22091674804688, + -111.71257781982422, + 1.638437032699585 + ], + [ + -109.49308776855469, + -112.18524169921875, + 1.638437032699585 + ] + ], + "corners_2d": [ + [ + 439.35428268728606, + 395.231981174854 + ], + [ + 464.55904810582746, + 400.0495950761175 + ], + [ + 476.4852084968552, + 380.83250584497057 + ], + [ + 451.7908059676341, + 376.23381565475194 + ], + [ + 431.4779355530908, + 351.0313646504866 + ], + [ + 457.6305049934447, + 355.77218845972425 + ], + [ + 470.1822421931637, + 336.87429629597045 + ], + [ + 444.5784820854875, + 332.3570867300623 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 10, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 481.76472523196844, + "ymin": 0.0, + "xmax": 681.3208092574653, + "ymax": 131.39076462916577 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 549.9502763326423, + 45.95668903904158 + ], + [ + 490.255194480397, + 65.10924477378234 + ], + [ + 617.1239472574774, + 131.39076462916577 + ], + [ + 678.9177208425219, + 106.93428784693072 + ], + [ + 545.0512250759971, + -34.30325232221821 + ], + [ + 481.76472523196844, + -17.451581415226315 + ], + [ + 615.6433574361629, + 41.43794277019242 + ], + [ + 681.3208092574653, + 19.60514661503754 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 8875, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 664.0049579299722, + "ymin": 0.0, + "xmax": 863.6063844932241, + "ymax": 85.93956986182769 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 801.9472173311226, + 85.93956986182769 + ], + [ + 851.6025918397665, + 65.18049972567763 + ], + [ + 713.3773922988403, + 12.786883506359402 + ], + [ + 664.0049579299722, + 29.341819262934223 + ], + [ + 811.5391239361529, + 0.929983379552823 + ], + [ + 863.6063844932241, + -17.417656395555866 + ], + [ + 717.0806738358305, + -63.34213291207925 + ], + [ + 665.2637449265679, + -48.89016788910567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 739, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 610.5708408427334, + "ymin": 30.226625874255433, + "xmax": 709.543846439491, + "ymax": 101.63747168638548 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 637.0181066926949, + 59.53664182413479 + ], + [ + 611.1599873091266, + 68.59551602004825 + ], + [ + 681.9205586068141, + 101.63747168638548 + ], + [ + 708.088536600837, + 91.35973453145226 + ], + [ + 636.958313029876, + 30.226625874255433 + ], + [ + 610.5708408427334, + 38.921188714658285 + ], + [ + 682.8344824855025, + 70.6887087408748 + ], + [ + 709.543846439491, + 60.79822858584623 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 52908959695452696, + "instance_id": 6202, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": -79.05494689941406, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1095.4794417500116, + "ymin": 40.29813877864444, + "xmax": 1111.1920550702237, + "ymax": 62.71920785573184 + }, + "corners_3d": [ + [ + -113.29469299316406, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -78.86498260498047, + 3.5146729946136475 + ], + [ + -113.29469299316406, + -78.86498260498047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1095.4794417500116, + 60.918711467250375 + ], + [ + 1101.1705231273093, + 62.71920785573184 + ], + [ + 1105.2988859571512, + 60.53776489750993 + ], + [ + 1099.6178160652944, + 58.75303096164987 + ], + [ + 1101.2527475333502, + 42.40907268518686 + ], + [ + 1107.0375160034998, + 44.16423242487548 + ], + [ + 1111.1920550702237, + 42.0377391432325 + ], + [ + 1105.417744120335, + 40.29813877864444 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 889.0137172852429, + "ymin": 175.33852624804376, + "xmax": 909.642947013885, + "ymax": 209.20920960720161 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 896.6341773980862, + 209.20920960720161 + ], + [ + 904.4135650796953, + 204.83732079555577 + ], + [ + 896.801486439111, + 201.29536851814422 + ], + [ + 889.0137172852429, + 205.61872221682862 + ], + [ + 901.7451498297798, + 183.0800096946895 + ], + [ + 909.642947013885, + 178.80286820177335 + ], + [ + 901.8515936276843, + 175.33852624804376 + ], + [ + 893.9446785785882, + 179.56725011385504 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5668522571212290485, + "instance_id": 46457, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -89.45570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 980.1377738485742, + "ymin": 33.75890628705122, + "xmax": 997.2447966179702, + "ymax": 60.566689176408545 + }, + "corners_3d": [ + [ + -113.19542694091797, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -89.26573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -89.26573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 980.1377738485742, + 58.441835161820165 + ], + [ + 986.3898567072343, + 60.566689176408545 + ], + [ + 991.9100720949484, + 57.97880177384826 + ], + [ + 985.666977201995, + 55.876095136469075 + ], + [ + 985.2989681507336, + 36.24589691459158 + ], + [ + 991.6689607216144, + 38.305831416081276 + ], + [ + 997.2447966179702, + 35.79704615481228 + ], + [ + 990.8843102471009, + 33.75890628705122 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1058.1346609604607, + "ymin": 252.33939630490613, + "xmax": 1084.9217349866065, + "ymax": 289.8466277850904 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1067.7800273528198, + 289.8466277850904 + ], + [ + 1075.2189739463306, + 284.3138878215382 + ], + [ + 1065.6005364163566, + 279.83836525883044 + ], + [ + 1058.1346609604607, + 285.30207950505576 + ], + [ + 1077.392089140634, + 262.17813860974707 + ], + [ + 1084.9217349866065, + 256.7383564693486 + ], + [ + 1075.0284071872454, + 252.33939630490613 + ], + [ + 1067.4696616782144, + 257.709808029957 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7157878223548397302, + "instance_id": 63030, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -86.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1015.4911974124716, + "ymin": 18.028158076628415, + "xmax": 1032.505245136615, + "ymax": 44.021004380222735 + }, + "corners_3d": [ + [ + -113.19542694091797, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -86.76573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -86.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1015.4911974124716, + 42.03575767338805 + ], + [ + 1021.6815145719579, + 44.021004380222735 + ], + [ + 1026.839211779878, + 41.60307068485616 + ], + [ + 1020.6587721501032, + 39.6378301478062 + ], + [ + 1020.9960970688069, + 20.350148998073166 + ], + [ + 1027.3008645651103, + 22.272787418642338 + ], + [ + 1032.505245136615, + 19.93113879009735 + ], + [ + 1026.2108887402142, + 18.028158076628415 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7631990878982166785, + "instance_id": 473, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": -83.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1054.9234934915908, + "ymin": 0.4947296227372817, + "xmax": 1071.7944858608817, + "ymax": 25.572122005481276 + }, + "corners_3d": [ + [ + -113.1954345703125, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47261047363281, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.19544219970703, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47261047363281, + -83.76573944091797, + 6.416468620300293 + ], + [ + -113.19544219970703, + -83.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1054.9234934915908, + 23.736970368223865 + ], + [ + 1061.0329367904353, + 25.572122005481276 + ], + [ + 1065.800861155669, + 23.33691857443972 + ], + [ + 1059.7020752481108, + 21.519552877774572 + ], + [ + 1060.7691919489798, + 2.639518996777724 + ], + [ + 1066.9888453564022, + 4.4147846404980555 + ], + [ + 1071.7944858608817, + 2.2525486263852486 + ], + [ + 1065.5860289520647, + 0.4947296227372817 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 761.9566523583142, + "ymin": 197.7473262137999, + "xmax": 777.6273280521552, + "ymax": 226.62817125147922 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 767.9118670629315, + 226.62817125147922 + ], + [ + 775.3409492170808, + 222.77375329940827 + ], + [ + 769.3847364233134, + 219.628584041717 + ], + [ + 761.9566523583142, + 223.44604712245797 + ], + [ + 770.0856468705008, + 204.62743428849316 + ], + [ + 777.6273280521552, + 200.83850248525246 + ], + [ + 771.5598452769925, + 197.7473262137999 + ], + [ + 764.0190696892237, + 201.49931998571682 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 976.314997869936, + "ymin": 215.05640127972038, + "xmax": 1000.0217216456878, + "ymax": 250.82083143985835 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 984.9507957092105, + 250.82083143985835 + ], + [ + 992.590880247496, + 245.86682889988322 + ], + [ + 983.9721268038546, + 241.85646394839716 + ], + [ + 976.314997869936, + 246.75195334213453 + ], + [ + 992.2747484851174, + 223.84789470895112 + ], + [ + 1000.0217216456878, + 218.98882373013737 + ], + [ + 991.1776486920801, + 215.05640127972038 + ], + [ + 983.4122528795505, + 219.8568773273022 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 926.7478068760598, + "ymin": 0.0, + "xmax": 1143.9805515862056, + "ymax": 195.53533978480618 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1085.1782949244368, + 112.16385522553082 + ], + [ + 1076.8725679987274, + 109.20721455763245 + ], + [ + 926.7478068760598, + 191.6097249379628 + ], + [ + 935.3796710256278, + 195.53533978480618 + ], + [ + 1143.9805515862056, + -73.95398019193448 + ], + [ + 1134.224124555671, + -76.15821714259909 + ], + [ + 970.9869976052463, + -13.521179867026888 + ], + [ + 981.2811509657668, + -10.473558657816909 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 316.73249209347955, + "ymin": 0.0, + "xmax": 405.13554504980766, + "ymax": 7.548608756631893 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 344.8067931245313, + 5.586832493731663 + ], + [ + 348.4360356967311, + 7.548608756631893 + ], + [ + 405.13554504980766, + -7.235086780414349 + ], + [ + 401.38368706608014, + -9.067867908047447 + ], + [ + 316.73249209347955, + -138.55711101618823 + ], + [ + 320.5712091915202, + -137.11317123453955 + ], + [ + 383.5108771362075, + -147.96439147222435 + ], + [ + 379.5166585218484, + -149.30482655234243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2334590930876643410, + "instance_id": 21048, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -123.8453369140625, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 32.01272237713874, + "ymin": 518.4867612371047, + "xmax": 60.82016189341243, + "ymax": 545.9874094571369 + }, + "corners_3d": [ + [ + -116.6200942993164, + -123.69747161865234, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.69747161865234, + 7.743301868438721 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 53.16815561953035, + 522.7492899635494 + ], + [ + 34.62134360219545, + 531.674700569084 + ], + [ + 42.070828778792134, + 545.9874094571369 + ], + [ + 60.82016189341243, + 536.7966251908929 + ], + [ + 50.662934239944434, + 518.4867612371047 + ], + [ + 32.01272237713874, + 527.4106814097294 + ], + [ + 39.4559391735263, + 541.7224847832516 + ], + [ + 58.31113381619036, + 532.5320718597172 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3639812104533344102, + "instance_id": 26239, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -123.8453369140625, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 32.16658976553981, + "ymin": 518.630865806615, + "xmax": 60.66682523479085, + "ymax": 545.8390586669825 + }, + "corners_3d": [ + [ + -116.62229919433594, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.69904327392578, + 7.742714881896973 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 53.09773431443432, + 522.8480792285812 + ], + [ + 34.746943201989666, + 531.679756582786 + ], + [ + 42.117780547724806, + 545.8390586669825 + ], + [ + 60.66682523479085, + 536.7476176468192 + ], + [ + 50.61860343212061, + 518.630865806615 + ], + [ + 32.16658976553981, + 527.4610898841507 + ], + [ + 39.531301856255595, + 541.6194995635337 + ], + [ + 58.183953099493465, + 532.5284280679185 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 925.7897909419125, + "ymin": 0.0, + "xmax": 1198.7307672948623, + "ymax": 136.7430259808959 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 999.2781355837942, + 136.7430259808959 + ], + [ + 1104.7414867796701, + 78.97151937065877 + ], + [ + 1033.587457344075, + 55.776131088859984 + ], + [ + 925.7897909419125, + 108.17057025270412 + ], + [ + 1082.0129298363536, + -182.0749626339964 + ], + [ + 1198.7307672948623, + -212.70848822936148 + ], + [ + 1108.8956472775353, + -224.61859628233856 + ], + [ + 987.5920387141146, + -197.4021625942288 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 816.5707067521455, + "ymin": 148.46311775135683, + "xmax": 835.56371983244, + "ymax": 160.6700713867999 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 823.5010159554236, + 152.03668043218588 + ], + [ + 816.5707067521455, + 155.37180105586816 + ], + [ + 828.1237832424858, + 160.6700713867999 + ], + [ + 835.0500745464087, + 157.27485467427175 + ], + [ + 823.979953191582, + 148.46311775135683 + ], + [ + 817.0341870395844, + 151.78659006009548 + ], + [ + 828.6220427642967, + 157.0665586733766 + ], + [ + 835.56371983244, + 153.6830413007311 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7664114084626016696, + "instance_id": 47273, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.91487884521484, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 769.0494529497201, + "ymin": 0.0, + "xmax": 831.4162631209352, + "ymax": 16.56567955205827 + }, + "corners_3d": [ + [ + -95.94330596923828, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -79.87950897216797, + 4.83804988861084 + ], + [ + -95.94330596923828, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 795.4471090977845, + 16.56567955205827 + ], + [ + 821.3334970322834, + 7.2054146241830495 + ], + [ + 794.9434949247058, + -1.8195774514033474 + ], + [ + 769.0494529497201, + 7.157469044877018 + ], + [ + 804.2844536659119, + -68.97556774395008 + ], + [ + 831.4162631209352, + -76.97894625638128 + ], + [ + 803.3729201142704, + -84.67778017570879 + ], + [ + 776.2242225918943, + -77.01989288396635 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 520.1269644496394, + "ymin": 0.0, + "xmax": 600.027723066508, + "ymax": 110.26435377490185 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 532.9477805435487, + 107.28588287533984 + ], + [ + 538.4578856422661, + 110.26435377490185 + ], + [ + 600.027723066508, + 87.96966439661327 + ], + [ + 594.4188782211479, + 85.22974592822152 + ], + [ + 520.1269644496394, + -62.04994403782166 + ], + [ + 526.2219435668865, + -59.75730756815244 + ], + [ + 595.4311552512261, + -76.84525594154917 + ], + [ + 589.2080074480305, + -78.9337058812132 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 816.6716736728423, + "ymin": 148.5276284796011, + "xmax": 835.4623840956132, + "ymax": 160.60477349203572 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 823.5282041272683, + 152.06333803990066 + ], + [ + 816.6716736728423, + 155.36317750577 + ], + [ + 828.1018676525033, + 160.60477349203572 + ], + [ + 834.9544669137949, + 157.24610984817224 + ], + [ + 824.0021476365598, + 148.5276284796011 + ], + [ + 817.1304879345581, + 151.81606604797028 + ], + [ + 828.5947245130212, + 157.03974752704505 + ], + [ + 835.4623840956132, + 153.69253519466818 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 716.0176836123326, + "ymin": 103.6982660024355, + "xmax": 840.9037479206977, + "ymax": 371.4620917524109 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 724.920662452718, + 312.9412343310546 + ], + [ + 716.0176836123326, + 317.99350174239515 + ], + [ + 800.2278185017569, + 371.4620917524109 + ], + [ + 809.1535540420685, + 365.66823570271123 + ], + [ + 739.626761001355, + 103.6982660024355 + ], + [ + 729.2866471666441, + 107.96927904091487 + ], + [ + 830.5619166891433, + 153.79178691600555 + ], + [ + 840.9037479206977, + 148.77087211329624 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 410.5587624228637, + "xmax": 197.92996862466663, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 134.30254034572658, + 648.105536568023 + ], + [ + 115.55476944257703, + 658.7445320848492 + ], + [ + 177.87200398075163, + 775.4444845471696 + ], + [ + 197.92996862466663, + 762.4244976483922 + ], + [ + -3.2818735020873646, + 410.5587624228637 + ], + [ + -28.920208263126028, + 421.14874854871346 + ], + [ + 32.69143423945536, + 541.1544914777951 + ], + [ + 61.00944365326927, + 527.4062191007267 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 747.3767187161216, + "ymin": 59.0230232782676, + "xmax": 1153.1558928489135, + "ymax": 468.3156210847661 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 755.6136921797029, + 283.03391023739687 + ], + [ + 747.3767187161216, + 287.53942257531907 + ], + [ + 1047.039074835651, + 468.3156210847661 + ], + [ + 1054.9869560252666, + 461.27929129550466 + ], + [ + 776.5303762279457, + 59.0230232782676 + ], + [ + 766.9475659116365, + 62.684777747434566 + ], + [ + 1144.2657695364057, + 216.81565713522218 + ], + [ + 1153.1558928489135, + 210.5409246081672 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 5199819733356185808, + "instance_id": 53256, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1851_37", + "bbox_3d": { + "center_world": { + "x": -100.25784301757812, + "y": -72.39555358886719, + "z": 8.309331893920898 + }, + "extent": { + "x": 4.9728498458862305, + "y": 4.831793308258057, + "z": 8.307754516601562 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 819.0158158751119, + "ymin": 0.0, + "xmax": 1139.6174546419043, + "ymax": 53.91437944980311 + }, + "corners_3d": [ + [ + -94.59623718261719, + -68.39283752441406, + 0.0015773773193359375 + ], + [ + -96.09391784667969, + -77.93966674804688, + 0.0015773773193359375 + ], + [ + -105.91944885253906, + -76.39826965332031, + 0.0015773773193359375 + ], + [ + -104.42176818847656, + -66.8514404296875, + 0.0015773773193359375 + ], + [ + -94.59623718261719, + -68.39283752441406, + 16.61708641052246 + ], + [ + -96.09391784667969, + -77.93966674804688, + 16.61708641052246 + ], + [ + -105.91944885253906, + -76.39826965332031, + 16.61708641052246 + ], + [ + -104.42176818847656, + -66.8514404296875, + 16.61708641052246 + ] + ], + "corners_2d": [ + [ + 897.1307200673252, + -29.268435931101692 + ], + [ + 819.0158158751119, + 11.899237659136645 + ], + [ + 978.711452197662, + 53.91437944980311 + ], + [ + 1047.4467103077413, + 5.042234832353415 + ], + [ + 949.8161957769281, + -346.95963458031645 + ], + [ + 860.2908835081267, + -336.0994785969647 + ], + [ + 1066.0708065241183, + -324.52804100067146 + ], + [ + 1139.6174546419043, + -337.9403807342409 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 25.342537185248545, + "xmax": 108.99593563801136, + "ymax": 704.8261234516795 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -6.246269997890067, + 413.81586571696755 + ], + [ + -274.687817542134, + 549.984518510064 + ], + [ + -180.27107708421693, + 704.8261234516795 + ], + [ + 108.99593563801136, + 526.3028861812775 + ], + [ + -232.947313309656, + 25.342537185248545 + ], + [ + -669.3595737863861, + 130.9138802815331 + ], + [ + -619.7712546383716, + 267.40389571806566 + ], + [ + -112.30786076938807, + 111.65689442348085 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 99.26187548168355, + "xmax": 151.81581199181176, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -260.02062417270804, + 808.0555277100323 + ], + [ + 88.45804493696915, + 749.775004295959 + ], + [ + 151.81581199181176, + 510.7978612465731 + ], + [ + -121.0876548638364, + 547.5513272866622 + ], + [ + -812.8330538693549, + 370.0148808504432 + ], + [ + -225.36351107905557, + 310.8315221248184 + ], + [ + -47.01748524628533, + 99.26187548168355 + ], + [ + -448.32201525171195, + 128.91688103525647 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00034/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00034/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..606c2e0bfe3b5f8484acd77fea33bfa8eabcf8fa --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00034/meta.json @@ -0,0 +1,2780 @@ +{ + "frame_id": 34, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 17.0, + "sim_timestamp": 10110.469703724608 + }, + "drone_pose": { + "x": -130.86819159601464, + "y": -122.92396758537318, + "z": 19.83744943107229, + "pitch": -43.92323954170683, + "yaw": 42.427007228057384, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5316581726074219, + -0.48593029379844666, + 0.693693995475769, + 115.54849243164062 + ], + [ + 0.6746503710746765, + 0.7381374835968018, + 0.0, + 2.4445037841796875 + ], + [ + -0.5120415687561035, + 0.4680009186267853, + 0.7202697992324829, + -138.82679748535156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -130.28068991506234, + "y": -122.46618486466953, + "z": 19.89306720302086 + }, + "t1_image_uv": [ + 526.9175887659292, + -713.9671438561722 + ], + "t1_depth": 0.496218804628227 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -114.66718292236328, + "y": -108.18776321411131, + "z": 0.727191675901413 + }, + "image_uv": [ + 638.2581916005771, + 312.79154560826277 + ], + "depth": 29.030837428589532, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 192, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -114.66718292236328, + "y": -108.18775939941406, + "z": 0.727191686630249 + }, + "extent": { + "x": 0.22435545921325684, + "y": 0.24759764969348907, + "z": 0.5279186964035034 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 629.5588915713874, + "ymin": 294.37626186412626, + "xmax": 646.8207786135023, + "ymax": 330.9587592489992 + }, + "corners_3d": [ + [ + -114.65074920654297, + -108.521484375, + 0.1992729902267456 + ], + [ + -115.00090789794922, + -108.17132568359375, + 0.1992729902267456 + ], + [ + -114.6836166381836, + -107.85403442382812, + 0.1992729902267456 + ], + [ + -114.33345794677734, + -108.20419311523438, + 0.1992729902267456 + ], + [ + -114.65074920654297, + -108.521484375, + 1.2551103830337524 + ], + [ + -115.00090789794922, + -108.17132568359375, + 1.2551103830337524 + ], + [ + -114.6836166381836, + -107.85403442382812, + 1.2551103830337524 + ], + [ + -114.33345794677734, + -108.20419311523438, + 1.2551103830337524 + ] + ], + "corners_2d": [ + [ + 629.8203968263434, + 330.46841877040697 + ], + [ + 646.0635626465788, + 330.9587592489992 + ], + [ + 646.6517211447763, + 321.17401391610554 + ], + [ + 630.5856153468999, + 320.69432706147296 + ], + [ + 629.5588915713874, + 304.1034055428342 + ], + [ + 646.2194178874354, + 304.591534526582 + ], + [ + 646.8207786135023, + 294.85351731826995 + ], + [ + 630.3464760052007, + 294.37626186412626 + ] + ], + "center_offset_px": [ + -1.7418083994228937, + -47.208454391737234 + ] + }, + "trace_timestep_index": 34, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 55, + "semantic_pixel_counts": { + "1": 470900, + "2": 225890, + "3": 180244, + "4": 220, + "5": 1948, + "6": 9480, + "7": 1248, + "9": 289, + "10": 3428, + "12": 3389, + "14": 350, + "16": 14, + "24": 24200 + }, + "instance_pixel_counts": { + "1115": 4584, + "6254": 2, + "10370": 2046, + "11394": 1540, + "14416": 140, + "14928": 1808, + "16023": 930, + "17232": 220, + "18011": 41416, + "20631": 19577, + "23808": 213, + "24064": 6929, + "27072": 4226, + "29843": 27046, + "30656": 94395, + "31168": 3126, + "31813": 3339, + "31891": 285752, + "34120": 79833, + "34453": 3260, + "35419": 707, + "35931": 5326, + "36443": 119994, + "36501": 11999, + "44171": 1155, + "44179": 626, + "44691": 124156, + "45203": 4966, + "46227": 28354, + "46731": 1501, + "46741": 47, + "47253": 7127, + "47765": 520, + "48267": 917, + "48779": 748, + "48789": 1247, + "49664": 192, + "49803": 948, + "49920": 398, + "50176": 405, + "50432": 854, + "50688": 930, + "50944": 610, + "52480": 14, + "53184": 2126, + "54016": 350, + "54720": 2910, + "55232": 2356, + "55744": 3465, + "56135": 17, + "56768": 2086, + "57173": 289, + "60013": 5699, + "61037": 2516, + "64351": 5591 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 192, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -114.66718292236328, + "y": -108.18775939941406, + "z": 0.727191686630249 + }, + "extent": { + "x": 0.19969725608825684, + "y": 0.22499999403953552, + "z": 0.5322808623313904 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 630.3610515280405, + "ymin": 294.815437982852, + "xmax": 646.0360357197366, + "ymax": 330.49924535006204 + }, + "corners_3d": [ + [ + -114.6492919921875, + -108.48806762695312, + 0.19491082429885864 + ], + [ + -114.96749114990234, + -108.16986846923828, + 0.19491082429885864 + ], + [ + -114.68507385253906, + -107.887451171875, + 0.19491082429885864 + ], + [ + -114.36687469482422, + -108.20565032958984, + 0.19491082429885864 + ], + [ + -114.6492919921875, + -108.48806762695312, + 1.2594726085662842 + ], + [ + -114.96749114990234, + -108.16986846923828, + 1.2594726085662842 + ], + [ + -114.68507385253906, + -107.887451171875, + 1.2594726085662842 + ], + [ + -114.36687469482422, + -108.20565032958984, + 1.2594726085662842 + ] + ], + "corners_2d": [ + [ + 630.604294225827, + 330.0541926229296 + ], + [ + 645.3544605352788, + 330.49924535006204 + ], + [ + 645.8851209820083, + 321.79030289992454 + ], + [ + 631.2781390665741, + 321.35386648756344 + ], + [ + 630.3610515280405, + 303.4736358491731 + ], + [ + 645.4931513543063, + 303.9166507781241 + ], + [ + 646.0360357197366, + 295.24965726674276 + ], + [ + 631.0545935115447, + 294.815437982852 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 398, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -110.54119873046875, + "y": -105.19005584716797, + "z": 0.7290764451026917 + }, + "extent": { + "x": 0.44054198265075684, + "y": 0.40111327171325684, + "z": 0.9036484956741333 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 607.5807931114296, + "ymin": 183.99855914921903, + "xmax": 635.4762093718039, + "ymax": 245.00142244306784 + }, + "corners_3d": [ + [ + -110.69220733642578, + -105.76639556884766, + -0.17457205057144165 + ], + [ + -111.1291275024414, + -105.09358978271484, + -0.17457205057144165 + ], + [ + -110.39019012451172, + -104.61371612548828, + -0.17457205057144165 + ], + [ + -109.9532699584961, + -105.2865219116211, + -0.17457205057144165 + ], + [ + -110.69220733642578, + -105.76639556884766, + 1.6327250003814697 + ], + [ + -111.1291275024414, + -105.09358978271484, + 1.6327250003814697 + ], + [ + -110.39019012451172, + -104.61371612548828, + 1.6327250003814697 + ], + [ + -109.9532699584961, + -105.2865219116211, + 1.6327250003814697 + ] + ], + "corners_2d": [ + [ + 612.4034120843909, + 245.00142244306784 + ], + [ + 635.4762093718039, + 242.68241116958285 + ], + [ + 631.4453473152719, + 227.67117274678586 + ], + [ + 608.7914408569519, + 229.90462133000796 + ], + [ + 611.3117335591893, + 201.02124935560525 + ], + [ + 635.2977880050842, + 198.74172291284737 + ], + [ + 631.1144627592182, + 183.99855914921903 + ], + [ + 607.5807931114296, + 186.19075365414986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 405, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -116.92300415039062, + "y": -101.24504852294922, + "z": 0.5749797821044922 + }, + "extent": { + "x": 0.42570310831069946, + "y": 0.3902246057987213, + "z": 0.8766331076622009 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 824.1696887653873, + "ymin": 225.2629029349941, + "xmax": 861.2351711138681, + "ymax": 284.9610825822115 + }, + "corners_3d": [ + [ + -117.00826263427734, + -101.81621551513672, + -0.30165332555770874 + ], + [ + -117.4994125366211, + -101.2096939086914, + -0.30165332555770874 + ], + [ + -116.8377456665039, + -100.67388153076172, + -0.30165332555770874 + ], + [ + -116.34659576416016, + -101.28040313720703, + -0.30165332555770874 + ], + [ + -117.00826263427734, + -101.81621551513672, + 1.451612949371338 + ], + [ + -117.4994125366211, + -101.2096939086914, + 1.451612949371338 + ], + [ + -116.8377456665039, + -100.67388153076172, + 1.451612949371338 + ], + [ + -116.34659576416016, + -101.28040313720703, + 1.451612949371338 + ] + ], + "corners_2d": [ + [ + 829.284072145099, + 284.9610825822115 + ], + [ + 852.7281785765388, + 284.05852850159613 + ], + [ + 847.1740115229488, + 267.94614444626734 + ], + [ + 824.1696887653873, + 268.81473422580825 + ], + [ + 836.8619083394075, + 242.0517473014393 + ], + [ + 861.2351711138681, + 241.16051015639138 + ], + [ + 855.2954286085939, + 225.2629029349941 + ], + [ + 831.3971426281142, + 226.11929930766087 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 854, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -124.16718292236328, + "y": -108.18775939941406, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.46605467796325684, + "y": 0.4786474406719208, + "z": 0.893342137336731 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 866.0236881291623, + "ymin": 463.3927384043188, + "xmax": 922.9834485145816, + "ymax": 538.4731042255073 + }, + "corners_3d": [ + [ + -124.15827941894531, + -108.85576629638672, + -0.3183526396751404 + ], + [ + -124.83518981933594, + -108.1788558959961, + -0.3183526396751404 + ], + [ + -124.17608642578125, + -107.5197525024414, + -0.3183526396751404 + ], + [ + -123.49917602539062, + -108.19666290283203, + -0.3183526396751404 + ], + [ + -124.15827941894531, + -108.85576629638672, + 1.4683315753936768 + ], + [ + -124.83518981933594, + -108.1788558959961, + 1.4683315753936768 + ], + [ + -124.17608642578125, + -107.5197525024414, + 1.4683315753936768 + ], + [ + -123.49917602539062, + -108.19666290283203, + 1.4683315753936768 + ] + ], + "corners_2d": [ + [ + 870.5928963381288, + 537.0729508850842 + ], + [ + 908.5823150521302, + 538.4731042255073 + ], + [ + 902.9893093950491, + 508.9104567785806 + ], + [ + 866.0236881291623, + 507.5843030047172 + ], + [ + 882.9405377717637, + 493.17990255662346 + ], + [ + 922.9834485145816, + 494.59635338438125 + ], + [ + 916.6929343626944, + 464.730485740536 + ], + [ + 877.7858330768364, + 463.3927384043188 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 930, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -118.28268432617188, + "y": -119.31512451171875, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.4401025176048279, + "y": 0.5510302782058716, + "z": 0.8908653855323792 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 344.7991345077987, + "ymin": 571.0583625001573, + "xmax": 419.18890310726397, + "ymax": 653.472893952059 + }, + "corners_3d": [ + [ + -118.13141632080078, + -120.00392150878906, + -0.3158807158470154 + ], + [ + -118.98788452148438, + -119.31037139892578, + -0.3158807158470154 + ], + [ + -118.43395233154297, + -118.62632751464844, + -0.3158807158470154 + ], + [ + -117.57748413085938, + -119.31987762451172, + -0.3158807158470154 + ], + [ + -118.13141632080078, + -120.00392150878906, + 1.4658501148223877 + ], + [ + -118.98788452148438, + -119.31037139892578, + 1.4658501148223877 + ], + [ + -118.43395233154297, + -118.62632751464844, + 1.4658501148223877 + ], + [ + -117.57748413085938, + -119.31987762451172, + 1.4658501148223877 + ] + ], + "corners_2d": [ + [ + 361.2559744392361, + 646.9718379346641 + ], + [ + 407.199946128933, + 653.472893952059 + ], + [ + 419.18890310726397, + 619.8036535266624 + ], + [ + 374.4460887324369, + 613.6561260749526 + ], + [ + 344.7991345077987, + 605.0654047671795 + ], + [ + 393.37747445487594, + 611.7142431549659 + ], + [ + 406.4615650733524, + 577.3251598660852 + ], + [ + 359.2238193437463, + 571.0583625001573 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 610, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -110.12037658691406, + "y": -111.49119567871094, + "z": 0.7301604151725769 + }, + "extent": { + "x": 0.41844236850738525, + "y": 0.4329492151737213, + "z": 0.8862995505332947 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 438.72503466441725, + "ymin": 255.98357746825022, + "xmax": 482.41751920383535, + "ymax": 321.1663830171917 + }, + "corners_3d": [ + [ + -109.98517608642578, + -112.07793426513672, + -0.15613913536071777 + ], + [ + -110.71138000488281, + -111.60633087158203, + -0.15613913536071777 + ], + [ + -110.25557708740234, + -110.90445709228516, + -0.15613913536071777 + ], + [ + -109.52937316894531, + -111.37606048583984, + -0.15613913536071777 + ], + [ + -109.98517608642578, + -112.07793426513672, + 1.6164599657058716 + ], + [ + -110.71138000488281, + -111.60633087158203, + 1.6164599657058716 + ], + [ + -110.25557708740234, + -110.90445709228516, + 1.6164599657058716 + ], + [ + -109.52937316894531, + -111.37606048583984, + 1.6164599657058716 + ] + ], + "corners_2d": [ + [ + 446.90875790124494, + 316.57032062198437 + ], + [ + 472.6426818214429, + 321.1663830171917 + ], + [ + 482.41751920383535, + 304.31749174788143 + ], + [ + 457.1208601402776, + 299.89418481167047 + ], + [ + 438.72503466441725, + 272.48353344532165 + ], + [ + 465.5110572761842, + 277.03569335504665 + ], + [ + 475.83550301992324, + 260.35757527876837 + ], + [ + 449.5227369597121, + 255.98357746825022 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 14, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 458.8249673335751, + "ymin": 0.0, + "xmax": 669.2057369253685, + "ymax": 52.72725217547014 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 532.0811721448354, + -37.99523218495108 + ], + [ + 469.88670944900025, + -17.142838635503608 + ], + [ + 603.1853928495912, + 52.72725217547014 + ], + [ + 667.2809250805647, + 26.340618672928144 + ], + [ + 525.3476527623405, + -125.02113292900998 + ], + [ + 458.8249673335751, + -106.4830598138222 + ], + [ + 600.4633682158193, + -43.69258711941063 + ], + [ + 669.2057369253685, + -67.52869831882208 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 350, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 595.3157004988644, + "ymin": 0.0, + "xmax": 698.9408509978078, + "ymax": 20.685889929796247 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 623.2395841122965, + -23.95472897250403 + ], + [ + 596.3321031027328, + -14.122002400948645 + ], + [ + 670.3703213620348, + 20.685889929796247 + ], + [ + 697.5424290553076, + 9.582948376524769 + ], + [ + 622.8566007610782, + -55.5051204315443 + ], + [ + 595.3157004988644, + -46.0307161906876 + ], + [ + 671.1230208798191, + -12.427883973614314 + ], + [ + 698.9408509978078, + -23.157192737890114 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 886.7035228716068, + "ymin": 97.49622814953534, + "xmax": 908.607915064131, + "ymax": 133.4286650575448 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 894.6133286776491, + 133.4286650575448 + ], + [ + 902.7013056401687, + 128.73835423183345 + ], + [ + 894.8012202057864, + 125.03974440952845 + ], + [ + 886.7035228716068, + 129.67997885352887 + ], + [ + 900.3776919475162, + 105.73243041862918 + ], + [ + 908.607915064131, + 101.1269532890035 + ], + [ + 900.4989575337264, + 97.49622814953534 + ], + [ + 892.2581392478818, + 102.05143433189795 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1061.446733989952, + "ymin": 177.84784707923004, + "xmax": 1090.1626617712416, + "ymax": 217.19485382985326 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1071.3625425059106, + 217.19485382985326 + ], + [ + 1079.084701575903, + 211.3159891711436 + ], + [ + 1069.1969417814194, + 206.68680535245366 + ], + [ + 1061.446733989952, + 212.4954671263253 + ], + [ + 1082.3302320381968, + 188.2201657136349 + ], + [ + 1090.1626617712416, + 182.41636338969474 + ], + [ + 1079.959211574008, + 177.84784707923004 + ], + [ + 1072.0962663142625, + 183.58060363080895 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 754.1691946307049, + "ymin": 122.03080750184299, + "xmax": 770.4793751767636, + "ymax": 152.47735174020715 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 760.3465302738529, + 152.47735174020715 + ], + [ + 768.0317186644403, + 148.35846105309417 + ], + [ + 761.8544397455848, + 145.087090891529 + ], + [ + 754.1691946307049, + 149.168160394771 + ], + [ + 762.6608123528985, + 129.3184653912883 + ], + [ + 770.4793751767636, + 125.25640317187421 + ], + [ + 764.1731088587237, + 122.03080750184299 + ], + [ + 756.3543595606003, + 126.05486020532177 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 977.1155852255636, + "ymin": 139.03311418757343, + "xmax": 1002.4300334877062, + "ymax": 176.75597949924426 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 986.0348626977641, + 176.75597949924426 + ], + [ + 993.9691283925049, + 171.46752070679975 + ], + [ + 985.0681977093119, + 167.3003417660208 + ], + [ + 977.1155852255636, + 172.52887541733529 + ], + [ + 994.3669749952713, + 148.34243566054744 + ], + [ + 1002.4300334877062, + 143.13510572060528 + ], + [ + 993.2685371326534, + 139.03311418757343 + ], + [ + 985.185538582373, + 144.18003500170678 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 923.967874411009, + "ymin": 0.0, + "xmax": 1156.0341059911982, + "ymax": 118.32060994607741 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1088.1136653882609, + 29.34193803287212 + ], + [ + 1079.5874221475315, + 26.263108608018 + ], + [ + 923.967874411009, + 114.25332173996881 + ], + [ + 932.8390734175028, + 118.32060994607741 + ], + [ + 1156.0341059911982, + -171.85712216125785 + ], + [ + 1145.8181100418283, + -174.19968457790014 + ], + [ + 974.2518753167258, + -105.76845614152506 + ], + [ + 985.060052423559, + -102.52922859578365 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2334590930876643410, + "instance_id": 21048, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -123.8453369140625, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 469.4584511379207, + "xmax": 24.336726170245583, + "ymax": 498.35949532343307 + }, + "corners_3d": [ + [ + -116.6200942993164, + -123.69747161865234, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.69747161865234, + 7.743301868438721 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 15.915494737493532, + 473.75319314750374 + ], + [ + -3.364818389862535, + 483.3670606266576 + ], + [ + 4.859666606408155, + 498.35949532343307 + ], + [ + 24.336726170245583, + 488.4698765993993 + ], + [ + 12.880153434169074, + 469.4584511379207 + ], + [ + -6.523047324463278, + 479.0795523468127 + ], + [ + 1.6969833413791093, + 494.08499726044613 + ], + [ + 21.29969304947383, + 484.18655986404684 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3639812104533344102, + "instance_id": 26239, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -123.8453369140625, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 469.6100590918103, + "xmax": 24.172673413877988, + "ymax": 498.20376137862866 + }, + "corners_3d": [ + [ + -116.62229919433594, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.69904327392578, + 7.742714881896973 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 15.842515130016523, + 473.8590281462191 + ], + [ + -3.2340328839185304, + 483.3719270738698 + ], + [ + 4.903522394088213, + 498.20376137862866 + ], + [ + 24.172673413877988, + 488.4209382724109 + ], + [ + 12.838813033324072, + 469.6100590918103 + ], + [ + -6.358034129774978, + 479.130046509938 + ], + [ + 1.775172673148404, + 493.97460745148817 + ], + [ + 21.16729818602755, + 484.1831609587817 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 923.5236810226363, + "ymin": 0.0, + "xmax": 1218.896485827445, + "ymax": 55.89092698406853 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 999.2656413979819, + 55.89092698406853 + ], + [ + 1108.8645966466406, + -5.986505425336475 + ], + [ + 1035.5876589825127, + -30.248771213131988 + ], + [ + 923.5236810226363, + 26.099034786159336 + ], + [ + 1095.4161909461761, + -292.2665399230124 + ], + [ + 1218.896485827445, + -325.7964549333052 + ], + [ + 1123.4947884226954, + -338.4726176502661 + ], + [ + 994.8435015380763, + -308.63064656782933 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 811.9490609753426, + "ymin": 69.38004495130963, + "xmax": 831.8726511978964, + "ymax": 82.40715655201473 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 819.1974853189015, + 73.20748858199221 + ], + [ + 811.9490609753426, + 76.82181738523002 + ], + [ + 824.0548958704147, + 82.40715655201473 + ], + [ + 831.2972732623962, + 78.72978672996817 + ], + [ + 819.7318293377534, + 69.38004495130963 + ], + [ + 812.4647054681848, + 72.9834573530274 + ], + [ + 824.6116645166214, + 78.55216657085077 + ], + [ + 831.8726511978964, + 74.8857131482909 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 497.8931319986716, + "ymin": 0.0, + "xmax": 584.9089095331618, + "ymax": 30.762962441573336 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 515.1457682829943, + 27.625051129756002 + ], + [ + 520.9390648084056, + 30.762962441573336 + ], + [ + 584.9089095331618, + 6.618334766886392 + ], + [ + 579.0258115899417, + 3.7291663441801006 + ], + [ + 497.8931319986716, + -156.040281123412 + ], + [ + 504.38766567877497, + -153.5746256874453 + ], + [ + 577.6021498908339, + -172.45404751931483 + ], + [ + 570.9850728177634, + -174.69900510729042 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 812.0549601300498, + "ymin": 69.448934803317, + "xmax": 831.7663359302145, + "ymax": 82.33751696125285 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 819.2262224767403, + 73.23581253467154 + ], + [ + 812.0549601300498, + 76.81190469966384 + ], + [ + 824.0320480461627, + 82.33751696125285 + ], + [ + 831.1973930972094, + 78.69971771117633 + ], + [ + 819.7549995980812, + 69.448934803317 + ], + [ + 812.5654341954787, + 73.01434174712756 + ], + [ + 824.58277519805, + 78.5236756511531 + ], + [ + 831.7663359302145, + 74.8965616202862 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 706.8870037989504, + "ymin": 21.923342595521888, + "xmax": 837.5239171624165, + "ymax": 303.001699032089 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 716.0261909127148, + 242.8843241857514 + ], + [ + 706.8870037989504, + 248.22319409653005 + ], + [ + 793.4954443783032, + 303.001699032089 + ], + [ + 802.6392907594991, + 296.9216488625349 + ], + [ + 731.1073613808774, + 21.923342595521888 + ], + [ + 720.2605201215972, + 26.576593751183736 + ], + [ + 826.7014233625754, + 75.03612751122421 + ], + [ + 837.5239171624165, + 69.59222662606754 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 355.90781465731783, + "xmax": 184.39053586849724, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 115.78486547578325, + 593.5293336040199 + ], + [ + 96.93062142585813, + 604.5434812514648 + ], + [ + 164.37057599368404, + 721.3279266641249 + ], + [ + 184.39053586849724, + 708.0159838167865 + ], + [ + -47.41854025904286, + 355.90781465731783 + ], + [ + -74.25749203926307, + 367.42161673137485 + ], + [ + -5.896809698443349, + 493.8473868909457 + ], + [ + 23.57437822117106, + 479.0228714909406 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 739.0377742476223, + "ymin": 0.0, + "xmax": 1163.7996343800503, + "ymax": 400.2435269861969 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 747.5066946282636, + 211.4023567548485 + ], + [ + 739.0377742476223, + 216.17477145381042 + ], + [ + 1044.5010490553022, + 400.2435269861969 + ], + [ + 1052.647477589547, + 392.9660728584414 + ], + [ + 769.8338062880424, + -26.47056812998352 + ], + [ + 759.7590160082732, + -22.46868860955334 + ], + [ + 1154.512161769756, + 140.097275427625 + ], + [ + 1163.7996343800503, + 133.35032261001484 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 86.02897774953169, + "ymax": 654.3729452725511 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -37.597721206983465, + 354.3089553363555 + ], + [ + -309.7759203024817, + 497.7345741658879 + ], + [ + -204.13995361245043, + 654.3729452725511 + ], + [ + 86.02897774953169, + 469.2188746478615 + ], + [ + -316.82461245557215, + -58.79210946391055 + ], + [ + -793.3572552526023, + 60.3499222214424 + ], + [ + -737.3398419071195, + 210.69966185633913 + ], + [ + -184.75497892499288, + 35.37525006818487 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 21.339087732012388, + "xmax": 129.6340734830934, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -280.6714946208077, + 759.2613043188421 + ], + [ + 72.92715576186527, + 696.1862676071394 + ], + [ + 129.6340734830934, + 452.84781514539543 + ], + [ + -150.7201335835972, + 493.5315000391047 + ], + [ + -948.5536578014214, + 325.8050651398631 + ], + [ + -305.7555772437788, + 255.05296459062214 + ], + [ + -113.99904459293555, + 21.339087732012388 + ], + [ + -550.9186443413646, + 56.62596901980146 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00035/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00035/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6c8fa445dfcd4e9c3512d7263a0c95358fe5648e --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00035/meta.json @@ -0,0 +1,3519 @@ +{ + "frame_id": 35, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 17.5, + "sim_timestamp": 10121.162334533408 + }, + "drone_pose": { + "x": -130.28068991506234, + "y": -122.46618486466953, + "z": 19.89306720302086, + "pitch": -42.67804760426993, + "yaw": 37.57602704333363, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5826586484909058, + -0.44831937551498413, + 0.6778780221939087, + 117.32805633544922 + ], + [ + 0.6098136305809021, + 0.7925448417663574, + 0.0, + 17.613021850585938 + ], + [ + -0.5372487306594849, + 0.4133792519569397, + 0.7351744174957275, + -135.2429962158203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -129.79199730566165, + "y": -121.88190641758095, + "z": 19.851968722582935 + }, + "t1_image_uv": [ + 915.7895622261407, + -431.773897276374 + ], + "t1_depth": 0.5745440714634101 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -114.16718292236328, + "y": -107.68776321411131, + "z": 0.7270842534303665 + }, + "image_uv": [ + 702.4302863202629, + 337.6363764548771 + ], + "depth": 29.006325839485164, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 198, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -114.16718292236328, + "y": -107.68775939941406, + "z": 0.7270842790603638 + }, + "extent": { + "x": 0.2532617151737213, + "y": 0.25523924827575684, + "z": 0.5304624438285828 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 692.6094099630843, + "ymin": 318.13756902665017, + "xmax": 712.3871800050854, + "ymax": 356.93350696528483 + }, + "corners_3d": [ + [ + -114.16578674316406, + -108.04732513427734, + 0.196621835231781 + ], + [ + -114.52674865722656, + -107.68636322021484, + 0.196621835231781 + ], + [ + -114.1685791015625, + -107.32819366455078, + 0.196621835231781 + ], + [ + -113.8076171875, + -107.68915557861328, + 0.196621835231781 + ], + [ + -114.16578674316406, + -108.04732513427734, + 1.2575466632843018 + ], + [ + -114.52674865722656, + -107.68636322021484, + 1.2575466632843018 + ], + [ + -114.1685791015625, + -107.32819366455078, + 1.2575466632843018 + ], + [ + -113.8076171875, + -107.68915557861328, + 1.2575466632843018 + ] + ], + "corners_2d": [ + [ + 692.6094099630843, + 355.4688874799639 + ], + [ + 709.3635527682227, + 356.93350696528483 + ], + [ + 710.6240320240814, + 345.90150527797255 + ], + [ + 694.07701137096, + 344.4732610120335 + ], + [ + 693.9376078218746, + 329.0694091996574 + ], + [ + 711.1177183654003, + 330.526052500701 + ], + [ + 712.3871800050854, + 319.55713860634404 + ], + [ + 695.4247897929394, + 318.13756902665017 + ] + ], + "center_offset_px": [ + 62.430286320262894, + -22.36362354512289 + ] + }, + "trace_timestep_index": 35, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 65, + "semantic_pixel_counts": { + "1": 391816, + "2": 259789, + "3": 200346, + "4": 7215, + "5": 4076, + "6": 11661, + "7": 1762, + "9": 6594, + "10": 8543, + "12": 3399, + "14": 796, + "16": 1728, + "21": 2187, + "24": 21688 + }, + "instance_pixel_counts": { + "1115": 4640, + "2978": 386, + "4002": 41, + "6254": 3315, + "10370": 3269, + "11394": 1612, + "14416": 131, + "14928": 3945, + "16023": 1000, + "17232": 7215, + "18011": 49103, + "20631": 19366, + "23808": 994, + "24064": 7547, + "27072": 4539, + "29843": 24572, + "30656": 100984, + "31168": 3262, + "31813": 8093, + "31891": 232983, + "34120": 82067, + "34395": 113, + "34453": 2870, + "34907": 777, + "35419": 2130, + "35931": 5831, + "36443": 125077, + "36501": 10353, + "37460": 1, + "44171": 1252, + "44179": 3308, + "44691": 98295, + "44891": 581, + "45203": 33, + "45915": 305, + "46227": 32625, + "46731": 1683, + "46741": 116, + "47253": 6884, + "47765": 26, + "48267": 315, + "48779": 787, + "48789": 1439, + "49664": 198, + "49803": 1858, + "49920": 396, + "50176": 422, + "50432": 901, + "50688": 898, + "50944": 584, + "52480": 8, + "52736": 1720, + "53184": 2276, + "54016": 796, + "54720": 3254, + "55232": 4273, + "55744": 3610, + "56135": 103, + "56768": 6957, + "56993": 749, + "57173": 6594, + "58529": 125, + "60013": 5246, + "61037": 4114, + "64351": 22306 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 198, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -114.16718292236328, + "y": -107.68775939941406, + "z": 0.7270842790603638 + }, + "extent": { + "x": 0.2387402355670929, + "y": 0.2528027296066284, + "z": 0.55828857421875 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 692.6978513919869, + "ymin": 317.7453993631963, + "xmax": 712.3174151781768, + "ymax": 357.2813736163867 + }, + "corners_3d": [ + [ + -114.15724182128906, + -108.03533172607422, + 0.16879570484161377 + ], + [ + -114.51475524902344, + -107.67781829833984, + 0.16879570484161377 + ], + [ + -114.1771240234375, + -107.3401870727539, + 0.16879570484161377 + ], + [ + -113.81961059570312, + -107.69770050048828, + 0.16879570484161377 + ], + [ + -114.15724182128906, + -108.03533172607422, + 1.2853728532791138 + ], + [ + -114.51475524902344, + -107.67781829833984, + 1.2853728532791138 + ], + [ + -114.1771240234375, + -107.3401870727539, + 1.2853728532791138 + ], + [ + -113.81961059570312, + -107.69770050048828, + 1.2853728532791138 + ] + ], + "corners_2d": [ + [ + 692.6978513919869, + 355.83162484623637 + ], + [ + 709.2752018590712, + 357.2813736163867 + ], + [ + 710.4641011495207, + 346.88086977058884 + ], + [ + 694.0798800701251, + 345.46506501130466 + ], + [ + 694.0984899954757, + 328.04866553786223 + ], + [ + 711.1195548439217, + 329.49007644928264 + ], + [ + 712.3174151781768, + 319.1521799690679 + ], + [ + 695.4998940390129, + 317.7453993631963 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 396, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -110.04119873046875, + "y": -104.69005584716797, + "z": 0.7302336692810059 + }, + "extent": { + "x": 0.3223925828933716, + "y": 0.404731422662735, + "z": 0.8733274936676025 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 677.674267362363, + "ymin": 211.4795265599665, + "xmax": 705.3637278964231, + "ymax": 265.6336437139121 + }, + "corners_3d": [ + [ + -110.09114837646484, + -105.205078125, + -0.14309382438659668 + ], + [ + -110.53201293945312, + -104.52620697021484, + -0.14309382438659668 + ], + [ + -109.99124908447266, + -104.17503356933594, + -0.14309382438659668 + ], + [ + -109.55038452148438, + -104.8539047241211, + -0.14309382438659668 + ], + [ + -110.09114837646484, + -105.205078125, + 1.6035611629486084 + ], + [ + -110.53201293945312, + -104.52620697021484, + 1.6035611629486084 + ], + [ + -109.99124908447266, + -104.17503356933594, + 1.6035611629486084 + ], + [ + -109.55038452148438, + -104.8539047241211, + 1.6035611629486084 + ] + ], + "corners_2d": [ + [ + 679.7051023440146, + 265.6336437139121 + ], + [ + 703.0278376310142, + 264.5004088416108 + ], + [ + 700.6719237387391, + 253.39644498389356 + ], + [ + 677.674267362363, + 254.49801216220183 + ], + [ + 681.1788130411263, + 223.48764938095982 + ], + [ + 705.3637278964231, + 222.3750487461191 + ], + [ + 702.8877282396029, + 211.4795265599665 + ], + [ + 679.052190385116, + 212.55990814682457 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 422, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -116.42300415039062, + "y": -100.74504852294922, + "z": 0.5749797821044922 + }, + "extent": { + "x": 0.48350584506988525, + "y": 0.41170409321784973, + "z": 0.9015405774116516 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 891.8760568756098, + "ymin": 259.19748276581566, + "xmax": 933.8961895439166, + "ymax": 322.26831989770096 + }, + "corners_3d": [ + [ + -116.53966522216797, + -101.3692855834961, + -0.3265607953071594 + ], + [ + -117.05785369873047, + -100.72937774658203, + -0.3265607953071594 + ], + [ + -116.30634307861328, + -100.12081146240234, + -0.3265607953071594 + ], + [ + -115.78815460205078, + -100.7607192993164, + -0.3265607953071594 + ], + [ + -116.53966522216797, + -101.3692855834961, + 1.476520299911499 + ], + [ + -117.05785369873047, + -100.72937774658203, + 1.476520299911499 + ], + [ + -116.30634307861328, + -100.12081146240234, + 1.476520299911499 + ], + [ + -115.78815460205078, + -100.7607192993164, + 1.476520299911499 + ] + ], + "corners_2d": [ + [ + 896.8786876437853, + 321.8593169353336 + ], + [ + 922.3664138843644, + 322.26831989770096 + ], + [ + 916.792979937002, + 303.3680165186978 + ], + [ + 891.8760568756098, + 302.97704953239975 + ], + [ + 907.3624623850537, + 277.8114509632854 + ], + [ + 933.8961895439166, + 278.21501715028796 + ], + [ + 927.8330555794277, + 259.5825514037642 + ], + [ + 901.9173746515539, + 259.19748276581566 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 901, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -123.66718292236328, + "y": -107.68775939941406, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.5185595750808716, + "y": 0.45350584387779236, + "z": 0.9329448342323303 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 924.4349394315673, + "ymin": 502.41228312924846, + "xmax": 983.6746673600148, + "ymax": 586.5907427732898 + }, + "corners_3d": [ + [ + -123.71318054199219, + -108.37511444091797, + -0.35795533657073975 + ], + [ + -124.35453796386719, + -107.73375701904297, + -0.35795533657073975 + ], + [ + -123.62118530273438, + -107.00040435791016, + -0.35795533657073975 + ], + [ + -122.97982788085938, + -107.64176177978516, + -0.35795533657073975 + ], + [ + -123.71318054199219, + -108.37511444091797, + 1.507934331893921 + ], + [ + -124.35453796386719, + -107.73375701904297, + 1.507934331893921 + ], + [ + -123.62118530273438, + -107.00040435791016, + 1.507934331893921 + ], + [ + -122.97982788085938, + -107.64176177978516, + 1.507934331893921 + ] + ], + "corners_2d": [ + [ + 928.0545763157031, + 582.5780400316271 + ], + [ + 965.3990046504209, + 586.5907427732898 + ], + [ + 960.6161614716443, + 552.3395105642244 + ], + [ + 924.4349394315673, + 548.5698249825006 + ], + [ + 944.1711730070224, + 536.7795401708242 + ], + [ + 983.6746673600148, + 540.8423956923299 + ], + [ + 978.0382992683184, + 506.2159579862614 + ], + [ + 939.8340057422255, + 502.41228312924846 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 898, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -117.78268432617188, + "y": -118.81512451171875, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.4389745891094208, + "y": 0.44166502356529236, + "z": 0.8598821759223938 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 401.7605067062302, + "ymin": 579.4139421106782, + "xmax": 463.58872380413925, + "ymax": 661.2757265864036 + }, + "corners_3d": [ + [ + -117.7156982421875, + -119.43421936035156, + -0.2848926782608032 + ], + [ + -118.40217590332031, + -118.87832641601562, + -0.2848926782608032 + ], + [ + -117.84967041015625, + -118.19602966308594, + -0.2848926782608032 + ], + [ + -117.16319274902344, + -118.75192260742188, + -0.2848926782608032 + ], + [ + -117.7156982421875, + -119.43421936035156, + 1.4348716735839844 + ], + [ + -118.40217590332031, + -118.87832641601562, + 1.4348716735839844 + ], + [ + -117.84967041015625, + -118.19602966308594, + 1.4348716735839844 + ], + [ + -117.16319274902344, + -118.75192260742188, + 1.4348716735839844 + ] + ], + "corners_2d": [ + [ + 414.18246109059044, + 653.2754089802005 + ], + [ + 449.7906582241016, + 661.2757265864036 + ], + [ + 463.58872380413925, + 628.6570254515029 + ], + [ + 428.8625651441513, + 621.089155671365 + ], + [ + 401.7605067062302, + 612.1361490740412 + ], + [ + 439.2525004506306, + 620.2849480665079 + ], + [ + 454.0981789097774, + 587.0989979675454 + ], + [ + 417.5823087264847, + 579.4139421106782 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 584, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -110.45944213867188, + "y": -110.38159942626953, + "z": 0.7293450236320496 + }, + "extent": { + "x": 0.4352978467941284, + "y": 0.4848046898841858, + "z": 0.9193179607391357 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 537.5268293482461, + "ymin": 275.4938953137715, + "xmax": 580.4687845563942, + "ymax": 344.3286039516446 + }, + "corners_3d": [ + [ + -110.28993225097656, + -111.01071166992188, + -0.18997293710708618 + ], + [ + -111.10311126708984, + -110.48262786865234, + -0.18997293710708618 + ], + [ + -110.62895202636719, + -109.75248718261719, + -0.18997293710708618 + ], + [ + -109.8157730102539, + -110.28057098388672, + -0.18997293710708618 + ], + [ + -110.28993225097656, + -111.01071166992188, + 1.64866304397583 + ], + [ + -111.10311126708984, + -110.48262786865234, + 1.64866304397583 + ], + [ + -110.62895202636719, + -109.75248718261719, + 1.64866304397583 + ], + [ + -109.8157730102539, + -110.28057098388672, + 1.64866304397583 + ] + ], + "corners_2d": [ + [ + 541.7284976649547, + 337.5476736204411 + ], + [ + 570.0619479597522, + 344.3286039516446 + ], + [ + 580.4687845563942, + 327.26820675109116 + ], + [ + 552.6074271195616, + 320.74976167972454 + ], + [ + 537.5268293482461, + 292.07293204079974 + ], + [ + 567.0471804856065, + 298.7733306306226 + ], + [ + 577.9550928412333, + 281.92412986158354 + ], + [ + 548.9466954472782, + 275.4938953137715 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 8, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 545.9708022586088, + "ymin": 0.0, + "xmax": 753.3829577236842, + "ymax": 84.52121917229607 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 614.276936761818, + -9.353885680441635 + ], + [ + 551.5466136458537, + 9.37055072031444 + ], + [ + 679.9240930442792, + 84.52121917229607 + ], + [ + 746.0191505207855, + 60.2812925801486 + ], + [ + 612.7156848022331, + -94.96342854381419 + ], + [ + 545.9708022586088, + -78.36216589594687 + ], + [ + 682.8202539821896, + -10.98867952887332 + ], + [ + 753.3829577236842, + -32.85132281547584 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 1720, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 734.3313534562919, + "ymin": 0.0, + "xmax": 950.7336810117258, + "ymax": 41.603385786257434 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 877.6087624201699, + 41.603385786257434 + ], + [ + 931.9144905008993, + 20.59030842773234 + ], + [ + 787.2832217990659, + -40.43334094974102 + ], + [ + 734.3313534562919, + -23.927639218301977 + ], + [ + 893.5563209886225, + -49.644612377190924 + ], + [ + 950.7336810117258, + -68.41133000866148 + ], + [ + 795.6562848648571, + -122.3870236086791 + ], + [ + 739.8874554177279, + -107.86402630686791 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 796, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 676.8969980946617, + "ymin": 0.0, + "xmax": 780.899133882367, + "ymax": 54.66734886377452 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 704.4330046214409, + 7.839032167553455 + ], + [ + 676.8969980946617, + 16.799731582140225 + ], + [ + 749.4565783953574, + 54.66734886377452 + ], + [ + 777.600516229284, + 44.42269156045165 + ], + [ + 705.8761926590397, + -23.368551438296322 + ], + [ + 677.7376369056699, + -14.740285675579457 + ], + [ + 752.1288628980758, + 21.794370631223956 + ], + [ + 780.899133882367, + 11.898840290100622 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 52908959695452696, + "instance_id": 6202, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": -79.05494689941406, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1199.9964951094921, + "ymin": 2.284945399822732, + "xmax": 1219.2534581394607, + "ymax": 26.784262348775428 + }, + "corners_3d": [ + [ + -113.29469299316406, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -78.86498260498047, + 3.5146729946136475 + ], + [ + -113.29469299316406, + -78.86498260498047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1199.9964951094921, + 24.596508845447886 + ], + [ + 1206.223114748337, + 26.784262348775428 + ], + [ + 1210.924223987696, + 24.489714795783016 + ], + [ + 1204.70483051593, + 22.320076917541826 + ], + [ + 1208.167914679219, + 4.510076142054459 + ], + [ + 1214.518752696874, + 6.648780288918601 + ], + [ + 1219.2534581394607, + 4.4056827692107845 + ], + [ + 1212.9103385701405, + 2.284945399822732 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 968.1167986944256, + "ymin": 147.99033862995034, + "xmax": 992.8331408432359, + "ymax": 184.47536865201974 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 976.2698469731279, + 184.47536865201974 + ], + [ + 984.9933524443869, + 179.92616438518252 + ], + [ + 976.8395539053785, + 175.666579800595 + ], + [ + 968.1167986944256, + 180.16081107727905 + ], + [ + 983.9618277925979, + 156.64481067303987 + ], + [ + 992.8331408432359, + 152.17468809085256 + ], + [ + 984.4467661816888, + 147.99033862995034 + ], + [ + 975.5756142005425, + 152.40522371070443 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5668522571212290485, + "instance_id": 46457, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -89.45570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1075.2163108430063, + "ymin": 0.0, + "xmax": 1096.0493747611913, + "ymax": 22.097485754756462 + }, + "corners_3d": [ + [ + -113.19542694091797, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -89.26573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -89.26573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1075.2163108430063, + 19.52783824840151 + ], + [ + 1082.0092569887543, + 22.097485754756462 + ], + [ + 1088.2232858603397, + 19.388027595099913 + ], + [ + 1081.4347799183238, + 16.843701473287865 + ], + [ + 1082.81727976369, + -4.601789043075712 + ], + [ + 1089.7659194334015, + -2.1028759205947267 + ], + [ + 1096.0493747611913, + -4.73773933372604 + ], + [ + 1089.1057029790632, + -7.211600242783675 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1150.9859970524442, + "ymin": 242.04112457318962, + "xmax": 1183.8493547026353, + "ymax": 282.5183518926351 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1161.5385795884984, + 282.5183518926351 + ], + [ + 1170.1079633887607, + 276.63053720161133 + ], + [ + 1159.5729578698656, + 271.127001179082 + ], + [ + 1150.9859970524442, + 276.9339741742515 + ], + [ + 1175.159702884999, + 253.3030394624599 + ], + [ + 1183.8493547026353, + 247.4810902112587 + ], + [ + 1172.9464379361552, + 242.04112457318962 + ], + [ + 1164.2368538657436, + 247.7810785444281 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7157878223548397302, + "instance_id": 63030, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -86.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1115.0387248449754, + "ymin": 0.0, + "xmax": 1135.8663317637165, + "ymax": 4.747614086661713 + }, + "corners_3d": [ + [ + -113.19542694091797, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -86.76573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -86.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1115.0387248449754, + 2.337951527518044 + ], + [ + 1121.798225902621, + 4.747614086661713 + ], + [ + 1127.6254304145116, + 2.206824834094334 + ], + [ + 1120.8718210254247, + -0.1798385060484975 + ], + [ + 1123.0689398767377, + -21.307906877969003 + ], + [ + 1129.9805408942912, + -18.96716785630076 + ], + [ + 1135.8663317637165, + -21.43527258594969 + ], + [ + 1128.9611901048602, + -23.75329444938194 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 828.4287730789396, + "ymin": 164.51207895595346, + "xmax": 846.6386234078327, + "ymax": 195.1538463390323 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 834.6251187229939, + 195.1538463390323 + ], + [ + 842.7658675287236, + 191.25090708071758 + ], + [ + 836.561091303462, + 187.5695167329872 + ], + [ + 828.4287730789396, + 191.43234039204793 + ], + [ + 838.3630288532777, + 171.9920063291762 + ], + [ + 846.6386234078327, + 168.1424152796648 + ], + [ + 840.2956804358652, + 164.51207895595346 + ], + [ + 832.0286243813775, + 168.3213508741198 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1062.008022259484, + "ymin": 196.22754067436534, + "xmax": 1090.7605416448187, + "ymax": 234.79360122503223 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1071.3542148046079, + 234.79360122503223 + ], + [ + 1080.039562509988, + 229.5787734461046 + ], + [ + 1070.7009480975244, + 224.70023520378334 + ], + [ + 1062.008022259484, + 229.84763691057006 + ], + [ + 1081.9379804625462, + 206.17591489781282 + ], + [ + 1090.7605416448187, + 201.03518899721854 + ], + [ + 1081.1249362889234, + 196.22754067436534 + ], + [ + 1072.2934387170417, + 201.30018963836113 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1006.169659536754, + "ymin": 0.0, + "xmax": 1267.4063799879032, + "ymax": 165.96818246363912 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1183.718067760075, + 79.96336501841222 + ], + [ + 1174.7207000013832, + 76.40499692842229 + ], + [ + 1006.169659536754, + 161.33036598757286 + ], + [ + 1015.3070897591351, + 165.96818246363912 + ], + [ + 1267.4063799879032, + -123.39059437285107 + ], + [ + 1256.4662048090745, + -126.11438662782803 + ], + [ + 1071.4593199311716, + -59.73352503374929 + ], + [ + 1082.7593230608852, + -56.02400542554574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2334590930876643410, + "instance_id": 21048, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -123.8453369140625, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 49.51138906100732, + "ymin": 488.99688509452847, + "xmax": 78.35593251988337, + "ymax": 518.0203661197195 + }, + "corners_3d": [ + [ + -116.6200942993164, + -123.69747161865234, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.69747161865234, + 7.743301868438721 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 71.59172750024857, + 493.2966077612991 + ], + [ + 52.31854783698486, + 501.9610253859545 + ], + [ + 58.83986164897476, + 518.0203661197195 + ], + [ + 78.35593251988337, + 509.08407332221077 + ], + [ + 68.89964184789676, + 488.99688509452847 + ], + [ + 49.51138906100732, + 497.6659363556552 + ], + [ + 56.020239644537355, + 513.7357130209784 + ], + [ + 75.65445154228473, + 504.79331688243207 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3639812104533344102, + "instance_id": 26239, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -123.8453369140625, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 49.66527052470076, + "ymin": 489.149069562039, + "xmax": 78.2021813781655, + "ymax": 517.8638993796103 + }, + "corners_3d": [ + [ + -116.62229919433594, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.69904327392578, + 7.742714881896973 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 71.51171010558153, + 493.4029931259443 + ], + [ + 52.4420198733543, + 501.9765230629641 + ], + [ + 58.89471971369767, + 517.8638993796103 + ], + [ + 78.2021813781655, + 509.0242406485104 + ], + [ + 68.84761245244795, + 489.149069562039 + ], + [ + 49.66527052470076, + 497.7271423601071 + ], + [ + 56.10578424373875, + 513.6247260317106 + ], + [ + 75.52886867828613, + 504.7791011473946 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1009.7436048622602, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 104.05444454658556 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 1088.1638756260259, + 104.05444454658556 + ], + [ + 1207.3418089012657, + 44.01052193359243 + ], + [ + 1130.1885151603651, + 16.07620688203417 + ], + [ + 1009.7436048622602, + 70.09153935370159 + ], + [ + 1209.4254209731353, + -246.90391469812766 + ], + [ + 1342.7065458320958, + -279.7938613252535 + ], + [ + 1240.1177840351388, + -294.5375278696988 + ], + [ + 1103.0245571267033, + -265.71323442641483 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.2094520934556, + "ymin": 116.62197126271815, + "xmax": 914.1251557343172, + "ymax": 130.30853338613832 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 900.9306226542369, + 120.46043513530114 + ], + [ + 893.2094520934556, + 123.93155134231273 + ], + [ + 905.5681164827688, + 130.30853338613832 + ], + [ + 913.2979979597778, + 126.76906662433422 + ], + [ + 901.7126848669714, + 116.62197126271815 + ], + [ + 893.972464805244, + 120.08284859009069 + ], + [ + 906.3762561046137, + 126.44131090368901 + ], + [ + 914.1251557343172, + 122.91207680519207 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 587.280989605455, + "ymin": 0.0, + "xmax": 667.4153388165158, + "ymax": 59.25088058322024 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 593.5271281092098, + 55.87947645066623 + ], + [ + 599.0871433919682, + 59.25088058322024 + ], + [ + 664.2708560837964, + 37.33198717970737 + ], + [ + 658.5562091054516, + 34.208051106335404 + ], + [ + 587.280989605455, + -124.9291669951358 + ], + [ + 593.5520714389821, + -122.29265591195428 + ], + [ + 667.4153388165158, + -139.36048147603697 + ], + [ + 660.9452436186143, + -141.77901059525283 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.3204472819916, + "ymin": 116.69430069097257, + "xmax": 914.013362687868, + "ymax": 130.2353186783682 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 900.9594985991778, + 120.49208795419827 + ], + [ + 893.3204472819916, + 123.9265241910094 + ], + [ + 905.5477625071337, + 130.2353186783682 + ], + [ + 913.1953422150985, + 126.73397832031881 + ], + [ + 901.7333779724108, + 116.69430069097257 + ], + [ + 894.0756807274303, + 120.1187149090295 + ], + [ + 906.3471673985587, + 126.40938122621176 + ], + [ + 914.013362687868, + 122.91805686690844 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 774.2186622541276, + "ymin": 63.78629463790986, + "xmax": 920.3471307266493, + "ymax": 351.5414644440262 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 783.886284496144, + 284.60081767297225 + ], + [ + 774.2186622541276, + 289.64112094643224 + ], + [ + 860.7436137406112, + 351.5414644440262 + ], + [ + 870.5651663323686, + 345.709011734855 + ], + [ + 812.3421782751194, + 63.78629463790986 + ], + [ + 800.9607587102835, + 68.18259217766075 + ], + [ + 908.7936529504836, + 123.07119169298386 + ], + [ + 920.3471307266493, + 117.82751830420327 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 369.2577119091944, + "xmax": 221.9565953997561, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 164.36873245123468, + 607.5919593796641 + ], + [ + 145.4039142923686, + 617.4794407741347 + ], + [ + 201.46559539293781, + 743.0485941249182 + ], + [ + 221.9565953997561, + 730.880172952517 + ], + [ + 21.51800552667555, + 369.2577119091944 + ], + [ + -4.833139902563062, + 379.43636099248664 + ], + [ + 48.51360463453352, + 513.5187853655375 + ], + [ + 78.0320653568291, + 500.12150621149954 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 808.9477230518216, + "ymin": 15.733679941503112, + "xmax": 1267.895501061757, + "ymax": 470.2813394774927 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 817.9155700673041, + 253.53455937241694 + ], + [ + 808.9477230518216, + 258.037817017446 + ], + [ + 1122.0303233553618, + 470.2813394774927 + ], + [ + 1131.1262459739664, + 463.0180405286744 + ], + [ + 854.7822479475223, + 15.733679941503112 + ], + [ + 844.2008283939705, + 19.51446550379336 + ], + [ + 1257.5305261371757, + 208.61351239416672 + ], + [ + 1267.895501061757, + 201.76844251743904 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 5199819733356185808, + "instance_id": 53256, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1851_37", + "bbox_3d": { + "center_world": { + "x": -100.25784301757812, + "y": -72.39555358886719, + "z": 8.309331893920898 + }, + "extent": { + "x": 4.9728498458862305, + "y": 4.831793308258057, + "z": 8.307754516601562 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 899.7948524624471, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 12.244108429620042 + }, + "corners_3d": [ + [ + -94.59623718261719, + -68.39283752441406, + 0.0015773773193359375 + ], + [ + -96.09391784667969, + -77.93966674804688, + 0.0015773773193359375 + ], + [ + -105.91944885253906, + -76.39826965332031, + 0.0015773773193359375 + ], + [ + -104.42176818847656, + -66.8514404296875, + 0.0015773773193359375 + ], + [ + -94.59623718261719, + -68.39283752441406, + 16.61708641052246 + ], + [ + -96.09391784667969, + -77.93966674804688, + 16.61708641052246 + ], + [ + -105.91944885253906, + -76.39826965332031, + 16.61708641052246 + ], + [ + -104.42176818847656, + -66.8514404296875, + 16.61708641052246 + ] + ], + "corners_2d": [ + [ + 986.0628439990878, + -81.30865111628799 + ], + [ + 899.7948524624471, + -38.450685138256176 + ], + [ + 1070.131496264489, + 12.244108429620042 + ], + [ + 1148.108727433032, + -39.53156820767413 + ], + [ + 1068.5478847391983, + -434.6549177333775 + ], + [ + 969.2961134555187, + -423.5757780734448 + ], + [ + 1200.828507295807, + -409.77758260162796 + ], + [ + 1283.6574266282335, + -423.86160750279475 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 145.78506238935142, + "ymax": 645.0492934208837 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 38.201701814335365, + 356.0116150015299 + ], + [ + -224.69095461299162, + 481.8226146109672 + ], + [ + -141.87010775287695, + 645.0492934208837 + ], + [ + 145.78506238935142, + 478.5195709891088 + ], + [ + -193.93918198221377, + -47.1426056139893 + ], + [ + -628.0799220920039, + 52.94874660678988 + ], + [ + -600.419694028481, + 201.61750241388427 + ], + [ + -83.66493902635568, + 50.1720368074802 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 4.854926158587318, + "ymax": 197.20842159829763 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + -93.25622822398577, + 68.44593511847518 + ], + [ + -282.1530825712921, + 139.20963200161177 + ], + [ + -187.81553718959572, + 197.20842159829763 + ], + [ + 4.854926158587318, + 114.32133907688046 + ], + [ + -253.5004490164672, + -222.79859409920414 + ], + [ + -513.7342447279557, + -177.7006537258734 + ], + [ + -418.9200706099896, + -138.89851029291952 + ], + [ + -147.2437016744484, + -193.83452361484728 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 38.68920783925557, + "xmax": 188.70568820548505, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -221.75016037145758, + 744.7604932988477 + ], + [ + 115.45972025984406, + 708.8293592474602 + ], + [ + 188.70568820548505, + 464.75211509821384 + ], + [ + -78.55643184763812, + 487.74262663946035 + ], + [ + -799.0598908738846, + 305.0326820604513 + ], + [ + -219.6496844754048, + 266.5363019206607 + ], + [ + -16.635848222535174, + 38.68920783925557 + ], + [ + -416.6698151676014, + 57.94673828969604 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 8.598544806759605, + "ymax": 294.06410980546116 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -60.08314138617277, + 141.0730002958421 + ], + [ + -262.4151322963927, + 210.57381739522404 + ], + [ + -208.71535904617042, + 294.06410980546116 + ], + [ + 8.598544806759605, + 208.8089885598822 + ], + [ + -246.7066316893454, + -194.82781928861596 + ], + [ + -535.6676391972755, + -149.93186040548375 + ], + [ + -505.0521345768568, + -92.48236938943586 + ], + [ + -181.99363002510245, + -151.10365764002336 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00036/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00036/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..697554325b3edbd6dc75bac9f18fc02e5c345c49 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00036/meta.json @@ -0,0 +1,2784 @@ +{ + "frame_id": 36, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 18.0, + "sim_timestamp": 10132.000128425658 + }, + "drone_pose": { + "x": -129.79199730566165, + "y": -121.88190641758095, + "z": 19.851968722582935, + "pitch": -44.689076564442296, + "yaw": 37.91176969213896, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.560896635055542, + -0.4368312358856201, + 0.7032591700553894, + 112.08062744140625 + ], + [ + 0.6144473552703857, + 0.7889578342437744, + 0.0, + 16.40935516357422 + ], + [ + -0.5548418164253235, + 0.43211573362350464, + 0.7109335660934448, + -138.79454040527344 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -129.36168305406858, + "y": -121.43485737932787, + "z": 20.009185489851404 + }, + "t1_image_uv": [ + 899.9510994704264, + -1240.685558122823 + ], + "t1_depth": 0.3260826482131775 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -113.66718292236328, + "y": -107.18776321411131, + "z": 0.7269670557975769 + }, + "image_uv": [ + 695.9540910634544, + 303.56530723820094 + ], + "depth": 28.91304722213078, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 189, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -113.66718292236328, + "y": -107.18775939941406, + "z": 0.7269669771194458 + }, + "extent": { + "x": 0.2499072253704071, + "y": 0.2565966844558716, + "z": 0.5288029909133911 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 686.1276244985814, + "ymin": 284.09827169741044, + "xmax": 705.9301173447036, + "ymax": 322.8005840069621 + }, + "corners_3d": [ + [ + -113.6624526977539, + -107.54591369628906, + 0.1981639862060547 + ], + [ + -114.02533721923828, + -107.18302917480469, + 0.1981639862060547 + ], + [ + -113.67191314697266, + -106.82960510253906, + 0.1981639862060547 + ], + [ + -113.30902862548828, + -107.19248962402344, + 0.1981639862060547 + ], + [ + -113.6624526977539, + -107.54591369628906, + 1.255769968032837 + ], + [ + -114.02533721923828, + -107.18302917480469, + 1.255769968032837 + ], + [ + -113.67191314697266, + -106.82960510253906, + 1.255769968032837 + ], + [ + -113.30902862548828, + -107.19248962402344, + 1.255769968032837 + ] + ], + "corners_2d": [ + [ + 686.1276244985814, + 321.39043490150937 + ], + [ + 703.007837315337, + 322.8005840069621 + ], + [ + 704.2643895944781, + 311.8712866652525 + ], + [ + 687.5841426967767, + 310.4946916574954 + ], + [ + 687.3362043105099, + 294.951601921155 + ], + [ + 704.6613142557192, + 296.35675899470255 + ], + [ + 705.9301173447036, + 285.46913284347977 + ], + [ + 688.8155877087175, + 284.09827169741044 + ] + ], + "center_offset_px": [ + 55.95409106345437, + -56.434692761799056 + ] + }, + "trace_timestep_index": 36, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 58, + "semantic_pixel_counts": { + "1": 414541, + "2": 259702, + "3": 191399, + "4": 1467, + "5": 3652, + "6": 11973, + "7": 1410, + "9": 2783, + "10": 7483, + "12": 3411, + "14": 451, + "16": 10, + "21": 508, + "24": 22810 + }, + "instance_pixel_counts": { + "1115": 4792, + "2978": 10, + "6254": 3485, + "10370": 3314, + "11394": 1671, + "14416": 144, + "14928": 3508, + "16023": 1049, + "17232": 1467, + "18011": 45616, + "20631": 20480, + "23808": 398, + "24064": 8000, + "27072": 4823, + "29843": 25985, + "30656": 104601, + "31168": 3460, + "31813": 7303, + "31891": 251369, + "34120": 86660, + "34453": 3023, + "34907": 317, + "35419": 1477, + "35931": 4683, + "36443": 121166, + "36501": 10984, + "44171": 1270, + "44179": 855, + "44691": 102865, + "44891": 498, + "45203": 13, + "46227": 33454, + "46731": 1772, + "46741": 60, + "47253": 7333, + "47765": 9, + "48267": 261, + "48779": 848, + "48789": 1401, + "49664": 189, + "49803": 1364, + "49920": 422, + "50176": 426, + "50432": 849, + "50688": 924, + "50944": 601, + "52480": 10, + "53184": 2423, + "54016": 451, + "54720": 3476, + "55232": 3622, + "55744": 3831, + "56135": 52, + "56768": 3864, + "57173": 2783, + "60013": 5511, + "61037": 4352, + "64351": 15898 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 189, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -113.66718292236328, + "y": -107.18775939941406, + "z": 0.7269669771194458 + }, + "extent": { + "x": 0.24696289002895355, + "y": 0.2566503882408142, + "z": 0.5435064435005188 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 686.1181709777497, + "ymin": 283.78469221063284, + "xmax": 705.9482998902103, + "ymax": 323.09365362822757 + }, + "corners_3d": [ + [ + -113.66033172607422, + -107.54386901855469, + 0.183460533618927 + ], + [ + -114.0232925415039, + -107.180908203125, + 0.183460533618927 + ], + [ + -113.67403411865234, + -106.83164978027344, + 0.183460533618927 + ], + [ + -113.31107330322266, + -107.19461059570312, + 0.183460533618927 + ], + [ + -113.66033172607422, + -107.54386901855469, + 1.2704734802246094 + ], + [ + -114.0232925415039, + -107.180908203125, + 1.2704734802246094 + ], + [ + -113.67403411865234, + -106.83164978027344, + 1.2704734802246094 + ], + [ + -113.31107330322266, + -107.19461059570312, + 1.2704734802246094 + ] + ], + "corners_2d": [ + [ + 686.1181709777497, + 321.68335645230525 + ], + [ + 702.9947153451578, + 323.09365362822757 + ], + [ + 704.2362642837181, + 312.29273555033797 + ], + [ + 687.5572300866752, + 310.9155935772685 + ], + [ + 687.3604624061768, + 294.50936953440936 + ], + [ + 704.6943093905253, + 295.9145292678074 + ], + [ + 705.9482998902103, + 285.15594314137707 + ], + [ + 688.8227464677356, + 283.78469221063284 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 422, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -110.14055633544922, + "y": -104.62551879882812, + "z": 0.729999303817749 + }, + "extent": { + "x": 0.35093259811401367, + "y": 0.4099755883216858, + "z": 0.8808687329292297 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 672.1818946355903, + "ymin": 188.3112482916028, + "xmax": 700.9390535823727, + "ymax": 245.20272532102655 + }, + "corners_3d": [ + [ + -110.21158599853516, + -105.16048431396484, + -0.1508694291114807 + ], + [ + -110.65816497802734, + -104.47281646728516, + -0.1508694291114807 + ], + [ + -110.06952667236328, + -104.0905532836914, + -0.1508694291114807 + ], + [ + -109.6229476928711, + -104.7782211303711, + -0.1508694291114807 + ], + [ + -110.21158599853516, + -105.16048431396484, + 1.610867977142334 + ], + [ + -110.65816497802734, + -104.47281646728516, + 1.610867977142334 + ], + [ + -110.06952667236328, + -104.0905532836914, + 1.610867977142334 + ], + [ + -109.6229476928711, + -104.7782211303711, + 1.610867977142334 + ] + ], + "corners_2d": [ + [ + 674.4595883176798, + 245.20272532102655 + ], + [ + 698.6090739749895, + 243.91687168824132 + ], + [ + 695.9699282238277, + 231.32157854959294 + ], + [ + 672.1818946355903, + 232.56883729437484 + ], + [ + 675.8317124828229, + 201.98892353259396 + ], + [ + 700.9390535823727, + 200.72115700048533 + ], + [ + 698.1600525936848, + 188.3112482916028 + ], + [ + 673.4431724775834, + 189.53948445178605 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 426, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -115.92300415039062, + "y": -100.24504852294922, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.48094725608825684, + "y": 0.4217578172683716, + "z": 0.8915514945983887 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 885.9166785164603, + "ymin": 224.13396721982997, + "xmax": 928.5631702017066, + "ymax": 286.9982040067675 + }, + "corners_3d": [ + [ + -116.0313491821289, + -100.87548828125, + -0.3165619969367981 + ], + [ + -116.56219482421875, + -100.2199478149414, + -0.3165619969367981 + ], + [ + -115.81465911865234, + -99.61460876464844, + -0.3165619969367981 + ], + [ + -115.2838134765625, + -100.27014923095703, + -0.3165619969367981 + ], + [ + -116.0313491821289, + -100.87548828125, + 1.466541051864624 + ], + [ + -116.56219482421875, + -100.2199478149414, + 1.466541051864624 + ], + [ + -115.81465911865234, + -99.61460876464844, + 1.466541051864624 + ], + [ + -115.2838134765625, + -100.27014923095703, + 1.466541051864624 + ] + ], + "corners_2d": [ + [ + 890.7626168869765, + 286.6769502926218 + ], + [ + 916.9156042904016, + 286.9982040067675 + ], + [ + 911.5047460285687, + 268.1206340861822 + ], + [ + 885.9166785164603, + 267.8130648074565 + ], + [ + 901.3061135544674, + 242.78965575474243 + ], + [ + 928.5631702017066, + 243.10765631261904 + ], + [ + 922.6686905060628, + 224.43787134086355 + ], + [ + 896.0246979661242, + 224.13396721982997 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 849, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -123.16718292236328, + "y": -107.18775939941406, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.5179150104522705, + "y": 0.4614599645137787, + "z": 0.9231835603713989 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 916.5359689993002, + "ymin": 467.3302300270137, + "xmax": 975.7362888732285, + "ymax": 550.002975731546 + }, + "corners_3d": [ + [ + -123.20709991455078, + -107.88027954101562, + -0.34819406270980835 + ], + [ + -123.85970306396484, + -107.22767639160156, + -0.34819406270980835 + ], + [ + -123.12726593017578, + -106.4952392578125, + -0.34819406270980835 + ], + [ + -122.47466278076172, + -107.14784240722656, + -0.34819406270980835 + ], + [ + -123.20709991455078, + -107.88027954101562, + 1.4981729984283447 + ], + [ + -123.85970306396484, + -107.22767639160156, + 1.4981729984283447 + ], + [ + -123.12726593017578, + -106.4952392578125, + 1.4981729984283447 + ], + [ + -122.47466278076172, + -107.14784240722656, + 1.4981729984283447 + ] + ], + "corners_2d": [ + [ + 919.8412870879813, + 546.1608495620827 + ], + [ + 957.5224150603779, + 550.002975731546 + ], + [ + 953.0898582610685, + 516.2385565439753 + ], + [ + 916.5359689993002, + 512.6203598591673 + ], + [ + 935.8364663425357, + 501.330927902646 + ], + [ + 975.7362888732285, + 505.23310036664355 + ], + [ + 970.487807683294, + 470.99255711173515 + ], + [ + 931.8496109635223, + 467.3302300270137 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 924, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -117.28268432617188, + "y": -118.31512451171875, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.4347900152206421, + "y": 0.4941943287849426, + "z": 0.8668071031570435 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 394.2733531234057, + "ymin": 545.402239605186, + "xmax": 460.542774860839, + "ymax": 626.8516587602692 + }, + "corners_3d": [ + [ + -117.1722412109375, + -118.96402740478516, + -0.2918176054954529 + ], + [ + -117.94036865234375, + -118.34201049804688, + -0.2918176054954529 + ], + [ + -117.39312744140625, + -117.66622161865234, + -0.2918176054954529 + ], + [ + -116.625, + -118.28823852539062, + -0.2918176054954529 + ], + [ + -117.1722412109375, + -118.96402740478516, + 1.4417965412139893 + ], + [ + -117.94036865234375, + -118.34201049804688, + 1.4417965412139893 + ], + [ + -117.39312744140625, + -117.66622161865234, + 1.4417965412139893 + ], + [ + -116.625, + -118.28823852539062, + 1.4417965412139893 + ] + ], + "corners_2d": [ + [ + 407.5768306611999, + 618.255824441835 + ], + [ + 447.2556809338782, + 626.8516587602692 + ], + [ + 460.542774860839, + 594.9511339458865 + ], + [ + 421.80583701808825, + 586.7987027117651 + ], + [ + 394.2733531234057, + 577.4896373750565 + ], + [ + 436.1403103092209, + 586.2743465409035 + ], + [ + 450.48026440462206, + 553.7088399825267 + ], + [ + 409.660158414009, + 545.402239605186 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 601, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -110.45944213867188, + "y": -109.51832580566406, + "z": 0.7293352484703064 + }, + "extent": { + "x": 0.4260205030441284, + "y": 0.4525195360183716, + "z": 0.8967651128768921 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 550.5362534167737, + "ymin": 245.9592996801843, + "xmax": 590.9826857182334, + "ymax": 313.51524063284745 + }, + "corners_3d": [ + [ + -110.31195831298828, + -110.12207794189453, + -0.1674298644065857 + ], + [ + -111.07098388671875, + -109.62915802001953, + -0.1674298644065857 + ], + [ + -110.60692596435547, + -108.9145736694336, + -0.1674298644065857 + ], + [ + -109.847900390625, + -109.4074935913086, + -0.1674298644065857 + ], + [ + -110.31195831298828, + -110.12207794189453, + 1.6261003017425537 + ], + [ + -111.07098388671875, + -109.62915802001953, + 1.6261003017425537 + ], + [ + -110.60692596435547, + -108.9145736694336, + 1.6261003017425537 + ], + [ + -109.847900390625, + -109.4074935913086, + 1.6261003017425537 + ] + ], + "corners_2d": [ + [ + 554.2799151615757, + 307.2106472121129 + ], + [ + 581.1084976322895, + 313.51524063284745 + ], + [ + 590.9826857182334, + 296.56670404046696 + ], + [ + 564.5864752283591, + 290.49571883618125 + ], + [ + 550.5362534167737, + 262.5214739929507 + ], + [ + 578.5176475308374, + 268.775455904213 + ], + [ + 588.8684502027656, + 251.97168714256094 + ], + [ + 561.3569447301873, + 245.9592996801843 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 10, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 533.6086049353971, + "ymin": 0.0, + "xmax": 746.9571840107888, + "ymax": 54.774478779834396 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 604.7192446276084, + -43.49334428549645 + ], + [ + 540.3236615412775, + -23.674365998431654 + ], + [ + 671.8260229757548, + 54.774478779834396 + ], + [ + 739.5756800406592, + 29.204573343794664 + ], + [ + 602.4310589561146, + -132.60416846644836 + ], + [ + 533.6086049353971, + -114.90160361088317 + ], + [ + 674.2903026945258, + -44.002727148316296 + ], + [ + 746.9571840107888, + -67.25814642132593 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 451, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 668.891187138893, + "ymin": 0.0, + "xmax": 775.3351228785422, + "ymax": 23.31743659092274 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 697.1419120238902, + -25.663833161880632 + ], + [ + 668.891187138893, + -16.19193871423505 + ], + [ + 743.114111699221, + 23.31743659092274 + ], + [ + 771.9679730736306, + 12.507789700679837 + ], + [ + 698.5052523535221, + -58.01977285889012 + ], + [ + 669.5923555415849, + -48.874606654563536 + ], + [ + 745.7935158608284, + -10.648877982939496 + ], + [ + 775.3351228785422, + -21.120041552192163 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 966.1930038626919, + "ymin": 124.53073508576696, + "xmax": 991.842791842228, + "ymax": 162.21101174561835 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 974.5292762785845, + 162.21101174561835 + ], + [ + 983.509620914109, + 157.38591606266675 + ], + [ + 975.1728663334779, + 152.92210624215522 + ], + [ + 966.1930038626919, + 157.68952581857695 + ], + [ + 982.6982914402656, + 133.68264107000093 + ], + [ + 991.842791842228, + 128.92802027775258 + ], + [ + 983.2540391061143, + 124.53073508576696 + ], + [ + 974.1093865765249, + 129.22715160958774 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1152.906373288939, + "ymin": 223.244053519751, + "xmax": 1187.1977963952327, + "ymax": 264.7947049188051 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1163.6638524990774, + 264.7947049188051 + ], + [ + 1172.4823597264851, + 258.56854297786185 + ], + [ + 1161.7429541308534, + 252.81826701241175 + ], + [ + 1152.906373288939, + 258.95999090306645 + ], + [ + 1178.2447709992693, + 235.12182707336657 + ], + [ + 1187.1977963952327, + 228.94580066531427 + ], + [ + 1176.0611700638312, + 223.244053519751 + ], + [ + 1167.0875394218676, + 229.3340226793889 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 823.0562013811876, + "ymin": 139.95454033319706, + "xmax": 841.7477156369722, + "ymax": 171.49491569578785 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 829.3783833077448, + 171.49491569578785 + ], + [ + 837.7299403864283, + 167.3791790420957 + ], + [ + 831.399455371612, + 163.54346608227007 + ], + [ + 823.0562013811876, + 167.6174882524209 + ], + [ + 833.2478076607192, + 147.81433542139726 + ], + [ + 841.7477156369722, + 143.74562105679271 + ], + [ + 835.2684940984213, + 139.95454033319706 + ], + [ + 826.7770082007977, + 143.98118306539183 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1062.1273182028203, + "ymin": 175.19157168447745, + "xmax": 1092.0592953894081, + "ymax": 214.89826572282698 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1071.6688691218465, + 214.89826572282698 + ], + [ + 1080.607415221225, + 209.37570220619722 + ], + [ + 1071.0738363579962, + 204.2710679576165 + ], + [ + 1062.1273182028203, + 209.72305238403564 + ], + [ + 1082.9680028853265, + 185.6974962383418 + ], + [ + 1092.0592953894081, + 180.2370473949984 + ], + [ + 1082.2045005735722, + 175.19157168447745 + ], + [ + 1073.1037735795753, + 180.58043295680346 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1004.8426073420769, + "ymin": 0.0, + "xmax": 1276.6637236690308, + "ymax": 138.85980633379245 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1186.6242482365506, + 48.576269959857484 + ], + [ + 1177.487320014809, + 44.88355335511898 + ], + [ + 1004.8426073420769, + 134.0523616330743 + ], + [ + 1014.1251992868432, + 138.85980633379245 + ], + [ + 1276.6637236690308, + -162.57716563953227 + ], + [ + 1265.4256948286375, + -165.45242065609852 + ], + [ + 1074.525176614455, + -94.45680410431925 + ], + [ + 1086.146738106549, + -90.53409472051311 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2334590930876643410, + "instance_id": 21048, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -123.8453369140625, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 14.63453265916769, + "ymin": 492.443022603421, + "xmax": 44.80984817339788, + "ymax": 523.0706454727207 + }, + "corners_3d": [ + [ + -116.6200942993164, + -123.69747161865234, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.63400411605835 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.63400411605835 + ], + [ + -116.6200942993164, + -123.69747161865234, + 7.743301868438721 + ], + [ + -116.6200942993164, + -123.99320983886719, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.99320220947266, + 7.743301868438721 + ], + [ + -117.03186798095703, + -123.69746398925781, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 37.86764431150641, + 496.6843816990795 + ], + [ + 17.826715811141526, + 506.0041837782619 + ], + [ + 24.517234864466445, + 523.0706454727207 + ], + [ + 44.80984817339788, + 513.4595122530809 + ], + [ + 34.80469765916166, + 492.443022603421 + ], + [ + 14.63453265916769, + 501.7740674778355 + ], + [ + 21.309933476885362, + 518.863228511287 + ], + [ + 41.735220694241434, + 509.2389759502913 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3639812104533344102, + "instance_id": 26239, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -123.8453369140625, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 14.795596603094282, + "ymin": 492.60366003203, + "xmax": 44.64909106476716, + "ymax": 522.9055748121182 + }, + "corners_3d": [ + [ + -116.62229919433594, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.634579658508301 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.634579658508301 + ], + [ + -116.62229919433594, + -123.69904327392578, + 7.742714881896973 + ], + [ + -116.62229919433594, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.99163055419922, + 7.742714881896973 + ], + [ + -117.02969360351562, + -123.69904327392578, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 37.78259037246596, + 496.79974540495004 + ], + [ + 17.953212718450914, + 506.02181171465594 + ], + [ + 24.573332326977606, + 522.9055748121182 + ], + [ + 44.64909106476716, + 513.3983333761497 + ], + [ + 34.751491243205464, + 492.60366003203 + ], + [ + 14.795596603094282, + 501.83674044463345 + ], + [ + 21.40093287460445, + 518.7427128215895 + ], + [ + 41.60653751668599, + 509.222639996138 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1009.2022903716709, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 74.10144707617633 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 1088.9718107043166, + 74.10144707617633 + ], + [ + 1211.1346526447974, + 10.994918060402938 + ], + [ + 1132.6764278040164, + -18.044293582263663 + ], + [ + 1009.2022903716709, + 38.818777650057655 + ], + [ + 1219.9388207915645, + -292.38844726997877 + ], + [ + 1357.8284836799735, + -327.9089608111717 + ], + [ + 1251.6234460605783, + -343.6179774107974 + ], + [ + 1109.6181625309832, + -312.48699604343085 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 889.5612026953527, + "ymin": 92.94517054038903, + "xmax": 911.1210226862189, + "ymax": 107.34894795240365 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 897.540495982249, + 96.90346185438693 + ], + [ + 889.5612026953527, + 100.6141399382027 + ], + [ + 902.2576073185314, + 107.34894795240365 + ], + [ + 910.2454161455385, + 103.56570458199019 + ], + [ + 898.366892644336, + 92.94517054038903 + ], + [ + 890.3663375417584, + 96.64635685603884 + ], + [ + 903.1119856177445, + 103.36426547117304 + ], + [ + 911.1210226862189, + 99.59046318887874 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 575.1439420661457, + "ymin": 0.0, + "xmax": 658.0810304396174, + "ymax": 28.583809060414524 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 583.3162522537971, + 25.064359848309266 + ], + [ + 589.0129186150252, + 28.583809060414524 + ], + [ + 655.875489539598, + 5.42445281881146 + ], + [ + 650.0245994369784, + 2.1630553592831916 + ], + [ + 575.1439420661457, + -163.1417850168266 + ], + [ + 581.6137227272454, + -160.34553936851182 + ], + [ + 658.0810304396174, + -178.6615615946912 + ], + [ + 651.4086043824701, + -181.2250022439447 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 889.6756006938688, + "ymin": 93.02130547266881, + "xmax": 911.0057700822471, + "ymax": 107.27191238326193 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 897.5700350206403, + 96.937633484728 + ], + [ + 889.6756006938688, + 100.60910508153648 + ], + [ + 902.2370780542516, + 107.27191238326193 + ], + [ + 910.139849602778, + 103.5294108864835 + ], + [ + 898.3877871807326, + 93.02130547266881 + ], + [ + 890.4725414742622, + 96.6834865680961 + ], + [ + 903.0822196547765, + 103.32975153342318 + ], + [ + 911.0057700822471, + 99.59649145821845 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 767.5082441186682, + "ymin": 37.203709130960874, + "xmax": 917.56616271294, + "ymax": 332.58038274382545 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 777.3906305096391, + 263.32365020065185 + ], + [ + 767.5082441186682, + 268.6036399119227 + ], + [ + 855.4084574813016, + 332.58038274382545 + ], + [ + 865.4418327681735, + 326.4866639318975 + ], + [ + 806.5024611231673, + 37.203709130960874 + ], + [ + 794.7290361840635, + 41.912341963259735 + ], + [ + 905.6214792180733, + 99.96482166355077 + ], + [ + 917.56616271294, + 94.3546064717707 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 365.4323095673889, + "xmax": 204.78577793403025, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 145.4606094975585, + 600.9530321316659 + ], + [ + 126.1589889679052, + 611.2655572420518 + ], + [ + 183.97821175390368, + 740.3700848433698 + ], + [ + 204.78577793403025, + 727.732716675932 + ], + [ + -14.197501634120727, + 365.4323095673889 + ], + [ + -41.63659734701821, + 376.4062298693069 + ], + [ + 13.053800659842409, + 519.1887175575982 + ], + [ + 43.7837490072784, + 504.75538216319495 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 803.0882057750047, + "ymin": 0.0, + "xmax": 1275.204775353875, + "ymax": 454.23258582863673 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 812.2572611573806, + 230.76970860233922 + ], + [ + 803.0882057750047, + 235.48966373356888 + ], + [ + 1120.0422735838295, + 454.23258582863673 + ], + [ + 1129.334261450251, + 446.6898130181121 + ], + [ + 850.5311496980385, + -13.57435828853312 + ], + [ + 839.5799429514984, + -9.518593915310419 + ], + [ + 1264.497808424685, + 190.55117266142312 + ], + [ + 1275.204775353875, + 183.23317488073266 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 126.18001368982095, + "ymax": 640.5683116080588 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 15.173562203800316, + 340.20435618462704 + ], + [ + -253.13474017039107, + 472.09067472750667 + ], + [ + -166.46048501557289, + 640.5683116080588 + ], + [ + 126.18001368982095, + 466.9277888687436 + ], + [ + -246.63604421962555, + -74.73111880665425 + ], + [ + -707.4496994986082, + 35.451810807741936 + ], + [ + -683.5178699957357, + 198.23800268750057 + ], + [ + -133.27443634704684, + 30.87730937295146 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 18.180555086716822, + "xmax": 169.973176986424, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -246.9410227076836, + 743.7694154747214 + ], + [ + 96.70735560711125, + 704.8460722676782 + ], + [ + 169.973176986424, + 452.463193301499 + ], + [ + -103.29888640653326, + 477.5413343641332 + ], + [ + -898.3377603050765, + 312.8740023813322 + ], + [ + -282.5257033838715, + 268.1392797481328 + ], + [ + -62.51143438500935, + 18.180555086716822 + ], + [ + -484.33225103072596, + 40.30591209681586 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00037/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00037/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ab053865411f52fb44c2f705e3b8fffa7e9f4ca7 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00037/meta.json @@ -0,0 +1,3204 @@ +{ + "frame_id": 37, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 18.5, + "sim_timestamp": 10141.86414702423 + }, + "drone_pose": { + "x": -129.36168305406858, + "y": -121.43485737932787, + "z": 20.009185489851404, + "pitch": -41.359181401082, + "yaw": 42.32173329089859, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.554962158203125, + -0.5053616762161255, + 0.6607772707939148, + 119.937744140625 + ], + [ + 0.6732929944992065, + 0.7393757700920105, + 1.4901161193847656e-08, + 2.68768310546875 + ], + [ + -0.4885627329349518, + 0.4448966979980469, + 0.7505820393562317, + -132.24578857421875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -129.0379269796218, + "y": -120.98185461174523, + "z": 20.009728465120265 + }, + "t1_image_uv": [ + 915.0275638804521, + -486.84022425759724 + ], + "t1_depth": 0.40824379506891983 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -113.16718292236328, + "y": -106.68776321411131, + "z": 0.7268645209074021 + }, + "image_uv": [ + 639.9999999999999, + 360.0 + ], + "depth": 29.18127006802385, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 191, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -113.16718292236328, + "y": -106.68775939941406, + "z": 0.7268645167350769 + }, + "extent": { + "x": 0.23516112565994263, + "y": 0.2061132788658142, + "z": 0.5257675051689148 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 632.7367612201721, + "ymin": 341.5983891039473, + "xmax": 647.1787374803098, + "ymax": 378.19597895157955 + }, + "corners_3d": [ + [ + -113.1877212524414, + -106.99978637695312, + 0.2010970115661621 + ], + [ + -113.47920989990234, + -106.70829772949219, + 0.2010970115661621 + ], + [ + -113.14664459228516, + -106.375732421875, + 0.2010970115661621 + ], + [ + -112.85515594482422, + -106.66722106933594, + 0.2010970115661621 + ], + [ + -113.1877212524414, + -106.99978637695312, + 1.2526320219039917 + ], + [ + -113.47920989990234, + -106.70829772949219, + 1.2526320219039917 + ], + [ + -113.14664459228516, + -106.375732421875, + 1.2526320219039917 + ], + [ + -112.85515594482422, + -106.66722106933594, + 1.2526320219039917 + ] + ], + "corners_2d": [ + [ + 632.9086545407093, + 377.7708339958475 + ], + [ + 646.3760717498096, + 378.19597895157955 + ], + [ + 647.0107785645628, + 367.9448671891013 + ], + [ + 633.7028847928229, + 367.5297560809271 + ], + [ + 632.7367612201721, + 351.7687082291586 + ], + [ + 646.5307049198826, + 352.19104223098 + ], + [ + 647.1787374803098, + 342.0105183246706 + ], + [ + 633.5520984496342, + 341.5983891039473 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + 0.0 + ] + }, + "trace_timestep_index": 37, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 62, + "semantic_pixel_counts": { + "1": 380880, + "2": 237667, + "3": 243900, + "4": 11543, + "5": 930, + "6": 9618, + "7": 2069, + "10": 1818, + "12": 3576, + "14": 740, + "16": 6517, + "21": 252, + "22": 3, + "24": 22087 + }, + "instance_pixel_counts": { + "1115": 5138, + "1627": 96, + "10370": 514, + "11394": 1608, + "13397": 156, + "13909": 25, + "14416": 141, + "14928": 789, + "16023": 1054, + "17232": 11543, + "18011": 63609, + "19784": 3, + "20631": 15198, + "23808": 1815, + "24064": 7504, + "27072": 4802, + "29843": 29469, + "30656": 89363, + "31168": 3445, + "31813": 327, + "31891": 179914, + "34120": 86533, + "34453": 3482, + "35419": 127, + "35931": 2631, + "36443": 166602, + "36501": 8772, + "37460": 246, + "44171": 1189, + "44179": 4857, + "44691": 128374, + "45203": 4843, + "46227": 33423, + "46731": 1587, + "46741": 159, + "47253": 7803, + "47765": 460, + "48267": 1706, + "48779": 841, + "48789": 1411, + "49664": 191, + "49803": 1806, + "49920": 394, + "50176": 405, + "50432": 917, + "50688": 1094, + "50944": 575, + "52480": 4, + "52672": 257, + "52736": 6513, + "53184": 2383, + "54016": 740, + "54720": 3112, + "55232": 9444, + "55744": 3768, + "55879": 7, + "56135": 108, + "56768": 7785, + "60013": 5141, + "61037": 556, + "63067": 71, + "64351": 3394 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 191, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -113.16718292236328, + "y": -106.68775939941406, + "z": 0.7268645167350769 + }, + "extent": { + "x": 0.20473143458366394, + "y": 0.22125975787639618, + "z": 0.5148701667785645 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 632.2858160770005, + "ymin": 342.5088522369637, + "xmax": 647.6367996883979, + "ymax": 377.27781489086067 + }, + "corners_3d": [ + [ + -113.1554946899414, + -106.98898315429688, + 0.21199434995651245 + ], + [ + -113.4684066772461, + -106.67607116699219, + 0.21199434995651245 + ], + [ + -113.17887115478516, + -106.38653564453125, + 0.21199434995651245 + ], + [ + -112.86595916748047, + -106.69944763183594, + 0.21199434995651245 + ], + [ + -113.1554946899414, + -106.98898315429688, + 1.2417347431182861 + ], + [ + -113.4684066772461, + -106.67607116699219, + 1.2417347431182861 + ], + [ + -113.17887115478516, + -106.38653564453125, + 1.2417347431182861 + ], + [ + -112.86595916748047, + -106.69944763183594, + 1.2417347431182861 + ] + ], + "corners_2d": [ + [ + 632.4644993709134, + 376.822159267794 + ], + [ + 646.914061370375, + 377.27781489086067 + ], + [ + 647.4616467963549, + 368.3533811650335 + ], + [ + 633.1612467591624, + 367.9071047086022 + ], + [ + 632.2858160770005, + 351.36357511899973 + ], + [ + 647.078097695872, + 351.81626380888565 + ], + [ + 647.6367996883979, + 342.95200532273554 + ], + [ + 633.0008014280907, + 342.5088522369637 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 394, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -110.14054107666016, + "y": -104.48878479003906, + "z": 0.729999303817749 + }, + "extent": { + "x": 0.33488279581069946, + "y": 0.397529274225235, + "z": 0.8727758526802063 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 613.9141825721777, + "ymin": 257.74759883624057, + "xmax": 641.0642419769382, + "ymax": 314.0583042748099 + }, + "corners_3d": [ + [ + -110.20488739013672, + -105.00457000732422, + -0.14277654886245728 + ], + [ + -110.63790893554688, + -104.33777618408203, + -0.14277654886245728 + ], + [ + -110.0761947631836, + -103.9729995727539, + -0.14277654886245728 + ], + [ + -109.64317321777344, + -104.6397933959961, + -0.14277654886245728 + ], + [ + -110.20488739013672, + -105.00457000732422, + 1.6027750968933105 + ], + [ + -110.63790893554688, + -104.33777618408203, + 1.6027750968933105 + ], + [ + -110.0761947631836, + -103.9729995727539, + 1.6027750968933105 + ], + [ + -109.64317321777344, + -104.6397933959961, + 1.6027750968933105 + ] + ], + "corners_2d": [ + [ + 617.675335234566, + 314.0583042748099 + ], + [ + 641.0262936937412, + 311.67010096925867 + ], + [ + 637.8396179891528, + 299.63484991175864 + ], + [ + 614.8329942378654, + 301.9513488800584 + ], + [ + 616.8472914982231, + 271.90762797015293 + ], + [ + 641.0642419769382, + 269.5617325791797 + ], + [ + 637.7609860875777, + 257.74759883624057 + ], + [ + 613.9141825721777, + 260.02051290736324 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 405, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -115.42300415039062, + "y": -99.74504852294922, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.4550829827785492, + "y": 0.33140134811401367, + "z": 0.8965222835540771 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 826.1859314219803, + "ymin": 272.33124293525134, + "xmax": 859.7613914909314, + "ymax": 333.20553460740143 + }, + "corners_3d": [ + [ + -115.568115234375, + -100.28898620605469, + -0.3215376138687134 + ], + [ + -115.9852294921875, + -99.77389526367188, + -0.3215376138687134 + ], + [ + -115.27789306640625, + -99.20111083984375, + -0.3215376138687134 + ], + [ + -114.86077880859375, + -99.71620178222656, + -0.3215376138687134 + ], + [ + -115.568115234375, + -100.28898620605469, + 1.471506953239441 + ], + [ + -115.9852294921875, + -99.77389526367188, + 1.471506953239441 + ], + [ + -115.27789306640625, + -99.20111083984375, + 1.471506953239441 + ], + [ + -114.86077880859375, + -99.71620178222656, + 1.471506953239441 + ] + ], + "corners_2d": [ + [ + 831.7755693857252, + 333.20553460740143 + ], + [ + 851.5745920864942, + 332.4638560583231 + ], + [ + 845.5742565176887, + 315.29924208612937 + ], + [ + 826.1859314219803, + 316.010092645456 + ], + [ + 839.2032453444467, + 289.93261623618093 + ], + [ + 859.7613914909314, + 289.2029751982515 + ], + [ + 853.3555561892734, + 272.33124293525134 + ], + [ + 833.2398491367885, + 273.0294204978176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 917, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -122.66718292236328, + "y": -106.68775939941406, + "z": 0.5749797821044922 + }, + "extent": { + "x": 0.4552001953125, + "y": 0.43709471821784973, + "z": 0.9021656513214111 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 870.01533319332, + "ymin": 512.0266892907313, + "xmax": 923.6121023753353, + "ymax": 587.4977099082021 + }, + "corners_3d": [ + [ + -122.67998504638672, + -107.31871032714844, + -0.32718586921691895 + ], + [ + -123.29813385009766, + -106.7005615234375, + -0.32718586921691895 + ], + [ + -122.65438079833984, + -106.05680847167969, + -0.32718586921691895 + ], + [ + -122.0362319946289, + -106.67495727539062, + -0.32718586921691895 + ], + [ + -122.67998504638672, + -107.31871032714844, + 1.4771454334259033 + ], + [ + -123.29813385009766, + -106.7005615234375, + 1.4771454334259033 + ], + [ + -122.65438079833984, + -106.05680847167969, + 1.4771454334259033 + ], + [ + -122.0362319946289, + -106.67495727539062, + 1.4771454334259033 + ] + ], + "corners_2d": [ + [ + 874.7998346489827, + 586.1431778719237 + ], + [ + 909.6676226378477, + 587.4977099082021 + ], + [ + 903.922613455737, + 558.1306432147285 + ], + [ + 870.01533319332, + 556.8492213566799 + ], + [ + 886.9251812406544, + 541.5082279680163 + ], + [ + 923.6121023753353, + 542.873447819583 + ], + [ + 917.1776099623319, + 513.314577565828 + ], + [ + 881.5525021218871, + 512.0266892907313 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 1094, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -116.78268432617188, + "y": -117.81512451171875, + "z": 0.5749797821044922 + }, + "extent": { + "x": 0.5107079744338989, + "y": 0.473876953125, + "z": 0.8729333281517029 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 346.7442871107188, + "ymin": 618.6563638244488, + "xmax": 416.6419001921911, + "ymax": 706.498828416676 + }, + "corners_3d": [ + [ + -116.73580932617188, + -118.51023864746094, + -0.2979535460472107 + ], + [ + -117.47235107421875, + -117.9137954711914, + -0.2979535460472107 + ], + [ + -116.82955932617188, + -117.12001037597656, + -0.2979535460472107 + ], + [ + -116.093017578125, + -117.7164535522461, + -0.2979535460472107 + ], + [ + -116.73580932617188, + -118.51023864746094, + 1.4479131698608398 + ], + [ + -117.47235107421875, + -117.9137954711914, + 1.4479131698608398 + ], + [ + -116.82955932617188, + -117.12001037597656, + 1.4479131698608398 + ], + [ + -116.093017578125, + -117.7164535522461, + 1.4479131698608398 + ] + ], + "corners_2d": [ + [ + 362.18978003696816, + 700.6594333946235 + ], + [ + 402.08738450725343, + 706.498828416676 + ], + [ + 416.6419001921911, + 666.4565034484119 + ], + [ + 378.00967902870883, + 661.0020563406051 + ], + [ + 346.7442871107188, + 658.9719284801909 + ], + [ + 388.7913126123197, + 664.9209056371252 + ], + [ + 404.6012910828898, + 624.192459695628 + ], + [ + 363.95699651121515, + 618.6563638244488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 575, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -110.45944213867188, + "y": -108.65504455566406, + "z": 0.7293205857276917 + }, + "extent": { + "x": 0.4354589879512787, + "y": 0.4995459020137787, + "z": 0.9255406260490417 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 511.20629800071544, + "ymin": 310.9646046868501, + "xmax": 555.5752702072924, + "ymax": 379.50210673627964 + }, + "corners_3d": [ + [ + -110.27765655517578, + -109.29232025146484, + -0.1962200403213501 + ], + [ + -111.11556243896484, + -108.74817657470703, + -0.1962200403213501 + ], + [ + -110.64122772216797, + -108.01776885986328, + -0.1962200403213501 + ], + [ + -109.8033218383789, + -108.5619125366211, + -0.1962200403213501 + ], + [ + -110.27765655517578, + -109.29232025146484, + 1.6548612117767334 + ], + [ + -111.11556243896484, + -108.74817657470703, + 1.6548612117767334 + ], + [ + -110.64122772216797, + -108.01776885986328, + 1.6548612117767334 + ], + [ + -109.8033218383789, + -108.5619125366211, + 1.6548612117767334 + ] + ], + "corners_2d": [ + [ + 516.4437278076616, + 374.03986753054335 + ], + [ + 546.7010009564192, + 379.50210673627964 + ], + [ + 555.5752702072924, + 361.58773754413073 + ], + [ + 525.8861066078914, + 356.34881044425293 + ], + [ + 511.20629800071544, + 328.4109867120407 + ], + [ + 542.7199315568552, + 333.8038356729991 + ], + [ + 552.0506196946883, + 316.1279030778424 + ], + [ + 521.1526620879372, + 310.9646046868501 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 4, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 456.74534937783994, + "ymin": 0.0, + "xmax": 669.5147892110725, + "ymax": 125.21429203659949 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 530.9299326469027, + 30.567513139767357 + ], + [ + 467.551308907185, + 52.10092501840052 + ], + [ + 602.1075700040761, + 125.21429203659949 + ], + [ + 667.6270897882974, + 97.57185997865491 + ], + [ + 524.3857719412822, + -54.626153912279676 + ], + [ + 456.74534937783994, + -35.52359855878211 + ], + [ + 599.3868220808914, + 30.058335196933456 + ], + [ + 669.5147892110725, + 5.131156406591401 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 6513, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 651.4908352586525, + "ymin": 0.0, + "xmax": 862.8071375523306, + "ymax": 73.5615484906067 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 797.6230540138683, + 73.5615484906067 + ], + [ + 849.7084715846458, + 50.303196311083866 + ], + [ + 703.4540175857437, + -6.8212064441394205 + ], + [ + 651.4908352586525, + 11.653553519973912 + ], + [ + 807.9240032704588, + -16.421977432974188 + ], + [ + 862.8071375523306, + -37.15314258792472 + ], + [ + 706.9711582030671, + -87.59627940104218 + ], + [ + 652.1537711196962, + -71.3555493270859 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 740, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 594.7220948917807, + "ymin": 14.19498909964284, + "xmax": 699.8079563336877, + "ymax": 91.6694940406976 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 623.0734995521285, + 45.16920952217117 + ], + [ + 595.7172776915527, + 55.34460101137017 + ], + [ + 670.7815923479385, + 91.6694940406976 + ], + [ + 698.433213811683, + 80.09514921441786 + ], + [ + 622.7004230907978, + 14.19498909964284 + ], + [ + 594.7220948917807, + 23.99137591102817 + ], + [ + 671.5209681004258, + 59.03098900068585 + ], + [ + 699.8079563336877, + 47.854676129643565 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 52908959695452696, + "instance_id": 6202, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": -79.05494689941406, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1108.9710792102571, + "ymin": 25.316726576007397, + "xmax": 1126.0111719132874, + "ymax": 49.27028498163281 + }, + "corners_3d": [ + [ + -113.29469299316406, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -78.86498260498047, + 3.5146729946136475 + ], + [ + -113.29469299316406, + -78.86498260498047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1108.9710792102571, + 47.28886591453363 + ], + [ + 1115.0507295670234, + 49.27028498163281 + ], + [ + 1119.3254401713402, + 46.81254278686367 + ], + [ + 1113.2578702209198, + 44.84927337810478 + ], + [ + 1115.518325180545, + 27.69921235100719 + ], + [ + 1121.7078799418841, + 29.63447405655353 + ], + [ + 1126.0111719132874, + 27.23401520083638 + ], + [ + 1119.8342690583288, + 25.316726576007397 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 896.624605504537, + "ymin": 187.76154858422152, + "xmax": 919.4692874766399, + "ymax": 224.56759836305636 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 905.0117541265745, + 224.56759836305636 + ], + [ + 913.3441515300551, + 219.37811992546162 + ], + [ + 904.9694484286997, + 215.27522392393172 + ], + [ + 896.624605504537, + 220.4042144281572 + ], + [ + 910.9949065144683, + 196.89045218404158 + ], + [ + 919.4692874766399, + 191.7916014049254 + ], + [ + 910.8715745180425, + 187.76154858422152 + ], + [ + 902.3836506516907, + 192.79964295953502 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5668522571212290485, + "instance_id": 46457, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -89.45570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 990.1984435968601, + "ymin": 23.044359516815803, + "xmax": 1008.9024732293746, + "ymax": 51.99934947765013 + }, + "corners_3d": [ + [ + -113.19542694091797, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -89.26573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -89.26573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 990.1984435968601, + 49.611026961759706 + ], + [ + 996.9643188011664, + 51.99934947765013 + ], + [ + 1002.7722899744697, + 49.021507007962896 + ], + [ + 996.0180763320095, + 46.65953411144568 + ], + [ + 996.1227935103357, + 25.912501215752116 + ], + [ + 1003.0305569647533, + 28.233768790682802 + ], + [ + 1008.9024732293746, + 25.339586698325775 + ], + [ + 1002.0070763083505, + 23.044359516815803 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1083.8830007580334, + "ymin": 277.9078273424237, + "xmax": 1114.254991055179, + "ymax": 318.69577709907156 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1094.6340952541777, + 318.69577709907156 + ], + [ + 1102.493550513213, + 312.0449047077502 + ], + [ + 1091.7790722388595, + 306.7957195756831 + ], + [ + 1083.8830007580334, + 313.35893232275464 + ], + [ + 1106.2945975983741, + 289.66787960529564 + ], + [ + 1114.254991055179, + 283.0941547398419 + ], + [ + 1103.190476500457, + 277.9078273424237 + ], + [ + 1095.1902464559066, + 284.39271902270923 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7157878223548397302, + "instance_id": 63030, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -86.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1027.347299608798, + "ymin": 4.945367024315317, + "xmax": 1045.9474193004833, + "ymax": 32.99218679963087 + }, + "corners_3d": [ + [ + -113.19542694091797, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -86.76573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -86.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1027.347299608798, + 30.76955019127007 + ], + [ + 1034.0338024141192, + 32.99218679963087 + ], + [ + 1039.4390759141875, + 30.220819557134575 + ], + [ + 1032.7651214987488, + 28.021845667756622 + ], + [ + 1033.665452739188, + 7.612312527607742 + ], + [ + 1040.4891647242557, + 9.769961659356113 + ], + [ + 1045.9474193004833, + 7.079672854285036 + ], + [ + 1039.1369721724795, + 4.945367024315317 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7631990878982166785, + "instance_id": 473, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": -83.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1068.6107634316356, + "ymin": 0.0, + "xmax": 1087.047244922098, + "ymax": 11.886949693579595 + }, + "corners_3d": [ + [ + -113.1954345703125, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47261047363281, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.19544219970703, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47261047363281, + -83.76573944091797, + 6.416468620300293 + ], + [ + -113.19544219970703, + -83.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1068.6107634316356, + 9.841338816722555 + ], + [ + 1075.1954323501855, + 11.886949693579595 + ], + [ + 1080.1704185035985, + 9.336202725851422 + ], + [ + 1073.5990329515494, + 7.311491432842274 + ], + [ + 1075.313939784422, + -12.689119956364209 + ], + [ + 1082.0301579968877, + -10.70595702863261 + ], + [ + 1087.047244922098, + -13.17879589920932 + ], + [ + 1080.3450244794226, + -15.141382192865876 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 757.4973432117058, + "ymin": 206.00184902312012, + "xmax": 774.3854821851567, + "ymax": 237.03383910637712 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 763.9454998636127, + 237.03383910637712 + ], + [ + 771.8913412233845, + 232.55289626253165 + ], + [ + 765.4434808670148, + 228.98384742760766 + ], + [ + 757.4973432117058, + 233.42019630370655 + ], + [ + 766.3042930304634, + 213.9410430682154 + ], + [ + 774.3854821851567, + 209.5213589627049 + ], + [ + 767.8036702524506, + 206.00184902312012 + ], + [ + 759.7220213712922, + 210.37672073568422 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 992.9941727012922, + "ymin": 234.11003622735578, + "xmax": 1019.5783724844571, + "ymax": 272.99110936218165 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1002.5610529424107, + 272.99110936218165 + ], + [ + 1010.6959509046094, + 267.072265444596 + ], + [ + 1001.1527341437313, + 262.3968966087024 + ], + [ + 992.9941727012922, + 268.242106179107 + ], + [ + 1011.3185599062435, + 244.54957801553124 + ], + [ + 1019.5783724844571, + 238.7162780435429 + ], + [ + 1009.7514181701092, + 234.11003622735578 + ], + [ + 1001.4659035777315, + 239.86903686835774 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 931.5279338512614, + "ymin": 0.0, + "xmax": 1163.74625400177, + "ymax": 195.07790123770235 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1096.7845902891786, + 101.08714126399127 + ], + [ + 1087.954206451825, + 97.85350319816769 + ], + [ + 931.5279338512614, + 190.72807464697186 + ], + [ + 940.7673629245021, + 195.07790123770235 + ], + [ + 1163.74625400177, + -96.72385025237014 + ], + [ + 1153.2064074803557, + -99.17845110602917 + ], + [ + 981.9286756309176, + -27.06236322448933 + ], + [ + 993.1584109735229, + -23.600677194150194 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 928.8735408303637, + "ymin": 0.0, + "xmax": 1223.9634682739556, + "ymax": 129.20164443090428 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 1007.1483450093855, + 129.20164443090428 + ], + [ + 1116.5034595192424, + 64.44183087888183 + ], + [ + 1041.0747425621644, + 39.183337550870874 + ], + [ + 928.8735408303637, + 97.80977842499766 + ], + [ + 1102.230069553404, + -212.9723173399242 + ], + [ + 1223.9634682739556, + -248.13249164692536 + ], + [ + 1126.4819952483363, + -261.34476984880416 + ], + [ + 998.9343261466918, + -230.25257322120126 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 818.5515320759877, + "ymin": 161.42469899950345, + "xmax": 839.4826240738796, + "ymax": 175.51086230571133 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 826.0806636920748, + 165.25015932279842 + ], + [ + 818.5515320759877, + 169.26905879141964 + ], + [ + 831.3639451352981, + 175.51086230571133 + ], + [ + 838.8850146950001, + 171.41517188274722 + ], + [ + 826.6345327006692, + 161.42469899950345 + ], + [ + 819.0862844634519, + 165.4319256963005 + ], + [ + 831.9425530665579, + 171.6558923462816 + ], + [ + 839.4826240738796, + 167.5718658436488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 495.5677085106649, + "ymin": 0.0, + "xmax": 583.8881323697412, + "ymax": 102.28304107582102 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 512.5877101010265, + 98.98980230280586 + ], + [ + 518.4357645240569, + 102.28304107582102 + ], + [ + 583.8881323697412, + 77.0894644269132 + ], + [ + 577.938255706689, + 74.07192574911113 + ], + [ + 495.5677085106649, + -81.54394676906793 + ], + [ + 502.0930982262072, + -78.96263388822496 + ], + [ + 576.7095686127742, + -98.61150514719293 + ], + [ + 570.0465380787048, + -100.94983449975769 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 818.6627548547939, + "ymin": 161.49908084958076, + "xmax": 839.3709054058316, + "ymax": 175.43545244162928 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 826.1117256964677, + 165.2840068348356 + ], + [ + 818.6627548547939, + 169.26042638436647 + ], + [ + 831.3389029649652, + 175.43545244162928 + ], + [ + 838.7799842284236, + 171.38386678630127 + ], + [ + 826.659831855005, + 161.49908084958076 + ], + [ + 819.192149819448, + 165.46407486751494 + ], + [ + 831.9112244708786, + 171.62164111960493 + ], + [ + 839.3709054058316, + 167.58147242392042 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 708.5734574786301, + "ymin": 109.43244833742244, + "xmax": 845.4133795347168, + "ymax": 396.4048085946339 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 718.090317659465, + 329.9358863725693 + ], + [ + 708.5734574786301, + 335.7837927586684 + ], + [ + 799.6447562741671, + 396.4048085946339 + ], + [ + 809.1627213042351, + 389.66488181073123 + ], + [ + 733.4572416215912, + 109.43244833742244 + ], + [ + 722.1836478234309, + 114.54498385972843 + ], + [ + 834.1763574679458, + 168.4073042516606 + ], + [ + 845.4133795347168, + 162.33977713363694 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 494.3495555100576, + "xmax": 136.84585026229098, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 69.59447642205089, + 728.4226665995195 + ], + [ + 48.42313543702585, + 741.4320013796957 + ], + [ + 114.05360393083959, + 881.8903252873216 + ], + [ + 136.84585026229098, + 865.7505232362146 + ], + [ + -115.31908341211886, + 494.3495555100576 + ], + [ + -146.08552562606883, + 508.3020298966603 + ], + [ + -86.21921748122884, + 665.3828443128565 + ], + [ + -51.63858663925987, + 646.7107340201778 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 741.9064592666701, + "ymin": 58.29495717822914, + "xmax": 1194.23504335283, + "ymax": 505.48406728045336 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 750.6770261619005, + 295.23398450628775 + ], + [ + 741.9064592666701, + 300.42230998126234 + ], + [ + 1067.1529306502466, + 505.48406728045336 + ], + [ + 1075.489710926615, + 497.24769846723285 + ], + [ + 773.376868924393, + 58.29495717822914 + ], + [ + 762.9751501606722, + 62.65496666740347 + ], + [ + 1184.8706858197338, + 245.0579398802596 + ], + [ + 1194.23504335283, + 237.3314283321491 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 5199819733356185808, + "instance_id": 53256, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1851_37", + "bbox_3d": { + "center_world": { + "x": -100.25784301757812, + "y": -72.39555358886719, + "z": 8.309331893920898 + }, + "extent": { + "x": 4.9728498458862305, + "y": 4.831793308258057, + "z": 8.307754516601562 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 814.6043930360753, + "ymin": 0.0, + "xmax": 1158.0895132246783, + "ymax": 37.211128582471986 + }, + "corners_3d": [ + [ + -94.59623718261719, + -68.39283752441406, + 0.0015773773193359375 + ], + [ + -96.09391784667969, + -77.93966674804688, + 0.0015773773193359375 + ], + [ + -105.91944885253906, + -76.39826965332031, + 0.0015773773193359375 + ], + [ + -104.42176818847656, + -66.8514404296875, + 0.0015773773193359375 + ], + [ + -94.59623718261719, + -68.39283752441406, + 16.61708641052246 + ], + [ + -96.09391784667969, + -77.93966674804688, + 16.61708641052246 + ], + [ + -105.91944885253906, + -76.39826965332031, + 16.61708641052246 + ], + [ + -104.42176818847656, + -66.8514404296875, + 16.61708641052246 + ] + ], + "corners_2d": [ + [ + 895.8725251918173, + -53.74827875441781 + ], + [ + 814.6043930360753, + -8.282894818795683 + ], + [ + 983.2310217171081, + 37.211128582471986 + ], + [ + 1053.9973574850976, + -16.851479024784908 + ], + [ + 953.9867988019041, + -395.38961743638697 + ], + [ + 859.515421131603, + -383.49770172511217 + ], + [ + 1082.3710414893371, + -370.9997820664498 + ], + [ + 1158.0895132246783, + -385.78329804042346 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 37.613766947194335, + "xmax": 47.22031737415841, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -75.02002942455579, + 451.0947707597916 + ], + [ + -377.3917657438633, + 613.6043100428502 + ], + [ + -281.0157927057953, + 797.603841205947 + ], + [ + 47.22031737415841, + 581.4617381723249 + ], + [ + -370.85165160775125, + 37.613766947194335 + ], + [ + -909.6132931846748, + 175.81949784914647 + ], + [ + -897.513322909062, + 360.5958983140769 + ], + [ + -249.26781612830496, + 146.81282851316436 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 130.3573179595463, + "xmax": 94.7118914889196, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -376.36839553766265, + 924.1161715552748 + ], + [ + 16.915627501022527, + 848.3322554619594 + ], + [ + 94.7118914889196, + 562.7860409865664 + ], + [ + -207.20605375604566, + 609.0257519570189 + ], + [ + -1176.620083358632, + 509.6831420957238 + ], + [ + -428.4394812272153, + 417.94795899064286 + ], + [ + -170.92079798736415, + 130.3573179595463 + ], + [ + -647.5926145099745, + 171.63352766732663 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00038/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00038/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..14a355be363c61767db7f886a1d86a9d0c9536b3 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00038/meta.json @@ -0,0 +1,3311 @@ +{ + "frame_id": 38, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 19.0, + "sim_timestamp": 10156.015336470678 + }, + "drone_pose": { + "x": -129.0379269796218, + "y": -120.98185461174523, + "z": 20.009728465120265, + "pitch": -41.15069527090541, + "yaw": 42.103832221096674, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5586602687835693, + -0.5048561692237854, + 0.6580417156219482, + 119.99957275390625 + ], + [ + 0.6704762578010559, + 0.7419310212135315, + 1.4901161193847656e-08, + 3.2433319091796875 + ], + [ + -0.48822152614593506, + 0.4412013292312622, + 0.752981424331665, + -131.4434051513672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -128.39107721647605, + "y": -120.53225968390329, + "z": 19.986064935418323 + }, + "t1_image_uv": [ + 480.83394071658745, + -429.00254582301375 + ], + "t1_depth": 0.6039216363280782 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -112.66718292236328, + "y": -106.18776321411131, + "z": 0.726752210855484 + }, + "image_uv": [ + 639.9999999999999, + 359.99999999999994 + ], + "depth": 29.303576138286438, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 188, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -112.66718292236328, + "y": -106.18775939941406, + "z": 0.7267522215843201 + }, + "extent": { + "x": 0.1982763558626175, + "y": 0.23032225668430328, + "z": 0.5301376581192017 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 632.0026231256652, + "ymin": 342.28726127127396, + "xmax": 647.9204107364284, + "ymax": 377.4832427572829 + }, + "corners_3d": [ + [ + -112.64452362060547, + -106.4908218383789, + 0.1966145634651184 + ], + [ + -112.97024536132812, + -106.16510009765625, + 0.1966145634651184 + ], + [ + -112.6898422241211, + -105.88469696044922, + 0.1966145634651184 + ], + [ + -112.36412048339844, + -106.21041870117188, + 0.1966145634651184 + ], + [ + -112.64452362060547, + -106.4908218383789, + 1.256889820098877 + ], + [ + -112.97024536132812, + -106.16510009765625, + 1.256889820098877 + ], + [ + -112.6898422241211, + -105.88469696044922, + 1.256889820098877 + ], + [ + -112.36412048339844, + -106.21041870117188, + 1.256889820098877 + ] + ], + "corners_2d": [ + [ + 632.1916918586917, + 376.97466193450026 + ], + [ + 647.1609882753169, + 377.4832427572829 + ], + [ + 647.7349257262365, + 368.91061680267455 + ], + [ + 632.9150402746625, + 368.4121634287166 + ], + [ + 632.0026231256652, + 350.7867116290494 + ], + [ + 647.3344884654716, + 351.29167717476537 + ], + [ + 647.9204107364284, + 342.7819315417122 + ], + [ + 632.7452438499093, + 342.28726127127396 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 38, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 64, + "semantic_pixel_counts": { + "1": 367502, + "2": 236385, + "3": 254376, + "4": 13379, + "5": 450, + "6": 9728, + "7": 2210, + "10": 2363, + "12": 3572, + "14": 767, + "16": 8156, + "20": 4, + "21": 639, + "22": 2, + "24": 22067 + }, + "instance_pixel_counts": { + "1115": 5238, + "1445": 4, + "1627": 175, + "10370": 63, + "11394": 1647, + "13397": 192, + "13909": 107, + "14416": 146, + "14928": 304, + "16023": 1100, + "17232": 13379, + "18011": 68301, + "19784": 2, + "20631": 14108, + "23808": 2147, + "24064": 7725, + "27072": 5004, + "29843": 30262, + "30656": 87481, + "31168": 3553, + "31813": 64, + "31891": 163396, + "34120": 87195, + "34453": 3565, + "35419": 54, + "35931": 1863, + "36443": 174057, + "36501": 8411, + "37460": 356, + "44171": 1206, + "44179": 5108, + "44691": 129906, + "45203": 4287, + "46227": 34543, + "46731": 1632, + "46741": 168, + "47253": 8053, + "47765": 419, + "48267": 1645, + "48779": 873, + "48789": 1451, + "49664": 188, + "49803": 1847, + "49920": 404, + "50176": 407, + "50432": 920, + "50688": 1078, + "50944": 575, + "52480": 5, + "52672": 266, + "52736": 8151, + "53184": 2467, + "54016": 767, + "54720": 3214, + "55232": 9906, + "55744": 3877, + "55879": 8, + "56135": 158, + "56768": 7980, + "60013": 4503, + "61037": 185, + "62555": 1, + "63067": 339, + "64351": 3031 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 188, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -112.66718292236328, + "y": -106.18775939941406, + "z": 0.7267522215843201 + }, + "extent": { + "x": 0.247314453125, + "y": 0.2567724585533142, + "z": 0.5414516925811768 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 631.0262794600005, + "ymin": 340.9345192195607, + "xmax": 648.8653137179448, + "ymax": 378.8576013025439 + }, + "corners_3d": [ + [ + -112.66049194335938, + -106.54420471191406, + 0.1853005290031433 + ], + [ + -113.02362823486328, + -106.18106842041016, + 0.1853005290031433 + ], + [ + -112.67387390136719, + -105.83131408691406, + 0.1853005290031433 + ], + [ + -112.31073760986328, + -106.19445037841797, + 0.1853005290031433 + ], + [ + -112.66049194335938, + -106.54420471191406, + 1.2682039737701416 + ], + [ + -113.02362823486328, + -106.18106842041016, + 1.2682039737701416 + ], + [ + -112.67387390136719, + -105.83131408691406, + 1.2682039737701416 + ], + [ + -112.31073760986328, + -106.19445037841797, + 1.2682039737701416 + ] + ], + "corners_2d": [ + [ + 631.2431668590003, + 378.2891440991179 + ], + [ + 647.9485477876594, + 378.8576013025439 + ], + [ + 648.6535774002278, + 368.16312549944536 + ], + [ + 632.1558664167275, + 367.6087493852689 + ], + [ + 631.0262794600005, + 351.5345833372415 + ], + [ + 648.1455495277203, + 352.0989483603972 + ], + [ + 648.8653137179448, + 341.48456477412026 + ], + [ + 631.9640643003556, + 340.9345192195607 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 404, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -110.14054107666016, + "y": -104.35205841064453, + "z": 0.729999303817749 + }, + "extent": { + "x": 0.4805273413658142, + "y": 0.39030760526657104, + "z": 0.8982787728309631 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 615.708452637081, + "ymin": 266.13870848136094, + "xmax": 644.0393587426212, + "ymax": 329.334107051239 + }, + "corners_3d": [ + [ + -110.33097076416016, + -104.94110870361328, + -0.1682794690132141 + ], + [ + -110.75611877441406, + -104.28643035888672, + -0.1682794690132141 + ], + [ + -109.95011138916016, + -103.76300811767578, + -0.1682794690132141 + ], + [ + -109.52496337890625, + -104.41768646240234, + -0.1682794690132141 + ], + [ + -110.33097076416016, + -104.94110870361328, + 1.6282780170440674 + ], + [ + -110.75611877441406, + -104.28643035888672, + 1.6282780170440674 + ], + [ + -109.95011138916016, + -103.76300811767578, + 1.6282780170440674 + ], + [ + -109.52496337890625, + -104.41768646240234, + 1.6282780170440674 + ] + ], + "corners_2d": [ + [ + 620.652151877829, + 329.334107051239 + ], + [ + 643.8897548063975, + 326.9789964003531 + ], + [ + 639.3313323967485, + 309.33294090672143 + ], + [ + 616.5909444425903, + 311.5859058039448 + ], + [ + 619.9057555015315, + 285.773235789139 + ], + [ + 644.0393587426212, + 283.4593494726996 + ], + [ + 639.306199013396, + 266.13870848136094 + ], + [ + 615.708452637081, + 268.3485027002146 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 407, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -114.92300415039062, + "y": -99.24504852294922, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.4063720703125, + "y": 0.4198291003704071, + "z": 0.8737047910690308 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 823.7305206866467, + "ymin": 274.7699725801606, + "xmax": 861.553918707565, + "ymax": 332.6854574995987 + }, + "corners_3d": [ + [ + -114.974609375, + -99.82705688476562, + -0.298720121383667 + ], + [ + -115.50302124023438, + -99.17451477050781, + -0.298720121383667 + ], + [ + -114.87139892578125, + -98.66304016113281, + -0.298720121383667 + ], + [ + -114.34298706054688, + -99.31558227539062, + -0.298720121383667 + ], + [ + -114.974609375, + -99.82705688476562, + 1.4486894607543945 + ], + [ + -115.50302124023438, + -99.17451477050781, + 1.4486894607543945 + ], + [ + -114.87139892578125, + -98.66304016113281, + 1.4486894607543945 + ], + [ + -114.34298706054688, + -99.31558227539062, + 1.4486894607543945 + ] + ], + "corners_2d": [ + [ + 828.5744242693647, + 332.6854574995987 + ], + [ + 853.5764793927293, + 331.8152965669738 + ], + [ + 848.268231260168, + 316.5921591229548 + ], + [ + 823.7305206866467, + 317.4299335462196 + ], + [ + 835.6258371089702, + 290.58738953104023 + ], + [ + 861.553918707565, + 289.73154564590914 + ], + [ + 855.8959869948858, + 274.7699725801606 + ], + [ + 830.4669368407882, + 275.5928070292106 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 920, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -122.16718292236328, + "y": -106.18775939941406, + "z": 0.5749455690383911 + }, + "extent": { + "x": 0.40172362327575684, + "y": 0.4216259717941284, + "z": 0.881397545337677 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 869.2512280228266, + "ymin": 513.4875101105813, + "xmax": 920.1746705289914, + "ymax": 584.4167051808017 + }, + "corners_3d": [ + [ + -122.15310668945312, + -106.76995849609375, + -0.3064519762992859 + ], + [ + -122.74938201904297, + -106.1736831665039, + -0.3064519762992859 + ], + [ + -122.18125915527344, + -105.60556030273438, + -0.3064519762992859 + ], + [ + -121.5849838256836, + -106.20183563232422, + -0.3064519762992859 + ], + [ + -122.15310668945312, + -106.76995849609375, + 1.456343173980713 + ], + [ + -122.74938201904297, + -106.1736831665039, + 1.456343173980713 + ], + [ + -122.18125915527344, + -105.60556030273438, + 1.456343173980713 + ], + [ + -121.5849838256836, + -106.20183563232422, + 1.456343173980713 + ] + ], + "corners_2d": [ + [ + 873.3325567173831, + 583.0179731325381 + ], + [ + 906.8320354269044, + 584.4167051808017 + ], + [ + 901.9346111113811, + 558.6778606088134 + ], + [ + 869.2512280228266, + 557.3459789010074 + ], + [ + 884.9839746730888, + 539.3006868608825 + ], + [ + 920.1746705289914, + 540.7089015341337 + ], + [ + 914.6998766746997, + 514.8251855167413 + ], + [ + 880.408644992589, + 513.4875101105813 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 1078, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -116.28268432617188, + "y": -117.31512451171875, + "z": 0.5749797821044922 + }, + "extent": { + "x": 0.5484911799430847, + "y": 0.49013182520866394, + "z": 0.8710364103317261 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 345.17553417461426, + "ymin": 613.8322765469939, + "xmax": 417.344378961291, + "ymax": 704.5715364161706 + }, + "corners_3d": [ + [ + -116.24695587158203, + -118.04983520507812, + -0.2960566282272339 + ], + [ + -117.0087661743164, + -117.43292999267578, + -0.2960566282272339 + ], + [ + -116.31841278076172, + -116.58041381835938, + -0.2960566282272339 + ], + [ + -115.55660247802734, + -117.19731903076172, + -0.2960566282272339 + ], + [ + -116.24695587158203, + -118.04983520507812, + 1.4460161924362183 + ], + [ + -117.0087661743164, + -117.43292999267578, + 1.4460161924362183 + ], + [ + -116.31841278076172, + -116.58041381835938, + 1.4460161924362183 + ], + [ + -115.55660247802734, + -117.19731903076172, + 1.4460161924362183 + ] + ], + "corners_2d": [ + [ + 360.5462952314311, + 698.4275920648404 + ], + [ + 401.5923316254746, + 704.5715364161706 + ], + [ + 417.344378961291, + 662.0046362319555 + ], + [ + 377.68837142981374, + 656.2936249268223 + ], + [ + 345.17553417461426, + 656.6211345799602 + ], + [ + 388.40700863073175, + 662.874650843483 + ], + [ + 405.4966930532445, + 619.6222026755215 + ], + [ + 363.80412009392546, + 613.8322765469939 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 575, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -110.14055633544922, + "y": -108.02345275878906, + "z": 0.7300578951835632 + }, + "extent": { + "x": 0.4346581995487213, + "y": 0.4839111268520355, + "z": 0.9005895853042603 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 519.5354791930091, + "ymin": 312.5722555236647, + "xmax": 562.305940996158, + "ymax": 379.5486381749116 + }, + "corners_3d": [ + [ + -109.97144317626953, + -108.65154266357422, + -0.17053169012069702 + ], + [ + -110.78312683105469, + -108.12442779541016, + -0.17053169012069702 + ], + [ + -110.3096694946289, + -107.3953628540039, + -0.17053169012069702 + ], + [ + -109.49798583984375, + -107.92247772216797, + -0.17053169012069702 + ], + [ + -109.97144317626953, + -108.65154266357422, + 1.6306474208831787 + ], + [ + -110.78312683105469, + -108.12442779541016, + 1.6306474208831787 + ], + [ + -110.3096694946289, + -107.3953628540039, + 1.6306474208831787 + ], + [ + -109.49798583984375, + -107.92247772216797, + 1.6306474208831787 + ] + ], + "corners_2d": [ + [ + 524.2701877232814, + 374.2153632630343 + ], + [ + 553.5073904761325, + 379.5486381749116 + ], + [ + 562.305940996158, + 361.8020764444176 + ], + [ + 533.6158995130609, + 356.68635841365517 + ], + [ + 519.5354791930091, + 329.8551792911199 + ], + [ + 549.9457961474816, + 335.11934924970603 + ], + [ + 559.1754520741903, + 317.61315592223167 + ], + [ + 529.356542624732, + 312.5722555236647 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 5, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 456.63280190342624, + "ymin": 0.0, + "xmax": 670.6350933940754, + "ymax": 134.84589505461165 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 531.4723663514745, + 38.57621332499315 + ], + [ + 467.47563508025917, + 60.31442718721246 + ], + [ + 602.3845945322448, + 134.84589505461165 + ], + [ + 668.6672987319606, + 106.83972386169782 + ], + [ + 524.9430956661146, + -46.84995513061841 + ], + [ + 456.63280190342624, + -27.559236267539802 + ], + [ + 599.6702293874001, + 39.32932926735617 + ], + [ + 670.6350933940754, + 14.058053201674682 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 8151, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 652.9751323241846, + "ymin": 0.0, + "xmax": 865.8714407388964, + "ymax": 82.65469049477866 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 799.9197637755028, + 82.65469049477866 + ], + [ + 852.5406290539642, + 59.10984686298798 + ], + [ + 705.4027152675096, + 0.947734577595952 + ], + [ + 652.9751323241846, + 19.589378613915528 + ], + [ + 810.4178520157518, + -7.664344731376502 + ], + [ + 865.8714407388964, + -28.661956522022706 + ], + [ + 709.0367982973709, + -80.04101927818016 + ], + [ + 653.7257170665168, + -63.648937789379204 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 767, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 595.508644196754, + "ymin": 22.4678711598184, + "xmax": 701.2549900171337, + "ymax": 100.84588493217501 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 624.1222290035416, + 53.53388711329109 + ], + [ + 596.48971876473, + 63.81659210546536 + ], + [ + 671.8855420286392, + 100.84588493217501 + ], + [ + 699.8412743422261, + 89.12755237270164 + ], + [ + 623.7711477214953, + 22.4678711598184 + ], + [ + 595.508644196754, + 32.36900396482673 + ], + [ + 672.6547328738611, + 68.0943945663314 + ], + [ + 701.2549900171337, + 56.7767962312999 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 52908959695452696, + "instance_id": 6202, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": -79.05494689941406, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1114.5167600872828, + "ymin": 35.066999601219095, + "xmax": 1131.7953846514506, + "ymax": 59.19923796417879 + }, + "corners_3d": [ + [ + -113.29469299316406, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -78.86498260498047, + 3.5146729946136475 + ], + [ + -113.29469299316406, + -78.86498260498047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1114.5167600872828, + 57.17026241780775 + ], + [ + 1120.6728488569233, + 59.19923796417879 + ], + [ + 1124.9896496299784, + 56.70161613393799 + ], + [ + 1118.8458243578248, + 54.69139490610195 + ], + [ + 1121.181439293547, + 37.48824526947317 + ], + [ + 1127.4499014012674, + 39.47029086655425 + ], + [ + 1131.7953846514506, + 37.030468669727384 + ], + [ + 1125.5397751702876, + 35.066999601219095 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 899.4697330053123, + "ymin": 202.73555669375332, + "xmax": 922.7449564172628, + "ymax": 240.00793388885089 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 907.991361144959, + 240.00793388885089 + ], + [ + 916.4741137458861, + 234.67127062077736 + ], + [ + 907.9648364397378, + 230.42067949496828 + ], + [ + 899.4697330053123, + 235.69372369975864 + ], + [ + 914.1162970905892, + 212.15921172001566 + ], + [ + 922.7449564172628, + 206.91290597452448 + ], + [ + 914.0056585605528, + 202.73555669375332 + ], + [ + 905.3635146107192, + 207.91790959671908 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5668522571212290485, + "instance_id": 46457, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -89.45570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 994.5648470915769, + "ymin": 33.66276616488608, + "xmax": 1013.5562199434164, + "ymax": 62.87742814900179 + }, + "corners_3d": [ + [ + -113.19542694091797, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -89.26573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -89.26573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 994.5648470915769, + 60.423431185565335 + ], + [ + 1001.4198421523197, + 62.87742814900179 + ], + [ + 1007.3010207350039, + 59.84092708526066 + ], + [ + 1000.4577812191467, + 57.41429634270048 + ], + [ + 1000.6097864793712, + 36.58768185499349 + ], + [ + 1007.6101658645293, + 38.97340869775604 + ], + [ + 1013.5562199434164, + 36.021437352442206 + ], + [ + 1006.5683230755236, + 33.66276616488608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1090.2801556794723, + "ymin": 296.4529870049941, + "xmax": 1121.386679459095, + "ymax": 337.857994744056 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1101.2702159934847, + 337.857994744056 + ], + [ + 1109.269473409503, + 330.97681214652863 + ], + [ + 1098.3173398740018, + 325.5059578021988 + ], + [ + 1090.2801556794723, + 332.29410440422083 + ], + [ + 1113.2846980638649, + 308.66904252648226 + ], + [ + 1121.386679459095, + 301.86242669570424 + ], + [ + 1110.0697587849497, + 296.4529870049941 + ], + [ + 1101.9264297520251, + 303.16521319850443 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7157878223548397302, + "instance_id": 63030, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -86.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1032.169504998179, + "ymin": 15.2138073661298, + "xmax": 1051.051811110001, + "ymax": 43.502165760143725 + }, + "corners_3d": [ + [ + -113.19542694091797, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -86.76573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -86.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1032.169504998179, + 41.220164114129545 + ], + [ + 1038.9443454466987, + 43.502165760143725 + ], + [ + 1044.4135462860227, + 40.6783778901451 + ], + [ + 1037.6514035248003, + 38.42092375775957 + ], + [ + 1038.6136114006047, + 17.931421175361606 + ], + [ + 1045.5290086971222, + 20.1472347163471 + ], + [ + 1051.051811110001, + 17.40539606486783 + ], + [ + 1044.149851081314, + 15.2138073661298 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7631990878982166785, + "instance_id": 473, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": -83.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1073.9056220496668, + "ymin": 0.0, + "xmax": 1092.6171416442746, + "ymax": 22.00572679988983 + }, + "corners_3d": [ + [ + -113.1954345703125, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47261047363281, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.19544219970703, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47261047363281, + -83.76573944091797, + 6.416468620300293 + ], + [ + -113.19544219970703, + -83.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1073.9056220496668, + 19.907269062879664 + ], + [ + 1080.5772755287367, + 22.00572679988983 + ], + [ + 1085.6068077524378, + 19.40894848688714 + ], + [ + 1078.9486339401622, + 17.33214424344618 + ], + [ + 1080.738804738306, + -2.747891753806016 + ], + [ + 1087.5451710211294, + -0.7130512963067304 + ], + [ + 1092.6171416442746, + -3.2310655293965738 + ], + [ + 1085.824992849573, + -5.244580183183132 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 758.4116495861728, + "ymin": 219.22943676132368, + "xmax": 775.5454832036862, + "ymax": 250.58161725132265 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 764.9300526544697, + 250.58161725132265 + ], + [ + 773.0068552517181, + 245.99925177228724 + ], + [ + 766.4882199775087, + 242.32206987669787 + ], + [ + 758.4116495861728, + 246.85792182020245 + ], + [ + 767.3298846226216, + 227.37812637306362 + ], + [ + 775.5454832036862, + 222.85682668734387 + ], + [ + 768.8899523128921, + 219.22943676132368 + ], + [ + 760.6744350168393, + 223.70397081420197 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 997.5233910903826, + "ymin": 250.84777522948488, + "xmax": 1024.6804395073377, + "ymax": 290.2713966434034 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1007.2740849418269, + 290.2713966434034 + ], + [ + 1015.5571095962905, + 284.16563867668856 + ], + [ + 1005.8305829409626, + 279.3070018737474 + ], + [ + 997.5233910903826, + 285.33495233073666 + ], + [ + 1016.2693313068379, + 261.6591143988496 + ], + [ + 1024.6804395073377, + 255.63765754532096 + ], + [ + 1014.6596810207619, + 250.84777522948488 + ], + [ + 1006.2222636211256, + 256.7906454741027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 934.9318256590848, + "ymin": 0.0, + "xmax": 1170.2454872487206, + "ymax": 206.76216220506072 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1102.0676772534675, + 111.17935076067522 + ], + [ + 1093.1317335363692, + 107.87062905190464 + ], + [ + 934.9318256590848, + 202.29888768050267 + ], + [ + 944.2786462388419, + 206.76216220506072 + ], + [ + 1170.2454872487206, + -87.61775620844935 + ], + [ + 1159.5612358480662, + -90.13354420738676 + ], + [ + 986.3392086445185, + -16.661113030165893 + ], + [ + 997.7237061940901, + -13.1003750859781 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 932.359138953267, + "ymin": 0.0, + "xmax": 1231.2987988866353, + "ymax": 139.72663176906843 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 1011.4678116131305, + 139.72663176906843 + ], + [ + 1121.9339914156808, + 73.96958188283025 + ], + [ + 1045.6866336806158, + 48.16953522079223 + ], + [ + 932.359138953267, + 107.60339622651071 + ], + [ + 1108.4057723734252, + -204.42079989564422 + ], + [ + 1231.2987988866353, + -240.2216988991487 + ], + [ + 1132.5334221913786, + -253.74603823061466 + ], + [ + 1003.7246822088345, + -222.15483462483087 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 820.0598059612984, + "ymin": 176.5072396540226, + "xmax": 841.354470681551, + "ymax": 190.97966440175082 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 827.7383884581993, + 180.3601565891633 + ], + [ + 820.0598059612984, + 184.49944899538826 + ], + [ + 833.072309609533, + 190.97966440175082 + ], + [ + 840.7434463793436, + 186.75937455756264 + ], + [ + 828.3043183491789, + 176.5072396540226 + ], + [ + 820.6060070754531, + 180.63482584690115 + ], + [ + 833.66372140435, + 187.0970285043744 + ], + [ + 841.354470681551, + 182.88842611415393 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7664114084626016696, + "instance_id": 47273, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.91487884521484, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 764.3989025408208, + "ymin": 0.0, + "xmax": 830.7806203538687, + "ymax": 5.050344568658602 + }, + "corners_3d": [ + [ + -95.94330596923828, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -79.87950897216797, + 4.83804988861084 + ], + [ + -95.94330596923828, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 792.4423999325095, + 5.050344568658602 + ], + [ + 819.7788035116954, + -5.464155692348697 + ], + [ + 791.7565712263731, + -15.425965934322221 + ], + [ + 764.3989025408208, + -5.353944797061786 + ], + [ + 801.9914635839905, + -85.99474376777431 + ], + [ + 830.7806203538687, + -95.05381288021806 + ], + [ + 800.8364501082804, + -103.61401113625436 + ], + [ + 772.0135488373206, + -94.95898521182085 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 495.19735889937783, + "ymin": 0.0, + "xmax": 584.3745379333022, + "ymax": 111.41213254185456 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 512.328343829701, + 108.05325478316064 + ], + [ + 518.1903711128831, + 111.41213254185456 + ], + [ + 584.3745379333022, + 85.91777388800455 + ], + [ + 578.4038974783474, + 82.84197398109433 + ], + [ + 495.19735889937783, + -73.15039318202304 + ], + [ + 501.7398000349916, + -70.51476812374949 + ], + [ + 577.228322288678, + -90.41882638119017 + ], + [ + 570.5392223198355, + -92.8045848274354 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 820.1729415746826, + "ymin": 176.58363763719092, + "xmax": 841.2407914633001, + "ymax": 190.90216298345757 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 827.7697774954794, + 180.39572938115873 + ], + [ + 820.1729415746826, + 184.4912807342535 + ], + [ + 833.0470588123376, + 190.90216298345757 + ], + [ + 840.636608513365, + 186.72732801195193 + ], + [ + 828.3298200451225, + 176.58363763719092 + ], + [ + 820.713673743094, + 180.66773077504902 + ], + [ + 833.6320439640729, + 187.0609810022989 + ], + [ + 841.2407914633001, + 182.89758607903363 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 708.5964616183152, + "ymin": 122.80678933830458, + "xmax": 847.3934349013323, + "ymax": 413.02785107756796 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 718.276613709625, + 344.4627026310097 + ], + [ + 708.5964616183152, + 350.44444333734714 + ], + [ + 800.7093506099545, + 413.02785107756796 + ], + [ + 810.4001989997919, + 406.11309935342393 + ], + [ + 733.8509533203704, + 122.80678933830458 + ], + [ + 722.3638330303769, + 128.05567939319727 + ], + [ + 835.9310580668623, + 183.89685829785694 + ], + [ + 847.3934349013323, + 177.64279843276552 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 521.6265728268122, + "xmax": 120.71706162221881, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 54.68064915200682, + 754.5243376459264 + ], + [ + 32.879551307988436, + 767.996079947732 + ], + [ + 97.15139622572974, + 915.0405111059059 + ], + [ + 120.71706162221881, + 898.225602970323 + ], + [ + -138.96039899425318, + 521.6265728268122 + ], + [ + -170.90392836290346, + 536.2227526689733 + ], + [ + -114.94053775453631, + 702.707919054354 + ], + [ + -78.78026820398611, + 682.9782858576068 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 742.5860731057569, + "ymin": 70.63052104045022, + "xmax": 1203.6415266005447, + "ymax": 526.3037517878222 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 751.4969814085986, + 308.85489875576053 + ], + [ + 742.5860731057569, + 314.15409178772273 + ], + [ + 1072.750786316767, + 526.3037517878222 + ], + [ + 1081.234028262565, + 517.8056223697289 + ], + [ + 774.6007911440122, + 70.63052104045022 + ], + [ + 764.0162684148667, + 75.09956515254993 + ], + [ + 1194.1154572783726, + 264.86850810088976 + ], + [ + 1203.6415266005447, + 256.8360240906094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 5199819733356185808, + "instance_id": 53256, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1851_37", + "bbox_3d": { + "center_world": { + "x": -100.25784301757812, + "y": -72.39555358886719, + "z": 8.309331893920898 + }, + "extent": { + "x": 4.9728498458862305, + "y": 4.831793308258057, + "z": 8.307754516601562 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 817.3389442611403, + "ymin": 0.0, + "xmax": 1164.3324125622644, + "ymax": 46.028181071041445 + }, + "corners_3d": [ + [ + -94.59623718261719, + -68.39283752441406, + 0.0015773773193359375 + ], + [ + -96.09391784667969, + -77.93966674804688, + 0.0015773773193359375 + ], + [ + -105.91944885253906, + -76.39826965332031, + 0.0015773773193359375 + ], + [ + -104.42176818847656, + -66.8514404296875, + 0.0015773773193359375 + ], + [ + -94.59623718261719, + -68.39283752441406, + 16.61708641052246 + ], + [ + -96.09391784667969, + -77.93966674804688, + 16.61708641052246 + ], + [ + -105.91944885253906, + -76.39826965332031, + 16.61708641052246 + ], + [ + -104.42176818847656, + -66.8514404296875, + 16.61708641052246 + ] + ], + "corners_2d": [ + [ + 899.307761779885, + -46.28874487747862 + ], + [ + 817.3389442611403, + -0.3723281256008022 + ], + [ + 987.2832993726624, + 46.028181071041445 + ], + [ + 1058.6498499092731, + -8.714140423803258 + ], + [ + 958.3452605006645, + -388.8903808950365 + ], + [ + 863.104867724009, + -376.86533144055386 + ], + [ + 1088.1191120657759, + -364.09305456426284 + ], + [ + 1164.3324125622644, + -379.0940343961015 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 50.94928138725055, + "xmax": 35.142499201230294, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -86.006096833534, + 466.5506474948772 + ], + [ + -395.8553759948795, + 633.2253564040232 + ], + [ + -302.9933463417742, + 824.6067580025166 + ], + [ + 35.142499201230294, + 601.3913420479914 + ], + [ + -390.18249470063165, + 50.94928138725055 + ], + [ + -947.0652567293992, + 194.0691308479231 + ], + [ + -950.4191520294535, + 389.3946407472643 + ], + [ + -272.8171589509228, + 164.99689723838915 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 147.91901371951298, + "xmax": 83.65520707897747, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -403.41266323922423, + 956.3672121581436 + ], + [ + -0.8521482502527533, + 878.7582494166365 + ], + [ + 83.65520707897747, + 582.2348841684667 + ], + [ + -223.3777283459276, + 629.0614946982555 + ], + [ + -1251.0112142907576, + 548.4640470301504 + ], + [ + -472.5697031597474, + 452.01901262120475 + ], + [ + -192.09235867520647, + 147.91901371951298 + ], + [ + -680.1769668299899, + 190.21626512009254 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00039/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00039/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6c40b36f8aba8792d1819195c96841c6210fdb5d --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00039/meta.json @@ -0,0 +1,3305 @@ +{ + "frame_id": 39, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 19.5, + "sim_timestamp": 10167.636470200494 + }, + "drone_pose": { + "x": -128.39107721647605, + "y": -120.53225968390329, + "z": 19.986064935418323, + "pitch": -41.212317816737006, + "yaw": 42.45780836067514, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5550081729888916, + -0.5078199505805969, + 0.6588512063026428, + 119.29893493652344 + ], + [ + 0.6750470995903015, + 0.7377746105194092, + -1.4901161193847656e-08, + 2.2556076049804688 + ], + [ + -0.4860836863517761, + 0.44475555419921875, + 0.7522733211517334, + -131.0511932373047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -128.02828017165496, + "y": -119.743973692489, + "z": 19.975735888431785 + }, + "t1_image_uv": [ + 1171.179048341023, + -459.1181197209613 + ], + "t1_depth": 0.6084679339220362 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -112.16718292236328, + "y": -105.68776321411131, + "z": 0.7266496759653092 + }, + "image_uv": [ + 640.0, + 360.0000000000001 + ], + "depth": 29.231813109081394, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 189, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -112.16718292236328, + "y": -105.68775939941406, + "z": 0.7266497015953064 + }, + "extent": { + "x": 0.19979003071784973, + "y": 0.22127440571784973, + "z": 0.5307754278182983 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 632.3200215401147, + "ymin": 342.2391514548345, + "xmax": 647.604612807687, + "ymax": 377.528744281871 + }, + "corners_3d": [ + [ + -112.15199279785156, + -105.9854965209961, + 0.19587427377700806 + ], + [ + -112.46492004394531, + -105.67256927490234, + 0.19587427377700806 + ], + [ + -112.182373046875, + -105.39002227783203, + 0.19587427377700806 + ], + [ + -111.86944580078125, + -105.70294952392578, + 0.19587427377700806 + ], + [ + -112.15199279785156, + -105.9854965209961, + 1.25742506980896 + ], + [ + -112.46492004394531, + -105.67256927490234, + 1.25742506980896 + ], + [ + -112.182373046875, + -105.39002227783203, + 1.25742506980896 + ], + [ + -111.86944580078125, + -105.70294952392578, + 1.25742506980896 + ] + ], + "corners_2d": [ + [ + 632.5024819927567, + 377.09821581214555 + ], + [ + 646.9232103684458, + 377.528744281871 + ], + [ + 647.4256784083956, + 368.8574005383541 + ], + [ + 633.150318120146, + 368.43552508522635 + ], + [ + 632.3200215401147, + 350.8389311924058 + ], + [ + 647.0917810177715, + 351.26644329015164 + ], + [ + 647.604612807687, + 342.6578652410719 + ], + [ + 632.9853472699907, + 342.2391514548345 + ] + ], + "center_offset_px": [ + 0.0, + 1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 39, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 58, + "semantic_pixel_counts": { + "1": 354808, + "2": 234612, + "3": 266626, + "4": 14182, + "5": 142, + "6": 10166, + "7": 2321, + "10": 2770, + "12": 3473, + "14": 703, + "16": 9106, + "20": 18, + "21": 781, + "22": 2, + "24": 21890 + }, + "instance_pixel_counts": { + "1115": 5386, + "1445": 18, + "1627": 227, + "11394": 1712, + "13397": 192, + "13909": 120, + "14416": 142, + "16023": 1149, + "17232": 14182, + "18011": 73637, + "19784": 2, + "20631": 13696, + "23808": 2319, + "24064": 8055, + "27072": 5277, + "29843": 30930, + "30656": 84292, + "31168": 3713, + "31891": 146817, + "34120": 87615, + "34453": 3633, + "35931": 919, + "36443": 183805, + "36501": 7736, + "37460": 401, + "44171": 1329, + "44179": 5195, + "44691": 131703, + "45203": 4070, + "46227": 36093, + "46731": 1695, + "46741": 174, + "47253": 8400, + "47765": 400, + "48267": 1647, + "48779": 925, + "48789": 1547, + "49664": 189, + "49803": 1907, + "49920": 428, + "50176": 402, + "50432": 913, + "50688": 959, + "50944": 582, + "52672": 263, + "52736": 9106, + "53184": 2592, + "54016": 703, + "54720": 3315, + "55232": 10196, + "55744": 4046, + "55879": 8, + "56135": 212, + "56768": 8235, + "60013": 2652, + "62555": 20, + "63067": 449, + "64351": 2720 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 189, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -112.16718292236328, + "y": -105.68775939941406, + "z": 0.7266497015953064 + }, + "extent": { + "x": 0.2460302710533142, + "y": 0.2561376988887787, + "z": 0.5310973525047302 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 631.0774942533026, + "ymin": 341.2144435763856, + "xmax": 648.8143914135561, + "ymax": 378.58540951205094 + }, + "corners_3d": [ + [ + -112.1600341796875, + -106.0428466796875, + 0.19555234909057617 + ], + [ + -112.52227020263672, + -105.68061065673828, + 0.19555234909057617 + ], + [ + -112.17433166503906, + -105.33267211914062, + 0.19555234909057617 + ], + [ + -111.81209564208984, + -105.69490814208984, + 0.19555234909057617 + ], + [ + -112.1600341796875, + -106.0428466796875, + 1.2577470541000366 + ], + [ + -112.52227020263672, + -105.68061065673828, + 1.2577470541000366 + ], + [ + -112.17433166503906, + -105.33267211914062, + 1.2577470541000366 + ], + [ + -111.81209564208984, + -105.69490814208984, + 1.2577470541000366 + ] + ], + "corners_2d": [ + [ + 631.2898439131772, + 378.0858616541276 + ], + [ + 648.0024583547292, + 378.58540951205094 + ], + [ + 648.6071011647894, + 367.90620195362214 + ], + [ + 632.101705320097, + 367.4189890325758 + ], + [ + 631.0774942533026, + 351.8037900180762 + ], + [ + 648.1976709076039, + 352.2998643841119 + ], + [ + 648.8143914135561, + 341.69797574369426 + ], + [ + 631.9115975345433, + 341.2144435763856 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 428, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -110.14054107666016, + "y": -104.21533203125, + "z": 0.7299944162368774 + }, + "extent": { + "x": 0.4943945109844208, + "y": 0.3875048756599426, + "z": 0.889061689376831 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 616.7984636541595, + "ymin": 276.98995726210154, + "xmax": 645.7771562950843, + "ymax": 341.26138655326315 + }, + "corners_3d": [ + [ + -110.34412384033203, + -104.80958557128906, + -0.1590672731399536 + ], + [ + -110.76622772216797, + -104.15960693359375, + -0.1590672731399536 + ], + [ + -109.93695831298828, + -103.62107849121094, + -0.1590672731399536 + ], + [ + -109.51485443115234, + -104.27105712890625, + -0.1590672731399536 + ], + [ + -110.34412384033203, + -104.80958557128906, + 1.6190561056137085 + ], + [ + -110.76622772216797, + -104.15960693359375, + 1.6190561056137085 + ], + [ + -109.93695831298828, + -103.62107849121094, + 1.6190561056137085 + ], + [ + -109.51485443115234, + -104.27105712890625, + 1.6190561056137085 + ] + ], + "corners_2d": [ + [ + 622.1110552521144, + 341.26138655326315 + ], + [ + 645.5613999730093, + 338.7508620314854 + ], + [ + 640.5753806701008, + 320.0199403289355 + ], + [ + 617.6476888128828, + 322.41684922430295 + ], + [ + 621.4148390796468, + 297.8722928265559 + ], + [ + 645.7771562950843, + 295.4020231325025 + ], + [ + 640.5971732419022, + 276.98995726210154 + ], + [ + 616.7984636541595, + 279.344243265332 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 402, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -114.42300415039062, + "y": -98.74504852294922, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.31214356422424316, + "y": 0.40711912512779236, + "z": 0.8685102462768555 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 824.3256084636573, + "ymin": 275.55499238092796, + "xmax": 860.2448600603461, + "ymax": 329.85734354953865 + }, + "corners_3d": [ + [ + -114.40937805175781, + -99.25788116455078, + -0.29351097345352173 + ], + [ + -114.92179107666016, + -98.6250991821289, + -0.29351097345352173 + ], + [ + -114.43663024902344, + -98.23221588134766, + -0.29351097345352173 + ], + [ + -113.9242172241211, + -98.86499786376953, + -0.29351097345352173 + ], + [ + -114.40937805175781, + -99.25788116455078, + 1.443509578704834 + ], + [ + -114.92179107666016, + -98.6250991821289, + 1.443509578704834 + ], + [ + -114.43663024902344, + -98.23221588134766, + 1.443509578704834 + ], + [ + -113.9242172241211, + -98.86499786376953, + 1.443509578704834 + ] + ], + "corners_2d": [ + [ + 828.1643173801042, + 329.85734354953865 + ], + [ + 852.3586470579837, + 328.9202916018228 + ], + [ + 848.1745823989991, + 317.21606154698424 + ], + [ + 824.3256084636573, + 318.12620389983795 + ], + [ + 835.1604300930595, + 287.981786285898 + ], + [ + 860.2448600603461, + 287.06013907613675 + ], + [ + 855.7895778337065, + 275.55499238092796 + ], + [ + 831.0761837607533, + 276.44921095367374 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 913, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -121.66718292236328, + "y": -105.68775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.39620116353034973, + "y": 0.454414039850235, + "z": 0.8633132576942444 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 870.0437790300243, + "ymin": 513.5939677054412, + "xmax": 923.6969499359877, + "ymax": 583.2849506168948 + }, + "corners_3d": [ + [ + -121.62602233886719, + -106.28923797607422, + -0.2883285880088806 + ], + [ + -122.26866149902344, + -105.64659881591797, + -0.2883285880088806 + ], + [ + -121.70834350585938, + -105.0862808227539, + -0.2883285880088806 + ], + [ + -121.06570434570312, + -105.72891998291016, + -0.2883285880088806 + ], + [ + -121.62602233886719, + -106.28923797607422, + 1.438297986984253 + ], + [ + -122.26866149902344, + -105.64659881591797, + 1.438297986984253 + ], + [ + -121.70834350585938, + -105.0862808227539, + 1.438297986984253 + ], + [ + -121.06570434570312, + -105.72891998291016, + 1.438297986984253 + ] + ], + "corners_2d": [ + [ + 874.2850223422238, + 581.959531066183 + ], + [ + 910.424058250645, + 583.2849506168948 + ], + [ + 905.3136976333201, + 557.8469633818521 + ], + [ + 870.0437790300243, + 556.5841207441347 + ], + [ + 885.769120527502, + 539.110074228644 + ], + [ + 923.6969499359877, + 540.4444841480043 + ], + [ + 918.0095561448329, + 514.8624015800083 + ], + [ + 881.0378682694407, + 513.5939677054412 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 959, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -115.78268432617188, + "y": -116.81512451171875, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.45674803853034973, + "y": 0.4477197229862213, + "z": 0.8617230653762817 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 350.41464080961333, + "ymin": 620.395732141405, + "xmax": 415.9655488969009, + "ymax": 703.1091086200515 + }, + "corners_3d": [ + [ + -115.72218322753906, + -117.45184326171875, + -0.28673356771469116 + ], + [ + -116.4180679321289, + -116.8883285522461, + -0.28673356771469116 + ], + [ + -115.84318542480469, + -116.17840576171875, + -0.28673356771469116 + ], + [ + -115.14730072021484, + -116.7419204711914, + -0.28673356771469116 + ], + [ + -115.72218322753906, + -117.45184326171875, + 1.4367125034332275 + ], + [ + -116.4180679321289, + -116.8883285522461, + 1.4367125034332275 + ], + [ + -115.84318542480469, + -116.17840576171875, + 1.4367125034332275 + ], + [ + -115.14730072021484, + -116.7419204711914, + 1.4367125034332275 + ] + ], + "corners_2d": [ + [ + 365.3935351984124, + 697.7130081508449 + ], + [ + 403.03734805940206, + 703.1091086200515 + ], + [ + 415.9655488969009, + 667.4021979759261 + ], + [ + 379.39492219905344, + 662.3259909411627 + ], + [ + 350.41464080961333, + 656.3441638012325 + ], + [ + 390.049374410753, + 661.836223463067 + ], + [ + 404.0761812586949, + 625.5452486546192 + ], + [ + 365.62914829631666, + 620.395732141405 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 582, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -110.14055633544922, + "y": -107.16019439697266, + "z": 0.7300383448600769 + }, + "extent": { + "x": 0.4351220726966858, + "y": 0.4911425709724426, + "z": 0.9217581748962402 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 538.6110853865234, + "ymin": 314.7910297998493, + "xmax": 581.0297704879854, + "ymax": 383.1710235435804 + }, + "corners_3d": [ + [ + -109.96563720703125, + -107.79261779785156, + -0.19171983003616333 + ], + [ + -110.78944396972656, + -107.25762176513672, + -0.19171983003616333 + ], + [ + -110.31547546386719, + -106.52777099609375, + -0.19171983003616333 + ], + [ + -109.49166870117188, + -107.0627670288086, + -0.19171983003616333 + ], + [ + -109.96563720703125, + -107.79261779785156, + 1.651796579360962 + ], + [ + -110.78944396972656, + -107.25762176513672, + 1.651796579360962 + ], + [ + -110.31547546386719, + -106.52777099609375, + 1.651796579360962 + ], + [ + -109.49166870117188, + -107.0627670288086, + 1.651796579360962 + ] + ], + "corners_2d": [ + [ + 542.7173811961427, + 377.8260255041302 + ], + [ + 572.7376025491513, + 383.1710235435804 + ], + [ + 581.0297704879854, + 365.18440587544814 + ], + [ + 551.5805140095698, + 360.0589860022859 + ], + [ + 538.6110853865234, + 332.31112417873646 + ], + [ + 569.8800340983939, + 337.5878219836249 + ], + [ + 578.5788109338414, + 319.8420720686868 + ], + [ + 547.9287498868208, + 314.7910297998493 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 9106, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 649.205457766352, + "ymin": 0.0, + "xmax": 864.9747064057995, + "ymax": 87.9886581658879 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 798.5744394204812, + 87.9886581658879 + ], + [ + 851.5185078716441, + 63.71106513136874 + ], + [ + 702.081398360046, + 4.561593399007279 + ], + [ + 649.205457766352, + 23.758036791303425 + ], + [ + 809.1422665432469, + -3.1875336416626396 + ], + [ + 864.9747064057995, + -24.870211496742115 + ], + [ + 705.5776391112289, + -77.18608562669351 + ], + [ + 649.745589944792, + -60.28631488483285 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 703, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 591.2350078884479, + "ymin": 27.247205655098412, + "xmax": 698.6615481427701, + "ymax": 107.0254518945637 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 620.2568668903275, + 58.60459126937775 + ], + [ + 592.326248620517, + 69.22390928572105 + ], + [ + 669.0580584409408, + 107.0254518945637 + ], + [ + 697.2875357981509, + 94.91243075720217 + ], + [ + 619.8138725295869, + 27.247205655098412 + ], + [ + 591.2350078884479, + 37.478108174643864 + ], + [ + 669.7700246501237, + 73.97051488025312 + ], + [ + 698.6615481427701, + 62.264474815058406 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 52908959695452696, + "instance_id": 6202, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": -79.05494689941406, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1117.2920311903185, + "ymin": 39.632910276733696, + "xmax": 1134.8070713387629, + "ymax": 64.05783986592473 + }, + "corners_3d": [ + [ + -113.29469299316406, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -78.86498260498047, + 3.5146729946136475 + ], + [ + -113.29469299316406, + -78.86498260498047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1117.2920311903185, + 61.99094139506724 + ], + [ + 1123.5559699190676, + 64.05783986592473 + ], + [ + 1127.8637893965438, + 61.481923164039245 + ], + [ + 1121.6130886590595, + 59.43448574214261 + ], + [ + 1124.091322980919, + 42.130742408939795 + ], + [ + 1130.4711019380052, + 44.15048873799225 + ], + [ + 1134.8070713387629, + 41.63337003545905 + ], + [ + 1128.4411636040834, + 39.632910276733696 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 904.2813614270908, + "ymin": 216.10096731281172, + "xmax": 928.173615275971, + "ymax": 254.1137353662292 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 913.0653962006281, + 254.1137353662292 + ], + [ + 921.629586255823, + 248.50255046057003 + ], + [ + 912.8603947056215, + 244.08980094303632 + ], + [ + 904.2813614270908, + 249.63302890313986 + ], + [ + 919.460387778807, + 225.96354481467733 + ], + [ + 928.173615275971, + 220.44190785242833 + ], + [ + 919.1614105868651, + 216.10096731281172 + ], + [ + 910.4320226392413, + 221.55418636115442 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5668522571212290485, + "instance_id": 46457, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -89.45570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 997.6395112431726, + "ymin": 39.990407932474, + "xmax": 1016.9744627753544, + "ymax": 69.65642779154712 + }, + "corners_3d": [ + [ + -113.19542694091797, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -89.26573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -89.26573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 997.6395112431726, + 67.13881343345037 + ], + [ + 1004.6479173507931, + 69.65642779154712 + ], + [ + 1010.5502645343081, + 66.50255705132628 + ], + [ + 1003.554989811807, + 64.01364542683189 + ], + [ + 1003.8472103458018, + 43.02962158616032 + ], + [ + 1011.0068539084559, + 45.47842939130453 + ], + [ + 1016.9744627753544, + 42.41081595974174 + ], + [ + 1009.8287527846803, + 39.990407932474 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1101.376744999621, + "ymin": 313.69891402622295, + "xmax": 1133.5084359125478, + "ymax": 355.97424588551 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1112.7549570722836, + 355.97424588551 + ], + [ + 1120.7616846594253, + 348.7074692816083 + ], + [ + 1109.4265487823527, + 343.00351265489473 + ], + [ + 1101.376744999621, + 350.17026153581276 + ], + [ + 1125.402167106943, + 326.5428889148027 + ], + [ + 1133.5084359125478, + 319.34581598792687 + ], + [ + 1121.7849248485861, + 313.69891402622295 + ], + [ + 1113.631675932646, + 320.7943082032171 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7157878223548397302, + "instance_id": 63030, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -86.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1035.3625253391847, + "ymin": 20.838633124956402, + "xmax": 1054.5701599879194, + "ymax": 49.545933635651124 + }, + "corners_3d": [ + [ + -113.19542694091797, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -86.76573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -86.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1035.3625253391847, + 47.20853251839088 + ], + [ + 1042.2818751719774, + 49.545933635651124 + ], + [ + 1047.7619695225521, + 46.61769629073217 + ], + [ + 1040.8566373151052, + 44.30597989668007 + ], + [ + 1041.9712074946865, + 23.657813261129718 + ], + [ + 1049.0364861033936, + 25.928451862461543 + ], + [ + 1054.5701599879194, + 23.083906126371858 + ], + [ + 1047.5197088095126, + 20.838633124956402 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7631990878982166785, + "instance_id": 473, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": -83.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1077.1593492832048, + "ymin": 0.0, + "xmax": 1096.1743860784113, + "ymax": 27.271659517743842 + }, + "corners_3d": [ + [ + -113.1954345703125, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47261047363281, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.19544219970703, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47261047363281, + -83.76573944091797, + 6.416468620300293 + ], + [ + -113.19544219970703, + -83.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1077.1593492832048, + 25.12608428371857 + ], + [ + 1083.9653416132826, + 27.271659517743842 + ], + [ + 1088.9959418230858, + 24.583611010014238 + ], + [ + 1082.2046749700974, + 22.460632259754675 + ], + [ + 1084.1561753021097, + 2.222672427459031 + ], + [ + 1091.1017191974597, + 4.3040402570607625 + ], + [ + 1096.1743860784113, + 1.6964776869583034 + ], + [ + 1089.2443695068068, + -0.36262110022767047 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 759.0892790761857, + "ymin": 230.98556288872643, + "xmax": 776.5627357210658, + "ymax": 262.8763595981428 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 765.7771969697565, + 262.8763595981428 + ], + [ + 773.9516730857616, + 258.0857277924435 + ], + [ + 767.2646199036903, + 254.28970440265644 + ], + [ + 759.0892790761857, + 259.03107974292243 + ], + [ + 768.2451263098953, + 239.46313418150152 + ], + [ + 776.5627357210658, + 234.73288835807662 + ], + [ + 769.7323425503199, + 230.98556288872643 + ], + [ + 761.4136634829707, + 235.66622943891292 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1005.457594169208, + "ymin": 266.150275002523, + "xmax": 1033.4263413761205, + "ymax": 306.3811835476919 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1015.5311761244201, + 306.3811835476919 + ], + [ + 1023.8619411661581, + 299.9469478402296 + ], + [ + 1013.8162265680187, + 294.89183848465825 + ], + [ + 1005.457594169208, + 301.2426834236763 + ], + [ + 1024.9670551916536, + 277.49189005418293 + ], + [ + 1033.4263413761205, + 271.1393610722386 + ], + [ + 1023.0685250315973, + 266.150275002523 + ], + [ + 1014.578916748834, + 272.4184326395645 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 936.9227824491811, + "ymin": 0.0, + "xmax": 1174.0775027613313, + "ymax": 215.15475522496686 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1104.4872473300634, + 116.38105401154792 + ], + [ + 1095.4016985382032, + 113.01419922915304 + ], + [ + 936.9227824491811, + 210.58625724387272 + ], + [ + 946.4639123954105, + 215.15475522496686 + ], + [ + 1174.0775027613313, + -84.34141199765952 + ], + [ + 1163.1887999631126, + -86.90928195368855 + ], + [ + 989.6727976915968, + -10.690510628502068 + ], + [ + 1001.3331446713753, + -7.028036358195777 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 269.2894498528575, + "ymin": 0.0, + "xmax": 370.6726232035104, + "ymax": 0.870150480541497 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 305.1618089442674, + -1.3538714197023864 + ], + [ + 309.025067821025, + 0.870150480541497 + ], + [ + 370.6726232035104, + -16.336033977043883 + ], + [ + 366.6722245740773, + -18.40433632940676 + ], + [ + 269.2894498528575, + -157.49841071657647 + ], + [ + 273.38439121401984, + -155.83723848692296 + ], + [ + 342.8136214989074, + -168.64604356960922 + ], + [ + 338.5382912399938, + -170.17914401113057 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 932.9791013743245, + "ymin": 0.0, + "xmax": 1235.4426221453855, + "ymax": 146.04392784418965 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 1013.5130737433626, + 146.04392784418965 + ], + [ + 1123.926174389257, + 78.27109580028616 + ], + [ + 1046.516327750836, + 52.067873070724374 + ], + [ + 932.9791013743245, + 113.28860012194633 + ], + [ + 1112.7937441684555, + -202.17838862823612 + ], + [ + 1235.4426221453855, + -239.24265834990945 + ], + [ + 1134.849522889036, + -253.02375473847337 + ], + [ + 1005.7731502511986, + -220.3542975114293 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 823.6479755518178, + "ymin": 190.53459611035328, + "xmax": 845.515816204211, + "ymax": 205.5730400224382 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 831.4390097487965, + 194.43851962964828 + ], + [ + 823.6479755518178, + 198.81046964433125 + ], + [ + 837.0949039514487, + 205.5730400224382 + ], + [ + 844.8756004845361, + 201.11393258215503 + ], + [ + 832.0313629965483, + 190.53459611035328 + ], + [ + 824.2199124436685, + 194.89480567118042 + ], + [ + 837.7148460013925, + 201.6395599591243 + ], + [ + 845.515816204211, + 197.1921531559672 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7664114084626016696, + "instance_id": 47273, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.91487884521484, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 761.6809930411077, + "ymin": 0.0, + "xmax": 828.6431751284538, + "ymax": 8.587345623684541 + }, + "corners_3d": [ + [ + -95.94330596923828, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -79.87950897216797, + 4.83804988861084 + ], + [ + -95.94330596923828, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 790.1386144587112, + 8.587345623684541 + ], + [ + 817.6319838294884, + -2.223076153858017 + ], + [ + 789.208836621003, + -12.33419641058822 + ], + [ + 761.6809930411077, + -1.9807021093103003 + ], + [ + 799.6691098276701, + -83.2993257766559 + ], + [ + 828.6431751284538, + -92.62421812089616 + ], + [ + 798.2508474939893, + -101.3222994399598 + ], + [ + 769.2279074106848, + -92.41543645230581 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 489.0482151650997, + "ymin": 0.0, + "xmax": 580.2039661443864, + "ymax": 118.39388340439646 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 507.19899093768913, + 114.95599332175883 + ], + [ + 513.1708113489947, + 118.39388340439646 + ], + [ + 580.2039661443864, + 91.9967122422525 + ], + [ + 574.1260311175513, + 88.85427358100998 + ], + [ + 489.0482151650997, + -68.35008697696719 + ], + [ + 495.72244625884264, + -65.64258853697277 + ], + [ + 572.3873977019248, + -86.32265886153999 + ], + [ + 565.568332305587, + -88.76792309535966 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 823.7641493428437, + "ymin": 190.61395409904992, + "xmax": 845.3990743975239, + "ymax": 205.49247964649706 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 831.472227424685, + 194.47650920761333 + ], + [ + 823.7641493428437, + 198.80227105448148 + ], + [ + 837.0680675946197, + 205.49247964649706 + ], + [ + 844.7660287385809, + 201.081404417377 + ], + [ + 832.0584230715414, + 190.61395409904992 + ], + [ + 824.3303617248132, + 194.92822432184377 + ], + [ + 837.6812681529884, + 201.60099327702093 + ], + [ + 845.3990743975239, + 197.201371112488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 708.727637959566, + "ymin": 134.73709453296883, + "xmax": 851.7348341657721, + "ymax": 429.56671064722735 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 718.5358389074142, + 358.5993131298607 + ], + [ + 708.727637959566, + 364.85440117848526 + ], + [ + 803.3408445037498, + 429.56671064722735 + ], + [ + 813.1406705741895, + 422.3217512619552 + ], + [ + 734.5548076085885, + 134.73709453296883 + ], + [ + 722.8719909621205, + 140.26794409077226 + ], + [ + 840.1084022659455, + 198.49168654288613 + ], + [ + 851.7348341657721, + 191.88070360140807 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 563.3662838796523, + "xmax": 105.3706355808963, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 37.59779872460149, + 792.8611537720753 + ], + [ + 14.92817985138322, + 807.3184903248964 + ], + [ + 80.81101772546947, + 963.729175575704 + ], + [ + 105.3706355808963, + 945.5723804855243 + ], + [ + -170.83887126959917, + 563.3662838796523 + ], + [ + -204.66991998760489, + 579.3824935407515 + ], + [ + -149.31303802239063, + 761.0932069436873 + ], + [ + -110.76284329573616, + 739.1729237541069 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 742.9493403237256, + "ymin": 80.64246618647087, + "xmax": 1219.7113989365514, + "ymax": 546.3054628972208 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 751.9644959462115, + 321.39924512800553 + ], + [ + 742.9493403237256, + 326.9286646563369 + ], + [ + 1082.4291377131271, + 546.3054628972208 + ], + [ + 1090.9218300401521, + 537.38112062285 + ], + [ + 775.7202313170676, + 80.64246618647087 + ], + [ + 764.9750877288466, + 85.34030428188919 + ], + [ + 1210.220593049719, + 283.51313432088733 + ], + [ + 1219.7113989365514, + 274.97544527776085 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 5199819733356185808, + "instance_id": 53256, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1851_37", + "bbox_3d": { + "center_world": { + "x": -100.25784301757812, + "y": -72.39555358886719, + "z": 8.309331893920898 + }, + "extent": { + "x": 4.9728498458862305, + "y": 4.831793308258057, + "z": 8.307754516601562 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 815.1996899407669, + "ymin": 0.0, + "xmax": 1165.6053471813984, + "ymax": 49.96579130188525 + }, + "corners_3d": [ + [ + -94.59623718261719, + -68.39283752441406, + 0.0015773773193359375 + ], + [ + -96.09391784667969, + -77.93966674804688, + 0.0015773773193359375 + ], + [ + -105.91944885253906, + -76.39826965332031, + 0.0015773773193359375 + ], + [ + -104.42176818847656, + -66.8514404296875, + 0.0015773773193359375 + ], + [ + -94.59623718261719, + -68.39283752441406, + 16.61708641052246 + ], + [ + -96.09391784667969, + -77.93966674804688, + 16.61708641052246 + ], + [ + -105.91944885253906, + -76.39826965332031, + 16.61708641052246 + ], + [ + -104.42176818847656, + -66.8514404296875, + 16.61708641052246 + ] + ], + "corners_2d": [ + [ + 897.3237152575514, + -44.09343592181648 + ], + [ + 815.1996899407669, + 2.9478040951285607 + ], + [ + 987.4624520106374, + 49.96579130188525 + ], + [ + 1058.5168839474013, + -6.134328628798244 + ], + [ + 956.6862625555561, + -390.1816479223937 + ], + [ + 861.1116780674369, + -377.86445493129224 + ], + [ + 1089.9784228699766, + -364.909633950487 + ], + [ + 1165.6053471813984, + -380.29116677277386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 68.10785072488113, + "xmax": 18.610950190974563, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -105.26245937225906, + 489.1256873584282 + ], + [ + -427.4901556995337, + 666.2017516007444 + ], + [ + -333.93184854585274, + 868.8339664129364 + ], + [ + 18.610950190974563, + 630.1742805519464 + ], + [ + -429.7396744134701, + 68.10785072488113 + ], + [ + -1024.5757486657403, + 224.37008656561815 + ], + [ + -1045.211647377663, + 439.9258757066716 + ], + [ + -312.224538194562, + 190.42828685477951 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 171.68993044489523, + "xmax": 68.73830155856172, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -440.63813120892155, + 1010.4969336416565 + ], + [ + -20.426063544940348, + 924.5114699614427 + ], + [ + 68.73830155856172, + 609.7368031955903 + ], + [ + -248.7639697316854, + 660.8159609480011 + ], + [ + -1385.0868381842015, + 621.0311976394954 + ], + [ + -538.2461308999398, + 507.69050824745176 + ], + [ + -226.9177774723505, + 171.68993044489523 + ], + [ + -742.2512050183027, + 219.22046492815034 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00040/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00040/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2432d50f938cd6ac78da60b3f8a5200ba3bb2d7e --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00040/meta.json @@ -0,0 +1,3306 @@ +{ + "frame_id": 40, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 20.0, + "sim_timestamp": 10178.019323252141 + }, + "drone_pose": { + "x": -128.02828017165496, + "y": -119.743973692489, + "z": 19.975735888431785, + "pitch": -41.31586626247279, + "yaw": 41.65898598471274, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5611435174942017, + -0.49924054741859436, + 0.6602096557617188, + 118.43511962890625 + ], + [ + 0.664695680141449, + 0.7471141815185547, + 1.4901161193847656e-08, + 4.362586975097656 + ], + [ + -0.4932520389556885, + 0.43883848190307617, + 0.7510813474655151, + -130.70187377929688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -127.48054117923908, + "y": -119.27049188418671, + "z": 19.970520210195637 + }, + "t1_image_uv": [ + 621.8682924210788, + -471.6685534343544 + ], + "t1_depth": 0.5471849456720979 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -111.66718292236328, + "y": -105.18776321411131, + "z": 0.7261955779790878 + }, + "image_uv": [ + 640.0, + 360.0000000000001 + ], + "depth": 29.15670709897391, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 188, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -111.66718292236328, + "y": -105.18775939941406, + "z": 0.7261955738067627 + }, + "extent": { + "x": 0.18654295802116394, + "y": 0.21797850728034973, + "z": 0.518764317035675 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 632.353332899289, + "ymin": 342.7324398275945, + "xmax": 647.5779929092771, + "ymax": 377.0402576891684 + }, + "corners_3d": [ + [ + -111.64495849609375, + -105.47380065917969, + 0.20743125677108765 + ], + [ + -111.9532241821289, + -105.16552734375, + 0.20743125677108765 + ], + [ + -111.68940734863281, + -104.90171813964844, + 0.20743125677108765 + ], + [ + -111.38114166259766, + -105.20999145507812, + 0.20743125677108765 + ], + [ + -111.64495849609375, + -105.47380065917969, + 1.244959831237793 + ], + [ + -111.9532241821289, + -105.16552734375, + 1.244959831237793 + ], + [ + -111.68940734863281, + -104.90171813964844, + 1.244959831237793 + ], + [ + -111.38114166259766, + -105.20999145507812, + 1.244959831237793 + ] + ], + "corners_2d": [ + [ + 632.5316803487198, + 376.48100070875734 + ], + [ + 646.7623448571043, + 377.0402576891684 + ], + [ + 647.4028020992243, + 368.9122589621193 + ], + [ + 633.3059959511336, + 368.36350906682816 + ], + [ + 632.353332899289, + 350.7938111071498 + ], + [ + 646.9239407362129, + 351.3493354228158 + ], + [ + 647.5779929092771, + 343.27728147012283 + ], + [ + 633.1476835332797, + 342.7324398275945 + ] + ], + "center_offset_px": [ + 0.0, + 1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 40, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 59, + "semantic_pixel_counts": { + "1": 341786, + "2": 231786, + "3": 277704, + "4": 15574, + "5": 167, + "6": 11012, + "7": 2437, + "10": 3827, + "12": 3454, + "14": 875, + "16": 10321, + "20": 53, + "21": 1009, + "22": 2, + "24": 21593 + }, + "instance_pixel_counts": { + "1115": 5567, + "1445": 42, + "1627": 419, + "11394": 1807, + "13397": 202, + "13909": 120, + "14416": 167, + "16023": 1234, + "17232": 15574, + "18011": 80090, + "19784": 2, + "20631": 13717, + "23808": 2786, + "24064": 8410, + "27072": 5619, + "29843": 32433, + "30656": 82296, + "31168": 3910, + "31891": 128377, + "34120": 85525, + "34453": 3700, + "35931": 287, + "36443": 189873, + "36501": 7016, + "37460": 446, + "44171": 1499, + "44179": 5709, + "44691": 133991, + "45203": 2774, + "46227": 38502, + "46731": 1772, + "46741": 213, + "47253": 8804, + "47765": 292, + "48267": 1438, + "48779": 1019, + "48789": 1568, + "49664": 188, + "49803": 1995, + "49920": 415, + "50176": 399, + "50432": 837, + "50688": 1037, + "50944": 578, + "52672": 283, + "52736": 10321, + "53184": 2769, + "53339": 11, + "54016": 875, + "54720": 3533, + "55232": 9780, + "55744": 4283, + "55879": 7, + "56135": 416, + "56768": 8648, + "60013": 1468, + "62555": 114, + "63067": 573, + "64351": 2466 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 188, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -111.66718292236328, + "y": -105.18775939941406, + "z": 0.7261955738067627 + }, + "extent": { + "x": 0.21409179270267487, + "y": 0.2368798702955246, + "z": 0.5361400842666626 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 631.6589160954848, + "ymin": 341.6802391885849, + "xmax": 648.2547539334272, + "ymax": 378.09103538395175 + }, + "corners_3d": [ + [ + -111.65106964111328, + -105.50664520263672, + 0.1900554895401001 + ], + [ + -111.98606872558594, + -105.17164611816406, + 0.1900554895401001 + ], + [ + -111.68329620361328, + -104.8688735961914, + 0.1900554895401001 + ], + [ + -111.34829711914062, + -105.20387268066406, + 0.1900554895401001 + ], + [ + -111.65106964111328, + -105.50664520263672, + 1.2623356580734253 + ], + [ + -111.98606872558594, + -105.17164611816406, + 1.2623356580734253 + ], + [ + -111.68329620361328, + -104.8688735961914, + 1.2623356580734253 + ], + [ + -111.34829711914062, + -105.20387268066406, + 1.2623356580734253 + ] + ], + "corners_2d": [ + [ + 631.8600331885604, + 377.48224207224655 + ], + [ + 647.3294081697993, + 378.09103538395175 + ], + [ + 648.0577336431207, + 368.76118354297597 + ], + [ + 632.7551766236542, + 368.1654937651627 + ], + [ + 631.6589160954848, + 350.93040975709573 + ], + [ + 647.5106296583211, + 351.53502471153377 + ], + [ + 648.2547539334272, + 342.2715242329866 + ], + [ + 632.578159655276, + 341.6802391885849 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 415, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -110.14054107666016, + "y": -104.0785903930664, + "z": 0.7299895286560059 + }, + "extent": { + "x": 0.4889550805091858, + "y": 0.3113330006599426, + "z": 0.912835419178009 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 622.0145990713661, + "ymin": 287.9590673808101, + "xmax": 646.3276099135826, + "ymax": 353.5439740783888 + }, + "corners_3d": [ + [ + -110.38105010986328, + -104.60600280761719, + -0.18284589052200317 + ], + [ + -110.72017669677734, + -104.08378601074219, + -0.18284589052200317 + ], + [ + -109.90003204345703, + -103.55117797851562, + -0.18284589052200317 + ], + [ + -109.56090545654297, + -104.07339477539062, + -0.18284589052200317 + ], + [ + -110.38105010986328, + -104.60600280761719, + 1.6428248882293701 + ], + [ + -110.72017669677734, + -104.08378601074219, + 1.6428248882293701 + ], + [ + -109.90003204345703, + -103.55117797851562, + 1.6428248882293701 + ], + [ + -109.56090545654297, + -104.07339477539062, + 1.6428248882293701 + ] + ], + "corners_2d": [ + [ + 626.8882449769875, + 353.5439740783888 + ], + [ + 646.0803021069208, + 351.6320173436661 + ], + [ + 641.4628129420552, + 332.4129539178106 + ], + [ + 622.702904371158, + 334.23786286748106 + ], + [ + 626.3536724418102, + 308.75389252458604 + ], + [ + 646.3276099135826, + 306.8705946315012 + ], + [ + 641.5208878207243, + 287.9590673808101 + ], + [ + 622.0145990713661, + 289.753255520041 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 399, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -113.92300415039062, + "y": -98.24504852294922, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.4495849609375, + "y": 0.4062255620956421, + "z": 0.8979085087776184 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 825.631461758026, + "ymin": 273.7709775766444, + "xmax": 863.5879613143617, + "ymax": 334.64680160485386 + }, + "corners_3d": [ + [ + -114.01675415039062, + -98.84368133544922, + -0.32290923595428467 + ], + [ + -114.52804565429688, + -98.21228790283203, + -0.32290923595428467 + ], + [ + -113.82925415039062, + -97.64641571044922, + -0.32290923595428467 + ], + [ + -113.31796264648438, + -98.2778091430664, + -0.32290923595428467 + ], + [ + -114.01675415039062, + -98.84368133544922, + 1.4729077816009521 + ], + [ + -114.52804565429688, + -98.21228790283203, + 1.4729077816009521 + ], + [ + -113.82925415039062, + -97.64641571044922, + 1.4729077816009521 + ], + [ + -113.31796264648438, + -98.2778091430664, + 1.4729077816009521 + ] + ], + "corners_2d": [ + [ + 830.8455382425784, + 334.64680160485386 + ], + [ + 855.2324834373813, + 333.9164604122863 + ], + [ + 849.5151971702336, + 316.8895472545483 + ], + [ + 825.631461758026, + 317.589778889008 + ], + [ + 838.2611713834619, + 291.2248677531869 + ], + [ + 863.5879613143617, + 290.5064234333239 + ], + [ + 857.4729439291103, + 273.7709775766444 + ], + [ + 832.6884632541104, + 274.4586896082434 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 837, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -121.16718292236328, + "y": -105.18775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.42592284083366394, + "y": 0.47358885407447815, + "z": 0.9209094643592834 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 866.4227985626516, + "ymin": 514.5577890339289, + "xmax": 922.539116619363, + "ymax": 589.7501164274921 + }, + "corners_3d": [ + [ + -121.13347625732422, + -105.82380676269531, + -0.3459247946739197 + ], + [ + -121.80323028564453, + -105.154052734375, + -0.3459247946739197 + ], + [ + -121.20088958740234, + -104.55171203613281, + -0.3459247946739197 + ], + [ + -120.53113555908203, + -105.22146606445312, + -0.3459247946739197 + ], + [ + -121.13347625732422, + -105.82380676269531, + 1.495894193649292 + ], + [ + -121.80323028564453, + -105.154052734375, + 1.495894193649292 + ], + [ + -121.20088958740234, + -104.55171203613281, + 1.495894193649292 + ], + [ + -120.53113555908203, + -105.22146606445312, + 1.495894193649292 + ] + ], + "corners_2d": [ + [ + 870.4236509740049, + 587.9134669766264 + ], + [ + 908.3384996178295, + 589.7501164274921 + ], + [ + 903.355758086615, + 562.1359602215687 + ], + [ + 866.4227985626516, + 560.392500047108 + ], + [ + 882.595830949827, + 542.2607759564237 + ], + [ + 922.539116619363, + 544.1122481747127 + ], + [ + 916.915755988881, + 516.3105532932246 + ], + [ + 878.0607140188429, + 514.5577890339289 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 1037, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -115.28268432617188, + "y": -116.31512451171875, + "z": 0.7273380756378174 + }, + "extent": { + "x": 0.5655273199081421, + "y": 0.42418456077575684, + "z": 0.8928632140159607 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 341.00786356746164, + "ymin": 609.7466291732752, + "xmax": 409.90081438028267, + "ymax": 703.010725746399 + }, + "corners_3d": [ + [ + -115.30892944335938, + -117.02156829833984, + -0.1655251383781433 + ], + [ + -115.9682388305664, + -116.4876708984375, + -0.1655251383781433 + ], + [ + -115.25643920898438, + -115.60868072509766, + -0.1655251383781433 + ], + [ + -114.59712982177734, + -116.142578125, + -0.1655251383781433 + ], + [ + -115.30892944335938, + -117.02156829833984, + 1.6202013492584229 + ], + [ + -115.9682388305664, + -116.4876708984375, + 1.6202013492584229 + ], + [ + -115.25643920898438, + -115.60868072509766, + 1.6202013492584229 + ], + [ + -114.59712982177734, + -116.142578125, + 1.6202013492584229 + ] + ], + "corners_2d": [ + [ + 357.18196671547616, + 697.3784336968956 + ], + [ + 392.88357226241914, + 703.010725746399 + ], + [ + 409.90081438028267, + 658.8500633160583 + ], + [ + 375.44375546502613, + 653.6281832722223 + ], + [ + 341.00786356746164, + 654.2146013972405 + ], + [ + 378.6799526257256, + 659.9529816593897 + ], + [ + 397.19456958090666, + 615.0442920626965 + ], + [ + 360.90519515639807, + 609.7466291732752 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 578, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -110.14055633544922, + "y": -106.29692077636719, + "z": 0.7300236225128174 + }, + "extent": { + "x": 0.43479979038238525, + "y": 0.486083984375, + "z": 0.8680444955825806 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 558.7140371964117, + "ymin": 317.96163078442396, + "xmax": 600.0235124573746, + "ymax": 384.1326346724479 + }, + "corners_3d": [ + [ + -109.9697036743164, + -106.92631530761719, + -0.13802087306976318 + ], + [ + -110.78502655029297, + -106.39683532714844, + -0.13802087306976318 + ], + [ + -110.31140899658203, + -105.66752624511719, + -0.13802087306976318 + ], + [ + -109.49608612060547, + -106.19700622558594, + -0.13802087306976318 + ], + [ + -109.9697036743164, + -106.92631530761719, + 1.598068118095398 + ], + [ + -110.78502655029297, + -106.39683532714844, + 1.598068118095398 + ], + [ + -110.31140899658203, + -105.66752624511719, + 1.598068118095398 + ], + [ + -109.49608612060547, + -106.19700622558594, + 1.598068118095398 + ] + ], + "corners_2d": [ + [ + 561.8392570335976, + 378.5082555689871 + ], + [ + 591.7164922225511, + 384.1326346724479 + ], + [ + 600.0235124573746, + 366.0585160734481 + ], + [ + 570.7117515600966, + 360.665204442485 + ], + [ + 558.7140371964117, + 335.57980586700603 + ], + [ + 589.7728009537864, + 341.13934523280864 + ], + [ + 598.4490570282579, + 323.28389821142866 + ], + [ + 568.0008603387894, + 317.96163078442396 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 10321, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 655.9609549236807, + "ymin": 0.0, + "xmax": 874.962466639537, + "ymax": 94.65432447202664 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 806.3052273009175, + 94.65432447202664 + ], + [ + 860.6534149960893, + 69.98904937037486 + ], + [ + 709.9591275917437, + 8.365540744002658 + ], + [ + 655.9609549236807, + 27.7513076087144 + ], + [ + 817.6028000128314, + 2.436920306326556 + ], + [ + 874.962466639537, + -19.641094977155205 + ], + [ + 713.9622063594749, + -74.24730720068987 + ], + [ + 656.9123583609893, + -57.15360718061629 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 875, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 596.3172668405646, + "ymin": 31.676950274394358, + "xmax": 704.7277611067406, + "ymax": 113.41197803002873 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 625.8477368220179, + 63.33159355055835 + ], + [ + 597.3098196120357, + 74.06275483196254 + ], + [ + 674.2586994718429, + 113.41197803002873 + ], + [ + 703.1856721945082, + 101.13048669188606 + ], + [ + 625.5251678765162, + 31.676950274394358 + ], + [ + 596.3172668405646, + 42.0223795147906 + ], + [ + 675.1127975082671, + 80.03649381292229 + ], + [ + 704.7277611067406, + 68.15831166662366 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 52908959695452696, + "instance_id": 6202, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": -79.05494689941406, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1132.023377685793, + "ymin": 48.21128009466645, + "xmax": 1150.208430907337, + "ymax": 73.0961641138581 + }, + "corners_3d": [ + [ + -113.29469299316406, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -78.86498260498047, + 3.5146729946136475 + ], + [ + -113.29469299316406, + -78.86498260498047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1132.023377685793, + 70.91492552634048 + ], + [ + 1138.429006935753, + 73.0961641138581 + ], + [ + 1142.8822188336676, + 70.4526185835806 + ], + [ + 1136.489517139266, + 68.29199712802438 + ], + [ + 1139.197458841869, + 50.77566958270813 + ], + [ + 1145.7254797864587, + 52.90849624562543 + ], + [ + 1150.208430907337, + 50.323654809000686 + ], + [ + 1143.6939945683991, + 48.21128009466645 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 909.4024760306446, + "ymin": 233.46350297651844, + "xmax": 934.1912918147954, + "ymax": 272.34558291005834 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 918.3714309707444, + 272.34558291005834 + ], + [ + 927.3093367373566, + 266.51031055256 + ], + [ + 918.3529590807957, + 261.7923828421465 + ], + [ + 909.4024760306446, + 267.5542251975354 + ], + [ + 925.0924006338558, + 243.86087566360942 + ], + [ + 934.1912918147954, + 238.1109004391945 + ], + [ + 924.9774616283551, + 233.46350297651844 + ], + [ + 915.8646988172704, + 239.13939831661503 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5668522571212290485, + "instance_id": 46457, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -89.45570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1008.7251867377672, + "ymin": 49.5489745559575, + "xmax": 1028.7894402675129, + "ymax": 79.82359363479617 + }, + "corners_3d": [ + [ + -113.19542694091797, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -89.26573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -89.26573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1008.7251867377672, + 77.15698413539138 + ], + [ + 1015.883003908628, + 79.82359363479617 + ], + [ + 1021.9967082591879, + 76.57501619653237 + ], + [ + 1014.8511925032453, + 73.93898270048317 + ], + [ + 1015.2888521984703, + 52.68104412299385 + ], + [ + 1022.6064586557785, + 55.276930498804745 + ], + [ + 1028.7894402675129, + 52.11456938264075 + ], + [ + 1021.4849540911423, + 49.5489745559575 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1111.690366283341, + "ymin": 338.5117938682098, + "xmax": 1145.36648181757, + "ymax": 381.8934999863357 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1123.4353816421535, + 381.8934999863357 + ], + [ + 1131.8470570499753, + 374.2536317718462 + ], + [ + 1120.1445139981088, + 368.08911712688473 + ], + [ + 1111.690366283341, + 375.6191304147164 + ], + [ + 1136.8451833155289, + 352.2065418626995 + ], + [ + 1145.36648181757, + 344.62585312176356 + ], + [ + 1133.2448726136586, + 338.5117938682098 + ], + [ + 1124.6769428491, + 345.98050209671084 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7157878223548397302, + "instance_id": 63030, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -86.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1047.7839048577143, + "ymin": 29.817194156871437, + "xmax": 1067.7315268914772, + "ymax": 59.112941240606744 + }, + "corners_3d": [ + [ + -113.19542694091797, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -86.76573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -86.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1047.7839048577143, + 56.638255723413124 + ], + [ + 1054.8575624294629, + 59.112941240606744 + ], + [ + 1060.5314720413949, + 56.098059396097256 + ], + [ + 1053.4711966471982, + 53.65071766919186 + ], + [ + 1054.7728092033856, + 32.72119334411349 + ], + [ + 1062.000815380858, + 35.127097280426995 + ], + [ + 1067.7315268914772, + 32.19606147796162 + ], + [ + 1060.5177368075424, + 29.817194156871437 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7631990878982166785, + "instance_id": 473, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": -83.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1091.0417222814413, + "ymin": 7.984216980898282, + "xmax": 1110.8046465178877, + "ymax": 36.184306211511114 + }, + "corners_3d": [ + [ + -113.1954345703125, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47261047363281, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.19544219970703, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47261047363281, + -83.76573944091797, + 6.416468620300293 + ], + [ + -113.19544219970703, + -83.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1091.0417222814413, + 33.91377567945898 + ], + [ + 1098.0063655260014, + 36.184306211511114 + ], + [ + 1103.212422820995, + 33.418027872162554 + ], + [ + 1096.262056590975, + 31.171536626308637 + ], + [ + 1098.4416650691705, + 10.645959818646077 + ], + [ + 1105.554067294804, + 12.850190845156362 + ], + [ + 1110.8046465178877, + 10.164730035389482 + ], + [ + 1103.7073531118044, + 7.984216980898282 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 761.5541028463944, + "ymin": 244.7517999419735, + "xmax": 779.5210312564584, + "ymax": 277.21899322978834 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 768.3169423949629, + 277.21899322978834 + ], + [ + 776.7881098746027, + 272.291195787819 + ], + [ + 770.0238466435324, + 268.27630328962823 + ], + [ + 761.5541028463944, + 273.1517406970951 + ], + [ + 770.8976598892461, + 253.58901753550984 + ], + [ + 779.5210312564584, + 248.71882318911986 + ], + [ + 772.6075557358772, + 244.7517999419735 + ], + [ + 763.9854796245245, + 249.5692174258338 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1012.9707245845377, + "ymin": 287.1865623819595, + "xmax": 1042.1384563349009, + "ymax": 328.40755058659164 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1023.3139737973772, + 328.40755058659164 + ], + [ + 1032.0396789923782, + 321.67883992828394 + ], + [ + 1021.7226649589667, + 316.24417334058137 + ], + [ + 1012.9707245845377, + 322.88202311773205 + ], + [ + 1033.272602446969, + 299.21272625503923 + ], + [ + 1042.1384563349009, + 292.5587650451766 + ], + [ + 1031.487642957402, + 287.1865623819595 + ], + [ + 1022.5930142775389, + 293.7483717906844 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 945.3781432299947, + "ymin": 0.0, + "xmax": 1191.8801636035157, + "ymax": 227.16144303406722 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1118.371300500906, + 125.98370607323236 + ], + [ + 1109.0977935416686, + 122.43881861925382 + ], + [ + 945.3781432299947, + 222.3473575952566 + ], + [ + 955.0741570423645, + 227.16144303406722 + ], + [ + 1191.8801636035157, + -77.79915469045937 + ], + [ + 1180.6986749407597, + -80.51975023770865 + ], + [ + 1001.0713834967572, + -1.9347621430135291 + ], + [ + 1012.9994284454931, + 1.9543838442786523 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 273.59872558133367, + "ymin": 0.0, + "xmax": 375.73747194683875, + "ymax": 2.511861115035174 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 309.43333213052614, + 0.2216887995284651 + ], + [ + 313.2493425489727, + 2.511861115035174 + ], + [ + 375.73747194683875, + -14.723020511577829 + ], + [ + 371.77220966961687, + -16.85411420541999 + ], + [ + 273.59872558133367, + -157.17089318870785 + ], + [ + 277.6425658006386, + -155.45693077214491 + ], + [ + 348.0674881249048, + -168.31247309067044 + ], + [ + 343.82791048940527, + -169.89519382953813 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 942.8610793581872, + "ymin": 0.0, + "xmax": 1256.7648552991213, + "ymax": 156.1481575647302 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 1024.7374659675702, + 156.1481575647302 + ], + [ + 1138.7441792588368, + 86.78413460485768 + ], + [ + 1059.8127302866671, + 59.25121498033917 + ], + [ + 942.8610793581872, + 121.71679304033452 + ], + [ + 1129.8709320273463, + -197.9935577547767 + ], + [ + 1256.7648552991213, + -236.30661208454683 + ], + [ + 1153.2948313871502, + -250.91017636295783 + ], + [ + 1020.034049994927, + -217.29118894627516 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 826.0706218152179, + "ymin": 207.62014067807374, + "xmax": 848.5826735617957, + "ymax": 223.38671730697217 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 834.2105238743881, + 211.5791526213048 + ], + [ + 826.0706218152179, + 216.13533334234606 + ], + [ + 839.7787808839732, + 223.38671730697217 + ], + [ + 847.9123082564982, + 218.7359634416833 + ], + [ + 834.8303120123276, + 207.62014067807374 + ], + [ + 826.6683358184057, + 212.16493604431068 + ], + [ + 840.4271992100528, + 219.39859161476724 + ], + [ + 848.5826735617957, + 214.7591526782542 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7664114084626016696, + "instance_id": 47273, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.91487884521484, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 770.5094542878895, + "ymin": 0.0, + "xmax": 839.157091958942, + "ymax": 13.019319628026267 + }, + "corners_3d": [ + [ + -95.94330596923828, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -79.87950897216797, + 4.83804988861084 + ], + [ + -95.94330596923828, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 799.201725670079, + 13.019319628026267 + ], + [ + 827.3414719964401, + 2.074124750283545 + ], + [ + 798.6581592803037, + -8.44908172543154 + ], + [ + 770.5094542878895, + 2.0220804413751807 + ], + [ + 809.4833432321161, + -79.92211514431585 + ], + [ + 839.157091958942, + -89.381161435357 + ], + [ + 808.4346684829209, + -98.45021083337645 + ], + [ + 778.7397437308787, + -89.4260749210107 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 491.8518193678319, + "ymin": 0.0, + "xmax": 584.4286245493721, + "ymax": 124.13162410435126 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 509.94277671049304, + 120.55709898470653 + ], + [ + 515.8988460443173, + 124.13162410435126 + ], + [ + 584.4286245493721, + 97.43611756780871 + ], + [ + 578.347289017268, + 94.16775979055592 + ], + [ + 491.8518193678319, + -64.66535890403111 + ], + [ + 498.51998943431533, + -61.83908678115091 + ], + [ + 577.0336981011978, + -82.83472030817279 + ], + [ + 570.1953427349142, + -85.38761774006275 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 826.1901649900647, + "ymin": 207.70330817563737, + "xmax": 848.4624338372788, + "ymax": 223.30222297032344 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 834.2434234711966, + 211.62036369868258 + ], + [ + 826.1901649900647, + 216.12843355298133 + ], + [ + 839.7525617986053, + 223.30222297032344 + ], + [ + 847.7995826268199, + 218.70158082241795 + ], + [ + 834.8567675361817, + 207.70330817563737 + ], + [ + 826.7819030368399, + 212.20023413912944 + ], + [ + 840.3939301137135, + 219.3566696067377 + ], + [ + 848.4624338372788, + 214.7671031473498 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 709.0375389756059, + "ymin": 148.32383076361802, + "xmax": 855.0025617376098, + "ymax": 449.32703808678707 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 719.1954328223867, + 374.39916597206957 + ], + [ + 709.0375389756059, + 380.821537218918 + ], + [ + 804.6014239034471, + 449.32703808678707 + ], + [ + 814.7920633750775, + 441.8511025205538 + ], + [ + 735.8081628279515, + 148.32383076361802 + ], + [ + 723.6507681217782, + 154.055795067598 + ], + [ + 842.8444453638486, + 216.33752581741388 + ], + [ + 855.0025617376098, + 209.4377009116627 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 595.2962764517496, + "xmax": 75.99540478050199, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 12.488847992464002, + 821.217386247977 + ], + [ + -11.09080411597597, + 836.125720790174 + ], + [ + 50.25678131350344, + 1002.7203710994218 + ], + [ + 75.99540478050199, + 983.8383086794436 + ], + [ + -212.21247317654422, + 595.2962764517496 + ], + [ + -247.8674572886996, + 612.1068761837853 + ], + [ + -202.89724502553463, + 809.804008495842 + ], + [ + -161.73864698772218, + 786.4461863549071 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 744.8742096605341, + "ymin": 92.42539988060923, + "xmax": 1235.732826595323, + "ymax": 574.870182165055 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 754.1991059495386, + 335.8657910298636 + ], + [ + 744.8742096605341, + 341.534557595466 + ], + [ + 1090.285607722074, + 574.870182165055 + ], + [ + 1099.1864236211811, + 565.5613440928832 + ], + [ + 779.1040978691385, + 92.42539988060923 + ], + [ + 767.9385434547955, + 97.28710309457801 + ], + [ + 1225.730244611814, + 310.9914141960701 + ], + [ + 1235.732826595323, + 301.92454186289757 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 5199819733356185808, + "instance_id": 53256, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1851_37", + "bbox_3d": { + "center_world": { + "x": -100.25784301757812, + "y": -72.39555358886719, + "z": 8.309331893920898 + }, + "extent": { + "x": 4.9728498458862305, + "y": 4.831793308258057, + "z": 8.307754516601562 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 824.806034726833, + "ymin": 0.0, + "xmax": 1186.2743484315145, + "ymax": 56.65924579286218 + }, + "corners_3d": [ + [ + -94.59623718261719, + -68.39283752441406, + 0.0015773773193359375 + ], + [ + -96.09391784667969, + -77.93966674804688, + 0.0015773773193359375 + ], + [ + -105.91944885253906, + -76.39826965332031, + 0.0015773773193359375 + ], + [ + -104.42176818847656, + -66.8514404296875, + 0.0015773773193359375 + ], + [ + -94.59623718261719, + -68.39283752441406, + 16.61708641052246 + ], + [ + -96.09391784667969, + -77.93966674804688, + 16.61708641052246 + ], + [ + -105.91944885253906, + -76.39826965332031, + 16.61708641052246 + ], + [ + -104.42176818847656, + -66.8514404296875, + 16.61708641052246 + ] + ], + "corners_2d": [ + [ + 909.1257719819562, + -40.49649054735181 + ], + [ + 824.806034726833, + 7.326422402832463 + ], + [ + 999.5134220006794, + 56.65924579286218 + ], + [ + 1072.866112499763, + -0.6917083108119186 + ], + [ + 972.4592002310318, + -391.7577880660923 + ], + [ + 874.2425172813541, + -379.16665364420635 + ], + [ + 1108.2661227384353, + -365.4717377556616 + ], + [ + 1186.2743484315145, + -381.3232860123595 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 77.18241249624566, + "xmax": 0.04906967834574516, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -119.61614076546334, + 501.1409608623534 + ], + [ + -450.7261433541496, + 681.2842242379279 + ], + [ + -365.78889298573097, + 894.6005051228733 + ], + [ + 0.04906967834574516, + 649.3977909494683 + ], + [ + -458.2573428880037, + 77.18241249624566 + ], + [ + -1076.966607667005, + 238.70023065164378 + ], + [ + -1129.2397363098241, + 471.40020472277945 + ], + [ + -351.7948698730223, + 208.0542439968143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 188.64136516127965, + "xmax": 51.51529457070001, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -479.9597319429422, + 1042.1859336548866 + ], + [ + -50.459250705132376, + 958.2475029879702 + ], + [ + 51.51529457070001, + 628.67550883951 + ], + [ + -270.959714068984, + 677.9759909798108 + ], + [ + -1504.3416575504261, + 667.2221050564854 + ], + [ + -618.6706052898046, + 551.8042993872455 + ], + [ + -262.95478426293516, + 188.64136516127965 + ], + [ + -791.6533719316542, + 235.47599099983233 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00041/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00041/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..82bb453354c90b727eeed2426a0301cd3996571a --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00041/meta.json @@ -0,0 +1,4057 @@ +{ + "frame_id": 41, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 20.5, + "sim_timestamp": 10191.268186293542 + }, + "drone_pose": { + "x": -127.48054117923908, + "y": -119.27049188418671, + "z": 19.970520210195637, + "pitch": -37.504183434011736, + "yaw": 43.169189813145366, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5785892009735107, + -0.5427463054656982, + 0.6088193655014038, + 126.33405303955078 + ], + [ + 0.6841549873352051, + 0.7293366193771362, + 0.0, + -0.22811126708984375 + ], + [ + -0.44403424859046936, + 0.41652679443359375, + 0.7933089137077332, + -122.12786865234375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -126.93315242943422, + "y": -118.78301071354477, + "z": 20.010426158934067 + }, + "t1_image_uv": [ + 607.3203444373526, + -463.44431011792767 + ], + "t1_depth": 0.5569963011393455 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -111.16718292236328, + "y": -104.68776321411131, + "z": 0.7275969427824021 + }, + "image_uv": [ + 622.6570183628833, + 424.32585026340314 + ], + "depth": 29.06891887712402, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 186, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -111.16718292236328, + "y": -104.68775939941406, + "z": 0.7275969386100769 + }, + "extent": { + "x": 0.2610205113887787, + "y": 0.25022459030151367, + "z": 0.5425047278404236 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 613.6409565704183, + "ymin": 404.8871313934228, + "xmax": 631.3498338760841, + "ymax": 443.6086306148113 + }, + "corners_3d": [ + [ + -111.17481994628906, + -105.04926300048828, + 0.18509221076965332 + ], + [ + -111.5286865234375, + -104.69539642333984, + 0.18509221076965332 + ], + [ + -111.1595458984375, + -104.32625579833984, + 0.18509221076965332 + ], + [ + -110.80567932128906, + -104.68012237548828, + 0.18509221076965332 + ], + [ + -111.17481994628906, + -105.04926300048828, + 1.2701016664505005 + ], + [ + -111.5286865234375, + -104.69539642333984, + 1.2701016664505005 + ], + [ + -111.1595458984375, + -104.32625579833984, + 1.2701016664505005 + ], + [ + -110.80567932128906, + -104.68012237548828, + 1.2701016664505005 + ] + ], + "corners_2d": [ + [ + 614.2372909041594, + 443.25227542124276 + ], + [ + 630.6785575952051, + 443.6086306148113 + ], + [ + 631.3498338760841, + 432.1366232040582 + ], + [ + 615.1380994328603, + 431.79016291462665 + ], + [ + 613.6409565704183, + 416.2243437191996 + ], + [ + 630.4626964538363, + 416.57693337819035 + ], + [ + 631.1523830094347, + 405.22970888658 + ], + [ + 614.5708440594075, + 404.8871313934228 + ] + ], + "center_offset_px": [ + -17.342981637116736, + 64.32585026340314 + ] + }, + "trace_timestep_index": 41, + "instance_stats": { + "semantic_tags_present": 16, + "instances_present": 81, + "semantic_pixel_counts": { + "1": 289334, + "2": 191510, + "3": 334396, + "4": 19099, + "5": 168, + "6": 12875, + "7": 2421, + "9": 1952, + "10": 22209, + "12": 2720, + "14": 3033, + "16": 17464, + "20": 1745, + "21": 4051, + "22": 331, + "24": 18292 + }, + "instance_pixel_counts": { + "91": 2019, + "1115": 5875, + "1118": 747, + "1169": 473, + "1445": 67, + "1627": 1881, + "5205": 1061, + "8795": 405, + "9813": 335, + "11394": 1830, + "11861": 116, + "12373": 250, + "12885": 123, + "12894": 1460, + "13397": 184, + "13909": 114, + "14416": 168, + "14979": 311, + "15451": 187, + "16023": 1298, + "16476": 133, + "17232": 19099, + "17500": 29, + "18011": 104256, + "18012": 130, + "19528": 23, + "19784": 2, + "20631": 9834, + "22659": 38, + "23808": 3443, + "24064": 8493, + "27072": 5931, + "29843": 28501, + "30656": 62103, + "31168": 4039, + "31816": 84, + "31891": 68553, + "34120": 67783, + "34453": 3158, + "35924": 808, + "36443": 219773, + "36501": 3837, + "36948": 277, + "37460": 1219, + "43659": 4, + "44171": 1596, + "44179": 5526, + "44691": 142673, + "45203": 5500, + "46227": 38581, + "46731": 1719, + "46741": 202, + "47253": 9053, + "47765": 497, + "48267": 1927, + "48779": 1067, + "48789": 1545, + "49664": 186, + "49803": 1928, + "49920": 444, + "50176": 399, + "50432": 982, + "50688": 109, + "50944": 600, + "52480": 1, + "52672": 933, + "52736": 17463, + "53063": 222, + "53184": 2877, + "53339": 82, + "54016": 826, + "54720": 3429, + "55232": 11818, + "55744": 4405, + "55879": 1941, + "56135": 7924, + "56768": 8331, + "57173": 1952, + "62555": 857, + "63067": 719, + "64351": 488 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 186, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -111.16718292236328, + "y": -104.68775939941406, + "z": 0.7275969386100769 + }, + "extent": { + "x": 0.24716795980930328, + "y": 0.25672850012779236, + "z": 0.5421901941299438 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 613.4476475511258, + "ymin": 405.1873301995997, + "xmax": 631.5431417142415, + "ymax": 443.2969617203323 + }, + "corners_3d": [ + [ + -111.1604232788086, + -105.0440673828125, + 0.18540674448013306 + ], + [ + -111.52349090576172, + -104.68099975585938, + 0.18540674448013306 + ], + [ + -111.17394256591797, + -104.33145141601562, + 0.18540674448013306 + ], + [ + -110.81087493896484, + -104.69451904296875, + 0.18540674448013306 + ], + [ + -111.1604232788086, + -105.0440673828125, + 1.269787073135376 + ], + [ + -111.52349090576172, + -104.68099975585938, + 1.269787073135376 + ], + [ + -111.17394256591797, + -104.33145141601562, + 1.269787073135376 + ], + [ + -110.81087493896484, + -104.69451904296875, + 1.269787073135376 + ] + ], + "corners_2d": [ + [ + 614.0477816745823, + 442.93161678915965 + ], + [ + 630.9103202238892, + 443.2969617203323 + ], + [ + 631.5431417142415, + 432.4338005626996 + ], + [ + 614.9036060761671, + 432.07806892298686 + ], + [ + 613.4476475511258, + 415.92267232809525 + ], + [ + 630.7000293503958, + 416.28415267157277 + ], + [ + 631.350142190283, + 405.5390833981721 + ], + [ + 614.3311223000908, + 405.1873301995997 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 444, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -110.14054107666016, + "y": -104.0785903930664, + "z": 0.7299895286560059 + }, + "extent": { + "x": 0.35841307044029236, + "y": 0.3329443335533142, + "z": 0.8789295554161072 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 602.0325685674408, + "ymin": 369.2979944070078, + "xmax": 627.5699616452775, + "ymax": 429.4275535471707 + }, + "corners_3d": [ + [ + -110.25979614257812, + -104.55302429199219, + -0.14894002676010132 + ], + [ + -110.62246704101562, + -103.99456787109375, + -0.14894002676010132 + ], + [ + -110.02128601074219, + -103.60415649414062, + -0.14894002676010132 + ], + [ + -109.65861511230469, + -104.16261291503906, + -0.14894002676010132 + ], + [ + -110.25979614257812, + -104.55302429199219, + 1.6089191436767578 + ], + [ + -110.62246704101562, + -103.99456787109375, + 1.6089191436767578 + ], + [ + -110.02128601074219, + -103.60415649414062, + 1.6089191436767578 + ], + [ + -109.65861511230469, + -104.16261291503906, + 1.6089191436767578 + ] + ], + "corners_2d": [ + [ + 606.6973341501051, + 429.4275535471707 + ], + [ + 627.5699616452775, + 426.94567931000404 + ], + [ + 623.8576083744207, + 412.36555081710566 + ], + [ + 603.3535334106756, + 414.7580581847652 + ], + [ + 605.4738346495872, + 386.02142486950004 + ], + [ + 627.1147544987688, + 383.58718389655445 + ], + [ + 623.2775589931196, + 369.2979944070078 + ], + [ + 602.0325685674408, + 371.64145907223417 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 399, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -113.42300415039062, + "y": -97.74504852294922, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.3589257597923279, + "y": 0.4211962819099426, + "z": 0.8850648999214172 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 806.8601753693807, + "ymin": 336.7590705756537, + "xmax": 843.2951747716277, + "ymax": 393.674164832519 + }, + "corners_3d": [ + [ + -113.43687438964844, + -98.29825592041016, + -0.3100607395172119 + ], + [ + -113.96701049804688, + -97.64359283447266, + -0.3100607395172119 + ], + [ + -113.40913391113281, + -97.19184112548828, + -0.3100607395172119 + ], + [ + -112.87899780273438, + -97.84650421142578, + -0.3100607395172119 + ], + [ + -113.43687438964844, + -98.29825592041016, + 1.4600690603256226 + ], + [ + -113.96701049804688, + -97.64359283447266, + 1.4600690603256226 + ], + [ + -113.40913391113281, + -97.19184112548828, + 1.4600690603256226 + ], + [ + -112.87899780273438, + -97.84650421142578, + 1.4600690603256226 + ] + ], + "corners_2d": [ + [ + 811.4081877938138, + 393.674164832519 + ], + [ + 836.4280222081468, + 392.50093108220386 + ], + [ + 831.4491909029888, + 379.0459915462662 + ], + [ + 806.8601753693807, + 380.17851179271275 + ], + [ + 817.4101028207973, + 351.0523417760954 + ], + [ + 843.2951747716277, + 349.90526741884736 + ], + [ + 838.0211947335108, + 336.7590705756537 + ], + [ + 812.5969738249893, + 337.86498420272216 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 982, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -120.66718292236328, + "y": -104.68775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.4085693359375, + "y": 0.4639257788658142, + "z": 0.8904166221618652 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 856.0586556793143, + "ymin": 577.8386210816626, + "xmax": 910.6743589454732, + "ymax": 651.6079807844053 + }, + "corners_3d": [ + [ + -120.62803649902344, + -105.30470275878906, + -0.31543195247650146 + ], + [ + -121.28413391113281, + -104.64861297607422, + -0.31543195247650146 + ], + [ + -120.70632934570312, + -104.07081604003906, + -0.31543195247650146 + ], + [ + -120.05023193359375, + -104.7269058227539, + -0.31543195247650146 + ], + [ + -120.62803649902344, + -105.30470275878906, + 1.465401291847229 + ], + [ + -121.28413391113281, + -104.64861297607422, + 1.465401291847229 + ], + [ + -120.70632934570312, + -104.07081604003906, + 1.465401291847229 + ], + [ + -120.05023193359375, + -104.7269058227539, + 1.465401291847229 + ] + ], + "corners_2d": [ + [ + 860.8684070460157, + 650.5957453418487 + ], + [ + 898.3808222670834, + 651.6079807844053 + ], + [ + 892.575222195124, + 624.4345867334332 + ], + [ + 856.0586556793143, + 623.4751145421151 + ], + [ + 871.3662996887742, + 604.9520652483152 + ], + [ + 910.6743589454732, + 605.9653496698567 + ], + [ + 904.2602948675774, + 578.7966794390131 + ], + [ + 866.0443136606241, + 577.8386210816626 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 109, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -114.78268432617188, + "y": -115.81512451171875, + "z": 0.727220892906189 + }, + "extent": { + "x": 0.4060595631599426, + "y": 0.48652341961860657, + "z": 0.8841245770454407 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 320.31214842854126, + "ymin": 692.8437725254823, + "xmax": 391.42652181097765, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -114.66012573242188, + -116.43687438964844, + -0.1569036841392517 + ], + [ + -115.41632843017578, + -115.82451629638672, + -0.1569036841392517 + ], + [ + -114.90524291992188, + -115.19337463378906, + -0.1569036841392517 + ], + [ + -114.14904022216797, + -115.80573272705078, + -0.1569036841392517 + ], + [ + -114.66012573242188, + -116.43687438964844, + 1.6113455295562744 + ], + [ + -115.41632843017578, + -115.82451629638672, + 1.6113455295562744 + ], + [ + -114.90524291992188, + -115.19337463378906, + 1.6113455295562744 + ], + [ + -114.14904022216797, + -115.80573272705078, + 1.6113455295562744 + ] + ], + "corners_2d": [ + [ + 336.5386335541886, + 771.6291266492913 + ], + [ + 378.87558444266386, + 777.3521324387661 + ], + [ + 391.42652181097765, + 743.4735877024036 + ], + [ + 350.26596972491654, + 738.0808631187522 + ], + [ + 320.31214842854126, + 726.751803751569 + ], + [ + 364.83958844607, + 732.5467623750787 + ], + [ + 378.47782002773647, + 698.2871917622851 + ], + [ + 335.2495529331212, + 692.8437725254823 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 600, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -110.14055633544922, + "y": -106.29692077636719, + "z": 0.7300236225128174 + }, + "extent": { + "x": 0.5152196884155273, + "y": 0.48592284321784973, + "z": 0.9331583380699158 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 536.9632223045128, + "ymin": 394.93310633601556, + "xmax": 581.5430079755583, + "ymax": 468.9412028186021 + }, + "corners_3d": [ + [ + -110.01363372802734, + -106.9936752319336, + -0.2031347155570984 + ], + [ + -110.82869720458984, + -106.46437072753906, + -0.2031347155570984 + ], + [ + -110.2674789428711, + -105.60016632080078, + -0.2031347155570984 + ], + [ + -109.4524154663086, + -106.12947082519531, + -0.2031347155570984 + ], + [ + -110.01363372802734, + -106.9936752319336, + 1.663182020187378 + ], + [ + -110.82869720458984, + -106.46437072753906, + 1.663182020187378 + ], + [ + -110.2674789428711, + -105.60016632080078, + 1.663182020187378 + ], + [ + -109.4524154663086, + -106.12947082519531, + 1.663182020187378 + ] + ], + "corners_2d": [ + [ + 540.9931561873391, + 463.57598223114246 + ], + [ + 571.7435361716978, + 468.9412028186021 + ], + [ + 581.5430079755583, + 446.30971235913705 + ], + [ + 551.5499431877646, + 441.226944776062 + ], + [ + 536.9632223045128, + 416.8754824554624 + ], + [ + 568.9467877215031, + 422.1501511086242 + ], + [ + 579.2144363461197, + 399.91921816446524 + ], + [ + 548.0492492998792, + 394.93310633601556 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 1, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 430.15092200332117, + "ymin": 39.38134271937463, + "xmax": 648.8709411741386, + "ymax": 224.18155137575064 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 507.9045453182481, + 123.58604833208886 + ], + [ + 441.91526441740876, + 146.7387861048833 + ], + [ + 580.0364652443261, + 224.18155137575064 + ], + [ + 648.3288525128397, + 193.870135102961 + ], + [ + 500.42595967064017, + 39.38134271937463 + ], + [ + 430.15092200332117, + 59.78115696192998 + ], + [ + 575.9121239282438, + 128.80141657915541 + ], + [ + 648.8709411741386, + 101.64137455118077 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 17463, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 631.3697436774175, + "ymin": 4.289936883516361, + "xmax": 846.7024120387534, + "ymax": 167.3131903199673 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 782.3486092326305, + 167.3131903199673 + ], + [ + 835.2079904585598, + 142.34016241970235 + ], + [ + 684.8082397281578, + 83.50532055288716 + ], + [ + 631.8133173652473, + 103.03164220902056 + ], + [ + 791.1587230347569, + 77.96754880300227 + ], + [ + 846.7024120387534, + 55.86660668795213 + ], + [ + 687.1321217855432, + 4.289936883516361 + ], + [ + 631.3697436774175, + 21.33140207722721 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 826, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 572.8100479405207, + "ymin": 107.67250203918795, + "xmax": 681.0571247399639, + "ymax": 187.5311603118253 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 602.4950856733888, + 138.3985560224761 + ], + [ + 574.2125807236632, + 149.3412837731727 + ], + [ + 651.5922435526419, + 187.5311603118253 + ], + [ + 680.158355813567, + 174.9611387209942 + ], + [ + 601.7124906100855, + 107.67250203918795 + ], + [ + 572.8100479405207, + 118.18191952401457 + ], + [ + 651.857731625383, + 154.9326931613617 + ], + [ + 681.0571247399639, + 142.8237739190661 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 52908959695452696, + "instance_id": 6202, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": -79.05494689941406, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1102.1456089500584, + "ymin": 119.15558163555474, + "xmax": 1118.9677120791666, + "ymax": 143.25329839074325 + }, + "corners_3d": [ + [ + -113.29469299316406, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -78.86498260498047, + 3.5146729946136475 + ], + [ + -113.29469299316406, + -78.86498260498047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1102.1456089500584, + 141.1820523337575 + ], + [ + 1108.533385079827, + 143.25329839074325 + ], + [ + 1112.7135508510478, + 140.60732315064388 + ], + [ + 1106.341583697909, + 138.5570606820099 + ], + [ + 1108.266835126427, + 121.7152001528124 + ], + [ + 1114.7643666715699, + 123.73510620104906 + ], + [ + 1118.9677120791666, + 121.15475471668086 + ], + [ + 1112.4866683572131, + 119.15558163555474 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 893.3123326025012, + "ymin": 309.9261410779065, + "xmax": 917.3683754635, + "ymax": 349.07570020330456 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 902.5704554610508, + 349.07570020330456 + ], + [ + 911.3050796468619, + 342.90540806114797 + ], + [ + 902.0677773480786, + 338.1789119642682 + ], + [ + 893.3123326025012, + 344.2680773227481 + ], + [ + 908.4899917654695, + 320.62825906744774 + ], + [ + 917.3683754635, + 314.5673092016698 + ], + [ + 907.8853118058022, + 309.9261410779065 + ], + [ + 898.9844748047744, + 315.9056310764736 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5668522571212290485, + "instance_id": 46457, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -89.45570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 982.9283099357208, + "ymin": 123.28442624123102, + "xmax": 1001.7439341783788, + "ymax": 152.77239266364904 + }, + "corners_3d": [ + [ + -113.19542694091797, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -89.26573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -89.26573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 982.9283099357208, + 150.20895431039852 + ], + [ + 990.1186440506649, + 152.77239266364904 + ], + [ + 995.9615925722906, + 149.4808609434748 + ], + [ + 988.7876280060173, + 146.9491165010392 + ], + [ + 988.5067681526955, + 126.44759053242132 + ], + [ + 995.8422274127622, + 128.93545492637338 + ], + [ + 1001.7439341783788, + 125.74103423510655 + ], + [ + 994.4257340988395, + 123.28442624123102 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1103.4332950391276, + "ymin": 415.4680591162035, + "xmax": 1136.170067966982, + "ymax": 459.759924873705 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1115.7179512521727, + 459.759924873705 + ], + [ + 1123.6859213767684, + 451.57487479693395 + ], + [ + 1111.460386168754, + 445.3193784891344 + ], + [ + 1103.4332950391276, + 453.3806663669251 + ], + [ + 1128.1209343195515, + 429.7470558019188 + ], + [ + 1136.170067966982, + 421.65199616368966 + ], + [ + 1123.534735167731, + 415.4680591162035 + ], + [ + 1115.421463646488, + 423.43757895475625 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7157878223548397302, + "instance_id": 63030, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -86.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1020.1959004378897, + "ymin": 103.42222545400767, + "xmax": 1038.7915883998478, + "ymax": 131.83917268471242 + }, + "corners_3d": [ + [ + -113.19542694091797, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -86.76573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -86.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1020.1959004378897, + 129.47395432099222 + ], + [ + 1027.2761079361305, + 131.83917268471242 + ], + [ + 1032.6675510132168, + 128.8019962495334 + ], + [ + 1025.6045054402598, + 126.46487796000113 + ], + [ + 1026.133434578425, + 106.33835326304717 + ], + [ + 1033.352916051504, + 108.63089152453591 + ], + [ + 1038.7915883998478, + 105.68710461943567 + ], + [ + 1031.5901542504432, + 103.42222545400767 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7631990878982166785, + "instance_id": 473, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": -83.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1061.2203727989968, + "ymin": 81.57574834442266, + "xmax": 1079.5239910059206, + "ymax": 108.80513989872759 + }, + "corners_3d": [ + [ + -113.1954345703125, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47261047363281, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.19544219970703, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47261047363281, + -83.76573944091797, + 6.416468620300293 + ], + [ + -113.19544219970703, + -83.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1061.2203727989968, + 106.64885950147249 + ], + [ + 1068.162912534534, + 108.80513989872759 + ], + [ + 1073.0783938049358, + 106.03609493272336 + ], + [ + 1066.153566627002, + 103.90428451473838 + ], + [ + 1067.4975601433628, + 84.23182499345546 + ], + [ + 1074.572448550758, + 86.3188918099267 + ], + [ + 1079.5239910059206, + 83.63877993834069 + ], + [ + 1072.4676785723868, + 81.57574834442266 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 743.3575871620321, + "ymin": 320.91863000491105, + "xmax": 760.942121405533, + "ymax": 353.62892685986196 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 750.314343206586, + 353.62892685986196 + ], + [ + 758.7285651748948, + 348.4196290159805 + ], + [ + 751.7744865697945, + 344.39784304615705 + ], + [ + 743.3575871620321, + 349.54931404388947 + ], + [ + 752.3860779024213, + 330.0168831673565 + ], + [ + 760.942121405533, + 324.8820136113565 + ], + [ + 753.8466204213175, + 320.91863000491105 + ], + [ + 745.2876273266845, + 325.9954413693182 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1000.5471622793374, + "ymin": 363.73529954134926, + "xmax": 1028.864207931665, + "ymax": 405.5355142082991 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1011.296099633998, + 405.5355142082991 + ], + [ + 1019.7084175665462, + 398.37267945634903 + ], + [ + 1008.9977269106464, + 392.8922874606617 + ], + [ + 1000.5471622793374, + 399.95373073475054 + ], + [ + 1020.3337940566505, + 376.1956388850196 + ], + [ + 1028.864207931665, + 369.1352128098711 + ], + [ + 1017.8308387655596, + 363.73529954134926 + ], + [ + 1009.259084921805, + 370.69338881609804 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 925.28931952201, + "ymin": 0.0, + "xmax": 1153.5553574299624, + "ymax": 297.90056297464656 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1091.1236121620295, + 194.5499977083341 + ], + [ + 1081.829837500925, + 191.1600280549872 + ], + [ + 925.28931952201, + 293.1781899425596 + ], + [ + 935.1609174956927, + 297.90056297464656 + ], + [ + 1153.5553574299624, + -1.4620305143887435 + ], + [ + 1142.5627010377411, + -3.9949977287691354 + ], + [ + 972.7202957995266, + 74.09822177338185 + ], + [ + 984.6370029515183, + 77.80899115553137 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 251.41091755288778, + "ymin": 0.0, + "xmax": 352.84427214179595, + "ymax": 81.74016105294629 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 286.3106358836612, + 79.52345483463728 + ], + [ + 290.1072604425549, + 81.74016105294629 + ], + [ + 352.84427214179595, + 64.20044453983326 + ], + [ + 348.90044108313737, + 62.14971849329572 + ], + [ + 251.41091755288778, + -71.58332976096756 + ], + [ + 255.3977940536389, + -69.95367859825387 + ], + [ + 325.5516630529593, + -82.8057255998873 + ], + [ + 321.3738338269964, + -84.30203165487978 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 7.039649091528645, + "ymin": 0.0, + "xmax": 85.84318495850607, + "ymax": 38.69051226465541 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 78.21471799979054, + 38.69051226465541 + ], + [ + 85.84318495850607, + 36.97915101359888 + ], + [ + 64.39609307153944, + 21.70685443705122 + ], + [ + 56.96491885809894, + 23.293958361353532 + ], + [ + 28.092408459737726, + -101.58217861453755 + ], + [ + 36.62324685897045, + -102.8163738746606 + ], + [ + 15.319374558214008, + -113.79038378819462 + ], + [ + 7.039649091528645, + -112.65330046841223 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 580.3222025268586, + "ymin": 0.0, + "xmax": 631.8547183982074, + "ymax": 25.663307129090356 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 604.6546769933512, + 25.663307129090356 + ], + [ + 631.8547183982074, + 17.404917313598105 + ], + [ + 610.2345127104954, + 9.843665985271684 + ], + [ + 583.1228606338301, + 17.78505039015448 + ], + [ + 602.877754904018, + -54.031959781346984 + ], + [ + 631.4540462068087, + -60.98059426626156 + ], + [ + 608.7997696083413, + -67.33010537987627 + ], + [ + 580.3222025268586, + -60.66106362497385 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 536.7746195020299, + "ymin": 0.9133151354828897, + "xmax": 549.438444187929, + "ymax": 7.506795004974322 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 536.9506503384972, + 5.82185128994837 + ], + [ + 541.4963648371033, + 7.506795004974322 + ], + [ + 549.438444187929, + 5.308977597313401 + ], + [ + 544.883988921225, + 3.6432118198168837 + ], + [ + 536.7746195020299, + 3.0800142624569844 + ], + [ + 541.3273567097225, + 4.755752312719437 + ], + [ + 549.2839529805977, + 2.5699476531809182 + ], + [ + 544.7224368179922, + 0.9133151354828897 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 918.3903088979355, + "ymin": 0.0, + "xmax": 1207.4883930010606, + "ymax": 225.76231145860814 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 1000.813575753798, + 225.76231145860814 + ], + [ + 1108.7592449946626, + 155.77049927447766 + ], + [ + 1030.1511871797372, + 129.6718375847399 + ], + [ + 918.3903088979355, + 192.5660100286464 + ], + [ + 1089.2437528581986, + -113.7166302087503 + ], + [ + 1207.4883930010606, + -150.70753099201067 + ], + [ + 1107.4983492240897, + -163.98189977407424 + ], + [ + 982.0015367948765, + -131.52008048790617 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 808.1127900617846, + "ymin": 286.37690810563606, + "xmax": 830.8431584287712, + "ymax": 302.41620824248844 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 816.1593798207914, + 290.31517678603905 + ], + [ + 808.1127900617846, + 295.133980969705 + ], + [ + 822.2388454209269, + 302.41620824248844 + ], + [ + 830.2696126503897, + 297.4927625620697 + ], + [ + 816.6847221961266, + 286.37690810563606 + ], + [ + 808.6177684736913, + 291.18165177680135 + ], + [ + 822.7922069549192, + 298.44302349318696 + ], + [ + 830.8431584287712, + 293.5336262869798 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7664114084626016696, + "instance_id": 47273, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.91487884521484, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 744.3054037709711, + "ymin": 0.0, + "xmax": 809.2555489730637, + "ymax": 87.20074899304132 + }, + "corners_3d": [ + [ + -95.94330596923828, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -79.87950897216797, + 4.83804988861084 + ], + [ + -95.94330596923828, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 772.840728978792, + 87.20074899304132 + ], + [ + 800.1352102417299, + 76.25778443532175 + ], + [ + 771.6580697393556, + 66.29845196824476 + ], + [ + 744.3054037709711, + 76.75998476012376 + ], + [ + 780.5999768134975, + -1.7991860209024253 + ], + [ + 809.2555489730637, + -11.146620847393478 + ], + [ + 778.9824960948645, + -19.63151264509355 + ], + [ + 750.2529737124069, + -10.718206558998816 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9560389216542849208, + "instance_id": 47352, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_1", + "bbox_3d": { + "center_world": { + "x": -94.91524505615234, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 750.0834237990231, + "ymin": 1.3332846889153416, + "xmax": 805.4149533313682, + "ymax": 25.19331194617132 + }, + "corners_3d": [ + [ + -95.88141632080078, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -95.88141632080078, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -93.9490737915039, + -77.64111328125, + 3.4435572624206543 + ], + [ + -93.9490737915039, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -95.88141632080078, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -95.88141632080078, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -93.9490737915039, + -77.64111328125, + 3.7680342197418213 + ], + [ + -93.9490737915039, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 778.0631401236168, + 25.19331194617132 + ], + [ + 804.7734537492325, + 15.873678261601412 + ], + [ + 776.8548947497371, + 7.441347913791901 + ], + [ + 750.0834237990231, + 16.360417265817603 + ], + [ + 778.6134602072405, + 18.87265157632754 + ], + [ + 805.4149533313682, + 9.663859043971001 + ], + [ + 777.3762144465875, + 1.3332846889153416 + ], + [ + 750.5125362686066, + 10.144768270886459 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11431371900272489448, + "instance_id": 59571, + "pixel_count": null, + "type_id": "BP_HighwayLight_simple2_SM_2", + "bbox_3d": { + "center_world": { + "x": -98.27579498291016, + "y": -56.101219177246094, + "z": 5.664507865905762 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 999.7072268663471, + "ymin": 0.0, + "xmax": 1119.5345826621617, + "ymax": 16.52014096263389 + }, + "corners_3d": [ + [ + -98.64216613769531, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -97.90940856933594, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -97.909423828125, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -98.64218139648438, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -98.64216613769531, + -52.1658935546875, + 11.14326000213623 + ], + [ + -97.90940856933594, + -52.1658935546875, + 11.14326000213623 + ], + [ + -97.909423828125, + -60.03654479980469, + 11.14326000213623 + ], + [ + -98.64218139648438, + -60.03654479980469, + 11.14326000213623 + ] + ], + "corners_2d": [ + [ + 1070.433129528284, + -9.264938554816581 + ], + [ + 1060.3111441398173, + -11.64080557074459 + ], + [ + 999.7072268663471, + 13.80039428373027 + ], + [ + 1010.117400382731, + 16.52014096263389 + ], + [ + 1119.5345826621617, + -194.08530333038175 + ], + [ + 1107.9128392797713, + -195.39999972365717 + ], + [ + 1043.6306603501785, + -181.22047494419348 + ], + [ + 1055.6654741558823, + -179.6912797165844 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 467.65715808310813, + "ymin": 0.0, + "xmax": 561.6231937432374, + "ymax": 200.27088950955363 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 487.1127527482437, + 196.76425497133474 + ], + [ + 493.11867933287823, + 200.27088950955363 + ], + [ + 561.6231937432374, + 172.7619843542959 + ], + [ + 555.5053565499068, + 169.58081155702453 + ], + [ + 467.65715808310813, + 16.808155966307254 + ], + [ + 474.29843729406747, + 19.52280448526875 + ], + [ + 552.1174352156402, + -1.6602985359193099 + ], + [ + 545.324083710339, + -4.093364236141213 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 808.233553381936, + "ymin": 286.4613919146058, + "xmax": 830.7218227956848, + "ymax": 302.33012905747927 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 816.1944358010326, + 290.357954914765 + ], + [ + 808.233553381936, + 295.1258879426036 + ], + [ + 822.20934255114, + 302.33012905747927 + ], + [ + 830.1547395184772, + 297.45976865810667 + ], + [ + 816.7143351566485, + 286.4613919146058 + ], + [ + 808.7335209402656, + 291.2155622449318 + ], + [ + 822.7566680566968, + 298.39938864855355 + ], + [ + 830.7218227956848, + 293.542779288797 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 536.8423082155219, + "ymin": 0.9481841990044018, + "xmax": 549.3714756972325, + "ymax": 7.4715456237437365 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 537.0163528241258, + 5.804661174472017 + ], + [ + 541.5138346099947, + 7.4715456237437365 + ], + [ + 549.3714756972325, + 5.297266996213239 + ], + [ + 544.8654378416533, + 3.6491544638250843 + ], + [ + 536.8423082155219, + 3.092002837371467 + ], + [ + 541.3466643673711, + 4.749876727056403 + ], + [ + 549.2185150074137, + 2.5873562914117656 + ], + [ + 544.705565804436, + 0.9481841990044018 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 692.4938046252241, + "ymin": 227.17541659099064, + "xmax": 837.191409805107, + "ymax": 530.3457825072301 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 702.7035067808406, + 453.2329941998155 + ], + [ + 692.4938046252241, + 460.13725104247516 + ], + [ + 792.1299588986685, + 530.3457825072301 + ], + [ + 802.2981903332163, + 522.240106653576 + ], + [ + 714.9475408625362, + 227.17541659099064 + ], + [ + 702.8462882866348, + 233.18994680217432 + ], + [ + 825.1960655145965, + 295.48106272121356 + ], + [ + 837.191409805107, + 288.18265390911967 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15445048005953999223, + "instance_id": 30545, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_0", + "bbox_3d": { + "center_world": { + "x": -94.91524505615234, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 750.0485051652483, + "ymin": 1.3238524774258735, + "xmax": 805.4470945962175, + "ymax": 25.246493157050793 + }, + "corners_3d": [ + [ + -95.88260650634766, + -79.81846618652344, + 3.441368341445923 + ], + [ + -95.88261413574219, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -93.94788360595703, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -93.9478759765625, + -79.81846618652344, + 3.441368341445923 + ], + [ + -95.88260650634766, + -79.81846618652344, + 3.768015146255493 + ], + [ + -95.88261413574219, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -93.94788360595703, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -93.9478759765625, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 778.062114053978, + 25.246493157050793 + ], + [ + 804.8011960142259, + 15.915673450637769 + ], + [ + 776.8488800201889, + 7.472482875084097 + ], + [ + 750.0485051652483, + 16.40178411673645 + ], + [ + 778.6161249429117, + 18.883608431363598 + ], + [ + 805.4470945962175, + 9.66448831173625 + ], + [ + 777.373649227583, + 1.3238524774258735 + ], + [ + 750.4803497309679, + 10.144738529352367 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 727.9670292700796, + "ymin": 170.51389574685737, + "xmax": 1226.523123313888, + "ymax": 657.8241256372735 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 737.2765386663973, + 412.3877324152203 + ], + [ + 727.9670292700796, + 418.4294640269999 + ], + [ + 1090.161720375609, + 657.8241256372735 + ], + [ + 1098.6740186148631, + 647.6202949039451 + ], + [ + 756.9079669321814, + 170.51389574685737 + ], + [ + 745.883300349374, + 175.55716102548573 + ], + [ + 1217.2408629985262, + 388.7719632553921 + ], + [ + 1226.523123313888, + 379.11724532360853 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 74.44315128646713, + "ymin": 0.0, + "xmax": 307.4719730016513, + "ymax": 33.95013126358515 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 123.65775981278159, + 32.19528413146958 + ], + [ + 126.22720057944946, + 33.95013126358515 + ], + [ + 307.4719730016513, + -6.792071082774214 + ], + [ + 304.45854235709385, + -8.21661982910041 + ], + [ + 74.44315128646713, + -118.27795736014656 + ], + [ + 77.02723323776547, + -117.06260832245005 + ], + [ + 279.05730170154385, + -145.02521322679104 + ], + [ + 275.90617242156765, + -145.9934047824143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 5199819733356185808, + "instance_id": 53256, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1851_37", + "bbox_3d": { + "center_world": { + "x": -100.25784301757812, + "y": -72.39555358886719, + "z": 8.309331893920898 + }, + "extent": { + "x": 4.9728498458862305, + "y": 4.831793308258057, + "z": 8.307754516601562 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 797.8009996168107, + "ymin": 0.0, + "xmax": 1131.7968191751254, + "ymax": 127.72698731307577 + }, + "corners_3d": [ + [ + -94.59623718261719, + -68.39283752441406, + 0.0015773773193359375 + ], + [ + -96.09391784667969, + -77.93966674804688, + 0.0015773773193359375 + ], + [ + -105.91944885253906, + -76.39826965332031, + 0.0015773773193359375 + ], + [ + -104.42176818847656, + -66.8514404296875, + 0.0015773773193359375 + ], + [ + -94.59623718261719, + -68.39283752441406, + 16.61708641052246 + ], + [ + -96.09391784667969, + -77.93966674804688, + 16.61708641052246 + ], + [ + -105.91944885253906, + -76.39826965332031, + 16.61708641052246 + ], + [ + -104.42176818847656, + -66.8514404296875, + 16.61708641052246 + ] + ], + "corners_2d": [ + [ + 878.5234629808383, + 34.2379455967739 + ], + [ + 797.8009996168107, + 81.35956436232709 + ], + [ + 971.0241865913904, + 127.72698731307577 + ], + [ + 1039.5816940056302, + 71.17252897198097 + ], + [ + 928.0874935181081, + -293.38636352777826 + ], + [ + 835.2429389486588, + -281.5610204216605 + ], + [ + 1059.6454480566936, + -269.34763679777654 + ], + [ + 1131.7968191751254, + -284.1661432029508 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 291.7412718406698, + "xmax": 1.228639462077922, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -621.0130930847495, + 1242.2595907987516 + ], + [ + -126.88557326393823, + 1124.574596994145 + ], + [ + 1.228639462077922, + 741.7304326985857 + ], + [ + -352.34407432812895, + 805.767368234724 + ], + [ + -1850.9857469849535, + 882.6863850689957 + ], + [ + -774.598283005203, + 713.817319398902 + ], + [ + -329.47529557325026, + 291.7412718406698 + ], + [ + -912.105748769003, + 351.6038868284498 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00042/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00042/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f00706e728fb4f32d9cb444c4ab2af387a182cd9 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00042/meta.json @@ -0,0 +1,3409 @@ +{ + "frame_id": 42, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 21.0, + "sim_timestamp": 10201.994379464537 + }, + "drone_pose": { + "x": -126.93315242943422, + "y": -118.78301071354477, + "z": 20.010426158934067, + "pitch": -41.38031705165209, + "yaw": 36.90122500867627, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6000243425369263, + -0.4505310654640198, + 0.6610541343688965, + 116.45043182373047 + ], + [ + 0.600437343120575, + 0.7996717691421509, + -1.4901161193847656e-08, + 18.772018432617188 + ], + [ + -0.5286263227462769, + 0.3969215750694275, + 0.7503381967544556, + -129.2623291015625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -126.61039949279294, + "y": -118.05382904366441, + "z": 20.003491592690814 + }, + "t1_image_uv": [ + 1349.5046383874899, + -468.92494403042826 + ], + "t1_depth": 0.5267627291332111 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -110.66718292236328, + "y": -104.18776321411131, + "z": 0.7287639421224594 + }, + "image_uv": [ + 702.8751889756707, + 362.50808578609195 + ], + "depth": 29.081812308771305, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 189, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -110.66718292236328, + "y": -104.18775939941406, + "z": 0.7287639379501343 + }, + "extent": { + "x": 0.248779296875, + "y": 0.2472558468580246, + "z": 0.5324707627296448 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 693.2836047533121, + "ymin": 343.10270283294085, + "xmax": 712.5953441162129, + "ymax": 381.7260382661718 + }, + "corners_3d": [ + [ + -110.66825866699219, + -104.53850555419922, + 0.1962931752204895 + ], + [ + -111.01792907714844, + -104.18883514404297, + 0.1962931752204895 + ], + [ + -110.66610717773438, + -103.8370132446289, + 0.1962931752204895 + ], + [ + -110.31643676757812, + -104.18668365478516, + 0.1962931752204895 + ], + [ + -110.66825866699219, + -104.53850555419922, + 1.2612347602844238 + ], + [ + -111.01792907714844, + -104.18883514404297, + 1.2612347602844238 + ], + [ + -110.66610717773438, + -103.8370132446289, + 1.2612347602844238 + ], + [ + -110.31643676757812, + -104.18668365478516, + 1.2612347602844238 + ] + ], + "corners_2d": [ + [ + 693.2836047533121, + 380.1770505376253 + ], + [ + 709.4619972580103, + 381.7260382661718 + ], + [ + 710.8683521583692, + 370.8910859262891 + ], + [ + 694.8891907259704, + 369.3805164145991 + ], + [ + 694.5964956099049, + 353.825319303768 + ], + [ + 711.1766556082399, + 355.36424243313684 + ], + [ + 712.5953441162129, + 344.6025340540631 + ], + [ + 696.2243702633956, + 343.10270283294085 + ] + ], + "center_offset_px": [ + 62.87518897567065, + 2.5080857860919537 + ] + }, + "trace_timestep_index": 42, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 59, + "semantic_pixel_counts": { + "1": 277867, + "2": 245905, + "3": 316917, + "4": 16856, + "5": 174, + "6": 12878, + "7": 2854, + "10": 8791, + "12": 3486, + "14": 921, + "16": 14561, + "20": 16, + "21": 2000, + "24": 18374 + }, + "instance_pixel_counts": { + "1115": 5689, + "1169": 16, + "6254": 669, + "11394": 1993, + "12894": 9, + "14416": 174, + "16023": 1426, + "16476": 117, + "17232": 16856, + "17500": 4, + "18011": 90983, + "18012": 79, + "20631": 13064, + "23808": 3433, + "24064": 9441, + "27072": 6475, + "29843": 29095, + "30656": 82434, + "31168": 4329, + "31891": 89742, + "34120": 101798, + "34453": 3032, + "35419": 20, + "35931": 385, + "36443": 209101, + "36501": 4499, + "37460": 865, + "44171": 1808, + "44179": 6090, + "44691": 108725, + "46227": 44215, + "46731": 1725, + "46741": 221, + "47253": 8803, + "48779": 1187, + "48789": 1819, + "49664": 189, + "49803": 2286, + "49920": 430, + "50176": 431, + "50432": 880, + "50688": 932, + "50944": 624, + "52480": 1, + "52672": 299, + "52736": 14560, + "53184": 3176, + "54016": 912, + "54720": 4087, + "55232": 2028, + "55744": 4785, + "55879": 9, + "56135": 1526, + "56768": 9960, + "60013": 6462, + "61037": 3608, + "62555": 1130, + "63067": 670, + "64351": 5038 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 189, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -110.66718292236328, + "y": -104.18775939941406, + "z": 0.7287639379501343 + }, + "extent": { + "x": 0.2414843738079071, + "y": 0.25113770365715027, + "z": 0.5558071136474609 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 693.1526052217773, + "ymin": 342.6559682754398, + "xmax": 712.7425106114314, + "ymax": 382.1408518124962 + }, + "corners_3d": [ + [ + -110.66035461425781, + -104.53609466552734, + 0.17295682430267334 + ], + [ + -111.01551818847656, + -104.1809310913086, + 0.17295682430267334 + ], + [ + -110.67401123046875, + -103.83942413330078, + 0.17295682430267334 + ], + [ + -110.31884765625, + -104.19458770751953, + 0.17295682430267334 + ], + [ + -110.66035461425781, + -104.53609466552734, + 1.2845710515975952 + ], + [ + -111.01551818847656, + -104.1809310913086, + 1.2845710515975952 + ], + [ + -110.67401123046875, + -103.83942413330078, + 1.2845710515975952 + ], + [ + -110.31884765625, + -104.19458770751953, + 1.2845710515975952 + ] + ], + "corners_2d": [ + [ + 693.1526052217773, + 380.56791990155915 + ], + [ + 709.573432618976, + 382.1408518124962 + ], + [ + 710.936761912467, + 371.62194811352856 + ], + [ + 694.7121548739724, + 370.0868787606971 + ], + [ + 694.5201255993468, + 353.0620981241676 + ], + [ + 711.366764898055, + 354.62434686944243 + ], + [ + 712.7425106114314, + 344.1796611986448 + ], + [ + 696.1023370649447, + 342.6559682754398 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 430, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -110.14054107666016, + "y": -104.0785903930664, + "z": 0.7299895286560059 + }, + "extent": { + "x": 0.503857433795929, + "y": 0.3414062559604645, + "z": 0.9210304617881775 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 681.0611481434414, + "ymin": 317.7860207181099, + "xmax": 709.1305141029427, + "ymax": 385.6364967945726 + }, + "corners_3d": [ + [ + -110.37716674804688, + -104.63933563232422, + -0.19104093313217163 + ], + [ + -110.74905395507812, + -104.06668090820312, + -0.19104093313217163 + ], + [ + -109.90391540527344, + -103.5178451538086, + -0.19104093313217163 + ], + [ + -109.53202819824219, + -104.09049987792969, + -0.19104093313217163 + ], + [ + -110.37716674804688, + -104.63933563232422, + 1.6510200500488281 + ], + [ + -110.74905395507812, + -104.06668090820312, + 1.6510200500488281 + ], + [ + -109.90391540527344, + -103.5178451538086, + 1.6510200500488281 + ], + [ + -109.53202819824219, + -104.09049987792969, + 1.6510200500488281 + ] + ], + "corners_2d": [ + [ + 684.3246559622921, + 385.6364967945726 + ], + [ + 706.2957077547685, + 384.6136113747899 + ], + [ + 702.491616655082, + 363.0504485618207 + ], + [ + 681.0611481434414, + 364.0232507694707 + ], + [ + 686.2223022848841, + 340.0830352509487 + ], + [ + 709.1305141029427, + 339.0721699675623 + ], + [ + 705.0948015725523, + 317.7860207181099 + ], + [ + 682.7736558231842, + 318.74535528837964 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 431, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -112.92300415039062, + "y": -97.24504852294922, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.44957029819488525, + "y": 0.4033252000808716, + "z": 0.8902601599693298 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 893.5707317722752, + "ymin": 286.6620129042371, + "xmax": 934.118515771762, + "ymax": 347.7801864272285 + }, + "corners_3d": [ + [ + -113.01856231689453, + -97.84141540527344, + -0.3152608871459961 + ], + [ + -113.52620697021484, + -97.21453094482422, + -0.3152608871459961 + ], + [ + -112.82744598388672, + -96.648681640625, + -0.3152608871459961 + ], + [ + -112.3198013305664, + -97.27556610107422, + -0.3152608871459961 + ], + [ + -113.01856231689453, + -97.84141540527344, + 1.4652594327926636 + ], + [ + -113.52620697021484, + -97.21453094482422, + 1.4652594327926636 + ], + [ + -112.82744598388672, + -96.648681640625, + 1.4652594327926636 + ], + [ + -112.3198013305664, + -97.27556610107422, + 1.4652594327926636 + ] + ], + "corners_2d": [ + [ + 898.034001615209, + 347.1883193837386 + ], + [ + 923.0222312528518, + 347.7801864272285 + ], + [ + 918.0272728358295, + 330.1478698267359 + ], + [ + 893.5707317722752, + 329.5807693425788 + ], + [ + 908.1431226734464, + 303.9962356778333 + ], + [ + 934.118515771762, + 304.57941377719334 + ], + [ + 928.6883005033817, + 287.2198630094783 + ], + [ + 903.2869499807955, + 286.6620129042371 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 880, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -120.16718292236328, + "y": -104.18775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.42829588055610657, + "y": 0.4708007574081421, + "z": 0.9197266101837158 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 922.7154422992501, + "ymin": 533.4313457520261, + "xmax": 981.8465469066475, + "ymax": 612.0082693245254 + }, + "corners_3d": [ + [ + -120.13713073730469, + -104.82351684570312, + -0.34474194049835205 + ], + [ + -120.80294036865234, + -104.15770721435547, + -0.34474194049835205 + ], + [ + -120.19723510742188, + -103.552001953125, + -0.34474194049835205 + ], + [ + -119.53142547607422, + -104.21781158447266, + -0.34474194049835205 + ], + [ + -120.13713073730469, + -104.82351684570312, + 1.4947112798690796 + ], + [ + -120.80294036865234, + -104.15770721435547, + 1.4947112798690796 + ], + [ + -120.19723510742188, + -103.552001953125, + 1.4947112798690796 + ], + [ + -119.53142547607422, + -104.21781158447266, + 1.4947112798690796 + ] + ], + "corners_2d": [ + [ + 925.4040042278525, + 607.4216564405406 + ], + [ + 964.3246181802261, + 612.0082693245254 + ], + [ + 960.608378769391, + 583.3319437192981 + ], + [ + 922.7154422992501, + 578.9813510556228 + ], + [ + 940.7553237444016, + 562.1192793834323 + ], + [ + 981.8465469066475, + 566.7533475872355 + ], + [ + 977.4532948733524, + 537.8146233763889 + ], + [ + 937.505836414384, + 533.4313457520261 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 932, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -114.28268432617188, + "y": -115.31512451171875, + "z": 0.7271184325218201 + }, + "extent": { + "x": 0.548754870891571, + "y": 0.42112302780151367, + "z": 0.8866027593612671 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 394.6585782419051, + "ymin": 594.3886810404842, + "xmax": 459.8363099884894, + "ymax": 686.688883373189 + }, + "corners_3d": [ + [ + -114.30075073242188, + -116.00660705566406, + -0.15948432683944702 + ], + [ + -114.9552993774414, + -115.4765625, + -0.15948432683944702 + ], + [ + -114.26461791992188, + -114.62364196777344, + -0.15948432683944702 + ], + [ + -113.61006927490234, + -115.1536865234375, + -0.15948432683944702 + ], + [ + -114.30075073242188, + -116.00660705566406, + 1.6137211322784424 + ], + [ + -114.9552993774414, + -115.4765625, + 1.6137211322784424 + ], + [ + -114.26461791992188, + -114.62364196777344, + 1.6137211322784424 + ], + [ + -113.61006927490234, + -115.1536865234375, + 1.6137211322784424 + ] + ], + "corners_2d": [ + [ + 407.63391638340937, + 678.5454019027684 + ], + [ + 441.63794272464975, + 686.688883373189 + ], + [ + 459.8363099884894, + 645.6330337835577 + ], + [ + 426.8930148197757, + 638.048041712891 + ], + [ + 394.6585782419051, + 635.4862735589485 + ], + [ + 430.4795617525559, + 643.7697399785698 + ], + [ + 450.0757460750715, + 602.0739632468232 + ], + [ + 415.42927621193655, + 594.3886810404842 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 624, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -110.14055633544922, + "y": -106.29692077636719, + "z": 0.7300236225128174 + }, + "extent": { + "x": 0.45549315214157104, + "y": 0.4998730421066284, + "z": 0.8871563673019409 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 614.876535370376, + "ymin": 345.480629669664, + "xmax": 658.0632667506268, + "ymax": 416.9552115533173 + }, + "corners_3d": [ + [ + -109.96940612792969, + -106.95117950439453, + -0.15713274478912354 + ], + [ + -110.807861328125, + -106.40667724609375, + -0.15713274478912354 + ], + [ + -110.31170654296875, + -105.64266204833984, + -0.15713274478912354 + ], + [ + -109.47325134277344, + -106.18716430664062, + -0.15713274478912354 + ], + [ + -109.96940612792969, + -106.95117950439453, + 1.6171799898147583 + ], + [ + -110.807861328125, + -106.40667724609375, + 1.6171799898147583 + ], + [ + -110.31170654296875, + -105.64266204833984, + 1.6171799898147583 + ], + [ + -109.47325134277344, + -106.18716430664062, + 1.6171799898147583 + ] + ], + "corners_2d": [ + [ + 615.8982618879277, + 408.88678396207285 + ], + [ + 647.2135509499434, + 416.9552115533173 + ], + [ + 657.338321549015, + 397.1273682803911 + ], + [ + 626.6163189981335, + 389.40797035335777 + ], + [ + 614.876535370376, + 364.7660551159643 + ], + [ + 647.5222253376654, + 372.76480943559216 + ], + [ + 658.0632667506268, + 353.11913219552196 + ], + [ + 626.0618195572232, + 345.480629669664 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 1, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 530.7701159424466, + "ymin": 0.0, + "xmax": 751.9909320554838, + "ymax": 166.25963130791052 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 605.5601618474442, + 56.57868509532045 + ], + [ + 537.5261911688789, + 77.7388618253238 + ], + [ + 671.8649277496272, + 166.25963130791052 + ], + [ + 744.3221543300754, + 138.09537281289454 + ], + [ + 603.3802114351132, + -31.599708139260997 + ], + [ + 530.7701159424466, + -12.711633510406102 + ], + [ + 674.3212351359903, + 67.32868714126971 + ], + [ + 751.9909320554838, + 41.681503634332785 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 14560, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 734.1577399131119, + "ymin": 0.0, + "xmax": 966.2998687296882, + "ymax": 117.03168949218838 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 886.9618719827619, + 117.03168949218838 + ], + [ + 945.5686266768369, + 92.8731468553691 + ], + [ + 790.9664302338902, + 22.0546602007214 + ], + [ + 734.1577399131119, + 40.5670491853798 + ], + [ + 904.4660646995196, + 22.577457108094336 + ], + [ + 966.2998687296882, + 0.822171821230711 + ], + [ + 799.8811661819287, + -62.24706414337339 + ], + [ + 739.932982672706, + -45.86087050281685 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 912, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 671.3246018277982, + "ymin": 44.69899398741154, + "xmax": 782.354227431286, + "ymax": 131.55521505052099 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 701.1810148184106, + 76.84460412943986 + ], + [ + 671.3246018277982, + 87.03655682167602 + ], + [ + 748.1883346997349, + 131.55521505052099 + ], + [ + 778.8488592560778, + 119.73391291160752 + ], + [ + 702.613618308452, + 44.69899398741154 + ], + [ + 672.0716973906646, + 54.537806629566944 + ], + [ + 750.9743465430851, + 97.61202378978811 + ], + [ + 782.354227431286, + 86.15867963405839 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 52908959695452696, + "instance_id": 6202, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": -79.05494689941406, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1240.157840856633, + "ymin": 83.52625982353169, + "xmax": 1261.6925401774806, + "ymax": 109.72801695807831 + }, + "corners_3d": [ + [ + -113.29469299316406, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -78.86498260498047, + 3.5146729946136475 + ], + [ + -113.29469299316406, + -78.86498260498047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1240.157840856633, + 107.071024821653 + ], + [ + 1247.153135171398, + 109.72801695807831 + ], + [ + 1252.162235088699, + 107.00838552181531 + ], + [ + 1245.1764983503117, + 104.37555329772624 + ], + [ + 1249.5022610330025, + 86.16698812412483 + ], + [ + 1256.649502384201, + 88.77038447082526 + ], + [ + 1261.6925401774806, + 86.10561674321349 + ], + [ + 1254.5555530216525, + 83.52625982353169 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 991.1830939872873, + "ymin": 284.1039194205208, + "xmax": 1020.2535653354934, + "ymax": 324.87834074320835 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1000.7392789282122, + 324.87834074320835 + ], + [ + 1010.7353791076462, + 318.84558138033753 + ], + [ + 1001.1780436508927, + 313.0697189775 + ], + [ + 991.1830939872873, + 319.0158576819685 + ], + [ + 1010.0720641971739, + 295.77878788788956 + ], + [ + 1020.2535653354934, + 289.81326084814714 + ], + [ + 1010.3825961270421, + 284.1039194205208 + ], + [ + 1000.2012557957933, + 289.9816080015244 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5668522571212290485, + "instance_id": 46457, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -89.45570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1107.1359853652154, + "ymin": 83.95702327509593, + "xmax": 1130.7881147066453, + "ymax": 115.7632420300572 + }, + "corners_3d": [ + [ + -113.19542694091797, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -89.26573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -89.26573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1107.1359853652154, + 112.52910863282062 + ], + [ + 1114.8540335749847, + 115.7632420300572 + ], + [ + 1121.6546348612335, + 112.43517192412793 + ], + [ + 1113.9426974687062, + 109.2366311348116 + ], + [ + 1115.9955695822537, + 87.16940648754655 + ], + [ + 1123.9096070632922, + 90.32551780584794 + ], + [ + 1130.7881147066453, + 87.07774563265912 + ], + [ + 1122.8809777603185, + 83.95702327509593 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1210.9902621800286, + "ymin": 415.8051763017597, + "xmax": 1251.6381756958194, + "ymax": 461.86296304104906 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1224.0330385696946, + 461.86296304104906 + ], + [ + 1233.7635273388532, + 453.62943734655335 + ], + [ + 1220.7516725098649, + 445.7658818103698 + ], + [ + 1210.9902621800286, + 453.86154723561475 + ], + [ + 1241.7735396330286, + 431.8577670010238 + ], + [ + 1251.6381756958194, + 423.64492876943774 + ], + [ + 1238.0838974426658, + 415.8051763017597 + ], + [ + 1228.1837195355843, + 423.87639609473945 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7157878223548397302, + "instance_id": 63030, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -86.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1150.58959561677, + "ymin": 63.68485285006676, + "xmax": 1174.1835013510943, + "ymax": 94.51923583100881 + }, + "corners_3d": [ + [ + -113.19542694091797, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -86.76573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -86.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1150.58959561677, + 91.50893392005713 + ], + [ + 1158.2616647368068, + 94.51923583100881 + ], + [ + 1164.5916508298362, + 91.42148139939019 + ], + [ + 1156.9276631909145, + 88.44315109110602 + ], + [ + 1159.9268671550972, + 66.6720954500521 + ], + [ + 1167.7895681066184, + 69.605843096022 + ], + [ + 1174.1835013510943, + 66.58687527706473 + ], + [ + 1166.3297237120519, + 63.68485285006676 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7631990878982166785, + "instance_id": 473, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": -83.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1198.8667737023086, + "ymin": 41.18465584478611, + "xmax": 1222.3288599097764, + "ymax": 70.92667582220776 + }, + "corners_3d": [ + [ + -113.1954345703125, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47261047363281, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.19544219970703, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47261047363281, + -83.76573944091797, + 6.416468620300293 + ], + [ + -113.19544219970703, + -83.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1198.8667737023086, + 68.15559141023618 + ], + [ + 1206.4684355528696, + 70.92667582220776 + ], + [ + 1212.2954498621164, + 68.07507094017507 + ], + [ + 1204.7036762657704, + 65.33223301297278 + ], + [ + 1208.6662033877378, + 43.93163990038323 + ], + [ + 1216.4517219389377, + 46.62824153280354 + ], + [ + 1222.3288599097764, + 43.85329077822638 + ], + [ + 1214.554103005427, + 41.18465584478611 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 830.9459524833198, + "ymin": 281.80989011660927, + "xmax": 851.4831185117816, + "ymax": 315.37131058210156 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 837.8895885101851, + 315.37131058210156 + ], + [ + 847.1284845630904, + 310.45675724906596 + ], + [ + 840.1721556454343, + 305.7137776510216 + ], + [ + 830.9459524833198, + 310.5697764538194 + ], + [ + 842.0762080643945, + 291.37389899134047 + ], + [ + 851.4831185117816, + 286.5063289347697 + ], + [ + 844.3549484264971, + 281.80989011660927 + ], + [ + 834.9609494394899, + 286.6182534807399 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1102.592569858523, + "ymin": 350.7581843624974, + "xmax": 1137.2838646651667, + "ymax": 394.2676052571966 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1113.847775393563, + 394.2676052571966 + ], + [ + 1123.779395099537, + 387.1623925656107 + ], + [ + 1112.5370547378689, + 380.3682174203843 + ], + [ + 1102.592569858523, + 387.3628150916811 + ], + [ + 1127.1857020868786, + 364.56026944296644 + ], + [ + 1137.2838646651667, + 357.5032639410917 + ], + [ + 1125.6221916556167, + 350.7581843624974 + ], + [ + 1115.508666951894, + 357.7022826941359 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1028.8107459138057, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 266.67116412973405 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1221.1661046649588, + 164.16406353661188 + ], + [ + 1211.117237981406, + 159.87905536573183 + ], + [ + 1028.8107459138057, + 260.9338693393019 + ], + [ + 1039.043762440278, + 266.67116412973405 + ], + [ + 1317.1521497486242, + -48.149992244000885 + ], + [ + 1304.7197816492785, + -51.50808107290874 + ], + [ + 1104.4485124787623, + 29.683474989602814 + ], + [ + 1117.3857802108987, + 34.42149227070337 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 360.0845680436604, + "ymin": 0.0, + "xmax": 453.94590610546237, + "ymax": 3.053191263546637 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 387.54962670675263, + 0.587124552180228 + ], + [ + 391.1406127054121, + 3.053191263546637 + ], + [ + 453.94590610546237, + -12.66792972497143 + ], + [ + 450.1631392494265, + -14.978298257414394 + ], + [ + 360.0845680436604, + -157.0632235538509 + ], + [ + 363.9139312055583, + -155.21417734757313 + ], + [ + 434.31422653020536, + -166.96695856990993 + ], + [ + 430.24040307231223, + -168.6871993291221 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1030.8226872222115, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 192.99420527137636 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 1117.7273041406795, + 192.99420527137636 + ], + [ + 1245.2053428824352, + 122.43046113825076 + ], + [ + 1159.8981839961416, + 89.29629086666574 + ], + [ + 1030.8226872222115, + 151.9847155989951 + ], + [ + 1258.2409480432207, + -176.62833670719306 + ], + [ + 1399.9758383943827, + -216.9850373109938 + ], + [ + 1283.882266183512, + -235.120164128871 + ], + [ + 1136.9440709039065, + -200.37754389866484 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 904.7449036601442, + "ymin": 254.40274417076344, + "xmax": 929.2546984089597, + "ymax": 272.00652242698214 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 913.7575889957291, + 258.46163625880456 + ], + [ + 904.7449036601442, + 263.15155082319103 + ], + [ + 919.2341263402129, + 272.00652242698214 + ], + [ + 928.2608984349245, + 267.2054037616604 + ], + [ + 914.6903907395531, + 254.40274417076344 + ], + [ + 905.6526997846802, + 259.0830745580565 + ], + [ + 920.2029654224843, + 267.92049843808377 + ], + [ + 929.2546984089597, + 263.12880511854337 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7664114084626016696, + "instance_id": 47273, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.91487884521484, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 854.2661264472302, + "ymin": 0.0, + "xmax": 931.7824288647679, + "ymax": 30.115674797531085 + }, + "corners_3d": [ + [ + -95.94330596923828, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -79.87950897216797, + 4.83804988861084 + ], + [ + -95.94330596923828, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 883.7093037949767, + 30.115674797531085 + ], + [ + 913.8093788890455, + 19.481760439584207 + ], + [ + 884.2375252041579, + 7.378455143645738 + ], + [ + 854.2661264472302, + 17.503893777777478 + ], + [ + 900.0658515933203, + -65.15707345335704 + ], + [ + 931.7824288647679, + -74.39623840603781 + ], + [ + 899.8608437747796, + -84.8810536780336 + ], + [ + 868.2720566891167, + -76.11187217161961 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 570.9698202094228, + "ymin": 0.0, + "xmax": 659.0504264289225, + "ymax": 136.4515695939955 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 579.5795366500317, + 132.46136986379673 + ], + [ + 585.3899031323965, + 136.4515695939955 + ], + [ + 656.7560931986882, + 111.20073365073031 + ], + [ + 650.7408689811026, + 107.5268660091854 + ], + [ + 570.9698202094228, + -55.235175653642045 + ], + [ + 577.5507096232213, + -52.05752754609432 + ], + [ + 659.0504264289225, + -72.06830252059228 + ], + [ + 652.2012841665771, + -74.9604685182378 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 904.8747825793687, + "ymin": 254.49552165379657, + "xmax": 929.123506168728, + "ymax": 271.91209809465215 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 913.7916483367842, + 258.5113854116767 + ], + [ + 904.8747825793687, + 263.1518591992274 + ], + [ + 919.210075612698, + 271.91209809465215 + ], + [ + 928.1407324840269, + 267.1627728174851 + ], + [ + 914.7147148202567, + 254.49552165379657 + ], + [ + 905.7733732077987, + 259.12661502713206 + ], + [ + 920.1684167387984, + 267.86967639610685 + ], + [ + 929.123506168728, + 263.12957771741316 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 769.3648691968901, + "ymin": 184.02166453829932, + "xmax": 936.5927268464445, + "ymax": 500.93573374886705 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 780.3953969804737, + 413.6755567215924 + ], + [ + 769.3648691968901, + 420.0209061472317 + ], + [ + 866.7384297387578, + 500.93573374886705 + ], + [ + 878.0042037533058, + 493.410787429684 + ], + [ + 811.517803804003, + 184.02166453829932 + ], + [ + 798.2896086958405, + 189.8033718891898 + ], + [ + 923.0892442621856, + 265.15117118365623 + ], + [ + 936.5927268464445, + 258.01466440675574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15544114737401166596, + "instance_id": 1275, + "pixel_count": null, + "type_id": "BP_StreetLight_simple50_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -123.84542083740234, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 620.3946743404628, + "xmax": 83.30121870018229, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.2997055053711, + -123.62582397460938, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -124.06503295898438, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -124.06501770019531, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -123.62580871582031, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -123.62582397460938, + 7.90625 + ], + [ + -113.2997055053711, + -124.06503295898438, + 7.90625 + ], + [ + -117.13314056396484, + -124.06501770019531, + 7.90625 + ], + [ + -117.13314056396484, + -123.62580871582031, + 7.90625 + ] + ], + "corners_2d": [ + [ + 34.71741765068623, + 842.6294046865078 + ], + [ + 10.575699822070305, + 856.5170117315431 + ], + [ + 56.39805796757025, + 1042.2006117741764 + ], + [ + 83.30121870018229, + 1024.2307110760235 + ], + [ + -186.87712753234825, + 620.3946743404628 + ], + [ + -223.16078659116488, + 636.2533380948336 + ], + [ + -203.66142710472207, + 860.6319112010918 + ], + [ + -160.57436995037813, + 837.8606687856636 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 809.213250938788, + "ymin": 125.50754363029344, + "xmax": 1280.0, + "ymax": 661.6086226186828 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 819.3477523651338, + 373.7266988253037 + ], + [ + 809.213250938788, + 379.3228917288765 + ], + [ + 1172.1350837657023, + 661.6086226186828 + ], + [ + 1182.4410130145604, + 651.7851407257924 + ], + [ + 860.7234778566153, + 125.50754363029344 + ], + [ + 848.5642202797151, + 130.41314113133495 + ], + [ + 1349.7422892576833, + 398.5857142686177 + ], + [ + 1361.4264276327874, + 388.51581851606585 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 5199819733356185808, + "instance_id": 53256, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1851_37", + "bbox_3d": { + "center_world": { + "x": -100.25784301757812, + "y": -72.39555358886719, + "z": 8.309331893920898 + }, + "extent": { + "x": 4.9728498458862305, + "y": 4.831793308258057, + "z": 8.307754516601562 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 910.8521651680674, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 83.98587111312128 + }, + "corners_3d": [ + [ + -94.59623718261719, + -68.39283752441406, + 0.0015773773193359375 + ], + [ + -96.09391784667969, + -77.93966674804688, + 0.0015773773193359375 + ], + [ + -105.91944885253906, + -76.39826965332031, + 0.0015773773193359375 + ], + [ + -104.42176818847656, + -66.8514404296875, + 0.0015773773193359375 + ], + [ + -94.59623718261719, + -68.39283752441406, + 16.61708641052246 + ], + [ + -96.09391784667969, + -77.93966674804688, + 16.61708641052246 + ], + [ + -105.91944885253906, + -76.39826965332031, + 16.61708641052246 + ], + [ + -104.42176818847656, + -66.8514404296875, + 16.61708641052246 + ] + ], + "corners_2d": [ + [ + 1002.2508419918007, + -23.111811194939037 + ], + [ + 910.8521651680674, + 24.875372806696248 + ], + [ + 1094.5919806269085, + 83.98587111312128 + ], + [ + 1176.4150941982566, + 24.8888423552047 + ], + [ + 1091.969255671934, + -387.87233928470323 + ], + [ + 986.8438387088495, + -374.8696953409226 + ], + [ + 1241.6754697059716, + -357.8789640786463 + ], + [ + 1326.919549685696, + -374.865949366221 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 6273012994252549584, + "instance_id": 53293, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1849_35", + "bbox_3d": { + "center_world": { + "x": -105.39091491699219, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 72.7181951817879, + "xmax": 37.85816462890955, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -101.2737808227539, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -102.3628921508789, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -109.50804901123047, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -108.41893768310547, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -101.2737808227539, + -123.86944580078125, + 11.969890594482422 + ], + [ + -102.3628921508789, + -130.8119354248047, + 11.969890594482422 + ], + [ + -109.50804901123047, + -129.69102478027344, + 11.969890594482422 + ], + [ + -108.41893768310547, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -63.855401886533855, + 494.77269873025284 + ], + [ + -387.0920988302605, + 657.5343540420424 + ], + [ + -329.4862292651262, + 885.1539983105569 + ], + [ + 37.85816462890955, + 657.5828252804415 + ], + [ + -374.9550901450268, + 72.7181951817879 + ], + [ + -958.3252216870494, + 216.98109203029873 + ], + [ + -1056.532545423292, + 461.8138155603751 + ], + [ + -297.05440543274517, + 217.02745692665147 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 199.93629444342244, + "xmax": 89.28119665074132, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -449.0377154645687, + 1029.268021091471 + ], + [ + -36.87042706072896, + 981.7412560314945 + ], + [ + 89.28119665074132, + 639.5589786510321 + ], + [ + -221.30148085653286, + 667.2962664554643 + ], + [ + -1428.8338106074407, + 651.0450772255597 + ], + [ + -610.5491777903692, + 585.1581000572331 + ], + [ + -209.58064849116943, + 199.93629444342244 + ], + [ + -706.722821107295, + 226.36312824880986 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00043/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00043/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..77e88ff1c9534dac3dbabf7e1634d3c36ac80923 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00043/meta.json @@ -0,0 +1,3096 @@ +{ + "frame_id": 43, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 21.5, + "sim_timestamp": 10214.350942155346 + }, + "drone_pose": { + "x": -126.61039949279294, + "y": -118.05382904366441, + "z": 20.003491592690814, + "pitch": -41.52019151368223, + "yaw": 43.85969156515866, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5398576855659485, + -0.5187856554985046, + 0.6628839373588562, + 116.33624267578125 + ], + [ + 0.6928947567939758, + 0.7210387587547302, + 0.0, + -2.6063003540039062 + ], + [ + -0.47796502709388733, + 0.45930880308151245, + 0.7487221956253052, + -129.71554565429688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -126.19182541743263, + "y": -117.42915362105539, + "z": 20.00324093644113 + }, + "t1_image_uv": [ + 919.8424795754736, + -489.35544530107086 + ], + "t1_depth": 0.5502092332811808 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -110.16718292236328, + "y": -103.68776321411131, + "z": 0.7299211663007736 + }, + "image_uv": [ + 605.8651353420909, + 359.1030867227608 + ], + "depth": 29.106046107300845, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 136, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -110.16718292236328, + "y": -103.68775939941406, + "z": 0.7299211621284485 + }, + "extent": { + "x": 0.1848193258047104, + "y": 0.2139306664466858, + "z": 0.5263187289237976 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 597.9906297339196, + "ymin": 341.8430943951446, + "xmax": 613.4821923861565, + "ymax": 376.1187867519158 + }, + "corners_3d": [ + [ + -110.14659881591797, + -103.96971893310547, + 0.20360243320465088 + ], + [ + -110.44914245605469, + -103.66717529296875, + 0.20360243320465088 + ], + [ + -110.1877670288086, + -103.40579986572266, + 0.20360243320465088 + ], + [ + -109.88522338867188, + -103.70834350585938, + 0.20360243320465088 + ], + [ + -110.14659881591797, + -103.96971893310547, + 1.256239891052246 + ], + [ + -110.44914245605469, + -103.66717529296875, + 1.256239891052246 + ], + [ + -110.1877670288086, + -103.40579986572266, + 1.256239891052246 + ], + [ + -109.88522338867188, + -103.70834350585938, + 1.256239891052246 + ] + ], + "corners_2d": [ + [ + 598.9904038754984, + 375.93047331549775 + ], + [ + 612.9909673758782, + 376.1187867519158 + ], + [ + 613.4821923861565, + 368.02008995453207 + ], + [ + 599.6124171349926, + 367.8352815936451 + ], + [ + 597.9906297339196, + 349.8843593712654 + ], + [ + 612.3323666851771, + 350.0714619704981 + ], + [ + 612.8417626905014, + 342.02663076343345 + ], + [ + 598.6372346566229, + 341.8430943951446 + ] + ], + "center_offset_px": [ + -34.134864657909134, + -0.8969132772392072 + ] + }, + "trace_timestep_index": 43, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 57, + "semantic_pixel_counts": { + "1": 332493, + "2": 201791, + "3": 309009, + "4": 17116, + "5": 178, + "6": 12073, + "7": 2628, + "10": 5527, + "12": 3622, + "14": 1152, + "16": 13544, + "20": 79, + "21": 1505, + "22": 1, + "24": 20882 + }, + "instance_pixel_counts": { + "1115": 6194, + "1445": 59, + "1627": 692, + "11394": 2009, + "13397": 198, + "13909": 129, + "14416": 178, + "16023": 1422, + "17232": 17116, + "18011": 102941, + "19784": 1, + "20631": 11294, + "23808": 3024, + "24064": 9156, + "27072": 6561, + "29843": 33587, + "30656": 70445, + "31168": 4461, + "31891": 85992, + "34120": 64431, + "34453": 3659, + "36443": 199182, + "36501": 4751, + "37460": 512, + "44171": 1803, + "44179": 6618, + "44691": 156849, + "45203": 5492, + "46227": 43955, + "46731": 1886, + "46741": 229, + "47253": 9893, + "47765": 513, + "48267": 2015, + "48779": 1242, + "48789": 1837, + "49664": 136, + "49803": 2149, + "49920": 471, + "50176": 408, + "50432": 932, + "50688": 1044, + "50944": 631, + "52480": 27, + "52672": 297, + "52736": 13517, + "53184": 3192, + "53339": 20, + "54016": 1152, + "54720": 3834, + "55232": 12493, + "55744": 4953, + "55879": 7, + "56135": 560, + "56768": 9313, + "62555": 429, + "63067": 749 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 136, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -110.16718292236328, + "y": -103.68775939941406, + "z": 0.7299211621284485 + }, + "extent": { + "x": 0.2135302722454071, + "y": 0.23564451932907104, + "z": 0.5362956523895264 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 597.2017733289434, + "ymin": 340.96345041042844, + "xmax": 614.2292547761106, + "ymax": 377.00467443960144 + }, + "corners_3d": [ + [ + -110.15154266357422, + -104.00537109375, + 0.19362550973892212 + ], + [ + -110.48479461669922, + -103.672119140625, + 0.19362550973892212 + ], + [ + -110.18282318115234, + -103.37014770507812, + 0.19362550973892212 + ], + [ + -109.84957122802734, + -103.70339965820312, + 0.19362550973892212 + ], + [ + -110.15154266357422, + -104.00537109375, + 1.26621675491333 + ], + [ + -110.48479461669922, + -103.672119140625, + 1.26621675491333 + ], + [ + -110.18282318115234, + -103.37014770507812, + 1.26621675491333 + ], + [ + -109.84957122802734, + -103.70339965820312, + 1.26621675491333 + ] + ], + "corners_2d": [ + [ + 598.2401442616793, + 376.7969318280259 + ], + [ + 613.6695912310962, + 377.00467443960144 + ], + [ + 614.2292547761106, + 367.6473271804889 + ], + [ + 598.9661731297999, + 367.44404437366717 + ], + [ + 597.2017733289434, + 350.25285014379006 + ], + [ + 613.0147171482656, + 350.4592391844368 + ], + [ + 613.5953885996167, + 341.16530034347886 + ], + [ + 597.9571360337721, + 340.96345041042844 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 471, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -110.14054107666016, + "y": -104.0785903930664, + "z": 0.7299895286560059 + }, + "extent": { + "x": 0.44020506739616394, + "y": 0.3812792897224426, + "z": 0.8796469569206238 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 579.8389034209346, + "ymin": 331.4702975048564, + "xmax": 611.1711775277511, + "ymax": 397.3257005250949 + }, + "corners_3d": [ + [ + -110.30207061767578, + -104.63810729980469, + -0.14965742826461792 + ], + [ + -110.7173843383789, + -103.99857330322266, + -0.14965742826461792 + ], + [ + -109.97901153564453, + -103.51907348632812, + -0.14965742826461792 + ], + [ + -109.5636978149414, + -104.15860748291016, + -0.14965742826461792 + ], + [ + -110.30207061767578, + -104.63810729980469, + 1.6096365451812744 + ], + [ + -110.7173843383789, + -103.99857330322266, + 1.6096365451812744 + ], + [ + -109.97901153564453, + -103.51907348632812, + 1.6096365451812744 + ], + [ + -109.5636978149414, + -104.15860748291016, + 1.6096365451812744 + ] + ], + "corners_2d": [ + [ + 586.3785294912694, + 397.3257005250949 + ], + [ + 611.1711775277511, + 394.0605250470527 + ], + [ + 606.4661227627705, + 374.9068119989813 + ], + [ + 582.1955995243279, + 378.03177653571163 + ], + [ + 584.1417495300988, + 353.65142557440026 + ], + [ + 609.9732139539739, + 350.41796980506587 + ], + [ + 605.1040625913547, + 331.4702975048564 + ], + [ + 579.8389034209346, + 334.5593186292967 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 408, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -112.42300415039062, + "y": -96.74504852294922, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.40916013717651367, + "y": 0.29554688930511475, + "z": 0.8829278349876404 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 793.9141591502415, + "ymin": 269.00603151351845, + "xmax": 823.2204223177648, + "ymax": 327.63434311059643 + }, + "corners_3d": [ + [ + -112.55498504638672, + -97.23222351074219, + -0.30792856216430664 + ], + [ + -112.92697143554688, + -96.77285766601562, + -0.30792856216430664 + ], + [ + -112.29102325439453, + -96.25787353515625, + -0.30792856216430664 + ], + [ + -111.91903686523438, + -96.71723937988281, + -0.30792856216430664 + ], + [ + -112.55498504638672, + -97.23222351074219, + 1.4579271078109741 + ], + [ + -112.92697143554688, + -96.77285766601562, + 1.4579271078109741 + ], + [ + -112.29102325439453, + -96.25787353515625, + 1.4579271078109741 + ], + [ + -111.91903686523438, + -96.71723937988281, + 1.4579271078109741 + ] + ], + "corners_2d": [ + [ + 798.9531357095118, + 327.63434311059643 + ], + [ + 816.495428322163, + 326.67317584509306 + ], + [ + 811.132765755433, + 311.3346529102087 + ], + [ + 793.9141591502415, + 312.2600314104962 + ], + [ + 805.0171175104774, + 285.0336399370248 + ], + [ + 823.2204223177648, + 284.0878404923495 + ], + [ + 817.526372455859, + 269.00603151351845 + ], + [ + 799.6713593436039, + 269.9153108675944 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 932, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -119.66718292236328, + "y": -103.68775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.40355467796325684, + "y": 0.42247557640075684, + "z": 0.8821035027503967 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 837.3267128295371, + "ymin": 509.0587355461703, + "xmax": 886.8392879368826, + "ymax": 579.2617180531654 + }, + "corners_3d": [ + [ + -119.65380096435547, + -104.2718505859375, + -0.30711883306503296 + ], + [ + -120.25127410888672, + -103.67437744140625, + -0.30711883306503296 + ], + [ + -119.6805648803711, + -103.10366821289062, + -0.30711883306503296 + ], + [ + -119.08309173583984, + -103.70114135742188, + -0.30711883306503296 + ], + [ + -119.65380096435547, + -104.2718505859375, + 1.4570882320404053 + ], + [ + -120.25127410888672, + -103.67437744140625, + 1.4570882320404053 + ], + [ + -119.6805648803711, + -103.10366821289062, + 1.4570882320404053 + ], + [ + -119.08309173583984, + -103.70114135742188, + 1.4570882320404053 + ] + ], + "corners_2d": [ + [ + 841.5862480343042, + 578.7093276838918 + ], + [ + 874.987406659692, + 579.2617180531654 + ], + [ + 869.9172406336119, + 553.3814675118472 + ], + [ + 837.3267128295371, + 552.8554883826484 + ], + [ + 851.74798287372, + 535.0752560171566 + ], + [ + 886.8392879368826, + 535.6318146194492 + ], + [ + 881.2189168711789, + 509.5873927118245 + ], + [ + 847.0212580798554, + 509.0587355461703 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 1044, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -113.78268432617188, + "y": -114.81512451171875, + "z": 0.7270061373710632 + }, + "extent": { + "x": 0.5575488209724426, + "y": 0.4906103312969208, + "z": 0.8660523891448975 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 306.11948605273, + "ymin": 619.9087419941377, + "xmax": 382.1382145380953, + "ymax": 711.4234317908174 + }, + "corners_3d": [ + [ + -113.75228118896484, + -115.55717468261719, + -0.13904625177383423 + ], + [ + -114.51483917236328, + -114.9396743774414, + -0.13904625177383423 + ], + [ + -113.8130874633789, + -114.07307434082031, + -0.13904625177383423 + ], + [ + -113.05052947998047, + -114.6905746459961, + -0.13904625177383423 + ], + [ + -113.75228118896484, + -115.55717468261719, + 1.5930585861206055 + ], + [ + -114.51483917236328, + -114.9396743774414, + 1.5930585861206055 + ], + [ + -113.8130874633789, + -114.07307434082031, + 1.5930585861206055 + ], + [ + -113.05052947998047, + -114.6905746459961, + 1.5930585861206055 + ] + ], + "corners_2d": [ + [ + 323.87655491922243, + 706.3415967100148 + ], + [ + 366.0114567460458, + 711.4234317908174 + ], + [ + 382.1382145380953, + 666.845910390313 + ], + [ + 341.49469621094323, + 662.1334697717908 + ], + [ + 306.11948605273, + 664.8888085701908 + ], + [ + 350.55209335326566, + 670.071349713262 + ], + [ + 368.15791551654706, + 624.6945933877373 + ], + [ + 325.3803458118375, + 619.9087419941377 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 631, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -110.14055633544922, + "y": -106.29692077636719, + "z": 0.7300236225128174 + }, + "extent": { + "x": 0.43349120020866394, + "y": 0.4795898199081421, + "z": 0.8957683444023132 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 515.2621514369548, + "ymin": 364.72245652886676, + "xmax": 560.4639127778162, + "ymax": 434.8832985936503 + }, + "corners_3d": [ + [ + -109.97443389892578, + -106.92168426513672, + -0.16574472188949585 + ], + [ + -110.77886962890625, + -106.39927673339844, + -0.16574472188949585 + ], + [ + -110.30667877197266, + -105.67215728759766, + -0.16574472188949585 + ], + [ + -109.50224304199219, + -106.19456481933594, + -0.16574472188949585 + ], + [ + -109.97443389892578, + -106.92168426513672, + 1.6257920265197754 + ], + [ + -110.77886962890625, + -106.39927673339844, + 1.6257920265197754 + ], + [ + -110.30667877197266, + -105.67215728759766, + 1.6257920265197754 + ], + [ + -109.50224304199219, + -106.19456481933594, + 1.6257920265197754 + ] + ], + "corners_2d": [ + [ + 520.5290110235703, + 429.5149913199349 + ], + [ + 551.8991145792779, + 434.8832985936503 + ], + [ + 560.4639127778162, + 414.4387036154926 + ], + [ + 529.734732225417, + 409.30446298274137 + ], + [ + 515.2621514369548, + 384.77780907486743 + ], + [ + 547.9915187090763, + 390.1114335964254 + ], + [ + 557.0175615764748, + 369.8135964510618 + ], + [ + 524.9851580897683, + 364.72245652886676 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 27, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 400.49747417413323, + "ymin": 0.0, + "xmax": 631.3702662868681, + "ymax": 174.25558528112506 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 484.82841409294326, + 65.10972181573646 + ], + [ + 415.7780377996166, + 90.77249569753019 + ], + [ + 560.1423578717904, + 174.25558528112506 + ], + [ + 631.3702662868681, + 140.89582523149897 + ], + [ + 474.75125417201434, + -24.458518192572114 + ], + [ + 400.49747417413323, + -1.4702635264758896 + ], + [ + 553.85615515982, + 74.27974932644247 + ], + [ + 630.7276141199532, + 43.83101332890152 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 13517, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 612.8416292153186, + "ymin": 0.0, + "xmax": 838.6851590925953, + "ymax": 111.22437667929566 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 770.994273548292, + 111.22437667929566 + ], + [ + 826.1577630608688, + 83.75612239133574 + ], + [ + 669.8613786051063, + 20.368906324397926 + ], + [ + 614.4293355796898, + 41.98822350325025 + ], + [ + 780.2613953661712, + 16.915757857832432 + ], + [ + 838.6851590925953, + -7.801849220787858 + ], + [ + 671.6356642072235, + -64.23811917267119 + ], + [ + 612.8416292153186, + -45.08338977976888 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 1152, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 552.0702970660502, + "ymin": 48.33758955507517, + "xmax": 665.2239637318345, + "ymax": 133.9928935854374 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 583.7142041488729, + 80.76809609138644 + ], + [ + 554.156326381907, + 92.86420251838433 + ], + [ + 634.7890462095005, + 133.9928935854374 + ], + [ + 664.5975386225006, + 120.14968578581428 + ], + [ + 582.3755040577736, + 48.33758955507517 + ], + [ + 552.0702970660502, + 60.023570020011164 + ], + [ + 634.6532492746474, + 99.84609850287694 + ], + [ + 665.2239637318345, + 86.42725609926657 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 52908959695452696, + "instance_id": 6202, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": -79.05494689941406, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1103.7351266758642, + "ymin": 59.918816476753534, + "xmax": 1121.8528732147265, + "ymax": 85.48125020329985 + }, + "corners_3d": [ + [ + -113.29469299316406, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -78.86498260498047, + 3.5146729946136475 + ], + [ + -113.29469299316406, + -78.86498260498047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1103.7351266758642, + 83.25175025834932 + ], + [ + 1110.3314375437417, + 85.48125020329985 + ], + [ + 1114.7116866261103, + 82.56379398942818 + ], + [ + 1108.1318051582477, + 80.35680106999382 + ], + [ + 1110.719699730398, + 62.75205782204176 + ], + [ + 1117.4433317679086, + 64.934328262409 + ], + [ + 1121.8528732147265, + 62.078726771413756 + ], + [ + 1115.1464548288423, + 59.918816476753534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 884.3211210652031, + "ymin": 276.8198679860983, + "xmax": 909.8763830913374, + "ymax": 317.77170123577 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 893.9467869544869, + 317.77170123577 + ], + [ + 903.1454821055181, + 310.89419610571105 + ], + [ + 893.5421727935476, + 305.750919542041 + ], + [ + 884.3211210652031, + 312.53999368870325 + ], + [ + 900.4996212223703, + 288.70248355854426 + ], + [ + 909.8763830913374, + 281.90291122226756 + ], + [ + 899.9847249649416, + 276.8198679860983 + ], + [ + 890.5836930570175, + 283.52978745558187 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5668522571212290485, + "instance_id": 46457, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -89.45570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 980.284380409999, + "ymin": 68.7210566498224, + "xmax": 1000.509330032251, + "ymax": 100.16770897313563 + }, + "corners_3d": [ + [ + -113.19542694091797, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -89.26573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -89.26573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 980.284380409999, + 97.37025131559949 + ], + [ + 987.7740966145815, + 100.16770897313563 + ], + [ + 993.9252195264392, + 96.4883771527484 + ], + [ + 986.453002856163, + 93.72561350171281 + ], + [ + 986.6244258427756, + 72.27455240858683 + ], + [ + 994.2851287401543, + 75.00261104405422 + ], + [ + 1000.509330032251, + 71.41465606060638 + ], + [ + 992.8671807218384, + 68.7210566498224 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1102.0871072121226, + "ymin": 392.08738950914875, + "xmax": 1137.3999292532199, + "ymax": 437.79424709505344 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1114.7737797434509, + 437.79424709505344 + ], + [ + 1123.1690368715842, + 428.7324097632029 + ], + [ + 1110.543578991427, + 421.97055492780873 + ], + [ + 1102.0871072121226, + 430.8988362571937 + ], + [ + 1128.899443875298, + 407.84790668294113 + ], + [ + 1137.3999292532199, + 398.82029143933323 + ], + [ + 1124.297620083737, + 392.08738950914875 + ], + [ + 1115.7301113381766, + 400.97805924987887 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7157878223548397302, + "instance_id": 63030, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -86.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1019.5151661470303, + "ymin": 46.41350362731856, + "xmax": 1039.5717296903767, + "ymax": 76.7705888600442 + }, + "corners_3d": [ + [ + -113.19542694091797, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -86.76573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -86.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1019.5151661470303, + 74.19008085190535 + ], + [ + 1026.887377204426, + 76.7705888600442 + ], + [ + 1032.5618145877293, + 73.3763970242137 + ], + [ + 1025.2078735577848, + 70.82663773677115 + ], + [ + 1026.3020733210458, + 49.68804837052761 + ], + [ + 1033.8383395015694, + 52.2008250000157 + ], + [ + 1039.5717296903767, + 48.89580679957902 + ], + [ + 1032.0547822081458, + 46.41350362731856 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7631990878982166785, + "instance_id": 473, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": -83.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1062.6894426862086, + "ymin": 21.888554652872358, + "xmax": 1082.4999369257118, + "ymax": 51.03192993156284 + }, + "corners_3d": [ + [ + -113.1954345703125, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47261047363281, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.19544219970703, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47261047363281, + -83.76573944091797, + 6.416468620300293 + ], + [ + -113.19544219970703, + -83.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1062.6894426862086, + 48.68001390432863 + ], + [ + 1069.9153482147854, + 51.03192993156284 + ], + [ + 1075.0874701792463, + 47.938207740788926 + ], + [ + 1067.880351549311, + 45.613057383923206 + ], + [ + 1069.9007885422295, + 24.869654017574703 + ], + [ + 1077.2825484557993, + 27.156122327536366 + ], + [ + 1082.4999369257118, + 24.14856106094868 + ], + [ + 1075.1379860768918, + 21.888554652872358 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 728.4818832835581, + "ymin": 283.2941748807195, + "xmax": 746.6935027665668, + "ymax": 317.3029694276213 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 735.6880453761968, + 317.3029694276213 + ], + [ + 744.479764984762, + 311.5729632211689 + ], + [ + 737.2771022092633, + 307.2538329290995 + ], + [ + 728.4818832835581, + 312.92203231301346 + ], + [ + 737.7303060994736, + 293.2493160688316 + ], + [ + 746.6935027665668, + 287.572257764005 + ], + [ + 739.3268876760868, + 283.2941748807195 + ], + [ + 730.3598773099299, + 288.90870603570005 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 995.6394076139538, + "ymin": 335.67176481958285, + "xmax": 1025.985384274585, + "ymax": 379.0966277345221 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1006.7767278201285, + 379.0966277345221 + ], + [ + 1015.6344337722153, + 371.14028107331234 + ], + [ + 1004.5372382120152, + 365.19691884336777 + ], + [ + 995.6394076139538, + 373.0433112318569 + ], + [ + 1016.9795810350402, + 349.4648674876114 + ], + [ + 1025.985384274585, + 341.56804173744007 + ], + [ + 1014.5111644460012, + 335.67176481958285 + ], + [ + 1005.4616334791466, + 343.456469540088 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 917.9175556726187, + "ymin": 0.0, + "xmax": 1162.3329304576735, + "ymax": 251.55515937723814 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1090.625003144858, + 138.91641887967998 + ], + [ + 1081.0828497298105, + 135.30383346116054 + ], + [ + 917.9175556726187, + 246.5376844259852 + ], + [ + 928.0572569967785, + 251.55515937723814 + ], + [ + 1162.3329304576735, + -68.81115670172227 + ], + [ + 1150.8053806046255, + -71.61282526410463 + ], + [ + 971.1611378625287, + 17.067416460914558 + ], + [ + 983.691995053583, + 21.188680248505023 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 207.55260524147343, + "ymin": 0.0, + "xmax": 321.8388837849154, + "ymax": 20.508988642960674 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 251.91765965273657, + 18.09313361030047 + ], + [ + 255.93140738417839, + 20.508988642960674 + ], + [ + 321.8388837849154, + 0.9305526415307668 + ], + [ + 317.67836617559885, + -1.3039401001922215 + ], + [ + 207.55260524147343, + -144.95034537960174 + ], + [ + 211.79241655062344, + -143.12127553962551 + ], + [ + 286.8310555359927, + -157.8872942882416 + ], + [ + 282.3918662569114, + -159.5643084888393 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 911.9720810392411, + "ymin": 0.0, + "xmax": 1224.559261470005, + "ymax": 173.456028887282 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 996.8691677427717, + 173.456028887282 + ], + [ + 1109.571335884743, + 96.96074661937263 + ], + [ + 1028.6379135120642, + 69.04771730006064 + ], + [ + 911.9720810392411, + 138.01228177082686 + ], + [ + 1098.9056086855262, + -189.90867656114096 + ], + [ + 1224.559261470005, + -232.97670621779525 + ], + [ + 1118.2372214360676, + -248.01543734132974 + ], + [ + 984.4724442296391, + -210.21181501277056 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 794.9971277187467, + "ymin": 255.23211765393114, + "xmax": 818.9762122933253, + "ymax": 272.84087964446167 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 803.5443940935609, + 259.30197797713015 + ], + [ + 794.9971277187467, + 264.77208798348795 + ], + [ + 809.8277847022126, + 272.84087964446167 + ], + [ + 818.3571298521674, + 267.2536129985622 + ], + [ + 804.1060793192289, + 255.23211765393114 + ], + [ + 795.533357690538, + 260.69133582957886 + ], + [ + 810.4216264660386, + 268.74456107619756 + ], + [ + 818.9762122933253, + 263.16801002012414 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7664114084626016696, + "instance_id": 47273, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.91487884521484, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 731.9794431069438, + "ymin": 0.0, + "xmax": 800.011112816796, + "ymax": 24.05907701218473 + }, + "corners_3d": [ + [ + -95.94330596923828, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -79.87950897216797, + 4.83804988861084 + ], + [ + -95.94330596923828, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 761.6712216566073, + 24.05907701218473 + ], + [ + 790.2107814275025, + 11.961618771447718 + ], + [ + 760.5913398032382, + 1.2074317302385111 + ], + [ + 731.9794431069438, + 12.786042106515652 + ], + [ + 769.8136656666219, + -70.98667762261567 + ], + [ + 800.011112816796, + -81.49047626940677 + ], + [ + 768.2798525825557, + -90.80026078219112 + ], + [ + 737.991038798423, + -80.77570749260303 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 437.0504172441969, + "ymin": 0.0, + "xmax": 540.9177467142651, + "ymax": 148.97103608098612 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 463.0799900348329, + 145.19070243996666 + ], + [ + 469.360708608839, + 148.97103608098612 + ], + [ + 540.9177467142651, + 118.5914244485268 + ], + [ + 534.5306137117578, + 115.16108147808421 + ], + [ + 437.0504172441969, + -45.944164286401644 + ], + [ + 444.08362943954626, + -42.91001126244424 + ], + [ + 527.0361926512916, + -67.14382725539622 + ], + [ + 519.8491047023209, + -69.85892854836533 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 795.1244945357839, + "ymin": 255.32490502510606, + "xmax": 818.848176521894, + "ymax": 272.746416186923 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 803.5807344758716, + 259.35161679796045 + ], + [ + 795.1244945357839, + 264.7639979348182 + ], + [ + 809.7974159663063, + 272.746416186923 + ], + [ + 818.2361162369541, + 267.21935646078197 + ], + [ + 804.13661150093, + 255.32490502510606 + ], + [ + 795.6554564731811, + 260.7266258789686 + ], + [ + 810.3847689415866, + 268.69380586630814 + ], + [ + 818.848176521894, + 263.1772357468776 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 676.0214318721144, + "ymin": 189.84795171290736, + "xmax": 825.6965825656732, + "ymax": 501.98119512438893 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 686.6024170006001, + 420.47016153283465 + ], + [ + 676.0214318721144, + 427.95118694223066 + ], + [ + 778.3021753336279, + 501.98119512438893 + ], + [ + 788.8287769888432, + 493.2505222174049 + ], + [ + 697.0996909892497, + 189.84795171290736 + ], + [ + 684.2171642131461, + 196.70484420149387 + ], + [ + 812.9427637842862, + 265.9552105625984 + ], + [ + 825.6965825656732, + 257.6538537756656 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 712.9464235801007, + "ymin": 127.09518121696755, + "xmax": 1235.364499965117, + "ymax": 633.5808937282366 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 722.6014615526803, + 376.1450240059579 + ], + [ + 712.9464235801007, + 382.7003773465368 + ], + [ + 1081.9037788046603, + 633.5808937282366 + ], + [ + 1090.7470245702793, + 622.7378560307907 + ], + [ + 741.8605043506094, + 127.09518121696755 + ], + [ + 730.1133618224558, + 132.8645805894198 + ], + [ + 1225.5146497744465, + 370.1075724696037 + ], + [ + 1235.364499965117, + 359.14424708661664 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 5199819733356185808, + "instance_id": 53256, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1851_37", + "bbox_3d": { + "center_world": { + "x": -100.25784301757812, + "y": -72.39555358886719, + "z": 8.309331893920898 + }, + "extent": { + "x": 4.9728498458862305, + "y": 4.831793308258057, + "z": 8.307754516601562 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 787.7517914379339, + "ymin": 0.0, + "xmax": 1147.096923001074, + "ymax": 67.10794105884389 + }, + "corners_3d": [ + [ + -94.59623718261719, + -68.39283752441406, + 0.0015773773193359375 + ], + [ + -96.09391784667969, + -77.93966674804688, + 0.0015773773193359375 + ], + [ + -105.91944885253906, + -76.39826965332031, + 0.0015773773193359375 + ], + [ + -104.42176818847656, + -66.8514404296875, + 0.0015773773193359375 + ], + [ + -94.59623718261719, + -68.39283752441406, + 16.61708641052246 + ], + [ + -96.09391784667969, + -77.93966674804688, + 16.61708641052246 + ], + [ + -105.91944885253906, + -76.39826965332031, + 16.61708641052246 + ], + [ + -104.42176818847656, + -66.8514404296875, + 16.61708641052246 + ] + ], + "corners_2d": [ + [ + 872.3052693300697, + -34.45708274368462 + ], + [ + 787.7517914379339, + 17.461238241095828 + ], + [ + 967.3428700738107, + 67.10794105884389 + ], + [ + 1039.2751746847318, + 5.152936533680474 + ], + [ + 928.7983780781184, + -394.07133027474174 + ], + [ + 828.919535034365, + -380.0990335321851 + ], + [ + 1070.2801198267352, + -365.9720226882014 + ], + [ + 1147.096923001074, + -383.48301731285903 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00044/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00044/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fc7a4e1bc47e1ab916f9e0fc2fb202f123306705 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00044/meta.json @@ -0,0 +1,3102 @@ +{ + "frame_id": 44, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 22.0, + "sim_timestamp": 10224.208508715034 + }, + "drone_pose": { + "x": -126.19182541743263, + "y": -117.42915362105539, + "z": 20.00324093644113, + "pitch": -41.460237918405866, + "yaw": 40.75566572022662, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5676825046539307, + -0.48924434185028076, + 0.662100076675415, + 115.84429168701172 + ], + [ + 0.6528346538543701, + 0.757500410079956, + 0.0, + 6.5702362060546875 + ], + [ + -0.5015411376953125, + 0.43224191665649414, + 0.749415397644043, + -129.03892517089844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -125.67348349226914, + "y": -116.80498616542035, + "z": 19.90941232777615 + }, + "t1_image_uv": [ + 834.9970818797913, + -306.51773337894974 + ], + "t1_depth": 0.6617479567699928 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -109.66718292236328, + "y": -103.18776321411131, + "z": 0.7301994901895523 + }, + "image_uv": [ + 639.9999999999999, + 359.9999999999999 + ], + "depth": 29.108952865085705, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 175, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -109.66718292236328, + "y": -103.18775939941406, + "z": 0.7301995158195496 + }, + "extent": { + "x": 0.25044921040534973, + "y": 0.24733886122703552, + "z": 0.5330080389976501 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 631.0929272174951, + "ymin": 340.8731244871319, + "xmax": 648.8004540123608, + "ymax": 378.92803708821396 + }, + "corners_3d": [ + [ + -109.66938018798828, + -103.53974914550781, + 0.19719147682189941 + ], + [ + -110.01917266845703, + -103.18995666503906, + 0.19719147682189941 + ], + [ + -109.66498565673828, + -102.83576965332031, + 0.19719147682189941 + ], + [ + -109.31519317626953, + -103.18556213378906, + 0.19719147682189941 + ], + [ + -109.66938018798828, + -103.53974914550781, + 1.2632075548171997 + ], + [ + -110.01917266845703, + -103.18995666503906, + 1.2632075548171997 + ], + [ + -109.66498565673828, + -102.83576965332031, + 1.2632075548171997 + ], + [ + -109.31519317626953, + -103.18556213378906, + 1.2632075548171997 + ] + ], + "corners_2d": [ + [ + 631.3075751629086, + 378.1157680759663 + ], + [ + 647.4845233772566, + 378.92803708821396 + ], + [ + 648.5908580334452, + 367.9752204276505 + ], + [ + 632.617042751161, + 367.1833334047757 + ], + [ + 631.0929272174951, + 351.7309331389729 + ], + [ + 647.6695213759261, + 352.5379276046343 + ], + [ + 648.8004540123608, + 341.6593787217484 + ], + [ + 632.437087276566, + 340.8731244871319 + ] + ], + "center_offset_px": [ + -1.1368683772161603e-13, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 44, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 63, + "semantic_pixel_counts": { + "1": 296173, + "2": 204691, + "3": 333667, + "4": 19279, + "5": 187, + "6": 13414, + "7": 2851, + "10": 8804, + "12": 3655, + "14": 1357, + "16": 15962, + "20": 92, + "21": 2426, + "22": 2, + "24": 19040 + }, + "instance_pixel_counts": { + "1115": 6233, + "1169": 81, + "1445": 11, + "1627": 1985, + "5205": 10, + "11394": 2120, + "13397": 197, + "13909": 147, + "14416": 187, + "16023": 1539, + "16476": 78, + "17232": 19279, + "17500": 3, + "18011": 109539, + "18012": 44, + "19784": 1, + "20631": 10879, + "23808": 3502, + "24064": 9887, + "27072": 7060, + "29843": 29441, + "30656": 70004, + "31168": 4700, + "31816": 1, + "31891": 67945, + "34120": 70352, + "34453": 3083, + "36443": 215910, + "36501": 3511, + "37460": 756, + "43659": 24, + "44171": 1954, + "44179": 7060, + "44691": 143808, + "45203": 700, + "46227": 47219, + "46731": 2096, + "46741": 249, + "47253": 10128, + "47765": 156, + "48267": 943, + "48779": 1340, + "48789": 1913, + "49664": 175, + "49803": 2308, + "49920": 489, + "50176": 324, + "50432": 904, + "50688": 1106, + "50944": 657, + "52480": 82, + "52672": 319, + "52736": 15880, + "53184": 3445, + "54016": 1357, + "54720": 4235, + "55232": 8204, + "55744": 5270, + "55879": 7, + "56135": 1253, + "56768": 10019, + "62555": 1072, + "63067": 875 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 175, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -109.66718292236328, + "y": -103.18775939941406, + "z": 0.7301995158195496 + }, + "extent": { + "x": 0.2458544820547104, + "y": 0.2562939524650574, + "z": 0.5477165579795837 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 630.8025264377771, + "ymin": 340.5852569832277, + "xmax": 649.0898216145652, + "ymax": 379.19618592974064 + }, + "corners_3d": [ + [ + -109.65979766845703, + -103.54283142089844, + 0.18248295783996582 + ], + [ + -110.02225494384766, + -103.18037414550781, + 0.18248295783996582 + ], + [ + -109.67456817626953, + -102.83268737792969, + 0.18248295783996582 + ], + [ + -109.3121109008789, + -103.19514465332031, + 0.18248295783996582 + ], + [ + -109.65979766845703, + -103.54283142089844, + 1.2779160737991333 + ], + [ + -110.02225494384766, + -103.18037414550781, + 1.2779160737991333 + ], + [ + -109.67456817626953, + -102.83268737792969, + 1.2779160737991333 + ], + [ + -109.3121109008789, + -103.19514465332031, + 1.2779160737991333 + ] + ], + "corners_2d": [ + [ + 631.0301827698361, + 378.3546399190491 + ], + [ + 647.7853147346628, + 379.19618592974064 + ], + [ + 648.8674034493563, + 368.44316353276434 + ], + [ + 632.3187593516942, + 367.6223446428356 + ], + [ + 630.8025264377771, + 351.2422608447158 + ], + [ + 647.9831048577568, + 352.0781863599341 + ], + [ + 649.0898216145652, + 341.40008094231695 + ], + [ + 632.126282564027, + 340.5852569832277 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 489, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -110.14054107666016, + "y": -104.0785903930664, + "z": 0.7299895286560059 + }, + "extent": { + "x": 0.5147460699081421, + "y": 0.3907177746295929, + "z": 0.9085909724235535 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 611.9499039718503, + "ymin": 345.34393950687684, + "xmax": 643.1753701572104, + "ymax": 416.29267413131925 + }, + "corners_3d": [ + [ + -110.35944366455078, + -104.6866226196289, + -0.1786014437675476 + ], + [ + -110.78504180908203, + -104.03125762939453, + -0.1786014437675476 + ], + [ + -109.92163848876953, + -103.4705581665039, + -0.1786014437675476 + ], + [ + -109.49604034423828, + -104.12592315673828, + -0.1786014437675476 + ], + [ + -110.35944366455078, + -104.6866226196289, + 1.638580560684204 + ], + [ + -110.78504180908203, + -104.03125762939453, + 1.638580560684204 + ], + [ + -109.92163848876953, + -103.4705581665039, + 1.638580560684204 + ], + [ + -109.49604034423828, + -104.12592315673828, + 1.638580560684204 + ] + ], + "corners_2d": [ + [ + 617.0463201073087, + 416.29267413131925 + ], + [ + 643.042082891518, + 413.79900171501765 + ], + [ + 638.430878664191, + 390.3687740003742 + ], + [ + 613.099818554169, + 392.7344012916794 + ], + [ + 616.0377139569002, + 371.01995609094047 + ], + [ + 643.1753701572104, + 368.5473169758885 + ], + [ + 638.3639905160506, + 345.34393950687684 + ], + [ + 611.9499039718503, + 347.6842681354918 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 324, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -111.92300415039062, + "y": -96.24504852294922, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.38984373211860657, + "y": 0.38344237208366394, + "z": 0.8893060684204102 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 828.9176311482328, + "ymin": 276.9438763263775, + "xmax": 864.6508017478795, + "ymax": 335.0707439971167 + }, + "corners_3d": [ + [ + -111.98466491699219, + -96.78837585449219, + -0.314311683177948 + ], + [ + -112.46727752685547, + -96.19239044189453, + -0.314311683177948 + ], + [ + -111.86134338378906, + -95.70172119140625, + -0.314311683177948 + ], + [ + -111.37873077392578, + -96.2977066040039, + -0.314311683177948 + ], + [ + -111.98466491699219, + -96.78837585449219, + 1.4643003940582275 + ], + [ + -112.46727752685547, + -96.19239044189453, + 1.4643003940582275 + ], + [ + -111.86134338378906, + -95.70172119140625, + 1.4643003940582275 + ], + [ + -111.37873077392578, + -96.2977066040039, + 1.4643003940582275 + ] + ], + "corners_2d": [ + [ + 833.1329771534488, + 335.0707439971167 + ], + [ + 856.2877086643088, + 334.6124196706112 + ], + [ + 851.6549197599538, + 319.6974573420845 + ], + [ + 828.9176311482328, + 320.1393108840882 + ], + [ + 840.605078256676, + 292.06686249693024 + ], + [ + 864.6508017478795, + 291.61568435843355 + ], + [ + 859.6848922600204, + 276.9438763263775 + ], + [ + 836.0890430381869, + 277.378231019803 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 904, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -119.16718292236328, + "y": -103.18775939941406, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.39546874165534973, + "y": 0.4487841725349426, + "z": 0.8953337669372559 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 864.4988815211822, + "ymin": 520.1005745411958, + "xmax": 917.4622104680741, + "ymax": 592.5194231770763 + }, + "corners_3d": [ + [ + -119.12948608398438, + -103.78473663330078, + -0.3203442692756653 + ], + [ + -119.76416015625, + -103.15006256103516, + -0.3203442692756653 + ], + [ + -119.20487976074219, + -102.59078216552734, + -0.3203442692756653 + ], + [ + -118.57020568847656, + -103.22545623779297, + -0.3203442692756653 + ], + [ + -119.12948608398438, + -103.78473663330078, + 1.4703233242034912 + ], + [ + -119.76416015625, + -103.15006256103516, + 1.4703233242034912 + ], + [ + -119.20487976074219, + -102.59078216552734, + 1.4703233242034912 + ], + [ + -118.57020568847656, + -103.22545623779297, + 1.4703233242034912 + ] + ], + "corners_2d": [ + [ + 867.6681717029384, + 590.2908970776028 + ], + [ + 903.8073862391445, + 592.5194231770763 + ], + [ + 899.7661993710747, + 566.6382982886994 + ], + [ + 864.4988815211822, + 564.5151318581068 + ], + [ + 879.4268528498555, + 546.0639008586331 + ], + [ + 917.4622104680741, + 548.3116540610492 + ], + [ + 912.8735889478728, + 522.2367706963754 + ], + [ + 875.802788508928, + 520.1005745411958 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 1106, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -113.28268432617188, + "y": -114.31512451171875, + "z": 0.7267619967460632 + }, + "extent": { + "x": 0.623217761516571, + "y": 0.48149412870407104, + "z": 0.9105847477912903 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 330.1900782173508, + "ymin": 604.3033887496924, + "xmax": 407.1862539928412, + "ymax": 703.8727837574068 + }, + "corners_3d": [ + [ + -113.30069732666016, + -115.10247039794922, + -0.18382275104522705 + ], + [ + -114.04907989501953, + -114.49644470214844, + -0.18382275104522705 + ], + [ + -113.2646713256836, + -113.52777862548828, + -0.18382275104522705 + ], + [ + -112.51628875732422, + -114.13380432128906, + -0.18382275104522705 + ], + [ + -113.30069732666016, + -115.10247039794922, + 1.6373467445373535 + ], + [ + -114.04907989501953, + -114.49644470214844, + 1.6373467445373535 + ], + [ + -113.2646713256836, + -113.52777862548828, + 1.6373467445373535 + ], + [ + -112.51628875732422, + -114.13380432128906, + 1.6373467445373535 + ] + ], + "corners_2d": [ + [ + 347.3087475106503, + 696.8618231494382 + ], + [ + 387.5118956314804, + 703.8727837574068 + ], + [ + 407.1862539928412, + 655.4177824462074 + ], + [ + 368.49707816197775, + 648.9636769513565 + ], + [ + 330.1900782173508, + 653.011726194704 + ], + [ + 372.65208206510613, + 660.1606046824888 + ], + [ + 394.07269261032786, + 610.8532668551321 + ], + [ + 353.29543711221214, + 604.3033887496924 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 657, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -110.14055633544922, + "y": -106.29692077636719, + "z": 0.7300236225128174 + }, + "extent": { + "x": 0.3935839831829071, + "y": 0.4341406226158142, + "z": 0.8603804707527161 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 546.988592165321, + "ymin": 381.45116133311285, + "xmax": 588.0618906938579, + "ymax": 449.20914589243887 + }, + "corners_3d": [ + [ + -109.99081420898438, + -106.86345672607422, + -0.13035684823989868 + ], + [ + -110.7190170288086, + -106.39055633544922, + -0.13035684823989868 + ], + [ + -110.29029846191406, + -105.73038482666016, + -0.13035684823989868 + ], + [ + -109.56209564208984, + -106.20328521728516, + -0.13035684823989868 + ], + [ + -109.99081420898438, + -106.86345672607422, + 1.5904040336608887 + ], + [ + -110.7190170288086, + -106.39055633544922, + 1.5904040336608887 + ], + [ + -110.29029846191406, + -105.73038482666016, + 1.5904040336608887 + ], + [ + -109.56209564208984, + -106.20328521728516, + 1.5904040336608887 + ] + ], + "corners_2d": [ + [ + 550.8146582086354, + 443.0487768365875 + ], + [ + 579.3099896950401, + 449.20914589243887 + ], + [ + 588.0618906938579, + 430.3037355513357 + ], + [ + 560.0812095833426, + 424.38857122306194 + ], + [ + 546.988592165321, + 399.99621206783166 + ], + [ + 576.6884098318826, + 406.12556735632086 + ], + [ + 585.8655228629887, + 387.32637260802284 + ], + [ + 556.7242700458179, + 381.45116133311285 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 82, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 447.3889023970464, + "ymin": 0.0, + "xmax": 676.4762188108459, + "ymax": 183.11081826993976 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 529.7572413635801, + 69.68280504739516 + ], + [ + 459.70698882012357, + 94.08795761065886 + ], + [ + 600.4261127343298, + 183.11081826993976 + ], + [ + 673.9159140751739, + 150.87871544886983 + ], + [ + 522.561492875693, + -20.19119945110259 + ], + [ + 447.3889023970464, + 1.680745417175558 + ], + [ + 597.2760109277116, + 82.53633621349451 + ], + [ + 676.4762188108459, + 53.06491898468289 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 15880, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 661.0519709710545, + "ymin": 0.0, + "xmax": 891.4857586176702, + "ymax": 124.09223696753264 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 817.5299127506463, + 124.09223696753264 + ], + [ + 875.3122765335821, + 97.15649197416872 + ], + [ + 718.1094458902301, + 28.282976008732476 + ], + [ + 661.0519709710545, + 49.139623766224474 + ], + [ + 830.33393218245, + 28.708705743944563 + ], + [ + 891.4857586176702, + 4.406468400986739 + ], + [ + 722.8083297880513, + -57.03977094711297 + ], + [ + 662.3727642383428, + -38.536622493436425 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 1357, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 597.0050609696617, + "ymin": 55.419337031696045, + "xmax": 710.304052174959, + "ymax": 143.88755252291955 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 628.3478895578049, + 88.04097716130724 + ], + [ + 598.0335839075639, + 99.66571099232988 + ], + [ + 677.6787169337605, + 143.88755252291955 + ], + [ + 708.5341127014974, + 130.4680342516531 + ], + [ + 628.0680999998499, + 55.419337031696045 + ], + [ + 597.0050609696617, + 66.65469560627128 + ], + [ + 678.6734611342026, + 109.49501176231678 + ], + [ + 710.304052174959, + 96.4780125899805 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 52908959695452696, + "instance_id": 6202, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": -79.05494689941406, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1164.9888823385863, + "ymin": 81.08237548279709, + "xmax": 1184.9768829377613, + "ymax": 107.37398453846927 + }, + "corners_3d": [ + [ + -113.29469299316406, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -78.86498260498047, + 3.5146729946136475 + ], + [ + -113.29469299316406, + -78.86498260498047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1164.9888823385863, + 104.86141581745841 + ], + [ + 1171.8908584728501, + 107.37398453846927 + ], + [ + 1176.619075519669, + 104.42394692145535 + ], + [ + 1169.7312957072231, + 101.93615752204335 + ], + [ + 1173.1716807859964, + 83.94823787795417 + ], + [ + 1180.2169112831111, + 86.41014199899342 + ], + [ + 1184.9768829377613, + 83.5196235437453 + ], + [ + 1177.9466511619557, + 81.08237548279709 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 926.1977370148459, + "ymin": 306.24913205161073, + "xmax": 954.0966771572705, + "ymax": 348.25999916407534 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 936.07608463979, + 348.25999916407534 + ], + [ + 945.9849515102505, + 341.297151313029 + ], + [ + 936.1189277711422, + 335.4933020719901 + ], + [ + 926.1977370148459, + 342.358645911116 + ], + [ + 943.9927752571245, + 318.8917805532129 + ], + [ + 954.0966771572705, + 311.9953086972347 + ], + [ + 943.9127276186831, + 306.24913205161073 + ], + [ + 933.7948669426921, + 313.0464858823661 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5668522571212290485, + "instance_id": 46457, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -89.45570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1034.8193514812735, + "ymin": 89.07258815025438, + "xmax": 1057.0364407962313, + "ymax": 121.35493636644799 + }, + "corners_3d": [ + [ + -113.19542694091797, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -89.26573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -89.26573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1034.8193514812735, + 118.21506888632732 + ], + [ + 1042.5805153774338, + 121.35493636644799 + ], + [ + 1049.17026306517, + 117.64920019402953 + ], + [ + 1041.4223029838308, + 114.54729977206551 + ], + [ + 1042.416863588575, + 92.65292410187362 + ], + [ + 1050.3682663128243, + 95.71860490041252 + ], + [ + 1057.0364407962313, + 92.1004903489229 + ], + [ + 1049.0992578700989, + 89.07258815025438 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1152.531052375357, + "ymin": 438.27198148602264, + "xmax": 1191.7647623498729, + "ymax": 485.5587810140918 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1165.903217047145, + 485.5587810140918 + ], + [ + 1175.198645172887, + 476.1352495744702 + ], + [ + 1161.8793143914106, + 468.29994100345976 + ], + [ + 1152.531052375357, + 477.57021640220614 + ], + [ + 1182.345666208957, + 455.511635492005 + ], + [ + 1191.7647623498729, + 446.09621235349414 + ], + [ + 1177.8978683784594, + 438.27198148602264 + ], + [ + 1168.4198747982098, + 447.52957682166107 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7157878223548397302, + "instance_id": 63030, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -86.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1076.8479519723523, + "ymin": 66.57077347104126, + "xmax": 1098.9325097128199, + "ymax": 97.77012784338672 + }, + "corners_3d": [ + [ + -113.19542694091797, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -86.76573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -86.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1076.8479519723523, + 94.86797528723815 + ], + [ + 1084.5180077217426, + 97.77012784338672 + ], + [ + 1090.6090874545946, + 94.34482463499307 + ], + [ + 1082.9536557009833, + 91.47642198534567 + ], + [ + 1084.9245666660963, + 69.87660685059524 + ], + [ + 1092.7780993672895, + 72.7059734926587 + ], + [ + 1098.9325097128199, + 69.36663220314642 + ], + [ + 1091.09463913265, + 66.57077347104126 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7631990878982166785, + "instance_id": 473, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": -83.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1123.1989883983279, + "ymin": 41.78095038390825, + "xmax": 1145.0691304444767, + "ymax": 71.77082703084056 + }, + "corners_3d": [ + [ + -113.1954345703125, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47261047363281, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.19544219970703, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47261047363281, + -83.76573944091797, + 6.416468620300293 + ], + [ + -113.19544219970703, + -83.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1123.1989883983279, + 69.11993486416276 + ], + [ + 1130.7491856141035, + 71.77082703084056 + ], + [ + 1136.3131499724022, + 68.64195316438071 + ], + [ + 1128.7787495751427, + 66.02053561886248 + ], + [ + 1131.7310554437563, + 44.79711452166373 + ], + [ + 1139.4565219942995, + 47.377286411802174 + ], + [ + 1145.0691304444767, + 44.33193049962108 + ], + [ + 1137.3604969459318, + 41.78095038390825 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 765.0592270440651, + "ymin": 304.0607728181781, + "xmax": 784.6579140762997, + "ymax": 338.64422701282365 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 772.2890296638386, + 338.64422701282365 + ], + [ + 781.5837989501616, + 332.96891780744096 + ], + [ + 774.3493504296886, + 328.1997975767827 + ], + [ + 765.0592270440651, + 333.8091477523508 + ], + [ + 775.1816201726258, + 314.41798752277475 + ], + [ + 784.6579140762997, + 308.7893594647376 + ], + [ + 777.2490807047343, + 304.0607728181781 + ], + [ + 767.777394019183, + 309.62257171925665 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1041.1455938762979, + "ymin": 373.2038906861995, + "xmax": 1074.556931356134, + "ymax": 417.9504933666141 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1052.7318580493231, + 417.9504933666141 + ], + [ + 1062.4075926238702, + 409.78466716894593 + ], + [ + 1050.8517025015603, + 402.9867264899629 + ], + [ + 1041.1455938762979, + 411.02882586075776 + ], + [ + 1064.713991679044, + 388.0874490424598 + ], + [ + 1074.556931356134, + 379.963624602642 + ], + [ + 1062.5766541483747, + 373.2038906861995 + ], + [ + 1052.6998394024745, + 381.2011094018505 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 964.1117211750841, + "ymin": 0.0, + "xmax": 1233.0833077812606, + "ymax": 274.51917783950194 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1148.972823633113, + 161.63968501570272 + ], + [ + 1139.0320342437972, + 157.5855475273606 + ], + [ + 964.1117211750841, + 268.9401963024068 + ], + [ + 974.4904109588983, + 274.51917783950194 + ], + [ + 1233.0833077812606, + -50.70707875994003 + ], + [ + 1220.900809254689, + -53.884101898810286 + ], + [ + 1028.268308166733, + 35.82703419847485 + ], + [ + 1041.2867582095919, + 40.45926861315627 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 263.05069801163836, + "ymin": 0.0, + "xmax": 371.0222734303202, + "ymax": 19.472799687694817 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 301.4901160605992, + 16.958682289189483 + ], + [ + 305.30025436520646, + 19.472799687694817 + ], + [ + 371.0222734303202, + 1.1529343855389698 + ], + [ + 367.0351723165182, + -1.183408290126124 + ], + [ + 263.05069801163836, + -145.38406617650924 + ], + [ + 267.082720669402, + -143.48318396510416 + ], + [ + 341.5390966439427, + -157.28548420172717 + ], + [ + 337.2734026637468, + -159.03755842401904 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 961.985541525059, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 195.15807605523045 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 1049.2435792362294, + 195.15807605523045 + ], + [ + 1170.3898674466204, + 118.30564098551943 + ], + [ + 1086.1998780019533, + 87.06618895428392 + ], + [ + 961.985541525059, + 155.75657259146607 + ], + [ + 1170.7717066720788, + -176.4678762001481 + ], + [ + 1305.6607879679354, + -220.4635717990957 + ], + [ + 1192.7373281267917, + -237.54481282760798 + ], + [ + 1050.5712995585554, + -199.384984145359 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 834.4308902132564, + "ymin": 282.11006566328297, + "xmax": 859.4623978479774, + "ymax": 300.8206856025382 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 843.5665148981236, + 286.22850269927585 + ], + [ + 834.4308902132564, + 291.7432981653338 + ], + [ + 849.5441674427506, + 300.8206856025382 + ], + [ + 858.6772592661998, + 295.1772310232952 + ], + [ + 844.2890206099405, + 282.11006566328297 + ], + [ + 835.1259034699319, + 287.61513970182205 + ], + [ + 850.3019544482003, + 296.67713168369386 + ], + [ + 859.4623978479774, + 291.0431598569829 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7664114084626016696, + "instance_id": 47273, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.91487884521484, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 781.6082672930595, + "ymin": 0.0, + "xmax": 854.5582821384053, + "ymax": 34.15750630125058 + }, + "corners_3d": [ + [ + -95.94330596923828, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -79.87950897216797, + 4.83804988861084 + ], + [ + -95.94330596923828, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 811.4819328683477, + 34.15750630125058 + ], + [ + 841.1950836852141, + 22.35473369994628 + ], + [ + 811.3004631368857, + 10.661977669201121 + ], + [ + 781.6082672930595, + 21.924308841035327 + ], + [ + 823.1528596976885, + -61.9723091347916 + ], + [ + 854.5582821384053, + -72.24244690796559 + ], + [ + 822.400604064741, + -82.3857994295551 + ], + [ + 791.0053060568711, + -72.6163833924029 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 484.1511330143028, + "ymin": 0.0, + "xmax": 583.5208932626184, + "ymax": 154.77967454897026 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 504.25349237408454, + 150.7519704627506 + ], + [ + 510.3574673227687, + 154.77967454897026 + ], + [ + 583.5208932626184, + 125.6718717948516 + ], + [ + 577.2539005895444, + 121.999569033455 + ], + [ + 484.1511330143028, + -41.14708154021815 + ], + [ + 491.01994848247386, + -37.90880382078876 + ], + [ + 575.531809482044, + -61.17624564145683 + ], + [ + 568.4388976039506, + -64.08956012681148 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 834.5636692239029, + "ymin": 282.2086042563818, + "xmax": 859.3285535751082, + "ymax": 300.72025380789364 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 843.6020904620268, + 286.2833696420819 + ], + [ + 834.5636692239029, + 291.74002535191346 + ], + [ + 849.5162982474508, + 300.72025380789364 + ], + [ + 858.5522428375884, + 295.13766034183215 + ], + [ + 844.3170935034973, + 282.2086042563818 + ], + [ + 835.2517627331786, + 287.65574561216386 + ], + [ + 850.2658358594576, + 296.6209028417844 + ], + [ + 859.3285535751082, + 291.04759259115804 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 707.0002558193228, + "ymin": 209.8385811444347, + "xmax": 866.6624986498011, + "ymax": 531.2775818763653 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 718.1580288144897, + 442.10574934054017 + ], + [ + 707.0002558193228, + 449.47647191382066 + ], + [ + 809.1623612437062, + 531.2775818763653 + ], + [ + 820.4126878567088, + 522.5706446885187 + ], + [ + 736.2303303841745, + 209.8385811444347 + ], + [ + 722.6439827524051, + 216.6602508328338 + ], + [ + 852.998472843371, + 294.08399864101335 + ], + [ + 866.6624986498011, + 285.69020626449196 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 746.8079651517306, + "ymin": 145.85063226227962, + "xmax": 1280.0, + "ymax": 685.2402478548246 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 756.992609313896, + 397.19430368326846 + ], + [ + 746.8079651517306, + 403.6517276465674 + ], + [ + 1122.9055022544073, + 685.2402478548246 + ], + [ + 1132.700421286496, + 674.0866240512589 + ], + [ + 785.013535343278, + 145.85063226227962 + ], + [ + 772.6212426768625, + 151.59240643711965 + ], + [ + 1289.151074109217, + 423.1333139233517 + ], + [ + 1300.1577256748947, + 411.5270715291701 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 5199819733356185808, + "instance_id": 53256, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1851_37", + "bbox_3d": { + "center_world": { + "x": -100.25784301757812, + "y": -72.39555358886719, + "z": 8.309331893920898 + }, + "extent": { + "x": 4.9728498458862305, + "y": 4.831793308258057, + "z": 8.307754516601562 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 838.4680285874044, + "ymin": 0.0, + "xmax": 1228.0338491857742, + "ymax": 83.44721042668561 + }, + "corners_3d": [ + [ + -94.59623718261719, + -68.39283752441406, + 0.0015773773193359375 + ], + [ + -96.09391784667969, + -77.93966674804688, + 0.0015773773193359375 + ], + [ + -105.91944885253906, + -76.39826965332031, + 0.0015773773193359375 + ], + [ + -104.42176818847656, + -66.8514404296875, + 0.0015773773193359375 + ], + [ + -94.59623718261719, + -68.39283752441406, + 16.61708641052246 + ], + [ + -96.09391784667969, + -77.93966674804688, + 16.61708641052246 + ], + [ + -105.91944885253906, + -76.39826965332031, + 16.61708641052246 + ], + [ + -104.42176818847656, + -66.8514404296875, + 16.61708641052246 + ] + ], + "corners_2d": [ + [ + 927.4310608817691, + -23.72927064027158 + ], + [ + 838.4680285874044, + 27.91378506426065 + ], + [ + 1022.2053153637726, + 83.44721042668561 + ], + [ + 1099.5433995787432, + 20.7665268828012 + ], + [ + 999.0212810251667, + -389.9432735375734 + ], + [ + 894.9617846110388, + -375.9143736664739 + ], + [ + 1146.5148034202975, + -359.908658949243 + ], + [ + 1228.0338491857742, + -377.90339963707333 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00045/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00045/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..99a2d620e6113056a0528a789ad51324e5a1aa22 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00045/meta.json @@ -0,0 +1,4160 @@ +{ + "frame_id": 45, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 22.5, + "sim_timestamp": 10234.140220236033 + }, + "drone_pose": { + "x": -125.67348349226914, + "y": -116.80498616542035, + "z": 19.90941232777615, + "pitch": -36.68008091328314, + "yaw": 41.08911613936846, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6044454574584961, + -0.5270892381668091, + 0.597346305847168, + 125.63660430908203 + ], + [ + 0.6572320461273193, + 0.7536882758140564, + 0.0, + 5.437904357910156 + ], + [ + -0.45021292567253113, + 0.39259517192840576, + 0.8019833564758301, + -118.40392303466797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -125.442013609216, + "y": -116.0428279184395, + "z": 19.89202103097263 + }, + "t1_image_uv": [ + 1374.4021162243462, + -317.330943901076 + ], + "t1_depth": 0.5520249234887218 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -109.16718292236328, + "y": -102.68776321411131, + "z": 0.7290764343738556 + }, + "image_uv": [ + 633.0686609645819, + 440.07695260516357 + ], + "depth": 28.875497879571135, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 189, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -109.16718292236328, + "y": -102.68775939941406, + "z": 0.7290764451026917 + }, + "extent": { + "x": 0.2605077922344208, + "y": 0.2572705149650574, + "z": 0.5453374981880188 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 623.650128982951, + "ymin": 420.24201293412, + "xmax": 642.2029064911015, + "ymax": 459.7704459852667 + }, + "corners_3d": [ + [ + -109.16947174072266, + -103.05388641357422, + 0.18373894691467285 + ], + [ + -109.53330993652344, + -102.69004821777344, + 0.18373894691467285 + ], + [ + -109.1648941040039, + -102.3216323852539, + 0.18373894691467285 + ], + [ + -108.80105590820312, + -102.68547058105469, + 0.18373894691467285 + ], + [ + -109.16947174072266, + -103.05388641357422, + 1.2744139432907104 + ], + [ + -109.53330993652344, + -102.69004821777344, + 1.2744139432907104 + ], + [ + -109.1648941040039, + -102.3216323852539, + 1.2744139432907104 + ], + [ + -108.80105590820312, + -102.68547058105469, + 1.2744139432907104 + ] + ], + "corners_2d": [ + [ + 624.0173561026504, + 458.9798390701918 + ], + [ + 641.0078437183954, + 459.7704459852667 + ], + [ + 642.1540823041656, + 448.21513474234405 + ], + [ + 625.4032191225649, + 447.44678230384255 + ], + [ + 623.650128982951, + 431.64010112153073 + ], + [ + 641.0310235675363, + 432.42172755340766 + ], + [ + 642.2029064911015, + 421.00114287191514 + ], + [ + 625.0726937689731, + 420.24201293412 + ] + ], + "center_offset_px": [ + -6.931339035418091, + 80.07695260516357 + ] + }, + "trace_timestep_index": 45, + "instance_stats": { + "semantic_tags_present": 17, + "instances_present": 79, + "semantic_pixel_counts": { + "1": 235106, + "2": 149182, + "3": 404166, + "4": 22062, + "5": 191, + "6": 18195, + "7": 2962, + "9": 7060, + "10": 32464, + "12": 1873, + "14": 3760, + "15": 1212, + "16": 19489, + "20": 4164, + "21": 4981, + "22": 110, + "24": 14623 + }, + "instance_pixel_counts": { + "606": 1078, + "1115": 6774, + "1118": 684, + "1169": 595, + "1445": 28, + "1627": 2252, + "5205": 1505, + "8795": 3699, + "10325": 65, + "10837": 4, + "11349": 209, + "11394": 2245, + "11861": 312, + "12373": 324, + "12894": 1631, + "13397": 198, + "13909": 140, + "14416": 191, + "14979": 444, + "16023": 1706, + "16476": 148, + "17232": 22062, + "17500": 38, + "18011": 146626, + "18012": 145, + "19528": 3, + "19784": 1, + "20631": 6147, + "23808": 4031, + "24064": 10554, + "27072": 7749, + "29843": 17939, + "30656": 45705, + "31168": 4991, + "31816": 90, + "31891": 19491, + "34120": 39589, + "34453": 1592, + "35924": 1980, + "36443": 244815, + "36501": 1386, + "36948": 368, + "37460": 3863, + "43659": 353, + "44171": 2114, + "44179": 7127, + "44419": 28, + "44691": 141413, + "45203": 1013, + "46227": 48123, + "46731": 2094, + "46741": 257, + "47253": 9118, + "47765": 181, + "48267": 1111, + "48779": 1430, + "48789": 2089, + "49664": 189, + "49803": 2275, + "49920": 538, + "50176": 213, + "50432": 933, + "52480": 116, + "52672": 1354, + "52736": 19373, + "53063": 16, + "53184": 3721, + "54016": 1445, + "54720": 4236, + "55232": 9213, + "55744": 5583, + "55879": 5360, + "56135": 9150, + "56768": 9811, + "57173": 7060, + "57691": 1185, + "62555": 1058, + "63067": 835, + "64093": 134 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 189, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -109.16718292236328, + "y": -102.68775939941406, + "z": 0.7290764451026917 + }, + "extent": { + "x": 0.2419726550579071, + "y": 0.25432127714157104, + "z": 0.5277623534202576 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 623.8071622311558, + "ymin": 421.09455591446783, + "xmax": 642.0624745422373, + "ymax": 458.91810615779025 + }, + "corners_3d": [ + [ + -109.15845489501953, + -103.03868865966797, + 0.20131409168243408 + ], + [ + -109.51811218261719, + -102.67902374267578, + 0.20131409168243408 + ], + [ + -109.17591094970703, + -102.33683013916016, + 0.20131409168243408 + ], + [ + -108.81625366210938, + -102.69649505615234, + 0.20131409168243408 + ], + [ + -109.15845489501953, + -103.03868865966797, + 1.2568387985229492 + ], + [ + -109.51811218261719, + -102.67902374267578, + 1.2568387985229492 + ], + [ + -109.17591094970703, + -102.33683013916016, + 1.2568387985229492 + ], + [ + -108.81625366210938, + -102.69649505615234, + 1.2568387985229492 + ] + ], + "corners_2d": [ + [ + 624.1590903590699, + 458.1376267933124 + ], + [ + 640.9520600824485, + 458.91810615779025 + ], + [ + 642.0181981122992, + 448.187163261945 + ], + [ + 625.4454020102069, + 447.42711770421244 + ], + [ + 623.8071622311558, + 431.6837471146199 + ], + [ + 640.973232190887, + 432.45562824494675 + ], + [ + 642.0624745422373, + 421.84578821663183 + ], + [ + 625.1264033497318, + 421.09455591446783 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 538, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -110.14054107666016, + "y": -104.0785903930664, + "z": 0.7299895286560059 + }, + "extent": { + "x": 0.508471667766571, + "y": 0.3882226347923279, + "z": 0.9093250036239624 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 602.3677158938222, + "ymin": 441.44613934095844, + "xmax": 634.4240063612214, + "ymax": 514.6716051433051 + }, + "corners_3d": [ + [ + -110.35553741455078, + -104.68111419677734, + -0.17933547496795654 + ], + [ + -110.7784194946289, + -104.0299301147461, + -0.17933547496795654 + ], + [ + -109.92554473876953, + -103.47606658935547, + -0.17933547496795654 + ], + [ + -109.5026626586914, + -104.12725067138672, + -0.17933547496795654 + ], + [ + -110.35553741455078, + -104.68111419677734, + 1.6393145322799683 + ], + [ + -110.7784194946289, + -104.0299301147461, + 1.6393145322799683 + ], + [ + -109.92554473876953, + -103.47606658935547, + 1.6393145322799683 + ], + [ + -109.5026626586914, + -104.12725067138672, + 1.6393145322799683 + ] + ], + "corners_2d": [ + [ + 607.715742788094, + 514.6716051433051 + ], + [ + 634.4240063612214, + 511.92410054998004 + ], + [ + 629.7691257583014, + 487.39957226565116 + ], + [ + 603.8043714899774, + 489.9936015204063 + ], + [ + 606.395383015183, + 468.2850702861891 + ], + [ + 634.196709466878, + 465.57808043557 + ], + [ + 629.3643437822265, + 441.44613934095844 + ], + [ + 602.3677158938222, + 443.99601425449464 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 213, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -111.92300415039062, + "y": -96.24504852294922, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.35511717200279236, + "y": 0.37669920921325684, + "z": 0.8863250613212585 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 824.9599311747451, + "ymin": 369.8475510936815, + "xmax": 859.9056821035675, + "ymax": 427.48896998657017 + }, + "corners_3d": [ + [ + -111.96192169189453, + -96.76128387451172, + -0.3113306760787964 + ], + [ + -112.43604278564453, + -96.17578125, + -0.3113306760787964 + ], + [ + -111.88408660888672, + -95.72881317138672, + -0.3113306760787964 + ], + [ + -111.40996551513672, + -96.31431579589844, + -0.3113306760787964 + ], + [ + -111.96192169189453, + -96.76128387451172, + 1.4613194465637207 + ], + [ + -112.43604278564453, + -96.17578125, + 1.4613194465637207 + ], + [ + -111.88408660888672, + -95.72881317138672, + 1.4613194465637207 + ], + [ + -111.40996551513672, + -96.31431579589844, + 1.4613194465637207 + ] + ], + "corners_2d": [ + [ + 829.1671623295753, + 427.48896998657017 + ], + [ + 852.382951100909, + 426.93198769387493 + ], + [ + 847.759443254522, + 412.8115403403006 + ], + [ + 824.9599311747451, + 413.3485820171785 + ], + [ + 835.8725179432341, + 384.1948862480348 + ], + [ + 859.9056821035675, + 383.65008221652806 + ], + [ + 854.9809040885499, + 369.8475510936815 + ], + [ + 831.3935620850639, + 370.37217869967657 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 933, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -119.16718292236328, + "y": -103.18775939941406, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.3930712938308716, + "y": 0.4377538859844208, + "z": 0.8946893215179443 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 867.5153959368363, + "ymin": 627.5691819172646, + "xmax": 921.8715439393388, + "ymax": 704.4334281057421 + }, + "corners_3d": [ + [ + -119.13558959960938, + -103.77523803710938, + -0.31969982385635376 + ], + [ + -119.7546615600586, + -103.15616607666016, + -0.31969982385635376 + ], + [ + -119.19877624511719, + -102.60028076171875, + -0.31969982385635376 + ], + [ + -118.57970428466797, + -103.21935272216797, + -0.31969982385635376 + ], + [ + -119.13558959960938, + -103.77523803710938, + 1.4696788787841797 + ], + [ + -119.7546615600586, + -103.15616607666016, + 1.4696788787841797 + ], + [ + -119.19877624511719, + -102.60028076171875, + 1.4696788787841797 + ], + [ + -118.57970428466797, + -103.21935272216797, + 1.4696788787841797 + ] + ], + "corners_2d": [ + [ + 871.5162887735128, + 702.218154929488 + ], + [ + 908.6893319256363, + 704.4334281057421 + ], + [ + 903.6846479939474, + 676.0567049612432 + ], + [ + 867.5153959368363, + 673.9583916447385 + ], + [ + 882.8498357541866, + 655.875993998166 + ], + [ + 921.8715439393388, + 658.0980867280576 + ], + [ + 916.258309685792, + 629.6684457405686 + ], + [ + 878.3412177397192, + 627.5691819172646 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 116, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 440.74100782341725, + "ymin": 74.1651434632933, + "xmax": 667.6390499337937, + "ymax": 273.4334114674488 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 522.4455819067821, + 160.6977640952191 + ], + [ + 452.20523313621936, + 184.93811422642585 + ], + [ + 591.9788616151044, + 273.4334114674488 + ], + [ + 665.884241193133, + 240.83651924895412 + ], + [ + 515.6101724580792, + 74.1651434632933 + ], + [ + 440.74100782341725, + 95.56987624399733 + ], + [ + 588.5324197635999, + 174.71907150073113 + ], + [ + 667.6390499337937, + 145.3793669103128 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 19373, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 652.939320160693, + "ymin": 38.254187625008285, + "xmax": 880.1099981472947, + "ymax": 213.72098080202227 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 809.2575147017984, + 213.72098080202227 + ], + [ + 866.2410146724837, + 186.88316864842201 + ], + [ + 709.327814595654, + 119.76273780276645 + ], + [ + 652.939320160693, + 140.23863496536728 + ], + [ + 820.1803069802404, + 121.10544710120456 + ], + [ + 880.1099981472947, + 97.26050420353488 + ], + [ + 713.0233015737198, + 38.254187625008285 + ], + [ + 653.660446530489, + 56.16029735339458 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 1445, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 589.0335316276761, + "ymin": 146.892156746176, + "xmax": 701.8650796522312, + "ymax": 233.8393626641183 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 620.3974770543759, + 178.52959442168665 + ], + [ + 590.1303468811914, + 190.0941105441949 + ], + [ + 669.6383336809279, + 233.8393626641183 + ], + [ + 700.4597879293609, + 220.36741089531807 + ], + [ + 619.9756889879277, + 146.892156746176 + ], + [ + 589.0335316276761, + 158.0102357443982 + ], + [ + 670.3437425076472, + 200.1607583426466 + ], + [ + 701.8650796522312, + 187.16405151993888 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 52908959695452696, + "instance_id": 6202, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": -79.05494689941406, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1155.156566321123, + "ymin": 171.4727504936692, + "xmax": 1174.0701412320159, + "ymax": 197.15576953199496 + }, + "corners_3d": [ + [ + -113.29469299316406, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -78.86498260498047, + 3.5146729946136475 + ], + [ + -113.29469299316406, + -78.86498260498047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1155.156566321123, + 194.68150901026266 + ], + [ + 1162.1734593320225, + 197.15576953199496 + ], + [ + 1166.7004807711837, + 194.21666635271703 + ], + [ + 1159.7005921038483, + 191.76861608666414 + ], + [ + 1162.3708885867516, + 174.31680476445837 + ], + [ + 1169.519423447766, + 176.73292412598104 + ], + [ + 1174.0701412320159, + 173.86291915099687 + ], + [ + 1166.939447743635, + 171.4727504936692 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 925.452778095239, + "ymin": 404.3478320124891, + "xmax": 953.362236337639, + "ymax": 447.610820609 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 935.8486064542145, + 447.610820609 + ], + [ + 945.8222880418735, + 440.17679869915224 + ], + [ + 935.4453200691157, + 434.06268784840483 + ], + [ + 925.452778095239, + 441.38230895720267 + ], + [ + 943.2125417585352, + 417.71031762868006 + ], + [ + 953.362236337639, + 410.3767726402847 + ], + [ + 942.6720532761419, + 404.3478320124891 + ], + [ + 932.5014550856515, + 411.56575978172003 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 118.84402231248419, + "ymin": 0.0, + "xmax": 131.91084530300537, + "ymax": 12.226611910717224 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 131.91084530300537, + 10.924191112528717 + ], + [ + 130.31748369790654, + 9.835773477399869 + ], + [ + 123.63833113769272, + 11.130445069547989 + ], + [ + 125.21736873845634, + 12.226611910717224 + ], + [ + 127.19602689876956, + -4.275177789179395 + ], + [ + 125.60207606399865, + -5.328042645918629 + ], + [ + 118.84402231248419, + -4.075654495219965 + ], + [ + 120.42327946606372, + -3.0152237279172596 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5668522571212290485, + "instance_id": 46457, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -89.45570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1026.9495987293712, + "ymin": 181.2325128563873, + "xmax": 1048.2657346466242, + "ymax": 212.97228241376507 + }, + "corners_3d": [ + [ + -113.19542694091797, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -89.26573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -89.26573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1026.9495987293712, + 209.845872599181 + ], + [ + 1034.8683730366351, + 212.97228241376507 + ], + [ + 1041.2950750964865, + 209.23930992638893 + ], + [ + 1033.3929160958273, + 206.15374674064154 + ], + [ + 1033.6784222273673, + 184.82203408955894 + ], + [ + 1041.7735670759048, + 187.86219865494868 + ], + [ + 1048.2657346466242, + 184.23227185464916 + ], + [ + 1040.188300631472, + 181.2325128563873 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1167.4058844603937, + "ymin": 545.0338762817494, + "xmax": 1207.1700113369325, + "ymax": 595.0590525128824 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1181.9512527420466, + 595.0590525128824 + ], + [ + 1191.0435650373634, + 584.6605804688228 + ], + [ + 1176.5734522825724, + 576.1347938696728 + ], + [ + 1167.4058844603937, + 586.3444093562446 + ], + [ + 1197.9923105623534, + 563.8674986006729 + ], + [ + 1207.1700113369325, + 553.5160814892295 + ], + [ + 1192.1298254123676, + 545.0338762817494 + ], + [ + 1182.8690351971632, + 555.1918358031163 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7157878223548397302, + "instance_id": 63030, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -86.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1067.8544638293174, + "ymin": 158.7528422291498, + "xmax": 1088.9100673944665, + "ymax": 189.27706331653167 + }, + "corners_3d": [ + [ + -113.19542694091797, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -86.76573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -86.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1067.8544638293174, + 186.40539503026596 + ], + [ + 1075.659846273878, + 189.27706331653167 + ], + [ + 1081.5631749029576, + 185.84810262115357 + ], + [ + 1073.7757559082304, + 183.01240646105907 + ], + [ + 1074.9807225119025, + 162.04681437101024 + ], + [ + 1082.9552392009105, + 164.83521704073604 + ], + [ + 1088.9100673944665, + 161.50573804264542 + ], + [ + 1080.9546144043834, + 158.7528422291498 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7631990878982166785, + "instance_id": 473, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": -83.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1112.6719855985539, + "ymin": 134.14585179772246, + "xmax": 1133.3791960192464, + "ymax": 163.32801750255913 + }, + "corners_3d": [ + [ + -113.1954345703125, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47261047363281, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.19544219970703, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47261047363281, + -83.76573944091797, + 6.416468620300293 + ], + [ + -113.19544219970703, + -83.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1112.6719855985539, + 160.72296641578222 + ], + [ + 1120.331632784258, + 163.32801750255913 + ], + [ + 1125.6871480746856, + 160.21726339913278 + ], + [ + 1118.0464837521145, + 157.64330679903165 + ], + [ + 1120.1653700493498, + 137.13094928945375 + ], + [ + 1127.9855215700504, + 139.65645253338943 + ], + [ + 1133.3791960192464, + 136.64073529680078 + ], + [ + 1125.579106329924, + 134.14585179772246 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 759.3171053476498, + "ymin": 399.2498651694714, + "xmax": 779.0030986826507, + "ymax": 434.66995711937557 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 766.8041717688868, + 434.66995711937557 + ], + [ + 776.2662272615543, + 428.6724687400793 + ], + [ + 768.7756008392062, + 423.697889746571 + ], + [ + 759.3171053476498, + 429.6191948561012 + ], + [ + 769.3708847460756, + 410.09259137183716 + ], + [ + 779.0030986826507, + 404.1650471340141 + ], + [ + 771.3452802467003, + 399.2498651694714 + ], + [ + 761.716511225966, + 405.10061118705323 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1047.342480939795, + "ymin": 475.1256830603889, + "xmax": 1080.9566446063957, + "ymax": 521.8392374913108 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1059.7411066864847, + 521.8392374913108 + ], + [ + 1069.3753054999956, + 512.9742523162834 + ], + [ + 1057.0201770953624, + 505.694609087215 + ], + [ + 1047.342480939795, + 514.4107784726646 + ], + [ + 1071.1813637978466, + 491.1213405847849 + ], + [ + 1080.9566446063957, + 482.33616823395676 + ], + [ + 1068.1714123033476, + 475.1256830603889 + ], + [ + 1058.3482133065688, + 483.75943250201044 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 960.582051222264, + "ymin": 41.60275423428914, + "xmax": 1215.3340501691494, + "ymax": 365.26060836681467 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1141.60957798014, + 250.2174943487579 + ], + [ + 1131.4542662287934, + 246.191866706678 + ], + [ + 960.582051222264, + 359.5664247662401 + ], + [ + 971.3060523778623, + 365.26060836681467 + ], + [ + 1215.3340501691494, + 44.64887050433174 + ], + [ + 1203.1356622861238, + 41.60275423428914 + ], + [ + 1017.7298213313459, + 129.73123725393 + ], + [ + 1030.9207896446703, + 134.28910405722007 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 262.8774936587125, + "ymin": 0.0, + "xmax": 366.59037208844865, + "ymax": 112.15838373882849 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 297.2038253941744, + 109.72085793889494 + ], + [ + 300.8805454660439, + 112.15838373882849 + ], + [ + 366.59037208844865, + 94.22458009439981 + ], + [ + 362.72434314086246, + 91.97014301598347 + ], + [ + 262.8774936587125, + -44.40417325030921 + ], + [ + 266.7263508307188, + -42.610897006269454 + ], + [ + 340.2130703596037, + -55.76080730159259 + ], + [ + 336.12117743005655, + -57.40670395859303 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 22.46793060617597, + "ymin": 0.0, + "xmax": 98.51896449871106, + "ymax": 63.38335460246026 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 90.66507643131092, + 63.38335460246026 + ], + [ + 98.51896449871106, + 61.67357527187727 + ], + [ + 78.78045011908068, + 45.30001343524032 + ], + [ + 71.15857999014793, + 46.877817256076014 + ], + [ + 41.540434546287315, + -78.40017702123941 + ], + [ + 50.31214106436596, + -79.63123732130043 + ], + [ + 30.94685855830994, + -91.37499878226186 + ], + [ + 22.46793060617597, + -90.24690182151573 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 604.9809131726388, + "ymin": 0.0, + "xmax": 657.9500098024749, + "ymax": 56.306140785704144 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 628.5008434767542, + 56.306140785704144 + ], + [ + 657.0941965400152, + 47.80898065971735 + ], + [ + 635.0920539541551, + 39.45443257693563 + ], + [ + 606.6496697010703, + 47.599247558881586 + ], + [ + 627.9123790017047, + -25.192831052225984 + ], + [ + 657.9500098024749, + -32.347604589490686 + ], + [ + 634.8516851534656, + -39.36757888877747 + ], + [ + 604.9809131726388, + -32.5240128412305 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 550.995564039533, + "ymin": 38.02955003033378, + "xmax": 564.3635071687414, + "ymax": 45.13089187586661 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 551.1530577637196, + 43.192167157655604 + ], + [ + 555.802230764234, + 45.13089187586661 + ], + [ + 564.3635071687414, + 42.77933736883597 + ], + [ + 559.7002883574337, + 40.863276339480876 + ], + [ + 550.995564039533, + 40.34587038761401 + ], + [ + 555.6522504556515, + 42.27416724205915 + ], + [ + 564.2295700637175, + 39.935265393967086 + ], + [ + 559.5587796943519, + 38.02955003033378 + ] + ], + "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": 89.94627821550091, + "ymax": 10.500240705471356 + }, + "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": [ + [ + 41.99557670197305, + -27.52003341506719 + ], + [ + 35.783487527230704, + -26.500483599035988 + ], + [ + 83.2006551314463, + 10.500240705471356 + ], + [ + 89.94627821550091, + 9.238555307519562 + ], + [ + -2.560285154774647, + -152.424072188487 + ], + [ + -9.385837697363286, + -151.74618589518445 + ], + [ + 36.495071695186425, + -126.93021621262324 + ], + [ + 43.979094380089805, + -127.78335220278586 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 954.4495589435433, + "ymin": 0.0, + "xmax": 1276.909728921556, + "ymax": 284.2911871820854 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 1043.4826828829573, + 284.2911871820854 + ], + [ + 1160.5312826667491, + 207.08211195024384 + ], + [ + 1075.2861518584955, + 176.45095768926822 + ], + [ + 954.4495589435433, + 244.9620095525317 + ], + [ + 1149.332776416609, + -73.69489973531154 + ], + [ + 1276.909728921556, + -115.26828390994103 + ], + [ + 1166.195145305399, + -131.0627755287697 + ], + [ + 1030.6384284968483, + -95.19570963199209 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 829.7263572075312, + "ymin": 381.2989849064652, + "xmax": 855.5251926302217, + "ymax": 400.8895698808929 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 839.019465043244, + 385.46961447737556 + ], + [ + 829.7263572075312, + 391.3328819410375 + ], + [ + 845.5215610906715, + 400.8895698808929 + ], + [ + 854.807054689915, + 394.87579805029236 + ], + [ + 839.6764491978503, + 381.2989849064652 + ], + [ + 830.3576393397432, + 387.1486290957582 + ], + [ + 846.2141845272879, + 396.6837675623515 + ], + [ + 855.5251926302217, + 390.6834614769193 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7664114084626016696, + "instance_id": 47273, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.91487884521484, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 771.9633198724804, + "ymin": 13.951825338629703, + "xmax": 841.9715181843851, + "ymax": 125.3013290404975 + }, + "corners_3d": [ + [ + -95.94330596923828, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -79.87950897216797, + 4.83804988861084 + ], + [ + -95.94330596923828, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 801.6539773175471, + 125.3013290404975 + ], + [ + 830.7656781260104, + 113.75468289557998 + ], + [ + 801.0713811276908, + 102.47930682305639 + ], + [ + 771.9633198724804, + 113.47068841394974 + ], + [ + 811.3977375299742, + 33.46737536538609 + ], + [ + 841.9715181843851, + 23.57966628348106 + ], + [ + 810.292342972049, + 13.951825338629703 + ], + [ + 779.710056389786, + 23.336834533745105 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9560389216542849208, + "instance_id": 47352, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_1", + "bbox_3d": { + "center_world": { + "x": -94.91524505615234, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 779.0683251820651, + "ymin": 35.60705037599871, + "xmax": 837.537017328103, + "ymax": 61.31634232275002 + }, + "corners_3d": [ + [ + -95.88141632080078, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -95.88141632080078, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -93.9490737915039, + -77.64111328125, + 3.4435572624206543 + ], + [ + -93.9490737915039, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -95.88141632080078, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -95.88141632080078, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -93.9490737915039, + -77.64111328125, + 3.7680342197418213 + ], + [ + -93.9490737915039, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 808.2538684873084, + 61.31634232275002 + ], + [ + 836.7473592083363, + 51.46657920064814 + ], + [ + 807.5657668415282, + 41.90441678900186 + ], + [ + 779.0683251820651, + 51.29089797824088 + ], + [ + 808.9455958032916, + 54.78955752447729 + ], + [ + 837.537017328103, + 45.055283466659716 + ], + [ + 808.2224209805084, + 35.60705037599871 + ], + [ + 779.6262424975331, + 44.88168072578179 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11431371900272489448, + "instance_id": 59571, + "pixel_count": null, + "type_id": "BP_HighwayLight_simple2_SM_2", + "bbox_3d": { + "center_world": { + "x": -98.27579498291016, + "y": -56.101219177246094, + "z": 5.664507865905762 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1042.777547805581, + "ymin": 0.0, + "xmax": 1173.9795410775716, + "ymax": 51.72313945651848 + }, + "corners_3d": [ + [ + -98.64216613769531, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -97.90940856933594, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -97.909423828125, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -98.64218139648438, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -98.64216613769531, + -52.1658935546875, + 11.14326000213623 + ], + [ + -97.90940856933594, + -52.1658935546875, + 11.14326000213623 + ], + [ + -97.909423828125, + -60.03654479980469, + 11.14326000213623 + ], + [ + -98.64218139648438, + -60.03654479980469, + 11.14326000213623 + ] + ], + "corners_2d": [ + [ + 1117.7800593270695, + 24.589361775365546 + ], + [ + 1107.0200967801266, + 21.90483106856658 + ], + [ + 1042.777547805581, + 48.64270425180115 + ], + [ + 1053.8163456223583, + 51.72313945651848 + ], + [ + 1173.9795410775716, + -166.46913120876945 + ], + [ + 1161.5201332860647, + -167.95822503682177 + ], + [ + 1093.5348468153882, + -153.0155154256729 + ], + [ + 1106.4132448200667, + -151.27794546589786 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 476.5320860300824, + "ymin": 32.771423900773925, + "xmax": 575.4067004440924, + "ymax": 245.2834794708846 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 495.6225159822414, + 241.26491569783784 + ], + [ + 501.6840452939931, + 245.2834794708846 + ], + [ + 575.4067004440924, + 215.9937855520163 + ], + [ + 569.1694544163229, + 212.3565963579241 + ], + [ + 476.5320860300824, + 55.14270204459456 + ], + [ + 483.25543405649887, + 58.27527354760525 + ], + [ + 567.2733332270408, + 35.57045038908694 + ], + [ + 560.3146237306518, + 32.771423900773925 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 829.8632026418779, + "ymin": 381.40192758571135, + "xmax": 855.3872487148947, + "ymax": 400.78418024433364 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 839.0573942461122, + 385.52838269558265 + ], + [ + 829.8632026418779, + 391.32988914088077 + ], + [ + 845.490467495958, + 400.78418024433364 + ], + [ + 854.6772088887454, + 394.8353534920576 + ], + [ + 839.7075738837467, + 381.40192758571135 + ], + [ + 830.4882254919299, + 387.19010003596867 + ], + [ + 846.175532106525, + 396.6232964217861 + ], + [ + 855.3872487148947, + 390.6876511100708 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 551.067001498642, + "ymin": 38.067078628702916, + "xmax": 564.2927995562371, + "ymax": 45.09290166474568 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 551.2226955726205, + 43.17495863189225 + ], + [ + 555.8225670531982, + 45.09290166474568 + ], + [ + 564.2927995562371, + 42.766542888055994 + ], + [ + 559.6791790742377, + 40.87078374156249 + ], + [ + 551.067001498642, + 40.358948611251265 + ], + [ + 555.6742277779811, + 42.266684789991984 + ], + [ + 564.1601637170922, + 39.95271052466279 + ], + [ + 559.5391321291735, + 38.067078628702916 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 700.793622642113, + "ymin": 306.3158696782431, + "xmax": 862.8303151241247, + "ymax": 638.2856286429333 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 712.3167453215265, + 542.2344619269761 + ], + [ + 700.793622642113, + 550.1854687071268 + ], + [ + 808.3012066270888, + 638.2856286429333 + ], + [ + 819.8997010106824, + 628.7198453644935 + ], + [ + 727.7335714567516, + 306.3158696782431 + ], + [ + 713.8934860107447, + 313.43916029604037 + ], + [ + 848.9488473132379, + 394.21119986133715 + ], + [ + 862.8303151241247, + 385.2740180962697 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15445048005953999223, + "instance_id": 30545, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_0", + "bbox_3d": { + "center_world": { + "x": -94.91524505615234, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 779.0308711466176, + "ymin": 35.59672043404919, + "xmax": 837.5709536401541, + "ymax": 61.37196496068708 + }, + "corners_3d": [ + [ + -95.88260650634766, + -79.81846618652344, + 3.441368341445923 + ], + [ + -95.88261413574219, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -93.94788360595703, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -93.9478759765625, + -79.81846618652344, + 3.441368341445923 + ], + [ + -95.88260650634766, + -79.81846618652344, + 3.768015146255493 + ], + [ + -95.88261413574219, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -93.94788360595703, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -93.9478759765625, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 808.2516873170323, + 61.37196496068708 + ], + [ + 836.7758982261373, + 51.51036695952837 + ], + [ + 807.5590361956196, + 41.93590068147182 + ], + [ + 779.0308711466176, + 51.33311403037709 + ], + [ + 808.9480510910125, + 54.80157795211824 + ], + [ + 837.5709536401541, + 45.05636329954558 + ], + [ + 808.2200368466277, + 35.59672043404919 + ], + [ + 779.5923669274838, + 44.881221063887665 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 741.6083033139594, + "ymin": 240.9963869237997, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 752.0351114838973, + 494.09716470542884 + ], + [ + 741.6083033139594, + 500.984358289943 + ], + [ + 1145.2564170640248, + 807.6189463382161 + ], + [ + 1154.979293685425, + 794.9504776635599 + ], + [ + 776.5906622331249, + 240.9963869237997 + ], + [ + 764.0991456889064, + 246.90080958412605 + ], + [ + 1310.2361540309244, + 532.9267632093486 + ], + [ + 1320.7119288240633, + 520.1375913158392 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 89.324217546147, + "ymin": 0.0, + "xmax": 326.6140488000133, + "ymax": 58.83910621238164 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 137.35702616613577, + 56.95278141510886 + ], + [ + 139.7498310916733, + 58.83910621238164 + ], + [ + 326.6140488000133, + 18.08776306907521 + ], + [ + 323.68772510137705, + 16.553922578310562 + ], + [ + 89.324217546147, + -95.17196095137251 + ], + [ + 91.70578804669992, + -93.86786979905457 + ], + [ + 299.73408169776604, + -121.78919124343668 + ], + [ + 296.67781078384746, + -122.82991064149888 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 5199819733356185808, + "instance_id": 53256, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1851_37", + "bbox_3d": { + "center_world": { + "x": -100.25784301757812, + "y": -72.39555358886719, + "z": 8.309331893920898 + }, + "extent": { + "x": 4.9728498458862305, + "y": 4.831793308258057, + "z": 8.307754516601562 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 828.1867825865834, + "ymin": 0.0, + "xmax": 1192.5918217624883, + "ymax": 172.99373629598844 + }, + "corners_3d": [ + [ + -94.59623718261719, + -68.39283752441406, + 0.0015773773193359375 + ], + [ + -96.09391784667969, + -77.93966674804688, + 0.0015773773193359375 + ], + [ + -105.91944885253906, + -76.39826965332031, + 0.0015773773193359375 + ], + [ + -104.42176818847656, + -66.8514404296875, + 0.0015773773193359375 + ], + [ + -94.59623718261719, + -68.39283752441406, + 16.61708641052246 + ], + [ + -96.09391784667969, + -77.93966674804688, + 16.61708641052246 + ], + [ + -105.91944885253906, + -76.39826965332031, + 16.61708641052246 + ], + [ + -104.42176818847656, + -66.8514404296875, + 16.61708641052246 + ] + ], + "corners_2d": [ + [ + 914.4105303976048, + 69.03024774974489 + ], + [ + 828.1867825865834, + 119.1301027090432 + ], + [ + 1011.6423485366959, + 172.99373629598844 + ], + [ + 1085.192629942299, + 111.60205836243401 + ], + [ + 973.2750425767172, + -269.8660551537139 + ], + [ + 874.4979668887673, + -257.3269298679045 + ], + [ + 1116.4185655995298, + -243.09748745970944 + ], + [ + 1192.5918217624883, + -259.2525357755451 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 537.6065615285921, + "ymin": 0.0, + "xmax": 750.6689821453094, + "ymax": 23.196636394805978 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 620.2336824028243, + -30.918376789122533 + ], + [ + 550.9038965812991, + 1.2057030626162941 + ], + [ + 675.5257967738987, + 23.196636394805978 + ], + [ + 736.8625915419765, + -12.815383609018909 + ], + [ + 617.5852761876303, + -255.98669104317742 + ], + [ + 537.6065615285921, + -244.7039674091269 + ], + [ + 681.2075600686204, + -236.80350763769047 + ], + [ + 750.6689821453094, + -249.66562895452637 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12511280680997575471, + "instance_id": 12123, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2349_123", + "bbox_3d": { + "center_world": { + "x": -36.20769119262695, + "y": -108.4781723022461, + "z": 6.51531457901001 + }, + "extent": { + "x": 4.686452865600586, + "y": 4.53662633895874, + "z": 6.939882278442383 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 24.575205592069096, + "ymax": 15.321430790427826 + }, + "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": [ + [ + -93.51386877001835, + 15.321430790427826 + ], + [ + 24.575205592069096, + -18.40369542448576 + ], + [ + -57.163736023918204, + -32.674228744466745 + ], + [ + -177.57712866372947, + -1.8785834857409895 + ], + [ + -199.4109082203911, + -220.513713751448 + ], + [ + -55.134994977498195, + -234.35049660721984 + ], + [ + -143.16084538830944, + -240.09789953228017 + ], + [ + -289.3791917822658, + -227.61570931566348 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00046/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00046/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7d6871a4af1b2bf4eb42e4a892b3b885b648600f --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00046/meta.json @@ -0,0 +1,2882 @@ +{ + "frame_id": 46, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 23.0, + "sim_timestamp": 10244.533113757148 + }, + "drone_pose": { + "x": -125.442013609216, + "y": -116.0428279184395, + "z": 19.89202103097263, + "pitch": -42.823705980283655, + "yaw": 34.83885179939413, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.601986825466156, + -0.4189973473548889, + 0.6797448396682739, + 110.61459350585938 + ], + [ + 0.571270227432251, + 0.820762038230896, + -1.4901161193847656e-08, + 23.582260131835938 + ], + [ + -0.5579087734222412, + 0.3883180022239685, + 0.7334486246109009, + -129.63650512695312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -124.99268223211655, + "y": -115.47481301912502, + "z": 20.00342422975534 + }, + "t1_image_uv": [ + 1104.769357012845, + -866.645394794512 + ], + "t1_depth": 0.43276259614720247 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -108.66718292236328, + "y": -102.18776321411131, + "z": 0.7279485058784485 + }, + "image_uv": [ + 699.3567503500404, + 337.33137545346983 + ], + "depth": 28.930142506658257, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 182, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -108.66718292236328, + "y": -102.18775939941406, + "z": 0.7279484272003174 + }, + "extent": { + "x": 0.24061523377895355, + "y": 0.24761229753494263, + "z": 0.5529629588127136 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 689.4601657497567, + "ymin": 317.294470133357, + "xmax": 709.4150778363961, + "ymax": 357.1339106066929 + }, + "corners_3d": [ + [ + -108.66223907470703, + -102.53298950195312, + 0.17498546838760376 + ], + [ + -109.01241302490234, + -102.18280792236328, + 0.17498546838760376 + ], + [ + -108.67212677001953, + -101.842529296875, + 0.17498546838760376 + ], + [ + -108.32195281982422, + -102.19271087646484, + 0.17498546838760376 + ], + [ + -108.66223907470703, + -102.53298950195312, + 1.2809114456176758 + ], + [ + -109.01241302490234, + -102.18280792236328, + 1.2809114456176758 + ], + [ + -108.67212677001953, + -101.842529296875, + 1.2809114456176758 + ], + [ + -108.32195281982422, + -102.19271087646484, + 1.2809114456176758 + ] + ], + "corners_2d": [ + [ + 689.4601657497567, + 355.18549297901 + ], + [ + 705.6500668910942, + 357.1339106066929 + ], + [ + 707.6430337666002, + 346.67095684836187 + ], + [ + 691.6393992159951, + 344.7681935349122 + ], + [ + 690.7687949907177, + 327.6514496955921 + ], + [ + 707.3909785549522, + 329.5893015565031 + ], + [ + 709.4150778363961, + 319.18573428247834 + ], + [ + 692.9891822674103, + 317.294470133357 + ] + ], + "center_offset_px": [ + 59.35675035004044, + -22.668624546530168 + ] + }, + "trace_timestep_index": 46, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 52, + "semantic_pixel_counts": { + "1": 259270, + "2": 222490, + "3": 355011, + "4": 17903, + "5": 212, + "6": 13474, + "7": 3196, + "10": 9442, + "12": 2703, + "14": 1861, + "16": 16428, + "20": 28, + "21": 1339, + "24": 18243 + }, + "instance_pixel_counts": { + "1115": 6395, + "1169": 28, + "11394": 2385, + "12894": 3, + "14416": 212, + "16023": 1821, + "16476": 130, + "17232": 17903, + "17500": 5, + "18011": 118538, + "18012": 86, + "20631": 11130, + "23808": 2575, + "24064": 11221, + "27072": 8234, + "29843": 24698, + "30656": 76747, + "31168": 5158, + "31891": 50002, + "34120": 84617, + "34453": 2407, + "36443": 230078, + "36501": 2612, + "37460": 489, + "44171": 2332, + "44179": 8701, + "44691": 119884, + "46227": 55985, + "46731": 1463, + "46741": 282, + "47253": 10526, + "48779": 1618, + "48789": 2416, + "49664": 182, + "49803": 2760, + "49920": 502, + "50176": 157, + "50432": 924, + "50688": 938, + "52480": 328, + "52672": 390, + "52736": 16100, + "53184": 4056, + "54016": 1858, + "54720": 3616, + "55232": 123, + "55744": 6108, + "55879": 7, + "56135": 982, + "56768": 12016, + "62555": 1118, + "64351": 301 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 182, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -108.66718292236328, + "y": -102.18775939941406, + "z": 0.7279484272003174 + }, + "extent": { + "x": 0.25621581077575684, + "y": 0.25325682759284973, + "z": 0.5420145988464355 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 689.2169130822112, + "ymin": 317.2203886098427, + "xmax": 709.6495049869059, + "ymax": 357.2338521471997 + }, + "corners_3d": [ + [ + -108.66927337646484, + -102.54801177978516, + 0.18593382835388184 + ], + [ + -109.02743530273438, + -102.18984985351562, + 0.18593382835388184 + ], + [ + -108.66509246826172, + -101.82750701904297, + 0.18593382835388184 + ], + [ + -108.30693054199219, + -102.1856689453125, + 0.18593382835388184 + ], + [ + -108.66927337646484, + -102.54801177978516, + 1.269963026046753 + ], + [ + -109.02743530273438, + -102.18984985351562, + 1.269963026046753 + ], + [ + -108.66509246826172, + -101.82750701904297, + 1.269963026046753 + ], + [ + -108.30693054199219, + -102.1856689453125, + 1.269963026046753 + ] + ], + "corners_2d": [ + [ + 689.2169130822112, + 355.2394353157497 + ], + [ + 705.786442447295, + 357.2338521471997 + ], + [ + 707.9068631477382, + 346.092523364393 + ], + [ + 691.5403016551475, + 344.14784268380276 + ], + [ + 690.4934621953307, + 328.24901902109605 + ], + [ + 707.4967043433269, + 330.2328750473859 + ], + [ + 709.6495049869059, + 319.1535119205273 + ], + [ + 692.8599288928059, + 317.2203886098427 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 502, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -110.14054107666016, + "y": -104.0785903930664, + "z": 0.7299895286560059 + }, + "extent": { + "x": 0.4580371081829071, + "y": 0.3797607421875, + "z": 0.8865931034088135 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 663.3110244713868, + "ymin": 356.5098835179813, + "xmax": 693.7182335971598, + "ymax": 424.26247553173334 + }, + "corners_3d": [ + [ + -110.3178482055664, + -104.64655303955078, + -0.15660357475280762 + ], + [ + -110.73151397705078, + -104.00955963134766, + -0.15660357475280762 + ], + [ + -109.9632339477539, + -103.51062774658203, + -0.15660357475280762 + ], + [ + -109.54956817626953, + -104.14762115478516, + -0.15660357475280762 + ], + [ + -110.3178482055664, + -104.64655303955078, + 1.6165826320648193 + ], + [ + -110.73151397705078, + -104.00955963134766, + 1.6165826320648193 + ], + [ + -109.9632339477539, + -103.51062774658203, + 1.6165826320648193 + ], + [ + -109.54956817626953, + -104.14762115478516, + 1.6165826320648193 + ] + ], + "corners_2d": [ + [ + 664.9058600552363, + 424.26247553173334 + ], + [ + 691.3659559079084, + 423.64288885193406 + ], + [ + 689.1419507461966, + 400.9376331185273 + ], + [ + 663.3110244713868, + 401.5280496138608 + ], + [ + 666.0471864002211, + 379.7390782331979 + ], + [ + 693.7182335971598, + 379.1213592961431 + ], + [ + 691.3363910260542, + 356.5098835179813 + ], + [ + 664.352671247555, + 357.09723746272266 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 157, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -111.92300415039062, + "y": -96.24504852294922, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.2695556879043579, + "y": 0.3950781226158142, + "z": 0.8667724132537842 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 897.6659502459265, + "ymin": 297.51549926610846, + "xmax": 937.1375232609223, + "ymax": 352.8102222708213 + }, + "corners_3d": [ + [ + -111.88385772705078, + -96.72171783447266, + -0.291778028011322 + ], + [ + -112.38111877441406, + -96.10765075683594, + -0.291778028011322 + ], + [ + -111.96215057373047, + -95.76837921142578, + -0.291778028011322 + ], + [ + -111.46488952636719, + -96.3824462890625, + -0.291778028011322 + ], + [ + -111.88385772705078, + -96.72171783447266, + 1.4417667388916016 + ], + [ + -112.38111877441406, + -96.10765075683594, + 1.4417667388916016 + ], + [ + -111.96215057373047, + -95.76837921142578, + 1.4417667388916016 + ], + [ + -111.46488952636719, + -96.3824462890625, + 1.4417667388916016 + ] + ], + "corners_2d": [ + [ + 899.8029960681097, + 351.5722223279637 + ], + [ + 925.4409767701779, + 352.8102222708213 + ], + [ + 922.9676031010265, + 341.33504146978885 + ], + [ + 897.6659502459265, + 340.12900507885024 + ], + [ + 910.4334268999911, + 308.8433974877521 + ], + [ + 937.1375232609223, + 310.06964309217943 + ], + [ + 934.4059336869125, + 298.7088146349587 + ], + [ + 908.0665148838756, + 297.51549926610846 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 924, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -119.16718292236328, + "y": -103.18775939941406, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.3667626976966858, + "y": 0.42499998211860657, + "z": 0.8567284941673279 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 913.6713562599896, + "ymin": 567.0047628046102, + "xmax": 968.492921494023, + "ymax": 640.8962999342584 + }, + "corners_3d": [ + [ + -119.1259994506836, + -103.74761962890625, + -0.2817389965057373 + ], + [ + -119.72704315185547, + -103.14657592773438, + -0.2817389965057373 + ], + [ + -119.20836639404297, + -102.62789916992188, + -0.2817389965057373 + ], + [ + -118.6073226928711, + -103.22894287109375, + -0.2817389965057373 + ], + [ + -119.1259994506836, + -103.74761962890625, + 1.4317179918289185 + ], + [ + -119.72704315185547, + -103.14657592773438, + 1.4317179918289185 + ], + [ + -119.20836639404297, + -102.62789916992188, + 1.4317179918289185 + ], + [ + -118.6073226928711, + -103.22894287109375, + 1.4317179918289185 + ] + ], + "corners_2d": [ + [ + 914.5844201311759, + 635.2162606784457 + ], + [ + 951.5313209036624, + 640.8962999342584 + ], + [ + 949.7664113280064, + 614.0447348689906 + ], + [ + 913.6713562599896, + 608.6216832861733 + ], + [ + 929.4579436212975, + 594.0149446640835 + ], + [ + 968.492921494023, + 599.7924079254003 + ], + [ + 966.224500873082, + 572.5071458523055 + ], + [ + 928.1391051933597, + 567.0047628046102 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 938, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -112.28268432617188, + "y": -113.31512451171875, + "z": 0.725756049156189 + }, + "extent": { + "x": 0.42979001998901367, + "y": 0.5532275438308716, + "z": 0.8956506252288818 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 372.6713240337995, + "ymin": 562.2760068819624, + "xmax": 445.9260683024041, + "ymax": 648.5585604301814 + }, + "corners_3d": [ + [ + -112.12322235107422, + -113.9972915649414, + -0.16989457607269287 + ], + [ + -112.98310089111328, + -113.30097961425781, + -0.16989457607269287 + ], + [ + -112.44214630126953, + -112.6329574584961, + -0.16989457607269287 + ], + [ + -111.58226776123047, + -113.32926940917969, + -0.16989457607269287 + ], + [ + -112.12322235107422, + -113.9972915649414, + 1.6214066743850708 + ], + [ + -112.98310089111328, + -113.30097961425781, + 1.6214066743850708 + ], + [ + -112.44214630126953, + -112.6329574584961, + 1.6214066743850708 + ], + [ + -111.58226776123047, + -113.32926940917969, + 1.6214066743850708 + ] + ], + "corners_2d": [ + [ + 387.1307139083206, + 636.7358721999366 + ], + [ + 430.3464223110943, + 648.5585604301814 + ], + [ + 445.9260683024041, + 617.3899145184414 + ], + [ + 403.6901427472138, + 606.1814686564346 + ], + [ + 372.6713240337995, + 593.3290007248978 + ], + [ + 418.2296304464626, + 605.3695887252427 + ], + [ + 435.0230672555334, + 573.6565604245452 + ], + [ + 390.5512752177587, + 562.2760068819624 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 328, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 527.7264917330716, + "ymin": 0.0, + "xmax": 758.3677342524012, + "ymax": 176.33365105334875 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 608.6671488407761, + 52.597697740281546 + ], + [ + 535.2599126368428, + 74.88534497659509 + ], + [ + 670.0589458894864, + 176.33365105334875 + ], + [ + 749.4895360203224, + 146.12580726458182 + ], + [ + 606.5023531681197, + -40.20769026811979 + ], + [ + 527.7264917330716, + -20.12460218345774 + ], + [ + 672.614548275189, + 72.65111174700007 + ], + [ + 758.3677342524012, + 44.78954147384758 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 16100, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 745.9202870506829, + "ymin": 0.0, + "xmax": 993.0786039389633, + "ymax": 125.2243630568253 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 903.803985321657, + 125.2243630568253 + ], + [ + 968.4286267841209, + 99.14242752351316 + ], + [ + 807.6100268066064, + 17.355752633692077 + ], + [ + 745.9202870506829, + 36.98864017580462 + ], + [ + 924.4891983362938, + 25.59329617303939 + ], + [ + 993.0786039389633, + 1.819286880764821 + ], + [ + 818.4479812454557, + -71.77979170988789 + ], + [ + 753.0315732352153, + -54.24243113340452 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 1858, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 675.7234465977031, + "ymin": 43.04804885639311, + "xmax": 791.8021365836648, + "ymax": 138.86878881096433 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 708.1830992394894, + 76.78496115003543 + ], + [ + 675.7234465977031, + 87.61138785497593 + ], + [ + 754.0906509256763, + 138.86878881096433 + ], + [ + 787.7080229226383, + 126.18842990373082 + ], + [ + 709.9269819995341, + 43.04804885639311 + ], + [ + 676.6538609073593, + 53.53853046305386 + ], + [ + 757.3158363045508, + 103.33578550904872 + ], + [ + 791.8021365836648, + 90.99656306695675 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 996.5654631878244, + "ymin": 344.5733079436192, + "xmax": 1029.812203209177, + "ymax": 388.9669399611036 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1006.9123336871055, + 388.9669399611036 + ], + [ + 1018.6092429134828, + 381.8675571306433 + ], + [ + 1008.2477098726561, + 374.54347536405953 + ], + [ + 996.5654631878244, + 381.52879895137164 + ], + [ + 1017.8562606808155, + 358.93467786481585 + ], + [ + 1029.812203209177, + 351.8641781541092 + ], + [ + 1019.0539585199153, + 344.5733079436192 + ], + [ + 1007.1121163160706, + 351.52687963507793 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5668522571212290485, + "instance_id": 46457, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -89.45570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1139.6665014474472, + "ymin": 105.85392059911669, + "xmax": 1166.8917952342993, + "ymax": 140.50730906281441 + }, + "corners_3d": [ + [ + -113.19542694091797, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -89.26573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -89.26573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1139.6665014474472, + 136.53966028402587 + ], + [ + 1148.0674209209792, + 140.50730906281441 + ], + [ + 1155.8214808459152, + 136.72095117162232 + ], + [ + 1147.4220967545273, + 132.79787475087255 + ], + [ + 1150.3871256115794, + 109.52054562238496 + ], + [ + 1159.0346098721134, + 113.40946241136058 + ], + [ + 1166.8917952342993, + 109.69821739942634 + ], + [ + 1158.246673388935, + 105.85392059911669 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1239.2138571661171, + "ymin": 516.228579557323, + "xmax": 1280.0, + "ymax": 566.5376557999472 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1253.9241809753194, + 566.5376557999472 + ], + [ + 1265.5867292468638, + 556.4436296515066 + ], + [ + 1250.8990839810685, + 546.0616290159949 + ], + [ + 1239.2138571661171, + 555.9627299767845 + ], + [ + 1275.9019052373433, + 536.8494572457304 + ], + [ + 1287.7684354149474, + 526.6805789597788 + ], + [ + 1272.345688756971, + 516.228579557323 + ], + [ + 1260.450708264801, + 526.196280422962 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7157878223548397302, + "instance_id": 63030, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -86.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1189.147479984518, + "ymin": 82.7371021612596, + "xmax": 1216.4130946706134, + "ymax": 116.35314620435673 + }, + "corners_3d": [ + [ + -113.19542694091797, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -86.76573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -86.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1189.147479984518, + 112.66554082893938 + ], + [ + 1197.5296854772284, + 116.35314620435673 + ], + [ + 1204.7363961969747, + 112.8340702103176 + ], + [ + 1196.3586772649396, + 109.18641458479078 + ], + [ + 1200.498816617247, + 86.14113673292513 + ], + [ + 1209.1218229324359, + 89.74998289815449 + ], + [ + 1216.4130946706134, + 86.30604801744806 + ], + [ + 1207.7955082295985, + 82.7371021612596 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7631990878982166785, + "instance_id": 473, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": -83.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1244.0369171449406, + "ymin": 57.123918140883234, + "xmax": 1271.25715155679, + "ymax": 89.57110209840954 + }, + "corners_3d": [ + [ + -113.1954345703125, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47261047363281, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.19544219970703, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47261047363281, + -83.76573944091797, + 6.416468620300293 + ], + [ + -113.19544219970703, + -83.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1244.0369171449406, + 86.18209246064868 + ], + [ + 1252.3736795179625, + 89.57110209840954 + ], + [ + 1258.9967862733988, + 86.33701052651452 + ], + [ + 1250.667267614041, + 82.98320980304368 + ], + [ + 1255.997906613121, + 60.24845847701499 + ], + [ + 1264.5678053766499, + 63.55940844623893 + ], + [ + 1271.25715155679, + 60.39979254966448 + ], + [ + 1262.6955062118645, + 57.123918140883234 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 825.307476897101, + "ymin": 322.9851116935504, + "xmax": 847.8632891186313, + "ymax": 358.91075630517537 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 832.5473506339015, + 358.91075630517537 + ], + [ + 843.0591731654872, + 353.376886862395 + ], + [ + 835.7955561053566, + 347.6192942575354 + ], + [ + 825.307476897101, + 353.0810156313414 + ], + [ + 837.1319968836237, + 334.2208305691452 + ], + [ + 847.8632891186313, + 328.71343108557704 + ], + [ + 840.3969127982439, + 322.9851116935504 + ], + [ + 829.6901071906105, + 328.4190210738487 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1118.3244099362873, + "ymin": 430.53225764548085, + "xmax": 1158.881441594946, + "ymax": 478.00140860698 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1130.7642633353707, + 478.00140860698 + ], + [ + 1142.536107183651, + 469.4656455037343 + ], + [ + 1130.0971077548884, + 460.6731001774997 + ], + [ + 1118.3244099362873, + 469.0586675405674 + ], + [ + 1146.867549240182, + 447.88448741337544 + ], + [ + 1158.881441594946, + 439.33449440158245 + ], + [ + 1145.8930583017273, + 430.53225764548085 + ], + [ + 1133.8756991922148, + 438.92695663948246 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1048.7899818506132, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 298.9948957552185 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1264.6928106042678, + 185.49189747742528 + ], + [ + 1253.8353661314782, + 180.3783175727813 + ], + [ + 1048.7899818506132, + 292.1372445664571 + ], + [ + 1059.6595723626751, + 298.9948957552185 + ], + [ + 1381.6667333379592, + -41.14722320773325 + ], + [ + 1367.8018376995224, + -45.288911321808655 + ], + [ + 1139.2765304201441, + 47.82899103030201 + ], + [ + 1153.500568975181, + 53.72568930485079 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1057.066676747559, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 216.66847062584696 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 1149.7139935366968, + 216.66847062584696 + ], + [ + 1292.9421370781904, + 138.68342776439965 + ], + [ + 1200.9843369994355, + 99.38327010276004 + ], + [ + 1057.066676747559, + 167.99646641206215 + ], + [ + 1322.0857875119327, + -182.09807840151961 + ], + [ + 1483.9304416224484, + -229.04178488382638 + ], + [ + 1352.8151076287577, + -251.50511144102222 + ], + [ + 1186.0654018909238, + -211.7772998761202 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 898.0253320586821, + "ymin": 314.1219089260448, + "xmax": 925.4505933952978, + "ymax": 335.37077746073004 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 908.6524400389395, + 318.3699379159908 + ], + [ + 898.0253320586821, + 323.9613610749558 + ], + [ + 913.6502213306026, + 335.37077746073004 + ], + [ + 924.3147198146052, + 329.62939770725154 + ], + [ + 909.7116224537747, + 314.1219089260448 + ], + [ + 899.0493499311442, + 319.7074039682039 + ], + [ + 914.7508225651001, + 331.1056247555761 + ], + [ + 925.4505933952978, + 325.3697276420771 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7664114084626016696, + "instance_id": 47273, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.91487884521484, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 875.2199349474627, + "ymin": 0.0, + "xmax": 960.3425054884889, + "ymax": 27.986273992069528 + }, + "corners_3d": [ + [ + -95.94330596923828, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -79.87950897216797, + 4.83804988861084 + ], + [ + -95.94330596923828, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 905.8550942907493, + 27.986273992069528 + ], + [ + 938.767941295921, + 16.61837939463669 + ], + [ + 907.9015717988934, + 2.6794352283012586 + ], + [ + 875.2199349474627, + 13.468921858895044 + ], + [ + 925.4819211744768, + -72.99632987120907 + ], + [ + 960.3425054884889, + -82.97807564580143 + ], + [ + 926.7189671652184, + -95.1765040833551 + ], + [ + 892.1006386689525, + -85.73819854281356 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 564.3079049917626, + "ymin": 0.0, + "xmax": 660.8557093613733, + "ymax": 141.4235465344673 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 574.6000214800515, + 136.84558488746137 + ], + [ + 580.407802561298, + 141.4235465344673 + ], + [ + 658.1147720899694, + 114.54290277870572 + ], + [ + 652.0291167113182, + 110.32316392025501 + ], + [ + 564.3079049917626, + -61.285605413905046 + ], + [ + 570.9550403558469, + -57.558108759885954 + ], + [ + 660.8557093613733, + -79.33039067817344 + ], + [ + 653.8355247168558, + -82.72327595397479 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 898.1703961827027, + "ymin": 314.2337469196621, + "xmax": 925.3035032258881, + "ymax": 335.2566484538924 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 908.6846588093431, + 318.43668595482814 + ], + [ + 898.1703961827027, + 323.9692818352947 + ], + [ + 913.6294402039032, + 335.2566484538924 + ], + [ + 924.1803056737515, + 329.57726743356426 + ], + [ + 909.7327893259545, + 314.2337469196621 + ], + [ + 899.1841062690986, + 319.76054246182343 + ], + [ + 914.718112900759, + 331.03694784232835 + ], + [ + 925.3035032258881, + 325.36293575123153 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 754.9741441511671, + "ymin": 225.893481378391, + "xmax": 933.7116273499414, + "ymax": 567.8000911510238 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 767.4549523090768, + 462.7527282685975 + ], + [ + 754.9741441511671, + 469.8184869576218 + ], + [ + 855.55067335408, + 567.8000911510238 + ], + [ + 868.4653183291567, + 559.2870484291176 + ], + [ + 799.8085180612061, + 225.893481378391 + ], + [ + 784.4205419955006, + 232.65068540113853 + ], + [ + 917.7287852166505, + 328.9406612049841 + ], + [ + 933.7116273499414, + 320.37830251756463 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 801.6343711472063, + "ymin": 158.64134972136932, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 813.0578706192748, + 416.90781864796605 + ], + [ + 801.6343711472063, + 423.1099105434154 + ], + [ + 1186.485781439114, + 770.5266069991203 + ], + [ + 1198.6272225887474, + 759.0044887332584 + ], + [ + 858.7145431635531, + 158.64134972136932 + ], + [ + 844.6309712581999, + 164.35101912480832 + ], + [ + 1406.1706126384247, + 519.1511483085866 + ], + [ + 1420.4127853335845, + 506.16650439891873 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 5199819733356185808, + "instance_id": 53256, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1851_37", + "bbox_3d": { + "center_world": { + "x": -100.25784301757812, + "y": -72.39555358886719, + "z": 8.309331893920898 + }, + "extent": { + "x": 4.9728498458862305, + "y": 4.831793308258057, + "z": 8.307754516601562 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 935.3724949649095, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 91.8774529644129 + }, + "corners_3d": [ + [ + -94.59623718261719, + -68.39283752441406, + 0.0015773773193359375 + ], + [ + -96.09391784667969, + -77.93966674804688, + 0.0015773773193359375 + ], + [ + -105.91944885253906, + -76.39826965332031, + 0.0015773773193359375 + ], + [ + -104.42176818847656, + -66.8514404296875, + 0.0015773773193359375 + ], + [ + -94.59623718261719, + -68.39283752441406, + 16.61708641052246 + ], + [ + -96.09391784667969, + -77.93966674804688, + 16.61708641052246 + ], + [ + -105.91944885253906, + -76.39826965332031, + 16.61708641052246 + ], + [ + -104.42176818847656, + -66.8514404296875, + 16.61708641052246 + ] + ], + "corners_2d": [ + [ + 1036.2874802219817, + -29.57135246356313 + ], + [ + 935.3724949649095, + 22.41948428996443 + ], + [ + 1130.1819549888928, + 91.8774529644129 + ], + [ + 1222.0519638766814, + 26.75430497443614 + ], + [ + 1146.0956717643116, + -424.54337108636594 + ], + [ + 1028.4058211448175, + -410.1678723371638 + ], + [ + 1311.1682634864314, + -389.5772243576457 + ], + [ + 1407.2779529864192, + -408.9306836493132 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12164839192086089446, + "instance_id": 59022, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1819_5", + "bbox_3d": { + "center_world": { + "x": -109.94071197509766, + "y": -126.5189437866211, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.51369571685791, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 258.657374090738, + "xmax": 6.634277264661591, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -111.24434661865234, + -131.38967895507812, + -0.34600162506103516 + ], + [ + -114.84693145751953, + -125.35596466064453, + -0.34600162506103516 + ], + [ + -108.63707733154297, + -121.6482162475586, + -0.34600162506103516 + ], + [ + -105.03449249267578, + -127.68192291259766, + -0.34600162506103516 + ], + [ + -111.24434661865234, + -131.38967895507812, + 11.969890594482422 + ], + [ + -114.84693145751953, + -125.35596466064453, + 11.969890594482422 + ], + [ + -108.63707733154297, + -121.6482162475586, + 11.969890594482422 + ], + [ + -105.03449249267578, + -127.68192291259766, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + -612.3330917103804, + 1139.0943195217144 + ], + [ + -170.0153058943422, + 1102.1457995608191 + ], + [ + 6.634277264661591, + 700.9535194336194 + ], + [ + -322.0927017057961, + 721.8511482736044 + ], + [ + -2009.9268117586694, + 852.5618587096192 + ], + [ + -1032.6564245652053, + 789.364562510688 + ], + [ + -396.5005334706359, + 258.657374090738 + ], + [ + -951.6640072889013, + 280.80465284012377 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00047/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00047/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d6efe6dd3b2d2c648825fc97c32d2131195450dd --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00047/meta.json @@ -0,0 +1,2769 @@ +{ + "frame_id": 47, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 23.5, + "sim_timestamp": 10253.855401266366 + }, + "drone_pose": { + "x": -124.99268223211655, + "y": -115.47481301912502, + "z": 20.00342422975534, + "pitch": -46.330721273456724, + "yaw": 43.15425159537458, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5037261843681335, + -0.4722740650177002, + 0.7233375310897827, + 103.02862548828125 + ], + [ + 0.6839648485183716, + 0.7295149564743042, + 2.9802322387695312e-08, + -1.2499923706054688 + ], + [ + -0.5276855230331421, + 0.4947374165058136, + 0.6904946565628052, + -136.8988037109375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -124.6039349325756, + "y": -114.8230293317881, + "z": 20.003788599522615 + }, + "t1_image_uv": [ + 1039.7237699599175, + -646.6679917104816 + ], + "t1_depth": 0.5033791732908504 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -108.16718292236328, + "y": -101.68776321411131, + "z": 0.7274065208435059 + }, + "image_uv": [ + 591.8771647744388, + 280.70550215243736 + ], + "depth": 28.92977714484205, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 168, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -108.16718292236328, + "y": -101.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.24189941585063934, + "y": 0.24973143637180328, + "z": 0.5547146797180176 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 582.2121355891423, + "ymin": 261.2177193198089, + "xmax": 601.1736168207967, + "ymax": 299.88740807809415 + }, + "corners_3d": [ + [ + -108.1616439819336, + -102.03539276123047, + 0.17269176244735718 + ], + [ + -108.51481628417969, + -101.68222045898438, + 0.17269176244735718 + ], + [ + -108.17272186279297, + -101.34012603759766, + 0.17269176244735718 + ], + [ + -107.81954956054688, + -101.69329833984375, + 0.17269176244735718 + ], + [ + -108.1616439819336, + -102.03539276123047, + 1.282121181488037 + ], + [ + -108.51481628417969, + -101.68222045898438, + 1.282121181488037 + ], + [ + -108.17272186279297, + -101.34012603759766, + 1.282121181488037 + ], + [ + -107.81954956054688, + -101.69329833984375, + 1.282121181488037 + ] + ], + "corners_2d": [ + [ + 583.8019494269454, + 299.527335752132 + ], + [ + 600.2160009577462, + 299.88740807809415 + ], + [ + 601.1736168207967, + 289.18282699167105 + ], + [ + 584.9449586207879, + 288.8308597727096 + ], + [ + 582.2121355891423, + 271.8917835453338 + ], + [ + 599.0900912794972, + 272.2512203385737 + ], + [ + 600.0875958009934, + 261.56884036977794 + ], + [ + 583.4055983535525, + 261.2177193198089 + ] + ], + "center_offset_px": [ + -48.122835225561175, + -79.29449784756264 + ] + }, + "trace_timestep_index": 47, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 45, + "semantic_pixel_counts": { + "1": 358187, + "2": 209847, + "3": 298371, + "4": 7343, + "5": 213, + "6": 13045, + "7": 2837, + "10": 424, + "12": 2734, + "14": 1988, + "16": 3702, + "24": 22909 + }, + "instance_pixel_counts": { + "1115": 6869, + "11394": 2396, + "14416": 213, + "16023": 1765, + "17232": 7343, + "18011": 118768, + "20631": 11772, + "23808": 2119, + "24064": 11367, + "27072": 8234, + "29843": 35316, + "30656": 77302, + "31168": 5295, + "31891": 77935, + "34120": 60372, + "34453": 3793, + "36443": 172734, + "36501": 4199, + "44171": 2293, + "44179": 6752, + "44691": 178993, + "45203": 2319, + "46227": 56872, + "46731": 2361, + "46741": 276, + "47253": 11914, + "47765": 307, + "48267": 1566, + "48779": 1720, + "48789": 2420, + "49664": 168, + "49803": 2659, + "49920": 523, + "50176": 128, + "50432": 878, + "50688": 1037, + "52480": 508, + "52736": 3194, + "53184": 4023, + "54016": 1988, + "54720": 4859, + "55232": 9480, + "55744": 6375, + "56135": 86, + "56768": 9771 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 168, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -108.16718292236328, + "y": -101.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.2588183581829071, + "y": 0.2547558546066284, + "z": 0.5462081432342529 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 582.01273527274, + "ymin": 261.06288725728615, + "xmax": 601.3618566843905, + "ymax": 300.0638121797643 + }, + "corners_3d": [ + [ + -108.17005920410156, + -102.05091094970703, + 0.18119829893112183 + ], + [ + -108.53033447265625, + -101.69063568115234, + 0.18119829893112183 + ], + [ + -108.164306640625, + -101.3246078491211, + 0.18119829893112183 + ], + [ + -107.80403137207031, + -101.68488311767578, + 0.18119829893112183 + ], + [ + -108.17005920410156, + -102.05091094970703, + 1.2736146450042725 + ], + [ + -108.53033447265625, + -101.69063568115234, + 1.2736146450042725 + ], + [ + -108.164306640625, + -101.3246078491211, + 1.2736146450042725 + ], + [ + -107.80403137207031, + -101.68488311767578, + 1.2736146450042725 + ] + ], + "corners_2d": [ + [ + 583.5845258552544, + 299.6962062628442 + ], + [ + 600.3389214080012, + 300.0638121797643 + ], + [ + 601.3618566843905, + 288.6102894625707 + ], + [ + 584.8099000963635, + 288.25153196688615 + ], + [ + 582.01273527274, + 272.4839543089356 + ], + [ + 599.2334831018193, + 272.85092966487554 + ], + [ + 600.2983312321031, + 261.42078780180276 + ], + [ + 583.2913769048552, + 261.06288725728615 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 523, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -110.14054107666016, + "y": -104.0785903930664, + "z": 0.7299895286560059 + }, + "extent": { + "x": 0.37486815452575684, + "y": 0.3656005859375, + "z": 0.8893921971321106 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 557.3445758558896, + "ymin": 320.27870910319587, + "xmax": 589.9989047308351, + "ymax": 386.8904125717127 + }, + "corners_3d": [ + [ + -110.25581359863281, + -104.5893783569336, + -0.15940266847610474 + ], + [ + -110.654052734375, + -103.97614288330078, + -0.15940266847610474 + ], + [ + -110.0252685546875, + -103.56780242919922, + -0.15940266847610474 + ], + [ + -109.62702941894531, + -104.18103790283203, + -0.15940266847610474 + ], + [ + -110.25581359863281, + -104.5893783569336, + 1.6193816661834717 + ], + [ + -110.654052734375, + -103.97614288330078, + 1.6193816661834717 + ], + [ + -110.0252685546875, + -103.56780242919922, + 1.6193816661834717 + ], + [ + -109.62702941894531, + -104.18103790283203, + 1.6193816661834717 + ] + ], + "corners_2d": [ + [ + 564.3842446399974, + 386.8904125717127 + ], + [ + 589.9989047308351, + 383.5160852157101 + ], + [ + 586.3441805960188, + 364.6151233563948 + ], + [ + 561.1896886364826, + 367.8664532372995 + ], + [ + 560.6223000198881, + 342.63601714077413 + ], + [ + 587.5198424291439, + 339.2461815382997 + ], + [ + 583.7351481719696, + 320.27870910319587 + ], + [ + 557.3445758558896, + 323.53902209067274 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 128, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -111.92300415039062, + "y": -96.24504852294922, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.31068849563598633, + "y": 0.40270018577575684, + "z": 0.8707799911499023 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 786.6312411153077, + "ymin": 234.2282445983637, + "xmax": 823.1748924746857, + "ymax": 291.5050020113519 + }, + "corners_3d": [ + [ + -111.91102600097656, + -96.75352478027344, + -0.2957856059074402 + ], + [ + -112.41788482666016, + -96.12761688232422, + -0.2957856059074402 + ], + [ + -111.93498229980469, + -95.736572265625, + -0.2957856059074402 + ], + [ + -111.4281234741211, + -96.36248016357422, + -0.2957856059074402 + ], + [ + -111.91102600097656, + -96.75352478027344, + 1.4457743167877197 + ], + [ + -112.41788482666016, + -96.12761688232422, + 1.4457743167877197 + ], + [ + -111.93498229980469, + -95.736572265625, + 1.4457743167877197 + ], + [ + -111.4281234741211, + -96.36248016357422, + 1.4457743167877197 + ] + ], + "corners_2d": [ + [ + 790.1499266302551, + 291.5050020113519 + ], + [ + 815.522599762672, + 290.2530892382558 + ], + [ + 811.6535179310758, + 277.1571607280077 + ], + [ + 786.6312411153077, + 278.37426067929664 + ], + [ + 796.7051806072386, + 248.50589305167455 + ], + [ + 823.1748924746857, + 247.2593449332302 + ], + [ + 819.0279152844687, + 234.2282445983637 + ], + [ + 792.9393234923796, + 235.43864982398375 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 878, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -119.16718292236328, + "y": -103.18775939941406, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.3960888683795929, + "y": 0.4397558569908142, + "z": 0.8691843748092651 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 824.380991051964, + "ymin": 503.9488639217751, + "xmax": 877.2018739589938, + "ymax": 574.0688713134219 + }, + "corners_3d": [ + [ + -119.13630676269531, + -103.77879333496094, + -0.29419487714767456 + ], + [ + -119.75821685791016, + -103.1568832397461, + -0.29419487714767456 + ], + [ + -119.19805908203125, + -102.59672546386719, + -0.29419487714767456 + ], + [ + -118.5761489868164, + -103.21863555908203, + -0.29419487714767456 + ], + [ + -119.13630676269531, + -103.77879333496094, + 1.444173812866211 + ], + [ + -119.75821685791016, + -103.1568832397461, + 1.444173812866211 + ], + [ + -119.19805908203125, + -102.59672546386719, + 1.444173812866211 + ], + [ + -118.5761489868164, + -103.21863555908203, + 1.444173812866211 + ] + ], + "corners_2d": [ + [ + 827.6764571184191, + 573.0385268913933 + ], + [ + 864.3102135797288, + 574.0688713134219 + ], + [ + 860.1663447773341, + 545.9117042532034 + ], + [ + 824.380991051964, + 544.9283620554008 + ], + [ + 838.4530506423922, + 532.6500514940581 + ], + [ + 877.2018739589938, + 533.7035036279923 + ], + [ + 872.5113653498604, + 504.95159949468575 + ], + [ + 834.7104693385567, + 503.9488639217751 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 1037, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -111.78268432617188, + "y": -112.81512451171875, + "z": 0.7252579927444458 + }, + "extent": { + "x": 0.4131103456020355, + "y": 0.5123632550239563, + "z": 0.8845610618591309 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 289.5612112429738, + "ymin": 541.2312372516985, + "xmax": 364.15506791395325, + "ymax": 619.1149987368576 + }, + "corners_3d": [ + [ + -111.64448547363281, + -113.45861053466797, + -0.15930306911468506 + ], + [ + -112.44084167480469, + -112.81372833251953, + -0.15930306911468506 + ], + [ + -111.92088317871094, + -112.17163848876953, + -0.15930306911468506 + ], + [ + -111.12452697753906, + -112.81652069091797, + -0.15930306911468506 + ], + [ + -111.64448547363281, + -113.45861053466797, + 1.6098190546035767 + ], + [ + -112.44084167480469, + -112.81372833251953, + 1.6098190546035767 + ], + [ + -111.92088317871094, + -112.17163848876953, + 1.6098190546035767 + ], + [ + -111.12452697753906, + -112.81652069091797, + 1.6098190546035767 + ] + ], + "corners_2d": [ + [ + 309.70662429324113, + 613.6273567096281 + ], + [ + 352.23632758839125, + 619.1149987368576 + ], + [ + 364.15506791395325, + 587.6662818329744 + ], + [ + 322.62795964199705, + 582.4475847813574 + ], + [ + 289.5612112429738, + 573.2024986158259 + ], + [ + 334.6037358285617, + 578.8394386777013 + ], + [ + 347.698141089573, + 546.5756892932031 + ], + [ + 303.7784003582523, + 541.2312372516985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 508, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 372.33566203928274, + "ymin": 0.0, + "xmax": 622.4433997869118, + "ymax": 130.1756639379461 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 467.6021537101707, + 2.8404396481807908 + ], + [ + 392.3970120518893, + 32.22434051434999 + ], + [ + 544.4008709313615, + 130.1756639379461 + ], + [ + 622.4433997869118, + 91.92616444319191 + ], + [ + 454.2863234305039, + -95.52887362599597 + ], + [ + 372.33566203928274, + -68.58250675558492 + ], + [ + 535.4309907208914, + 22.626574722316207 + ], + [ + 620.8845227316406, + -13.246088949574357 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 3194, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 605.7540390599265, + "ymin": 0.0, + "xmax": 850.8977416196976, + "ymax": 58.36825046863942 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 774.3873309811388, + 58.36825046863942 + ], + [ + 835.2141996088749, + 26.7169367959404 + ], + [ + 668.8102248907679, + -48.13445497183875 + ], + [ + 608.1114357864996, + -23.268259165691006 + ], + [ + 785.735188676743, + -44.48506745317468 + ], + [ + 850.8977416196976, + -73.6837470580682 + ], + [ + 670.8489386241604, + -141.86403512663537 + ], + [ + 605.7540390599265, + -119.34850546808019 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 1988, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 538.2965680776455, + "ymin": 0.0, + "xmax": 659.6771645941782, + "ymax": 83.94140777078087 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 573.4540582478364, + 21.68813580115352 + ], + [ + 541.1347236022732, + 35.56805274655994 + ], + [ + 626.3954266491515, + 83.94140777078087 + ], + [ + 659.101872608136, + 68.04344761518877 + ], + [ + 571.583720740414, + -13.577071076630546 + ], + [ + 538.2965680776455, + -0.053220639911955914 + ], + [ + 625.9762890666173, + 47.20309403713196 + ], + [ + 659.6771645941782, + 31.650967006759856 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 52908959695452696, + "instance_id": 6202, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": -79.05494689941406, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1137.5463922873, + "ymin": 7.281570156062003, + "xmax": 1158.7771899878946, + "ymax": 35.70454454040646 + }, + "corners_3d": [ + [ + -113.29469299316406, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -78.86498260498047, + 3.5146729946136475 + ], + [ + -113.29469299316406, + -78.86498260498047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1137.5463922873, + 33.014731149810075 + ], + [ + 1144.6845135525307, + 35.70454454040646 + ], + [ + 1149.615206133907, + 32.2701139376735 + ], + [ + 1142.493556238565, + 29.60729526612812 + ], + [ + 1146.501401849182, + 10.63565003550599 + ], + [ + 1153.8046488006914, + 13.283772611168047 + ], + [ + 1158.7771899878946, + 9.902640799794767 + ], + [ + 1151.4913859229423, + 7.281570156062003 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 885.3475510558849, + "ymin": 280.81811068479055, + "xmax": 914.6252680123176, + "ymax": 325.3974280042911 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 895.7938893194599, + 325.3974280042911 + ], + [ + 906.3391920099308, + 317.05248835559087 + ], + [ + 895.9119853886016, + 310.65792901080727 + ], + [ + 885.3475510558849, + 318.89190489624997 + ], + [ + 903.8230368281588, + 295.5459202587208 + ], + [ + 914.6252680123176, + 287.20587563028334 + ], + [ + 903.8191434822044, + 280.81811068479055 + ], + [ + 892.9955949954818, + 289.04382669567633 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5668522571212290485, + "instance_id": 46457, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -89.45570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1001.6525917887213, + "ymin": 25.42611591792496, + "xmax": 1025.2705096127702, + "ymax": 60.64135127922566 + }, + "corners_3d": [ + [ + -113.19542694091797, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -89.26573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -89.26573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1001.6525917887213, + 57.19325880856161 + ], + [ + 1009.8215529503905, + 60.64135127922566 + ], + [ + 1016.7955351640355, + 56.21624705785899 + ], + [ + 1008.6436716556705, + 52.811120825292505 + ], + [ + 1009.7985456351023, + 29.73127799364488 + ], + [ + 1018.1932970173373, + 33.119651983334734 + ], + [ + 1025.2705096127702, + 28.771323530193683 + ], + [ + 1016.8941657713849, + 25.42611591792496 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1122.8288021956064, + "ymin": 426.5053007244925, + "xmax": 1164.7655214928495, + "ymax": 475.446529065419 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1136.7385336613063, + 475.446529065419 + ], + [ + 1146.5097889373103, + 464.3381517390386 + ], + [ + 1132.66206973699, + 455.84594369277033 + ], + [ + 1122.8288021956064, + 466.7841613629919 + ], + [ + 1154.8277839690652, + 446.27855210928567 + ], + [ + 1164.7655214928495, + 435.0692284882668 + ], + [ + 1150.2779927842312, + 426.5053007244925 + ], + [ + 1140.2707526775575, + 437.5367716868416 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7157878223548397302, + "instance_id": 63030, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -86.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1046.1070585598864, + "ymin": 0.0, + "xmax": 1069.6684626364563, + "ymax": 32.506373190560225 + }, + "corners_3d": [ + [ + -113.19542694091797, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -86.76573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -86.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1046.1070585598864, + 29.326894787444644 + ], + [ + 1054.1600152459669, + 32.506373190560225 + ], + [ + 1060.5910774789645, + 28.42576953215689 + ], + [ + 1052.5563800171756, + 25.284349864346268 + ], + [ + 1054.8838131841449, + 2.374995184707302 + ], + [ + 1063.15388732811, + 5.493807267437774 + ], + [ + 1069.6684626364563, + 1.4911794154666609 + ], + [ + 1061.4179706271495, + -1.5894987724703924 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7631990878982166785, + "instance_id": 473, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": -83.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1095.0109470814841, + "ymin": 0.0, + "xmax": 1118.4246497148154, + "ymax": 1.5682361531302718 + }, + "corners_3d": [ + [ + -113.1954345703125, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47261047363281, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.19544219970703, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47261047363281, + -83.76573944091797, + 6.416468620300293 + ], + [ + -113.19544219970703, + -83.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1095.0109470814841, + -1.3283822451085712 + ], + [ + 1102.9163753615908, + 1.5682361531302718 + ], + [ + 1108.7756716930317, + -2.1495649569542365 + ], + [ + 1100.8893787136133, + -5.013075182544355 + ], + [ + 1104.3887986211594, + -27.66281698447233 + ], + [ + 1112.5009380059228, + -24.827063235183743 + ], + [ + 1118.4246497148154, + -28.466649148063254 + ], + [ + 1110.3329515233154, + -31.26932670963953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 717.184391297107, + "ymin": 271.1588364548622, + "xmax": 737.075238633621, + "ymax": 307.70847913986665 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 724.8409616022454, + 307.70847913986665 + ], + [ + 734.6812335123477, + 300.99815240326797 + ], + [ + 727.0243707373876, + 295.8139511890564 + ], + [ + 717.184391297107, + 302.4507258968271 + ], + [ + 727.0017498049265, + 283.0368784255706 + ], + [ + 737.075238633621, + 276.3349244175623 + ], + [ + 729.2124198253255, + 271.1588364548622 + ], + [ + 719.1390609957223, + 277.78548173838567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1006.4428970120289, + "ymin": 354.9830312896718, + "xmax": 1041.8956701626576, + "ymax": 401.87133490790274 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1018.5929765849924, + 401.87133490790274 + ], + [ + 1028.823431131983, + 392.16682763266147 + ], + [ + 1016.7118892916901, + 384.73933761859 + ], + [ + 1006.4428970120289, + 394.3047961426339 + ], + [ + 1031.4443274512034, + 372.185036412934 + ], + [ + 1041.8956701626576, + 362.43852829768707 + ], + [ + 1029.283272901649, + 354.9830312896718 + ], + [ + 1018.788937123411, + 364.58522352455486 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 927.6882895238682, + "ymin": 0.0, + "xmax": 1212.7421131327649, + "ymax": 222.95075661942246 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1119.8138423771616, + 92.88106138921233 + ], + [ + 1109.5969795991455, + 88.59451241063766 + ], + [ + 927.6882895238682, + 217.02744047092585 + ], + [ + 938.4555077049824, + 222.95075661942246 + ], + [ + 1212.7421131327649, + -136.34002171199683 + ], + [ + 1199.917086371824, + -139.86472619368237 + ], + [ + 994.9627475117667, + -30.704216991380065 + ], + [ + 1008.8400367674117, + -25.48609635426226 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 925.8342398506873, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 132.97565452095853 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 1016.4381694210626, + 132.97565452095853 + ], + [ + 1142.3712260074842, + 44.3541341906581 + ], + [ + 1055.5274958903137, + 11.171480896073376 + ], + [ + 925.8342398506873, + 90.9814490210967 + ], + [ + 1150.5124483216696, + -274.2767593591126 + ], + [ + 1294.7563939534607, + -329.3680813616878 + ], + [ + 1173.7838215068036, + -348.9073391839313 + ], + [ + 1020.3326956721944, + -300.92863546070066 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 785.178536534209, + "ymin": 262.7596125916463, + "xmax": 812.0593234894052, + "ymax": 284.1397384952986 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 795.0942102045515, + 267.0126249029961 + ], + [ + 785.178536534209, + 273.8282241229661 + ], + [ + 801.4251009828547, + 284.1397384952986 + ], + [ + 811.3293735037471, + 277.1709958810251 + ], + [ + 795.7476857732208, + 262.7596125916463 + ], + [ + 785.7948206732874, + 269.5722489448099 + ], + [ + 802.1180695858043, + 279.88009573493474 + ], + [ + 812.0593234894052, + 272.9137242423513 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 405.5575577074952, + "ymin": 0.0, + "xmax": 525.6819754003865, + "ymax": 100.49320674010124 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 440.89505876567057, + 96.05659435511382 + ], + [ + 447.50102462199277, + 100.49320674010124 + ], + [ + 525.6819754003865, + 65.67466461154879 + ], + [ + 518.9392301195074, + 61.64133213409497 + ], + [ + 405.5575577074952, + -113.43492743197106 + ], + [ + 413.0950769208046, + -109.68239295023113 + ], + [ + 506.3641313039654, + -138.9197370066396 + ], + [ + 498.61743980340407, + -142.27532222480437 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 785.3211487295192, + "ymin": 262.87226493219845, + "xmax": 811.9156091194488, + "ymax": 284.02503699949136 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 795.1313115558283, + 267.0800798361988 + ], + [ + 785.3211487295192, + 273.8238423373775 + ], + [ + 801.3950179817069, + 284.02503699949136 + ], + [ + 811.1940237602366, + 277.1313685591889 + ], + [ + 795.7780404212355, + 262.87226493219845 + ], + [ + 785.931474847456, + 269.6131303077699 + ], + [ + 802.0804039750795, + 279.8107317765695 + ], + [ + 811.9156091194488, + 272.9193874002866 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 658.8250272791596, + "ymin": 180.7237916507484, + "xmax": 819.6548113759536, + "ymax": 512.8582527522517 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 670.5230786871167, + 417.42884750272896 + ], + [ + 658.8250272791596, + 425.9914334198862 + ], + [ + 766.0116988016239, + 512.8582527522517 + ], + [ + 777.7245428558523, + 502.85773879682483 + ], + [ + 678.9341519205315, + 180.7237916507484 + ], + [ + 664.0659489362313, + 189.23291338709598 + ], + [ + 804.8128987891997, + 277.74685144092064 + ], + [ + 819.6548113759536, + 267.3490815966755 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 700.6204454442626, + "ymin": 105.64903738539127, + "xmax": 1280.0, + "ymax": 667.9951293474342 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 711.2900125816644, + 365.80479498346585 + ], + [ + 700.6204454442626, + 373.3082204806007 + ], + [ + 1088.464537094733, + 667.9951293474342 + ], + [ + 1098.5164113200885, + 655.5506472251403 + ], + [ + 731.6572079800833, + 105.64903738539127 + ], + [ + 718.1049342968494, + 112.83007175669474 + ], + [ + 1270.3963990789894, + 421.17439613635014 + ], + [ + 1282.0586291841314, + 407.02257280706635 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 5199819733356185808, + "instance_id": 53256, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1851_37", + "bbox_3d": { + "center_world": { + "x": -100.25784301757812, + "y": -72.39555358886719, + "z": 8.309331893920898 + }, + "extent": { + "x": 4.9728498458862305, + "y": 4.831793308258057, + "z": 8.307754516601562 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 796.4005843332519, + "ymin": 0.0, + "xmax": 1214.2991853019353, + "ymax": 8.190262374418012 + }, + "corners_3d": [ + [ + -94.59623718261719, + -68.39283752441406, + 0.0015773773193359375 + ], + [ + -96.09391784667969, + -77.93966674804688, + 0.0015773773193359375 + ], + [ + -105.91944885253906, + -76.39826965332031, + 0.0015773773193359375 + ], + [ + -104.42176818847656, + -66.8514404296875, + 0.0015773773193359375 + ], + [ + -94.59623718261719, + -68.39283752441406, + 16.61708641052246 + ], + [ + -96.09391784667969, + -77.93966674804688, + 16.61708641052246 + ], + [ + -105.91944885253906, + -76.39826965332031, + 16.61708641052246 + ], + [ + -104.42176818847656, + -66.8514404296875, + 16.61708641052246 + ] + ], + "corners_2d": [ + [ + 890.2083746955975, + -111.0344823355556 + ], + [ + 796.4005843332519, + -50.84847219161827 + ], + [ + 988.9966932195115, + 8.190262374418012 + ], + [ + 1069.8810623004329, + -63.813178112702246 + ], + [ + 965.393852476765, + -527.9501774294167 + ], + [ + 850.5190678161017, + -510.1134035748282 + ], + [ + 1126.465888804197, + -491.359945097524 + ], + [ + 1214.2991853019353, + -514.0603915843881 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00048/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00048/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9e87dc16e766cbdc72c32cc7c9c6f1ddf61b95df --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00048/meta.json @@ -0,0 +1,2888 @@ +{ + "frame_id": 48, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 24.0, + "sim_timestamp": 10265.133055401966 + }, + "drone_pose": { + "x": -124.6039349325756, + "y": -114.8230293317881, + "z": 20.003788599522615, + "pitch": -41.55831059603231, + "yaw": 38.83648861364518, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5828650593757629, + -0.4692469835281372, + 0.6633819341659546, + 113.23749542236328 + ], + [ + 0.6270999908447266, + 0.7789387702941895, + 1.4901161193847656e-08, + 11.300979614257812 + ], + [ + -0.5167338848114014, + 0.41600680351257324, + 0.7482810020446777, + -127.12268829345703 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -124.08853268649375, + "y": -114.22237466873372, + "z": 19.888429554662146 + }, + "t1_image_uv": [ + 850.8067049788123, + -266.4279444617629 + ], + "t1_depth": 0.6587924634062305 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -107.66718292236328, + "y": -101.18776321411131, + "z": 0.7273967456817627 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 29.057758579390082, + "visible": false, + "in_view": true, + "lost_reason": "occluded", + "pixel_count": 46, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -107.66718292236328, + "y": -101.18775939941406, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.24800293147563934, + "y": 0.2408495992422104, + "z": 0.5373291373252869 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 631.0485668330739, + "ymin": 340.6440184432627, + "xmax": 648.8492028530623, + "ymax": 379.1536426070127 + }, + "corners_3d": [ + [ + -107.6722412109375, + -101.53343200683594, + 0.19006752967834473 + ], + [ + -108.01285552978516, + -101.19281768798828, + 0.19006752967834473 + ], + [ + -107.66212463378906, + -100.84208679199219, + 0.19006752967834473 + ], + [ + -107.3215103149414, + -101.18270111083984, + 0.19006752967834473 + ], + [ + -107.6722412109375, + -101.53343200683594, + 1.2647258043289185 + ], + [ + -108.01285552978516, + -101.19281768798828, + 1.2647258043289185 + ], + [ + -107.66212463378906, + -100.84208679199219, + 1.2647258043289185 + ], + [ + -107.3215103149414, + -101.18270111083984, + 1.2647258043289185 + ] + ], + "corners_2d": [ + [ + 631.2667466993812, + 378.002222090104 + ], + [ + 646.9948057910174, + 379.1536426070127 + ], + [ + 648.6359232776365, + 368.2973192816779 + ], + [ + 633.1016739753564, + 367.1744294102446 + ], + [ + 631.0485668330739, + 351.39924668600213 + ], + [ + 647.1697919318885, + 352.5433446004157 + ], + [ + 648.8492028530623, + 341.7590719875895 + ], + [ + 632.9315355694721, + 340.6440184432627 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 48, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 57, + "semantic_pixel_counts": { + "1": 260001, + "2": 171413, + "3": 380851, + "4": 21719, + "5": 225, + "6": 17656, + "7": 3457, + "9": 230, + "10": 18393, + "12": 2437, + "14": 2960, + "16": 21968, + "20": 788, + "21": 2671, + "24": 16831 + }, + "instance_pixel_counts": { + "1115": 7036, + "1118": 81, + "1169": 788, + "1627": 1070, + "11394": 2541, + "12894": 910, + "14416": 225, + "14979": 32, + "16023": 1989, + "16476": 180, + "17232": 21719, + "17500": 43, + "18011": 154790, + "18012": 172, + "20631": 7297, + "23808": 4951, + "24064": 12378, + "27072": 9075, + "29843": 18997, + "30656": 55201, + "31168": 5704, + "31891": 23015, + "34120": 48349, + "34453": 1856, + "36443": 217955, + "36501": 1793, + "37460": 1211, + "43659": 327, + "44171": 2532, + "44179": 10773, + "44691": 148551, + "46227": 58665, + "46731": 2510, + "46741": 391, + "47253": 10320, + "48267": 47, + "48779": 1788, + "48789": 2471, + "49664": 46, + "49803": 2718, + "50176": 421, + "50432": 871, + "50688": 1099, + "52480": 727, + "52672": 738, + "52736": 21241, + "53184": 4379, + "54016": 1969, + "54720": 5243, + "55232": 4981, + "55744": 6718, + "55879": 339, + "56135": 4593, + "56768": 11817, + "57173": 230, + "62555": 1168, + "63067": 1108 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 46, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -107.66718292236328, + "y": -101.18775939941406, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.2329150289297104, + "y": 0.2502490282058716, + "z": 0.5269347429275513 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 630.7946507989532, + "ymin": 341.20830241768704, + "xmax": 649.1078376978261, + "ymax": 378.5906810370467 + }, + "corners_3d": [ + [ + -107.65492248535156, + -101.52941131591797, + 0.20046192407608032 + ], + [ + -108.00883483886719, + -101.17549896240234, + 0.20046192407608032 + ], + [ + -107.679443359375, + -100.84610748291016, + 0.20046192407608032 + ], + [ + -107.32553100585938, + -101.20001983642578, + 0.20046192407608032 + ], + [ + -107.65492248535156, + -101.52941131591797, + 1.254331350326538 + ], + [ + -108.00883483886719, + -101.17549896240234, + 1.254331350326538 + ], + [ + -107.679443359375, + -100.84610748291016, + 1.254331350326538 + ], + [ + -107.32553100585938, + -101.20001983642578, + 1.254331350326538 + ] + ], + "corners_2d": [ + [ + 631.0146409698492, + 377.39528933147 + ], + [ + 647.3543976020009, + 378.5906810370467 + ], + [ + 648.8924335510324, + 368.39497495989247 + ], + [ + 632.7418888832013, + 367.22742883883393 + ], + [ + 630.7946507989532, + 351.3093245870064 + ], + [ + 647.5347105635977, + 352.49723882707235 + ], + [ + 649.1078376978261, + 342.36787946959555 + ], + [ + 632.5663180426503, + 341.20830241768704 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 421, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -109.92300415039062, + "y": -94.24504852294922, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.4266747832298279, + "y": 0.3088623285293579, + "z": 0.8876277208328247 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 835.3829407316008, + "ymin": 280.4068243485154, + "xmax": 866.707859865249, + "ymax": 339.7815779505734 + }, + "corners_3d": [ + [ + -110.06021881103516, + -94.75359344482422, + -0.31262844800949097 + ], + [ + -110.44896697998047, + -94.27352905273438, + -0.31262844800949097 + ], + [ + -109.7857894897461, + -93.73650360107422, + -0.31262844800949097 + ], + [ + -109.39704132080078, + -94.21656799316406, + -0.31262844800949097 + ], + [ + -110.06021881103516, + -94.75359344482422, + 1.4626269340515137 + ], + [ + -110.44896697998047, + -94.27352905273438, + 1.4626269340515137 + ], + [ + -109.7857894897461, + -93.73650360107422, + 1.4626269340515137 + ], + [ + -109.39704132080078, + -94.21656799316406, + 1.4626269340515137 + ] + ], + "corners_2d": [ + [ + 839.2853219248356, + 339.7466468914775 + ], + [ + 858.1971487042234, + 339.7815779505734 + ], + [ + 853.9173424786061, + 323.20707157310744 + ], + [ + 835.3829407316008, + 323.1735202357821 + ], + [ + 847.0580436892282, + 296.7219378355776 + ], + [ + 866.707859865249, + 296.75635189266495 + ], + [ + 862.0883168033473, + 280.4398277277047 + ], + [ + 842.8456395542605, + 280.4068243485154 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 871, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -117.16718292236328, + "y": -101.18775939941406, + "z": 0.5749797821044922 + }, + "extent": { + "x": 0.40190428495407104, + "y": 0.4217480421066284, + "z": 0.8815093636512756 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 858.3451926649722, + "ymin": 527.1201284194349, + "xmax": 907.8061429234543, + "ymax": 600.376660150429 + }, + "corners_3d": [ + [ + -117.15315246582031, + -101.77017211914062, + -0.30652958154678345 + ], + [ + -117.74959564208984, + -101.1737289428711, + -0.30652958154678345 + ], + [ + -117.18121337890625, + -100.6053466796875, + -0.30652958154678345 + ], + [ + -116.58477020263672, + -101.20178985595703, + -0.30652958154678345 + ], + [ + -117.15315246582031, + -101.77017211914062, + 1.456489086151123 + ], + [ + -117.74959564208984, + -101.1737289428711, + 1.456489086151123 + ], + [ + -117.18121337890625, + -100.6053466796875, + 1.456489086151123 + ], + [ + -116.58477020263672, + -101.20178985595703, + 1.456489086151123 + ] + ], + "corners_2d": [ + [ + 860.338419569998, + 597.2872556841396 + ], + [ + 894.6864355834945, + 600.376660150429 + ], + [ + 891.8483397328976, + 573.705162967332 + ], + [ + 858.3451926649722, + 570.7646994647148 + ], + [ + 871.6549739238857, + 553.8587438182839 + ], + [ + 907.8061429234543, + 556.9776682109533 + ], + [ + 904.4889070567544, + 530.0812504092019 + ], + [ + 869.272418750866, + 527.1201284194349 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 1099, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -111.78268432617188, + "y": -112.81512451171875, + "z": 0.7252579927444458 + }, + "extent": { + "x": 0.565014660358429, + "y": 0.49104002118110657, + "z": 0.8705352544784546 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 305.2576093084533, + "ymin": 627.2512139207838, + "xmax": 384.90890253828184, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -111.75665283203125, + -113.56324768066406, + -0.1452772617340088 + ], + [ + -112.51986694335938, + -112.94520568847656, + -0.1452772617340088 + ], + [ + -111.8087158203125, + -112.06700134277344, + -0.1452772617340088 + ], + [ + -111.04550170898438, + -112.68504333496094, + -0.1452772617340088 + ], + [ + -111.75665283203125, + -113.56324768066406, + 1.5957932472229004 + ], + [ + -112.51986694335938, + -112.94520568847656, + 1.5957932472229004 + ], + [ + -111.8087158203125, + -112.06700134277344, + 1.5957932472229004 + ], + [ + -111.04550170898438, + -112.68504333496094, + 1.5957932472229004 + ] + ], + "corners_2d": [ + [ + 323.2855572958118, + 714.2811511741309 + ], + [ + 364.2693283326557, + 723.0469769833147 + ], + [ + 384.90890253828184, + 677.671633680783 + ], + [ + 345.30267837497183, + 669.546579450752 + ], + [ + 305.2576093084533, + 672.809151738112 + ], + [ + 348.45356189442055, + 681.7588815037002 + ], + [ + 370.8539757453964, + 635.5115337600023 + ], + [ + 329.1845935633881, + 627.2512139207838 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 727, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 446.1087374941608, + "ymin": 1.148417179018736, + "xmax": 683.3140102619095, + "ymax": 221.02055263277705 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 533.9980835509941, + 93.80611508590414 + ], + [ + 459.11741807090294, + 119.50085732537622 + ], + [ + 600.2438856075795, + 221.02055263277705 + ], + [ + 680.089961831723, + 186.3139358193687 + ], + [ + 526.7175043064501, + 1.148417179018736 + ], + [ + 446.1087374941608, + 24.327757176056082 + ], + [ + 596.8689691070765, + 117.2979907167826 + ], + [ + 683.3140102619095, + 85.26207374051273 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 21241, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 672.7340266895719, + "ymin": 0.0, + "xmax": 915.6402785769968, + "ymax": 159.00436263999129 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 834.0484662663004, + 159.00436263999129 + ], + [ + 896.8241447364196, + 129.94705361878664 + ], + [ + 733.8547114236877, + 51.27741287484707 + ], + [ + 672.7340266895719, + 73.30864092543845 + ], + [ + 848.9817489496784, + 60.20338166266015 + ], + [ + 915.6402785769968, + 33.75693362133279 + ], + [ + 739.8046649157916, + -36.942468849834995 + ], + [ + 674.8990843135399, + -17.274701943068465 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 1969, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 602.401518285476, + "ymin": 82.04212103979592, + "xmax": 720.0887171402092, + "ymax": 178.58526052859557 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 635.9541915924572, + 115.65657151637834 + ], + [ + 603.3491590437801, + 128.00114099880517 + ], + [ + 684.4877385423696, + 178.58526052859557 + ], + [ + 717.9522281946416, + 164.16459412426835 + ], + [ + 635.8517222756064, + 82.04212103979592 + ], + [ + 602.401518285476, + 94.00427237147903 + ], + [ + 685.7346304806593, + 143.15046423934808 + ], + [ + 720.0887171402092, + 129.11853302996013 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 52908959695452696, + "instance_id": 6202, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": -79.05494689941406, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1208.829218713201, + "ymin": 123.8149895669834, + "xmax": 1231.3407869972393, + "ymax": 151.8184486301214 + }, + "corners_3d": [ + [ + -113.29469299316406, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -78.86498260498047, + 3.5146729946136475 + ], + [ + -113.29469299316406, + -78.86498260498047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1208.829218713201, + 148.81790404571808 + ], + [ + 1216.339686964069, + 151.8184486301214 + ], + [ + 1221.5483439067198, + 148.52655662305702 + ], + [ + 1214.0519676181123, + 145.55659034187696 + ], + [ + 1218.4119264164988, + 127.0179919814228 + ], + [ + 1226.095217008617, + 129.96537359394705 + ], + [ + 1231.3407869972393, + 126.73183138859523 + ], + [ + 1223.6725458310934, + 123.8149895669834 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 936.9230697933781, + "ymin": 399.2959154637971, + "xmax": 968.7282083977807, + "ymax": 444.99192343941274 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 947.7639827488483, + 444.99192343941274 + ], + [ + 959.2290886892919, + 436.6453294260991 + ], + [ + 948.3921728837445, + 429.2096492354905 + ], + [ + 936.9230697933781, + 437.42239194033056 + ], + [ + 957.0068089156546, + 415.02376121160864 + ], + [ + 968.7282083977807, + 406.7039683941683 + ], + [ + 957.4931035478119, + 399.2959154637971 + ], + [ + 945.7660628065692, + 407.47834767251913 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5668522571212290485, + "instance_id": 46457, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -89.45570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1066.2661439639614, + "ymin": 139.22846976241757, + "xmax": 1091.366577159681, + "ymax": 173.90948702579286 + }, + "corners_3d": [ + [ + -113.19542694091797, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -89.26573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -89.26573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1066.2661439639614, + 170.08026919691707 + ], + [ + 1074.7168973681705, + 173.90948702579286 + ], + [ + 1082.0768229191058, + 169.68637721152248 + ], + [ + 1073.6373169906615, + 165.90550269551971 + ], + [ + 1075.2291062934269, + 143.31793598675338 + ], + [ + 1083.9116103487254, + 147.0698688308846 + ], + [ + 1091.366577159681, + 142.932045744924 + ], + [ + 1082.6964942854413, + 139.22846976241757 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1191.0992252323795, + "ymin": 573.6354953542327, + "xmax": 1237.9907263957468, + "ymax": 625.653456984267 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1206.504504518299, + 625.653456984267 + ], + [ + 1217.4112443189201, + 613.7945890043444 + ], + [ + 1202.0640480499185, + 603.2642161618313 + ], + [ + 1191.0992252323795, + 614.8969215579768 + ], + [ + 1226.9197818130815, + 596.2035627745146 + ], + [ + 1237.9907263957468, + 584.2459155502974 + ], + [ + 1221.8988775222012, + 573.6354953542327 + ], + [ + 1210.761217772857, + 585.3570443667311 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7157878223548397302, + "instance_id": 63030, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -86.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1113.1174518524722, + "ymin": 113.57980187674363, + "xmax": 1138.1076427827734, + "ymax": 147.0710759064788 + }, + "corners_3d": [ + [ + -113.19542694091797, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -86.76573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -86.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1113.1174518524722, + 143.54388924690522 + ], + [ + 1121.4875356421264, + 147.0710759064788 + ], + [ + 1128.2671221922667, + 143.18097263977882 + ], + [ + 1119.9105363368378, + 139.6965402707952 + ], + [ + 1122.6582124038764, + 117.34222699172574 + ], + [ + 1131.252144390345, + 120.79236522423221 + ], + [ + 1138.1076427827734, + 116.98728187298991 + ], + [ + 1129.5284381058077, + 113.57980187674363 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7631990878982166785, + "instance_id": 473, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": -83.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1164.6030270293772, + "ymin": 85.42857735642974, + "xmax": 1189.3839354708512, + "ymax": 117.59256142747651 + }, + "corners_3d": [ + [ + -113.1954345703125, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47261047363281, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.19544219970703, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47261047363281, + -83.76573944091797, + 6.416468620300293 + ], + [ + -113.19544219970703, + -83.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1164.6030270293772, + 114.38289609866328 + ], + [ + 1172.8594002924456, + 117.59256142747651 + ], + [ + 1179.0288582834514, + 114.0525566338575 + ], + [ + 1170.7879071762975, + 110.8800199259087 + ], + [ + 1174.68658235343, + 88.84783156640759 + ], + [ + 1183.1569992007644, + 91.98154228903991 + ], + [ + 1189.3839354708512, + 88.5253456119923 + ], + [ + 1180.930190367029, + 85.42857735642974 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 763.1903993669644, + "ymin": 375.66920811166, + "xmax": 784.6775894548457, + "ymax": 412.62221635970496 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 770.8102810260943, + 412.62221635970496 + ], + [ + 781.3168382333008, + 406.1312327379689 + ], + [ + 773.6830240541399, + 400.2980734770003 + ], + [ + 763.1903993669644, + 406.70462868986203 + ], + [ + 773.9442140146526, + 387.9399354183258 + ], + [ + 784.6775894548457, + 381.47608590916263 + ], + [ + 776.8410726915787, + 375.66920811166 + ], + [ + 766.1219903705764, + 382.04699534264597 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1064.4817640521435, + "ymin": 486.6185679090868, + "xmax": 1103.485223978313, + "ymax": 535.587158240072 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1077.5124427127732, + 535.587158240072 + ], + [ + 1088.8085337746193, + 525.5554335756402 + ], + [ + 1075.8049240762703, + 516.6330902839331 + ], + [ + 1064.4817640521435, + 526.4886503024832 + ], + [ + 1091.9655764556594, + 505.61558687272986 + ], + [ + 1103.485223978313, + 495.5582441210396 + ], + [ + 1089.927248554799, + 486.6185679090868 + ], + [ + 1078.3760928477957, + 496.49357018371904 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 985.7509157409925, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 333.0595719214591 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1189.6441895807006, + 207.55877240867457 + ], + [ + 1178.9017992269764, + 202.7596861326147 + ], + [ + 985.7509157409925, + 326.38967324499947 + ], + [ + 996.8470716956222, + 333.0595719214591 + ], + [ + 1288.5785804347954, + -14.791931161125888 + ], + [ + 1275.1173082048151, + -18.647777912568188 + ], + [ + 1060.8702889631552, + 83.8203967133918 + ], + [ + 1075.148634935999, + 89.54039087858757 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 261.83629068316077, + "ymin": 0.0, + "xmax": 374.7347652097986, + "ymax": 35.857176273107086 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 301.8698091276581, + 33.08081394595439 + ], + [ + 305.5496220881058, + 35.857176273107086 + ], + [ + 374.7347652097986, + 16.948693657503554 + ], + [ + 370.8348134563664, + 14.367521099482474 + ], + [ + 261.83629068316077, + -133.8324688017522 + ], + [ + 265.71706065103, + -131.71484406569283 + ], + [ + 344.40534027431494, + -146.08461633532426 + ], + [ + 340.23362172204446, + -148.0367337621414 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 987.3373322618882, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 244.1820490045816 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 1080.5015043369751, + 244.1820490045816 + ], + [ + 1213.6834900465378, + 159.25820253737888 + ], + [ + 1123.1701162272582, + 122.61780566639334 + ], + [ + 987.3373322618882, + 197.68959031196692 + ], + [ + 1224.5842574288822, + -147.89110928385514 + ], + [ + 1373.613177655904, + -198.58028240684826 + ], + [ + 1248.3123437347192, + -219.32810677332702 + ], + [ + 1091.6067985660675, + -176.10625508334977 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 832.4746573594613, + "ymin": 376.8662909522084, + "xmax": 860.5738325398145, + "ymax": 399.657176953592 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 843.160852855014, + 381.1141862971683 + ], + [ + 832.4746573594613, + 387.8175271048625 + ], + [ + 848.9816599403185, + 399.657176953592 + ], + [ + 859.6831152432428, + 392.7727252102877 + ], + [ + 843.9736708083442, + 376.8662909522084 + ], + [ + 833.2506636227238, + 383.5638785419941 + ], + [ + 849.8356145219702, + 395.3943731671764 + ], + [ + 860.5738325398145, + 388.51508857917145 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7664114084626016696, + "instance_id": 47273, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.91487884521484, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 800.893960571704, + "ymin": 0.0, + "xmax": 879.5056166237198, + "ymax": 59.32761102408011 + }, + "corners_3d": [ + [ + -95.94330596923828, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -79.87950897216797, + 4.83804988861084 + ], + [ + -95.94330596923828, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 831.8233811341267, + 59.32761102408011 + ], + [ + 863.783198185965, + 46.77839188519039 + ], + [ + 832.752351174091, + 33.49679092968313 + ], + [ + 800.893960571704, + 45.4270201140821 + ], + [ + 845.6374749141403, + -40.306989032891806 + ], + [ + 879.5056166237198, + -51.3066254140266 + ], + [ + 845.9373430763352, + -62.908996556857346 + ], + [ + 812.1675553379503, + -52.48897885060268 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 479.08452132603276, + "ymin": 0.0, + "xmax": 586.1166063965044, + "ymax": 187.92628907957973 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 501.0023186178733, + 183.32323208036004 + ], + [ + 507.1032473899403, + 187.92628907957973 + ], + [ + 586.1166063965044, + 156.85119559356778 + ], + [ + 579.7817982170576, + 152.65851987168853 + ], + [ + 479.08452132603276, + -15.286347572338855 + ], + [ + 485.98170936778445, + -11.522750109105061 + ], + [ + 578.0037510206272, + -36.774382967229826 + ], + [ + 570.7825907208035, + -40.15345868542636 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 832.6234518124172, + "ymin": 376.9860770458605, + "xmax": 860.42330617816, + "ymax": 399.5345983674507 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 843.1960657321334, + 381.1888734265282 + ], + [ + 832.6234518124172, + 387.8217015711058 + ], + [ + 848.9551168184151, + 399.5345983674507 + ], + [ + 859.5426713354374, + 392.7244890583595 + ], + [ + 844.0004501466584, + 376.9860770458605 + ], + [ + 833.3918043300763, + 383.6132767502493 + ], + [ + 849.7997671604187, + 395.31720875819957 + ], + [ + 860.42330617816, + 388.512160333162 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 697.0912528365832, + "ymin": 285.5818597957729, + "xmax": 868.6870094263207, + "ymax": 631.5079344067801 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 709.6938648556018, + 522.4763739770502 + ], + [ + 697.0912528365832, + 530.8585473972457 + ], + [ + 804.4396591527328, + 631.5079344067801 + ], + [ + 817.3058772314653, + 621.4015186622485 + ], + [ + 727.6321399288338, + 285.5818597957729 + ], + [ + 711.938912494711, + 293.6753332970935 + ], + [ + 852.652142805446, + 393.62555660829935 + ], + [ + 868.6870094263207, + 383.3526376257859 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 743.3571668603335, + "ymin": 211.7641516968983, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 754.7884608685641, + 470.13578036247907 + ], + [ + 743.3571668603335, + 477.4217486934365 + ], + [ + 1150.5209644692752, + 830.2810703278951 + ], + [ + 1161.9068283562606, + 816.7559585370124 + ], + [ + 785.2781738498593, + 211.7641516968983 + ], + [ + 771.0744393471548, + 218.5203558312697 + ], + [ + 1357.5329441536187, + 581.8854486931499 + ], + [ + 1370.5037180754948, + 566.5133022981959 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 5199819733356185808, + "instance_id": 53256, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1851_37", + "bbox_3d": { + "center_world": { + "x": -100.25784301757812, + "y": -72.39555358886719, + "z": 8.309331893920898 + }, + "extent": { + "x": 4.9728498458862305, + "y": 4.831793308258057, + "z": 8.307754516601562 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 860.731399129015, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 117.15554215096711 + }, + "corners_3d": [ + [ + -94.59623718261719, + -68.39283752441406, + 0.0015773773193359375 + ], + [ + -96.09391784667969, + -77.93966674804688, + 0.0015773773193359375 + ], + [ + -105.91944885253906, + -76.39826965332031, + 0.0015773773193359375 + ], + [ + -104.42176818847656, + -66.8514404296875, + 0.0015773773193359375 + ], + [ + -94.59623718261719, + -68.39283752441406, + 16.61708641052246 + ], + [ + -96.09391784667969, + -77.93966674804688, + 16.61708641052246 + ], + [ + -105.91944885253906, + -76.39826965332031, + 16.61708641052246 + ], + [ + -104.42176818847656, + -66.8514404296875, + 16.61708641052246 + ] + ], + "corners_2d": [ + [ + 956.9464063829485, + -2.721354382217669 + ], + [ + 860.731399129015, + 52.66846814827022 + ], + [ + 1054.4302321901478, + 117.15554215096711 + ], + [ + 1138.9632684501355, + 48.675783779949825 + ], + [ + 1041.0782373444886, + -386.44365513146136 + ], + [ + 927.9940467996834, + -370.9593531329914 + ], + [ + 1200.9920941683567, + -351.67538622817153 + ], + [ + 1289.5570344673465, + -372.1075915884994 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00049/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00049/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..07fdc3a5dff0ddf8f11a4f83af02d4e8c84be605 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00049/meta.json @@ -0,0 +1,2780 @@ +{ + "frame_id": 49, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 24.5, + "sim_timestamp": 10279.14110017009 + }, + "drone_pose": { + "x": -124.08853268649375, + "y": -114.22237466873372, + "z": 19.888429554662146, + "pitch": -42.40294232485131, + "yaw": 35.29457778424319, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6026932597160339, + -0.4266450107097626, + 0.6743403077125549, + 110.10816192626953 + ], + [ + 0.5777803659439087, + 0.8161922693252563, + -1.4901161193847656e-08, + 21.531494140625 + ], + [ + -0.5503913760185242, + 0.3896206021308899, + 0.7384207248687744, + -127.4866714477539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -123.94528081012973, + "y": -113.5141101432763, + "z": 19.99397248752885 + }, + "t1_image_uv": [ + 2138.3787737367206, + -949.073393205121 + ], + "t1_depth": 0.31734261054458457 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -107.16718292236328, + "y": -100.68776321411131, + "z": 0.7273967456817627 + }, + "image_uv": [ + 682.1964426968241, + 345.45328513697683 + ], + "depth": 28.893914913362245, + "visible": false, + "in_view": true, + "lost_reason": "occluded", + "pixel_count": 0, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -107.16718292236328, + "y": -100.68775939941406, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.24015624821186066, + "y": 0.25401854515075684, + "z": 0.5572035908699036 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 672.2726376878743, + "ymin": 325.31644284931593, + "xmax": 692.2815025308726, + "ymax": 365.35539520214485 + }, + "corners_3d": [ + [ + -107.15737915039062, + -101.03719329833984, + 0.17019307613372803 + ], + [ + -107.51661682128906, + -100.6779556274414, + 0.17019307613372803 + ], + [ + -107.17698669433594, + -100.33832550048828, + 0.17019307613372803 + ], + [ + -106.8177490234375, + -100.69756317138672, + 0.17019307613372803 + ], + [ + -107.15737915039062, + -101.03719329833984, + 1.2846002578735352 + ], + [ + -107.51661682128906, + -100.6779556274414, + 1.2846002578735352 + ], + [ + -107.17698669433594, + -100.33832550048828, + 1.2846002578735352 + ], + [ + -106.8177490234375, + -100.69756317138672, + 1.2846002578735352 + ] + ], + "corners_2d": [ + [ + 672.2726376878743, + 363.4401829090714 + ], + [ + 688.8839229593633, + 365.35539520214485 + ], + [ + 690.9457248983973, + 354.8715938808798 + ], + [ + 674.52703021501, + 353.00159031737405 + ], + [ + 673.1273533714414, + 335.6903984320704 + ], + [ + 690.1814676131341, + 337.5944590978379 + ], + [ + 692.2815025308726, + 327.17438807660085 + ], + [ + 675.430322709529, + 325.31644284931593 + ] + ], + "center_offset_px": [ + 42.19644269682408, + -14.546714863023169 + ] + }, + "trace_timestep_index": 49, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 53, + "semantic_pixel_counts": { + "1": 239624, + "2": 177726, + "3": 400254, + "4": 20479, + "5": 239, + "6": 15620, + "7": 3320, + "9": 232, + "10": 16907, + "12": 2433, + "14": 3165, + "16": 22745, + "20": 825, + "21": 1667, + "24": 16364 + }, + "instance_pixel_counts": { + "1115": 7071, + "1118": 55, + "1169": 825, + "11394": 2740, + "12894": 1008, + "14416": 239, + "14979": 22, + "16023": 2190, + "16476": 199, + "17232": 20479, + "17500": 54, + "18011": 158926, + "18012": 197, + "20631": 7094, + "23808": 2893, + "24064": 12797, + "27072": 9896, + "29843": 16522, + "30656": 57644, + "31168": 6129, + "31891": 17408, + "34120": 55266, + "34453": 1512, + "36443": 234257, + "36501": 1355, + "37460": 488, + "43659": 199, + "44171": 2792, + "44179": 11861, + "44691": 129028, + "46227": 64805, + "46731": 1621, + "46741": 426, + "47253": 10371, + "48779": 1901, + "48789": 2700, + "49803": 3033, + "50176": 336, + "50432": 994, + "50688": 1103, + "52480": 946, + "52672": 473, + "52736": 21799, + "53184": 4767, + "54016": 2102, + "54720": 4087, + "55232": 157, + "55744": 7287, + "55879": 340, + "56135": 3031, + "56768": 13190, + "57173": 232, + "62555": 1217 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 0, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -107.16718292236328, + "y": -100.68775939941406, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.26102539896965027, + "y": 0.25019529461860657, + "z": 0.542451798915863 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 672.30933993689, + "ymin": 325.2611862235505, + "xmax": 692.226403869427, + "ymax": 365.4441080010708 + }, + "corners_3d": [ + [ + -107.17484283447266, + -101.04924774169922, + 0.18494486808776855 + ], + [ + -107.52867126464844, + -100.69541931152344, + 0.18494486808776855 + ], + [ + -107.1595230102539, + -100.3262710571289, + 0.18494486808776855 + ], + [ + -106.80569458007812, + -100.68009948730469, + 0.18494486808776855 + ], + [ + -107.17484283447266, + -101.04924774169922, + 1.2698484659194946 + ], + [ + -107.52867126464844, + -100.69541931152344, + 1.2698484659194946 + ], + [ + -107.1595230102539, + -100.3262710571289, + 1.2698484659194946 + ], + [ + -106.80569458007812, + -100.68009948730469, + 1.2698484659194946 + ] + ], + "corners_2d": [ + [ + 672.30933993689, + 363.5558837556964 + ], + [ + 688.6844748119879, + 365.4441080010708 + ], + [ + 690.9276136210719, + 354.05020248699077 + ], + [ + 674.7587981459649, + 352.2103900417627 + ], + [ + 673.142541560536, + 336.5383024970148 + ], + [ + 689.9427254150684, + 338.41587442168037 + ], + [ + 692.226403869427, + 327.0894012898594 + ], + [ + 675.6433197389299, + 325.2611862235505 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 336, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -109.42300415039062, + "y": -93.74504852294922, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.4504931569099426, + "y": 0.40589842200279236, + "z": 0.8975702524185181 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 879.2424971943612, + "ymin": 272.29398437421355, + "xmax": 919.0335511547573, + "ymax": 334.94895465614 + }, + "corners_3d": [ + [ + -109.51766204833984, + -94.343994140625, + -0.3225709795951843 + ], + [ + -110.0285415649414, + -93.7131118774414, + -0.3225709795951843 + ], + [ + -109.3283462524414, + -93.14610290527344, + -0.3225709795951843 + ], + [ + -108.81746673583984, + -93.77698516845703, + -0.3225709795951843 + ], + [ + -109.51766204833984, + -94.343994140625, + 1.472569465637207 + ], + [ + -110.0285415649414, + -93.7131118774414, + 1.472569465637207 + ], + [ + -109.3283462524414, + -93.14610290527344, + 1.472569465637207 + ], + [ + -108.81746673583984, + -93.77698516845703, + 1.472569465637207 + ] + ], + "corners_2d": [ + [ + 882.5746529302639, + 333.8809299376785 + ], + [ + 908.0855517895609, + 334.94895465614 + ], + [ + 904.2119065680606, + 317.00894472516393 + ], + [ + 879.2424971943612, + 315.98541546273265 + ], + [ + 892.4679158359397, + 289.94206319714306 + ], + [ + 919.0335511547573, + 290.99627843945257 + ], + [ + 914.7653464077913, + 273.30254569170756 + ], + [ + 888.7863817083891, + 272.29398437421355 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 994, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -116.66718292236328, + "y": -100.68775939941406, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.4224609136581421, + "y": 0.47617673873901367, + "z": 0.9216267466545105 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 891.7118775369609, + "ymin": 522.1640294432601, + "xmax": 948.3444079123315, + "ymax": 601.5286329464512 + }, + "corners_3d": [ + [ + -116.62920379638672, + -101.32318878173828, + -0.3466372489929199 + ], + [ + -117.3026123046875, + -100.6497802734375, + -0.3466372489929199 + ], + [ + -116.70516204833984, + -100.05233001708984, + -0.3466372489929199 + ], + [ + -116.03175354003906, + -100.72573852539062, + -0.3466372489929199 + ], + [ + -116.62920379638672, + -101.32318878173828, + 1.496616244316101 + ], + [ + -117.3026123046875, + -100.6497802734375, + 1.496616244316101 + ], + [ + -116.70516204833984, + -100.05233001708984, + 1.496616244316101 + ], + [ + -116.03175354003906, + -100.72573852539062, + 1.496616244316101 + ] + ], + "corners_2d": [ + [ + 892.4755134992228, + 595.921905154817 + ], + [ + 932.053123734181, + 601.5286329464512 + ], + [ + 930.2775122274592, + 573.0423921557672 + ], + [ + 891.7118775369609, + 567.7170043882419 + ], + [ + 906.4845496824305, + 550.6833763643453 + ], + [ + 948.3444079123315, + 556.3621737008334 + ], + [ + 946.0348663660357, + 527.542650924192 + ], + [ + 905.3053644790566, + 522.1640294432601 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 1103, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -111.78268432617188, + "y": -112.81512451171875, + "z": 0.7252579927444458 + }, + "extent": { + "x": 0.517529308795929, + "y": 0.41331052780151367, + "z": 0.8811843395233154 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 328.9597882615595, + "ymin": 626.2255689739295, + "xmax": 401.37451543594443, + "ymax": 719.318127954299 + }, + "corners_3d": [ + [ + -111.78717041015625, + -113.47742462158203, + -0.15592634677886963 + ], + [ + -112.42958068847656, + -112.95721435546875, + -0.15592634677886963 + ], + [ + -111.7781982421875, + -112.15282440185547, + -0.15592634677886963 + ], + [ + -111.13578796386719, + -112.67303466796875, + -0.15592634677886963 + ], + [ + -111.78717041015625, + -113.47742462158203, + 1.6064423322677612 + ], + [ + -112.42958068847656, + -112.95721435546875, + 1.6064423322677612 + ], + [ + -111.7781982421875, + -112.15282440185547, + 1.6064423322677612 + ], + [ + -111.13578796386719, + -112.67303466796875, + 1.6064423322677612 + ] + ], + "corners_2d": [ + [ + 346.3563833712717, + 709.7067503380596 + ], + [ + 380.2891761538589, + 719.318127954299 + ], + [ + 401.37451543594443, + 677.6379289521944 + ], + [ + 368.4189154712528, + 668.6614899896349 + ], + [ + 328.9597882615595, + 668.1460251442388 + ], + [ + 364.775105536503, + 677.9863758000439 + ], + [ + 387.62837265925856, + 635.3792294065452 + ], + [ + 352.8986509240464, + 626.2255689739295 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 946, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 497.9348626159908, + "ymin": 0.0, + "xmax": 736.1099189308384, + "ymax": 214.9709233776391 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 584.4373438009086, + 81.65943305094527 + ], + [ + 507.7398080403625, + 105.83905208769579 + ], + [ + 645.3742705594841, + 214.9709233776391 + ], + [ + 728.6673262396195, + 181.79657930281266 + ], + [ + 580.4896305828872, + -12.805929205204563 + ], + [ + 497.9348626159908, + 9.065828431937064 + ], + [ + 645.8486946808733, + 109.36921809779528 + ], + [ + 736.1099189308384, + 78.60027462773843 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 21799, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 726.6055334565292, + "ymin": 0.0, + "xmax": 980.4332541484515, + "ymax": 158.5291444251215 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 889.0857824738703, + 158.5291444251215 + ], + [ + 956.0110593504525, + 130.1673124498938 + ], + [ + 790.4565690714393, + 43.34140767873407 + ], + [ + 726.6055334565292, + 64.4759788866985 + ], + [ + 909.2481573543644, + 57.12898451058845 + ], + [ + 980.4332541484515, + 31.163631085427255 + ], + [ + 800.4201539754939, + -47.243082391460575 + ], + [ + 732.5721014550685, + -28.306475627803877 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 2102, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 653.0944106003765, + "ymin": 72.90882847482266, + "xmax": 772.3241965875701, + "ymax": 173.93066496615225 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 686.9345228145539, + 107.20650913161484 + ], + [ + 653.0944106003765, + 118.96546895363983 + ], + [ + 733.5526946820665, + 173.93066496615225 + ], + [ + 768.6457137378874, + 160.0724953692485 + ], + [ + 688.1689718542463, + 72.90882847482266 + ], + [ + 653.4454786263392, + 84.31929259524708 + ], + [ + 736.2841075692403, + 137.8059579431398 + ], + [ + 772.3241965875701, + 124.29714317773491 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 984.2447582505908, + "ymin": 423.55171691936846, + "xmax": 1019.7421754831189, + "ymax": 470.6524765086495 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 995.4296582645995, + 470.6524765086495 + ], + [ + 1008.0335393648708, + 462.2503496480861 + ], + [ + 996.8334232920837, + 453.7400485220691 + ], + [ + 984.2447582505908, + 461.99610870771477 + ], + [ + 1006.8374810544971, + 440.46396311278477 + ], + [ + 1019.7421754831189, + 432.0596028046485 + ], + [ + 1008.0839369181688, + 423.55171691936846 + ], + [ + 995.1936422188404, + 431.8053658231776 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5668522571212290485, + "instance_id": 46457, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -89.45570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1134.518277273112, + "ymin": 149.32349710992133, + "xmax": 1163.0029440132757, + "ymax": 185.48654330214308 + }, + "corners_3d": [ + [ + -113.19542694091797, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -89.26573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -89.26573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1134.518277273112, + 181.09713483946635 + ], + [ + 1143.4182470126862, + 185.48654330214308 + ], + [ + 1151.5063533755629, + 181.22660778554337 + ], + [ + 1142.609787000701, + 176.89013220795863 + ], + [ + 1145.6309365092516, + 153.45407183073016 + ], + [ + 1154.8036748120362, + 157.76493190475884 + ], + [ + 1163.0029440132757, + 153.5812104163567 + ], + [ + 1153.8346602172896, + 149.32349710992133 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1250.5924609984854, + "ymin": 627.0880881880789, + "xmax": 1280.0, + "ymax": 680.841144102246 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1267.0157625726197, + 680.841144102246 + ], + [ + 1279.477063968198, + 668.5032500721527 + ], + [ + 1263.0902750909627, + 656.0519143058141 + ], + [ + 1250.5924609984854, + 668.1306117904877 + ], + [ + 1291.592490549399, + 652.2127357525297 + ], + [ + 1304.2739751171734, + 639.7028061039412 + ], + [ + 1286.9881883950447, + 627.0880881880789 + ], + [ + 1274.2615851670964, + 639.3251289982825 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7157878223548397302, + "instance_id": 63030, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -86.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1186.0273184181747, + "ymin": 123.36325182313121, + "xmax": 1214.516576238801, + "ymax": 158.37252625261647 + }, + "corners_3d": [ + [ + -113.19542694091797, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -86.76573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -86.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1186.0273184181747, + 154.31458038444154 + ], + [ + 1194.8951269999984, + 158.37252625261647 + ], + [ + 1202.3724309842678, + 154.4343043336154 + ], + [ + 1193.5113597618965, + 150.42342663734095 + ], + [ + 1197.8163504422037, + 127.17717297364123 + ], + [ + 1206.9496466326202, + 131.1555931606788 + ], + [ + 1214.516576238801, + 127.29453575624916 + ], + [ + 1205.3911874824455, + 123.36325182313121 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7631990878982166785, + "instance_id": 473, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": -83.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1242.8488755047688, + "ymin": 94.76308048585014, + "xmax": 1271.2394260187684, + "ymax": 128.477445825237 + }, + "corners_3d": [ + [ + -113.1954345703125, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47261047363281, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.19544219970703, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47261047363281, + -83.76573944091797, + 6.416468620300293 + ], + [ + -113.19544219970703, + -83.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1242.8488755047688, + 124.76996581249645 + ], + [ + 1251.6523886308482, + 128.477445825237 + ], + [ + 1258.4838759497256, + 124.87937802945697 + ], + [ + 1249.6901392834488, + 121.21301802515413 + ], + [ + 1255.2798068375564, + 98.24284778937698 + ], + [ + 1264.3392599820097, + 101.87072808302122 + ], + [ + 1271.2394260187684, + 98.34989853911748 + ], + [ + 1262.19099756905, + 94.76308048585014 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 803.2346967673357, + "ymin": 386.0212450668674, + "xmax": 826.678186596643, + "ymax": 423.7271649833258 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 810.8692168966417, + 423.7271649833258 + ], + [ + 822.1192619808978, + 417.3754685746318 + ], + [ + 814.4577646229867, + 410.8840787357968 + ], + [ + 803.2346967673357, + 417.1475023860994 + ], + [ + 815.1763423276034, + 398.8351437004618 + ], + [ + 826.678186596643, + 392.4967798894364 + ], + [ + 818.7937975947511, + 386.0212450668674 + ], + [ + 807.3198687703879, + 392.2693323290514 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1116.8314375122593, + "ymin": 524.6264066458889, + "xmax": 1160.8985587995776, + "ymax": 575.1859094193608 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1130.497393614425, + 575.1859094193608 + ], + [ + 1143.153193292755, + 564.9197269560086 + ], + [ + 1129.493046226084, + 554.5401947969174 + ], + [ + 1116.8314375122593, + 564.6093694213625 + ], + [ + 1147.9664530086422, + 545.4103601983528 + ], + [ + 1160.8985587995776, + 535.0719399209806 + ], + [ + 1146.5851887683882, + 524.6264066458889 + ], + [ + 1133.6434834137765, + 534.7595063464896 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1040.4500146812238, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 347.5714349236784 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1263.705979202456, + 222.1578816834161 + ], + [ + 1252.3390113834716, + 216.65715851079176 + ], + [ + 1040.4500146812238, + 340.0543170291155 + ], + [ + 1051.8873097678775, + 347.5714349236784 + ], + [ + 1384.9570097858036, + -9.001842420578555 + ], + [ + 1370.3232321442883, + -13.509855943753678 + ], + [ + 1133.6112943136145, + 90.85542602034502 + ], + [ + 1148.7478376280092, + 97.43962929498309 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 320.9775237616827, + "ymin": 0.0, + "xmax": 428.50866070884445, + "ymax": 16.259466236750768 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 355.43569400054696, + 13.345099070697302 + ], + [ + 358.9313402172729, + 16.259466236750768 + ], + [ + 428.50866070884445, + -1.251497430898496 + ], + [ + 424.7592229516156, + -3.9779880095550197 + ], + [ + 320.9775237616827, + -155.9256342851354 + ], + [ + 324.6865221401305, + -153.70030790684143 + ], + [ + 403.6870027782047, + -167.02673294777082 + ], + [ + 399.6467284121423, + -169.0921273229817 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1048.1224083953443, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 257.0488398492027 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 1144.9746209883933, + 257.0488398492027 + ], + [ + 1291.89118280186, + 171.6783524540753 + ], + [ + 1196.1252998668556, + 129.74862190684016 + ], + [ + 1048.1224083953443, + 204.47126515915457 + ], + [ + 1323.9733948394814, + -152.07320233961423 + ], + [ + 1489.7340674385173, + -204.51269804695073 + ], + [ + 1351.7466931168292, + -228.84907733273258 + ], + [ + 1179.7879227937256, + -184.84317612787515 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 875.8589172486998, + "ymin": 396.72804958743814, + "xmax": 905.5739484264723, + "ymax": 421.2610370603674 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 887.4928852685582, + 401.0352410905579 + ], + [ + 875.8589172486998, + 407.7542937629985 + ], + [ + 892.7519327139884, + 421.2610370603674 + ], + [ + 904.430064670255, + 414.3449450730883 + ], + [ + 888.5481310503502, + 396.72804958743814 + ], + [ + 876.8719531352317, + 403.4442910370132 + ], + [ + 893.8534560080495, + 416.9466519707751 + ], + [ + 905.5739484264723, + 410.0325922455381 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7664114084626016696, + "instance_id": 47273, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.91487884521484, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 860.0218861643567, + "ymin": 0.0, + "xmax": 946.4763714787712, + "ymax": 54.4578422665366 + }, + "corners_3d": [ + [ + -95.94330596923828, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -79.87950897216797, + 4.83804988861084 + ], + [ + -95.94330596923828, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 891.4889370595288, + 54.4578422665366 + ], + [ + 925.3813052873281, + 42.2451409474952 + ], + [ + 893.6782348100425, + 27.548279931414186 + ], + [ + 860.0218861643567, + 39.12052626332212 + ], + [ + 910.5156328152923, + -48.19005198294502 + ], + [ + 946.4763714787712, + -58.948369669639135 + ], + [ + 911.9013647177487, + -71.84902920997058 + ], + [ + 876.188057837345, + -61.695300143950135 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 531.3782239173254, + "ymin": 0.0, + "xmax": 634.1152836073996, + "ymax": 177.69316181895573 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 546.6391906304258, + 172.7540203586891 + ], + [ + 552.5634582932528, + 177.69316181895573 + ], + [ + 634.1152836073996, + 148.2601244546717 + ], + [ + 627.884762081714, + 143.72945630125412 + ], + [ + 531.3782239173254, + -29.689335345635754 + ], + [ + 538.1516177482075, + -25.62543171871016 + ], + [ + 633.1928857934973, + -49.70297794755379 + ], + [ + 626.0007143827416, + -53.37962686578152 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 876.0159719432452, + "ymin": 396.8569429970669, + "xmax": 905.4144496065189, + "ymax": 421.1290361160777 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 887.5264396700973, + 401.1183663737797 + ], + [ + 876.0159719432452, + 407.7668355218981 + ], + [ + 892.7297271468576, + 421.1290361160777 + ], + [ + 904.2834287150553, + 414.28769389797907 + ], + [ + 888.5706999082342, + 396.8569429970669 + ], + [ + 877.0189153689535, + 403.5026643593784 + ], + [ + 893.819285379716, + 416.8605710778798 + ], + [ + 905.4144496065189, + 410.02122228410684 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 729.3532986665098, + "ymin": 294.30688449922957, + "xmax": 914.4269741572787, + "ymax": 652.8251279146928 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 742.7511259510808, + 533.2836833998995 + ], + [ + 729.3532986665098, + 541.3974120621505 + ], + [ + 835.6829671674169, + 652.8251279146928 + ], + [ + 849.579269789715, + 642.9204939359682 + ], + [ + 770.720096398292, + 294.30688449922957 + ], + [ + 753.9149798022341, + 302.2966053382408 + ], + [ + 896.9098721956734, + 415.53047562155245 + ], + [ + 914.4269741572787, + 405.192636215467 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 779.7342137081731, + "ymin": 218.61171366190874, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 791.9145026493793, + 480.6315532902792 + ], + [ + 779.7342137081731, + 487.69559359886324 + ], + [ + 1193.3229385626, + 886.0440239804648 + ], + [ + 1206.235495418569, + 872.3038281443039 + ], + [ + 834.68783457659, + 218.61171366190874 + ], + [ + 819.4358904376137, + 225.29962082355047 + ], + [ + 1440.7698168103661, + 651.1819485505678 + ], + [ + 1455.8829391149845, + 634.6986686199384 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 5199819733356185808, + "instance_id": 53256, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1851_37", + "bbox_3d": { + "center_world": { + "x": -100.25784301757812, + "y": -72.39555358886719, + "z": 8.309331893920898 + }, + "extent": { + "x": 4.9728498458862305, + "y": 4.831793308258057, + "z": 8.307754516601562 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 921.92006655821, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 121.71373804107941 + }, + "corners_3d": [ + [ + -94.59623718261719, + -68.39283752441406, + 0.0015773773193359375 + ], + [ + -96.09391784667969, + -77.93966674804688, + 0.0015773773193359375 + ], + [ + -105.91944885253906, + -76.39826965332031, + 0.0015773773193359375 + ], + [ + -104.42176818847656, + -66.8514404296875, + 0.0015773773193359375 + ], + [ + -94.59623718261719, + -68.39283752441406, + 16.61708641052246 + ], + [ + -96.09391784667969, + -77.93966674804688, + 16.61708641052246 + ], + [ + -105.91944885253906, + -76.39826965332031, + 16.61708641052246 + ], + [ + -104.42176818847656, + -66.8514404296875, + 16.61708641052246 + ] + ], + "corners_2d": [ + [ + 1025.330900494624, + -7.1278983122715545 + ], + [ + 921.92006655821, + 48.27678933386568 + ], + [ + 1122.9589076612692, + 121.71373804107941 + ], + [ + 1216.3431899737689, + 51.85989236248861 + ], + [ + 1134.5399427308735, + -409.1123774463658 + ], + [ + 1013.3251080073503, + -393.6229518236472 + ], + [ + 1307.6842660495531, + -371.50744730508393 + ], + [ + 1404.7796471205381, + -392.58724767051035 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00050/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00050/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d46ed59d7893ced3d7ab39aa1536b10c58c51764 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00050/meta.json @@ -0,0 +1,3624 @@ +{ + "frame_id": 50, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 25.0, + "sim_timestamp": 10291.033407311887 + }, + "drone_pose": { + "x": -123.94528081012973, + "y": -113.5141101432763, + "z": 19.99397248752885, + "pitch": -40.85612751327153, + "yaw": 40.582765223194045, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5744264125823975, + -0.49204328656196594, + 0.654161810874939, + 113.97200012207031 + ], + [ + 0.6505457758903503, + 0.7594670653343201, + -1.4901161193847656e-08, + 5.578147888183594 + ], + [ + -0.4968143403530121, + 0.4255622625350952, + 0.756354570388794, + -125.00765228271484 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -123.4710786576551, + "y": -113.07755132241562, + "z": 20.005846183823095 + }, + "t1_image_uv": [ + 686.1781990120111, + -501.72658977243316 + ], + "t1_depth": 0.47943274906276867 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -106.66718292236328, + "y": -100.18776321411131, + "z": 0.7273967456817627 + }, + "image_uv": [ + 603.0572459812479, + 370.46838883130675 + ], + "depth": 29.085593753013853, + "visible": false, + "in_view": true, + "lost_reason": "occluded", + "pixel_count": 0, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -106.66718292236328, + "y": -100.18775939941406, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.2064843773841858, + "y": 0.23777343332767487, + "z": 0.5173739790916443 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 593.9472231890436, + "ymin": 352.6694553477444, + "xmax": 611.8714712143534, + "ymax": 388.06171629984175 + }, + "corners_3d": [ + [ + -106.64505767822266, + -100.50189971923828, + 0.2100226879119873 + ], + [ + -106.9813232421875, + -100.16563415527344, + 0.2100226879119873 + ], + [ + -106.6893081665039, + -99.87361907958984, + 0.2100226879119873 + ], + [ + -106.35304260253906, + -100.20988464355469, + 0.2100226879119873 + ], + [ + -106.64505767822266, + -100.50189971923828, + 1.2447706460952759 + ], + [ + -106.9813232421875, + -100.16563415527344, + 1.2447706460952759 + ], + [ + -106.6893081665039, + -99.87361907958984, + 1.2447706460952759 + ], + [ + -106.35304260253906, + -100.20988464355469, + 1.2447706460952759 + ] + ], + "corners_2d": [ + [ + 595.011788221159, + 387.2496651174307 + ], + [ + 610.5282816565924, + 388.06171629984175 + ], + [ + 611.8714712143534, + 379.02045411919664 + ], + [ + 596.517006618153, + 378.2254120032282 + ], + [ + 593.9472231890436, + 361.62902395253127 + ], + [ + 609.8302104625867, + 362.4354733084955 + ], + [ + 611.2123972748656, + 353.45861951727716 + ], + [ + 595.499141349037, + 352.6694553477444 + ] + ], + "center_offset_px": [ + -36.94275401875211, + 10.468388831306754 + ] + }, + "trace_timestep_index": 50, + "instance_stats": { + "semantic_tags_present": 16, + "instances_present": 64, + "semantic_pixel_counts": { + "1": 262461, + "2": 153219, + "3": 380372, + "4": 24868, + "5": 232, + "6": 19437, + "7": 3609, + "9": 1188, + "10": 26085, + "12": 1226, + "14": 4441, + "16": 24742, + "20": 1360, + "21": 3040, + "22": 1, + "24": 15319 + }, + "instance_pixel_counts": { + "1115": 7811, + "1118": 462, + "1169": 855, + "1627": 2352, + "5205": 298, + "11394": 2764, + "12894": 1827, + "13397": 17, + "13909": 5, + "14416": 232, + "14979": 156, + "16023": 2239, + "16476": 177, + "17232": 24868, + "17500": 48, + "18011": 196090, + "18012": 175, + "19784": 1, + "20631": 4555, + "23808": 5038, + "24064": 13580, + "27072": 10214, + "29843": 14317, + "30656": 40877, + "31168": 6371, + "31891": 8030, + "34120": 36382, + "34453": 1192, + "35924": 182, + "36443": 174119, + "36501": 825, + "36948": 323, + "37460": 1508, + "43659": 528, + "44171": 2619, + "44179": 13045, + "44691": 162420, + "45203": 226, + "46227": 64423, + "46731": 2631, + "46741": 484, + "47253": 10138, + "47765": 94, + "48267": 763, + "48779": 2030, + "48789": 2586, + "49803": 2827, + "49920": 35, + "50176": 341, + "50432": 850, + "52480": 1679, + "52672": 2287, + "52736": 23063, + "53184": 4851, + "54016": 2152, + "54720": 5457, + "55232": 8763, + "55744": 7552, + "55879": 494, + "56135": 8271, + "56768": 12273, + "57173": 1188, + "62555": 1147, + "63067": 1173 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 0, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -106.66718292236328, + "y": -100.18775939941406, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.1971435546875, + "y": 0.20720702409744263, + "z": 0.524293839931488 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 594.9953228762092, + "ymin": 352.7457949037773, + "xmax": 610.8578213819419, + "ymax": 387.97017953614954 + }, + "corners_3d": [ + [ + -106.66006469726562, + -100.47367858886719, + 0.20310282707214355 + ], + [ + -106.9531021118164, + -100.1806411743164, + 0.20310282707214355 + ], + [ + -106.67430114746094, + -99.90184020996094, + 0.20310282707214355 + ], + [ + -106.38126373291016, + -100.19487762451172, + 0.20310282707214355 + ], + [ + -106.66006469726562, + -100.47367858886719, + 1.2516905069351196 + ], + [ + -106.9531021118164, + -100.1806411743164, + 1.2516905069351196 + ], + [ + -106.67430114746094, + -99.90184020996094, + 1.2516905069351196 + ], + [ + -106.38126373291016, + -100.19487762451172, + 1.2516905069351196 + ] + ], + "corners_2d": [ + [ + 596.049221868464, + 387.262832469454 + ], + [ + 609.5657005307612, + 387.97017953614954 + ], + [ + 610.8578213819419, + 379.3387525980156 + ], + [ + 597.4761109576857, + 378.64555562784807 + ], + [ + 594.9953228762092, + 361.3005023902251 + ], + [ + 608.835297785455, + 362.0028965622988 + ], + [ + 610.1656294311031, + 353.43380618084814 + ], + [ + 596.4669170678634, + 352.7457949037773 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 35, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -102.54119873046875, + "y": -97.19005584716797, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.36714354157447815, + "y": 0.3392285108566284, + "z": 0.8836970925331116 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 583.8727818710614, + "ymin": 247.8035579567337, + "xmax": 607.1423272108892, + "ymax": 303.56969783239197 + }, + "corners_3d": [ + [ + -102.66435241699219, + -97.67451477050781, + -0.30869781970977783 + ], + [ + -103.03386688232422, + -97.10551452636719, + -0.30869781970977783 + ], + [ + -102.41804504394531, + -96.70559692382812, + -0.30869781970977783 + ], + [ + -102.04853057861328, + -97.27459716796875, + -0.30869781970977783 + ], + [ + -102.66435241699219, + -97.67451477050781, + 1.4586963653564453 + ], + [ + -103.03386688232422, + -97.10551452636719, + 1.4586963653564453 + ], + [ + -102.41804504394531, + -96.70559692382812, + 1.4586963653564453 + ], + [ + -102.04853057861328, + -97.27459716796875, + 1.4586963653564453 + ] + ], + "corners_2d": [ + [ + 587.6870682098231, + 303.56969783239197 + ], + [ + 607.1423272108892, + 301.9992494043827 + ], + [ + 604.9331061257492, + 289.46406829305135 + ], + [ + 585.7898407167432, + 290.9838999183643 + ], + [ + 585.8054172267587, + 261.6152651422689 + ], + [ + 605.9629496117734, + 260.0766446533226 + ], + [ + 603.6955825083186, + 247.8035579567337 + ], + [ + 583.8727818710614, + 249.29085044053835 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 341, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -108.92300415039062, + "y": -93.24504852294922, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.36295896768569946, + "y": 0.4176904261112213, + "z": 0.8877543210983276 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 795.0668002123747, + "ymin": 288.2430020046936, + "xmax": 830.6361367783936, + "ymax": 345.2655893470489 + }, + "corners_3d": [ + [ + -108.94221496582031, + -93.7980728149414, + -0.3127501606941223 + ], + [ + -109.46793365478516, + -93.14885711669922, + -0.3127501606941223 + ], + [ + -108.90379333496094, + -92.69202423095703, + -0.3127501606941223 + ], + [ + -108.3780746459961, + -93.34123992919922, + -0.3127501606941223 + ], + [ + -108.94221496582031, + -93.7980728149414, + 1.4627585411071777 + ], + [ + -109.46793365478516, + -93.14885711669922, + 1.4627585411071777 + ], + [ + -108.90379333496094, + -92.69202423095703, + 1.4627585411071777 + ], + [ + -108.3780746459961, + -93.34123992919922, + 1.4627585411071777 + ] + ], + "corners_2d": [ + [ + 798.3688177254884, + 345.2655893470489 + ], + [ + 823.6338064352, + 344.8153766112576 + ], + [ + 819.9025384568479, + 330.90894733193784 + ], + [ + 795.0668002123747, + 331.34392498955907 + ], + [ + 804.4112054629732, + 302.35370953112573 + ], + [ + 830.6361367783936, + 301.9109212276677 + ], + [ + 826.6411657773846, + 288.2430020046936 + ], + [ + 800.8784243873413, + 288.67025007419534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 850, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -116.16718292236328, + "y": -100.18775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.4133398234844208, + "y": 0.4755566418170929, + "z": 0.894093930721283 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 819.8541797442554, + "ymin": 530.9798293302733, + "xmax": 871.6744917311016, + "ymax": 605.1476670250169 + }, + "corners_3d": [ + [ + -116.1231918334961, + -100.8163070678711, + -0.3191092610359192 + ], + [ + -116.79573059082031, + -100.14376831054688, + -0.3191092610359192 + ], + [ + -116.21117401123047, + -99.55921173095703, + -0.3191092610359192 + ], + [ + -115.53863525390625, + -100.23175048828125, + -0.3191092610359192 + ], + [ + -116.1231918334961, + -100.8163070678711, + 1.469078540802002 + ], + [ + -116.79573059082031, + -100.14376831054688, + 1.469078540802002 + ], + [ + -116.21117401123047, + -99.55921173095703, + 1.469078540802002 + ], + [ + -115.53863525390625, + -100.23175048828125, + 1.469078540802002 + ] + ], + "corners_2d": [ + [ + 821.9765803499216, + 602.6679421854934 + ], + [ + 860.3702581737332, + 605.1476670250169 + ], + [ + 857.2699928578456, + 577.8907489665844 + ], + [ + 819.8541797442554, + 575.5349903289954 + ], + [ + 831.2887254384539, + 558.286143010105 + ], + [ + 871.6744917311016, + 560.7852365893689 + ], + [ + 868.1186151491468, + 533.3478414745293 + ], + [ + 828.8133848388583, + 530.9798293302733 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 1679, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 397.11968778390445, + "ymin": 28.1464514849813, + "xmax": 640.3813547963249, + "ymax": 254.20963238805345 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 490.9809184345356, + 121.67329253594227 + ], + [ + 413.6199290168772, + 149.67740672434454 + ], + [ + 558.2054249488183, + 254.20963238805345 + ], + [ + 640.3526650181423, + 216.2550005902692 + ], + [ + 480.6439667584648, + 28.1464514849813 + ], + [ + 397.11968778390445, + 53.444748779127735 + ], + [ + 551.1517412061843, + 149.36657574760125 + ], + [ + 640.3813547963249, + 114.26353513486288 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 23063, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 632.4942556029304, + "ymin": 0.0, + "xmax": 876.7980876564178, + "ymax": 185.13407303823055 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 797.274743739094, + 185.13407303823055 + ], + [ + 860.5959006917897, + 153.90588816856229 + ], + [ + 695.0849693713133, + 74.70939541960888 + ], + [ + 632.9621178110116, + 98.36582972620124 + ], + [ + 809.4488015542727, + 85.67961769850086 + ], + [ + 876.7980876564178, + 57.244408034365165 + ], + [ + 698.5848747334612, + -13.940597020255325 + ], + [ + 632.4942556029304, + 7.184702777441373 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 2152, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 559.8407208371353, + "ymin": 109.0961669112408, + "xmax": 680.1539377880363, + "ymax": 208.07440784876803 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 595.3191651101449, + 142.98004087067756 + ], + [ + 561.8801682854302, + 156.37507605161542 + ], + [ + 644.8561984110579, + 208.07440784876803 + ], + [ + 679.0735852027873, + 192.40582671069365 + ], + [ + 594.1782679238509, + 109.0961669112408 + ], + [ + 559.8407208371353, + 122.08149208434224 + ], + [ + 644.993732850704, + 172.33571496636492 + ], + [ + 680.1539377880363, + 157.08220892481526 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 52908959695452696, + "instance_id": 6202, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": -79.05494689941406, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1174.0657270786269, + "ymin": 145.8533974987278, + "xmax": 1195.9777078589193, + "ymax": 174.14408009283127 + }, + "corners_3d": [ + [ + -113.29469299316406, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -78.86498260498047, + 3.5146729946136475 + ], + [ + -113.29469299316406, + -78.86498260498047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1174.0657270786269, + 171.13903800546947 + ], + [ + 1181.6612582889315, + 174.14408009283127 + ], + [ + 1186.776679076896, + 170.63745323674738 + ], + [ + 1179.1985621075828, + 167.66494993830693 + ], + [ + 1183.0600106446727, + 149.26521490823177 + ], + [ + 1190.8269191418942, + 152.21689574155454 + ], + [ + 1195.9777078589193, + 148.77258226025742 + ], + [ + 1188.229282238026, + 145.8533974987278 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 901.211840323611, + "ymin": 452.15081261501905, + "xmax": 933.1545379082575, + "ymax": 499.7125818305849 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 912.5671751925775, + 499.7125818305849 + ], + [ + 924.4066797383915, + 490.21499784109267 + ], + [ + 913.0636986350225, + 482.27182376158845 + ], + [ + 901.211840323611, + 491.61220783045894 + ], + [ + 921.0363452230622, + 469.5648577152382 + ], + [ + 933.1545379082575, + 460.07940846691497 + ], + [ + 921.3910905835994, + 452.15081261501905 + ], + [ + 909.2583126665373, + 461.47447130205177 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5668522571212290485, + "instance_id": 46457, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -89.45570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1030.5115320613033, + "ymin": 168.25484064899797, + "xmax": 1055.177646064414, + "ymax": 203.6316291336955 + }, + "corners_3d": [ + [ + -113.19542694091797, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -89.26573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -89.26573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1030.5115320613033, + 199.71150982840643 + ], + [ + 1039.1575390978887, + 203.6316291336955 + ], + [ + 1046.5443627058198, + 199.03354583550188 + ], + [ + 1037.9143286585975, + 195.16658336383531 + ], + [ + 1038.8129242858922, + 172.70867395172974 + ], + [ + 1047.6934334555351, + 176.55125487598247 + ], + [ + 1055.177646064414, + 172.04421676129266 + ], + [ + 1046.314496859611, + 168.25484064899797 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1169.0518795598418, + "ymin": 639.894811210916, + "xmax": 1217.012140889255, + "ymax": 694.333552548477 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1185.3936171780465, + 694.333552548477 + ], + [ + 1196.379717973475, + 680.6693019146716 + ], + [ + 1180.1191278111012, + 669.2824714166538 + ], + [ + 1169.0518795598418, + 682.6761167502498 + ], + [ + 1205.8677645960802, + 665.2160373428223 + ], + [ + 1217.012140889255, + 651.3993674608791 + ], + [ + 1199.9431231138628, + 639.894811210916 + ], + [ + 1188.7063732373288, + 653.4278053038914 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7157878223548397302, + "instance_id": 63030, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -86.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1077.4451312927245, + "ymin": 140.4188678171712, + "xmax": 1101.9364859245939, + "ymax": 174.4844312009481 + }, + "corners_3d": [ + [ + -113.19542694091797, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -86.76573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -86.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1077.4451312927245, + 170.89516628307072 + ], + [ + 1085.9799254594288, + 174.4844312009481 + ], + [ + 1092.743619458076, + 170.27423858592167 + ], + [ + 1084.2268398241658, + 166.73156544284953 + ], + [ + 1086.336150003604, + 144.49161752539098 + ], + [ + 1095.0961915763623, + 148.0034264452624 + ], + [ + 1101.9364859245939, + 143.8841704672615 + ], + [ + 1093.1958826013304, + 140.4188678171712 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7631990878982166785, + "instance_id": 473, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": -83.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1128.6981741715824, + "ymin": 110.06003102515413, + "xmax": 1152.906045386007, + "ymax": 142.67170691785037 + }, + "corners_3d": [ + [ + -113.1954345703125, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47261047363281, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.19544219970703, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47261047363281, + -83.76573944091797, + 6.416468620300293 + ], + [ + -113.19544219970703, + -83.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1128.6981741715824, + 139.42699574205835 + ], + [ + 1137.0846196246957, + 142.67170691785037 + ], + [ + 1143.1993352959032, + 138.86549349074048 + ], + [ + 1134.8325235242692, + 135.66084808024598 + ], + [ + 1138.134014280835, + 113.73670830432704 + ], + [ + 1146.734453642401, + 116.90503992030631 + ], + [ + 1152.906045386007, + 113.18848973789636 + ], + [ + 1144.3266586257462, + 110.06003102515413 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 723.5941551554951, + "ymin": 421.8456159116499, + "xmax": 744.9091523603038, + "ymax": 460.10648846028755 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 731.5132392264456, + 460.10648846028755 + ], + [ + 742.4086105897867, + 452.81492983458656 + ], + [ + 734.4785459116337, + 446.66146199369166 + ], + [ + 723.5941551554951, + 453.85575419915006 + ], + [ + 733.7658301107009, + 435.24876648491806 + ], + [ + 744.9091523603038, + 427.97873502912887 + ], + [ + 736.769706032403, + 421.8456159116499 + ], + [ + 725.6376564183049, + 429.01631493889636 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1035.2080452945381, + "ymin": 545.8852256414468, + "xmax": 1074.7504393312565, + "ymax": 596.9974125864973 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1048.9438203804334, + 596.9974125864973 + ], + [ + 1060.490184744544, + 585.510490248454 + ], + [ + 1046.7960277572715, + 575.9208531124407 + ], + [ + 1035.2080452945381, + 587.1989419415279 + ], + [ + 1062.9685615777817, + 567.0587701559461 + ], + [ + 1074.7504393312565, + 555.5154354821069 + ], + [ + 1060.4623524742476, + 545.8852256414468 + ], + [ + 1048.6330584998934, + 557.2116451143968 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 953.3668520563632, + "ymin": 2.912051805773217, + "xmax": 1249.3637126007607, + "ymax": 365.0925873330304 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1156.473239696827, + 229.81860834127716 + ], + [ + 1145.5991328185391, + 225.01323274750453 + ], + [ + 953.3668520563632, + 358.25990381430955 + ], + [ + 964.7567814161362, + 365.0925873330304 + ], + [ + 1249.3637126007607, + 6.7706462942508665 + ], + [ + 1235.798338676299, + 2.912051805773217 + ], + [ + 1022.3433539924724, + 113.5565682944378 + ], + [ + 1036.9609241224894, + 119.4417705756452 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 205.95726106051535, + "ymin": 0.0, + "xmax": 328.04648625934135, + "ymax": 64.4490497890497 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 252.45509253885945, + 61.59959036461089 + ], + [ + 256.2033667127157, + 64.4490497890497 + ], + [ + 328.04648625934135, + 43.856035417729174 + ], + [ + 324.0736583615606, + 41.22127616947529 + ], + [ + 205.95726106051535, + -107.37746467490882 + ], + [ + 209.8787897253515, + -105.19858364231925 + ], + [ + 292.0109631959213, + -120.88256014797525 + ], + [ + 287.7877074949947, + -122.87876988815572 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 43.874904235391455, + "ymax": 7.107757569399837 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 35.34773361290763, + 7.107757569399837 + ], + [ + 43.874904235391455, + 5.156619498745044 + ], + [ + 24.241590875242082, + -13.851448871775176 + ], + [ + 15.979335643987042, + -12.053497102695701 + ], + [ + -29.095487757800356, + -148.80266938332272 + ], + [ + -19.372284539274347, + -150.25600453192817 + ], + [ + -38.21187879460217, + -164.34851558211915 + ], + [ + -47.58684107034901, + -163.02062057526348 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 586.0565182554006, + "ymin": 0.0, + "xmax": 643.4861107524562, + "ymax": 0.7649143261954237 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 611.9843992467034, + 0.7649143261954237 + ], + [ + 643.2903850004834, + -9.002725361146872 + ], + [ + 620.190055428028, + -18.774302731288742 + ], + [ + 589.0824034963131, + -9.420294992882702 + ], + [ + 610.2804816948817, + -88.59263153565746 + ], + [ + 643.4861107524562, + -96.97819426126392 + ], + [ + 619.0380910606166, + -105.34602716867244 + ], + [ + 586.0565182554006, + -97.33620886340799 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 511.3333569820653, + "ymin": 0.0, + "xmax": 526.2488233170089, + "ymax": 2.1140367361203403 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 511.6089798638602, + -0.29032146544579973 + ], + [ + 516.5139639161724, + 2.1140367361203403 + ], + [ + 526.2488233170089, + -0.7508319603194309 + ], + [ + 521.3241870806107, + -3.126189843926852 + ], + [ + 511.3333569820653, + -3.446597874389113 + ], + [ + 516.2475117425146, + -1.0532328617518942 + ], + [ + 526.0048682340941, + -3.904996828175399 + ], + [ + 521.0709607550034, + -6.269432551360865 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 952.8686402288658, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 270.16061628593866 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 1047.723658743172, + 270.16061628593866 + ], + [ + 1179.169175058883, + 179.5402820584301 + ], + [ + 1087.8946038537892, + 143.0708840003246 + ], + [ + 952.8686402288658, + 223.17825040021305 + ], + [ + 1181.843087639303, + -124.51313960382765 + ], + [ + 1328.7974730175536, + -178.5753127597543 + ], + [ + 1203.4177261069397, + -199.16944449321193 + ], + [ + 1047.2849703311708, + -153.07408517362353 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 788.8832117265312, + "ymin": 435.1668141558202, + "xmax": 818.2277914019373, + "ymax": 460.0696565579085 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 800.1307734197252, + 439.45736641727143 + ], + [ + 788.8832117265312, + 447.1996986223275 + ], + [ + 806.2229101838808, + 460.0696565579085 + ], + [ + 817.4785377430912, + 452.1095347540127 + ], + [ + 800.7974795228266, + 435.1668141558202 + ], + [ + 789.5083860425167, + 442.9049894891592 + ], + [ + 806.9307280489626, + 455.7692510471206 + ], + [ + 818.2277914019373, + 447.81247368035446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7664114084626016696, + "instance_id": 47273, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.91487884521484, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 762.8770266912727, + "ymin": 0.0, + "xmax": 839.4474377361505, + "ymax": 81.81103856833988 + }, + "corners_3d": [ + [ + -95.94330596923828, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -79.87950897216797, + 4.83804988861084 + ], + [ + -95.94330596923828, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 794.2210067460157, + 81.81103856833988 + ], + [ + 826.3696181284498, + 68.44088364732744 + ], + [ + 794.9734533059968, + 55.16011842161686 + ], + [ + 762.8770266912727, + 67.87142381903874 + ], + [ + 805.3308361468837, + -18.18970753781798 + ], + [ + 839.4474377361505, + -29.90643707264792 + ], + [ + 805.5617618490362, + -41.504500120372484 + ], + [ + 771.4897283148659, + -30.404568409996102 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9560389216542849208, + "instance_id": 47352, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_1", + "bbox_3d": { + "center_world": { + "x": -94.91524505615234, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 770.7110689735175, + "ymin": 0.0, + "xmax": 834.3857832823003, + "ymax": 12.311004744672857 + }, + "corners_3d": [ + [ + -95.88141632080078, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -95.88141632080078, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -93.9490737915039, + -77.64111328125, + 3.4435572624206543 + ], + [ + -93.9490737915039, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -95.88141632080078, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -95.88141632080078, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -93.9490737915039, + -77.64111328125, + 3.7680342197418213 + ], + [ + -93.9490737915039, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 801.7690094541348, + 12.311004744672857 + ], + [ + 833.4606274413941, + 0.7240950116303111 + ], + [ + 802.3606411339978, + -10.714181591683484 + ], + [ + 770.7110689735175, + 0.3102192201355365 + ], + [ + 802.5617350775698, + 5.1679548907101776 + ], + [ + 834.3857832823003, + -6.3020476704125485 + ], + [ + 803.1181294643931, + -17.622268574487066 + ], + [ + 771.3355956210935, + -6.711696126439676 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 426.4055287527669, + "ymin": 0.0, + "xmax": 543.9022195870592, + "ymax": 221.0469192054718 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 455.942125851883, + 216.29159471933625 + ], + [ + 462.1974386339553, + 221.0469192054718 + ], + [ + 543.9022195870592, + 187.01045949724596 + ], + [ + 537.4183452881922, + 182.710387051873 + ], + [ + 426.4055287527669, + 15.108073541070553 + ], + [ + 433.43507177510776, + 19.01383052214061 + ], + [ + 529.2390068293932, + -8.751785958477171 + ], + [ + 521.8836876251644, + -12.228430726729528 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 789.0386343383187, + "ymin": 435.29752131277525, + "xmax": 818.0706239083676, + "ymax": 459.9355381865938 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 800.1666207567628, + 439.5424964211329 + ], + [ + 789.0386343383187, + 447.20344278956287 + ], + [ + 806.1941115522736, + 459.9355381865938 + ], + [ + 817.3299974193692, + 452.06140689350633 + ], + [ + 800.8264468290221, + 435.29752131277525 + ], + [ + 789.6578086105948, + 442.95440291023874 + ], + [ + 806.8941791630316, + 455.680918000225 + ], + [ + 818.0706239083676, + 447.81006469802423 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 511.41309896821474, + "ymin": 0.0, + "xmax": 526.1699625674144, + "ymax": 2.0691727529513173 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 511.68562284467527, + -0.3094178140983104 + ], + [ + 516.5386249772342, + 2.0691727529513173 + ], + [ + 526.1699625674144, + -0.7650049029089132 + ], + [ + 521.2977234316764, + -3.1152089298876717 + ], + [ + 511.41309896821474, + -3.432110802042871 + ], + [ + 516.27507836177, + -1.0642805145932357 + ], + [ + 525.9284364911045, + -3.8856310951042587 + ], + [ + 521.0471227332354, + -6.225143629078957 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.585704217534, + "ymin": 336.8309760224817, + "xmax": 826.4732137947165, + "ymax": 692.2387179962268 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 670.7258049110028, + 575.4996170452318 + ], + [ + 657.585704217534, + 584.9699963203572 + ], + [ + 769.8907812451413, + 692.2387179962268 + ], + [ + 783.2440818737407, + 680.7556054800399 + ], + [ + 678.9242667580414, + 336.8309760224817 + ], + [ + 662.3319986154906, + 346.1127243373821 + ], + [ + 809.6006822365432, + 454.4723797490429 + ], + [ + 826.4732137947165, + 442.58116916930055 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15445048005953999223, + "instance_id": 30545, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_0", + "bbox_3d": { + "center_world": { + "x": -94.91524505615234, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 770.6702720904763, + "ymin": 0.0, + "xmax": 834.422699391595, + "ymax": 12.372951265019424 + }, + "corners_3d": [ + [ + -95.88260650634766, + -79.81846618652344, + 3.441368341445923 + ], + [ + -95.88261413574219, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -93.94788360595703, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -93.9478759765625, + -79.81846618652344, + 3.441368341445923 + ], + [ + -95.88260650634766, + -79.81846618652344, + 3.768015146255493 + ], + [ + -95.88261413574219, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -93.94788360595703, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -93.9478759765625, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 801.7655546889954, + 12.372951265019424 + ], + [ + 833.4912077615894, + 0.7722365864228209 + ], + [ + 802.3537770596047, + -10.680631020207045 + ], + [ + 770.6702720904763, + 0.3562448400443827 + ], + [ + 802.563587595585, + 5.182230852591999 + ], + [ + 834.422699391595, + -6.300673754120055 + ], + [ + 803.1162771942423, + -17.634560715367115 + ], + [ + 771.2987773155063, + -6.71238887953416 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 705.8123372699388, + "ymin": 256.2537341603015, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 717.6455772390281, + 517.2226704615068 + ], + [ + 705.8123372699388, + 525.3884414977474 + ], + [ + 1133.0901413906674, + 900.6772085735203 + ], + [ + 1144.523210835798, + 885.2434331729679 + ], + [ + 738.9136203337059, + 256.2537341603015 + ], + [ + 724.0294407912618, + 263.9245366619254 + ], + [ + 1342.9159758654791, + 658.4244281969509 + ], + [ + 1355.78524776868, + 640.3971179786467 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 23.08745215264662, + "ymin": 0.0, + "xmax": 291.3972042173779, + "ymax": 1.7900233847779532 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 86.20496645142998, + -0.39975962711991997 + ], + [ + 88.60037237327049, + 1.7900233847779532 + ], + [ + 291.3972042173779, + -44.68206680187751 + ], + [ + 288.38814564816226, + -46.462755801241144 + ], + [ + 23.08745215264662, + -167.98183533543317 + ], + [ + 25.42945017499153, + -166.41161363393599 + ], + [ + 255.7926583342542, + -199.38111248784605 + ], + [ + 252.64179449394555, + -200.6297954623402 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 5199819733356185808, + "instance_id": 53256, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1851_37", + "bbox_3d": { + "center_world": { + "x": -100.25784301757812, + "y": -72.39555358886719, + "z": 8.309331893920898 + }, + "extent": { + "x": 4.9728498458862305, + "y": 4.831793308258057, + "z": 8.307754516601562 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 823.4024824133814, + "ymin": 0.0, + "xmax": 1239.944051359552, + "ymax": 138.2947845167834 + }, + "corners_3d": [ + [ + -94.59623718261719, + -68.39283752441406, + 0.0015773773193359375 + ], + [ + -96.09391784667969, + -77.93966674804688, + 0.0015773773193359375 + ], + [ + -105.91944885253906, + -76.39826965332031, + 0.0015773773193359375 + ], + [ + -104.42176818847656, + -66.8514404296875, + 0.0015773773193359375 + ], + [ + -94.59623718261719, + -68.39283752441406, + 16.61708641052246 + ], + [ + -96.09391784667969, + -77.93966674804688, + 16.61708641052246 + ], + [ + -105.91944885253906, + -76.39826965332031, + 16.61708641052246 + ], + [ + -104.42176818847656, + -66.8514404296875, + 16.61708641052246 + ] + ], + "corners_2d": [ + [ + 919.412410998402, + 16.395033823222036 + ], + [ + 823.4024824133814, + 74.46361032987534 + ], + [ + 1019.0147537119406, + 138.2947845167834 + ], + [ + 1101.9440880102716, + 66.71474926042737 + ], + [ + 993.0017993984618, + -366.4359771816329 + ], + [ + 879.2228754810119, + -350.27299529624884 + ], + [ + 1152.654540918886, + -331.2512393143587 + ], + [ + 1239.944051359552, + -352.4902127697868 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00051/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00051/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4cf339134a76006292ec9b6b557c0d797c2691c6 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00051/meta.json @@ -0,0 +1,3201 @@ +{ + "frame_id": 51, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 25.5, + "sim_timestamp": 10302.125722108409 + }, + "drone_pose": { + "x": -123.4710786576551, + "y": -113.07755132241562, + "z": 20.005846183823095, + "pitch": -41.383922986732465, + "yaw": 37.73277384987301, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5933898091316223, + -0.45916613936424255, + 0.6611013412475586, + 111.96196746826172 + ], + [ + 0.6119794845581055, + 0.790873646736145, + -1.4901161193847656e-08, + 13.8682861328125 + ], + [ + -0.5228476524353027, + 0.4045804738998413, + 0.7502965927124023, + -125.31584167480469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -123.11513313756372, + "y": -112.60481156773845, + "z": 20.00688519476782 + }, + "t1_image_uv": [ + 990.3423964174867, + -488.9842695725562 + ], + "t1_depth": 0.42759363968419706 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -106.16718292236328, + "y": -99.68776321411131, + "z": 0.7274065208435059 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 29.161095127623078, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 91, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -106.16718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.26555660367012024, + "y": 0.1971191167831421, + "z": 0.5398792028427124 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.4125408369607, + "ymin": 339.3915964043172, + "xmax": 650.6370791965459, + "ymax": 380.4550639869005 + }, + "corners_3d": [ + [ + -106.4327392578125, + -99.88488006591797, + 0.18752723932266235 + ], + [ + -106.4327392578125, + -99.49063873291016, + 0.18752723932266235 + ], + [ + -105.90162658691406, + -99.49063873291016, + 0.18752723932266235 + ], + [ + -105.90162658691406, + -99.88488006591797, + 0.18752723932266235 + ], + [ + -106.4327392578125, + -99.88488006591797, + 1.2672855854034424 + ], + [ + -106.4327392578125, + -99.49063873291016, + 1.2672855854034424 + ], + [ + -105.90162658691406, + -99.49063873291016, + 1.2672855854034424 + ], + [ + -105.90162658691406, + -99.88488006591797, + 1.2672855854034424 + ] + ], + "corners_2d": [ + [ + 640.2171411739224, + 380.4550639869005 + ], + [ + 650.3792584951702, + 375.13010460267844 + ], + [ + 639.7866730120217, + 366.0139725969513 + ], + [ + 629.6679953821487, + 371.2264286377609 + ], + [ + 640.222569151204, + 353.7310987274803 + ], + [ + 650.6370791965459, + 348.44220833950925 + ], + [ + 639.7814314548675, + 339.3915964043172 + ], + [ + 629.4125408369607, + 344.56600638700934 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 51, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 58, + "semantic_pixel_counts": { + "1": 242808, + "2": 148671, + "3": 403335, + "4": 23615, + "5": 268, + "6": 19747, + "7": 3375, + "9": 1603, + "10": 26325, + "12": 1434, + "14": 4834, + "16": 26012, + "20": 1296, + "21": 3028, + "24": 15249 + }, + "instance_pixel_counts": { + "1115": 7728, + "1118": 486, + "1169": 927, + "1627": 21, + "11394": 2924, + "12894": 2094, + "14416": 268, + "14979": 152, + "16023": 2397, + "16476": 192, + "17232": 23615, + "17500": 51, + "18011": 201295, + "18012": 188, + "20631": 3851, + "23808": 4785, + "24064": 13268, + "27072": 10914, + "29843": 11655, + "30656": 39634, + "31168": 6669, + "31891": 4413, + "34120": 37565, + "34453": 887, + "35924": 82, + "36443": 194291, + "36501": 591, + "36948": 287, + "37460": 1993, + "43659": 574, + "44171": 2427, + "44179": 13807, + "44691": 143762, + "46227": 69171, + "46731": 2343, + "46741": 500, + "47253": 10474, + "48779": 2178, + "48789": 2797, + "49664": 91, + "49803": 3053, + "49920": 103, + "50176": 376, + "50432": 864, + "52480": 1798, + "52672": 2057, + "52736": 24214, + "53184": 5163, + "54016": 2254, + "54720": 5827, + "55232": 2801, + "55744": 7857, + "55879": 581, + "56135": 6859, + "56768": 13361, + "57173": 1603, + "62555": 1295, + "63067": 1302 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 91, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -106.16718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.30149412155151367, + "y": 0.2129882574081421, + "z": 0.5308941602706909 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 628.2721093212713, + "ymin": 338.80657413831653, + "xmax": 651.7943094604356, + "ymax": 381.0856415476397 + }, + "corners_3d": [ + [ + -106.46867370605469, + -99.90074920654297, + 0.19651228189468384 + ], + [ + -106.46867370605469, + -99.47476959228516, + 0.19651228189468384 + ], + [ + -105.86569213867188, + -99.47476959228516, + 0.19651228189468384 + ], + [ + -105.86569213867188, + -99.90074920654297, + 0.19651228189468384 + ], + [ + -106.46867370605469, + -99.90074920654297, + 1.258300542831421 + ], + [ + -106.46867370605469, + -99.47476959228516, + 1.258300542831421 + ], + [ + -105.86569213867188, + -99.47476959228516, + 1.258300542831421 + ], + [ + -105.86569213867188, + -99.90074920654297, + 1.258300542831421 + ] + ], + "corners_2d": [ + [ + 640.527400191949, + 381.0856415476397 + ], + [ + 651.5130067327555, + 375.32390178588565 + ], + [ + 639.4825919966369, + 364.97974510834763 + ], + [ + 628.5502947051522, + 370.60345176064413 + ], + [ + 640.5403747442597, + 354.80106909743927 + ], + [ + 651.7943094604356, + 349.0775029620849 + ], + [ + 639.4701054354789, + 338.80657413831653 + ], + [ + 628.2721093212713, + 344.389721989559 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 103, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -102.04119873046875, + "y": -96.69005584716797, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.5111669898033142, + "y": 0.3410058617591858, + "z": 0.8795238137245178 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 617.4531139141683, + "ymin": 234.5359761386635, + "xmax": 653.4964660364955, + "ymax": 296.2780308816357 + }, + "corners_3d": [ + [ + -102.61209106445312, + -96.9173355102539, + -0.30452942848205566 + ], + [ + -102.47029876708984, + -96.2502212524414, + -0.30452942848205566 + ], + [ + -101.47030639648438, + -96.46277618408203, + -0.30452942848205566 + ], + [ + -101.61209869384766, + -97.12989044189453, + -0.30452942848205566 + ], + [ + -102.61209106445312, + -96.9173355102539, + 1.45451819896698 + ], + [ + -102.47029876708984, + -96.2502212524414, + 1.45451819896698 + ], + [ + -101.47030639648438, + -96.46277618408203, + 1.45451819896698 + ], + [ + -101.61209869384766, + -97.12989044189453, + 1.45451819896698 + ] + ], + "corners_2d": [ + [ + 640.4453914967751, + 296.2780308816357 + ], + [ + 653.0295622889629, + 287.1930542622922 + ], + [ + 630.8862241349169, + 275.9569367592296 + ], + [ + 618.2306761209823, + 284.7782356795608 + ], + [ + 640.4615461033693, + 254.44919231299522 + ], + [ + 653.4964660364955, + 245.5419294367478 + ], + [ + 630.5645536661921, + 234.5359761386635 + ], + [ + 617.4531139141683, + 243.17560969241822 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 376, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -108.42300415039062, + "y": -92.74504852294922, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.34251952171325684, + "y": 0.33174803853034973, + "z": 0.8793532848358154 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 833.6233151922935, + "ymin": 282.60651903889607, + "xmax": 871.1531786218534, + "ymax": 343.45360826791733 + }, + "corners_3d": [ + [ + -108.79832458496094, + -93.03917694091797, + -0.3043491244316101 + ], + [ + -108.72897338867188, + -92.37931823730469, + -0.3043491244316101 + ], + [ + -108.04768371582031, + -92.45092010498047, + -0.3043491244316101 + ], + [ + -108.11703491210938, + -93.11077880859375, + -0.3043491244316101 + ], + [ + -108.79832458496094, + -93.03917694091797, + 1.454357385635376 + ], + [ + -108.72897338867188, + -92.37931823730469, + 1.454357385635376 + ], + [ + -108.04768371582031, + -92.45092010498047, + 1.454357385635376 + ], + [ + -108.11703491210938, + -93.11077880859375, + 1.454357385635376 + ] + ], + "corners_2d": [ + [ + 850.4267677536484, + 343.45360826791733 + ], + [ + 862.6693475151994, + 334.4443517190113 + ], + [ + 845.9044556880501, + 324.93861481375905 + ], + [ + 833.6233151922935, + 333.73916535330494 + ], + [ + 858.5355944124392, + 300.83108374496493 + ], + [ + 871.1531786218534, + 291.9592324142315 + ], + [ + 853.6552051545409, + 282.60651903889607 + ], + [ + 840.9938924714428, + 291.2651145559435 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 864, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -115.66718292236328, + "y": -99.68775939941406, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.4348241686820984, + "y": 0.4504784643650055, + "z": 0.8788245320320129 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 845.4588039886031, + "ymin": 523.852555123068, + "xmax": 908.7283678176391, + "ymax": 608.7016402800184 + }, + "corners_3d": [ + [ + -116.10200500488281, + -100.13823699951172, + -0.30383503437042236 + ], + [ + -116.10200500488281, + -99.2372817993164, + -0.30383503437042236 + ], + [ + -115.23236083984375, + -99.2372817993164, + -0.30383503437042236 + ], + [ + -115.23236083984375, + -100.13823699951172, + -0.30383503437042236 + ], + [ + -116.10200500488281, + -100.13823699951172, + 1.4538140296936035 + ], + [ + -116.10200500488281, + -99.2372817993164, + 1.4538140296936035 + ], + [ + -115.23236083984375, + -99.2372817993164, + 1.4538140296936035 + ], + [ + -115.23236083984375, + -100.13823699951172, + 1.4538140296936035 + ] + ], + "corners_2d": [ + [ + 871.4453398740418, + 608.7016402800184 + ], + [ + 895.8008202968396, + 589.9550733951082 + ], + [ + 869.7405919549775, + 567.4517194595804 + ], + [ + 845.4588039886031, + 585.4156896347708 + ], + [ + 883.3563272568027, + 565.4300608532053 + ], + [ + 908.7283678176391, + 546.5146442684852 + ], + [ + 881.0962555030211, + 523.852555123068 + ], + [ + 855.7961729560991, + 541.9393835673452 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 1798, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 440.7419735289037, + "ymin": 21.92501407872288, + "xmax": 683.6789193141183, + "ymax": 253.91605354103336 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 532.8827683061564, + 116.30822156762366 + ], + [ + 454.5003546857455, + 143.03888102633573 + ], + [ + 595.8036654191783, + 253.91605354103336 + ], + [ + 680.3073148454599, + 217.20447615768234 + ], + [ + 525.2995396683243, + 21.92501407872288 + ], + [ + 440.7419735289037, + 46.13789699664568 + ], + [ + 591.896654102737, + 148.2229558534421 + ], + [ + 683.6789193141183, + 114.12421343611899 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 24214, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 676.9070290684972, + "ymin": 0.0, + "xmax": 928.430918235641, + "ymax": 189.33733102874578 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 841.7183229347464, + 189.33733102874578 + ], + [ + 908.015326954838, + 158.612465406072 + ], + [ + 740.8757690468237, + 72.78105612607027 + ], + [ + 676.9070290684972, + 95.72146870143462 + ], + [ + 857.8750557930889, + 88.4021599272051 + ], + [ + 928.430918235641, + 60.27969535956163 + ], + [ + 747.4695681770561, + -17.21038515169306 + ], + [ + 679.4253000390703, + 3.3478027604536464 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 2254, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 601.9825481750661, + "ymin": 106.43198120509251, + "xmax": 722.804372632271, + "ymax": 208.9059935859995 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 637.2231275395552, + 140.66193038677676 + ], + [ + 602.9714341825679, + 153.57839988011239 + ], + [ + 685.1658828013788, + 208.9059935859995 + ], + [ + 720.5154293577156, + 193.68442647076154 + ], + [ + 637.1505054337356, + 106.43198120509251 + ], + [ + 601.9825481750661, + 118.96888002578734 + ], + [ + 686.4794840185164, + 172.8239972968307 + ], + [ + 722.804372632271, + 157.98267469208878 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 52908959695452696, + "instance_id": 6202, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": -79.05494689941406, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1236.315987268687, + "ymin": 160.38075029430192, + "xmax": 1260.616356584645, + "ymax": 189.58354882886982 + }, + "corners_3d": [ + [ + -113.29469299316406, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -78.86498260498047, + 3.5146729946136475 + ], + [ + -113.29469299316406, + -78.86498260498047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1236.315987268687, + 186.20402293201408 + ], + [ + 1244.2930959939433, + 189.58354882886982 + ], + [ + 1249.829718684357, + 186.01923484873691 + ], + [ + 1241.8669387298187, + 182.67519325479967 + ], + [ + 1246.8665471414292, + 163.8522557258118 + ], + [ + 1255.0395129644244, + 167.17748744233486 + ], + [ + 1260.616356584645, + 163.67045343827226 + ], + [ + 1252.4588144594923, + 160.38075029430192 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 940.2705906561623, + "ymin": 479.6937863466346, + "xmax": 975.0840139458439, + "ymax": 528.2374370728098 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 951.9024167957632, + 528.2374370728098 + ], + [ + 964.6092306145515, + 518.632481083961 + ], + [ + 952.9741412805058, + 509.74248518929664 + ], + [ + 940.2705906561623, + 519.1773853813405 + ], + [ + 962.066539001687, + 498.2150569939353 + ], + [ + 975.0840139458439, + 488.5936860041638 + ], + [ + 962.9812350830862, + 479.6937863466346 + ], + [ + 949.9654186163832, + 489.1393626844116 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5668522571212290485, + "instance_id": 46457, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -89.45570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1084.9309930465256, + "ymin": 182.49031350286566, + "xmax": 1112.1273118678757, + "ymax": 218.90854664863272 + }, + "corners_3d": [ + [ + -113.19542694091797, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -89.26573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -89.26573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1084.9309930465256, + 214.520542425714 + ], + [ + 1093.9213559242598, + 218.90854664863272 + ], + [ + 1101.8405968391305, + 214.2561145480874 + ], + [ + 1092.8602322812678, + 209.92567348939212 + ], + [ + 1094.844901635896, + 187.00235270406864 + ], + [ + 1104.1003738680579, + 191.31248780168104 + ], + [ + 1112.1273118678757, + 186.74265578250285 + ], + [ + 1102.883156087848, + 182.49031350286566 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5766432567525841484, + "instance_id": 19482, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -123.30570220947266, + "y": -101.11595153808594, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1218.3275427855742, + "ymin": 693.4272517622289, + "xmax": 1271.7246905869092, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -123.44428253173828, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -100.92598724365234, + 5.545533180236816 + ], + [ + -123.16712188720703, + -101.30591583251953, + 5.545533180236816 + ], + [ + -123.44428253173828, + -101.30591583251953, + 6.416468620300293 + ], + [ + -123.44428253173828, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -100.92598724365234, + 6.416468620300293 + ], + [ + -123.16712188720703, + -101.30591583251953, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1235.5460307914545, + 749.1670290642952 + ], + [ + 1247.7242278463082, + 734.9505707868551 + ], + [ + 1230.571073608955, + 721.844409782574 + ], + [ + 1218.3275427855742, + 735.7555261867622 + ], + [ + 1259.3503787725863, + 721.1733862682795 + ], + [ + 1271.7246905869092, + 706.730444502318 + ], + [ + 1253.6339556102816, + 693.4272517622289 + ], + [ + 1241.1827155621156, + 707.5478689080439 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7157878223548397302, + "instance_id": 63030, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -86.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1135.2626320356187, + "ymin": 154.24492138579393, + "xmax": 1162.3574097394417, + "ymax": 189.38158220335114 + }, + "corners_3d": [ + [ + -113.19542694091797, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -86.76573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -86.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1135.2626320356187, + 185.3524966996265 + ], + [ + 1144.178461789151, + 189.38158220335114 + ], + [ + 1151.4500774525318, + 185.10963064890007 + ], + [ + 1142.547203438565, + 181.13121300496056 + ], + [ + 1145.8286507458115, + 158.38247727914288 + ], + [ + 1155.0006431723004, + 162.3326828868657 + ], + [ + 1162.3574097394417, + 158.14439829736946 + ], + [ + 1153.1997772264153, + 154.24492138579393 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7631990878982166785, + "instance_id": 473, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": -83.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1190.3906017724553, + "ymin": 123.3497183333613, + "xmax": 1217.2692981774119, + "ymax": 157.05877177727896 + }, + "corners_3d": [ + [ + -113.1954345703125, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47261047363281, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.19544219970703, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47261047363281, + -83.76573944091797, + 6.416468620300293 + ], + [ + -113.19544219970703, + -83.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1190.3906017724553, + 153.40513490684327 + ], + [ + 1199.194722885381, + 157.05877177727896 + ], + [ + 1205.7888669501738, + 153.18483351296302 + ], + [ + 1197.0002461891108, + 149.57496968036156 + ], + [ + 1201.562514601427, + 127.09634800980626 + ], + [ + 1210.611539015831, + 130.6711487469584 + ], + [ + 1217.2692981774119, + 126.88082666919004 + ], + [ + 1208.2372171356437, + 123.3497183333613 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 757.0046421639078, + "ymin": 436.3291244181659, + "xmax": 779.8240260156047, + "ymax": 475.0719501464092 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 764.9244528887806, + 475.0719501464092 + ], + [ + 776.374353911857, + 467.87398477941946 + ], + [ + 768.4327247688956, + 461.1499160189798 + ], + [ + 757.0046421639078, + 468.24636819518844 + ], + [ + 768.1089496212935, + 450.2318632966078 + ], + [ + 779.8240260156047, + 443.0425920635052 + ], + [ + 771.6580289555195, + 436.3291244181659 + ], + [ + 759.9655304801715, + 443.4144583604525 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1078.4072655281811, + "ymin": 585.6182692896356, + "xmax": 1121.9445255502974, + "ymax": 637.8867471463409 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1092.6766369145516, + 637.8867471463409 + ], + [ + 1105.266985300456, + 626.1045275642085 + ], + [ + 1091.0225279369242, + 615.2207978524843 + ], + [ + 1078.4072655281811, + 626.7723064030129 + ], + [ + 1109.0810339460472, + 608.4741547221449 + ], + [ + 1121.9445255502974, + 596.5890341597044 + ], + [ + 1107.025622384302, + 585.6182692896356 + ], + [ + 1094.131792206057, + 597.2624037543507 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 997.5731308950996, + "ymin": 13.01941259533828, + "xmax": 1280.0, + "ymax": 381.84525885277424 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1214.9646985266904, + 246.08917646710475 + ], + [ + 1203.609335909954, + 240.7163423006902 + ], + [ + 997.5731308950996, + 374.30489377219095 + ], + [ + 1009.2284319551306, + 381.84525885277424 + ], + [ + 1324.2210460402184, + 17.409540427440447 + ], + [ + 1309.7736912205105, + 13.01941259533828 + ], + [ + 1080.1715321244428, + 125.93263381150496 + ], + [ + 1095.441411784225, + 132.54802309095652 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 256.5979184249553, + "ymin": 0.0, + "xmax": 373.32985490067995, + "ymax": 52.92314944370332 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 298.05454247509704, + 49.96099895955035 + ], + [ + 301.63746012770304, + 52.92314944370332 + ], + [ + 373.32985490067995, + 33.530595977365465 + ], + [ + 369.49517863662703, + 30.77729218200352 + ], + [ + 256.5979184249553, + -119.71837351700088 + ], + [ + 260.3607814512826, + -117.4473009717197 + ], + [ + 342.1068476703193, + -132.2604496610253 + ], + [ + 338.01061939039243, + -134.35308899765016 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1001.4759762146217, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 285.2826693312962 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 1099.140722511858, + 285.2826693312962 + ], + [ + 1240.6131932072535, + 193.9398546980879 + ], + [ + 1145.3515704441452, + 153.2277338357183 + ], + [ + 1001.4759762146217, + 233.3132199867139 + ], + [ + 1259.0231525451932, + -120.13002321478547 + ], + [ + 1417.6826963242709, + -176.2241362824276 + ], + [ + 1282.9843051232392, + -199.81871872892725 + ], + [ + 1116.1750378598188, + -152.5991514620638 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 825.04703831234, + "ymin": 459.76625682546467, + "xmax": 855.6277648149754, + "ymax": 486.23323336808687 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 837.0134123322296, + 464.05794259715384 + ], + [ + 825.04703831234, + 471.8624288783302 + ], + [ + 842.6802522118235, + 486.23323336808687 + ], + [ + 854.6788669846537, + 478.19376109794206 + ], + [ + 837.8714033597034, + 459.76625682546467 + ], + [ + 825.8595659486316, + 467.56959744978553 + ], + [ + 843.5836191943836, + 481.93975329646 + ], + [ + 855.6277648149754, + 473.90041053801974 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7664114084626016696, + "instance_id": 47273, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.91487884521484, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 810.3749060538773, + "ymin": 0.0, + "xmax": 892.6710429829293, + "ymax": 82.36894986192249 + }, + "corners_3d": [ + [ + -95.94330596923828, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -79.87950897216797, + 4.83804988861084 + ], + [ + -95.94330596923828, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 842.0582337092237, + 82.36894986192249 + ], + [ + 875.5665367010729, + 69.25048610981315 + ], + [ + 843.725121603173, + 54.82866007919512 + ], + [ + 810.3749060538773, + 67.2667224166467 + ], + [ + 857.1022220533794, + -19.42071801857503 + ], + [ + 892.6710429829293, + -30.971174727571338 + ], + [ + 858.106192017127, + -43.623551695379774 + ], + [ + 822.6984368059491, + -32.71437626606621 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9560389216542849208, + "instance_id": 47352, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_1", + "bbox_3d": { + "center_world": { + "x": -94.91524505615234, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 820.8050253565623, + "ymin": 0.0, + "xmax": 886.5743383863464, + "ymax": 11.658830884415238 + }, + "corners_3d": [ + [ + -95.88141632080078, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -95.88141632080078, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -93.9490737915039, + -77.64111328125, + 3.4435572624206543 + ], + [ + -93.9490737915039, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -95.88141632080078, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -95.88141632080078, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -93.9490737915039, + -77.64111328125, + 3.7680342197418213 + ], + [ + -93.9490737915039, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 852.3259527813988, + 11.658830884415238 + ], + [ + 885.3609686953725, + 0.2542624870163195 + ], + [ + 853.6973688565096, + -12.20507274595326 + ], + [ + 820.8050253565623, + -1.3841070061919822 + ], + [ + 853.4007137546571, + 4.380588992918717 + ], + [ + 886.5743383863464, + -6.912721064269704 + ], + [ + 854.7269387926185, + -19.247511612689777 + ], + [ + 821.6961217463725, + -8.534890253729941 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11431371900272489448, + "instance_id": 59571, + "pixel_count": null, + "type_id": "BP_HighwayLight_simple2_SM_2", + "bbox_3d": { + "center_world": { + "x": -98.27579498291016, + "y": -56.101219177246094, + "z": 5.664507865905762 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1119.8658857271503, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 0.026885154400588362 + }, + "corners_3d": [ + [ + -98.64216613769531, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -97.90940856933594, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -97.909423828125, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -98.64218139648438, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -98.64216613769531, + -52.1658935546875, + 11.14326000213623 + ], + [ + -97.90940856933594, + -52.1658935546875, + 11.14326000213623 + ], + [ + -97.909423828125, + -60.03654479980469, + 11.14326000213623 + ], + [ + -98.64218139648438, + -60.03654479980469, + 11.14326000213623 + ] + ], + "corners_2d": [ + [ + 1207.3247305093378, + -31.44032265631074 + ], + [ + 1195.2838707547576, + -34.95373479658764 + ], + [ + 1119.8658857271503, + -3.987794235171407 + ], + [ + 1132.1121921830318, + 0.026885154400588362 + ], + [ + 1291.9548631185667, + -252.36154200735746 + ], + [ + 1277.3827116891507, + -254.43385319359152 + ], + [ + 1196.4640831445577, + -236.00316306593436 + ], + [ + 1211.425108129456, + -233.58593201983194 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 470.45820173290514, + "ymin": 0.0, + "xmax": 583.7432945590285, + "ymax": 217.27703022937007 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 494.3424537577306, + 212.24056768374464 + ], + [ + 500.4343895516581, + 217.27703022937007 + ], + [ + 583.7432945590285, + 184.6077879263384 + ], + [ + 577.363281873454, + 180.0269284398888 + ], + [ + 470.45820173290514, + 9.356805289279635 + ], + [ + 477.35666148490054, + 13.52036437656733 + ], + [ + 574.9408438364214, + -13.312591782004915 + ], + [ + 567.6399095054962, + -17.042418669309768 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 825.2087566582026, + "ymin": 459.90511946904485, + "xmax": 855.4637100102827, + "ymax": 486.09063343503436 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 837.0480438747446, + 464.1511758626639 + ], + [ + 825.2087566582026, + 471.87371742225383 + ], + [ + 842.6547791938062, + 486.09063343503436 + ], + [ + 854.5256298004351, + 478.1380738099891 + ], + [ + 837.8971422549469, + 459.90511946904485 + ], + [ + 826.0133540493221, + 467.62654471802654 + ], + [ + 843.5482930465589, + 481.84282033599567 + ], + [ + 855.4637100102827, + 473.8903929653307 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 684.9885674888534, + "ymin": 351.5337426512739, + "xmax": 864.4480050772493, + "ymax": 715.91641363442 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 698.7263925273312, + 589.8801382361146 + ], + [ + 684.9885674888534, + 599.1469014340366 + ], + [ + 796.3824357697245, + 715.91641363442 + ], + [ + 810.5319538823055, + 704.5581946025679 + ], + [ + 715.009007609719, + 351.5337426512739 + ], + [ + 697.5997722685993, + 360.769462570697 + ], + [ + 846.4476895246024, + 481.0551936993636 + ], + [ + 864.4480050772493, + 469.0273918238606 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15445048005953999223, + "instance_id": 30545, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_0", + "bbox_3d": { + "center_world": { + "x": -94.91524505615234, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 820.761509484648, + "ymin": 0.0, + "xmax": 886.6123818140369, + "ymax": 11.722235962866478 + }, + "corners_3d": [ + [ + -95.88260650634766, + -79.81846618652344, + 3.441368341445923 + ], + [ + -95.88261413574219, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -93.94788360595703, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -93.9478759765625, + -79.81846618652344, + 3.441368341445923 + ], + [ + -95.88260650634766, + -79.81846618652344, + 3.768015146255493 + ], + [ + -95.88261413574219, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -93.94788360595703, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -93.9478759765625, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 852.3201967482502, + 11.722235962866478 + ], + [ + 885.3907455842971, + 0.304091128552443 + ], + [ + 853.6890527017443, + -12.171129753793707 + ], + [ + 820.761509484648, + -1.3379654038119497 + ], + [ + 853.402147271056, + 4.395431173716474 + ], + [ + 886.6123818140369, + -6.910596537367269 + ], + [ + 854.7254378581008, + -19.26029718481692 + ], + [ + 821.6583454026826, + -8.536310269798093 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 736.3267554694244, + "ymin": 269.3004428697102, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 748.72091054708, + 531.1531334429021 + ], + [ + 736.3267554694244, + 539.1539027331567 + ], + [ + 1169.3042541746947, + 954.5773014755596 + ], + [ + 1181.9323257550386, + 938.8271198288172 + ], + [ + 779.7202744441624, + 269.3004428697102 + ], + [ + 764.0704960344613, + 276.9523247755154 + ], + [ + 1411.8487670926959, + 727.77727895639 + ], + [ + 1426.3236353405644, + 708.5225572404024 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 5199819733356185808, + "instance_id": 53256, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1851_37", + "bbox_3d": { + "center_world": { + "x": -100.25784301757812, + "y": -72.39555358886719, + "z": 8.309331893920898 + }, + "extent": { + "x": 4.9728498458862305, + "y": 4.831793308258057, + "z": 8.307754516601562 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 872.3015125703922, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 146.39434422425543 + }, + "corners_3d": [ + [ + -94.59623718261719, + -68.39283752441406, + 0.0015773773193359375 + ], + [ + -96.09391784667969, + -77.93966674804688, + 0.0015773773193359375 + ], + [ + -105.91944885253906, + -76.39826965332031, + 0.0015773773193359375 + ], + [ + -104.42176818847656, + -66.8514404296875, + 0.0015773773193359375 + ], + [ + -94.59623718261719, + -68.39283752441406, + 16.61708641052246 + ], + [ + -96.09391784667969, + -77.93966674804688, + 16.61708641052246 + ], + [ + -105.91944885253906, + -76.39826965332031, + 16.61708641052246 + ], + [ + -104.42176818847656, + -66.8514404296875, + 16.61708641052246 + ] + ], + "corners_2d": [ + [ + 973.4024857224372, + 17.21156146227662 + ], + [ + 872.3015125703922, + 75.37315670954854 + ], + [ + 1073.2017548112176, + 146.39434422425543 + ], + [ + 1162.471995392503, + 73.53711964347747 + ], + [ + 1065.2070120254348, + -377.18447118347933 + ], + [ + 946.0086557087398, + -360.6318159694231 + ], + [ + 1234.5230717652887, + -338.88146795056946 + ], + [ + 1327.5339380246464, + -361.17096936268604 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00052/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00052/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..80b98e6829e45a14c7132c193f0ea238c8e262c9 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00052/meta.json @@ -0,0 +1,3621 @@ +{ + "frame_id": 52, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 26.0, + "sim_timestamp": 10317.446112031117 + }, + "drone_pose": { + "x": -123.11513313756372, + "y": -112.60481156773845, + "z": 20.00688519476782, + "pitch": -38.63033434271592, + "yaw": 34.69565008006493, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6422845721244812, + -0.44466668367385864, + 0.624293327331543, + 116.65637969970703 + ], + [ + 0.5692170262336731, + 0.8221873044967651, + -1.4901161193847656e-08, + 22.503013610839844 + ], + [ + -0.5132859945297241, + 0.355358362197876, + 0.781190037727356, + -118.83751678466797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -122.76873540685489, + "y": -112.17533931672301, + "z": 20.00812226299392 + }, + "t1_image_uv": [ + 1002.730960145079, + -410.8741740830337 + ], + "t1_depth": 0.41268563199222524 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -105.66718292236328, + "y": -99.68776321411131, + "z": 0.7274065208435059 + }, + "image_uv": [ + 662.8044505207483, + 410.1742053065993 + ], + "depth": 28.986378888673308, + "visible": false, + "in_view": true, + "lost_reason": "occluded", + "pixel_count": 0, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -105.66718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.24638669192790985, + "y": 0.2011718451976776, + "z": 0.5366778373718262 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 652.5075820152753, + "ymin": 389.82294592611305, + "xmax": 673.3924927045418, + "ymax": 430.40309567039077 + }, + "corners_3d": [ + [ + -105.91356658935547, + -99.88893127441406, + 0.19072860479354858 + ], + [ + -105.91356658935547, + -99.48658752441406, + 0.19072860479354858 + ], + [ + -105.4207992553711, + -99.48658752441406, + 0.19072860479354858 + ], + [ + -105.4207992553711, + -99.88893127441406, + 0.19072860479354858 + ], + [ + -105.91356658935547, + -99.88893127441406, + 1.2640843391418457 + ], + [ + -105.91356658935547, + -99.48658752441406, + 1.2640843391418457 + ], + [ + -105.4207992553711, + -99.48658752441406, + 1.2640843391418457 + ], + [ + -105.4207992553711, + -99.88893127441406, + 1.2640843391418457 + ] + ], + "corners_2d": [ + [ + 661.9054341316559, + 430.40309567039077 + ], + [ + 672.627572306262, + 425.2803795393207 + ], + [ + 663.1718164370451, + 416.36992492109124 + ], + [ + 652.5075820152753, + 421.38323448704443 + ], + [ + 662.4222196110129, + 403.72415978984816 + ], + [ + 673.3924927045418, + 398.64834026233126 + ], + [ + 663.7091067530416, + 389.82294592611305 + ], + [ + 652.7994048628102, + 394.7878529258569 + ] + ], + "center_offset_px": [ + 22.804450520748333, + 50.174205306599276 + ] + }, + "trace_timestep_index": 52, + "instance_stats": { + "semantic_tags_present": 16, + "instances_present": 61, + "semantic_pixel_counts": { + "1": 202728, + "2": 117153, + "3": 449092, + "4": 25779, + "5": 280, + "6": 19097, + "7": 2626, + "9": 11122, + "10": 35013, + "12": 1362, + "14": 5081, + "15": 953, + "16": 26534, + "20": 9266, + "21": 1918, + "24": 13596 + }, + "instance_pixel_counts": { + "606": 953, + "913": 381, + "1115": 8019, + "1118": 585, + "1169": 960, + "8795": 10, + "10325": 180, + "11394": 3169, + "12894": 2200, + "14416": 280, + "14979": 588, + "16023": 2384, + "16476": 202, + "17232": 25779, + "17500": 58, + "18011": 232031, + "18012": 198, + "20631": 61, + "23808": 2824, + "24064": 11949, + "25691": 595, + "27072": 12153, + "29843": 2169, + "30656": 20090, + "31168": 7148, + "34120": 29109, + "34453": 42, + "35924": 2841, + "36443": 208437, + "36692": 255, + "36948": 626, + "37460": 3079, + "40019": 122, + "43659": 619, + "44171": 1925, + "44179": 14456, + "44691": 112264, + "46227": 73839, + "46731": 1630, + "46741": 513, + "47253": 9995, + "48779": 2557, + "48789": 3046, + "49803": 3257, + "49920": 15, + "50176": 406, + "50432": 941, + "52480": 2129, + "52672": 3777, + "52736": 24405, + "53184": 5562, + "54016": 2296, + "54720": 4081, + "55232": 111, + "55744": 8465, + "55879": 5348, + "56135": 4108, + "56768": 14224, + "57173": 11122, + "57691": 4195, + "62555": 1280 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 0, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -105.66718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.2775292694568634, + "y": 0.21282224357128143, + "z": 0.5240640640258789 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.6129225070122, + "ymin": 389.44804795795125, + "xmax": 674.3179522412155, + "ymax": 430.8227857391869 + }, + "corners_3d": [ + [ + -105.94470977783203, + -99.90058135986328, + 0.20334237813949585 + ], + [ + -105.94470977783203, + -99.47493743896484, + 0.20334237813949585 + ], + [ + -105.38965606689453, + -99.47493743896484, + 0.20334237813949585 + ], + [ + -105.38965606689453, + -99.90058135986328, + 0.20334237813949585 + ], + [ + -105.94470977783203, + -99.90058135986328, + 1.2514705657958984 + ], + [ + -105.94470977783203, + -99.47493743896484, + 1.2514705657958984 + ], + [ + -105.38965606689453, + -99.47493743896484, + 1.2514705657958984 + ], + [ + -105.38965606689453, + -99.90058135986328, + 1.2514705657958984 + ] + ], + "corners_2d": [ + [ + 662.1997415788742, + 430.8227857391869 + ], + [ + 673.549712822122, + 425.396481728852 + ], + [ + 662.893857791852, + 415.36420771991243 + ], + [ + 651.6129225070122, + 420.6601149502695 + ], + [ + 662.7114726722693, + 404.76468577803325 + ], + [ + 674.3179522412155, + 399.38672246898443 + ], + [ + 663.4116340404701, + 389.44804795795125 + ], + [ + 651.8772942892484, + 394.6938618889727 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 15, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -101.8442153930664, + "y": -96.76985931396484, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.3700537085533142, + "y": 0.30550292134284973, + "z": 0.8678317666053772 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 652.4364994423437, + "ymin": 291.21845560969047, + "xmax": 681.3641073084557, + "ymax": 348.6570157404408 + }, + "corners_3d": [ + [ + -102.26969909667969, + -96.99174499511719, + -0.29283249378204346 + ], + [ + -102.14266204833984, + -96.39409637451172, + -0.29283249378204346 + ], + [ + -101.41873168945312, + -96.5479736328125, + -0.29283249378204346 + ], + [ + -101.54576873779297, + -97.14562225341797, + -0.29283249378204346 + ], + [ + -102.26969909667969, + -96.99174499511719, + 1.442831039428711 + ], + [ + -102.14266204833984, + -96.39409637451172, + 1.442831039428711 + ], + [ + -101.41873168945312, + -96.5479736328125, + 1.442831039428711 + ], + [ + -101.54576873779297, + -97.14562225341797, + 1.442831039428711 + ] + ], + "corners_2d": [ + [ + 668.2519449009424, + 348.6570157404408 + ], + [ + 680.020226657323, + 340.7850662298334 + ], + [ + 664.2292807240415, + 331.99626489455414 + ], + [ + 652.4364994423437, + 339.68335795402044 + ], + [ + 669.2109696106454, + 307.4944603338292 + ], + [ + 681.3641073084557, + 299.80126316778893 + ], + [ + 665.0330235767861, + 291.21845560969047 + ], + [ + 652.8534817986916, + 298.7250056832966 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 406, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -107.92300415039062, + "y": -92.74504852294922, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.5695654153823853, + "y": 0.36857908964157104, + "z": 0.9070253372192383 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 854.6858133163564, + "ymin": 334.8588577682323, + "xmax": 906.5774581274303, + "ymax": 405.3437913510786 + }, + "corners_3d": [ + [ + -108.5279769897461, + -93.05207061767578, + -0.33202117681503296 + ], + [ + -108.45092010498047, + -92.31895446777344, + -0.33202117681503296 + ], + [ + -107.31803131103516, + -92.43802642822266, + -0.33202117681503296 + ], + [ + -107.39508819580078, + -93.171142578125, + -0.33202117681503296 + ], + [ + -108.5279769897461, + -93.05207061767578, + 1.4820294380187988 + ], + [ + -108.45092010498047, + -92.31895446777344, + 1.4820294380187988 + ], + [ + -107.31803131103516, + -92.43802642822266, + 1.4820294380187988 + ], + [ + -107.39508819580078, + -93.171142578125, + 1.4820294380187988 + ] + ], + "corners_2d": [ + [ + 882.5748620906295, + 405.3437913510786 + ], + [ + 896.8814741456616, + 395.5451817798492 + ], + [ + 869.0181833679457, + 378.51980115177645 + ], + [ + 854.6858133163564, + 387.90474740987224 + ], + [ + 891.8468780279957, + 361.160599235692 + ], + [ + 906.5774581274303, + 351.5450718847811 + ], + [ + 877.4723619424631, + 334.8588577682323 + ], + [ + 862.7091135784287, + 344.05354111023576 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 941, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -115.16718292236328, + "y": -99.68775939941406, + "z": 0.5749846696853638 + }, + "extent": { + "x": 0.5197216272354126, + "y": 0.46371087431907654, + "z": 0.9276158213615417 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 859.6297311121211, + "ymin": 584.0510227699883, + "xmax": 931.9345374083863, + "ymax": 679.7277299203985 + }, + "corners_3d": [ + [ + -115.68690490722656, + -100.15147399902344, + -0.352631151676178 + ], + [ + -115.68690490722656, + -99.22404479980469, + -0.352631151676178 + ], + [ + -114.6474609375, + -99.22404479980469, + -0.352631151676178 + ], + [ + -114.6474609375, + -100.15147399902344, + -0.352631151676178 + ], + [ + -115.68690490722656, + -100.15147399902344, + 1.5026004314422607 + ], + [ + -115.68690490722656, + -99.22404479980469, + 1.5026004314422607 + ], + [ + -114.6474609375, + -99.22404479980469, + 1.5026004314422607 + ], + [ + -114.6474609375, + -100.15147399902344, + 1.5026004314422607 + ] + ], + "corners_2d": [ + [ + 890.6751116404441, + 679.7277299203985 + ], + [ + 917.5042368775842, + 660.5977120132219 + ], + [ + 886.2468716377779, + 631.0165257824755 + ], + [ + 859.6297311121211, + 649.0923272565509 + ], + [ + 903.9561952089599, + 633.0227057496201 + ], + [ + 931.9345374083863, + 613.7626861546357 + ], + [ + 898.6791331281007, + 584.0510227699883 + ], + [ + 870.9211551377653, + 602.196386393864 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 2129, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 487.07538798351516, + "ymin": 76.40279532840435, + "xmax": 725.4868910935719, + "ymax": 308.7525627243311 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 575.8105574726445, + 168.7050138952714 + ], + [ + 496.987637838271, + 193.30939279776422 + ], + [ + 632.5281035092682, + 308.7525627243311 + ], + [ + 719.2007630254901, + 274.0520669527673 + ], + [ + 571.5559310519382, + 76.40279532840435 + ], + [ + 487.07538798351516, + 98.49569803519415 + ], + [ + 631.9023248283512, + 203.85330687984242 + ], + [ + 725.4868910935719, + 171.8864679972059 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 24405, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 720.2568055811225, + "ymin": 42.164301834083574, + "xmax": 975.7124108669511, + "ymax": 250.44227829093063 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 884.2398353002365, + 250.44227829093063 + ], + [ + 952.9398084401287, + 221.0385387588885 + ], + [ + 785.3111397759312, + 130.332322316574 + ], + [ + 720.2568055811225, + 151.7136649730705 + ], + [ + 902.9085965029298, + 150.24789259399972 + ], + [ + 975.7124108669511, + 123.51028354122346 + ], + [ + 794.2645897113396, + 42.164301834083574 + ], + [ + 725.411222434949, + 61.18649159537148 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 2296, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 643.9587671000886, + "ymin": 161.9319043877545, + "xmax": 763.986571742471, + "ymax": 265.78325941087655 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 678.7690900423602, + 195.66947941600495 + ], + [ + 643.9587671000886, + 207.7165135425104 + ], + [ + 724.4158509500699, + 265.78325941087655 + ], + [ + 760.7210463692187, + 251.3803452895688 + ], + [ + 679.7268947793306, + 161.9319043877545 + ], + [ + 644.0585735891517, + 173.59148256326984 + ], + [ + 726.7506349235871, + 229.95263092536865 + ], + [ + 763.986571742471, + 215.94770215520938 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 978.49727650649, + "ymin": 565.1226364525719, + "xmax": 1016.0559784814232, + "ymax": 615.7153688782524 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 990.68317453433, + 615.7153688782524 + ], + [ + 1004.4003252073273, + 605.8643359321313 + ], + [ + 992.1928043438405, + 595.6874113696653 + ], + [ + 978.49727650649, + 605.3405728761256 + ], + [ + 1002.0126710665561, + 585.1675224377789 + ], + [ + 1016.0559784814232, + 575.3049949454125 + ], + [ + 1003.3412399046404, + 565.1226364525719 + ], + [ + 989.3186220890644, + 574.7807925100475 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5668522571212290485, + "instance_id": 46457, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -89.45570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1135.9683753063553, + "ymin": 254.66771150058923, + "xmax": 1164.924302655566, + "ymax": 291.63346871529814 + }, + "corners_3d": [ + [ + -113.19542694091797, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -89.26573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -89.26573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1135.9683753063553, + 286.77551403160027 + ], + [ + 1145.3960496061143, + 291.63346871529814 + ], + [ + 1153.7751946376852, + 287.02177342442405 + ], + [ + 1144.35143915842, + 282.22750469932345 + ], + [ + 1146.727168195316, + 259.1286259049191 + ], + [ + 1156.4377751924212, + 263.89495135860074 + ], + [ + 1164.924302655566, + 259.3702055992886 + ], + [ + 1155.2188355459434, + 254.66771150058923 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7157878223548397302, + "instance_id": 63030, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -86.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1189.1826500371426, + "ymin": 226.74009007071243, + "xmax": 1218.0326320485583, + "ymax": 262.36464311396514 + }, + "corners_3d": [ + [ + -113.19542694091797, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -86.76573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -86.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1189.1826500371426, + 257.9037991009369 + ], + [ + 1198.572377969488, + 262.36464311396514 + ], + [ + 1206.2664812644189, + 258.1299906816565 + ], + [ + 1196.8848070806441, + 253.7252085299669 + ], + [ + 1200.5898648721723, + 230.83131998522282 + ], + [ + 1210.2540739959156, + 235.20008094619075 + ], + [ + 1218.0326320485583, + 231.05281310554267 + ], + [ + 1208.377832285621, + 226.74009007071243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7631990878982166785, + "instance_id": 473, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": -83.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1247.4731996567025, + "ymin": 196.18816476122964, + "xmax": 1276.095465029121, + "ymax": 230.32357894522997 + }, + "corners_3d": [ + [ + -113.1954345703125, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47261047363281, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.19544219970703, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47261047363281, + -83.76573944091797, + 6.416468620300293 + ], + [ + -113.19544219970703, + -83.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1247.4731996567025, + 226.27817048608588 + ], + [ + 1256.7858397101386, + 230.32357894522997 + ], + [ + 1263.7633024190222, + 226.48335909131956 + ], + [ + 1254.4623943111148, + 222.48638805396953 + ], + [ + 1259.4793316513608, + 199.89339588319308 + ], + [ + 1269.0554238594475, + 203.84743047819364 + ], + [ + 1276.095465029121, + 200.0939258527771 + ], + [ + 1266.5325406822265, + 196.18816476122964 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 788.158220943585, + "ymin": 506.52951065847026, + "xmax": 812.4303879791237, + "ymax": 546.314166093603 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 796.1489570883737, + 546.314166093603 + ], + [ + 808.2803693318008, + 539.1689160389296 + ], + [ + 800.2534862056975, + 531.7147444050652 + ], + [ + 788.158220943585, + 538.7474577997831 + ], + [ + 800.0295963002541, + 521.0904115223716 + ], + [ + 812.4303879791237, + 513.9626300335061 + ], + [ + 804.1736605442584, + 506.52951065847026 + ], + [ + 791.8103332282296, + 513.5422850670574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1125.1613878062453, + "ymin": 687.9761943757046, + "xmax": 1172.9009705277977, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1140.5576226960607, + 743.3150600997708 + ], + [ + 1154.3459143784914, + 730.868009203232 + ], + [ + 1138.958957176244, + 718.0405150343269 + ], + [ + 1125.1613878062453, + 730.2070564206216 + ], + [ + 1158.8199691297402, + 713.4729243286572 + ], + [ + 1172.9009705277977, + 700.9113475399669 + ], + [ + 1156.7488098029642, + 687.9761943757046 + ], + [ + 1142.6530793302322, + 700.2445904521587 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1041.9228254935433, + "ymin": 86.09301795744034, + "xmax": 1280.0, + "ymax": 455.4384118044275 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1272.506570353374, + 320.3699633332372 + ], + [ + 1260.4620165344859, + 314.39744322039127 + ], + [ + 1041.9228254935433, + 447.0552832206466 + ], + [ + 1054.058767415876, + 455.4384118044275 + ], + [ + 1389.455729861364, + 90.93079537039313 + ], + [ + 1374.0699758808814, + 86.09301795744034 + ], + [ + 1132.0800764084506, + 197.1212311889677 + ], + [ + 1148.056680608996, + 204.39793129607972 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 316.87079898947775, + "ymin": 0.0, + "xmax": 423.2587195276434, + "ymax": 100.95174274846397 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 349.2559819282593, + 97.98374508542213 + ], + [ + 352.54635470458766, + 100.95174274846397 + ], + [ + 423.2587195276434, + 83.53018027922309 + ], + [ + 419.6815781883952, + 80.76165400356774 + ], + [ + 316.87079898947775, + -65.00730418240545 + ], + [ + 320.3184707456132, + -62.77151562718001 + ], + [ + 399.8817342199467, + -75.85346370856803 + ], + [ + 396.06720777112923, + -77.9231456951731 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 90.2865006087701, + "ymin": 0.0, + "xmax": 160.29619451289523, + "ymax": 36.59164511254568 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 152.27299497594527, + 36.59164511254568 + ], + [ + 160.29619451289523, + 35.01810376196704 + ], + [ + 144.41806470563188, + 16.096707915445904 + ], + [ + 136.6852597163666, + 17.53825206125589 + ], + [ + 105.09913301233462, + -110.87771789062253 + ], + [ + 114.07871693910784, + -112.02959532963808 + ], + [ + 98.90146578523513, + -125.81900501318523 + ], + [ + 90.2865006087701, + -124.77243178758715 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 683.899912021839, + "ymin": 0.0, + "xmax": 743.9993669480102, + "ymax": 51.66246409299197 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 706.1280566475505, + 51.66246409299197 + ], + [ + 738.3861319611708, + 43.000964337809194 + ], + [ + 715.7999920730532, + 32.28841133101963 + ], + [ + 683.899912021839, + 40.53882795221557 + ], + [ + 709.9776810674578, + -36.218656379507024 + ], + [ + 743.9993669480102, + -43.62079644782352 + ], + [ + 720.0159869669535, + -52.753324288408294 + ], + [ + 686.3900635891721, + -45.721979256554164 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 602.6697740842084, + "ymin": 46.13209750433623, + "xmax": 617.4305886629023, + "ymax": 54.40481206800865 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 602.7466615597164, + 51.758261921057 + ], + [ + 607.4379532011902, + 54.40481206800865 + ], + [ + 617.4305886629023, + 51.85305484499554 + ], + [ + 612.7081054768482, + 49.23560178912123 + ], + [ + 602.6697740842084, + 48.6427757497878 + ], + [ + 607.3703597757212, + 51.276816800012796 + ], + [ + 617.3839978259423, + 48.73711954597513 + ], + [ + 612.6520877565524, + 46.13209750433623 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1048.1955135807107, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 357.5459368861182 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 1149.8630903579385, + 357.5459368861182 + ], + [ + 1299.7014946408158, + 266.9758513918823 + ], + [ + 1199.316460002191, + 222.1717173922744 + ], + [ + 1048.1955135807107, + 300.4050187131663 + ], + [ + 1321.4677809405925, + -47.59038476364577 + ], + [ + 1487.9376423903254, + -102.33094307281169 + ], + [ + 1345.5302532008068, + -127.8878810727083 + ], + [ + 1172.1979847956818, + -82.6220039191349 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 857.3487260759069, + "ymin": 540.7905019132736, + "xmax": 889.4712298101767, + "ymax": 569.3719639687906 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 870.1788312159747, + 545.1517444932183 + ], + [ + 857.3487260759069, + 553.060983858958 + ], + [ + 875.4928472022546, + 569.3719639687906 + ], + [ + 888.3870974835161, + 561.1928917354664 + ], + [ + 871.166776654153, + 540.7905019132736 + ], + [ + 858.2893848214957, + 548.6975944525323 + ], + [ + 876.5294197140297, + 565.0059274013802 + ], + [ + 889.4712298101767, + 556.8278828445677 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7664114084626016696, + "instance_id": 47273, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.91487884521484, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 855.619115473766, + "ymin": 18.227577725401034, + "xmax": 941.1528814019451, + "ymax": 142.35139768653505 + }, + "corners_3d": [ + [ + -95.94330596923828, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -79.87950897216797, + 4.83804988861084 + ], + [ + -95.94330596923828, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 887.3499796192341, + 142.35139768653505 + ], + [ + 921.7583369525486, + 129.97396971512313 + ], + [ + 889.7494802241848, + 114.79224428138824 + ], + [ + 855.619115473766, + 126.47231316868815 + ], + [ + 904.7960488764808, + 42.272605121271795 + ], + [ + 941.1528814019451, + 31.452440145259516 + ], + [ + 906.4224205537298, + 18.227577725401034 + ], + [ + 870.3576702502941, + 28.397569554498773 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9560389216542849208, + "instance_id": 47352, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_1", + "bbox_3d": { + "center_world": { + "x": -94.91524505615234, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 867.7391103935978, + "ymin": 42.084018866490396, + "xmax": 934.4871833031311, + "ymax": 72.738087989995 + }, + "corners_3d": [ + [ + -95.88141632080078, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -95.88141632080078, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -93.9490737915039, + -77.64111328125, + 3.4435572624206543 + ], + [ + -93.9490737915039, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -95.88141632080078, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -95.88141632080078, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -93.9490737915039, + -77.64111328125, + 3.7680342197418213 + ], + [ + -93.9490737915039, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 899.3004595537989, + 72.738087989995 + ], + [ + 933.1120152281385, + 62.03224103849874 + ], + [ + 901.2946536836864, + 48.98082780116772 + ], + [ + 867.7391103935978, + 59.09297740333818 + ], + [ + 900.5448865191702, + 65.59438826945626 + ], + [ + 934.4871833031311, + 54.998415470916825 + ], + [ + 902.4862933307347, + 42.084018866490396 + ], + [ + 868.8008497026609, + 52.08971634162498 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11431371900272489448, + "instance_id": 59571, + "pixel_count": null, + "type_id": "BP_HighwayLight_simple2_SM_2", + "bbox_3d": { + "center_world": { + "x": -98.27579498291016, + "y": -56.101219177246094, + "z": 5.664507865905762 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1173.6762432745516, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 66.07448734395575 + }, + "corners_3d": [ + [ + -98.64216613769531, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -97.90940856933594, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -97.909423828125, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -98.64218139648438, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -98.64216613769531, + -52.1658935546875, + 11.14326000213623 + ], + [ + -97.90940856933594, + -52.1658935546875, + 11.14326000213623 + ], + [ + -97.909423828125, + -60.03654479980469, + 11.14326000213623 + ], + [ + -98.64218139648438, + -60.03654479980469, + 11.14326000213623 + ] + ], + "corners_2d": [ + [ + 1264.567400088804, + 35.94157864765816 + ], + [ + 1252.0425595308434, + 32.179668055248726 + ], + [ + 1173.6762432745516, + 61.7860386911907 + ], + [ + 1186.3361681142799, + 66.07448734395575 + ], + [ + 1353.3419017280971, + -180.86439001591486 + ], + [ + 1338.1943286640171, + -183.05620843347697 + ], + [ + 1254.6268196204287, + -165.66232772329954 + ], + [ + 1270.081014769158, + -163.11518501603484 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 516.4886300541397, + "ymin": 40.25210567476461, + "xmax": 623.3725051058212, + "ymax": 268.9037253792656 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 532.9271008151272, + 263.65963918056116 + ], + [ + 538.7407841208117, + 268.9037253792656 + ], + [ + 623.3725051058212, + 238.40811798198803 + ], + [ + 617.1920569526173, + 233.62476404521925 + ], + [ + 516.4886300541397, + 64.44332037866837 + ], + [ + 523.0545156231408, + 68.70124655275055 + ], + [ + 620.9299563721358, + 44.08266196734684 + ], + [ + 613.8700513305371, + 40.25210567476461 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 857.518283700409, + "ymin": 540.940161201547, + "xmax": 889.29857358797, + "ymax": 569.2176630808236 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 870.2122761839333, + 545.2550519927224 + ], + [ + 857.518283700409, + 553.081401732238 + ], + [ + 875.4699515185919, + 569.2176630808236 + ], + [ + 888.2267376745447, + 561.1271858689447 + ], + [ + 871.1899630474792, + 540.940161201547 + ], + [ + 858.4496838179052, + 548.7644151424181 + ], + [ + 876.4952361456144, + 564.8980792473238 + ], + [ + 889.29857358797, + 556.8086140293182 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 602.7485863629215, + "ymin": 46.17579744981725, + "xmax": 617.3524428976358, + "ymax": 54.36053863448444 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 602.8244963342479, + 51.74233876652818 + ], + [ + 607.4661391617624, + 54.36053863448444 + ], + [ + 617.3524428976358, + 51.83613746524816 + ], + [ + 612.6802676147847, + 49.24641882779389 + ], + [ + 602.7485863629215, + 48.65998862270038 + ], + [ + 607.3993273531422, + 51.265944406040376 + ], + [ + 617.3061885814611, + 48.75334762058651 + ], + [ + 612.6247864954722, + 46.17579744981725 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 709.4729587371935, + "ymin": 420.76462966307946, + "xmax": 898.8632079334712, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 724.0820574248111, + 662.88341844229 + ], + [ + 709.4729587371935, + 672.1283825449009 + ], + [ + 821.9586020432686, + 804.0548981782555 + ], + [ + 837.2561013714497, + 792.4239396902645 + ], + [ + 746.742603145586, + 420.76462966307946 + ], + [ + 728.4021133506706, + 429.86680288230787 + ], + [ + 879.513264126765, + 564.5441265053237 + ], + [ + 898.8632079334712, + 552.2987844245523 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15445048005953999223, + "instance_id": 30545, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_0", + "bbox_3d": { + "center_world": { + "x": -94.91524505615234, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 867.694107140782, + "ymin": 42.07127008924499, + "xmax": 934.5257874434685, + "ymax": 72.80060988075252 + }, + "corners_3d": [ + [ + -95.88260650634766, + -79.81846618652344, + 3.441368341445923 + ], + [ + -95.88261413574219, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -93.94788360595703, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -93.9478759765625, + -79.81846618652344, + 3.441368341445923 + ], + [ + -95.88260650634766, + -79.81846618652344, + 3.768015146255493 + ], + [ + -95.88261413574219, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -93.94788360595703, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -93.9478759765625, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 899.2932127311365, + 72.80060988075252 + ], + [ + 933.1412778403126, + 62.08195674630929 + ], + [ + 901.2855661555081, + 49.01384415779023 + ], + [ + 867.694107140782, + 59.13739525343499 + ], + [ + 900.5459645456947, + 65.60922199557245 + ], + [ + 934.5257874434685, + 55.00129206718316 + ], + [ + 902.4850976315174, + 42.07127008924499 + ], + [ + 868.7627292582148, + 52.0875503132815 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 764.9891184934528, + "ymin": 337.4765410614394, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 778.129528273289, + 602.4940428165457 + ], + [ + 764.9891184934528, + 610.4338048160789 + ], + [ + 1221.6573921483282, + 1094.6562132787205 + ], + [ + 1235.7397365124134, + 1077.4266446872598 + ], + [ + 816.3103819674745, + 337.4765410614394 + ], + [ + 799.885314482027, + 344.96720424340754 + ], + [ + 1498.044207702767, + 872.9365685218444 + ], + [ + 1514.0533619851456, + 851.3897451687001 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 154.2683777010448, + "ymin": 0.0, + "xmax": 396.4915990866664, + "ymax": 33.28763078295577 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 199.92795876123284, + 31.091404408064193 + ], + [ + 201.9056201979651, + 33.28763078295577 + ], + [ + 396.4915990866664, + -4.852177926158731 + ], + [ + 393.79781575185996, + -6.685330975121758 + ], + [ + 154.2683777010448, + -127.67156439339306 + ], + [ + 156.19969627825253, + -126.12476777105735 + ], + [ + 373.4941222123439, + -152.75990051839221 + ], + [ + 370.66182879351555, + -154.0280855738796 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 5199819733356185808, + "instance_id": 53256, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1851_37", + "bbox_3d": { + "center_world": { + "x": -100.25784301757812, + "y": -72.39555358886719, + "z": 8.309331893920898 + }, + "extent": { + "x": 4.9728498458862305, + "y": 4.831793308258057, + "z": 8.307754516601562 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 918.2984918094497, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 213.1024980945466 + }, + "corners_3d": [ + [ + -94.59623718261719, + -68.39283752441406, + 0.0015773773193359375 + ], + [ + -96.09391784667969, + -77.93966674804688, + 0.0015773773193359375 + ], + [ + -105.91944885253906, + -76.39826965332031, + 0.0015773773193359375 + ], + [ + -104.42176818847656, + -66.8514404296875, + 0.0015773773193359375 + ], + [ + -94.59623718261719, + -68.39283752441406, + 16.61708641052246 + ], + [ + -96.09391784667969, + -77.93966674804688, + 16.61708641052246 + ], + [ + -105.91944885253906, + -76.39826965332031, + 16.61708641052246 + ], + [ + -104.42176818847656, + -66.8514404296875, + 16.61708641052246 + ] + ], + "corners_2d": [ + [ + 1022.6811718645522, + 79.95733292695343 + ], + [ + 918.2984918094497, + 136.00427912075028 + ], + [ + 1123.9652924112406, + 213.1024980945466 + ], + [ + 1217.5601156838184, + 141.07132445856303 + ], + [ + 1121.6891307097303, + -303.2895734264305 + ], + [ + 1001.0474069851697, + -287.7812887432698 + ], + [ + 1295.5321372574667, + -264.8247623285747 + ], + [ + 1391.3751438533739, + -286.3321950092012 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 629.6211171471726, + "ymin": 0.0, + "xmax": 865.688781436626, + "ymax": 15.517875844764092 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 709.9737371693067, + -49.208082897638064 + ], + [ + 631.1245891793282, + -14.88398080603747 + ], + [ + 761.589971785618, + 15.517875844764092 + ], + [ + 833.7607966905339, + -24.063888270882103 + ], + [ + 720.6320541345029, + -294.51363488075003 + ], + [ + 629.6211171471726, + -281.87982843384714 + ], + [ + 784.078390896998, + -270.3727896075277 + ], + [ + 865.688781436626, + -285.29525335753135 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00053/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00053/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f9ee7b8bce5cdb57aac8aad817fe282ea2dcb197 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00053/meta.json @@ -0,0 +1,3196 @@ +{ + "frame_id": 53, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 26.5, + "sim_timestamp": 10330.312351973727 + }, + "drone_pose": { + "x": -122.76873540685489, + "y": -112.17533931672301, + "z": 20.00812226299392, + "pitch": -40.672520148802384, + "yaw": 31.66880140004373, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.645512044429779, + -0.398190975189209, + 0.6517347097396851, + 110.87591552734375 + ], + [ + 0.5250082612037659, + 0.8510971069335938, + 0.0, + 31.017501831054688 + ], + [ + -0.5546895265579224, + 0.34216612577438354, + 0.758446991443634, + -121.65623474121094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -122.32595285100237, + "y": -111.85826670848773, + "z": 20.100650066988152 + }, + "t1_image_uv": [ + 742.0522624323081, + -797.8613590452462 + ], + "t1_depth": 0.35177334352907935 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -105.16718292236328, + "y": -99.68776321411131, + "z": 0.7274065208435059 + }, + "image_uv": [ + 686.0787176955122, + 379.5046454407797 + ], + "depth": 28.90036612540439, + "visible": false, + "in_view": true, + "lost_reason": "occluded", + "pixel_count": 0, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -105.16718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.3012695014476776, + "y": 0.2178075909614563, + "z": 0.5462215542793274 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 674.119727800405, + "ymin": 357.7107329231272, + "xmax": 698.42796984031, + "ymax": 401.18596412837417 + }, + "corners_3d": [ + [ + -105.46845245361328, + -99.90556335449219, + 0.18118488788604736 + ], + [ + -105.46845245361328, + -99.46995544433594, + 0.18118488788604736 + ], + [ + -104.86591339111328, + -99.46995544433594, + 0.18118488788604736 + ], + [ + -104.86591339111328, + -99.90556335449219, + 0.18118488788604736 + ], + [ + -105.46845245361328, + -99.90556335449219, + 1.2736279964447021 + ], + [ + -105.46845245361328, + -99.46995544433594, + 1.2736279964447021 + ], + [ + -104.86591339111328, + -99.46995544433594, + 1.2736279964447021 + ], + [ + -104.86591339111328, + -99.90556335449219, + 1.2736279964447021 + ] + ], + "corners_2d": [ + [ + 685.0585884820506, + 401.18596412837417 + ], + [ + 697.0008101290153, + 396.0319564491258 + ], + [ + 685.9689329447201, + 384.6949427396226 + ], + [ + 674.119727800405, + 389.7137140439396 + ], + [ + 686.1936680686742, + 374.08023124210933 + ], + [ + 698.42796984031, + 368.96251696864755 + ], + [ + 687.1043517983197, + 357.7107329231272 + ], + [ + 674.967576690661, + 362.6908589432139 + ] + ], + "center_offset_px": [ + 46.07871769551218, + 19.50464544077971 + ] + }, + "trace_timestep_index": 53, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 53, + "semantic_pixel_counts": { + "1": 201338, + "2": 129126, + "3": 462925, + "4": 22571, + "5": 299, + "6": 16662, + "7": 2153, + "9": 8535, + "10": 24384, + "12": 1298, + "14": 5089, + "16": 28835, + "20": 3576, + "21": 470, + "24": 14339 + }, + "instance_pixel_counts": { + "1115": 7747, + "1118": 599, + "1169": 1077, + "11394": 3317, + "12894": 2035, + "14416": 299, + "14979": 626, + "16023": 2709, + "16476": 204, + "17232": 22571, + "17500": 41, + "18011": 226239, + "18012": 225, + "20631": 252, + "23808": 1718, + "24064": 12156, + "27072": 12697, + "29843": 2643, + "30656": 26163, + "31168": 7410, + "34120": 35057, + "34453": 46, + "35924": 1270, + "36443": 228939, + "36948": 701, + "37460": 936, + "40019": 65, + "43659": 709, + "44171": 2333, + "44179": 15911, + "44691": 102827, + "46227": 79957, + "46731": 876, + "46741": 563, + "47253": 10315, + "48779": 2671, + "48789": 3415, + "49803": 3589, + "49920": 39, + "50176": 371, + "50432": 888, + "52480": 2519, + "52672": 3696, + "52736": 26316, + "53184": 5232, + "54016": 2455, + "54720": 1167, + "55744": 8991, + "55879": 1767, + "56135": 729, + "56768": 15574, + "57173": 8535, + "57691": 525 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 0, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -105.16718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.3001757562160492, + "y": 0.2047460675239563, + "z": 0.5353412628173828 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 674.5049379701896, + "ymin": 358.1546299637977, + "xmax": 698.0280498700545, + "ymax": 400.74610025091874 + }, + "corners_3d": [ + [ + -105.46736145019531, + -99.89250183105469, + 0.19206517934799194 + ], + [ + -105.46736145019531, + -99.48301696777344, + 0.19206517934799194 + ], + [ + -104.86700439453125, + -99.48301696777344, + 0.19206517934799194 + ], + [ + -104.86700439453125, + -99.89250183105469, + 0.19206517934799194 + ], + [ + -105.46736145019531, + -99.89250183105469, + 1.2627477645874023 + ], + [ + -105.46736145019531, + -99.48301696777344, + 1.2627477645874023 + ], + [ + -104.86700439453125, + -99.48301696777344, + 1.2627477645874023 + ], + [ + -104.86700439453125, + -99.89250183105469, + 1.2627477645874023 + ] + ], + "corners_2d": [ + [ + 685.4097835794163, + 400.74610025091874 + ], + [ + 696.6383393335009, + 395.90170884685773 + ], + [ + 685.6463317524866, + 384.60248776915904 + ], + [ + 674.5049379701896, + 389.32019092805706 + ], + [ + 686.5304088618798, + 374.1816453165119 + ], + [ + 698.0280498700545, + 369.37069355256426 + ], + [ + 686.7512791552264, + 358.1546299637977 + ], + [ + 675.3449402272508, + 362.8367344817887 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 39, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -101.8060073852539, + "y": -96.90892028808594, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.3922705054283142, + "y": 0.3290039002895355, + "z": 0.8832072019577026 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 683.1565015022127, + "ymin": 266.7962380166267, + "xmax": 715.7038054781916, + "ymax": 327.1873852585984 + }, + "corners_3d": [ + [ + -102.25811004638672, + -97.14917755126953, + -0.3082079291343689 + ], + [ + -102.12129974365234, + -96.50554656982422, + -0.3082079291343689 + ], + [ + -101.3539047241211, + -96.66866302490234, + -0.3082079291343689 + ], + [ + -101.49071502685547, + -97.31229400634766, + -0.3082079291343689 + ], + [ + -102.25811004638672, + -97.14917755126953, + 1.4582064151763916 + ], + [ + -102.12129974365234, + -96.50554656982422, + 1.4582064151763916 + ], + [ + -101.3539047241211, + -96.66866302490234, + 1.4582064151763916 + ], + [ + -101.49071502685547, + -97.31229400634766, + 1.4582064151763916 + ] + ], + "corners_2d": [ + [ + 699.7478994119639, + 327.1873852585984 + ], + [ + 713.0474052987342, + 318.867490273437 + ], + [ + 696.4558013430807, + 308.71811850912746 + ], + [ + 683.1565015022127, + 316.82282623191674 + ], + [ + 701.9445688284386, + 284.9069442530316 + ], + [ + 715.7038054781916, + 276.74472914518424 + ], + [ + 698.4813021742674, + 266.7962380166267 + ], + [ + 684.7216636321469, + 274.7397803885873 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 371, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -107.42300415039062, + "y": -92.74504852294922, + "z": 0.5750090479850769 + }, + "extent": { + "x": 0.4063085913658142, + "y": 0.3056347668170929, + "z": 0.866982102394104 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 887.6354348943073, + "ymin": 315.0595119607085, + "xmax": 930.5400794372539, + "ymax": 377.86568769991806 + }, + "corners_3d": [ + [ + -107.8590316772461, + -93.00653839111328, + -0.2919730544090271 + ], + [ + -107.7951431274414, + -92.39862060546875, + -0.2919730544090271 + ], + [ + -106.98697662353516, + -92.48355865478516, + -0.2919730544090271 + ], + [ + -107.05086517333984, + -93.09147644042969, + -0.2919730544090271 + ], + [ + -107.8590316772461, + -93.00653839111328, + 1.4419910907745361 + ], + [ + -107.7951431274414, + -92.39862060546875, + 1.4419910907745361 + ], + [ + -106.98697662353516, + -92.48355865478516, + 1.4419910907745361 + ], + [ + -107.05086517333984, + -93.09147644042969, + 1.4419910907745361 + ] + ], + "corners_2d": [ + [ + 907.2346912160986, + 377.86568769991806 + ], + [ + 919.8697476717623, + 370.10603815144157 + ], + [ + 900.2509286472373, + 357.07349347369103 + ], + [ + 887.6354348943073, + 364.59173037999864 + ], + [ + 917.5216211991341, + 335.54844758508403 + ], + [ + 930.5400794372539, + 327.8974242275526 + ], + [ + 910.0126037530649, + 315.0595119607085 + ], + [ + 897.0120906722601, + 322.463604839602 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 888, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -114.66718292236328, + "y": -99.68775939941406, + "z": 0.7236710786819458 + }, + "extent": { + "x": 0.43022456765174866, + "y": 0.4469042420387268, + "z": 0.8657717704772949 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 876.3097323877925, + "ymin": 563.8186747826661, + "xmax": 943.1585792218427, + "ymax": 649.8484030924621 + }, + "corners_3d": [ + [ + -115.09740447998047, + -100.1346664428711, + -0.14210069179534912 + ], + [ + -115.09740447998047, + -99.24085235595703, + -0.14210069179534912 + ], + [ + -114.2369613647461, + -99.24085235595703, + -0.14210069179534912 + ], + [ + -114.2369613647461, + -100.1346664428711, + -0.14210069179534912 + ], + [ + -115.09740447998047, + -100.1346664428711, + 1.5894428491592407 + ], + [ + -115.09740447998047, + -99.24085235595703, + 1.5894428491592407 + ], + [ + -114.2369613647461, + -99.24085235595703, + 1.5894428491592407 + ], + [ + -114.2369613647461, + -100.1346664428711, + 1.5894428491592407 + ] + ], + "corners_2d": [ + [ + 901.001469812795, + 649.8484030924621 + ], + [ + 928.434344764141, + 632.7724266139916 + ], + [ + 903.4715337025431, + 607.1447067532608 + ], + [ + 876.3097323877925, + 623.4267419823843 + ], + [ + 914.5433089299983, + 606.9226783201966 + ], + [ + 943.1585792218427, + 589.6660882435124 + ], + [ + 916.5917978781999, + 563.8186747826661 + ], + [ + 888.2651649336901, + 580.233153635117 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 2519, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 529.2169886727916, + "ymin": 42.93472235182071, + "xmax": 768.9822796048858, + "ymax": 283.41603321047415 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 617.3326361079113, + 137.4498438987374 + ], + [ + 536.7998812789698, + 160.75567185584558 + ], + [ + 669.1195688849738, + 283.41603321047415 + ], + [ + 758.8899246067303, + 250.31840753680024 + ], + [ + 615.733509222033, + 42.93472235182071 + ], + [ + 529.2169886727916, + 64.02756228011071 + ], + [ + 671.7160628270684, + 176.97155300074166 + ], + [ + 768.9822796048858, + 146.17176292402658 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 26316, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 765.3146271149573, + "ymin": 11.78622524296685, + "xmax": 1031.5921171248685, + "ymax": 230.77993265080644 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 930.0302222101327, + 230.77993265080644 + ], + [ + 1003.0086722500823, + 202.07601156333124 + ], + [ + 833.219971501502, + 102.83538918279982 + ], + [ + 765.3146271149573, + 123.50094364313992 + ], + [ + 953.9310753960679, + 128.06589008506126 + ], + [ + 1031.5921171248685, + 101.67332531087453 + ], + [ + 846.0205715456236, + 11.78622524296685 + ], + [ + 773.93954907129, + 30.332004156254584 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 2455, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 684.9378885492916, + "ymin": 133.5688822076961, + "xmax": 807.1415604924205, + "ymax": 241.9271066814582 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 720.9424659638005, + 168.04024397980777 + ], + [ + 684.9378885492916, + 179.56250202478907 + ], + [ + 764.5852945251322, + 241.9271066814582 + ], + [ + 802.4466159600763, + 228.09113190827804 + ], + [ + 723.0737766189777, + 133.5688822076961 + ], + [ + 686.1432735528256, + 144.7558752138062 + ], + [ + 768.2599988617903, + 205.49252999548787 + ], + [ + 807.1415604924205, + 191.99045544733028 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1010.1309411236073, + "ymin": 569.5169551493731, + "xmax": 1050.8822622396463, + "ymax": 620.3097690792185 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1022.3380850739353, + 620.3097690792185 + ], + [ + 1037.178809282328, + 610.6631597962432 + ], + [ + 1024.9246598512682, + 599.4739859906073 + ], + [ + 1010.1309411236073, + 608.9200544416583 + ], + [ + 1035.6519326885477, + 590.471454362576 + ], + [ + 1050.8822622396463, + 580.7663994951668 + ], + [ + 1038.0624490523583, + 569.5169551493731 + ], + [ + 1022.8797809369884, + 579.0133739131966 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5668522571212290485, + "instance_id": 46457, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -89.45570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1192.6775110368549, + "ymin": 247.13153758366934, + "xmax": 1225.165508249408, + "ymax": 285.3860801801047 + }, + "corners_3d": [ + [ + -113.19542694091797, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -89.26573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -89.26573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1192.6775110368549, + 279.9238424036039 + ], + [ + 1202.4562206226296, + 285.3860801801047 + ], + [ + 1211.6353485552759, + 280.7623700141926 + ], + [ + 1201.8500483237938, + 275.36700324992177 + ], + [ + 1205.743895802947, + 251.618199116808 + ], + [ + 1215.8536312723318, + 256.99802626809014 + ], + [ + 1225.165508249408, + 252.4439543706015 + ], + [ + 1215.0501169558083, + 247.13153758366934 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7157878223548397302, + "instance_id": 63030, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -86.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1251.040266450937, + "ymin": 218.95341029265313, + "xmax": 1280.0, + "ymax": 255.97173810110965 + }, + "corners_3d": [ + [ + -113.19542694091797, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -86.76573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -86.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1251.040266450937, + 250.92793437456277 + ], + [ + 1260.8468384861274, + 255.97173810110965 + ], + [ + 1269.3224504328555, + 251.7024137802323 + ], + [ + 1259.5145998853113, + 246.71796749385044 + ], + [ + 1264.9113291044282, + 223.09096825399772 + ], + [ + 1275.0420895319385, + 228.04947643793068 + ], + [ + 1283.6243393115328, + 223.85224738983277 + ], + [ + 1273.4934626565632, + 218.95341029265313 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 817.0904292323521, + "ymin": 495.9829087340226, + "xmax": 842.9076118071641, + "ymax": 535.7819820762033 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 824.9365553065018, + 535.7819820762033 + ], + [ + 837.7097385069842, + 528.9354729434175 + ], + [ + 829.8137868897511, + 520.9155144142343 + ], + [ + 817.0904292323521, + 527.6515995883705 + ], + [ + 829.8329965916046, + 510.8570495006368 + ], + [ + 842.9076118071641, + 504.0055534103867 + ], + [ + 834.7627534030299, + 495.9829087340226 + ], + [ + 821.7400398593288, + 502.7210212047071 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1157.630860987677, + "ymin": 705.8462100043666, + "xmax": 1209.8676966573862, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1173.1885460551653, + 761.0588018187285 + ], + [ + 1188.4216572089358, + 748.7618929503242 + ], + [ + 1172.8396149952791, + 734.5340446972709 + ], + [ + 1157.630860987677, + 746.5429089890251 + ], + [ + 1194.2584944995156, + 732.7596748895234 + ], + [ + 1209.8676966573862, + 720.2768408834727 + ], + [ + 1193.4226184510103, + 705.8462100043666 + ], + [ + 1177.8343730490806, + 718.0253600653605 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1084.693519387334, + "ymin": 73.40927486656176, + "xmax": 1280.0, + "ymax": 450.1061540500152 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1335.8427873693195, + 316.534421289704 + ], + [ + 1323.2854939801364, + 309.81861825898346 + ], + [ + 1084.693519387334, + 440.9118546101235 + ], + [ + 1096.9754572456093, + 450.1061540500152 + ], + [ + 1478.232807071657, + 79.03070235310798 + ], + [ + 1461.6609790621378, + 73.40927486656176 + ], + [ + 1193.7251023064832, + 186.83428719474767 + ], + [ + 1210.437972032618, + 195.09223784177271 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 363.24560202056995, + "ymin": 0.0, + "xmax": 466.8598404938434, + "ymax": 62.4197488040229 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 392.4178259157087, + 59.301029930212394 + ], + [ + 395.5899388986599, + 62.4197488040229 + ], + [ + 466.8598404938434, + 46.05272203061298 + ], + [ + 463.37713384061624, + 43.12404912940747 + ], + [ + 363.24560202056995, + -107.76619904778602 + ], + [ + 366.5998328016657, + -105.3893562785641 + ], + [ + 447.03360950122936, + -117.82598642787667 + ], + [ + 443.2812071182783, + -120.04174797654923 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 732.8320265177697, + "ymin": 0.0, + "xmax": 797.857806533924, + "ymax": 18.97956650258567 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 755.1658189329186, + 18.97956650258567 + ], + [ + 788.7367545551626, + 10.591646289560572 + ], + [ + 765.9579157566262, + -1.061429142830832 + ], + [ + 732.8320265177697, + 6.916972414227814 + ], + [ + 762.3605437730257, + -72.11861352822848 + ], + [ + 797.857806533924, + -79.3450105064104 + ], + [ + 773.4814963820053, + -89.35851011937893 + ], + [ + 738.4781397144548, + -82.50590888255982 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 647.4114416193228, + "ymin": 13.532861439555745, + "xmax": 662.4862562380521, + "ymax": 22.054014129584402 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 647.4114416193228, + 19.18048882764259 + ], + [ + 652.0899454477308, + 22.054014129584402 + ], + [ + 662.4367042504747, + 19.583848312277212 + ], + [ + 657.7210473877328, + 16.73931516667909 + ], + [ + 647.4277963051843, + 15.963135317968295 + ], + [ + 652.1167828057513, + 18.823899700421634 + ], + [ + 662.4862562380521, + 16.364699018684064 + ], + [ + 657.7599544603057, + 13.532861439555745 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1098.8358907571462, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 351.52953407151165 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 1203.1139715450342, + 351.52953407151165 + ], + [ + 1368.1736681533148, + 261.01061226704513 + ], + [ + 1263.1656940570936, + 210.49275398669147 + ], + [ + 1098.8358907571462, + 288.1775960372511 + ], + [ + 1414.0155140609202, + -70.05964510000592 + ], + [ + 1600.9913539815786, + -127.83511401897402 + ], + [ + 1444.5092364147458, + -158.11980675538962 + ], + [ + 1252.8718449070743, + -110.98493745071391 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 886.0605576439441, + "ymin": 540.784015976247, + "xmax": 919.2265308515364, + "ymax": 570.7012564952353 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 899.7740693404482, + 545.0854387338717 + ], + [ + 886.0605576439441, + 552.8141095597108 + ], + [ + 904.1082923783665, + 570.7012564952353 + ], + [ + 917.9215176004769, + 562.6995989231048 + ], + [ + 900.9728645463204, + 540.784015976247 + ], + [ + 887.2047976467979, + 548.5155592535818 + ], + [ + 905.3581461685668, + 566.4114486700794 + ], + [ + 919.2265308515364, + 558.405518610906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7664114084626016696, + "instance_id": 47273, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.91487884521484, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 906.1865745677674, + "ymin": 0.0, + "xmax": 999.8665304823012, + "ymax": 117.95975851212089 + }, + "corners_3d": [ + [ + -95.94330596923828, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -79.87950897216797, + 4.83804988861084 + ], + [ + -95.94330596923828, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 938.4268194573481, + 117.95975851212089 + ], + [ + 974.9087733909688, + 105.83252305601144 + ], + [ + 942.2518218865359, + 89.12605603024014 + ], + [ + 906.1865745677674, + 100.54663940618354 + ], + [ + 961.1744445268058, + 14.35252658863567 + ], + [ + 999.8665304823012, + 3.6377816580609306 + ], + [ + 964.0690675853457, + -11.067392284588095 + ], + [ + 925.8258186950385, + -1.0218308664943265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9560389216542849208, + "instance_id": 47352, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_1", + "bbox_3d": { + "center_world": { + "x": -94.91524505615234, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 921.7371576699582, + "ymin": 13.792719036823485, + "xmax": 991.7470153009932, + "ymax": 45.99412195640417 + }, + "corners_3d": [ + [ + -95.88141632080078, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -95.88141632080078, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -93.9490737915039, + -77.64111328125, + 3.4435572624206543 + ], + [ + -93.9490737915039, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -95.88141632080078, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -95.88141632080078, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -93.9490737915039, + -77.64111328125, + 3.7680342197418213 + ], + [ + -93.9490737915039, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 954.0336788277498, + 45.99412195640417 + ], + [ + 989.9718451994755, + 35.42849288605163 + ], + [ + 957.285016317573, + 20.964573578324575 + ], + [ + 921.7371576699582, + 30.922112298816785 + ], + [ + 955.6603683107016, + 38.58056892473974 + ], + [ + 991.7470153009932, + 28.11543195927061 + ], + [ + 958.8476368162178, + 13.792719036823485 + ], + [ + 923.1532838469518, + 23.65259680128554 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11431371900272489448, + "instance_id": 59571, + "pixel_count": null, + "type_id": "BP_HighwayLight_simple2_SM_2", + "bbox_3d": { + "center_world": { + "x": -98.27579498291016, + "y": -56.101219177246094, + "z": 5.664507865905762 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1244.7180592815366, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 44.470639293436875 + }, + "corners_3d": [ + [ + -98.64216613769531, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -97.90940856933594, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -97.909423828125, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -98.64218139648438, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -98.64216613769531, + -52.1658935546875, + 11.14326000213623 + ], + [ + -97.90940856933594, + -52.1658935546875, + 11.14326000213623 + ], + [ + -97.909423828125, + -60.03654479980469, + 11.14326000213623 + ], + [ + -98.64218139648438, + -60.03654479980469, + 11.14326000213623 + ] + ], + "corners_2d": [ + [ + 1343.8030361561891, + 13.996631030758124 + ], + [ + 1330.5188503682734, + 9.711178259458904 + ], + [ + 1244.7180592815366, + 39.62522895938196 + ], + [ + 1258.0235419810026, + 44.470639293436875 + ], + [ + 1454.885693514358, + -216.94156178075832 + ], + [ + 1438.377299095132, + -219.50717627903362 + ], + [ + 1346.1258780384924, + -201.4456875140944 + ], + [ + 1362.826674215304, + -198.48627577476384 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 558.7895226699005, + "ymin": 7.461463995627582, + "xmax": 666.2649899716184, + "ymax": 239.65087461453035 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 570.2040241003763, + 234.09466898454548 + ], + [ + 575.8553548961165, + 239.65087461453035 + ], + [ + 662.6966896128356, + 210.73557653999472 + ], + [ + 656.6186046009648, + 205.62440162981537 + ], + [ + 558.7895226699005, + 30.79825408410062 + ], + [ + 565.267932749161, + 35.3889227523772 + ], + [ + 666.2649899716184, + 11.628270747679267 + ], + [ + 659.2084835550946, + 7.461463995627582 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 886.2353287816112, + "ymin": 540.9407479144738, + "xmax": 919.0479429161321, + "ymax": 570.5398219932601 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 899.8035380375306, + 545.1963722138411 + ], + [ + 886.2353287816112, + 552.8441190123016 + ], + [ + 904.091850137937, + 570.5398219932601 + ], + [ + 917.7576698555897, + 562.6248595450124 + ], + [ + 900.9898450643165, + 540.9407479144738 + ], + [ + 887.3682327929245, + 548.5913133042961 + ], + [ + 905.3281349646022, + 566.295566312107 + ], + [ + 919.0479429161321, + 558.3764294545942 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 647.4915378464415, + "ymin": 13.577895927133113, + "xmax": 662.4060553675594, + "ymax": 22.008434543181636 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 647.4915378464415, + 19.16567271053526 + ], + [ + 652.1205664218814, + 22.008434543181636 + ], + [ + 662.3572049408294, + 19.564750688992774 + ], + [ + 657.6918083612644, + 16.750367438901264 + ], + [ + 647.5078933219252, + 15.982531706247414 + ], + [ + 652.1471836935605, + 18.81280289164181 + ], + [ + 662.4060553675594, + 16.379851820219073 + ], + [ + 657.7302398700825, + 13.577895927133113 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 731.8031422458425, + "ymin": 410.2967875761127, + "xmax": 929.1774939997009, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 747.0017572215911, + 649.323039481077 + ], + [ + 731.8031422458425, + 658.0304268270177 + ], + [ + 840.2794451807256, + 797.6302811328707 + ], + [ + 856.4062343145881, + 786.6340256962658 + ], + [ + 777.8960231125538, + 410.2967875761127 + ], + [ + 758.5767030915521, + 419.130971004436 + ], + [ + 908.4207700903961, + 566.4240768896344 + ], + [ + 929.1774939997009, + 554.4209285859524 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15445048005953999223, + "instance_id": 30545, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_0", + "bbox_3d": { + "center_world": { + "x": -94.91524505615234, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 921.6882729296048, + "ymin": 13.779219752419863, + "xmax": 991.7873830745646, + "ymax": 46.05926045085209 + }, + "corners_3d": [ + [ + -95.88260650634766, + -79.81846618652344, + 3.441368341445923 + ], + [ + -95.88261413574219, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -93.94788360595703, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -93.9478759765625, + -79.81846618652344, + 3.441368341445923 + ], + [ + -95.88260650634766, + -79.81846618652344, + 3.768015146255493 + ], + [ + -95.88261413574219, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -93.94788360595703, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -93.9478759765625, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 954.0232063287219, + 46.05926045085209 + ], + [ + 990.0001850574674, + 35.48103896331099 + ], + [ + 957.2740438115723, + 20.99865448519472 + ], + [ + 921.6882729296048, + 30.967351624528703 + ], + [ + 955.6607686470948, + 38.59624582772108 + ], + [ + 991.7873830745646, + 28.11929183273918 + ], + [ + 958.8470136093708, + 13.779219752419863 + ], + [ + 923.113611311895, + 23.64950550292923 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 790.8996697891336, + "ymin": 326.1274054646137, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 804.6448214692963, + 590.1075250251405 + ], + [ + 790.8996697891336, + 597.626544354712 + ], + [ + 1238.6316332346146, + 1116.8576899230056 + ], + [ + 1254.322722707397, + 1100.2520952234686 + ], + [ + 853.640422363098, + 326.1274054646137 + ], + [ + 836.2210871324231, + 333.4583277946105 + ], + [ + 1552.323074071126, + 928.0403811930843 + ], + [ + 1571.1143649725423, + 905.8760539174348 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 5199819733356185808, + "instance_id": 53256, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1851_37", + "bbox_3d": { + "center_world": { + "x": -100.25784301757812, + "y": -72.39555358886719, + "z": 8.309331893920898 + }, + "extent": { + "x": 4.9728498458862305, + "y": 4.831793308258057, + "z": 8.307754516601562 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 971.0088024111894, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 198.6497849050612 + }, + "corners_3d": [ + [ + -94.59623718261719, + -68.39283752441406, + 0.0015773773193359375 + ], + [ + -96.09391784667969, + -77.93966674804688, + 0.0015773773193359375 + ], + [ + -105.91944885253906, + -76.39826965332031, + 0.0015773773193359375 + ], + [ + -104.42176818847656, + -66.8514404296875, + 0.0015773773193359375 + ], + [ + -94.59623718261719, + -68.39283752441406, + 16.61708641052246 + ], + [ + -96.09391784667969, + -77.93966674804688, + 16.61708641052246 + ], + [ + -105.91944885253906, + -76.39826965332031, + 16.61708641052246 + ], + [ + -104.42176818847656, + -66.8514404296875, + 16.61708641052246 + ] + ], + "corners_2d": [ + [ + 1083.3654140486483, + 55.49753406858895 + ], + [ + 971.0088024111894, + 112.03672369063739 + ], + [ + 1183.4693276399535, + 198.6497849050612 + ], + [ + 1287.2211632223464, + 124.94558906237899 + ], + [ + 1210.2810884255973, + -351.4683411217777 + ], + [ + 1079.4274594179776, + -335.1045218140846 + ], + [ + 1398.7866291741268, + -307.8940572066447 + ], + [ + 1505.5550805024727, + -331.219996020767 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00054/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00054/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1860202c33bc712879b51a8ade6c39294b6d98a3 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00054/meta.json @@ -0,0 +1,2560 @@ +{ + "frame_id": 54, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 27.0, + "sim_timestamp": 10343.206669991836 + }, + "drone_pose": { + "x": -122.32595285100237, + "y": -111.85826670848773, + "z": 20.100650066988152, + "pitch": -46.178196828144245, + "yaw": 36.247884559681616, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.5584117770195007, + -0.409412682056427, + 0.7214967608451843, + 99.60188293457031 + ], + [ + 0.5912798047065735, + 0.8064664602279663, + -1.4901161193847656e-08, + 17.881072998046875 + ], + [ + -0.5818629860877991, + 0.4266064763069153, + 0.6924178600311279, + -132.81443786621094 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -121.90870777950704, + "y": -111.43480507555432, + "z": 19.985360606100347 + }, + "t1_image_uv": [ + 825.9008302021729, + -313.804549430586 + ], + "t1_depth": 0.4895460745887783 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -104.66718292236328, + "y": -99.68776321411131, + "z": 0.7274065208435059 + }, + "image_uv": [ + 619.1430434114676, + 291.6299690318363 + ], + "depth": 28.821355408660445, + "visible": false, + "in_view": true, + "lost_reason": "occluded", + "pixel_count": 0, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -104.66718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.2692528963088989, + "y": 0.2193603217601776, + "z": 0.5297907590866089 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 607.5858940523892, + "ymin": 270.63504758886563, + "xmax": 630.4452509214129, + "ymax": 312.41881814651634 + }, + "corners_3d": [ + [ + -104.93643951416016, + -99.90711975097656, + 0.19761568307876587 + ], + [ + -104.93643951416016, + -99.46839904785156, + 0.19761568307876587 + ], + [ + -104.3979263305664, + -99.46839904785156, + 0.19761568307876587 + ], + [ + -104.3979263305664, + -99.90711975097656, + 0.19761568307876587 + ], + [ + -104.93643951416016, + -99.90711975097656, + 1.2571971416473389 + ], + [ + -104.93643951416016, + -99.46839904785156, + 1.2571971416473389 + ], + [ + -104.3979263305664, + -99.46839904785156, + 1.2571971416473389 + ], + [ + -104.3979263305664, + -99.90711975097656, + 1.2571971416473389 + ] + ], + "corners_2d": [ + [ + 618.658762509252, + 312.41881814651634 + ], + [ + 630.4452509214129, + 306.54680987888423 + ], + [ + 620.1611617314662, + 296.87640191232555 + ], + [ + 608.4326669289446, + 302.6287155435309 + ], + [ + 618.0801931664773, + 286.1518398683972 + ], + [ + 630.1878574256124, + 280.287899574204 + ], + [ + 619.6323309198955, + 270.63504758886563 + ], + [ + 607.5858940523892, + 276.3762782914002 + ] + ], + "center_offset_px": [ + -20.856956588532398, + -68.37003096816369 + ] + }, + "trace_timestep_index": 54, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 43, + "semantic_pixel_counts": { + "1": 266284, + "2": 168531, + "3": 391398, + "4": 20383, + "5": 311, + "6": 17971, + "7": 3043, + "10": 10241, + "12": 1328, + "14": 2644, + "16": 20157, + "21": 1034, + "24": 18275 + }, + "instance_pixel_counts": { + "1115": 7638, + "11394": 3191, + "14416": 311, + "16023": 2635, + "17232": 20383, + "18011": 206922, + "20631": 4966, + "23808": 3270, + "24064": 13911, + "27072": 12132, + "29843": 13940, + "30656": 49284, + "31168": 7342, + "31891": 6893, + "34120": 46268, + "34453": 1101, + "36443": 176838, + "36501": 759, + "37460": 642, + "44171": 2851, + "44179": 14316, + "44691": 149804, + "46227": 81331, + "46731": 1935, + "46741": 509, + "47253": 12391, + "48779": 2500, + "48789": 3515, + "49803": 3577, + "50176": 431, + "50432": 877, + "50688": 20, + "52480": 2643, + "52672": 518, + "52736": 17514, + "53184": 4221, + "54016": 2644, + "54720": 5009, + "55232": 218, + "55744": 9270, + "56135": 99, + "56768": 15805, + "62555": 1034 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 0, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -104.66718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.21089841425418854, + "y": 0.21678219735622406, + "z": 0.5180276036262512 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 608.7930160230992, + "ymin": 272.0039564485241, + "xmax": 629.2486034937106, + "ymax": 311.0294424920967 + }, + "corners_3d": [ + [ + -104.87808227539062, + -99.904541015625, + 0.20937883853912354 + ], + [ + -104.87808227539062, + -99.47097778320312, + 0.20937883853912354 + ], + [ + -104.45628356933594, + -99.47097778320312, + 0.20937883853912354 + ], + [ + -104.45628356933594, + -99.904541015625, + 0.20937883853912354 + ], + [ + -104.87808227539062, + -99.904541015625, + 1.245434045791626 + ], + [ + -104.87808227539062, + -99.47097778320312, + 1.245434045791626 + ], + [ + -104.45628356933594, + -99.47097778320312, + 1.245434045791626 + ], + [ + -104.45628356933594, + -99.904541015625, + 1.245434045791626 + ] + ], + "corners_2d": [ + [ + 617.6034540747347, + 311.0294424920967 + ], + [ + 629.2486034937106, + 305.23950463372677 + ], + [ + 621.1914769443312, + 297.664628562275 + ], + [ + 609.5912450939975, + 303.36189180938027 + ], + [ + 617.0106419939415, + 285.3472188584582 + ], + [ + 628.96580329492, + 279.56539952213404 + ], + [ + 620.7008121873712, + 272.0039564485241 + ], + [ + 608.7930160230992, + 277.6908193509845 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 431, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -106.92300415039062, + "y": -92.74504852294922, + "z": 0.5750090479850769 + }, + "extent": { + "x": 0.41185545921325684, + "y": 0.3062500059604645, + "z": 0.8708253502845764 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 818.4948454353637, + "ymin": 214.9869479890986, + "xmax": 859.266076436393, + "ymax": 278.1571168135166 + }, + "corners_3d": [ + [ + -107.36461639404297, + -93.0065689086914, + -0.2958163022994995 + ], + [ + -107.30059051513672, + -92.39742279052734, + -0.2958163022994995 + ], + [ + -106.48139190673828, + -92.48352813720703, + -0.2958163022994995 + ], + [ + -106.54541778564453, + -93.0926742553711, + -0.2958163022994995 + ], + [ + -107.36461639404297, + -93.0065689086914, + 1.4458343982696533 + ], + [ + -107.30059051513672, + -92.39742279052734, + 1.4458343982696533 + ], + [ + -106.48139190673828, + -92.48352813720703, + 1.4458343982696533 + ], + [ + -106.54541778564453, + -93.0926742553711, + 1.4458343982696533 + ] + ], + "corners_2d": [ + [ + 838.2106576234122, + 278.1571168135166 + ], + [ + 850.3991728558804, + 269.72886605962185 + ], + [ + 830.6984706369557, + 257.5299079322273 + ], + [ + 818.4948454353637, + 265.7326970935456 + ], + [ + 846.6445517162616, + 235.47287383436867 + ], + [ + 859.266076436393, + 227.09762246201174 + ], + [ + 838.6229164836684, + 214.9869479890986 + ], + [ + 825.9827795029621, + 223.12886697305524 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 877, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -114.16718292236328, + "y": -99.68775939941406, + "z": 0.727387011051178 + }, + "extent": { + "x": 0.4296679198741913, + "y": 0.4465722143650055, + "z": 0.87148517370224 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 813.6080955889081, + "ymin": 460.1222468763911, + "xmax": 875.6916306185705, + "ymax": 542.8761601675822 + }, + "corners_3d": [ + [ + -114.59684753417969, + -100.13433074951172, + -0.144098162651062 + ], + [ + -114.59684753417969, + -99.2411880493164, + -0.144098162651062 + ], + [ + -113.73751831054688, + -99.2411880493164, + -0.144098162651062 + ], + [ + -113.73751831054688, + -100.13433074951172, + -0.144098162651062 + ], + [ + -114.59684753417969, + -100.13433074951172, + 1.598872184753418 + ], + [ + -114.59684753417969, + -99.2411880493164, + 1.598872184753418 + ], + [ + -113.73751831054688, + -99.2411880493164, + 1.598872184753418 + ], + [ + -113.73751831054688, + -100.13433074951172, + 1.598872184753418 + ] + ], + "corners_2d": [ + [ + 837.6817842574096, + 542.8761601675822 + ], + [ + 863.3870909664603, + 524.9149982477379 + ], + [ + 839.1696357842283, + 502.15581999809956 + ], + [ + 813.6080955889081, + 519.4170061583665 + ], + [ + 848.7476677177681, + 501.540002722621 + ], + [ + 875.6916306185705, + 483.25156621710306 + ], + [ + 849.9144005745201, + 460.1222468763911 + ], + [ + 823.1231308654078, + 477.65960032699735 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 20, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -111.78268432617188, + "y": -112.81512451171875, + "z": 0.7252579927444458 + }, + "extent": { + "x": 0.4132958948612213, + "y": 0.5127782821655273, + "z": 0.8846210837364197 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 248.4522873332362, + "ymin": 694.6433478815509, + "xmax": 337.1171322364905, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -111.64427947998047, + -113.45901489257812, + -0.15936309099197388 + ], + [ + -112.4412841796875, + -112.81361389160156, + -0.15936309099197388 + ], + [ + -111.92108917236328, + -112.17123413085938, + -0.15936309099197388 + ], + [ + -111.12408447265625, + -112.81663513183594, + -0.15936309099197388 + ], + [ + -111.64427947998047, + -113.45901489257812, + 1.6098790168762207 + ], + [ + -112.4412841796875, + -112.81361389160156, + 1.6098790168762207 + ], + [ + -111.92108917236328, + -112.17123413085938, + 1.6098790168762207 + ], + [ + -111.12408447265625, + -112.81663513183594, + 1.6098790168762207 + ] + ], + "corners_2d": [ + [ + 273.53449536691744, + 769.3038297015435 + ], + [ + 318.3945740720352, + 782.2121643072537 + ], + [ + 337.1171322364905, + 743.4260212882656 + ], + [ + 293.304091630491, + 731.2089755753452 + ], + [ + 248.4522873332362, + 734.2604066568356 + ], + [ + 296.167249704824, + 747.7178009464644 + ], + [ + 316.7928525547149, + 707.3326217561261 + ], + [ + 270.258888477053, + 694.6433478815509 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 2643, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 446.33621776655013, + "ymin": 0.0, + "xmax": 701.3392639120117, + "ymax": 201.3153907793106 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 544.2404048400382, + 48.416968250142304 + ], + [ + 461.62422588456593, + 76.97058999043867 + ], + [ + 606.3614006627823, + 201.3153907793106 + ], + [ + 695.9212301895692, + 162.27334720879418 + ], + [ + 536.3866687217968, + -52.698790726740924 + ], + [ + 446.33621776655013, + -26.249293153253745 + ], + [ + 602.9275364926217, + 91.06854790733178 + ], + [ + 701.3392639120117, + 53.85352608117563 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 17514, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 696.3218129336992, + "ymin": 0.0, + "xmax": 965.0370376799754, + "ymax": 133.9478052209058 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 866.9599332754643, + 133.9478052209058 + ], + [ + 938.5180409313248, + 100.77203750262885 + ], + [ + 764.7439427604716, + 2.601188421186805 + ], + [ + 696.3218129336992, + 27.422424532072114 + ], + [ + 888.1087174404463, + 27.03341859980685 + ], + [ + 965.0370376799754, + -4.101491939948573 + ], + [ + 774.2458405431303, + -94.7994962377702 + ], + [ + 700.7906844454185, + -72.0675443321756 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 2644, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 616.0156744321555, + "ymin": 40.6330008150299, + "xmax": 742.1964526072892, + "ymax": 153.20258247412846 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 653.0917477807365, + 76.9175384346741 + ], + [ + 616.730653516533, + 90.76080816578275 + ], + [ + 701.2897419286442, + 153.20258247412846 + ], + [ + 738.9575970155182, + 136.92009534123787 + ], + [ + 653.4861612731928, + 40.6330008150299 + ], + [ + 616.0156744321555, + 54.179778965341825 + ], + [ + 703.3391679810328, + 115.48061749927706 + ], + [ + 742.1964526072892, + 99.46457252863354 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 957.116841295273, + "ymin": 478.96856992484925, + "xmax": 995.8464686577965, + "ymax": 528.2783104595736 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 969.06949199067, + 528.2783104595736 + ], + [ + 983.0133023644119, + 517.8460595485607 + ], + [ + 971.0436497345149, + 507.6492154897485 + ], + [ + 957.116841295273, + 517.897764361672 + ], + [ + 981.4960626778973, + 499.8418186414919 + ], + [ + 995.8464686577965, + 489.28262077040756 + ], + [ + 983.3159079831324, + 478.96856992484925 + ], + [ + 968.9816920502599, + 489.33493721478567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5668522571212290485, + "instance_id": 46457, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -89.45570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1126.5282868001693, + "ymin": 142.9752152379113, + "xmax": 1157.975454414181, + "ymax": 182.02960148389684 + }, + "corners_3d": [ + [ + -113.19542694091797, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -89.26573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -89.26573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1126.5282868001693, + 176.8754402483993 + ], + [ + 1136.0081645674131, + 182.02960148389684 + ], + [ + 1144.7952737725968, + 176.84998229249496 + ], + [ + 1135.3200043312913, + 171.76034353167364 + ], + [ + 1139.2319233680066, + 148.0378256627858 + ], + [ + 1149.0431599515052, + 153.1407738777043 + ], + [ + 1157.975454414181, + 148.01262483480966 + ], + [ + 1148.170145881461, + 142.9752152379113 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7157878223548397302, + "instance_id": 63030, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -86.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1182.425256686416, + "ymin": 111.21733400280624, + "xmax": 1213.9877765484098, + "ymax": 149.1031340573905 + }, + "corners_3d": [ + [ + -113.19542694091797, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -86.76573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -86.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1182.425256686416, + 144.35225939768384 + ], + [ + 1191.8639984261627, + 149.1031340573905 + ], + [ + 1199.9635909114245, + 144.32878747627194 + ], + [ + 1190.5331406254418, + 139.6350340197909 + ], + [ + 1196.0106145117209, + 115.87652727294764 + ], + [ + 1205.7715495703314, + 120.57037417583439 + ], + [ + 1213.9877765484098, + 115.85334063383755 + ], + [ + 1204.2366094089862, + 111.21733400280624 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7631990878982166785, + "instance_id": 473, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": -83.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1243.8965624239231, + "ymin": 76.3495338938248, + "xmax": 1275.4520041969915, + "ymax": 112.91241409202604 + }, + "corners_3d": [ + [ + -113.1954345703125, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47261047363281, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.19544219970703, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47261047363281, + -83.76573944091797, + 6.416468620300293 + ], + [ + -113.19544219970703, + -83.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1243.8965624239231, + 108.58596568293225 + ], + [ + 1253.2577106388246, + 112.91241409202604 + ], + [ + 1260.633742791592, + 108.5645847313327 + ], + [ + 1251.2841971151213, + 104.28779710043781 + ], + [ + 1258.3156281258282, + 80.58520660141693 + ], + [ + 1267.9869124463657, + 84.84992046161659 + ], + [ + 1275.4520041969915, + 80.56413365837881 + ], + [ + 1265.7938993453668, + 76.3495338938248 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 766.5113122250187, + "ymin": 413.4583887770932, + "xmax": 791.0499952874317, + "ymax": 452.8524614738178 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 774.545850035479, + 452.8524614738178 + ], + [ + 786.8012039938826, + 445.2251536705446 + ], + [ + 778.7373847834667, + 437.7003883407098 + ], + [ + 766.5113122250187, + 445.22195424546146 + ], + [ + 778.4680995110389, + 428.7015050696973 + ], + [ + 791.0499952874317, + 421.02682820362725 + ], + [ + 782.724155280299, + 413.4583887770932 + ], + [ + 770.1728525748558, + 421.0236095635969 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 9735242768536669050, + "instance_id": 31371, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -120.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1098.9840938204206, + "ymin": 601.7207569517745, + "xmax": 1147.8931207485043, + "ymax": 653.8241943844724 + }, + "corners_3d": [ + [ + -120.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -120.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -120.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -120.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -120.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1113.6289479813847, + 653.8241943844724 + ], + [ + 1127.6282092309639, + 641.0422540826178 + ], + [ + 1112.9903540960927, + 628.5723912736544 + ], + [ + 1098.9840938204206, + 641.1055441378392 + ], + [ + 1133.516666222864, + 627.476080354645 + ], + [ + 1147.8931207485043, + 614.4339959783268 + ], + [ + 1132.4477816301378, + 601.7207569517745 + ], + [ + 1118.0595910612726, + 614.4985475039031 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1023.2694650847814, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 348.8540434707457 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1261.117691404872, + 202.93515947271828 + ], + [ + 1249.2891483752117, + 196.77356256435073 + ], + [ + 1023.2694650847814, + 340.3862073484779 + ], + [ + 1035.1932985023714, + 348.8540434707457 + ], + [ + 1401.5489210751152, + -40.878992760533094 + ], + [ + 1385.8138812635111, + -46.24050136937694 + ], + [ + 1127.9056540383674, + 83.5055433204958 + ], + [ + 1144.2735250288238, + 91.48041068689076 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1034.293614943058, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 244.75578937647262 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 1135.423845021579, + 244.75578937647262 + ], + [ + 1291.911604588252, + 145.51294412977268 + ], + [ + 1192.0788097515947, + 98.49140615335057 + ], + [ + 1034.293614943058, + 185.55490766257927 + ], + [ + 1344.8650082702593, + -193.44836939837796 + ], + [ + 1525.5313770588405, + -261.5119950746416 + ], + [ + 1374.1792438611355, + -291.65487068215714 + ], + [ + 1185.5551175982212, + -234.80524251173222 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 836.1325839079599, + "ymin": 461.9260587772394, + "xmax": 868.7518770677085, + "ymax": 491.4922967076857 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 849.2685142481411, + 466.0620856605023 + ], + [ + 836.1325839079599, + 474.7038547471467 + ], + [ + 854.3914173635366, + 491.4922967076857 + ], + [ + 867.5799488792147, + 482.5893756946577 + ], + [ + 850.3302058641164, + 461.9260587772394 + ], + [ + 837.1354443279299, + 470.57954363359323 + ], + [ + 855.5042294728427, + 487.39270652964734 + ], + [ + 868.7518770677085, + 478.476353566747 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7664114084626016696, + "instance_id": 47273, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.91487884521484, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 838.6605873661322, + "ymin": 0.0, + "xmax": 930.705005041969, + "ymax": 14.795362867095719 + }, + "corners_3d": [ + [ + -95.94330596923828, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -79.87950897216797, + 4.83804988861084 + ], + [ + -95.94330596923828, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 871.7204745650919, + 14.795362867095719 + ], + [ + 907.9340575292726, + 0.49779904295166943 + ], + [ + 874.6382415747977, + -16.113672345475095 + ], + [ + 838.6605873661322, + -2.555598081745188 + ], + [ + 891.8913686731762, + -95.45255915968698 + ], + [ + 930.705005041969, + -108.35462438102343 + ], + [ + 894.0198485867724, + -123.28343717876396 + ], + [ + 855.4569313583847, + -111.10365995175385 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 475.00449073478, + "ymin": 0.0, + "xmax": 595.623377433936, + "ymax": 159.7653855462621 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 501.51853769838567, + 154.12864821768136 + ], + [ + 507.74828451786396, + 159.7653855462621 + ], + [ + 595.623377433936, + 125.01623228270228 + ], + [ + 589.0699866886523, + 119.8569129923176 + ], + [ + 475.00449073478, + -61.68433479370765 + ], + [ + 482.21265375670475, + -56.78612586029749 + ], + [ + 587.4952863456758, + -86.77204053001572 + ], + [ + 579.8158782776895, + -91.18167671164883 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 836.304861911952, + "ymin": 462.0813388965664, + "xmax": 868.5766423844431, + "ymax": 491.33315952683256 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 849.3014196711664, + 466.1731978670489 + ], + [ + 836.304861911952, + 474.72430353282954 + ], + [ + 854.3700271617515, + 491.33315952683256 + ], + [ + 867.4180789042261, + 482.5264202251807 + ], + [ + 850.3520820223462, + 462.0813388965664 + ], + [ + 837.2979374539904, + 470.6439208397226 + ], + [ + 855.4707278972251, + 487.27696583014057 + ], + [ + 868.5766423844431, + 478.45708826652344 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 688.4063459507377, + "ymin": 336.42360638912487, + "xmax": 878.3824957707282, + "ymax": 703.3374048676658 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 702.8728498511048, + 567.2068405663215 + ], + [ + 688.4063459507377, + 576.7622183484282 + ], + [ + 799.157208186848, + 703.3374048676658 + ], + [ + 814.1560278462715, + 691.7006762996359 + ], + [ + 723.1920873352004, + 336.42360638912487 + ], + [ + 704.2145224737305, + 346.67687427442274 + ], + [ + 858.5564493475367, + 487.6321895659792 + ], + [ + 878.3824957707282, + 474.26104204716194 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 743.503310974319, + "ymin": 245.69025085522824, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 756.6206378095117, + 505.0887979602165 + ], + [ + 743.503310974319, + 513.3894202598078 + ], + [ + 1172.7473542654361, + 963.1069903934533 + ], + [ + 1186.6467373673086, + 947.1187521912999 + ], + [ + 795.5931438565549, + 245.69025085522824 + ], + [ + 778.4274845330407, + 254.2775497316704 + ], + [ + 1460.414496354506, + 791.2880299749236 + ], + [ + 1477.3108670016, + 769.4227320638159 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 5199819733356185808, + "instance_id": 53256, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1851_37", + "bbox_3d": { + "center_world": { + "x": -100.25784301757812, + "y": -72.39555358886719, + "z": 8.309331893920898 + }, + "extent": { + "x": 4.9728498458862305, + "y": 4.831793308258057, + "z": 8.307754516601562 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 904.1947123417465, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 89.53471232766799 + }, + "corners_3d": [ + [ + -94.59623718261719, + -68.39283752441406, + 0.0015773773193359375 + ], + [ + -96.09391784667969, + -77.93966674804688, + 0.0015773773193359375 + ], + [ + -105.91944885253906, + -76.39826965332031, + 0.0015773773193359375 + ], + [ + -104.42176818847656, + -66.8514404296875, + 0.0015773773193359375 + ], + [ + -94.59623718261719, + -68.39283752441406, + 16.61708641052246 + ], + [ + -96.09391784667969, + -77.93966674804688, + 16.61708641052246 + ], + [ + -105.91944885253906, + -76.39826965332031, + 16.61708641052246 + ], + [ + -104.42176818847656, + -66.8514404296875, + 16.61708641052246 + ] + ], + "corners_2d": [ + [ + 1014.8555767133379, + -57.111848398228005 + ], + [ + 904.1947123417465, + 7.188532025082679 + ], + [ + 1115.1240435006507, + 89.53471232766799 + ], + [ + 1214.9868443516043, + 8.858493707639468 + ], + [ + 1140.4038019836194, + -505.3812623075537 + ], + [ + 1006.2025401493605, + -484.7600056245709 + ], + [ + 1332.5814395086607, + -455.9228606674468 + ], + [ + 1437.7885994686633, + -484.20335668598364 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00055/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00055/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b66f6732dc4f62daa078b53c4789a2711b6b6fab --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00055/meta.json @@ -0,0 +1,3622 @@ +{ + "frame_id": 55, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 27.5, + "sim_timestamp": 10357.359196143225 + }, + "drone_pose": { + "x": -121.90870777950704, + "y": -111.43480507555432, + "z": 19.985360606100347, + "pitch": -39.13227176704781, + "yaw": 37.653796411437995, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6141273379325867, + -0.4738609790802002, + 0.631112813949585, + 115.05907440185547 + ], + [ + 0.6108888387680054, + 0.7917163968086243, + -1.4901161193847656e-08, + 13.752090454101562 + ], + [ + -0.4996623694896698, + 0.3855397701263428, + 0.775691032409668, + -119.37821197509766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -121.73922257773916, + "y": -111.02300916800706, + "z": 19.83031347474807 + }, + "t1_image_uv": [ + 1177.9113880324294, + 62.186864747084314 + ], + "t1_depth": 0.39707173809299146 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -104.16718292236328, + "y": -99.68776321411131, + "z": 0.7274065208435059 + }, + "image_uv": [ + 588.411240594889, + 411.8143977464487 + ], + "depth": 28.61596181121277, + "visible": false, + "in_view": true, + "lost_reason": "occluded", + "pixel_count": 0, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -104.16718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.23856930434703827, + "y": 0.21572263538837433, + "z": 0.5173345804214478 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 577.1728862849777, + "ymin": 391.6487435959093, + "xmax": 599.4303058527827, + "ymax": 431.8706522928847 + }, + "corners_3d": [ + [ + -104.40575408935547, + -99.90348052978516, + 0.210071861743927 + ], + [ + -104.40575408935547, + -99.47203826904297, + 0.210071861743927 + ], + [ + -103.9286117553711, + -99.47203826904297, + 0.210071861743927 + ], + [ + -103.9286117553711, + -99.90348052978516, + 0.210071861743927 + ], + [ + -104.40575408935547, + -99.90348052978516, + 1.2447409629821777 + ], + [ + -104.40575408935547, + -99.47203826904297, + 1.2447409629821777 + ], + [ + -103.9286117553711, + -99.47203826904297, + 1.2447409629821777 + ], + [ + -103.9286117553711, + -99.90348052978516, + 1.2447409629821777 + ] + ], + "corners_2d": [ + [ + 587.7130772196264, + 431.8706522928847 + ], + [ + 599.4303058527827, + 425.8364252303618 + ], + [ + 590.2517269239547, + 417.3350445037242 + ], + [ + 578.5882108379636, + 423.24831149026573 + ], + [ + 586.4954559950557, + 406.0671465299727 + ], + [ + 598.4923855716395, + 400.08018613378647 + ], + [ + 589.113418687856, + 391.6487435959093 + ], + [ + 577.1728862849777, + 397.5129496858757 + ] + ], + "center_offset_px": [ + -51.58875940511098, + 51.81439774644872 + ] + }, + "trace_timestep_index": 55, + "instance_stats": { + "semantic_tags_present": 16, + "instances_present": 62, + "semantic_pixel_counts": { + "1": 219782, + "2": 105622, + "3": 427780, + "4": 27830, + "5": 315, + "6": 23430, + "7": 2601, + "9": 10958, + "10": 39378, + "12": 1247, + "14": 4883, + "15": 595, + "16": 28456, + "20": 10895, + "21": 3240, + "24": 14588 + }, + "instance_pixel_counts": { + "606": 595, + "913": 388, + "1115": 3319, + "1118": 410, + "1169": 1058, + "8795": 18, + "10325": 17, + "10837": 55, + "11394": 3313, + "12894": 1927, + "14416": 315, + "14979": 597, + "16023": 736, + "16476": 202, + "17232": 27830, + "17500": 56, + "18011": 295953, + "18012": 196, + "23808": 4584, + "24064": 11738, + "27072": 12176, + "28763": 72, + "29843": 73, + "30656": 7538, + "31168": 8077, + "34120": 22417, + "34453": 8, + "35924": 2980, + "36443": 128418, + "36692": 52, + "36948": 709, + "37460": 5677, + "40019": 128, + "43659": 752, + "44171": 3339, + "44179": 16524, + "44691": 121165, + "46227": 82020, + "46731": 2262, + "46741": 595, + "47253": 10465, + "48779": 2482, + "48789": 3520, + "49803": 3416, + "50176": 465, + "50432": 782, + "52480": 2819, + "52672": 5126, + "52736": 25637, + "53184": 4617, + "54016": 2538, + "54720": 6030, + "55040": 8, + "55232": 1580, + "55744": 10190, + "55879": 5142, + "56135": 5876, + "56768": 14884, + "57173": 10958, + "57691": 5702, + "62555": 1635, + "63067": 1079 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 0, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -104.16718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.3016943037509918, + "y": 0.21297360956668854, + "z": 0.5307878851890564 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 576.0113020986811, + "ymin": 390.24158581320455, + "xmax": 600.5960677349015, + "ymax": 433.31367609914327 + }, + "corners_3d": [ + [ + -104.46887969970703, + -99.9007339477539, + 0.19661855697631836 + ], + [ + -104.46887969970703, + -99.47478485107422, + 0.19661855697631836 + ], + [ + -103.86548614501953, + -99.47478485107422, + 0.19661855697631836 + ], + [ + -103.86548614501953, + -99.9007339477539, + 0.19661855697631836 + ], + [ + -104.46887969970703, + -99.9007339477539, + 1.2581943273544312 + ], + [ + -104.46887969970703, + -99.47478485107422, + 1.2581943273544312 + ], + [ + -103.86548614501953, + -99.47478485107422, + 1.2581943273544312 + ], + [ + -103.86548614501953, + -99.9007339477539, + 1.2581943273544312 + ] + ], + "corners_2d": [ + [ + 589.0245393045376, + 433.31367609914327 + ], + [ + 600.5960677349015, + 427.33967050343307 + ], + [ + 588.9923186596208, + 416.58668189741843 + ], + [ + 577.4878066579, + 422.409694769383 + ], + [ + 587.8045889501456, + 406.830221685328 + ], + [ + 599.6597989186436, + 400.90384623341913 + ], + [ + 587.796056818969, + 390.24158581320455 + ], + [ + 576.0113020986811, + 396.01467000616185 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 465, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -106.42300415039062, + "y": -92.74504852294922, + "z": 0.5749504566192627 + }, + "extent": { + "x": 0.5275439620018005, + "y": 0.3421972692012787, + "z": 0.8752455115318298 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 785.0097521862923, + "ymin": 329.9626364423015, + "xmax": 830.6666953675417, + "ymax": 396.97717819382586 + }, + "corners_3d": [ + [ + -106.98342895507812, + -93.03022766113281, + -0.30029505491256714 + ], + [ + -106.9118881225586, + -92.34957885742188, + -0.30029505491256714 + ], + [ + -105.86257934570312, + -92.45986938476562, + -0.30029505491256714 + ], + [ + -105.93412017822266, + -93.14051818847656, + -0.30029505491256714 + ], + [ + -106.98342895507812, + -93.03022766113281, + 1.4501960277557373 + ], + [ + -106.9118881225586, + -92.34957885742188, + 1.4501960277557373 + ], + [ + -105.86257934570312, + -92.45986938476562, + 1.4501960277557373 + ], + [ + -105.93412017822266, + -93.14051818847656, + 1.4501960277557373 + ] + ], + "corners_2d": [ + [ + 810.5903827252326, + 396.97717819382586 + ], + [ + 823.8841471095332, + 387.32411438974884 + ], + [ + 798.3509952732561, + 372.1989359069762 + ], + [ + 785.0097521862923, + 381.4920816654447 + ], + [ + 816.9605331044248, + 354.29760018161704 + ], + [ + 830.6666953675417, + 344.8106854278027 + ], + [ + 804.0785214448442, + 329.9626364423015 + ], + [ + 790.3184224731783, + 339.0830825552846 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 782, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -113.66718292236328, + "y": -99.68775939941406, + "z": 0.7273918986320496 + }, + "extent": { + "x": 0.5058104991912842, + "y": 0.4475194811820984, + "z": 0.8772136569023132 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 787.5754244456288, + "ymin": 578.8121375923853, + "xmax": 853.8232911598242, + "ymax": 671.2802267233287 + }, + "corners_3d": [ + [ + -114.1729965209961, + -100.1352767944336, + -0.14982175827026367 + ], + [ + -114.1729965209961, + -99.24024200439453, + -0.14982175827026367 + ], + [ + -113.16136932373047, + -99.24024200439453, + -0.14982175827026367 + ], + [ + -113.16136932373047, + -100.1352767944336, + -0.14982175827026367 + ], + [ + -114.1729965209961, + -100.1352767944336, + 1.6046055555343628 + ], + [ + -114.1729965209961, + -99.24024200439453, + 1.6046055555343628 + ], + [ + -113.16136932373047, + -99.24024200439453, + 1.6046055555343628 + ], + [ + -113.16136932373047, + -100.1352767944336, + 1.6046055555343628 + ] + ], + "corners_2d": [ + [ + 817.600641168706, + 671.2802267233287 + ], + [ + 843.6345421559969, + 651.3424892142805 + ], + [ + 813.4651532697178, + 623.4167324218449 + ], + [ + 787.5754244456288, + 642.3204744181123 + ], + [ + 826.6604319178223, + 626.9689800797455 + ], + [ + 853.8232911598242, + 606.8829109701064 + ], + [ + 821.9073843946592, + 578.8121375923853 + ], + [ + 794.8940846825351, + 597.806050318401 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 2819, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 426.00152418886796, + "ymin": 85.10669437942721, + "xmax": 676.576479731127, + "ymax": 328.99444881125015 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 522.5424681667781, + 179.94711712390222 + ], + [ + 440.61428564424455, + 208.46891174296397 + ], + [ + 584.6963017764255, + 328.99444881125015 + ], + [ + 673.7599580018102, + 288.8543850521615 + ], + [ + 514.3513402713555, + 85.10669437942721 + ], + [ + 426.00152418886796, + 110.88822336481601 + ], + [ + 579.7984530198182, + 221.75141682128427 + ], + [ + 676.576479731127, + 184.48052945871507 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 25637, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 671.5299386337952, + "ymin": 43.825023875587306, + "xmax": 931.2553851580915, + "ymax": 258.6909348397403 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 842.2298601931473, + 258.6909348397403 + ], + [ + 910.8208373074978, + 225.54611024308366 + ], + [ + 737.5452341897138, + 133.91716541167972 + ], + [ + 671.5299386337952, + 158.15785252453048 + ], + [ + 858.3333842758708, + 156.66681707449834 + ], + [ + 931.2553851580915, + 126.37109200486532 + ], + [ + 743.795613690499, + 43.825023875587306 + ], + [ + 673.6444360887764, + 65.4924274570385 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 2538, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 592.9899908321541, + "ymin": 171.5792108606591, + "xmax": 718.0619262459222, + "ymax": 279.8307036724077 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 629.9330742976061, + 206.0657374061527 + ], + [ + 594.2009399913776, + 219.90681686073293 + ], + [ + 678.9173221020453, + 279.8307036724077 + ], + [ + 715.9149238829604, + 263.31418828089943 + ], + [ + 629.6727962541186, + 171.5792108606591 + ], + [ + 592.9899908321541, + 185.00500107320968 + ], + [ + 680.045302038547, + 243.3082307427613 + ], + [ + 718.0619262459222, + 227.209583071989 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 8, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 506.3945181207132, + "ymin": 2.743303627727471, + "xmax": 613.0677481632646, + "ymax": 88.15197739860594 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 575.01285656411, + 88.15197739860594 + ], + [ + 613.0677481632646, + 76.5754951650922 + ], + [ + 546.459555150499, + 40.74207592443139 + ], + [ + 509.7684004136886, + 50.694756077026284 + ], + [ + 573.1918271897194, + 47.47140071899588 + ], + [ + 612.3306954998704, + 36.52823565210724 + ], + [ + 544.0886430207581, + 2.743303627727471 + ], + [ + 506.3945181207132, + 12.11368297542117 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 52908959695452696, + "instance_id": 6202, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -113.43402862548828, + "y": -79.05494689941406, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1256.5758927584156, + "ymin": 233.9818664239799, + "xmax": 1280.0, + "ymax": 264.20221158979643 + }, + "corners_3d": [ + [ + -113.29469299316406, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -79.24491119384766, + 2.645533323287964 + ], + [ + -113.5733642578125, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -78.86498260498047, + 2.645533323287964 + ], + [ + -113.29469299316406, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -79.24491119384766, + 3.5146729946136475 + ], + [ + -113.5733642578125, + -78.86498260498047, + 3.5146729946136475 + ], + [ + -113.29469299316406, + -78.86498260498047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1256.5758927584156, + 260.4775951982901 + ], + [ + 1265.1641301086584, + 264.20221158979643 + ], + [ + 1270.7589343075413, + 260.28514283050777 + ], + [ + 1262.1892865025284, + 256.60287078585276 + ], + [ + 1267.5074964663402, + 237.79365465820365 + ], + [ + 1276.3096519256037, + 241.45849745648638 + ], + [ + 1281.9387829450416, + 237.60431011065288 + ], + [ + 1273.156593527301, + 233.9818664239799 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 955.4756617256112, + "ymin": 618.8648660468987, + "xmax": 994.3801532581426, + "ymax": 672.1145010959857 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 968.7033404458724, + 672.1145010959857 + ], + [ + 982.5944824303227, + 660.206524475316 + ], + [ + 969.3678209122464, + 649.1843174027763 + ], + [ + 955.4756617256112, + 660.8494489903037 + ], + [ + 980.1400034131324, + 641.920669849234 + ], + [ + 994.3801532581426, + 629.9432581668224 + ], + [ + 980.5790454307953, + 618.8648660468987 + ], + [ + 966.3350869791889, + 630.5896997818172 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5668522571212290485, + "instance_id": 46457, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -89.45570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1101.9282494552685, + "ymin": 266.61346743131276, + "xmax": 1130.823188711161, + "ymax": 304.82545406122193 + }, + "corners_3d": [ + [ + -113.19542694091797, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -89.26573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -89.26573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1101.9282494552685, + 299.8410623702049 + ], + [ + 1111.7244966586927, + 304.82545406122193 + ], + [ + 1119.944342135812, + 299.5558260280897 + ], + [ + 1110.1626909049587, + 294.64329511683866 + ], + [ + 1112.4029655861486, + 271.7209206516907 + ], + [ + 1122.4970004433342, + 276.6202747226956 + ], + [ + 1130.823188711161, + 271.4405971369273 + ], + [ + 1120.7455324835269, + 266.61346743131276 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7157878223548397302, + "instance_id": 63030, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -86.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1154.0149617370334, + "ymin": 234.79592843985387, + "xmax": 1182.6696077169852, + "ymax": 271.4994836542354 + }, + "corners_3d": [ + [ + -113.19542694091797, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -87.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -86.76573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -87.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -86.76573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -86.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1154.0149617370334, + 266.9608242719207 + ], + [ + 1163.705056481473, + 271.4994836542354 + ], + [ + 1171.1899934503558, + 266.70100877345715 + ], + [ + 1161.5178858327522, + 262.22482065447093 + ], + [ + 1165.1276913214842, + 239.44009837310747 + ], + [ + 1175.1035945597482, + 243.892047926447 + ], + [ + 1182.6696077169852, + 239.18528500368632 + ], + [ + 1172.7135483264178, + 234.79592843985387 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 7631990878982166785, + "instance_id": 473, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -113.33402252197266, + "y": -83.95570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1210.5730311200518, + "ymin": 200.29697493232538, + "xmax": 1238.8477885567004, + "ymax": 235.33672870185404 + }, + "corners_3d": [ + [ + -113.1954345703125, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -84.14566802978516, + 5.545533180236816 + ], + [ + -113.47261047363281, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.19544219970703, + -83.76573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -84.14566802978516, + 6.416468620300293 + ], + [ + -113.47261047363281, + -83.76573944091797, + 6.416468620300293 + ], + [ + -113.19544219970703, + -83.76573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1210.5730311200518, + 231.25827526446648 + ], + [ + 1220.110763510474, + 235.33672870185404 + ], + [ + 1226.8369029011371, + 231.02471975478477 + ], + [ + 1217.3199195183788, + 226.99950973068886 + ], + [ + 1222.2553097480159, + 204.46386938063003 + ], + [ + 1232.064114331298, + 208.4553858310332 + ], + [ + 1238.8477885567004, + 204.23532331444636 + ], + [ + 1229.0615983155694, + 200.29697493232538 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 752.7016256794327, + "ymin": 547.901685315911, + "xmax": 777.2876833819288, + "ymax": 589.5523398010016 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 761.3063388104531, + 589.5523398010016 + ], + [ + 773.7710845377811, + 581.055917339567 + ], + [ + 765.1393126553869, + 573.1106192805975 + ], + [ + 752.7016256794327, + 581.4722868303006 + ], + [ + 764.5230160543723, + 564.3514307302713 + ], + [ + 777.2876833819288, + 555.8490895977639 + ], + [ + 768.4022357160679, + 547.901685315911 + ], + [ + 755.6656100632655, + 556.2656608186683 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1009.7923052755617, + "ymin": 84.06507033466755, + "xmax": 1280.0, + "ymax": 472.26188896400714 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1234.3860237474796, + 320.9467277079911 + ], + [ + 1222.1847561564527, + 315.03673139897114 + ], + [ + 1009.7923052755617, + 463.70962968537964 + ], + [ + 1022.4287269629708, + 472.26188896400714 + ], + [ + 1347.5382368258097, + 88.89271192958518 + ], + [ + 1331.9650491144803, + 84.06507033466755 + ], + [ + 1096.9246079392685, + 210.12729601348957 + ], + [ + 1113.617171955186, + 217.68322077551514 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 241.3482402143805, + "ymin": 0.0, + "xmax": 361.44184996324674, + "ymax": 112.88356892910264 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 283.53790338488085, + 109.76872765310014 + ], + [ + 287.0496275482101, + 112.88356892910264 + ], + [ + 361.44184996324674, + 92.58521469769579 + ], + [ + 357.64530953253495, + 89.70205565867633 + ], + [ + 241.3482402143805, + -59.499346973400236 + ], + [ + 245.00127716697358, + -57.124978098676934 + ], + [ + 329.66162793607305, + -72.53887239398426 + ], + [ + 325.6332613354005, + -74.71698177036996 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 81.78299125130354, + "ymax": 47.98194813342491 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 73.16888528029733, + 47.98194813342491 + ], + [ + 81.78299125130354, + 46.12065435481162 + ], + [ + 64.74044002912638, + 26.05084523122673 + ], + [ + 56.432824589077654, + 27.75536510366868 + ], + [ + 14.586354556430024, + -106.21138586770383 + ], + [ + 24.343228694247955, + -107.58937166153328 + ], + [ + 8.339202590709192, + -122.3763509744611 + ], + [ + -1.0225258626627465, + -121.12555886644435 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 630.7697648628666, + "ymin": 0.0, + "xmax": 689.9076468655428, + "ymax": 52.72394484136191 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 654.3554753109697, + 52.72394484136191 + ], + [ + 687.1175576612097, + 42.95888970169847 + ], + [ + 663.7464870366176, + 32.13630050114767 + ], + [ + 631.2840998365365, + 41.44659440780606 + ], + [ + 655.2245136299703, + -37.30661209011038 + ], + [ + 689.9076468655428, + -45.684467461024326 + ], + [ + 665.117956685163, + -54.945265611786624 + ], + [ + 630.7697648628666, + -46.980062947802935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 544.1725482768978, + "ymin": 55.85776676076995, + "xmax": 559.7884976653512, + "ymax": 64.82339274728008 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 544.381462274531, + 62.034356054063494 + ], + [ + 549.3424540491981, + 64.82339274728008 + ], + [ + 559.7884976653512, + 61.82820733231745 + ], + [ + 554.7983193735556, + 59.073352083797374 + ], + [ + 544.1725482768978, + 58.80536652666922 + ], + [ + 549.1432331374759, + 61.581849697620214 + ], + [ + 559.6133209710174, + 58.600148465259736 + ], + [ + 554.613308289037, + 55.85776676076995 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1010.0612858756224, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 364.5535230401874 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 1114.5370059776171, + 364.5535230401874 + ], + [ + 1258.5934602303846, + 264.3471893147492 + ], + [ + 1157.3137908651393, + 220.2306551878169 + ], + [ + 1010.0612858756224, + 307.13488024647904 + ], + [ + 1281.2327891336047, + -48.330697956667166 + ], + [ + 1440.0466689463342, + -109.81939876291756 + ], + [ + 1296.660564874554, + -135.2491887837441 + ], + [ + 1127.5396533829955, + -84.22118572796211 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 826.6404655916028, + "ymin": 605.6420673380686, + "xmax": 861.1268019638677, + "ymax": 638.0658222046334 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 840.0374829434652, + 609.9889799959208 + ], + [ + 826.6404655916028, + 619.8280083092081 + ], + [ + 846.6429752596458, + 638.0658222046334 + ], + [ + 860.0801140813367, + 627.8806761496232 + ], + [ + 840.9725461778593, + 605.6420673380686 + ], + [ + 827.5212699486162, + 615.4858517215841 + ], + [ + 847.6353454029382, + 633.7348044727336 + ], + [ + 861.1268019638677, + 623.5430656827699 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7664114084626016696, + "instance_id": 47273, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.91487884521484, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 808.9788769363195, + "ymin": 16.808935966673346, + "xmax": 892.8278311896017, + "ymax": 144.28817113951544 + }, + "corners_3d": [ + [ + -95.94330596923828, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -79.87950897216797, + 4.83804988861084 + ], + [ + -95.94330596923828, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 841.6789656465069, + 144.28817113951544 + ], + [ + 876.0288181297058, + 130.43921956118996 + ], + [ + 843.159628154271, + 115.21827627737309 + ], + [ + 808.9788769363195, + 128.3042797585354 + ], + [ + 856.419972213144, + 42.27933663218255 + ], + [ + 892.8278311896017, + 30.12135560762988 + ], + [ + 857.192591863784, + 16.808935966673346 + ], + [ + 820.9558496069936, + 28.250959137531595 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9560389216542849208, + "instance_id": 47352, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_1", + "bbox_3d": { + "center_world": { + "x": -94.91524505615234, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 819.2277775503434, + "ymin": 41.18354608003574, + "xmax": 886.7534251374304, + "ymax": 73.35628682519746 + }, + "corners_3d": [ + [ + -95.88141632080078, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -95.88141632080078, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -93.9490737915039, + -77.64111328125, + 3.4435572624206543 + ], + [ + -93.9490737915039, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -95.88141632080078, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -95.88141632080078, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -93.9490737915039, + -77.64111328125, + 3.7680342197418213 + ], + [ + -93.9490737915039, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 851.7329586831311, + 73.35628682519746 + ], + [ + 885.5627149658542, + 61.34204504431193 + ], + [ + 852.9056236116821, + 48.2189768048558 + ], + [ + 819.2277775503434, + 59.58076596794746 + ], + [ + 852.7853272976405, + 66.06707244267943 + ], + [ + 886.7534251374304, + 54.17255562503152 + ], + [ + 853.9097668666521, + 41.18354608003574 + ], + [ + 820.0936474985926, + 52.42907136448264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11431371900272489448, + "instance_id": 59571, + "pixel_count": null, + "type_id": "BP_HighwayLight_simple2_SM_2", + "bbox_3d": { + "center_world": { + "x": -98.27579498291016, + "y": -56.101219177246094, + "z": 5.664507865905762 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1124.4089892459524, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 58.08814596413208 + }, + "corners_3d": [ + [ + -98.64216613769531, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -97.90940856933594, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -97.909423828125, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -98.64218139648438, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -98.64216613769531, + -52.1658935546875, + 11.14326000213623 + ], + [ + -97.90940856933594, + -52.1658935546875, + 11.14326000213623 + ], + [ + -97.909423828125, + -60.03654479980469, + 11.14326000213623 + ], + [ + -98.64218139648438, + -60.03654479980469, + 11.14326000213623 + ] + ], + "corners_2d": [ + [ + 1212.3105052513458, + 25.518822867124584 + ], + [ + 1199.8868606766937, + 21.885981770698834 + ], + [ + 1124.4089892459524, + 53.90858172112087 + ], + [ + 1137.074513702827, + 58.08814596413208 + ], + [ + 1294.8427495785395, + -192.87142008661965 + ], + [ + 1279.8768721632096, + -194.9929383430491 + ], + [ + 1199.393243901742, + -176.11925436658714 + ], + [ + 1214.80228282152, + -173.62677286116264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 453.25116509889483, + "ymin": 49.670048277153114, + "xmax": 573.4805780328604, + "ymax": 289.0703071831352 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 479.48585695889227, + 283.57132300328146 + ], + [ + 485.68550371679714, + 289.0703071831352 + ], + [ + 573.4805780328604, + 253.61112410476906 + ], + [ + 566.9420711050349, + 248.64566787041608 + ], + [ + 453.25116509889483, + 78.23145505188018 + ], + [ + 460.23480318545376, + 82.77061879980988 + ], + [ + 563.1426391485109, + 53.702661741688075 + ], + [ + 555.6844069908068, + 49.670048277153114 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 826.8225785023617, + "ymin": 605.8115699579246, + "xmax": 860.9415374063308, + "ymax": 637.8904988836746 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 840.0773555847261, + 610.1121812755891 + ], + [ + 826.8225785023617, + 619.8481852857791 + ], + [ + 846.6128101232165, + 637.8904988836746 + ], + [ + 859.9068659564581, + 627.8156930847379 + ], + [ + 841.0027659492691, + 605.8115699579246 + ], + [ + 827.6948786542846, + 615.5522384484284 + ], + [ + 847.594314297523, + 633.6054454203012 + ], + [ + 860.9415374063308, + 623.5241964805383 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 544.2559934545316, + "ymin": 55.90509061068548, + "xmax": 559.7058908926429, + "ymax": 64.77537369391086 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 544.4625072604248, + 62.01622923190274 + ], + [ + 549.3709753516448, + 64.77537369391086 + ], + [ + 559.7058908926429, + 61.81229492385228 + ], + [ + 554.7688529283602, + 59.08660848876417 + ], + [ + 544.2559934545316, + 58.82159035520533 + ], + [ + 549.1739503510662, + 61.568447256628986 + ], + [ + 559.532400606859, + 58.61856693903525 + ], + [ + 554.5857369933073, + 55.90509061068548 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 674.5167439600012, + "ymin": 472.64993356899396, + "xmax": 871.0652770994129, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 689.6246329368373, + 714.2048151218515 + ], + [ + 674.5167439600012, + 725.239588494993 + ], + [ + 796.744383369079, + 866.8423836075667 + ], + [ + 812.377997896559, + 852.9295319852108 + ], + [ + 704.1418109563217, + 472.64993356899396 + ], + [ + 684.7414846011949, + 483.910087666761 + ], + [ + 850.8931914028191, + 634.3210198814529 + ], + [ + 871.0652770994129, + 619.0384631680937 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15445048005953999223, + "instance_id": 30545, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_0", + "bbox_3d": { + "center_world": { + "x": -94.91524505615234, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 819.1834016924615, + "ymin": 41.17010335185239, + "xmax": 886.7925388740757, + "ymax": 73.42059891755622 + }, + "corners_3d": [ + [ + -95.88260650634766, + -79.81846618652344, + 3.441368341445923 + ], + [ + -95.88261413574219, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -93.94788360595703, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -93.9478759765625, + -79.81846618652344, + 3.441368341445923 + ], + [ + -95.88260650634766, + -79.81846618652344, + 3.768015146255493 + ], + [ + -95.88261413574219, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -93.94788360595703, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -93.9478759765625, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 851.7275378331595, + 73.42059891755622 + ], + [ + 885.5937103802006, + 61.392012106315406 + ], + [ + 852.8973086411057, + 48.25221089652922 + ], + [ + 819.1834016924615, + 59.62680322430771 + ], + [ + 852.7869497851736, + 66.0827328916086 + ], + [ + 886.7925388740757, + 54.174795653649085 + ], + [ + 853.9080969637957, + 41.17010335185239 + ], + [ + 820.0548424263584, + 52.42753778990806 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 730.9746761189132, + "ymin": 377.2349847941826, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 744.4451176075333, + 644.1733321209401 + ], + [ + 730.9746761189132, + 653.556195653967 + ], + [ + 1223.543685178403, + 1168.224906180704 + ], + [ + 1237.0485128721007, + 1147.787889927935 + ], + [ + 775.5704005587135, + 377.2349847941826 + ], + [ + 758.396463648503, + 386.38608906961855 + ], + [ + 1527.5653774326156, + 974.5740258229058 + ], + [ + 1542.0627168556766, + 947.4587056180768 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 67.35962826654611, + "ymin": 0.0, + "xmax": 332.310470971066, + "ymax": 43.30623764452696 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 124.38582035771867, + 40.98459504270113 + ], + [ + 126.50571369628187, + 43.30623764452696 + ], + [ + 332.310470971066, + -1.2019311022804686 + ], + [ + 329.4620914803753, + -3.100774088802666 + ], + [ + 67.35962826654611, + -124.7956577379382 + ], + [ + 69.39688582792212, + -123.14143436462803 + ], + [ + 301.69660060471654, + -154.53748698722302 + ], + [ + 298.7183849897118, + -155.8622070836551 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 5199819733356185808, + "instance_id": 53256, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1851_37", + "bbox_3d": { + "center_world": { + "x": -100.25784301757812, + "y": -72.39555358886719, + "z": 8.309331893920898 + }, + "extent": { + "x": 4.9728498458862305, + "y": 4.831793308258057, + "z": 8.307754516601562 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 872.7309273621951, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 212.53520453220867 + }, + "corners_3d": [ + [ + -94.59623718261719, + -68.39283752441406, + 0.0015773773193359375 + ], + [ + -96.09391784667969, + -77.93966674804688, + 0.0015773773193359375 + ], + [ + -105.91944885253906, + -76.39826965332031, + 0.0015773773193359375 + ], + [ + -104.42176818847656, + -66.8514404296875, + 0.0015773773193359375 + ], + [ + -94.59623718261719, + -68.39283752441406, + 16.61708641052246 + ], + [ + -96.09391784667969, + -77.93966674804688, + 16.61708641052246 + ], + [ + -105.91944885253906, + -76.39826965332031, + 16.61708641052246 + ], + [ + -104.42176818847656, + -66.8514404296875, + 16.61708641052246 + ] + ], + "corners_2d": [ + [ + 975.3965358867567, + 75.74537743535512 + ], + [ + 872.7309273621951, + 136.74271464934083 + ], + [ + 1081.987174769263, + 212.53520453220867 + ], + [ + 1171.2841193677145, + 134.98795435967506 + ], + [ + 1064.9004189231068, + -314.98443373074247 + ], + [ + 944.8248277735773, + -297.92496789993766 + ], + [ + 1244.3400445083678, + -275.0466629629269 + ], + [ + 1335.1844751220256, + -298.4318617161332 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 564.3106399685681, + "ymin": 0.0, + "xmax": 806.1890873628282, + "ymax": 13.826754260249572 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 655.6182769707724, + -53.045721947501704 + ], + [ + 575.6939684268241, + -15.760658789902664 + ], + [ + 709.9798579439853, + 13.826754260249572 + ], + [ + 781.9999929175641, + -28.814249549063504 + ], + [ + 658.0884379387387, + -304.98675357453726 + ], + [ + 564.3106399685681, + -291.1444384350574 + ], + [ + 723.445866388658, + -279.83490544984966 + ], + [ + 806.1890873628282, + -296.04166366843754 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00056/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00056/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..23bac06203394ff116491cb3930cc4e848a4a303 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00056/meta.json @@ -0,0 +1,3824 @@ +{ + "frame_id": 56, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 28.0, + "sim_timestamp": 10371.333321059123 + }, + "drone_pose": { + "x": -121.73922257773916, + "y": -111.02300916800706, + "z": 19.83031347474807, + "pitch": -37.11637775089426, + "yaw": 29.454185426648653, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6943453550338745, + -0.39210912585258484, + 0.6034359931945801, + 116.09587097167969 + ], + [ + 0.4917275011539459, + 0.8707491159439087, + 0.0, + 36.81067657470703 + ], + [ + -0.5254414081573486, + 0.2967260479927063, + 0.7974114418029785, + -112.72315216064453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -121.55593914278052, + "y": -107.89037027776529, + "z": 20.1102503848658 + }, + "t1_image_uv": [ + 2773.7890230842067, + -650.473142772962 + ], + "t1_depth": 1.1866742643212498 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -103.66718292236328, + "y": -99.68776321411131, + "z": 0.7274065208435059 + }, + "image_uv": [ + 673.1095176488369, + 439.89661349888894 + ], + "depth": 28.520271162886914, + "visible": false, + "in_view": true, + "lost_reason": "occluded", + "pixel_count": 0, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -103.66718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.2512597441673279, + "y": 0.21442380547523499, + "z": 0.530005156993866 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 662.3447909904489, + "ymin": 419.2123691674482, + "xmax": 684.1886443644393, + "ymax": 460.4920728805593 + }, + "corners_3d": [ + [ + -103.91844177246094, + -99.90218353271484, + 0.1974012851715088 + ], + [ + -103.91844177246094, + -99.47333526611328, + 0.1974012851715088 + ], + [ + -103.41592407226562, + -99.47333526611328, + 0.1974012851715088 + ], + [ + -103.41592407226562, + -99.90218353271484, + 0.1974012851715088 + ], + [ + -103.91844177246094, + -99.90218353271484, + 1.2574115991592407 + ], + [ + -103.91844177246094, + -99.47333526611328, + 1.2574115991592407 + ], + [ + -103.41592407226562, + -99.47333526611328, + 1.2574115991592407 + ], + [ + -103.41592407226562, + -99.90218353271484, + 1.2574115991592407 + ] + ], + "corners_2d": [ + [ + 670.9172500349022, + 460.4920728805593 + ], + [ + 683.2054974552892, + 455.65520047947984 + ], + [ + 674.5352289742773, + 445.79707726819646 + ], + [ + 662.3447909904489, + 450.5183144837315 + ], + [ + 671.6250100634011, + 433.7518031468488 + ], + [ + 684.1886443644393, + 428.9648282126426 + ], + [ + 675.3114478125868, + 419.2123691674482 + ], + [ + 662.8500008968795, + 423.88233788547996 + ] + ], + "center_offset_px": [ + 33.10951764883691, + 79.89661349888894 + ] + }, + "trace_timestep_index": 56, + "instance_stats": { + "semantic_tags_present": 16, + "instances_present": 56, + "semantic_pixel_counts": { + "1": 173820, + "2": 77365, + "3": 506484, + "4": 23463, + "5": 366, + "6": 15269, + "7": 948, + "9": 20005, + "10": 38488, + "12": 1285, + "14": 4330, + "15": 6513, + "16": 31348, + "20": 6261, + "21": 1003, + "24": 14652 + }, + "instance_pixel_counts": { + "606": 3972, + "913": 875, + "1115": 1770, + "1118": 462, + "1169": 1187, + "1630": 688, + "8795": 184, + "11394": 3234, + "12894": 316, + "14416": 366, + "14979": 657, + "15445": 1, + "15451": 14, + "17232": 23463, + "18011": 303458, + "23808": 1021, + "24064": 10795, + "25691": 63, + "27072": 5230, + "28763": 1732, + "30656": 816, + "31168": 8821, + "34120": 16716, + "35924": 3103, + "36443": 199263, + "36692": 336, + "36948": 760, + "37460": 9, + "40019": 501, + "43659": 866, + "44171": 2164, + "44179": 18136, + "44691": 61951, + "46227": 93733, + "46731": 72, + "46741": 662, + "47253": 10015, + "48779": 2650, + "48789": 3975, + "49803": 4069, + "50176": 420, + "50432": 865, + "52480": 3641, + "52672": 5488, + "52736": 27707, + "53184": 4201, + "54016": 2692, + "55040": 172, + "55744": 11332, + "55879": 11874, + "56135": 331, + "56768": 14940, + "57173": 20005, + "63579": 884, + "64091": 118, + "64093": 2541 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 0, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -103.66718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.22072263062000275, + "y": 0.22197751700878143, + "z": 0.5228644609451294 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 662.6470425035895, + "ymin": 419.89934615656205, + "xmax": 683.8560900357752, + "ymax": 459.7886027634233 + }, + "corners_3d": [ + [ + -103.88790893554688, + -99.90973663330078, + 0.20454198122024536 + ], + [ + -103.88790893554688, + -99.46578216552734, + 0.20454198122024536 + ], + [ + -103.44645690917969, + -99.46578216552734, + 0.20454198122024536 + ], + [ + -103.44645690917969, + -99.90973663330078, + 0.20454198122024536 + ], + [ + -103.88790893554688, + -99.90973663330078, + 1.2502708435058594 + ], + [ + -103.88790893554688, + -99.46578216552734, + 1.2502708435058594 + ], + [ + -103.44645690917969, + -99.46578216552734, + 1.2502708435058594 + ], + [ + -103.44645690917969, + -99.90973663330078, + 1.2502708435058594 + ] + ], + "corners_2d": [ + [ + 670.1773524858818, + 459.7886027634233 + ], + [ + 682.8941525340047, + 454.78906319994076 + ], + [ + 675.2748659999497, + 446.13130880053563 + ], + [ + 662.6470425035895, + 451.02567956904994 + ], + [ + 670.8583178155328, + 433.41399901004127 + ], + [ + 683.8560900357752, + 428.4655066105188 + ], + [ + 676.0574101327406, + 419.89934615656205 + ], + [ + 663.1525422378376, + 424.7414397656577 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 420, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -105.92300415039062, + "y": -92.74504852294922, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.5967187285423279, + "y": 0.36646971106529236, + "z": 0.8960752487182617 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 875.6553543893734, + "ymin": 375.60750912035286, + "xmax": 930.6499475404762, + "ymax": 448.9435342953265 + }, + "corners_3d": [ + [ + -106.55476379394531, + -93.04713439941406, + -0.3210710883140564 + ], + [ + -106.4781494140625, + -92.3182144165039, + -0.3210710883140564 + ], + [ + -105.29124450683594, + -92.44296264648438, + -0.3210710883140564 + ], + [ + -105.36785888671875, + -93.17188262939453, + -0.3210710883140564 + ], + [ + -106.55476379394531, + -93.04713439941406, + 1.4710793495178223 + ], + [ + -106.4781494140625, + -92.3182144165039, + 1.4710793495178223 + ], + [ + -105.29124450683594, + -92.44296264648438, + 1.4710793495178223 + ], + [ + -105.36785888671875, + -93.17188262939453, + 1.4710793495178223 + ] + ], + "corners_2d": [ + [ + 904.1325747914834, + 448.9435342953265 + ], + [ + 920.2041526430987, + 439.7567845864146 + ], + [ + 891.6360669864381, + 419.5081452001325 + ], + [ + 875.6553543893734, + 428.23673764903793 + ], + [ + 914.0956654825557, + 404.4470874121205 + ], + [ + 930.6499475404762, + 395.43786231798515 + ], + [ + 900.7727106393892, + 375.60750912035286 + ], + [ + 884.3102665600175, + 384.15123967738657 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 865, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -113.16718292236328, + "y": -99.68775939941406, + "z": 0.7274407148361206 + }, + "extent": { + "x": 0.5584765076637268, + "y": 0.4538085460662842, + "z": 0.9313068985939026 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 850.8701891211438, + "ymin": 631.1984234900377, + "xmax": 927.0551602241901, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.72566223144531, + -100.14157104492188, + -0.20386618375778198 + ], + [ + -113.72566223144531, + -99.23394775390625, + -0.20386618375778198 + ], + [ + -112.60870361328125, + -99.23394775390625, + -0.20386618375778198 + ], + [ + -112.60870361328125, + -100.14157104492188, + -0.20386618375778198 + ], + [ + -113.72566223144531, + -100.14157104492188, + 1.658747673034668 + ], + [ + -113.72566223144531, + -99.23394775390625, + 1.658747673034668 + ], + [ + -112.60870361328125, + -99.23394775390625, + 1.658747673034668 + ], + [ + -112.60870361328125, + -100.14157104492188, + 1.658747673034668 + ] + ], + "corners_2d": [ + [ + 882.3849573385514, + 733.8364300134249 + ], + [ + 912.5714510670409, + 716.2576743142608 + ], + [ + 880.5276289191431, + 679.8300486400344 + ], + [ + 850.8701891211438, + 696.2368942306452 + ], + [ + 895.485048434702, + 685.4778139647278 + ], + [ + 927.0551602241901, + 667.7786099421182 + ], + [ + 892.8565688929433, + 631.1984234900377 + ], + [ + 861.8572718402324, + 647.6578094408775 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 3641, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 551.0285700931985, + "ymin": 117.74345260905545, + "xmax": 792.645292756671, + "ymax": 365.34470494443565 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 639.7388618998101, + 211.58414351054137 + ], + [ + 556.7689810784902, + 233.9999100604457 + ], + [ + 686.7501027496519, + 365.34470494443565 + ], + [ + 781.184073162515, + 332.3199224268901 + ], + [ + 639.721568169857, + 117.74345260905545 + ], + [ + 551.0285700931985, + 137.81532254422513 + ], + [ + 690.7399058916878, + 257.5350037277561 + ], + [ + 792.645292756671, + 227.08937119993024 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 27707, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 791.3757615034826, + "ymin": 89.62269839432201, + "xmax": 1067.141852604132, + "ymax": 315.53885042661 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 960.3923031773379, + 315.53885042661 + ], + [ + 1037.1512715625747, + 286.75857292160083 + ], + [ + 861.5595783384065, + 180.02130772110277 + ], + [ + 791.3757615034826, + 200.02066970270693 + ], + [ + 985.7367634525876, + 211.67035898196897 + ], + [ + 1067.141852604132, + 185.43090133018842 + ], + [ + 875.3860730071619, + 89.62269839432201 + ], + [ + 801.1905345035852, + 107.39606868134865 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 2692, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 707.092925887206, + "ymin": 210.67013162021294, + "xmax": 832.2569481615209, + "ymax": 323.5743165732623 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 744.4827180821638, + 245.19763834452988 + ], + [ + 707.092925887206, + 256.43676356549463 + ], + [ + 787.3424547602924, + 323.5743165732623 + ], + [ + 827.0808262149018, + 309.8088440992865 + ], + [ + 747.090451313523, + 210.67013162021294 + ], + [ + 708.7990166758082, + 221.544497456432 + ], + [ + 791.504424367211, + 286.7115480650632 + ], + [ + 832.2569481615209, + 273.32092006305254 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 172, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 640.1061549421445, + "ymin": 38.79218280445235, + "xmax": 742.6024251324222, + "ymax": 124.25474918941015 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 700.8165465389078, + 124.25474918941015 + ], + [ + 739.9829269863211, + 115.00793593534723 + ], + [ + 677.1591481033405, + 76.1008820811154 + ], + [ + 640.1061549421445, + 83.90155597602364 + ], + [ + 702.4413247470965, + 84.06474823546608 + ], + [ + 742.6024251324222, + 75.35281589739873 + ], + [ + 678.0521374368864, + 38.79218280445235 + ], + [ + 640.1087520667504, + 46.110024424059645 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 3962838119877216119, + "instance_id": 30599, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -117.80570220947266, + "y": -101.115966796875, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18996092677116394, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1046.3839444063296, + "ymin": 718.7288414281305, + "xmax": 1092.6560169360255, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -117.94428253173828, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -100.9260025024414, + 5.545533180236816 + ], + [ + -117.66712188720703, + -101.3059310913086, + 5.545533180236816 + ], + [ + -117.94428253173828, + -101.3059310913086, + 6.416468620300293 + ], + [ + -117.94428253173828, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -100.9260025024414, + 6.416468620300293 + ], + [ + -117.66712188720703, + -101.3059310913086, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1060.2598953313725, + 775.0637532247345 + ], + [ + 1077.0195071731116, + 763.8860267476541 + ], + [ + 1063.068382982954, + 749.7665310715154 + ], + [ + 1046.3839444063296, + 760.6654100050146 + ], + [ + 1075.4508168971383, + 744.2116403853133 + ], + [ + 1092.6560169360255, + 732.946883373681 + ], + [ + 1078.0099623782417, + 718.7288414281305 + ], + [ + 1060.8814108102092, + 729.7026697925894 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 266.98611594845136, + "ymin": 0.0, + "xmax": 278.3808201648209, + "ymax": 9.836914546574405 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 278.3808201648209, + 8.820018315802713 + ], + [ + 277.2677002761542, + 7.507346891990153 + ], + [ + 270.53207516772545, + 8.517132362915618 + ], + [ + 271.6245051029333, + 9.836914546574405 + ], + [ + 274.907358871587, + -6.73839596760223 + ], + [ + 273.79585035470865, + -8.008691678691605 + ], + [ + 266.98611594845136, + -7.0315117189263106 + ], + [ + 268.0764674865243, + -5.754268547832623 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5668522571212290485, + "instance_id": 46457, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -89.45570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1243.3064828309543, + "ymin": 349.40951709789823, + "xmax": 1278.706346394302, + "ymax": 389.7178508105062 + }, + "corners_3d": [ + [ + -113.19542694091797, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -89.26573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -89.26573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1243.3064828309543, + 383.3724247542938 + ], + [ + 1254.1650357759718, + 389.7178508105062 + ], + [ + 1264.0423476026876, + 384.79678283828645 + ], + [ + 1253.1715211797828, + 378.53333427302346 + ], + [ + 1257.4557134031652, + 354.1684915499604 + ], + [ + 1268.6937034493276, + 360.4110460864509 + ], + [ + 1278.706346394302, + 355.5695423730327 + ], + [ + 1267.4571480877562, + 349.40951709789823 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 834.1418620825899, + "ymin": 611.9942832655155, + "xmax": 862.2894157149361, + "ymax": 654.8578819845645 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 842.4904813073491, + 654.8578819845645 + ], + [ + 856.5760590841821, + 647.4015112403138 + ], + [ + 848.1555067212728, + 637.8778201574214 + ], + [ + 834.1418620825899, + 645.1942626969228 + ], + [ + 847.8725845162763, + 628.9764362658475 + ], + [ + 862.2894157149361, + 621.5172993173084 + ], + [ + 853.5937974766671, + 611.9942832655155 + ], + [ + 839.2519530187144, + 619.3097870839347 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1126.162975406389, + "ymin": 168.28157723508787, + "xmax": 1280.0, + "ymax": 559.9071735022383 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1396.1266108281402, + 418.2505270074762 + ], + [ + 1382.148609289404, + 410.5365668715443 + ], + [ + 1126.162975406389, + 549.1758709884025 + ], + [ + 1139.664133492458, + 559.9071735022383 + ], + [ + 1548.3033502598048, + 174.65895467049668 + ], + [ + 1529.7518753222512, + 168.28157723508787 + ], + [ + 1244.2986998598226, + 286.8815216929312 + ], + [ + 1262.854405039193, + 296.4266305000676 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 393.92194695671026, + "ymin": 0.0, + "xmax": 492.95068197580747, + "ymax": 131.69064514300752 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 417.9792188959233, + 128.51625776544742 + ], + [ + 420.9153635072407, + 131.69064514300752 + ], + [ + 492.95068197580747, + 116.42640693667894 + ], + [ + 489.6589046389985, + 113.44298930155438 + ], + [ + 393.92194695671026, + -34.026048275289156 + ], + [ + 397.0073870939233, + -31.66139222876984 + ], + [ + 477.4472151474453, + -43.00197398611209 + ], + [ + 473.9165649050817, + -45.20968239867011 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 184.58810419796401, + "ymin": 0.0, + "xmax": 241.57289165386584, + "ymax": 59.463945618873254 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 233.72450448188818, + 59.463945618873254 + ], + [ + 241.57289165386584, + 58.14686363393747 + ], + [ + 228.73618214501624, + 38.7791493036587 + ], + [ + 221.20883845056755, + 39.97865271055781 + ], + [ + 196.33833569068958, + -84.9300644120209 + ], + [ + 205.03271443186765, + -85.88049464946783 + ], + [ + 192.889049832225, + -99.79440926686033 + ], + [ + 184.58810419796401, + -98.9360450644312 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 767.9925565408151, + "ymin": 8.530791019445985, + "xmax": 824.1874648000958, + "ymax": 31.60028935756617 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 789.8879521605533, + 31.60028935756617 + ], + [ + 823.4673980064684, + 24.855917741176256 + ], + [ + 801.0618628125753, + 14.699932250456413 + ], + [ + 767.9925565408151, + 21.095921038508834 + ], + [ + 790.4864064412916, + 25.224009616060414 + ], + [ + 824.1874648000958, + 18.561620775730887 + ], + [ + 801.6775250261563, + 8.530791019445985 + ], + [ + 768.4900520218123, + 14.84772288248223 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 761.6340913829482, + "ymin": 0.0, + "xmax": 828.2639148983286, + "ymax": 93.67492930576691 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 783.8677192898949, + 93.67492930576691 + ], + [ + 818.1024942629523, + 85.75078484027205 + ], + [ + 795.3330312332146, + 73.74921379045924 + ], + [ + 761.6340913829482, + 81.25485183257007 + ], + [ + 792.2281035711403, + 4.478336720559469 + ], + [ + 828.2639148983286, + -2.2742335057472474 + ], + [ + 803.9471276647231, + -12.475717257992358 + ], + [ + 768.5008881109992, + -6.099448874929635 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 669.9760430786683, + "ymin": 91.14913382137456, + "xmax": 685.3948988965935, + "ymax": 99.69806702794398 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 669.9760430786683, + 96.67852551454638 + ], + [ + 674.6038567437412, + 99.69806702794398 + ], + [ + 685.3003243678484, + 97.32048085059472 + ], + [ + 680.6270282392933, + 94.33156279683192 + ], + [ + 670.0385379507459, + 93.48474708710427 + ], + [ + 674.6764711347856, + 96.48975927963846 + ], + [ + 685.3948988965935, + 94.12360664819317 + ], + [ + 680.7112984777044, + 91.14913382137456 + ] + ], + "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": 182.08035414650453, + "ymin": 0.0, + "xmax": 251.52841090216816, + "ymax": 1.0411434735672742 + }, + "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": [ + [ + 219.80411332911257, + -41.83196059989905 + ], + [ + 213.89166696314163, + -41.09286387728497 + ], + [ + 244.93193170886286, + 1.0411434735672742 + ], + [ + 251.52841090216816, + 0.09851758846912162 + ], + [ + 188.51075977267425, + -166.23398564011848 + ], + [ + 182.08035414650453, + -165.74407549102398 + ], + [ + 211.29353793056907, + -137.53814575850237 + ], + [ + 218.54372051223862, + -138.1751921097794 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1139.4570937671187, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 453.47127443287235 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 1253.1492945562509, + 453.47127443287235 + ], + [ + 1428.8439584261143, + 358.6141174343732 + ], + [ + 1313.4695467333954, + 301.65469494008056 + ], + [ + 1139.4570937671187, + 381.3749001538497 + ], + [ + 1478.542526425349, + 21.497149414175738 + ], + [ + 1674.8153103261684, + -37.38128713251314 + ], + [ + 1502.343071348197, + -70.48334539955584 + ], + [ + 1301.6703944102387, + -23.69587074123558 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 906.2132642192208, + "ymin": 686.7012393018762, + "xmax": 943.4910526289663, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 921.796835207175, + 691.1759853377606 + ], + [ + 906.2132642192208, + 700.0848797662601 + ], + [ + 926.2787805374718, + 722.7050742697529 + ], + [ + 942.0189078894742, + 713.4159281898001 + ], + [ + 923.1419872339559, + 686.7012393018762 + ], + [ + 907.4947839030069, + 695.6151465663244 + ], + [ + 927.6862647951948, + 718.2512900706877 + ], + [ + 943.4910526289663, + 708.9550350690413 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7664114084626016696, + "instance_id": 47273, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.91487884521484, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 936.7226737121853, + "ymin": 68.44376976669724, + "xmax": 1033.7788300604816, + "ymax": 197.61386674718537 + }, + "corners_3d": [ + [ + -95.94330596923828, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -79.87950897216797, + 4.83804988861084 + ], + [ + -95.94330596923828, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 969.9325538372673, + 197.61386674718537 + ], + [ + 1007.8249661138403, + 185.75172569209377 + ], + [ + 974.0701169371337, + 167.9598603265879 + ], + [ + 936.7226737121853, + 179.0622706803903 + ], + [ + 993.7488853678725, + 94.31793995853991 + ], + [ + 1033.7788300604816, + 83.94427257112903 + ], + [ + 996.8310254211492, + 68.44376976669724 + ], + [ + 957.3882488310347, + 78.10807251546476 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 768.0276425719071, + "ymin": 8.539935243321054, + "xmax": 824.155067616635, + "ymax": 31.547457506112096 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 789.8968556013399, + 31.547457506112096 + ], + [ + 823.4398962441104, + 24.811197869369664 + ], + [ + 801.0617097415593, + 14.668371417132448 + ], + [ + 768.0276425719071, + 21.057076110866205 + ], + [ + 790.491354390759, + 25.213488563629255 + ], + [ + 824.155067616635, + 18.5585815037374 + ], + [ + 801.6732971684542, + 8.539935243321054 + ], + [ + 768.521972434902, + 14.85018736200982 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9560389216542849208, + "instance_id": 47352, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_1", + "bbox_3d": { + "center_world": { + "x": -94.91524505615234, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 953.0562069493061, + "ymin": 93.08626445179647, + "xmax": 1025.362112650119, + "ymax": 125.75687865531413 + }, + "corners_3d": [ + [ + -95.88141632080078, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -95.88141632080078, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -93.9490737915039, + -77.64111328125, + 3.4435572624206543 + ], + [ + -93.9490737915039, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -95.88141632080078, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -95.88141632080078, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -93.9490737915039, + -77.64111328125, + 3.7680342197418213 + ], + [ + -93.9490737915039, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 986.2959558078046, + 125.75687865531413 + ], + [ + 1023.5187039410953, + 115.49548482584382 + ], + [ + 989.7684888456429, + 100.19835131286902 + ], + [ + 953.0562069493061, + 109.81221991049102 + ], + [ + 987.9960624825453, + 118.37884612912057 + ], + [ + 1025.362112650119, + 108.22267568713468 + ], + [ + 991.396067703303, + 93.08626445179647 + ], + [ + 954.5431049139429, + 102.59858553214195 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 578.6115630036785, + "ymin": 85.105423160047, + "xmax": 689.3167443867482, + "ymax": 317.0254822945426 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 586.8263643178578, + 311.06389016014447 + ], + [ + 592.3405295845241, + 317.0254822945426 + ], + [ + 682.9359991117824, + 288.61470753043807 + ], + [ + 676.8915047866822, + 283.13643572776647 + ], + [ + 578.6115630036785, + 107.51856056268099 + ], + [ + 584.9027161298452, + 112.34004878406847 + ], + [ + 689.3167443867482, + 89.47961154561318 + ], + [ + 682.3213779716021, + 85.105423160047 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 906.409127356349, + "ymin": 686.8890803836862, + "xmax": 943.2897279531935, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 921.8278152487458, + 691.3161440340066 + ], + [ + 906.409127356349, + 700.1320929967012 + ], + [ + 926.262324737558, + 722.5099906823395 + ], + [ + 941.8342657851621, + 713.3218288570104 + ], + [ + 923.1589788250448, + 686.8890803836862 + ], + [ + 907.6780008153336, + 695.7099463578686 + ], + [ + 927.654501063321, + 718.1034442724451 + ], + [ + 943.2897279531935, + 708.9083355600939 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 670.0579322969814, + "ymin": 91.19428222785058, + "xmax": 685.3128316159476, + "ymax": 99.65230636199954 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 670.0579322969814, + 96.66509833869122 + ], + [ + 674.6368518764073, + 99.65230636199954 + ], + [ + 685.2194318437787, + 97.30022877156847 + ], + [ + 680.595990899634, + 94.34299603017985 + ], + [ + 670.1199311167976, + 93.5052747921581 + ], + [ + 674.7087571395539, + 96.47826127191081 + ], + [ + 685.3128316159476, + 94.13737486530113 + ], + [ + 680.6793052893344, + 91.19428222785058 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 739.1048437217801, + "ymin": 527.8245517132546, + "xmax": 954.7204820518614, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 755.9916169942569, + 776.2559840385177 + ], + [ + 739.1048437217801, + 785.828573242578 + ], + [ + 854.9582528216561, + 957.2058783958056 + ], + [ + 873.228379960707, + 944.5897509430498 + ], + [ + 789.7997715622594, + 527.8245517132546 + ], + [ + 768.3042713409892, + 537.5232742451727 + ], + [ + 931.0451887460061, + 719.5604859935784 + ], + [ + 954.7204820518614, + 705.5926118968858 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15445048005953999223, + "instance_id": 30545, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_0", + "bbox_3d": { + "center_world": { + "x": -94.91524505615234, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 953.0056811940269, + "ymin": 93.07248878263437, + "xmax": 1025.4039079770141, + "ymax": 125.82220786808585 + }, + "corners_3d": [ + [ + -95.88260650634766, + -79.81846618652344, + 3.441368341445923 + ], + [ + -95.88261413574219, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -93.94788360595703, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -93.9478759765625, + -79.81846618652344, + 3.441368341445923 + ], + [ + -95.88260650634766, + -79.81846618652344, + 3.768015146255493 + ], + [ + -95.88261413574219, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -93.94788360595703, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -93.9478759765625, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 986.2849290349964, + 125.82220786808585 + ], + [ + 1023.5480141116454, + 115.54849957659417 + ], + [ + 989.7571228249496, + 100.23175759045694 + ], + [ + 953.0056811940269, + 109.85640926942511 + ], + [ + 987.9964052815365, + 118.3949206512178 + ], + [ + 1025.4039079770141, + 108.22724875797891 + ], + [ + 991.3954816930597, + 93.07248878263437 + ], + [ + 954.5022673014446, + 102.59481246294047 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 805.4788527678481, + "ymin": 435.228287522291, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 820.6185228468842, + 709.3257665807121 + ], + [ + 805.4788527678481, + 717.4849912440504 + ], + [ + 1319.1598414674745, + 1387.2930322154439 + ], + [ + 1337.3144051004492, + 1366.0335973099986 + ], + [ + 874.4734248708177, + 435.228287522291 + ], + [ + 855.3064671985794, + 443.1395375331175 + ], + [ + 1725.6678166609222, + 1242.8636660029058 + ], + [ + 1746.65916714459, + 1211.9028617113077 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 244.59251774745508, + "ymin": 0.0, + "xmax": 475.3651629705082, + "ymax": 57.657520233198966 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 280.2065663885477, + 55.39386642328515 + ], + [ + 281.8486675130427, + 57.657520233198966 + ], + [ + 475.3651629705082, + 25.27981947753659 + ], + [ + 472.8934285125896, + 23.347796306127464 + ], + [ + 244.59251774745508, + -100.32885770853125 + ], + [ + 246.18799588036114, + -98.75858768067354 + ], + [ + 460.3382842561624, + -121.06103342901821 + ], + [ + 457.7229946714437, + -122.38121843087481 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17408989212588188295, + "instance_id": 34594, + "pixel_count": null, + "type_id": "BP_HighwayLight_simple_5_SM_2", + "bbox_3d": { + "center_world": { + "x": -75.30853271484375, + "y": -56.101219177246094, + "z": 5.664507865905762 + }, + "extent": { + "x": 3.935326337814331, + "y": 0.36638203263282776, + "z": 5.478752136230469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 959.0811424634907, + "ymin": 0.0, + "xmax": 1095.2645559089178, + "ymax": 4.035601541833046 + }, + "corners_3d": [ + [ + -75.6749038696289, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -74.94214630126953, + -52.1658935546875, + 0.18575572967529297 + ], + [ + -74.9421615600586, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -75.67491912841797, + -60.03654479980469, + 0.18575572967529297 + ], + [ + -75.6749038696289, + -52.1658935546875, + 11.14326000213623 + ], + [ + -74.94214630126953, + -52.1658935546875, + 11.14326000213623 + ], + [ + -74.9421615600586, + -60.03654479980469, + 11.14326000213623 + ], + [ + -75.67491912841797, + -60.03654479980469, + 11.14326000213623 + ] + ], + "corners_2d": [ + [ + 1050.2794269152237, + -13.051979359445852 + ], + [ + 1042.0533822348107, + -15.718849829671626 + ], + [ + 959.0811424634907, + 1.1056849598364806 + ], + [ + 967.0435496085602, + 4.035601541833046 + ], + [ + 1095.2645559089178, + -193.05037933807625 + ], + [ + 1085.7677525056615, + -194.50129172705022 + ], + [ + 995.6288388784343, + -185.30751263024945 + ], + [ + 1004.8363532444743, + -183.6965931025593 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 897939386194665430, + "instance_id": 54815, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1949_135", + "bbox_3d": { + "center_world": { + "x": -36.33243179321289, + "y": -120.14290618896484, + "z": 6.611191272735596 + }, + "extent": { + "x": 4.422521591186523, + "y": 4.2970757484436035, + "z": 7.008497714996338 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 6.25027898309736, + "ymax": 18.306260989658938 + }, + "corners_3d": [ + [ + -32.2579460144043, + -115.5145034790039, + -0.3973064422607422 + ], + [ + -31.58873176574707, + -124.08255767822266, + -0.3973064422607422 + ], + [ + -40.406917572021484, + -124.77130889892578, + -0.3973064422607422 + ], + [ + -41.076133728027344, + -116.20325469970703, + -0.3973064422607422 + ], + [ + -32.2579460144043, + -115.5145034790039, + 13.619688987731934 + ], + [ + -31.58873176574707, + -124.08255767822266, + 13.619688987731934 + ], + [ + -40.406917572021484, + -124.77130889892578, + 13.619688987731934 + ], + [ + -41.076133728027344, + -116.20325469970703, + 13.619688987731934 + ] + ], + "corners_2d": [ + [ + 6.25027898309736, + -30.935892965708376 + ], + [ + -127.39872804449317, + -16.9957117761964 + ], + [ + -148.23950590052243, + 18.306260989658938 + ], + [ + -0.7690724710181485, + 1.4753712648765713 + ], + [ + -77.35381086202267, + -249.8605763090569 + ], + [ + -233.42072178591218, + -244.3464469497079 + ], + [ + -269.83831115102566, + -230.10684330339905 + ], + [ + -94.66077358325299, + -236.94578488065588 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 5199819733356185808, + "instance_id": 53256, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1851_37", + "bbox_3d": { + "center_world": { + "x": -100.25784301757812, + "y": -72.39555358886719, + "z": 8.309331893920898 + }, + "extent": { + "x": 4.9728498458862305, + "y": 4.831793308258057, + "z": 8.307754516601562 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1003.765513653467, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 287.0727526776675 + }, + "corners_3d": [ + [ + -94.59623718261719, + -68.39283752441406, + 0.0015773773193359375 + ], + [ + -96.09391784667969, + -77.93966674804688, + 0.0015773773193359375 + ], + [ + -105.91944885253906, + -76.39826965332031, + 0.0015773773193359375 + ], + [ + -104.42176818847656, + -66.8514404296875, + 0.0015773773193359375 + ], + [ + -94.59623718261719, + -68.39283752441406, + 16.61708641052246 + ], + [ + -96.09391784667969, + -77.93966674804688, + 16.61708641052246 + ], + [ + -105.91944885253906, + -76.39826965332031, + 16.61708641052246 + ], + [ + -104.42176818847656, + -66.8514404296875, + 16.61708641052246 + ] + ], + "corners_2d": [ + [ + 1120.1900040055261, + 135.7964002884027 + ], + [ + 1003.765513653467, + 192.002940126061 + ], + [ + 1227.9475601266747, + 287.0727526776675 + ], + [ + 1335.9378729312775, + 211.39778794815177 + ], + [ + 1248.5743473559842, + -263.32018488207495 + ], + [ + 1115.2412107891587, + -248.2393171709839 + ], + [ + 1450.3998621630374, + -220.497023998646 + ], + [ + 1558.9878114352873, + -242.8172535452535 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 711.5008474119327, + "ymin": 0.0, + "xmax": 969.0630859163698, + "ymax": 57.93156347017333 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 795.0546524706838, + -10.768320726738466 + ], + [ + 711.5008474119327, + 22.260670299181015 + ], + [ + 844.1379862154301, + 57.93156347017333 + ], + [ + 922.4446128781013, + 18.867441880591457 + ], + [ + 818.3825936222484, + -257.40999812745827 + ], + [ + 723.4235626425525, + -245.59420657515398 + ], + [ + 881.8788821886703, + -232.45140496997215 + ], + [ + 969.0630859163698, + -246.82350919611224 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00057/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00057/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..26b7f335468d9440c955f2a9c96277336b96b107 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00057/meta.json @@ -0,0 +1,2873 @@ +{ + "frame_id": 57, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 28.5, + "sim_timestamp": 10384.394362313673 + }, + "drone_pose": { + "x": -121.55593914278052, + "y": -107.89037027776529, + "z": 20.1102503848658, + "pitch": -42.864124569235884, + "yaw": 22.57347298826239, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6768147945404053, + -0.28136324882507324, + 0.68026202917099, + 98.94700622558594 + ], + [ + 0.38386785984039307, + 0.9233880043029785, + 0.0, + 52.963260650634766 + ], + [ + -0.6281458735466003, + 0.26113075017929077, + 0.7329690456390381, + -119.2685317993164 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -121.71123145529631, + "y": -104.9013468444491, + "z": 20.12905508285213 + }, + "t1_image_uv": [ + 4383.376842892801, + -565.0280118053903 + ], + "t1_depth": 0.7231050259007111 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -103.16718292236328, + "y": -99.68776321411131, + "z": 0.7274065208435059 + }, + "image_uv": [ + 657.707203707252, + 377.6698455375218 + ], + "depth": 27.939107525242125, + "visible": false, + "in_view": true, + "lost_reason": "occluded", + "pixel_count": 0, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -103.16718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.25780269503593445, + "y": 0.2103320062160492, + "z": 0.5188310742378235 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 647.5075828661052, + "ymin": 357.13922933379195, + "xmax": 668.2547787667515, + "ymax": 398.02584731485683 + }, + "corners_3d": [ + [ + -103.42498779296875, + -99.8980941772461, + 0.20857536792755127 + ], + [ + -103.42498779296875, + -99.47742462158203, + 0.20857536792755127 + ], + [ + -102.90937805175781, + -99.47742462158203, + 0.20857536792755127 + ], + [ + -102.90937805175781, + -99.8980941772461, + 0.20857536792755127 + ], + [ + -103.42498779296875, + -99.8980941772461, + 1.2462375164031982 + ], + [ + -103.42498779296875, + -99.47742462158203, + 1.2462375164031982 + ], + [ + -102.90937805175781, + -99.47742462158203, + 1.2462375164031982 + ], + [ + -102.90937805175781, + -99.8980941772461, + 1.2462375164031982 + ] + ], + "corners_2d": [ + [ + 654.3728715895872, + 398.02584731485683 + ], + [ + 667.5469416573673, + 394.1234611953207 + ], + [ + 660.5489725327529, + 382.8062647263733 + ], + [ + 647.5075828661052, + 386.6135579136643 + ], + [ + 654.7437902883015, + 372.31304547897224 + ], + [ + 668.2547787667515, + 368.42117110282925 + ], + [ + 661.0703686564607, + 357.13922933379195 + ], + [ + 647.6988892626664, + 360.9338706994431 + ] + ], + "center_offset_px": [ + 17.707203707252006, + 17.66984553752178 + ] + }, + "trace_timestep_index": 57, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 43, + "semantic_pixel_counts": { + "1": 220189, + "2": 105242, + "3": 457174, + "4": 20080, + "5": 512, + "6": 13139, + "7": 564, + "9": 4923, + "10": 21606, + "12": 1757, + "14": 5357, + "16": 48347, + "20": 4291, + "24": 18419 + }, + "instance_pixel_counts": { + "1115": 8271, + "1169": 1775, + "8834": 221, + "11394": 2578, + "14416": 512, + "14979": 856, + "17232": 20080, + "18011": 322472, + "23808": 335, + "24064": 9660, + "27072": 7158, + "30656": 4702, + "31168": 10169, + "34120": 29944, + "35924": 1348, + "36443": 126431, + "36948": 1168, + "40019": 53, + "43147": 7, + "43659": 1062, + "44171": 2976, + "44179": 34045, + "44691": 69712, + "46227": 116432, + "46741": 1848, + "47253": 11565, + "48779": 4592, + "48789": 5006, + "49803": 3845, + "49920": 377, + "50176": 456, + "50432": 924, + "52480": 15584, + "52672": 4907, + "52736": 32763, + "53184": 5861, + "54016": 3645, + "55040": 1712, + "55744": 15369, + "55879": 2488, + "56135": 16, + "56768": 14650, + "57173": 4923 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 0, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -103.16718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.20667965710163116, + "y": 0.21248044073581696, + "z": 0.5321803689002991 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 648.1113542432331, + "ymin": 357.88716519293763, + "xmax": 667.6118800862597, + "ymax": 397.22387435644816 + }, + "corners_3d": [ + [ + -103.37386322021484, + -99.90023803710938, + 0.19522607326507568 + ], + [ + -103.37386322021484, + -99.47528076171875, + 0.19522607326507568 + ], + [ + -102.96050262451172, + -99.47528076171875, + 0.19522607326507568 + ], + [ + -102.96050262451172, + -99.90023803710938, + 0.19522607326507568 + ], + [ + -103.37386322021484, + -99.90023803710938, + 1.2595868110656738 + ], + [ + -103.37386322021484, + -99.47528076171875, + 1.2595868110656738 + ], + [ + -102.96050262451172, + -99.47528076171875, + 1.2595868110656738 + ], + [ + -102.96050262451172, + -99.90023803710938, + 1.2595868110656738 + ] + ], + "corners_2d": [ + [ + 653.6127800060569, + 397.22387435644816 + ], + [ + 666.9034643328116, + 393.29129682960576 + ], + [ + 661.2946547443909, + 384.2186187810571 + ], + [ + 648.1113542432331, + 388.07420853983336 + ], + [ + 653.9727940348631, + 370.85228860711453 + ], + [ + 667.6118800862597, + 366.9308330482599 + ], + [ + 661.8497329775475, + 357.88716519293763 + ], + [ + 648.323703357862, + 361.72985542407514 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 377, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -101.49750518798828, + "y": -97.76546478271484, + "z": 0.713549017906189 + }, + "extent": { + "x": 0.3718310594558716, + "y": 0.3063037097454071, + "z": 0.8670870661735535 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 677.5754586751729, + "ymin": 295.03069498520665, + "xmax": 710.0983995469562, + "ymax": 357.9324852198577 + }, + "corners_3d": [ + [ + -101.92489624023438, + -97.9877700805664, + -0.1535380482673645 + ], + [ + -101.79752349853516, + -97.3885498046875, + -0.1535380482673645 + ], + [ + -101.07011413574219, + -97.54315948486328, + -0.1535380482673645 + ], + [ + -101.1974868774414, + -98.14237976074219, + -0.1535380482673645 + ], + [ + -101.92489624023438, + -97.9877700805664, + 1.5806360244750977 + ], + [ + -101.79752349853516, + -97.3885498046875, + 1.5806360244750977 + ], + [ + -101.07011413574219, + -97.54315948486328, + 1.5806360244750977 + ], + [ + -101.1974868774414, + -98.14237976074219, + 1.5806360244750977 + ] + ], + "corners_2d": [ + [ + 691.7085489326751, + 357.9324852198577 + ], + [ + 707.35219359963, + 350.410730665196 + ], + [ + 693.1071971338366, + 337.46682882775247 + ], + [ + 677.5754586751729, + 344.7683619059989 + ], + [ + 693.8356368212335, + 315.2970338097777 + ], + [ + 710.0983995469562, + 307.84407436984935 + ], + [ + 695.2395026169561, + 295.03069498520665 + ], + [ + 679.0973481651388, + 302.25671541257447 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 456, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -105.42300415039062, + "y": -92.74504852294922, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.5777392387390137, + "y": 0.3694824278354645, + "z": 0.9057002663612366 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 875.394865905796, + "ymin": 329.5550405806789, + "xmax": 931.8110041987694, + "ymax": 405.64872626737326 + }, + "corners_3d": [ + [ + -106.03620147705078, + -93.05211639404297, + -0.33069610595703125 + ], + [ + -105.95895385742188, + -92.31719970703125, + -0.33069610595703125 + ], + [ + -104.80980682373047, + -92.43798065185547, + -0.33069610595703125 + ], + [ + -104.88705444335938, + -93.17289733886719, + -0.33069610595703125 + ], + [ + -106.03620147705078, + -93.05211639404297, + 1.480704426765442 + ], + [ + -105.95895385742188, + -92.31719970703125, + 1.480704426765442 + ], + [ + -104.80980682373047, + -92.43798065185547, + 1.480704426765442 + ], + [ + -104.88705444335938, + -93.17289733886719, + 1.480704426765442 + ] + ], + "corners_2d": [ + [ + 900.0807163922298, + 405.64872626737326 + ], + [ + 919.3443721909, + 397.2363199373702 + ], + [ + 894.390406510814, + 373.9025263922647 + ], + [ + 875.394865905796, + 381.89547478696176 + ], + [ + 911.7975803356801, + 361.1054666790673 + ], + [ + 931.8110041987694, + 352.735558710965 + ], + [ + 905.4455869719724, + 329.5550405806789 + ], + [ + 885.7188714381639, + 337.4896322848024 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 924, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -112.66718292236328, + "y": -99.68775939941406, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.5420312285423279, + "y": 0.4596386253833771, + "z": 0.932594358921051 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 791.3944730186379, + "ymin": 599.7660463800506, + "xmax": 863.0313873322655, + "ymax": 698.1749165926078 + }, + "corners_3d": [ + [ + -113.20921325683594, + -100.14739990234375, + -0.20519769191741943 + ], + [ + -113.20921325683594, + -99.22811889648438, + -0.20519769191741943 + ], + [ + -112.12515258789062, + -99.22811889648438, + -0.20519769191741943 + ], + [ + -112.12515258789062, + -100.14739990234375, + -0.20519769191741943 + ], + [ + -113.20921325683594, + -100.14739990234375, + 1.6599910259246826 + ], + [ + -113.20921325683594, + -99.22811889648438, + 1.6599910259246826 + ], + [ + -112.12515258789062, + -99.22811889648438, + 1.6599910259246826 + ], + [ + -112.12515258789062, + -100.14739990234375, + 1.6599910259246826 + ] + ], + "corners_2d": [ + [ + 814.9799929911669, + 698.1749165926078 + ], + [ + 850.1133399382408, + 683.6621668616616 + ], + [ + 825.658684755602, + 644.2988568162132 + ], + [ + 791.3944730186379, + 657.8809408569887 + ], + [ + 825.874538368089, + 654.8279608619955 + ], + [ + 863.0313873322655, + 639.9662213955012 + ], + [ + 836.6813465160628, + 599.7660463800506 + ], + [ + 800.4929667758371, + 613.6188083339689 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 15584, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 584.0004644144338, + "ymin": 37.28749740723299, + "xmax": 818.4540929594426, + "ymax": 308.2412413079293 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 678.3285637340366, + 136.77816736866404 + ], + [ + 588.2242265795295, + 156.02747780658572 + ], + [ + 696.8778167667297, + 308.2412413079293 + ], + [ + 802.5712696716414, + 279.6943339074673 + ], + [ + 681.3607882486272, + 37.28749740723299 + ], + [ + 584.0004644144338, + 55.00510981005243 + ], + [ + 702.6501819511728, + 198.01204575732083 + ], + [ + 818.4540929594426, + 170.79210791104725 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 32763, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 841.2825847336976, + "ymin": 17.882675935516886, + "xmax": 1133.6326903906254, + "ymax": 275.1780146281273 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 999.5681928790198, + 275.1780146281273 + ], + [ + 1091.3589384819952, + 248.79226904616854 + ], + [ + 921.6945808184125, + 115.6328979974594 + ], + [ + 841.2825847336976, + 133.67204826907982 + ], + [ + 1034.4951866662698, + 166.4631714510792 + ], + [ + 1133.6326903906254, + 141.4977535414935 + ], + [ + 943.2279112136442, + 17.882675935516886 + ], + [ + 857.132111384933, + 34.400459701003115 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 3645, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 739.8855108687052, + "ymin": 144.7312467215262, + "xmax": 863.3473692085036, + "ymax": 270.5799228361154 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 781.6936443892213, + 180.91828857290605 + ], + [ + 739.8855108687052, + 190.76600418443638 + ], + [ + 810.8881141177596, + 270.5799228361154 + ], + [ + 856.1753208058631, + 258.45220183222693 + ], + [ + 785.919133404558, + 144.7312467215262 + ], + [ + 742.9066786146604, + 154.36109303310639 + ], + [ + 816.6477049340191, + 232.70347336124934 + ], + [ + 863.3473692085036, + 220.7654894450838 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 1712, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 704.1589262829538, + "ymin": 0.0, + "xmax": 809.2817733819414, + "ymax": 43.12133197534797 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 760.297695683, + 43.12133197534797 + ], + [ + 804.0921344912932, + 34.861047003203 + ], + [ + 745.0312816889227, + -12.456095684797901 + ], + [ + 704.1589262829538, + -5.528028500636481 + ], + [ + 764.1595997997097, + -0.25801694337604886 + ], + [ + 809.2817733819414, + -8.135640403254172 + ], + [ + 748.0672303405132, + -53.120985813073446 + ], + [ + 706.038957188024, + -46.54917091634405 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5668522571212290485, + "instance_id": 46457, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -89.45570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1272.476991340733, + "ymin": 356.2974496976808, + "xmax": 1280.0, + "ymax": 399.01913686014717 + }, + "corners_3d": [ + [ + -113.19542694091797, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -89.26573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -89.26573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1272.476991340733, + 390.5911202328494 + ], + [ + 1283.2407399194294, + 399.01913686014717 + ], + [ + 1296.2400735768024, + 394.19791871613745 + ], + [ + 1285.4144216953814, + 385.8566684005117 + ], + [ + 1291.1130428207284, + 361.0142624877331 + ], + [ + 1302.3724372127058, + 369.41441367783796 + ], + [ + 1315.6542257285896, + 364.6085816491353 + ], + [ + 1304.3311134296155, + 356.2974496976808 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 776.275017189879, + "ymin": 599.5559394027398, + "xmax": 804.1768308218069, + "ymax": 640.7405287603542 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 782.851990414475, + 640.7405287603542 + ], + [ + 799.2316937605099, + 634.3595194534273 + ], + [ + 792.5343081543037, + 623.2688581733858 + ], + [ + 776.275017189879, + 629.5286604346295 + ], + [ + 787.3134869932427, + 617.2031255841736 + ], + [ + 804.1768308218069, + 610.7561094407504 + ], + [ + 797.2249788464352, + 599.5559394027398 + ], + [ + 780.4891192231503, + 605.8767369462879 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1128.327525422797, + "ymin": 164.6223383742306, + "xmax": 1280.0, + "ymax": 562.1976335517815 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1471.3611981962863, + 429.84485789314 + ], + [ + 1456.9057480972433, + 419.64921347425206 + ], + [ + 1128.327525422797, + 549.0188691058773 + ], + [ + 1140.7646810092488, + 562.1976335517815 + ], + [ + 1691.8284361338176, + 174.06115672014738 + ], + [ + 1670.6393091561372, + 164.6223383742306 + ], + [ + 1278.839297286683, + 288.46224935825717 + ], + [ + 1297.583059392442, + 301.5928647279686 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 443.7176284584102, + "ymin": 0.0, + "xmax": 544.4067374737394, + "ymax": 36.2391678313507 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 466.0389798212919, + 32.60384060343597 + ], + [ + 468.42902877674896, + 36.2391678313507 + ], + [ + 544.4067374737394, + 23.267132433949314 + ], + [ + 541.595119103629, + 19.79567504811365 + ], + [ + 443.7176284584102, + -142.12903327507712 + ], + [ + 446.2539903292708, + -139.2966448989871 + ], + [ + 532.3697347557838, + -149.38209291126338 + ], + [ + 529.2913957172768, + -152.07099313310005 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 834.1861143056007, + "ymin": 0.0, + "xmax": 912.4512952529058, + "ymax": 13.158087231245588 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 855.5914581009945, + 13.158087231245588 + ], + [ + 894.614299268055, + 5.923492536262586 + ], + [ + 872.4008811844928, + -9.001107267109035 + ], + [ + 834.1861143056007, + -2.1656998192337937 + ], + [ + 870.9126893495113, + -84.99996404834326 + ], + [ + 912.4512952529058, + -91.34485842176218 + ], + [ + 888.1983750789718, + -104.39627943657825 + ], + [ + 847.5707251223234, + -98.42508302931526 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 698.9323121650151, + "ymin": 15.311982873761565, + "xmax": 715.3451866882075, + "ymax": 24.668907767638473 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 698.9323121650151, + 20.912711391701635 + ], + [ + 703.0392552276278, + 24.668907767638473 + ], + [ + 715.155440656015, + 22.48845661065087 + ], + [ + 710.9829174975372, + 18.761583959233576 + ], + [ + 699.0806747503257, + 17.45499328129131 + ], + [ + 703.1990399674115, + 21.19711693397892 + ], + [ + 715.3451866882075, + 19.024819300143804 + ], + [ + 711.1609192951947, + 15.311982873761565 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1182.8204690790144, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 456.27864679999084 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 1294.3104477350703, + 456.27864679999084 + ], + [ + 1526.2466694564232, + 364.54987923046986 + ], + [ + 1404.4972684603486, + 288.34483069669153 + ], + [ + 1182.8204690790144, + 364.4628345138515 + ], + [ + 1617.5132934954736, + -7.105956152156978 + ], + [ + 1905.9165612412985, + -76.63193499482111 + ], + [ + 1693.6001085488545, + -129.91465033890995 + ], + [ + 1415.3335863328682, + -76.69501293940829 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 6710444133724925256, + "instance_id": 18477, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_0", + "bbox_3d": { + "center_world": { + "x": -116.82598114013672, + "y": -103.5999984741211, + "z": 7.688652992248535 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 782.627548854244, + "ymin": 714.7861060547829, + "xmax": 818.1834082598832, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -116.6200942993164, + -103.45213317871094, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.63400411605835 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.63400411605835 + ], + [ + -116.6200942993164, + -103.45213317871094, + 7.743301868438721 + ], + [ + -116.6200942993164, + -103.74787139892578, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.74786376953125, + 7.743301868438721 + ], + [ + -117.03186798095703, + -103.4521255493164, + 7.743301868438721 + ] + ], + "corners_2d": [ + [ + 801.7679430517292, + 718.6501785137001 + ], + [ + 782.627548854244, + 726.6527939445582 + ], + [ + 797.6889443035927, + 754.2186259419194 + ], + [ + 817.1482225583411, + 745.8625118740749 + ], + [ + 802.6929903162629, + 714.7861060547829 + ], + [ + 783.4483976383076, + 722.8098899330316 + ], + [ + 798.616483489784, + 750.4531381591498 + ], + [ + 818.1834082598832, + 742.0728199738982 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7664114084626016696, + "instance_id": 47273, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.91487884521484, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1004.1597758874991, + "ymin": 0.3847039242566552, + "xmax": 1120.8245455034182, + "ymax": 142.8591749165337 + }, + "corners_3d": [ + [ + -95.94330596923828, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -79.87950897216797, + 4.83804988861084 + ], + [ + -95.94330596923828, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1036.7670619771452, + 142.8591749165337 + ], + [ + 1081.965306559656, + 131.79960921795498 + ], + [ + 1048.3339988683576, + 109.20363563709887 + ], + [ + 1004.1597758874991, + 119.51607362799865 + ], + [ + 1072.2865444947988, + 30.820107419059696 + ], + [ + 1120.8245455034182, + 20.78873199709159 + ], + [ + 1082.9085773099619, + 0.3847039242566552 + ], + [ + 1035.5335193608428, + 9.681623505212485 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9560389216542849208, + "instance_id": 47352, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_1", + "bbox_3d": { + "center_world": { + "x": -94.91524505615234, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1027.9619145758093, + "ymin": 27.699721853746155, + "xmax": 1108.9410943139872, + "ymax": 65.23749801921679 + }, + "corners_3d": [ + [ + -95.88141632080078, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -95.88141632080078, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -93.9490737915039, + -77.64111328125, + 3.4435572624206543 + ], + [ + -93.9490737915039, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -95.88141632080078, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -95.88141632080078, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -93.9490737915039, + -77.64111328125, + 3.7680342197418213 + ], + [ + -93.9490737915039, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1061.2688601899567, + 65.23749801921679 + ], + [ + 1106.160509145339, + 55.430988081701685 + ], + [ + 1071.8591641306512, + 35.52841247326825 + ], + [ + 1027.9619145758093, + 44.67535860683029 + ], + [ + 1063.823949473222, + 57.17594652519455 + ], + [ + 1108.9410943139872, + 47.44432943345498 + ], + [ + 1074.347212896535, + 27.699721853746155 + ], + [ + 1030.2333609621903, + 36.77307710520722 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 597.0761438510974, + "ymin": 8.73007134006275, + "xmax": 719.6460968374001, + "ymax": 248.95619573653278 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 603.7719994145799, + 242.09938050321944 + ], + [ + 608.2800183792284, + 248.95619573653278 + ], + [ + 707.5024192004697, + 224.6385969780166 + ], + [ + 702.2883988322689, + 218.20093470154742 + ], + [ + 597.0761438510974, + 29.12842070378855 + ], + [ + 602.3556477190978, + 35.024111519457676 + ], + [ + 719.6460968374001, + 14.202049461268302 + ], + [ + 713.3816011407705, + 8.73007134006275 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 12878131850560319477, + "instance_id": 62895, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_1", + "bbox_3d": { + "center_world": { + "x": -116.82599639892578, + "y": -103.5999984741211, + "z": 7.688647270202637 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 782.8136499136463, + "ymin": 714.9923489994692, + "xmax": 817.9904446508979, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -116.62229919433594, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.634579658508301 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.634579658508301 + ], + [ + -116.62229919433594, + -103.45370483398438, + 7.742714881896973 + ], + [ + -116.62229919433594, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.74629211425781, + 7.742714881896973 + ], + [ + -117.02969360351562, + -103.45370483398438, + 7.742714881896973 + ] + ], + "corners_2d": [ + [ + 801.752310148961, + 718.8148415828839 + ], + [ + 782.8136499136463, + 726.7341138436825 + ], + [ + 797.7166142732667, + 754.0054875892074 + ], + [ + 816.96742949705, + 745.7401852976857 + ], + [ + 802.6675379083836, + 714.9923489994692 + ], + [ + 783.6268683499127, + 722.9323564499267 + ], + [ + 798.6342809228554, + 750.2794923392873 + ], + [ + 817.9904446508979, + 741.990515082048 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 699.0193275051976, + "ymin": 15.361467776526297, + "xmax": 715.2576694945003, + "ymax": 24.61889529902527 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 699.0193275051976, + 20.90285285619501 + ], + [ + 703.0830256375334, + 24.61889529902527 + ], + [ + 715.0701600925229, + 22.461831984949242 + ], + [ + 710.9422673464658, + 18.774492829793473 + ], + [ + 699.1663290160435, + 17.481882336118304 + ], + [ + 703.2412093919672, + 21.184149925695294 + ], + [ + 715.2576694945003, + 19.03506742463702 + ], + [ + 711.1182825909793, + 15.361467776526297 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 667.8655334746961, + "ymin": 523.4768283606738, + "xmax": 828.4679511770444, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 686.7512374914011, + 748.2817028900304 + ], + [ + 667.8655334746961, + 756.0655268076263 + ], + [ + 751.6915773319338, + 944.5625946499736 + ], + [ + 772.7433881399537, + 934.3408448311087 + ], + [ + 703.0179387091322, + 523.4768283606738 + ], + [ + 677.6408021424884, + 532.1435134059037 + ], + [ + 799.0445119392746, + 753.8568364961634 + ], + [ + 828.4679511770444, + 741.2197911869923 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15445048005953999223, + "instance_id": 30545, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_0", + "bbox_3d": { + "center_world": { + "x": -94.91524505615234, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1027.9022219559338, + "ymin": 27.683475007882976, + "xmax": 1108.9875839628762, + "ymax": 65.31003458931309 + }, + "corners_3d": [ + [ + -95.88260650634766, + -79.81846618652344, + 3.441368341445923 + ], + [ + -95.88261413574219, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -93.94788360595703, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -93.9478759765625, + -79.81846618652344, + 3.441368341445923 + ], + [ + -95.88260650634766, + -79.81846618652344, + 3.768015146255493 + ], + [ + -95.88261413574219, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -93.94788360595703, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -93.9478759765625, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1061.248040492636, + 65.31003458931309 + ], + [ + 1106.1882031018554, + 55.49192489797525 + ], + [ + 1071.8457188887303, + 35.56407416829154 + ], + [ + 1027.9022219559338, + 44.72107771602191 + ], + [ + 1063.8201689450702, + 57.194764700344194 + ], + [ + 1108.9875839628762, + 47.452123062126134 + ], + [ + 1074.3502525454383, + 27.683475007882976 + ], + [ + 1030.188476803948, + 36.766323588323075 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 749.6474846880994, + "ymin": 430.2047170955427, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 766.8393544291828, + 686.2264626938644 + ], + [ + 749.6474846880994, + 692.9671364773179 + ], + [ + 1143.0702118232973, + 1444.7311193696971 + ], + [ + 1167.2423128533976, + 1427.2261395128285 + ], + [ + 812.6960509419852, + 430.2047170955427 + ], + [ + 789.5882366251494, + 437.4665040347536 + ], + [ + 1524.1365767293387, + 1482.8703155454 + ], + [ + 1560.4411505415937, + 1451.7208083200287 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 5199819733356185808, + "instance_id": 53256, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1851_37", + "bbox_3d": { + "center_world": { + "x": -100.25784301757812, + "y": -72.39555358886719, + "z": 8.309331893920898 + }, + "extent": { + "x": 4.9728498458862305, + "y": 4.831793308258057, + "z": 8.307754516601562 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1076.3779179463163, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 264.1672684050038 + }, + "corners_3d": [ + [ + -94.59623718261719, + -68.39283752441406, + 0.0015773773193359375 + ], + [ + -96.09391784667969, + -77.93966674804688, + 0.0015773773193359375 + ], + [ + -105.91944885253906, + -76.39826965332031, + 0.0015773773193359375 + ], + [ + -104.42176818847656, + -66.8514404296875, + 0.0015773773193359375 + ], + [ + -94.59623718261719, + -68.39283752441406, + 16.61708641052246 + ], + [ + -96.09391784667969, + -77.93966674804688, + 16.61708641052246 + ], + [ + -105.91944885253906, + -76.39826965332031, + 16.61708641052246 + ], + [ + -104.42176818847656, + -66.8514404296875, + 16.61708641052246 + ] + ], + "corners_2d": [ + [ + 1222.6728414015993, + 80.96903422310368 + ], + [ + 1076.3779179463163, + 138.5204419509709 + ], + [ + 1308.8425117095621, + 264.1672684050038 + ], + [ + 1456.4778065304154, + 184.2756446124096 + ], + [ + 1430.1930992271998, + -386.8056655243719 + ], + [ + 1252.3042873797667, + -367.7815487570314 + ], + [ + 1655.3073310325103, + -321.2909358409987 + ], + [ + 1818.1019974264175, + -351.6892129567144 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00058/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00058/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c12589d4118dc5ae7cfddfa403b52476622e4897 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00058/meta.json @@ -0,0 +1,2878 @@ +{ + "frame_id": 58, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 29.0, + "sim_timestamp": 10397.402507496998 + }, + "drone_pose": { + "x": -121.71123145529631, + "y": -104.9013468444491, + "z": 20.12905508285213, + "pitch": -42.491461837284035, + "yaw": 13.01762017970064, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7184279561042786, + -0.16609491407871246, + 0.6754804253578186, + 91.2675552368164 + ], + [ + 0.225250706076622, + 0.9743008613586426, + 0.0, + 74.78992462158203 + ], + [ + -0.6581211686134338, + 0.1521524339914322, + 0.7373780012130737, + -110.9044418334961 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -121.52191349311096, + "y": -102.23660494801335, + "z": 20.11813726770759 + }, + "t1_image_uv": [ + 4823.497535720095, + -495.1582111639759 + ], + "t1_depth": 0.5859861499154504 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -102.66718292236328, + "y": -99.68776321411131, + "z": 0.7274065208435059 + }, + "image_uv": [ + 667.4224450240457, + 394.01449528849156 + ], + "depth": 27.65315955413507, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 191, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -102.66718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.2604736089706421, + "y": 0.21177244186401367, + "z": 0.517151415348053 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.8984794739532, + "ymin": 373.76965904122864, + "xmax": 677.2983395104441, + "ymax": 414.0741629996884 + }, + "corners_3d": [ + [ + -102.92765808105469, + -99.89952850341797, + 0.21025502681732178 + ], + [ + -102.92765808105469, + -99.47599029541016, + 0.21025502681732178 + ], + [ + -102.40670776367188, + -99.47599029541016, + 0.21025502681732178 + ], + [ + -102.40670776367188, + -99.89952850341797, + 0.21025502681732178 + ], + [ + -102.92765808105469, + -99.89952850341797, + 1.2445578575134277 + ], + [ + -102.92765808105469, + -99.47599029541016, + 1.2445578575134277 + ], + [ + -102.40670776367188, + -99.47599029541016, + 1.2445578575134277 + ], + [ + -102.40670776367188, + -99.89952850341797, + 1.2445578575134277 + ] + ], + "corners_2d": [ + [ + 662.1946872329733, + 414.0741629996884 + ], + [ + 676.3626828745362, + 411.7162668672282 + ], + [ + 671.8893130858355, + 399.3693189081679 + ], + [ + 657.8984794739532, + 401.6650203812185 + ], + [ + 662.7672673759245, + 388.43357559865143 + ], + [ + 677.2983395104441, + 386.08143984931974 + ], + [ + 672.6987075965425, + 373.76965904122864 + ], + [ + 658.3539314171334, + 376.0581861293818 + ] + ], + "center_offset_px": [ + 27.422445024045714, + 34.01449528849156 + ] + }, + "trace_timestep_index": 58, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 48, + "semantic_pixel_counts": { + "1": 229025, + "2": 105246, + "3": 436362, + "4": 14539, + "5": 779, + "6": 10437, + "7": 528, + "10": 17871, + "12": 1941, + "14": 10571, + "15": 3286, + "16": 66322, + "20": 8096, + "24": 16597 + }, + "instance_pixel_counts": { + "606": 3123, + "913": 126, + "1115": 8485, + "1169": 2464, + "4718": 16, + "8834": 1379, + "11394": 1233, + "14416": 779, + "14979": 1058, + "17232": 14539, + "18011": 341179, + "23808": 59, + "24064": 7091, + "27072": 2621, + "30656": 301, + "31168": 13675, + "34120": 30343, + "35924": 3881, + "36443": 86682, + "36948": 1625, + "40019": 145, + "43147": 1934, + "43659": 1120, + "44171": 1771, + "44179": 51635, + "44691": 40129, + "46227": 137261, + "46741": 3353, + "47253": 7446, + "48779": 6317, + "48789": 5798, + "49664": 191, + "49803": 2858, + "49920": 396, + "50176": 485, + "50432": 869, + "51456": 2130, + "52160": 2680, + "52480": 29162, + "52672": 9223, + "52736": 37160, + "53184": 3108, + "54016": 4661, + "55040": 3780, + "55744": 21338, + "55879": 2489, + "56768": 7957, + "64093": 163 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 191, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -102.66718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.2772509455680847, + "y": 0.21913082897663116, + "z": 0.533392608165741 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.5114757219064, + "ymin": 372.9267611572318, + "xmax": 677.7158557253429, + "ymax": 414.9128371437655 + }, + "corners_3d": [ + [ + -102.9444351196289, + -99.90689086914062, + 0.1940138339996338 + ], + [ + -102.9444351196289, + -99.4686279296875, + 0.1940138339996338 + ], + [ + -102.38993072509766, + -99.4686279296875, + 0.1940138339996338 + ], + [ + -102.38993072509766, + -99.90689086914062, + 0.1940138339996338 + ], + [ + -102.9444351196289, + -99.90689086914062, + 1.2607990503311157 + ], + [ + -102.9444351196289, + -99.4686279296875, + 1.2607990503311157 + ], + [ + -102.38993072509766, + -99.4686279296875, + 1.2607990503311157 + ], + [ + -102.38993072509766, + -99.90689086914062, + 1.2607990503311157 + ] + ], + "corners_2d": [ + [ + 662.0792288478343, + 414.9128371437655 + ], + [ + 676.7400169825905, + 412.47078663806104 + ], + [ + 671.9772859509563, + 399.32921945937267 + ], + [ + 657.5114757219064, + 401.7027916945166 + ], + [ + 662.6672452423925, + 388.4656415255243 + ], + [ + 677.7158557253429, + 386.02968956499564 + ], + [ + 672.8143324707792, + 372.9267611572318 + ], + [ + 657.9710764025843, + 375.29262851879207 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 396, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -101.33905792236328, + "y": -98.1020278930664, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.5294140577316284, + "y": 0.3076171875, + "z": 0.8851333260536194 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 689.510500076558, + "ymin": 319.88720277609434, + "xmax": 726.9835349719605, + "ymax": 390.7354482795809 + }, + "corners_3d": [ + [ + -101.92086029052734, + -98.29285430908203, + -0.1577317714691162 + ], + [ + -101.7929458618164, + -97.6910629272461, + -0.1577317714691162 + ], + [ + -100.75725555419922, + -97.91120147705078, + -0.1577317714691162 + ], + [ + -100.88516998291016, + -98.51299285888672, + -0.1577317714691162 + ], + [ + -101.92086029052734, + -98.29285430908203, + 1.6125348806381226 + ], + [ + -101.7929458618164, + -97.6910629272461, + 1.6125348806381226 + ], + [ + -100.75725555419922, + -97.91120147705078, + 1.6125348806381226 + ], + [ + -100.88516998291016, + -98.51299285888672, + 1.6125348806381226 + ] + ], + "corners_2d": [ + [ + 705.5307111828001, + 390.7354482795809 + ], + [ + 723.4227526388673, + 384.7577234515832 + ], + [ + 707.0821620052568, + 363.3759233977807 + ], + [ + 689.510500076558, + 369.0733788291 + ], + [ + 708.3470840424119, + 347.01685076836844 + ], + [ + 726.9835349719605, + 341.0833681684451 + ], + [ + 709.8749390807178, + 319.88720277609434 + ], + [ + 691.5855910077008, + 325.5310146955078 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 485, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -104.92300415039062, + "y": -92.74504852294922, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.3827294707298279, + "y": 0.3218652307987213, + "z": 0.8646528720855713 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 901.134200337146, + "ymin": 380.14489409172876, + "xmax": 947.4360570636522, + "ymax": 446.25023920718286 + }, + "corners_3d": [ + [ + -105.3372802734375, + -93.025146484375, + -0.28965359926223755 + ], + [ + -105.2699966430664, + -92.38494110107422, + -0.28965359926223755 + ], + [ + -104.50872802734375, + -92.46495056152344, + -0.28965359926223755 + ], + [ + -104.57601165771484, + -93.10515594482422, + -0.28965359926223755 + ], + [ + -105.3372802734375, + -93.025146484375, + 1.4396522045135498 + ], + [ + -105.2699966430664, + -92.38494110107422, + 1.4396522045135498 + ], + [ + -104.50872802734375, + -92.46495056152344, + 1.4396522045135498 + ], + [ + -104.57601165771484, + -93.10515594482422, + 1.4396522045135498 + ] + ], + "corners_2d": [ + [ + 914.8945047618151, + 446.25023920718286 + ], + [ + 934.4635725622652, + 440.85481374410926 + ], + [ + 920.4086126042332, + 422.6944993187443 + ], + [ + 901.134200337146, + 427.88722954050917 + ], + [ + 927.0759404666244, + 403.6334428757746 + ], + [ + 947.4360570636522, + 398.2489251256422 + ], + [ + 932.5182002728382, + 380.14489409172876 + ], + [ + 912.4762704139378, + 385.3184528878956 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 869, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -112.16718292236328, + "y": -99.68775939941406, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.5051952600479126, + "y": 0.44755855202674866, + "z": 0.8767690062522888 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 745.2446846689187, + "ymin": 647.2071844602077, + "xmax": 807.4648113929533, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -112.67237854003906, + -100.13531494140625, + -0.14937233924865723 + ], + [ + -112.67237854003906, + -99.24020385742188, + -0.14937233924865723 + ], + [ + -111.6619873046875, + -99.24020385742188, + -0.14937233924865723 + ], + [ + -111.6619873046875, + -100.13531494140625, + -0.14937233924865723 + ], + [ + -112.67237854003906, + -100.13531494140625, + 1.6041656732559204 + ], + [ + -112.67237854003906, + -99.24020385742188, + 1.6041656732559204 + ], + [ + -111.6619873046875, + -99.24020385742188, + 1.6041656732559204 + ], + [ + -111.6619873046875, + -100.13531494140625, + 1.6041656732559204 + ] + ], + "corners_2d": [ + [ + 759.2981222343101, + 738.7761578192301 + ], + [ + 798.0780369126868, + 729.9240900936295 + ], + [ + 782.8323055257932, + 688.4334512976595 + ], + [ + 745.2446846689187, + 696.7053799276484 + ], + [ + 766.4353165363217, + 698.7406244630364 + ], + [ + 807.4648113929533, + 689.6613132614038 + ], + [ + 791.0159699231217, + 647.2071844602077 + ], + [ + 751.3184233346295, + 655.657860149895 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 2130, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 685.3942764852823, + "ymin": 6.065153142111171, + "xmax": 752.763384501621, + "ymax": 75.58727259703647 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 724.4397298091639, + 33.73894088773778 + ], + [ + 685.3942764852823, + 37.60556605256187 + ], + [ + 708.8726462412149, + 75.58727259703647 + ], + [ + 750.3867621940545, + 71.17744747855079 + ], + [ + 726.1401481967349, + 6.065153142111171 + ], + [ + 686.3149304221041, + 9.812831308704403 + ], + [ + 710.3667835265096, + 46.682296655478865 + ], + [ + 752.763384501621, + 42.39636814568729 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 29162, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 655.1893705452654, + "ymin": 59.49974291011614, + "xmax": 868.4196558018251, + "ymax": 338.41811748898505 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 750.5472787636262, + 159.86589362570018 + ], + [ + 655.1893705452654, + 171.5168458182839 + ], + [ + 731.0668574492489, + 338.41811748898505 + ], + [ + 847.397283183016, + 320.5314892953409 + ], + [ + 759.4369282169804, + 59.49974291011614 + ], + [ + 656.4334885970085, + 70.24252082442752 + ], + [ + 740.5146131327472, + 227.4572057261292 + ], + [ + 868.4196558018251, + 210.30569567352936 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 37160, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 921.4900595939954, + "ymin": 59.315155328600895, + "xmax": 1225.0078497304435, + "ymax": 338.2358634563252 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 1061.7122414331884, + 338.2358634563252 + ], + [ + 1171.1609154821033, + 320.35081883694863 + ], + [ + 1012.3663280715748, + 159.70459574567474 + ], + [ + 921.4900595939954, + 171.35383153820044 + ], + [ + 1105.4686937664655, + 227.24132577396628 + ], + [ + 1225.0078497304435, + 210.09244368932534 + ], + [ + 1042.313210981082, + 59.315155328600895 + ], + [ + 944.5485194868625, + 70.05556116290688 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 4661, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 801.8364520916336, + "ymin": 178.45979093236855, + "xmax": 918.4217294042221, + "ymax": 311.9031339654726 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 847.7147728332551, + 215.12346073783442 + ], + [ + 801.8364520916336, + 221.29277052269074 + ], + [ + 858.2013965871301, + 311.9031339654726 + ], + [ + 909.1131107643121, + 304.1402110247874 + ], + [ + 854.0991549420671, + 178.45979093236855 + ], + [ + 806.8537781477512, + 184.50288337763558 + ], + [ + 865.822609030339, + 273.6203554310674 + ], + [ + 918.4217294042221, + 265.95876670144287 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 3780, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 808.8625528716016, + "ymin": 0.0, + "xmax": 912.8674167331654, + "ymax": 70.12219730946839 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 856.3008020881573, + 70.12219730946839 + ], + [ + 904.2454711681864, + 64.93965128178826 + ], + [ + 852.8070403979652, + 11.5665506277561 + ], + [ + 808.8625528716016, + 15.842153196198979 + ], + [ + 863.4230363708098, + 26.070289626792714 + ], + [ + 912.8674167331654, + 21.118535041193923 + ], + [ + 859.0976722673812, + -29.711490732996992 + ], + [ + 813.8955660286612, + -25.650740694841488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 720.7422788166048, + "ymin": 660.8755870034389, + "xmax": 746.8973350511719, + "ymax": 701.0570787767366 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 724.8401069473482, + 701.0570787767366 + ], + [ + 743.543667798583, + 696.9414436175806 + ], + [ + 739.2615285022732, + 684.0659057492978 + ], + [ + 720.7422788166048, + 688.094727013184 + ], + [ + 727.5975859761209, + 678.0809575774912 + ], + [ + 746.8973350511719, + 673.9120102462838 + ], + [ + 742.4413801270377, + 660.8755870034389 + ], + [ + 723.337801990621, + 664.9537894218142 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1143.8119247726304, + "ymin": 301.11699187876184, + "xmax": 1280.0, + "ymax": 671.5136736443922 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1585.7167987124794, + 575.70578484755 + ], + [ + 1569.848712102434, + 561.6298151314468 + ], + [ + 1143.8119247726304, + 654.885761848833 + ], + [ + 1155.0356351039222, + 671.5136736443922 + ], + [ + 1881.79597794795, + 315.14575111975995 + ], + [ + 1856.0664987434313, + 301.11699187876184 + ], + [ + 1316.86375932375, + 396.2127504616803 + ], + [ + 1335.324491028393, + 413.71635696033366 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 551.8528914272538, + "ymin": 0.0, + "xmax": 640.655686785818, + "ymax": 41.49540223256406 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 561.742477550752, + 37.703970097763374 + ], + [ + 563.2582772582401, + 41.49540223256406 + ], + [ + 640.5826252730056, + 33.89705340755961 + ], + [ + 638.5715870745408, + 30.207308650097218 + ], + [ + 551.8528914272538, + -135.45970786606807 + ], + [ + 553.4858425576806, + -132.51398720829638 + ], + [ + 640.655686785818, + -138.41236568730443 + ], + [ + 638.3938064964821, + -141.26928640669468 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 944.1266236861396, + "ymin": 0.0, + "xmax": 1034.2409107325288, + "ymax": 46.2471624086437 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 963.574850584401, + 46.2471624086437 + ], + [ + 1007.3253939153752, + 41.58451369901479 + ], + [ + 986.6810677068652, + 24.255228667426536 + ], + [ + 944.1266236861396, + 28.63314375946834 + ], + [ + 987.4962038394065, + -54.42272745037923 + ], + [ + 1034.2409107325288, + -58.53642163812873 + ], + [ + 1011.2435958966732, + -73.78163446879535 + ], + [ + 965.8600594953007, + -69.93672484052269 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 761.0214743279, + "ymin": 40.846095581655334, + "xmax": 777.664705775212, + "ymax": 49.88543763801118 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 761.0214743279, + 45.683573773099226 + ], + [ + 764.1594072086972, + 49.88543763801118 + ], + [ + 777.3098542413269, + 48.52600908515075 + ], + [ + 774.0825291101517, + 44.34411476802467 + ], + [ + 761.3326622871825, + 42.18066633304056 + ], + [ + 764.4810439008022, + 46.36730137871109 + ], + [ + 777.664705775212, + 45.012782284951186 + ], + [ + 774.4264822326045, + 40.846095581655334 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1248.9131541929864, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 578.0989924275541 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 1359.5688683858843, + 578.0989924275541 + ], + [ + 1670.411324230305, + 508.6419172922231 + ], + [ + 1534.2536718980666, + 403.5063466663154 + ], + [ + 1248.9131541929864, + 459.0994854607954 + ], + [ + 1776.4590767969846, + 97.30422073114858 + ], + [ + 2209.833078701585, + 37.84260642332072 + ], + [ + 1933.165099166737, + -44.5677301176454 + ], + [ + 1544.85265927579, + -2.06343049238842 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7664114084626016696, + "instance_id": 47273, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.91487884521484, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1101.9241578231663, + "ymin": 51.70468477058296, + "xmax": 1238.6789221822235, + "ymax": 199.7833294724298 + }, + "corners_3d": [ + [ + -95.94330596923828, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -79.87950897216797, + 4.83804988861084 + ], + [ + -95.94330596923828, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1133.099265973031, + 199.7833294724298 + ], + [ + 1186.8280573408838, + 192.2628544213969 + ], + [ + 1153.8781376668865, + 164.60399338464117 + ], + [ + 1101.9241578231663, + 171.54841946164282 + ], + [ + 1180.3969821567175, + 83.89499329392248 + ], + [ + 1238.6789221822235, + 76.98813927145738 + ], + [ + 1200.538978204202, + 51.70468477058296 + ], + [ + 1144.3324250217402, + 58.0352358264999 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9560389216542849208, + "instance_id": 47352, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_1", + "bbox_3d": { + "center_world": { + "x": -94.91524505615234, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1133.4279085420312, + "ymin": 80.18869855433695, + "xmax": 1223.305143620652, + "ymax": 119.61187706461996 + }, + "corners_3d": [ + [ + -95.88141632080078, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -95.88141632080078, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -93.9490737915039, + -77.64111328125, + 3.4435572624206543 + ], + [ + -93.9490737915039, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -95.88141632080078, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -95.88141632080078, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -93.9490737915039, + -77.64111328125, + 3.7680342197418213 + ], + [ + -93.9490737915039, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1165.8703303301418, + 119.61187706461996 + ], + [ + 1219.5838177000603, + 112.8886726082622 + ], + [ + 1185.3832757671635, + 88.33057351899845 + ], + [ + 1133.4279085420312, + 94.53911452191056 + ], + [ + 1169.2829123953472, + 111.25121025598446 + ], + [ + 1223.305143620652, + 104.57336384873281 + ], + [ + 1188.7481673736036, + 80.18869855433695 + ], + [ + 1136.503540493848, + 86.35224701864536 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 650.8744004878753, + "ymin": 34.27843815745081, + "xmax": 782.2448830228859, + "ymax": 268.10076732510976 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 650.8744004878753, + 260.64743366418793 + ], + [ + 653.8542140731793, + 268.10076732510976 + ], + [ + 760.1126923092398, + 253.2043935380101 + ], + [ + 756.2018977206077, + 246.02907790157286 + ], + [ + 652.9010384897625, + 46.82352687701564 + ], + [ + 656.4655135877085, + 53.25357106785884 + ], + [ + 782.2448830228859, + 40.42517504313912 + ], + [ + 777.3783906098801, + 34.27843815745081 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 761.1095264073706, + "ymin": 40.893967262367596, + "xmax": 777.5757677067645, + "ymax": 49.83719330575394 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 761.1095264073706, + 45.68017670849139 + ], + [ + 764.2146339532189, + 49.83719330575394 + ], + [ + 777.2249219398393, + 48.492354194063864 + ], + [ + 774.0323106216347, + 44.35488464576997 + ], + [ + 761.4176324125403, + 42.21447439114695 + ], + [ + 764.5329700318678, + 46.35658441473288 + ], + [ + 777.5757677067645, + 45.01655077308067 + ], + [ + 774.3724908300445, + 40.893967262367596 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 584.24985639719, + "ymin": 574.1154144698429, + "xmax": 676.6639172260377, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 619.9688437669171, + 794.797945445655 + ], + [ + 599.058924679763, + 799.6605385459495 + ], + [ + 641.2824107991908, + 1013.8297992791317 + ], + [ + 665.3919772916953, + 1007.2639371968323 + ], + [ + 612.759564130196, + 574.1154144698429 + ], + [ + 584.24985639719, + 579.6250108676838 + ], + [ + 641.8552372129639, + 837.7756712528983 + ], + [ + 676.6639172260377, + 829.3837102623936 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15445048005953999223, + "instance_id": 30545, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_0", + "bbox_3d": { + "center_world": { + "x": -94.91524505615234, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1133.3591155549443, + "ymin": 80.1713274512021, + "xmax": 1223.356675759887, + "ymax": 119.68761176106389 + }, + "corners_3d": [ + [ + -95.88260650634766, + -79.81846618652344, + 3.441368341445923 + ], + [ + -95.88261413574219, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -93.94788360595703, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -93.9478759765625, + -79.81846618652344, + 3.441368341445923 + ], + [ + -95.88260650634766, + -79.81846618652344, + 3.768015146255493 + ], + [ + -95.88261413574219, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -93.94788360595703, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -93.9478759765625, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1165.8386042472487, + 119.68761176106389 + ], + [ + 1219.6102224156903, + 112.9564996718081 + ], + [ + 1185.3686319160895, + 88.36717622003778 + ], + [ + 1133.3591155549443, + 94.58242870329849 + ], + [ + 1169.27390573808, + 111.27127040139459 + ], + [ + 1223.356675759887, + 104.58586343064883 + ], + [ + 1188.755832934742, + 80.1713274512021 + ], + [ + 1136.4548240868803, + 86.34124315168981 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 698.109464186554, + "ymin": 491.02978974374514, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 717.4583657854704, + 743.0648177860339 + ], + [ + 698.109464186554, + 747.28308481681 + ], + [ + 948.7686480943669, + 1662.4678472528085 + ], + [ + 980.5827033880944, + 1649.982313906857 + ], + [ + 746.8192916793671, + 491.02978974374514 + ], + [ + 720.2377283795598, + 495.69159308340465 + ], + [ + 1228.1717579513806, + 1892.7619178222828 + ], + [ + 1285.432045699276, + 1866.6034219514033 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 5199819733356185808, + "instance_id": 53256, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1851_37", + "bbox_3d": { + "center_world": { + "x": -100.25784301757812, + "y": -72.39555358886719, + "z": 8.309331893920898 + }, + "extent": { + "x": 4.9728498458862305, + "y": 4.831793308258057, + "z": 8.307754516601562 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1179.4613886578372, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 363.6181426775866 + }, + "corners_3d": [ + [ + -94.59623718261719, + -68.39283752441406, + 0.0015773773193359375 + ], + [ + -96.09391784667969, + -77.93966674804688, + 0.0015773773193359375 + ], + [ + -105.91944885253906, + -76.39826965332031, + 0.0015773773193359375 + ], + [ + -104.42176818847656, + -66.8514404296875, + 0.0015773773193359375 + ], + [ + -94.59623718261719, + -68.39283752441406, + 16.61708641052246 + ], + [ + -96.09391784667969, + -77.93966674804688, + 16.61708641052246 + ], + [ + -105.91944885253906, + -76.39826965332031, + 16.61708641052246 + ], + [ + -104.42176818847656, + -66.8514404296875, + 16.61708641052246 + ] + ], + "corners_2d": [ + [ + 1362.6434989344941, + 150.0877192155858 + ], + [ + 1179.4613886578372, + 198.93852437192442 + ], + [ + 1423.3116979411975, + 363.6181426775866 + ], + [ + 1624.9596619182335, + 290.93543828346515 + ], + [ + 1653.1744302489637, + -355.6299801234169 + ], + [ + 1419.2039907016242, + -338.3682656735557 + ], + [ + 1899.7686085467785, + -271.61875248299737 + ], + [ + 2148.5440750198986, + -302.85710243322364 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 914.0377965515797, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 12.119665567612856 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1026.9694591807554, + -76.51090600275091 + ], + [ + 914.0377965515797, + -46.55026628418403 + ], + [ + 1050.3040299346567, + 12.119665567612856 + ], + [ + 1166.6280189095078, + -25.44155545457835 + ], + [ + 1103.9855470560587, + -371.9576962942068 + ], + [ + 973.0618673003771, + -359.8343727064281 + ], + [ + 1152.370487605177, + -335.10934649655974 + ], + [ + 1286.2704502682611, + -351.09229020862824 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 1.566607109505071, + "ymax": 246.03526414899812 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + -19.927026480375275, + 103.21888152502663 + ], + [ + -227.2012792286929, + 150.72967631035797 + ], + [ + -233.3121149155785, + 246.03526414899812 + ], + [ + 1.566607109505071, + 184.66863916497502 + ], + [ + -170.45397925769555, + -194.39001893819022 + ], + [ + -443.87169630985204, + -163.3919874447621 + ], + [ + -491.72261850217706, + -97.77772512024745 + ], + [ + -168.17229546267743, + -140.56774846412043 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00059/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00059/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..91461bd199ca311c9d074ca79be2dd80a478ae22 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00059/meta.json @@ -0,0 +1,2984 @@ +{ + "frame_id": 59, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 29.5, + "sim_timestamp": 10409.932739349082 + }, + "drone_pose": { + "x": -121.52191349311096, + "y": -102.23660494801335, + "z": 20.11813726770759, + "pitch": -43.03436420861925, + "yaw": 3.8668596462538174, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7292805314064026, + -0.04929359257221222, + 0.6824368238449097, + 79.93382263183594 + ], + [ + 0.06743820756673813, + 0.9977234601974487, + 1.862645149230957e-09, + 93.80863952636719 + ], + [ + -0.6808831691741943, + 0.04602231830358505, + 0.7309445738792419, + -102.15264129638672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -121.20796265129792, + "y": -99.45566037743173, + "z": 20.04413633942358 + }, + "t1_image_uv": [ + 6985.828522632353, + -302.9644133407894 + ], + "t1_depth": 0.4165419334173369 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -102.16718292236328, + "y": -99.68776321411131, + "z": 0.7274065208435059 + }, + "image_uv": [ + 683.2516427074052, + 390.67725428152227 + ], + "depth": 27.47361892920199, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 205, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -102.16718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.3005028963088989, + "y": 0.21750974655151367, + "z": 0.5447356700897217 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 674.2376807228641, + "ymin": 369.3127996835597, + "xmax": 692.6547971245202, + "ymax": 411.8221821833869 + }, + "corners_3d": [ + [ + -102.46768951416016, + -99.90526580810547, + 0.18267077207565308 + ], + [ + -102.46768951416016, + -99.47025299072266, + 0.18267077207565308 + ], + [ + -101.8666763305664, + -99.47025299072266, + 0.18267077207565308 + ], + [ + -101.8666763305664, + -99.90526580810547, + 0.18267077207565308 + ], + [ + -102.46768951416016, + -99.90526580810547, + 1.2721421718597412 + ], + [ + -102.46768951416016, + -99.47025299072266, + 1.2721421718597412 + ], + [ + -101.8666763305664, + -99.47025299072266, + 1.2721421718597412 + ], + [ + -101.8666763305664, + -99.90526580810547, + 1.2721421718597412 + ] + ], + "corners_2d": [ + [ + 676.1900857700552, + 411.8221821833869 + ], + [ + 691.238265123278, + 411.0865460193786 + ], + [ + 689.0524209789074, + 396.2961968101883 + ], + [ + 674.2376807228641, + 397.0090343089636 + ], + [ + 677.191394509321, + 384.8067021529794 + ], + [ + 692.6547971245202, + 384.07226925931104 + ], + [ + 690.3867759646175, + 369.3127996835597 + ], + [ + 675.1697670483195, + 370.02385679868644 + ] + ], + "center_offset_px": [ + 43.25164270740515, + 30.677254281522266 + ] + }, + "trace_timestep_index": 59, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 51, + "semantic_pixel_counts": { + "1": 235626, + "2": 145426, + "3": 401205, + "4": 8981, + "5": 1006, + "6": 7586, + "7": 43, + "10": 9723, + "12": 2265, + "14": 12693, + "16": 72544, + "20": 10102, + "24": 14400 + }, + "instance_pixel_counts": { + "913": 530, + "1115": 8046, + "4206": 329, + "4718": 1546, + "8834": 1469, + "11394": 1123, + "14416": 1006, + "14979": 374, + "17232": 8981, + "18011": 326239, + "24064": 4418, + "24512": 3447, + "26963": 14, + "27072": 1125, + "31168": 18342, + "34120": 50537, + "35668": 2275, + "35924": 4912, + "36443": 63538, + "36692": 209, + "36948": 2176, + "40019": 231, + "43147": 4678, + "43659": 1440, + "44171": 698, + "44179": 68030, + "44691": 14097, + "46227": 153499, + "46741": 4231, + "47253": 3741, + "48749": 13, + "48779": 7641, + "48789": 6428, + "49261": 1494, + "49664": 205, + "49803": 941, + "49920": 465, + "50176": 554, + "50432": 917, + "50944": 124, + "51456": 2145, + "52160": 16157, + "52480": 29590, + "52672": 11790, + "52736": 42954, + "53184": 1637, + "54016": 5766, + "55040": 4782, + "55744": 26342, + "55879": 912, + "56768": 651 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 205, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -102.16718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.254218727350235, + "y": 0.21138669550418854, + "z": 0.5151999592781067 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 674.6195660984743, + "ymin": 371.1936583370337, + "xmax": 692.2213460270419, + "ymax": 409.94114463121275 + }, + "corners_3d": [ + [ + -102.42140197753906, + -99.8991470336914, + 0.21220648288726807 + ], + [ + -102.42140197753906, + -99.47637176513672, + 0.21220648288726807 + ], + [ + -101.9129638671875, + -99.47637176513672, + 0.21220648288726807 + ], + [ + -101.9129638671875, + -99.8991470336914, + 0.21220648288726807 + ], + [ + -102.42140197753906, + -99.8991470336914, + 1.2426064014434814 + ], + [ + -102.42140197753906, + -99.47637176513672, + 1.2426064014434814 + ], + [ + -101.9129638671875, + -99.47637176513672, + 1.2426064014434814 + ], + [ + -101.9129638671875, + -99.8991470336914, + 1.2426064014434814 + ] + ], + "corners_2d": [ + [ + 676.2755328600855, + 409.94114463121275 + ], + [ + 690.893286442603, + 409.22796459876974 + ], + [ + 689.0451188511323, + 396.7161835896268 + ], + [ + 674.6195660984743, + 397.41060696974614 + ], + [ + 677.2228750215926, + 384.3927737468362 + ], + [ + 692.2213460270419, + 383.68074170204807 + ], + [ + 690.3075789566773, + 371.1936583370337 + ], + [ + 675.5113814237347, + 371.88648499935897 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 465, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -101.11050415039062, + "y": -98.51815032958984, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.5854150056838989, + "y": 0.3805517554283142, + "z": 0.913787305355072 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 699.2965609948169, + "ymin": 325.2828715262937, + "xmax": 740.3997136452789, + "ymax": 401.44954930751874 + }, + "corners_3d": [ + [ + -101.76224517822266, + -98.76866912841797, + -0.18638575077056885 + ], + [ + -101.60400390625, + -98.02420043945312, + -0.18638575077056885 + ], + [ + -100.4587631225586, + -98.26763153076172, + -0.18638575077056885 + ], + [ + -100.61700439453125, + -99.01210021972656, + -0.18638575077056885 + ], + [ + -101.76224517822266, + -98.76866912841797, + 1.6411888599395752 + ], + [ + -101.60400390625, + -98.02420043945312, + 1.6411888599395752 + ], + [ + -100.4587631225586, + -98.26763153076172, + 1.6411888599395752 + ], + [ + -100.61700439453125, + -99.01210021972656, + 1.6411888599395752 + ] + ], + "corners_2d": [ + [ + 711.819260362055, + 401.44954930751874 + ], + [ + 736.0198883175634, + 396.4607236092568 + ], + [ + 722.8846291787087, + 370.35526292934605 + ], + [ + 699.2965609948169, + 375.06804080792153 + ], + [ + 715.113529839198, + 356.18671498283464 + ], + [ + 740.3997136452789, + 351.2221144916815 + ], + [ + 726.5548089887543, + 325.2828715262937 + ], + [ + 701.9365034014884, + 329.9607486139867 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 554, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -104.42300415039062, + "y": -92.74504852294922, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.47136229276657104, + "y": 0.3209179639816284, + "z": 0.887022078037262 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 919.7380806050564, + "ymin": 404.33314668208436, + "xmax": 969.7269322929415, + "ymax": 476.2333219291053 + }, + "corners_3d": [ + [ + -104.92533111572266, + -93.01493835449219, + -0.3120228052139282 + ], + [ + -104.85823822021484, + -92.37661743164062, + -0.3120228052139282 + ], + [ + -103.9206771850586, + -92.47515869140625, + -0.3120228052139282 + ], + [ + -103.9877700805664, + -93.11347961425781, + -0.3120228052139282 + ], + [ + -104.92533111572266, + -93.01493835449219, + 1.4620213508605957 + ], + [ + -104.85823822021484, + -92.37661743164062, + 1.4620213508605957 + ], + [ + -103.9206771850586, + -92.47515869140625, + 1.4620213508605957 + ], + [ + -103.9877700805664, + -93.11347961425781, + 1.4620213508605957 + ] + ], + "corners_2d": [ + [ + 932.7564849921505, + 476.2333219291053 + ], + [ + 954.7089038005154, + 473.17090336173305 + ], + [ + 941.1821809807595, + 448.03081665970336 + ], + [ + 919.7380806050564, + 450.94237908017396 + ], + [ + 946.7713469732068, + 432.57381575651686 + ], + [ + 969.7269322929415, + 429.5036086524931 + ], + [ + 955.1801336523024, + 404.33314668208436 + ], + [ + 932.7796322470214, + 407.2451669887244 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 917, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -111.66718292236328, + "y": -99.68775939941406, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.46965816617012024, + "y": 0.4488280713558197, + "z": 0.9011648893356323 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 702.5216673406787, + "ymin": 660.2350433627429, + "xmax": 755.4314630581276, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -112.1368408203125, + -100.13658905029297, + -0.17376822233200073 + ], + [ + -112.1368408203125, + -99.23892974853516, + -0.17376822233200073 + ], + [ + -111.19752502441406, + -99.23892974853516, + -0.17376822233200073 + ], + [ + -111.19752502441406, + -100.13658905029297, + -0.17376822233200073 + ], + [ + -112.1368408203125, + -100.13658905029297, + 1.6285614967346191 + ], + [ + -112.1368408203125, + -99.23892974853516, + 1.6285614967346191 + ], + [ + -111.19752502441406, + -99.23892974853516, + 1.6285614967346191 + ], + [ + -111.19752502441406, + -100.13658905029297, + 1.6285614967346191 + ] + ], + "corners_2d": [ + [ + 707.5054029504283, + 745.2531274565304 + ], + [ + 748.6187210906519, + 742.5320760212403 + ], + [ + 742.3368204699866, + 701.834177756566 + ], + [ + 702.5216673406787, + 704.3846202623122 + ], + [ + 711.7490265232005, + 704.8329424040381 + ], + [ + 755.4314630581276, + 702.0324276738138 + ], + [ + 748.5388988186127, + 660.2350433627429 + ], + [ + 706.3190450222786, + 662.8494964748103 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 124, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -100.03065490722656, + "y": -101.24003601074219, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.48802244663238525, + "y": 0.4323437511920929, + "z": 0.9046775698661804 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 607.3919126440896, + "ymin": 308.6166215614214, + "xmax": 641.4076830614763, + "ymax": 377.3525172362134 + }, + "corners_3d": [ + [ + -100.41812133789062, + -101.76439666748047, + -0.17727112770080566 + ], + [ + -100.597900390625, + -100.91860961914062, + -0.17727112770080566 + ], + [ + -99.6431884765625, + -100.7156753540039, + -0.17727112770080566 + ], + [ + -99.46340942382812, + -101.56146240234375, + -0.17727112770080566 + ], + [ + -100.41812133789062, + -101.76439666748047, + 1.6320840120315552 + ], + [ + -100.597900390625, + -100.91860961914062, + 1.6320840120315552 + ], + [ + -99.6431884765625, + -100.7156753540039, + 1.6320840120315552 + ], + [ + -99.46340942382812, + -101.56146240234375, + 1.6320840120315552 + ] + ], + "corners_2d": [ + [ + 608.7677751469782, + 374.560855143971 + ], + [ + 636.8383710949302, + 377.3525172362134 + ], + [ + 641.3495135308623, + 355.7579929049817 + ], + [ + 613.9269443661796, + 353.0965442753877 + ], + [ + 607.3919126440896, + 329.90573380302897 + ], + [ + 636.6986472025785, + 332.6778581137767 + ], + [ + 641.4076830614763, + 311.2539482421836 + ], + [ + 612.8065865810747, + 308.6166215614214 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 2145, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 781.4001249616794, + "ymin": 9.385896603416086, + "xmax": 846.2078534846833, + "ymax": 79.7598497946363 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 822.5766685436631, + 37.686552061483724 + ], + [ + 781.4001249616794, + 38.88666629990297 + ], + [ + 797.615536951402, + 79.7598497946363 + ], + [ + 841.6753880310804, + 78.38331485937306 + ], + [ + 826.4025455964189, + 9.385896603416086 + ], + [ + 784.3694767915248, + 10.550797174312152 + ], + [ + 801.16590993317, + 50.28571623853048 + ], + [ + 846.2078534846833, + 48.945583500611406 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 29590, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 722.4580214125389, + "ymin": 67.88927855433673, + "xmax": 917.5298778076112, + "ymax": 352.93829346565144 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 823.033041165371, + 170.32415433824085 + ], + [ + 722.4580214125389, + 173.9330760310404 + ], + [ + 765.1141782002701, + 352.93829346565144 + ], + [ + 890.6063573643534, + 347.28831963293106 + ], + [ + 838.4273850393802, + 67.88927855433673 + ], + [ + 729.4317274297536, + 71.23600198141173 + ], + [ + 778.6508830072358, + 240.92436234928732 + ], + [ + 917.5298778076112, + 235.4555660028758 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 42954, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1002.4254782547671, + "ymin": 89.90398767331737, + "xmax": 1280.0, + "ymax": 390.9195735092958 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 1120.5202271096614, + 390.9195735092958 + ], + [ + 1249.025099957476, + 384.7761120989576 + ], + [ + 1104.9410830090856, + 194.0472695489882 + ], + [ + 1002.4254782547671, + 197.9044281827273 + ], + [ + 1175.0025072718108, + 277.8418794404421 + ], + [ + 1317.5684865912658, + 271.84054131104176 + ], + [ + 1145.4878195414058, + 89.90398767331737 + ], + [ + 1034.2135650679295, + 93.50119879604381 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 5766, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 863.6442953827608, + "ymin": 199.54706257480993, + "xmax": 971.953991015012, + "ymax": 339.4567431759467 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 913.5559491864667, + 236.93617033429 + ], + [ + 863.6442953827608, + 238.90505436061767 + ], + [ + 903.9106986497386, + 339.4567431759467 + ], + [ + 960.1622227921337, + 336.9449590131227 + ], + [ + 922.439825526036, + 199.54706257480993 + ], + [ + 870.926359971526, + 201.48175075705188 + ], + [ + 913.6596806916396, + 300.7143258594773 + ], + [ + 971.953991015012, + 298.22524312101206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 4782, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 915.0202987619458, + "ymin": 0.0, + "xmax": 1019.5921278994954, + "ymax": 85.52236212244247 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 953.9731294493344, + 85.52236212244247 + ], + [ + 1006.8377508335058, + 83.84196020275067 + ], + [ + 962.8542198836709, + 23.713735658134226 + ], + [ + 915.0202987619458, + 25.083711570369758 + ], + [ + 964.9200978564119, + 40.10199649894105 + ], + [ + 1019.5921278994954, + 38.49018214331204 + ], + [ + 972.9569095579295, + -18.984648697312878 + ], + [ + 923.6478924976823, + -17.679428189249222 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 662.8916722891596, + "ymin": 689.7453390553994, + "xmax": 685.6264508117513, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 664.1415055597158, + 727.5497198928492 + ], + [ + 684.1375384956236, + 726.2474969654286 + ], + [ + 682.6678720087494, + 712.2869315521098 + ], + [ + 662.8916722891596, + 713.5605004335245 + ], + [ + 664.9567506448188, + 705.2386865656282 + ], + [ + 685.6264508117513, + 703.9162992239462 + ], + [ + 684.0907611284073, + 689.7453390553994 + ], + [ + 663.6558689381992, + 691.0376633709905 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1142.3971453236882, + "ymin": 460.14041039092854, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1693.28551297356, + 732.0534778984436 + ], + [ + 1676.4045599172398, + 713.1115755788679 + ], + [ + 1142.3971453236882, + 744.3601877345485 + ], + [ + 1151.4052752881623, + 764.2689935779715 + ], + [ + 2096.2267841149587, + 481.02623167381057 + ], + [ + 2064.747996756616, + 460.14041039092854 + ], + [ + 1337.1803506797842, + 494.7242947397043 + ], + [ + 1353.9843566954787, + 517.1013534190671 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 655.6588587922577, + "ymin": 0.0, + "xmax": 748.3068056766158, + "ymax": 34.274018845967646 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 655.6588587922577, + 30.324902404804504 + ], + [ + 656.3867144690273, + 34.274018845967646 + ], + [ + 735.8879090308424, + 31.937647818695666 + ], + [ + 734.6149908356132, + 28.02069609467833 + ], + [ + 657.6804125513024, + -144.98110407339118 + ], + [ + 658.5188970859201, + -141.89894228411072 + ], + [ + 748.3068056766158, + -143.72307703476588 + ], + [ + 746.7737005357579, + -146.77690406660696 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2080193722244522285, + "instance_id": 11745, + "pixel_count": null, + "type_id": "BP_StreetLight_simple51_120_SM_2", + "bbox_3d": { + "center_world": { + "x": -78.77368927001953, + "y": -128.03121948242188, + "z": 4.08544921875 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 20.588850192429845, + "ymax": 82.78005710578458 + }, + "corners_3d": [ + [ + -80.54341888427734, + -127.2630386352539, + 0.20873045921325684 + ], + [ + -80.32381439208984, + -126.88267517089844, + 0.20873045921325684 + ], + [ + -77.00395965576172, + -128.7993927001953, + 0.20873045921325684 + ], + [ + -77.22356414794922, + -129.1797637939453, + 0.20873045921325684 + ], + [ + -80.54341888427734, + -127.2630386352539, + 7.962167739868164 + ], + [ + -80.32381439208984, + -126.88267517089844, + 7.962167739868164 + ], + [ + -77.00395965576172, + -128.7993927001953, + 7.962167739868164 + ], + [ + -77.22356414794922, + -129.1797637939453, + 7.962167739868164 + ] + ], + "corners_2d": [ + [ + 9.676550687738995, + 82.78005710578458 + ], + [ + 20.588850192429845, + 80.16898982355468 + ], + [ + 6.96337420431496, + 48.113654724766434 + ], + [ + -3.4340868463207244, + 50.45972449878167 + ], + [ + -80.5933036547865, + -104.17696411625474 + ], + [ + -67.69076795722913, + -106.25925124396508 + ], + [ + -77.93754102251216, + -131.61952516927113 + ], + [ + -90.12258022874778, + -129.77611598422817 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1057.889490677359, + "ymin": 0.0, + "xmax": 1163.5139800540983, + "ymax": 68.67624143956152 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1075.4233400752462, + 68.67624143956152 + ], + [ + 1124.994016123765, + 67.09750764903532 + ], + [ + 1105.8504903348066, + 46.96566602296684 + ], + [ + 1057.889490677359, + 48.44068081208218 + ], + [ + 1110.1039142177328, + -36.42404898485546 + ], + [ + 1163.5139800540983, + -37.83211642649485 + ], + [ + 1141.5210076718226, + -55.73646264817586 + ], + [ + 1089.9747326375007, + -54.42786507158257 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 824.2785604160327, + "ymin": 50.73328909919769, + "xmax": 841.1441758327494, + "ymax": 59.39047763539321 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 824.2785604160327, + 54.75919710343862 + ], + [ + 826.4181060635435, + 59.39047763539321 + ], + [ + 840.5994894798841, + 58.95151368855005 + ], + [ + 838.3513321027408, + 54.32702981899831 + ], + [ + 824.7753970417652, + 51.16398485652712 + ], + [ + 826.9246601061187, + 55.77960251286862 + ], + [ + 841.1441758327494, + 55.34211476486922 + ], + [ + 838.8857184971932, + 50.73328909919769 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7664114084626016696, + "instance_id": 47273, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.91487884521484, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1202.6150595939164, + "ymin": 94.84623450967985, + "xmax": 1280.0, + "ymax": 249.24728680934516 + }, + "corners_3d": [ + [ + -95.94330596923828, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -79.87950897216797, + 4.83804988861084 + ], + [ + -95.94330596923828, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1231.8857961157933, + 249.24728680934516 + ], + [ + 1295.6724854621386, + 246.5875321920473 + ], + [ + 1263.7624462242322, + 213.03008497458168 + ], + [ + 1202.6150595939164, + 215.46635542009787 + ], + [ + 1294.590084217964, + 128.5829117795439 + ], + [ + 1364.8743118689563, + 126.09411571078957 + ], + [ + 1326.4906825673493, + 94.84623450967985 + ], + [ + 1259.3965724638251, + 97.10535217077029 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9560389216542849208, + "instance_id": 47352, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_1", + "bbox_3d": { + "center_world": { + "x": -94.91524505615234, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1244.0742939086304, + "ymin": 124.87270880808114, + "xmax": 1280.0, + "ymax": 165.99707485401277 + }, + "corners_3d": [ + [ + -95.88141632080078, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -95.88141632080078, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -93.9490737915039, + -77.64111328125, + 3.4435572624206543 + ], + [ + -93.9490737915039, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -95.88141632080078, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -95.88141632080078, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -93.9490737915039, + -77.64111328125, + 3.7680342197418213 + ], + [ + -93.9490737915039, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1275.3845875123247, + 165.99707485401277 + ], + [ + 1339.8186199629627, + 163.58941243118247 + ], + [ + 1305.8342310093117, + 133.4278275883919 + ], + [ + 1244.0742939086304, + 135.6321230733469 + ], + [ + 1279.9287283322906, + 157.25586557634773 + ], + [ + 1344.8063000627626, + 154.86122275982675 + ], + [ + 1310.3737990513946, + 124.87270880808114 + ], + [ + 1248.2064383628162, + 127.06373384486366 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 698.8655145011053, + "ymin": 44.134225578808696, + "xmax": 846.0336896157082, + "ymax": 272.6663028105177 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 698.8655145011053, + 264.7506544780143 + ], + [ + 700.3244356699195, + 272.6663028105177 + ], + [ + 812.5954470727438, + 267.9777362583731 + ], + [ + 810.0526331827061, + 260.1531334773233 + ], + [ + 710.2154003755323, + 48.130784562686756 + ], + [ + 712.092974979819, + 55.03250840246477 + ], + [ + 846.0336896157082, + 50.94132787603962 + ], + [ + 842.6163370880705, + 44.134225578808696 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 824.3676050700195, + "ymin": 50.77922611917836, + "xmax": 841.0538564395521, + "ymax": 59.34436657848329 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 824.3676050700195, + 54.76243015791658 + ], + [ + 826.4850335755299, + 59.34436657848329 + ], + [ + 840.5152181683351, + 58.910114876886155 + ], + [ + 838.2914722367261, + 54.334831334321905 + ], + [ + 824.8594060184516, + 51.20538452705108 + ], + [ + 826.9863494337928, + 55.771989413485755 + ], + [ + 841.0538564395521, + 55.339182651887484 + ], + [ + 838.8200314436699, + 50.77922611917836 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 482.8469714195052, + "ymin": 587.359429928428, + "xmax": 557.7227007292934, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 556.7937251775545, + 803.9518906988576 + ], + [ + 535.1760131923207, + 805.4366180282714 + ], + [ + 532.4975998220364, + 1029.4078982504013 + ], + [ + 557.7227007292934, + 1027.3864891796661 + ], + [ + 525.9494401291234, + 587.359429928428 + ], + [ + 496.2590867846362, + 589.0663538840535 + ], + [ + 482.8469714195052, + 863.6805946410464 + ], + [ + 519.7941132221725, + 861.0399441973647 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15445048005953999223, + "instance_id": 30545, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_0", + "bbox_3d": { + "center_world": { + "x": -94.91524505615234, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1243.9939830654998, + "ymin": 124.85426338875166, + "xmax": 1280.0, + "ymax": 166.07639632459623 + }, + "corners_3d": [ + [ + -95.88260650634766, + -79.81846618652344, + 3.441368341445923 + ], + [ + -95.88261413574219, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -93.94788360595703, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -93.9478759765625, + -79.81846618652344, + 3.441368341445923 + ], + [ + -95.88260650634766, + -79.81846618652344, + 3.768015146255493 + ], + [ + -95.88261413574219, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -93.94788360595703, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -93.9478759765625, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1275.338995999862, + 166.07639632459623 + ], + [ + 1339.8426212702834, + 163.66600314029026 + ], + [ + 1305.8174990505902, + 133.46608099433672 + ], + [ + 1243.9939830654998, + 135.67264458462563 + ], + [ + 1279.913331569257, + 157.27704343242868 + ], + [ + 1344.8639571687495, + 154.87976840179977 + ], + [ + 1310.38717743716, + 124.85426338875166 + ], + [ + 1248.1531010187812, + 127.04745556304448 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 645.6860975386428, + "ymin": 520.2148383261508, + "xmax": 851.4034513922286, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 666.1415144330175, + 767.0200494128383 + ], + [ + 645.6860975386428, + 768.2124250177735 + ], + [ + 709.1987882910685, + 1769.5874751307333 + ], + [ + 745.2284787555096, + 1765.8644952323496 + ], + [ + 676.5273603857015, + 520.2148383261508 + ], + [ + 647.9480343531311, + 521.5659224147141 + ], + [ + 779.2472078372917, + 2155.6203708780486 + ], + [ + 851.4034513922286, + 2146.888771535878 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1040.621007811064, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 38.756362169137276 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1172.5238040691493, + -58.32487598026319 + ], + [ + 1040.621007811064, + -33.44250943439761 + ], + [ + 1178.9136353941872, + 38.756362169137276 + ], + [ + 1320.920432836272, + 6.445402056188584 + ], + [ + 1289.0189949635019, + -374.77548917278807 + ], + [ + 1133.885644254729, + -364.4096977617065 + ], + [ + 1327.3476597998579, + -332.933657194318 + ], + [ + 1495.2320500782084, + -347.28506373743676 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 102.89515051144645, + "ymax": 172.62885519249474 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + 99.90526964059802, + 54.81774388235851 + ], + [ + -84.75196991628468, + 85.08455198586421 + ], + [ + -107.60337777031134, + 172.62885519249474 + ], + [ + 102.89515051144645, + 133.50133740379644 + ], + [ + -16.002818706598873, + -231.34327713334255 + ], + [ + -250.069410020301, + -212.16721250006924 + ], + [ + -308.61884454425604, + -154.223611815116 + ], + [ + -31.55541632622169, + -180.58985164120327 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 59.09174723661033, + "ymax": 266.39111933717044 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 59.09174723661033, + 139.4168760792265 + ], + [ + -128.26324154202575, + 159.29121420530169 + ], + [ + -200.6749364849228, + 266.39111933717044 + ], + [ + 16.957250655133066, + 240.0413826484214 + ], + [ + -96.54252617521229, + -195.16124059167805 + ], + [ + -341.8297077421099, + -182.33853230097634 + ], + [ + -482.412246458073, + -109.57560034532503 + ], + [ + -182.7926026206245, + -128.07441077728737 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00060/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00060/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cadf5e1b19b38dcdef8de29a7f7e6225b0325b78 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00060/meta.json @@ -0,0 +1,3106 @@ +{ + "frame_id": 60, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 30.0, + "sim_timestamp": 10422.122679362074 + }, + "drone_pose": { + "x": -121.20796265129792, + "y": -99.45566037743173, + "z": 20.04413633942358, + "pitch": -40.38484799646485, + "yaw": 3.53976096995118, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7602564692497253, + -0.047028861939907074, + 0.6479185223579407, + 83.8394546508789 + ], + [ + 0.06174119561910629, + 0.9980921745300293, + 0.0, + 91.78239440917969 + ], + [ + -0.6466824412345886, + 0.04000326246023178, + 0.7617096900939941, + -97.62942504882812 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -121.02168933210221, + "y": -96.7536690592997, + "z": 20.17245874255622 + }, + "t1_image_uv": [ + 14533.813250747107, + -1328.223830439084 + ], + "t1_depth": 0.18554461821811224 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -101.66718292236328, + "y": -99.68776321411131, + "z": 0.7274065208435059 + }, + "image_uv": [ + 589.5406551645796, + 433.20313314180515 + ], + "depth": 27.360755304464497, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 197, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -101.66718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.20995603501796722, + "y": 0.20875973999500275, + "z": 0.5217673182487488 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 581.3717166536715, + "ymin": 414.53768527109514, + "xmax": 597.598211428134, + "ymax": 451.6399094218672 + }, + "corners_3d": [ + [ + -101.87713623046875, + -99.89652252197266, + 0.20563912391662598 + ], + [ + -101.87713623046875, + -99.47899627685547, + 0.20563912391662598 + ], + [ + -101.45722961425781, + -99.47899627685547, + 0.20563912391662598 + ], + [ + -101.45722961425781, + -99.89652252197266, + 0.20563912391662598 + ], + [ + -101.87713623046875, + -99.89652252197266, + 1.2491737604141235 + ], + [ + -101.87713623046875, + -99.47899627685547, + 1.2491737604141235 + ], + [ + -101.45722961425781, + -99.47899627685547, + 1.2491737604141235 + ], + [ + -101.45722961425781, + -99.89652252197266, + 1.2491737604141235 + ] + ], + "corners_2d": [ + [ + 583.0358398161861, + 451.6399094218672 + ], + [ + 597.598211428134, + 450.9925638215968 + ], + [ + 597.1908552836127, + 440.5960557905038 + ], + [ + 582.7951291036842, + 441.22865020747724 + ], + [ + 581.6015663032706, + 425.53076533317693 + ], + [ + 596.531377044647, + 424.8862101555368 + ], + [ + 596.126416773106, + 414.53768527109514 + ], + [ + 581.3717166536715, + 415.16718967359475 + ] + ], + "center_offset_px": [ + -50.45934483542044, + 73.20313314180515 + ] + }, + "trace_timestep_index": 60, + "instance_stats": { + "semantic_tags_present": 16, + "instances_present": 66, + "semantic_pixel_counts": { + "1": 250255, + "2": 140073, + "3": 365041, + "4": 14159, + "5": 770, + "6": 8161, + "7": 1141, + "9": 954, + "10": 25270, + "12": 1770, + "14": 16041, + "15": 2657, + "16": 68950, + "20": 14553, + "21": 28, + "24": 11777 + }, + "instance_pixel_counts": { + "606": 16, + "913": 1022, + "1115": 8472, + "1169": 2987, + "1630": 2536, + "3182": 1342, + "3694": 2, + "4206": 1187, + "4718": 2545, + "5742": 188, + "8834": 1462, + "11394": 315, + "13918": 644, + "14416": 770, + "14979": 1466, + "15963": 320, + "16475": 517, + "16987": 2059, + "17232": 14159, + "17499": 5899, + "18011": 329457, + "23808": 2462, + "24064": 2724, + "24512": 14861, + "26963": 83, + "31168": 22856, + "34120": 9547, + "35668": 2930, + "35924": 4629, + "36443": 8909, + "36692": 982, + "36948": 2003, + "37979": 6, + "40019": 790, + "42123": 8, + "43117": 370, + "43147": 5628, + "43155": 8, + "43659": 2400, + "44179": 84200, + "45717": 3, + "46227": 166047, + "46741": 4921, + "48749": 381, + "48779": 7569, + "48789": 6853, + "49261": 3387, + "49664": 197, + "49803": 4170, + "49920": 469, + "50176": 507, + "50944": 597, + "51456": 2135, + "52160": 17802, + "52480": 27637, + "52672": 22162, + "52736": 41313, + "54016": 6230, + "55040": 4496, + "55744": 24375, + "55879": 4005, + "56768": 8686, + "57173": 954, + "62043": 28, + "64093": 2641, + "64351": 9 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 197, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -101.66718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.28486326336860657, + "y": 0.19683103263378143, + "z": 0.554679811000824 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 581.7067108724868, + "ymin": 411.89222888480117, + "xmax": 597.2882643720571, + "ymax": 454.3069857884889 + }, + "corners_3d": [ + [ + -101.9520492553711, + -99.88459014892578, + 0.17272663116455078 + ], + [ + -101.9520492553711, + -99.49092864990234, + 0.17272663116455078 + ], + [ + -101.38231658935547, + -99.49092864990234, + 0.17272663116455078 + ], + [ + -101.38231658935547, + -99.88459014892578, + 0.17272663116455078 + ], + [ + -101.9520492553711, + -99.88459014892578, + 1.2820862531661987 + ], + [ + -101.9520492553711, + -99.49092864990234, + 1.2820862531661987 + ], + [ + -101.38231658935547, + -99.49092864990234, + 1.2820862531661987 + ], + [ + -101.38231658935547, + -99.88459014892578, + 1.2820862531661987 + ] + ], + "corners_2d": [ + [ + 583.5405206393532, + 454.3069857884889 + ], + [ + 597.2882643720571, + 453.6940433138932 + ], + [ + 596.741901295337, + 439.5853351323658 + ], + [ + 583.2070170120512, + 440.17941829589205 + ], + [ + 582.0248970461895, + 426.54193999760344 + ], + [ + 596.1424836081894, + 425.93173915242403 + ], + [ + 595.5999246306808, + 411.89222888480117 + ], + [ + 581.7067108724868, + 412.4831629392768 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 469, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -100.76950073242188, + "y": -99.03551483154297, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.5331737995147705, + "y": 0.3008105456829071, + "z": 0.9047179818153381 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 595.9919736962637, + "ymin": 373.9348725157053, + "xmax": 626.1102310055246, + "ymax": 446.9190305665013 + }, + "corners_3d": [ + [ + -101.35356903076172, + -99.2188949584961, + -0.17731642723083496 + ], + [ + -101.22847747802734, + -98.63042449951172, + -0.17731642723083496 + ], + [ + -100.18543243408203, + -98.85213470458984, + -0.17731642723083496 + ], + [ + -100.3105239868164, + -99.44060516357422, + -0.17731642723083496 + ], + [ + -101.35356903076172, + -99.2188949584961, + 1.6321195363998413 + ], + [ + -101.22847747802734, + -98.63042449951172, + 1.6321195363998413 + ], + [ + -100.18543243408203, + -98.85213470458984, + 1.6321195363998413 + ], + [ + -100.3105239868164, + -99.44060516357422, + 1.6321195363998413 + ] + ], + "corners_2d": [ + [ + 606.3230670561734, + 446.9190305665013 + ], + [ + 626.1102310055246, + 443.0034393569393 + ], + [ + 617.0630229355786, + 418.82233436849276 + ], + [ + 597.7716771811162, + 422.5298176631239 + ], + [ + 604.8626768641224, + 401.7468123193903 + ], + [ + 625.5106283301418, + 397.86640759770626 + ], + [ + 616.1005968210483, + 373.9348725157053 + ], + [ + 595.9919736962637, + 377.60049002374086 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 507, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -103.92300415039062, + "y": -92.74504852294922, + "z": 0.5750334858894348 + }, + "extent": { + "x": 0.5010547041893005, + "y": 0.33695799112319946, + "z": 0.87550288438797 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 825.6238764690358, + "ymin": 447.4082852734591, + "xmax": 870.597720656876, + "ymax": 521.347661306837 + }, + "corners_3d": [ + [ + -104.45653533935547, + -93.02778625488281, + -0.30046939849853516 + ], + [ + -104.38609313964844, + -92.35755920410156, + -0.30046939849853516 + ], + [ + -103.38947296142578, + -92.46231079101562, + -0.30046939849853516 + ], + [ + -103.45991516113281, + -93.13253784179688, + -0.30046939849853516 + ], + [ + -104.45653533935547, + -93.02778625488281, + 1.4505363702774048 + ], + [ + -104.38609313964844, + -92.35755920410156, + 1.4505363702774048 + ], + [ + -103.38947296142578, + -92.46231079101562, + 1.4505363702774048 + ], + [ + -103.45991516113281, + -93.13253784179688, + 1.4505363702774048 + ] + ], + "corners_2d": [ + [ + 837.0342102936722, + 521.347661306837 + ], + [ + 860.6520378027617, + 518.1848094356708 + ], + [ + 848.6205062258816, + 491.06557706273895 + ], + [ + 825.6238764690358, + 494.0546190007261 + ], + [ + 845.9454618159251, + 477.6017781060556 + ], + [ + 870.597720656876, + 474.4442246328143 + ], + [ + 857.7508171861339, + 447.4082852734591 + ], + [ + 833.7744851711924, + 450.38482556669123 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 597, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -99.53065490722656, + "y": -101.24003601074219, + "z": 0.7274113893508911 + }, + "extent": { + "x": 0.4261523485183716, + "y": 0.45225095748901367, + "z": 0.877791702747345 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 515.8874514993076, + "ymin": 352.70989190042076, + "xmax": 555.8031263942706, + "ymax": 417.76767089552965 + }, + "corners_3d": [ + [ + -99.85346984863281, + -101.77100372314453, + -0.15038031339645386 + ], + [ + -100.0415267944336, + -100.88626861572266, + -0.15038031339645386 + ], + [ + -99.20783996582031, + -100.70906829833984, + -0.15038031339645386 + ], + [ + -99.01978302001953, + -101.59380340576172, + -0.15038031339645386 + ], + [ + -99.85346984863281, + -101.77100372314453, + 1.6052031517028809 + ], + [ + -100.0415267944336, + -100.88626861572266, + 1.6052031517028809 + ], + [ + -99.20783996582031, + -100.70906829833984, + 1.6052031517028809 + ], + [ + -99.01978302001953, + -101.59380340576172, + 1.6052031517028809 + ] + ], + "corners_2d": [ + [ + 520.72048693401, + 414.73356284845477 + ], + [ + 549.8104581116205, + 417.76767089552965 + ], + [ + 555.8031263942706, + 398.895623195823 + ], + [ + 527.3185529577324, + 395.9908603955378 + ], + [ + 515.8874514993076, + 371.2219988807255 + ], + [ + 546.1428640961516, + 374.2218128440001 + ], + [ + 552.4560658458573, + 355.5768052899977 + ], + [ + 522.8549633359399, + 352.70989190042076 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 2135, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 728.6748914877244, + "ymin": 62.025350932348545, + "xmax": 788.0697946598177, + "ymax": 131.24982792468708 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 769.7981840487658, + 89.6986087221386 + ], + [ + 728.6748914877244, + 90.78099560020087 + ], + [ + 740.8542017166975, + 131.24982792468708 + ], + [ + 784.9855702643397, + 130.00165752796448 + ], + [ + 772.3658680235201, + 62.025350932348545 + ], + [ + 730.4326138769493, + 63.073275461823584 + ], + [ + 743.0042983189386, + 102.31265372900896 + ], + [ + 788.0697946598177, + 101.1006817002505 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 27637, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 656.1555609000588, + "ymin": 120.49487027580875, + "xmax": 826.2664328118209, + "ymax": 406.8409469411058 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 757.5065387194101, + 221.66418574725077 + ], + [ + 656.1555609000588, + 224.9743874857015 + ], + [ + 680.7612153673209, + 406.8409469411058 + ], + [ + 808.8394375067853, + 401.53550672886934 + ], + [ + 766.8898467953775, + 120.49487027580875 + ], + [ + 657.4524405912645, + 123.53740392002848 + ], + [ + 684.9971552265806, + 294.42355647882897 + ], + [ + 826.2664328118209, + 289.33256911556293 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 41313, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 935.4656459868427, + "ymin": 143.25862164324158, + "xmax": 1228.7726001216158, + "ymax": 447.4310014827181 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 1039.297391355241, + 447.4310014827181 + ], + [ + 1171.0952740990747, + 441.61459072815757 + ], + [ + 1039.1430145964807, + 246.40855299469217 + ], + [ + 935.4656459868427, + 249.96641025328728 + ], + [ + 1082.9728971046395, + 333.54692340438805 + ], + [ + 1228.7726001216158, + 327.91114628707396 + ], + [ + 1072.2873015173002, + 143.25862164324158 + ], + [ + 960.1352463719163, + 146.54790940547895 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 6230, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 791.7781990757533, + "ymin": 251.8464963121478, + "xmax": 888.9884935475075, + "ymax": 393.5533116711537 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 842.3443610653039, + 289.1004556680706 + ], + [ + 791.7781990757533, + 290.92366658949254 + ], + [ + 823.0590067701838, + 393.5533116711537 + ], + [ + 880.4614939414284, + 391.1960611508373 + ], + [ + 848.6287518611737, + 251.8464963121478 + ], + [ + 796.503995521796, + 253.63255275361087 + ], + [ + 829.5691493827256, + 354.6100490027032 + ], + [ + 888.9884935475075, + 352.281018298962 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 4496, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 863.0190288629324, + "ymin": 34.577598317346485, + "xmax": 959.781193477563, + "ymax": 137.38809653547875 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 896.5556149978775, + 137.38809653547875 + ], + [ + 949.5877085377022, + 135.8610735986302 + ], + [ + 910.7939393846912, + 76.26422092512416 + ], + [ + 863.0190288629324, + 77.49915625835825 + ], + [ + 905.0254569179992, + 92.77961050840207 + ], + [ + 959.781193477563, + 91.32076683439709 + ], + [ + 918.7867120215569, + 34.577598317346485 + ], + [ + 869.6173812557697, + 35.74959964678743 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5668522571212290485, + "instance_id": 46457, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -89.45570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1199.653565133704, + "ymin": 658.6601502612787, + "xmax": 1252.5978291438555, + "ymax": 704.6216062245223 + }, + "corners_3d": [ + [ + -113.19542694091797, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -89.26573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -89.26573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1199.653565133704, + 689.2775985233661 + ], + [ + 1208.1917397674974, + 704.6216062245223 + ], + [ + 1230.6550718292406, + 703.3050334679939 + ], + [ + 1221.82995536215, + 687.9955706225722 + ], + [ + 1220.183954889094, + 659.955144701833 + ], + [ + 1229.3248380376074, + 675.4625968509167 + ], + [ + 1252.5978291438555, + 674.131402142606 + ], + [ + 1243.1491108965163, + 658.6601502612787 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1033.2001342407036, + "ymin": 532.5967329901487, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1611.3536542154152, + 811.5977437877696 + ], + [ + 1594.4754025679395, + 790.9782566761486 + ], + [ + 1033.2001342407036, + 821.6190936804455 + ], + [ + 1040.9916081059048, + 843.2726593962243 + ], + [ + 1979.3167859444636, + 555.1389917102334 + ], + [ + 1947.9886730712424, + 532.5967329901487 + ], + [ + 1183.7779286714213, + 566.1954103265186 + ], + [ + 1198.1743278990307, + 590.3136891046254 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 599.6178818745357, + "ymin": 0.0, + "xmax": 688.8971158406674, + "ymax": 85.94993164867793 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 603.9767148101348, + 82.05751729367609 + ], + [ + 604.2797815324261, + 85.94993164867793 + ], + [ + 683.6016967843918, + 83.84144996659859 + ], + [ + 682.7329020837793, + 79.97912363788754 + ], + [ + 599.6178818745357, + -88.13481611984452 + ], + [ + 599.9225765786373, + -85.14748465983627 + ], + [ + 688.8971158406674, + -86.7663407884238 + ], + [ + 687.8812463443289, + -89.72779320046692 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1023.0174429792205, + "ymin": 24.00546317413631, + "xmax": 1091.1352438216957, + "ymax": 49.80576445884469 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1039.42664287068, + 49.80576445884469 + ], + [ + 1088.8303291666648, + 48.553291519912705 + ], + [ + 1070.7662327703138, + 31.231699137959595 + ], + [ + 1023.0174429792205, + 32.39965253205776 + ], + [ + 1041.4829624364, + 42.39859137570272 + ], + [ + 1091.1352438216957, + 41.15809945515787 + ], + [ + 1072.902149162631, + 24.00546317413631 + ], + [ + 1024.9211704621775, + 25.16183582458416 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1003.1113930203803, + "ymin": 0.0, + "xmax": 1100.8806295877735, + "ymax": 121.0184913544966 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1019.0024014148285, + 121.0184913544966 + ], + [ + 1068.723760519349, + 119.58217090979855 + ], + [ + 1051.1459817372374, + 99.59393974704886 + ], + [ + 1003.1113930203803, + 100.93221646069912 + ], + [ + 1047.506064501396, + 18.16662611713849 + ], + [ + 1100.8806295877735, + 16.89751654308418 + ], + [ + 1080.8373163780423, + -0.7146314749746807 + ], + [ + 1029.4015244995253, + 0.46170280828874866 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 734.2979360153251, + "ymin": 104.57592970361074, + "xmax": 750.287636650823, + "ymax": 113.1379002055906 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 734.2979360153251, + 108.5098123563821 + ], + [ + 735.7087342572286, + 113.1379002055906 + ], + [ + 750.0033378595112, + 112.73629034791003 + ], + [ + 748.4774867124003, + 108.11469859460146 + ], + [ + 734.539831024499, + 104.9695746387224 + ], + [ + 735.9562642135704, + 109.58056281571777 + ], + [ + 750.287636650823, + 109.18042913302878 + ], + [ + 748.7555603338174, + 104.57592970361074 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1218.1203488233855, + "ymin": 111.46109360681183, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 1316.1243537516443, + 771.3775025087973 + ], + [ + 1744.0030203170006, + 744.703654114639 + ], + [ + 1593.3016124150536, + 591.5383655123339 + ], + [ + 1218.1203488233855, + 611.7866437076225 + ], + [ + 1782.9105816743806, + 276.21720847687646 + ], + [ + 2478.6174055509873, + 249.70726644534471 + ], + [ + 2103.4762065325467, + 111.46109360681183 + ], + [ + 1536.7822062645578, + 128.48379510496545 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7664114084626016696, + "instance_id": 47273, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.91487884521484, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1135.5972467395068, + "ymin": 148.8815470326179, + "xmax": 1280.0, + "ymax": 302.7314418935029 + }, + "corners_3d": [ + [ + -95.94330596923828, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -79.87950897216797, + 4.83804988861084 + ], + [ + -95.94330596923828, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1162.7623587818844, + 302.7314418935029 + ], + [ + 1227.6052483928356, + 300.2511818504049 + ], + [ + 1197.6017842551541, + 266.13332291605747 + ], + [ + 1135.5972467395068, + 268.3946714092185 + ], + [ + 1215.698790402148, + 182.64687874280835 + ], + [ + 1286.8938869165245, + 180.3481889501141 + ], + [ + 1251.083617836107, + 148.8815470326179 + ], + [ + 1183.2950233195363, + 150.95835138689685 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1023.0663076249476, + "ymin": 24.01599725960125, + "xmax": 1091.0965073740554, + "ymax": 49.744758132625975 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1039.457000452797, + 49.744758132625975 + ], + [ + 1088.8070690195063, + 48.493715387949806 + ], + [ + 1070.765229898897, + 31.194577948599942 + ], + [ + 1023.0663076249476, + 32.36129576476918 + ], + [ + 1041.4997686024858, + 42.38664652914696 + ], + [ + 1091.0965073740554, + 41.14749358133099 + ], + [ + 1072.8870014559802, + 24.01599725960125 + ], + [ + 1024.9576689495543, + 25.17122207156791 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 9560389216542849208, + "instance_id": 47352, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_1", + "bbox_3d": { + "center_world": { + "x": -94.91524505615234, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1170.850125533887, + "ymin": 178.5888374662628, + "xmax": 1269.3633064070727, + "ymax": 219.7583008208981 + }, + "corners_3d": [ + [ + -95.88141632080078, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -95.88141632080078, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -93.9490737915039, + -77.64111328125, + 3.4435572624206543 + ], + [ + -93.9490737915039, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -95.88141632080078, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -95.88141632080078, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -93.9490737915039, + -77.64111328125, + 3.7680342197418213 + ], + [ + -93.9490737915039, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1199.7627469171457, + 219.7583008208981 + ], + [ + 1265.1001209442907, + 217.5279693424785 + ], + [ + 1233.3256230682864, + 187.06155762265763 + ], + [ + 1170.850125533887, + 189.09454858168792 + ], + [ + 1203.5930474247493, + 211.07596549208841 + ], + [ + 1269.3633064070727, + 208.85924762128116 + ], + [ + 1237.1880361244584, + 178.5888374662628 + ], + [ + 1174.316823050622, + 180.60817040964943 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 618.9824123140928, + "ymin": 98.07221443308231, + "xmax": 754.6342353117229, + "ymax": 324.6521988120161 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 622.238905230074, + 316.6065684297256 + ], + [ + 622.8653449166903, + 324.6521988120161 + ], + [ + 736.7880936112193, + 320.2876675237627 + ], + [ + 734.998365218598, + 312.33122500956466 + ], + [ + 618.9824123140928, + 101.72168683759872 + ], + [ + 619.6849507690017, + 108.60961498325969 + ], + [ + 754.6342353117229, + 104.86984055179596 + ], + [ + 752.3024399421829, + 98.07221443308231 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 734.3823642006142, + "ymin": 104.6213408444662, + "xmax": 750.2020125683885, + "ymax": 113.0922758861312 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 734.3823642006142, + 108.51350424284749 + ], + [ + 735.7788041573499, + 113.0922758861312 + ], + [ + 749.9209634109167, + 112.69497942977094 + ], + [ + 748.4119010560046, + 108.12256644132813 + ], + [ + 734.6219067747176, + 105.01084085975512 + ], + [ + 736.0238655693311, + 109.57287457831856 + ], + [ + 750.2020125683885, + 109.1770230245736 + ], + [ + 748.6868597824653, + 104.6213408444662 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 228.82921173572754, + "ymin": 660.6761624576461, + "xmax": 414.0199133187316, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 414.0199133187316, + 882.9047009217397 + ], + [ + 391.25963655543717, + 884.3846591508587 + ], + [ + 359.72104062068655, + 1132.0374007506744 + ], + [ + 386.72045546603647, + 1129.9607461464461 + ], + [ + 331.10832004531636, + 660.6761624576461 + ], + [ + 299.8594643915266, + 662.3641801614478 + ], + [ + 228.82921173572754, + 965.5203390761093 + ], + [ + 268.6641929457162, + 962.7948646518073 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15445048005953999223, + "instance_id": 30545, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_0", + "bbox_3d": { + "center_world": { + "x": -94.91524505615234, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1170.775327472975, + "ymin": 178.57035441895334, + "xmax": 1269.4200766915596, + "ymax": 219.83738499548718 + }, + "corners_3d": [ + [ + -95.88260650634766, + -79.81846618652344, + 3.441368341445923 + ], + [ + -95.88261413574219, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -93.94788360595703, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -93.9478759765625, + -79.81846618652344, + 3.441368341445923 + ], + [ + -95.88260650634766, + -79.81846618652344, + 3.768015146255493 + ], + [ + -95.88261413574219, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -93.94788360595703, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -93.9478759765625, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1199.7199272635494, + 219.83738499548718 + ], + [ + 1265.1280729504897, + 217.60451825596476 + ], + [ + 1233.3151511101808, + 187.09923016925592 + ], + [ + 1170.775327472975, + 189.13430702926635 + ], + [ + 1203.5756661750518, + 211.0972633135976 + ], + [ + 1269.4200766915596, + 208.87811351865918 + ], + [ + 1237.2032074292824, + 178.57035441895334 + ], + [ + 1174.2646221272098, + 180.59166935449724 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "y": -101.35202026367188, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 248.3550395044602, + "ymin": 590.3156162759396, + "xmax": 533.644015608339, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 533.644015608339, + 843.2743783989029 + ], + [ + 512.1787188873056, + 844.4413179648365 + ], + [ + 457.51093485085835, + 2008.5382740988287 + ], + [ + 498.2425636058754, + 2004.3522217662164 + ], + [ + 491.95398187977577, + 590.3156162759396 + ], + [ + 462.01195967086005, + 591.6243316837873 + ], + [ + 248.3550395044602, + 2604.4534238553365 + ], + [ + 336.361301028977, + 2593.319557179706 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 5199819733356185808, + "instance_id": 53256, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1851_37", + "bbox_3d": { + "center_world": { + "x": -100.25784301757812, + "y": -72.39555358886719, + "z": 8.309331893920898 + }, + "extent": { + "x": 4.9728498458862305, + "y": 4.831793308258057, + "z": 8.307754516601562 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1218.025392339136, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 526.5452683043336 + }, + "corners_3d": [ + [ + -94.59623718261719, + -68.39283752441406, + 0.0015773773193359375 + ], + [ + -96.09391784667969, + -77.93966674804688, + 0.0015773773193359375 + ], + [ + -105.91944885253906, + -76.39826965332031, + 0.0015773773193359375 + ], + [ + -104.42176818847656, + -66.8514404296875, + 0.0015773773193359375 + ], + [ + -94.59623718261719, + -68.39283752441406, + 16.61708641052246 + ], + [ + -96.09391784667969, + -77.93966674804688, + 16.61708641052246 + ], + [ + -105.91944885253906, + -76.39826965332031, + 16.61708641052246 + ], + [ + -104.42176818847656, + -66.8514404296875, + 16.61708641052246 + ] + ], + "corners_2d": [ + [ + 1452.7824364297298, + 271.8208425837509 + ], + [ + 1218.025392339136, + 306.76750993445387 + ], + [ + 1464.593479807275, + 526.5452683043336 + ], + [ + 1748.6575084845247, + 469.33284069222213 + ], + [ + 1818.6918930808465, + -275.9656922418452 + ], + [ + 1496.7536310117086, + -263.12146292711464 + ], + [ + 2059.258220952798, + -167.25172063896468 + ], + [ + 2471.322522070487, + -195.0646410947918 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 991.7726296436575, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 91.70927098752605 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1124.7850897186395, + -3.6896930734271223 + ], + [ + 991.7726296436575, + 20.361818430861717 + ], + [ + 1123.8789326516855, + 91.70927098752605 + ], + [ + 1268.0430218659735, + 60.16171610621092 + ], + [ + 1223.3122926989602, + -306.9812059716587 + ], + [ + 1067.8847674192905, + -297.31725706699706 + ], + [ + 1248.2620380764793, + -267.3675315999403 + ], + [ + 1417.977624558334, + -280.85383762149115 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 47.890562134180186, + "ymax": 221.26831527508455 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + 47.890562134180186, + 104.88485596082774 + ], + [ + -139.66801943849657, + 134.28791923880868 + ], + [ + -176.2234231152272, + 221.26831527508455 + ], + [ + 39.451922120148424, + 182.8528705284895 + ], + [ + -70.54180392827845, + -171.8828100992513 + ], + [ + -305.5192668513761, + -153.80196851123537 + ], + [ + -381.84867893213163, + -98.00156660863456 + ], + [ + -101.256888637163, + -123.08471864262577 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00061/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00061/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fce4f00ac3d0da8e437351e07d734622514c75c4 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00061/meta.json @@ -0,0 +1,2883 @@ +{ + "frame_id": 61, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 30.5, + "sim_timestamp": 10433.305669017136 + }, + "drone_pose": { + "x": -121.02168933210221, + "y": -96.7536690592997, + "z": 20.17245874255622, + "pitch": -46.04258259596033, + "yaw": -7.405916023283971, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6883330941200256, + 0.08947113156318665, + 0.7198558449745178, + 60.12531280517578 + ], + [ + -0.12889797985553741, + 0.9916578531265259, + 0.0, + 111.54598999023438 + ], + [ + -0.7138506770133972, + -0.0927879735827446, + 0.6941235661506653, + -91.41602325439453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -120.45819408704413, + "y": -96.80403696505823, + "z": 20.03098918867854 + }, + "t1_image_uv": [ + 684.0662022658487, + -239.69370584845296 + ], + "t1_depth": 0.49421658284206355 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -101.16718292236328, + "y": -99.68776321411131, + "z": 0.7274065208435059 + }, + "image_uv": [ + 627.9543407780017, + 327.4071919904809 + ], + "depth": 27.926665451349074, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 197, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -101.16718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.2970019280910492, + "y": 0.21538083255290985, + "z": 0.5417225360870361 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 618.8611025411903, + "ymin": 306.18555914918664, + "xmax": 636.6808534580844, + "ymax": 348.3776713541994 + }, + "corners_3d": [ + [ + -101.46418762207031, + -99.90313720703125, + 0.18568390607833862 + ], + [ + -101.46418762207031, + -99.47238159179688, + 0.18568390607833862 + ], + [ + -100.87017822265625, + -99.47238159179688, + 0.18568390607833862 + ], + [ + -100.87017822265625, + -99.90313720703125, + 0.18568390607833862 + ], + [ + -101.46418762207031, + -99.90313720703125, + 1.2691290378570557 + ], + [ + -101.46418762207031, + -99.47238159179688, + 1.2691290378570557 + ], + [ + -100.87017822265625, + -99.47238159179688, + 1.2691290378570557 + ], + [ + -100.87017822265625, + -99.90313720703125, + 1.2691290378570557 + ] + ], + "corners_2d": [ + [ + 619.4471631717448, + 347.02963403047045 + ], + [ + 634.0160868248295, + 348.3776713541994 + ], + [ + 636.6808534580844, + 334.26204863454853 + ], + [ + 622.3170495828981, + 332.9523850487552 + ], + [ + 618.8611025411903, + 320.2640829358644 + ], + [ + 633.8452157940095, + 321.61284583499645 + ], + [ + 636.5874729215338, + 307.4948562335097 + ], + [ + 621.8202498992697, + 306.18555914918664 + ] + ], + "center_offset_px": [ + -12.045659221998335, + -32.5928080095191 + ] + }, + "trace_timestep_index": 61, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 54, + "semantic_pixel_counts": { + "1": 274161, + "2": 211476, + "3": 303693, + "4": 2120, + "5": 855, + "6": 14347, + "7": 1759, + "10": 584, + "12": 2849, + "14": 12860, + "16": 76174, + "20": 7344, + "24": 13378 + }, + "instance_pixel_counts": { + "913": 348, + "1115": 7050, + "4718": 3244, + "8834": 1566, + "11394": 2819, + "14416": 855, + "16475": 415, + "16987": 3778, + "17232": 2120, + "17499": 10905, + "18011": 258610, + "23808": 3118, + "24064": 8350, + "24512": 13022, + "27072": 5918, + "30656": 36637, + "31168": 25553, + "34120": 42684, + "35668": 501, + "35924": 5819, + "36443": 15851, + "36692": 18, + "36948": 658, + "40019": 253, + "43147": 5697, + "43659": 2109, + "44171": 1514, + "44179": 75740, + "44691": 7671, + "46227": 190750, + "46741": 4577, + "47253": 1030, + "48749": 59, + "48779": 8823, + "48789": 7771, + "49261": 3781, + "49664": 197, + "49803": 1884, + "49920": 424, + "50176": 554, + "50432": 909, + "50688": 169, + "50944": 596, + "51456": 2048, + "52160": 16004, + "52480": 28215, + "52672": 16945, + "52736": 47959, + "53184": 5389, + "54016": 6936, + "55040": 3876, + "55744": 26532, + "56768": 594, + "64351": 2171 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 197, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -101.16718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.30095699429512024, + "y": 0.2015429437160492, + "z": 0.5467286705970764 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 619.3189423827308, + "ymin": 306.0080923874034, + "xmax": 636.2370025148015, + "ymax": 348.54982730162897 + }, + "corners_3d": [ + [ + -101.4681396484375, + -99.8893051147461, + 0.18067777156829834 + ], + [ + -101.4681396484375, + -99.48621368408203, + 0.18067777156829834 + ], + [ + -100.86622619628906, + -99.48621368408203, + 0.18067777156829834 + ], + [ + -100.86622619628906, + -99.8893051147461, + 0.18067777156829834 + ], + [ + -101.4681396484375, + -99.8893051147461, + 1.2741351127624512 + ], + [ + -101.4681396484375, + -99.48621368408203, + 1.2741351127624512 + ], + [ + -100.86622619628906, + -99.48621368408203, + 1.2741351127624512 + ], + [ + -100.86622619628906, + -99.8893051147461, + 1.2741351127624512 + ] + ], + "corners_2d": [ + [ + 619.8976155577458, + 347.2881276563508 + ], + [ + 633.530436148369, + 348.54982730162897 + ], + [ + 636.2370025148015, + 334.2476700569638 + ], + [ + 622.7986332832337, + 333.02235283074515 + ], + [ + 619.3189423827308, + 320.27520490044736 + ], + [ + 633.3439554159975, + 321.53759670645195 + ], + [ + 636.1301577521376, + 307.23305666442366 + ], + [ + 622.3108604145481, + 306.0080923874034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 424, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -100.24439239501953, + "y": -99.6729736328125, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.5296923518180847, + "y": 0.30729979276657104, + "z": 0.899293065071106 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 620.7902677919471, + "ymin": 270.85859426095965, + "xmax": 644.5952137756224, + "ymax": 340.56706514321024 + }, + "corners_3d": [ + [ + -100.82640075683594, + -99.8634262084961, + -0.1718866229057312 + ], + [ + -100.69861602783203, + -99.26226043701172, + -0.1718866229057312 + ], + [ + -99.66238403320312, + -99.4825210571289, + -0.1718866229057312 + ], + [ + -99.79016876220703, + -100.08368682861328, + -0.1718866229057312 + ], + [ + -100.82640075683594, + -99.8634262084961, + 1.626699447631836 + ], + [ + -100.69861602783203, + -99.26226043701172, + 1.626699447631836 + ], + [ + -99.66238403320312, + -99.4825210571289, + 1.626699447631836 + ], + [ + -99.79016876220703, + -100.08368682861328, + 1.626699447631836 + ] + ], + "corners_2d": [ + [ + 623.9907493100013, + 340.56706514321024 + ], + [ + 644.3890516206592, + 339.4111942370272 + ], + [ + 641.5274887692013, + 315.26047390735954 + ], + [ + 621.6317276518669, + 316.3597599443927 + ], + [ + 623.2378307528858, + 296.1180385561789 + ], + [ + 644.5952137756224, + 294.9629787301721 + ], + [ + 641.5973793007421, + 270.85859426095965 + ], + [ + 620.7902677919471, + 271.95455409474994 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 554, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -103.42300415039062, + "y": -92.74504852294922, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.5892919898033142, + "y": 0.3544628918170929, + "z": 0.8748151063919067 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 850.6344909282789, + "ymin": 374.02160308043835, + "xmax": 894.663287294273, + "ymax": 450.18402340578007 + }, + "corners_3d": [ + [ + -104.0461196899414, + -93.03597259521484, + -0.2998109459877014 + ], + [ + -103.97201538085938, + -92.3309326171875, + -0.2998109459877014 + ], + [ + -102.79988861083984, + -92.4541244506836, + -0.2998109459877014 + ], + [ + -102.87399291992188, + -93.15916442871094, + -0.2998109459877014 + ], + [ + -104.0461196899414, + -93.03597259521484, + 1.4498193264007568 + ], + [ + -103.97201538085938, + -92.3309326171875, + 1.4498193264007568 + ], + [ + -102.79988861083984, + -92.4541244506836, + 1.4498193264007568 + ], + [ + -102.87399291992188, + -93.15916442871094, + 1.4498193264007568 + ] + ], + "corners_2d": [ + [ + 856.1731825868022, + 449.6816048357174 + ], + [ + 882.3635253932661, + 450.18402340578007 + ], + [ + 876.025941381955, + 417.1674173188453 + ], + [ + 850.6344909282789, + 416.6950830132274 + ], + [ + 867.1384708749657, + 407.27578776095805 + ], + [ + 894.663287294273, + 407.7830759177216 + ], + [ + 887.6219449912871, + 374.4970475278091 + ], + [ + 860.9781362773683, + 374.02160308043835 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 909, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -110.66718292236328, + "y": -99.68775939941406, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.5538817644119263, + "y": 0.4472704529762268, + "z": 0.9063342213630676 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 541.6232518232848, + "ymin": 576.3302483518216, + "xmax": 594.53308769499, + "ymax": 666.377424073102 + }, + "corners_3d": [ + [ + -111.22106170654297, + -100.1350326538086, + -0.17893266677856445 + ], + [ + -111.22106170654297, + -99.24048614501953, + -0.17893266677856445 + ], + [ + -110.1133041381836, + -99.24048614501953, + -0.17893266677856445 + ], + [ + -110.1133041381836, + -100.1350326538086, + -0.17893266677856445 + ], + [ + -111.22106170654297, + -100.1350326538086, + 1.6337357759475708 + ], + [ + -111.22106170654297, + -99.24048614501953, + 1.6337357759475708 + ], + [ + -110.1133041381836, + -99.24048614501953, + 1.6337357759475708 + ], + [ + -110.1133041381836, + -100.1350326538086, + 1.6337357759475708 + ] + ], + "corners_2d": [ + [ + 547.539177219275, + 661.5750955044452 + ], + [ + 586.5887937020549, + 666.377424073102 + ], + [ + 594.53308769499, + 622.0206134884656 + ], + [ + 556.7808078016589, + 617.5393696822957 + ], + [ + 541.6232518232848, + 621.6427444916156 + ], + [ + 583.1579172955383, + 626.5962184357888 + ], + [ + 591.718175682993, + 580.9324421304286 + ], + [ + 551.6480972592967, + 576.3302483518216 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 169, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -111.78268432617188, + "y": -112.81512451171875, + "z": 0.7252579927444458 + }, + "extent": { + "x": 0.4387158155441284, + "y": 0.5138623118400574, + "z": 0.8747819066047668 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 551.9807786595842, + "xmax": 32.76388002848694, + "ymax": 644.1660832653359 + }, + "corners_3d": [ + [ + -111.65943145751953, + -113.47945404052734, + -0.14952391386032104 + ], + [ + -112.45812225341797, + -112.83268737792969, + -0.14952391386032104 + ], + [ + -111.90593719482422, + -112.15079498291016, + -0.14952391386032104 + ], + [ + -111.10724639892578, + -112.79756164550781, + -0.14952391386032104 + ], + [ + -111.65943145751953, + -113.47945404052734, + 1.6000399589538574 + ], + [ + -112.45812225341797, + -112.83268737792969, + 1.6000399589538574 + ], + [ + -111.90593719482422, + -112.15079498291016, + 1.6000399589538574 + ], + [ + -111.10724639892578, + -112.79756164550781, + 1.6000399589538574 + ] + ], + "corners_2d": [ + [ + -14.16394976091965, + 609.711949830901 + ], + [ + -8.727599416647422, + 644.1660832653359 + ], + [ + 32.76388002848694, + 625.8393503403065 + ], + [ + 26.30183413286477, + 592.3520413714916 + ], + [ + -52.82490426510742, + 569.7621779311635 + ], + [ + -48.19255299787301, + 605.1397643183188 + ], + [ + -3.61625926793738, + 586.3074173719481 + ], + [ + -9.432552328204451, + 551.9807786595842 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 596, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -99.03065490722656, + "y": -101.24003601074219, + "z": 0.7274113893508911 + }, + "extent": { + "x": 0.44240233302116394, + "y": 0.43611815571784973, + "z": 0.896550178527832 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 567.3295336686637, + "ymin": 240.5179118025817, + "xmax": 606.6202084953335, + "ymax": 308.75294656967844 + }, + "corners_3d": [ + [ + -99.37271881103516, + -101.75860595703125, + -0.16913878917694092 + ], + [ + -99.55406188964844, + -100.90542602539062, + -0.16913878917694092 + ], + [ + -98.68859100341797, + -100.72146606445312, + -0.16913878917694092 + ], + [ + -98.50724792480469, + -101.57464599609375, + -0.16913878917694092 + ], + [ + -99.37271881103516, + -101.75860595703125, + 1.6239615678787231 + ], + [ + -99.55406188964844, + -100.90542602539062, + 1.6239615678787231 + ], + [ + -98.68859100341797, + -100.72146606445312, + 1.6239615678787231 + ], + [ + -98.50724792480469, + -101.57464599609375, + 1.6239615678787231 + ] + ], + "corners_2d": [ + [ + 570.4570181444419, + 302.41925930973775 + ], + [ + 596.4978269655437, + 308.75294656967844 + ], + [ + 606.6202084953335, + 290.74107901411645 + ], + [ + 581.0062156372962, + 284.6459185539384 + ], + [ + 567.3295336686637, + 258.1999408323404 + ], + [ + 594.5276405325347, + 264.5083733665691 + ], + [ + 605.1385726266973, + 246.5783647209752 + ], + [ + 578.4056355155254, + 240.5179118025817 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 2048, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 853.9857623235346, + "ymin": 0.0, + "xmax": 910.4475769530902, + "ymax": 50.07976513670303 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 898.4143905570328, + 4.816578837852205 + ], + [ + 853.9857623235346, + 2.175888469872689 + ], + [ + 856.2443718467717, + 47.05348264576065 + ], + [ + 903.8231821830151, + 50.07976513670303 + ], + [ + 904.4646139833026, + -25.172193417772405 + ], + [ + 858.9746436032722, + -27.747908378121906 + ], + [ + 861.6495359340868, + 16.093149374131656 + ], + [ + 910.4475769530902, + 19.05472012664268 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 28215, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 725.1055134045137, + "ymin": 30.978348754122635, + "xmax": 882.9717640551205, + "ymax": 337.47092586720817 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 850.0894428665297, + 145.06771001222904 + ], + [ + 744.0535997640756, + 137.3505712974396 + ], + [ + 725.1055134045137, + 325.50997699740736 + ], + [ + 857.0397367309881, + 337.47092586720817 + ], + [ + 869.7629184350428, + 38.25665780380325 + ], + [ + 753.6922799611809, + 30.978348754122635 + ], + [ + 735.1342465016726, + 212.3642785955455 + ], + [ + 882.9717640551205, + 224.17797982485317 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 47959, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1034.147133513785, + "ymin": 86.48535522238899, + "xmax": 1280.0, + "ymax": 432.1994290273113 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 1090.7988484712282, + 417.80903866107013 + ], + [ + 1240.6205275729776, + 432.1994290273113 + ], + [ + 1151.4573686548601, + 204.827763950004 + ], + [ + 1034.147133513785, + 195.88757373935633 + ], + [ + 1149.7105180568137, + 304.3927634993554 + ], + [ + 1320.325869044142, + 318.93784977446893 + ], + [ + 1203.409593839848, + 95.03786233887286 + ], + [ + 1073.7147026985424, + 86.48535522238899 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 6936, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 867.9804504024538, + "ymin": 183.19768655157526, + "xmax": 947.0800055722025, + "ymax": 336.7957393390749 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 922.0540356759224, + 225.91636290123196 + ], + [ + 867.9804504024538, + 221.6023652733765 + ], + [ + 873.8791285092431, + 331.30320827145886 + ], + [ + 934.9454723823352, + 336.7957393390749 + ], + [ + 932.2869856687003, + 187.46790450711077 + ], + [ + 876.2086922929059, + 183.19768655157526 + ], + [ + 883.4447197576865, + 292.2693250668316 + ], + [ + 947.0800055722025, + 297.7569691037703 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 3876, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1003.972946253541, + "ymin": 0.0, + "xmax": 1101.4382322612291, + "ymax": 73.36145291150126 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 1023.8369249514814, + 69.48716652907734 + ], + [ + 1083.7309970044444, + 73.36145291150126 + ], + [ + 1057.8482078539962, + 3.282654007223698 + ], + [ + 1003.972946253541, + 0.13474747908219342 + ], + [ + 1039.0670402814785, + 21.230192434598507 + ], + [ + 1101.4382322612291, + 24.983337216790574 + ], + [ + 1072.815302717494, + -42.65224031057727 + ], + [ + 1016.9437307325875, + -45.67792727548277 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5668522571212290485, + "instance_id": 46457, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -113.33401489257812, + "y": -89.45570373535156, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18996092677116394, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1146.2170139148482, + "ymin": 662.7456235691028, + "xmax": 1198.7895012590386, + "ymax": 708.0703715488577 + }, + "corners_3d": [ + [ + -113.19542694091797, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47259521484375, + -89.64566802978516, + 5.545533180236816 + ], + [ + -113.47260284423828, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.1954345703125, + -89.26573944091797, + 5.545533180236816 + ], + [ + -113.19542694091797, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47259521484375, + -89.64566802978516, + 6.416468620300293 + ], + [ + -113.47260284423828, + -89.26573944091797, + 6.416468620300293 + ], + [ + -113.1954345703125, + -89.26573944091797, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1146.2170139148482, + 688.304493776036 + ], + [ + 1150.3444090691376, + 705.0430180294593 + ], + [ + 1175.5203052992324, + 708.0703715488577 + ], + [ + 1171.0686706572822, + 691.2566396511363 + ], + [ + 1167.875521314995, + 662.7456235691028 + ], + [ + 1172.4675447251457, + 679.8725935227728 + ], + [ + 1198.7895012590386, + 682.9721818604617 + ], + [ + 1193.843296889613, + 665.7649330124076 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 458.1624858452876, + "ymin": 639.1869844858804, + "xmax": 487.0220092814416, + "ymax": 676.666968443354 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 464.30998483949645, + 674.2566010239613 + ], + [ + 483.5667121714045, + 676.666968443354 + ], + [ + 487.0220092814416, + 663.1804105856785 + ], + [ + 467.95654933732067, + 660.8192885481049 + ], + [ + 458.1624858452876, + 652.8624114640406 + ], + [ + 478.08259184508654, + 655.3165301216236 + ], + [ + 481.7160513612455, + 641.5892357535042 + ], + [ + 462.0005401705645, + 639.1869844858804 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 979.0618982088218, + "ymin": 561.1988795438368, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1633.3925338908236, + 898.9287348641867 + ], + [ + 1620.49159940097, + 874.2172173189099 + ], + [ + 979.0618982088218, + 785.597263536335 + ], + [ + 981.3211465481454, + 807.4719564736852 + ], + [ + 2132.554940971796, + 704.5912787709785 + ], + [ + 2101.3464959474895, + 672.4250575559921 + ], + [ + 1131.2055791427997, + 561.1988795438368 + ], + [ + 1137.9175265069525, + 588.0710256779394 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1155.1367129307557, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 67.83517149918652 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1167.1364972778085, + 64.17574389442069 + ], + [ + 1225.536273289738, + 67.83517149918652 + ], + [ + 1211.448305443636, + 43.41266465641144 + ], + [ + 1155.1367129307557, + 40.00231661206186 + ], + [ + 1216.2595887568054, + -49.65479429730095 + ], + [ + 1280.4136491165639, + -46.30346807309246 + ], + [ + 1262.9781869163126, + -68.60807621493058 + ], + [ + 1201.3345098061718, + -71.71117446353634 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 817.0708544515041, + "ymin": 18.7261578685779, + "xmax": 832.9162000598171, + "ymax": 28.56878526813722 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 817.0917113824235, + 22.50925055971078 + ], + [ + 817.0708544515041, + 27.632929242694104 + ], + [ + 832.3348546288523, + 28.56878526813722 + ], + [ + 832.2376545594034, + 23.43069259808999 + ], + [ + 817.6220851014216, + 18.7261578685779 + ], + [ + 817.6053069514319, + 23.835758845966666 + ], + [ + 832.9162000598171, + 24.769069271245826 + ], + [ + 832.8141975510542, + 19.645050600196896 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1238.7204345146406, + "ymin": 133.32736282186852, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 1298.454931262596, + 794.2215542986496 + ], + [ + 1825.0877472930051, + 860.8652791427185 + ], + [ + 1694.547229906902, + 666.5505842127676 + ], + [ + 1238.7204345146406, + 615.7970662702622 + ], + [ + 1902.3203250402094, + 343.5046216978456 + ], + [ + 3013.3774584499274, + 434.89937448981067 + ], + [ + 2508.644474057222, + 188.5878284600149 + ], + [ + 1669.9346062589934, + 133.32736282186852 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7664114084626016696, + "instance_id": 47273, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.91487884521484, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1255.0062310002086, + "ymin": 116.28714608379764, + "xmax": 1280.0, + "ymax": 288.64848645415134 + }, + "corners_3d": [ + [ + -95.94330596923828, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -79.87950897216797, + 4.83804988861084 + ], + [ + -95.94330596923828, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1275.4347264406238, + 282.3412785207598 + ], + [ + 1352.9110305619238, + 288.64848645415134 + ], + [ + 1328.8522679725625, + 246.9408888512827 + ], + [ + 1255.0062310002086, + 241.1883098727723 + ], + [ + 1355.4358096545534, + 156.02074339158622 + ], + [ + 1443.3613280526392, + 162.1500896558727 + ], + [ + 1411.8310727930693, + 121.81448053352224 + ], + [ + 1328.5489373599212, + 116.28714608379764 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 685.9361796332511, + "ymin": 4.564723187207392, + "xmax": 837.6128506264741, + "ymax": 245.16425583278595 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 687.1973648876642, + 227.44819878892233 + ], + [ + 685.9361796332511, + 235.65837263798215 + ], + [ + 802.5272880996865, + 245.16425583278595 + ], + [ + 802.6915362458726, + 236.77481033580585 + ], + [ + 697.1379838971088, + 4.564723187207392 + ], + [ + 695.7228184001251, + 11.952015418185965 + ], + [ + 837.6128506264741, + 20.54229172918292 + ], + [ + 837.4066334448552, + 12.95884748786915 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 817.1551059672393, + "ymin": 18.778378524376137, + "xmax": 832.8312797799439, + "ymax": 28.51635332687937 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 817.1750985331603, + 22.521319103439794 + ], + [ + 817.1551059672393, + 27.590540035759204 + ], + [ + 832.2563899202003, + 28.51635332687937 + ], + [ + 832.1608188329699, + 23.43302326599627 + ], + [ + 817.7000951968448, + 18.778378524376137 + ], + [ + 817.6840988961917, + 23.833819556857804 + ], + [ + 832.8312797799439, + 24.757141089478978 + ], + [ + 832.73101161028, + 19.687587338829587 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 125.4814708184482, + "ymin": 512.4237944819465, + "xmax": 376.55154470256497, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 376.55154470256497, + 727.0431857556542 + ], + [ + 356.52229950907963, + 724.4130306208511 + ], + [ + 287.5412324291699, + 926.9297055616578 + ], + [ + 310.4063294884316, + 930.4024898270847 + ], + [ + 276.7829634435083, + 515.4847645235018 + ], + [ + 249.45407184347346, + 512.4237944819465 + ], + [ + 125.4814708184482, + 761.9755612441371 + ], + [ + 158.3676962756112, + 766.5145718529143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "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": 471.53318631696675, + "xmax": 491.0299396262293, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 491.0299396262293, + 713.0447915004941 + ], + [ + 471.4723888473311, + 710.3530954371563 + ], + [ + 231.11090303551566, + 1606.9716570814644 + ], + [ + 262.93849193447176, + 1614.4540530084705 + ], + [ + 429.01724155600016, + 474.66894876744107 + ], + [ + 401.5164868294353, + 471.53318631696675 + ], + [ + -159.77793086567067, + 1914.116069149186 + ], + [ + -99.88385586717641, + 1930.8091996806625 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1166.6523192001182, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 41.98660579172946 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1333.5089949882058, + -68.59115967207492 + ], + [ + 1166.6523192001182, + -52.45057292309974 + ], + [ + 1299.1992518539364, + 41.98660579172946 + ], + [ + 1487.9687355456665, + 20.29212844309177 + ], + [ + 1520.8712874128155, + -434.46958883352556 + ], + [ + 1314.1201564367939, + -427.1412602719802 + ], + [ + 1523.8616640342084, + -381.87903994992723 + ], + [ + 1764.6932022088372, + -392.65318852319695 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 188.88282542625348, + "ymax": 52.71904759537449 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + 188.88282542625348, + -41.033625439598666 + ], + [ + 23.204746425729923, + -26.973739184281158 + ], + [ + -19.349353956467326, + 52.71904759537449 + ], + [ + 168.56616462246944, + 34.79029263447774 + ], + [ + 91.51231652030197, + -327.39627565057333 + ], + [ + -113.77363687755428, + -318.48968149275925 + ], + [ + -189.91162310459265, + -266.2274903492955 + ], + [ + 50.585895482514616, + -278.25618736210924 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 135.1310978955171, + "ymax": 129.87300249251874 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 135.1310978955171, + 36.55500820057057 + ], + [ + -26.632385728036297, + 38.607287173366444 + ], + [ + -111.93956809618885, + 129.87300249251874 + ], + [ + 71.94066265398544, + 127.22855856000419 + ], + [ + 0.9351709680458953, + -295.4676981997094 + ], + [ + -204.5110084855047, + -294.1520896843192 + ], + [ + -348.27837000767954, + -233.4046472718005 + ], + [ + -105.7937494511317, + -235.22879845425553 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00062/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00062/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ed54b24ca3ce0f50184078b0de61c34d71cf9b22 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00062/meta.json @@ -0,0 +1,3297 @@ +{ + "frame_id": 62, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 31.0, + "sim_timestamp": 10445.775058655068 + }, + "drone_pose": { + "x": -120.45819408704413, + "y": -96.80403696505823, + "z": 20.03098918867854, + "pitch": -43.98488646244814, + "yaw": -8.290163192243048, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7120044231414795, + 0.10374536365270615, + 0.69446861743927, + 61.81289291381836 + ], + [ + -0.14418630301952362, + 0.9895505905151367, + 0.0, + 113.1609115600586 + ], + [ + -0.6872117519378662, + -0.10013285279273987, + 0.719523012638092, + -87.49977111816406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -119.78867194204938, + "y": -96.73772664755462, + "z": 19.97671480856199 + }, + "t1_image_uv": [ + 946.7242407074295, + -423.8889187455442 + ], + "t1_depth": 0.507515176823791 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -100.66718292236328, + "y": -99.68776321411131, + "z": 0.7274065208435059 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 27.796192253867098, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 201, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -100.66718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.17179197072982788, + "y": 0.21543455123901367, + "z": 0.5182895064353943 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.643768245617, + "ymin": 342.1598636517783, + "xmax": 648.2958229363409, + "ymax": 377.5659613360216 + }, + "corners_3d": [ + [ + -100.83897399902344, + -99.90319061279297, + 0.20911693572998047 + ], + [ + -100.83897399902344, + -99.47232818603516, + 0.20911693572998047 + ], + [ + -100.49539184570312, + -99.47232818603516, + 0.20911693572998047 + ], + [ + -100.49539184570312, + -99.90319061279297, + 0.20911693572998047 + ], + [ + -100.83897399902344, + -99.90319061279297, + 1.245695948600769 + ], + [ + -100.83897399902344, + -99.47232818603516, + 1.245695948600769 + ], + [ + -100.49539184570312, + -99.47232818603516, + 1.245695948600769 + ], + [ + -100.49539184570312, + -99.90319061279297, + 1.245695948600769 + ] + ], + "corners_2d": [ + [ + 631.8581743989558, + 376.06173032985623 + ], + [ + 646.457262927509, + 377.5659613360216 + ], + [ + 648.0844728758838, + 369.3919243766723 + ], + [ + 633.6090087260454, + 367.9136065077254 + ], + [ + 631.643768245617, + 350.2920896684778 + ], + [ + 646.6275864595658, + 351.79379061582085 + ], + [ + 648.2958229363409, + 343.6350223063924 + ], + [ + 633.4422016509442, + 342.1598636517783 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 62, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 52, + "semantic_pixel_counts": { + "1": 261953, + "2": 188802, + "3": 339692, + "4": 2306, + "5": 874, + "6": 10206, + "7": 363, + "10": 1114, + "12": 2864, + "14": 15365, + "16": 77105, + "20": 8745, + "24": 12211 + }, + "instance_pixel_counts": { + "913": 1179, + "1115": 7325, + "4206": 1204, + "4718": 3372, + "8834": 1589, + "11394": 1925, + "14416": 874, + "15963": 111, + "16475": 897, + "16987": 4397, + "17232": 2306, + "17499": 12835, + "18011": 289800, + "23808": 150, + "24064": 6014, + "24512": 14549, + "26963": 25, + "27072": 830, + "30656": 15913, + "31168": 27455, + "34120": 45160, + "35668": 1991, + "35924": 4627, + "36443": 15049, + "36692": 948, + "40019": 866, + "43147": 6384, + "43659": 2863, + "44179": 89350, + "46227": 172603, + "46741": 5212, + "48749": 822, + "48779": 9137, + "48789": 6999, + "49261": 3880, + "49664": 201, + "49803": 192, + "49920": 462, + "50176": 550, + "50432": 1053, + "50688": 53, + "50944": 545, + "51456": 2650, + "52160": 17006, + "52480": 28975, + "52672": 18296, + "52736": 48130, + "53184": 103, + "54016": 7245, + "55040": 5470, + "55744": 28368, + "64351": 2546 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 201, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -100.66718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.2172900140285492, + "y": 0.20973630249500275, + "z": 0.530565619468689 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.5983963434201, + "ymin": 340.8000828825104, + "xmax": 648.3208072521173, + "ymax": 378.9365405138678 + }, + "corners_3d": [ + [ + -100.88447570800781, + -99.89749908447266, + 0.1968408226966858 + ], + [ + -100.88447570800781, + -99.47801971435547, + 0.1968408226966858 + ], + [ + -100.44989013671875, + -99.47801971435547, + 0.1968408226966858 + ], + [ + -100.44989013671875, + -99.89749908447266, + 0.1968408226966858 + ], + [ + -100.88447570800781, + -99.89749908447266, + 1.257972002029419 + ], + [ + -100.88447570800781, + -99.47801971435547, + 1.257972002029419 + ], + [ + -100.44989013671875, + -99.47801971435547, + 1.257972002029419 + ], + [ + -100.44989013671875, + -99.89749908447266, + 1.257972002029419 + ] + ], + "corners_2d": [ + [ + 631.8192651856758, + 377.4686443061304 + ], + [ + 646.044419640795, + 378.9365405138678 + ], + [ + 648.1041179653267, + 368.59765535905456 + ], + [ + 634.0311101987367, + 367.1616613722918 + ], + [ + 631.5983963434201, + 351.0864928508961 + ], + [ + 646.2078714543801, + 352.5519524538563 + ], + [ + 648.3208072521173, + 342.2328470987573 + ], + [ + 633.8717646172021, + 340.8000828825104 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 462, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -99.4207534790039, + "y": -100.42350006103516, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.2825927734375, + "y": 0.34032225608825684, + "z": 0.8792464137077332 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 609.2983313187283, + "ymin": 299.96641811996176, + "xmax": 633.7355416861923, + "ymax": 357.1528736713394 + }, + "corners_3d": [ + [ + -99.76792907714844, + -100.6976318359375, + -0.15184485912322998 + ], + [ + -99.62641143798828, + -100.0318603515625, + -0.15184485912322998 + ], + [ + -99.07357788085938, + -100.14936828613281, + -0.15184485912322998 + ], + [ + -99.21509552001953, + -100.81513977050781, + -0.15184485912322998 + ], + [ + -99.76792907714844, + -100.6976318359375, + 1.6066479682922363 + ], + [ + -99.62641143798828, + -100.0318603515625, + 1.6066479682922363 + ], + [ + -99.07357788085938, + -100.14936828613281, + 1.6066479682922363 + ], + [ + -99.21509552001953, + -100.81513977050781, + 1.6066479682922363 + ] + ], + "corners_2d": [ + [ + 611.3613434132133, + 357.1528736713394 + ], + [ + 633.7355416861923, + 356.1497986577166 + ], + [ + 632.6350083148476, + 343.4948903445436 + ], + [ + 610.5668158726763, + 344.4706256161597 + ], + [ + 610.1091680734816, + 313.5397493058971 + ], + [ + 633.4619495872179, + 312.5422942558833 + ], + [ + 632.3179531964366, + 299.96641811996176 + ], + [ + 609.2983313187283, + 300.9355240358979 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 550, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -102.92300415039062, + "y": -92.74504852294922, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.499267578125, + "y": 0.31028318405151367, + "z": 0.887419581413269 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 866.0800601742872, + "ymin": 411.60627541877716, + "xmax": 906.8241991490193, + "ymax": 484.4851831554455 + }, + "corners_3d": [ + [ + -103.45197296142578, + -93.0014419555664, + -0.3124154210090637 + ], + [ + -103.38710021972656, + -92.38427734375, + -0.3124154210090637 + ], + [ + -102.39403533935547, + -92.48865509033203, + -0.3124154210090637 + ], + [ + -102.45890808105469, + -93.10581970214844, + -0.3124154210090637 + ], + [ + -103.45197296142578, + -93.0014419555664, + 1.4624238014221191 + ], + [ + -103.38710021972656, + -92.38427734375, + 1.4624238014221191 + ], + [ + -102.39403533935547, + -92.48865509033203, + 1.4624238014221191 + ], + [ + -102.45890808105469, + -93.10581970214844, + 1.4624238014221191 + ] + ], + "corners_2d": [ + [ + 870.8784175980148, + 483.7596522848373 + ], + [ + 894.0887872565079, + 484.4851831554455 + ], + [ + 888.6594200148122, + 456.05660327771295 + ], + [ + 866.0800601742872, + 455.36977655132966 + ], + [ + 882.4420936164537, + 440.1414175090074 + ], + [ + 906.8241991490193, + 440.87167330591325 + ], + [ + 900.7691828585287, + 412.2957057650019 + ], + [ + 877.0824491364544, + 411.60627541877716 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 1053, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -110.16718292236328, + "y": -99.68775939941406, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.44927242398262024, + "y": 0.4446190893650055, + "z": 0.89480060338974 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 550.6352551297794, + "ymin": 615.581966222594, + "xmax": 602.1287763416955, + "ymax": 699.3808075337147 + }, + "corners_3d": [ + [ + -110.616455078125, + -100.13237762451172, + -0.16739904880523682 + ], + [ + -110.616455078125, + -99.2431411743164, + -0.16739904880523682 + ], + [ + -109.71791076660156, + -99.2431411743164, + -0.16739904880523682 + ], + [ + -109.71791076660156, + -100.13237762451172, + -0.16739904880523682 + ], + [ + -110.616455078125, + -100.13237762451172, + 1.6222021579742432 + ], + [ + -110.616455078125, + -99.2431411743164, + 1.6222021579742432 + ], + [ + -109.71791076660156, + -99.2431411743164, + 1.6222021579742432 + ], + [ + -109.71791076660156, + -100.13237762451172, + 1.6222021579742432 + ] + ], + "corners_2d": [ + [ + 555.8300846613536, + 693.9182038984987 + ], + [ + 595.1479714930152, + 699.3808075337147 + ], + [ + 602.1287763416955, + 662.4444466422235 + ], + [ + 563.924003530127, + 657.295306337498 + ], + [ + 550.6352551297794, + 653.1399042915093 + ], + [ + 592.3670372645369, + 658.7535239235315 + ], + [ + 599.8532953972866, + 620.8544469408661 + ], + [ + 559.3732968791641, + 615.581966222594 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 53, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -111.78268432617188, + "y": -112.81512451171875, + "z": 0.7252579927444458 + }, + "extent": { + "x": 0.4043896496295929, + "y": 0.468207985162735, + "z": 0.882584810256958 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 600.0045544685283, + "xmax": 20.865508729941098, + "ymax": 690.9260936437406 + }, + "corners_3d": [ + [ + -111.67330932617188, + -113.4240493774414, + -0.1573268175125122 + ], + [ + -112.40103912353516, + -112.8347396850586, + -0.1573268175125122 + ], + [ + -111.89205932617188, + -112.2061996459961, + -0.1573268175125122 + ], + [ + -111.1643295288086, + -112.7955093383789, + -0.1573268175125122 + ], + [ + -111.67330932617188, + -113.4240493774414, + 1.6078428030014038 + ], + [ + -112.40103912353516, + -112.8347396850586, + 1.6078428030014038 + ], + [ + -111.89205932617188, + -112.2061996459961, + 1.6078428030014038 + ], + [ + -111.1643295288086, + -112.7955093383789, + 1.6078428030014038 + ] + ], + "corners_2d": [ + [ + -22.407897679277312, + 657.8136549443686 + ], + [ + -18.889166370586395, + 690.9260936437406 + ], + [ + 20.865508729941098, + 673.7179202905652 + ], + [ + 16.36081118093034, + 641.493920484761 + ], + [ + -61.49707258670992, + 616.6937752376285 + ], + [ + -58.88604617343094, + 650.6366983268304 + ], + [ + -16.173043913103243, + 632.9833995944095 + ], + [ + -19.921533115318198, + 600.0045544685283 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 545, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -98.53065490722656, + "y": -101.24003601074219, + "z": 0.7274113893508911 + }, + "extent": { + "x": 0.5555028915405273, + "y": 0.4599706828594208, + "z": 0.9269924163818359 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 577.7776833429801, + "ymin": 269.5372713685065, + "xmax": 620.9173955764207, + "ymax": 344.3174670306671 + }, + "corners_3d": [ + [ + -98.97838592529297, + -101.80545043945312, + -0.19958102703094482 + ], + [ + -99.1696548461914, + -100.90560913085938, + -0.19958102703094482 + ], + [ + -98.08292388916016, + -100.67462158203125, + -0.19958102703094482 + ], + [ + -97.89165496826172, + -101.574462890625, + -0.19958102703094482 + ], + [ + -98.97838592529297, + -101.80545043945312, + 1.654403805732727 + ], + [ + -99.1696548461914, + -100.90560913085938, + 1.654403805732727 + ], + [ + -98.08292388916016, + -100.67462158203125, + 1.654403805732727 + ], + [ + -97.89165496826172, + -101.574462890625, + 1.654403805732727 + ] + ], + "corners_2d": [ + [ + 580.4604617876059, + 337.3158010060458 + ], + [ + 607.9531723355234, + 344.3174670306671 + ], + [ + 620.9173955764207, + 321.83800080778616 + ], + [ + 594.0008685263515, + 315.17638934404977 + ], + [ + 577.7776833429801, + 291.47669195161234 + ], + [ + 606.4974881769042, + 298.42519293303064 + ], + [ + 620.0729319482734, + 276.13361723092214 + ], + [ + 591.9812000672914, + 269.5372713685065 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 2650, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 867.8375058366875, + "ymin": 15.724299621801265, + "xmax": 924.8124457225017, + "ymax": 93.27842639459607 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 912.4687701539679, + 48.13196237281272 + ], + [ + 867.8375058366875, + 45.19253320795292 + ], + [ + 870.130259135592, + 89.89256260649194 + ], + [ + 918.0512582073588, + 93.27842639459607 + ], + [ + 918.6306527514278, + 18.58541185059039 + ], + [ + 872.9648589236249, + 15.724299621801265 + ], + [ + 875.6967748930228, + 59.30030902954468 + ], + [ + 924.8124457225017, + 62.60688138394869 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 28975, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 736.4384403553333, + "ymin": 73.95974836547998, + "xmax": 898.2430252929441, + "ymax": 384.5499800709855 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 863.958321351844, + 188.2105165747855 + ], + [ + 756.8478272831031, + 179.5035385177145 + ], + [ + 736.4384403553333, + 370.76515018721096 + ], + [ + 871.1113866881446, + 384.5499800709855 + ], + [ + 884.3291306116201, + 82.11492463589872 + ], + [ + 767.3424598135193, + 73.95974836547998 + ], + [ + 747.5769264361136, + 257.12986477165026 + ], + [ + 898.2430252929441, + 270.6656322523475 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 48130, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1051.1362461736771, + "ymin": 132.24943708396225, + "xmax": 1280.0, + "ymax": 487.56623409159215 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 1112.0552071753104, + 470.65484467071894 + ], + [ + 1267.488455619301, + 487.56623409159215 + ], + [ + 1171.006325925661, + 251.60563026453542 + ], + [ + 1051.1362461736771, + 241.38098620266564 + ], + [ + 1173.1619708173612, + 356.22520674386845 + ], + [ + 1350.214761334238, + 373.25446633767353 + ], + [ + 1223.7847894635688, + 141.97201438000425 + ], + [ + 1091.4396939459543, + 132.24943708396225 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 7245, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 882.1607475429869, + "ymin": 227.54737404117208, + "xmax": 963.4734151085506, + "ymax": 384.7331847994813 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 937.1849894542249, + 270.8736369827982 + ], + [ + 882.1607475429869, + 265.94972612774717 + ], + [ + 888.3328431762379, + 378.3842592710219 + ], + [ + 950.8794233440499, + 384.7331847994813 + ], + [ + 947.7321219396233, + 232.410845348922 + ], + [ + 890.7027485197693, + 227.54737404117208 + ], + [ + 898.3231776339369, + 339.1101081598866 + ], + [ + 963.4734151085506, + 345.44167113034905 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 5470, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1018.6507140526597, + "ymin": 0.0, + "xmax": 1117.8734090949943, + "ymax": 118.00344215009866 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 1039.3553485046664, + 113.64011544532244 + ], + [ + 1100.0403254173784, + 118.00344215009866 + ], + [ + 1072.9882362535495, + 47.74351162517593 + ], + [ + 1018.6507140526597, + 44.22756519385217 + ], + [ + 1054.733559253594, + 65.85243499861178 + ], + [ + 1117.8734090949943, + 70.06647808937242 + ], + [ + 1087.9903482466848, + 2.462563772486135 + ], + [ + 1031.6924742590572, + -0.9063962710077362 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8141214424398648700, + "instance_id": 31829, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -112.90494537353516, + "y": -101.0159683227539, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18996092677116394, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 456.60277175178703, + "ymin": 699.6018375923911, + "xmax": 486.61993258820536, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.04428100585938, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -100.82600402832031, + 2.645533323287964 + ], + [ + -112.76560974121094, + -101.2059326171875, + 2.645533323287964 + ], + [ + -113.04428100585938, + -101.2059326171875, + 3.5146729946136475 + ], + [ + -113.04428100585938, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -100.82600402832031, + 3.5146729946136475 + ], + [ + -112.76560974121094, + -101.2059326171875, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 462.8185248840935, + 735.9091328772249 + ], + [ + 482.7365538379446, + 738.7982370226756 + ], + [ + 486.61993258820536, + 724.3834845114387 + ], + [ + 466.91286995039985, + 721.5577657664285 + ], + [ + 456.60277175178703, + 714.2034712485736 + ], + [ + 477.2068828182364, + 717.1443221636343 + ], + [ + 481.2884328077371, + 702.4759404595745 + ], + [ + 460.90997759909067, + 699.6018375923911 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 999.6669143490236, + "ymin": 635.5171478794637, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1699.5662959183182, + 997.3479402494564 + ], + [ + 1684.4750510254673, + 969.6803652133838 + ], + [ + 999.6669143490236, + 860.8120700626666 + ], + [ + 1002.2261965449445, + 884.6667573344157 + ], + [ + 2253.3772215360204, + 810.6027271766345 + ], + [ + 2215.8268247146934, + 773.8443744433063 + ], + [ + 1163.7566834238437, + 635.5171478794637 + ], + [ + 1171.5363015528937, + 664.9968187874656 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 737.9865245151111, + "ymin": 0.0, + "xmax": 846.3831463808217, + "ymax": 33.36033073609207 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 738.6578027482599, + 23.87171424508199 + ], + [ + 737.9865245151111, + 28.011181937120284 + ], + [ + 821.245161404285, + 33.36033073609207 + ], + [ + 821.3376144314279, + 29.146310762952794 + ], + [ + 752.0953521911013, + -157.38292311468456 + ], + [ + 751.4390557960901, + -154.12034374958807 + ], + [ + 846.3831463808217, + -149.8950889126114 + ], + [ + 846.2874522915574, + -153.22458617900452 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2080193722244522285, + "instance_id": 11745, + "pixel_count": null, + "type_id": "BP_StreetLight_simple51_120_SM_2", + "bbox_3d": { + "center_world": { + "x": -78.77368927001953, + "y": -128.03121948242188, + "z": 4.08544921875 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 54.17387039384016, + "ymin": 0.0, + "xmax": 133.6815898267963, + "ymax": 16.66672878093675 + }, + "corners_3d": [ + [ + -80.54341888427734, + -127.2630386352539, + 0.20873045921325684 + ], + [ + -80.32381439208984, + -126.88267517089844, + 0.20873045921325684 + ], + [ + -77.00395965576172, + -128.7993927001953, + 0.20873045921325684 + ], + [ + -77.22356414794922, + -129.1797637939453, + 0.20873045921325684 + ], + [ + -80.54341888427734, + -127.2630386352539, + 7.962167739868164 + ], + [ + -80.32381439208984, + -126.88267517089844, + 7.962167739868164 + ], + [ + -77.00395965576172, + -128.7993927001953, + 7.962167739868164 + ], + [ + -77.22356414794922, + -129.1797637939453, + 7.962167739868164 + ] + ], + "corners_2d": [ + [ + 123.73750672107622, + 16.66672878093675 + ], + [ + 133.6815898267963, + 15.167032020146053 + ], + [ + 132.3531460633758, + -15.87446925716938 + ], + [ + 122.93758817229673, + -14.530743579534885 + ], + [ + 54.17387039384016, + -163.6172762943405 + ], + [ + 65.65686015262395, + -164.79260964160426 + ], + [ + 68.24881314405513, + -188.9387395968157 + ], + [ + 57.46479081660357, + -187.90062110769236 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1205.571582942668, + "ymin": 2.414382770247755, + "xmax": 1280.0, + "ymax": 35.58081158636509 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1219.3961287790567, + 31.90101510402951 + ], + [ + 1279.260111842863, + 35.58081158636509 + ], + [ + 1263.1912380954545, + 13.829983103755012 + ], + [ + 1205.571582942668, + 10.410476199702543 + ], + [ + 1222.971821047555, + 23.737884667808487 + ], + [ + 1283.229658091857, + 27.39002568771093 + ], + [ + 1266.9203839059496, + 5.806677502564469 + ], + [ + 1208.9358769577675, + 2.414382770247755 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1171.9168680891055, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 113.61233586059032 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1184.5158783117295, + 109.47405069057035 + ], + [ + 1243.900193267698, + 113.61233586059032 + ], + [ + 1229.0772400821822, + 88.99080882888006 + ], + [ + 1171.9168680891055, + 85.14585231938253 + ], + [ + 1233.7653348591575, + -3.146084315323037 + ], + [ + 1298.8855342401582, + 0.6168423438620039 + ], + [ + 1280.6016056597282, + -21.710231693049366 + ], + [ + 1218.1450428659386, + -25.183645282931252 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 831.72161467702, + "ymin": 63.272283787312745, + "xmax": 847.7803219493844, + "ymax": 73.23503096641991 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 831.7432779430933, + 67.0271980003863 + ], + [ + 831.72161467702, + 72.17947356811226 + ], + [ + 847.1702361581406, + 73.23503096641991 + ], + [ + 847.0671195188263, + 68.0657816288271 + ], + [ + 832.302438975916, + 63.272283787312745 + ], + [ + 832.2852723508822, + 68.40908311507059 + ], + [ + 847.7803219493844, + 69.46149993370705 + ], + [ + 847.6719605892907, + 64.30772814640102 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1269.9566699748386, + "ymin": 193.55155125301783, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 1337.6220519263466, + 876.0878710002094 + ], + [ + 1904.4904309693306, + 959.0763906602131 + ], + [ + 1753.4911760710684, + 743.7923992671979 + ], + [ + 1269.9566699748386, + 682.0988621256954 + ], + [ + 1997.6057380650989, + 423.36042419697355 + ], + [ + 3242.383072649624, + 540.5570988874587 + ], + [ + 2633.9241592843878, + 260.8023939279535 + ], + [ + 1727.573843105426, + 193.55155125301783 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7664114084626016696, + "instance_id": 47273, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.91487884521484, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1277.9338845970137, + "ymin": 164.84200551487262, + "xmax": 1280.0, + "ymax": 339.7032056227889 + }, + "corners_3d": [ + [ + -95.94330596923828, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -79.87950897216797, + 4.83804988861084 + ], + [ + -95.94330596923828, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1299.949259193927, + 332.3714163674527 + ], + [ + 1380.0141870846269, + 339.7032056227889 + ], + [ + 1354.0121505686898, + 296.51276732455204 + ], + [ + 1277.9338845970137, + 289.8605848857892 + ], + [ + 1381.7591042407216, + 205.64781768012674 + ], + [ + 1472.590979278401, + 212.7339655826101 + ], + [ + 1438.5749741345116, + 171.19596339961714 + ], + [ + 1352.8358172227722, + 164.84200551487262 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1205.6337599384847, + "ymin": 2.428661443983117, + "xmax": 1280.0, + "ymax": 35.510426929166385 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1219.443645745492, + 31.835108624198995 + ], + [ + 1279.243135296644, + 35.510426929166385 + ], + [ + 1263.1939651203381, + 13.787716820737955 + ], + [ + 1205.6337599384847, + 10.37207230171623 + ], + [ + 1222.9958083300935, + 23.72595628635264 + ], + [ + 1283.1861042520513, + 27.373830565995206 + ], + [ + 1266.898427534812, + 5.8173014988726095 + ], + [ + 1208.9761601030987, + 2.428661443983117 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 697.3623397155319, + "ymin": 48.250238486614194, + "xmax": 852.5684736633767, + "ymax": 289.3692908997094 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 698.7144602752863, + 270.1841485144166 + ], + [ + 697.3623397155319, + 278.52206131488106 + ], + [ + 815.6284810150808, + 289.3692908997094 + ], + [ + 815.8161120851571, + 280.81704440960533 + ], + [ + 710.730441931, + 48.250238486614194 + ], + [ + 709.2428124569514, + 55.64553924071623 + ], + [ + 852.5684736633767, + 65.31183177960247 + ], + [ + 852.3493082097386, + 57.68637879305044 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 831.806987932013, + "ymin": 63.325105126304095, + "xmax": 847.6942160494491, + "ymax": 73.18192217179484 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 831.8277410131535, + 67.04017738833397 + ], + [ + 831.806987932013, + 72.13769728171246 + ], + [ + 847.0908915501593, + 73.18192217179484 + ], + [ + 846.9895001484789, + 68.06778753691123 + ], + [ + 832.3812182798051, + 63.325105126304095 + ], + [ + 832.3648706091917, + 68.40747614192628 + ], + [ + 847.6942160494491, + 69.44862690910759 + ], + [ + 847.587694769574, + 64.34964242094355 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 101.21671497153795, + "ymin": 569.0597046689172, + "xmax": 371.58887227382036, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 371.58887227382036, + 787.6924330469385 + ], + [ + 350.95642592456323, + 784.548781012129 + ], + [ + 272.87814778101045, + 1002.7599139312329 + ], + [ + 296.6407376388236, + 1007.0025810998786 + ], + [ + 269.8053673710401, + 572.7039482940102 + ], + [ + 241.69954869522593, + 569.0597046689172 + ], + [ + 101.21671497153795, + 838.2281308445897 + ], + [ + 135.45257862167398, + 843.8088724965 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16194625468754558244, + "instance_id": 9469, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.53463745117188, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 48.901368489867934, + "xmax": 4.213976733889808, + "ymax": 202.8843398338172 + }, + "corners_3d": [ + [ + -95.56306457519531, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -127.03557586669922, + 4.877264976501465 + ], + [ + -95.56306457519531, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + -89.5991170983325, + 197.58233440415398 + ], + [ + -31.128329867216394, + 202.8843398338172 + ], + [ + 4.213976733889808, + 171.46522836484246 + ], + [ + -52.118715420936724, + 166.58600217146315 + ], + [ + -165.24341196510954, + 77.62007469838062 + ], + [ + -101.24364371510944, + 82.5566966711828 + ], + [ + -59.22611887297876, + 53.406104041105095 + ], + [ + -120.67801300005772, + 48.901368489867934 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "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": 528.6274608559879, + "xmax": 490.4856203714889, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 490.4856203714889, + 774.35324866205 + ], + [ + 470.28853329104527, + 771.1556872146582 + ], + [ + 187.56966550452677, + 1776.3514281438233 + ], + [ + 221.82119728231515, + 1786.1775107468281 + ], + [ + 428.12806500474386, + 532.3371273887342 + ], + [ + 399.74637464004536, + 528.6274608559879 + ], + [ + -291.3941053256009, + 2222.8010699031256 + ], + [ + -224.72158887350247, + 2246.9914786744025 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1182.00401276562, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 88.29056396758182 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1350.138719216358, + -21.75895762234927 + ], + [ + 1182.00401276562, + -6.827270199777104 + ], + [ + 1318.3007974679854, + 88.29056396758182 + ], + [ + 1509.8846217290168, + 67.94522324503038 + ], + [ + 1534.2293775352696, + -378.5640186900016 + ], + [ + 1327.3925455303497, + -372.02910360936755 + ], + [ + 1541.3351761403521, + -328.10010904600415 + ], + [ + 1784.2253652762759, + -337.8455586376301 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 206.65293198334177, + "ymax": 88.9930690115167 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + 206.65293198334177, + -1.8947542057621831 + ], + [ + 42.87274456470834, + 10.812042928039318 + ], + [ + -2.7669107487431575, + 88.9930690115167 + ], + [ + 183.77456732570403, + 72.66082316205234 + ], + [ + 117.99700249146906, + -279.419002322844 + ], + [ + -82.61672711199537, + -271.5992993859634 + ], + [ + -160.63071211463136, + -221.84883667235624 + ], + [ + 75.18138073846603, + -232.48120625776835 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 150.92552397243628, + "ymax": 164.60412695593055 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 150.92552397243628, + 74.00583969105224 + ], + [ + -8.862794267884397, + 74.84007502667578 + ], + [ + -97.63085090104641, + 164.60412695593055 + ], + [ + 84.6177086759393, + 163.52023621822192 + ], + [ + 27.49113687617023, + -249.2037369590007 + ], + [ + -172.89231994758075, + -248.68593905078933 + ], + [ + -317.9924855822692, + -190.90829757969675 + ], + [ + -80.97925955101766, + -191.63122294320112 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00063/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00063/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..87b6879997a190af44e1dfc774aef9e23ca178b1 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00063/meta.json @@ -0,0 +1,2771 @@ +{ + "frame_id": 63, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 31.5, + "sim_timestamp": 10458.652749475092 + }, + "drone_pose": { + "x": -119.78867194204938, + "y": -96.73772664755462, + "z": 19.97671480856199, + "pitch": -44.13134243117828, + "yaw": -8.55022177403959, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7097684144973755, + 0.10671170800924301, + 0.6963055729866028, + 60.789276123046875 + ], + [ + -0.14867624640464783, + 0.9888859391212463, + -3.725290298461914e-09, + 113.47230529785156 + ], + [ + -0.6885667443275452, + -0.1035241037607193, + 0.7177454829216003, + -86.80601501464844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -119.45819408704413, + "y": -96.80403696505823, + "z": 20.03966914038785 + }, + "t1_image_uv": [ + 560.2159136867454, + -997.0127854633411 + ], + "t1_depth": 0.19780338614327478 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -100.16718292236328, + "y": -99.68776321411131, + "z": 0.7274065208435059 + }, + "image_uv": [ + 640.0, + 359.9999999999999 + ], + "depth": 27.64491665115508, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 202, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -100.16718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.2946874797344208, + "y": 0.2070019245147705, + "z": 0.5307345390319824 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.1929228564493, + "ymin": 338.875581862427, + "xmax": 648.6873565453726, + "ymax": 380.9141319836126 + }, + "corners_3d": [ + [ + -100.46186828613281, + -99.89476013183594, + 0.19667190313339233 + ], + [ + -100.46186828613281, + -99.48075866699219, + 0.19667190313339233 + ], + [ + -99.87249755859375, + -99.48075866699219, + 0.19667190313339233 + ], + [ + -99.87249755859375, + -99.89476013183594, + 0.19667190313339233 + ], + [ + -100.46186828613281, + -99.89476013183594, + 1.258141040802002 + ], + [ + -100.46186828613281, + -99.48075866699219, + 1.258141040802002 + ], + [ + -99.87249755859375, + -99.48075866699219, + 1.258141040802002 + ], + [ + -99.87249755859375, + -99.89476013183594, + 1.258141040802002 + ] + ], + "corners_2d": [ + [ + 631.4268423273658, + 379.4023585041426 + ], + [ + 645.5593090799601, + 380.9141319836126 + ], + [ + 648.459678026754, + 366.7894783348902 + ], + [ + 634.5319755010727, + 365.32218630666705 + ], + [ + 631.1929228564493, + 352.9315256682922 + ], + [ + 645.7112431805358, + 354.44137311931826 + ], + [ + 648.6873565453726, + 340.3398190301653 + ], + [ + 634.3850488477337, + 338.875581862427 + ] + ], + "center_offset_px": [ + 0.0, + -1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 63, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 47, + "semantic_pixel_counts": { + "1": 260092, + "2": 181683, + "3": 349560, + "4": 2421, + "5": 929, + "6": 8493, + "10": 768, + "12": 2251, + "14": 16028, + "16": 78991, + "20": 8170, + "24": 12214 + }, + "instance_pixel_counts": { + "913": 1261, + "1115": 7525, + "4206": 1490, + "4718": 3658, + "8834": 1652, + "11394": 1429, + "14416": 929, + "15963": 154, + "16475": 1091, + "16987": 4652, + "17232": 2421, + "17499": 14203, + "18011": 301012, + "24064": 4549, + "24512": 15847, + "26963": 27, + "30656": 7183, + "31168": 27904, + "34120": 45484, + "35668": 2177, + "35924": 3665, + "36443": 10799, + "36692": 1067, + "40019": 836, + "43147": 6692, + "43659": 3069, + "44179": 94488, + "46227": 165604, + "46741": 5514, + "48749": 881, + "48779": 8924, + "48789": 6700, + "49261": 4095, + "49664": 202, + "49920": 199, + "50176": 570, + "50432": 1026, + "50944": 254, + "51456": 2739, + "52160": 17668, + "52480": 30203, + "52672": 18276, + "52736": 48788, + "54016": 7601, + "55040": 5688, + "55744": 27883, + "64351": 2753 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 202, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -100.16718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.25786617398262024, + "y": 0.21932615339756012, + "z": 0.5275525450706482 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 630.964737497411, + "ymin": 339.7789558485603, + "xmax": 648.9303984929616, + "ymax": 379.98704377807593 + }, + "corners_3d": [ + [ + -100.425048828125, + -99.90708923339844, + 0.19985389709472656 + ], + [ + -100.425048828125, + -99.46842956542969, + 0.19985389709472656 + ], + [ + -99.90931701660156, + -99.46842956542969, + 0.19985389709472656 + ], + [ + -99.90931701660156, + -99.90708923339844, + 0.19985389709472656 + ], + [ + -100.425048828125, + -99.90708923339844, + 1.254958987236023 + ], + [ + -100.425048828125, + -99.46842956542969, + 1.254958987236023 + ], + [ + -99.90931701660156, + -99.46842956542969, + 1.254958987236023 + ], + [ + -99.90931701660156, + -99.90708923339844, + 1.254958987236023 + ] + ], + "corners_2d": [ + [ + 631.2030627506293, + 378.38823733745704 + ], + [ + 646.1647201185832, + 379.98704377807593 + ], + [ + 648.697508589199, + 367.62622608797 + ], + [ + 633.9257309774955, + 366.0686637672727 + ], + [ + 630.964737497411, + 352.0774193212156 + ], + [ + 646.3320225473908, + 353.67411987400845 + ], + [ + 648.9303984929616, + 341.33337201422887 + ], + [ + 633.7633595882123, + 339.7789558485603 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 199, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -98.15343475341797, + "y": -101.1964111328125, + "z": 0.7274113893508911 + }, + "extent": { + "x": 0.58740234375, + "y": 0.3725537061691284, + "z": 0.9034944176673889 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 587.0638668803721, + "ymin": 273.55798201919697, + "xmax": 614.4107554885798, + "ymax": 344.653414747049 + }, + "corners_3d": [ + [ + -98.80545806884766, + -101.4386978149414, + -0.1760830283164978 + ], + [ + -98.65054321289062, + -100.70986938476562, + -0.1760830283164978 + ], + [ + -97.50141143798828, + -100.9541244506836, + -0.1760830283164978 + ], + [ + -97.65632629394531, + -101.68295288085938, + -0.1760830283164978 + ], + [ + -98.80545806884766, + -101.4386978149414, + 1.6309058666229248 + ], + [ + -98.65054321289062, + -100.70986938476562, + 1.6309058666229248 + ], + [ + -97.50141143798828, + -100.9541244506836, + 1.6309058666229248 + ], + [ + -97.65632629394531, + -101.68295288085938, + 1.6309058666229248 + ] + ], + "corners_2d": [ + [ + 590.1193146234594, + 344.653414747049 + ], + [ + 614.4107554885798, + 343.6528785568306 + ], + [ + 612.8819039369612, + 318.237431045953 + ], + [ + 589.2643023183736, + 319.1831263870296 + ], + [ + 587.8913214886252, + 299.7678315538215 + ], + [ + 613.2690789785917, + 298.7738726554906 + ], + [ + 611.7070801493275, + 273.55798201919697 + ], + [ + 587.0638668803721, + 274.4951337657644 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 570, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -102.42300415039062, + "y": -92.74504852294922, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.4429980516433716, + "y": 0.3216015696525574, + "z": 0.8861817717552185 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 866.8895516605209, + "ymin": 414.5443914497813, + "xmax": 908.0853684911108, + "ymax": 484.60636530377485 + }, + "corners_3d": [ + [ + -102.8971939086914, + -93.01858520507812, + -0.31118249893188477 + ], + [ + -102.8299560546875, + -92.37890625, + -0.31118249893188477 + ], + [ + -101.94881439208984, + -92.47151184082031, + -0.31118249893188477 + ], + [ + -102.01605224609375, + -93.11119079589844, + -0.31118249893188477 + ], + [ + -102.8971939086914, + -93.01858520507812, + 1.4611810445785522 + ], + [ + -102.8299560546875, + -92.37890625, + 1.4611810445785522 + ], + [ + -101.94881439208984, + -92.47151184082031, + 1.4611810445785522 + ], + [ + -102.01605224609375, + -93.11119079589844, + 1.4611810445785522 + ] + ], + "corners_2d": [ + [ + 871.0222977615367, + 483.7631427065433 + ], + [ + 895.2110847540542, + 484.60636530377485 + ], + [ + 890.4915671715587, + 459.13232643281515 + ], + [ + 866.8895516605209, + 458.32928266441905 + ], + [ + 882.6665873825107, + 440.12414093604644 + ], + [ + 908.0853684911108, + 440.97326489854817 + ], + [ + 902.8079378035917, + 415.3510922933103 + ], + [ + 878.0363184263357, + 414.5443914497813 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 1026, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -109.66718292236328, + "y": -99.68775939941406, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.4354638159275055, + "y": 0.449770450592041, + "z": 0.8947199583053589 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 547.8303463252097, + "ymin": 618.317372621509, + "xmax": 600.2137111389454, + "ymax": 701.4948028675968 + }, + "corners_3d": [ + [ + -110.10264587402344, + -100.13752746582031, + -0.1673184037208557 + ], + [ + -110.10264587402344, + -99.23799133300781, + -0.1673184037208557 + ], + [ + -109.23171997070312, + -99.23799133300781, + -0.1673184037208557 + ], + [ + -109.23171997070312, + -100.13752746582031, + -0.1673184037208557 + ], + [ + -110.10264587402344, + -100.13752746582031, + 1.6221215724945068 + ], + [ + -110.10264587402344, + -99.23799133300781, + 1.6221215724945068 + ], + [ + -109.23171997070312, + -99.23799133300781, + 1.6221215724945068 + ], + [ + -109.23171997070312, + -100.13752746582031, + 1.6221215724945068 + ] + ], + "corners_2d": [ + [ + 553.2311605649203, + 695.7489901165118 + ], + [ + 593.1794908932566, + 701.4948028675968 + ], + [ + 600.2137111389454, + 665.3802015118571 + ], + [ + 561.3630344125829, + 659.9551283607241 + ], + [ + 547.8303463252097, + 655.0534058982346 + ], + [ + 590.2511668519413, + 660.9624977189638 + ], + [ + 597.8002202242913, + 623.8769513940263 + ], + [ + 556.6149972210653, + 618.317372621509 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 254, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -98.03065490722656, + "y": -101.24003601074219, + "z": 0.7274113893508911 + }, + "extent": { + "x": 0.41743162274360657, + "y": 0.44661131501197815, + "z": 0.8556920289993286 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 580.104310473752, + "ymin": 273.39704754922127, + "xmax": 619.1783855616382, + "ymax": 339.3126102322139 + }, + "corners_3d": [ + [ + -98.34610748291016, + -101.76367950439453, + -0.1282806396484375 + ], + [ + -98.53182220458984, + -100.88997650146484, + -0.1282806396484375 + ], + [ + -97.71520233154297, + -100.71639251708984, + -0.1282806396484375 + ], + [ + -97.52948760986328, + -101.59009552001953, + -0.1282806396484375 + ], + [ + -98.34610748291016, + -101.76367950439453, + 1.5831034183502197 + ], + [ + -98.53182220458984, + -100.88997650146484, + 1.5831034183502197 + ], + [ + -97.71520233154297, + -100.71639251708984, + 1.5831034183502197 + ], + [ + -97.52948760986328, + -101.59009552001953, + 1.5831034183502197 + ] + ], + "corners_2d": [ + [ + 582.503065058833, + 332.4250641657701 + ], + [ + 609.2552813145973, + 339.3126102322139 + ], + [ + 619.1783855616382, + 322.33247262703253 + ], + [ + 592.8476364929969, + 315.6984528736327 + ], + [ + 580.104310473752, + 289.9905296566774 + ], + [ + 607.9624347062504, + 296.8307076030258 + ], + [ + 618.3198150379195, + 279.9752015259684 + ], + [ + 590.9183526452823, + 273.39704754922127 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 2739, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 871.3897056318984, + "ymin": 18.713012995291365, + "xmax": 929.0835510379143, + "ymax": 97.83674870168699 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 916.646132399602, + 51.577761244604574 + ], + [ + 871.3897056318984, + 48.47397737551029 + ], + [ + 873.4755162080501, + 94.25617485172677 + ], + [ + 922.1040757397064, + 97.83674870168699 + ], + [ + 923.0065399589007, + 21.735694761961838 + ], + [ + 876.6825024209105, + 18.713012995291365 + ], + [ + 879.2202139843557, + 63.369262995561485 + ], + [ + 929.0835510379143, + 66.86815189925505 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 30203, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 735.7086790975678, + "ymin": 79.38133482586164, + "xmax": 900.8961474544279, + "ymax": 397.71607496504043 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 866.6734609776297, + 195.16617268889058 + ], + [ + 757.8966050930051, + 185.93570301519756 + ], + [ + 735.7086790975678, + 383.0091933948865 + ], + [ + 872.8888465016778, + 397.71607496504043 + ], + [ + 887.7066995092761, + 88.04896468299592 + ], + [ + 768.692533551649, + 79.38133482586164 + ], + [ + 747.0233061609182, + 268.7441621070691 + ], + [ + 900.8961474544279, + 283.24703500414915 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 48788, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1056.9431824976743, + "ymin": 140.29736296145, + "xmax": 1280.0, + "ymax": 505.99438096282665 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 1118.7136726628855, + 487.8423061850796 + ], + [ + 1277.8368607364766, + 505.99438096282665 + ], + [ + 1179.106481932973, + 261.30090664527916 + ], + [ + 1056.9431824976743, + 250.4164099982396 + ], + [ + 1182.3742625417326, + 373.2489237172965 + ], + [ + 1364.3088146439356, + 391.63172713928986 + ], + [ + 1233.9056876277778, + 150.6813844528015 + ], + [ + 1098.7151685138713, + 140.29736296145 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 7601, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 884.7744139184322, + "ymin": 236.58288617863735, + "xmax": 967.2878417642095, + "ymax": 398.18018408809826 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 940.7767692758771, + 280.49430571821443 + ], + [ + 884.7744139184322, + 275.25609192023455 + ], + [ + 890.4845927868427, + 391.4001775149898 + ], + [ + 954.26410207497, + 398.18018408809826 + ], + [ + 951.6736754639029, + 241.76291648221684 + ], + [ + 893.5859023795473, + 236.58288617863735 + ], + [ + 900.7895998195934, + 351.98123563698647 + ], + [ + 967.2878417642095, + 358.7531058096483 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 5688, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1024.4205275346535, + "ymin": 2.205111488592536, + "xmax": 1125.4005325747758, + "ymax": 123.63207030630451 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 1045.265890588777, + 119.0085011784719 + ], + [ + 1106.9588406849143, + 123.63207030630451 + ], + [ + 1079.5873362069713, + 51.526258084667404 + ], + [ + 1024.4205275346535, + 47.809795380288506 + ], + [ + 1061.1604715472383, + 70.74613452081309 + ], + [ + 1125.4005325747758, + 75.21629515928942 + ], + [ + 1095.083266162566, + 5.769182964384697 + ], + [ + 1037.8880764974385, + 2.205111488592536 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1002.5103674701747, + "ymin": 678.5918969422308, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1725.6124977514078, + 1043.089999687213 + ], + [ + 1709.7363813374689, + 1013.7089565455027 + ], + [ + 1002.5103674701747, + 895.1872900866107 + ], + [ + 1005.0665339966696, + 920.303833433597 + ], + [ + 2324.078686143472, + 874.1424435516732 + ], + [ + 2282.967161711138, + 833.7395552062934 + ], + [ + 1175.3160316752078, + 678.5918969422308 + ], + [ + 1183.5281586300507, + 710.4635988114032 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 739.8687473380131, + "ymin": 0.0, + "xmax": 850.2149330750779, + "ymax": 36.31488000218036 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 740.580146602105, + 26.440370786179642 + ], + [ + 739.8687473380131, + 30.671176209862836 + ], + [ + 824.2059573598262, + 36.31488000218036 + ], + [ + 824.3257413508326, + 32.0046590743371 + ], + [ + 754.5188044222859, + -156.9209001245689 + ], + [ + 753.8204582527026, + -153.57812923800202 + ], + [ + 850.2149330750779, + -149.108792042544 + ], + [ + 850.1411625011187, + -152.5231799142897 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2080193722244522285, + "instance_id": 11745, + "pixel_count": null, + "type_id": "BP_StreetLight_simple51_120_SM_2", + "bbox_3d": { + "center_world": { + "x": -78.77368927001953, + "y": -128.03121948242188, + "z": 4.08544921875 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 47.84690619379796, + "ymin": 0.0, + "xmax": 129.14063416117148, + "ymax": 17.844573942090676 + }, + "corners_3d": [ + [ + -80.54341888427734, + -127.2630386352539, + 0.20873045921325684 + ], + [ + -80.32381439208984, + -126.88267517089844, + 0.20873045921325684 + ], + [ + -77.00395965576172, + -128.7993927001953, + 0.20873045921325684 + ], + [ + -77.22356414794922, + -129.1797637939453, + 0.20873045921325684 + ], + [ + -80.54341888427734, + -127.2630386352539, + 7.962167739868164 + ], + [ + -80.32381439208984, + -126.88267517089844, + 7.962167739868164 + ], + [ + -77.00395965576172, + -128.7993927001953, + 7.962167739868164 + ], + [ + -77.22356414794922, + -129.1797637939453, + 7.962167739868164 + ] + ], + "corners_2d": [ + [ + 119.08367969157337, + 17.844573942090676 + ], + [ + 129.14063416117148, + 16.33500914303528 + ], + [ + 128.35169324658074, + -15.311976737560258 + ], + [ + 118.83558785221919, + -13.960818716060146 + ], + [ + 47.84690619379796, + -164.2711791445264 + ], + [ + 59.48258363219156, + -165.45633838540482 + ], + [ + 62.82430420206924, + -190.11262987358248 + ], + [ + 51.90643114890747, + -189.06728563379386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1214.897226334588, + "ymin": 6.505944869441521, + "xmax": 1280.0, + "ymax": 40.63061808637485 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1229.0096615732455, + 36.71934453723583 + ], + [ + 1290.0239517645728, + 40.63061808637485 + ], + [ + 1273.5905994171926, + 18.22973256137425 + ], + [ + 1214.897226334588, + 14.598721039246243 + ], + [ + 1232.716000152628, + 28.458308952100708 + ], + [ + 1294.1407006630461, + 32.34087562729525 + ], + [ + 1277.4554903028502, + 10.108646277029607 + ], + [ + 1218.3823586087035, + 6.505944869441521 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1180.1080355877293, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 119.52288163534843 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1192.9210997606328, + 115.13183583980242 + ], + [ + 1253.3643461749912, + 119.52288163534843 + ], + [ + 1238.2575069541645, + 94.2082498946769 + ], + [ + 1180.1080355877293, + 90.13216037516776 + ], + [ + 1243.9330421845061, + 1.2447943727040638 + ], + [ + 1310.3483293069762, + 5.247604495864664 + ], + [ + 1291.6197134578647, + -17.764114735651617 + ], + [ + 1227.9623430134493, + -21.454808707563245 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 833.7015130188162, + "ymin": 70.70352323077242, + "xmax": 850.1164639406397, + "ymax": 80.98924789500524 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 833.7622076696105, + 74.51119194751465 + ], + [ + 833.7015130188162, + 79.85858234667847 + ], + [ + 849.484587550298, + 80.98924789500524 + ], + [ + 849.4155557679067, + 75.62334824038521 + ], + [ + 834.340838569666, + 70.70352323077242 + ], + [ + 834.2847665426316, + 76.03539341556564 + ], + [ + 850.1164639406397, + 77.1628111018465 + ], + [ + 850.0420123136529, + 71.81242989521195 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1214.960951581883, + "ymin": 6.520704495107395, + "xmax": 1280.0, + "ymax": 40.55903140701383 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1229.0584726840816, + 36.65251237649528 + ], + [ + 1290.0070669380013, + 40.55903140701383 + ], + [ + 1273.5938402086304, + 18.187086532291573 + ], + [ + 1214.960951581883, + 14.560167221235417 + ], + [ + 1232.7404244600962, + 28.446094679895566 + ], + [ + 1294.096253402612, + 32.324126137958615 + ], + [ + 1277.4331526483693, + 10.119529700503392 + ], + [ + 1218.423408338001, + 6.520704495107395 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 696.6397542034384, + "ymin": 54.98185748499634, + "xmax": 855.0137637577759, + "ymax": 299.30058153952024 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 698.0841899814297, + 279.1706346906137 + ], + [ + 696.6397542034384, + 287.7609257299064 + ], + [ + 816.8974046347786, + 299.30058153952024 + ], + [ + 817.1425583365655, + 290.47914716333514 + ], + [ + 710.2496983057224, + 54.98185748499634 + ], + [ + 708.6479544033381, + 62.64891877613354 + ], + [ + 855.0137637577759, + 72.99967753010014 + ], + [ + 854.8426912282494, + 65.0817783101815 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 833.7889727689883, + "ymin": 70.75804528303576, + "xmax": 850.028628383513, + "ymax": 80.93440585133374 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 833.8483157930356, + 74.52531173297177 + ], + [ + 833.7889727689883, + 79.81588033283748 + ], + [ + 849.4037575841326, + 80.93440585133374 + ], + [ + 849.336113972861, + 75.62571948687946 + ], + [ + 834.4210677365621, + 70.75804528303576 + ], + [ + 834.3662536951011, + 76.03342197689369 + ], + [ + 850.028628383513, + 77.14876834370261 + ], + [ + 849.9556837319918, + 71.8552721746305 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 65.62886663062909, + "ymin": 601.4471074668439, + "xmax": 358.5899800766919, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 358.5899800766919, + 815.5826254932095 + ], + [ + 337.52201370975814, + 812.1908725589248 + ], + [ + 254.20140416686797, + 1041.1091325997777 + ], + [ + 278.52711107741436, + 1045.7180212114113 + ], + [ + 247.85031663441367, + 605.4536146239111 + ], + [ + 218.89700027312477, + 601.4471074668439 + ], + [ + 65.62886663062909, + 890.34328822775 + ], + [ + 101.0916950267806, + 896.572056306918 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "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": 560.6004993812708, + "xmax": 480.5720627272283, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 480.5720627272283, + 801.9357998150288 + ], + [ + 459.9351951468344, + 798.4919979937579 + ], + [ + 153.34707953343195, + 1866.215134857575 + ], + [ + 188.76749254970838, + 1877.1413283088557 + ], + [ + 411.500275834063, + 564.6791321266012 + ], + [ + 382.20262463353436, + 560.6004993812708 + ], + [ + -410.0761688844734, + 2464.37418400645 + ], + [ + -338.7269006761808, + 2493.8887934238965 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1190.4203571937114, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 93.80646177106439 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1361.2604610801568, + -18.941219913204236 + ], + [ + 1190.4203571937114, + -3.9866310441871633 + ], + [ + 1329.1518421845867, + 93.80646177106439 + ], + [ + 1524.266298590314, + 73.34499901627555 + ], + [ + 1552.2277634033985, + -381.2775563182719 + ], + [ + 1341.1806259086957, + -374.7232177916695 + ], + [ + 1561.4131716868976, + -329.413547040607 + ], + [ + 1810.1539819402144, + -339.26145370735264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 202.87910914598365, + "ymax": 91.550135808032 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + 202.87910914598365, + -0.8246533028076897 + ], + [ + 37.44747038247874, + 11.811792450384985 + ], + [ + -10.15689984887581, + 91.550135808032 + ], + [ + 178.50956944619168, + 75.26982137987392 + ], + [ + 112.01332785469367, + -281.53350365411416 + ], + [ + -91.17372313294516, + -273.7445473274299 + ], + [ + -172.66028371068546, + -222.88283205146945 + ], + [ + 66.68182911267627, + -233.51431697204066 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 145.78008583206446, + "ymax": 168.31519248457153 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 145.78008583206446, + 76.27470653719155 + ], + [ + -15.44607849052943, + 76.77145634092761 + ], + [ + -106.82294387962952, + 168.31519248457153 + ], + [ + 77.23631368870804, + 167.66825306015247 + ], + [ + 18.879083291966367, + -250.66700594799545 + ], + [ + -183.9074502285937, + -250.35782436602904 + ], + [ + -334.1346959462777, + -191.22209055461258 + ], + [ + -93.85764246989936, + -191.65563065117078 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00064/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00064/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5d7b2e191051b0eead36fe1eb9f448c28de8c65c --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00064/meta.json @@ -0,0 +1,2875 @@ +{ + "frame_id": 64, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 32.0, + "sim_timestamp": 10472.596478827298 + }, + "drone_pose": { + "x": -119.45819408704413, + "y": -96.80403696505823, + "z": 20.03966914038785, + "pitch": -44.780902498380875, + "yaw": -9.35425057608098, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.700366735458374, + 0.1153704896569252, + 0.7043976783752441, + 58.38031768798828 + ], + [ + -0.16253815591335297, + 0.9867022633552551, + -3.725290298461914e-09, + 114.93327331542969 + ], + [ + -0.6950308084487915, + -0.11449149250984192, + 0.7098055481910706, + -86.16815185546875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -119.1055021937102, + "y": -96.67909424609367, + "z": 20.041254515239444 + }, + "t1_image_uv": [ + 1389.011530879296, + -601.9487873635999 + ], + "t1_depth": 0.23148223908526389 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -99.66718292236328, + "y": -99.68776321411131, + "z": 0.7274016332626343 + }, + "image_uv": [ + 652.8271507382553, + 346.96032842075226 + ], + "depth": 27.79717915139821, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 195, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -99.66718292236328, + "y": -99.68775939941406, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.20432615280151367, + "y": 0.20874997973442078, + "z": 0.5219773054122925 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 644.5264204813808, + "ymin": 328.205526057125, + "xmax": 661.2779939933587, + "ymax": 365.4465510701319 + }, + "corners_3d": [ + [ + -99.87150573730469, + -99.8965072631836, + 0.2054242491722107 + ], + [ + -99.87150573730469, + -99.47901153564453, + 0.2054242491722107 + ], + [ + -99.46286010742188, + -99.47901153564453, + 0.2054242491722107 + ], + [ + -99.46286010742188, + -99.8965072631836, + 0.2054242491722107 + ], + [ + -99.87150573730469, + -99.8965072631836, + 1.2493789196014404 + ], + [ + -99.87150573730469, + -99.47901153564453, + 1.2493789196014404 + ], + [ + -99.46286010742188, + -99.47901153564453, + 1.2493789196014404 + ], + [ + -99.46286010742188, + -99.8965072631836, + 1.2493789196014404 + ] + ], + "corners_2d": [ + [ + 644.5264204813808, + 363.8010284973973 + ], + [ + 658.6591744952436, + 365.4465510701319 + ], + [ + 660.724782358772, + 355.7513011605687 + ], + [ + 646.7312815001794, + 354.1388838461667 + ], + [ + 644.6482984153733, + 337.8560624630842 + ], + [ + 659.1624771754044, + 339.5001312783243 + ], + [ + 661.2779939933587, + 329.81564132667313 + ], + [ + 646.9106476181224, + 328.205526057125 + ] + ], + "center_offset_px": [ + 12.827150738255341, + -13.039671579247738 + ] + }, + "trace_timestep_index": 64, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 47, + "semantic_pixel_counts": { + "1": 258460, + "2": 184139, + "3": 354357, + "4": 1599, + "5": 936, + "6": 7933, + "10": 43, + "12": 1822, + "14": 16620, + "16": 77609, + "20": 5902, + "24": 12180 + }, + "instance_pixel_counts": { + "913": 1290, + "1115": 7407, + "4206": 1381, + "4718": 3778, + "8834": 1677, + "11394": 1341, + "14416": 936, + "15963": 80, + "16475": 945, + "16987": 4612, + "17232": 1599, + "17499": 14282, + "18011": 304787, + "24064": 4198, + "24512": 16267, + "26963": 26, + "30656": 8333, + "31168": 28183, + "34120": 46676, + "35668": 1906, + "35924": 1689, + "36443": 11994, + "36692": 1017, + "40019": 691, + "43147": 6792, + "43659": 3155, + "44179": 96218, + "46227": 162242, + "46741": 5640, + "48749": 900, + "48779": 8983, + "48789": 6540, + "49261": 4191, + "49664": 195, + "49920": 8, + "50176": 560, + "50432": 935, + "50944": 124, + "51456": 2834, + "52160": 18177, + "52480": 31095, + "52672": 16616, + "52736": 46514, + "54016": 7860, + "55040": 5926, + "55744": 28287, + "64351": 2670 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 195, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -99.66718292236328, + "y": -99.68775939941406, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.16270993649959564, + "y": 0.2206445038318634, + "z": 0.5289035439491272 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 644.3507149364427, + "ymin": 328.9564656806243, + "xmax": 661.4788774095631, + "ymax": 364.664727107418 + }, + "corners_3d": [ + [ + -99.82989501953125, + -99.90840148925781, + 0.19849801063537598 + ], + [ + -99.82989501953125, + -99.46711730957031, + 0.19849801063537598 + ], + [ + -99.50447082519531, + -99.46711730957031, + 0.19849801063537598 + ], + [ + -99.50447082519531, + -99.90840148925781, + 0.19849801063537598 + ], + [ + -99.82989501953125, + -99.90840148925781, + 1.2563050985336304 + ], + [ + -99.82989501953125, + -99.46711730957031, + 1.2563050985336304 + ], + [ + -99.50447082519531, + -99.46711730957031, + 1.2563050985336304 + ], + [ + -99.50447082519531, + -99.90840148925781, + 1.2563050985336304 + ] + ], + "corners_2d": [ + [ + 644.3507149364427, + 362.9290541002971 + ], + [ + 659.2710191498636, + 364.664727107418 + ], + [ + 660.9125196544487, + 356.9432341057621 + ], + [ + 646.1093863734367, + 355.2354212909734 + ], + [ + 644.4693049638391, + 336.64070627827505 + ], + [ + 659.7972809099126, + 338.3747266915101 + ], + [ + 661.4788774095631, + 330.66190245486695 + ], + [ + 646.2745366067364, + 328.9564656806243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 8, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -97.1366958618164, + "y": -101.27404022216797, + "z": 0.7274113893508911 + }, + "extent": { + "x": 0.5742285251617432, + "y": 0.38313964009284973, + "z": 0.920104444026947 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 601.2176644945058, + "ymin": 249.85032507484885, + "xmax": 628.0590577075008, + "ymax": 320.0273516178152 + }, + "corners_3d": [ + [ + -97.77803802490234, + -101.5294189453125, + -0.1926930546760559 + ], + [ + -97.61871337890625, + -100.7798843383789, + -0.1926930546760559 + ], + [ + -96.49535369873047, + -101.01866149902344, + -0.1926930546760559 + ], + [ + -96.65467834472656, + -101.76819610595703, + -0.1926930546760559 + ], + [ + -97.77803802490234, + -101.5294189453125, + 1.6475157737731934 + ], + [ + -97.61871337890625, + -100.7798843383789, + 1.6475157737731934 + ], + [ + -96.49535369873047, + -101.01866149902344, + 1.6475157737731934 + ], + [ + -96.65467834472656, + -101.76819610595703, + 1.6475157737731934 + ] + ], + "corners_2d": [ + [ + 603.5385750308521, + 320.0273516178152 + ], + [ + 628.0590577075008, + 319.263516596404 + ], + [ + 626.7232820872008, + 295.1686363500736 + ], + [ + 602.850101247582, + 295.89262555760143 + ], + [ + 601.8909076151207, + 274.50619968568867 + ], + [ + 627.5199264833946, + 273.7476936035422 + ], + [ + 626.1403742243343, + 249.85032507484885 + ], + [ + 601.2176644945058, + 250.56754968248276 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 560, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -101.92300415039062, + "y": -92.74504852294922, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.5147997736930847, + "y": 0.3202001750469208, + "z": 0.8870022296905518 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 877.6108688420924, + "ymin": 401.3426229700412, + "xmax": 919.7179692935996, + "ymax": 475.412621114964 + }, + "corners_3d": [ + [ + -102.46845245361328, + -93.00968170166016, + -0.312002956867218 + ], + [ + -102.4015121459961, + -92.37278747558594, + -0.312002956867218 + ], + [ + -101.37755584716797, + -92.48041534423828, + -0.312002956867218 + ], + [ + -101.44449615478516, + -93.1173095703125, + -0.312002956867218 + ], + [ + -102.46845245361328, + -93.00968170166016, + 1.4620015621185303 + ], + [ + -102.4015121459961, + -92.37278747558594, + 1.4620015621185303 + ], + [ + -101.37755584716797, + -92.48041534423828, + 1.4620015621185303 + ], + [ + -101.44449615478516, + -93.1173095703125, + 1.4620015621185303 + ] + ], + "corners_2d": [ + [ + 882.0891467794506, + 474.3114380000494 + ], + [ + 906.1544503683939, + 475.412621114964 + ], + [ + 901.0091428871057, + 446.0071044877022 + ], + [ + 877.6108688420924, + 444.96568990078606 + ], + [ + 894.4129050253882, + 430.88573852024024 + ], + [ + 919.7179692935996, + 431.9959381693054 + ], + [ + 913.9261343582932, + 402.38962782468417 + ], + [ + 889.3575384938599, + 401.3426229700412 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 935, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -109.16718292236328, + "y": -99.68775939941406, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.5043944716453552, + "y": 0.44790035486221313, + "z": 0.9172897338867188 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 559.3524852769561, + "ymin": 597.5498998807616, + "xmax": 611.8073051149171, + "ymax": 686.7280212133637 + }, + "corners_3d": [ + [ + -109.67157745361328, + -100.13565826416016, + -0.18988817930221558 + ], + [ + -109.67157745361328, + -99.23986053466797, + -0.18988817930221558 + ], + [ + -108.66278839111328, + -99.23986053466797, + -0.18988817930221558 + ], + [ + -108.66278839111328, + -100.13565826416016, + -0.18988817930221558 + ], + [ + -109.67157745361328, + -100.13565826416016, + 1.6446912288665771 + ], + [ + -109.67157745361328, + -99.23986053466797, + 1.6446912288665771 + ], + [ + -108.66278839111328, + -99.23986053466797, + 1.6446912288665771 + ], + [ + -108.66278839111328, + -100.13565826416016, + 1.6446912288665771 + ] + ], + "corners_2d": [ + [ + 564.2025157886203, + 680.5746259219455 + ], + [ + 603.5151529107975, + 686.7280212133637 + ], + [ + 611.8073051149171, + 645.8101188439267 + ], + [ + 573.7074887105313, + 640.0431353530569 + ], + [ + 559.3524852769561, + 639.1883117041634 + ], + [ + 601.1686001357588, + 645.5245925748179 + ], + [ + 610.0556623769864, + 603.4640481920212 + ], + [ + 569.6090278127823, + 597.5498998807616 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 124, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -97.53065490722656, + "y": -101.24003601074219, + "z": 0.7274113893508911 + }, + "extent": { + "x": 0.4884130656719208, + "y": 0.45949217677116394, + "z": 0.8715516328811646 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 592.4687044838753, + "ymin": 258.52434853928906, + "xmax": 633.4345438951148, + "ymax": 328.1560415382222 + }, + "corners_3d": [ + [ + -97.91285705566406, + -101.79103088378906, + -0.14414024353027344 + ], + [ + -98.10392761230469, + -100.89213562011719, + -0.14414024353027344 + ], + [ + -97.14845275878906, + -100.68904113769531, + -0.14414024353027344 + ], + [ + -96.95738220214844, + -101.58793640136719, + -0.14414024353027344 + ], + [ + -97.91285705566406, + -101.79103088378906, + 1.5989630222320557 + ], + [ + -98.10392761230469, + -100.89213562011719, + 1.5989630222320557 + ], + [ + -97.14845275878906, + -100.68904113769531, + 1.5989630222320557 + ], + [ + -96.95738220214844, + -101.58793640136719, + 1.5989630222320557 + ] + ], + "corners_2d": [ + [ + 594.4217166139678, + 320.836573676366 + ], + [ + 621.7729477383208, + 328.1560415382222 + ], + [ + 633.4345438951148, + 308.5250537580996 + ], + [ + 606.5711303730516, + 301.51315160465947 + ], + [ + 592.4687044838753, + 277.70698809539675 + ], + [ + 620.9853972566849, + 284.9822130054081 + ], + [ + 633.1571682158223, + 265.48114741897473 + ], + [ + 605.1702850709892, + 258.52434853928906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 2834, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 886.9893555502372, + "ymin": 12.773010238106849, + "xmax": 945.4149923559911, + "ymax": 93.65804839836267 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 932.8373701334801, + 46.311304561930456 + ], + [ + 886.9893555502372, + 42.83466062287516 + ], + [ + 888.6176563133426, + 89.64872701360491 + ], + [ + 937.8723648675691, + 93.65804839836267 + ], + [ + 939.7289395380539, + 16.163148910900873 + ], + [ + 892.7695828419724, + 12.773010238106849 + ], + [ + 894.8753713375764, + 58.49523345984994 + ], + [ + 945.4149923559911, + 62.418387920403745 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 31095, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 746.3731785087652, + "ymin": 75.14350077757081, + "xmax": 914.9466074991062, + "ymax": 399.3510625891516 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 880.6610215835196, + 192.67741854559432 + ], + [ + 770.7393049282346, + 182.36914943751856 + ], + [ + 746.3731785087652, + 382.9599466029536 + ], + [ + 884.8124277059308, + 399.3510625891516 + ], + [ + 903.5263714903879, + 84.86956334933092 + ], + [ + 782.9826178844082, + 75.14350077757081 + ], + [ + 759.2242704098636, + 268.8644223671262 + ], + [ + 914.9466074991062, + 285.1203545094354 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 46514, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1073.06703674761, + "ymin": 140.08491997804464, + "xmax": 1280.0, + "ymax": 514.3439068042939 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 1133.0964103095698, + 493.9651776106067 + ], + [ + 1294.8868042680929, + 514.3439068042939 + ], + [ + 1197.251697239601, + 262.9835963606384 + ], + [ + 1073.06703674761, + 250.75728532873381 + ], + [ + 1200.3961729916805, + 380.21873323295483 + ], + [ + 1386.178267340243, + 401.0077338103821 + ], + [ + 1255.452481203257, + 151.8163485407948 + ], + [ + 1117.5849415149457, + 140.08491997804464 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 7860, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 898.1410616363321, + "ymin": 235.83703828677943, + "xmax": 981.0741566131369, + "ymax": 400.6752583108209 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 954.8214869680526, + 280.44434280402703 + ], + [ + 898.1410616363321, + 274.58683776315564 + ], + [ + 902.6855200114753, + 393.10035449617595 + ], + [ + 967.2055509586985, + 400.6752583108209 + ], + [ + 966.4902845147817, + 241.64023656709207 + ], + [ + 907.6424598198738, + 235.83703828677943 + ], + [ + 913.7309724380701, + 353.81599023391004 + ], + [ + 981.0741566131369, + 361.39729579898227 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 5926, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1042.3180468636356, + "ymin": 0.0, + "xmax": 1145.0746127889643, + "ymax": 121.41777206148709 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 1062.7005297644844, + 116.22233169717578 + ], + [ + 1125.4102000977653, + 121.41777206148709 + ], + [ + 1098.3899272864173, + 47.35484779594731 + ], + [ + 1042.3180468636356, + 43.17805519978913 + ], + [ + 1079.6949222386856, + 67.52893868554088 + ], + [ + 1145.0746127889643, + 72.56353052666259 + ], + [ + 1114.9641285985801, + 1.0727816964094927 + ], + [ + 1056.7664941701992, + -2.9411367273263522 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1059966748714866102, + "instance_id": 46613, + "pixel_count": null, + "type_id": "AmericanLights_Town04_18_Poles_4", + "bbox_3d": { + "center_world": { + "x": -113.09796905517578, + "y": -84.80180358886719, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1010.5768872740598, + "ymin": 700.9781488739698, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.36796569824219, + -78.77668762207031, + 0.0 + ], + [ + -112.93515014648438, + -78.77284240722656, + 0.0 + ], + [ + -112.82797241210938, + -90.82691955566406, + 0.0 + ], + [ + -113.26078796386719, + -90.83076477050781, + 0.0 + ], + [ + -113.36796569824219, + -78.77668762207031, + 8.446706771850586 + ], + [ + -112.93515014648438, + -78.77284240722656, + 8.446706771850586 + ], + [ + -112.82797241210938, + -90.82691955566406, + 8.446706771850586 + ], + [ + -113.26078796386719, + -90.83076477050781, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1745.815914980398, + 1069.944556342653 + ], + [ + 1729.944125589521, + 1039.6355724399393 + ], + [ + 1010.5768872740598, + 907.2290458104184 + ], + [ + 1012.8840040169862, + 932.781912728966 + ], + [ + 2381.409680147138, + 921.9830720222724 + ], + [ + 2338.61733735119, + 878.951749691739 + ], + [ + 1192.4962398950088, + 700.9781488739698 + ], + [ + 1200.6245670472172, + 734.113599528901 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 754.0822549376386, + "ymin": 0.0, + "xmax": 868.1956474873042, + "ymax": 30.133334858041906 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 754.8433839176391, + 19.502994833423372 + ], + [ + 754.0822549376386, + 23.819414387611573 + ], + [ + 839.3358176044326, + 30.133334858041906 + ], + [ + 839.5017197159968, + 25.728365463633224 + ], + [ + 771.146325298816, + -166.15927341355393 + ], + [ + 770.4076752380879, + -162.72156205006695 + ], + [ + 868.1956474873042, + -157.68056161449726 + ], + [ + 868.1519470374267, + -161.1990247301219 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2080193722244522285, + "instance_id": 11745, + "pixel_count": null, + "type_id": "BP_StreetLight_simple51_120_SM_2", + "bbox_3d": { + "center_world": { + "x": -78.77368927001953, + "y": -128.03121948242188, + "z": 4.08544921875 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 60.01097728987122, + "ymin": 0.0, + "xmax": 140.86111708950818, + "ymax": 6.83301955504902 + }, + "corners_3d": [ + [ + -80.54341888427734, + -127.2630386352539, + 0.20873045921325684 + ], + [ + -80.32381439208984, + -126.88267517089844, + 0.20873045921325684 + ], + [ + -77.00395965576172, + -128.7993927001953, + 0.20873045921325684 + ], + [ + -77.22356414794922, + -129.1797637939453, + 0.20873045921325684 + ], + [ + -80.54341888427734, + -127.2630386352539, + 7.962167739868164 + ], + [ + -80.32381439208984, + -126.88267517089844, + 7.962167739868164 + ], + [ + -77.00395965576172, + -128.7993927001953, + 7.962167739868164 + ], + [ + -77.22356414794922, + -129.1797637939453, + 7.962167739868164 + ] + ], + "corners_2d": [ + [ + 130.81529585218465, + 6.83301955504902 + ], + [ + 140.86111708950818, + 5.3636011752863055 + ], + [ + 140.29923334429884, + -26.76687178689133 + ], + [ + 130.7929333810315, + -25.45128656629697 + ], + [ + 60.01097728987122, + -176.7933497858388 + ], + [ + 71.64741985996295, + -177.95405023008902 + ], + [ + 75.21521379463707, + -203.13779737371078 + ], + [ + 64.29644414432687, + -202.11396166065208 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1237.3427287272903, + "ymin": 3.110733605912344, + "xmax": 1280.0, + "ymax": 38.592310692198964 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1251.5144434141168, + 34.16184656335275 + ], + [ + 1313.8661386420663, + 38.592310692198964 + ], + [ + 1297.3092872902298, + 15.420960689390995 + ], + [ + 1237.3427287272903, + 11.308716866935015 + ], + [ + 1255.4687371262266, + 25.799450707375456 + ], + [ + 1318.2546225122787, + 30.19927702755757 + ], + [ + 1301.4318374028144, + 7.192601857714294 + ], + [ + 1241.0636836963124, + 3.110733605912344 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1200.3613882386185, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 118.34905877934762 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1213.1269048295023, + 113.3946269405933 + ], + [ + 1274.759007513116, + 118.34905877934762 + ], + [ + 1259.6462660524626, + 92.26515715195774 + ], + [ + 1200.3613882386185, + 87.66638326048349 + ], + [ + 1267.4951565837682, + -1.766136923427382 + ], + [ + 1335.4367396359635, + 2.7765927890537796 + ], + [ + 1316.5070185736845, + -21.072094625505997 + ], + [ + 1251.4052810994458, + -25.259511605402395 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 849.2797991096056, + "ymin": 68.59557654608875, + "xmax": 865.9950171586671, + "ymax": 79.21977692736817 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 849.3907519066152, + 72.43745591439676 + ], + [ + 849.2797991096056, + 77.94389976942045 + ], + [ + 865.2982290914301, + 79.21977692736817 + ], + [ + 865.2776180713681, + 73.69244740133917 + ], + [ + 850.0317854465682, + 68.59557654608875 + ], + [ + 849.9258135456123, + 74.08711349255458 + ], + [ + 865.9950171586671, + 75.3595763506554 + ], + [ + 865.9685933181273, + 69.84714605912421 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1237.4087290475331, + "ymin": 3.1261894413523237, + "xmax": 1280.0, + "ymax": 38.51926474382765 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1251.5655649226399, + 34.094164531792785 + ], + [ + 1313.8502135500114, + 38.51926474382765 + ], + [ + 1297.3135897337418, + 15.377802733344879 + ], + [ + 1237.4087290475331, + 11.270172708087955 + ], + [ + 1255.4938443802312, + 25.78704235173501 + ], + [ + 1318.2093240761778, + 30.181738433465966 + ], + [ + 1301.4088609565035, + 7.203675518224941 + ], + [ + 1241.1054742925917, + 3.1261894413523237 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 707.9076248135515, + "ymin": 51.67157562232603, + "xmax": 871.0386727035286, + "ymax": 298.55188505970847 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 709.4480660886866, + 276.9432483175981 + ], + [ + 707.9076248135515, + 285.6792063704207 + ], + [ + 829.2265068977606, + 298.55188505970847 + ], + [ + 829.565189815955, + 289.5593057911915 + ], + [ + 724.3417065115059, + 51.67157562232603 + ], + [ + 722.6489616133995, + 59.54968825115168 + ], + [ + 871.0386727035286, + 71.22049977334149 + ], + [ + 870.9373128525406, + 63.05969369224982 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 849.3690970369375, + "ymin": 68.65188493644132, + "xmax": 865.9058142784047, + "ymax": 79.16312227714559 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 849.4781527088361, + 72.45299586346039 + ], + [ + 849.3690970369375, + 77.90094298410423 + ], + [ + 865.2167357319013, + 79.16312227714559 + ], + [ + 865.1970060698047, + 73.69473121091755 + ], + [ + 850.1126564534634, + 68.65188493644132 + ], + [ + 850.0084806359714, + 74.08524051424871 + ], + [ + 865.9058142784047, + 75.344077708143 + ], + [ + 865.8803990960363, + 69.89027075292074 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 68.04562670338908, + "ymin": 607.8277918346967, + "xmax": 363.87687828085893, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 363.87687828085893, + 816.9775495368585 + ], + [ + 342.86150216852616, + 813.2437844022586 + ], + [ + 257.9837653589512, + 1042.7614408652223 + ], + [ + 282.17817502381797, + 1047.815976376854 + ], + [ + 253.14313713052178, + 612.2946076407317 + ], + [ + 224.1416854172449, + 607.8277918346967 + ], + [ + 68.04562670338908, + 901.2541905521338 + ], + [ + 103.44497831793365, + 908.1776843357654 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16194625468754558244, + "instance_id": 9469, + "pixel_count": null, + "type_id": "BP_Lamppost_tall34_90_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.53463745117188, + "y": -125.88522338867188, + "z": 2.534440040588379 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 41.33691201169438, + "xmax": 6.645783164535942, + "ymax": 198.27485288161887 + }, + "corners_3d": [ + [ + -95.56306457519531, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -124.73487091064453, + 0.19161510467529297 + ], + [ + -93.50621032714844, + -127.03557586669922, + 0.19161510467529297 + ], + [ + -95.56306457519531, + -127.03557586669922, + 4.877264976501465 + ], + [ + -95.56306457519531, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -124.73487091064453, + 4.877264976501465 + ], + [ + -93.50621032714844, + -127.03557586669922, + 4.877264976501465 + ] + ], + "corners_2d": [ + [ + -88.21176399762862, + 192.13677544096035 + ], + [ + -29.694016185366763, + 198.27485288161887 + ], + [ + 6.645783164535942, + 166.06893493339834 + ], + [ + -49.77762326663981, + 160.4187496819799 + ], + [ + -165.98624970771994, + 70.89155008240834 + ], + [ + -101.83834277785797, + 76.64045729164991 + ], + [ + -58.51978003926763, + 46.58310526964635 + ], + [ + -120.16614166707654, + 41.33691201169438 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "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": 569.0180849836413, + "xmax": 486.0192726315041, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 486.0192726315041, + 804.8234234960975 + ], + [ + 465.3846477781518, + 801.0414330651165 + ], + [ + 151.828402289432, + 1867.510750172002 + ], + [ + 186.82321384240805, + 1879.3195876696225 + ], + [ + 417.8737013924193, + 573.5655744407337 + ], + [ + 388.4083592807959, + 569.0180849836413 + ], + [ + -421.41190221121974, + 2501.776053176432 + ], + [ + -350.90924603207, + 2534.254009708561 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1212.0625874918126, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 92.6033324714067 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1386.9128726567399, + -23.08255192382694 + ], + [ + 1212.0625874918126, + -8.75280400460116 + ], + [ + 1352.6079567212332, + 92.6033324714067 + ], + [ + 1552.9070346120288, + 72.95099473078648 + ], + [ + 1591.803668354749, + -393.53452659816355 + ], + [ + 1374.054789384004, + -387.1056622618852 + ], + [ + 1601.6661073379769, + -338.9505974968597 + ], + [ + 1859.7448856598387, + -348.67277765542485 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 214.60023158459916, + "ymax": 80.81486438834315 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + 214.60023158459916, + -11.520795862251475 + ], + [ + 49.42806845403072, + 0.2971826759561509 + ], + [ + 1.5065306662680769, + 80.81486438834315 + ], + [ + 189.68196503599427, + 65.61075093103938 + ], + [ + 124.47414552616124, + -295.18105695809356 + ], + [ + -78.78843002356814, + -287.81786729685086 + ], + [ + -160.7187910166922, + -235.90387699412975 + ], + [ + 78.48799958394432, + -245.9469282082165 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 157.09306476233627, + "ymax": 158.27754256678298 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 157.09306476233627, + 66.15605237329703 + ], + [ + -3.524420501346981, + 65.55549110322903 + ], + [ + -94.85661766716123, + 157.49741240363048 + ], + [ + 88.12378305121149, + 158.27754256678298 + ], + [ + 30.80418754585594, + -263.67421715527473 + ], + [ + -171.62418982141332, + -264.05246577262403 + ], + [ + -321.910554225803, + -203.96661479564932 + ], + [ + -82.62557033946473, + -203.43730807572638 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00065/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00065/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..66fe1a6b8556524f685816ac04351a1d838e65f2 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00065/meta.json @@ -0,0 +1,2998 @@ +{ + "frame_id": 65, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 32.5, + "sim_timestamp": 10486.150226434693 + }, + "drone_pose": { + "x": -119.1055021937102, + "y": -96.67909424609367, + "z": 20.041254515239444, + "pitch": -40.0012870583446, + "yaw": -6.345543992231102, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7613368630409241, + 0.0846649780869484, + 0.6428048014640808, + 69.61145782470703 + ], + [ + -0.11052436381578445, + 0.9938734173774719, + 0.0, + 109.25083923339844 + ], + [ + -0.6388666033744812, + -0.07104559242725372, + 0.7660300135612488, + -84.57611083984375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -118.42340832022681, + "y": -96.90426634851254, + "z": 20.166235347684765 + }, + "t1_image_uv": [ + 328.95342266033293, + -787.5327663431376 + ], + "t1_depth": 0.45802911562206716 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -99.16718292236328, + "y": -99.68776321411131, + "z": 0.7274016332626343 + }, + "image_uv": [ + 612.8863310055132, + 423.54068289992 + ], + "depth": 27.84954387780849, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 197, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -99.16718292236328, + "y": -99.68775939941406, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.28282710909843445, + "y": 0.19716306030750275, + "z": 0.553290605545044 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 604.3443841053323, + "ymin": 402.4074709507316, + "xmax": 621.0951461834135, + "ymax": 444.48711035661 + }, + "corners_3d": [ + [ + -99.45001220703125, + -99.88492584228516, + 0.17411094903945923 + ], + [ + -99.45001220703125, + -99.49059295654297, + 0.17411094903945923 + ], + [ + -98.88435363769531, + -99.49059295654297, + 0.17411094903945923 + ], + [ + -98.88435363769531, + -99.88492584228516, + 0.17411094903945923 + ], + [ + -99.45001220703125, + -99.88492584228516, + 1.2806921005249023 + ], + [ + -99.45001220703125, + -99.49059295654297, + 1.2806921005249023 + ], + [ + -98.88435363769531, + -99.49059295654297, + 1.2806921005249023 + ], + [ + -98.88435363769531, + -99.88492584228516, + 1.2806921005249023 + ] + ], + "corners_2d": [ + [ + 605.2499717099415, + 443.4260844264206 + ], + [ + 618.6585338221854, + 444.48711035661 + ], + [ + 621.0951461834135, + 430.99209883579914 + ], + [ + 607.8867842858849, + 429.9629847741422 + ], + [ + 604.3443841053323, + 415.7866566263604 + ], + [ + 618.1016929668438, + 416.8415182421043 + ], + [ + 620.6095522855736, + 403.42979803372975 + ], + [ + 607.0629109976328, + 402.4074709507316 + ] + ], + "center_offset_px": [ + -27.11366899448683, + 63.54068289992 + ] + }, + "trace_timestep_index": 65, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 64, + "semantic_pixel_counts": { + "1": 238477, + "2": 133780, + "3": 397785, + "4": 9853, + "5": 1006, + "6": 2912, + "9": 2628, + "10": 10235, + "12": 1058, + "14": 15731, + "16": 83043, + "20": 12953, + "21": 154, + "24": 11985 + }, + "instance_pixel_counts": { + "913": 1162, + "1115": 6491, + "3182": 2356, + "3694": 613, + "4206": 1692, + "4718": 3910, + "5742": 500, + "8834": 1607, + "14416": 1006, + "15963": 1206, + "16475": 2772, + "16987": 7601, + "17232": 9853, + "17499": 19651, + "18011": 342681, + "22976": 451, + "23552": 34, + "24064": 94, + "24512": 18402, + "26963": 162, + "31168": 20550, + "34120": 4497, + "35668": 3222, + "35924": 5991, + "36443": 2032, + "36692": 1167, + "36948": 1411, + "37979": 206, + "40019": 1015, + "41611": 324, + "42123": 224, + "43117": 901, + "43147": 7483, + "43155": 7195, + "43659": 3692, + "44179": 107714, + "45717": 812, + "46227": 123568, + "46741": 6121, + "48749": 895, + "48779": 6535, + "48789": 5052, + "49261": 4278, + "49664": 197, + "49803": 790, + "50176": 553, + "50432": 300, + "50624": 1700, + "50944": 8, + "51136": 626, + "51456": 2611, + "52160": 19443, + "52480": 30368, + "52672": 25116, + "52736": 52675, + "54016": 7778, + "55040": 5342, + "55744": 20702, + "55879": 3396, + "56768": 56, + "57173": 2628, + "62043": 22, + "64351": 3189, + "64603": 132 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 197, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -99.16718292236328, + "y": -99.68775939941406, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.19171872735023499, + "y": 0.20881833136081696, + "z": 0.5164753794670105 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 604.4138921019351, + "ymin": 405.4439763816005, + "xmax": 621.0835276294267, + "ymax": 441.419938627323 + }, + "corners_3d": [ + [ + -99.35890197753906, + -99.89657592773438, + 0.21092617511749268 + ], + [ + -99.35890197753906, + -99.47894287109375, + 0.21092617511749268 + ], + [ + -98.9754638671875, + -99.47894287109375, + 0.21092617511749268 + ], + [ + -98.9754638671875, + -99.89657592773438, + 0.21092617511749268 + ], + [ + -99.35890197753906, + -99.89657592773438, + 1.2438769340515137 + ], + [ + -99.35890197753906, + -99.47894287109375, + 1.2438769340515137 + ], + [ + -98.9754638671875, + -99.47894287109375, + 1.2438769340515137 + ], + [ + -98.9754638671875, + -99.89657592773438, + 1.2438769340515137 + ] + ], + "corners_2d": [ + [ + 605.2561711598403, + 440.30195530415193 + ], + [ + 619.434357055563, + 441.419938627323 + ], + [ + 621.0835276294267, + 432.2734396344408 + ], + [ + 607.049304914332, + 431.1783800691941 + ], + [ + 604.4138921019351, + 414.51444298059175 + ], + [ + 618.9351489327098, + 415.6262300051643 + ], + [ + 620.6291999513991, + 406.53242243069275 + ], + [ + 606.2589202240471, + 405.4439763816005 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 553, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -101.64093780517578, + "y": -92.66390228271484, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.40217772126197815, + "y": 0.32419919967651367, + "z": 0.8665385842323303 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 844.0973294120533, + "ymin": 478.5972648796958, + "xmax": 883.5859503805522, + "ymax": 545.2678961385739 + }, + "corners_3d": [ + [ + -102.07479858398438, + -92.94429016113281, + -0.2915393114089966 + ], + [ + -102.00702667236328, + -92.2994384765625, + -0.2915393114089966 + ], + [ + -101.20707702636719, + -92.38351440429688, + -0.2915393114089966 + ], + [ + -101.27484893798828, + -93.02836608886719, + -0.2915393114089966 + ], + [ + -102.07479858398438, + -92.94429016113281, + 1.441537857055664 + ], + [ + -102.00702667236328, + -92.2994384765625, + 1.441537857055664 + ], + [ + -101.20707702636719, + -92.38351440429688, + 1.441537857055664 + ], + [ + -101.27484893798828, + -93.02836608886719, + 1.441537857055664 + ] + ], + "corners_2d": [ + [ + 848.8055676509941, + 545.1523579724462 + ], + [ + 873.0340566731869, + 545.2678961385739 + ], + [ + 867.7583762760504, + 522.0838982494915 + ], + [ + 844.0973294120533, + 521.9737033256097 + ], + [ + 858.2592313643811, + 501.73915420378273 + ], + [ + 883.5859503805522, + 501.8546319044964 + ], + [ + 877.8194180370529, + 478.7071691542646 + ], + [ + 853.1120915408584, + 478.5972648796958 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 300, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -108.66718292236328, + "y": -99.68775939941406, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.4544726014137268, + "y": 0.45057612657546997, + "z": 0.8625965714454651 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 526.5470263541429, + "ymin": 685.3479362056146, + "xmax": 580.1766468680215, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -109.12165832519531, + -100.13833618164062, + -0.13519501686096191 + ], + [ + -109.12165832519531, + -99.2371826171875, + -0.13519501686096191 + ], + [ + -108.21270751953125, + -99.2371826171875, + -0.13519501686096191 + ], + [ + -108.21270751953125, + -100.13833618164062, + -0.13519501686096191 + ], + [ + -109.12165832519531, + -100.13833618164062, + 1.5899981260299683 + ], + [ + -109.12165832519531, + -99.2371826171875, + 1.5899981260299683 + ], + [ + -108.21270751953125, + -99.2371826171875, + 1.5899981260299683 + ], + [ + -108.21270751953125, + -100.13833618164062, + 1.5899981260299683 + ] + ], + "corners_2d": [ + [ + 532.5774290551374, + 766.3750379615415 + ], + [ + 573.545556524323, + 770.8233074463818 + ], + [ + 580.1766468680215, + 731.6333942888493 + ], + [ + 540.5002903313707, + 727.466645813319 + ], + [ + 526.5470263541429, + 724.9650808305015 + ], + [ + 569.8005258052817, + 729.5034776174804 + ], + [ + 576.9198414366616, + 689.5837694542228 + ], + [ + 535.1037021848208, + 685.3479362056146 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 8, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -97.03065490722656, + "y": -101.24003601074219, + "z": 0.7274113893508911 + }, + "extent": { + "x": 0.4242480397224426, + "y": 0.4483398199081421, + "z": 0.8794583678245544 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 551.7192520301576, + "ymin": 338.6489620832017, + "xmax": 591.5119084171918, + "ymax": 404.88665743954374 + }, + "corners_3d": [ + [ + -97.3524169921875, + -101.76678466796875, + -0.15204697847366333 + ], + [ + -97.53884887695312, + -100.88970184326172, + -0.15204697847366333 + ], + [ + -96.70889282226562, + -100.71328735351562, + -0.15204697847366333 + ], + [ + -96.5224609375, + -101.59037017822266, + -0.15204697847366333 + ], + [ + -97.3524169921875, + -101.76678466796875, + 1.6068696975708008 + ], + [ + -97.53884887695312, + -100.88970184326172, + 1.6068696975708008 + ], + [ + -96.70889282226562, + -100.71328735351562, + 1.6068696975708008 + ], + [ + -96.5224609375, + -101.59037017822266, + 1.6068696975708008 + ] + ], + "corners_2d": [ + [ + 555.04942694576, + 398.7521874629604 + ], + [ + 581.8905701352951, + 404.88665743954374 + ], + [ + 591.5119084171918, + 387.61218546130294 + ], + [ + 565.144107365374, + 381.72352774798344 + ], + [ + 551.7192520301576, + 355.4237848294916 + ], + [ + 579.5953992095458, + 361.4733123980457 + ], + [ + 589.6371597854875, + 344.44684199063175 + ], + [ + 562.2711118600645, + 338.6489620832017 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 2611, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 830.2764857700413, + "ymin": 99.1182454382971, + "xmax": 887.3600430115443, + "ymax": 175.14108800441548 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 874.5840722379842, + 129.90093153138614 + ], + [ + 830.2764857700413, + 127.65469234120468 + ], + [ + 834.1124834977077, + 172.5285975208524 + ], + [ + 881.9194719719853, + 175.14108800441548 + ], + [ + 879.4671644885802, + 101.29709205822746 + ], + [ + 834.2214925153876, + 99.1182454382971 + ], + [ + 838.4591295978873, + 142.713045530652 + ], + [ + 887.3600430115443, + 145.25543510059342 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 30368, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 706.4036267481237, + "ymin": 162.2201065778139, + "xmax": 868.8712188166683, + "ymax": 479.9796238765381 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 831.3899019216918, + 273.00414962912396 + ], + [ + 722.9865219799644, + 266.11580703134985 + ], + [ + 706.4036267481237, + 468.58287399992906 + ], + [ + 845.8245358739241, + 479.9796238765381 + ], + [ + 847.621520009496, + 168.60176649691874 + ], + [ + 729.9514102743756, + 162.2201065778139 + ], + [ + 713.7373385168579, + 354.22646958836776 + ], + [ + 868.8712188166683, + 365.3140267300402 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 52675, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1021.9425707037792, + "ymin": 216.35492936855596, + "xmax": 1280.0, + "ymax": 580.8687997097223 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 1097.795966875833, + 566.8664829765484 + ], + [ + 1257.8788019411663, + 580.8687997097223 + ], + [ + 1142.465065321165, + 332.3062673380163 + ], + [ + 1021.9425707037792, + 324.2376204823918 + ], + [ + 1154.485584376036, + 450.81584811453047 + ], + [ + 1335.5830105576538, + 464.77223195389377 + ], + [ + 1188.9375976668696, + 223.93449931622 + ], + [ + 1056.8681636983997, + 216.35492936855596 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 7778, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 852.6350730459195, + "ymin": 315.25188130898374, + "xmax": 938.8691610208654, + "ymax": 478.12757258951507 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 908.6130088269061, + 357.49338781688044 + ], + [ + 852.6350730459195, + 353.5451074350591 + ], + [ + 863.2939375900401, + 472.9076820043524 + ], + [ + 927.7410337396191, + 478.12757258951507 + ], + [ + 917.5992797614906, + 319.13672006920297 + ], + [ + 859.7125010837706, + 315.25188130898374 + ], + [ + 871.8789538950272, + 433.2639155759601 + ], + [ + 938.8691610208654, + 438.45166459055065 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 5342, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 979.1304934817681, + "ymin": 80.82372166922761, + "xmax": 1078.515108599902, + "ymax": 196.98484483684587 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 1003.1729165909085, + 193.63214516266612 + ], + [ + 1063.3866805870514, + 196.98484483684587 + ], + [ + 1032.6772814345552, + 127.03896921251982 + ], + [ + 979.1304934817681, + 124.37494801440701 + ], + [ + 1016.0796735733293, + 147.0620345674485 + ], + [ + 1078.515108599902, + 150.28153916468722 + ], + [ + 1045.1325921568769, + 83.36222084504107 + ], + [ + 989.8357312880001, + 80.82372166922761 + ] + ], + "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": 1028.146816355984, + "ymin": 0.0, + "xmax": 1122.6844328501734, + "ymax": 8.7672354429439 + }, + "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": [ + [ + 1067.5066077323413, + 8.442233326667179 + ], + [ + 1075.2755089510422, + 8.7672354429439 + ], + [ + 1034.7863804257556, + -55.86513342224771 + ], + [ + 1028.146816355984, + -56.10427007191055 + ], + [ + 1114.0324332707005, + -154.32370467211888 + ], + [ + 1122.6844328501734, + -154.09250916791655 + ], + [ + 1071.1057679825988, + -199.37181038370113 + ], + [ + 1063.8314537642414, + -199.5367761685245 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 700.708026872569, + "ymin": 0.0, + "xmax": 801.8552933996727, + "ymax": 116.6539182097259 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 701.2926319785465, + 108.41924014121122 + ], + [ + 700.708026872569, + 112.56754605528337 + ], + [ + 783.6584757281595, + 116.6539182097259 + ], + [ + 783.6263300022399, + 112.44487606198311 + ], + [ + 708.9285195774743, + -65.44727775864135 + ], + [ + 708.3348310519949, + -62.243295203095556 + ], + [ + 801.8552933996727, + -59.08129235646078 + ], + [ + 801.6657715505909, + -62.33812635907367 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2080193722244522285, + "instance_id": 11745, + "pixel_count": null, + "type_id": "BP_StreetLight_simple51_120_SM_2", + "bbox_3d": { + "center_world": { + "x": -78.77368927001953, + "y": -128.03121948242188, + "z": 4.08544921875 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 8.232595749299435, + "ymin": 0.0, + "xmax": 89.10136544021123, + "ymax": 110.49736865682237 + }, + "corners_3d": [ + [ + -80.54341888427734, + -127.2630386352539, + 0.20873045921325684 + ], + [ + -80.32381439208984, + -126.88267517089844, + 0.20873045921325684 + ], + [ + -77.00395965576172, + -128.7993927001953, + 0.20873045921325684 + ], + [ + -77.22356414794922, + -129.1797637939453, + 0.20873045921325684 + ], + [ + -80.54341888427734, + -127.2630386352539, + 7.962167739868164 + ], + [ + -80.32381439208984, + -126.88267517089844, + 7.962167739868164 + ], + [ + -77.00395965576172, + -128.7993927001953, + 7.962167739868164 + ], + [ + -77.22356414794922, + -129.1797637939453, + 7.962167739868164 + ] + ], + "corners_2d": [ + [ + 78.67861457441336, + 110.49736865682237 + ], + [ + 88.98352349285551, + 108.82302135503221 + ], + [ + 89.10136544021123, + 77.44310329305034 + ], + [ + 79.38158681773189, + 78.93301002639475 + ], + [ + 8.232595749299435, + -64.39159353911151 + ], + [ + 20.065039052739962, + -65.68289852568296 + ], + [ + 24.5546725349667, + -89.7047923538068 + ], + [ + 13.486953473385029, + -88.5718814972721 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1160.798262037646, + "ymin": 82.92885160640708, + "xmax": 1237.8574611405065, + "ymax": 114.54763553614723 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1175.8509990188581, + 111.77972962118406 + ], + [ + 1234.477545823842, + 114.54763553614723 + ], + [ + 1217.1164946232875, + 93.1809126855606 + ], + [ + 1160.798262037646, + 90.61967315420867 + ], + [ + 1178.882450880917, + 103.90339180735322 + ], + [ + 1237.8574611405065, + 106.6476954819372 + ], + [ + 1220.2718517145383, + 85.46715527060661 + ], + [ + 1163.6320908675193, + 82.92885160640708 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1131.9969368035295, + "ymin": 56.450522545299464, + "xmax": 1251.5020025368326, + "ymax": 190.21408001667012 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1146.013000515106, + 187.07068057616968 + ], + [ + 1204.520932746492, + 190.21408001667012 + ], + [ + 1188.190602717473, + 165.79340986386404 + ], + [ + 1131.9969368035295, + 162.8862978116257 + ], + [ + 1187.8994299195256, + 78.05613713404068 + ], + [ + 1251.5020025368326, + 80.87440292236118 + ], + [ + 1231.9204783665473, + 59.0404404243514 + ], + [ + 1171.042734966792, + 56.450522545299464 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 793.5629777847378, + "ymin": 155.5774679433392, + "xmax": 809.8071427870798, + "ymax": 165.44298543184894 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 793.5629777847378, + 159.26281815093648 + ], + [ + 793.6884319721731, + 164.60702181127988 + ], + [ + 809.3383145887075, + 165.44298543184894 + ], + [ + 809.0754357487211, + 160.08419261204034 + ], + [ + 793.9838185299299, + 155.5774679433392 + ], + [ + 794.1133483178442, + 160.90379415673374 + ], + [ + 809.8071427870798, + 161.73698464044958 + ], + [ + 809.5394194930201, + 156.39607796386747 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 5438921108148630685, + "instance_id": 40372, + "pixel_count": null, + "type_id": "SM_Pole_Add_02_544_SM_1", + "bbox_3d": { + "center_world": { + "x": -110.25733947753906, + "y": -79.73043060302734, + "z": 6.625115394592285 + }, + "extent": { + "x": 2.0000181198120117, + "y": 4.80597448348999, + "z": 6.416434288024902 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1277.4819447241664, + "ymin": 302.2330213040252, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -112.25735473632812, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -74.92445373535156, + 0.2086811065673828 + ], + [ + -108.25732421875, + -84.53640747070312, + 0.2086811065673828 + ], + [ + -112.25735473632812, + -84.53640747070312, + 13.041549682617188 + ], + [ + -112.25735473632812, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -74.92445373535156, + 13.041549682617188 + ], + [ + -108.25732421875, + -84.53640747070312, + 13.041549682617188 + ] + ], + "corners_2d": [ + [ + 1367.061348558584, + 1022.1396339977439 + ], + [ + 1972.669378929807, + 1096.2333693949258 + ], + [ + 1783.0572731046138, + 851.2456354020597 + ], + [ + 1277.4819447241664, + 798.4243161642337 + ], + [ + 2057.615228944602, + 564.4449276530545 + ], + [ + 3369.2850293830033, + 668.867871599556 + ], + [ + 2646.7897882780467, + 357.9788670866495 + ], + [ + 1725.7669220183661, + 302.2330213040252 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7664114084626016696, + "instance_id": 47273, + "pixel_count": null, + "type_id": "BP_Lamppost_tall32_SM_2", + "bbox_3d": { + "center_world": { + "x": -94.91487884521484, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1252.0120081607438, + "ymin": 245.98835003447397, + "xmax": 1280.0, + "ymax": 419.8262390260526 + }, + "corners_3d": [ + [ + -95.94330596923828, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -93.8864517211914, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -95.94330596923828, + -79.87950897216797, + 4.83804988861084 + ], + [ + -95.94330596923828, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -77.57880401611328, + 4.83804988861084 + ], + [ + -93.8864517211914, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1277.5373378956224, + 414.01277955052836 + ], + [ + 1358.0647262556936, + 419.8262390260526 + ], + [ + 1328.2231472769784, + 375.20060342755994 + ], + [ + 1252.0120081607438, + 369.96943348685073 + ], + [ + 1351.4363629333525, + 287.6651948781009 + ], + [ + 1441.9265991551536, + 293.2033036303202 + ], + [ + 1403.998758209251, + 250.9126703965722 + ], + [ + 1318.9200992910528, + 245.98835003447397 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1160.8569625588643, + "ymin": 82.94244351268873, + "xmax": 1237.8137887078433, + "ymax": 114.4798805543862 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1175.8934736754634, + 111.71539116317842 + ], + [ + 1234.456534811276, + 114.4798805543862 + ], + [ + 1217.1169158543821, + 93.1408963762118 + ], + [ + 1160.8569625588643, + 90.58258076507695 + ], + [ + 1178.9049628539872, + 103.8911791321666 + ], + [ + 1237.8137887078433, + 106.6322474626445 + ], + [ + 1220.251381878445, + 85.4779986537194 + ], + [ + 1163.672359218657, + 82.94244351268873 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 664.2671585556994, + "ymin": 142.31599505905, + "xmax": 814.4692656718826, + "ymax": 379.92831433295436 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 665.5146313927322, + 362.29675490501944 + ], + [ + 664.2671585556994, + 371.1487113703236 + ], + [ + 785.6691817943718, + 379.92831433295436 + ], + [ + 785.6001234792204, + 370.88607463205216 + ], + [ + 670.4305973979663, + 142.31599505905 + ], + [ + 669.0040025597289, + 150.0149563483115 + ], + [ + 814.4692656718826, + 157.68323375578444 + ], + [ + 814.0097129356618, + 149.78605997572515 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 793.6485182883453, + "ymin": 155.6297368223886, + "xmax": 809.719912215508, + "ymax": 165.390359192041 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 793.6485182883453, + 159.27599561077102 + ], + [ + 793.7733836738181, + 164.56337818912328 + ], + [ + 809.2563273388143, + 165.390359192041 + ], + [ + 808.9969400784005, + 160.08869608422282 + ], + [ + 794.065131092233, + 155.6297368223886 + ], + [ + 794.1939898651378, + 160.89962006932382 + ], + [ + 809.719912215508, + 161.72388665620693 + ], + [ + 809.4557869819023, + 156.43973130160822 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "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": 689.8022912094774, + "xmax": 446.8223116958348, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 446.8223116958348, + 935.3413898847929 + ], + [ + 424.6083816529167, + 932.3434358002376 + ], + [ + 54.16914865578792, + 2326.801417978957 + ], + [ + 97.33712289276559, + 2338.96441143757 + ], + [ + 364.61160416871274, + 693.3238112645549 + ], + [ + 333.2275131421261, + 689.8022912094774 + ], + [ + -822.1379112716565, + 3557.5309004106048 + ], + [ + -723.344734365138, + 3601.653496132917 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 655.9977713102877, + "ymin": 0.0, + "xmax": 890.2070418212569, + "ymax": 11.63957200975807 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 656.7841853313524, + 0.02907747309853903 + ], + [ + 655.9977713102877, + 2.646882035659189 + ], + [ + 865.4765187546118, + 11.63957200975807 + ], + [ + 865.0307654471496, + 8.91599004213657 + ], + [ + 658.5733624518739, + -160.2960283514891 + ], + [ + 657.7142109150825, + -158.44028153265992 + ], + [ + 890.2070418212569, + -152.04765893709225 + ], + [ + 889.5493513524805, + -153.9866781629073 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1135.7221135217683, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 163.8946794731214 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1296.801288514172, + 54.99773548767445 + ], + [ + 1135.7221135217683, + 71.8574166335697 + ], + [ + 1275.257583123103, + 163.8946794731214 + ], + [ + 1458.5708320047472, + 140.6385647628608 + ], + [ + 1447.1731467685518, + -276.75231915432744 + ], + [ + 1253.9498161909573, + -269.7102044000486 + ], + [ + 1461.618805055838, + -229.2521271809684 + ], + [ + 1686.989227857526, + -239.80984553866335 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 164.23635903498064, + "ymax": 187.1100923980185 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + 164.23635903498064, + 90.70997375790859 + ], + [ + -4.8165022261357535, + 106.03694632645534 + ], + [ + -57.15099264604521, + 187.1100923980185 + ], + [ + 137.62099220829714, + 167.02865484548207 + ], + [ + 74.37946818741989, + -176.22227027316376 + ], + [ + -130.76268032909513, + -167.02064428066194 + ], + [ + -217.94869281077524, + -116.63744128456028 + ], + [ + 26.240646023098748, + -129.3925936670866 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 14566955480001399579, + "instance_id": 7115, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1956_142", + "bbox_3d": { + "center_world": { + "x": -63.17667770385742, + "y": -145.83238220214844, + "z": 4.615684986114502 + }, + "extent": { + "x": 3.0304830074310303, + "y": 2.9445226192474365, + "z": 4.802494525909424 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 9.519276864302356, + "ymax": 1.7267608082498782 + }, + "corners_3d": [ + [ + -63.94023895263672, + -141.67654418945312, + -0.18680953979492188 + ], + [ + -59.04452133178711, + -144.9495849609375, + -0.18680953979492188 + ], + [ + -62.413116455078125, + -149.98822021484375, + -0.18680953979492188 + ], + [ + -67.30883026123047, + -146.71517944335938, + -0.18680953979492188 + ], + [ + -63.94023895263672, + -141.67654418945312, + 9.418179512023926 + ], + [ + -59.04452133178711, + -144.9495849609375, + 9.418179512023926 + ], + [ + -62.413116455078125, + -149.98822021484375, + 9.418179512023926 + ], + [ + -67.30883026123047, + -146.71517944335938, + 9.418179512023926 + ] + ], + "corners_2d": [ + [ + 9.519276864302356, + -14.534309095991375 + ], + [ + 8.266127415402366, + -42.01211067464078 + ], + [ + -99.11272482424033, + -27.792356530670475 + ], + [ + -105.39933642205756, + 1.7267608082498782 + ], + [ + -64.4330024365346, + -192.6545604924579 + ], + [ + -60.594568884059754, + -210.5350084495352 + ], + [ + -182.83835758467126, + -201.31514546522487 + ], + [ + -196.53265885323765, + -181.9465983997493 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 104.53996436323655, + "ymax": 267.1185145426581 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 104.53996436323655, + 168.22224837150247 + ], + [ + -61.43551476668915, + 171.80251860273353 + ], + [ + -161.04446382962226, + 267.1185145426581 + ], + [ + 31.050484529537698, + 262.35165033583115 + ], + [ + -21.215508905523166, + -145.49919289251596 + ], + [ + -227.35936690036772, + -143.33482417590187 + ], + [ + -388.07668634442916, + -83.44760473512144 + ], + [ + -140.05940542631765, + -86.55027916224338 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00066/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00066/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bb8c93e7ffdd1f2ec5a99e2d2fd405a81fafea52 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00066/meta.json @@ -0,0 +1,2561 @@ +{ + "frame_id": 66, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 33.0, + "sim_timestamp": 10500.802416199818 + }, + "drone_pose": { + "x": -118.42340832022681, + "y": -96.90426634851254, + "z": 20.166235347684765, + "pitch": -44.254553771094066, + "yaw": -8.019737460486256, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7092416286468506, + 0.09992657601833344, + 0.6978473663330078, + 60.23455047607422 + ], + [ + -0.1395142376422882, + 0.9902200698852539, + 3.725290298461914e-09, + 112.47830200195312 + ], + [ + -0.691022515296936, + -0.09735964238643646, + 0.716246485710144, + -86.84266662597656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -117.9852545166111, + "y": -96.86356048588692, + "z": 19.903421516600627 + }, + "t1_image_uv": [ + 838.694815422468, + 143.4112685546263 + ], + "t1_depth": 0.4900932702708037 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -98.66718292236328, + "y": -99.68776321411131, + "z": 0.7274016332626343 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 27.855422325804735, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 201, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -98.66718292236328, + "y": -99.68775939941406, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.2876855134963989, + "y": 0.19634763896465302, + "z": 0.5562570095062256 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.7464446824979, + "ymin": 338.63270615145046, + "xmax": 648.1437247243874, + "ymax": 381.11640600692897 + }, + "corners_3d": [ + [ + -98.95487213134766, + -99.88410949707031, + 0.1711445450782776 + ], + [ + -98.95487213134766, + -99.49140930175781, + 0.1711445450782776 + ], + [ + -98.3794937133789, + -99.49140930175781, + 0.1711445450782776 + ], + [ + -98.3794937133789, + -99.88410949707031, + 0.1711445450782776 + ], + [ + -98.95487213134766, + -99.88410949707031, + 1.283658504486084 + ], + [ + -98.95487213134766, + -99.49140930175781, + 1.283658504486084 + ], + [ + -98.3794937133789, + -99.49140930175781, + 1.283658504486084 + ], + [ + -98.3794937133789, + -99.88410949707031, + 1.283658504486084 + ] + ], + "corners_2d": [ + [ + 631.9748109517108, + 379.7787885157818 + ], + [ + 645.2864124320962, + 381.11640600692897 + ], + [ + 647.9213208637693, + 367.3865503523531 + ], + [ + 634.7969109600147, + 366.0870339508141 + ], + [ + 631.7464446824979, + 352.3034281526922 + ], + [ + 645.437060243977, + 353.6395889214341 + ], + [ + 648.1437247243874, + 339.92974742715245 + ], + [ + 634.6510328618256, + 338.63270615145046 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 66, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 45, + "semantic_pixel_counts": { + "1": 252227, + "2": 156546, + "3": 380550, + "4": 3263, + "5": 958, + "6": 3785, + "10": 1171, + "12": 2133, + "14": 17243, + "16": 82889, + "20": 9030, + "24": 11805 + }, + "instance_pixel_counts": { + "913": 1345, + "1115": 7738, + "3182": 608, + "4206": 1851, + "4718": 4212, + "8834": 1727, + "14416": 958, + "15963": 318, + "16475": 1503, + "16987": 5662, + "17232": 3263, + "17499": 16939, + "18011": 331443, + "24064": 1088, + "24512": 17831, + "26963": 26, + "31168": 25180, + "34120": 27237, + "35668": 3012, + "35924": 3339, + "36443": 4824, + "36692": 1334, + "40019": 944, + "43147": 7406, + "43659": 3595, + "44179": 106827, + "46227": 145400, + "46741": 6147, + "48749": 959, + "48779": 7997, + "48789": 5658, + "49261": 4493, + "49664": 201, + "49920": 371, + "50176": 554, + "50432": 1007, + "51456": 2915, + "52160": 19328, + "52480": 32629, + "52672": 20158, + "52736": 50260, + "54016": 8300, + "55040": 6028, + "55744": 24979, + "64351": 2835 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 201, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -98.66718292236328, + "y": -99.68775939941406, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.2973730266094208, + "y": 0.21623045206069946, + "z": 0.5423000454902649 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.0077655223499, + "ymin": 338.6945278997536, + "xmax": 648.8694418204652, + "ymax": 381.08343684904366 + }, + "corners_3d": [ + [ + -98.96455383300781, + -99.90399169921875, + 0.18510150909423828 + ], + [ + -98.96455383300781, + -99.47152709960938, + 0.18510150909423828 + ], + [ + -98.36981201171875, + -99.47152709960938, + 0.18510150909423828 + ], + [ + -98.36981201171875, + -99.90399169921875, + 0.18510150909423828 + ], + [ + -98.96455383300781, + -99.90399169921875, + 1.269701600074768 + ], + [ + -98.96455383300781, + -99.47152709960938, + 1.269701600074768 + ], + [ + -98.36981201171875, + -99.47152709960938, + 1.269701600074768 + ], + [ + -98.36981201171875, + -99.90399169921875, + 1.269701600074768 + ] + ], + "corners_2d": [ + [ + 631.2504539239034, + 379.6096565225437 + ], + [ + 645.9185902230307, + 381.08343684904366 + ], + [ + 648.6332559327188, + 366.88958842831033 + ], + [ + 634.1783513901943, + 365.45919425086436 + ], + [ + 631.0077655223499, + 352.8237542845138 + ], + [ + 646.0830160731114, + 354.2959907326758 + ], + [ + 648.8694418204652, + 340.12224796358 + ], + [ + 634.019332953795, + 338.6945278997536 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 371, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -92.53263092041016, + "y": -101.26577758789062, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.5256786942481995, + "y": 0.3070458769798279, + "z": 0.8984042406082153 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 608.610015552898, + "ymin": 198.135055154507, + "xmax": 629.293043344737, + "ymax": 260.8069000060094 + }, + "corners_3d": [ + [ + -93.11066436767578, + -101.45681762695312, + -0.17099779844284058 + ], + [ + -92.98298645019531, + -100.85614776611328, + -0.17099779844284058 + ], + [ + -91.95459747314453, + -101.07473754882812, + -0.17099779844284058 + ], + [ + -92.082275390625, + -101.67540740966797, + -0.17099779844284058 + ], + [ + -93.11066436767578, + -101.45681762695312, + 1.6258106231689453 + ], + [ + -92.98298645019531, + -100.85614776611328, + 1.6258106231689453 + ], + [ + -91.95459747314453, + -101.07473754882812, + 1.6258106231689453 + ], + [ + -92.082275390625, + -101.67540740966797, + 1.6258106231689453 + ] + ], + "corners_2d": [ + [ + 611.243050653378, + 260.8069000060094 + ], + [ + 629.293043344737, + 260.02453919113736 + ], + [ + 627.4353026710457, + 241.2256364718632 + ], + [ + 609.7901754789739, + 241.97316547688803 + ], + [ + 610.0927252768595, + 217.42495320078996 + ], + [ + 628.8651641898091, + 216.65354064681213 + ], + [ + 626.9449237658572, + 198.135055154507 + ], + [ + 608.610015552898, + 198.87079815409615 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 554, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -101.57046508789062, + "y": -92.4826431274414, + "z": 0.5750139355659485 + }, + "extent": { + "x": 0.5789209008216858, + "y": 0.3524804711341858, + "z": 0.8763198852539062 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 874.2649295229055, + "ymin": 428.2441112051388, + "xmax": 920.7294326036141, + "ymax": 505.94144107199713 + }, + "corners_3d": [ + [ + -102.18305969238281, + -92.7726821899414, + -0.30130594968795776 + ], + [ + -102.10936737060547, + -92.07157897949219, + -0.30130594968795776 + ], + [ + -100.95787048339844, + -92.1926040649414, + -0.30130594968795776 + ], + [ + -101.03156280517578, + -92.89370727539062, + -0.30130594968795776 + ], + [ + -102.18305969238281, + -92.7726821899414, + 1.45133376121521 + ], + [ + -102.10936737060547, + -92.07157897949219, + 1.45133376121521 + ], + [ + -100.95787048339844, + -92.1926040649414, + 1.45133376121521 + ], + [ + -101.03156280517578, + -92.89370727539062, + 1.45133376121521 + ] + ], + "corners_2d": [ + [ + 880.3691598334938, + 505.1836463544855 + ], + [ + 907.1960886587087, + 505.94144107199713 + ], + [ + 900.2390878231031, + 471.7369372503408 + ], + [ + 874.2649295229055, + 471.0263116090457 + ], + [ + 892.5347695294633, + 462.66296690300464 + ], + [ + 920.7294326036141, + 463.42781243328875 + ], + [ + 912.9826872664381, + 428.9590575769747 + ], + [ + 885.7284387138432, + 428.2441112051388 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 1007, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -108.16718292236328, + "y": -99.68775939941406, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.5395165681838989, + "y": 0.4470311999320984, + "z": 0.9007839560508728 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 552.1843224565489, + "ymin": 612.5805540682896, + "xmax": 604.9000329990176, + "ymax": 703.4129135687833 + }, + "corners_3d": [ + [ + -108.70670318603516, + -100.1347885131836, + -0.17338240146636963 + ], + [ + -108.70670318603516, + -99.24073028564453, + -0.17338240146636963 + ], + [ + -107.6276626586914, + -99.24073028564453, + -0.17338240146636963 + ], + [ + -107.6276626586914, + -100.1347885131836, + -0.17338240146636963 + ], + [ + -108.70670318603516, + -100.1347885131836, + 1.628185510635376 + ], + [ + -108.70670318603516, + -99.24073028564453, + 1.628185510635376 + ], + [ + -107.6276626586914, + -99.24073028564453, + 1.628185510635376 + ], + [ + -107.6276626586914, + -100.1347885131836, + 1.628185510635376 + ] + ], + "corners_2d": [ + [ + 557.3413786333055, + 698.0764701771162 + ], + [ + 596.8610752810486, + 703.4129135687833 + ], + [ + 604.9000329990176, + 659.099378957672 + ], + [ + 566.7119333222389, + 654.1256631936085 + ], + [ + 552.1843224565489, + 657.6956345722349 + ], + [ + 594.1576600402755, + 663.1866735453527 + ], + [ + 602.7812272028968, + 617.6762943855264 + ], + [ + 562.3068033188275, + 612.5805540682896 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 2915, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 866.7075617241254, + "ymin": 33.76135180445311, + "xmax": 926.0540987938983, + "ymax": 115.40214699756382 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 912.7899250304829, + 66.77780058444966 + ], + [ + 866.7075617241254, + 63.72195932808222 + ], + [ + 869.4053036259519, + 111.8672491535284 + ], + [ + 918.9911327211016, + 115.40214699756382 + ], + [ + 919.1983380559166, + 36.74235104972263 + ], + [ + 872.0074641970886, + 33.76135180445311 + ], + [ + 875.182480790537, + 80.80509734703185 + ], + [ + 926.0540987938983, + 84.26566048967226 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 32629, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 731.3141934475875, + "ymin": 102.29418688570195, + "xmax": 901.6550177264112, + "ymax": 434.4649366347588 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 863.7266216704334, + 218.5205224790311 + ], + [ + 752.3644168618542, + 209.34434131839654 + ], + [ + 731.3141934475875, + 419.6639061274876 + ], + [ + 872.6560864051174, + 434.4649366347588 + ], + [ + 885.0800451657881, + 110.97484252136428 + ], + [ + 762.9533099227461, + 102.29418688570195 + ], + [ + 742.5085839271273, + 306.1869836660592 + ], + [ + 901.6550177264112, + 320.9344491826194 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 50260, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1058.9781803316102, + "ymin": 165.78297429889153, + "xmax": 1280.0, + "ymax": 547.7913714642937 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 1126.881431773436, + 529.5061780353192 + ], + [ + 1290.6841324603142, + 547.7913714642937 + ], + [ + 1183.8618850470752, + 286.8524236110461 + ], + [ + 1058.9781803316102, + 276.03561458899395 + ], + [ + 1194.0930185617935, + 416.8883519762775 + ], + [ + 1382.203548856918, + 435.6194032803114 + ], + [ + 1240.7262782703447, + 176.18352142029127 + ], + [ + 1102.178890369195, + 165.78297429889153 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 8300, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 883.2744160745447, + "ymin": 264.8976929890648, + "xmax": 969.8507897002376, + "ymax": 434.39766877050545 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 940.7005199398329, + 308.7365792815881 + ], + [ + 883.2744160745447, + 303.5087594323762 + ], + [ + 890.6686697343064, + 427.5836363777663 + ], + [ + 956.3071962782412, + 434.39766877050545 + ], + [ + 951.9137889005724, + 270.082218418559 + ], + [ + 892.2906049222097, + 264.8976929890648 + ], + [ + 901.3262528251972, + 388.5649814223671 + ], + [ + 969.8507897002376, + 395.39432552111117 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 6028, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1022.2590584209332, + "ymin": 16.447983536958816, + "xmax": 1126.4067995314354, + "ymax": 141.66346873992055 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 1044.6930493950865, + 137.10327884609038 + ], + [ + 1107.5174718566104, + 141.66346873992055 + ], + [ + 1078.3249569264551, + 65.99563540195385 + ], + [ + 1022.2590584209332, + 62.3447125435809 + ], + [ + 1060.935884990165, + 88.61043364572993 + ], + [ + 1126.4067995314354, + 93.03193796866162 + ], + [ + 1094.0985654859778, + 19.95806089864118 + ], + [ + 1035.9339634082098, + 16.447983536958816 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 732.6048796952252, + "ymin": 0.0, + "xmax": 844.4044281117475, + "ymax": 51.3147419907512 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 733.294026604584, + 41.308763265172956 + ], + [ + 732.6048796952252, + 45.756446332851226 + ], + [ + 818.5667842565612, + 51.3147419907512 + ], + [ + 818.6410093539564, + 46.78738665221556 + ], + [ + 746.5470011949851, + -143.93253804361797 + ], + [ + 745.8684300444235, + -140.37527472579467 + ], + [ + 844.4044281117475, + -135.91947097726268 + ], + [ + 844.2758498608835, + -139.54968519869948 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2080193722244522285, + "instance_id": 11745, + "pixel_count": null, + "type_id": "BP_StreetLight_simple51_120_SM_2", + "bbox_3d": { + "center_world": { + "x": -78.77368927001953, + "y": -128.03121948242188, + "z": 4.08544921875 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 20.835964895180723, + "ymin": 0.0, + "xmax": 107.6270805369486, + "ymax": 35.002561232166045 + }, + "corners_3d": [ + [ + -80.54341888427734, + -127.2630386352539, + 0.20873045921325684 + ], + [ + -80.32381439208984, + -126.88267517089844, + 0.20873045921325684 + ], + [ + -77.00395965576172, + -128.7993927001953, + 0.20873045921325684 + ], + [ + -77.22356414794922, + -129.1797637939453, + 0.20873045921325684 + ], + [ + -80.54341888427734, + -127.2630386352539, + 7.962167739868164 + ], + [ + -80.32381439208984, + -126.88267517089844, + 7.962167739868164 + ], + [ + -77.00395965576172, + -128.7993927001953, + 7.962167739868164 + ], + [ + -77.22356414794922, + -129.1797637939453, + 7.962167739868164 + ] + ], + "corners_2d": [ + [ + 97.27560770790467, + 35.002561232166045 + ], + [ + 107.6270805369486, + 33.36722971640984 + ], + [ + 107.1553134080217, + 0.03091538437121244 + ], + [ + 97.370841590243, + 1.491806763442753 + ], + [ + 20.835964895180723, + -149.54691016010588 + ], + [ + 32.874497142063206, + -150.8479574075448 + ], + [ + 36.97369048898554, + -177.15754765827444 + ], + [ + 25.695057603677014, + -176.0130028750972 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1216.8206855635717, + "ymin": 22.154346245482202, + "xmax": 1280.0, + "ymax": 57.48601602931086 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1231.758110017204, + 53.620709203432966 + ], + [ + 1293.8579545344628, + 57.48601602931086 + ], + [ + 1276.5162928921516, + 33.88637205274824 + ], + [ + 1216.8206855635717, + 30.303171886674875 + ], + [ + 1235.5672004317407, + 45.3062230016007 + ], + [ + 1298.0928096206806, + 49.1451346052894 + ], + [ + 1280.4841327383413, + 25.71136935741788 + ], + [ + 1220.395121797668, + 22.154346245482202 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1181.1896338896076, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 136.77952866873576 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1194.752193768385, + 132.45971214734854 + ], + [ + 1256.1979766649702, + 136.77952866873576 + ], + [ + 1240.2648504549989, + 110.22966330074092 + ], + [ + 1181.1896338896076, + 106.22504716204116 + ], + [ + 1247.1346972984009, + 17.936180395767508 + ], + [ + 1314.771366621615, + 21.90122546001612 + ], + [ + 1295.0023909302472, + -2.3961350101820926 + ], + [ + 1230.2257743995551, + -6.046110858404688 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 830.8116835691877, + "ymin": 100.15186908136673, + "xmax": 847.7907679163752, + "ymax": 110.95699171567742 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 830.8116835691877, + 103.9929879721119 + ], + [ + 830.8285469540757, + 109.80509819359145 + ], + [ + 847.1431951471175, + 110.95699171567742 + ], + [ + 846.9876750692713, + 105.12540510924 + ], + [ + 831.4021289081403, + 100.15186908136673 + ], + [ + 831.4241123155631, + 105.9491528535354 + ], + [ + 847.7907679163752, + 107.09814439112387 + ], + [ + 847.6292461933676, + 101.28137339251157 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1216.886047303493, + "ymin": 22.16978862712091, + "xmax": 1280.0, + "ymax": 57.4133470131776 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1231.807669436616, + 53.55273535849835 + ], + [ + 1293.8406721502708, + 57.4133470131776 + ], + [ + 1276.5202074815493, + 33.84410643732235 + ], + [ + 1216.886047303493, + 30.264935531542335 + ], + [ + 1235.591697980882, + 45.29321129936886 + ], + [ + 1298.0471708935206, + 49.12762913673413 + ], + [ + 1280.4617939602651, + 25.722982184917612 + ], + [ + 1220.437236770854, + 22.16978862712091 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 690.378608158428, + "ymin": 84.09696293313903, + "xmax": 852.8668876159838, + "ymax": 329.83195698800375 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 691.8007330890182, + 309.102199592283 + ], + [ + 690.378608158428, + 318.280447202498 + ], + [ + 814.0005494763018, + 329.83195698800375 + ], + [ + 814.1549199732221, + 320.4161378396216 + ], + [ + 703.0488884563194, + 84.09696293313903 + ], + [ + 701.4564445984024, + 92.44500737442206 + ], + [ + 852.8668876159838, + 103.005390997093 + ], + [ + 852.5618435327277, + 94.39292845572743 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 830.901051356569, + "ymin": 100.20912838273904, + "xmax": 847.6995460741075, + "ymax": 110.89936556703333 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 830.901051356569, + 104.00948385026521 + ], + [ + 830.9184916201548, + 109.7598412286539 + ], + [ + 847.0591667426609, + 110.89936556703333 + ], + [ + 846.9059980421821, + 105.1299437052715 + ], + [ + 831.4855120344445, + 100.20912838273904 + ], + [ + 831.5079685967086, + 105.9449729916366 + ], + [ + 847.6995460741075, + 107.08165668939563 + ], + [ + 847.5405072795852, + 101.32673709785126 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 15265956219114248689, + "instance_id": 61785, + "pixel_count": null, + "type_id": "BP_StreetLight_simple49_116_SM_2", + "bbox_3d": { + "center_world": { + "x": -115.21642303466797, + "y": -103.6000747680664, + "z": 4.029531002044678 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 10.083280973315937, + "ymin": 700.4042453353652, + "xmax": 340.2245690257493, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -113.2997055053711, + -103.38047790527344, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.81968688964844, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.81967163085938, + 0.15281224250793457 + ], + [ + -117.13314056396484, + -103.38046264648438, + 0.15281224250793457 + ], + [ + -113.2997055053711, + -103.38047790527344, + 7.90625 + ], + [ + -113.2997055053711, + -103.81968688964844, + 7.90625 + ], + [ + -117.13314056396484, + -103.81967163085938, + 7.90625 + ], + [ + -117.13314056396484, + -103.38046264648438, + 7.90625 + ] + ], + "corners_2d": [ + [ + 340.2245690257493, + 894.7002379540932 + ], + [ + 318.1178608604114, + 891.1729832211752 + ], + [ + 228.95048513566184, + 1147.2149062833792 + ], + [ + 254.67575030801856, + 1152.0833888607208 + ], + [ + 213.86800122298314, + 704.7660138314185 + ], + [ + 182.90551646903134, + 700.4042453353652 + ], + [ + 10.083280973315937, + 1041.7368314524356 + ], + [ + 48.616234372661665, + 1048.7512915121592 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 16621969497996256035, + "instance_id": 9187, + "pixel_count": null, + "type_id": "AmericanLights_Town04_19_Poles_4", + "bbox_3d": { + "center_world": { + "x": -118.65180206298828, + "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": 656.3490532052544, + "xmax": 468.2382199906331, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -112.6266860961914, + -101.08203887939453, + 0.0 + ], + [ + -112.62284088134766, + -101.51485443115234, + 0.0 + ], + [ + -124.67691802978516, + -101.62200164794922, + 0.0 + ], + [ + -124.6807632446289, + -101.1891860961914, + 0.0 + ], + [ + -112.6266860961914, + -101.08203887939453, + 8.446706771850586 + ], + [ + -112.62284088134766, + -101.51485443115234, + 8.446706771850586 + ], + [ + -124.67691802978516, + -101.62200164794922, + 8.446706771850586 + ], + [ + -124.6807632446289, + -101.1891860961914, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 468.2382199906331, + 877.7117664811369 + ], + [ + 446.6254899002226, + 874.1291826609779 + ], + [ + 113.51685877505099, + 2098.4038192015446 + ], + [ + 151.9459823769057, + 2110.619727558046 + ], + [ + 388.5627020888953, + 660.8055293683835 + ], + [ + 357.2478119079015, + 656.3490532052544 + ], + [ + -622.8155502316972, + 3151.669719229833 + ], + [ + -538.1683623925503, + 3192.7757926240915 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1189.7126846684441, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 109.73396524609075 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1361.969784732882, + -8.502837799748875 + ], + [ + 1189.7126846684441, + 7.810247194955991 + ], + [ + 1332.6041015752144, + 109.73396524609075 + ], + [ + 1529.3108704582694, + 87.32963298372755 + ], + [ + 1557.1093416101885, + -374.42204132387303 + ], + [ + 1343.7676319074076, + -367.0193589963027 + ], + [ + 1572.3732058464316, + -318.004145109187 + ], + [ + 1823.7748134105384, + -329.2065073877121 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 183.31515689379506, + "ymax": 113.98844489990336 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + 183.31515689379506, + 15.315505555436857 + ], + [ + 13.149439845664347, + 29.345000519758344 + ], + [ + -37.106012382605854, + 113.98844489990336 + ], + [ + 157.57636392926293, + 95.81538796360672 + ], + [ + 85.4517716191134, + -269.6903393133824 + ], + [ + -125.07307173836762, + -260.82959659807625 + ], + [ + -212.73032427126043, + -205.3857019452073 + ], + [ + 36.574013367959424, + -217.58528316239074 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 124.43071310666255, + "ymax": 194.95855931041945 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 124.43071310666255, + 96.04455514361888 + ], + [ + -41.605191048486745, + 97.33741628552337 + ], + [ + -137.4800571523483, + 194.95855931041945 + ], + [ + 52.809287698032904, + 193.26367698251468 + ], + [ + -12.522000408747203, + -235.803010585504 + ], + [ + -223.10417703635335, + -234.9750731406682 + ], + [ + -384.08313526543725, + -169.91307964246312 + ], + [ + -132.89793626562312, + -171.08726232232618 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00067/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00067/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fbe16883d96993ac512fdd1bda57fb9022d04c05 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00067/meta.json @@ -0,0 +1,2365 @@ +{ + "frame_id": 67, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 33.5, + "sim_timestamp": 10513.665737411007 + }, + "drone_pose": { + "x": -117.9852545166111, + "y": -96.86356048588692, + "z": 19.903421516600627, + "pitch": -41.543013511888134, + "yaw": -6.761245576886376, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7432528138160706, + 0.08811770379543304, + 0.6631821393966675, + 65.95789337158203 + ], + [ + -0.11773231625556946, + 0.9930453896522522, + 0.0, + 110.08059692382812 + ], + [ + -0.6585699319839478, + -0.07807796448469162, + 0.7484580278396606, + -85.03550720214844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -117.45819408704413, + "y": -96.80403696505823, + "z": 20.061511696046395 + }, + "t1_image_uv": [ + 1052.9753864463214, + -1210.5624168324175 + ], + "t1_depth": 0.2816514904949464 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -98.16718292236328, + "y": -99.68776321411131, + "z": 0.7274016332626343 + }, + "image_uv": [ + 623.6625315432279, + 397.447373623765 + ], + "depth": 27.695893265707305, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 202, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -98.16718292236328, + "y": -99.68775939941406, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.2469189167022705, + "y": 0.2228124737739563, + "z": 0.5278183817863464 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 614.5127528236217, + "ymin": 377.6079724562098, + "xmax": 632.4791850768046, + "ymax": 417.0774754162257 + }, + "corners_3d": [ + [ + -98.41410064697266, + -99.91056823730469, + 0.19958317279815674 + ], + [ + -98.41410064697266, + -99.46495056152344, + 0.19958317279815674 + ], + [ + -97.9202651977539, + -99.46495056152344, + 0.19958317279815674 + ], + [ + -97.9202651977539, + -99.91056823730469, + 0.19958317279815674 + ], + [ + -98.41410064697266, + -99.91056823730469, + 1.2552199363708496 + ], + [ + -98.41410064697266, + -99.46495056152344, + 1.2552199363708496 + ], + [ + -97.9202651977539, + -99.46495056152344, + 1.2552199363708496 + ], + [ + -97.9202651977539, + -99.91056823730469, + 1.2552199363708496 + ] + ], + "corners_2d": [ + [ + 615.152702233386, + 415.79914542483436 + ], + [ + 630.3753990328611, + 417.0774754162257 + ], + [ + 632.4791850768046, + 405.26718621702184 + ], + [ + 617.4513547249769, + 404.02188229643133 + ], + [ + 614.5127528236217, + 389.33188907362245 + ], + [ + 630.127156014967, + 390.6049008025999 + ], + [ + 632.287792231528, + 378.8472647568701 + ], + [ + 616.8783452655856, + 377.6079724562098 + ] + ], + "center_offset_px": [ + -16.337468456772058, + 37.447373623764975 + ] + }, + "trace_timestep_index": 67, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 55, + "semantic_pixel_counts": { + "1": 240648, + "2": 133319, + "3": 400681, + "4": 6187, + "5": 1036, + "6": 2978, + "9": 687, + "10": 6666, + "12": 2186, + "14": 17230, + "16": 86503, + "20": 11814, + "21": 25, + "24": 11640 + }, + "instance_pixel_counts": { + "913": 1312, + "1115": 4264, + "3182": 2670, + "3694": 56, + "4206": 1881, + "4718": 4488, + "5742": 313, + "8834": 1751, + "14416": 1036, + "15963": 997, + "16475": 2893, + "16987": 7509, + "17232": 6187, + "17499": 20483, + "18011": 347936, + "24512": 19469, + "26963": 119, + "31168": 21057, + "34120": 3833, + "35668": 3468, + "35924": 5749, + "36443": 1029, + "36692": 1285, + "37979": 4, + "40019": 1108, + "41611": 48, + "43117": 502, + "43147": 8093, + "43155": 1725, + "43659": 4053, + "44179": 117877, + "45717": 59, + "46227": 121046, + "46741": 6676, + "48749": 979, + "48779": 6688, + "48789": 4905, + "49261": 4677, + "49664": 202, + "49920": 386, + "50176": 661, + "50432": 937, + "50624": 260, + "51456": 2834, + "52160": 21072, + "52480": 33220, + "52672": 24721, + "52736": 53283, + "54016": 8538, + "55040": 5858, + "55744": 20774, + "55879": 2798, + "57173": 687, + "64351": 3251, + "64603": 25 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 202, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -98.16718292236328, + "y": -99.68775939941406, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.18166501820087433, + "y": 0.21621091663837433, + "z": 0.5276963114738464 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 615.0595768663571, + "ymin": 379.1607232610205, + "xmax": 631.9810776048386, + "ymax": 415.477193688022 + }, + "corners_3d": [ + [ + -98.34884643554688, + -99.90396881103516, + 0.19970524311065674 + ], + [ + -98.34884643554688, + -99.47154998779297, + 0.19970524311065674 + ], + [ + -97.98551940917969, + -99.47154998779297, + 0.19970524311065674 + ], + [ + -97.98551940917969, + -99.90396881103516, + 0.19970524311065674 + ], + [ + -98.34884643554688, + -99.90396881103516, + 1.2550978660583496 + ], + [ + -98.34884643554688, + -99.47154998779297, + 1.2550978660583496 + ], + [ + -97.98551940917969, + -99.47154998779297, + 1.2550978660583496 + ], + [ + -97.98551940917969, + -99.90396881103516, + 1.2550978660583496 + ] + ], + "corners_2d": [ + [ + 615.6845791239008, + 414.24103470829436 + ], + [ + 630.4311664984114, + 415.477193688022 + ], + [ + 631.9810776048386, + 406.78860521094884 + ], + [ + 617.3736100151514, + 405.5760237726186 + ], + [ + 615.0595768663571, + 387.78649448050083 + ], + [ + 630.18486506442, + 389.01740159991 + ], + [ + 631.7767005075892, + 380.36755801094773 + ], + [ + 616.7977335730811, + 379.1607232610205 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 386, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -91.21516418457031, + "y": -100.50119018554688, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.4116162061691284, + "y": 0.35600584745407104, + "z": 0.8910143375396729 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 614.9091310507271, + "ymin": 227.1469475813056, + "xmax": 638.0211550815067, + "ymax": 284.7699274470568 + }, + "corners_3d": [ + [ + -91.69180297851562, + -100.76383972167969, + -0.1636078953742981 + ], + [ + -91.54376983642578, + -100.0673828125, + -0.1636078953742981 + ], + [ + -90.738525390625, + -100.23854064941406, + -0.1636078953742981 + ], + [ + -90.88655853271484, + -100.93499755859375, + -0.1636078953742981 + ], + [ + -91.69180297851562, + -100.76383972167969, + 1.6184208393096924 + ], + [ + -91.54376983642578, + -100.0673828125, + 1.6184208393096924 + ], + [ + -90.738525390625, + -100.23854064941406, + 1.6184208393096924 + ], + [ + -90.88655853271484, + -100.93499755859375, + 1.6184208393096924 + ] + ], + "corners_2d": [ + [ + 617.5124256749405, + 284.7699274470568 + ], + [ + 638.0211550815067, + 283.6350348494467 + ], + [ + 635.9257511857412, + 269.6032381070641 + ], + [ + 615.7862190837982, + 270.69733925013145 + ], + [ + 616.6822529031638, + 241.99526171568908 + ], + [ + 637.9482130167794, + 240.8834502638885 + ], + [ + 635.778390735796, + 227.1469475813056 + ], + [ + 614.9091310507271, + 228.2173644515821 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 661, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -101.5689926147461, + "y": -92.47900390625, + "z": 0.5750139355659485 + }, + "extent": { + "x": 0.5432177782058716, + "y": 0.3181787133216858, + "z": 0.899678647518158 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 863.7477992490465, + "ymin": 476.284763695958, + "xmax": 908.0753524744313, + "ymax": 554.7044198652934 + }, + "corners_3d": [ + [ + -102.14249420166016, + -92.73865509033203, + -0.3246647119522095 + ], + [ + -102.07597351074219, + -92.10578918457031, + -0.3246647119522095 + ], + [ + -100.99549102783203, + -92.21935272216797, + -0.3246647119522095 + ], + [ + -101.06201171875, + -92.85221862792969, + -0.3246647119522095 + ], + [ + -102.14249420166016, + -92.73865509033203, + 1.4746925830841064 + ], + [ + -102.07597351074219, + -92.10578918457031, + 1.4746925830841064 + ], + [ + -100.99549102783203, + -92.21935272216797, + 1.4746925830841064 + ], + [ + -101.06201171875, + -92.85221862792969, + 1.4746925830841064 + ] + ], + "corners_2d": [ + [ + 870.5174707716136, + 554.4381054430288 + ], + [ + 895.1869098346813, + 554.7044198652934 + ], + [ + 887.63306437312, + 521.5471374799833 + ], + [ + 863.7477992490465, + 521.2974478408844 + ], + [ + 882.1568454873754, + 509.55015837841233 + ], + [ + 908.0753524744313, + 509.81790664605603 + ], + [ + 899.7239093081907, + 476.53499548156714 + ], + [ + 874.6696041053635, + 476.284763695958 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 937, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -107.66718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.4856884181499481, + "y": 0.4433056116104126, + "z": 0.9203687906265259 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 538.3030447052801, + "ymin": 655.8039550815515, + "xmax": 591.3759889664702, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -108.15287017822266, + -100.13106536865234, + -0.19296234846115112 + ], + [ + -108.15287017822266, + -99.24445343017578, + -0.19296234846115112 + ], + [ + -107.1814956665039, + -99.24445343017578, + -0.19296234846115112 + ], + [ + -107.1814956665039, + -100.13106536865234, + -0.19296234846115112 + ], + [ + -108.15287017822266, + -100.13106536865234, + 1.6477751731872559 + ], + [ + -108.15287017822266, + -99.24445343017578, + 1.6477751731872559 + ], + [ + -107.1814956665039, + -99.24445343017578, + 1.6477751731872559 + ], + [ + -107.1814956665039, + -100.13106536865234, + 1.6477751731872559 + ] + ], + "corners_2d": [ + [ + 544.2363903118663, + 741.3156420861385 + ], + [ + 584.4251163209788, + 745.9328248945574 + ], + [ + 591.3759889664702, + 704.5384690892927 + ], + [ + 552.5026587789399, + 700.22469851726 + ], + [ + 538.3030447052801, + 697.8130871467316 + ], + [ + 580.9680858122341, + 702.5442959209792 + ], + [ + 588.4586636297178, + 660.205975866623 + ], + [ + 547.2731061504969, + 655.8039550815515 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 2834, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 843.8090884502433, + "ymin": 80.25705945308022, + "xmax": 903.2379354479754, + "ymax": 159.9138222004667 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 889.5219333180238, + 112.21061145244929 + ], + [ + 843.8090884502433, + 109.6894913543897 + ], + [ + 847.7309209940196, + 156.97888510623676 + ], + [ + 897.0788783836897, + 159.9138222004667 + ], + [ + 895.0518650981002, + 82.70770648888208 + ], + [ + 848.3066204420978, + 80.25705945308022 + ], + [ + 852.6847185656364, + 126.3003485574612 + ], + [ + 903.2379354479754, + 129.16323382654622 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 33220, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 715.4299357066068, + "ymin": 148.57552388894462, + "xmax": 886.0434794875492, + "ymax": 482.064126932044 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 844.8411406698528, + 262.9717096696621 + ], + [ + 732.9512479870469, + 255.22608207718335 + ], + [ + 715.4299357066068, + 469.19824843216867 + ], + [ + 859.615000403224, + 482.064126932044 + ], + [ + 863.435303892519, + 155.81614664867908 + ], + [ + 741.2942583954646, + 148.57552388894462 + ], + [ + 724.3728764161473, + 353.69226164431075 + ], + [ + 886.0434794875492, + 366.3718022344871 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 53283, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1041.9498893921427, + "ymin": 207.6153578558576, + "xmax": 1280.0, + "ymax": 591.770724949225 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 1121.0062202650745, + 575.8577075967554 + ], + [ + 1287.5588408736924, + 591.770724949225 + ], + [ + 1166.889236776166, + 327.12406703227003 + ], + [ + 1041.9498893921427, + 318.00833861339794 + ], + [ + 1185.2417626990602, + 459.9968693026519 + ], + [ + 1375.5020798010949, + 476.10744407836654 + ], + [ + 1219.2118702778566, + 216.26827505811008 + ], + [ + 1081.3768460067563, + 207.6153578558576 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 8538, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 866.7448425353375, + "ymin": 309.27972791553407, + "xmax": 957.0587289756493, + "ymax": 480.5786452524552 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 924.6455551077422, + 352.6574345395629 + ], + [ + 866.7448425353375, + 348.20488542016943 + ], + [ + 877.7091462491791, + 474.6773227247223 + ], + [ + 944.459867349003, + 480.5786452524552 + ], + [ + 934.8175823351164, + 313.6773913094006 + ], + [ + 874.8034391996921, + 309.27972791553407 + ], + [ + 887.4835662488342, + 434.8424299336485 + ], + [ + 957.0587289756493, + 440.7343485566607 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 5858, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 997.4819977561529, + "ymin": 61.77730826577272, + "xmax": 1101.6559894256545, + "ymax": 183.6678951830152 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 1022.3904221536071, + 179.89204416564888 + ], + [ + 1084.691745426216, + 183.6678951830152 + ], + [ + 1052.8290190114076, + 109.75288867137857 + ], + [ + 997.4819977561529, + 106.75763753100651 + ], + [ + 1036.8931905266186, + 131.96986969292192 + ], + [ + 1101.6559894256545, + 135.60960514708793 + ], + [ + 1066.7929978928717, + 64.64071483409293 + ], + [ + 1009.5115027190943, + 61.77730826577272 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 710.3177428173695, + "ymin": 0.0, + "xmax": 816.9283618650859, + "ymax": 98.01836429292001 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 710.9284026322382, + 89.07096444062233 + ], + [ + 710.3177428173695, + 93.4338973828743 + ], + [ + 795.7885786071952, + 98.01836429292001 + ], + [ + 795.7605493502539, + 93.58692987757854 + ], + [ + 720.3872504331204, + -91.5449011001408 + ], + [ + 719.7752238518716, + -88.13736551844318 + ], + [ + 816.9283618650859, + -84.54942239050422 + ], + [ + 816.7160050877576, + -88.0177198612738 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2080193722244522285, + "instance_id": 11745, + "pixel_count": null, + "type_id": "BP_StreetLight_simple51_120_SM_2", + "bbox_3d": { + "center_world": { + "x": -78.77368927001953, + "y": -128.03121948242188, + "z": 4.08544921875 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 82.89423728702866, + "ymax": 89.17892156150748 + }, + "corners_3d": [ + [ + -80.54341888427734, + -127.2630386352539, + 0.20873045921325684 + ], + [ + -80.32381439208984, + -126.88267517089844, + 0.20873045921325684 + ], + [ + -77.00395965576172, + -128.7993927001953, + 0.20873045921325684 + ], + [ + -77.22356414794922, + -129.1797637939453, + 0.20873045921325684 + ], + [ + -80.54341888427734, + -127.2630386352539, + 7.962167739868164 + ], + [ + -80.32381439208984, + -126.88267517089844, + 7.962167739868164 + ], + [ + -77.00395965576172, + -128.7993927001953, + 7.962167739868164 + ], + [ + -77.22356414794922, + -129.1797637939453, + 7.962167739868164 + ] + ], + "corners_2d": [ + [ + 71.95967299860774, + 89.17892156150748 + ], + [ + 82.51172796040544, + 87.45796395869763 + ], + [ + 82.89423728702866, + 54.5659505948185 + ], + [ + 72.94519090176698, + 56.0963719316473 + ], + [ + -4.050738172309252, + -92.0373256958319 + ], + [ + 8.164255921714584, + -93.37817600330192 + ], + [ + 13.352838834400927, + -118.8022471309053 + ], + [ + 1.938310580562188, + -117.62779634020222 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1187.8826278789888, + "ymin": 65.43191846587592, + "xmax": 1268.5223607586722, + "ymax": 99.08174296983066 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1203.6942213131879, + 95.93697657995745 + ], + [ + 1264.7197829163788, + 99.08174296983066 + ], + [ + 1246.4704748761303, + 76.31313313650196 + ], + [ + 1187.8826278789888, + 73.40592495018853 + ], + [ + 1207.1069365571693, + 87.77891377195164 + ], + [ + 1268.5223607586722, + 90.89881549960393 + ], + [ + 1250.018608343234, + 68.31479209435713 + ], + [ + 1191.0714620316978, + 65.43191846587592 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1155.7599704664624, + "ymin": 37.90914485301016, + "xmax": 1280.0, + "ymax": 177.16172294903777 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1170.3381970987084, + 173.6120560570948 + ], + [ + 1230.9877478825035, + 177.16172294903777 + ], + [ + 1213.9852577374868, + 151.2938577107751 + ], + [ + 1155.7599704664624, + 148.01319500596225 + ], + [ + 1217.3809656287576, + 60.97385081740305 + ], + [ + 1283.7154749370457, + 64.18457437306148 + ], + [ + 1263.042734921913, + 40.8562552492088 + ], + [ + 1199.5966033103045, + 37.90914485301016 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 809.093534326554, + "ymin": 145.51784931457095, + "xmax": 826.1861948460928, + "ymax": 156.0787809217724 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 809.093534326554, + 149.34379685254785 + ], + [ + 809.2471181945359, + 155.11590565758743 + ], + [ + 825.6315900682491, + 156.0787809217724 + ], + [ + 825.3311056072691, + 150.28952258528076 + ], + [ + 809.5934521129008, + 145.51784931457095 + ], + [ + 809.752016563773, + 151.27256678043207 + ], + [ + 826.1861948460928, + 152.23257077481986 + ], + [ + 825.879841182466, + 146.46070455677912 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1187.9453634244524, + "ymin": 65.44650071618713, + "xmax": 1268.4767537006219, + "ymax": 99.01101422925979 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1203.7400278826403, + 95.8701116052053 + ], + [ + 1264.6996612424532, + 99.01101422925979 + ], + [ + 1246.4727667612458, + 76.27188090060326 + ], + [ + 1187.9453634244524, + 73.36797228418789 + ], + [ + 1207.1302762733167, + 87.7660119945408 + ], + [ + 1268.4767537006219, + 90.882240380128 + ], + [ + 1249.997419784167, + 68.326260672189 + ], + [ + 1191.1134636440756, + 65.44650071618713 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 672.1610224018888, + "ymin": 130.96439825495742, + "xmax": 831.1731876767188, + "ymax": 375.9484577987046 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 673.470226173464, + 356.6954389016354 + ], + [ + 672.1610224018888, + 366.04920367221405 + ], + [ + 797.546513684749, + 375.9484577987046 + ], + [ + 797.4859826172636, + 366.37847682441816 + ], + [ + 680.4224129383028, + 130.96439825495742 + ], + [ + 678.9305386171718, + 139.27059767247687 + ], + [ + 831.1731876767188, + 148.10288075535914 + ], + [ + 830.6503504461142, + 139.56368993062824 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 809.1834917994591, + "ymin": 145.5737925235511, + "xmax": 826.0943555126524, + "ymax": 156.02243530634294 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 809.1834917994591, + 149.35915118425905 + ], + [ + 809.3362422525685, + 155.0699065318285 + ], + [ + 825.5459424201332, + 156.02243530634294 + ], + [ + 825.2493939698661, + 150.29489317326707 + ], + [ + 809.6783750420965, + 145.5737925235511 + ], + [ + 809.8360053426069, + 151.2675244061226 + ], + [ + 826.0943555126524, + 152.21724266600705 + ], + [ + 825.792066643392, + 146.50672475262263 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1159.5933628870885, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 149.7962768870406 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1326.408889168495, + 34.824417034286796 + ], + [ + 1159.5933628870885, + 52.10876751539763 + ], + [ + 1304.5466579970416, + 149.7962768870406 + ], + [ + 1494.8496506880415, + 125.8670169958248 + ], + [ + 1496.4296841289895, + -314.08478423611734 + ], + [ + 1293.620214360354, + -306.77974320584235 + ], + [ + 1516.6656887561828, + -263.12732060208737 + ], + [ + 1754.4208297046516, + -274.208760177396 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 159.46008962513662, + "ymax": 169.28477128902313 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + 159.46008962513662, + 68.8709771005806 + ], + [ + -13.598427671234504, + 84.39237471634311 + ], + [ + -67.90794417367545, + 169.28477128902313 + ], + [ + 131.5875112263189, + 148.92319831426397 + ], + [ + 62.24409352328905, + -209.21278497263052 + ], + [ + -150.26037560204782, + -199.7736184040807 + ], + [ + -243.18898044864795, + -146.20215077182513 + ], + [ + 10.511623468718312, + -159.36010504162675 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 98.25271549362492, + "ymax": 252.20198635177877 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 98.25271549362492, + 149.54152864375635 + ], + [ + -71.37676151748201, + 152.67667027826542 + ], + [ + -173.96918651021713, + 252.20198635177877 + ], + [ + 22.332959521078124, + 248.02485773516653 + ], + [ + -38.297884336950005, + -176.5938626173272 + ], + [ + -251.78430890116795, + -174.66591646205688 + ], + [ + -422.06485771182406, + -110.8850146673206 + ], + [ + -164.55135608641137, + -113.6664830574918 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00068/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00068/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bc40d0df7c7fe440ee32d0081ae06d2c60a4a500 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00068/meta.json @@ -0,0 +1,2353 @@ +{ + "frame_id": 68, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 34.0, + "sim_timestamp": 10526.971050186083 + }, + "drone_pose": { + "x": -117.45819408704413, + "y": -96.80403696505823, + "z": 20.061511696046395, + "pitch": -44.0301283334268, + "yaw": -8.290163192243048, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7114615440368652, + 0.10366625338792801, + 0.6950365304946899, + 59.58818054199219 + ], + [ + -0.14418628811836243, + 0.9895505309104919, + 3.725290298461914e-09, + 112.72834777832031 + ], + [ + -0.6877738237380981, + -0.10021474957466125, + 0.7189744114875793, + -85.5071792602539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -116.95819408704413, + "y": -96.80403696505823, + "z": 20.067878004732336 + }, + "t1_image_uv": [ + 837.006140300814, + -592.2341966868803 + ], + "t1_depth": 0.3513059535687377 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -97.66718292236328, + "y": -99.68776321411131, + "z": 0.7274016332626343 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 27.81740124310386, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 198, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -97.66718292236328, + "y": -99.68775939941406, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.1649511456489563, + "y": 0.22263669967651367, + "z": 0.5213783383369446 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.435800773254, + "ymin": 342.23655552822356, + "xmax": 648.505848591496, + "ymax": 377.48226373884495 + }, + "corners_3d": [ + [ + -97.8321304321289, + -99.91039276123047, + 0.2060232162475586 + ], + [ + -97.8321304321289, + -99.46512603759766, + 0.2060232162475586 + ], + [ + -97.50223541259766, + -99.46512603759766, + 0.2060232162475586 + ], + [ + -97.50223541259766, + -99.91039276123047, + 0.2060232162475586 + ], + [ + -97.8321304321289, + -99.91039276123047, + 1.2487798929214478 + ], + [ + -97.8321304321289, + -99.46512603759766, + 1.2487798929214478 + ], + [ + -97.50223541259766, + -99.46512603759766, + 1.2487798929214478 + ], + [ + -97.50223541259766, + -99.91039276123047, + 1.2487798929214478 + ] + ], + "corners_2d": [ + [ + 631.6568022400427, + 375.9282816433295 + ], + [ + 646.7286332696497, + 377.48226373884495 + ], + [ + 648.2878166087136, + 369.63334839536196 + ], + [ + 633.3383541228799, + 368.1050380936982 + ], + [ + 631.435800773254, + 350.04512100681706 + ], + [ + 646.9071680259635, + 351.59659566072725 + ], + [ + 648.505848591496, + 343.76172898233636 + ], + [ + 633.1633958196411, + 342.23655552822356 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 68, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 45, + "semantic_pixel_counts": { + "1": 247371, + "2": 139151, + "3": 399937, + "4": 3819, + "5": 1080, + "6": 2701, + "10": 1186, + "12": 2147, + "14": 18308, + "16": 85118, + "20": 8815, + "24": 11967 + }, + "instance_pixel_counts": { + "913": 1436, + "1115": 7254, + "3182": 1829, + "4206": 2026, + "4718": 4778, + "8834": 1808, + "14416": 1080, + "15963": 446, + "16475": 2046, + "16987": 6741, + "17232": 3819, + "17499": 19919, + "18011": 347298, + "24512": 19670, + "26963": 20, + "31168": 23457, + "34120": 8786, + "35668": 3663, + "35924": 2309, + "36443": 1657, + "36692": 1407, + "40019": 873, + "43147": 8021, + "43659": 4038, + "44179": 117561, + "46227": 129810, + "46741": 6721, + "48749": 1073, + "48779": 7408, + "48789": 5246, + "49261": 4870, + "49664": 198, + "49920": 379, + "50176": 606, + "50432": 964, + "51456": 3037, + "52160": 20284, + "52480": 34683, + "52672": 21151, + "52736": 50435, + "54016": 8923, + "55040": 6348, + "55744": 23096, + "55879": 202, + "64351": 3240 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 198, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -97.66718292236328, + "y": -99.68775939941406, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.21672360599040985, + "y": 0.20891599357128143, + "z": 0.5214800238609314 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.6384447820186, + "ymin": 341.0673347376171, + "xmax": 648.2814797648108, + "ymax": 378.68038361047826 + }, + "corners_3d": [ + [ + -97.88390350341797, + -99.89667510986328, + 0.20592153072357178 + ], + [ + -97.88390350341797, + -99.47884368896484, + 0.20592153072357178 + ], + [ + -97.4504623413086, + -99.47884368896484, + 0.20592153072357178 + ], + [ + -97.4504623413086, + -99.89667510986328, + 0.20592153072357178 + ], + [ + -97.88390350341797, + -99.89667510986328, + 1.2488815784454346 + ], + [ + -97.88390350341797, + -99.47884368896484, + 1.2488815784454346 + ], + [ + -97.4504623413086, + -99.47884368896484, + 1.2488815784454346 + ], + [ + -97.4504623413086, + -99.89667510986328, + 1.2488815784454346 + ] + ], + "corners_2d": [ + [ + 631.8545528754526, + 377.2183151160323 + ], + [ + 646.0158814253987, + 378.68038361047826 + ], + [ + 648.069445094439, + 368.36879227648404 + ], + [ + 634.0589883158551, + 366.93837579194485 + ], + [ + 631.6384447820186, + 351.32801710638194 + ], + [ + 646.1757431215484, + 352.78782774535085 + ], + [ + 648.2814797648108, + 342.49471714480086 + ], + [ + 633.9031255907128, + 341.0673347376171 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 379, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -90.35433197021484, + "y": -99.74236297607422, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.4809960722923279, + "y": 0.36092284321784973, + "z": 0.909453809261322 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 657.2049065561349, + "ymin": 183.01628508257144, + "xmax": 681.6649497426972, + "ymax": 243.76751757383607 + }, + "corners_3d": [ + [ + -90.89985656738281, + -99.99539184570312, + -0.18205714225769043 + ], + [ + -90.7497787475586, + -99.28932189941406, + -0.18205714225769043 + ], + [ + -89.80880737304688, + -99.48933410644531, + -0.18205714225769043 + ], + [ + -89.9588851928711, + -100.19540405273438, + -0.18205714225769043 + ], + [ + -90.89985656738281, + -99.99539184570312, + 1.6368504762649536 + ], + [ + -90.7497787475586, + -99.28932189941406, + 1.6368504762649536 + ], + [ + -89.80880737304688, + -99.48933410644531, + 1.6368504762649536 + ], + [ + -89.9588851928711, + -100.19540405273438, + 1.6368504762649536 + ] + ], + "corners_2d": [ + [ + 659.3562682533617, + 243.76751757383607 + ], + [ + 680.0845821451154, + 242.94964090137478 + ], + [ + 677.5148052482024, + 226.4962346402363 + ], + [ + 657.2049065561349, + 227.2812455229584 + ], + [ + 660.1202050333794, + 199.98676247207663 + ], + [ + 681.6649497426972, + 199.18248755415073 + ], + [ + 678.962691953017, + 183.01628508257144 + ], + [ + 657.869612620177, + 183.78700607482844 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 606, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -101.63099670410156, + "y": -92.63739013671875, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.5445410013198853, + "y": 0.31754881143569946, + "z": 0.8978282809257507 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 870.9456990287864, + "ymin": 459.7751131537637, + "xmax": 915.5130356867749, + "ymax": 538.5589869414289 + }, + "corners_3d": [ + [ + -102.20574951171875, + -92.89627838134766, + -0.322829008102417 + ], + [ + -102.13935852050781, + -92.26466369628906, + -0.322829008102417 + ], + [ + -101.05624389648438, + -92.37850189208984, + -0.322829008102417 + ], + [ + -101.12263488769531, + -93.01011657714844, + -0.322829008102417 + ], + [ + -102.20574951171875, + -92.89627838134766, + 1.4728275537490845 + ], + [ + -102.13935852050781, + -92.26466369628906, + 1.4728275537490845 + ], + [ + -101.05624389648438, + -92.37850189208984, + 1.4728275537490845 + ], + [ + -101.12263488769531, + -93.01011657714844, + 1.4728275537490845 + ] + ], + "corners_2d": [ + [ + 876.5891739103913, + 537.7388500362056 + ], + [ + 901.5330154285272, + 538.5589869414289 + ], + [ + 895.1164866133554, + 504.4435705164545 + ], + [ + 870.9456990287864, + 503.67320476021564 + ], + [ + 889.2259692647501, + 494.1904017838207 + ], + [ + 915.5130356867749, + 495.0203526646611 + ], + [ + 908.3113544979204, + 460.5521361400737 + ], + [ + 882.8814073794744, + 459.7751131537637 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 964, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -107.16718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.500673770904541, + "y": 0.4441893994808197, + "z": 0.925807774066925 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 550.1588669839684, + "ymin": 612.6830507140651, + "xmax": 602.5794864459818, + "ymax": 702.0142156722632 + }, + "corners_3d": [ + [ + -107.66785430908203, + -100.13195037841797, + -0.1984013319015503 + ], + [ + -107.66785430908203, + -99.24356842041016, + -0.1984013319015503 + ], + [ + -106.66651153564453, + -99.24356842041016, + -0.1984013319015503 + ], + [ + -106.66651153564453, + -100.13195037841797, + -0.1984013319015503 + ], + [ + -107.66785430908203, + -100.13195037841797, + 1.6532142162322998 + ], + [ + -107.66785430908203, + -99.24356842041016, + 1.6532142162322998 + ], + [ + -106.66651153564453, + -99.24356842041016, + 1.6532142162322998 + ], + [ + -106.66651153564453, + -100.13195037841797, + 1.6532142162322998 + ] + ], + "corners_2d": [ + [ + 555.563744906447, + 696.5464391578055 + ], + [ + 594.8205264291313, + 702.0142156722632 + ], + [ + 602.5794864459818, + 660.9093545853659 + ], + [ + 564.555619118505, + 655.7890633850238 + ], + [ + 550.1588669839684, + 654.5218983824377 + ], + [ + 591.9152192796917, + 660.1478958612515 + ], + [ + 600.2558435169872, + 617.9297412076019 + ], + [ + 559.8915929786748, + 612.6830507140651 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 3037, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 869.4915153941587, + "ymin": 46.19334645962033, + "xmax": 929.8700355328652, + "ymax": 129.86700050552668 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 916.4216273043301, + 79.70369690008846 + ], + [ + 869.4915153941587, + 76.45053673240551 + ], + [ + 872.0242926905332, + 126.09192587367644 + ], + [ + 922.6026096155703, + 129.86700050552668 + ], + [ + 923.0069940797289, + 49.36764193937921 + ], + [ + 874.9307270958125, + 46.19334645962033 + ], + [ + 877.9579430470451, + 94.71408806986472 + ], + [ + 929.8700355328652, + 98.41120352185027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 34683, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 728.4311434299517, + "ymin": 118.50207175783567, + "xmax": 903.9251815039613, + "ymax": 462.7227435390438 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 865.7336486391407, + 236.58390663191273 + ], + [ + 751.873958134615, + 226.72635980131062 + ], + [ + 728.4311434299517, + 446.60090009314644 + ], + [ + 873.9188833270073, + 462.7227435390438 + ], + [ + 887.7185220571863, + 127.84662351248551 + ], + [ + 762.6233851811555, + 118.50207175783567 + ], + [ + 739.5750007736165, + 332.370889256397 + ], + [ + 903.9251815039613, + 348.5129312462534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 50435, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1065.8260183694297, + "ymin": 185.67602024980755, + "xmax": 1280.0, + "ymax": 584.439978095184 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 1136.6203414406682, + 564.3166923488968 + ], + [ + 1306.5960055798464, + 584.439978095184 + ], + [ + 1194.1928253422134, + 308.8097323548768 + ], + [ + 1065.8260183694297, + 297.1118921689517 + ], + [ + 1207.5271276549765, + 451.70047380662817 + ], + [ + 1403.7094856260746, + 472.4625443665088 + ], + [ + 1253.5529559766285, + 196.9586937398227 + ], + [ + 1110.7639596406298, + 185.67602024980755 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 8923, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 885.3980964734574, + "ymin": 286.32024370347176, + "xmax": 974.2588947375541, + "ymax": 462.9770819558227 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 944.3482461726562, + 330.9170033703092 + ], + [ + 885.3980964734574, + 325.2628284486486 + ], + [ + 892.5136980354226, + 455.5463266309033 + ], + [ + 960.1752472017945, + 462.9770819558227 + ], + [ + 955.9555417354061, + 291.9341695956408 + ], + [ + 894.6960430070949, + 286.32024370347176 + ], + [ + 903.5375476995175, + 416.36391778510233 + ], + [ + 974.2588947375541, + 423.824573384274 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 6348, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1027.997996641891, + "ymin": 29.023777879420777, + "xmax": 1134.7582278184, + "ymax": 157.5150861612471 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 1050.9712894024328, + 152.63044913538238 + ], + [ + 1115.2185812097375, + 157.5150861612471 + ], + [ + 1085.1793187435987, + 79.28711549840733 + ], + [ + 1027.997996641891, + 75.39617960708523 + ], + [ + 1067.750861637234, + 103.61789164029415 + ], + [ + 1134.7582278184, + 108.35750807855268 + ], + [ + 1101.4381913394534, + 32.76615661019292 + ], + [ + 1042.0802213026748, + 29.023777879420777 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 733.1135749783048, + "ymin": 0.0, + "xmax": 847.0434639033264, + "ymax": 63.63986574405607 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 733.8543270089704, + 53.16089424909967 + ], + [ + 733.1135749783048, + 57.73038563956243 + ], + [ + 820.529900688269, + 63.63986574405607 + ], + [ + 820.6332798000892, + 58.9839832930482 + ], + [ + 747.3766544229618, + -134.12625483629733 + ], + [ + 746.6421986947018, + -130.4706901923078 + ], + [ + 847.0434639033264, + -125.7316248921419 + ], + [ + 846.9380164965378, + -129.46646359090653 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2080193722244522285, + "instance_id": 11745, + "pixel_count": null, + "type_id": "BP_StreetLight_simple51_120_SM_2", + "bbox_3d": { + "center_world": { + "x": -78.77368927001953, + "y": -128.03121948242188, + "z": 4.08544921875 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 10.206788066979016, + "ymin": 0.0, + "xmax": 99.7682334911558, + "ymax": 45.301169290546795 + }, + "corners_3d": [ + [ + -80.54341888427734, + -127.2630386352539, + 0.20873045921325684 + ], + [ + -80.32381439208984, + -126.88267517089844, + 0.20873045921325684 + ], + [ + -77.00395965576172, + -128.7993927001953, + 0.20873045921325684 + ], + [ + -77.22356414794922, + -129.1797637939453, + 0.20873045921325684 + ], + [ + -80.54341888427734, + -127.2630386352539, + 7.962167739868164 + ], + [ + -80.32381439208984, + -126.88267517089844, + 7.962167739868164 + ], + [ + -77.00395965576172, + -128.7993927001953, + 7.962167739868164 + ], + [ + -77.22356414794922, + -129.1797637939453, + 7.962167739868164 + ] + ], + "corners_2d": [ + [ + 88.73413570908315, + 45.301169290546795 + ], + [ + 99.25936332519143, + 43.647965357830344 + ], + [ + 99.7682334911558, + 9.521232052599885 + ], + [ + 89.83287020715647, + 10.994880763894855 + ], + [ + 10.206788066979016, + -140.98845583745577 + ], + [ + 22.468432758397853, + -142.30299619889195 + ], + [ + 27.899219811132753, + -169.2151313142458 + ], + [ + 16.43045594994817, + -168.0617643554665 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1227.2655009750624, + "ymin": 36.10710139353489, + "xmax": 1280.0, + "ymax": 72.68900711097933 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1242.7715462530232, + 68.53817629785459 + ], + [ + 1306.4544610274652, + 72.68900711097933 + ], + [ + 1288.4170085512756, + 48.19843911988744 + ], + [ + 1227.2655009750624, + 44.357913121661284 + ], + [ + 1246.7227887846634, + 60.11795253945985 + ], + [ + 1310.8518281742467, + 64.2409025736153 + ], + [ + 1292.5307922793745, + 39.91991959461018 + ], + [ + 1230.9679508932477, + 36.10710139353489 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1190.418466517186, + "ymin": 7.518612175246517, + "xmax": 1280.0, + "ymax": 152.92940349374146 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1204.4512200261606, + 148.29579927980723 + ], + [ + 1267.3779365103378, + 152.92940349374146 + ], + [ + 1250.8557694493036, + 125.40787258416759 + ], + [ + 1190.418466517186, + 121.12022247750039 + ], + [ + 1258.7510880868413, + 32.39786575254635 + ], + [ + 1328.1595353610294, + 36.65806512921381 + ], + [ + 1307.567813090814, + 11.431929473506557 + ], + [ + 1241.1743922760998, + 7.518612175246517 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 831.3456079913392, + "ymin": 119.87074851537363, + "xmax": 848.8413806014942, + "ymax": 131.1544586300919 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 831.3737672726572, + 123.77658019104152 + ], + [ + 831.3456079913392, + 129.89905730866025 + ], + [ + 848.1728733433985, + 131.1544586300919 + ], + [ + 848.053206546983, + 125.01003324947095 + ], + [ + 831.9818219740232, + 119.87074851537363 + ], + [ + 831.9589708947648, + 125.97817439281039 + ], + [ + 848.8413806014942, + 127.23053192409176 + ], + [ + 848.7154394332626, + 121.10114167670454 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1227.332827805311, + "ymin": 36.12317940046904, + "xmax": 1280.0, + "ymax": 72.61488879018157 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1242.8225240205238, + 68.46909811617093 + ], + [ + 1306.4369108292126, + 72.61488879018157 + ], + [ + 1288.421482991022, + 48.155865898318154 + ], + [ + 1227.332827805311, + 44.31964824655472 + ], + [ + 1246.747771058176, + 60.10452915766666 + ], + [ + 1310.8048302747475, + 64.22265162404415 + ], + [ + 1292.5080523781169, + 39.93190056096938 + ], + [ + 1231.0112061451764, + 36.12317940046904 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 687.3197475833488, + "ymin": 102.85892609720963, + "xmax": 854.0700139212058, + "ymax": 352.7221267583811 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 688.8751214270862, + 330.62499039417406 + ], + [ + 687.3197475833488, + 340.2196551317421 + ], + [ + 814.1111245054276, + 352.7221267583811 + ], + [ + 814.3300378967277, + 342.86292987712676 + ], + [ + 699.7629091878674, + 102.85892609720963 + ], + [ + 697.9989934965026, + 111.63836315273923 + ], + [ + 854.0700139212058, + 123.14155013257943 + ], + [ + 853.8137347965841, + 114.06440711432961 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 831.438607341009, + "ymin": 119.93051984242902, + "xmax": 848.7474884622048, + "ymax": 131.09425612353155 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 831.46566214477, + 123.79490174191557 + ], + [ + 831.438607341009, + 129.85233873591935 + ], + [ + 848.0864153408847, + 131.09425612353155 + ], + [ + 847.9687658384396, + 125.01533502637568 + ], + [ + 832.0675618511009, + 119.93051984242902 + ], + [ + 832.0457079823767, + 125.97322405792906 + ], + [ + 848.7474884622048, + 127.21216197149226 + ], + [ + 848.6237023509151, + 121.14795805431183 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1198.5951532119948, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 125.29308637353333 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1374.1015514865012, + 3.4508504924613703 + ], + [ + 1198.5951532119948, + 19.85043748013817 + ], + [ + 1345.4650186891104, + 125.29308637353333 + ], + [ + 1546.611681774626, + 102.59668134799335 + ], + [ + 1575.9001948316109, + -367.5468834191421 + ], + [ + 1357.8108562254451, + -360.15368887431293 + ], + [ + 1595.3843374252929, + -309.65910831751626 + ], + [ + 1853.7142827944128, + -320.98227309134154 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 176.11187808932783, + "ymax": 126.32544031854624 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + 176.11187808932783, + 25.458393595840676 + ], + [ + 3.4762488578606963, + 39.466958500085696 + ], + [ + -50.319432231556675, + 126.32544031854624 + ], + [ + 147.7637187124476, + 108.0848731480861 + ], + [ + 75.49753700584722, + -262.49060067966957 + ], + [ + -138.5674784477568, + -253.66924557900052 + ], + [ + -232.196119095673, + -196.8800973734344 + ], + [ + 22.35034257588586, + -209.11437684529506 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 114.87171231629577, + "ymax": 209.08289372539966 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 114.87171231629577, + 107.79841606622008 + ], + [ + -53.39123437943158, + 108.72427294172797 + ], + [ + -154.05398724271777, + 209.08289372539966 + ], + [ + 39.279802154045456, + 207.86231165965532 + ], + [ + -26.667197205555567, + -227.84046197392786 + ], + [ + -240.60756151011253, + -227.24857737198477 + ], + [ + -410.51087522273497, + -160.39037139522702 + ], + [ + -154.3328173496442, + -161.2370005641767 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00069/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00069/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..af03de0c97445582e989e9d756bc9bc88c0e9725 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00069/meta.json @@ -0,0 +1,2353 @@ +{ + "frame_id": 69, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 34.5, + "sim_timestamp": 10539.838621551171 + }, + "drone_pose": { + "x": -116.95819408704413, + "y": -96.80403696505823, + "z": 20.067878004732336, + "pitch": -44.03955456556306, + "yaw": -8.290163192243048, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7113483548164368, + 0.10364977270364761, + 0.6951548457145691, + 59.21401596069336 + ], + [ + -0.14418630301952362, + 0.9895505309104919, + 0.0, + 112.65625762939453 + ], + [ + -0.6878908276557922, + -0.10023179650306702, + 0.7188600301742554, + -85.1776123046875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -116.41764875184356, + "y": -96.99507263328518, + "z": 20.114364279206125 + }, + "t1_image_uv": [ + 353.2910792528289, + -735.22378982291 + ], + "t1_depth": 0.37200169677651385 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -97.16718292236328, + "y": -99.68776321411131, + "z": 0.7274016332626343 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 27.821826436727292, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 201, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -97.16718292236328, + "y": -99.68775939941406, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.29634761810302734, + "y": 0.21266110241413116, + "z": 0.5326951742172241 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.0853262602232, + "ymin": 338.9130228674071, + "xmax": 648.7931733893955, + "ymax": 380.8796660026045 + }, + "corners_3d": [ + [ + -97.46353149414062, + -99.90042114257812, + 0.19470638036727905 + ], + [ + -97.46353149414062, + -99.47509765625, + 0.19470638036727905 + ], + [ + -96.87083435058594, + -99.47509765625, + 0.19470638036727905 + ], + [ + -96.87083435058594, + -99.90042114257812, + 0.19470638036727905 + ], + [ + -97.46353149414062, + -99.90042114257812, + 1.260096788406372 + ], + [ + -97.46353149414062, + -99.47509765625, + 1.260096788406372 + ], + [ + -96.87083435058594, + -99.47509765625, + 1.260096788406372 + ], + [ + -96.87083435058594, + -99.90042114257812, + 1.260096788406372 + ] + ], + "corners_2d": [ + [ + 631.3210946156083, + 379.3853393395615 + ], + [ + 645.7585654571478, + 380.8796660026045 + ], + [ + 648.5637118830442, + 366.77843228983534 + ], + [ + 634.336034603409, + 365.3281400532332 + ], + [ + 631.0853262602232, + 352.9435899545624 + ], + [ + 645.9152541665949, + 354.4357504177831 + ], + [ + 648.7931733893955, + 340.3600445371616 + ], + [ + 634.1845124056504, + 338.9130228674071 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 69, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 45, + "semantic_pixel_counts": { + "1": 244739, + "2": 135262, + "3": 404440, + "4": 4003, + "5": 1116, + "6": 2684, + "10": 1261, + "12": 2291, + "14": 18879, + "16": 86248, + "20": 8660, + "24": 12017 + }, + "instance_pixel_counts": { + "913": 1483, + "1115": 5247, + "3182": 2539, + "4206": 2110, + "4718": 5083, + "8834": 1848, + "14416": 1116, + "15963": 529, + "16475": 2332, + "16987": 7244, + "17232": 4003, + "17499": 21668, + "18011": 350598, + "24512": 20527, + "26963": 32, + "31168": 22504, + "34120": 4320, + "35668": 3782, + "35924": 1958, + "36443": 904, + "36692": 1437, + "40019": 804, + "43147": 8348, + "43659": 4264, + "44179": 122927, + "46227": 121812, + "46741": 7027, + "48749": 1122, + "48779": 7080, + "48789": 4990, + "49261": 5064, + "49664": 201, + "49920": 390, + "50176": 682, + "50432": 1018, + "51456": 3115, + "52160": 21087, + "52480": 35763, + "52672": 21786, + "52736": 50485, + "54016": 9256, + "55040": 6508, + "55744": 21975, + "55879": 368, + "64351": 3371 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 201, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -97.16718292236328, + "y": -99.68775939941406, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.2962695062160492, + "y": 0.19658200442790985, + "z": 0.5569803714752197 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.6404452505732, + "ymin": 338.35082457323085, + "xmax": 648.2445975844124, + "ymax": 381.4076907619228 + }, + "corners_3d": [ + [ + -97.46345520019531, + -99.88433837890625, + 0.17042118310928345 + ], + [ + -97.46345520019531, + -99.49118041992188, + 0.17042118310928345 + ], + [ + -96.87091064453125, + -99.49118041992188, + 0.17042118310928345 + ], + [ + -96.87091064453125, + -99.88433837890625, + 0.17042118310928345 + ], + [ + -97.46345520019531, + -99.88433837890625, + 1.2843818664550781 + ], + [ + -97.46345520019531, + -99.49118041992188, + 1.2843818664550781 + ], + [ + -96.87091064453125, + -99.49118041992188, + 1.2843818664550781 + ], + [ + -96.87091064453125, + -99.88433837890625, + 1.2843818664550781 + ] + ], + "corners_2d": [ + [ + 631.8714854476485, + 380.02635890048526 + ], + [ + 645.2090354798294, + 381.4076907619228 + ], + [ + 648.0197895508715, + 367.3114312381454 + ], + [ + 634.8758852426936, + 365.97076978180803 + ], + [ + 631.6404452505732, + 352.37860367762215 + ], + [ + 645.3573158831633, + 353.7578403180781 + ], + [ + 648.2445975844124, + 339.6883237422726 + ], + [ + 634.7324593606096, + 338.35082457323085 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 390, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -89.80570220947266, + "y": -99.09268951416016, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.38545408844947815, + "y": 0.31629881262779236, + "z": 0.8652196526527405 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 677.1328303658426, + "ymin": 186.4872787333652, + "xmax": 699.4775793929375, + "ymax": 241.80757670474767 + }, + "corners_3d": [ + [ + -90.24849700927734, + -99.32193756103516, + -0.1378229856491089 + ], + [ + -90.11697387695312, + -98.70316314697266, + -0.1378229856491089 + ], + [ + -89.36290740966797, + -98.86344146728516, + -0.1378229856491089 + ], + [ + -89.49443054199219, + -99.48221588134766, + -0.1378229856491089 + ], + [ + -90.24849700927734, + -99.32193756103516, + 1.592616319656372 + ], + [ + -90.11697387695312, + -98.70316314697266, + 1.592616319656372 + ], + [ + -89.36290740966797, + -98.86344146728516, + 1.592616319656372 + ], + [ + -89.49443054199219, + -99.48221588134766, + 1.592616319656372 + ] + ], + "corners_2d": [ + [ + 679.1869775630171, + 241.80757670474767 + ], + [ + 697.3313675692054, + 241.0925322444843 + ], + [ + 694.9829186084871, + 227.88394115911464 + ], + [ + 677.1328303658426, + 228.57582946479366 + ], + [ + 680.6552947852681, + 200.18159752659912 + ], + [ + 699.4775793929375, + 199.4778999538354 + ], + [ + 697.006391792031, + 186.4872787333652 + ], + [ + 678.500618482362, + 187.1673557269454 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 682, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -101.70704650878906, + "y": -92.84963989257812, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.5186083912849426, + "y": 0.3562353551387787, + "z": 0.9039596915245056 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 861.8249323621965, + "ymin": 477.16797631258714, + "xmax": 909.3575358208132, + "ymax": 555.596089675933 + }, + "corners_3d": [ + [ + -102.26004791259766, + -93.14971160888672, + -0.32896530628204346 + ], + [ + -102.18557739257812, + -92.44114685058594, + -0.32896530628204346 + ], + [ + -101.15404510498047, + -92.54956817626953, + -0.32896530628204346 + ], + [ + -101.228515625, + -93.25813293457031, + -0.32896530628204346 + ], + [ + -102.26004791259766, + -93.14971160888672, + 1.4789540767669678 + ], + [ + -102.18557739257812, + -92.44114685058594, + 1.4789540767669678 + ], + [ + -101.15404510498047, + -92.54956817626953, + 1.4789540767669678 + ], + [ + -101.228515625, + -93.25813293457031, + 1.4789540767669678 + ] + ], + "corners_2d": [ + [ + 866.9980099068969, + 554.6476570365908 + ], + [ + 895.3892661410364, + 555.596089675933 + ], + [ + 889.3652024481679, + 522.0754710004043 + ], + [ + 861.8249323621965, + 521.1827448315671 + ], + [ + 879.4023979645692, + 511.03579561380235 + ], + [ + 909.3575358208132, + 511.99725450161213 + ], + [ + 902.575676297681, + 478.0700209021162 + ], + [ + 873.5662913053255, + 477.16797631258714 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 1018, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -106.66718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.4767577648162842, + "y": 0.4647313952445984, + "z": 0.9137540459632874 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 549.5013869631034, + "ymin": 613.8136244705653, + "xmax": 603.2788658091179, + "ymax": 700.8286553091771 + }, + "corners_3d": [ + [ + -107.1439437866211, + -100.1524887084961, + -0.1863476037979126 + ], + [ + -107.1439437866211, + -99.22303009033203, + -0.1863476037979126 + ], + [ + -106.19042205810547, + -99.22303009033203, + -0.1863476037979126 + ], + [ + -106.19042205810547, + -100.1524887084961, + -0.1863476037979126 + ], + [ + -107.1439437866211, + -100.1524887084961, + 1.641160488128662 + ], + [ + -107.1439437866211, + -99.22303009033203, + 1.641160488128662 + ], + [ + -106.19042205810547, + -99.22303009033203, + 1.641160488128662 + ], + [ + -106.19042205810547, + -100.1524887084961, + 1.641160488128662 + ] + ], + "corners_2d": [ + [ + 554.8717272416623, + 695.1173179574528 + ], + [ + 595.917118793775, + 700.8286553091771 + ], + [ + 603.2788658091179, + 661.6811289452423 + ], + [ + 563.4618839683261, + 656.3159448364502 + ], + [ + 549.5013869631034, + 653.6312223340854 + ], + [ + 593.1227702313898, + 659.5051719516482 + ], + [ + 601.0273673810741, + 619.3101486924973 + ], + [ + 558.7907886998793, + 613.8136244705653 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 3115, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 869.7792200060295, + "ymin": 51.58825827412909, + "xmax": 930.7623393170127, + "ymax": 136.36705702612466 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 917.1146963129476, + 85.28657336686479 + ], + [ + 869.7792200060295, + 81.97624104851252 + ], + [ + 872.3548759432758, + 132.52063171501536 + ], + [ + 923.4037076604299, + 136.36705702612466 + ], + [ + 923.7759459227761, + 54.819761117685005 + ], + [ + 875.2739827098444, + 51.58825827412909 + ], + [ + 878.3542347569444, + 101.01488525600791 + ], + [ + 930.7623393170127, + 104.78378674194911 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 35763, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 726.9660252843264, + "ymin": 126.54494488641265, + "xmax": 904.9610623973567, + "ymax": 477.0126148001864 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 866.0443336455654, + 245.2591495058706 + ], + [ + 750.9800327884702, + 235.18802226018173 + ], + [ + 726.9660252843264, + 460.4450047009254 + ], + [ + 874.4197875842182, + 477.0126148001864 + ], + [ + 888.3219223247504, + 136.11273495392243 + ], + [ + 761.7690148828941, + 126.54494488641265 + ], + [ + 738.0938050047832, + 346.2713949200909 + ], + [ + 904.9610623973567, + 362.9193075180905 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 50485, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1068.4556640126132, + "ymin": 195.3941938450455, + "xmax": 1280.0, + "ymax": 602.3278671000496 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 1141.1173548628678, + 581.5828911189509 + ], + [ + 1313.773803971712, + 602.3278671000496 + ], + [ + 1198.3516100195416, + 319.1326698329462 + ], + [ + 1068.4556640126132, + 307.1589701089201 + ], + [ + 1213.9123216266714, + 469.56100094179806 + ], + [ + 1413.6772817358788, + 491.06137358483574 + ], + [ + 1258.940236596649, + 206.97279542986868 + ], + [ + 1114.254509656509, + 195.3941938450455 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 9256, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 885.9727765929159, + "ymin": 296.9760785162372, + "xmax": 976.2196872435775, + "ymax": 477.2808659165885 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 945.6298531369147, + 341.7727625181881 + ], + [ + 885.9727765929159, + 335.9814227178665 + ], + [ + 893.2642353301798, + 469.6436319832686 + ], + [ + 961.8570878883976, + 477.2808659165885 + ], + [ + 957.4325853279572, + 302.7316280684856 + ], + [ + 895.4089244703669, + 296.9760785162372 + ], + [ + 904.4797337326027, + 430.5369318966379 + ], + [ + 976.2196872435775, + 438.21439399702933 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 6508, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1029.6417486599455, + "ymin": 34.32741923376841, + "xmax": 1137.7578524645369, + "ymax": 164.55212658777853 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 1053.0266878330574, + 159.57160728544622 + ], + [ + 1117.9068778995395, + 164.55212658777853 + ], + [ + 1087.3249517319516, + 84.86493794716102 + ], + [ + 1029.6417486599455, + 80.905670289022 + ], + [ + 1070.06131740499, + 110.36141006563557 + ], + [ + 1137.7578524645369, + 115.19811615512714 + ], + [ + 1103.810913425808, + 38.138090644518115 + ], + [ + 1043.9115936907751, + 34.32741923376841 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 732.2519077928455, + "ymin": 0.0, + "xmax": 847.1575790677007, + "ymax": 68.98885060827428 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 733.0052826178674, + 58.32970208397518 + ], + [ + 732.2519077928455, + 62.977400757150804 + ], + [ + 820.4001906465379, + 68.98885060827428 + ], + [ + 820.5056162169526, + 64.25255150451653 + ], + [ + 746.535772047924, + -129.98174892386805 + ], + [ + 745.7869348973798, + -126.253662412692 + ], + [ + 847.1575790677007, + -121.41970031434334 + ], + [ + 847.0504201737681, + -125.22940974322012 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2080193722244522285, + "instance_id": 11745, + "pixel_count": null, + "type_id": "BP_StreetLight_simple51_120_SM_2", + "bbox_3d": { + "center_world": { + "x": -78.77368927001953, + "y": -128.03121948242188, + "z": 4.08544921875 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 2.402612452030212, + "ymin": 0.0, + "xmax": 94.04934349091934, + "ymax": 50.35143702736775 + }, + "corners_3d": [ + [ + -80.54341888427734, + -127.2630386352539, + 0.20873045921325684 + ], + [ + -80.32381439208984, + -126.88267517089844, + 0.20873045921325684 + ], + [ + -77.00395965576172, + -128.7993927001953, + 0.20873045921325684 + ], + [ + -77.22356414794922, + -129.1797637939453, + 0.20873045921325684 + ], + [ + -80.54341888427734, + -127.2630386352539, + 7.962167739868164 + ], + [ + -80.32381439208984, + -126.88267517089844, + 7.962167739868164 + ], + [ + -77.00395965576172, + -128.7993927001953, + 7.962167739868164 + ], + [ + -77.22356414794922, + -129.1797637939453, + 7.962167739868164 + ] + ], + "corners_2d": [ + [ + 82.57244510813337, + 50.35143702736775 + ], + [ + 93.20076302496693, + 48.67034534240253 + ], + [ + 94.04934349091934, + 13.984297217978735 + ], + [ + 84.0220756346248, + 15.481453405929074 + ], + [ + 2.402612452030212, + -136.9590122178015 + ], + [ + 14.80382377934859, + -138.29920594897004 + ], + [ + 20.765062507554376, + -165.7196805509261 + ], + [ + 9.17410586060771, + -164.54518654262768 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1231.1172530355116, + "ymin": 42.12209467060097, + "xmax": 1280.0, + "ymax": 79.33098861619334 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1246.931802970324, + 75.09290214559138 + ], + [ + 1311.2971361580092, + 79.33098861619334 + ], + [ + 1292.8982219260392, + 54.33364809491434 + ], + [ + 1231.1172530355116, + 50.415406409985565 + ], + [ + 1250.9519714172066, + 66.63010103014005 + ], + [ + 1315.7731286794105, + 70.84033079225782 + ], + [ + 1297.0824410028545, + 46.012592090209296 + ], + [ + 1234.8815466950477, + 42.12209467060097 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1193.6887685192069, + "ymin": 13.365907629462868, + "xmax": 1280.0, + "ymax": 159.93265053112884 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1207.9828190133753, + 155.2079265046981 + ], + [ + 1271.5395059025132, + 159.93265053112884 + ], + [ + 1254.7074112250448, + 131.87836328520336 + ], + [ + 1193.6887685192069, + 127.50954358620709 + ], + [ + 1263.2078116379728, + 38.77215855266138 + ], + [ + 1333.384350104072, + 43.124790202023576 + ], + [ + 1312.3675630823718, + 17.360669581908155 + ], + [ + 1245.271081835672, + 13.365907629462868 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 831.2678997158359, + "ymin": 130.32316681679015, + "xmax": 849.0277450023444, + "ymax": 141.85775571681472 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 831.2974413671157, + 134.25323003444515 + ], + [ + 831.2678997158359, + 140.56361982195193 + ], + [ + 848.3484465095783, + 141.85775571681472 + ], + [ + 848.2257226208541, + 135.52440810172993 + ], + [ + 831.9144469141538, + 130.32316681679015 + ], + [ + 831.8903688119062, + 136.6186804963737 + ], + [ + 849.0277450023444, + 137.90981066928217 + ], + [ + 848.8985472187583, + 131.59131887256146 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1231.1855127290855, + "ymin": 42.138505173996634, + "xmax": 1280.0, + "ymax": 79.25621253838847 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1246.9834053264653, + 75.02327006272299 + ], + [ + 1311.279490781782, + 79.25621253838847 + ], + [ + 1292.90302580305, + 54.2910487046359 + ], + [ + 1231.1855127290855, + 50.377197153731345 + ], + [ + 1250.977125779389, + 66.61640082878483 + ], + [ + 1315.7255080229402, + 70.82169886294537 + ], + [ + 1297.0595673242053, + 46.02482401106204 + ], + [ + 1234.9253368444145, + 42.138505173996634 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 685.5012418150136, + "ymin": 112.93363771385157, + "xmax": 854.337493969394, + "ymax": 364.2046433729318 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 687.0948338650848, + 341.5591446751855 + ], + [ + 685.5012418150136, + 351.390287700815 + ], + [ + 813.8289643228145, + 364.2046433729318 + ], + [ + 814.0539031510596, + 354.0991484116389 + ], + [ + 697.7428952174588, + 112.93363771385157 + ], + [ + 695.9256157253112, + 121.98096550306252 + ], + [ + 854.337493969394, + 133.840395191158 + ], + [ + 854.0742526038857, + 124.48164693011663 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 831.3623007536988, + "ymin": 130.3842571794725, + "xmax": 848.9324212361544, + "ymax": 141.79620506083262 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 831.390699118717, + 134.2726118060956 + ], + [ + 831.3623007536988, + 140.51597024475865 + ], + [ + 848.2606816121072, + 141.79620506083262 + ], + [ + 848.1400298850085, + 135.53037428749573 + ], + [ + 832.0014638834679, + 130.3842571794725 + ], + [ + 831.9784187432978, + 136.6130542886783 + ], + [ + 848.9324212361544, + 137.89034687112854 + ], + [ + 848.8054378287245, + 131.63905777813486 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1201.5070210597682, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 131.87495929381743 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1378.303132372083, + 7.882192144182397 + ], + [ + 1201.5070210597682, + 24.54770247771961 + ], + [ + 1350.2751001230931, + 131.87495929381743 + ], + [ + 1553.1047292820176, + 108.74730398041214 + ], + [ + 1583.32403343724, + -365.5731862825288 + ], + [ + 1363.2416748651585, + -358.0195208697561 + ], + [ + 1605.1866925728173, + -306.281751174344 + ], + [ + 1866.2739867258044, + -317.90608172925147 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 170.7385502543475, + "ymax": 132.96939182835897 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + 170.7385502543475, + 30.27914069181537 + ], + [ + -3.4625075769440627, + 44.52424141013353 + ], + [ + -58.75693683968825, + 132.96939182835897 + ], + [ + 141.38309687090452, + 114.37844863025359 + ], + [ + 67.92658194730984, + -259.4622413963457 + ], + [ + -148.5519658127306, + -250.45461045300772 + ], + [ + -245.11617913850534, + -192.3438790732131 + ], + [ + 12.835427718873007, + -204.880808742216 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 108.501870071432, + "ymax": 217.03113033342174 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 108.501870071432, + 113.78324903304826 + ], + [ + -61.25793909964375, + 114.72583829237135 + ], + [ + -164.10363203519682, + 217.03113033342174 + ], + [ + 31.204239474632686, + 215.78528762659894 + ], + [ + -36.39544426904433, + -223.98091675407807 + ], + [ + -252.77158972412496, + -223.37510800964787 + ], + [ + -427.36284936604125, + -154.7927715776051 + ], + [ + -167.69275459298512, + -155.6631124684717 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00070/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00070/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4b6e22af17b173544552df788ea85f3d640f0c98 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00070/meta.json @@ -0,0 +1,1929 @@ +{ + "frame_id": 70, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 35.0, + "sim_timestamp": 10552.373526331037 + }, + "drone_pose": { + "x": -116.41764875184356, + "y": -96.99507263328518, + "z": 20.114364279206125, + "pitch": -47.71551584134786, + "yaw": -11.395265629878036, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.659549355506897, + 0.13293176889419556, + 0.7398133277893066, + 49.00859069824219 + ], + [ + -0.1975763440132141, + 0.980287492275238, + 0.0, + 118.08442687988281 + ], + [ + -0.7252297401428223, + -0.14616960287094116, + 0.6728122234344482, + -83.78498840332031 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -116.05050015424712, + "y": -96.76398758934128, + "z": 19.914478664741125 + }, + "t1_image_uv": [ + 1439.0458646621541, + 98.15568579433705 + ], + "t1_depth": 0.35931212874684226 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -96.66718292236328, + "y": -99.68776321411131, + "z": 0.7274016332626343 + }, + "image_uv": [ + 683.7157120319212, + 302.0605192044726 + ], + "depth": 27.7270849836966, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 201, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -96.66718292236328, + "y": -99.68775939941406, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.28374022245407104, + "y": 0.2192724347114563, + "z": 0.5347123742103577 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 674.0410421499182, + "ymin": 280.85842578363315, + "xmax": 693.5578842464878, + "ymax": 322.99020231533575 + }, + "corners_3d": [ + [ + -96.95092010498047, + -99.90702819824219, + 0.1926891803741455 + ], + [ + -96.95092010498047, + -99.46849060058594, + 0.1926891803741455 + ], + [ + -96.3834457397461, + -99.46849060058594, + 0.1926891803741455 + ], + [ + -96.3834457397461, + -99.90702819824219, + 0.1926891803741455 + ], + [ + -96.95092010498047, + -99.90702819824219, + 1.2621139287948608 + ], + [ + -96.95092010498047, + -99.46849060058594, + 1.2621139287948608 + ], + [ + -96.3834457397461, + -99.46849060058594, + 1.2621139287948608 + ], + [ + -96.3834457397461, + -99.90702819824219, + 1.2621139287948608 + ] + ], + "corners_2d": [ + [ + 674.0410421499182, + 320.8668336833991 + ], + [ + 688.9007828939186, + 322.99020231533575 + ], + [ + 692.0595586233048, + 309.50977592125577 + ], + [ + 677.3895751016275, + 307.44218132567926 + ], + [ + 675.0321696901764, + 294.30779143588677 + ], + [ + 690.327622663356, + 296.4360164096602 + ], + [ + 693.5578842464878, + 282.92915296032714 + ], + [ + 678.4634068582491, + 280.85842578363315 + ] + ], + "center_offset_px": [ + 43.71571203192116, + -57.9394807955274 + ] + }, + "trace_timestep_index": 70, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 38, + "semantic_pixel_counts": { + "1": 252597, + "2": 158769, + "3": 397005, + "5": 1057, + "6": 2004, + "10": 10, + "12": 2049, + "14": 20994, + "16": 72926, + "20": 1478, + "24": 12711 + }, + "instance_pixel_counts": { + "1115": 6854, + "3182": 19, + "4206": 2052, + "4718": 5377, + "8834": 2001, + "14416": 1057, + "16475": 840, + "16987": 5147, + "17499": 19282, + "18011": 347412, + "24512": 19169, + "26963": 3, + "31168": 27046, + "34120": 29872, + "35668": 1478, + "36443": 3559, + "43147": 8168, + "43659": 4050, + "44179": 117919, + "46227": 134678, + "46741": 6938, + "48749": 1176, + "48779": 8414, + "48789": 5773, + "49261": 5287, + "49664": 201, + "49920": 277, + "50176": 621, + "50432": 950, + "51456": 3504, + "52160": 22416, + "52480": 38661, + "52672": 10198, + "52736": 34265, + "54016": 9974, + "55040": 7516, + "55744": 26640, + "64351": 2796 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 201, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -96.66718292236328, + "y": -99.68775939941406, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.19138669967651367, + "y": 0.21657712757587433, + "z": 0.5285559892654419 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 674.688608902885, + "ymin": 283.192433565804, + "xmax": 692.9362961995694, + "ymax": 320.6101398204962 + }, + "corners_3d": [ + [ + -96.85856628417969, + -99.90433502197266, + 0.19884556531906128 + ], + [ + -96.85856628417969, + -99.47118377685547, + 0.19884556531906128 + ], + [ + -96.47579956054688, + -99.47118377685547, + 0.19884556531906128 + ], + [ + -96.47579956054688, + -99.90433502197266, + 0.19884556531906128 + ], + [ + -96.85856628417969, + -99.90433502197266, + 1.2559576034545898 + ], + [ + -96.85856628417969, + -99.47118377685547, + 1.2559576034545898 + ], + [ + -96.47579956054688, + -99.47118377685547, + 1.2559576034545898 + ], + [ + -96.47579956054688, + -99.90433502197266, + 1.2559576034545898 + ] + ], + "corners_2d": [ + [ + 674.688608902885, + 318.5219337430556 + ], + [ + 689.337399159721, + 320.6101398204962 + ], + [ + 691.4690326427159, + 311.51778065117105 + ], + [ + 676.9467016852187, + 309.466737384109 + ], + [ + 675.6845760947383, + 292.26410344245687 + ], + [ + 690.756958085859, + 294.35676850035577 + ], + [ + 692.9362961995694, + 285.24680077803475 + ], + [ + 677.9977609941641, + 283.192433565804 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 277, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -89.45037078857422, + "y": -98.5641860961914, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.5510546565055847, + "y": 0.3561767637729645, + "z": 0.8800020217895508 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 738.6551167151339, + "ymin": 128.066707600562, + "xmax": 767.2677854838843, + "ymax": 191.03319426690842 + }, + "corners_3d": [ + [ + -90.06343841552734, + -98.79801177978516, + -0.1526004672050476 + ], + [ + -89.91532897949219, + -98.1012191772461, + -0.1526004672050476 + ], + [ + -88.8373031616211, + -98.33036041259766, + -0.1526004672050476 + ], + [ + -88.98541259765625, + -99.02715301513672, + -0.1526004672050476 + ], + [ + -90.06343841552734, + -98.79801177978516, + 1.6074035167694092 + ], + [ + -89.91532897949219, + -98.1012191772461, + 1.6074035167694092 + ], + [ + -88.8373031616211, + -98.33036041259766, + 1.6074035167694092 + ], + [ + -88.98541259765625, + -99.02715301513672, + 1.6074035167694092 + ] + ], + "corners_2d": [ + [ + 741.2402979123939, + 191.03319426690842 + ], + [ + 762.1877705847401, + 190.89567226538392 + ], + [ + 759.1374214882287, + 171.19319727896536 + ], + [ + 738.6551167151339, + 171.3246738726925 + ], + [ + 745.4500917447548, + 147.70352838511317 + ], + [ + 767.2677854838843, + 147.56728893860287 + ], + [ + 763.9760603430664, + 128.066707600562 + ], + [ + 742.6625211254319, + 128.19671760754497 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 621, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -101.80016326904297, + "y": -93.14575958251953, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.30284178256988525, + "y": 0.3263281285762787, + "z": 0.8780087232589722 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 889.838256945078, + "ymin": 454.1587589924363, + "xmax": 934.103788753237, + "ymax": 517.7062163306173 + }, + "corners_3d": [ + [ + -102.13545989990234, + -93.43864440917969, + -0.3030094504356384 + ], + [ + -102.0672378540039, + -92.78956604003906, + -0.3030094504356384 + ], + [ + -101.4648666381836, + -92.85287475585938, + -0.3030094504356384 + ], + [ + -101.53308868408203, + -93.501953125, + -0.3030094504356384 + ], + [ + -102.13545989990234, + -93.43864440917969, + 1.4530079364776611 + ], + [ + -102.0672378540039, + -92.78956604003906, + 1.4530079364776611 + ], + [ + -101.4648666381836, + -92.85287475585938, + 1.4530079364776611 + ], + [ + -101.53308868408203, + -93.501953125, + 1.4530079364776611 + ] + ], + "corners_2d": [ + [ + 891.7793060575335, + 515.6234791078637 + ], + [ + 918.1910523305147, + 517.7062163306173 + ], + [ + 915.8078585231626, + 497.5456900615079 + ], + [ + 889.838256945078, + 495.5315346438945 + ], + [ + 906.1551371483326, + 474.6601721876562 + ], + [ + 934.103788753237, + 476.7875767638555 + ], + [ + 931.3073989659184, + 456.2122124644585 + ], + [ + 903.8533561004302, + 454.1587589924363 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 950, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -106.16718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.43464839458465576, + "y": 0.44997066259384155, + "z": 0.8820908665657043 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 586.7647437438249, + "ymin": 552.4866425706906, + "xmax": 636.245312328913, + "ymax": 633.0265410588495 + }, + "corners_3d": [ + [ + -106.6018295288086, + -100.13773345947266, + -0.1546844244003296 + ], + [ + -106.6018295288086, + -99.23778533935547, + -0.1546844244003296 + ], + [ + -105.73253631591797, + -99.23778533935547, + -0.1546844244003296 + ], + [ + -105.73253631591797, + -100.13773345947266, + -0.1546844244003296 + ], + [ + -106.6018295288086, + -100.13773345947266, + 1.609497308731079 + ], + [ + -106.6018295288086, + -99.23778533935547, + 1.609497308731079 + ], + [ + -105.73253631591797, + -99.23778533935547, + 1.609497308731079 + ], + [ + -105.73253631591797, + -100.13773345947266, + 1.609497308731079 + ] + ], + "corners_2d": [ + [ + 589.9392545364477, + 625.7644566430622 + ], + [ + 628.5717280768849, + 633.0265410588495 + ], + [ + 636.245312328913, + 598.9294020855629 + ], + [ + 598.5581282251555, + 592.0343077408785 + ], + [ + 586.7647437438249, + 587.254064999222 + ], + [ + 627.8427881367553, + 594.7542046567577 + ], + [ + 636.0123510862951, + 559.5846346497755 + ], + [ + 596.0013895441267, + 552.4866425706906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 3504, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 930.4000948082321, + "ymin": 0.0, + "xmax": 993.700617578987, + "ymax": 88.69454003259153 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 980.0201661179849, + 33.776146397865546 + ], + [ + 930.4000948082321, + 28.861946457689555 + ], + [ + 930.4437578770546, + 83.01533168526657 + ], + [ + 983.8002902756866, + 88.69454003259153 + ], + [ + 989.1076892175672, + 1.7236395516478638 + ], + [ + 938.1077705135531, + -3.099304310152604 + ], + [ + 938.7452960863209, + 50.144525220035064 + ], + [ + 993.700617578987, + 55.74061291728225 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 38661, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 764.9795121447139, + "ymin": 75.69570393698388, + "xmax": 954.0230628138488, + "ymax": 443.6151537961985 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 917.9984641664142, + 202.3117490826071 + ], + [ + 799.3274936202804, + 187.720598680844 + ], + [ + 764.9795121447139, + 420.22968474427256 + ], + [ + 914.8223256773146, + 443.6151537961985 + ], + [ + 948.3363530763588, + 89.82675442592421 + ], + [ + 816.4020295795583, + 75.69570393698388 + ], + [ + 782.3896984796509, + 306.9992301426038 + ], + [ + 954.0230628138488, + 331.0088393386442 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 34265, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1126.2294880051654, + "ymin": 160.87417676940842, + "xmax": 1280.0, + "ymax": 593.1003450090644 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 1184.575310133605, + 563.2460693110784 + ], + [ + 1364.0872402158802, + 593.1003450090644 + ], + [ + 1262.8204515823688, + 292.5893934663004 + ], + [ + 1126.2294880051654, + 274.93956688744834 + ], + [ + 1271.7497562074109, + 456.0240641047359 + ], + [ + 1483.1986387885756, + 487.82820404644707 + ], + [ + 1338.4803784267588, + 178.34176061964524 + ], + [ + 1184.1158332030095, + 160.87417676940842 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 9974, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 933.9874294792669, + "ymin": 258.8442104419456, + "xmax": 1022.6540483280024, + "ymax": 447.7611973860667 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 995.6173304131048, + 306.5176161025477 + ], + [ + 933.9874294792669, + 298.14949194667065 + ], + [ + 934.5696940758004, + 436.88057080038436 + ], + [ + 1004.8913230024727, + 447.7611973860667 + ], + [ + 1010.699381778307, + 267.2222169619235 + ], + [ + 946.3472084786679, + 258.8442104419456 + ], + [ + 948.7661617786698, + 398.5096760953394 + ], + [ + 1022.6540483280024, + 409.5333608680019 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 7516, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1099.4210652768306, + "ymin": 0.0, + "xmax": 1213.3983404002488, + "ymax": 125.0529777680627 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 1119.296249447662, + 117.61271373862999 + ], + [ + 1187.9521041080739, + 125.0529777680627 + ], + [ + 1160.6538469553875, + 38.26764452089344 + ], + [ + 1099.4210652768306, + 32.31210155845912 + ], + [ + 1141.343111669609, + 66.30402591118536 + ], + [ + 1213.3983404002488, + 73.59857248262239 + ], + [ + 1182.1698037034225, + -11.106908313879671 + ], + [ + 1118.2461987631534, + -16.889377511340513 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 787.6190911579365, + "ymin": 0.0, + "xmax": 919.2699440946784, + "ymax": 13.597431209574438 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 788.6089321981764, + -0.24160057058514894 + ], + [ + 787.6190911579365, + 4.711186284911378 + ], + [ + 879.3216170877298, + 13.597431209574438 + ], + [ + 879.6672135102874, + 8.518610966959955 + ], + [ + 812.8098807151534, + -201.08425599490624 + ], + [ + 811.8581859855564, + -196.98364245566245 + ], + [ + 919.2000146530393, + -189.60243633216191 + ], + [ + 919.2699440946784, + -193.8248402065724 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1271.7172866272967, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 125.18013010168522 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1285.053054230476, + 118.00958244075278 + ], + [ + 1353.130511562078, + 125.18013010168522 + ], + [ + 1337.1204184316402, + 94.3006575100485 + ], + [ + 1271.7172866272967, + 87.65731889698407 + ], + [ + 1355.946872283894, + -4.538503985540785 + ], + [ + 1432.2737090458559, + 2.2279203096338733 + ], + [ + 1411.2665490610593, + -26.818198321718057 + ], + [ + 1338.2824684588327, + -33.03556917335089 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 889.8428828449861, + "ymin": 85.1708118478519, + "xmax": 908.8541784916335, + "ymax": 97.99916064071635 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 890.1673111118068, + 89.26188819701554 + ], + [ + 889.8428828449861, + 96.06788763984252 + ], + [ + 907.7225339026004, + 97.99916064071635 + ], + [ + 907.8936630588962, + 91.16005768445007 + ], + [ + 891.0620980755034, + 85.1708118478519 + ], + [ + 890.7442865250998, + 91.96576242559763 + ], + [ + 908.6908101177364, + 93.89397697254492 + ], + [ + 908.8541784916335, + 87.06585745978629 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 727.3041159105755, + "ymin": 62.541674869264966, + "xmax": 914.7393145947144, + "ymax": 324.7997617808172 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 729.3247489822115, + 296.3938302049613 + ], + [ + 727.3041159105755, + 306.5043070493591 + ], + [ + 858.1453582324554, + 324.7997617808172 + ], + [ + 858.8585607703196, + 314.31867097674365 + ], + [ + 751.6260099144828, + 62.541674869264966 + ], + [ + 749.3792223017686, + 72.22251833511183 + ], + [ + 914.5715804411782, + 89.8666698200725 + ], + [ + 914.7393145947144, + 79.73872766636492 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 889.9445255211151, + "ymin": 85.23875211448973, + "xmax": 908.7536295705017, + "ymax": 97.9307030131609 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 890.2646656695208, + 89.28638779043519 + ], + [ + 889.9445255211151, + 96.0201612737568 + ], + [ + 907.63355905175, + 97.9307030131609 + ], + [ + 907.8036367112653, + 91.16452587423254 + ], + [ + 891.1503149159814, + 85.23875211448973 + ], + [ + 890.8366574501799, + 91.96171078737734 + ], + [ + 908.5911425484602, + 93.86925843832586 + ], + [ + 908.7536295705017, + 87.11383275325454 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 216.5621492848221, + "ymax": 56.20783477248182 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + 216.5621492848221, + -44.57677821344265 + ], + [ + 43.89792768997165, + -34.04530843114338 + ], + [ + -10.328720374089698, + 56.20783477248182 + ], + [ + 186.44501221403561, + 42.636300710907506 + ], + [ + 114.50057008793692, + -352.52608158134456 + ], + [ + -102.67682779696304, + -345.6115994185993 + ], + [ + -198.36045658100272, + -284.05873199678206 + ], + [ + 58.34302608539622, + -293.58609350663926 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 154.0261535210422, + "ymax": 143.58669147068576 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 154.0261535210422, + 40.691289979818066 + ], + [ + -12.595009188998688, + 36.91223066387971 + ], + [ + -111.84502221413368, + 138.68113844793746 + ], + [ + 77.4773664964498, + 143.58669147068576 + ], + [ + 9.03028131970359, + -315.0649034033561 + ], + [ + -206.0086750660945, + -317.5968819681642 + ], + [ + -376.5306311541599, + -246.59204230352793 + ], + [ + -122.13530145348318, + -243.01501857991275 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00071/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00071/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..6947c35b40f4d376bbf32702dfdda8d3e9d712d2 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00071/meta.json @@ -0,0 +1,2459 @@ +{ + "frame_id": 71, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 35.5, + "sim_timestamp": 10566.24227348715 + }, + "drone_pose": { + "x": -116.05050015424712, + "y": -96.76398758934128, + "z": 19.914478664741125, + "pitch": -43.67292584239418, + "yaw": -8.365204622616895, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7155983448028564, + 0.10522635281085968, + 0.6905406713485718, + 59.11166763305664 + ], + [ + -0.14548222720623016, + 0.9893608689308167, + 0.0, + 112.61778259277344 + ], + [ + -0.6831939220428467, + -0.10046140104532242, + 0.7232935428619385, + -83.96796417236328 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -115.45257824451923, + "y": -96.70579346618597, + "z": 20.101392941701153 + }, + "t1_image_uv": [ + 1114.1738613891669, + -1404.1682776363618 + ], + "t1_depth": 0.2926764376721993 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -96.16718292236328, + "y": -99.68776321411131, + "z": 0.7274016332626343 + }, + "image_uv": [ + 640.0, + 360.0000000000001 + ], + "depth": 27.78558426701907, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 200, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -96.16718292236328, + "y": -99.68775939941406, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.30092769861221313, + "y": 0.20133787393569946, + "z": 0.5477358102798462 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.4286301707709, + "ymin": 338.3998631998639, + "xmax": 648.4510459527426, + "ymax": 381.38096383491506 + }, + "corners_3d": [ + [ + -96.46810913085938, + -99.88909912109375, + 0.17966574430465698 + ], + [ + -96.46810913085938, + -99.48641967773438, + 0.17966574430465698 + ], + [ + -95.86625671386719, + -99.48641967773438, + 0.17966574430465698 + ], + [ + -95.86625671386719, + -99.88909912109375, + 0.17966574430465698 + ], + [ + -96.46810913085938, + -99.88909912109375, + 1.2751374244689941 + ], + [ + -96.46810913085938, + -99.48641967773438, + 1.2751374244689941 + ], + [ + -95.86625671386719, + -99.48641967773438, + 1.2751374244689941 + ], + [ + -95.86625671386719, + -99.88909912109375, + 1.2751374244689941 + ] + ], + "corners_2d": [ + [ + 631.6604515365865, + 379.96008306642784 + ], + [ + 645.342628149669, + 381.38096383491506 + ], + [ + 648.2256086881363, + 367.13653621453494 + ], + [ + 634.7466177435034, + 365.758455039269 + ], + [ + 631.4286301707709, + 352.5632800078259 + ], + [ + 645.4913732331031, + 353.9809948735156 + ], + [ + 648.4510459527426, + 339.77371353393016 + ], + [ + 634.602860258159, + 338.3998631998639 + ] + ], + "center_offset_px": [ + 0.0, + 1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 71, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 47, + "semantic_pixel_counts": { + "1": 240085, + "2": 136330, + "3": 405001, + "4": 4573, + "5": 1045, + "6": 2715, + "10": 1464, + "12": 2195, + "14": 20037, + "16": 87945, + "20": 8254, + "24": 11956 + }, + "instance_pixel_counts": { + "913": 1578, + "1115": 417, + "3182": 3409, + "4206": 2316, + "4718": 5788, + "5742": 10, + "8834": 1942, + "14416": 1045, + "15963": 801, + "16475": 3068, + "16987": 8587, + "17232": 4573, + "17499": 25452, + "18011": 348361, + "24512": 22168, + "26963": 70, + "31168": 20538, + "34120": 3642, + "35668": 3916, + "35924": 1252, + "36443": 84, + "36692": 1508, + "40019": 703, + "43147": 9028, + "43659": 4719, + "44179": 134365, + "46227": 105720, + "46741": 7640, + "48749": 1237, + "48779": 6418, + "48789": 4316, + "49261": 5471, + "49664": 200, + "49920": 373, + "50176": 621, + "50432": 959, + "50944": 42, + "51456": 3255, + "52160": 23081, + "52480": 38080, + "52672": 22921, + "52736": 49865, + "54016": 9969, + "55040": 6813, + "55744": 20047, + "55879": 822, + "64351": 3768 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 200, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -96.16718292236328, + "y": -99.68775939941406, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.29747554659843445, + "y": 0.2175292670726776, + "z": 0.5425237417221069 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 630.8838879074829, + "ymin": 338.5583150409331, + "xmax": 648.9908772678784, + "ymax": 381.22845156507793 + }, + "corners_3d": [ + [ + -96.46466064453125, + -99.90528869628906, + 0.18487781286239624 + ], + [ + -96.46466064453125, + -99.47023010253906, + 0.18487781286239624 + ], + [ + -95.86970520019531, + -99.47023010253906, + 0.18487781286239624 + ], + [ + -95.86970520019531, + -99.90528869628906, + 0.18487781286239624 + ], + [ + -96.46466064453125, + -99.90528869628906, + 1.2699253559112549 + ], + [ + -96.46466064453125, + -99.47023010253906, + 1.2699253559112549 + ], + [ + -95.86970520019531, + -99.47023010253906, + 1.2699253559112549 + ], + [ + -95.86970520019531, + -99.90528869628906, + 1.2699253559112549 + ] + ], + "corners_2d": [ + [ + 631.1280912544886, + 379.6935998688174 + ], + [ + 645.9110693687746, + 381.22845156507793 + ], + [ + 648.7532567468063, + 367.14568989410463 + ], + [ + 634.1873419236719, + 365.6565547112357 + ], + [ + 630.8838879074829, + 352.55790665040826 + ], + [ + 646.074048351911, + 354.08936391232703 + ], + [ + 648.9908772678784, + 340.04292922605197 + ], + [ + 634.0298097309563, + 338.5583150409331 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 373, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -89.21299743652344, + "y": -98.13910675048828, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.5019433498382568, + "y": 0.36979979276657104, + "z": 0.9127644896507263 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 701.2750531920033, + "ymin": 193.27971306941186, + "xmax": 729.3952521760666, + "ymax": 255.57863102508253 + }, + "corners_3d": [ + [ + -89.7808609008789, + -98.3964614868164, + -0.18536293506622314 + ], + [ + -89.62708282470703, + -97.67302703857422, + -0.18536293506622314 + ], + [ + -88.64513397216797, + -97.88175201416016, + -0.18536293506622314 + ], + [ + -88.79891204833984, + -98.60518646240234, + -0.18536293506622314 + ], + [ + -89.7808609008789, + -98.3964614868164, + 1.6401660442352295 + ], + [ + -89.62708282470703, + -97.67302703857422, + 1.6401660442352295 + ], + [ + -88.64513397216797, + -97.88175201416016, + 1.6401660442352295 + ], + [ + -88.79891204833984, + -98.60518646240234, + 1.6401660442352295 + ] + ], + "corners_2d": [ + [ + 704.4867657568192, + 255.57863102508253 + ], + [ + 725.9682981963543, + 254.74096349910428 + ], + [ + 722.2966578970911, + 237.24896577489153 + ], + [ + 701.2750531920033, + 238.0508825196065 + ], + [ + 707.0601616853531, + 211.2849963584535 + ], + [ + 729.3952521760666, + 210.46144588924702 + ], + [ + 725.5037590843622, + 193.27971306941186 + ], + [ + 703.6654488176929, + 194.0667603363608 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 621, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -101.91030883789062, + "y": -93.5789794921875, + "z": 0.5750090479850769 + }, + "extent": { + "x": 0.5434814095497131, + "y": 0.31672361493110657, + "z": 0.9017574191093445 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 835.2425433636331, + "ymin": 511.2755687939667, + "xmax": 878.8695443947586, + "ymax": 593.594807263223 + }, + "corners_3d": [ + [ + -102.48391723632812, + -93.837158203125, + -0.3267483711242676 + ], + [ + -102.41770935058594, + -93.20718383789062, + -0.3267483711242676 + ], + [ + -101.33670043945312, + -93.32080078125, + -0.3267483711242676 + ], + [ + -101.40290832519531, + -93.95077514648438, + -0.3267483711242676 + ], + [ + -102.48391723632812, + -93.837158203125, + 1.4767664670944214 + ], + [ + -102.41770935058594, + -93.20718383789062, + 1.4767664670944214 + ], + [ + -101.33670043945312, + -93.32080078125, + 1.4767664670944214 + ], + [ + -101.40290832519531, + -93.95077514648438, + 1.4767664670944214 + ] + ], + "corners_2d": [ + [ + 839.9608387779535, + 592.6643996437213 + ], + [ + 866.1339073403728, + 593.594807263223 + ], + [ + 860.5603856416169, + 556.1759977601627 + ], + [ + 835.2425433636331, + 555.3051232786421 + ], + [ + 851.2128117481373, + 549.174375027292 + ], + [ + 878.8695443947586, + 550.1199889466163 + ], + [ + 872.5560111904001, + 512.1574445206459 + ], + [ + 845.8524440402315, + 511.2755687939667 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 959, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -105.66718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.5002831816673279, + "y": 0.44419917464256287, + "z": 0.9214993715286255 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 549.2526579482836, + "ymin": 611.4917426421273, + "xmax": 601.9316181139259, + "ymax": 701.2763269778769 + }, + "corners_3d": [ + [ + -106.16746520996094, + -100.1319580078125, + -0.19409292936325073 + ], + [ + -106.16746520996094, + -99.24356079101562, + -0.19409292936325073 + ], + [ + -105.16690063476562, + -99.24356079101562, + -0.19409292936325073 + ], + [ + -105.16690063476562, + -100.1319580078125, + -0.19409292936325073 + ], + [ + -106.16746520996094, + -100.1319580078125, + 1.6489057540893555 + ], + [ + -106.16746520996094, + -99.24356079101562, + 1.6489057540893555 + ], + [ + -105.16690063476562, + -99.24356079101562, + 1.6489057540893555 + ], + [ + -105.16690063476562, + -100.1319580078125, + 1.6489057540893555 + ] + ], + "corners_2d": [ + [ + 554.6715992497512, + 695.759223235174 + ], + [ + 594.0613632787016, + 701.2763269778769 + ], + [ + 601.9316181139259, + 660.2190409919958 + ], + [ + 563.7887598683639, + 655.0554982692789 + ], + [ + 549.2526579482836, + 653.2239447817545 + ], + [ + 591.1302702348792, + 658.8937138408135 + ], + [ + 599.5868517779869, + 616.7762302120375 + ], + [ + 559.1157819437319, + 611.4917426421273 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 42, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -94.08158874511719, + "y": -101.20303344726562, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.5509228110313416, + "y": 0.458564430475235, + "z": 0.9131892323493958 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 578.888282033385, + "ymin": 271.3775314417974, + "xmax": 621.8261654959274, + "ymax": 345.4035486588307 + }, + "corners_3d": [ + [ + -94.52513122558594, + -101.76612091064453, + -0.185782790184021 + ], + [ + -94.71581268310547, + -100.86903381347656, + -0.185782790184021 + ], + [ + -93.63804626464844, + -100.63994598388672, + -0.185782790184021 + ], + [ + -93.4473648071289, + -101.53703308105469, + -0.185782790184021 + ], + [ + -94.52513122558594, + -101.76612091064453, + 1.6405956745147705 + ], + [ + -94.71581268310547, + -100.86903381347656, + 1.6405956745147705 + ], + [ + -93.63804626464844, + -100.63994598388672, + 1.6405956745147705 + ], + [ + -93.4473648071289, + -101.53703308105469, + 1.6405956745147705 + ] + ], + "corners_2d": [ + [ + 581.4737770566192, + 338.41897265895125 + ], + [ + 608.9222131846315, + 345.4035486588307 + ], + [ + 621.8261654959274, + 323.18280608920423 + ], + [ + 594.9513778716766, + 316.53687826518274 + ], + [ + 578.888282033385, + 293.04445048226387 + ], + [ + 607.538107267686, + 299.9702024009333 + ], + [ + 621.0375670846648, + 277.95316172542454 + ], + [ + 593.0120328043353, + 271.3775314417974 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 3255, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 870.7731372570348, + "ymin": 65.02185657093344, + "xmax": 932.9810382194627, + "ymax": 151.65043189858372 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 918.930363371066, + 99.1308691100819 + ], + [ + 870.7731372570348, + 95.70311251968559 + ], + [ + 873.4463441983659, + 147.65321593767652 + ], + [ + 925.4762303706618, + 151.65043189858372 + ], + [ + 925.7060732322005, + 68.3677193615211 + ], + [ + 876.3490078387697, + 65.02185657093344 + ], + [ + 879.5478075284605, + 115.82212563635687 + ], + [ + 932.9810382194627, + 119.73898735868568 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 38080, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 723.9392477995035, + "ymin": 143.7128194673979, + "xmax": 907.5371856244855, + "ymax": 506.72227206951254 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 867.1104577143345, + 264.190912160224 + ], + [ + 749.4455221744012, + 253.64814029227887 + ], + [ + 723.9392477995035, + 489.094488061653 + ], + [ + 875.9457077273988, + 506.72227206951254 + ], + [ + 889.8870373868197, + 153.738859053899 + ], + [ + 760.2667178108559, + 143.7128194673979 + ], + [ + 734.9673138544525, + 373.9466025048424 + ], + [ + 907.5371856244855, + 391.7334681178802 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 49865, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1074.731779747883, + "ymin": 215.67131261130544, + "xmax": 1280.0, + "ymax": 640.0920709537454 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 1152.280380218554, + 617.8039258621544 + ], + [ + 1331.5407877596203, + 640.0920709537454 + ], + [ + 1208.1378949851119, + 341.3702462108916 + ], + [ + 1074.731779747883, + 328.7622471544871 + ], + [ + 1229.1415122570734, + 505.61665335144426 + ], + [ + 1437.568828306113, + 528.8663405254631 + ], + [ + 1271.0907240698593, + 227.88728290779517 + ], + [ + 1122.152293103548, + 215.67131261130544 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 9969, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 887.6404050829826, + "ymin": 319.2779672568444, + "xmax": 981.0765555838769, + "ymax": 507.11111212539754 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 948.8960341984359, + 364.7851577020306 + ], + [ + 887.6404050829826, + 358.6784996054548 + ], + [ + 895.3711489526019, + 498.980118433103 + ], + [ + 966.1489077338858, + 507.11111212539754 + ], + [ + 961.0676741279059, + 325.35199355236256 + ], + [ + 897.3311392545343, + 319.2779672568444 + ], + [ + 906.9659322862111, + 459.63543008994554 + ], + [ + 981.0765555838769, + 467.82161507720963 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 6813, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1033.3936051756782, + "ymin": 47.674775573871216, + "xmax": 1144.4177248295387, + "ymax": 180.85670803299274 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 1057.7813325514962, + 175.6687938753522 + ], + [ + 1124.0324498226241, + 180.85670803299274 + ], + [ + 1092.119845988652, + 98.81294381057279 + ], + [ + 1033.3936051756782, + 94.71204273964338 + ], + [ + 1075.2474413128232, + 125.92433645700561 + ], + [ + 1144.4177248295387, + 130.9634386132312 + ], + [ + 1108.9635874115058, + 51.621224501677204 + ], + [ + 1047.9543922582473, + 47.674775573871216 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 730.9661488354558, + "ymin": 0.0, + "xmax": 847.6373865962336, + "ymax": 82.40846941465787 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 731.750255771377, + 71.42986964954156 + ], + [ + 730.9661488354558, + 76.1909435271246 + ], + [ + 820.5556118250825, + 82.40846941465787 + ], + [ + 820.6666501746118, + 77.55372374271514 + ], + [ + 745.2407669837838, + -118.84882633688989 + ], + [ + 744.4578178939338, + -115.03824213078224 + ], + [ + 847.6373865962336, + -110.04914353435925 + ], + [ + 847.528568084927, + -113.94595796234552 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2080193722244522285, + "instance_id": 11745, + "pixel_count": null, + "type_id": "BP_StreetLight_simple51_120_SM_2", + "bbox_3d": { + "center_world": { + "x": -78.77368927001953, + "y": -128.03121948242188, + "z": 4.08544921875 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 84.04916276065796, + "ymax": 62.87326921728129 + }, + "corners_3d": [ + [ + -80.54341888427734, + -127.2630386352539, + 0.20873045921325684 + ], + [ + -80.32381439208984, + -126.88267517089844, + 0.20873045921325684 + ], + [ + -77.00395965576172, + -128.7993927001953, + 0.20873045921325684 + ], + [ + -77.22356414794922, + -129.1797637939453, + 0.20873045921325684 + ], + [ + -80.54341888427734, + -127.2630386352539, + 7.962167739868164 + ], + [ + -80.32381439208984, + -126.88267517089844, + 7.962167739868164 + ], + [ + -77.00395965576172, + -128.7993927001953, + 7.962167739868164 + ], + [ + -77.22356414794922, + -129.1797637939453, + 7.962167739868164 + ] + ], + "corners_2d": [ + [ + 71.42344188554671, + 62.87326921728129 + ], + [ + 82.25239521898754, + 61.15994557992161 + ], + [ + 84.04916276065796, + 25.7190643261452 + ], + [ + 73.84770814899025, + 27.241166159630097 + ], + [ + -11.138466505705878, + -126.28351183298997 + ], + [ + 1.5193899660439456, + -127.6458745833666 + ], + [ + 8.81830736881318, + -155.5836273198762 + ], + [ + -2.9910582154302574, + -154.3932289294538 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1239.3834474875966, + "ymin": 56.47387359725508, + "xmax": 1280.0, + "ymax": 94.73495053559986 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1255.9400067288216, + 90.3180451840426 + ], + [ + 1321.7794324621368, + 94.73495053559986 + ], + [ + 1302.5066413127092, + 68.94085746727825 + ], + [ + 1239.3834474875966, + 64.86580788574713 + ], + [ + 1260.0779347328148, + 81.75105890724916 + ], + [ + 1326.3911623996974, + 86.13894534453664 + ], + [ + 1306.8093624790051, + 60.519996307059785 + ], + [ + 1243.2506817410567, + 56.47387359725508 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1200.9669732364282, + "ymin": 27.34921349799049, + "xmax": 1280.0, + "ymax": 176.27774288042863 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1215.9081864950056, + 171.35455015927568 + ], + [ + 1280.8536141822067, + 176.27774288042863 + ], + [ + 1263.2501435096892, + 147.3336315620051 + ], + [ + 1200.9669732364282, + 142.79046174050723 + ], + [ + 1272.7206200415294, + 53.55068546193718 + ], + [ + 1344.5429036564647, + 58.08717628758217 + ], + [ + 1322.5108697396972, + 31.503081973689746 + ], + [ + 1253.9288201590648, + 27.34921349799049 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 831.2289109006387, + "ymin": 150.83699522150968, + "xmax": 849.5543398148093, + "ymax": 162.84318972384895 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 831.2653074412513, + 154.83834483273276 + ], + [ + 831.2289109006387, + 161.47008212378532 + ], + [ + 848.8562760212617, + 162.84318972384895 + ], + [ + 848.729619252362, + 156.18618056389522 + ], + [ + 831.897439637562, + 150.83699522150968 + ], + [ + 831.8668344106379, + 157.45342829237325 + ], + [ + 849.5543398148093, + 158.82341808938395 + ], + [ + 849.4207824307309, + 152.1816875078327 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1239.4535495238542, + "ymin": 56.49080882376467, + "xmax": 1280.0, + "ymax": 94.65885298858393 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1255.992698143762, + 90.24731325105137 + ], + [ + 1321.7612896218518, + 94.65885298858393 + ], + [ + 1302.511993015561, + 68.89797064156659 + ], + [ + 1239.4535495238542, + 64.82748117178579 + ], + [ + 1260.1034034144616, + 81.73694371304708 + ], + [ + 1326.3421300584487, + 86.11968555843436 + ], + [ + 1306.7862580301082, + 60.53259193689672 + ], + [ + 1243.2956536606346, + 56.49080882376467 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 681.7996089989656, + "ymin": 132.66984641951836, + "xmax": 855.0317410325574, + "ymax": 388.26041978938247 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 683.4922039974988, + 364.4513175643084 + ], + [ + 681.7996089989656, + 374.7287038029282 + ], + [ + 813.5601278049434, + 388.26041978938247 + ], + [ + 813.802035591686, + 377.68388667558185 + ], + [ + 693.5619940546119, + 132.66984641951836 + ], + [ + 691.6108578012625, + 142.16595426019737 + ], + [ + 855.0317410325574, + 154.74428827347117 + ], + [ + 854.756995751658, + 144.90560033541166 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 831.3263338724292, + "ymin": 150.90055711419703, + "xmax": 849.4559628277593, + "ymax": 162.7790964586903 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 831.361455967798, + 154.8594427740017 + ], + [ + 831.3263338724292, + 161.4207427750454 + ], + [ + 848.7656772620392, + 162.7790964586903 + ], + [ + 848.6411891704198, + 156.19305900158264 + ], + [ + 831.9872050230745, + 150.90055711419703 + ], + [ + 831.9577574961595, + 157.44687675641217 + ], + [ + 849.4559628277593, + 158.80217846800352 + ], + [ + 849.3247258800504, + 152.23109653733488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1207.7053987413428, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 147.54577000813717 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1387.0681438819365, + 20.305281348625442 + ], + [ + 1207.7053987413428, + 37.23875734370512 + ], + [ + 1360.8979941264056, + 147.54577000813717 + ], + [ + 1567.3077767797795, + 123.86173218345039 + ], + [ + 1596.7664327489115, + -357.2935360540023 + ], + [ + 1373.0982331598889, + -349.74087444699546 + ], + [ + 1624.188368656147, + -297.2944684841266 + ], + [ + 1890.6195932097803, + -309.05509702539814 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 161.12605914017604, + "ymax": 147.7304030899919 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + 161.12605914017604, + 42.518556109738086 + ], + [ + -15.994709372157786, + 56.982209433528226 + ], + [ + -75.02601068380011, + 147.7304030899919 + ], + [ + 129.1792298272914, + 128.73770811793585 + ], + [ + 55.164542127935874, + -250.22793625895383 + ], + [ + -165.4512572398196, + -241.14756226173074 + ], + [ + -268.5499503731595, + -181.87165646170376 + ], + [ + -4.372630688513027, + -194.6171428853745 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 96.45492545631953, + "ymax": 233.90952806629406 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 96.45492545631953, + 127.71689332916492 + ], + [ + -76.08778754058892, + 128.5681765567759 + ], + [ + -184.23343527711666, + 233.90952806629406 + ], + [ + 14.95645753181907, + 232.77652735820277 + ], + [ + -53.652672070969516, + -214.12351701889156 + ], + [ + -274.1595638104278, + -213.57969352827672 + ], + [ + -458.9581363784523, + -143.27129685964667 + ], + [ + -192.97842829827061, + -144.06071341768302 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00072/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00072/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..be0cadc017a9b23d1524d209a967597f95992603 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00072/meta.json @@ -0,0 +1,2460 @@ +{ + "frame_id": 72, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 36.0, + "sim_timestamp": 10579.043908042833 + }, + "drone_pose": { + "x": -115.45257824451923, + "y": -96.70579346618597, + "z": 20.101392941701153, + "pitch": -44.0764638052626, + "yaw": -8.570865756506752, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7103891372680664, + 0.1070667952299118, + 0.6956177949905396, + 57.67938232421875 + ], + [ + -0.14903254806995392, + 0.9888322949409485, + 3.725290298461914e-09, + 112.8320083618164 + ], + [ + -0.6878492832183838, + -0.10366968810558319, + 0.7184121608734131, + -83.82959747314453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -115.00455169501456, + "y": -96.91101818434258, + "z": 19.994280373028413 + }, + "t1_image_uv": [ + 324.83636634089464, + -224.43947088604943 + ], + "t1_depth": 0.4147553275646181 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -95.66718292236328, + "y": -99.68776321411131, + "z": 0.7274016332626343 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 27.851490998705685, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 198, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -95.66718292236328, + "y": -99.68775939941406, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.23382322490215302, + "y": 0.20494137704372406, + "z": 0.5331746339797974 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.6596270306438, + "ymin": 340.39236729155823, + "xmax": 648.2535836486918, + "ymax": 379.3519053996757 + }, + "corners_3d": [ + [ + -95.90100860595703, + -99.8927001953125, + 0.1942269206047058 + ], + [ + -95.90100860595703, + -99.48281860351562, + 0.1942269206047058 + ], + [ + -95.43335723876953, + -99.48281860351562, + 0.1942269206047058 + ], + [ + -95.43335723876953, + -99.8927001953125, + 0.1942269206047058 + ], + [ + -95.90100860595703, + -99.8927001953125, + 1.2605762481689453 + ], + [ + -95.90100860595703, + -99.48281860351562, + 1.2605762481689453 + ], + [ + -95.43335723876953, + -99.48281860351562, + 1.2605762481689453 + ], + [ + -95.43335723876953, + -99.8927001953125, + 1.2605762481689453 + ] + ], + "corners_2d": [ + [ + 631.87996339602, + 377.86883880319215 + ], + [ + 645.7463795286329, + 379.3519053996757 + ], + [ + 648.0377563761803, + 368.23896455339735 + ], + [ + 634.3299463525559, + 366.7904058615448 + ], + [ + 631.6596270306438, + 351.4506021626157 + ], + [ + 645.902557672729, + 352.93149747073545 + ], + [ + 648.2535836486918, + 341.837886298274 + ], + [ + 634.1779373605789, + 340.39236729155823 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 72, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 48, + "semantic_pixel_counts": { + "1": 237699, + "2": 136546, + "3": 405350, + "4": 4631, + "5": 1030, + "6": 2613, + "10": 1257, + "12": 2524, + "14": 20762, + "16": 89219, + "20": 8101, + "24": 11868 + }, + "instance_pixel_counts": { + "913": 1639, + "1115": 363, + "3182": 3732, + "3694": 11, + "4206": 2430, + "4718": 6200, + "5742": 68, + "8834": 1977, + "14416": 1030, + "15963": 872, + "16475": 3459, + "16987": 9538, + "17232": 4631, + "17499": 28025, + "18011": 343595, + "24512": 22884, + "26963": 77, + "31168": 19372, + "34120": 3446, + "35668": 4029, + "35924": 885, + "36692": 1548, + "40019": 559, + "43117": 5, + "43147": 9139, + "43659": 5042, + "44179": 141315, + "46227": 96384, + "46741": 7960, + "48749": 1327, + "48779": 6010, + "48789": 3908, + "49261": 5725, + "49664": 198, + "49920": 404, + "50176": 646, + "50432": 1061, + "50944": 215, + "51456": 3354, + "52160": 24381, + "52480": 39112, + "52672": 23635, + "52736": 50107, + "54016": 10358, + "55040": 7050, + "55744": 18711, + "55879": 814, + "64351": 3926 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 198, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -95.66718292236328, + "y": -99.68775939941406, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.29582029581069946, + "y": 0.20658689737319946, + "z": 0.5316761136054993 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.2642440339744, + "ymin": 338.9785837978772, + "xmax": 648.6172895872604, + "ymax": 380.8147924766633 + }, + "corners_3d": [ + [ + -95.96300506591797, + -99.89434814453125, + 0.1957254409790039 + ], + [ + -95.96300506591797, + -99.48117065429688, + 0.1957254409790039 + ], + [ + -95.3713607788086, + -99.48117065429688, + 0.1957254409790039 + ], + [ + -95.3713607788086, + -99.89434814453125, + 0.1957254409790039 + ], + [ + -95.96300506591797, + -99.89434814453125, + 1.2590776681900024 + ], + [ + -95.96300506591797, + -99.48117065429688, + 1.2590776681900024 + ], + [ + -95.3713607788086, + -99.48117065429688, + 1.2590776681900024 + ], + [ + -95.3713607788086, + -99.89434814453125, + 1.2590776681900024 + ] + ], + "corners_2d": [ + [ + 631.4947456654053, + 379.31509702316754 + ], + [ + 645.4946575279557, + 380.8147924766633 + ], + [ + 648.3929236250013, + 366.75492036835834 + ], + [ + 634.5953031202663, + 365.299236682251 + ], + [ + 631.2642440339744, + 352.96897432672233 + ], + [ + 645.6438104632044, + 354.466607928932 + ], + [ + 648.6172895872604, + 340.43110111661474 + ], + [ + 634.4510513145378, + 338.9785837978772 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 404, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -89.04896545410156, + "y": -97.79559326171875, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.40742185711860657, + "y": 0.3226318359375, + "z": 0.8740212917327881 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 712.5253886863273, + "ymin": 201.82712313031377, + "xmax": 737.7508155693156, + "ymax": 259.0986651800899 + }, + "corners_3d": [ + [ + -89.51456451416016, + -98.0264663696289, + -0.14661484956741333 + ], + [ + -89.38040161132812, + -97.39530181884766, + -0.14661484956741333 + ], + [ + -88.58336639404297, + -97.5647201538086, + -0.14661484956741333 + ], + [ + -88.717529296875, + -98.19588470458984, + -0.14661484956741333 + ], + [ + -89.51456451416016, + -98.0264663696289, + 1.6014277935028076 + ], + [ + -89.38040161132812, + -97.39530181884766, + 1.6014277935028076 + ], + [ + -88.58336639404297, + -97.5647201538086, + 1.6014277935028076 + ], + [ + -88.717529296875, + -98.19588470458984, + 1.6014277935028076 + ] + ], + "corners_2d": [ + [ + 715.2563473059699, + 259.0986651800899 + ], + [ + 734.113676869377, + 258.39551310414095 + ], + [ + 731.0537350580112, + 243.85146413609837 + ], + [ + 712.5253886863273, + 244.53011903534673 + ], + [ + 718.1672869060687, + 216.84586502643438 + ], + [ + 737.7508155693156, + 216.15277854833113 + ], + [ + 734.5084582383619, + 201.82712313031377 + ], + [ + 715.2795001022731, + 202.49515498808722 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 646, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -102.0221939086914, + "y": -94.2450942993164, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.2828418016433716, + "y": 0.32649412751197815, + "z": 0.8773093819618225 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 807.051464713601, + "ymin": 539.8336231103083, + "xmax": 846.8540870626072, + "ymax": 602.7975197790539 + }, + "corners_3d": [ + [ + -102.33761596679688, + -94.54023742675781, + -0.30231010913848877 + ], + [ + -102.26935577392578, + -93.89082336425781, + -0.30231010913848877 + ], + [ + -101.70677185058594, + -93.949951171875, + -0.30231010913848877 + ], + [ + -101.77503204345703, + -94.599365234375, + -0.30231010913848877 + ], + [ + -102.33761596679688, + -94.54023742675781, + 1.4523086547851562 + ], + [ + -102.26935577392578, + -93.89082336425781, + 1.4523086547851562 + ], + [ + -101.70677185058594, + -93.949951171875, + 1.4523086547851562 + ], + [ + -101.77503204345703, + -94.599365234375, + 1.4523086547851562 + ] + ], + "corners_2d": [ + [ + 808.9184359384485, + 601.7379262678669 + ], + [ + 835.9982396133045, + 602.7975197790539 + ], + [ + 833.6650022911197, + 582.6838086379089 + ], + [ + 807.051464713601, + 581.6602460823929 + ], + [ + 818.2654773409874, + 560.2524456080226 + ], + [ + 846.8540870626072, + 561.3311189304115 + ], + [ + 844.1975730207467, + 540.8736409462766 + ], + [ + 816.1281353047683, + 539.8336231103083 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 1061, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -105.16718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.4346093237400055, + "y": 0.4498046338558197, + "z": 0.8834641575813293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 548.6228848538897, + "ymin": 615.7970848019098, + "xmax": 600.4147501463785, + "ymax": 697.7382808864288 + }, + "corners_3d": [ + [ + -105.60179138183594, + -100.13756561279297, + -0.1560577154159546 + ], + [ + -105.60179138183594, + -99.23795318603516, + -0.1560577154159546 + ], + [ + -104.73257446289062, + -99.23795318603516, + -0.1560577154159546 + ], + [ + -104.73257446289062, + -100.13756561279297, + -0.1560577154159546 + ], + [ + -105.60179138183594, + -100.13756561279297, + 1.610870599746704 + ], + [ + -105.60179138183594, + -99.23795318603516, + 1.610870599746704 + ], + [ + -104.73257446289062, + -99.23795318603516, + 1.610870599746704 + ], + [ + -104.73257446289062, + -100.13756561279297, + 1.610870599746704 + ] + ], + "corners_2d": [ + [ + 553.8572357277781, + 692.0495139108255 + ], + [ + 593.4484557758813, + 697.7382808864288 + ], + [ + 600.4147501463785, + 662.1333740379398 + ], + [ + 561.9006174825283, + 656.7590969966886 + ], + [ + 548.6228848538897, + 651.9814448199827 + ], + [ + 590.6062792287148, + 657.8258299039328 + ], + [ + 598.0698217696446, + 621.299569405996 + ], + [ + 557.295588078739, + 615.7970848019098 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 215, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -93.58158874511719, + "y": -101.20303344726562, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.41501951217651367, + "y": 0.4363427758216858, + "z": 0.8700995445251465 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 581.7781098230729, + "ymin": 274.95893228378424, + "xmax": 619.9185217281787, + "ymax": 340.94825713314344 + }, + "corners_3d": [ + [ + -93.89682006835938, + -101.71612548828125, + -0.14269310235977173 + ], + [ + -94.07826232910156, + -100.86251068115234, + -0.14269310235977173 + ], + [ + -93.266357421875, + -100.68994140625, + -0.14269310235977173 + ], + [ + -93.08491516113281, + -101.5435562133789, + -0.14269310235977173 + ], + [ + -93.89682006835938, + -101.71612548828125, + 1.597506046295166 + ], + [ + -94.07826232910156, + -100.86251068115234, + 1.597506046295166 + ], + [ + -93.266357421875, + -100.68994140625, + 1.597506046295166 + ], + [ + -93.08491516113281, + -101.5435562133789, + 1.597506046295166 + ] + ], + "corners_2d": [ + [ + 584.132760768603, + 334.2473010505918 + ], + [ + 610.1179328958771, + 340.94825713314344 + ], + [ + 619.9185217281787, + 324.15520246219626 + ], + [ + 594.3383484827445, + 317.6982752695685 + ], + [ + 581.7781098230729, + 291.3746685825999 + ], + [ + 608.848751170227, + 298.02886287756655 + ], + [ + 619.0819872357405, + 281.36084100540916 + ], + [ + 592.4505312701726, + 274.95893228378424 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 3354, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 872.7049786539263, + "ymin": 69.00077123653858, + "xmax": 935.3007833556699, + "ymax": 157.4445393730745 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 921.3469620422204, + 103.39092381376588 + ], + [ + 872.7049786539263, + 99.77715813253735 + ], + [ + 875.0407811919774, + 153.2287196084422 + ], + [ + 927.6035861080727, + 157.4445393730745 + ], + [ + 928.3030092379668, + 72.53360839208125 + ], + [ + 878.4267405268708, + 69.00077123653858 + ], + [ + 881.2937795982987, + 121.35116898477622 + ], + [ + 935.3007833556699, + 125.48890367034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 39112, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 721.4164099415726, + "ymin": 152.2785031791065, + "xmax": 907.1820768653853, + "ymax": 523.2004224120029 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 867.8147721007562, + 273.18403229474245 + ], + [ + 748.9707323777748, + 262.0613839704655 + ], + [ + 721.4164099415726, + 504.57181473255923 + ], + [ + 875.0410614820482, + 523.2004224120029 + ], + [ + 891.111048062962, + 162.920055367606 + ], + [ + 759.9521538079701, + 152.2785031791065 + ], + [ + 732.3345595329265, + 391.00223268732105 + ], + [ + 907.1820768653853, + 409.93922335440584 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 50107, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1077.4337371431595, + "ymin": 227.62519053066924, + "xmax": 1280.0, + "ymax": 662.3966187629883 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 1154.2156293024818, + 638.7637394149332 + ], + [ + 1335.9317776121625, + 662.3966187629883 + ], + [ + 1212.468691879455, + 353.55005801627044 + ], + [ + 1077.4337371431595, + 340.21705159951745 + ], + [ + 1233.1404423830832, + 529.3753025774266 + ], + [ + 1445.1645374874943, + 554.2422641021855 + ], + [ + 1277.247367856056, + 240.63009950526882 + ], + [ + 1126.1377471843898, + 227.62519053066924 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 10358, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 887.9104041825392, + "ymin": 331.4746274959098, + "xmax": 981.5740300647335, + "ymax": 523.8803006153375 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 949.8379047677796, + 377.0376674236825 + ], + [ + 887.9104041825392, + 370.58640626235876 + ], + [ + 894.752255587147, + 515.2811094673002 + ], + [ + 966.340509860022, + 523.8803006153375 + ], + [ + 962.2807272772995, + 337.90579777172826 + ], + [ + 897.7957134577053, + 331.4746274959098 + ], + [ + 906.5461955614679, + 476.56970559774084 + ], + [ + 981.5740300647335, + 485.2491228650699 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 7050, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1037.099053980873, + "ymin": 51.8515665379486, + "xmax": 1149.2128564239833, + "ymax": 187.9194879772763 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 1061.2491421578848, + 182.44097670037752 + ], + [ + 1128.258479388273, + 187.9194879772763 + ], + [ + 1096.4736160596324, + 103.38442637535388 + ], + [ + 1037.099053980873, + 99.05702600335837 + ], + [ + 1079.191381627948, + 132.6491140736363 + ], + [ + 1149.2128564239833, + 137.98442062566232 + ], + [ + 1113.794593746787, + 56.02604696736847 + ], + [ + 1052.0665020969118, + 51.8515665379486 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 731.6185703066511, + "ymin": 0.0, + "xmax": 849.8929706076822, + "ymax": 86.10277422052633 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 732.4463243678188, + 74.65582698538435 + ], + [ + 731.6185703066511, + 79.55005059637881 + ], + [ + 822.0490175271709, + 86.10277422052633 + ], + [ + 822.1963762305791, + 81.10961516702162 + ], + [ + 746.3019031081559, + -116.70743280893254 + ], + [ + 745.4701842561788, + -112.74693438572723 + ], + [ + 849.8929706076822, + -107.43018669318928 + ], + [ + 849.8184714226129, + -111.48300738946409 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2080193722244522285, + "instance_id": 11745, + "pixel_count": null, + "type_id": "BP_StreetLight_simple51_120_SM_2", + "bbox_3d": { + "center_world": { + "x": -78.77368927001953, + "y": -128.03121948242188, + "z": 4.08544921875 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 80.0900526318228, + "ymax": 64.75131744413045 + }, + "corners_3d": [ + [ + -80.54341888427734, + -127.2630386352539, + 0.20873045921325684 + ], + [ + -80.32381439208984, + -126.88267517089844, + 0.20873045921325684 + ], + [ + -77.00395965576172, + -128.7993927001953, + 0.20873045921325684 + ], + [ + -77.22356414794922, + -129.1797637939453, + 0.20873045921325684 + ], + [ + -80.54341888427734, + -127.2630386352539, + 7.962167739868164 + ], + [ + -80.32381439208984, + -126.88267517089844, + 7.962167739868164 + ], + [ + -77.00395965576172, + -128.7993927001953, + 7.962167739868164 + ], + [ + -77.22356414794922, + -129.1797637939453, + 7.962167739868164 + ] + ], + "corners_2d": [ + [ + 67.01629094891439, + 64.75131744413045 + ], + [ + 77.92783993487717, + 63.011315481913755 + ], + [ + 80.0900526318228, + 26.641949152494362 + ], + [ + 69.81295588839794, + 28.187360574218133 + ], + [ + -17.615932268476513, + -125.30090704405234 + ], + [ + -4.831422794434502, + -126.6989868481258 + ], + [ + 3.0414704064413627, + -155.66447692103145 + ], + [ + -8.88130657926115, + -154.44356857001526 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1245.8751071344752, + "ymin": 62.436733951259384, + "xmax": 1280.0, + "ymax": 101.91421440141437 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1262.5249086253018, + 97.22350616066507 + ], + [ + 1329.2784744813077, + 101.91421440141437 + ], + [ + 1309.859179748425, + 75.18802597321411 + ], + [ + 1245.8751071344752, + 70.86210085205306 + ], + [ + 1266.7904113416612, + 88.62956939575179 + ], + [ + 1334.0348245276307, + 93.29176815778936 + ], + [ + 1314.2963234358458, + 66.73402183186562 + ], + [ + 1249.8613146153475, + 62.436733951259384 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1206.3693465856513, + "ymin": 33.148528561996784, + "xmax": 1280.0, + "ymax": 183.62736147189892 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1221.3323610192751, + 178.4217896773263 + ], + [ + 1287.084318902408, + 183.62736147189892 + ], + [ + 1269.4144651377405, + 153.76695170312067 + ], + [ + 1206.3693465856513, + 148.96464632805979 + ], + [ + 1279.8489478632869, + 60.344650050302334 + ], + [ + 1352.718760593828, + 65.17309634805093 + ], + [ + 1330.4799534902422, + 37.56756427634315 + ], + [ + 1260.9182642809433, + 33.148528561996784 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 830.81671715422, + "ymin": 164.36628885958407, + "xmax": 849.4179306487082, + "ymax": 176.7660525703185 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 830.9151844165176, + 168.36397989950285 + ], + [ + 830.81671715422, + 175.2949806933764 + ], + [ + 848.7046572826129, + 176.7660525703185 + ], + [ + 848.6365368363345, + 169.8077747580561 + ], + [ + 831.5602895827101, + 164.36628885958407 + ], + [ + 831.4675664851375, + 171.28325267508347 + ], + [ + 849.4179306487082, + 172.75140175703285 + ], + [ + 849.3429067646041, + 165.8071234740024 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1245.9465141082637, + "ymin": 62.45434901414967, + "xmax": 1280.0, + "ymax": 101.83719615423121 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1262.5788713487505, + 97.15216893480687 + ], + [ + 1329.260678477529, + 101.83719615423121 + ], + [ + 1309.865025758946, + 75.14533855072102 + ], + [ + 1245.9465141082637, + 70.82423662855524 + ], + [ + 1266.8163168161404, + 88.61501506042237 + ], + [ + 1333.9851729444322, + 93.2717495598402 + ], + [ + 1314.2728272530949, + 66.74703192581018 + ], + [ + 1249.9068228571546, + 62.45434901414967 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 679.6640085439305, + "ymin": 145.37715761520897, + "xmax": 854.9702492781532, + "ymax": 401.030370634479 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 681.454259374132, + 376.15427945256704 + ], + [ + 679.6640085439305, + 386.7394137259223 + ], + [ + 812.7548368736594, + 401.030370634479 + ], + [ + 813.0765800671238, + 390.12830036516505 + ], + [ + 691.2632005571675, + 145.37715761520897 + ], + [ + 689.1795907732419, + 155.2989397705564 + ], + [ + 854.9702492781532, + 168.77820481241767 + ], + [ + 854.7810683301083, + 158.4865961073658 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 830.9159225377133, + "ymin": 164.43192410405413, + "xmax": 849.3183840180973, + "ymax": 176.6998486061111 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 831.0124373499796, + 168.38718258035937 + ], + [ + 830.9159225377133, + 175.24458218786035 + ], + [ + 848.6130627330606, + 176.6998486061111 + ], + [ + 848.5465074621839, + 169.81574874535337 + ], + [ + 831.6510328521929, + 164.43192410405413 + ], + [ + 831.5601467151412, + 171.27558384890705 + ], + [ + 849.3183840180973, + 172.72798911430652 + ], + [ + 849.2450773900921, + 165.8575928491492 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1213.814795182143, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 154.3901593507114 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1395.5455245744547, + 23.309816271431885 + ], + [ + 1213.814795182143, + 40.45649480964482 + ], + [ + 1368.3724930097087, + 154.3901593507114 + ], + [ + 1577.7909431419644, + 130.36620924216945 + ], + [ + 1612.684528341809, + -358.39150572961046 + ], + [ + 1384.9173864193565, + -350.4635699679461 + ], + [ + 1641.3299596880443, + -294.2107256881185 + ], + [ + 1913.3917367318566, + -306.61743084990405 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 157.34568192073772, + "ymax": 151.8445417439353 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + 157.34568192073772, + 44.2116120188785 + ], + [ + -21.006088383578117, + 58.76489828238073 + ], + [ + -81.3487686061369, + 151.8445417439353 + ], + [ + 124.3237591339365, + 132.72550153811406 + ], + [ + 48.547017963537655, + -250.46437272431206 + ], + [ + -174.36117731706724, + -241.14312862713905 + ], + [ + -280.33523271971274, + -179.07277155452357 + ], + [ + -13.152051888071014, + -192.1803115195646 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 91.76991409005473, + "ymax": 239.45113175393226 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 91.76991409005473, + 131.04399906882756 + ], + [ + -81.76714139159662, + 131.59019748427355 + ], + [ + -191.565453623723, + 239.45113175393226 + ], + [ + 8.742787643515044, + 238.72402165311195 + ], + [ + -62.557582807089375, + -212.5041000462836 + ], + [ + -285.1485899191508, + -212.1473067426556 + ], + [ + -474.1850154611734, + -138.48043110620608 + ], + [ + -205.54083414611614, + -138.9993770233939 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00073/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00073/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..92d528259f3f2e07e6205a768006c05c3c8d006e --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00073/meta.json @@ -0,0 +1,2249 @@ +{ + "frame_id": 73, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 36.5, + "sim_timestamp": 10595.751501938328 + }, + "drone_pose": { + "x": -115.00455169501456, + "y": -96.91101818434258, + "z": 19.994280373028413, + "pitch": -47.098877535008015, + "yaw": -9.22410005889703, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.671932578086853, + 0.10911940038204193, + 0.7325295209884644, + 52.054039001464844 + ], + [ + -0.16029639542102814, + 0.9870689511299133, + -7.450580596923828e-09, + 114.0926742553711 + ], + [ + -0.7230571508407593, + -0.11742184311151505, + 0.6807352304458618, + -85.3862075805664 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -114.39182010684104, + "y": -96.92293798298559, + "z": 20.06846627837162 + }, + "t1_image_uv": [ + 871.3951548187816, + -964.7296606055997 + ], + "t1_depth": 0.3586716314604196 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -95.16718292236328, + "y": -99.68776321411131, + "z": 0.7274016332626343 + }, + "image_uv": [ + 655.1899410132369, + 306.2335208181015 + ], + "depth": 27.745929452973428, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 211, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -95.16718292236328, + "y": -99.68775939941406, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.18241208791732788, + "y": 0.21124997735023499, + "z": 0.5229290723800659 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 646.8932624416244, + "ymin": 287.87793822446986, + "xmax": 663.658206882362, + "ymax": 324.2776373227522 + }, + "corners_3d": [ + [ + -95.34959411621094, + -99.89900970458984, + 0.20447248220443726 + ], + [ + -95.34959411621094, + -99.47650909423828, + 0.20447248220443726 + ], + [ + -94.98477172851562, + -99.47650909423828, + 0.20447248220443726 + ], + [ + -94.98477172851562, + -99.89900970458984, + 0.20447248220443726 + ], + [ + -95.34959411621094, + -99.89900970458984, + 1.2503306865692139 + ], + [ + -95.34959411621094, + -99.47650909423828, + 1.2503306865692139 + ], + [ + -94.98477172851562, + -99.47650909423828, + 1.2503306865692139 + ], + [ + -94.98477172851562, + -99.89900970458984, + 1.2503306865692139 + ] + ], + "corners_2d": [ + [ + 646.8932624416244, + 322.6372404839605 + ], + [ + 661.2115353101858, + 324.2776373227522 + ], + [ + 663.016122826059, + 315.6169203410649 + ], + [ + 648.8190444840236, + 314.0048671486972 + ], + [ + 647.0869686471891, + 296.5179701721443 + ], + [ + 661.8086061336771, + 298.1602984025678 + ], + [ + 663.658206882362, + 289.4911020046037 + ], + [ + 649.0646582949935, + 287.87793822446986 + ] + ], + "center_offset_px": [ + 15.189941013236876, + -53.76647918189849 + ] + }, + "trace_timestep_index": 73, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 45, + "semantic_pixel_counts": { + "1": 248604, + "2": 137660, + "3": 404826, + "4": 357, + "5": 1116, + "6": 2196, + "10": 10, + "12": 2615, + "14": 22128, + "16": 85043, + "20": 4456, + "24": 12589 + }, + "instance_pixel_counts": { + "913": 558, + "1115": 659, + "3182": 2071, + "4206": 2598, + "4718": 6562, + "8834": 2104, + "14416": 1116, + "15963": 169, + "16475": 1743, + "16987": 7059, + "17232": 357, + "17499": 25763, + "18011": 350840, + "24512": 21500, + "26963": 19, + "31168": 23240, + "34120": 3828, + "35668": 2609, + "35924": 11, + "36443": 29, + "36692": 1278, + "40019": 73, + "43147": 8758, + "43659": 4558, + "44179": 132588, + "46227": 116016, + "46741": 7694, + "48749": 1394, + "48779": 7214, + "48789": 4895, + "49261": 5939, + "49664": 211, + "49920": 410, + "50176": 635, + "50432": 918, + "50944": 441, + "51456": 3628, + "52160": 24874, + "52480": 41188, + "52672": 17550, + "52736": 43855, + "54016": 10812, + "55040": 7688, + "55744": 22725, + "64351": 3413 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 211, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -95.16718292236328, + "y": -99.68775939941406, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.24796871840953827, + "y": 0.20063474774360657, + "z": 0.5371472239494324 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 646.9006751807771, + "ymin": 286.0167119281616, + "xmax": 663.6294460119215, + "ymax": 326.1538640165214 + }, + "corners_3d": [ + [ + -95.41515350341797, + -99.88839721679688, + 0.1902543306350708 + ], + [ + -95.41515350341797, + -99.48712158203125, + 0.1902543306350708 + ], + [ + -94.9192123413086, + -99.48712158203125, + 0.1902543306350708 + ], + [ + -94.9192123413086, + -99.88839721679688, + 0.1902543306350708 + ], + [ + -95.41515350341797, + -99.88839721679688, + 1.2645487785339355 + ], + [ + -95.41515350341797, + -99.48712158203125, + 1.2645487785339355 + ], + [ + -94.9192123413086, + -99.48712158203125, + 1.2645487785339355 + ], + [ + -94.9192123413086, + -99.88839721679688, + 1.2645487785339355 + ] + ], + "corners_2d": [ + [ + 646.9006751807771, + 324.59100401874815 + ], + [ + 660.5154606130676, + 326.1538640165214 + ], + [ + 662.9720013827015, + 314.381495859276 + ], + [ + 649.513578071772, + 312.855217515366 + ], + [ + 647.100269333545, + 297.7632258393492 + ], + [ + 661.1098034036901, + 299.32811756626865 + ], + [ + 663.6294460119215, + 287.5439333515815 + ], + [ + 649.7854179751143, + 286.0167119281616 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 410, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -88.93193054199219, + "y": -97.5149917602539, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.3090478479862213, + "y": 0.34383299946784973, + "z": 0.8817692995071411 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 734.8034843809139, + "ymin": 159.89582047492297, + "xmax": 762.1980996564262, + "ymax": 215.11358637028468 + }, + "corners_3d": [ + [ + -89.30570983886719, + -97.78705596923828, + -0.30677491426467896 + ], + [ + -89.16273498535156, + -97.11441802978516, + -0.30677491426467896 + ], + [ + -88.55815124511719, + -97.24292755126953, + -0.30677491426467896 + ], + [ + -88.70112609863281, + -97.91556549072266, + -0.30677491426467896 + ], + [ + -89.30570983886719, + -97.78705596923828, + 1.456763744354248 + ], + [ + -89.16273498535156, + -97.11441802978516, + 1.456763744354248 + ], + [ + -88.55815124511719, + -97.24292755126953, + 1.456763744354248 + ], + [ + -88.70112609863281, + -97.91556549072266, + 1.456763744354248 + ] + ], + "corners_2d": [ + [ + 736.9310146676792, + 215.11358637028468 + ], + [ + 757.304292031345, + 214.4893572035902 + ], + [ + 754.9162192420596, + 203.07490388461162 + ], + [ + 734.8034843809139, + 203.68317450692564 + ], + [ + 740.9778342093782, + 171.81901932605652 + ], + [ + 762.1980996564262, + 171.20044649837524 + ], + [ + 759.646203783853, + 159.89582047492297 + ], + [ + 738.7084437547892, + 160.497932611348 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 635, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -102.06330871582031, + "y": -95.30365753173828, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.5176757574081421, + "y": 0.3118261694908142, + "z": 0.8942155838012695 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 776.4924450497302, + "ymin": 490.42825919468225, + "xmax": 814.233026726001, + "ymax": 570.4907714163782 + }, + "corners_3d": [ + [ + -102.6107406616211, + -95.55966186523438, + -0.3192211985588074 + ], + [ + -102.5455551147461, + -94.9394302368164, + -0.3192211985588074 + ], + [ + -101.51587677001953, + -95.04765319824219, + -0.3192211985588074 + ], + [ + -101.58106231689453, + -95.66788482666016, + -0.3192211985588074 + ], + [ + -102.6107406616211, + -95.55966186523438, + 1.469209909439087 + ], + [ + -102.5455551147461, + -94.9394302368164, + 1.469209909439087 + ], + [ + -101.51587677001953, + -95.04765319824219, + 1.469209909439087 + ], + [ + -101.58106231689453, + -95.66788482666016, + 1.469209909439087 + ] + ], + "corners_2d": [ + [ + 778.23335970534, + 569.2031051215182 + ], + [ + 804.3245375106517, + 570.4907714163782 + ], + [ + 801.8085089829062, + 533.6314800113437 + ], + [ + 776.4924450497302, + 532.418980049187 + ], + [ + 786.5594444997294, + 528.0694637084086 + ], + [ + 814.233026726001, + 529.3895654796661 + ], + [ + 811.2591964137232, + 491.66687442130234 + ], + [ + 784.4560289347271, + 490.42825919468225 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 918, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -104.66718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.46227535605430603, + "y": 0.44366204738616943, + "z": 0.906400740146637 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 565.0363253256817, + "ymin": 556.5676159593417, + "xmax": 615.3735054186324, + "ymax": 639.9449283153992 + }, + "corners_3d": [ + [ + -105.12945556640625, + -100.13142395019531, + -0.1789942979812622 + ], + [ + -105.12945556640625, + -99.24409484863281, + -0.1789942979812622 + ], + [ + -104.20491027832031, + -99.24409484863281, + -0.1789942979812622 + ], + [ + -104.20491027832031, + -100.13142395019531, + -0.1789942979812622 + ], + [ + -105.12945556640625, + -100.13142395019531, + 1.6338071823120117 + ], + [ + -105.12945556640625, + -99.24409484863281, + 1.6338071823120117 + ], + [ + -104.20491027832031, + -99.24409484863281, + 1.6338071823120117 + ], + [ + -104.20491027832031, + -100.13142395019531, + 1.6338071823120117 + ] + ], + "corners_2d": [ + [ + 569.610165818647, + 634.103729631428 + ], + [ + 608.1012327600515, + 639.9449283153992 + ], + [ + 615.3735054186324, + 603.3493155908275 + ], + [ + 577.9191670770147, + 597.8285066451067 + ], + [ + 565.0363253256817, + 593.9456943783957 + ], + [ + 606.018624965698, + 599.9770845024384 + ], + [ + 613.8133421175338, + 562.2475873752314 + ], + [ + 574.0042418944214, + 556.5676159593417 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 441, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -93.08158874511719, + "y": -101.20303344726562, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.5558007955551147, + "y": 0.4588671624660492, + "z": 0.9180825352668762 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 594.3231795960977, + "ymin": 215.99371739590316, + "xmax": 637.0337808683316, + "ymax": 291.2601014741157 + }, + "corners_3d": [ + [ + -93.52983856201172, + -101.7674331665039, + -0.19067609310150146 + ], + [ + -93.72064971923828, + -100.8697509765625, + -0.19067609310150146 + ], + [ + -92.63333892822266, + -100.63863372802734, + -0.19067609310150146 + ], + [ + -92.4425277709961, + -101.53631591796875, + -0.19067609310150146 + ], + [ + -93.52983856201172, + -101.7674331665039, + 1.645488977432251 + ], + [ + -93.72064971923828, + -100.8697509765625, + 1.645488977432251 + ], + [ + -92.63333892822266, + -100.63863372802734, + 1.645488977432251 + ], + [ + -92.4425277709961, + -101.53631591796875, + 1.645488977432251 + ] + ], + "corners_2d": [ + [ + 596.3886097213149, + 283.9281449221921 + ], + [ + 623.8757849343842, + 291.2601014741157 + ], + [ + 637.0337808683316, + 268.75539114359225 + ], + [ + 610.0856039157272, + 261.7604236127529 + ], + [ + 594.3231795960977, + 238.0745973350008 + ], + [ + 623.1060140255446, + 245.38849718352088 + ], + [ + 636.8956321311547, + 222.95605440525432 + ], + [ + 608.7031964463338, + 215.99371739590316 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 3628, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 892.7209759077315, + "ymin": 17.421743655779096, + "xmax": 957.3312879853278, + "ymax": 110.26376491155497 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 942.8063523048459, + 53.59745930257628 + ], + [ + 892.7209759077315, + 49.510433749715276 + ], + [ + 894.3893089371156, + 105.51652092759784 + ], + [ + 948.3907172427162, + 110.26376491155497 + ], + [ + 950.9329117782972, + 21.432078063014842 + ], + [ + 899.4642042594132, + 17.421743655779096 + ], + [ + 901.7183380033298, + 72.48248485446896 + ], + [ + 957.3312879853278, + 77.16009271332052 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 41188, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 734.1045013067106, + "ymin": 104.97587357320825, + "xmax": 925.9863543996238, + "ymax": 486.43892963763875 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 885.3515327396074, + 230.2301061889633 + ], + [ + 763.9825814716032, + 217.83905380721507 + ], + [ + 734.1045013067106, + 466.10050088822396 + ], + [ + 889.3659908988844, + 486.43892963763875 + ], + [ + 912.5384633772858, + 116.99622330529644 + ], + [ + 777.5118262036221, + 104.97587357320825 + ], + [ + 747.646818667863, + 352.9863162907134 + ], + [ + 925.9863543996238, + 373.9953847832126 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 43855, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1098.692417438162, + "ymin": 186.41188993772187, + "xmax": 1280.0, + "ymax": 631.7133234377673 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 1169.8980468864127, + 606.0074964081298 + ], + [ + 1353.4292518073617, + 631.7133234377673 + ], + [ + 1236.7215886420408, + 315.94060500813214 + ], + [ + 1098.692417438162, + 301.10065562016297 + ], + [ + 1257.0943483228243, + 499.68741471001107 + ], + [ + 1473.5829173956572, + 527.2258941102 + ], + [ + 1309.9141590131428, + 201.11062202765422 + ], + [ + 1154.0085909677919, + 186.41188993772187 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 10812, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 904.5404753277223, + "ymin": 291.34397603842535, + "xmax": 998.9475328923781, + "ymax": 488.00067349493935 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 967.5886855212273, + 337.945914062384 + ], + [ + 904.5404753277223, + 330.807851753701 + ], + [ + 909.4492210292776, + 478.5960985674495 + ], + [ + 981.895074498418, + 488.00067349493935 + ], + [ + 981.7248094018937, + 298.49733611075504 + ], + [ + 915.8718885485011, + 291.34397603842535 + ], + [ + 922.7741072298554, + 440.34345160292384 + ], + [ + 998.9475328923781, + 449.8891305519824 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 7688, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1062.3676456691126, + "ymin": 0.4377432467161384, + "xmax": 1178.4085788897887, + "ymax": 143.43952353984804 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 1085.5163804636315, + 137.26568781520555 + ], + [ + 1154.4504215222887, + 143.43952353984804 + ], + [ + 1123.6483168656493, + 54.651853307195665 + ], + [ + 1062.3676456691126, + 49.74371183126112 + ], + [ + 1106.100118946793, + 85.75711525261619 + ], + [ + 1178.4085788897887, + 91.80774232526443 + ], + [ + 1143.6215380519159, + 5.199932884690384 + ], + [ + 1079.6876890875533, + 0.4377432467161384 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 747.7031910589606, + "ymin": 0.0, + "xmax": 874.4342049750724, + "ymax": 34.87616776789764 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 748.5929251091036, + 22.324920863389877 + ], + [ + 747.7031910589606, + 27.462496869761253 + ], + [ + 840.7468320560649, + 34.87616776789764 + ], + [ + 840.9563524930818, + 29.629678282771806 + ], + [ + 766.4397407583892, + -179.78735762451004 + ], + [ + 765.556237374974, + -175.53895908025527 + ], + [ + 874.4342049750724, + -169.39015710700392 + ], + [ + 874.3873853603582, + -173.74375970422238 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2080193722244522285, + "instance_id": 11745, + "pixel_count": null, + "type_id": "BP_StreetLight_simple51_120_SM_2", + "bbox_3d": { + "center_world": { + "x": -78.77368927001953, + "y": -128.03121948242188, + "z": 4.08544921875 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 79.8765126943266, + "ymax": 8.150321113631605 + }, + "corners_3d": [ + [ + -80.54341888427734, + -127.2630386352539, + 0.20873045921325684 + ], + [ + -80.32381439208984, + -126.88267517089844, + 0.20873045921325684 + ], + [ + -77.00395965576172, + -128.7993927001953, + 0.20873045921325684 + ], + [ + -77.22356414794922, + -129.1797637939453, + 0.20873045921325684 + ], + [ + -80.54341888427734, + -127.2630386352539, + 7.962167739868164 + ], + [ + -80.32381439208984, + -126.88267517089844, + 7.962167739868164 + ], + [ + -77.00395965576172, + -128.7993927001953, + 7.962167739868164 + ], + [ + -77.22356414794922, + -129.1797637939453, + 7.962167739868164 + ] + ], + "corners_2d": [ + [ + 67.30671845763868, + 8.150321113631605 + ], + [ + 78.38511089662984, + 6.391164354750799 + ], + [ + 79.8765126943266, + -31.711447735700688 + ], + [ + 69.42440299771613, + -30.144305269583867 + ], + [ + -24.885727791308113, + -192.10486774580318 + ], + [ + -11.752979269574098, + -193.54621172740542 + ], + [ + -4.223730232497701, + -224.47378602736808 + ], + [ + -16.486041596448786, + -223.21263389157946 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1236.2033673642654, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 140.06790371685136 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1250.8430511709416, + 134.17907027837413 + ], + [ + 1318.6502403645763, + 140.06790371685136 + ], + [ + 1301.2898297869228, + 108.67352725082225 + ], + [ + 1236.2033673642654, + 103.22913103186244 + ], + [ + 1317.974366598996, + 11.317746182925873 + ], + [ + 1393.8379085244546, + 16.863406280512436 + ], + [ + 1371.4253724543034, + -12.599146951512239 + ], + [ + 1298.9491819725897, + -17.683009203043184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 852.3449018529022, + "ymin": 119.81248286630768, + "xmax": 871.6863123961887, + "ymax": 132.936865737955 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 852.4963929286761, + 123.9577753009774 + ], + [ + 852.3449018529022, + 131.26576707281964 + ], + [ + 870.8285721113105, + 132.936865737955 + ], + [ + 870.8120856000044, + 125.5986135489427 + ], + [ + 853.2771831660716, + 119.81248286630768 + ], + [ + 853.1323162377863, + 127.10942335406165 + ], + [ + 871.6863123961887, + 128.778064026811 + ], + [ + 871.6619269041776, + 121.45079700182481 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 692.5879714086511, + "ymin": 98.95254494606257, + "xmax": 877.5972174040896, + "ymax": 361.4692996447728 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 694.463541636014, + 334.88328785665385 + ], + [ + 692.5879714086511, + 345.71336072709755 + ], + [ + 827.7042183404401, + 361.4692996447728 + ], + [ + 828.1501293785711, + 350.3034792304796 + ], + [ + 708.4725692586759, + 98.95254494606257 + ], + [ + 706.2978009324278, + 109.41009696539726 + ], + [ + 877.5972174040896, + 124.72800704374123 + ], + [ + 877.4803387098501, + 113.85984014604179 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 852.4482697321135, + "ymin": 119.88197983551521, + "xmax": 871.5830427586279, + "ymax": 132.86681915080644 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 852.5972330883762, + 123.98325184580375 + ], + [ + 852.4482697321135, + 131.2136666568301 + ], + [ + 870.7348381749564, + 132.86681915080644 + ], + [ + 870.7193703741546, + 125.60678364351298 + ], + [ + 853.3701158623793, + 119.88197983551521 + ], + [ + 853.2276431470025, + 127.10157747072094 + ], + [ + 871.5830427586279, + 128.7523236283916 + ], + [ + 871.5598497224771, + 121.50304126392325 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1247.1148884801835, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 110.04947807589008 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1436.8564622097285, + -28.144962026739165 + ], + [ + 1247.1148884801835, + -10.967258662712027 + ], + [ + 1403.9827857227192, + 110.04947807589008 + ], + [ + 1622.5556219858636, + 86.13167726278454 + ], + [ + 1693.5411698116004, + -440.5466827345348 + ], + [ + 1449.6264369929909, + -432.2881429840638 + ], + [ + 1724.970569248707, + -369.7929555725484 + ], + [ + 2017.6975107018256, + -382.77985008454857 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 158.99221049897335, + "ymax": 98.08930284163114 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + 158.99221049897335, + -12.807358741117866 + ], + [ + -22.474385841689013, + 1.4536357601105578 + ], + [ + -81.41241256494345, + 98.08930284163114 + ], + [ + 126.84688093173986, + 79.50550211343807 + ], + [ + 39.83124608626758, + -326.17071245411637 + ], + [ + -191.03727306350868, + -316.77193129661555 + ], + [ + -299.2101661006275, + -250.31855111059338 + ], + [ + -23.250801447999265, + -263.48575517278607 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 93.846204215552, + "ymax": 188.2996015595691 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 93.846204215552, + 77.36082050359067 + ], + [ + -82.15087016855352, + 76.85564848777511 + ], + [ + -189.95164728978023, + 187.6341079371625 + ], + [ + 11.981084958569113, + 188.2996015595691 + ], + [ + -74.87307580221955, + -285.5495512718146 + ], + [ + -305.0430957490411, + -285.8909264893829 + ], + [ + -498.00427961683044, + -207.47123193512164 + ], + [ + -221.367510955498, + -206.97748341039676 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00074/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00074/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8af608809a69a27cdb70186cf82b4b6a48431fc8 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00074/meta.json @@ -0,0 +1,2460 @@ +{ + "frame_id": 74, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 37.0, + "sim_timestamp": 10609.405381571501 + }, + "drone_pose": { + "x": -114.39182010684104, + "y": -96.92293798298559, + "z": 20.06846627837162, + "pitch": -44.15882841474646, + "yaw": -7.979228272324072, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7104657292366028, + 0.09958681464195251, + 0.6966497898101807, + 57.6385383605957 + ], + [ + -0.13881409168243408, + 0.9903184771537781, + -3.725290298461914e-09, + 111.86376953125 + ], + [ + -0.6899051666259766, + -0.09670481085777283, + 0.7174113988876343, + -83.94393920898438 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -113.95819408704413, + "y": -96.80403696505823, + "z": 20.112002858486456 + }, + "t1_image_uv": [ + 1282.429002735546, + -791.311506851609 + ], + "t1_depth": 0.2659057115483058 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -94.66718292236328, + "y": -99.68776321411131, + "z": 0.7274016332626343 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 27.762967280610276, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 201, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -94.66718292236328, + "y": -99.68775939941406, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.1885400116443634, + "y": 0.2162841558456421, + "z": 0.5317416787147522 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.5416337247161, + "ymin": 341.4444947722262, + "xmax": 648.3894927661739, + "ymax": 378.2704175800372 + }, + "corners_3d": [ + [ + -94.85572052001953, + -99.90404510498047, + 0.19565987586975098 + ], + [ + -94.85572052001953, + -99.47147369384766, + 0.19565987586975098 + ], + [ + -94.47864532470703, + -99.47147369384766, + 0.19565987586975098 + ], + [ + -94.47864532470703, + -99.90404510498047, + 0.19565987586975098 + ], + [ + -94.85572052001953, + -99.90404510498047, + 1.2591432332992554 + ], + [ + -94.85572052001953, + -99.47147369384766, + 1.2591432332992554 + ], + [ + -94.47864532470703, + -99.47147369384766, + 1.2591432332992554 + ], + [ + -94.47864532470703, + -99.90404510498047, + 1.2591432332992554 + ] + ], + "corners_2d": [ + [ + 631.7652730317931, + 376.80917311727507 + ], + [ + 646.4516198162388, + 378.2704175800372 + ], + [ + 648.1694400228031, + 369.25545761841147 + ], + [ + 633.6195586964302, + 367.82177931139313 + ], + [ + 631.5416337247161, + 350.4169359629004 + ], + [ + 646.6271104907776, + 351.8761855186876 + ], + [ + 648.3894927661739, + 342.87547849724984 + ], + [ + 633.4479633310802, + 341.4444947722262 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 74, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 48, + "semantic_pixel_counts": { + "1": 232579, + "2": 136653, + "3": 406462, + "4": 5152, + "5": 983, + "6": 2653, + "10": 1422, + "12": 2881, + "14": 22214, + "16": 90567, + "20": 8155, + "24": 11879 + }, + "instance_pixel_counts": { + "913": 1748, + "3182": 4207, + "3694": 261, + "4206": 2607, + "4718": 7135, + "5742": 341, + "8834": 2088, + "14416": 983, + "15963": 910, + "16475": 3779, + "16987": 10684, + "17232": 5152, + "17499": 32545, + "18011": 336195, + "24512": 24342, + "26963": 101, + "31168": 17006, + "34120": 2768, + "35668": 4212, + "35924": 569, + "36692": 1626, + "40019": 464, + "43117": 147, + "43147": 9964, + "43659": 5486, + "44179": 153352, + "46227": 79227, + "46741": 8629, + "48749": 1415, + "48779": 5201, + "48789": 3250, + "49261": 6235, + "49664": 201, + "49920": 403, + "50176": 657, + "50432": 1060, + "50944": 560, + "51456": 3536, + "52160": 26936, + "52480": 41956, + "52672": 24841, + "52736": 48611, + "54016": 11244, + "55040": 7434, + "55744": 16191, + "55879": 1020, + "64351": 3918, + "65133": 1 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 201, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -94.66718292236328, + "y": -99.68775939941406, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.17559568583965302, + "y": 0.21578611433506012, + "z": 0.5184770226478577 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.627766611089, + "ymin": 342.0888784040792, + "xmax": 648.309630611928, + "ymax": 377.63593326306756 + }, + "corners_3d": [ + [ + -94.84278106689453, + -99.90354919433594, + 0.2089245319366455 + ], + [ + -94.84278106689453, + -99.47196960449219, + 0.2089245319366455 + ], + [ + -94.49158477783203, + -99.47196960449219, + 0.2089245319366455 + ], + [ + -94.49158477783203, + -99.90354919433594, + 0.2089245319366455 + ], + [ + -94.84278106689453, + -99.90354919433594, + 1.2458785772323608 + ], + [ + -94.84278106689453, + -99.47196960449219, + 1.2458785772323608 + ], + [ + -94.49158477783203, + -99.47196960449219, + 1.2458785772323608 + ], + [ + -94.49158477783203, + -99.90354919433594, + 1.2458785772323608 + ] + ], + "corners_2d": [ + [ + 631.8436072883409, + 376.1790073577015 + ], + [ + 646.4963999814613, + 377.63593326306756 + ], + [ + 648.0969713133272, + 369.2398156163921 + ], + [ + 633.5710699277483, + 367.8085131068355 + ], + [ + 631.627766611089, + 350.4457972443691 + ], + [ + 646.6685837581693, + 351.90075915550693 + ], + [ + 648.309630611928, + 343.51758297464545 + ], + [ + 633.4024835903957, + 342.0888784040792 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 403, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -88.84599304199219, + "y": -97.28290557861328, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.4758349359035492, + "y": 0.29963865876197815, + "z": 0.8848598003387451 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 723.8674895706145, + "ymin": 218.1754018537699, + "xmax": 749.6898778817954, + "ymax": 279.2444720112916 + }, + "corners_3d": [ + [ + -89.37372589111328, + -97.47706604003906, + -0.3098556399345398 + ], + [ + -89.24913024902344, + -96.89088439941406, + -0.3098556399345398 + ], + [ + -88.3182601928711, + -97.0887451171875, + -0.3098556399345398 + ], + [ + -88.44285583496094, + -97.6749267578125, + -0.3098556399345398 + ], + [ + -89.37372589111328, + -97.47706604003906, + 1.4598639011383057 + ], + [ + -89.24913024902344, + -96.89088439941406, + 1.4598639011383057 + ], + [ + -88.3182601928711, + -97.0887451171875, + 1.4598639011383057 + ], + [ + -88.44285583496094, + -97.6749267578125, + 1.4598639011383057 + ] + ], + "corners_2d": [ + [ + 727.6511555671298, + 279.2444720112916 + ], + [ + 745.4712520791, + 278.443779125736 + ], + [ + 741.3203484692921, + 260.74697701499827 + ], + [ + 723.8674895706145, + 261.51468685486674 + ], + [ + 731.1604474437643, + 236.4302524924408 + ], + [ + 749.6898778817954, + 235.63940533016842 + ], + [ + 745.2853391684293, + 218.1754018537699 + ], + [ + 727.1526372152363, + 218.93241001270457 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 657, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -101.78668975830078, + "y": -96.97514343261719, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.5989550352096558, + "y": 0.3617578148841858, + "z": 0.8884419202804565 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 695.2128975600414, + "ymin": 541.1930834968368, + "xmax": 731.1104310355006, + "ymax": 628.1475937554233 + }, + "corners_3d": [ + [ + -102.42018127441406, + -97.27230834960938, + -0.3134426474571228 + ], + [ + -102.34455108642578, + -96.5527572631836, + -0.3134426474571228 + ], + [ + -101.1531982421875, + -96.677978515625, + -0.3134426474571228 + ], + [ + -101.22882843017578, + -97.39752960205078, + -0.3134426474571228 + ], + [ + -102.42018127441406, + -97.27230834960938, + 1.4634411334991455 + ], + [ + -102.34455108642578, + -96.5527572631836, + 1.4634411334991455 + ], + [ + -101.1531982421875, + -96.677978515625, + 1.4634411334991455 + ], + [ + -101.22882843017578, + -97.39752960205078, + 1.4634411334991455 + ] + ], + "corners_2d": [ + [ + 695.5518985695575, + 627.2013583218179 + ], + [ + 726.146710546533, + 628.1475937554233 + ], + [ + 724.6930677845512, + 584.4255333899938 + ], + [ + 695.2128975600414, + 583.546948628662 + ], + [ + 698.7500963320861, + 585.668888447238 + ], + [ + 731.1104310355006, + 586.6349920260516 + ], + [ + 729.3854347458354, + 542.086365488763 + ], + [ + 698.2694816738494, + 541.1930834968368 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 1060, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -104.16718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.5692138075828552, + "y": 0.44691401720046997, + "z": 0.9174460172653198 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 551.7280251304073, + "ymin": 611.7172578849522, + "xmax": 605.2361392303927, + "ymax": 706.2722970789821 + }, + "corners_3d": [ + [ + -104.73639678955078, + -100.13467407226562, + -0.19003957509994507 + ], + [ + -104.73639678955078, + -99.2408447265625, + -0.19003957509994507 + ], + [ + -103.59796905517578, + -99.2408447265625, + -0.19003957509994507 + ], + [ + -103.59796905517578, + -100.13467407226562, + -0.19003957509994507 + ], + [ + -104.73639678955078, + -100.13467407226562, + 1.6448523998260498 + ], + [ + -104.73639678955078, + -99.2408447265625, + 1.6448523998260498 + ], + [ + -103.59796905517578, + -99.2408447265625, + 1.6448523998260498 + ], + [ + -103.59796905517578, + -100.13467407226562, + 1.6448523998260498 + ] + ], + "corners_2d": [ + [ + 557.0272887625996, + 700.9276194322426 + ], + [ + 596.7552814015318, + 706.2722970789821 + ], + [ + 605.2361392303927, + 659.2963952161919 + ], + [ + 566.9278471338009, + 654.3365018175083 + ], + [ + 551.7280251304073, + 659.5617327878931 + ], + [ + 593.9810087977932, + 665.0644919919539 + ], + [ + 603.0929347559143, + 616.7999634913831 + ], + [ + 562.4421799644199, + 611.7172578849522 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 560, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -92.58158874511719, + "y": -101.20303344726562, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.4473632574081421, + "y": 0.4353662133216858, + "z": 0.8941447138786316 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 580.436696438755, + "ymin": 273.69523179107034, + "xmax": 619.3765360555801, + "ymax": 342.25260991050703 + }, + "corners_3d": [ + [ + -92.92865753173828, + -101.7219009399414, + -0.16673827171325684 + ], + [ + -93.10969543457031, + -100.87019348144531, + -0.16673827171325684 + ], + [ + -92.2345199584961, + -100.68416595458984, + -0.16673827171325684 + ], + [ + -92.05348205566406, + -101.53587341308594, + -0.16673827171325684 + ], + [ + -92.92865753173828, + -101.7219009399414, + 1.6215511560440063 + ], + [ + -93.10969543457031, + -100.87019348144531, + 1.6215511560440063 + ], + [ + -92.2345199584961, + -100.68416595458984, + 1.6215511560440063 + ], + [ + -92.05348205566406, + -101.53587341308594, + 1.6215511560440063 + ] + ], + "corners_2d": [ + [ + 582.9248142101775, + 335.70797385821356 + ], + [ + 609.0447503976327, + 342.25260991050703 + ], + [ + 619.3765360555801, + 323.9938329297597 + ], + [ + 593.7019891890355, + 317.7070363920326 + ], + [ + 580.436696438755, + 291.5518395227921 + ], + [ + 607.6851423868997, + 298.05165504457216 + ], + [ + 618.4895817549464, + 279.92811573335905 + ], + [ + 591.7254122985094, + 273.69523179107034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 3536, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 869.5715607533132, + "ymin": 78.4518007513617, + "xmax": 934.252879595551, + "ymax": 169.20160822746374 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 919.0857085261473, + 113.0439207766504 + ], + [ + 869.5715607533132, + 109.55388929451718 + ], + [ + 872.8272874663029, + 165.11782142941854 + ], + [ + 926.4171862130872, + 169.20160822746374 + ], + [ + 926.1279269176305, + 81.86666586332223 + ], + [ + 875.3341366831037, + 78.4518007513617 + ], + [ + 879.1608500422392, + 132.92347706386892 + ], + [ + 934.252879595551, + 136.9357977303806 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 41956, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 720.4304360637042, + "ymin": 168.8257323905739, + "xmax": 912.9068033836859, + "ymax": 554.5347320695589 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 867.4280745109207, + 290.5175968138754 + ], + [ + 745.6946379139825, + 279.65741248968175 + ], + [ + 720.4304360637042, + 536.0813544748172 + ], + [ + 878.9967701265871, + 554.5347320695589 + ], + [ + 891.340608907817, + 179.26628619391894 + ], + [ + 756.6533223893897, + 168.8257323905739 + ], + [ + 731.6293797314163, + 422.94678564100184 + ], + [ + 912.9068033836859, + 441.8674384427867 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 48611, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1082.852827425403, + "ymin": 246.10305641449224, + "xmax": 1280.0, + "ymax": 698.5580534389813 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 1168.6690262143795, + 675.1274189799005 + ], + [ + 1355.9828039068948, + 698.5580534389813 + ], + [ + 1220.8952555033652, + 372.41818517055503 + ], + [ + 1082.852827425403, + 359.4092485341787 + ], + [ + 1253.0203171436249, + 567.6705345537268 + ], + [ + 1472.716526536736, + 592.5736847633935 + ], + [ + 1288.4700308164333, + 258.85908310553253 + ], + [ + 1133.5785943392725, + 246.10305641449224 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 11244, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 889.629121615477, + "ymin": 353.57041303549295, + "xmax": 988.9995932546583, + "ymax": 554.4560469118629 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 953.1771591443065, + 399.1307182785169 + ], + [ + 889.629121615477, + 392.8038266867758 + ], + [ + 899.1518873991758, + 545.9525880728531 + ], + [ + 972.9338134793309, + 554.4560469118629 + ], + [ + 966.1200493132353, + 359.890927300617 + ], + [ + 899.8757623053779, + 353.57041303549295 + ], + [ + 911.5584054750132, + 507.52653613786174 + ], + [ + 988.9995932546583, + 516.1340073553619 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 7434, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1036.532672496154, + "ymin": 60.244079299773716, + "xmax": 1152.5878430704108, + "ymax": 199.74493597846637 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 1062.8507590215982, + 194.4449638722862 + ], + [ + 1131.0535397212084, + 199.74493597846637 + ], + [ + 1096.8307808994643, + 112.10026715791872 + ], + [ + 1036.532672496154, + 107.93219142635377 + ], + [ + 1081.2612933246073, + 144.19367586061202 + ], + [ + 1152.5878430704108, + 149.36344570850986 + ], + [ + 1114.5018199836657, + 64.26983845733884 + ], + [ + 1051.774255909882, + 60.244079299773716 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 725.7068989406714, + "ymin": 0.0, + "xmax": 845.7244036945436, + "ymax": 95.72926299955861 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 726.4899461012651, + 84.31243560642241 + ], + [ + 725.7068989406714, + 89.3984845700914 + ], + [ + 817.8728540822184, + 95.72926299955861 + ], + [ + 817.9481009085772, + 90.54579636184656 + ], + [ + 739.76564010378, + -109.74974800807064 + ], + [ + 738.9800967906112, + -105.61223211505671 + ], + [ + 845.7244036945436, + -100.44834162435751 + ], + [ + 845.5616514420574, + -104.67752839966039 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2080193722244522285, + "instance_id": 11745, + "pixel_count": null, + "type_id": "BP_StreetLight_simple51_120_SM_2", + "bbox_3d": { + "center_world": { + "x": -78.77368927001953, + "y": -128.03121948242188, + "z": 4.08544921875 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 58.83673441516021, + "ymax": 77.46470572504296 + }, + "corners_3d": [ + [ + -80.54341888427734, + -127.2630386352539, + 0.20873045921325684 + ], + [ + -80.32381439208984, + -126.88267517089844, + 0.20873045921325684 + ], + [ + -77.00395965576172, + -128.7993927001953, + 0.20873045921325684 + ], + [ + -77.22356414794922, + -129.1797637939453, + 0.20873045921325684 + ], + [ + -80.54341888427734, + -127.2630386352539, + 7.962167739868164 + ], + [ + -80.32381439208984, + -126.88267517089844, + 7.962167739868164 + ], + [ + -77.00395965576172, + -128.7993927001953, + 7.962167739868164 + ], + [ + -77.22356414794922, + -129.1797637939453, + 7.962167739868164 + ] + ], + "corners_2d": [ + [ + 45.112160446280086, + 77.46470572504296 + ], + [ + 56.353651055119485, + 75.5936834757876 + ], + [ + 58.83673441516021, + 37.688842014449506 + ], + [ + 48.26139007072163, + 39.34702409355822 + ], + [ + -45.392984341254646, + -115.92501024112494 + ], + [ + -32.1467375959802, + -117.43834758635194 + ], + [ + -23.401171664872095, + -147.81395684076915 + ], + [ + -35.73295406556224, + -146.49632706606923 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1249.9564704849204, + "ymin": 71.52406654730856, + "xmax": 1280.0, + "ymax": 111.96525636405488 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1267.6918146472565, + 107.43097966141727 + ], + [ + 1335.5686882672537, + 111.96525636405488 + ], + [ + 1314.9671175087344, + 84.21867352747682 + ], + [ + 1249.9564704849204, + 80.04359166708343 + ], + [ + 1272.08555095107, + 98.74293679896562 + ], + [ + 1340.4702636829602, + 103.250793432578 + ], + [ + 1319.529320227285, + 75.67246517328539 + ], + [ + 1254.052857850942, + 71.52406654730856 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1209.4173643242552, + "ymin": 41.87498002285099, + "xmax": 1280.0, + "ymax": 194.44509766830797 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1225.3644826473605, + 189.42500009064958 + ], + [ + 1292.1450686712626, + 194.44509766830797 + ], + [ + 1273.4029964007864, + 163.51612244507302 + ], + [ + 1209.4173643242552, + 158.8916779297731 + ], + [ + 1285.5908384252452, + 70.16001010485166 + ], + [ + 1359.7303537967814, + 74.8328076845927 + ], + [ + 1336.1354730846501, + 46.14396688583781 + ], + [ + 1265.4233428740731, + 41.87498002285099 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 831.8516245412743, + "ymin": 186.80640861368238, + "xmax": 851.1675976545258, + "ymax": 199.75406727964153 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 831.8516245412743, + 190.8635077003769 + ], + [ + 831.893291047407, + 198.28810003899034 + ], + [ + 850.4215942132658, + 199.75406727964153 + ], + [ + 850.2009741542711, + 192.30133259360022 + ], + [ + 832.5239315146453, + 186.80640861368238 + ], + [ + 832.5723099847737, + 194.21765880302348 + ], + [ + 851.1675976545258, + 195.68105141727548 + ], + [ + 850.9389756972901, + 188.24161024571998 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1250.029820653034, + "ymin": 71.542197335634, + "xmax": 1280.0, + "ymax": 111.88705487675452 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1267.7465481246359, + 107.35827485144912 + ], + [ + 1335.550476375282, + 111.88705487675452 + ], + [ + 1314.973931980966, + 84.17605826275178 + ], + [ + 1250.029820653034, + 80.00562867380347 + ], + [ + 1272.1113828814064, + 98.72762804592804 + ], + [ + 1340.4192203276343, + 103.23018863823097 + ], + [ + 1319.5059747583289, + 75.68614700451292 + ], + [ + 1254.099604388795, + 71.542197335634 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 676.0891918747759, + "ymin": 167.64316650882768, + "xmax": 856.9687114813537, + "ymax": 425.74144971838075 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 677.8144269623513, + 400.46973254982703 + ], + [ + 676.0891918747759, + 411.67548179562556 + ], + [ + 813.0821664119904, + 425.74144971838075 + ], + [ + 813.249494056062, + 414.21488703684 + ], + [ + 687.1001870267083, + 167.64316650882768 + ], + [ + 685.0788273372344, + 178.28982048766215 + ], + [ + 856.9687114813537, + 191.73979748258787 + ], + [ + 856.5442862649334, + 180.71092700632815 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 831.9531096330531, + "ymin": 186.87492667909405, + "xmax": 851.0636331731477, + "ymax": 199.68492172603314 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 831.9531096330531, + 190.88895597608536 + ], + [ + 831.9953092257059, + 198.23470853486947 + ], + [ + 850.3259597900606, + 199.68492172603314 + ], + [ + 850.1085851629417, + 192.3116218326872 + ], + [ + 832.6186459461924, + 186.87492667909405 + ], + [ + 832.6674222201475, + 194.20761956310332 + ], + [ + 851.0636331731477, + 195.65531234346824 + ], + [ + 850.8384326459671, + 188.29502502529002 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1214.3023665182004, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 163.84549850773038 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1397.100666578009, + 28.125300365591784 + ], + [ + 1214.3023665182004, + 46.67872893826814 + ], + [ + 1373.8352240707607, + 163.84549850773038 + ], + [ + 1584.3573829488405, + 137.7503019043292 + ], + [ + 1618.7459778642421, + -358.4537355456408 + ], + [ + 1389.2109877313246, + -349.83540639072635 + ], + [ + 1655.9056497351098, + -291.5524174107612 + ], + [ + 1929.772094998448, + -305.14215270704403 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 137.9486529796834, + "ymax": 169.73770116460207 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + 137.9486529796834, + 55.82084281339644 + ], + [ + -45.718254219671394, + 71.89960152879144 + ], + [ + -109.109799481761, + 169.73770116460207 + ], + [ + 103.471883453401, + 148.48400051711548 + ], + [ + 21.276882762872788, + -244.6105816018278 + ], + [ + -210.13028586993994, + -234.21235003025015 + ], + [ + -323.82265766836315, + -168.15541445169777 + ], + [ + -44.68833117073325, + -182.92626950992337 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 70.42009008185539, + "ymax": 261.8377149696343 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 70.42009008185539, + 146.2283611871262 + ], + [ + -108.60518525857321, + 147.78861577535315 + ], + [ + -223.71949557986943, + 261.8377149696343 + ], + [ + -16.119100978325037, + 259.7447229357443 + ], + [ + -95.55791301130444, + -204.15075593523864 + ], + [ + -327.3641044550153, + -203.11783900599005 + ], + [ + -530.2876148824014, + -123.90064342375575 + ], + [ + -248.21053056359347, + -125.42361318010416 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00075/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00075/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b45bcaaf592bdcbb23d362e7ce69b5fd007ffbfc --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00075/meta.json @@ -0,0 +1,2462 @@ +{ + "frame_id": 75, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 37.5, + "sim_timestamp": 10623.050334960222 + }, + "drone_pose": { + "x": -113.95819408704413, + "y": -96.80403696505823, + "z": 20.112002858486456, + "pitch": -44.10480537429448, + "yaw": -8.290163192243048, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7105644941329956, + 0.10353554785251617, + 0.6959730386734009, + 56.95457458496094 + ], + [ + -0.14418628811836243, + 0.9895505905151367, + 0.0, + 112.22369384765625 + ], + [ + -0.6887005567550659, + -0.1003497764468193, + 0.7180678844451904, + -83.21058654785156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -113.38994091716266, + "y": -96.71235103648117, + "z": 20.02390181460205 + }, + "t1_image_uv": [ + 1003.8155046946922, + -311.93768450118625 + ], + "t1_depth": 0.45560373633076945 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -94.16718292236328, + "y": -99.68776321411131, + "z": 0.7274016332626343 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 27.85251810269493, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 202, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -94.16718292236328, + "y": -99.68775939941406, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.28209957480430603, + "y": 0.21885251998901367, + "z": 0.5314984917640686 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 630.9560384862821, + "ymin": 339.2830631024984, + "xmax": 648.9279620151997, + "ymax": 380.49972702693634 + }, + "corners_3d": [ + [ + -94.44927978515625, + -99.90660858154297, + 0.19590306282043457 + ], + [ + -94.44927978515625, + -99.46891021728516, + 0.19590306282043457 + ], + [ + -93.88508605957031, + -99.46891021728516, + 0.19590306282043457 + ], + [ + -93.88508605957031, + -99.90660858154297, + 0.19590306282043457 + ], + [ + -94.44927978515625, + -99.90660858154297, + 1.2589000463485718 + ], + [ + -94.44927978515625, + -99.46891021728516, + 1.2589000463485718 + ], + [ + -93.88508605957031, + -99.46891021728516, + 1.2589000463485718 + ], + [ + -93.88508605957031, + -99.90660858154297, + 1.2589000463485718 + ] + ], + "corners_2d": [ + [ + 631.1946180940818, + 378.96306916296055 + ], + [ + 646.0307156305126, + 380.49972702693634 + ], + [ + 648.6953912438976, + 367.07601431418124 + ], + [ + 634.064140519906, + 365.582398959524 + ], + [ + 630.9560384862821, + 352.64014591655587 + ], + [ + 646.1943879977944, + 354.17474801579215 + ], + [ + 648.9279620151997, + 340.7735398980421 + ], + [ + 633.9056370866056, + 339.2830631024984 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 75, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 50, + "semantic_pixel_counts": { + "1": 230364, + "2": 137080, + "3": 406717, + "4": 5314, + "5": 1006, + "6": 2595, + "10": 1397, + "12": 2752, + "14": 22863, + "16": 91444, + "20": 7992, + "24": 12076 + }, + "instance_pixel_counts": { + "913": 1713, + "3182": 4440, + "3694": 616, + "4206": 2751, + "4718": 7605, + "5742": 556, + "8834": 2134, + "14416": 1006, + "15963": 992, + "16475": 3973, + "16987": 11791, + "17232": 5314, + "17499": 36104, + "18011": 329263, + "24512": 24503, + "26963": 122, + "31168": 15834, + "34120": 2724, + "35668": 4276, + "35924": 343, + "36692": 1660, + "40019": 339, + "43117": 339, + "43147": 10557, + "43155": 199, + "43659": 5818, + "44179": 160172, + "45717": 11, + "46227": 69993, + "46741": 9019, + "48749": 1510, + "48779": 4789, + "48789": 3046, + "49261": 6474, + "49664": 202, + "49920": 400, + "50176": 598, + "50432": 960, + "50944": 592, + "51456": 3614, + "52160": 27979, + "52480": 42963, + "52672": 25692, + "52736": 48481, + "54016": 11636, + "55040": 7613, + "55744": 14990, + "55879": 1172, + "64351": 4194, + "65133": 303 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 202, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -94.16718292236328, + "y": -99.68775939941406, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.268134742975235, + "y": 0.2129540741443634, + "z": 0.5178696513175964 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.2380297583894, + "ymin": 339.9750879785931, + "xmax": 648.6554948020474, + "ymax": 379.81347043866964 + }, + "corners_3d": [ + [ + -94.43531799316406, + -99.90071105957031, + 0.20953190326690674 + ], + [ + -94.43531799316406, + -99.47480773925781, + 0.20953190326690674 + ], + [ + -93.8990478515625, + -99.47480773925781, + 0.20953190326690674 + ], + [ + -93.8990478515625, + -99.90071105957031, + 0.20953190326690674 + ], + [ + -94.43531799316406, + -99.90071105957031, + 1.2452712059020996 + ], + [ + -94.43531799316406, + -99.47480773925781, + 1.2452712059020996 + ], + [ + -93.8990478515625, + -99.47480773925781, + 1.2452712059020996 + ], + [ + -93.8990478515625, + -99.90071105957031, + 1.2452712059020996 + ] + ], + "corners_2d": [ + [ + 631.46324486881, + 378.3192919571398 + ], + [ + 645.8994247230647, + 379.81347043866964 + ], + [ + 648.4356578785032, + 367.05490021469495 + ], + [ + 634.1890659156643, + 365.6005439545739 + ], + [ + 631.2380297583894, + 352.67200761760245 + ], + [ + 646.0553138469035, + 354.1642112554732 + ], + [ + 648.6554948020474, + 341.4264936147246 + ], + [ + 634.0378714712733, + 339.9750879785931 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 400, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -88.78128051757812, + "y": -97.08851623535156, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.3875829875469208, + "y": 0.3335839807987213, + "z": 0.8880689740180969 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 728.6220228516382, + "ymin": 228.86021677214868, + "xmax": 756.1487416463663, + "ymax": 287.12552725350304 + }, + "corners_3d": [ + [ + -89.22975158691406, + -97.334228515625, + -0.3130697011947632 + ], + [ + -89.09103393554688, + -96.681640625, + -0.3130697011947632 + ], + [ + -88.33280944824219, + -96.84280395507812, + -0.3130697011947632 + ], + [ + -88.47152709960938, + -97.49539184570312, + -0.3130697011947632 + ], + [ + -89.22975158691406, + -97.334228515625, + 1.4630682468414307 + ], + [ + -89.09103393554688, + -96.681640625, + 1.4630682468414307 + ], + [ + -88.33280944824219, + -96.84280395507812, + 1.4630682468414307 + ], + [ + -88.47152709960938, + -97.49539184570312, + 1.4630682468414307 + ] + ], + "corners_2d": [ + [ + 731.6800888662802, + 287.12552725350304 + ], + [ + 751.6440036344097, + 286.2913650698028 + ], + [ + 748.2469007091856, + 271.6161162411686 + ], + [ + 728.6220228516382, + 272.4219331181873 + ], + [ + 735.3830475040251, + 244.17676650214696 + ], + [ + 756.1487416463663, + 243.35240786811823 + ], + [ + 752.5367902058842, + 228.86021677214868 + ], + [ + 732.1376609240655, + 229.65546251776462 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 598, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -99.38511657714844, + "y": -100.45079803466797, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.4295898377895355, + "y": 0.30589354038238525, + "z": 0.8730800151824951 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 564.6453753594675, + "ymin": 463.60192330486814, + "xmax": 594.7484307996721, + "ymax": 534.3116387258035 + }, + "corners_3d": [ + [ + -99.84432983398438, + -100.71011352539062, + -0.14567846059799194 + ], + [ + -99.78038024902344, + -100.10167694091797, + -0.14567846059799194 + ], + [ + -98.9259033203125, + -100.19148254394531, + -0.14567846059799194 + ], + [ + -98.98985290527344, + -100.79991912841797, + -0.14567846059799194 + ], + [ + -99.84432983398438, + -100.71011352539062, + 1.6004815101623535 + ], + [ + -99.78038024902344, + -100.10167694091797, + 1.6004815101623535 + ], + [ + -98.9259033203125, + -100.19148254394531, + 1.6004815101623535 + ], + [ + -98.98985290527344, + -100.79991912841797, + 1.6004815101623535 + ] + ], + "corners_2d": [ + [ + 568.3783314392663, + 533.5210905146047 + ], + [ + 592.2658580753894, + 534.3116387258035 + ], + [ + 594.7484307996721, + 507.2116893960109 + ], + [ + 571.4447206548925, + 506.4594364188086 + ], + [ + 564.6453753594675, + 490.94095702483844 + ], + [ + 589.7760569611063, + 491.74065850500284 + ], + [ + 592.4489603450917, + 464.36094402877137 + ], + [ + 567.96362119697, + 463.60192330486814 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 960, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -103.66718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.42930659651756287, + "y": 0.447084903717041, + "z": 0.8667495250701904 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 551.1116590137405, + "ymin": 616.9056787891852, + "xmax": 602.1730272176067, + "ymax": 697.4227816263162 + }, + "corners_3d": [ + [ + -104.09648895263672, + -100.13484191894531, + -0.13934308290481567 + ], + [ + -104.09648895263672, + -99.24067687988281, + -0.13934308290481567 + ], + [ + -103.23787689208984, + -99.24067687988281, + -0.13934308290481567 + ], + [ + -103.23787689208984, + -100.13484191894531, + -0.13934308290481567 + ], + [ + -104.09648895263672, + -100.13484191894531, + 1.59415602684021 + ], + [ + -104.09648895263672, + -99.24067687988281, + 1.59415602684021 + ], + [ + -103.23787689208984, + -99.24067687988281, + 1.59415602684021 + ], + [ + -103.23787689208984, + -100.13484191894531, + 1.59415602684021 + ] + ], + "corners_2d": [ + [ + 556.1120259085849, + 691.9497533665849 + ], + [ + 595.5266847202759, + 697.4227816263162 + ], + [ + 602.1730272176067, + 662.2047100653455 + ], + [ + 563.8206997758401, + 657.030887843372 + ], + [ + 551.1116590137405, + 652.6964819784431 + ], + [ + 592.8635528160389, + 658.3168754422197 + ], + [ + 599.9744645469032, + 622.2012558243373 + ], + [ + 559.4126993952015, + 616.9056787891852 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 592, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -92.08158874511719, + "y": -101.20303344726562, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.5266552567481995, + "y": 0.4626171886920929, + "z": 0.9292712211608887 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 579.0789627367707, + "ymin": 271.21501116974815, + "xmax": 621.6017362002848, + "ymax": 344.93134043855696 + }, + "corners_3d": [ + [ + -92.50054931640625, + -101.7650375366211, + -0.20186477899551392 + ], + [ + -92.69291687011719, + -100.86002349853516, + -0.20186477899551392 + ], + [ + -91.66262817382812, + -100.64102935791016, + -0.20186477899551392 + ], + [ + -91.47026062011719, + -101.5460433959961, + -0.20186477899551392 + ], + [ + -92.50054931640625, + -101.7650375366211, + 1.6566777229309082 + ], + [ + -92.69291687011719, + -100.86002349853516, + 1.6566777229309082 + ], + [ + -91.66262817382812, + -100.64102935791016, + 1.6566777229309082 + ], + [ + -91.47026062011719, + -101.5460433959961, + 1.6566777229309082 + ] + ], + "corners_2d": [ + [ + 581.7145752341623, + 337.8775668261249 + ], + [ + 609.34278667214, + 344.93134043855696 + ], + [ + 621.6017362002848, + 323.55404625813287 + ], + [ + 594.5215992235961, + 316.824670467721 + ], + [ + 579.0789627367707, + 292.08876962868635 + ], + [ + 607.9452400042798, + 299.0923122583168 + ], + [ + 620.7834863381082, + 277.882372880993 + ], + [ + 592.5148756104295, + 271.21501116974815 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 3614, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 871.5849222651055, + "ymin": 86.11446265201488, + "xmax": 936.4492116473283, + "ymax": 178.10814795967457 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 921.5009303699636, + 120.96313760980715 + ], + [ + 871.5849222651055, + 117.27616978553257 + ], + [ + 874.4385635570715, + 173.78845600975825 + ], + [ + 928.4966071290571, + 178.10814795967457 + ], + [ + 928.6532707574165, + 89.7238055479313 + ], + [ + 877.4368336900909, + 86.11446265201488 + ], + [ + 880.862707315624, + 141.54454656824205 + ], + [ + 936.4492116473283, + 145.7910082941725 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 42963, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 717.2507164404126, + "ymin": 179.12836567308932, + "xmax": 911.8284500413396, + "ymax": 571.7552905590467 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 868.0112895718518, + 301.54265825846863 + ], + [ + 745.1728592939185, + 290.0341514367751 + ], + [ + 717.2507164404126, + 552.089426830033 + ], + [ + 877.6649066942849, + 571.7552905590467 + ], + [ + 892.2104942563994, + 190.21757956549058 + ], + [ + 756.1723012375812, + 179.12836567308932 + ], + [ + 728.137118098941, + 439.57827787780866 + ], + [ + 911.8284500413396, + 459.81663580958417 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 48481, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1085.4930631242578, + "ymin": 259.45854210873165, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 1171.0289829127578, + 697.1986935883958 + ], + [ + 1361.652589023944, + 722.3425609109368 + ], + [ + 1225.351733021525, + 386.57197988580657 + ], + [ + 1085.4930631242578, + 372.7227201688288 + ], + [ + 1257.138132064228, + 591.2661860871062 + ], + [ + 1481.3785112830546, + 618.1318009610118 + ], + [ + 1294.2724446167392, + 273.07950994136974 + ], + [ + 1137.0994954427347, + 259.45854210873165 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 11636, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 889.6680825737161, + "ymin": 366.9604559220249, + "xmax": 989.1620287500248, + "ymax": 572.1227866355488 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 953.933937116644, + 412.84401111333403 + ], + [ + 889.6680825737161, + 406.11669770449384 + ], + [ + 898.1545532387288, + 563.0493699384563 + ], + [ + 972.8980183915005, + 572.1227866355488 + ], + [ + 967.0440701827284, + 373.68770887846034 + ], + [ + 900.0201321817929, + 366.9604559220249 + ], + [ + 910.6619002905643, + 524.8992406931831 + ], + [ + 989.1620287500248, + 534.0956465202323 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 7613, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1040.0759119186891, + "ymin": 68.29939627099373, + "xmax": 1157.0168206976732, + "ymax": 209.8635458911309 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 1066.1665222569275, + 204.2446242021764 + ], + [ + 1135.1099589963796, + 209.8635458911309 + ], + [ + 1100.957078965669, + 120.50869603507243 + ], + [ + 1040.0759119186891, + 116.09930441399757 + ], + [ + 1084.8811385575925, + 153.9091417697727 + ], + [ + 1157.0168206976732, + 159.395445108651 + ], + [ + 1118.9262420575744, + 72.5617167730677 + ], + [ + 1055.5684092646993, + 68.29939627099373 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 726.7516588359127, + "ymin": 0.0, + "xmax": 847.8672342456999, + "ymax": 103.13542055475176 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 727.5879305021915, + 91.29157688435805 + ], + [ + 726.7516588359127, + 96.45329365093244 + ], + [ + 819.551102356086, + 103.13542055475176 + ], + [ + 819.6703073587751, + 97.87015857227499 + ], + [ + 741.1205971272736, + -103.25732144218011 + ], + [ + 740.2759649675468, + -99.04497767901216 + ], + [ + 847.8672342456999, + -93.57674537082062 + ], + [ + 847.7491409583589, + -97.88693210911129 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2080193722244522285, + "instance_id": 11745, + "pixel_count": null, + "type_id": "BP_StreetLight_simple51_120_SM_2", + "bbox_3d": { + "center_world": { + "x": -78.77368927001953, + "y": -128.03121948242188, + "z": 4.08544921875 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 57.835669769688934, + "ymax": 82.53786833719204 + }, + "corners_3d": [ + [ + -80.54341888427734, + -127.2630386352539, + 0.20873045921325684 + ], + [ + -80.32381439208984, + -126.88267517089844, + 0.20873045921325684 + ], + [ + -77.00395965576172, + -128.7993927001953, + 0.20873045921325684 + ], + [ + -77.22356414794922, + -129.1797637939453, + 0.20873045921325684 + ], + [ + -80.54341888427734, + -127.2630386352539, + 7.962167739868164 + ], + [ + -80.32381439208984, + -126.88267517089844, + 7.962167739868164 + ], + [ + -77.00395965576172, + -128.7993927001953, + 7.962167739868164 + ], + [ + -77.22356414794922, + -129.1797637939453, + 7.962167739868164 + ] + ], + "corners_2d": [ + [ + 43.42565963722177, + 82.53786833719204 + ], + [ + 54.71453434155592, + 80.67371184367448 + ], + [ + 57.835669769688934, + 42.32496026407517 + ], + [ + 47.22169891077988, + 43.975713292723526 + ], + [ + -47.63403602164249, + -110.99734730523738 + ], + [ + -34.32821955532677, + -112.50855673829778 + ], + [ + -24.77581164715309, + -143.30711164731918 + ], + [ + -37.15480282518206, + -141.99263376720126 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1255.8275694334377, + "ymin": 80.96062984194702, + "xmax": 1280.0, + "ymax": 122.33718255604714 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1273.6944057886976, + 117.51349360231757 + ], + [ + 1342.4691986082585, + 122.33718255604714 + ], + [ + 1321.663651446761, + 93.94452453964277 + ], + [ + 1255.8275694334377, + 89.50684748583973 + ], + [ + 1278.1728125228387, + 108.79996917435793 + ], + [ + 1347.4687030452183, + 113.5964576266841 + ], + [ + 1326.3149010451802, + 85.37072753680911 + ], + [ + 1260.0013373755928, + 80.96062984194702 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1214.5666229262283, + "ymin": 51.188135595407005, + "xmax": 1280.0, + "ymax": 205.03277468742507 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1230.586048236083, + 199.70122737516445 + ], + [ + 1298.1915755815535, + 205.03277468742507 + ], + [ + 1279.3112613663598, + 173.43616421431338 + ], + [ + 1214.5666229262283, + 168.528847305753 + ], + [ + 1291.9480887846155, + 80.1353409921565 + ], + [ + 1367.10082435488, + 85.1107062840432 + ], + [ + 1343.2440306825065, + 55.72906396915488 + ], + [ + 1271.6080940034985, + 51.188135595407005 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 830.6938139529927, + "ymin": 200.4469641378709, + "xmax": 850.2163346370237, + "ymax": 213.71961112796356 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 830.7339119394362, + 204.5110633130184 + ], + [ + 830.6938139529927, + 212.15114112544126 + ], + [ + 849.4646223307716, + 213.71961112796356 + ], + [ + 849.3211903386143, + 206.04902901565185 + ], + [ + 831.4103383213785, + 200.4469641378709 + ], + [ + 831.3767891709546, + 208.07419559322688 + ], + [ + 850.2163346370237, + 209.6400942899596 + ], + [ + 850.0650138401979, + 201.98230096334183 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1255.9019457271015, + "ymin": 80.97926519745107, + "xmax": 1280.0, + "ymax": 122.25822715325137 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1273.750085910474, + 117.44037744360028 + ], + [ + 1342.4509884708673, + 122.25822715325137 + ], + [ + 1321.6707059606738, + 93.90196061742233 + ], + [ + 1255.9019457271015, + 89.4692163440858 + ], + [ + 1278.199036716715, + 108.78441192148142 + ], + [ + 1347.4170044310692, + 113.57526748569853 + ], + [ + 1326.2912085459336, + 85.38464020193993 + ], + [ + 1260.0486114772043, + 80.97926519745107 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 673.5806851904982, + "ymin": 180.44262846627134, + "xmax": 856.0688759266314, + "ymax": 439.5908214107238 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 675.4354593645133, + 413.1920974263563 + ], + [ + 673.5806851904982, + 424.64031376354865 + ], + [ + 811.9337858583981, + 439.5908214107238 + ], + [ + 812.2007727749738, + 427.798060788658 + ], + [ + 684.2349023981752, + 180.44262846627134 + ], + [ + 682.0410478367647, + 191.38380501588628 + ], + [ + 856.0688759266314, + 205.76801842836193 + ], + [ + 855.7577600764007, + 194.41286487196666 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 830.7975729403847, + "ymin": 200.51718506740397, + "xmax": 850.1114471842229, + "ymax": 213.64871315926 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 830.8362457034611, + 204.53813748731343 + ], + [ + 830.7975729403847, + 212.09709993378948 + ], + [ + 849.3681343494602, + 213.64871315926 + ], + [ + 849.22715219644, + 206.05989134033658 + ], + [ + 831.5058656515062, + 200.51718506740397 + ], + [ + 831.4736101502824, + 208.0635731890767 + ], + [ + 850.1114471842229, + 209.6126692063218 + ], + [ + 849.9627500955214, + 202.03636595809866 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1219.9469767662526, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 174.19943044990097 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1404.8808639266995, + 36.02832950158154 + ], + [ + 1219.9469767662526, + 54.43379116699373 + ], + [ + 1381.0431070244363, + 174.19943044990097 + ], + [ + 1594.5613464322146, + 148.2095198682913 + ], + [ + 1631.1073657810075, + -352.7421564063799 + ], + [ + 1398.2823348735694, + -344.1031849466824 + ], + [ + 1669.5953737271318, + -283.8272766636496 + ], + [ + 1948.4722853782914, + -297.5403357060261 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 136.6209686613381, + "ymax": 175.71678932505412 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + 136.6209686613381, + 60.98084415263395 + ], + [ + -47.57240241539944, + 76.77890855114015 + ], + [ + -112.84064156910131, + 175.71678932505412 + ], + [ + 100.54919421799411, + 154.79780536508216 + ], + [ + 19.190951698458434, + -239.83729868682417 + ], + [ + -212.94995859262986, + -229.57582980539087 + ], + [ + -329.56452673994727, + -162.46710285309825 + ], + [ + -49.18305172859493, + -177.0799422314509 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 67.86726146573324, + "ymax": 268.39496047436774 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 67.86726146573324, + 152.08951945223788 + ], + [ + -111.43921718807826, + 153.14261268141152 + ], + [ + -228.8001435522217, + 268.39496047436774 + ], + [ + -20.78494419262347, + 266.97999533958523 + ], + [ + -99.61217853916253, + -198.71237707284013 + ], + [ + -331.8213562381982, + -198.0116635917317 + ], + [ + -538.6598694999852, + -117.5322519575958 + ], + [ + -255.91655514668093, + -118.56809890673759 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00076/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00076/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..733c0d3d1f4a2be0a2f8f93c27299fdd62274890 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00076/meta.json @@ -0,0 +1,2359 @@ +{ + "frame_id": 76, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 38.0, + "sim_timestamp": 10635.457654422149 + }, + "drone_pose": { + "x": -113.38994091716266, + "y": -96.71235103648117, + "z": 20.02390181460205, + "pitch": -44.05188377490883, + "yaw": -8.579054442753668, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7106688022613525, + 0.1072128415107727, + 0.6953095197677612, + 56.29108428955078 + ], + [ + -0.14917388558387756, + 0.9888109564781189, + 0.0, + 112.54505157470703 + ], + [ + -0.6875296831130981, + -0.10372201353311539, + 0.7187104225158691, + -82.31912994384766 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -112.95819408704413, + "y": -96.80403696505823, + "z": 20.128012046747045 + }, + "t1_image_uv": [ + 536.8170090078481, + -1138.0416934856635 + ], + "t1_depth": 0.2442700766453657 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -93.66718292236328, + "y": -99.68776321411131, + "z": 0.7274016332626343 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 27.752390524000717, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 199, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -93.66718292236328, + "y": -99.68775939941406, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.29154783487319946, + "y": 0.19582028687000275, + "z": 0.5560196042060852 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.6247577021454, + "ymin": 338.4169601384496, + "xmax": 648.2623028646341, + "ymax": 381.33806974099366 + }, + "corners_3d": [ + [ + -93.95873260498047, + -99.88358306884766, + 0.17138195037841797 + ], + [ + -93.95873260498047, + -99.49193572998047, + 0.17138195037841797 + ], + [ + -93.3756332397461, + -99.49193572998047, + 0.17138195037841797 + ], + [ + -93.3756332397461, + -99.88358306884766, + 0.17138195037841797 + ], + [ + -93.95873260498047, + -99.88358306884766, + 1.2834211587905884 + ], + [ + -93.95873260498047, + -99.49193572998047, + 1.2834211587905884 + ], + [ + -93.3756332397461, + -99.49193572998047, + 1.2834211587905884 + ], + [ + -93.3756332397461, + -99.88358306884766, + 1.2834211587905884 + ] + ], + "corners_2d": [ + [ + 631.8564280142853, + 379.9108948310063 + ], + [ + 645.1642715342686, + 381.33806974099366 + ], + [ + 648.0367613817498, + 367.43862607298945 + ], + [ + 634.9190681825793, + 366.05287367436426 + ], + [ + 631.6247577021454, + 352.2478697418416 + ], + [ + 645.3114133028042, + 353.67290548182615 + ], + [ + 648.2623028646341, + 339.7994843891765 + ], + [ + 634.7766952740112, + 338.4169601384496 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 76, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 51, + "semantic_pixel_counts": { + "1": 228516, + "2": 138834, + "3": 406608, + "4": 5236, + "5": 997, + "6": 2561, + "10": 1138, + "12": 2155, + "14": 23864, + "16": 91997, + "20": 7691, + "24": 12003 + }, + "instance_pixel_counts": { + "913": 1447, + "3182": 4821, + "3694": 941, + "4206": 2967, + "4718": 8343, + "5742": 713, + "8834": 2208, + "14416": 997, + "15963": 1103, + "16475": 4220, + "16987": 13055, + "17232": 5236, + "17499": 40660, + "18011": 319510, + "24512": 26191, + "26963": 134, + "31168": 14596, + "34120": 2662, + "35668": 4402, + "35924": 130, + "36692": 1712, + "37979": 25, + "40019": 219, + "43117": 490, + "43147": 11125, + "43155": 778, + "43659": 6182, + "44179": 168519, + "45717": 28, + "46227": 59219, + "46741": 9342, + "48749": 1626, + "48779": 4348, + "48789": 2633, + "49261": 6841, + "49664": 199, + "49920": 416, + "50432": 946, + "50624": 52, + "50944": 594, + "51456": 3733, + "52160": 29347, + "52480": 44821, + "52672": 26099, + "52736": 47176, + "54016": 12238, + "55040": 7893, + "55744": 13681, + "55879": 1083, + "64351": 4551, + "65133": 1293 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 199, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -93.66718292236328, + "y": -99.68775939941406, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.2994482219219208, + "y": 0.21321286261081696, + "z": 0.5319241285324097 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 630.9802063364866, + "ymin": 338.7864516257751, + "xmax": 648.8957808333031, + "ymax": 381.0094253247298 + }, + "corners_3d": [ + [ + -93.96662902832031, + -99.90097045898438, + 0.1954774260520935 + ], + [ + -93.96662902832031, + -99.47454833984375, + 0.1954774260520935 + ], + [ + -93.36773681640625, + -99.47454833984375, + 0.1954774260520935 + ], + [ + -93.36773681640625, + -99.90097045898438, + 0.1954774260520935 + ], + [ + -93.96662902832031, + -99.90097045898438, + 1.2593257427215576 + ], + [ + -93.96662902832031, + -99.47454833984375, + 1.2593257427215576 + ], + [ + -93.36773681640625, + -99.47454833984375, + 1.2593257427215576 + ], + [ + -93.36773681640625, + -99.90097045898438, + 1.2593257427215576 + ] + ], + "corners_2d": [ + [ + 631.2190687732473, + 379.4549274459348 + ], + [ + 645.7200742566557, + 381.0094253247298 + ], + [ + 648.6633635238416, + 366.73190707791616 + ], + [ + 634.3752535049101, + 365.2237579814997 + ], + [ + 630.9802063364866, + 352.9909506803292 + ], + [ + 645.8759360710545, + 354.5432379931276 + ], + [ + 648.8957808333031, + 340.29122507418344 + ], + [ + 634.2246048085548, + 338.7864516257751 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 416, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -88.73146057128906, + "y": -96.92377471923828, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.5380712747573853, + "y": 0.3060937523841858, + "z": 0.9001579880714417 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 733.7499504102925, + "ymin": 234.55375668779186, + "xmax": 761.5367980688063, + "ymax": 299.7515642910208 + }, + "corners_3d": [ + [ + -89.3214111328125, + -97.1113052368164, + -0.3251587152481079 + ], + [ + -89.19412994384766, + -96.51249694824219, + -0.3251587152481079 + ], + [ + -88.14151000976562, + -96.73624420166016, + -0.3251587152481079 + ], + [ + -88.26879119873047, + -97.33505249023438, + -0.3251587152481079 + ], + [ + -89.3214111328125, + -97.1113052368164, + 1.4751572608947754 + ], + [ + -89.19412994384766, + -96.51249694824219, + 1.4751572608947754 + ], + [ + -88.14151000976562, + -96.73624420166016, + 1.4751572608947754 + ], + [ + -88.26879119873047, + -97.33505249023438, + 1.4751572608947754 + ] + ], + "corners_2d": [ + [ + 738.0325946706159, + 299.7515642910208 + ], + [ + 756.6797117387569, + 299.0235875490076 + ], + [ + 751.9520063111239, + 278.14909011397236 + ], + [ + 733.7499504102925, + 278.8424505203298 + ], + [ + 742.1170139727678, + 255.89791497264633 + ], + [ + 761.5367980688063, + 255.1779229018647 + ], + [ + 756.4956350115078, + 234.55375668779186 + ], + [ + 737.5580811257514, + 235.23813961920513 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 946, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -103.16718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.5134276747703552, + "y": 0.44713863730430603, + "z": 0.8862950205802917 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 547.3923447524012, + "ymin": 613.652246846257, + "xmax": 600.6784247720199, + "ymax": 702.6248390942633 + }, + "corners_3d": [ + [ + -103.68061065673828, + -100.13489532470703, + -0.158888578414917 + ], + [ + -103.68061065673828, + -99.2406234741211, + -0.158888578414917 + ], + [ + -102.65375518798828, + -99.2406234741211, + -0.158888578414917 + ], + [ + -102.65375518798828, + -100.13489532470703, + -0.158888578414917 + ], + [ + -103.68061065673828, + -100.13489532470703, + 1.6137014627456665 + ], + [ + -103.68061065673828, + -99.2406234741211, + 1.6137014627456665 + ], + [ + -102.65375518798828, + -99.2406234741211, + 1.6137014627456665 + ], + [ + -102.65375518798828, + -100.13489532470703, + 1.6137014627456665 + ] + ], + "corners_2d": [ + [ + 552.7508877816845, + 696.9021414826755 + ], + [ + 592.3901762048245, + 702.6248390942633 + ], + [ + 600.6784247720199, + 660.326289504453 + ], + [ + 562.3161292460596, + 654.977246045158 + ], + [ + 547.3923447524012, + 656.6492697341178 + ], + [ + 589.4521060248068, + 662.5318852854342 + ], + [ + 598.3373737177062, + 619.1283596824305 + ], + [ + 557.7124601682078, + 613.652246846257 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 594, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -91.58158874511719, + "y": -101.20303344726562, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.4718603491783142, + "y": 0.43351560831069946, + "z": 0.9017339944839478 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 580.8812016510952, + "ymin": 272.79329338159994, + "xmax": 620.4554874921034, + "ymax": 342.8126798702867 + }, + "corners_3d": [ + [ + -91.9530029296875, + -101.72518157958984, + -0.174327552318573 + ], + [ + -92.13327026367188, + -100.8770980834961, + -0.174327552318573 + ], + [ + -91.21017456054688, + -100.6808853149414, + -0.174327552318573 + ], + [ + -91.0299072265625, + -101.52896881103516, + -0.174327552318573 + ], + [ + -91.9530029296875, + -101.72518157958984, + 1.6291403770446777 + ], + [ + -92.13327026367188, + -100.8770980834961, + 1.6291403770446777 + ], + [ + -91.21017456054688, + -100.6808853149414, + 1.6291403770446777 + ], + [ + -91.0299072265625, + -101.52896881103516, + 1.6291403770446777 + ] + ], + "corners_2d": [ + [ + 583.3675527578002, + 336.1161710853466 + ], + [ + 609.2766236580444, + 342.8126798702867 + ], + [ + 620.4554874921034, + 323.66677536708096 + ], + [ + 595.0062746680305, + 317.24762295741317 + ], + [ + 580.8812016510952, + 291.5019442509108 + ], + [ + 607.9173421499863, + 298.14994364175277 + ], + [ + 619.6097354728369, + 279.1542058954664 + ], + [ + 593.0738623410429, + 272.79329338159994 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 3733, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 874.4855379205625, + "ymin": 92.47534155318118, + "xmax": 940.0397306734232, + "ymax": 186.141386143187 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 925.058804485222, + 127.77425834047378 + ], + [ + 874.4855379205625, + 123.88173505379987 + ], + [ + 877.0607767668512, + 181.57129321391702 + ], + [ + 931.8876964563315, + 186.141386143187 + ], + [ + 932.3887251429719, + 96.28691478080998 + ], + [ + 880.4804744042331, + 92.47534155318118 + ], + [ + 883.6403732396407, + 149.07758591366675 + ], + [ + 940.0397306734232, + 153.57187175573154 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 44821, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 714.474319889364, + "ymin": 188.4046022716464, + "xmax": 913.1184133939385, + "ymax": 591.1613677679261 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 869.808066590778, + 312.38565489444983 + ], + [ + 745.0711408270661, + 300.16582013388086 + ], + [ + 714.474319889364, + 570.0781961774079 + ], + [ + 878.1099773206467, + 591.1613677679261 + ], + [ + 894.5991675991487, + 200.2013792134206 + ], + [ + 756.2320510732843, + 188.4046022716464 + ], + [ + 725.1963232147679, + 457.4610653849049 + ], + [ + 913.1184133939385, + 479.25258453620813 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 47176, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1090.9799246920572, + "ymin": 272.3183556654513, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 1178.1818568095125, + 722.9728118697003 + ], + [ + 1374.0770531495605, + 750.1735949865724 + ], + [ + 1233.683386321489, + 401.13543099837267 + ], + [ + 1090.9799246920572, + 386.3455622489283 + ], + [ + 1267.8330133448414, + 618.1369817200064 + ], + [ + 1499.375293121246, + 647.3961814287882 + ], + [ + 1304.9803164958687, + 286.90657320874516 + ], + [ + 1144.2158593161191, + 272.3183556654513 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 12238, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 891.2664667023398, + "ymin": 380.6843439113483, + "xmax": 992.1878649352656, + "ymax": 591.9765806648182 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 956.7282004477191, + 427.19894677581476 + ], + [ + 891.2664667023398, + 420.0197923679451 + ], + [ + 899.0919654352383, + 582.2367270320251 + ], + [ + 975.4501927204809, + 591.9765806648182 + ], + [ + 970.1928492363188, + 387.8709499737424 + ], + [ + 901.8679797930929, + 380.6843439113483 + ], + [ + 911.9058121428734, + 544.1514411327948 + ], + [ + 992.1878649352656, + 554.038908602656 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 7893, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1045.334593120882, + "ymin": 74.93164285624687, + "xmax": 1164.2451210173072, + "ymax": 219.24401499399187 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 1071.6258379534627, + 213.28353282151787 + ], + [ + 1141.716528484987, + 219.24401499399187 + ], + [ + 1107.1134566892702, + 127.79060714027338 + ], + [ + 1045.334593120882, + 123.12928826824327 + ], + [ + 1090.8540112113287, + 162.54193586063928 + ], + [ + 1164.2451210173072, + 168.36595119491014 + ], + [ + 1125.5578173883803, + 79.43947603653828 + ], + [ + 1061.2282565471614, + 74.93164285624687 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 727.9499190739753, + "ymin": 0.0, + "xmax": 850.8916539694579, + "ymax": 109.37204535534909 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 728.8390810057658, + 97.07103292624629 + ], + [ + 727.9499190739753, + 102.32541321702547 + ], + [ + 821.8443209712763, + 109.37204535534909 + ], + [ + 821.9999054578367, + 104.00717827767446 + ], + [ + 742.7323207573371, + -99.23137856809007 + ], + [ + 741.8297791365871, + -94.9414092957366 + ], + [ + 850.8916539694579, + -89.17147472673827 + ], + [ + 850.805684736682, + -93.56608182046324 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2080193722244522285, + "instance_id": 11745, + "pixel_count": null, + "type_id": "BP_StreetLight_simple51_120_SM_2", + "bbox_3d": { + "center_world": { + "x": -78.77368927001953, + "y": -128.03121948242188, + "z": 4.08544921875 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 53.87184006961536, + "ymax": 86.45996188694295 + }, + "corners_3d": [ + [ + -80.54341888427734, + -127.2630386352539, + 0.20873045921325684 + ], + [ + -80.32381439208984, + -126.88267517089844, + 0.20873045921325684 + ], + [ + -77.00395965576172, + -128.7993927001953, + 0.20873045921325684 + ], + [ + -77.22356414794922, + -129.1797637939453, + 0.20873045921325684 + ], + [ + -80.54341888427734, + -127.2630386352539, + 7.962167739868164 + ], + [ + -80.32381439208984, + -126.88267517089844, + 7.962167739868164 + ], + [ + -77.00395965576172, + -128.7993927001953, + 7.962167739868164 + ], + [ + -77.22356414794922, + -129.1797637939453, + 7.962167739868164 + ] + ], + "corners_2d": [ + [ + 38.53966774422872, + 86.45996188694295 + ], + [ + 49.9402214576121, + 84.59540368108708 + ], + [ + 53.87184006961536, + 45.694789635582595 + ], + [ + 43.162305304011056, + 47.34362958721914 + ], + [ + -54.08967199542087, + -108.49019484762545 + ], + [ + -40.6350466817255, + -110.00102189218762 + ], + [ + -29.976530844063973, + -141.22251525252574 + ], + [ + -42.48010947624698, + -139.9106441190687 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1264.978904348223, + "ymin": 88.88216662489685, + "xmax": 1280.0, + "ymax": 131.38855943338973 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1283.2483737757716, + 126.25744535175843 + ], + [ + 1353.3650363181646, + 131.38855943338973 + ], + [ + 1332.0458872792008, + 102.22755916965673 + ], + [ + 1264.978904348223, + 97.51353991257838 + ], + [ + 1287.8653545955003, + 117.45733327961207 + ], + [ + 1358.5233633064408, + 122.56010842338083 + ], + [ + 1336.84018460449, + 93.56734814223955 + ], + [ + 1269.277951652418, + 88.88216662489685 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1222.5487779557607, + "ymin": 58.780680389006875, + "xmax": 1280.0, + "ymax": 214.84144506411116 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1238.8727751754554, + 209.1767053350706 + ], + [ + 1307.7074925637867, + 214.84144506411116 + ], + [ + 1288.4220143164753, + 182.42643290983656 + ], + [ + 1222.5487779557607, + 177.21911554914888 + ], + [ + 1302.0926130108055, + 88.5022338171458 + ], + [ + 1378.7617438525058, + 93.79753603206541 + ], + [ + 1354.2796341920457, + 63.60613103339307 + ], + [ + 1281.264413633922, + 58.780680389006875 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 830.9757751940083, + "ymin": 213.03417016303865, + "xmax": 850.9410084339229, + "ymax": 226.75303913655137 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 831.0809135636033, + 217.14576408276264 + ], + [ + 830.9757751940083, + 225.06845891718788 + ], + [ + 850.170425174904, + 226.75303913655137 + ], + [ + 850.0838082352782, + 218.79685096501163 + ], + [ + 831.7730139659959, + 213.03417016303865 + ], + [ + 831.6744936555468, + 220.9442501389278 + ], + [ + 850.9410084339229, + 222.6262225714681 + ], + [ + 850.8463421051177, + 214.68258046441255 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1265.055003239319, + "ymin": 88.90137518791988, + "xmax": 1280.0, + "ymax": 131.308350649474 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1283.3054207163045, + 126.18344391640889 + ], + [ + 1353.3467811967935, + 131.308350649474 + ], + [ + 1332.0534954434036, + 102.18471811964946 + ], + [ + 1265.055003239319, + 97.4759276654126 + ], + [ + 1287.8920368649244, + 117.44145550161764 + ], + [ + 1358.4705542120073, + 122.53823806132561 + ], + [ + 1336.8161043096452, + 93.5815475040614 + ], + [ + 1269.326141665672, + 88.90137518791988 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 671.0823767533756, + "ymin": 192.01424355278036, + "xmax": 856.9159659879417, + "ymax": 454.33144978132367 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 673.0772244431583, + 426.58806421638826 + ], + [ + 671.0823767533756, + 438.3763426047735 + ], + [ + 811.840283397789, + 454.33144978132367 + ], + [ + 812.1930031578027, + 442.16896064133266 + ], + [ + 681.4588525487635, + 192.01424355278036 + ], + [ + 679.0757897743446, + 203.34143981864474 + ], + [ + 856.9159659879417, + 218.7815391176762 + ], + [ + 856.6854948093941, + 207.0002280201948 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 831.0822107170919, + "ymin": 213.1067293141288, + "xmax": 850.8340441346056, + "ymax": 226.6797349873582 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 831.18518914858, + 217.17467039693122 + ], + [ + 831.0822107170919, + 225.0132625662214 + ], + [ + 850.0720784811753, + 226.6797349873582 + ], + [ + 849.9873501804676, + 218.8083575759727 + ], + [ + 831.8703326394998, + 213.1067293141288 + ], + [ + 831.7738397003093, + 220.93297381702314 + ], + [ + 850.8340441346056, + 222.5968932606383 + ], + [ + 850.7414441902135, + 214.73779689312505 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1227.9713063992806, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 183.60867313419305 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1415.759267371728, + 42.495976444531664 + ], + [ + 1227.9713063992806, + 60.815176012462985 + ], + [ + 1392.0742430170576, + 183.60867313419305 + ], + [ + 1609.5488912180244, + 157.5939804797927 + ], + [ + 1648.8779785076008, + -351.10807152261543 + ], + [ + 1411.6083233216807, + -342.5482552453276 + ], + [ + 1690.9882266613506, + -280.89460656667575 + ], + [ + 1976.5307495008594, + -294.61512698465685 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 132.58746310487356, + "ymax": 180.90846074321888 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + 132.58746310487356, + 64.88902314965861 + ], + [ + -53.123095190721756, + 80.47698056774277 + ], + [ + -121.14968817936824, + 180.90846074321888 + ], + [ + 94.37497924310003, + 160.20160370192184 + ], + [ + 13.052176128138854, + -238.39900783551786 + ], + [ + -221.39992566342892, + -228.29920768945158 + ], + [ + -342.85525512212575, + -160.29391452922619 + ], + [ + -58.92981202163105, + -174.74604476298077 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 62.038489443023764, + "ymax": 274.69701223465125 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 62.038489443023764, + 157.07580334592032 + ], + [ + -118.52364412971338, + 157.65079660146895 + ], + [ + -239.48239652398922, + 274.69701223465125 + ], + [ + -29.74146593069645, + 273.9218662242827 + ], + [ + -109.07851688306584, + -196.7968503156843 + ], + [ + -343.3302998764932, + -196.41486670130325 + ], + [ + -557.3168124683436, + -114.73916677775145 + ], + [ + -271.47529400963924, + -115.30700734876609 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00077/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00077/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..60c038db9e75a1c33f36c5f0988d43cb92bd28c9 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00077/meta.json @@ -0,0 +1,2469 @@ +{ + "frame_id": 77, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 38.5, + "sim_timestamp": 10651.15694322437 + }, + "drone_pose": { + "x": -112.95819408704413, + "y": -96.80403696505823, + "z": 20.128012046747045, + "pitch": -41.295920754718054, + "yaw": -11.341681321620545, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7366394400596619, + 0.14775244891643524, + 0.6599481701850891, + 55.62297439575195 + ], + [ + -0.19665946066379547, + 0.9804718494415283, + 7.450580596923828e-09, + 117.1279296875 + ], + [ + -0.6470605731010437, + -0.12978506088256836, + 0.7513111233711243, + -75.64948272705078 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -112.35738097718638, + "y": -96.79749220848349, + "z": 20.286490781078378 + }, + "t1_image_uv": [ + 994.8360504116074, + -1084.09643440621 + ], + "t1_depth": 0.33702785713215977 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -93.16718292236328, + "y": -99.68776321411131, + "z": 0.7274016332626343 + }, + "image_uv": [ + 676.7548420303339, + 408.1805593078622 + ], + "depth": 27.808313848443774, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 200, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -93.16718292236328, + "y": -99.68775939941406, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.2442333698272705, + "y": 0.2018798589706421, + "z": 0.5360161662101746 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 668.0581068188678, + "ymin": 388.063215483504, + "xmax": 685.5801634811238, + "ymax": 428.09066387247356 + }, + "corners_3d": [ + [ + -93.41141510009766, + -99.88964080810547, + 0.1913853883743286 + ], + [ + -93.41141510009766, + -99.48587799072266, + 0.1913853883743286 + ], + [ + -92.9229507446289, + -99.48587799072266, + 0.1913853883743286 + ], + [ + -92.9229507446289, + -99.88964080810547, + 0.1913853883743286 + ], + [ + -93.41141510009766, + -99.88964080810547, + 1.2634177207946777 + ], + [ + -93.41141510009766, + -99.48587799072266, + 1.2634177207946777 + ], + [ + -92.9229507446289, + -99.48587799072266, + 1.2634177207946777 + ], + [ + -92.9229507446289, + -99.88964080810547, + 1.2634177207946777 + ] + ], + "corners_2d": [ + [ + 668.0581068188678, + 426.14976650998193 + ], + [ + 681.714106048108, + 428.09066387247356 + ], + [ + 684.4411708392889, + 416.5082139774021 + ], + [ + 670.9526281193574, + 414.61628606747706 + ], + [ + 668.7851196031243, + 399.5456197815626 + ], + [ + 682.7973257301455, + 401.4786637360892 + ], + [ + 685.5801634811238, + 389.9462476859911 + ], + [ + 671.7442092017978, + 388.063215483504 + ] + ], + "center_offset_px": [ + 36.75484203033386, + 48.18055930786221 + ] + }, + "trace_timestep_index": 77, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 57, + "semantic_pixel_counts": { + "1": 218879, + "2": 127345, + "3": 445830, + "4": 6171, + "5": 872, + "6": 3019, + "10": 15, + "12": 2465, + "14": 25613, + "16": 73859, + "20": 4374, + "24": 13158 + }, + "instance_pixel_counts": { + "2670": 792, + "3182": 4813, + "3694": 1508, + "4206": 2913, + "4718": 8753, + "5230": 49, + "5742": 822, + "8834": 2270, + "12951": 11, + "14416": 872, + "15963": 2523, + "16475": 5638, + "16987": 16516, + "17232": 6171, + "17499": 47667, + "18011": 327117, + "22976": 1525, + "23296": 117, + "23552": 319, + "24512": 27037, + "26963": 313, + "28763": 2847, + "31168": 9223, + "34120": 1670, + "35668": 4374, + "37979": 790, + "41611": 775, + "42123": 472, + "43117": 1258, + "43147": 11691, + "43155": 20234, + "43659": 6533, + "44179": 180390, + "45717": 2368, + "46227": 18255, + "46741": 10047, + "48749": 1618, + "48779": 2380, + "48789": 743, + "49261": 7106, + "49664": 200, + "49920": 368, + "50176": 460, + "50432": 861, + "50624": 3301, + "50944": 576, + "51136": 1136, + "51456": 3833, + "52160": 31184, + "52480": 47660, + "52672": 18174, + "52736": 26199, + "54016": 13463, + "55040": 8317, + "55744": 7830, + "64351": 4403, + "65133": 13100 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 200, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -93.16718292236328, + "y": -99.68775939941406, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.28283199667930603, + "y": 0.21328610181808472, + "z": 0.5254654884338379 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 667.4477432306437, + "ymin": 387.38355384903736, + "xmax": 686.1766621554708, + "ymax": 428.8182895988628 + }, + "corners_3d": [ + [ + -93.45001220703125, + -99.90104675292969, + 0.20193606615066528 + ], + [ + -93.45001220703125, + -99.47447204589844, + 0.20193606615066528 + ], + [ + -92.88435363769531, + -99.47447204589844, + 0.20193606615066528 + ], + [ + -92.88435363769531, + -99.90104675292969, + 0.20193606615066528 + ], + [ + -93.45001220703125, + -99.90104675292969, + 1.2528669834136963 + ], + [ + -93.45001220703125, + -99.47447204589844, + 1.2528669834136963 + ], + [ + -92.88435363769531, + -99.47447204589844, + 1.2528669834136963 + ], + [ + -92.88435363769531, + -99.90104675292969, + 1.2528669834136963 + ] + ], + "corners_2d": [ + [ + 667.4477432306437, + 426.76362517812726 + ], + [ + 681.893068688012, + 428.8182895988628 + ], + [ + 685.0462664706271, + 415.4040778803132 + ], + [ + 670.8059222679525, + 413.4093401128852 + ], + [ + 668.1454475322978, + 400.67983594695335 + ], + [ + 682.9604296371703, + 402.7264567072002 + ], + [ + 686.1766621554708, + 389.36899769150745 + ], + [ + 671.5772104062823, + 387.38355384903736 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 368, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -88.6923599243164, + "y": -96.78265380859375, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.43793943524360657, + "y": 0.33000487089157104, + "z": 0.8900256752967834 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 775.0519699103555, + "ymin": 298.0829844666324, + "xmax": 804.8546599236319, + "ymax": 358.5117812490784 + }, + "corners_3d": [ + [ + -89.18933868408203, + -97.01439666748047, + -0.3150312900543213 + ], + [ + -89.05211639404297, + -96.36880493164062, + -0.3150312900543213 + ], + [ + -88.19538116455078, + -96.55091094970703, + -0.3150312900543213 + ], + [ + -88.33260345458984, + -97.19650268554688, + -0.3150312900543213 + ], + [ + -89.18933868408203, + -97.01439666748047, + 1.4650200605392456 + ], + [ + -89.05211639404297, + -96.36880493164062, + 1.4650200605392456 + ], + [ + -88.19538116455078, + -96.55091094970703, + 1.4650200605392456 + ], + [ + -88.33260345458984, + -97.19650268554688, + 1.4650200605392456 + ] + ], + "corners_2d": [ + [ + 778.2270622739344, + 358.5117812490784 + ], + [ + 798.614998315432, + 358.357309082019 + ], + [ + 795.0172107910232, + 340.88484148384373 + ], + [ + 775.0519699103555, + 341.0329657955837 + ], + [ + 783.6657322277608, + 315.4519995164477 + ], + [ + 804.8546599236319, + 315.2996633406644 + ], + [ + 800.9838674355137, + 298.0829844666324 + ], + [ + 780.2511289835924, + 298.2288222136314 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 460, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -89.11983489990234, + "y": -92.1248779296875, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.35505858063697815, + "y": 0.3104296922683716, + "z": 0.8660693168640137 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 922.0537859736252, + "ymin": 326.46051668026075, + "xmax": 957.13937413175, + "ymax": 384.7809165473247 + }, + "corners_3d": [ + [ + -89.5053939819336, + -92.39649200439453, + -0.29107004404067993 + ], + [ + -89.44049835205078, + -91.77903747558594, + -0.29107004404067993 + ], + [ + -88.7342758178711, + -91.85326385498047, + -0.29107004404067993 + ], + [ + -88.7991714477539, + -92.47071838378906, + -0.29107004404067993 + ], + [ + -89.5053939819336, + -92.39649200439453, + 1.4410686492919922 + ], + [ + -89.44049835205078, + -91.77903747558594, + 1.4410686492919922 + ], + [ + -88.7342758178711, + -91.85326385498047, + 1.4410686492919922 + ], + [ + -88.7991714477539, + -92.47071838378906, + 1.4410686492919922 + ] + ], + "corners_2d": [ + [ + 924.9229149491903, + 383.52860473776246 + ], + [ + 945.0780500568533, + 384.7809165473247 + ], + [ + 941.8548328526228, + 369.70648766488335 + ], + [ + 922.0537859736252, + 368.4972632936495 + ], + [ + 936.1705088989738, + 341.3141075668981 + ], + [ + 957.13937413175, + 342.5525281647764 + ], + [ + 953.5734361948525, + 327.65468984672657 + ], + [ + 932.9875483139671, + 326.46051668026075 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 861, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -102.66718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.42989253997802734, + "y": 0.4492626488208771, + "z": 0.8585901260375977 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 576.205021204111, + "ymin": 665.3682055385009, + "xmax": 627.6355425865419, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -103.09707641601562, + -100.13702392578125, + -0.1311836838722229 + ], + [ + -103.09707641601562, + -99.23849487304688, + -0.1311836838722229 + ], + [ + -102.23728942871094, + -99.23849487304688, + -0.1311836838722229 + ], + [ + -102.23728942871094, + -100.13702392578125, + -0.1311836838722229 + ], + [ + -103.09707641601562, + -100.13702392578125, + 1.5859966278076172 + ], + [ + -103.09707641601562, + -99.23849487304688, + 1.5859966278076172 + ], + [ + -102.23728942871094, + -99.23849487304688, + 1.5859966278076172 + ], + [ + -102.23728942871094, + -100.13702392578125, + 1.5859966278076172 + ] + ], + "corners_2d": [ + [ + 579.6270476340642, + 742.0469994104099 + ], + [ + 619.5306320433564, + 749.7955486189709 + ], + [ + 627.6355425865419, + 713.6854355526455 + ], + [ + 588.8439590628153, + 706.3827308904397 + ], + [ + 576.205021204111, + 701.7547085604299 + ], + [ + 618.3626429076704, + 709.6760547843794 + ], + [ + 626.951826132439, + 672.8090345404705 + ], + [ + 586.0333942714977, + 665.3682055385009 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 576, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -91.08158874511719, + "y": -101.20303344726562, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.4732958972454071, + "y": 0.4588867127895355, + "z": 0.9038991332054138 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 619.3301885666311, + "ymin": 319.6754876437393, + "xmax": 659.6862228778862, + "ymax": 390.2320725435498 + }, + "corners_3d": [ + [ + -91.44913482666016, + -101.75029754638672, + -0.17649269104003906 + ], + [ + -91.63995361328125, + -100.85257720947266, + -0.17649269104003906 + ], + [ + -90.71404266357422, + -100.65576934814453, + -0.17649269104003906 + ], + [ + -90.52322387695312, + -101.5534896850586, + -0.17649269104003906 + ], + [ + -91.44913482666016, + -101.75029754638672, + 1.6313055753707886 + ], + [ + -91.63995361328125, + -100.85257720947266, + 1.6313055753707886 + ], + [ + -90.71404266357422, + -100.65576934814453, + 1.6313055753707886 + ], + [ + -90.52322387695312, + -101.5534896850586, + 1.6313055753707886 + ] + ], + "corners_2d": [ + [ + 620.152875788644, + 382.27073888590274 + ], + [ + 647.2061199358826, + 390.2320725435498 + ], + [ + 658.9124869095367, + 371.4418630375399 + ], + [ + 632.3315889293439, + 363.8178726743414 + ], + [ + 619.3301885666311, + 337.89178311755757 + ], + [ + 647.5076848017704, + 345.7609961309336 + ], + [ + 659.6862228778862, + 327.19783524628264 + ], + [ + 632.0207755132558, + 319.6754876437393 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 3833, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 917.0998820697985, + "ymin": 155.73941824552992, + "xmax": 983.6161830347813, + "ymax": 251.14910500187713 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 968.4828069691742, + 191.8261031946829 + ], + [ + 917.0998820697985, + 186.60950840891235 + ], + [ + 918.738807184758, + 244.9796028373849 + ], + [ + 974.6508800867273, + 251.14910500187713 + ], + [ + 976.5545612244568, + 160.8378918871943 + ], + [ + 923.8551131769802, + 155.73941824552992 + ], + [ + 926.1418275611873, + 212.89840784642584 + ], + [ + 983.6161830347813, + 218.95412420539404 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 47660, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 743.5153027571805, + "ymin": 251.04500849113177, + "xmax": 951.9861397781822, + "ymax": 670.8505147181959 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 909.0572403756667, + 378.45327033567486 + ], + [ + 781.972535751566, + 361.8360432474658 + ], + [ + 743.5153027571805, + 641.2362981520224 + ], + [ + 912.7100245330043, + 670.8505147181959 + ], + [ + 936.9713017628316, + 266.9817210139917 + ], + [ + 796.388973391814, + 251.04500849113177 + ], + [ + 757.9877043000495, + 527.7578900509992 + ], + [ + 951.9861397781822, + 558.2182643459001 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 26199, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1137.6724710784213, + "ymin": 349.0575968663246, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 1229.9880692556396, + 827.9704596982815 + ], + [ + 1443.223073744476, + 868.4270727226353 + ], + [ + 1288.2132804592682, + 483.9286494556849 + ], + [ + 1137.6724710784213, + 463.03675887018983 + ], + [ + 1328.4958857431573, + 723.6282815428269 + ], + [ + 1582.1875670274676, + 767.3078905342912 + ], + [ + 1364.694816772877, + 369.60120237254137 + ], + [ + 1194.9775360311605, + 349.0575968663246 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 13463, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 929.3239561183975, + "ymin": 451.41888731213044, + "xmax": 1033.1551617150926, + "ymax": 676.1337653824291 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 997.1279549647527, + 500.83682585283594 + ], + [ + 929.3239561183975, + 490.84537838000233 + ], + [ + 934.7857120838087, + 662.290542950857 + ], + [ + 1014.733299160598, + 676.1337653824291 + ], + [ + 1011.9199186541889, + 461.40302320209116 + ], + [ + 941.1808762482824, + 451.41888731213044 + ], + [ + 949.0959261240682, + 623.910735088357 + ], + [ + 1033.1551617150926, + 637.9478943863819 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 8317, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1091.6722399490523, + "ymin": 142.7214025042435, + "xmax": 1215.061295120365, + "ymax": 291.09604798541955 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 1118.2817159475362, + 282.8919229350911 + ], + [ + 1191.0905750733612, + 291.09604798541955 + ], + [ + 1155.3413790543145, + 196.5514066240169 + ], + [ + 1091.6722399490523, + 190.22015093254703 + ], + [ + 1138.8555853711737, + 232.56251772343234 + ], + [ + 1215.061295120365, + 240.56111565602157 + ], + [ + 1174.9163220702158, + 148.8296594035875 + ], + [ + 1108.662954062918, + 142.7214025042435 + ] + ], + "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": 1153.9059779692977, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 46.790944745767206 + }, + "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": [ + [ + 1198.7421623223383, + 46.06241912502162 + ], + [ + 1207.8922517378908, + 46.790944745767206 + ], + [ + 1161.5905748326709, + -35.080165432317926 + ], + [ + 1153.9059779692977, + -35.60112772628935 + ], + [ + 1271.1522322854803, + -136.25665114231458 + ], + [ + 1281.6025657501054, + -135.71706828092005 + ], + [ + 1217.709064994454, + -195.1737634084045 + ], + [ + 1209.12649713064, + -195.54461603954599 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 769.7300997125627, + "ymin": 0.0, + "xmax": 897.8882765630963, + "ymax": 170.76897002364274 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 770.7559529136178, + 156.18660501346002 + ], + [ + 769.7300997125627, + 161.41211528910972 + ], + [ + 864.0740098135234, + 170.76897002364274 + ], + [ + 864.3388991702391, + 165.3913040252418 + ], + [ + 789.9832596874472, + -34.49186045411852 + ], + [ + 788.985587641811, + -30.280234405391184 + ], + [ + 897.8882765630963, + -22.713477532430545 + ], + [ + 897.8731676215225, + -27.06630829410915 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2080193722244522285, + "instance_id": 11745, + "pixel_count": null, + "type_id": "BP_StreetLight_simple51_120_SM_2", + "bbox_3d": { + "center_world": { + "x": -78.77368927001953, + "y": -128.03121948242188, + "z": 4.08544921875 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 20.61898570791186, + "ymin": 0.0, + "xmax": 114.10597763275757, + "ymax": 129.6904166353983 + }, + "corners_3d": [ + [ + -80.54341888427734, + -127.2630386352539, + 0.20873045921325684 + ], + [ + -80.32381439208984, + -126.88267517089844, + 0.20873045921325684 + ], + [ + -77.00395965576172, + -128.7993927001953, + 0.20873045921325684 + ], + [ + -77.22356414794922, + -129.1797637939453, + 0.20873045921325684 + ], + [ + -80.54341888427734, + -127.2630386352539, + 7.962167739868164 + ], + [ + -80.32381439208984, + -126.88267517089844, + 7.962167739868164 + ], + [ + -77.00395965576172, + -128.7993927001953, + 7.962167739868164 + ], + [ + -77.22356414794922, + -129.1797637939453, + 7.962167739868164 + ] + ], + "corners_2d": [ + [ + 96.94312519098355, + 129.6904166353983 + ], + [ + 107.91627376344661, + 128.13602149165507 + ], + [ + 114.10597763275757, + 90.5256244047398 + ], + [ + 103.82407737806591, + 91.89443365214186 + ], + [ + 20.61898570791186, + -56.280867708596304 + ], + [ + 33.350577199001236, + -57.51539415907723 + ], + [ + 45.532452804257105, + -87.12033726978393 + ], + [ + 33.72126008788837, + -86.05175869610264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 683.3346532251119, + "ymin": 0.0, + "xmax": 708.5665833235296, + "ymax": 12.37495973362445 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 683.3346532251119, + 11.750112929764725 + ], + [ + 691.43075294032, + 12.37495973362445 + ], + [ + 702.0974265584149, + -13.431925599800422 + ], + [ + 694.4096257150597, + -13.99343377044346 + ], + [ + 688.117828754117, + -147.32078912519614 + ], + [ + 697.1155144565208, + -146.84986473064941 + ], + [ + 708.5665833235296, + -166.19097662440015 + ], + [ + 700.0704071971439, + -166.60934182444976 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1275.4344930770355, + "ymin": 132.98788007837211, + "xmax": 1280.0, + "ymax": 291.60025167049196 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1292.6959062874857, + 283.68560571823787 + ], + [ + 1365.1729259156286, + 291.60025167049196 + ], + [ + 1344.5540822015485, + 257.5262833184647 + ], + [ + 1275.4344930770355, + 250.2891648867173 + ], + [ + 1359.5543138874746, + 163.91781698997653 + ], + [ + 1440.3014531714052, + 171.28841159126097 + ], + [ + 1414.0202127855491, + 139.6671624320387 + ], + [ + 1337.4139440394179, + 132.98788007837211 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 872.2263806101321, + "ymin": 281.8603329000127, + "xmax": 892.7735187622, + "ymax": 296.3996124509255 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 872.478963017558, + 285.9302906170245 + ], + [ + 872.2263806101321, + 294.0897973639986 + ], + [ + 891.8456364006702, + 296.3996124509255 + ], + [ + 891.8924209320805, + 288.19179935684747 + ], + [ + 873.2897620731977, + 281.8603329000127 + ], + [ + 873.044920586383, + 290.0052738921853 + ], + [ + 892.735976367253, + 292.3110751213366 + ], + [ + 892.7735187622, + 284.11774418893015 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 702.913752522204, + "ymin": 256.2094149705219, + "xmax": 898.9693604311633, + "ymax": 523.7757845297376 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 705.2985166023363, + 489.6149217653191 + ], + [ + 702.913752522204, + 501.76247776350226 + ], + [ + 846.6858440110025, + 523.7757845297376 + ], + [ + 847.3110706176401, + 511.08271182383936 + ], + [ + 721.120418407987, + 256.2094149705219 + ], + [ + 718.3950021876486, + 267.71463253916824 + ], + [ + 898.9693604311633, + 288.74282758971856 + ], + [ + 898.9271754275379, + 276.58948246189976 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 872.3364100717827, + "ymin": 281.9371115641509, + "xmax": 892.6650205847037, + "ymax": 296.32180240711233 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 872.5851874546103, + 285.96387709980985 + ], + [ + 872.3364100717827, + 294.0368310372535 + ], + [ + 891.746292660127, + 296.32180240711233 + ], + [ + 891.7936174183027, + 288.2015634704489 + ], + [ + 873.3877715923743, + 281.9371115641509 + ], + [ + 873.1465791546168, + 289.9958082787668 + ], + [ + 892.6267346027308, + 292.27685026920017 + ], + [ + 892.6650205847037, + 284.17078760097536 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 729.6917400721297, + "ymin": 0.0, + "xmax": 1005.9932837075039, + "ymax": 41.85079060429405 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 730.8017998880883, + 19.491913025613144 + ], + [ + 729.6917400721297, + 22.639283618012144 + ], + [ + 964.3381424800366, + 41.85079060429405 + ], + [ + 963.9751900019644, + 38.46063933108741 + ], + [ + 741.9063082474134, + -155.80542877838536 + ], + [ + 740.7376191426803, + -153.50301053938176 + ], + [ + 1005.9932837075039, + -139.37222690886256 + ], + [ + 1005.2808399977946, + -141.8754513917877 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 187.97848290597005, + "ymax": 217.94330639790942 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + 187.97848290597005, + 110.95799101530628 + ], + [ + 10.325521630256276, + 121.99019756723709 + ], + [ + -61.10826316614828, + 217.94330639790942 + ], + [ + 145.61996647427276, + 203.1785141387831 + ], + [ + 91.12312373920042, + -176.5824530129904 + ], + [ + -127.6496438656444, + -169.64108295616495 + ], + [ + -245.49680634920003, + -106.84566559695708 + ], + [ + 19.038805162866993, + -116.80093044861138 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 114.98945162250095, + "ymax": 311.38985413039154 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 114.98945162250095, + 198.89662248072517 + ], + [ + -56.70471837163859, + 194.9443863638271 + ], + [ + -179.6894602289592, + 306.0317707429062 + ], + [ + 19.483436156649987, + 311.38985413039154 + ], + [ + -26.203084941499355, + -138.34650313211625 + ], + [ + -242.6960897462925, + -140.87831319254326 + ], + [ + -446.00007192209114, + -66.5772765923715 + ], + [ + -183.93468503720567, + -62.82135466947159 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00078/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00078/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a71fdfc31e1bd61b1391d54289724206721cf44f --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00078/meta.json @@ -0,0 +1,2465 @@ +{ + "frame_id": 78, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 39.0, + "sim_timestamp": 10663.047893725336 + }, + "drone_pose": { + "x": -112.35738097718638, + "y": -96.79749220848349, + "z": 20.286490781078378, + "pitch": -44.503286573447035, + "yaw": -8.350657689102995, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7056486010551453, + 0.10358025133609772, + 0.7009502053260803, + 55.03870391845703 + ], + [ + -0.14523102343082428, + 0.9893977642059326, + 3.725290298461914e-09, + 112.08900451660156 + ], + [ + -0.6935185790061951, + -0.10179971158504486, + 0.7132102251052856, + -82.53651428222656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -111.95819408704413, + "y": -96.80403696505823, + "z": 20.143956516969883 + }, + "t1_image_uv": [ + 769.329028526575, + -81.61829458012335 + ], + "t1_depth": 0.3822730049613314 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -92.66718292236328, + "y": -99.68776321411131, + "z": 0.7273967456817627 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 27.903686591732278, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 205, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -92.66718292236328, + "y": -99.68775939941406, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.29796382784843445, + "y": 0.19798825681209564, + "z": 0.5556442737579346 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.5974555209774, + "ymin": 338.4405115095055, + "xmax": 648.2877037565282, + "ymax": 381.3156505691716 + }, + "corners_3d": [ + [ + -92.96514892578125, + -99.88574981689453, + 0.17175239324569702 + ], + [ + -92.96514892578125, + -99.4897689819336, + 0.17175239324569702 + ], + [ + -92.36921691894531, + -99.4897689819336, + 0.17175239324569702 + ], + [ + -92.36921691894531, + -99.88574981689453, + 0.17175239324569702 + ], + [ + -92.96514892578125, + -99.88574981689453, + 1.283041000366211 + ], + [ + -92.96514892578125, + -99.4897689819336, + 1.283041000366211 + ], + [ + -92.36921691894531, + -99.4897689819336, + 1.283041000366211 + ], + [ + -92.36921691894531, + -99.88574981689453, + 1.283041000366211 + ] + ], + "corners_2d": [ + [ + 631.8303535178889, + 379.90754459911295 + ], + [ + 645.2210897097004, + 381.3156505691716 + ], + [ + 648.0610495561577, + 367.0712551053427 + ], + [ + 634.8636447169197, + 365.7043909934843 + ], + [ + 631.5974555209774, + 352.6289783046017 + ], + [ + 645.3701548313397, + 354.0362780425149 + ], + [ + 648.2877037565282, + 339.8054437650196 + ], + [ + 634.7194382494517, + 338.4405115095055 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 78, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 53, + "semantic_pixel_counts": { + "1": 224594, + "2": 138830, + "3": 408192, + "4": 5626, + "5": 904, + "6": 2648, + "10": 1227, + "12": 2474, + "14": 25392, + "16": 92138, + "20": 7711, + "24": 11864 + }, + "instance_pixel_counts": { + "913": 1225, + "3182": 5431, + "3694": 1605, + "4206": 3148, + "4718": 9477, + "5742": 913, + "8834": 2292, + "14416": 904, + "15963": 1253, + "16475": 4440, + "16987": 15101, + "17232": 5626, + "17499": 48853, + "18011": 294203, + "24512": 28055, + "26963": 163, + "31168": 11704, + "34120": 2021, + "35668": 4623, + "35924": 69, + "36692": 1794, + "37979": 116, + "40019": 193, + "41611": 64, + "43117": 762, + "43147": 11970, + "43155": 1835, + "43659": 6753, + "44179": 181261, + "45717": 71, + "46227": 41498, + "46741": 10114, + "48749": 1780, + "48779": 3372, + "48789": 1679, + "49261": 7384, + "49664": 205, + "49920": 318, + "50176": 448, + "50432": 900, + "50624": 419, + "50944": 603, + "51456": 3937, + "52160": 31934, + "52480": 47675, + "52672": 27235, + "52736": 44463, + "54016": 13130, + "55040": 8325, + "55744": 10749, + "55879": 1201, + "64351": 4554, + "65133": 13726 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 205, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -92.66718292236328, + "y": -99.68775939941406, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.2976708710193634, + "y": 0.2170751690864563, + "z": 0.5427849292755127 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 630.9394114405663, + "ymin": 338.7060536097969, + "xmax": 648.9381938991963, + "ymax": 381.06938606251066 + }, + "corners_3d": [ + [ + -92.96485137939453, + -99.90483093261719, + 0.1846117377281189 + ], + [ + -92.96485137939453, + -99.47068786621094, + 0.1846117377281189 + ], + [ + -92.36951446533203, + -99.47068786621094, + 0.1846117377281189 + ], + [ + -92.36951446533203, + -99.90483093261719, + 0.1846117377281189 + ], + [ + -92.96485137939453, + -99.90483093261719, + 1.270181655883789 + ], + [ + -92.96485137939453, + -99.47068786621094, + 1.270181655883789 + ], + [ + -92.36951446533203, + -99.47068786621094, + 1.270181655883789 + ], + [ + -92.36951446533203, + -99.90483093261719, + 1.270181655883789 + ] + ], + "corners_2d": [ + [ + 631.1847963212034, + 379.5255943849652 + ], + [ + 645.8706575859303, + 381.06938606251066 + ], + [ + 648.6993131946396, + 366.8372507162531 + ], + [ + 634.2253387604728, + 365.33864468164427 + ], + [ + 630.9394114405663, + 352.87862522283217 + ], + [ + 646.0343457304082, + 354.42155359589367 + ], + [ + 648.9381938991963, + 340.2025919751632 + ], + [ + 634.0670250887781, + 338.7060536097969 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 318, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -88.54119873046875, + "y": -96.69005584716797, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.5230468511581421, + "y": 0.31640625, + "z": 0.8835864067077637 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 737.7385717949381, + "ymin": 250.73105220351158, + "xmax": 766.8005900946268, + "ymax": 315.2621025078315 + }, + "corners_3d": [ + [ + -89.11859893798828, + -96.89080047607422, + -0.3085920214653015 + ], + [ + -88.98703002929688, + -96.27181243896484, + -0.3085920214653015 + ], + [ + -87.96379852294922, + -96.48931121826172, + -0.3085920214653015 + ], + [ + -88.09536743164062, + -97.1082992553711, + -0.3085920214653015 + ], + [ + -89.11859893798828, + -96.89080047607422, + 1.458580732345581 + ], + [ + -88.98703002929688, + -96.27181243896484, + 1.458580732345581 + ], + [ + -87.96379852294922, + -96.48931121826172, + 1.458580732345581 + ], + [ + -88.09536743164062, + -97.1082992553711, + 1.458580732345581 + ] + ], + "corners_2d": [ + [ + 742.1704441800034, + 315.2621025078315 + ], + [ + 761.7130301154966, + 314.4258294084785 + ], + [ + 756.8249698899783, + 293.2803489259509 + ], + [ + 737.7385717949381, + 294.0776809959491 + ], + [ + 746.4452751256783, + 272.521137297228 + ], + [ + 766.8005900946268, + 271.69134001753764 + ], + [ + 761.5885247606615, + 250.73105220351158 + ], + [ + 741.7276481589337, + 251.52065328017153 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 448, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -89.52630615234375, + "y": -91.38851165771484, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.3619384765625, + "y": 0.31813475489616394, + "z": 0.867998480796814 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 905.5109758426212, + "ymin": 290.333418848047, + "xmax": 942.2513949260139, + "ymax": 348.9160607605122 + }, + "corners_3d": [ + [ + -89.91951751708984, + -91.66706848144531, + -0.2929992079734802 + ], + [ + -89.8530044555664, + -91.03428649902344, + -0.2929992079734802 + ], + [ + -89.13309478759766, + -91.10995483398438, + -0.2929992079734802 + ], + [ + -89.1996078491211, + -91.74273681640625, + -0.2929992079734802 + ], + [ + -89.91951751708984, + -91.66706848144531, + 1.442997694015503 + ], + [ + -89.8530044555664, + -91.03428649902344, + 1.442997694015503 + ], + [ + -89.13309478759766, + -91.10995483398438, + 1.442997694015503 + ], + [ + -89.1996078491211, + -91.74273681640625, + 1.442997694015503 + ] + ], + "corners_2d": [ + [ + 909.1595671346722, + 348.3323777548009 + ], + [ + 929.8712770814313, + 348.9160607605122 + ], + [ + 925.8669502512827, + 333.00244961148144 + ], + [ + 905.5109758426212, + 332.43851413126157 + ], + [ + 920.6476049194188, + 306.1438340741411 + ], + [ + 942.2513949260139, + 306.72489076009896 + ], + [ + 937.8589319773, + 290.89399984720717 + ], + [ + 916.6418934682163, + 290.333418848047 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 900, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -102.16718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.44398921728134155, + "y": 0.4517870545387268, + "z": 0.8598815202713013 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 550.7006359263212, + "ymin": 617.4932603742907, + "xmax": 602.2333824565866, + "ymax": 698.2688305178165 + }, + "corners_3d": [ + [ + -102.61117553710938, + -100.1395492553711, + -0.1324750781059265 + ], + [ + -102.61117553710938, + -99.23596954345703, + -0.1324750781059265 + ], + [ + -101.72319030761719, + -99.23596954345703, + -0.1324750781059265 + ], + [ + -101.72319030761719, + -100.1395492553711, + -0.1324750781059265 + ], + [ + -102.61117553710938, + -100.1395492553711, + 1.5872879028320312 + ], + [ + -102.61117553710938, + -99.23596954345703, + 1.5872879028320312 + ], + [ + -101.72319030761719, + -99.23596954345703, + 1.5872879028320312 + ], + [ + -101.72319030761719, + -100.1395492553711, + 1.5872879028320312 + ] + ], + "corners_2d": [ + [ + 555.6990717722641, + 692.6984820572998 + ], + [ + 595.356002869444, + 698.2688305178165 + ], + [ + 602.2333824565866, + 661.8760353054886 + ], + [ + 563.668620358009, + 656.6168617418421 + ], + [ + 550.7006359263212, + 654.5084494618409 + ], + [ + 592.6966942936492, + 660.23398538849 + ], + [ + 600.0513026024307, + 622.8807936662595 + ], + [ + 559.2780411782499, + 617.4932603742907 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 603, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -90.58158874511719, + "y": -101.20303344726562, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.4261425733566284, + "y": 0.45166015625, + "z": 0.876155436038971 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 580.9552701445085, + "ymin": 274.34221443967147, + "xmax": 620.221799609415, + "ymax": 341.10242405832935 + }, + "corners_3d": [ + [ + -90.90451049804688, + -101.7334213256836, + -0.1487489938735962 + ], + [ + -91.09232330322266, + -100.84984588623047, + -0.1487489938735962 + ], + [ + -90.2586669921875, + -100.67264556884766, + -0.1487489938735962 + ], + [ + -90.07085418701172, + -101.55622100830078, + -0.1487489938735962 + ], + [ + -90.90451049804688, + -101.7334213256836, + 1.6035618782043457 + ], + [ + -91.09232330322266, + -100.84984588623047, + 1.6035618782043457 + ], + [ + -90.2586669921875, + -100.67264556884766, + 1.6035618782043457 + ], + [ + -90.07085418701172, + -101.55622100830078, + 1.6035618782043457 + ] + ], + "corners_2d": [ + [ + 583.3748582001303, + 334.19108128800525 + ], + [ + 610.2784195674388, + 341.10242405832935 + ], + [ + 620.221799609415, + 323.72271128303714 + ], + [ + 593.7472956079233, + 317.0678165929969 + ], + [ + 580.9552701445085, + 291.3500615000714 + ], + [ + 608.9984420650472, + 298.22250397275724 + ], + [ + 619.3867262026207, + 280.949032097357 + ], + [ + 591.8093435710086, + 274.34221443967147 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 3937, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 873.0823995952675, + "ymin": 103.33334900546214, + "xmax": 939.9506989308541, + "ymax": 199.87482827249255 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 924.4291691853479, + 138.78559454824733 + ], + [ + 873.0823995952675, + 134.8229454247727 + ], + [ + 875.8932259078138, + 195.2156890673666 + ], + [ + 931.5996175207661, + 199.87482827249255 + ], + [ + 931.9229379807218, + 107.22211021817944 + ], + [ + 879.1887770366991, + 103.33334900546214 + ], + [ + 882.6076160701645, + 162.72225014860513 + ], + [ + 939.9506989308541, + 167.31484174267723 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 47675, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 711.1604500450742, + "ymin": 208.80654477249877, + "xmax": 914.634434975965, + "ymax": 626.5924476966084 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 868.9602465229428, + 332.52376034890557 + ], + [ + 741.9594481201393, + 320.019691444519 + ], + [ + 711.1604500450742, + 604.8662905759367 + ], + [ + 878.3693067774241, + 626.5924476966084 + ], + [ + 894.3887006183807, + 220.98927289107897 + ], + [ + 753.1116421419014, + 208.80654477249877 + ], + [ + 721.7633499501052, + 495.8095804318988 + ], + [ + 914.634434975965, + 518.5439645239718 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 44463, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1094.3341256507986, + "ymin": 296.9595789024119, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 1185.487414128589, + 765.1657297915052 + ], + [ + 1385.6531566237181, + 793.2267294780651 + ], + [ + 1239.548789848407, + 424.82918103088286 + ], + [ + 1094.3341256507986, + 409.69380006200794 + ], + [ + 1279.6569794114212, + 666.4838847675737 + ], + [ + 1517.5301036235649, + 697.091418271981 + ], + [ + 1313.701819288557, + 312.03647132963454 + ], + [ + 1149.5807632889405, + 296.9595789024119 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 13130, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 891.1848321038601, + "ymin": 407.0880106379884, + "xmax": 995.1282895006921, + "ymax": 627.1200448194597 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 957.9005428054484, + 453.13970002883434 + ], + [ + 891.1848321038601, + 445.77661459597357 + ], + [ + 899.7622317472477, + 617.0897600036383 + ], + [ + 977.7462793250261, + 627.1200448194597 + ], + [ + 971.8071204605874, + 414.4843221511155 + ], + [ + 902.0914914153086, + 407.0880106379884 + ], + [ + 913.0144035501067, + 580.3730880194425 + ], + [ + 995.1282895006921, + 590.5970429312898 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 8325, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1046.4264203587522, + "ymin": 85.34315260368498, + "xmax": 1168.0409321407392, + "ymax": 234.0627838657664 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 1073.6190325741852, + 227.98846017913294 + ], + [ + 1144.7930402115571, + 234.0627838657664 + ], + [ + 1109.0939421250491, + 138.41520056094453 + ], + [ + 1046.4264203587522, + 133.67490517371223 + ], + [ + 1093.4339013937877, + 177.32007274976147 + ], + [ + 1168.0409321407392, + 183.27740319354945 + ], + [ + 1128.0680458048382, + 89.94280542097158 + ], + [ + 1062.7534407120982, + 85.34315260368498 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 724.2271340606453, + "ymin": 0.0, + "xmax": 849.1017225260833, + "ymax": 119.91555339466487 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 725.1225595577164, + 107.23981316344751 + ], + [ + 724.2271340606453, + 112.7397250167785 + ], + [ + 819.6043854133643, + 119.91555339466487 + ], + [ + 819.7478321835829, + 114.30214373282408 + ], + [ + 738.8102324208569, + -90.47151841510993 + ], + [ + 737.8961639257005, + -85.9087723360301 + ], + [ + 849.1017225260833, + -79.93806145897986 + ], + [ + 848.9948121479272, + -84.61044978165495 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2080193722244522285, + "instance_id": 11745, + "pixel_count": null, + "type_id": "BP_StreetLight_simple51_120_SM_2", + "bbox_3d": { + "center_world": { + "x": -78.77368927001953, + "y": -128.03121948242188, + "z": 4.08544921875 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 38.44463816953453, + "ymax": 97.60475495039566 + }, + "corners_3d": [ + [ + -80.54341888427734, + -127.2630386352539, + 0.20873045921325684 + ], + [ + -80.32381439208984, + -126.88267517089844, + 0.20873045921325684 + ], + [ + -77.00395965576172, + -128.7993927001953, + 0.20873045921325684 + ], + [ + -77.22356414794922, + -129.1797637939453, + 0.20873045921325684 + ], + [ + -80.54341888427734, + -127.2630386352539, + 7.962167739868164 + ], + [ + -80.32381439208984, + -126.88267517089844, + 7.962167739868164 + ], + [ + -77.00395965576172, + -128.7993927001953, + 7.962167739868164 + ], + [ + -77.22356414794922, + -129.1797637939453, + 7.962167739868164 + ] + ], + "corners_2d": [ + [ + 22.506644539560057, + 97.60475495039566 + ], + [ + 34.14794627286426, + 95.62677962763183 + ], + [ + 38.44463816953453, + 54.86226404807786 + ], + [ + 27.515620401338424, + 56.60959221778512 + ], + [ + -75.494512920062, + -99.0640619101186 + ], + [ + -61.682237206821014, + -100.69342019771727 + ], + [ + -50.153310277622495, + -133.94206628617258 + ], + [ + -62.975367857248216, + -132.52973249506329 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1270.3039387738859, + "ymin": 101.65930671967868, + "xmax": 1280.0, + "ymax": 145.81613535253717 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1289.1693389848322, + 140.56072920201902 + ], + [ + 1360.4384657903975, + 145.81613535253717 + ], + [ + 1338.4438848493674, + 115.1368218152081 + ], + [ + 1270.3039387738859, + 110.3128072702716 + ], + [ + 1293.9507529142725, + 131.7499739795054 + ], + [ + 1365.7836094172894, + 136.97994450272944 + ], + [ + 1343.4063111653236, + 106.45699936862317 + ], + [ + 1274.7510911601998, + 101.65930671967868 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1226.5247433760553, + "ymin": 71.4106723099332, + "xmax": 1280.0, + "ymax": 229.23120940819436 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1243.3339669438537, + 223.4641970700094 + ], + [ + 1313.1791938926394, + 229.23120940819436 + ], + [ + 1293.3415518403847, + 195.33163396996358 + ], + [ + 1226.5247433760553, + 190.03411378043216 + ], + [ + 1308.7339538506994, + 102.78218146784775 + ], + [ + 1386.7287092947095, + 108.2225870345552 + ], + [ + 1361.43594158425, + 76.3632633806385 + ], + [ + 1287.1963500513784, + 71.4106723099332 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 829.9760029452302, + "ymin": 243.52381759854933, + "xmax": 850.497509821116, + "ymax": 257.9322091244467 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 830.0534400902733, + 247.61142443363963 + ], + [ + 829.9760029452302, + 256.16273778586515 + ], + [ + 849.700709211677, + 257.9322091244467 + ], + [ + 849.5770074752425, + 249.34500060739163 + ], + [ + 830.7666959652495, + 243.52381759854933 + ], + [ + 830.6963317466482, + 252.06533780642144 + ], + [ + 850.497509821116, + 253.83286508317386 + ], + [ + 850.3651805427583, + 245.25535513531358 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1270.3819581688106, + "ymin": 101.67947282671014, + "xmax": 1280.0, + "ymax": 145.73483439470033 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1289.227716925992, + 140.48576829109047 + ], + [ + 1360.4203718992867, + 145.73483439470033 + ], + [ + 1338.452413817818, + 115.09469336048326 + ], + [ + 1270.3819581688106, + 110.27600894053282 + ], + [ + 1293.9776890194744, + 131.73318983289863 + ], + [ + 1365.7297115464683, + 136.95701238971765 + ], + [ + 1343.382048079139, + 106.4720357289448 + ], + [ + 1274.800250035709, + 101.67947282671014 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 666.6968442267738, + "ymin": 221.7239585520233, + "xmax": 856.6558615704265, + "ymax": 482.4981326737474 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 668.7237157661004, + 453.6546410841389 + ], + [ + 666.6968442267738, + 466.1041579236588 + ], + [ + 810.3388403937948, + 482.4981326737474 + ], + [ + 810.6669341122234, + 469.6590534375179 + ], + [ + 676.2671838093246, + 221.7239585520233 + ], + [ + 673.8146089844744, + 233.96645047142943 + ], + [ + 856.6558615704265, + 250.20641719133698 + ], + [ + 856.3645833373164, + 237.47645553086923 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 830.085226607532, + "ymin": 243.60000612388257, + "xmax": 850.387364049182, + "ymax": 257.85520457863754 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 830.1607465507415, + 247.64419734809235 + ], + [ + 830.085226607532, + 256.10475329167696 + ], + [ + 849.599487257409, + 257.85520457863754 + ], + [ + 849.4781147469253, + 249.35951223808422 + ], + [ + 830.8668464181281, + 243.60000612388257 + ], + [ + 830.7982578521544, + 252.05097655765795 + ], + [ + 850.387364049182, + 253.79952441110302 + ], + [ + 850.2575546161363, + 245.31332599052428 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1231.2003041330381, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 196.70995945801803 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1421.0364785005195, + 49.14966348187562 + ], + [ + 1231.2003041330381, + 68.63535882957666 + ], + [ + 1398.5462943624636, + 196.70995945801803 + ], + [ + 1618.3926175396155, + 168.98168637244078 + ], + [ + 1662.4098838539321, + -348.7861385744243 + ], + [ + 1421.3435628062102, + -339.2319020328363 + ], + [ + 1710.1043904489984, + -271.5560978613232 + ], + [ + 2000.390410041526, + -286.9708392255038 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 118.36451055816076, + "ymax": 197.57788242819018 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + 118.36451055816076, + 75.16710982440657 + ], + [ + -71.18903914565931, + 91.88957797028252 + ], + [ + -141.653456770753, + 197.57788242819018 + ], + [ + 78.7263066295277, + 175.29859398938424 + ], + [ + -8.500563323041888, + -231.6678601478859 + ], + [ + -249.64799062044233, + -220.49403964828923 + ], + [ + -377.7583594553563, + -146.5308822665654 + ], + [ + -84.56827783014535, + -162.62107732870447 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 46.25594140582041, + "ymax": 295.4160820032015 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 46.25594140582041, + 171.0611089246757 + ], + [ + -138.07621594995476, + 172.07574783458978 + ], + [ + -262.9228636410437, + 295.4160820032015 + ], + [ + -48.352421070198034, + 294.04342370426355 + ], + [ + -135.68263505675043, + -186.1487633982124 + ], + [ + -376.9179608236949, + -185.4504438287563 + ], + [ + -602.3406602293733, + -96.04724102855062 + ], + [ + -306.55532026116, + -97.09408456398927 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00079/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00079/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..791748a770174ff01146b64ac42de308c0c39840 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00079/meta.json @@ -0,0 +1,2148 @@ +{ + "frame_id": 79, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 39.5, + "sim_timestamp": 10675.75183448568 + }, + "drone_pose": { + "x": -111.95819408704413, + "y": -96.80403696505823, + "z": 20.143956516969883, + "pitch": -45.19520139665984, + "yaw": -10.633088193510563, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6925933361053467, + 0.1300293505191803, + 0.7095117568969727, + 50.66175079345703 + ], + [ + -0.184518963098526, + 0.9828289747238159, + 0.0, + 115.80022430419922 + ], + [ + -0.6973286867141724, + -0.13091836869716644, + 0.704693615436554, + -79.59355163574219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -111.57930420498174, + "y": -96.69866092659669, + "z": 20.08449152199752 + }, + "t1_image_uv": [ + 1212.4872781819347, + -328.0926365196433 + ], + "t1_depth": 0.2909057310525454 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -92.16718292236328, + "y": -99.68776321411131, + "z": 0.7273967456817627 + }, + "image_uv": [ + 668.174763412163, + 342.9200283620705 + ], + "depth": 27.85836762778456, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 198, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -92.16718292236328, + "y": -99.68775939941406, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.24626950919628143, + "y": 0.21088865399360657, + "z": 0.5139304399490356 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.3128835881921, + "ymin": 323.35137996843434, + "xmax": 677.1789526854535, + "ymax": 362.25598249886065 + }, + "corners_3d": [ + [ + -92.4134521484375, + -99.89865112304688, + 0.21346622705459595 + ], + [ + -92.4134521484375, + -99.47686767578125, + 0.21346622705459595 + ], + [ + -91.92091369628906, + -99.47686767578125, + 0.21346622705459595 + ], + [ + -91.92091369628906, + -99.89865112304688, + 0.21346622705459595 + ], + [ + -92.4134521484375, + -99.89865112304688, + 1.2413270473480225 + ], + [ + -92.4134521484375, + -99.47686767578125, + 1.2413270473480225 + ], + [ + -91.92091369628906, + -99.47686767578125, + 1.2413270473480225 + ], + [ + -91.92091369628906, + -99.89865112304688, + 1.2413270473480225 + ] + ], + "corners_2d": [ + [ + 659.3128835881921, + 360.363731217769 + ], + [ + 673.550823122904, + 362.25598249886065 + ], + [ + 676.2231006812087, + 350.60504210903156 + ], + [ + 662.1508982370113, + 348.75798587898487 + ], + [ + 659.8278446416405, + 334.949699649664 + ], + [ + 674.447223800303, + 336.841444143935 + ], + [ + 677.1789526854535, + 325.19675779992355 + ], + [ + 662.7342565468126, + 323.35137996843434 + ] + ], + "center_offset_px": [ + 28.174763412162974, + -17.079971637929475 + ] + }, + "trace_timestep_index": 79, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 48, + "semantic_pixel_counts": { + "1": 229765, + "2": 134576, + "3": 423739, + "4": 2182, + "5": 932, + "6": 2528, + "10": 15, + "12": 2579, + "14": 27116, + "16": 81139, + "20": 4806, + "24": 12223 + }, + "instance_pixel_counts": { + "3182": 5764, + "3694": 1364, + "4206": 3327, + "4718": 9964, + "5742": 823, + "8834": 2388, + "14416": 932, + "15963": 1093, + "16475": 4482, + "16987": 15119, + "17232": 2182, + "17499": 49756, + "18011": 310626, + "24512": 28820, + "26963": 140, + "31168": 12302, + "34120": 2171, + "35668": 4806, + "37979": 25, + "41611": 9, + "43117": 418, + "43147": 12322, + "43155": 812, + "43659": 7213, + "44179": 192288, + "45717": 35, + "46227": 36665, + "46741": 10703, + "48749": 1867, + "48779": 3416, + "48789": 1485, + "49261": 7623, + "49664": 198, + "49920": 300, + "50176": 484, + "50432": 1031, + "50624": 175, + "50944": 566, + "51456": 4165, + "52160": 32694, + "52480": 50094, + "52672": 19765, + "52736": 31045, + "54016": 13958, + "55040": 8993, + "55744": 10950, + "64351": 4739, + "65133": 11488 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 198, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -92.16718292236328, + "y": -99.68775939941406, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.21562010049819946, + "y": 0.2102050483226776, + "z": 0.5307140350341797 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 659.5063346051152, + "ymin": 323.6417354147539, + "xmax": 677.0033218061761, + "ymax": 361.92369421347826 + }, + "corners_3d": [ + [ + -92.38280487060547, + -99.89796447753906, + 0.1966826319694519 + ], + [ + -92.38280487060547, + -99.47755432128906, + 0.1966826319694519 + ], + [ + -91.9515609741211, + -99.47755432128906, + 0.1966826319694519 + ], + [ + -91.9515609741211, + -99.89796447753906, + 0.1966826319694519 + ], + [ + -92.38280487060547, + -99.89796447753906, + 1.258110761642456 + ], + [ + -92.38280487060547, + -99.47755432128906, + 1.258110761642456 + ], + [ + -91.9515609741211, + -99.47755432128906, + 1.258110761642456 + ], + [ + -91.9515609741211, + -99.89796447753906, + 1.258110761642456 + ] + ], + "corners_2d": [ + [ + 659.5063346051152, + 360.0404670588836 + ], + [ + 673.6814893810836, + 361.92369421347826 + ], + [ + 676.020597238023, + 351.72284950815117 + ], + [ + 661.9899581068196, + 349.87904682638487 + ], + [ + 660.043258458669, + 333.7964322802013 + ], + [ + 674.6104491725099, + 335.6790589226432 + ], + [ + 677.0033218061761, + 325.48388180659504 + ], + [ + 662.5887088907224, + 323.6417354147539 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 300, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -88.04119873046875, + "y": -96.69005584716797, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.4867040812969208, + "y": 0.30329588055610657, + "z": 0.8886048197746277 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 768.7132947506475, + "ymin": 237.4359938759542, + "xmax": 797.6857713160384, + "ymax": 300.73103609752934 + }, + "corners_3d": [ + [ + -88.580322265625, + -96.88552856445312, + -0.3136104345321655 + ], + [ + -88.45420837402344, + -96.29219818115234, + -0.3136104345321655 + ], + [ + -87.5020751953125, + -96.49458312988281, + -0.3136104345321655 + ], + [ + -87.62818908691406, + -97.0879135131836, + -0.3136104345321655 + ], + [ + -88.580322265625, + -96.88552856445312, + 1.4635992050170898 + ], + [ + -88.45420837402344, + -96.29219818115234, + 1.4635992050170898 + ], + [ + -87.5020751953125, + -96.49458312988281, + 1.4635992050170898 + ], + [ + -87.62818908691406, + -97.0879135131836, + 1.4635992050170898 + ] + ], + "corners_2d": [ + [ + 772.312632858035, + 300.73103609752934 + ], + [ + 791.2147904088354, + 300.4299942297356 + ], + [ + 787.2039768598495, + 280.62986537827396 + ], + [ + 768.7132947506475, + 280.91790483506304 + ], + [ + 777.9766877054151, + 257.3771190705379 + ], + [ + 797.6857713160384, + 257.07819510416937 + ], + [ + 793.3600529113755, + 237.4359938759542 + ], + [ + 774.0979104624746, + 237.72147308908345 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 484, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -89.80754852294922, + "y": -90.97981262207031, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.5990185141563416, + "y": 0.3611181676387787, + "z": 0.8822447061538696 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 948.7745928422682, + "ymin": 293.4846049845517, + "xmax": 994.6581981786155, + "ymax": 365.77493850634767 + }, + "corners_3d": [ + [ + -90.44103240966797, + -91.27633666992188, + -0.3072405457496643 + ], + [ + -90.36553955078125, + -90.55805969238281, + -0.3072405457496643 + ], + [ + -89.17406463623047, + -90.68328857421875, + -0.3072405457496643 + ], + [ + -89.24955749511719, + -91.40156555175781, + -0.3072405457496643 + ], + [ + -90.44103240966797, + -91.27633666992188, + 1.4572489261627197 + ], + [ + -90.36553955078125, + -90.55805969238281, + 1.4572489261627197 + ], + [ + -89.17406463623047, + -90.68328857421875, + 1.4572489261627197 + ], + [ + -89.24955749511719, + -91.40156555175781, + 1.4572489261627197 + ] + ], + "corners_2d": [ + [ + 954.5921617621105, + 364.3818354759208 + ], + [ + 979.1623072154966, + 365.77493850634767 + ], + [ + 972.6356353711845, + 338.03380889391826 + ], + [ + 948.7745928422682, + 336.71900950895247 + ], + [ + 968.9439416765694, + 321.0836771682884 + ], + [ + 994.6581981786155, + 322.4754671628913 + ], + [ + 987.3805158134819, + 294.7947522594205 + ], + [ + 962.441880098571, + 293.4846049845517 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 1031, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -101.66718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.5658056139945984, + "y": 0.44758784770965576, + "z": 0.9181655049324036 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 570.0057057771965, + "ymin": 589.0442334530787, + "xmax": 623.1396382224224, + "ymax": 683.0886841601655 + }, + "corners_3d": [ + [ + -102.23298645019531, + -100.13534545898438, + -0.1907590627670288 + ], + [ + -102.23298645019531, + -99.24017333984375, + -0.1907590627670288 + ], + [ + -101.10137939453125, + -99.24017333984375, + -0.1907590627670288 + ], + [ + -101.10137939453125, + -100.13534545898438, + -0.1907590627670288 + ], + [ + -102.23298645019531, + -100.13534545898438, + 1.6455719470977783 + ], + [ + -102.23298645019531, + -99.24017333984375, + 1.6455719470977783 + ], + [ + -101.10137939453125, + -99.24017333984375, + 1.6455719470977783 + ], + [ + -101.10137939453125, + -100.13534545898438, + 1.6455719470977783 + ] + ], + "corners_2d": [ + [ + 574.2284015641563, + 676.1378462056614 + ], + [ + 613.192523399597, + 683.0886841601655 + ], + [ + 623.1396382224224, + 637.6896715360778 + ], + [ + 585.4882833745462, + 631.218366205243 + ], + [ + 570.0057057771965, + 635.2188782989726 + ], + [ + 611.46148978494, + 642.3824971416609 + ], + [ + 622.0916255600396, + 595.6835866080487 + ], + [ + 582.118635794824, + 589.0442334530787 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 566, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -90.08158874511719, + "y": -101.20303344726562, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.4991748034954071, + "y": 0.431342750787735, + "z": 0.9102174043655396 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 610.6086906216227, + "ymin": 254.00868721267344, + "xmax": 650.0225767375563, + "ymax": 325.66832857188547 + }, + "corners_3d": [ + [ + -90.48017120361328, + -101.7287368774414, + -0.1828109622001648 + ], + [ + -90.65953826904297, + -100.88490295410156, + -0.1828109622001648 + ], + [ + -89.6830062866211, + -100.67733001708984, + -0.1828109622001648 + ], + [ + -89.5036392211914, + -101.52116394042969, + -0.1828109622001648 + ], + [ + -90.48017120361328, + -101.7287368774414, + 1.6376237869262695 + ], + [ + -90.65953826904297, + -100.88490295410156, + 1.6376237869262695 + ], + [ + -89.6830062866211, + -100.67733001708984, + 1.6376237869262695 + ], + [ + -89.5036392211914, + -101.52116394042969, + 1.6376237869262695 + ] + ], + "corners_2d": [ + [ + 611.8767257174159, + 318.3833604147272 + ], + [ + 637.3890445099781, + 325.66832857188547 + ], + [ + 649.5960883598898, + 305.7251097361792 + ], + [ + 624.5320121818688, + 298.7473353620547 + ], + [ + 610.6086906216227, + 273.5159448883658 + ], + [ + 637.2703511954938, + 280.76264121732993 + ], + [ + 650.0225767375563, + 260.93642857795055 + ], + [ + 623.8500431675877, + 254.00868721267344 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 4165, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 910.2017193421639, + "ymin": 98.13369538709907, + "xmax": 978.2024555716102, + "ymax": 198.3584553898106 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 962.9367771492049, + 135.38964508308533 + ], + [ + 910.2017193421639, + 130.1860940269056 + ], + [ + 911.2391272261518, + 192.2378275590903 + ], + [ + 968.4577038567877, + 198.3584553898106 + ], + [ + 971.7477678839816, + 103.24666209183039 + ], + [ + 917.5207855705207, + 98.13369538709907 + ], + [ + 919.223314306539, + 159.2329483265592 + ], + [ + 978.2024555716102, + 165.2747692662389 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 50094, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 730.1563617673814, + "ymin": 204.10322376349893, + "xmax": 941.7362789887976, + "ymax": 635.3087555114279 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 899.9025242029392, + 333.0081567446563 + ], + [ + 770.2759548335462, + 316.673945883853 + ], + [ + 730.1563617673814, + 606.9312060592192 + ], + [ + 900.5514708869607, + 635.3087555114279 + ], + [ + 929.8327484718673, + 220.09748042087654 + ], + [ + 784.9881896453178, + 204.10322376349893 + ], + [ + 744.0314270425672, + 498.1931952116849 + ], + [ + 941.7362789887976, + 528.1115461221898 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 31045, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1130.6930592909287, + "ymin": 305.45648602823945, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 1214.9861310933234, + 790.5074537941334 + ], + [ + 1425.0252403841148, + 828.266234211385 + ], + [ + 1282.1383770486536, + 439.33943929757925 + ], + [ + 1130.6930592909287, + 419.13186385429265 + ], + [ + 1319.3326280878953, + 695.6000350058271 + ], + [ + 1572.0604653927753, + 737.3855245408463 + ], + [ + 1365.57368189248, + 325.75915227083823 + ], + [ + 1193.062129103304, + 305.45648602823945 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 13958, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 919.2816712535143, + "ymin": 411.16107219384924, + "xmax": 1022.4207387337519, + "ymax": 639.5534638464712 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 987.8395800650715, + 459.6720137880339 + ], + [ + 919.2816712535143, + 449.98274371946655 + ], + [ + 922.853156213625, + 626.3391420509818 + ], + [ + 1003.0152116422603, + 639.5534638464712 + ], + [ + 1003.6278859811935, + 420.91795293245247 + ], + [ + 931.837784935828, + 411.16107219384924 + ], + [ + 937.8046816408973, + 590.0170519999646 + ], + [ + 1022.4207387337519, + 603.527652397126 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 8993, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1089.3319097164128, + "ymin": 83.5055365586814, + "xmax": 1215.0860948168488, + "ymax": 238.9014338214639 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 1114.7037254973532, + 230.82232796308907 + ], + [ + 1188.7141899456074, + 238.9014338214639 + ], + [ + 1154.3921929317444, + 139.1245895494488 + ], + [ + 1089.3319097164128, + 132.83276545878041 + ], + [ + 1137.290205143363, + 179.30925779162757 + ], + [ + 1215.0860948168488, + 187.2557709488878 + ], + [ + 1176.0739749829868, + 89.62512508635274 + ], + [ + 1108.1049013309048, + 83.5055365586814 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 758.553666078958, + "ymin": 0.0, + "xmax": 892.5583122136272, + "ymax": 113.7543232254736 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 759.6346538537098, + 98.77977052762913 + ], + [ + 758.553666078958, + 104.38095551878052 + ], + [ + 855.7838976555618, + 113.7543232254736 + ], + [ + 856.1029753548921, + 108.00506542199577 + ], + [ + 779.512492871522, + -103.04832181361303 + ], + [ + 778.4345509379101, + -98.37934733047757 + ], + [ + 892.5281583269586, + -90.53833900946285 + ], + [ + 892.5583122136272, + -95.35182216295146 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2080193722244522285, + "instance_id": 11745, + "pixel_count": null, + "type_id": "BP_StreetLight_simple51_120_SM_2", + "bbox_3d": { + "center_world": { + "x": -78.77368927001953, + "y": -128.03121948242188, + "z": 4.08544921875 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 75.56067114430937, + "ymax": 74.71923658227314 + }, + "corners_3d": [ + [ + -80.54341888427734, + -127.2630386352539, + 0.20873045921325684 + ], + [ + -80.32381439208984, + -126.88267517089844, + 0.20873045921325684 + ], + [ + -77.00395965576172, + -128.7993927001953, + 0.20873045921325684 + ], + [ + -77.22356414794922, + -129.1797637939453, + 0.20873045921325684 + ], + [ + -80.54341888427734, + -127.2630386352539, + 7.962167739868164 + ], + [ + -80.32381439208984, + -126.88267517089844, + 7.962167739868164 + ], + [ + -77.00395965576172, + -128.7993927001953, + 7.962167739868164 + ], + [ + -77.22356414794922, + -129.1797637939453, + 7.962167739868164 + ] + ], + "corners_2d": [ + [ + 58.656875229744514, + 74.71923658227314 + ], + [ + 70.10303231839328, + 72.96957073189736 + ], + [ + 75.56067114430937, + 32.23405488512731 + ], + [ + 64.81538125896282, + 33.779982614092546 + ], + [ + -34.41451240223455, + -123.60300065635283 + ], + [ + -20.86413681886245, + -125.04131966616609 + ], + [ + -8.331685890858353, + -158.197076012073 + ], + [ + -20.91176803505641, + -156.95028033207643 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1275.6997855455434, + "ymin": 74.0042785312105, + "xmax": 1280.0, + "ymax": 238.21020359377763 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1292.3341879264194, + 230.44318657234413 + ], + [ + 1365.7213244879244, + 238.21020359377763 + ], + [ + 1345.8334916298443, + 202.46098727029425 + ], + [ + 1275.6997855455434, + 195.33465885369435 + ], + [ + 1366.5709361614668, + 107.19163658108636 + ], + [ + 1449.1641518829188, + 114.57648081135682 + ], + [ + 1423.1789202782456, + 80.71511633727675 + ], + [ + 1344.679756430202, + 74.0042785312105 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 862.6049628550909, + "ymin": 243.11788627699138, + "xmax": 884.0137950997841, + "ymax": 258.47449515730455 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 862.9452147407341, + 247.2766876071031 + ], + [ + 862.6049628550909, + 256.1298274049976 + ], + [ + 882.9311361052994, + 258.47449515730455 + ], + [ + 883.0631507262378, + 249.5734152891228 + ], + [ + 863.814827545446, + 243.11788627699138 + ], + [ + 863.4822868839151, + 251.96262685725588 + ], + [ + 883.8911814793541, + 254.3051899913878 + ], + [ + 884.0137950997841, + 245.4123662644821 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 689.1968073153422, + "ymin": 216.80410559314802, + "xmax": 890.472633169409, + "ymax": 485.14380787017404 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 691.6371484014296, + 451.1117911765485 + ], + [ + 689.1968073153422, + 463.75652424748694 + ], + [ + 835.1721758704912, + 485.14380787017404 + ], + [ + 835.90209871293, + 471.9917931520208 + ], + [ + 705.6670809262079, + 216.80410559314802 + ], + [ + 702.7675788474724, + 229.36294647064653 + ], + [ + 890.3899052299083, + 250.79229520168428 + ], + [ + 890.472633169409, + 237.58638421961604 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 862.7195577863963, + "ymin": 243.19904382931423, + "xmax": 883.9006983041058, + "ymax": 258.3923760589832 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 863.0550596135001, + 247.3136662123136 + ], + [ + 862.7195577863963, + 256.0729107171279 + ], + [ + 882.8288834969537, + 258.3923760589832 + ], + [ + 882.960543939847, + 249.58620477701027 + ], + [ + 863.9158882827492, + 243.19904382931423 + ], + [ + 863.5879433143442, + 251.9500675137785 + ], + [ + 883.7782311597775, + 254.26747200406822 + ], + [ + 883.9006983041058, + 245.46938298238712 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 153.2055654250571, + "ymax": 171.14039395417072 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + 153.2055654250571, + 54.13081697192092 + ], + [ + -32.6818025856611, + 67.19207532636761 + ], + [ + -104.35164878078558, + 171.14039395417072 + ], + [ + 111.17389686909121, + 153.78990103137718 + ], + [ + 33.26064782780054, + -256.16986433146883 + ], + [ + -202.53289862605482, + -247.49389649612863 + ], + [ + -330.09003628341225, + -175.2954733489771 + ], + [ + -44.57066006218315, + -187.75066086014476 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 79.840014433188, + "ymax": 269.4584101853601 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 79.840014433188, + 148.70465723109842 + ], + [ + -99.64649091840806, + 145.68379379734682 + ], + [ + -223.85449421267163, + 265.39698805323724 + ], + [ + -16.250079801328297, + 269.4584101853601 + ], + [ + -93.61296080653665, + -211.9671401229757 + ], + [ + -327.4790492917915, + -214.03157143791975 + ], + [ + -548.191824497645, + -128.1099597935372 + ], + [ + -264.22286882782043, + -125.03933129675522 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00080/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00080/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e95a92cf2f664312e4fcd3257bc24892aa0d165c --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00080/meta.json @@ -0,0 +1,2468 @@ +{ + "frame_id": 80, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 40.0, + "sim_timestamp": 10688.91796932742 + }, + "drone_pose": { + "x": -111.57930420498174, + "y": -96.69866092659669, + "z": 20.08449152199752, + "pitch": -43.871227653982636, + "yaw": -8.537193207301055, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7129114866256714, + 0.10701849311590195, + 0.6930398941040039, + 55.278263092041016 + ], + [ + -0.14845138788223267, + 0.988919734954834, + 3.725290298461914e-09, + 112.19131469726562 + ], + [ + -0.6853607892990112, + -0.1028827428817749, + 0.720899224281311, + -81.00235748291016 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -110.85564364917667, + "y": -96.8804648183737, + "z": 20.11585109908927 + }, + "t1_image_uv": [ + 504.7533265399685, + -644.2056045826308 + ], + "t1_depth": 0.513628838374671 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -91.66718292236328, + "y": -99.68776321411131, + "z": 0.7273967456817627 + }, + "image_uv": [ + 640.0, + 360.0000000000001 + ], + "depth": 27.930707557063478, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 199, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -91.66718292236328, + "y": -99.68775939941406, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.18267576396465302, + "y": 0.22405271232128143, + "z": 0.522209882736206 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.3067933199944, + "ymin": 341.8301290710355, + "xmax": 648.626714968672, + "ymax": 377.9016615449982 + }, + "corners_3d": [ + [ + -91.84986114501953, + -99.91181182861328, + 0.20518678426742554 + ], + [ + -91.84986114501953, + -99.46370697021484, + 0.20518678426742554 + ], + [ + -91.48450469970703, + -99.46370697021484, + 0.20518678426742554 + ], + [ + -91.48450469970703, + -99.91181182861328, + 0.20518678426742554 + ], + [ + -91.84986114501953, + -99.91181182861328, + 1.2496066093444824 + ], + [ + -91.84986114501953, + -99.46370697021484, + 1.2496066093444824 + ], + [ + -91.48450469970703, + -99.46370697021484, + 1.2496066093444824 + ], + [ + -91.48450469970703, + -99.91181182861328, + 1.2496066093444824 + ] + ], + "corners_2d": [ + [ + 631.5300344936524, + 376.30100640229887 + ], + [ + 646.6342276300603, + 377.9016615449982 + ], + [ + 648.4068390552809, + 369.27287824482926 + ], + [ + 633.4379556948493, + 367.7014254834617 + ], + [ + 631.3067933199944, + 350.4109926632617 + ], + [ + 646.809390502618, + 352.00862112629864 + ], + [ + 648.626714968672, + 343.3978523011287 + ], + [ + 633.2666261801634, + 341.8301290710355 + ] + ], + "center_offset_px": [ + 0.0, + 1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 80, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 56, + "semantic_pixel_counts": { + "1": 222152, + "2": 139372, + "3": 408881, + "4": 6567, + "5": 947, + "6": 2700, + "10": 1353, + "12": 2625, + "14": 27016, + "16": 90569, + "20": 7305, + "24": 12113 + }, + "instance_pixel_counts": { + "913": 738, + "2670": 22, + "3182": 6101, + "3694": 1789, + "4206": 3545, + "4718": 11036, + "5742": 992, + "8834": 2433, + "14416": 947, + "15963": 1718, + "16475": 5500, + "16987": 18375, + "17232": 6567, + "17499": 58905, + "18011": 266491, + "22976": 58, + "24512": 29959, + "26963": 206, + "31168": 8940, + "34120": 1697, + "35668": 4772, + "36692": 1795, + "37979": 306, + "40019": 61, + "41611": 300, + "42123": 116, + "43117": 1261, + "43147": 12819, + "43155": 6149, + "43659": 7148, + "44179": 193038, + "45717": 385, + "46227": 22965, + "46741": 10779, + "48749": 1956, + "48779": 2414, + "48789": 949, + "49261": 8043, + "49664": 199, + "49920": 297, + "50176": 518, + "50432": 1044, + "50624": 1676, + "50944": 567, + "51136": 215, + "51456": 4089, + "52160": 34406, + "52480": 50936, + "52672": 26911, + "52736": 39633, + "54016": 14238, + "55040": 8689, + "55744": 7622, + "55879": 1337, + "64351": 5091, + "65133": 22841 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 199, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -91.66718292236328, + "y": -99.68775939941406, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.2164306342601776, + "y": 0.21665525436401367, + "z": 0.5176998972892761 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.3806506806767, + "ymin": 341.1859524573264, + "xmax": 648.5380251817895, + "ymax": 378.57140037127294 + }, + "corners_3d": [ + [ + -91.88361358642578, + -99.90441131591797, + 0.20969676971435547 + ], + [ + -91.88361358642578, + -99.47110748291016, + 0.20969676971435547 + ], + [ + -91.45075225830078, + -99.47110748291016, + 0.20969676971435547 + ], + [ + -91.45075225830078, + -99.90441131591797, + 0.20969676971435547 + ], + [ + -91.88361358642578, + -99.90441131591797, + 1.2450965642929077 + ], + [ + -91.88361358642578, + -99.47110748291016, + 1.2450965642929077 + ], + [ + -91.45075225830078, + -99.47110748291016, + 1.2450965642929077 + ], + [ + -91.45075225830078, + -99.90441131591797, + 1.2450965642929077 + ] + ], + "corners_2d": [ + [ + 631.6003016235347, + 377.02097438547975 + ], + [ + 646.2194288775349, + 378.57140037127294 + ], + [ + 648.3224541299059, + 368.3488686464023 + ], + [ + 633.858377498355, + 366.8319018918902 + ], + [ + 631.3806506806767, + 351.3530604917794 + ], + [ + 646.382341378277, + 352.9006495555236 + ], + [ + 648.5380251817895, + 342.6992839844594 + ], + [ + 633.6995609325493, + 341.1859524573264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 297, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -87.54119873046875, + "y": -96.69005584716797, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.542163074016571, + "y": 0.3523876965045929, + "z": 0.8789772391319275 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 736.8620204972962, + "ymin": 251.78010737100954, + "xmax": 768.1647233812644, + "ymax": 316.8834680766742 + }, + "corners_3d": [ + [ + -88.14478302001953, + -96.9220199584961, + -0.30398285388946533 + ], + [ + -87.99824523925781, + -96.2326431274414, + -0.30398285388946533 + ], + [ + -86.93761444091797, + -96.45809173583984, + -0.30398285388946533 + ], + [ + -87.08415222167969, + -97.14746856689453, + -0.30398285388946533 + ], + [ + -88.14478302001953, + -96.9220199584961, + 1.4539716243743896 + ], + [ + -87.99824523925781, + -96.2326431274414, + 1.4539716243743896 + ], + [ + -86.93761444091797, + -96.45809173583984, + 1.4539716243743896 + ], + [ + -87.08415222167969, + -97.14746856689453, + 1.4539716243743896 + ] + ], + "corners_2d": [ + [ + 741.3485197466107, + 316.8834680766742 + ], + [ + 763.1100007479174, + 316.0093506862907 + ], + [ + 758.0917328246013, + 294.35650129075515 + ], + [ + 736.8620204972962, + 295.1880592767655 + ], + [ + 745.514055361632, + 274.0681517288188 + ], + [ + 768.1647233812644, + 273.20243047260874 + ], + [ + 762.8161813848462, + 251.78010737100954 + ], + [ + 740.7410499619341, + 252.60201275840623 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 518, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -90.01142120361328, + "y": -90.71903228759766, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.32645994424819946, + "y": 0.3258593678474426, + "z": 0.8789563775062561 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 930.3278718672111, + "ymin": 326.5511792048975, + "xmax": 970.2354922418374, + "ymax": 385.74233908471825 + }, + "corners_3d": [ + [ + -90.37015533447266, + -91.00897979736328, + -0.3039522171020508 + ], + [ + -90.30203247070312, + -90.36083221435547, + -0.3039522171020508 + ], + [ + -89.6526870727539, + -90.42908477783203, + -0.3039522171020508 + ], + [ + -89.72080993652344, + -91.07723236083984, + -0.3039522171020508 + ], + [ + -90.37015533447266, + -91.00897979736328, + 1.4539605379104614 + ], + [ + -90.30203247070312, + -90.36083221435547, + 1.4539605379104614 + ], + [ + -89.6526870727539, + -90.42908477783203, + 1.4539605379104614 + ], + [ + -89.72080993652344, + -91.07723236083984, + 1.4539605379104614 + ] + ], + "corners_2d": [ + [ + 934.1257713449579, + 385.0534723173969 + ], + [ + 956.1782115772636, + 385.74233908471825 + ], + [ + 952.0211361191094, + 370.4082575192605 + ], + [ + 930.3278718672111, + 369.74147293762957 + ], + [ + 947.1926829597536, + 341.8028384920208 + ], + [ + 970.2354922418374, + 342.4895051912182 + ], + [ + 965.6595542569885, + 327.2148806499962 + ], + [ + 943.0086169471281, + 326.5511792048975 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 1044, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -101.16718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.43450191617012024, + "y": 0.44933101534843445, + "z": 0.8896574974060059 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 549.1521756258633, + "ymin": 613.8133441850915, + "xmax": 600.7297428979491, + "ymax": 696.0191403561662 + }, + "corners_3d": [ + [ + -101.6016845703125, + -100.13709259033203, + -0.1622510552406311 + ], + [ + -101.6016845703125, + -99.2384262084961, + -0.1622510552406311 + ], + [ + -100.73268127441406, + -99.2384262084961, + -0.1622510552406311 + ], + [ + -100.73268127441406, + -100.13709259033203, + -0.1622510552406311 + ], + [ + -101.6016845703125, + -100.13709259033203, + 1.6170639991760254 + ], + [ + -101.6016845703125, + -99.2384262084961, + 1.6170639991760254 + ], + [ + -100.73268127441406, + -99.2384262084961, + 1.6170639991760254 + ], + [ + -100.73268127441406, + -100.13709259033203, + 1.6170639991760254 + ] + ], + "corners_2d": [ + [ + 554.3596356828309, + 690.3911196056051 + ], + [ + 593.8111729035741, + 696.0191403561662 + ], + [ + 600.7297428979491, + 660.6261966938087 + ], + [ + 562.3524526102009, + 655.3095088830283 + ], + [ + 549.1521756258633, + 649.7604765443913 + ], + [ + 590.9892259136519, + 655.5387432706495 + ], + [ + 598.40194225192, + 619.2533475605574 + ], + [ + 557.7709636405576, + 613.8133441850915 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 567, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -89.58158874511719, + "y": -101.20303344726562, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.4164160192012787, + "y": 0.44313475489616394, + "z": 0.8580102324485779 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 581.701568715004, + "ymin": 275.63339450934893, + "xmax": 620.1372306843313, + "ymax": 341.0213356742449 + }, + "corners_3d": [ + [ + -89.89677429199219, + -101.72306060791016, + -0.13060379028320312 + ], + [ + -90.08103942871094, + -100.85616302490234, + -0.13060379028320312 + ], + [ + -89.26640319824219, + -100.6830062866211, + -0.13060379028320312 + ], + [ + -89.08213806152344, + -101.5499038696289, + -0.13060379028320312 + ], + [ + -89.89677429199219, + -101.72306060791016, + 1.5854166746139526 + ], + [ + -90.08103942871094, + -100.85616302490234, + 1.5854166746139526 + ], + [ + -89.26640319824219, + -100.6830062866211, + 1.5854166746139526 + ], + [ + -89.08213806152344, + -101.5499038696289, + 1.5854166746139526 + ] + ], + "corners_2d": [ + [ + 584.0122479757345, + 334.2690618089892 + ], + [ + 610.3440377874048, + 341.0213356742449 + ], + [ + 620.1372306843313, + 324.2725706402733 + ], + [ + 594.217955559969, + 317.7673038655545 + ], + [ + 581.701568715004, + 291.9941198897603 + ], + [ + 609.1105072046603, + 298.6958488675498 + ], + [ + 619.3269777939701, + 282.0800993668293 + ], + [ + 592.3646379290747, + 275.63339450934893 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 4089, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 874.1967850626716, + "ymin": 120.3873045922499, + "xmax": 942.250514961673, + "ymax": 218.90805275870417 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 926.4192388561517, + 156.2927500537072 + ], + [ + 874.1967850626716, + 152.15058735412245 + ], + [ + 876.9864171780018, + 214.01568540478286 + ], + [ + 933.7730939520015, + 218.90805275870417 + ], + [ + 934.0049541640678, + 124.45029891675946 + ], + [ + 880.3627423248618, + 120.3873045922499 + ], + [ + 883.7811208960809, + 181.19925319724408 + ], + [ + 942.250514961673, + 186.02018607423173 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 50936, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 706.093701847821, + "ymin": 229.87546439463654, + "xmax": 916.4098721363819, + "ymax": 664.1011222203626 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 869.7269720628835, + 355.6853949627658 + ], + [ + 739.7509624140746, + 342.43514596372506 + ], + [ + 706.093701847821, + 640.5732441526438 + ], + [ + 879.0515387037709, + 664.1011222203626 + ], + [ + 895.588216193712, + 242.78449816485752 + ], + [ + 750.8003884274159, + 229.87546439463654 + ], + [ + 716.194321920741, + 530.8438418677165 + ], + [ + 916.4098721363819, + 555.568139853752 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 39633, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1101.2842228204588, + "ymin": 322.4167256694956, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 1198.9459283264582, + 812.9015432641031 + ], + [ + 1408.3417125911806, + 843.7462311041559 + ], + [ + 1250.8881209480878, + 452.7027077158191 + ], + [ + 1101.2842228204588, + 436.52487972895864 + ], + [ + 1298.8209626751786, + 715.3952745423114 + ], + [ + 1549.2751118677893, + 749.310653718876 + ], + [ + 1327.8651130552435, + 338.55326351946974 + ], + [ + 1158.3693951381179, + 322.4167256694956 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 14238, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 892.4295987763918, + "ymin": 434.622490762327, + "xmax": 1000.0583056066121, + "ymax": 664.9814798074813 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 961.0966760066797, + 481.59127805305985 + ], + [ + 892.4295987763918, + 473.71156110863984 + ], + [ + 901.2134937278714, + 654.1059817079081 + ], + [ + 982.015192574318, + 664.9814798074813 + ], + [ + 975.3935725962788, + 442.54269170842383 + ], + [ + 903.5805423894351, + 434.622490762327 + ], + [ + 914.8654555211594, + 617.2870582346344 + ], + [ + 1000.0583056066121, + 628.3899149052048 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 8689, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1050.5358800043991, + "ymin": 102.52372300737102, + "xmax": 1175.3672410375066, + "ymax": 254.5053768280543 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 1078.8118218411103, + 248.10442357751128 + ], + [ + 1151.5791754909383, + 254.5053768280543 + ], + [ + 1114.3596527553277, + 156.24643403850155 + ], + [ + 1050.5358800043991, + 151.28721345594485 + ], + [ + 1099.0491052489615, + 196.89060908192246 + ], + [ + 1175.3672410375066, + 203.1661954325843 + ], + [ + 1133.6576891549325, + 107.33231383596254 + ], + [ + 1067.1175939281204, + 102.52372300737102 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 723.0061390520939, + "ymin": 0.0, + "xmax": 849.5407288062825, + "ymax": 136.87569993346736 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 723.9530894897248, + 123.77962550361883 + ], + [ + 723.0061390520939, + 129.38765513725804 + ], + [ + 819.8548589703282, + 136.87569993346736 + ], + [ + 820.0190077861951, + 131.1461991804851 + ], + [ + 737.5087335072217, + -75.60148870957397 + ], + [ + 736.5361822144889, + -70.9730845552557 + ], + [ + 849.5407288062825, + -64.7739815767543 + ], + [ + 849.4489210428115, + -69.51920926392268 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2080193722244522285, + "instance_id": 11745, + "pixel_count": null, + "type_id": "BP_StreetLight_simple51_120_SM_2", + "bbox_3d": { + "center_world": { + "x": -78.77368927001953, + "y": -128.03121948242188, + "z": 4.08544921875 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 29.67346736950867, + "ymax": 112.79392825459897 + }, + "corners_3d": [ + [ + -80.54341888427734, + -127.2630386352539, + 0.20873045921325684 + ], + [ + -80.32381439208984, + -126.88267517089844, + 0.20873045921325684 + ], + [ + -77.00395965576172, + -128.7993927001953, + 0.20873045921325684 + ], + [ + -77.22356414794922, + -129.1797637939453, + 0.20873045921325684 + ], + [ + -80.54341888427734, + -127.2630386352539, + 7.962167739868164 + ], + [ + -80.32381439208984, + -126.88267517089844, + 7.962167739868164 + ], + [ + -77.00395965576172, + -128.7993927001953, + 7.962167739868164 + ], + [ + -77.22356414794922, + -129.1797637939453, + 7.962167739868164 + ] + ], + "corners_2d": [ + [ + 12.154061319296261, + 112.79392825459897 + ], + [ + 23.99342594097459, + 110.80140380357722 + ], + [ + 29.67346736950867, + 69.40825671407384 + ], + [ + 18.579150725190402, + 71.16312500766702 + ], + [ + -87.66512275753598, + -85.27126295026142 + ], + [ + -73.60889571147914, + -86.90288343956144 + ], + [ + -60.212329062168806, + -120.45600809999479 + ], + [ + -73.23208484292195, + -119.04665701438091 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1279.412406205081, + "ymin": 120.13487494614219, + "xmax": 1280.0, + "ymax": 165.54842096996336 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1299.1855774279215, + 160.00880619764112 + ], + [ + 1372.2146279191033, + 165.54842096996336 + ], + [ + 1349.129384203835, + 133.95709301690223 + ], + [ + 1279.412406205081, + 128.88587625238412 + ], + [ + 1304.08918167533, + 151.09269533360484 + ], + [ + 1377.7035396905287, + 156.60499914666238 + ], + [ + 1354.213051248577, + 125.17783483508106 + ], + [ + 1283.9626838825723, + 120.13487494614219 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1234.6360632704784, + "ymin": 89.5185185841018, + "xmax": 1280.0, + "ymax": 249.9373426050404 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1252.228840015195, + 243.85437082324364 + ], + [ + 1323.7329808247284, + 249.9373426050404 + ], + [ + 1302.940357725946, + 215.00556347413274 + ], + [ + 1234.6360632704784, + 209.43239739860135 + ], + [ + 1319.2736092007399, + 121.78033446439053 + ], + [ + 1399.2350251530245, + 127.51294039630582 + ], + [ + 1372.669412984109, + 94.72156467539946 + ], + [ + 1296.6859229944662, + 89.5185185841018 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 828.5832738726145, + "ymin": 269.34054062713983, + "xmax": 849.7985466784744, + "ymax": 284.3985529749964 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 828.703674170902, + 273.50296334946086 + ], + [ + 828.5832738726145, + 282.4946397541899 + ], + [ + 848.9863861276107, + 284.3985529749964 + ], + [ + 848.8895623918938, + 275.3665470319256 + ], + [ + 829.4275459576525, + 269.34054062713983 + ], + [ + 829.3144909049597, + 278.3221603258149 + ], + [ + 849.7985466784744, + 280.2240391605471 + ], + [ + 849.6926599722211, + 271.20197913529154 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1279.4924822057988, + "ymin": 120.15566198629432, + "xmax": 1280.0, + "ymax": 165.4656404598775 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1299.2451072961387, + 159.93271819565965 + ], + [ + 1372.1957746032515, + 165.4656404598775 + ], + [ + 1349.1384628614878, + 133.9146859600763 + ], + [ + 1279.4924822057988, + 128.8490652296071 + ], + [ + 1304.1164649603563, + 151.0754781463398 + ], + [ + 1377.6479099083745, + 156.5812956486912 + ], + [ + 1354.1885427429334, + 125.19324091184663 + ], + [ + 1284.0132412593384, + 120.15566198629432 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.3493863046623, + "ymin": 246.32329323987472, + "xmax": 856.1459477015705, + "ymax": 512.1017578337437 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 663.549304200652, + 481.5029069169648 + ], + [ + 661.3493863046623, + 494.53126010422346 + ], + [ + 809.1047228341787, + 512.1017578337437 + ], + [ + 809.4904104076973, + 498.6396001494478 + ], + [ + 669.8637413222733, + 246.32329323987472 + ], + [ + 667.1648067307237, + 259.1676132969294 + ], + [ + 856.1459477015705, + 276.62707642452824 + ], + [ + 855.8868618457487, + 263.2358191939991 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 828.696381806993, + "ymin": 269.42011829485534, + "xmax": 849.6848181336171, + "ymax": 284.31803048561045 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 828.8143225773697, + 273.53833168329317 + ], + [ + 828.696381806993, + 282.4345913849803 + ], + [ + 848.8817707796961, + 284.31803048561045 + ], + [ + 848.7870733452057, + 275.38229372979805 + ], + [ + 829.5309493799581, + 269.42011829485534 + ], + [ + 829.420207387863, + 278.3065345806797 + ], + [ + 849.6848181336171, + 280.187981747048 + ], + [ + 849.5812584146838, + 271.26198111599774 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1237.9923973014902, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 216.75711821816938 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1430.6872797599876, + 65.81854794912226 + ], + [ + 1237.9923973014902, + 85.35421994596567 + ], + [ + 1410.6158734355517, + 216.75711821816938 + ], + [ + 1634.7447524624897, + 188.6704672857135 + ], + [ + 1676.1333260469432, + -335.48528324475353 + ], + [ + 1431.253886982849, + -326.1352849939416 + ], + [ + 1731.1477852179498, + -258.18006017733353 + ], + [ + 2027.7079063584351, + -273.49389921596276 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 109.51262715192831, + "ymax": 214.70992319409672 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + 109.51262715192831, + 90.23139663170349 + ], + [ + -82.73108218383209, + 106.92227428165106 + ], + [ + -158.22070795611023, + 214.70992319409672 + ], + [ + 66.24250428606967, + 192.3048939437129 + ], + [ + -19.706682059138302, + -218.7232223627924 + ], + [ + -264.40809885945873, + -207.7167480732079 + ], + [ + -400.98308224521384, + -133.17786204488146 + ], + [ + -101.75418395883128, + -149.18461847263097 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 34.25367177135706, + "ymax": 314.5916940599343 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 34.25367177135706, + 187.58040782575642 + ], + [ + -152.56686716593754, + 188.27382992436554 + ], + [ + -284.3658460056589, + 314.5916940599343 + ], + [ + -66.0214547274337, + 313.64557479061205 + ], + [ + -152.28546916278037, + -173.0313859883605 + ], + [ + -396.93230164075817, + -172.56009255820334 + ], + [ + -635.4991947856906, + -81.98602346719508 + ], + [ + -333.81477221746866, + -82.70122586552321 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00081/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00081/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0c904c8e966bda786f8b42753ed324dd32e7a2bc --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00081/meta.json @@ -0,0 +1,2260 @@ +{ + "frame_id": 81, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 40.5, + "sim_timestamp": 10702.068102577701 + }, + "drone_pose": { + "x": -110.85564364917667, + "y": -96.8804648183737, + "z": 20.11585109908927, + "pitch": -44.27189526058054, + "yaw": -8.114875814490878, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7088656425476074, + 0.10107429325580597, + 0.6980641484260559, + 54.747474670410156 + ], + [ + -0.14115826785564423, + 0.9899870157241821, + 7.450580596923828e-09, + 111.55859375 + ], + [ + -0.6910744309425354, + -0.09853752702474594, + 0.7160352468490601, + -81.466796875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -110.45819408704413, + "y": -96.80403696505823, + "z": 20.166610874123876 + }, + "t1_image_uv": [ + 1170.2008512302912, + -861.1539630131979 + ], + "t1_depth": 0.2385798537470309 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -91.16718292236328, + "y": -99.68776321411131, + "z": 0.7273967456817627 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 27.77460300865074, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 203, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -91.16718292236328, + "y": -99.68775939941406, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.24394039809703827, + "y": 0.20955564081668854, + "z": 0.5199257731437683 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.4815071893755, + "ymin": 340.4730801813854, + "xmax": 648.4249641990457, + "ymax": 379.2909803413431 + }, + "corners_3d": [ + [ + -91.41112518310547, + -99.8973159790039, + 0.20747089385986328 + ], + [ + -91.41112518310547, + -99.47820281982422, + 0.20747089385986328 + ], + [ + -90.9232406616211, + -99.47820281982422, + 0.20747089385986328 + ], + [ + -90.9232406616211, + -99.8973159790039, + 0.20747089385986328 + ], + [ + -91.41112518310547, + -99.8973159790039, + 1.2473224401474 + ], + [ + -91.41112518310547, + -99.47820281982422, + 1.2473224401474 + ], + [ + -90.9232406616211, + -99.47820281982422, + 1.2473224401474 + ], + [ + -90.9232406616211, + -99.8973159790039, + 1.2473224401474 + ] + ], + "corners_2d": [ + [ + 631.7024559975123, + 377.8451174068925 + ], + [ + 645.9443825249273, + 379.2909803413431 + ], + [ + 648.2087855728881, + 367.6134275245389 + ], + [ + 634.137324569266, + 366.20267455908447 + ], + [ + 631.4815071893755, + 352.099111098069 + ], + [ + 646.102917197794, + 353.54346347334894 + ], + [ + 648.4249641990457, + 341.881442142 + ], + [ + 633.9831677475808, + 340.4730801813854 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 81, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 56, + "semantic_pixel_counts": { + "1": 220857, + "2": 139057, + "3": 409679, + "4": 6536, + "5": 851, + "6": 2755, + "10": 1271, + "12": 2585, + "14": 28409, + "16": 90179, + "20": 7257, + "24": 12164 + }, + "instance_pixel_counts": { + "913": 548, + "2670": 168, + "3182": 6699, + "3694": 1896, + "4206": 3693, + "4718": 12276, + "5742": 1040, + "8834": 2527, + "14416": 851, + "15963": 1783, + "16475": 5764, + "16987": 19978, + "17232": 6536, + "17499": 65858, + "18011": 245400, + "22976": 45, + "24512": 31482, + "26963": 210, + "31168": 7041, + "34120": 1251, + "35668": 4953, + "36692": 1756, + "37979": 311, + "40019": 18, + "41611": 281, + "42123": 114, + "43117": 1317, + "43147": 13463, + "43155": 6015, + "43659": 7541, + "44179": 202521, + "45717": 285, + "46227": 12321, + "46741": 11351, + "48749": 2077, + "48779": 1766, + "48789": 528, + "49261": 8544, + "49664": 203, + "49920": 351, + "50176": 499, + "50432": 937, + "50624": 1574, + "50944": 595, + "51136": 191, + "51456": 4260, + "52160": 36493, + "52480": 53887, + "52672": 27037, + "52736": 36292, + "54016": 15069, + "55040": 9080, + "55744": 5818, + "55879": 1253, + "64351": 4960, + "65133": 32875 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 203, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -91.16718292236328, + "y": -99.68775939941406, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.27360838651657104, + "y": 0.21928220987319946, + "z": 0.530565083026886 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 630.9858269498374, + "ymin": 339.4727947163289, + "xmax": 648.9021280021209, + "ymax": 380.30048564293145 + }, + "corners_3d": [ + [ + -91.44078826904297, + -99.90704345703125, + 0.1968315839767456 + ], + [ + -91.44078826904297, + -99.46847534179688, + 0.1968315839767456 + ], + [ + -90.8935775756836, + -99.46847534179688, + 0.1968315839767456 + ], + [ + -90.8935775756836, + -99.90704345703125, + 0.1968315839767456 + ], + [ + -91.44078826904297, + -99.90704345703125, + 1.2579617500305176 + ], + [ + -91.44078826904297, + -99.46847534179688, + 1.2579617500305176 + ], + [ + -90.8935775756836, + -99.46847534179688, + 1.2579617500305176 + ], + [ + -90.8935775756836, + -99.90704345703125, + 1.2579617500305176 + ] + ], + "corners_2d": [ + [ + 631.2245244947399, + 378.78522457035564 + ], + [ + 646.1345750960019, + 380.30048564293145 + ], + [ + 648.6692575874371, + 367.20183393052383 + ], + [ + 633.9591723292201, + 365.7277703147337 + ], + [ + 630.9858269498374, + 352.51144287263105 + ], + [ + 646.3017108193718, + 354.0251498326213 + ], + [ + 648.9021280021209, + 340.9442496800123 + ], + [ + 633.7971662559073, + 339.4727947163289 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 351, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -87.04119873046875, + "y": -96.69005584716797, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.2748974561691284, + "y": 0.33935546875, + "z": 0.8830540180206299 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 737.932253329604, + "ymin": 255.17364731064242, + "xmax": 766.2695105503678, + "ymax": 310.08260688789426 + }, + "corners_3d": [ + [ + -87.38064575195312, + -96.96484375, + -0.3080596327781677 + ], + [ + -87.23953247070312, + -96.30096435546875, + -0.3080596327781677 + ], + [ + -86.70175170898438, + -96.41526794433594, + -0.3080596327781677 + ], + [ + -86.84286499023438, + -97.07914733886719, + -0.3080596327781677 + ], + [ + -87.38064575195312, + -96.96484375, + 1.4580483436584473 + ], + [ + -87.23953247070312, + -96.30096435546875, + 1.4580483436584473 + ], + [ + -86.70175170898438, + -96.41526794433594, + 1.4580483436584473 + ], + [ + -86.84286499023438, + -97.07914733886719, + 1.4580483436584473 + ] + ], + "corners_2d": [ + [ + 740.3337534641731, + 310.08260688789426 + ], + [ + 761.2379705342498, + 309.1396339348471 + ], + [ + 758.5769464296425, + 298.04501592719714 + ], + [ + 737.932253329604, + 298.96448322849807 + ], + [ + 744.5023610048418, + 267.09633524064265 + ], + [ + 766.2695105503678, + 266.1618773999164 + ], + [ + 763.4338343405245, + 255.17364731064242 + ], + [ + 741.947932003191, + 256.0838634129998 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 499, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -90.16483306884766, + "y": -90.53882598876953, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.4917968511581421, + "y": 0.31227049231529236, + "z": 0.885316014289856 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 938.4369120060411, + "ymin": 336.63482798740296, + "xmax": 981.4570741233161, + "ymax": 404.79366690693803 + }, + "corners_3d": [ + [ + -90.68657684326172, + -90.79798126220703, + -0.31031185388565063 + ], + [ + -90.62129211425781, + -90.1768569946289, + -0.31031185388565063 + ], + [ + -89.6430892944336, + -90.27967071533203, + -0.31031185388565063 + ], + [ + -89.7083740234375, + -90.90079498291016, + -0.31031185388565063 + ], + [ + -90.68657684326172, + -90.79798126220703, + 1.460320234298706 + ], + [ + -90.62129211425781, + -90.1768569946289, + 1.460320234298706 + ], + [ + -89.6430892944336, + -90.27967071533203, + 1.460320234298706 + ], + [ + -89.7083740234375, + -90.90079498291016, + 1.460320234298706 + ] + ], + "corners_2d": [ + [ + 944.7071076450817, + 404.2144813205623 + ], + [ + 966.3433284876226, + 404.79366690693803 + ], + [ + 959.5376105647086, + 380.68400211643944 + ], + [ + 938.4369120060411, + 380.1329360518699 + ], + [ + 958.8101078818851, + 360.6845782164771 + ], + [ + 981.4570741233161, + 361.2636727142241 + ], + [ + 973.9559410638944, + 337.1845556348609 + ], + [ + 951.8950192292051, + 336.63482798740296 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 937, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -100.66718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.4290819764137268, + "y": 0.44743648171424866, + "z": 0.8635478019714355 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 552.2466759722054, + "ymin": 618.9125343085703, + "xmax": 603.2922140494684, + "ymax": 699.2154032111275 + }, + "corners_3d": [ + [ + -101.09626770019531, + -100.13519287109375, + -0.1361413598060608 + ], + [ + -101.09626770019531, + -99.24032592773438, + -0.1361413598060608 + ], + [ + -100.23809814453125, + -99.24032592773438, + -0.1361413598060608 + ], + [ + -100.23809814453125, + -100.13519287109375, + -0.1361413598060608 + ], + [ + -101.09626770019531, + -100.13519287109375, + 1.590954303741455 + ], + [ + -101.09626770019531, + -99.24032592773438, + 1.590954303741455 + ], + [ + -100.23809814453125, + -99.24032592773438, + 1.590954303741455 + ], + [ + -100.23809814453125, + -100.13519287109375, + 1.590954303741455 + ] + ], + "corners_2d": [ + [ + 557.1941255606037, + 693.8220762298897 + ], + [ + 596.78221711155, + 699.2154032111275 + ], + [ + 603.2922140494684, + 663.7991783262482 + ], + [ + 564.7723779032441, + 658.7006888072083 + ], + [ + 552.2466759722054, + 654.9328418049008 + ], + [ + 594.1884334049589, + 660.4747570497717 + ], + [ + 601.1538925634526, + 624.1341411768833 + ], + [ + 560.409246218806, + 618.9125343085703 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 595, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -89.08158874511719, + "y": -101.20303344726562, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.42588865756988525, + "y": 0.44942381978034973, + "z": 0.8748175501823425 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 580.4883829682054, + "ymin": 274.3645252681389, + "xmax": 619.7389605297494, + "ymax": 341.29379154656215 + }, + "corners_3d": [ + [ + -89.40473175048828, + -101.73118591308594, + -0.14741110801696777 + ], + [ + -89.59161376953125, + -100.85197448730469, + -0.14741110801696777 + ], + [ + -88.7584457397461, + -100.67488098144531, + -0.14741110801696777 + ], + [ + -88.57156372070312, + -101.55409240722656, + -0.14741110801696777 + ], + [ + -89.40473175048828, + -101.73118591308594, + 1.6022239923477173 + ], + [ + -89.59161376953125, + -100.85197448730469, + 1.6022239923477173 + ], + [ + -88.7584457397461, + -100.67488098144531, + 1.6022239923477173 + ], + [ + -88.57156372070312, + -101.55409240722656, + 1.6022239923477173 + ] + ], + "corners_2d": [ + [ + 582.9241119020535, + 334.4906735489556 + ], + [ + 609.8531701261734, + 341.29379154656215 + ], + [ + 619.7389605297494, + 323.89595744882115 + ], + [ + 593.2450419179427, + 317.3475592465824 + ], + [ + 580.4883829682054, + 291.37910239100796 + ], + [ + 608.5566187473097, + 298.1387929598978 + ], + [ + 618.8848016908316, + 280.86059814326666 + ], + [ + 591.2889052866483, + 274.3645252681389 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 4260, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 873.261954282328, + "ymin": 123.2705042696567, + "xmax": 943.0316700872548, + "ymax": 223.90858877781886 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 926.1820302390774, + 159.33305465739787 + ], + [ + 873.261954282328, + 155.27525775418528 + ], + [ + 876.7570909078884, + 219.1090294855172 + ], + [ + 934.3462015247155, + 223.90858877781886 + ], + [ + 933.9263448408744, + 127.25568692122624 + ], + [ + 879.5384344717315, + 123.2705042696567 + ], + [ + 883.7000872259619, + 186.10020149907479 + ], + [ + 943.0316700872548, + 190.8362278321859 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 53887, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 707.1643871016436, + "ymin": 239.76219852160588, + "xmax": 923.085741274819, + "ymax": 686.4374045477512 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 870.9260991643004, + 365.708613098829 + ], + [ + 738.7500972494252, + 352.6538338870012 + ], + [ + 707.1643871016436, + 663.0846198674903 + ], + [ + 883.7666114318718, + 686.4374045477512 + ], + [ + 897.6165096700815, + 252.55524068698884 + ], + [ + 749.987374605937, + 239.76219852160588 + ], + [ + 717.7658367399843, + 555.4939111644001 + ], + [ + 923.085741274819, + 580.2584683619335 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 36292, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1106.8126455506276, + "ymin": 334.3525524138536, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 1211.33534409896, + 839.5204649780867 + ], + [ + 1424.5862687501544, + 870.0897554043604 + ], + [ + 1258.5741494901638, + 464.1543170241447 + ], + [ + 1106.8126455506276, + 448.2446882831526 + ], + [ + 1316.7694163803808, + 746.2921068565379 + ], + [ + 1573.0924942492125, + 780.2529580855646 + ], + [ + 1338.5396206035152, + 350.320909000431 + ], + [ + 1166.1189303217184, + 334.3525524138536 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 15069, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 895.2831364320873, + "ymin": 449.22710486998176, + "xmax": 1007.5467669745577, + "ymax": 686.642198142996 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 965.1452351931246, + 495.8451179746384 + ], + [ + 895.2831364320873, + 488.06823130070154 + ], + [ + 906.2361599772864, + 675.863556509456 + ], + [ + 988.6293494156332, + 686.642198142996 + ], + [ + 980.000298673127, + 457.0624263752286 + ], + [ + 906.8579087218812, + 449.22710486998176 + ], + [ + 920.5527709459654, + 639.8967005321169 + ], + [ + 1007.5467669745577, + 650.9337099072463 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 9080, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1051.6655162513762, + "ymin": 104.54254433167364, + "xmax": 1179.682047210969, + "ymax": 259.67061964569376 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 1081.5245533819311, + 253.40048802103325 + ], + [ + 1155.1963094854073, + 259.67061964569376 + ], + [ + 1116.2205581053888, + 158.52043702561795 + ], + [ + 1051.6655162513762, + 153.6720713332143 + ], + [ + 1102.3440024784193, + 201.94116441084245 + ], + [ + 1179.682047210969, + 208.10173716409787 + ], + [ + 1136.0002313816692, + 109.25223756545773 + ], + [ + 1068.64638355912, + 104.54254433167364 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 719.8356217059786, + "ymin": 0.0, + "xmax": 848.2316015808053, + "ymax": 139.83161022247378 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 720.7455470546166, + 126.70153616692198 + ], + [ + 719.8356217059786, + 132.49133886161715 + ], + [ + 818.0920586775051, + 139.83161022247378 + ], + [ + 818.2000223052156, + 133.92170081790204 + ], + [ + 734.1183803328785, + -75.0220737751925 + ], + [ + 733.1849308518368, + -70.20440434646781 + ], + [ + 848.2316015808053, + -64.07763444685361 + ], + [ + 848.0670846169173, + -69.01217736070697 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2080193722244522285, + "instance_id": 11745, + "pixel_count": null, + "type_id": "BP_StreetLight_simple51_120_SM_2", + "bbox_3d": { + "center_world": { + "x": -78.77368927001953, + "y": -128.03121948242188, + "z": 4.08544921875 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 13.815221029229406, + "ymax": 118.15341366049819 + }, + "corners_3d": [ + [ + -80.54341888427734, + -127.2630386352539, + 0.20873045921325684 + ], + [ + -80.32381439208984, + -126.88267517089844, + 0.20873045921325684 + ], + [ + -77.00395965576172, + -128.7993927001953, + 0.20873045921325684 + ], + [ + -77.22356414794922, + -129.1797637939453, + 0.20873045921325684 + ], + [ + -80.54341888427734, + -127.2630386352539, + 7.962167739868164 + ], + [ + -80.32381439208984, + -126.88267517089844, + 7.962167739868164 + ], + [ + -77.00395965576172, + -128.7993927001953, + 7.962167739868164 + ], + [ + -77.22356414794922, + -129.1797637939453, + 7.962167739868164 + ] + ], + "corners_2d": [ + [ + -4.07190711116516, + 118.15341366049819 + ], + [ + 8.028963727400196, + 116.04407375215342 + ], + [ + 13.815221029229406, + 73.18207763956042 + ], + [ + 2.4824451828101246, + 75.0378275045976 + ], + [ + -109.57239443381013, + -82.76015292786235 + ], + [ + -95.12341533835081, + -84.50351802619912 + ], + [ + -81.10188540122977, + -119.55683076301813 + ], + [ + -94.47078062563423, + -118.05370469739677 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1238.5205192727808, + "ymin": 92.16571461404601, + "xmax": 1280.0, + "ymax": 254.27141662253956 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1256.810604430324, + 248.32644666827565 + ], + [ + 1329.0798508333107, + 254.27141662253956 + ], + [ + 1307.536680028991, + 218.3521539954724 + ], + [ + 1238.5205192727808, + 212.9088100890337 + ], + [ + 1325.8985399795438, + 125.52184318361566 + ], + [ + 1406.8820989165413, + 131.1522787772598 + ], + [ + 1379.2949663646866, + 97.27142766842451 + ], + [ + 1302.3717844640614, + 92.16571461404601 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 831.7838152693755, + "ymin": 286.06268900449953, + "xmax": 853.5866188545418, + "ymax": 301.65596303397086 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 831.7838152693755, + 290.2434265845799 + ], + [ + 831.7905779789492, + 299.7447532216004 + ], + [ + 852.7320268873166, + 301.65596303397086 + ], + [ + 852.4975319254827, + 292.113341617532 + ], + [ + 832.5441944624054, + 286.06268900449953 + ], + [ + 832.559358783658, + 295.55605620375485 + ], + [ + 853.5866188545418, + 297.4657647243868 + ], + [ + 853.3418623877236, + 287.93097230814953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 660.3023769302098, + "ymin": 262.82603412213405, + "xmax": 860.1689554438483, + "ymax": 528.6837035444028 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 662.4363065569993, + 497.71988208294255 + ], + [ + 660.3023769302098, + 511.29795364888946 + ], + [ + 810.9884163432578, + 528.6837035444028 + ], + [ + 811.2444092604957, + 514.6706976722414 + ], + [ + 668.6584840794469, + 262.82603412213405 + ], + [ + 666.0240344673276, + 276.42281425388813 + ], + [ + 860.1689554438483, + 293.9728882648522 + ], + [ + 859.6969353979932, + 279.815058473773 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 831.8981416720526, + "ymin": 286.14508527412363, + "xmax": 853.4690379467023, + "ymax": 301.5725692425463 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 831.8981416720526, + 290.28140522672135 + ], + [ + 831.9060730845183, + 299.6819136119387 + ], + [ + 852.6240425108092, + 301.5725692425463 + ], + [ + 852.393186219902, + 292.13163888038935 + ], + [ + 832.650917903875, + 286.14508527412363 + ], + [ + 832.6670828532538, + 295.53780324624404 + ], + [ + 853.4690379467023, + 297.42698865227175 + ], + [ + 853.2281469319499, + 287.9937223830436 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1240.1751011746546, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 219.90569843882687 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1433.8884851296748, + 64.57243712516032 + ], + [ + 1240.1751011746546, + 85.34062586223104 + ], + [ + 1416.3612497129066, + 219.90569843882687 + ], + [ + 1641.3977079509996, + 190.0157350371566 + ], + [ + 1686.0227793360223, + -341.9930964659668 + ], + [ + 1439.0156924748298, + -331.89532675822284 + ], + [ + 1748.2956148541175, + -261.0078831456558 + ], + [ + 2046.9532510829479, + -277.6250923680517 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 95.25968669231634, + "ymax": 224.87032668947495 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + 95.25968669231634, + 94.62372183128485 + ], + [ + -101.27012759096738, + 112.64445729073736 + ], + [ + -178.79971536998335, + 224.87032668947495 + ], + [ + 51.141180306901674, + 200.60004602366357 + ], + [ + -41.65755558584851, + -219.57915050220822 + ], + [ + -293.8923830849616, + -207.5142628405897 + ], + [ + -437.1909627403227, + -128.52245904002513 + ], + [ + -127.34756156113951, + -146.19196676341522 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 18.744208513207354, + "ymax": 328.69895676777725 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 18.744208513207354, + 195.23802862473576 + ], + [ + -172.4788160892599, + 196.76547624531193 + ], + [ + -308.0093976183505, + 328.69895676777725 + ], + [ + -83.8972770859906, + 326.60603643902266 + ], + [ + -179.2372551061477, + -171.07649376921813 + ], + [ + -432.07585331105474, + -170.01841893908352 + ], + [ + -683.0937288201944, + -73.29229123094734 + ], + [ + -369.3866138036278, + -74.9137600752295 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00082/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00082/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d533ec7bc7b464878e0afa7c14252d96d7a651ef --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00082/meta.json @@ -0,0 +1,2467 @@ +{ + "frame_id": 82, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 41.0, + "sim_timestamp": 10715.725419016555 + }, + "drone_pose": { + "x": -110.45819408704413, + "y": -96.80403696505823, + "z": 20.166610874123876, + "pitch": -44.18536666529008, + "yaw": -8.290163192243048, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7095954418182373, + 0.10339435189962387, + 0.6969820261001587, + 54.315879821777344 + ], + [ + -0.14418628811836243, + 0.9895505905151367, + 3.725290298461914e-09, + 111.71904754638672 + ], + [ + -0.6896989345550537, + -0.10049524903297424, + 0.7170886397361755, + -80.91580200195312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -109.95819408704413, + "y": -96.80403696505823, + "z": 20.173553642998183 + }, + "t1_image_uv": [ + 837.7645380103573, + -599.6414326422508 + ], + "t1_depth": 0.34995874727373705 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -90.66718292236328, + "y": -99.68776321411131, + "z": 0.7273967456817627 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 27.890554779914712, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 196, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -90.66718292236328, + "y": -99.68775939941406, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.24946774542331696, + "y": 0.20027829706668854, + "z": 0.5377148985862732 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.7839715615243, + "ymin": 339.9858795947042, + "xmax": 648.1234701007231, + "ymax": 379.76165305758155 + }, + "corners_3d": [ + [ + -90.9166488647461, + -99.8880386352539, + 0.1896817684173584 + ], + [ + -90.9166488647461, + -99.48748016357422, + 0.1896817684173584 + ], + [ + -90.41771697998047, + -99.48748016357422, + 0.1896817684173584 + ], + [ + -90.41771697998047, + -99.8880386352539, + 0.1896817684173584 + ], + [ + -90.9166488647461, + -99.8880386352539, + 1.2651115655899048 + ], + [ + -90.9166488647461, + -99.48748016357422, + 1.2651115655899048 + ], + [ + -90.41771697998047, + -99.48748016357422, + 1.2651115655899048 + ], + [ + -90.41771697998047, + -99.8880386352539, + 1.2651115655899048 + ] + ], + "corners_2d": [ + [ + 632.003060195337, + 378.3577443473968 + ], + [ + 645.5484537540351, + 379.76165305758155 + ], + [ + 647.9092323479915, + 367.89236517248753 + ], + [ + 634.5288890583004, + 366.52318961964056 + ], + [ + 631.7839715615243, + 351.80125952952693 + ], + [ + 645.7006927474386, + 353.20342789737697 + ], + [ + 648.1234701007231, + 341.3524249506602 + ], + [ + 634.3809142828005, + 339.9858795947042 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 82, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 55, + "semantic_pixel_counts": { + "1": 219122, + "2": 139136, + "3": 410185, + "4": 7235, + "5": 813, + "6": 2809, + "10": 1099, + "12": 2762, + "14": 29229, + "16": 89826, + "20": 7003, + "24": 12381 + }, + "instance_pixel_counts": { + "913": 370, + "2670": 619, + "3182": 7089, + "3694": 1959, + "4206": 3903, + "4718": 13114, + "5742": 1087, + "8834": 2578, + "14416": 813, + "15963": 2046, + "16475": 6453, + "16987": 22073, + "17232": 7235, + "17499": 72977, + "18011": 227534, + "22976": 220, + "24512": 32284, + "26963": 231, + "31168": 5629, + "34120": 1037, + "35668": 5040, + "36692": 1593, + "37979": 432, + "41611": 383, + "42123": 192, + "43117": 1483, + "43147": 13882, + "43155": 7738, + "43659": 7824, + "44179": 205978, + "45717": 733, + "46227": 5406, + "46741": 11370, + "48749": 2187, + "48779": 1230, + "48789": 278, + "49261": 8870, + "49664": 196, + "49920": 402, + "50176": 560, + "50432": 1027, + "50624": 2127, + "50944": 577, + "51136": 444, + "51456": 4350, + "52160": 37165, + "52480": 55309, + "52672": 26996, + "52736": 34517, + "54016": 15608, + "55040": 9271, + "55744": 4508, + "55879": 1082, + "64351": 5215, + "65133": 38359 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 196, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -90.66718292236328, + "y": -99.68775939941406, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.22065915167331696, + "y": 0.2088964581489563, + "z": 0.5150898098945618 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.6419775065672, + "ymin": 341.2036113125182, + "xmax": 648.2767304187903, + "ymax": 378.55425058596387 + }, + "corners_3d": [ + [ + -90.8878402709961, + -99.89665222167969, + 0.21230685710906982 + ], + [ + -90.8878402709961, + -99.47886657714844, + 0.21230685710906982 + ], + [ + -90.44652557373047, + -99.47886657714844, + 0.21230685710906982 + ], + [ + -90.44652557373047, + -99.89665222167969, + 0.21230685710906982 + ], + [ + -90.8878402709961, + -99.89665222167969, + 1.2424864768981934 + ], + [ + -90.8878402709961, + -99.47886657714844, + 1.2424864768981934 + ], + [ + -90.44652557373047, + -99.47886657714844, + 1.2424864768981934 + ], + [ + -90.44652557373047, + -99.89665222167969, + 1.2424864768981934 + ] + ], + "corners_2d": [ + [ + 631.8554325319224, + 377.09210762242066 + ], + [ + 645.9812539352412, + 378.55425058596387 + ], + [ + 648.0673618783269, + 368.0552384667426 + ], + [ + 634.0939781142031, + 366.62515572959063 + ], + [ + 631.6419775065672, + 351.6543043858063 + ], + [ + 646.1382598089825, + 353.11465650115025 + ], + [ + 648.2767304187903, + 342.6311168130234 + ], + [ + 633.9409407810266, + 341.2036113125182 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 402, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -86.54119873046875, + "y": -96.69005584716797, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.4491015672683716, + "y": 0.32444334030151367, + "z": 0.8760634660720825 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 737.6841749739185, + "ymin": 252.72602827605934, + "xmax": 766.5267391543869, + "ymax": 314.00465789687905 + }, + "corners_3d": [ + [ + -87.04794311523438, + -96.91403198242188, + -0.30106908082962036 + ], + [ + -86.91303253173828, + -96.27932739257812, + -0.30106908082962036 + ], + [ + -86.03445434570312, + -96.46607971191406, + -0.30106908082962036 + ], + [ + -86.16936492919922, + -97.10078430175781, + -0.30106908082962036 + ], + [ + -87.04794311523438, + -96.91403198242188, + 1.4510579109191895 + ], + [ + -86.91303253173828, + -96.27932739257812, + 1.4510579109191895 + ], + [ + -86.03445434570312, + -96.46607971191406, + 1.4510579109191895 + ], + [ + -86.16936492919922, + -97.10078430175781, + 1.4510579109191895 + ] + ], + "corners_2d": [ + [ + 741.523205128503, + 314.00465789687905 + ], + [ + 761.5293229054246, + 313.1408630767439 + ], + [ + 757.2865356435528, + 295.0931671260268 + ], + [ + 737.6841749739185, + 295.92212182845867 + ], + [ + 745.7021849180358, + 271.455095907992 + ], + [ + 766.5267391543869, + 270.59891700401204 + ], + [ + 762.0073126086806, + 252.72602827605934 + ], + [ + 741.6198633560601, + 253.5462984903694 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 560, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -90.4041519165039, + "y": -90.28115844726562, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.361396461725235, + "y": 0.33348143100738525, + "z": 0.8797900080680847 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 948.4935646594649, + "ymin": 359.3327258313826, + "xmax": 992.4009432933464, + "ymax": 421.49224643330587 + }, + "corners_3d": [ + [ + -90.79842376708984, + -90.57503509521484, + -0.304790735244751 + ], + [ + -90.72871398925781, + -89.91172790527344, + -0.304790735244751 + ], + [ + -90.00988006591797, + -89.9872817993164, + -0.304790735244751 + ], + [ + -90.07958984375, + -90.65058898925781, + -0.304790735244751 + ], + [ + -90.79842376708984, + -90.57503509521484, + 1.4547892808914185 + ], + [ + -90.72871398925781, + -89.91172790527344, + 1.4547892808914185 + ], + [ + -90.00988006591797, + -89.9872817993164, + 1.4547892808914185 + ], + [ + -90.07958984375, + -90.65058898925781, + 1.4547892808914185 + ] + ], + "corners_2d": [ + [ + 953.2820354790217, + 420.8027444155802 + ], + [ + 976.7168652057034, + 421.49224643330587 + ], + [ + 971.4928123127524, + 403.1445204862994 + ], + [ + 948.4935646594649, + 402.48021493014414 + ], + [ + 967.8639453458001, + 377.6599949257797 + ], + [ + 992.4009432933464, + 378.35028939316396 + ], + [ + 986.6356969227829, + 359.9966541789444 + ], + [ + 962.5757960252886, + 359.3327258313826 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 1027, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -100.16718292236328, + "y": -99.68775939941406, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.43483394384384155, + "y": 0.45156732201576233, + "z": 0.8792716860771179 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 551.015082182415, + "ymin": 616.2381485759109, + "xmax": 602.5042551471522, + "ymax": 697.5917126737268 + }, + "corners_3d": [ + [ + -100.60202026367188, + -100.13932800292969, + -0.15186524391174316 + ], + [ + -100.60202026367188, + -99.23619079589844, + -0.15186524391174316 + ], + [ + -99.73234558105469, + -99.23619079589844, + -0.15186524391174316 + ], + [ + -99.73234558105469, + -100.13932800292969, + -0.15186524391174316 + ], + [ + -100.60202026367188, + -100.13932800292969, + 1.6066781282424927 + ], + [ + -100.60202026367188, + -99.23619079589844, + 1.6066781282424927 + ], + [ + -99.73234558105469, + -99.23619079589844, + 1.6066781282424927 + ], + [ + -99.73234558105469, + -100.13932800292969, + 1.6066781282424927 + ] + ], + "corners_2d": [ + [ + 556.0878541621183, + 692.072983836851 + ], + [ + 595.7999626986391, + 697.5917126737268 + ], + [ + 602.5042551471522, + 661.9873100589436 + ], + [ + 563.871880303539, + 656.772884338536 + ], + [ + 551.015082182415, + 652.4384690705369 + ], + [ + 593.1155579130605, + 658.108977675831 + ], + [ + 600.2945912999106, + 621.5778759016437 + ], + [ + 559.4056220956253, + 616.2381485759109 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 577, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -88.58158874511719, + "y": -101.20303344726562, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.41550779342651367, + "y": 0.43593260645866394, + "z": 0.8778169751167297 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 581.4970358342584, + "ymin": 274.91385962483173, + "xmax": 619.5472785617318, + "ymax": 341.14758868324344 + }, + "corners_3d": [ + [ + -88.89738464355469, + -101.71582794189453, + -0.15041053295135498 + ], + [ + -89.07865142822266, + -100.8630142211914, + -0.15041053295135498 + ], + [ + -88.26579284667969, + -100.69023895263672, + -0.15041053295135498 + ], + [ + -88.08452606201172, + -101.54305267333984, + -0.15041053295135498 + ], + [ + -88.89738464355469, + -101.71582794189453, + 1.6052234172821045 + ], + [ + -89.07865142822266, + -100.8630142211914, + 1.6052234172821045 + ], + [ + -88.26579284667969, + -100.69023895263672, + 1.6052234172821045 + ], + [ + -88.08452606201172, + -101.54305267333984, + 1.6052234172821045 + ] + ], + "corners_2d": [ + [ + 583.8858207794367, + 334.5336099102396 + ], + [ + 609.8643489230731, + 341.14758868324344 + ], + [ + 619.5472785617318, + 324.2885957293188 + ], + [ + 593.9756407003624, + 317.9154497254265 + ], + [ + 581.4970358342584, + 291.4032832200181 + ], + [ + 608.5717223522989, + 297.9731785951615 + ], + [ + 618.6868461077183, + 281.23459724974646 + ], + [ + 592.0537516164017, + 274.91385962483173 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 4350, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 873.9065668248592, + "ymin": 131.7664811326589, + "xmax": 943.9454294467612, + "ymax": 233.65312604698832 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 927.201642982395, + 168.00251952275707 + ], + [ + 873.9065668248592, + 163.79136560641328 + ], + [ + 877.1447233699647, + 228.66532668418665 + ], + [ + 935.1812046988, + 233.65312604698832 + ], + [ + 935.016129339235, + 135.90421803098707 + ], + [ + 880.233800996857, + 131.7664811326589 + ], + [ + 884.1409699730821, + 195.65172138283128 + ], + [ + 943.9454294467612, + 200.57613257746715 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 55309, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 703.4958556708513, + "ymin": 251.59370655302, + "xmax": 921.7182908596403, + "ymax": 706.2490502619949 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 870.6080940630643, + 377.9582449108016 + ], + [ + 737.2969581240484, + 364.35843721191407 + ], + [ + 703.4958556708513, + 681.7601821778836 + ], + [ + 882.1654973341414, + 706.2490502619949 + ], + [ + 897.4815982809323, + 264.9517838741832 + ], + [ + 748.4545557068, + 251.59370655302 + ], + [ + 713.6363883028827, + 575.407947623688 + ], + [ + 921.7182908596403, + 601.4820632905796 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 34517, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1108.6947424823475, + "ymin": 349.24542265326215, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 1214.0911509456978, + 864.8110893371867 + ], + [ + 1430.9325205317737, + 897.0679806696047 + ], + [ + 1262.2428413100874, + 479.42354664238195 + ], + [ + 1108.6947424823475, + 462.7867389915783 + ], + [ + 1321.6986050035762, + 774.2996307742525 + ], + [ + 1583.1505174486747, + 810.3432271099782 + ], + [ + 1343.5317895941034, + 365.99385724177534 + ], + [ + 1168.8323471694052, + 349.24542265326215 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 15608, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 894.6761347978523, + "ymin": 464.3435286486467, + "xmax": 1007.536866008031, + "ymax": 706.7780829073068 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 965.2834920854293, + 511.1223564176959 + ], + [ + 894.6761347978523, + 502.99334404779495 + ], + [ + 904.9697601980251, + 695.4654470091157 + ], + [ + 988.4103900028863, + 706.7780829073068 + ], + [ + 980.2846608032246, + 472.54199064218443 + ], + [ + 906.3289997807634, + 464.3435286486467 + ], + [ + 919.3800832455029, + 659.9941248071967 + ], + [ + 1007.536866008031, + 671.5940929228702 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 9271, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1053.6833874612144, + "ymin": 113.29475451684718, + "xmax": 1182.7120100786333, + "ymax": 270.47355713125893 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 1083.5602065001199, + 263.94627326446 + ], + [ + 1157.9182361402231, + 270.47355713125893 + ], + [ + 1118.7602438828926, + 167.5036020438887 + ], + [ + 1053.6833874612144, + 162.4678297368098 + ], + [ + 1104.6222063665389, + 212.485616095595 + ], + [ + 1182.7120100786333, + 218.90486452189185 + ], + [ + 1138.76488037313, + 118.19022403588582 + ], + [ + 1070.8464239899624, + 113.29475451684718 + ] + ], + "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": 1110.4119552336172, + "ymin": 0.0, + "xmax": 1243.1072498816684, + "ymax": 1.7975748859757346 + }, + "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": [ + [ + 1158.2348278673874, + 1.2169605553988845 + ], + [ + 1167.5024622883525, + 1.7975748859757346 + ], + [ + 1118.2123630076167, + -86.67829519422628 + ], + [ + 1110.4119552336172, + -87.09400984416345 + ], + [ + 1232.4255660853673, + -191.54535230481906 + ], + [ + 1243.1072498816684, + -191.1043344786126 + ], + [ + 1174.9524449953374, + -256.86715281264253 + ], + [ + 1166.1731582477832, + -257.1694479668183 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 719.5352316806911, + "ymin": 0.0, + "xmax": 848.7683843916049, + "ymax": 148.07204501957858 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 720.4862500916806, + 134.58603749373657 + ], + [ + 719.5352316806911, + 140.45965875480678 + ], + [ + 818.4021472030312, + 148.07204501957858 + ], + [ + 818.5407799698396, + 142.07295721449904 + ], + [ + 733.8871493603535, + -67.39555471680416 + ], + [ + 732.9061776502518, + -62.492770474737654 + ], + [ + 848.7683843916049, + -56.118391890887835 + ], + [ + 848.6351971564262, + -61.14375400717893 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2080193722244522285, + "instance_id": 11745, + "pixel_count": null, + "type_id": "BP_StreetLight_simple51_120_SM_2", + "bbox_3d": { + "center_world": { + "x": -78.77368927001953, + "y": -128.03121948242188, + "z": 4.08544921875 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 10.95892246550693, + "ymax": 124.76744472997117 + }, + "corners_3d": [ + [ + -80.54341888427734, + -127.2630386352539, + 0.20873045921325684 + ], + [ + -80.32381439208984, + -126.88267517089844, + 0.20873045921325684 + ], + [ + -77.00395965576172, + -128.7993927001953, + 0.20873045921325684 + ], + [ + -77.22356414794922, + -129.1797637939453, + 0.20873045921325684 + ], + [ + -80.54341888427734, + -127.2630386352539, + 7.962167739868164 + ], + [ + -80.32381439208984, + -126.88267517089844, + 7.962167739868164 + ], + [ + -77.00395965576172, + -128.7993927001953, + 7.962167739868164 + ], + [ + -77.22356414794922, + -129.1797637939453, + 7.962167739868164 + ] + ], + "corners_2d": [ + [ + -7.591855917806015, + 124.76744472997117 + ], + [ + 4.573116093285535, + 122.65040848980044 + ], + [ + 10.95892246550693, + 79.26743190425958 + ], + [ + -0.42727788813829193, + 81.12831495189243 + ], + [ + -114.01752026037843, + -76.20913704580306 + ], + [ + -99.48467654540889, + -77.96332246656357 + ], + [ + -84.65339053151388, + -113.52955096780482 + ], + [ + -98.09028265685834, + -112.01872785683304 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1242.0967577052522, + "ymin": 102.2232984262426, + "xmax": 1280.0, + "ymax": 265.37621864156046 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1260.5496322722897, + 259.18090641777087 + ], + [ + 1333.562467338734, + 265.37621864156046 + ], + [ + 1311.789172651104, + 228.75399129482687 + ], + [ + 1242.0967577052522, + 223.08622889382897 + ], + [ + 1330.6056297400708, + 136.29486474325694 + ], + [ + 1412.5103323241683, + 142.17650447456538 + ], + [ + 1384.5567701597645, + 107.55139139496177 + ], + [ + 1306.8047957588662, + 102.2232984262426 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 829.780182123862, + "ymin": 302.29835819623247, + "xmax": 851.8491242677865, + "ymax": 318.26890871707985 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 829.8383474772909, + 306.473326461117 + ], + [ + 829.780182123862, + 316.25727814438335 + ], + [ + 850.9917220356056, + 318.26890871707985 + ], + [ + 850.8161395329334, + 308.4408901638162 + ], + [ + 830.5995395154158, + 302.29835819623247 + ], + [ + 830.549639968428, + 312.07534903287905 + ], + [ + 851.8491242677865, + 314.08565652065136 + ], + [ + 851.663344463666, + 304.26445200377634 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 657.068504378971, + "ymin": 278.24271166302634, + "xmax": 858.4901491361658, + "ymax": 544.4372996928403 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 659.3159508279582, + 512.3822674611433 + ], + [ + 657.068504378971, + 526.262807620353 + ], + [ + 809.2425526600838, + 544.4372996928403 + ], + [ + 809.5739420481052, + 530.0970100038963 + ], + [ + 664.730249014215, + 278.24271166302634 + ], + [ + 661.9314501513957, + 292.2307877920737 + ], + [ + 858.4901491361658, + 310.6989550213722 + ], + [ + 858.1035628484675, + 296.11245142535756 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 829.897458578684, + "ymin": 302.3827275232599, + "xmax": 851.7303903229968, + "ymax": 318.1834768893174 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 829.9537343505817, + 306.51333357613316 + ], + [ + 829.897458578684, + 316.1934824150691 + ], + [ + 850.8826254767062, + 318.1834768893174 + ], + [ + 850.7100876436959, + 308.46019253606914 + ], + [ + 830.7073248488718, + 302.3827275232599 + ], + [ + 830.6591500506305, + 312.0560634990674 + ], + [ + 851.7303903229968, + 314.04476209709003 + ], + [ + 851.547880987849, + 304.32814843096673 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 674.2496675158176, + "ymin": 0.0, + "xmax": 958.8790758656369, + "ymax": 2.1522482457577894 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 675.3422163975846, + -17.144370717341985 + ], + [ + 674.2496675158176, + -13.610715904085339 + ], + [ + 918.880122495307, + 2.1522482457577894 + ], + [ + 918.4149035198252, + -1.5826665885615512 + ], + [ + 680.2177444287578, + -205.42653371658093 + ], + [ + 679.008681080968, + -202.76492568893877 + ], + [ + 958.8790758656369, + -190.83487204434596 + ], + [ + 958.0509465928894, + -193.67007738508062 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1243.847411677313, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 230.66887665646053 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1439.2384633477282, + 72.7350160674647 + ], + [ + 1243.847411677313, + 93.52749171738708 + ], + [ + 1421.7621569734624, + 230.66887665646053 + ], + [ + 1649.2003867294457, + 200.63384371267634 + ], + [ + 1694.9661515027763, + -335.20628316316856 + ], + [ + 1445.3532577891247, + -324.9920360756163 + ], + [ + 1759.4950317026037, + -251.90269167319582 + ], + [ + 2062.229795086205, + -268.8167101918232 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 92.21682892478748, + "ymax": 232.81138439561974 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + 92.21682892478748, + 101.2125173171546 + ], + [ + -105.12791715241804, + 119.156199574465 + ], + [ + -184.62246567290242, + 232.81138439561974 + ], + [ + 46.53845420992582, + 208.59489432625563 + ], + [ + -45.96941734345705, + -213.23057009448644 + ], + [ + -299.4034702173167, + -201.1578076205924 + ], + [ + -446.1185815402723, + -120.72923677422307 + ], + [ + -134.27618493762577, + -138.46354649781068 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 14.46437882391183, + "ymax": 337.5893125611046 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 14.46437882391183, + 202.7461384158632 + ], + [ + -177.38995836053812, + 203.953846173747 + ], + [ + -315.4516505470633, + 337.5893125611046 + ], + [ + -90.4108967266294, + 335.93089778760134 + ], + [ + -185.80299338973066, + -163.81292180074604 + ], + [ + -439.61820626237295, + -162.97143694657677 + ], + [ + -695.6650455005854, + -64.37286619267638 + ], + [ + -380.33192618747034, + -65.66698865231638 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00083/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00083/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..db83c098def2a5f382d4a1d80feb3f009681ff25 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00083/meta.json @@ -0,0 +1,2468 @@ +{ + "frame_id": 83, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 41.5, + "sim_timestamp": 10728.655450802296 + }, + "drone_pose": { + "x": -109.95819408704413, + "y": -96.80403696505823, + "z": 20.173553642998183, + "pitch": -44.195592427325636, + "yaw": -8.290163192243048, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7094724178314209, + 0.10337643325328827, + 0.6971098780632019, + 53.941856384277344 + ], + [ + -0.14418630301952362, + 0.9895505309104919, + 0.0, + 111.64695739746094 + ], + [ + -0.6898254752159119, + -0.10051369667053223, + 0.7169642448425293, + -80.5855484008789 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -109.43955282721447, + "y": -96.16819320878982, + "z": 20.034933303398823 + }, + "t1_image_uv": [ + 2334.365233964451, + -108.06966620771499 + ], + "t1_depth": 0.3988639996679904 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -90.16718292236328, + "y": -99.68776321411131, + "z": 0.7273967456817627 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 27.895394208991686, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 184, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -90.16718292236328, + "y": -99.68775939941406, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.25706052780151367, + "y": 0.25182127952575684, + "z": 0.5326030850410461 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 627.5777998346032, + "ymin": 338.23833094140355, + "xmax": 652.4537051840148, + "ymax": 381.58088161376617 + }, + "corners_3d": [ + [ + -90.17089080810547, + -100.04759216308594, + 0.19479358196258545 + ], + [ + -90.52701568603516, + -99.69146728515625, + 0.19479358196258545 + ], + [ + -90.1634750366211, + -99.32792663574219, + 0.19479358196258545 + ], + [ + -89.8073501586914, + -99.68405151367188, + 0.19479358196258545 + ], + [ + -90.17089080810547, + -100.04759216308594, + 1.2599997520446777 + ], + [ + -90.52701568603516, + -99.69146728515625, + 1.2599997520446777 + ], + [ + -90.1634750366211, + -99.32792663574219, + 1.2599997520446777 + ], + [ + -89.8073501586914, + -99.68405151367188, + 1.2599997520446777 + ] + ], + "corners_2d": [ + [ + 627.9037325444725, + 371.8128223545063 + ], + [ + 638.0962861551852, + 381.58088161376617 + ], + [ + 652.1261456753027, + 374.1275102240477 + ], + [ + 641.8699395490416, + 364.5105599891308 + ], + [ + 627.5777998346032, + 345.5272971013697 + ], + [ + 638.0444462520677, + 355.28231625656935 + ], + [ + 652.4537051840148, + 347.83840375113317 + ], + [ + 641.9199252304827, + 338.23833094140355 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 83, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 56, + "semantic_pixel_counts": { + "1": 217623, + "2": 139111, + "3": 410654, + "4": 7684, + "5": 804, + "6": 2913, + "10": 936, + "12": 2664, + "14": 30359, + "16": 89462, + "20": 6758, + "24": 12632 + }, + "instance_pixel_counts": { + "913": 190, + "2670": 1233, + "3182": 7625, + "3694": 2052, + "4206": 4143, + "4718": 13227, + "5742": 1145, + "8834": 2648, + "14416": 804, + "15963": 2419, + "16475": 6800, + "16987": 24049, + "17232": 7684, + "17499": 81501, + "18011": 209589, + "22976": 412, + "23552": 16, + "24512": 33001, + "26963": 249, + "31168": 3777, + "34120": 749, + "35668": 5162, + "36692": 1406, + "37979": 483, + "41611": 455, + "42123": 247, + "43117": 1541, + "43147": 14419, + "43155": 9036, + "43659": 8153, + "44179": 207479, + "45717": 1025, + "46227": 1108, + "46741": 11522, + "48749": 2308, + "48779": 619, + "48789": 85, + "49261": 9304, + "49664": 184, + "49920": 404, + "50176": 530, + "50432": 1008, + "50624": 2486, + "50944": 538, + "51136": 627, + "51456": 4479, + "52160": 38999, + "52480": 57475, + "52672": 26781, + "52736": 31987, + "54016": 16320, + "55040": 9560, + "55744": 2978, + "55879": 918, + "64351": 5408, + "65133": 43235 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 184, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -90.16718292236328, + "y": -99.68775939941406, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.2001025378704071, + "y": 0.23186522722244263, + "z": 0.530775785446167 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 629.5892089110797, + "ymin": 339.4635598324581, + "xmax": 650.4470572995053, + "ymax": 380.3153663179679 + }, + "corners_3d": [ + [ + -90.14472198486328, + -99.99320983886719, + 0.1966208815574646 + ], + [ + -90.4726333618164, + -99.66529846191406, + 0.1966208815574646 + ], + [ + -90.18964385986328, + -99.38230895996094, + 0.1966208815574646 + ], + [ + -89.86173248291016, + -99.71022033691406, + 0.1966208815574646 + ], + [ + -90.14472198486328, + -99.99320983886719, + 1.2581725120544434 + ], + [ + -90.4726333618164, + -99.66529846191406, + 1.2581725120544434 + ], + [ + -90.18964385986328, + -99.38230895996094, + 1.2581725120544434 + ], + [ + -89.86173248291016, + -99.71022033691406, + 1.2581725120544434 + ] + ], + "corners_2d": [ + [ + 629.8613170641494, + 371.33678915459984 + ], + [ + 639.2534045556082, + 380.3153663179679 + ], + [ + 650.1730817373267, + 374.5182369597407 + ], + [ + 640.7353680217034, + 365.6479707172213 + ], + [ + 629.5892089110797, + 345.14217661602936 + ], + [ + 639.2331713814002, + 354.10838803347156 + ], + [ + 650.4470572995053, + 348.3187195083655 + ], + [ + 640.7549822654138, + 339.4635598324581 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 404, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -86.04119873046875, + "y": -96.69005584716797, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.4409130811691284, + "y": 0.37675780057907104, + "z": 0.8877319097518921 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 731.9788238167457, + "ymin": 250.27764510377716, + "xmax": 772.0687680613323, + "ymax": 316.5537588775121 + }, + "corners_3d": [ + [ + -86.20578002929688, + -97.24617004394531, + -0.31273752450942993 + ], + [ + -86.61618041992188, + -96.61421966552734, + -0.31273752450942993 + ], + [ + -85.87661743164062, + -96.13394165039062, + -0.31273752450942993 + ], + [ + -85.46621704101562, + -96.7658920288086, + -0.31273752450942993 + ], + [ + -86.20578002929688, + -97.24617004394531, + 1.462726354598999 + ], + [ + -86.61618041992188, + -96.61421966552734, + 1.462726354598999 + ], + [ + -85.87661743164062, + -96.13394165039062, + 1.462726354598999 + ], + [ + -85.46621704101562, + -96.7658920288086, + 1.462726354598999 + ] + ], + "corners_2d": [ + [ + 731.9788238167457, + 306.377833792744 + ], + [ + 750.6769712254111, + 316.5537588775121 + ], + [ + 766.8459052315114, + 303.0451763921739 + ], + [ + 748.246273768598, + 293.1741084415729 + ], + [ + 735.7810351391153, + 263.3465781260487 + ], + [ + 755.3072559782273, + 273.42969023797934 + ], + [ + 772.0687680613323, + 260.046413016746 + ], + [ + 752.6510597968478, + 250.27764510377716 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 530, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -89.97119903564453, + "y": -90.76844787597656, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.27783203125, + "y": 0.3991406261920929, + "z": 0.8666098713874817 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 928.3479848934253, + "ymin": 356.9172895828381, + "xmax": 977.4645518678506, + "ymax": 423.85696525130993 + }, + "corners_3d": [ + [ + -89.93592834472656, + -91.25348663330078, + -0.29160571098327637 + ], + [ + -90.43830108642578, + -90.63310241699219, + -0.29160571098327637 + ], + [ + -90.0064697265625, + -90.28340911865234, + -0.29160571098327637 + ], + [ + -89.50409698486328, + -90.90379333496094, + -0.29160571098327637 + ], + [ + -89.93592834472656, + -91.25348663330078, + 1.441614031791687 + ], + [ + -90.43830108642578, + -90.63310241699219, + 1.441614031791687 + ], + [ + -90.0064697265625, + -90.28340911865234, + 1.441614031791687 + ], + [ + -89.50409698486328, + -90.90379333496094, + 1.441614031791687 + ] + ], + "corners_2d": [ + [ + 928.3479848934253, + 408.8233818664903 + ], + [ + 951.6789418540392, + 423.85696525130993 + ], + [ + 962.7699475841903, + 414.1449363727824 + ], + [ + 939.497219334623, + 399.4005744722278 + ], + [ + 941.401534785377, + 366.3365421737632 + ], + [ + 966.0145756218149, + 381.38140472018387 + ], + [ + 977.4645518678506, + 371.65970487359783 + ], + [ + 952.9196001775193, + 356.9172895828381 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 1008, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -99.94181060791016, + "y": -99.97797393798828, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.3596484363079071, + "y": 0.4286816418170929, + "z": 0.8554453253746033 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 534.9808860110188, + "ymin": 623.6442694178842, + "xmax": 588.5501807458281, + "ymax": 709.6455733072075 + }, + "corners_3d": [ + [ + -99.89299774169922, + -100.53540802001953, + -0.1280437707901001 + ], + [ + -100.4992446899414, + -99.92916107177734, + -0.1280437707901001 + ], + [ + -99.9906234741211, + -99.42053985595703, + -0.1280437707901001 + ], + [ + -99.3843765258789, + -100.02678680419922, + -0.1280437707901001 + ], + [ + -99.89299774169922, + -100.53540802001953, + 1.5828468799591064 + ], + [ + -100.4992446899414, + -99.92916107177734, + 1.5828468799591064 + ], + [ + -99.9906234741211, + -99.42053985595703, + 1.5828468799591064 + ], + [ + -99.3843765258789, + -100.02678680419922, + 1.5828468799591064 + ] + ], + "corners_2d": [ + [ + 540.7585121332759, + 680.480423089458 + ], + [ + 561.67264366105, + 709.6455733072075 + ], + [ + 588.5501807458281, + 691.2440879950182 + ], + [ + 567.3268891563852, + 662.9002637572843 + ], + [ + 534.9808860110188, + 641.6571976619184 + ], + [ + 557.0002011894887, + 671.605248459519 + ], + [ + 585.5276601715291, + 652.7003514062151 + ], + [ + 563.1587376947467, + 623.6442694178842 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 538, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -88.03065490722656, + "y": -101.24003601074219, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.41575682163238525, + "y": 0.4298437535762787, + "z": 0.878739058971405 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 581.1304260282543, + "ymin": 273.2558440077363, + "xmax": 618.560832539026, + "ymax": 340.4493543677303 + }, + "corners_3d": [ + [ + -87.89659881591797, + -101.82283020019531, + -0.15133261680603027 + ], + [ + -88.61759185791016, + -101.35460662841797, + -0.15133261680603027 + ], + [ + -88.16471099853516, + -100.65724182128906, + -0.15133261680603027 + ], + [ + -87.44371795654297, + -101.1254653930664, + -0.15133261680603027 + ], + [ + -87.89659881591797, + -101.82283020019531, + 1.6061455011367798 + ], + [ + -88.61759185791016, + -101.35460662841797, + 1.6061455011367798 + ], + [ + -88.16471099853516, + -100.65724182128906, + 1.6061455011367798 + ], + [ + -87.44371795654297, + -101.1254653930664, + 1.6061455011367798 + ] + ], + "corners_2d": [ + [ + 583.5076619674647, + 323.58365726677584 + ], + [ + 594.0305117424092, + 340.4493543677303 + ], + [ + 618.560832539026, + 332.8650176606604 + ], + [ + 607.6746880005879, + 316.2755611843977 + ], + [ + 581.1304260282543, + 280.5032272430193 + ], + [ + 592.0581521156588, + 297.2477934402252 + ], + [ + 617.6489258472382, + 289.71464806268057 + ], + [ + 606.3259618237328, + 273.2558440077363 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 4479, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 874.2631413241088, + "ymin": 138.82813301555126, + "xmax": 945.1090923359254, + "ymax": 242.2802181876511 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 928.0785232426899, + 175.2662859846763 + ], + [ + 874.2631413241088, + 170.97155270474192 + ], + [ + 877.5634664458969, + 237.18485566155485 + ], + [ + 936.216567260361, + 242.2802181876511 + ], + [ + 935.9967133405614, + 143.05036382082037 + ], + [ + 880.6642039627577, + 138.82813301555126 + ], + [ + 884.6493266649404, + 204.07195429072772 + ], + [ + 945.1090923359254, + 209.10588802795888 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 57475, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 701.2728471200052, + "ymin": 263.10368571747046, + "xmax": 923.3550632923454, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 871.0165615924736, + 389.9833577172825 + ], + [ + 736.0613727381219, + 376.0398984238227 + ], + [ + 701.2728471200052, + 702.7451454629218 + ], + [ + 882.8972635074584, + 728.0637023917924 + ], + [ + 898.3186552926286, + 276.8404526121674 + ], + [ + 747.230721473236, + 263.10368571747046 + ], + [ + 711.2478001217457, + 597.8076435639128 + ], + [ + 923.3550632923454, + 624.9146527560176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 31987, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1112.3714373719943, + "ymin": 363.6694564526163, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 1221.180226905851, + 892.3976619438196 + ], + [ + 1442.3702257016112, + 925.9102973463166 + ], + [ + 1268.097782410162, + 494.1725429130788 + ], + [ + 1112.3714373719943, + 477.07102408159835 + ], + [ + 1332.5929753354362, + 805.1845151541288 + ], + [ + 1600.3945267952886, + 842.9107197808036 + ], + [ + 1351.451982219542, + 380.9493673442707 + ], + [ + 1173.924317502121, + 363.6694564526163 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 16320, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 895.4736878467719, + "ymin": 479.91970891272206, + "xmax": 1010.537994280751, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 967.0910714884287, + 526.7792953704736 + ], + [ + 895.4736878467719, + 518.4154011440867 + ], + [ + 906.0756850875252, + 716.9229562191922 + ], + [ + 990.9277800058567, + 728.6212118843303 + ], + [ + 982.4031335855766, + 488.3664424307919 + ], + [ + 907.3379964784144, + 479.91970891272206 + ], + [ + 920.8032925316547, + 682.0285292374899 + ], + [ + 1010.537994280751, + 694.0464634133723 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 9560, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1055.7762239040396, + "ymin": 120.26199026069938, + "xmax": 1186.7228969263435, + "ymax": 279.91879889373564 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 1086.263031768714, + 273.2444869580996 + ], + [ + 1161.4647916047384, + 279.91879889373564 + ], + [ + 1121.499977967588, + 174.76038213619978 + ], + [ + 1055.7762239040396, + 169.62474525998763 + ], + [ + 1107.7014147217405, + 221.64508488269985 + ], + [ + 1186.7228969263435, + 228.216213403013 + ], + [ + 1141.8269159997772, + 125.25885109944488 + ], + [ + 1073.2030438498964, + 120.26199026069938 + ] + ], + "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": 1112.1793763105597, + "ymin": 0.0, + "xmax": 1246.6521594095252, + "ymax": 6.118438091500707 + }, + "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": [ + [ + 1160.6726988563892, + 5.52879674058363 + ], + [ + 1170.012918035995, + 6.118438091500707 + ], + [ + 1120.0313757829658, + -83.6314654732434 + ], + [ + 1112.1793763105597, + -84.05268440063577 + ], + [ + 1235.8736902249855, + -188.2698306003458 + ], + [ + 1246.6521594095252, + -187.820848035793 + ], + [ + 1177.4089375250796, + -254.67392341772518 + ], + [ + 1168.5640639779156, + -254.98077799333328 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 718.4260621251697, + "ymin": 0.0, + "xmax": 848.9069586514529, + "ymax": 155.00295528097462 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 719.3953210416862, + 141.2558440174031 + ], + [ + 718.4260621251697, + 147.24259267046085 + ], + [ + 818.224818332587, + 155.00295528097462 + ], + [ + 818.3665125504388, + 148.88712364493043 + ], + [ + 732.7621711736268, + -61.79853708900271 + ], + [ + 731.7591397000857, + -56.78414230140049 + ], + [ + 848.9069586514529, + -50.2630816040251 + ], + [ + 848.7712853324161, + -55.40423153217142 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2080193722244522285, + "instance_id": 11745, + "pixel_count": null, + "type_id": "BP_StreetLight_simple51_120_SM_2", + "bbox_3d": { + "center_world": { + "x": -78.77368927001953, + "y": -128.03121948242188, + "z": 4.08544921875 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 3.8009112431509493, + "ymax": 131.26887079356814 + }, + "corners_3d": [ + [ + -80.54341888427734, + -127.2630386352539, + 0.20873045921325684 + ], + [ + -80.32381439208984, + -126.88267517089844, + 0.20873045921325684 + ], + [ + -77.00395965576172, + -128.7993927001953, + 0.20873045921325684 + ], + [ + -77.22356414794922, + -129.1797637939453, + 0.20873045921325684 + ], + [ + -80.54341888427734, + -127.2630386352539, + 7.962167739868164 + ], + [ + -80.32381439208984, + -126.88267517089844, + 7.962167739868164 + ], + [ + -77.00395965576172, + -128.7993927001953, + 7.962167739868164 + ], + [ + -77.22356414794922, + -129.1797637939453, + 7.962167739868164 + ] + ], + "corners_2d": [ + [ + -15.417902539311058, + 131.26887079356814 + ], + [ + -3.116915909563545, + 129.1117222247955 + ], + [ + 3.8009112431509493, + 84.93294189666597 + ], + [ + -7.704560650805661, + 86.8269357654579 + ], + [ + -124.31707285599043, + -70.78437282262024 + ], + [ + -109.59099398878789, + -72.57774006574573 + ], + [ + -93.88714410118723, + -108.90928567487776 + ], + [ + -107.48947488209649, + -107.36707956049361 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1246.3599960445995, + "ymin": 110.21751233455498, + "xmax": 1280.0, + "ymax": 274.78140414191364 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1265.206561929134, + 268.4462511085261 + ], + [ + 1339.0632304587052, + 274.78140414191364 + ], + [ + 1316.8215344674218, + 237.34736217964405 + ], + [ + 1246.3599960445995, + 231.55714809497098 + ], + [ + 1336.668583553043, + 145.12693765449183 + ], + [ + 1419.63777298376, + 151.15732446626635 + ], + [ + 1391.01217463241, + 115.67395173355177 + ], + [ + 1312.3005993552488, + 110.21751233455498 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 829.630201809379, + "ymin": 319.05240024421926, + "xmax": 852.1181890735949, + "ymax": 335.4871990777241 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 829.6915041767284, + 323.2365980347026 + ], + [ + 829.630201809379, + 333.39753865050113 + ], + [ + 851.243269245849, + 335.4871990777241 + ], + [ + 851.0619826789945, + 325.27963832289237 + ], + [ + 830.4665289620473, + 319.05240024421926 + ], + [ + 830.4137922214632, + 329.2077162973775 + ], + [ + 852.1181890735949, + 331.2963365882416 + ], + [ + 851.9262939788831, + 321.0942340812212 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 654.435546611497, + "ymin": 294.30063495838976, + "xmax": 858.8895048766951, + "ymax": 561.2055588189472 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 656.7489976390408, + 528.1986782372935 + ], + [ + 654.435546611497, + 542.4879972077495 + ], + [ + 808.8137417001832, + 561.2055588189472 + ], + [ + 809.1559285135081, + 546.4360292637064 + ], + [ + 661.5315057803532, + 294.30063495838976 + ], + [ + 658.6264609392459, + 308.8236505299464 + ], + [ + 858.8895048766951, + 328.01149126685607 + ], + [ + 858.4895380367878, + 312.85530945565995 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 829.7497017565314, + "ymin": 319.1392013493829, + "xmax": 851.9971722025118, + "ymax": 335.39926345187155 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 829.809033289451, + 323.278930547979 + ], + [ + 829.7497017565314, + 333.33208122544374 + ], + [ + 851.132096166591, + 335.39926345187155 + ], + [ + 850.9539594559162, + 325.30047790048843 + ], + [ + 830.5763281118097, + 319.1392013493829 + ], + [ + 830.525391606796, + 329.18684727844527 + ], + [ + 851.9971722025118, + 331.2530104856706 + ], + [ + 851.8086620459721, + 321.15956861779074 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 673.0574497051794, + "ymin": 0.0, + "xmax": 959.9531237891174, + "ymax": 6.478630021853974 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 674.1656270677407, + -13.11345977784049 + ], + [ + 673.0574497051794, + -9.526425213143114 + ], + [ + 919.5078627433102, + 6.478630021853974 + ], + [ + 919.0353512668794, + 2.6857664753262043 + ], + [ + 678.9191815879061, + -202.3971912894442 + ], + [ + 677.6903922428422, + -199.68905808158502 + ], + [ + 959.9531237891174, + -187.54651478881908 + ], + [ + 959.1102211131911, + -190.43280420976248 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1247.5041826933555, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 239.45397368479018 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1444.484247720418, + 78.36603970238048 + ], + [ + 1247.5041826933555, + 99.53533607217656 + ], + [ + 1428.081196515815, + 239.45397368479018 + ], + [ + 1657.6538768716714, + 208.76728067112748 + ], + [ + 1704.9193869612252, + -332.4385623321881 + ], + [ + 1452.7163612959816, + -321.96800946231076 + ], + [ + 1773.9317989751603, + -246.74416258984002 + ], + [ + 2080.3896922669837, + -264.1991782540408 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 85.41197749305059, + "ymax": 241.69973115540165 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + 85.41197749305059, + 107.40177377583652 + ], + [ + -113.96417304083081, + 125.6858043428038 + ], + [ + -195.7707808680891, + 241.69973115540165 + ], + [ + 38.1705445310746, + 216.95122935340913 + ], + [ + -56.12845008073282, + -209.05225784141987 + ], + [ + -312.92025737873905, + -196.68476130540375 + ], + [ + -464.688477685351, + -114.0517216536669 + ], + [ + -147.7781491391736, + -132.30820627888596 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 6.225558287582771, + "ymax": 348.4225832991845 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 6.225558287582771, + 210.58305782201475 + ], + [ + -187.56570632948956, + 211.8155098851296 + ], + [ + -328.9943744489419, + 348.4225832991845 + ], + [ + -101.29094041041901, + 346.7244488020325 + ], + [ + -199.42046249657074, + -158.27036849154194 + ], + [ + -456.65216020191383, + -157.405557601508 + ], + [ + -721.0582777713246, + -55.7491083791935 + ], + [ + -400.4484858775704, + -57.08754962187339 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00084/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00084/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..ecc2adafa2b4567c00cb090fe1f88538f8d53272 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00084/meta.json @@ -0,0 +1,2364 @@ +{ + "frame_id": 84, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 42.0, + "sim_timestamp": 10741.99819753319 + }, + "drone_pose": { + "x": -109.43955282721447, + "y": -96.16819320878982, + "z": 20.034933303398823, + "pitch": -43.98844499327207, + "yaw": -8.68293181826032, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7112338542938232, + 0.10861724615097046, + 0.6945132613182068, + 53.47706604003906 + ], + [ + -0.1509663462638855, + 0.988538920879364, + 3.725290298461914e-09, + 111.58769226074219 + ], + [ + -0.686553418636322, + -0.10484813153743744, + 0.7194799184799194, + -79.46778106689453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -108.81992426891662, + "y": -96.30599428141032, + "z": 20.279595778504678 + }, + "t1_image_uv": [ + 496.61613186666773, + -1709.1397813119452 + ], + "t1_depth": 0.28574703951513986 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -89.66718292236328, + "y": -99.18776321411131, + "z": 0.7273967456817627 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 27.80009680916387, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 84, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -89.66718292236328, + "y": -99.18775939941406, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.2690820097923279, + "y": 0.19718259572982788, + "z": 0.5413885116577148 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.7033280953633, + "ymin": 339.3343910509239, + "xmax": 648.1947295916427, + "ymax": 380.42441390799604 + }, + "corners_3d": [ + [ + -89.93626403808594, + -99.38494110107422, + 0.18600815534591675 + ], + [ + -89.93626403808594, + -98.9905776977539, + 0.18600815534591675 + ], + [ + -89.39810180664062, + -98.9905776977539, + 0.18600815534591675 + ], + [ + -89.39810180664062, + -99.38494110107422, + 0.18600815534591675 + ], + [ + -89.93626403808594, + -99.38494110107422, + 1.2687852382659912 + ], + [ + -89.93626403808594, + -98.9905776977539, + 1.2687852382659912 + ], + [ + -89.39810180664062, + -98.9905776977539, + 1.2687852382659912 + ], + [ + -89.39810180664062, + -99.38494110107422, + 1.2687852382659912 + ] + ], + "corners_2d": [ + [ + 631.9261050896579, + 378.9758310310691 + ], + [ + 645.2973440721705, + 380.42441390799604 + ], + [ + 647.9773285930163, + 367.6354882118135 + ], + [ + 634.7823264262634, + 366.2257327637745 + ], + [ + 631.7033280953633, + 352.0586291918182 + ], + [ + 645.4437398451337, + 353.50487294392076 + ], + [ + 648.1947295916427, + 340.7408218244578 + ], + [ + 634.6403529162206, + 339.3343910509239 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 84, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 56, + "semantic_pixel_counts": { + "1": 218749, + "2": 143658, + "3": 396704, + "4": 8633, + "5": 923, + "6": 3117, + "10": 1169, + "12": 3244, + "14": 30421, + "16": 94543, + "20": 7382, + "24": 13057 + }, + "instance_pixel_counts": { + "913": 419, + "2670": 1739, + "3182": 8672, + "3694": 2266, + "4206": 5116, + "4718": 12045, + "5742": 1298, + "8834": 2781, + "14416": 923, + "15963": 3354, + "16475": 8333, + "16987": 29386, + "17232": 8633, + "17499": 101288, + "18011": 179361, + "22976": 657, + "23552": 66, + "24512": 33688, + "26963": 269, + "31168": 2180, + "34120": 667, + "35668": 5278, + "36692": 1685, + "37979": 658, + "40019": 1, + "41611": 547, + "42123": 312, + "43117": 1616, + "43147": 15215, + "43155": 10842, + "43659": 8510, + "44179": 207907, + "45717": 1330, + "46741": 11727, + "48749": 2596, + "48779": 53, + "49261": 10009, + "49664": 84, + "49920": 326, + "50176": 558, + "50432": 1055, + "50624": 2965, + "50688": 650, + "50944": 571, + "51136": 822, + "51456": 4586, + "52160": 40574, + "52480": 58975, + "52672": 29239, + "52736": 35568, + "54016": 16069, + "55040": 9766, + "55744": 1214, + "55879": 1142, + "64351": 7015, + "65133": 28967 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 84, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -89.66718292236328, + "y": -99.18775939941406, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.3060400187969208, + "y": 0.21270506083965302, + "z": 0.5267776250839233 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 630.961398826026, + "ymin": 338.7909024083149, + "xmax": 648.9115643697111, + "ymax": 381.0191258039872 + }, + "corners_3d": [ + [ + -89.97322082519531, + -99.40046691894531, + 0.20061904191970825 + ], + [ + -89.97322082519531, + -98.97505187988281, + 0.20061904191970825 + ], + [ + -89.36114501953125, + -98.97505187988281, + 0.20061904191970825 + ], + [ + -89.36114501953125, + -99.40046691894531, + 0.20061904191970825 + ], + [ + -89.97322082519531, + -99.40046691894531, + 1.2541742324829102 + ], + [ + -89.97322082519531, + -98.97505187988281, + 1.2541742324829102 + ], + [ + -89.36114501953125, + -98.97505187988281, + 1.2541742324829102 + ], + [ + -89.36114501953125, + -99.40046691894531, + 1.2541742324829102 + ] + ], + "corners_2d": [ + [ + 631.1978410460592, + 379.45355994299246 + ], + [ + 645.6403973828526, + 381.0191258039872 + ], + [ + 648.6816438457654, + 366.4719955372759 + ], + [ + 634.4554706825023, + 364.9540846521084 + ], + [ + 630.961398826026, + 353.2617353074067 + ], + [ + 645.7921663067738, + 354.8249212145241 + ], + [ + 648.9115643697111, + 340.30525666985847 + ], + [ + 634.3088771750336, + 338.7909024083149 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 326, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -85.54119873046875, + "y": -96.19005584716797, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.396674782037735, + "y": 0.32020506262779236, + "z": 0.8656688332557678 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 739.2066620635264, + "ymin": 254.52145722455924, + "xmax": 767.2415749394061, + "ymax": 313.3355055364087 + }, + "corners_3d": [ + [ + -85.99578094482422, + -96.42079162597656, + -0.29067444801330566 + ], + [ + -85.86263275146484, + -95.79437255859375, + -0.29067444801330566 + ], + [ + -85.08661651611328, + -95.95932006835938, + -0.29067444801330566 + ], + [ + -85.21976470947266, + -96.58573913574219, + -0.29067444801330566 + ], + [ + -85.99578094482422, + -96.42079162597656, + 1.44066321849823 + ], + [ + -85.86263275146484, + -95.79437255859375, + 1.44066321849823 + ], + [ + -85.08661651611328, + -95.95932006835938, + 1.44066321849823 + ], + [ + -85.21976470947266, + -96.58573913574219, + 1.44066321849823 + ] + ], + "corners_2d": [ + [ + 742.471035119732, + 313.3355055364087 + ], + [ + 762.2812107036201, + 312.5748825148803 + ], + [ + 758.66025838298, + 296.62538146367876 + ], + [ + 739.2066620635264, + 297.35864839597616 + ], + [ + 746.6315371080988, + 271.06199663385246 + ], + [ + 767.2415749394061, + 270.3085388689844 + ], + [ + 763.3829479431083, + 254.52145722455924 + ], + [ + 743.1585838951016, + 255.24674787990733 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 558, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -90.04592895507812, + "y": -90.67738342285156, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.488837867975235, + "y": 0.3501220643520355, + "z": 0.8979296088218689 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 918.265575237748, + "ymin": 369.6325535865687, + "xmax": 964.0067208235785, + "ymax": 440.38446655792524 + }, + "corners_3d": [ + [ + -90.56868743896484, + -90.9744873046875, + -0.3229254484176636 + ], + [ + -90.49549102783203, + -90.27808380126953, + -0.3229254484176636 + ], + [ + -89.5231704711914, + -90.38027954101562, + -0.3229254484176636 + ], + [ + -89.59636688232422, + -91.0766830444336, + -0.3229254484176636 + ], + [ + -90.56868743896484, + -90.9744873046875, + 1.4729337692260742 + ], + [ + -90.49549102783203, + -90.27808380126953, + 1.4729337692260742 + ], + [ + -89.5231704711914, + -90.38027954101562, + 1.4729337692260742 + ], + [ + -89.59636688232422, + -91.0766830444336, + 1.4729337692260742 + ] + ], + "corners_2d": [ + [ + 923.8807915471916, + 439.5047738446044 + ], + [ + 949.024281051111, + 440.38446655792524 + ], + [ + 942.7659136320384, + 414.8159884161326 + ], + [ + 918.265575237748, + 413.9803790493209 + ], + [ + 937.6315933466028, + 395.18313823395476 + ], + [ + 964.0067208235785, + 396.06485295376535 + ], + [ + 957.054655580813, + 370.4680273608725 + ], + [ + 931.3863400175468, + 369.6325535865687 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 1055, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -99.92488098144531, + "y": -99.99396514892578, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.44854485988616943, + "y": 0.4608202576637268, + "z": 0.8932635188102722 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 500.2203429234173, + "ymin": 641.2393096299529, + "xmax": 558.56294561416, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -100.37342834472656, + -100.45478820800781, + -0.16586196422576904 + ], + [ + -100.37342834472656, + -99.53314208984375, + -0.16586196422576904 + ], + [ + -99.47633361816406, + -99.53314208984375, + -0.16586196422576904 + ], + [ + -99.47633361816406, + -100.45478820800781, + -0.16586196422576904 + ], + [ + -100.37342834472656, + -100.45478820800781, + 1.6206650733947754 + ], + [ + -100.37342834472656, + -99.53314208984375, + 1.6206650733947754 + ], + [ + -99.47633361816406, + -99.53314208984375, + 1.6206650733947754 + ], + [ + -99.47633361816406, + -100.45478820800781, + 1.6206650733947754 + ] + ], + "corners_2d": [ + [ + 508.5014009059553, + 720.2956817667766 + ], + [ + 549.832375396817, + 726.4768176236191 + ], + [ + 558.56294561416, + 688.0670291056194 + ], + [ + 518.4133996856443, + 682.2468002379196 + ], + [ + 500.2203429234173, + 680.356329676696 + ], + [ + 544.1251168933793, + 686.7247445845727 + ], + [ + 553.5707877933896, + 647.2135072379177 + ], + [ + 510.99672358116584, + 641.2393096299529 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 650, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -90.25115966796875, + "y": -100.98506927490234, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.5396973490715027, + "y": 0.46406254172325134, + "z": 0.8750967979431152 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 551.8273536042913, + "ymin": 329.8547357150247, + "xmax": 596.8803116746479, + "ymax": 404.53777121357524 + }, + "corners_3d": [ + [ + -90.73939514160156, + -101.50300598144531, + -0.14769035577774048 + ], + [ + -90.83641052246094, + -100.57996368408203, + -0.14769035577774048 + ], + [ + -89.76292419433594, + -100.46713256835938, + -0.14769035577774048 + ], + [ + -89.66590881347656, + -101.39017486572266, + -0.14769035577774048 + ], + [ + -90.73939514160156, + -101.50300598144531, + 1.6025032997131348 + ], + [ + -90.83641052246094, + -100.57996368408203, + 1.6025032997131348 + ], + [ + -89.76292419433594, + -100.46713256835938, + 1.6025032997131348 + ], + [ + -89.66590881347656, + -101.39017486572266, + 1.6025032997131348 + ] + ], + "corners_2d": [ + [ + 555.6692629533641, + 398.645021466397 + ], + [ + 586.2393245221757, + 404.53777121357524 + ], + [ + 596.8803116746479, + 378.9176873268531 + ], + [ + 567.0490283313626, + 373.33083428511424 + ], + [ + 551.8273536042913, + 355.09805081443517 + ], + [ + 583.7744786594462, + 360.9829594292253 + ], + [ + 594.9578150216055, + 335.420765243692 + ], + [ + 563.8165683939449, + 329.8547357150247 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 571, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -86.84246063232422, + "y": -101.24003601074219, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.43532225489616394, + "y": 0.44242674112319946, + "z": 0.904916524887085 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 568.7142056425735, + "ymin": 257.04208138206343, + "xmax": 607.794312544565, + "ymax": 324.7140389448694 + }, + "corners_3d": [ + [ + -87.17628479003906, + -101.7633056640625, + -0.1775100827217102 + ], + [ + -87.3602523803711, + -100.89778900146484, + -0.1775100827217102 + ], + [ + -86.50863647460938, + -100.71676635742188, + -0.1775100827217102 + ], + [ + -86.32466888427734, + -101.58228302001953, + -0.1775100827217102 + ], + [ + -87.17628479003906, + -101.7633056640625, + 1.6323230266571045 + ], + [ + -87.3602523803711, + -100.89778900146484, + 1.6323230266571045 + ], + [ + -86.50863647460938, + -100.71676635742188, + 1.6323230266571045 + ], + [ + -86.32466888427734, + -101.58228302001953, + 1.6323230266571045 + ] + ], + "corners_2d": [ + [ + 571.6539405631752, + 318.1380671092673 + ], + [ + 597.4130308766323, + 324.7140389448694 + ], + [ + 607.794312544565, + 307.77583178232925 + ], + [ + 582.4460087470347, + 301.4465086535186 + ], + [ + 568.7142056425735, + 273.5611015820387 + ], + [ + 595.5670551181631, + 280.07646185615687 + ], + [ + 606.4259773580144, + 263.302825529038 + ], + [ + 580.0191360361955, + 257.04208138206343 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 4586, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 863.7452347782489, + "ymin": 146.12416818217733, + "xmax": 933.3578153815533, + "ymax": 251.25059159400945 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 918.1513011136237, + 183.08352177190363 + ], + [ + 863.7452347782489, + 178.51443487387058 + ], + [ + 865.3636385407667, + 245.815930526096 + ], + [ + 924.7269787299556, + 251.25059159400945 + ], + [ + 925.8606520287153, + 150.6157934764632 + ], + [ + 869.9078136009765, + 146.12416818217733 + ], + [ + 872.1482570030118, + 212.43845663561973 + ], + [ + 933.3578153815533, + 217.8078345137861 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 58975, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 672.9770994993829, + "ymin": 272.86776328442085, + "xmax": 894.9801818678062, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 854.7095479514702, + 401.69984104817553 + ], + [ + 717.9894413341681, + 386.76415734806034 + ], + [ + 672.9770994993829, + 722.478716590982 + ], + [ + 857.9039575429967, + 749.9357831804466 + ], + [ + 880.4224850022796, + 287.59425917142977 + ], + [ + 727.1682071704078, + 272.86776328442085 + ], + [ + 678.4516936754222, + 617.5538741611094 + ], + [ + 894.9801818678062, + 647.0677841870482 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 35568, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1098.5170985534965, + "ymin": 378.0610820834398, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 1201.3950728075692, + 923.445141487491 + ], + [ + 1428.9914815696638, + 960.2642097633884 + ], + [ + 1257.3208302432263, + 510.76336193270333 + ], + [ + 1098.5170985534965, + 492.2997375283454 + ], + [ + 1312.0281787337383, + 838.4958951736935 + ], + [ + 1589.0980189450647, + 880.2615814194162 + ], + [ + 1340.7315345508523, + 396.7585670362183 + ], + [ + 1159.2683501499118, + 378.0610820834398 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 16069, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 876.237055296416, + "ymin": 494.8825942086745, + "xmax": 987.2161145083912, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 949.0703413959559, + 542.6026001827233 + ], + [ + 876.237055296416, + 533.584443443108 + ], + [ + 881.9024649507598, + 738.5581301045106 + ], + [ + 968.491098230825, + 751.2690238623118 + ], + [ + 963.7663029804573, + 503.9972594992814 + ], + [ + 887.3742484054696, + 494.8825942086745 + ], + [ + 895.5511672963438, + 703.8046637357809 + ], + [ + 987.2161145083912, + 716.8823855831606 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 9766, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1047.7606361724588, + "ymin": 128.08452473518983, + "xmax": 1177.896773390756, + "ymax": 290.6016161449106 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 1076.403261062334, + 283.45687951726825 + ], + [ + 1152.7643264358508, + 290.6016161449106 + ], + [ + 1114.3557038412728, + 183.3252263233409 + ], + [ + 1047.7606361724588, + 177.85100978080405 + ], + [ + 1097.6060489350295, + 231.4194118705359 + ], + [ + 1177.896773390756, + 238.4555722864614 + ], + [ + 1134.5722458833784, + 133.4105439549762 + ], + [ + 1065.0067600588463, + 128.08452473518983 + ] + ], + "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": 1110.4567190420407, + "ymin": 0.0, + "xmax": 1243.8349607678463, + "ymax": 12.593556771011777 + }, + "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": [ + [ + 1157.6285341195057, + 11.969780852570864 + ], + [ + 1167.0749887989132, + 12.593556771011777 + ], + [ + 1118.381980900243, + -78.05960491824516 + ], + [ + 1110.4567190420407, + -78.50349920464464 + ], + [ + 1232.9198005183841, + -183.30844800395425 + ], + [ + 1243.8349607678463, + -182.83499020933925 + ], + [ + 1175.838505394981, + -250.1197928417638 + ], + [ + 1166.9038817012718, + -250.44188448640773 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 706.6006446696446, + "ymin": 0.0, + "xmax": 836.4305430020624, + "ymax": 162.12265865653586 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 707.7547119038602, + 147.81735571302053 + ], + [ + 706.6006446696446, + 153.87983523349325 + ], + [ + 807.3077390258179, + 162.12265865653586 + ], + [ + 807.6179880108893, + 155.92128091352217 + ], + [ + 719.248579448184, + -56.88530804195375 + ], + [ + 718.0110235721537, + -51.81861896193027 + ], + [ + 836.3566262594068, + -44.9062404002965 + ], + [ + 836.4305430020624, + -50.1092012125705 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1240.0292919550122, + "ymin": 119.18082984378398, + "xmax": 1280.0, + "ymax": 286.1864078621339 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1258.5169253211827, + 279.3892144215405 + ], + [ + 1333.6777387680477, + 286.1864078621339 + ], + [ + 1311.6722035150096, + 247.8773257402092 + ], + [ + 1240.0292919550122, + 241.67482593710469 + ], + [ + 1330.1436603373252, + 154.88587900599126 + ], + [ + 1414.7291614990156, + 161.36017429930808 + ], + [ + 1386.2359502260283, + 125.0276562722625 + ], + [ + 1306.0767723820663, + 119.18082984378398 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 801.4180167948468, + "ymin": 332.6010036903076, + "xmax": 824.4585113488766, + "ymax": 349.5990626292768 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 801.9044524964469, + 336.83697887261513 + ], + [ + 801.4180167948468, + 347.3351753304987 + ], + [ + 823.458169760777, + 349.5990626292768 + ], + [ + 823.6920297949007, + 339.0490971841728 + ], + [ + 802.5783653932277, + 332.6010036903076 + ], + [ + 802.0977446001729, + 343.0939820727468 + ], + [ + 824.2326297091761, + 345.3568771605513 + ], + [ + 824.4585113488766, + 334.8119380779653 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 626.8617324617729, + "ymin": 306.39027476672806, + "xmax": 831.0808313347528, + "ymax": 577.1922887440066 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 632.6520351939251, + 542.3424110891029 + ], + [ + 629.8585466720461, + 557.0170040872107 + ], + [ + 786.542203236012, + 577.1922887440066 + ], + [ + 787.3027798485915, + 561.9895867077067 + ], + [ + 630.5172945750352, + 306.39027476672806 + ], + [ + 626.8617324617729, + 321.3565457847479 + ], + [ + 830.858238148813, + 342.1224197144334 + ], + [ + 831.0808313347528, + 326.4542019072973 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 801.5415109188755, + "ymin": 332.69074289846145, + "xmax": 824.3369591290036, + "ymax": 349.5080759165968 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 802.0214189937521, + 336.8816966617132 + ], + [ + 801.5415109188755, + 347.26854711048236 + ], + [ + 823.3464130043191, + 349.5080759165968 + ], + [ + 823.5790767288067, + 339.0705505283057 + ], + [ + 802.6886803180007, + 332.69074289846145 + ], + [ + 802.2144753622842, + 343.0724866147996 + ], + [ + 824.1120937200509, + 345.3110431761887 + ], + [ + 824.3369591290036, + 334.87843885909234 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 665.5557393127717, + "ymin": 0.0, + "xmax": 953.5332680977158, + "ymax": 12.2049844090418 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 666.7781694140765, + -8.266496799235824 + ], + [ + 665.5557393127717, + -4.657338148420877 + ], + [ + 913.7034092790441, + 12.2049844090418 + ], + [ + 913.3212619767219, + 8.376746670826435 + ], + [ + 670.5179322906394, + -198.58803692935794 + ], + [ + 669.1510936087129, + -195.87425046811325 + ], + [ + 953.5332680977158, + -183.129941466 + ], + [ + 952.7944944273727, + -186.03274124180405 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1243.538390616076, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 250.57247335359511 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1444.115568146238, + 86.66240390168741 + ], + [ + 1243.538390616076, + 107.46296177662813 + ], + [ + 1424.8565643836118, + 250.57247335359511 + ], + [ + 1659.692322232885, + 220.20234916155886 + ], + [ + 1707.6393379275366, + -328.83518931730237 + ], + [ + 1449.7780864213134, + -318.6751069044726 + ], + [ + 1775.4195282201433, + -242.51093671577553 + ], + [ + 2091.061624138869, + -259.6538398372156 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 70.00700145003998, + "ymax": 246.0025211448011 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + 70.00700145003998, + 111.35975259384833 + ], + [ + -130.70897681320093, + 129.09364409927005 + ], + [ + -218.10014399095428, + 246.0025211448011 + ], + [ + 17.93206199631811, + 221.9116380054467 + ], + [ + -75.9777649921516, + -207.03197723644814 + ], + [ + -334.62909629270234, + -195.13656293514452 + ], + [ + -495.6301311250345, + -112.51528041164659 + ], + [ + -175.4415505344997, + -130.16359465469628 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00085/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00085/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..fc125668894ea61a62b56ea77393266d0261a00b --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00085/meta.json @@ -0,0 +1,2361 @@ +{ + "frame_id": 85, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 42.5, + "sim_timestamp": 10756.117660306394 + }, + "drone_pose": { + "x": -108.81992426891662, + "y": -96.30599428141032, + "z": 20.279595778504678, + "pitch": -44.548357342736, + "yaw": -8.342084608376084, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7051182985305786, + 0.10339464247226715, + 0.7015109658241272, + 52.54704666137695 + ], + [ + -0.1450829952955246, + 0.9894194602966309, + 3.725290298461914e-09, + 111.07494354248047 + ], + [ + -0.6940886378288269, + -0.10177731513977051, + 0.7126586437225342, + -80.18133544921875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -108.46154450298295, + "y": -96.1622917551402, + "z": 20.27621540776306 + }, + "t1_image_uv": [ + 1416.0173999544836, + -566.0269321343653 + ], + "t1_depth": 0.24021344179691756 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -89.16718292236328, + "y": -99.18776321411131, + "z": 0.7273967456817627 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 27.871550398840917, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 95, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -89.16718292236328, + "y": -99.18775939941406, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.17546384036540985, + "y": 0.2238183319568634, + "z": 0.5236682295799255 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.3506139141723, + "ymin": 342.02417312586124, + "xmax": 648.5866197169664, + "ymax": 377.69366946405455 + }, + "corners_3d": [ + [ + -89.34264373779297, + -99.41157531738281, + 0.20372843742370605 + ], + [ + -89.34264373779297, + -98.96394348144531, + 0.20372843742370605 + ], + [ + -88.9917221069336, + -98.96394348144531, + 0.20372843742370605 + ], + [ + -88.9917221069336, + -99.41157531738281, + 0.20372843742370605 + ], + [ + -89.34264373779297, + -99.41157531738281, + 1.2510648965835571 + ], + [ + -89.34264373779297, + -98.96394348144531, + 1.2510648965835571 + ], + [ + -88.9917221069336, + -98.96394348144531, + 1.2510648965835571 + ], + [ + -88.9917221069336, + -99.41157531738281, + 1.2510648965835571 + ] + ], + "corners_2d": [ + [ + 631.5764574536717, + 376.11023063187605 + ], + [ + 646.6978179854267, + 377.69366946405455 + ], + [ + 648.3640065089478, + 369.288223552382 + ], + [ + 633.3717435099849, + 367.73229269707804 + ], + [ + 631.3506139141723, + 350.3946000868517 + ], + [ + 646.8776969385933, + 351.97705897763626 + ], + [ + 648.5866197169664, + 343.5784132749175 + ], + [ + 633.1956236488495, + 342.02417312586124 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 85, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 53, + "semantic_pixel_counts": { + "1": 220233, + "2": 143225, + "3": 397943, + "4": 8772, + "5": 850, + "6": 3191, + "10": 1230, + "12": 3213, + "14": 29715, + "16": 92677, + "20": 7487, + "24": 13064 + }, + "instance_pixel_counts": { + "913": 375, + "2670": 2693, + "3182": 9312, + "3694": 2374, + "4206": 5248, + "4718": 7463, + "5742": 1360, + "8834": 2846, + "14416": 850, + "15963": 3545, + "16475": 8466, + "16987": 31486, + "17232": 8772, + "17499": 114012, + "18011": 171869, + "22976": 692, + "23552": 58, + "24512": 34774, + "26963": 287, + "31168": 290, + "34120": 196, + "35668": 5445, + "36692": 1667, + "37979": 731, + "41611": 552, + "42123": 319, + "43117": 1676, + "43147": 15165, + "43155": 10944, + "43659": 8951, + "44179": 209289, + "45717": 1354, + "46741": 11710, + "48749": 2726, + "49261": 10435, + "49664": 95, + "49920": 418, + "50176": 519, + "50432": 951, + "50624": 2971, + "50688": 650, + "50944": 580, + "51136": 845, + "51456": 4732, + "52160": 41663, + "52480": 59255, + "52672": 29920, + "52736": 33422, + "54016": 14905, + "55040": 10078, + "55879": 1204, + "64351": 6887, + "65133": 24547 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 95, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -89.16718292236328, + "y": -99.18775939941406, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.2077636420726776, + "y": 0.21681149303913116, + "z": 0.5181896686553955 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.4230406534554, + "ymin": 341.4234475163537, + "xmax": 648.500192707839, + "ymax": 378.31897517450193 + }, + "corners_3d": [ + [ + -89.37494659423828, + -99.40457153320312, + 0.20920699834823608 + ], + [ + -89.37494659423828, + -98.970947265625, + 0.20920699834823608 + ], + [ + -88.95941925048828, + -98.970947265625, + 0.20920699834823608 + ], + [ + -88.95941925048828, + -99.40457153320312, + 0.20920699834823608 + ], + [ + -89.37494659423828, + -99.40457153320312, + 1.2455863952636719 + ], + [ + -89.37494659423828, + -98.970947265625, + 1.2455863952636719 + ], + [ + -88.95941925048828, + -98.970947265625, + 1.2455863952636719 + ], + [ + -88.95941925048828, + -99.40457153320312, + 1.2455863952636719 + ] + ], + "corners_2d": [ + [ + 631.6448656788743, + 376.78259689138946 + ], + [ + 646.306664429517, + 378.31897517450193 + ], + [ + 648.2822768340612, + 368.36650056277443 + ], + [ + 633.7686007081659, + 366.86168004245883 + ], + [ + 631.4230406534554, + 351.3355825924614 + ], + [ + 646.474378098219, + 352.8710864220427 + ], + [ + 648.500192707839, + 342.92658678453375 + ], + [ + 633.6049112871863, + 341.4234475163537 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 418, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -85.04119873046875, + "y": -96.19005584716797, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.5245459079742432, + "y": 0.3090185523033142, + "z": 0.8854247331619263 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 738.0366428814425, + "ymin": 250.46644097380116, + "xmax": 766.7057264850272, + "ymax": 315.19556427737973 + }, + "corners_3d": [ + [ + -85.6185302734375, + -96.38326263427734, + -0.3104303479194641 + ], + [ + -85.49003601074219, + -95.77873229980469, + -0.3104303479194641 + ], + [ + -84.4638671875, + -95.9968490600586, + -0.3104303479194641 + ], + [ + -84.59236145019531, + -96.60137939453125, + -0.3104303479194641 + ], + [ + -85.6185302734375, + -96.38326263427734, + 1.4604191780090332 + ], + [ + -85.49003601074219, + -95.77873229980469, + 1.4604191780090332 + ], + [ + -84.4638671875, + -95.9968490600586, + 1.4604191780090332 + ], + [ + -84.59236145019531, + -96.60137939453125, + 1.4604191780090332 + ] + ], + "corners_2d": [ + [ + 742.4959508769173, + 315.19556427737973 + ], + [ + 761.6018661716413, + 314.37540570328235 + ], + [ + 756.6952073181953, + 293.13085362650844 + ], + [ + 738.0366428814425, + 293.91270561378525 + ], + [ + 746.8019877128543, + 272.3410458219879 + ], + [ + 766.7057264850272, + 271.5271474503832 + ], + [ + 761.4726911349283, + 250.46644097380116 + ], + [ + 742.0539680008545, + 251.24078751329264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 519, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -89.763671875, + "y": -91.03951263427734, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.45436033606529236, + "y": 0.3289892375469208, + "z": 0.8709506988525391 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 906.0476766501041, + "ymin": 374.6458941160015, + "xmax": 948.6465888538962, + "ymax": 441.8167405902126 + }, + "corners_3d": [ + [ + -90.24993133544922, + -91.31920623779297, + -0.29594653844833374 + ], + [ + -90.18115234375, + -90.66483306884766, + -0.29594653844833374 + ], + [ + -89.27741241455078, + -90.75981903076172, + -0.29594653844833374 + ], + [ + -89.34619140625, + -91.41419219970703, + -0.29594653844833374 + ], + [ + -90.24993133544922, + -91.31920623779297, + 1.4459547996520996 + ], + [ + -90.18115234375, + -90.66483306884766, + 1.4459547996520996 + ], + [ + -89.27741241455078, + -90.75981903076172, + 1.4459547996520996 + ], + [ + -89.34619140625, + -91.41419219970703, + 1.4459547996520996 + ] + ], + "corners_2d": [ + [ + 911.1008799984411, + 441.08837609695877 + ], + [ + 934.6743999690577, + 441.8167405902126 + ], + [ + 929.0658331480739, + 417.7791631370337 + ], + [ + 906.0476766501041, + 417.0844902282647 + ], + [ + 923.9457638852164, + 398.7223395840201 + ], + [ + 948.6465888538962, + 399.45374016857096 + ], + [ + 942.4363806286354, + 375.34191774346226 + ], + [ + 918.344615613224, + 374.6458941160015 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 951, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -99.57755279541016, + "y": -100.29884338378906, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.4721483886241913, + "y": 0.4495019018650055, + "z": 0.8644521236419678 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 488.2247359849255, + "ymin": 647.8804849902851, + "xmax": 546.5596270027232, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -100.04969787597656, + -100.74834442138672, + -0.1370505690574646 + ], + [ + -100.04969787597656, + -99.8493423461914, + -0.1370505690574646 + ], + [ + -99.10540771484375, + -99.8493423461914, + -0.1370505690574646 + ], + [ + -99.10540771484375, + -100.74834442138672, + -0.1370505690574646 + ], + [ + -100.04969787597656, + -100.74834442138672, + 1.5918536186218262 + ], + [ + -100.04969787597656, + -99.8493423461914, + 1.5918536186218262 + ], + [ + -99.10540771484375, + -99.8493423461914, + 1.5918536186218262 + ], + [ + -99.10540771484375, + -100.74834442138672, + 1.5918536186218262 + ] + ], + "corners_2d": [ + [ + 497.0047180618278, + 726.7975636037236 + ], + [ + 537.277912758852, + 732.639233095307 + ], + [ + 546.5596270027232, + 691.9070170324026 + ], + [ + 507.48618084508144, + 686.4201849394643 + ], + [ + 488.2247359849255, + 689.4379557627834 + ], + [ + 530.9409049221808, + 695.4633678216462 + ], + [ + 540.9840462447798, + 653.518470828169 + ], + [ + 499.6150853433969, + 647.8804849902851 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 650, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -89.75115966796875, + "y": -100.98506927490234, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.5295557379722595, + "y": 0.5142041444778442, + "z": 0.9044101238250732 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 550.5082929288545, + "ymin": 329.54418102672753, + "xmax": 598.5251086365898, + "ymax": 405.41296220462425 + }, + "corners_3d": [ + [ + -90.22406768798828, + -101.55181121826172, + -0.1770036816596985 + ], + [ + -90.3315658569336, + -100.52903747558594, + -0.1770036816596985 + ], + [ + -89.27825164794922, + -100.41832733154297, + -0.1770036816596985 + ], + [ + -89.1707534790039, + -101.44110107421875, + -0.1770036816596985 + ], + [ + -90.22406768798828, + -101.55181121826172, + 1.6318166255950928 + ], + [ + -90.3315658569336, + -100.52903747558594, + 1.6318166255950928 + ], + [ + -89.27825164794922, + -100.41832733154297, + 1.6318166255950928 + ], + [ + -89.1707534790039, + -101.44110107421875, + 1.6318166255950928 + ] + ], + "corners_2d": [ + [ + 554.563135963532, + 398.9925568713695 + ], + [ + 588.3829604716692, + 405.41296220462425 + ], + [ + 598.5251086365898, + 380.04984954220856 + ], + [ + 565.5018310917986, + 373.9530624059273 + ], + [ + 550.5082929288545, + 354.5574252989964 + ], + [ + 585.9164617139131, + 360.9808349489823 + ], + [ + 596.5963620207501, + 335.6290170934429 + ], + [ + 562.0602698853121, + 329.54418102672753 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 580, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -86.34246063232422, + "y": -101.24003601074219, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.4236816167831421, + "y": 0.44411131739616394, + "z": 0.8853402733802795 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 568.3825276858628, + "ymin": 257.4816719407721, + "xmax": 607.1274486636609, + "ymax": 323.5190687667972 + }, + "corners_3d": [ + [ + -86.66455078125, + -101.76252746582031, + -0.15793383121490479 + ], + [ + -86.8492202758789, + -100.89371490478516, + -0.15793383121490479 + ], + [ + -86.02037048339844, + -100.71754455566406, + -0.15793383121490479 + ], + [ + -85.83570098876953, + -101.58635711669922, + -0.15793383121490479 + ], + [ + -86.66455078125, + -101.76252746582031, + 1.6127467155456543 + ], + [ + -86.8492202758789, + -100.89371490478516, + 1.6127467155456543 + ], + [ + -86.02037048339844, + -100.71754455566406, + 1.6127467155456543 + ], + [ + -85.83570098876953, + -101.58635711669922, + 1.6127467155456543 + ] + ], + "corners_2d": [ + [ + 571.2969972481669, + 316.969657322042 + ], + [ + 597.1817404886218, + 323.5190687667972 + ], + [ + 607.1274486636609, + 306.8550019097314 + ], + [ + 581.6437389671701, + 300.54281546059116 + ], + [ + 568.3825276858628, + 273.77267506966933 + ], + [ + 595.3515816177584, + 280.2749485278364 + ], + [ + 605.7492465936828, + 263.7386843477988 + ], + [ + 579.2151537613374, + 257.4816719407721 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 4732, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 862.0579075086999, + "ymin": 150.87227367732987, + "xmax": 932.7003211944805, + "ymax": 257.98914691884784 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 916.9007387031174, + 187.744388051667 + ], + [ + 862.0579075086999, + 183.22062299929166 + ], + [ + 864.0865422660155, + 252.60839730162178 + ], + [ + 923.9278890161344, + 257.98914691884784 + ], + [ + 924.7230027716382, + 155.3279593606672 + ], + [ + 868.2931425789259, + 150.87227367732987 + ], + [ + 870.9645250459824, + 219.378260439069 + ], + [ + 932.7003211944805, + 224.70518902659944 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 59255, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 672.8327220091054, + "ymin": 285.92745293964924, + "xmax": 897.742214938868, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 854.2702946640622, + 413.39708426622207 + ], + [ + 716.2968932180705, + 398.5940389576002 + ], + [ + 672.8327220091054, + 745.3017918493263 + ], + [ + 859.5474800869531, + 772.5250585211251 + ], + [ + 880.4792077646307, + 300.63810001630685 + ], + [ + 725.4742887402826, + 285.92745293964924 + ], + [ + 678.4106335995311, + 645.0753080721503 + ], + [ + 897.742214938868, + 674.6267324946348 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 33422, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1100.2827554256469, + "ymin": 393.49250257734417, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 1206.2892969906884, + 949.159405961343 + ], + [ + 1435.0002324670938, + 985.4911715286382 + ], + [ + 1259.9977474507104, + 523.8903129107729 + ], + [ + 1100.2827554256469, + 505.65310208226174 + ], + [ + 1320.2493708361612, + 871.4614658660962 + ], + [ + 1599.5591607802394, + 913.0926979501563 + ], + [ + 1345.4149915506675, + 412.10836224712324 + ], + [ + 1162.5120895551324, + 393.49250257734417 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 14905, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 876.7479436903939, + "ymin": 511.51969769984225, + "xmax": 990.2101749951441, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 950.175729377934, + 558.2387985640471 + ], + [ + 876.7479436903939, + 549.3099560730074 + ], + [ + 883.669868922268, + 760.6623364481273 + ], + [ + 970.971773609054, + 773.2473599095829 + ], + [ + 965.212861642346, + 520.5695092740866 + ], + [ + 888.1313897559231, + 511.51969769984225 + ], + [ + 897.6948791948621, + 727.5902472690509 + ], + [ + 990.2101749951441, + 740.5795181217801 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 10078, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1047.3498965294289, + "ymin": 132.211962981914, + "xmax": 1179.263430280739, + "ymax": 297.6646691696383 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 1076.7939491867205, + 290.6043963933644 + ], + [ + 1153.6219208994153, + 297.6646691696383 + ], + [ + 1114.3658530180237, + 187.3247300457335 + ], + [ + 1047.3498965294289, + 181.91392321879835 + ], + [ + 1098.4169209073166, + 238.89018173289318 + ], + [ + 1179.263430280739, + 245.8651104877011 + ], + [ + 1134.9586116963594, + 137.49176630498783 + ], + [ + 1064.9041866075906, + 132.211962981914 + ] + ], + "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": 1108.8828247328536, + "ymin": 0.0, + "xmax": 1244.5403893162434, + "ymax": 11.35240185361306 + }, + "corners_3d": [ + [ + -61.32330322265625, + -78.3179702758789, + 0.0 + ], + [ + -61.3271484375, + -77.8851547241211, + 0.0 + ], + [ + -49.2730712890625, + -77.77800750732422, + 0.0 + ], + [ + -49.26922607421875, + -78.21082305908203, + 0.0 + ], + [ + -61.32330322265625, + -78.3179702758789, + 8.446706771850586 + ], + [ + -61.3271484375, + -77.8851547241211, + 8.446706771850586 + ], + [ + -49.2730712890625, + -77.77800750732422, + 8.446706771850586 + ], + [ + -49.26922607421875, + -78.21082305908203, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 1156.845555495773, + 10.73519557879547 + ], + [ + 1166.343567107272, + 11.35240185361306 + ], + [ + 1116.8540830115808, + -81.8730777663165 + ], + [ + 1108.8828247328536, + -82.31246282836514 + ], + [ + 1233.5400289068216, + -185.8097251870737 + ], + [ + 1244.5403893162434, + -185.33471047718638 + ], + [ + 1175.266652458672, + -255.4651897151474 + ], + [ + 1166.2626497880474, + -255.78818760841818 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 703.4500317450181, + "ymin": 0.0, + "xmax": 834.4368601034113, + "ymax": 166.63148444475289 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 704.5790510287115, + 152.2018933921357 + ], + [ + 703.4500317450181, + 158.46222737157458 + ], + [ + 805.0913616816358, + 166.63148444475289 + ], + [ + 805.3674652768294, + 160.23340481637476 + ], + [ + 715.787605291795, + -53.13277208273911 + ], + [ + 714.5725448789918, + -47.82444554954907 + ], + [ + 834.4056222942568, + -40.873872127037316 + ], + [ + 834.4368601034113, + -46.31976535712698 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1241.0650540523247, + "ymin": 125.00401476198061, + "xmax": 1280.0, + "ymax": 292.55633288795985 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1259.8631235567295, + 285.8514903834688 + ], + [ + 1335.3661059698472, + 292.55633288795985 + ], + [ + 1313.0444639503667, + 253.21005993319636 + ], + [ + 1241.0650540523247, + 247.09089243294602 + ], + [ + 1333.0308827282065, + 161.98136605120294 + ], + [ + 1418.1533289588635, + 168.4171956344261 + ], + [ + 1389.1750003357079, + 130.81594516471165 + ], + [ + 1308.5017005832242, + 125.00401476198061 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 802.1352015245188, + "ymin": 355.0336854246657, + "xmax": 825.4498006351997, + "ymax": 372.52667083911797 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 802.5442736763592, + 359.19962795376404 + ], + [ + 802.1352015245188, + 370.24058631212915 + ], + [ + 824.5089533976093, + 372.52667083911797 + ], + [ + 824.6597744129614, + 361.43310868916944 + ], + [ + 803.2380354675244, + 355.0336854246657 + ], + [ + 802.8353444826973, + 366.0733960846888 + ], + [ + 825.3076272645624, + 368.35935998603185 + ], + [ + 825.4498006351997, + 357.2668248482827 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 624.7993256292472, + "ymin": 328.59866355605345, + "xmax": 832.1699368100826, + "ymax": 594.9704293103155 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 631.0721258805805, + 559.7927183455311 + ], + [ + 628.3366484296112, + 574.9607519510068 + ], + [ + 786.60676481694, + 594.9704293103155 + ], + [ + 787.2839533823048, + 579.2781078771427 + ], + [ + 628.4103965109916, + 328.59866355605345 + ], + [ + 624.7993256292472, + 344.3746226547218 + ], + [ + 832.0753451717278, + 365.378702854627 + ], + [ + 832.1699368100826, + 348.8879188693707 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 802.2601721225044, + "ymin": 355.12603630820337, + "xmax": 825.326808873224, + "ymax": 372.4330353266873 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 802.6635060218541, + 359.247677430248 + ], + [ + 802.2601721225044, + 370.1715453453013 + ], + [ + 824.3951145915144, + 372.4330353266873 + ], + [ + 824.5456481939838, + 361.45767517871866 + ], + [ + 803.3504275257793, + 355.12603630820337 + ], + [ + 802.9533515618044, + 366.04868402661475 + ], + [ + 825.1847281433402, + 368.31005475232524 + ], + [ + 825.326808873224, + 357.33570108111746 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 661.0782127732757, + "ymin": 0.0, + "xmax": 951.7537924595035, + "ymax": 11.6248157894305 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 662.2911143834118, + -8.842739192080671 + ], + [ + 661.0782127732757, + -5.115326914876562 + ], + [ + 911.4102644312607, + 11.6248157894305 + ], + [ + 911.0026593475425, + 7.679816656523826 + ], + [ + 665.4746494799986, + -200.80187930112743 + ], + [ + 664.1108033195517, + -197.9587719334612 + ], + [ + 951.7537924595035, + -185.12500861038563 + ], + [ + 950.9799399437402, + -188.15905843636028 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1243.8684931985972, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 255.85833455086237 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1445.044819873685, + 87.1026656297642 + ], + [ + 1243.8684931985972, + 109.12611141766433 + ], + [ + 1426.7633768874307, + 255.85833455086237 + ], + [ + 1661.8609181120953, + 223.75467516021345 + ], + [ + 1714.674004873605, + -330.93414186315624 + ], + [ + 1455.0641950941038, + -319.6977281483306 + ], + [ + 1786.7039885659426, + -237.96077356606213 + ], + [ + 2103.7890542148234, + -256.9402730414944 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 58.83024445443755, + "ymax": 257.4156956662342 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + 58.83024445443755, + 116.88849474524704 + ], + [ + -145.01377162329788, + 135.9002125436555 + ], + [ + -233.29229595971856, + 257.4156956662342 + ], + [ + 6.56691039145835, + 231.56927219053787 + ], + [ + -94.30052171498562, + -204.13549908589357 + ], + [ + -358.9846911508731, + -191.00755813989565 + ], + [ + -524.8447562618408, + -102.42576615360207 + ], + [ + -196.34061935112277, + -121.97429978353836 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00086/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00086/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..65ee23a35214f8323e7fa0c6387303661021dac8 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00086/meta.json @@ -0,0 +1,3102 @@ +{ + "frame_id": 86, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 43.0, + "sim_timestamp": 10769.990713838488 + }, + "drone_pose": { + "x": -108.46154450298295, + "y": -96.1622917551402, + "z": 20.27621540776306, + "pitch": -40.52063809486357, + "yaw": -7.390525510042343, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7538568377494812, + 0.09778214246034622, + 0.6497218608856201, + 59.187625885009766 + ], + [ + -0.1286316066980362, + 0.9916924238204956, + 3.725290298461914e-09, + 109.31500244140625 + ], + [ + -0.6443243026733398, + -0.08357477188110352, + 0.7601720094680786, + -77.2610855102539 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -107.98732379227029, + "y": -96.33657114838029, + "z": 20.247955529855847 + }, + "t1_image_uv": [ + 366.75150103972993, + -369.68115189904574 + ], + "t1_depth": 0.3928969890825829 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -88.66718292236328, + "y": -99.18776321411131, + "z": 0.7273967456817627 + }, + "image_uv": [ + 624.3838801274585, + 423.7366015531306 + ], + "depth": 27.919247181173432, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 195, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -88.66718292236328, + "y": -99.18775939941406, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.2817968428134918, + "y": 0.19718748331069946, + "z": 0.5508963465690613 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 615.9386781726006, + "ymin": 402.720241104921, + "xmax": 632.5023988140509, + "ymax": 444.56383175317166 + }, + "corners_3d": [ + [ + -88.94898223876953, + -99.38494873046875, + 0.1765003204345703 + ], + [ + -88.94898223876953, + -98.99057006835938, + 0.1765003204345703 + ], + [ + -88.38538360595703, + -98.99057006835938, + 0.1765003204345703 + ], + [ + -88.38538360595703, + -99.38494873046875, + 0.1765003204345703 + ], + [ + -88.94898223876953, + -99.38494873046875, + 1.2782930135726929 + ], + [ + -88.94898223876953, + -98.99057006835938, + 1.2782930135726929 + ], + [ + -88.38538360595703, + -98.99057006835938, + 1.2782930135726929 + ], + [ + -88.38538360595703, + -99.38494873046875, + 1.2782930135726929 + ] + ], + "corners_2d": [ + [ + 616.5519988155951, + 443.32103413282334 + ], + [ + 629.9072455799965, + 444.56383175317166 + ], + [ + 632.5023988140509, + 431.0570148760005 + ], + [ + 619.3426770641291, + 429.85100916736485 + ], + [ + 615.9386781726006, + 416.1214092271543 + ], + [ + 629.6428806535116, + 417.3583803189962 + ], + [ + 632.3090164963229, + 403.91965619402225 + ], + [ + 618.8106111264427, + 402.720241104921 + ] + ], + "center_offset_px": [ + -15.616119872541503, + 63.73660155313058 + ] + }, + "trace_timestep_index": 86, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 65, + "semantic_pixel_counts": { + "1": 237900, + "2": 134378, + "3": 400566, + "4": 14852, + "5": 705, + "6": 5062, + "7": 176, + "10": 3686, + "12": 2332, + "14": 23689, + "16": 74968, + "20": 9275, + "24": 14011 + }, + "instance_pixel_counts": { + "913": 1872, + "1646": 2647, + "2158": 29, + "2670": 3152, + "3182": 9950, + "3694": 2369, + "4206": 5656, + "5230": 781, + "5742": 1353, + "8834": 2920, + "12951": 138, + "14416": 705, + "15963": 6472, + "16475": 12702, + "16987": 39599, + "17232": 14852, + "17499": 145860, + "18011": 142403, + "22976": 2237, + "23296": 505, + "23552": 739, + "24512": 30016, + "26963": 835, + "28763": 86, + "28819": 1800, + "33429": 193, + "35668": 5317, + "35924": 74, + "36692": 2012, + "37979": 2217, + "40019": 239, + "41611": 890, + "41619": 709, + "42123": 563, + "43117": 1611, + "43147": 13092, + "43155": 39414, + "43659": 8893, + "43667": 3702, + "44179": 192275, + "44693": 30, + "45717": 3396, + "46229": 48, + "46741": 10344, + "48749": 2836, + "49261": 10338, + "49664": 195, + "49920": 412, + "50176": 523, + "50624": 3716, + "50688": 661, + "50944": 541, + "51136": 1323, + "51456": 4663, + "51712": 875, + "52160": 34984, + "52480": 47285, + "52672": 32700, + "52736": 27683, + "54016": 8295, + "55040": 9856, + "55879": 3285, + "64351": 5826, + "64621": 70, + "65133": 10435 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 195, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -88.66718292236328, + "y": -99.18775939941406, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.30796873569488525, + "y": 0.21249021589756012, + "z": 0.5269026160240173 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 615.2858354143494, + "ymin": 402.6671484910049, + "xmax": 633.1283125383295, + "ymax": 444.67158278991434 + }, + "corners_3d": [ + [ + -88.97515106201172, + -99.40025329589844, + 0.20049405097961426 + ], + [ + -88.97515106201172, + -98.97526550292969, + 0.20049405097961426 + ], + [ + -88.35921478271484, + -98.97526550292969, + 0.20049405097961426 + ], + [ + -88.35921478271484, + -99.40025329589844, + 0.20049405097961426 + ], + [ + -88.97515106201172, + -99.40025329589844, + 1.254299283027649 + ], + [ + -88.97515106201172, + -98.97526550292969, + 1.254299283027649 + ], + [ + -88.35921478271484, + -98.97526550292969, + 1.254299283027649 + ], + [ + -88.35921478271484, + -99.40025329589844, + 1.254299283027649 + ] + ], + "corners_2d": [ + [ + 615.8890860849461, + 443.3305528448369 + ], + [ + 630.2988134317742, + 444.67158278991434 + ], + [ + 633.1283125383295, + 429.9100903012407 + ], + [ + 618.9491081346833, + 428.61241051083965 + ], + [ + 615.2858354143494, + 417.313306715177 + ], + [ + 630.0557223637506, + 418.6483711450104 + ], + [ + 632.9589998918218, + 403.95800198433756 + ], + [ + 618.4312062208047, + 402.6671484910049 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 412, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -84.54119873046875, + "y": -96.19005584716797, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.5223486423492432, + "y": 0.30046385526657104, + "z": 0.90139240026474 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 721.7516036675589, + "ymin": 313.739202605955, + "xmax": 748.9705722980025, + "ymax": 378.5987100266034 + }, + "corners_3d": [ + [ + -85.1146011352539, + -96.37535095214844, + -0.32639801502227783 + ], + [ + -84.98966217041016, + -95.78755187988281, + -0.32639801502227783 + ], + [ + -83.9677963256836, + -96.0047607421875, + -0.32639801502227783 + ], + [ + -84.09273529052734, + -96.59255981445312, + -0.32639801502227783 + ], + [ + -85.1146011352539, + -96.37535095214844, + 1.4763867855072021 + ], + [ + -84.98966217041016, + -95.78755187988281, + 1.4763867855072021 + ], + [ + -83.9677963256836, + -96.0047607421875, + 1.4763867855072021 + ], + [ + -84.09273529052734, + -96.59255981445312, + 1.4763867855072021 + ] + ], + "corners_2d": [ + [ + 726.4381061702777, + 378.5987100266034 + ], + [ + 744.8590159675675, + 377.60644150867716 + ], + [ + 739.7198851880139, + 356.76669724702197 + ], + [ + 721.7516036675589, + 357.7102063393098 + ], + [ + 729.8315427452114, + 335.2337948184669 + ], + [ + 748.9705722980025, + 334.25590965241565 + ], + [ + 743.5289981769843, + 313.739202605955 + ], + [ + 724.8781048600806, + 314.66722253218416 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 523, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -89.54505920410156, + "y": -91.35917663574219, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.5717577934265137, + "y": 0.35188475251197815, + "z": 0.8748568296432495 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 878.5554600405455, + "ymin": 437.9003004269167, + "xmax": 922.7427579511633, + "ymax": 512.0335457567401 + }, + "corners_3d": [ + [ + -90.15046691894531, + -91.64936828613281, + -0.29985755681991577 + ], + [ + -90.076904296875, + -90.94945526123047, + -0.29985755681991577 + ], + [ + -88.93965148925781, + -91.06898498535156, + -0.29985755681991577 + ], + [ + -89.01321411132812, + -91.7688980102539, + -0.29985755681991577 + ], + [ + -90.15046691894531, + -91.64936828613281, + 1.4498560428619385 + ], + [ + -90.076904296875, + -90.94945526123047, + 1.4498560428619385 + ], + [ + -88.93965148925781, + -91.06898498535156, + 1.4498560428619385 + ], + [ + -89.01321411132812, + -91.7688980102539, + 1.4498560428619385 + ] + ], + "corners_2d": [ + [ + 885.3141108272469, + 511.5611827237283 + ], + [ + 910.7124791057231, + 512.0335457567401 + ], + [ + 903.1505893016063, + 481.3978765235152 + ], + [ + 878.5554600405455, + 480.95479722728646 + ], + [ + 896.2101733858597, + 468.40429019026055 + ], + [ + 922.7427579511633, + 468.8757414599674 + ], + [ + 914.4606176996715, + 438.3412895817312 + ], + [ + 888.8033767648362, + 437.9003004269167 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 661, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -89.25115966796875, + "y": -100.98506927490234, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.3831201493740082, + "y": 0.5100488662719727, + "z": 0.8685829639434814 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 536.6164452120419, + "ymin": 398.46866393998965, + "xmax": 581.6572206620672, + "ymax": 465.4548597451738 + }, + "corners_3d": [ + [ + -89.57886505126953, + -101.5323715209961, + -0.1411765217781067 + ], + [ + -89.68549346923828, + -100.51786041259766, + -0.1411765217781067 + ], + [ + -88.92345428466797, + -100.4377670288086, + -0.1411765217781067 + ], + [ + -88.81682586669922, + -101.45227813720703, + -0.1411765217781067 + ], + [ + -89.57886505126953, + -101.5323715209961, + 1.595989465713501 + ], + [ + -89.68549346923828, + -100.51786041259766, + 1.595989465713501 + ], + [ + -88.92345428466797, + -100.4377670288086, + 1.595989465713501 + ], + [ + -88.81682586669922, + -101.45227813720703, + 1.595989465713501 + ] + ], + "corners_2d": [ + [ + 540.7800161554887, + 459.5213780931358 + ], + [ + 574.3523422898295, + 465.4548597451738 + ], + [ + 581.6572206620672, + 446.9881002649545 + ], + [ + 548.704345905115, + 441.2881947931829 + ], + [ + 536.6164452120419, + 416.56488772885007 + ], + [ + 571.5790512471482, + 422.46029250490056 + ], + [ + 579.24371199765, + 404.12252227532304 + ], + [ + 544.9523471912773, + 398.46866393998965 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 541, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -85.84246063232422, + "y": -101.24003601074219, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.47166991233825684, + "y": 0.43349120020866394, + "z": 0.9001707434654236 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 552.2197517834848, + "ymin": 321.58978630221304, + "xmax": 591.7719630262262, + "ymax": 389.3474056693345 + }, + "corners_3d": [ + [ + -86.21369171142578, + -101.76212310791016, + -0.17276430130004883 + ], + [ + -86.39395141601562, + -100.9140853881836, + -0.17276430130004883 + ], + [ + -85.47122955322266, + -100.71794891357422, + -0.17276430130004883 + ], + [ + -85.29096984863281, + -101.56598663330078, + -0.17276430130004883 + ], + [ + -86.21369171142578, + -101.76212310791016, + 1.6275771856307983 + ], + [ + -86.39395141601562, + -100.9140853881836, + 1.6275771856307983 + ], + [ + -85.47122955322266, + -100.71794891357422, + 1.6275771856307983 + ], + [ + -85.29096984863281, + -101.56598663330078, + 1.6275771856307983 + ] + ], + "corners_2d": [ + [ + 555.5746628782431, + 383.27132111751655 + ], + [ + 580.8035475181205, + 389.3474056693345 + ], + [ + 591.7719630262262, + 370.84097192317654 + ], + [ + 567.0118913929347, + 365.02572382673503 + ], + [ + 552.2197517834848, + 339.56228859916354 + ], + [ + 578.4335694808933, + 345.55428554530596 + ], + [ + 589.8848053939722, + 327.31464201588034 + ], + [ + 564.1766285157073, + 321.58978630221304 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 4663, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 842.2961101513238, + "ymin": 223.55976029687912, + "xmax": 913.1512593729608, + "ymax": 329.10064402064893 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 896.7361970054142, + 259.19846113404105 + ], + [ + 842.2961101513238, + 255.2324158234308 + ], + [ + 845.825208798213, + 324.3293359648165 + ], + [ + 905.5742395374375, + 329.10064402064893 + ], + [ + 903.3957943424141, + 227.44862828986126 + ], + [ + 847.513898880371, + 223.55976029687912 + ], + [ + 851.6610566876947, + 291.47150415840565 + ], + [ + 913.1512593729608, + 296.1734892994418 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 875, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 1071.1369147098549, + "ymin": 0.0, + "xmax": 1176.6402063417818, + "ymax": 18.825872315980803 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 1071.1369147098549, + 2.2779334629689174 + ], + [ + 1078.6007366180938, + 14.822457254973244 + ], + [ + 1164.4336404710411, + 18.825872315980803 + ], + [ + 1154.6257821577815, + 6.077581352792606 + ], + [ + 1080.8341860943574, + -30.804116215016222 + ], + [ + 1088.738639946931, + -18.890328035688242 + ], + [ + 1176.6402063417818, + -15.068616050328103 + ], + [ + 1166.2791410846855, + -27.1807913243926 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 47285, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 657.9093221602444, + "ymin": 361.0636583056438, + "xmax": 888.7074092214598, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 839.4932465741452, + 487.6958225979739 + ], + [ + 699.6729747930372, + 474.1978134435964 + ], + [ + 657.9093221602444, + 842.2338043765551 + ], + [ + 853.0521151434955, + 868.6043015100953 + ], + [ + 862.2212868020225, + 374.27960184986074 + ], + [ + 706.3638203122015, + 361.0636583056438 + ], + [ + 660.8373445637307, + 737.4419026490498 + ], + [ + 888.7074092214598, + 765.7494160295073 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 27683, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1091.199410745133, + "ymin": 465.71074535953176, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 1222.2071661535128, + 1057.439337343281 + ], + [ + 1463.7842728348878, + 1093.3735674692766 + ], + [ + 1253.4501377922736, + 596.694652636465 + ], + [ + 1091.199410745133, + 579.9367280305008 + ], + [ + 1336.24077774524, + 974.0487801308482 + ], + [ + 1629.7232255976432, + 1014.8496831914929 + ], + [ + 1332.437271986148, + 482.54974734255075 + ], + [ + 1148.2579902917744, + 465.71074535953176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 8295, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 865.4500888982014, + "ymin": 589.9539515629174, + "xmax": 987.3756446181798, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 940.6481397287769, + 637.1587537440828 + ], + [ + 865.4500888982014, + 628.8406961939997 + ], + [ + 877.858212031684, + 855.2159591064985 + ], + [ + 968.9415233370698, + 867.3699409369758 + ], + [ + 954.4416905066976, + 598.3430838780961 + ], + [ + 875.7116499681882, + 589.9539515629174 + ], + [ + 891.0591817182727, + 820.363487200513 + ], + [ + 987.3756446181798, + 832.8585974682621 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 9856, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1025.468565996301, + "ymin": 203.67149067321543, + "xmax": 1158.217393174828, + "ymax": 366.47765797107274 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 1058.7637868225083, + 360.21330314616375 + ], + [ + 1135.405319030182, + 366.47765797107274 + ], + [ + 1091.7376516807126, + 256.93368834376565 + ], + [ + 1025.468565996301, + 252.21424454932588 + ], + [ + 1077.8939877200412, + 308.9125771400348 + ], + [ + 1158.217393174828, + 315.05579660164057 + ], + [ + 1109.6741943332488, + 208.24412757214915 + ], + [ + 1040.669201015793, + 203.67149067321543 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 644.4747793276658, + "ymin": 0.0, + "xmax": 653.0948426929584, + "ymax": 18.21716306900663 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 652.2550921789598, + 18.21716306900663 + ], + [ + 652.9365631343476, + 16.064471868455257 + ], + [ + 645.1906663400308, + 15.68581807065442 + ], + [ + 644.4747793276658, + 17.835082192291395 + ], + [ + 652.4057195076044, + 0.2111082109724407 + ], + [ + 653.0948426929584, + -1.8859638306797137 + ], + [ + 645.2541233515536, + -2.254810365608307 + ], + [ + 644.5297344023013, + -0.16111774855079375 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1136.1446058464007, + "ymin": 9.659943462056788, + "xmax": 1152.4512665536654, + "ymax": 30.57702915479564 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1144.4899795772253, + 28.31201016739419 + ], + [ + 1136.1446058464007, + 27.91365253267827 + ], + [ + 1137.6832599807865, + 30.1749728468057 + ], + [ + 1146.0685633378416, + 30.57702915479564 + ], + [ + 1150.8230582839979, + 10.048227435197362 + ], + [ + 1142.3677822333298, + 9.659943462056788 + ], + [ + 1143.9550013135581, + 11.86418499945114 + ], + [ + 1152.4512665536654, + 12.256119670598991 + ] + ], + "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": 1075.389121394079, + "ymin": 0.0, + "xmax": 1200.4637508743735, + "ymax": 85.23547274098513 + }, + "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": [ + [ + 1125.6679081139787, + 84.70998953025861 + ], + [ + 1134.907992358363, + 85.23547274098513 + ], + [ + 1083.0908441249412, + -3.227269383944815 + ], + [ + 1075.389121394079, + -3.5962620189093286 + ], + [ + 1189.9295817915834, + -100.33220872054824 + ], + [ + 1200.4637508743735, + -99.93908487235495 + ], + [ + 1131.2355624547117, + -164.73688944257788 + ], + [ + 1122.654679684615, + -165.0014672897512 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 684.5023162483534, + "ymin": 27.988369538012535, + "xmax": 808.9092992881812, + "ymax": 239.38410411410774 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 685.5694751405514, + 226.03576214942586 + ], + [ + 684.5023162483534, + 232.23231469080753 + ], + [ + 785.47454116199, + 239.38410411410774 + ], + [ + 785.6401924426003, + 233.05953128618728 + ], + [ + 692.748285627009, + 27.988369538012535 + ], + [ + 691.5863596732722, + 33.09927074994158 + ], + [ + 808.9092992881812, + 39.01617185137769 + ], + [ + 808.8558339306744, + 33.782658346070775 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 586.777538754564, + "ymin": 0.0, + "xmax": 612.3019505674218, + "ymax": 62.8221444455819 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 592.3031860667447, + 62.35893298184146 + ], + [ + 600.8861563823989, + 62.8221444455819 + ], + [ + 612.3019505674218, + 33.38040162397249 + ], + [ + 604.1918981497058, + 32.967821942186674 + ], + [ + 586.777538754564, + -102.24420006279308 + ], + [ + 596.3503612631234, + -101.89000366644541 + ], + [ + 609.2903213367605, + -124.25912141963875 + ], + [ + 600.3020626954387, + -124.57052934434716 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 792.2749652371756, + "ymin": 38.72215948959558, + "xmax": 805.1430747148228, + "ymax": 46.06790352046909 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 792.3550125815145, + 41.91615923012637 + ], + [ + 792.2749652371756, + 45.42834316245609 + ], + [ + 804.7748953078458, + 46.06790352046909 + ], + [ + 804.7681616586317, + 42.54686541838197 + ], + [ + 792.6926443355948, + 38.72215948959558 + ], + [ + 792.6147837942116, + 42.21980418937977 + ], + [ + 805.1430747148228, + 42.85672865112832 + ], + [ + 805.1337613942922, + 39.35024678859901 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1262.5883237784146, + "ymin": 225.98122561336237, + "xmax": 1280.0, + "ymax": 274.9044547049308 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1285.565380492822, + 269.5249267830239 + ], + [ + 1362.0658389646628, + 274.9044547049308 + ], + [ + 1335.2533833545262, + 239.58322629679108 + ], + [ + 1262.5883237784146, + 234.70632515701814 + ], + [ + 1290.3045383644048, + 260.61524944659874 + ], + [ + 1367.4059442768228, + 265.96842114082074 + ], + [ + 1340.1465024103036, + 230.83081179591434 + ], + [ + 1266.939296657008, + 225.98122561336237 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1219.4542930484504, + "ymin": 195.37000231725537, + "xmax": 1280.0, + "ymax": 359.43859576601596 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1240.0984578710159, + 353.52993344159574 + ], + [ + 1315.123233231743, + 359.43859576601596 + ], + [ + 1290.7618569190158, + 320.3724009875133 + ], + [ + 1219.4542930484504, + 315.01151438277867 + ], + [ + 1304.940911286532, + 231.466088623569 + ], + [ + 1388.6595076305323, + 237.03584723252584 + ], + [ + 1357.9189441615697, + 200.3717417564325 + ], + [ + 1278.8000414231399, + 195.37000231725537 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 782.9534275510615, + "ymin": 433.3944559603262, + "xmax": 806.3409795742209, + "ymax": 451.0858048270052 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 783.2149488322337, + 437.5882406458244 + ], + [ + 782.9534275510615, + 448.9947548396397 + ], + [ + 805.6664879330323, + 451.0858048270052 + ], + [ + 805.64310316915, + 439.62711144111165 + ], + [ + 783.7893636669696, + 433.3944559603262 + ], + [ + 783.5341051676428, + 444.7938232788747 + ], + [ + 806.3409795742209, + 446.883689071215 + ], + [ + 806.3089884626082, + 435.4319640352441 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 792.2053935393167, + "ymin": 38.682743993660836, + "xmax": 805.2123186641702, + "ymax": 46.107433691305516 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 792.2867844457649, + 41.910989349660895 + ], + [ + 792.2053935393167, + 45.46093574594215 + ], + [ + 804.8400129356212, + 46.107433691305516 + ], + [ + 804.832749787513, + 42.54844170803699 + ], + [ + 792.6278821959206, + 38.682743993660836 + ], + [ + 792.5487231930333, + 42.21783705760407 + ], + [ + 805.2123186641702, + 42.86164203486874 + ], + [ + 805.2024179397823, + 39.317520945249385 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1262.6705451608207, + "ymin": 226.0039997785462, + "xmax": 1280.0, + "ymax": 274.81929743044 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1285.623597347742, + 269.4463211395324 + ], + [ + 1362.0416088055376, + 274.81929743044 + ], + [ + 1335.2617205834836, + 239.54320503500884 + ], + [ + 1262.6705451608207, + 234.67167648894306 + ], + [ + 1290.3315739200507, + 260.59548995392356 + ], + [ + 1367.345877289194, + 265.9423091082961 + ], + [ + 1340.122522385607, + 230.8484214759664 + ], + [ + 1266.9933336705549, + 226.0039997785462 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 602.562307046235, + "ymin": 408.38219370520915, + "xmax": 813.0455307755001, + "ymax": 678.571948440268 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 613.6515554696284, + 643.6335267989388 + ], + [ + 610.876132105976, + 659.7492681596539 + ], + [ + 773.9714672278963, + 678.571948440268 + ], + [ + 774.4077637026795, + 661.9141307695301 + ], + [ + 606.2685360459706, + 408.38219370520915 + ], + [ + 602.562307046235, + 424.6845839096078 + ], + [ + 813.0455307755001, + 443.8955995670992 + ], + [ + 812.8717483981508, + 426.88472633527624 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 783.0787973279984, + "ymin": 433.4877410384728, + "xmax": 806.2160493900992, + "ymax": 450.9909942190925 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 783.3360089734146, + 437.6369644563264 + ], + [ + 783.0787973279984, + 448.92246825036295 + ], + [ + 805.5492720604956, + 450.9909942190925 + ], + [ + 805.5275919332131, + 439.65441403909983 + ], + [ + 783.9048272366332, + 433.4877410384728 + ], + [ + 783.6537580484668, + 444.76625001964675 + ], + [ + 806.2160493900992, + 446.83361588798425 + ], + [ + 806.1859572138616, + 435.50385763108534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 641.5865272413911, + "ymin": 0.0, + "xmax": 919.6900185491925, + "ymax": 87.2898595039041 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 642.7574773346818, + 69.31996642336833 + ], + [ + 641.5865272413911, + 72.91717508645957 + ], + [ + 886.8523705274956, + 87.2898595039041 + ], + [ + 886.3564446847244, + 83.49688393398606 + ], + [ + 643.1107177960574, + -111.80146925379609 + ], + [ + 641.7913237248276, + -109.12833576593454 + ], + [ + 919.6900185491925, + -98.40119674342407 + ], + [ + 918.8712645161622, + -101.23937297311517 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1215.0074911066854, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 321.9490325876301 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1409.3065855830373, + 156.20950250244036 + ], + [ + 1215.0074911066854, + 179.21740389217535 + ], + [ + 1402.826248336586, + 321.9490325876301 + ], + [ + 1630.3877008671807, + 287.80317957764214 + ], + [ + 1635.847945675794, + -234.55453313641146 + ], + [ + 1392.600627209348, + -223.52111273491823 + ], + [ + 1712.3200716223269, + -149.1920587289813 + ], + [ + 2007.9873258626706, + -167.95764393776278 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 40.36594637618441, + "ymax": 340.90857272423676 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + 40.36594637618441, + 196.8864679387742 + ], + [ + -166.63751365379687, + 217.57707213700422 + ], + [ + -264.82149568542263, + 340.90857272423676 + ], + [ + -17.997274704552524, + 312.166611939487 + ], + [ + -103.04200348373058, + -110.74620312254564 + ], + [ + -367.13304186584014, + -97.00159413364617 + ], + [ + -543.2114742547408, + -10.543507674536727 + ], + [ + -211.0550840041002, + -31.41594389914536 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00087/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00087/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..73d837f9bec1594c51d85ee448859cd3914e56f7 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00087/meta.json @@ -0,0 +1,2252 @@ +{ + "frame_id": 87, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 43.5, + "sim_timestamp": 10783.448098011315 + }, + "drone_pose": { + "x": -107.98732379227029, + "y": -96.33657114838029, + "z": 20.247955529855847, + "pitch": -47.59446896811655, + "yaw": -3.1860269117205817, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6733313798904419, + 0.037480343133211136, + 0.7383902072906494, + 54.149635314941406 + ], + [ + -0.05557800456881523, + 0.9984543323516846, + 0.0, + 102.18938446044922 + ], + [ + -0.7372488975524902, + -0.04103825241327286, + 0.6743736863136292, + -89.31474304199219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -107.54574134484224, + "y": -95.8180543042983, + "z": 20.02380060414071 + }, + "t1_image_uv": [ + 1814.0066528910602, + 28.50507527920996 + ], + "t1_depth": 0.4434109141263852 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -88.16718292236328, + "y": -99.18776321411131, + "z": 0.7273967456817627 + }, + "image_uv": [ + 579.8764880695215, + 306.07707488297376 + ], + "depth": 27.866175511729466, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 211, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -88.16718292236328, + "y": -99.18775939941406, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.1968701183795929, + "y": 0.20897459983825684, + "z": 0.5254373550415039 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 569.0765828154225, + "ymin": 286.05319089223866, + "xmax": 590.3925123661397, + "ymax": 325.82348358601416 + }, + "corners_3d": [ + [ + -88.15862274169922, + -99.4747314453125, + 0.20195931196212769 + ], + [ + -88.45415496826172, + -99.17919921875, + 0.20195931196212769 + ], + [ + -88.17574310302734, + -98.90078735351562, + 0.20195931196212769 + ], + [ + -87.88021087646484, + -99.19631958007812, + 0.20195931196212769 + ], + [ + -88.15862274169922, + -99.4747314453125, + 1.2528340816497803 + ], + [ + -88.45415496826172, + -99.17919921875, + 1.2528340816497803 + ], + [ + -88.17574310302734, + -98.90078735351562, + 1.2528340816497803 + ], + [ + -87.88021087646484, + -99.19631958007812, + 1.2528340816497803 + ] + ], + "corners_2d": [ + [ + 571.0232442344343, + 318.2669174573323 + ], + [ + 580.0399613411244, + 325.82348358601416 + ], + [ + 590.3925123661397, + 319.44795754137306 + ], + [ + 581.3554589367118, + 311.9854946111986 + ], + [ + 569.0765828154225, + 292.34491935447136 + ], + [ + 578.3347412513758, + 299.9168122124897 + ], + [ + 588.9908058944533, + 293.5281439422663 + ], + [ + 579.7109813850517, + 286.05319089223866 + ] + ], + "center_offset_px": [ + -60.12351193047846, + -53.92292511702624 + ] + }, + "trace_timestep_index": 87, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 48, + "semantic_pixel_counts": { + "1": 221954, + "2": 153927, + "3": 345761, + "4": 8564, + "5": 941, + "6": 4421, + "10": 5302, + "12": 2717, + "14": 32380, + "16": 119360, + "20": 13658, + "24": 12615 + }, + "instance_pixel_counts": { + "913": 2283, + "2670": 924, + "3182": 11409, + "3694": 2756, + "4206": 6149, + "4718": 4158, + "5742": 1560, + "8834": 2910, + "14416": 941, + "15963": 2196, + "16475": 7940, + "16987": 34532, + "17232": 8564, + "17499": 135998, + "18011": 122778, + "24512": 37734, + "26963": 168, + "31168": 744, + "34120": 228, + "35668": 5880, + "35924": 3440, + "36692": 2055, + "37979": 82, + "40019": 1343, + "43117": 592, + "43147": 16187, + "43659": 8363, + "44179": 221954, + "46741": 12615, + "48749": 3130, + "49261": 11333, + "49664": 211, + "49920": 404, + "50176": 503, + "50432": 393, + "50688": 587, + "50944": 619, + "51456": 4890, + "52160": 43995, + "52480": 62248, + "52672": 39020, + "52736": 57112, + "54016": 17446, + "55040": 10044, + "55744": 287, + "55879": 879, + "64351": 7369, + "65133": 224 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 211, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -88.16718292236328, + "y": -99.18775939941406, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.18381346762180328, + "y": 0.22647948563098907, + "z": 0.5232734680175781 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 569.0506329714858, + "ymin": 286.0045749195189, + "xmax": 590.4300935316838, + "ymax": 325.87786175702263 + }, + "corners_3d": [ + [ + -88.13701629638672, + -99.4778823852539, + 0.20412319898605347 + ], + [ + -88.45730590820312, + -99.1575927734375, + 0.20412319898605347 + ], + [ + -88.19734954833984, + -98.89763641357422, + 0.20412319898605347 + ], + [ + -87.87705993652344, + -99.21792602539062, + 0.20412319898605347 + ], + [ + -88.13701629638672, + -99.4778823852539, + 1.2506701946258545 + ], + [ + -88.45730590820312, + -99.1575927734375, + 1.2506701946258545 + ], + [ + -88.19734954833984, + -98.89763641357422, + 1.2506701946258545 + ], + [ + -87.87705993652344, + -99.21792602539062, + 1.2506701946258545 + ] + ], + "corners_2d": [ + [ + 570.9890907719112, + 317.6916117703928 + ], + [ + 580.7624585328276, + 325.87786175702263 + ], + [ + 590.4300935316838, + 319.9212105836969 + ], + [ + 580.6361446284936, + 311.83019259652343 + ], + [ + 569.0506329714858, + 291.87546899798735 + ], + [ + 579.0846416480745, + 300.07815979492096 + ], + [ + 589.034553051105, + 294.10917506005575 + ], + [ + 578.9786232159355, + 286.0045749195189 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 404, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -84.04119873046875, + "y": -96.19005584716797, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.3762841820716858, + "y": 0.3569384813308716, + "z": 0.8870159983634949 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 669.7162326641497, + "ymin": 190.40285542680076, + "xmax": 703.4868175909479, + "ymax": 254.4465514172253 + }, + "corners_3d": [ + [ + -84.1623764038086, + -96.69435119628906, + -0.3120216131210327 + ], + [ + -84.55117797851562, + -96.09564208984375, + -0.3120216131210327 + ], + [ + -83.9200210571289, + -95.68576049804688, + -0.3120216131210327 + ], + [ + -83.53121948242188, + -96.28446960449219, + -0.3120216131210327 + ], + [ + -84.1623764038086, + -96.69435119628906, + 1.462010383605957 + ], + [ + -84.55117797851562, + -96.09564208984375, + 1.462010383605957 + ], + [ + -83.9200210571289, + -95.68576049804688, + 1.462010383605957 + ], + [ + -83.53121948242188, + -96.28446960449219, + 1.462010383605957 + ] + ], + "corners_2d": [ + [ + 669.7162326641497, + 245.84248548181142 + ], + [ + 687.8593016650195, + 254.4465514172253 + ], + [ + 700.8351141516696, + 242.0965519485194 + ], + [ + 682.8103377648553, + 233.7147742937542 + ], + [ + 671.0169415786046, + 202.46858903635484 + ], + [ + 689.9742373975558, + 211.036978380819 + ], + [ + 703.4868175909479, + 198.74033976264056 + ], + [ + 684.6588871284221, + 190.40285542680076 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 503, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -89.37386322021484, + "y": -91.64018249511719, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.33314940333366394, + "y": 0.4101513624191284, + "z": 0.8746899962425232 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 821.0684684390766, + "ymin": 315.2806720175636, + "xmax": 868.8949295210699, + "ymax": 385.16551780846436 + }, + "corners_3d": [ + [ + -89.37464904785156, + -92.16858673095703, + -0.29969072341918945 + ], + [ + -89.89088439941406, + -91.53108978271484, + -0.29969072341918945 + ], + [ + -89.37307739257812, + -91.11177825927734, + -0.29969072341918945 + ], + [ + -88.85684204101562, + -91.74927520751953, + -0.29969072341918945 + ], + [ + -89.37464904785156, + -92.16858673095703, + 1.449689269065857 + ], + [ + -89.89088439941406, + -91.53108978271484, + 1.449689269065857 + ], + [ + -89.37307739257812, + -91.11177825927734, + 1.449689269065857 + ], + [ + -88.85684204101562, + -91.74927520751953, + 1.449689269065857 + ] + ], + "corners_2d": [ + [ + 821.0684684390766, + 370.6516663645759 + ], + [ + 845.0142126577377, + 385.16551780846436 + ], + [ + 858.1471904806655, + 372.1396057581535 + ], + [ + 834.3124057597606, + 357.9726252473126 + ], + [ + 829.9763041399269, + 328.04212963259573 + ], + [ + 855.2448289886281, + 342.6687420515577 + ], + [ + 868.8949295210699, + 329.5407240586905 + ], + [ + 843.7520927798145, + 315.2806720175636 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 393, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -98.6722640991211, + "y": -100.92540740966797, + "z": 0.7274113893508911 + }, + "extent": { + "x": 0.40041014552116394, + "y": 0.44419920444488525, + "z": 0.871941328048706 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 419.2265568603276, + "ymin": 596.4787322444816, + "xmax": 484.785566065478, + "ymax": 684.7815171363759 + }, + "corners_3d": [ + [ + -98.64130401611328, + -101.52263641357422, + -0.14452993869781494 + ], + [ + -99.26949310302734, + -100.89444732666016, + -0.14452993869781494 + ], + [ + -98.7032241821289, + -100.32817840576172, + -0.14452993869781494 + ], + [ + -98.07503509521484, + -100.95636749267578, + -0.14452993869781494 + ], + [ + -98.64130401611328, + -101.52263641357422, + 1.5993527173995972 + ], + [ + -99.26949310302734, + -100.89444732666016, + 1.5993527173995972 + ], + [ + -98.7032241821289, + -100.32817840576172, + 1.5993527173995972 + ], + [ + -98.07503509521484, + -100.95636749267578, + 1.5993527173995972 + ] + ], + "corners_2d": [ + [ + 432.42140613353365, + 656.265429050414 + ], + [ + 454.97870331409507, + 684.7815171363759 + ], + [ + 484.785566065478, + 661.6944139222219 + ], + [ + 461.9914535890373, + 634.1176780253396 + ], + [ + 419.2265568603276, + 619.3653050133778 + ], + [ + 442.95263494847234, + 648.9031809409871 + ], + [ + 474.87698238432637, + 624.9826946111309 + ], + [ + 450.87385043625557, + 596.4787322444816 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 587, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -88.75115966796875, + "y": -100.98506927490234, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.4143163859844208, + "y": 0.5151513814926147, + "z": 0.8849441409111023 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 490.35271310435314, + "ymin": 279.4714566832146, + "xmax": 539.6495301844406, + "ymax": 355.7029818969507 + }, + "corners_3d": [ + [ + -88.6115493774414, + -101.6312484741211, + -0.15753769874572754 + ], + [ + -89.41224670410156, + -100.98285675048828, + -0.15753769874572754 + ], + [ + -88.8907699584961, + -100.3388900756836, + -0.15753769874572754 + ], + [ + -88.09007263183594, + -100.9872817993164, + -0.15753769874572754 + ], + [ + -88.6115493774414, + -101.6312484741211, + 1.612350583076477 + ], + [ + -89.41224670410156, + -100.98285675048828, + 1.612350583076477 + ], + [ + -88.8907699584961, + -100.3388900756836, + 1.612350583076477 + ], + [ + -88.09007263183594, + -100.9872817993164, + 1.612350583076477 + ] + ], + "corners_2d": [ + [ + 497.2603646107634, + 334.8699577700286 + ], + [ + 515.2197982875241, + 355.7029818969507 + ], + [ + 539.6495301844406, + 343.51070801117226 + ], + [ + 521.4145265847395, + 323.15541665015394 + ], + [ + 490.35271310435314, + 291.22395803609055 + ], + [ + 509.0525911967583, + 312.15660772358575 + ], + [ + 534.7503377294878, + 299.90103432938514 + ], + [ + 515.744432449933, + 279.4714566832146 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 619, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -85.34246063232422, + "y": -101.24003601074219, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.4961474537849426, + "y": 0.4403027296066284, + "z": 0.919148862361908 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 499.3444939207785, + "ymin": 203.7524096049972, + "xmax": 545.7446614469616, + "ymax": 275.54774516072905 + }, + "corners_3d": [ + [ + -85.24341583251953, + -101.89594268798828, + -0.1917424201965332 + ], + [ + -85.98194885253906, + -101.41633605957031, + -0.1917424201965332 + ], + [ + -85.4415054321289, + -100.5841293334961, + -0.1917424201965332 + ], + [ + -84.70297241210938, + -101.06373596191406, + -0.1917424201965332 + ], + [ + -85.24341583251953, + -101.89594268798828, + 1.6465553045272827 + ], + [ + -85.98194885253906, + -101.41633605957031, + 1.6465553045272827 + ], + [ + -85.4415054321289, + -100.5841293334961, + 1.6465553045272827 + ], + [ + -84.70297241210938, + -101.06373596191406, + 1.6465553045272827 + ] + ], + "corners_2d": [ + [ + 505.5807494092542, + 259.2784787763113 + ], + [ + 517.2435087639535, + 275.54774516072905 + ], + [ + 545.7446614469616, + 264.9794412653234 + ], + [ + 533.7327637451963, + 249.0610321465697 + ], + [ + 499.3444939207785, + 213.9286538210989 + ], + [ + 511.44624103724584, + 230.15328058851833 + ], + [ + 541.3443180650775, + 219.6110401905675 + ], + [ + 528.8580281660467, + 203.7524096049972 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 4890, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 790.5020462137426, + "ymin": 99.30458106031494, + "xmax": 863.5347483859534, + "ymax": 206.68503479538003 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 845.5368739228561, + 134.34354206446517 + ], + [ + 790.5020462137426, + 132.53380455146095 + ], + [ + 796.5443370352374, + 204.54461204916723 + ], + [ + 856.4166538660766, + 206.68503479538003 + ], + [ + 851.7359888433309, + 101.09368874713289 + ], + [ + 795.0310267406087, + 99.30458106031494 + ], + [ + 801.6805115609482, + 170.67758114134415 + ], + [ + 863.5347483859534, + 172.80480882310104 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 62248, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 633.7713282228224, + "ymin": 251.73344937494392, + "xmax": 854.8488744112558, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 796.0039582881909, + 370.93272125909925 + ], + [ + 656.6834449452417, + 365.02691869702693 + ], + [ + 634.7307526315246, + 723.3325612263673 + ], + [ + 821.5066257099452, + 733.9457319581047 + ], + [ + 816.4067321610717, + 257.6952689739908 + ], + [ + 658.8516576760992, + 251.73344937494392 + ], + [ + 633.7713282228224, + 629.8458106824921 + ], + [ + 854.8488744112558, + 641.5782729503794 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 57112, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1041.2243211656823, + "ymin": 335.68491134391263, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 1161.4323648802479, + 875.3773056270459 + ], + [ + 1372.9025459065872, + 888.4091725179933 + ], + [ + 1193.852946064069, + 454.31645007462134 + ], + [ + 1041.2243211656823, + 447.447399010548 + ], + [ + 1268.7222301700438, + 801.0170986373689 + ], + [ + 1525.2197477668446, + 816.0101737887553 + ], + [ + 1272.815127545342, + 342.7628818719016 + ], + [ + 1098.0348119783284, + 335.68491134391263 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 17446, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 825.9575046549751, + "ymin": 470.8538766005717, + "xmax": 947.4958871294579, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 898.4992202473167, + 511.37485007467274 + ], + [ + 825.9575046549751, + 507.90741074475613 + ], + [ + 844.4513479129054, + 719.9707091958599 + ], + [ + 929.9292293310826, + 724.7759157692371 + ], + [ + 911.6806014368723, + 474.3855101670631 + ], + [ + 835.4111093218671, + 470.8538766005717 + ], + [ + 856.7943681228537, + 688.7707716897232 + ], + [ + 947.4958871294579, + 693.75444106157 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 10044, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 973.9948912297555, + "ymin": 70.58670022803011, + "xmax": 1105.8882386859075, + "ymax": 234.07395710326904 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 1008.1359330291659, + 231.3506745831214 + ], + [ + 1082.723736480787, + 234.07395710326904 + ], + [ + 1039.590140872829, + 123.62921203720495 + ], + [ + 973.9948912297555, + 121.51655518248467 + ], + [ + 1027.3381463700562, + 178.90731678750902 + ], + [ + 1105.8882386859075, + 181.6101687009208 + ], + [ + 1057.8876768443754, + 72.657630871479 + ], + [ + 989.2473031682381, + 70.58670022803011 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 626.0170416040987, + "ymin": 0.0, + "xmax": 750.0189149091877, + "ymax": 118.29347639219458 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 629.0249101735383, + 108.3530432487612 + ], + [ + 628.2730541638286, + 115.01595607180843 + ], + [ + 732.1962795865744, + 118.29347639219458 + ], + [ + 732.0887637396377, + 111.5765008116137 + ], + [ + 626.9343134721489, + -106.59423130046184 + ], + [ + 626.0170416040987, + -100.78551478461253 + ], + [ + 750.0189149091877, + -97.92139449370848 + ], + [ + 749.7146116854149, + -103.78633096068779 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1208.6290742736142, + "ymin": 85.63566719301713, + "xmax": 1280.0, + "ymax": 132.1955405871899 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1230.5070127425208, + 129.8885054278176 + ], + [ + 1304.0264354613255, + 132.1955405871899 + ], + [ + 1278.9351773343185, + 96.86933063139429 + ], + [ + 1208.6290742736142, + 94.75577542366051 + ], + [ + 1235.435367516222, + 120.6505003727064 + ], + [ + 1309.584085381292, + 122.95066694410772 + ], + [ + 1284.0515356618753, + 87.74142119815843 + ], + [ + 1213.170135742484, + 85.63566719301713 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1164.24288511551, + "ymin": 53.60726430720632, + "xmax": 1280.0, + "ymax": 218.635751527906 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1183.7891936130493, + 216.1476734468873 + ], + [ + 1255.4129825219857, + 218.635751527906 + ], + [ + 1232.7937827654403, + 180.25599664303877 + ], + [ + 1164.24288511551, + 177.9731532731504 + ], + [ + 1250.813817401653, + 90.3510293843778 + ], + [ + 1331.4993140336653, + 92.7590896320288 + ], + [ + 1302.6275336971462, + 55.79388644829908 + ], + [ + 1225.8202375279898, + 53.60726430720632 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 742.1262749096342, + "ymin": 326.1006029069177, + "xmax": 765.7934238942987, + "ymax": 342.9017679316567 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 742.1262749096342, + 330.2813430654174 + ], + [ + 742.3884789861518, + 341.9835650959671 + ], + [ + 765.2087908286176, + 342.9017679316567 + ], + [ + 764.6876404412726, + 331.1788534576261 + ], + [ + 742.5972827016783, + 326.1006029069177 + ], + [ + 742.8661314545817, + 337.8092951555313 + ], + [ + 765.7934238942987, + 338.72805802632536 + ], + [ + 765.2632091995638, + 326.99856572607564 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1208.710821067815, + "ymin": 85.65726148867583, + "xmax": 1280.0, + "ymax": 132.11021680217016 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1230.5657959174964, + 129.80603291411495 + ], + [ + 1304.0066487788752, + 132.11021680217016 + ], + [ + 1278.9454943694168, + 96.8285127798527 + ], + [ + 1208.710821067815, + 94.71735191413967 + ], + [ + 1235.461774587478, + 120.62894533767908 + ], + [ + 1309.5270559762257, + 122.92631156732622 + ], + [ + 1284.0280783764676, + 87.76068061124465 + ], + [ + 1213.222495356613, + 85.65726148867583 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 558.4636957672562, + "ymin": 309.8477928404672, + "xmax": 772.5097511292323, + "ymax": 561.4828273304503 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 580.5612439901145, + 537.8357882096371 + ], + [ + 578.7766298334757, + 553.6509554689281 + ], + [ + 739.2902280233112, + 561.4828273304503 + ], + [ + 739.0339061770653, + 545.4693034541393 + ], + [ + 561.1727029036011, + 309.8477928404672 + ], + [ + 558.4636957672562, + 327.0028534528554 + ], + [ + 772.5097511292323, + 335.55191507014524 + ], + [ + 771.6047753082163, + 318.1100173846564 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 742.2504165309571, + "ymin": 326.18946778235625, + "xmax": 765.665829567568, + "ymax": 342.8120101924552 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 742.2504165309571, + 330.3257048673772 + ], + [ + 742.5112325439072, + 341.9036802239125 + ], + [ + 765.088025351311, + 342.8120101924552 + ], + [ + 764.5737277945927, + 331.21377953292 + ], + [ + 742.7169998290237, + 326.18946778235625 + ], + [ + 742.9843325596198, + 337.77377700982817 + ], + [ + 765.665829567568, + 338.6826545884002 + ], + [ + 765.1426720369959, + 327.0779858465461 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1161.0497852722328, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 177.02434678600144 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1350.5899185329458, + 6.07599079092239 + ], + [ + 1161.0497852722328, + 37.46210777524095 + ], + [ + 1339.737848422706, + 177.02434678600144 + ], + [ + 1554.639279954346, + 132.82726640426463 + ], + [ + 1599.8054225165622, + -425.5486699114077 + ], + [ + 1355.0802868033625, + -409.1408847519359 + ], + [ + 1674.069367378669, + -329.3174428492782 + ], + [ + 1959.5526605627279, + -355.8914713716846 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00088/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00088/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..c75041b6481467d8c3d42949a05f565babba7bc6 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00088/meta.json @@ -0,0 +1,2145 @@ +{ + "frame_id": 88, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 44.0, + "sim_timestamp": 10797.028742983937 + }, + "drone_pose": { + "x": -107.54574134484224, + "y": -95.8180543042983, + "z": 20.02380060414071, + "pitch": -47.000447679954306, + "yaw": -13.21458331401731, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6639339923858643, + 0.15590260922908783, + 0.7313590049743652, + 41.820404052734375 + ], + [ + -0.2285986691713333, + 0.9735207557678223, + 0.0, + 117.86566925048828 + ], + [ + -0.7119932174682617, + -0.16718769073486328, + 0.6819926500320435, + -74.20831298828125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -107.0403218131085, + "y": -95.40280489372446, + "z": 20.109827909457266 + }, + "t1_image_uv": [ + 3040.080394984201, + -1251.9321134922304 + ], + "t1_depth": 0.20790989450847536 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -87.66718292236328, + "y": -98.68776321411131, + "z": 0.7273967456817627 + }, + "image_uv": [ + 700.5399664758052, + 309.05095598041817 + ], + "depth": 27.758044963938612, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 195, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -87.66718292236328, + "y": -98.68775939941406, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.2578466832637787, + "y": 0.24485839903354645, + "z": 0.5377191305160522 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 687.7381129309144, + "ymin": 287.2522773834904, + "xmax": 713.7569337236712, + "ymax": 330.6018566159904 + }, + "corners_3d": [ + [ + -87.6763687133789, + -99.04322814941406, + 0.18967753648757935 + ], + [ + -88.02265167236328, + -98.69694519042969, + 0.18967753648757935 + ], + [ + -87.65799713134766, + -98.33229064941406, + 0.18967753648757935 + ], + [ + -87.31171417236328, + -98.67857360839844, + 0.18967753648757935 + ], + [ + -87.6763687133789, + -99.04322814941406, + 1.265115737915039 + ], + [ + -88.02265167236328, + -98.69694519042969, + 1.265115737915039 + ], + [ + -87.65799713134766, + -98.33229064941406, + 1.265115737915039 + ], + [ + -87.31171417236328, + -98.67857360839844, + 1.265115737915039 + ] + ], + "corners_2d": [ + [ + 687.7381129309144, + 320.5339415593067 + ], + [ + 697.094089144826, + 330.6018566159904 + ], + [ + 711.6925907203099, + 324.0089789708222 + ], + [ + 702.2516709600858, + 314.0727078276233 + ], + [ + 689.1077558813162, + 293.7176447226876 + ], + [ + 698.7493033027323, + 303.79682793097913 + ], + [ + 713.7569337236712, + 297.19590669159606 + ], + [ + 704.0257304421219, + 287.2522773834904 + ] + ], + "center_offset_px": [ + 60.53996647580516, + -50.949044019581834 + ] + }, + "trace_timestep_index": 88, + "instance_stats": { + "semantic_tags_present": 11, + "instances_present": 46, + "semantic_pixel_counts": { + "1": 239981, + "2": 129860, + "3": 411865, + "5": 992, + "6": 3303, + "10": 29, + "12": 2523, + "14": 31993, + "16": 82189, + "20": 6088, + "24": 12777 + }, + "instance_pixel_counts": { + "2670": 798, + "3182": 11601, + "3694": 2860, + "4206": 6566, + "4718": 7741, + "5742": 1658, + "8834": 3088, + "14416": 992, + "15963": 2997, + "16475": 9255, + "16987": 36854, + "17499": 139916, + "18011": 171369, + "24512": 38723, + "26963": 215, + "31168": 1375, + "34120": 624, + "35668": 6088, + "37979": 192, + "41611": 296, + "43117": 1003, + "43147": 16756, + "43155": 4099, + "43659": 6435, + "44179": 235882, + "45717": 160, + "46741": 12617, + "48749": 3228, + "49261": 11519, + "49664": 195, + "49920": 456, + "50176": 571, + "50432": 63, + "50624": 1698, + "50688": 649, + "50944": 589, + "51456": 5453, + "52160": 45430, + "52480": 63417, + "52672": 10433, + "52736": 18772, + "54016": 14422, + "55040": 12118, + "55744": 44, + "64351": 8046, + "65133": 4308 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 195, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -87.66718292236328, + "y": -98.68775939941406, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.24220214784145355, + "y": 0.2505419850349426, + "z": 0.55522221326828 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 688.0521118403916, + "ymin": 286.8838562363243, + "xmax": 713.4529538012275, + "ymax": 330.942209561517 + }, + "corners_3d": [ + [ + -87.66128540039062, + -99.03617858886719, + 0.17217445373535156 + ], + [ + -88.0156021118164, + -98.6818618774414, + 0.17217445373535156 + ], + [ + -87.67308044433594, + -98.33934020996094, + 0.17217445373535156 + ], + [ + -87.31876373291016, + -98.69365692138672, + 0.17217445373535156 + ], + [ + -87.66128540039062, + -99.03617858886719, + 1.2826188802719116 + ], + [ + -88.0156021118164, + -98.6818618774414, + 1.2826188802719116 + ], + [ + -87.67308044433594, + -98.33934020996094, + 1.2826188802719116 + ], + [ + -87.31876373291016, + -98.69365692138672, + 1.2826188802719116 + ] + ], + "corners_2d": [ + [ + 688.0521118403916, + 320.6451428204859 + ], + [ + 697.6232263938196, + 330.942209561517 + ], + [ + 711.3304934156267, + 324.7482385741624 + ], + [ + 701.67781117485, + 314.5776333520567 + ], + [ + 689.4758414946017, + 292.9553271937018 + ], + [ + 699.3488244895537, + 303.26416417523103 + ], + [ + 713.4529538012275, + 297.0623515955059 + ], + [ + 703.493726660676, + 286.8838562363243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 456, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -83.54119873046875, + "y": -95.69005584716797, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.49645018577575684, + "y": 0.3848046660423279, + "z": 0.8784777522087097 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 795.7570962047112, + "ymin": 204.10254970338332, + "xmax": 842.6552582988181, + "ymax": 272.9747451830367 + }, + "corners_3d": [ + [ + -83.74797821044922, + -96.28316497802734, + -0.30348336696624756 + ], + [ + -84.1671371459961, + -95.6377182006836, + -0.30348336696624756 + ], + [ + -83.33441925048828, + -95.0969467163086, + -0.30348336696624756 + ], + [ + -82.9152603149414, + -95.74239349365234, + -0.30348336696624756 + ], + [ + -83.74797821044922, + -96.28316497802734, + 1.4534721374511719 + ], + [ + -84.1671371459961, + -95.6377182006836, + 1.4534721374511719 + ], + [ + -83.33441925048828, + -95.0969467163086, + 1.4534721374511719 + ], + [ + -82.9152603149414, + -95.74239349365234, + 1.4534721374511719 + ] + ], + "corners_2d": [ + [ + 795.7570962047112, + 261.35702407324743 + ], + [ + 814.5400198216863, + 272.9747451830367 + ], + [ + 834.2084607331899, + 258.65039048317277 + ], + [ + 815.4687374420948, + 247.3810255942692 + ], + [ + 802.5521282818739, + 217.9997826667083 + ], + [ + 822.2537069557304, + 229.56589338969542 + ], + [ + 842.6552582988181, + 215.3069817452394 + ], + [ + 823.0038367567652, + 204.10254970338332 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 571, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -89.47566986083984, + "y": -91.46942138671875, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.3773242235183716, + "y": 0.3502832055091858, + "z": 0.8862572908401489 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 927.4374201813137, + "ymin": 365.6759226049221, + "xmax": 982.7436325162761, + "ymax": 438.0468972179583 + }, + "corners_3d": [ + [ + -89.54846954345703, + -91.9791030883789, + -0.3112580180168152 + ], + [ + -89.98934936523438, + -91.43465423583984, + -0.3112580180168152 + ], + [ + -89.40287017822266, + -90.9597396850586, + -0.3112580180168152 + ], + [ + -88.96199035644531, + -91.50418853759766, + -0.3112580180168152 + ], + [ + -89.54846954345703, + -91.9791030883789, + 1.461256504058838 + ], + [ + -89.98934936523438, + -91.43465423583984, + 1.461256504058838 + ], + [ + -89.40287017822266, + -90.9597396850586, + 1.461256504058838 + ], + [ + -88.96199035644531, + -91.50418853759766, + 1.461256504058838 + ] + ], + "corners_2d": [ + [ + 927.4374201813137, + 422.09883636394505 + ], + [ + 947.580984651242, + 438.0468972179583 + ], + [ + 965.7594666882387, + 424.6964473888025 + ], + [ + 945.5966095273748, + 409.1278484915283 + ], + [ + 942.386156646671, + 378.771782427037 + ], + [ + 963.8233730054924, + 394.8955772077776 + ], + [ + 982.7436325162761, + 381.39634624434495 + ], + [ + 961.291197747488, + 365.6759226049221 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 63, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -98.40786743164062, + "y": -101.07061004638672, + "z": 0.7274113893508911 + }, + "extent": { + "x": 0.38051268458366394, + "y": 0.4184863269329071, + "z": 0.8808743357658386 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 472.5662377487754, + "ymin": 580.7781628813178, + "xmax": 529.4235661193449, + "ymax": 666.2497782561263 + }, + "corners_3d": [ + [ + -98.38101959228516, + -101.63558959960938, + -0.1534629464149475 + ], + [ + -98.97284698486328, + -101.04376220703125, + -0.1534629464149475 + ], + [ + -98.4347152709961, + -100.50563049316406, + -0.1534629464149475 + ], + [ + -97.84288787841797, + -101.09745788574219, + -0.1534629464149475 + ], + [ + -98.38101959228516, + -101.63558959960938, + 1.608285665512085 + ], + [ + -98.97284698486328, + -101.04376220703125, + 1.608285665512085 + ], + [ + -98.4347152709961, + -100.50563049316406, + 1.608285665512085 + ], + [ + -97.84288787841797, + -101.09745788574219, + 1.608285665512085 + ] + ], + "corners_2d": [ + [ + 482.48567495735483, + 636.4499553057963 + ], + [ + 498.79562944695715, + 666.2497782561263 + ], + [ + 529.4235661193449, + 649.2938774550348 + ], + [ + 512.6412744528058, + 620.2375826749168 + ], + [ + 472.5662377487754, + 597.4842500033787 + ], + [ + 489.6873091225398, + 628.2597965315679 + ], + [ + 522.3871900623956, + 610.7378631718327 + ], + [ + 504.726636287259, + 580.7781628813178 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 649, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -88.41361999511719, + "y": -100.98506927490234, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.6232665777206421, + "y": 0.5107763409614563, + "z": 0.9007437229156494 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 588.970774011862, + "ymin": 273.4838865278105, + "xmax": 644.5355975529653, + "ymax": 353.8888307761109 + }, + "corners_3d": [ + [ + -88.40890502929688, + -101.79087829589844, + -0.17333728075027466 + ], + [ + -89.20280456542969, + -101.14799499511719, + -0.17333728075027466 + ], + [ + -88.4183349609375, + -100.17926025390625, + -0.17333728075027466 + ], + [ + -87.62443542480469, + -100.8221435546875, + -0.17333728075027466 + ], + [ + -88.40890502929688, + -101.79087829589844, + 1.628150224685669 + ], + [ + -89.20280456542969, + -101.14799499511719, + 1.628150224685669 + ], + [ + -88.4183349609375, + -100.17926025390625, + 1.628150224685669 + ], + [ + -87.62443542480469, + -100.8221435546875, + 1.628150224685669 + ] + ], + "corners_2d": [ + [ + 591.3374464520384, + 331.2900135829641 + ], + [ + 605.5945409219506, + 353.8888307761109 + ], + [ + 644.3233178536223, + 340.4449528714447 + ], + [ + 629.4051924499787, + 318.4295994407543 + ], + [ + 588.970774011862, + 286.3562148145428 + ], + [ + 603.8815871816778, + 309.01498905674464 + ], + [ + 644.5355975529653, + 295.52944343704775 + ], + [ + 628.8968598373843, + 273.4838865278105 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 589, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -84.15426635742188, + "y": -101.24003601074219, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.40321776270866394, + "y": 0.43565428256988525, + "z": 0.8628636598587036 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 625.3642519624642, + "ymin": 188.85833660888213, + "xmax": 659.2749113782161, + "ymax": 253.43751770225188 + }, + "corners_3d": [ + [ + -84.00850677490234, + -101.81547546386719, + -0.13545721769332886 + ], + [ + -84.73924255371094, + -101.34092712402344, + -0.13545721769332886 + ], + [ + -84.3000259399414, + -100.66459655761719, + -0.13545721769332886 + ], + [ + -83.56929016113281, + -101.13914489746094, + -0.13545721769332886 + ], + [ + -84.00850677490234, + -101.81547546386719, + 1.5902700424194336 + ], + [ + -84.73924255371094, + -101.34092712402344, + 1.5902700424194336 + ], + [ + -84.3000259399414, + -100.66459655761719, + 1.5902700424194336 + ], + [ + -83.56929016113281, + -101.13914489746094, + 1.5902700424194336 + ] + ], + "corners_2d": [ + [ + 625.954306786057, + 236.95340086167954 + ], + [ + 634.9076714386173, + 253.43751770225188 + ], + [ + 658.4884542755284, + 247.8828869831923 + ], + [ + 649.1693395360289, + 231.59484116857192 + ], + [ + 625.3642519624642, + 194.17718617492307 + ], + [ + 634.68968753812, + 210.55572193531728 + ], + [ + 659.2749113782161, + 205.03387172882813 + ], + [ + 649.5521681508903, + 188.85833660888213 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 5453, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 919.350747709143, + "ymin": 132.175613485565, + "xmax": 994.6534941878417, + "ymax": 249.97794882164322 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 982.0954853032611, + 173.69192268321257 + ], + [ + 923.7420334892886, + 165.8775100580685 + ], + [ + 919.350747709143, + 240.6933541588399 + ], + [ + 982.9388735145234, + 249.97794882164322 + ], + [ + 992.7814674816932, + 139.90901281489914 + ], + [ + 932.5205547478575, + 132.175613485565 + ], + [ + 928.7936146033597, + 206.4000664762484 + ], + [ + 994.6534941878417, + 215.64004982543864 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 63417, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 673.1659248146856, + "ymin": 273.04766634248233, + "xmax": 928.1474510126538, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 893.7533430671144, + 412.6642757017753 + ], + [ + 749.7389935821838, + 387.560712705498 + ], + [ + 673.1659248146856, + 750.4675762078573 + ], + [ + 865.7510430503671, + 796.1400422630725 + ], + [ + 928.1474510126538, + 298.46566026364854 + ], + [ + 764.2225929235072, + 273.04766634248233 + ], + [ + 679.3251458680812, + 656.7339801678729 + ], + [ + 909.2836197477379, + 707.6173823620494 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 18772, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1150.2678927375262, + "ymin": 419.4414500332178, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 1222.8096660633266, + 1020.3171630633864 + ], + [ + 1474.6583131530958, + 1085.4180724118569 + ], + [ + 1325.1108024311247, + 562.5024660961236 + ], + [ + 1150.2678927375262, + 530.0590913653432 + ], + [ + 1356.3784422233196, + 966.4864251335201 + ], + [ + 1675.08507448215, + 1044.6481748794274 + ], + [ + 1432.8932590022457, + 453.52638356058105 + ], + [ + 1228.1073779066978, + 419.4414500332178 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 14422, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 892.3830530424602, + "ymin": 522.9730802501367, + "xmax": 1006.3780924421544, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 982.4592937423542, + 575.0929998431177 + ], + [ + 904.8688083670361, + 559.7570885100685 + ], + [ + 892.3830530424602, + 785.7785563879582 + ], + [ + 984.2660586891072, + 807.322287857243 + ], + [ + 1000.8110482504478, + 538.64731020896 + ], + [ + 918.8784845625282, + 522.9730802501367 + ], + [ + 908.3420570979133, + 756.0954775941752 + ], + [ + 1006.3780924421544, + 778.5553008406316 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 12118, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1124.1483837111302, + "ymin": 122.38162603004159, + "xmax": 1262.7096167032257, + "ymax": 307.10530853874786 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 1145.7026251032162, + 294.5836401399463 + ], + [ + 1229.6070699531701, + 307.10530853874786 + ], + [ + 1197.231410882709, + 183.99847829361326 + ], + [ + 1124.1483837111302, + 174.41924445811685 + ], + [ + 1173.710295767854, + 241.38114886187012 + ], + [ + 1262.7096167032257, + 253.87602136510498 + ], + [ + 1224.3804555632946, + 131.80811380257805 + ], + [ + 1147.4592337814079, + 122.38162603004159 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 758.1400157801335, + "ymin": 0.0, + "xmax": 909.5805523668182, + "ymax": 145.1479776309706 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 759.8983279386547, + 124.58211653974115 + ], + [ + 758.1400157801335, + 131.21065780630343 + ], + [ + 864.5405845215074, + 145.1479776309706 + ], + [ + 865.4332127236798, + 138.28765846520983 + ], + [ + 782.9035927187364, + -92.35313838685471 + ], + [ + 781.0337968432573, + -86.60187809784259 + ], + [ + 908.9604472507503, + -74.44875565350674 + ], + [ + 909.5805523668182, + -80.44110899206214 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2080193722244522285, + "instance_id": 11745, + "pixel_count": null, + "type_id": "BP_StreetLight_simple51_120_SM_2", + "bbox_3d": { + "center_world": { + "x": -78.77368927001953, + "y": -128.03121948242188, + "z": 4.08544921875 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 35.63439512366347, + "ymax": 77.85592117452103 + }, + "corners_3d": [ + [ + -80.54341888427734, + -127.2630386352539, + 0.20873045921325684 + ], + [ + -80.32381439208984, + -126.88267517089844, + 0.20873045921325684 + ], + [ + -77.00395965576172, + -128.7993927001953, + 0.20873045921325684 + ], + [ + -77.22356414794922, + -129.1797637939453, + 0.20873045921325684 + ], + [ + -80.54341888427734, + -127.2630386352539, + 7.962167739868164 + ], + [ + -80.32381439208984, + -126.88267517089844, + 7.962167739868164 + ], + [ + -77.00395965576172, + -128.7993927001953, + 7.962167739868164 + ], + [ + -77.22356414794922, + -129.1797637939453, + 7.962167739868164 + ] + ], + "corners_2d": [ + [ + 11.361786630599454, + 77.85592117452103 + ], + [ + 23.606381852671348, + 76.12776418740242 + ], + [ + 35.63439512366347, + 29.36757724515479 + ], + [ + 24.185332505190217, + 30.885532450162714 + ], + [ + -101.26233105942447, + -133.0720609065914 + ], + [ + -86.52306415986527, + -134.53409031636045 + ], + [ + -64.45276373616423, + -173.63889664330645 + ], + [ + -78.05616076717433, + -172.3830692043491 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 830.2883340440371, + "ymin": 360.7735199304033, + "xmax": 856.6017192006558, + "ymax": 381.25396007995613 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 831.9218102213612, + 365.0146324020292 + ], + [ + 830.2883340440371, + 377.20549981614624 + ], + [ + 854.2106993573044, + 381.25396007995613 + ], + [ + 855.5707307527639, + 368.9691588400007 + ], + [ + 832.836183331404, + 360.7735199304033 + ], + [ + 831.2056597817998, + 372.97293675411595 + ], + [ + 855.2473614473927, + 377.0245392010969 + ], + [ + 856.6017192006558, + 364.7306695535615 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 642.282531518919, + "ymin": 320.7749756304127, + "xmax": 864.3780932188274, + "ymax": 601.5822460862191 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 646.4633751788976, + 552.2128201065821 + ], + [ + 642.282531518919, + 567.9738979077615 + ], + [ + 805.1517877881845, + 601.5822460862191 + ], + [ + 807.3146925089485, + 584.9591809920847 + ], + [ + 648.5912498901943, + 320.7749756304127 + ], + [ + 643.0469284120226, + 337.82862109251647 + ], + [ + 862.4830120305294, + 374.68350739802565 + ], + [ + 864.3780932188274, + 356.37048950592845 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 830.4290826611898, + "ymin": 360.8815214502113, + "xmax": 856.4626220085032, + "ymax": 381.1442066780362 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 832.0437478705156, + 365.0774670575064 + ], + [ + 830.4290826611898, + 377.1392880491263 + ], + [ + 854.096195978691, + 381.1442066780362 + ], + [ + 855.4431863070216, + 368.99043612004823 + ], + [ + 832.9490217792415, + 360.8815214502113 + ], + [ + 831.3372607931997, + 372.9517136355745 + ], + [ + 855.1211710295172, + 376.95970518471097 + ], + [ + 856.4626220085032, + 364.7970608179125 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 111.81806089577469, + "ymax": 186.62968961548927 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + 111.81806089577469, + 57.47318591997464 + ], + [ + -84.7233269084669, + 67.91149562834704 + ], + [ + -177.1593711261337, + 186.62968961548927 + ], + [ + 52.02110178897385, + 172.59177854853615 + ], + [ + -35.712808646443364, + -277.073933187643 + ], + [ + -290.88527317147884, + -269.836434381711 + ], + [ + -459.9944776125626, + -183.22390084033793 + ], + [ + -147.0234335390071, + -193.89644479623576 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15802826985253113354, + "instance_id": 2574, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1850_36", + "bbox_3d": { + "center_world": { + "x": -88.78510284423828, + "y": -126.78023529052734, + "z": 5.811944484710693 + }, + "extent": { + "x": 3.61627197265625, + "y": 3.513695240020752, + "z": 6.1579461097717285 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 24.925264914684817, + "ymax": 301.1192810190151 + }, + "corners_3d": [ + [ + -84.66796875, + -123.86944580078125, + -0.34600162506103516 + ], + [ + -85.757080078125, + -130.8119354248047, + -0.34600162506103516 + ], + [ + -92.90223693847656, + -129.69102478027344, + -0.34600162506103516 + ], + [ + -91.81312561035156, + -122.74854278564453, + -0.34600162506103516 + ], + [ + -84.66796875, + -123.86944580078125, + 11.969890594482422 + ], + [ + -85.757080078125, + -130.8119354248047, + 11.969890594482422 + ], + [ + -92.90223693847656, + -129.69102478027344, + 11.969890594482422 + ], + [ + -91.81312561035156, + -122.74854278564453, + 11.969890594482422 + ] + ], + "corners_2d": [ + [ + 24.925264914684817, + 162.5799229218953 + ], + [ + -161.93417159080718, + 153.99494681868993 + ], + [ + -311.25784073535135, + 289.45759179344407 + ], + [ + -95.10249792732213, + 301.1192810190151 + ], + [ + -192.73886006638543, + -224.07925747576576 + ], + [ + -441.77476355167596, + -230.27849276569657 + ], + [ + -721.3518870835055, + -126.88105293639364 + ], + [ + -417.5548341642352, + -117.38794173009421 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00089/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00089/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4aeb2c05a07f9ccf05ffd567d4a3f34e2864900a --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00089/meta.json @@ -0,0 +1,2569 @@ +{ + "frame_id": 89, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 44.5, + "sim_timestamp": 10808.9634305574 + }, + "drone_pose": { + "x": -107.0403218131085, + "y": -95.40280489372446, + "z": 20.109827909457266, + "pitch": -44.005367165190265, + "yaw": -7.977298290810828, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7123143672943115, + 0.09982145577669144, + 0.6947258114814758, + 52.75230026245117 + ], + [ + -0.13878071308135986, + 0.9903231263160706, + 0.0, + 109.33473205566406 + ], + [ + -0.6880030035972595, + -0.09641454368829727, + 0.7192746996879578, + -78.91033935546875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -106.33932499453685, + "y": -94.74513702517822, + "z": 20.107016259735282 + }, + "t1_image_uv": [ + 2289.6528657784897, + -558.6208129460582 + ], + "t1_depth": 0.43563408115631946 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -87.16718292236328, + "y": -98.18776321411131, + "z": 0.7274016332626343 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 27.899392297490323, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 187, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -87.16718292236328, + "y": -98.18775939941406, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.25050291419029236, + "y": 0.22526854276657104, + "z": 0.5309687852859497 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 628.3051233235702, + "ymin": 338.85427517296233, + "xmax": 651.712885150664, + "ymax": 380.9480680361865 + }, + "corners_3d": [ + [ + -87.18502807617188, + -98.52417755126953, + 0.19643276929855347 + ], + [ + -87.50360107421875, + -98.20560455322266, + 0.19643276929855347 + ], + [ + -87.14933776855469, + -97.8513412475586, + 0.19643276929855347 + ], + [ + -86.83076477050781, + -98.16991424560547, + 0.19643276929855347 + ], + [ + -87.18502807617188, + -98.52417755126953, + 1.2583703994750977 + ], + [ + -87.50360107421875, + -98.20560455322266, + 1.2583703994750977 + ], + [ + -87.14933776855469, + -97.8513412475586, + 1.2583703994750977 + ], + [ + -86.83076477050781, + -98.16991424560547, + 1.2583703994750977 + ] + ], + "corners_2d": [ + [ + 628.6101152255749, + 372.27625075827405 + ], + [ + 637.7958669742474, + 380.9480680361865 + ], + [ + 651.4069722275223, + 373.6645534797969 + ], + [ + 642.1676050466359, + 365.1248505406363 + ], + [ + 628.3051233235702, + 345.99027492175503 + ], + [ + 637.7362864468387, + 354.64732092728667 + ], + [ + 651.712885150664, + 347.37592513737513 + ], + [ + 642.2251943995241, + 338.85427517296233 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 89, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 53, + "semantic_pixel_counts": { + "1": 238473, + "2": 152480, + "3": 373970, + "4": 12742, + "5": 818, + "6": 4089, + "10": 2691, + "12": 2278, + "14": 25873, + "16": 85362, + "20": 9506, + "24": 13318 + }, + "instance_pixel_counts": { + "913": 1381, + "1646": 120, + "2670": 4147, + "3182": 13443, + "3694": 2992, + "4206": 7357, + "5230": 470, + "5742": 1720, + "8834": 3156, + "14416": 818, + "15963": 6504, + "16475": 14411, + "16987": 51201, + "17232": 12742, + "17499": 184628, + "18011": 67658, + "22976": 1848, + "23296": 75, + "23552": 219, + "24512": 34443, + "26963": 460, + "35668": 5872, + "35924": 35, + "36692": 2218, + "37979": 1494, + "40019": 179, + "41611": 926, + "42123": 567, + "43117": 1884, + "43147": 14971, + "43155": 18403, + "43659": 10172, + "44179": 220070, + "45717": 2550, + "46741": 10768, + "48749": 3474, + "49261": 12467, + "49664": 187, + "49920": 405, + "50176": 571, + "50624": 4217, + "50688": 623, + "50944": 492, + "51136": 1391, + "51456": 5137, + "52160": 40101, + "52480": 52420, + "52672": 36874, + "52736": 32942, + "54016": 9835, + "55040": 10901, + "55879": 2629, + "64351": 6970 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 187, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -87.16718292236328, + "y": -98.18775939941406, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.23804686963558197, + "y": 0.2512451112270355, + "z": 0.51828533411026 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 628.1189608913397, + "ymin": 338.86548374053234, + "xmax": 651.9168906845823, + "ymax": 380.96450942687534 + }, + "corners_3d": [ + [ + -87.15785217285156, + -98.53374481201172, + 0.20911622047424316 + ], + [ + -87.51316833496094, + -98.17842864990234, + 0.20911622047424316 + ], + [ + -87.176513671875, + -97.8417739868164, + 0.20911622047424316 + ], + [ + -86.82119750976562, + -98.19709014892578, + 0.20911622047424316 + ], + [ + -87.15785217285156, + -98.53374481201172, + 1.2456868886947632 + ], + [ + -87.51316833496094, + -98.17842864990234, + 1.2456868886947632 + ], + [ + -87.176513671875, + -97.8417739868164, + 1.2456868886947632 + ], + [ + -86.82119750976562, + -98.19709014892578, + 1.2456868886947632 + ] + ], + "corners_2d": [ + [ + 628.4212833846245, + 371.29627622780504 + ], + [ + 638.6712517597886, + 380.96450942687534 + ], + [ + 651.6127708066505, + 374.0357577834426 + ], + [ + 641.305940979813, + 364.50759522675884 + ], + [ + 628.1189608913397, + 345.63971182424683 + ], + [ + 638.6361910629578, + 355.29177984473597 + ], + [ + 651.9168906845823, + 348.37408577819366 + ], + [ + 641.3397863112672, + 338.86548374053234 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 405, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -83.04119873046875, + "y": -95.19005584716797, + "z": 0.5750627517700195 + }, + "extent": { + "x": 0.5135595798492432, + "y": 0.3925146460533142, + "z": 0.9038715958595276 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 729.5427532066335, + "ymin": 248.5580789108522, + "xmax": 773.0897521901504, + "ymax": 318.19031286420835 + }, + "corners_3d": [ + [ + -83.25812530517578, + -95.7989501953125, + -0.32880884408950806 + ], + [ + -83.68568420410156, + -95.14057159423828, + -0.32880884408950806 + ], + [ + -82.82427215576172, + -94.58116149902344, + -0.32880884408950806 + ], + [ + -82.39671325683594, + -95.23954010009766, + -0.32880884408950806 + ], + [ + -83.25812530517578, + -95.7989501953125, + 1.4789342880249023 + ], + [ + -83.68568420410156, + -95.14057159423828, + 1.4789342880249023 + ], + [ + -82.82427215576172, + -94.58116149902344, + 1.4789342880249023 + ], + [ + -82.39671325683594, + -95.23954010009766, + 1.4789342880249023 + ] + ], + "corners_2d": [ + [ + 729.5427532066335, + 307.675211808961 + ], + [ + 749.0864270019025, + 318.19031286420835 + ], + [ + 767.7609903348266, + 302.4458788794473 + ], + [ + 748.342906055118, + 292.2992646728216 + ], + [ + 733.3008761304872, + 263.7640436326929 + ], + [ + 753.7221643722428, + 274.17582139176807 + ], + [ + 773.0897521901504, + 258.59000486512946 + ], + [ + 752.8068682794295, + 248.5580789108522 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 571, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -89.42300415039062, + "y": -91.24504852294922, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.37547850608825684, + "y": 0.3734765648841858, + "z": 0.8906370997428894 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 859.9179316576027, + "ymin": 409.8607593408341, + "xmax": 911.5155835107305, + "ymax": 483.56556065407415 + }, + "corners_3d": [ + [ + -89.47976684570312, + -91.77159118652344, + -0.31563782691955566 + ], + [ + -89.94984436035156, + -91.19110107421875, + -0.31563782691955566 + ], + [ + -89.36624145507812, + -90.718505859375, + -0.31563782691955566 + ], + [ + -88.89616394042969, + -91.29899597167969, + -0.31563782691955566 + ], + [ + -89.47976684570312, + -91.77159118652344, + 1.4656363725662231 + ], + [ + -89.94984436035156, + -91.19110107421875, + 1.4656363725662231 + ], + [ + -89.36624145507812, + -90.718505859375, + 1.4656363725662231 + ], + [ + -88.89616394042969, + -91.29899597167969, + 1.4656363725662231 + ] + ], + "corners_2d": [ + [ + 859.9179316576027, + 467.8935465872538 + ], + [ + 882.1058212913101, + 483.56556065407415 + ], + [ + 898.7457573155737, + 468.8477417658099 + ], + [ + 876.6193176900714, + 453.6084834012336 + ], + [ + 870.761007565244, + 424.20778642475756 + ], + [ + 894.2326547708116, + 439.97025688025224 + ], + [ + 911.5155835107305, + 425.16681624934847 + ], + [ + 888.1170323062863, + 409.8607593408341 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 623, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -88.07608032226562, + "y": -100.98506927490234, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.6188720464706421, + "y": 0.4651122987270355, + "z": 0.9113974571228027 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 509.4217714150228, + "ymin": 332.04064341221857, + "xmax": 567.3755324648828, + "ymax": 412.41816916228174 + }, + "corners_3d": [ + [ + -88.10408782958984, + -101.75872802734375, + -0.18399101495742798 + ], + [ + -88.82701110839844, + -101.1733169555664, + -0.18399101495742798 + ], + [ + -88.0480728149414, + -100.21141052246094, + -0.18399101495742798 + ], + [ + -87.32514953613281, + -100.79682159423828, + -0.18399101495742798 + ], + [ + -88.10408782958984, + -101.75872802734375, + 1.6388039588928223 + ], + [ + -88.82701110839844, + -101.1733169555664, + 1.6388039588928223 + ], + [ + -88.0480728149414, + -100.21141052246094, + 1.6388039588928223 + ], + [ + -87.32514953613281, + -100.79682159423828, + 1.6388039588928223 + ] + ], + "corners_2d": [ + [ + 515.280988868844, + 392.51434595382244 + ], + [ + 529.3408064437435, + 412.41816916228174 + ], + [ + 567.3755324648828, + 396.4259666115809 + ], + [ + 552.7802466853849, + 377.1602835725734 + ], + [ + 509.4217714150228, + 347.34800836857187 + ], + [ + 524.0291214250377, + 367.22557675601996 + ], + [ + 563.9491209147895, + 351.2514106592812 + ], + [ + 548.7513000588992, + 332.04064341221857 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 492, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -83.01702117919922, + "y": -101.20303344726562, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.38985350728034973, + "y": 0.4410351514816284, + "z": 0.860899031162262 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 547.8365239763019, + "ymin": 231.10532074605155, + "xmax": 583.1546320781536, + "ymax": 294.6308057289012 + }, + "corners_3d": [ + [ + -82.85946655273438, + -101.77019500732422, + -0.1334925889968872 + ], + [ + -83.59923553466797, + -101.28978729248047, + -0.1334925889968872 + ], + [ + -83.17457580566406, + -100.63587188720703, + -0.1334925889968872 + ], + [ + -82.43480682373047, + -101.11627960205078, + -0.1334925889968872 + ], + [ + -82.85946655273438, + -101.77019500732422, + 1.5883054733276367 + ], + [ + -83.59923553466797, + -101.28978729248047, + 1.5883054733276367 + ], + [ + -83.17457580566406, + -100.63587188720703, + 1.5883054733276367 + ], + [ + -82.43480682373047, + -101.11627960205078, + 1.5883054733276367 + ] + ], + "corners_2d": [ + [ + 551.2898974923505, + 279.10967296135664 + ], + [ + 561.088405098928, + 294.6308057289012 + ], + [ + 583.1546320781536, + 288.15800877365064 + ], + [ + 573.0339436621894, + 272.86706652906287 + ], + [ + 547.8365239763019, + 237.26854162808576 + ], + [ + 557.9579041520685, + 252.60764715353258 + ], + [ + 580.917123171883, + 246.20809781133133 + ], + [ + 570.4470099476137, + 231.10532074605155 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 5137, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 832.5944355497438, + "ymin": 180.99483353588857, + "xmax": 903.0256156351902, + "ymax": 293.39509564816206 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 889.179025903909, + 218.4229160735914 + ], + [ + 832.5944355497438, + 213.82556035450864 + ], + [ + 832.9270335718224, + 287.88154025500194 + ], + [ + 894.9134084241701, + 293.39509564816206 + ], + [ + 896.3979504414918, + 185.52653702934532 + ], + [ + 838.1404673285074, + 180.99483353588857 + ], + [ + 839.02604838119, + 254.18071012002832 + ], + [ + 903.0256156351902, + 259.64551684127537 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 52420, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 610.6887698217814, + "ymin": 332.54967820876425, + "xmax": 846.9191616761359, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 818.4875111402324, + 461.93453122698173 + ], + [ + 674.2768891971136, + 446.4734626861177 + ], + [ + 615.2056273383008, + 833.2724554184107 + ], + [ + 814.3571009279224, + 862.9566961751807 + ], + [ + 841.2807526055135, + 348.02570391699794 + ], + [ + 678.5801080643766, + 332.54967820876425 + ], + [ + 610.6887698217814, + 738.4241898872323 + ], + [ + 846.9191616761359, + 771.2663278924587 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 32942, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1075.0152180808207, + "ymin": 449.51761779654146, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 1184.3414387437767, + 1063.8829127456215 + ], + [ + 1431.2800375627417, + 1104.3018981892997 + ], + [ + 1242.8061334174113, + 581.1441342980354 + ], + [ + 1075.0152180808207, + 561.9207435772917 + ], + [ + 1303.4540416927903, + 1000.4164949590726 + ], + [ + 1609.6856186692603, + 1048.0212481030553 + ], + [ + 1330.0252752666972, + 469.33191998903555 + ], + [ + 1136.7537859862841, + 449.51761779654146 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 9835, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 838.5721022082294, + "ymin": 574.0813821738016, + "xmax": 951.8158933397989, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 915.9479491927347, + 621.0391368441368 + ], + [ + 838.5721022082294, + 611.5574032189951 + ], + [ + 840.4849935053187, + 849.2914035321014 + ], + [ + 933.6349129006801, + 863.005866332585 + ], + [ + 929.9960834161209, + 583.7290298516475 + ], + [ + 848.5964011777265, + 574.0813821738016 + ], + [ + 852.7720880108883, + 818.3641353139521 + ], + [ + 951.8158933397989, + 832.6097858614016 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 10901, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1023.9972654658318, + "ymin": 161.2872499457273, + "xmax": 1158.0980839920105, + "ymax": 335.01648369712416 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 1053.0301274264143, + 327.76413358824334 + ], + [ + 1132.71542415679, + 335.01648369712416 + ], + [ + 1093.0745306523836, + 217.2210728119864 + ], + [ + 1023.9972654658318, + 211.73303854730915 + ], + [ + 1074.1279635451244, + 275.34731192072536 + ], + [ + 1158.0980839920105, + 282.52664849341977 + ], + [ + 1113.2322068145477, + 166.6482355547698 + ], + [ + 1040.956834014571, + 161.2872499457273 + ] + ], + "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": 1090.1641254516214, + "ymin": 0.0, + "xmax": 1224.449686906383, + "ymax": 32.08488873978439 + }, + "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": [ + [ + 1138.18082187553, + 31.47068934297846 + ], + [ + 1147.8685393709482, + 32.08488873978439 + ], + [ + 1098.25356474847, + -64.23320074259072 + ], + [ + 1090.1641254516214, + -64.66591641564821 + ], + [ + 1213.212584897149, + -167.70580645672453 + ], + [ + 1224.449686906383, + -167.2341341812662 + ], + [ + 1154.875955548231, + -239.46234723131272 + ], + [ + 1145.7332176560358, + -239.779126254096 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 669.1141438765526, + "ymin": 0.0, + "xmax": 798.7190195905428, + "ymax": 196.60048089477877 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 670.5032733598676, + 181.6633660717922 + ], + [ + 669.1141438765526, + 188.3093049919052 + ], + [ + 773.947544152839, + 196.60048089477877 + ], + [ + 774.4196144170602, + 189.80853513877437 + ], + [ + 675.9475176482918, + -27.562261448726645 + ], + [ + 674.3648855679828, + -21.909315567560895 + ], + [ + 798.4185404156224, + -14.831758097352406 + ], + [ + 798.7190195905428, + -20.631610383866416 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 572.670593378577, + "ymin": 0.0, + "xmax": 602.6058727011051, + "ymax": 5.388212648433523 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 580.4731211705998, + 4.848096727956488 + ], + [ + 589.408832432597, + 5.388212648433523 + ], + [ + 602.6058727011051, + -26.413221030503735 + ], + [ + 594.1542194026298, + -26.895035877227485 + ], + [ + 572.670593378577, + -171.98282001055202 + ], + [ + 582.7704770889179, + -171.560688696208 + ], + [ + 598.0052026848879, + -196.2385604386011 + ], + [ + 588.519369246488, + -196.60970256039104 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1272.0265587430788, + "ymin": 188.6427468049134, + "xmax": 1280.0, + "ymax": 242.14223313494 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1294.1625072258157, + 235.78889183137085 + ], + [ + 1374.6899633699222, + 242.14223313494 + ], + [ + 1348.542481732879, + 203.49879018047324 + ], + [ + 1272.0265587430788, + 197.73548964174813 + ], + [ + 1299.5651480294978, + 226.55437350661032 + ], + [ + 1380.8060768597434, + 232.8869333250471 + ], + [ + 1354.1570731512852, + 194.3826669906686 + ], + [ + 1276.9970813494506, + 188.6427468049134 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1223.470326965853, + "ymin": 156.5452616295998, + "xmax": 1280.0, + "ymax": 328.95542542412204 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1242.8622702186162, + 322.08376535571307 + ], + [ + 1321.1121407499772, + 328.95542542412204 + ], + [ + 1297.9013511909761, + 286.85391703370954 + ], + [ + 1223.470326965853, + 280.6104803979535 + ], + [ + 1316.3720937816984, + 196.26679821155244 + ], + [ + 1404.8839923606968, + 202.89187975526434 + ], + [ + 1374.5740819108125, + 162.49624257228328 + ], + [ + 1290.91423414279, + 156.5452616295998 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 743.8538076299126, + "ymin": 422.10053669658566, + "xmax": 769.1612985871112, + "ymax": 441.4760302896273 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 744.899417521434, + 426.32256615410176 + ], + [ + 743.8538076299126, + 438.9704603727955 + ], + [ + 767.828557951369, + 441.4760302896273 + ], + [ + 768.5746377405043, + 428.765466006544 + ], + [ + 745.3768736860319, + 422.10053669658566 + ], + [ + 744.3325497635986, + 434.75274100208816 + ], + [ + 768.4192922703351, + 437.2593387605299 + ], + [ + 769.1612985871112, + 424.5441547829723 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1272.1144547474646, + "ymin": 188.6679379146494, + "xmax": 1280.0, + "ymax": 242.05233073475267 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1294.22780335294, + 235.7066418737217 + ], + [ + 1374.6690300811208, + 242.05233073475267 + ], + [ + 1348.5530524003675, + 203.45788088054388 + ], + [ + 1272.1144547474646, + 197.70085966360634 + ], + [ + 1299.594951987289, + 226.53302974542348 + ], + [ + 1380.7441292324352, + 232.8580911181985 + ], + [ + 1354.1305756151378, + 194.4017565020848 + ], + [ + 1277.05281511261, + 188.6679379146494 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 552.9915755712817, + "ymin": 393.5547169436912, + "xmax": 776.1112383607368, + "ymax": 663.4480591495917 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 577.8101164898632, + 625.1303475661323 + ], + [ + 574.2701115120072, + 642.0666066710661 + ], + [ + 741.4995730507516, + 663.4480591495917 + ], + [ + 742.7184099217909, + 645.9119537412693 + ], + [ + 558.0491238591032, + 393.5547169436912 + ], + [ + 552.9915755712817, + 411.61958945458764 + ], + [ + 775.1311780938452, + 434.66116148558314 + ], + [ + 776.1112383607368, + 415.744027606474 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 743.9895544395291, + "ymin": 422.20271827334597, + "xmax": 769.02789009667, + "ymax": 441.37221166688073 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 745.0224695566797, + 426.3798160716307 + ], + [ + 743.9895544395291, + 438.89361892467645 + ], + [ + 767.7083171927867, + 441.37221166688073 + ], + [ + 768.4480235403078, + 428.7970627936749 + ], + [ + 745.4954278484867, + 422.20271827334597 + ], + [ + 744.4637859538834, + 434.7207415851498 + ], + [ + 768.2921564876483, + 437.2003387583859 + ], + [ + 769.02789009667, + 424.62066959215133 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 630.4083871285538, + "ymin": 0.0, + "xmax": 924.784845111338, + "ymax": 33.11504044364449 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 633.0125116853704, + 12.528581945534597 + ], + [ + 631.6323178890865, + 16.410522619941446 + ], + [ + 887.4050025438103, + 33.11504044364449 + ], + [ + 887.0748777038261, + 29.00849154367046 + ], + [ + 631.9982448114419, + -182.1811074961987 + ], + [ + 630.4083871285538, + -179.2257776440066 + ], + [ + 924.784845111338, + -166.4427054093028 + ], + [ + 924.1112196601011, + -169.59518021246265 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1226.5266030408582, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 289.682453506753 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1432.5810223641379, + 110.70246839905496 + ], + [ + 1226.5266030408582, + 134.5367285209021 + ], + [ + 1415.3835530437154, + 289.682453506753 + ], + [ + 1657.3429995313074, + 254.40971200238627 + ], + [ + 1704.0748288512627, + -315.1550777128987 + ], + [ + 1437.0362883311718, + -303.1119107924553 + ], + [ + 1784.4868331622247, + -216.92435602999592 + ], + [ + 2112.7674725196916, + -237.79906190753184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 2.2295201497510106, + "ymax": 298.6439051644656 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + 2.2295201497510106, + 146.98919636181964 + ], + [ + -211.5148036285275, + 167.92657997820965 + ], + [ + -315.3159586770588, + 298.6439051644656 + ], + [ + -61.370339336245934, + 269.7452641370397 + ], + [ + -171.36568278160246, + -181.52691332092797 + ], + [ + -452.00256967249766, + -167.0265772231694 + ], + [ + -649.8942810634846, + -70.94421456312477 + ], + [ + -296.0682731779307, + -93.05054277752856 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00090/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00090/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e20b9940c00abec36b22003e51dfa1e4d536ad9e --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00090/meta.json @@ -0,0 +1,2040 @@ +{ + "frame_id": 90, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 45.0, + "sim_timestamp": 10823.045669864863 + }, + "drone_pose": { + "x": -106.33932499453685, + "y": -94.74513702517822, + "z": 20.107016259735282, + "pitch": -47.53591385378782, + "yaw": -10.05457711035044, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6647592782974243, + 0.11786800622940063, + 0.7377006411552429, + 44.68967056274414 + ], + [ + -0.17458617687225342, + 0.9846419095993042, + 0.0, + 111.85541534423828 + ], + [ + -0.7263709902763367, + -0.12879234552383423, + 0.6751279234886169, + -78.6141586303711 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -105.95819408704413, + "y": -94.80403696505823, + "z": 20.20921593256224 + }, + "t1_image_uv": [ + 684.3623836959919, + -1474.888280027193 + ], + "t1_depth": 0.18490995008785005 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -86.66718292236328, + "y": -97.68776321411131, + "z": 0.575004174709211 + }, + "image_uv": [ + 658.5237538035076, + 308.89538095684424 + ], + "depth": 27.832858224823497, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 193, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -86.66718292236328, + "y": -97.68775939941406, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.21028317511081696, + "y": 0.22410641610622406, + "z": 0.5225570797920227 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 649.5531639529846, + "ymin": 289.9109243865662, + "xmax": 667.6717469578587, + "ymax": 327.58305954151837 + }, + "corners_3d": [ + [ + -86.8774642944336, + -97.911865234375, + 0.05244708061218262 + ], + [ + -86.8774642944336, + -97.46365356445312, + 0.05244708061218262 + ], + [ + -86.45690155029297, + -97.46365356445312, + 0.05244708061218262 + ], + [ + -86.45690155029297, + -97.911865234375, + 0.05244708061218262 + ], + [ + -86.8774642944336, + -97.911865234375, + 1.097561240196228 + ], + [ + -86.8774642944336, + -97.46365356445312, + 1.097561240196228 + ], + [ + -86.45690155029297, + -97.46365356445312, + 1.097561240196228 + ], + [ + -86.45690155029297, + -97.911865234375, + 1.097561240196228 + ] + ], + "corners_2d": [ + [ + 649.5531639529846, + 325.672202284313 + ], + [ + 664.6742725129105, + 327.58305954151837 + ], + [ + 666.918725172996, + 317.55181934929794 + ], + [ + 651.9423742125382, + 315.6784533550264 + ], + [ + 649.8226200516801, + 299.9230054272564 + ], + [ + 665.3715816223449, + 301.83800144047024 + ], + [ + 667.6717469578587, + 291.78730323694026 + ], + [ + 652.2758098742673, + 289.9109243865662 + ] + ], + "center_offset_px": [ + 18.52375380350759, + -51.104619043155765 + ] + }, + "trace_timestep_index": 90, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 44, + "semantic_pixel_counts": { + "1": 246762, + "2": 157939, + "3": 357802, + "4": 5731, + "5": 911, + "6": 3464, + "10": 83, + "12": 2447, + "14": 30146, + "16": 97518, + "20": 7132, + "24": 11665 + }, + "instance_pixel_counts": { + "913": 1, + "2670": 2886, + "3182": 15315, + "3694": 3446, + "4206": 8177, + "5742": 1959, + "8834": 3218, + "14416": 911, + "15963": 4684, + "16475": 14161, + "16987": 53819, + "17232": 5731, + "17499": 183357, + "18011": 51118, + "24512": 39139, + "26963": 246, + "35668": 6336, + "36692": 795, + "37979": 507, + "41611": 104, + "43117": 1216, + "43147": 16658, + "43155": 2276, + "43659": 11300, + "44179": 244486, + "45717": 92, + "46741": 11573, + "48749": 3834, + "49261": 13323, + "49664": 193, + "49920": 434, + "50176": 585, + "50624": 772, + "50688": 695, + "50944": 540, + "51456": 5518, + "52160": 45420, + "52480": 59817, + "52672": 36311, + "52736": 37701, + "54016": 12796, + "55040": 11832, + "55879": 82, + "64351": 8235 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 193, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -86.66718292236328, + "y": -97.68775939941406, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.23604489862918854, + "y": 0.21590329706668854, + "z": 0.5303959250450134 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 649.6796036556818, + "ymin": 289.13966981283426, + "xmax": 667.5348346846987, + "ymax": 328.3567641600867 + }, + "corners_3d": [ + [ + -86.90322875976562, + -97.9036636352539, + 0.044608235359191895 + ], + [ + -86.90322875976562, + -97.47185516357422, + 0.044608235359191895 + ], + [ + -86.43113708496094, + -97.47185516357422, + 0.044608235359191895 + ], + [ + -86.43113708496094, + -97.9036636352539, + 0.044608235359191895 + ], + [ + -86.90322875976562, + -97.9036636352539, + 1.1054000854492188 + ], + [ + -86.90322875976562, + -97.47185516357422, + 1.1054000854492188 + ], + [ + -86.43113708496094, + -97.47185516357422, + 1.1054000854492188 + ], + [ + -86.43113708496094, + -97.9036636352539, + 1.1054000854492188 + ] + ], + "corners_2d": [ + [ + 649.6796036556818, + 326.51363002624737 + ], + [ + 664.2529458833019, + 328.3567641600867 + ], + [ + 666.7749389080279, + 317.0973772789867 + ], + [ + 652.3580803547659, + 315.29477923396223 + ], + [ + 649.9569639768268, + 300.3794318550634 + ], + [ + 664.9491897473089, + 302.2266821045581 + ], + [ + 667.5348346846987, + 290.9451480766596 + ], + [ + 652.708167079468, + 289.13966981283426 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 434, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -82.54119873046875, + "y": -94.69005584716797, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.5722119212150574, + "y": 0.3630127012729645, + "z": 0.8914174437522888 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 757.5312241526576, + "ymin": 195.76486668587242, + "xmax": 791.0140854738538, + "ymax": 263.6466168310783 + }, + "corners_3d": [ + [ + -83.17638397216797, + -94.92616271972656, + -0.3164181709289551 + ], + [ + -83.02542877197266, + -94.21600341796875, + -0.3164181709289551 + ], + [ + -81.90601348876953, + -94.45394897460938, + -0.3164181709289551 + ], + [ + -82.05696868896484, + -95.16410827636719, + -0.3164181709289551 + ], + [ + -83.17638397216797, + -94.92616271972656, + 1.4664167165756226 + ], + [ + -83.02542877197266, + -94.21600341796875, + 1.4664167165756226 + ], + [ + -81.90601348876953, + -94.45394897460938, + 1.4664167165756226 + ], + [ + -82.05696868896484, + -95.16410827636719, + 1.4664167165756226 + ] + ], + "corners_2d": [ + [ + 761.7318654901128, + 263.6466168310783 + ], + [ + 784.5026247777015, + 263.12680885781106 + ], + [ + 779.7419909763298, + 239.6186536411171 + ], + [ + 757.5312241526576, + 240.11310290523997 + ], + [ + 767.2203784175097, + 219.6902695900562 + ], + [ + 791.0140854738538, + 219.1721044826871 + ], + [ + 785.8766300233636, + 195.76486668587242 + ], + [ + 762.6936840031842, + 196.25665768799206 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 585, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -88.92300415039062, + "y": -90.74504852294922, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.39820799231529236, + "y": 0.3235546946525574, + "z": 0.8839158415794373 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 882.6152412479821, + "ymin": 365.5137593023562, + "xmax": 924.0983400390323, + "ymax": 432.61136716896135 + }, + "corners_3d": [ + [ + -89.35285186767578, + -91.02520751953125, + -0.3089214563369751 + ], + [ + -89.28520965576172, + -90.38164520263672, + -0.3089214563369751 + ], + [ + -88.49315643310547, + -90.46488952636719, + -0.3089214563369751 + ], + [ + -88.56079864501953, + -91.10845184326172, + -0.3089214563369751 + ], + [ + -89.35285186767578, + -91.02520751953125, + 1.4589102268218994 + ], + [ + -89.28520965576172, + -90.38164520263672, + 1.4589102268218994 + ], + [ + -88.49315643310547, + -90.46488952636719, + 1.4589102268218994 + ], + [ + -88.56079864501953, + -91.10845184326172, + 1.4589102268218994 + ] + ], + "corners_2d": [ + [ + 885.5503133326267, + 431.2744456821836 + ], + [ + 909.7841033089351, + 432.61136716896135 + ], + [ + 906.3536393481866, + 409.8424932167522 + ], + [ + 882.6152412479821, + 408.5592703037407 + ], + [ + 898.5623980517953, + 388.49454329522234 + ], + [ + 924.0983400390323, + 389.84863636616853 + ], + [ + 920.1840727471875, + 366.81067213174055 + ], + [ + 895.1975815038534, + 365.5137593023562 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 695, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -87.73854064941406, + "y": -100.98506927490234, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.5807227492332458, + "y": 0.4726220965385437, + "z": 0.9085448384284973 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 512.4949532745502, + "ymin": 276.9448769170581, + "xmax": 562.7458520575499, + "ymax": 356.19119392053983 + }, + "corners_3d": [ + [ + -88.26667785644531, + -101.51580810546875, + -0.18113839626312256 + ], + [ + -88.36548614501953, + -100.57573699951172, + -0.18113839626312256 + ], + [ + -87.21040344238281, + -100.45433044433594, + -0.18113839626312256 + ], + [ + -87.1115951538086, + -101.39440155029297, + -0.18113839626312256 + ], + [ + -88.26667785644531, + -101.51580810546875, + 1.635951280593872 + ], + [ + -88.36548614501953, + -100.57573699951172, + 1.635951280593872 + ], + [ + -87.21040344238281, + -100.45433044433594, + 1.635951280593872 + ], + [ + -87.1115951538086, + -101.39440155029297, + 1.635951280593872 + ] + ], + "corners_2d": [ + [ + 518.647766194544, + 349.550849558056 + ], + [ + 549.4653577361668, + 356.19119392053983 + ], + [ + 562.7458520575499, + 328.4162320015056 + ], + [ + 532.6600144645138, + 322.12306556784245 + ], + [ + 512.4949532745502, + 304.47563390454366 + ], + [ + 544.8442128665855, + 311.15199791377785 + ], + [ + 558.9125720490663, + 283.2551589260969 + ], + [ + 527.368472005057, + 276.9448769170581 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 540, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -81.82882690429688, + "y": -101.20303344726562, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.4186962842941284, + "y": 0.4499267339706421, + "z": 0.8553276658058167 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 556.669709184084, + "ymin": 158.09490075461207, + "xmax": 595.0236753301991, + "ymax": 221.39242830374437 + }, + "corners_3d": [ + [ + -82.14482879638672, + -101.73017883300781, + -0.1279212236404419 + ], + [ + -82.33191680908203, + -100.84999084472656, + -0.1279212236404419 + ], + [ + -81.51282501220703, + -100.67588806152344, + -0.1279212236404419 + ], + [ + -81.32573699951172, + -101.55607604980469, + -0.1279212236404419 + ], + [ + -82.14482879638672, + -101.73017883300781, + 1.5827341079711914 + ], + [ + -82.33191680908203, + -100.84999084472656, + 1.5827341079711914 + ], + [ + -81.51282501220703, + -100.67588806152344, + 1.5827341079711914 + ], + [ + -81.32573699951172, + -101.55607604980469, + 1.5827341079711914 + ] + ], + "corners_2d": [ + [ + 559.9730414519456, + 214.86899125259805 + ], + [ + 584.7275310792736, + 221.39242830374437 + ], + [ + 595.0236753301991, + 206.54611013588925 + ], + [ + 570.5974525111724, + 200.2329693941518 + ], + [ + 556.669709184084, + 172.61285923213813 + ], + [ + 582.4288567263367, + 179.08992895216363 + ], + [ + 593.1849484592789, + 164.35473636945474 + ], + [ + 567.7809441598727, + 158.09490075461207 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 5518, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 840.977203453416, + "ymin": 133.1308070859329, + "xmax": 913.7152202688258, + "ymax": 251.81693805717597 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 903.6637338895703, + 173.04329599386935 + ], + [ + 845.4131376409956, + 166.92984827209628 + ], + [ + 840.977203453416, + 244.53982701756448 + ], + [ + 904.5163194372735, + 251.81693805717597 + ], + [ + 912.0408399142862, + 139.1894052745724 + ], + [ + 851.8917648053726, + 133.1308070859329 + ], + [ + 847.9105209915292, + 210.24769077427263 + ], + [ + 913.7152202688258, + 217.50125604231482 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 59817, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 580.5641270118298, + "ymin": 290.6011505602978, + "xmax": 839.519315939521, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 815.1585044587769, + 424.21926701083595 + ], + [ + 669.5638975941698, + 404.27194617083205 + ], + [ + 590.2072508576618, + 790.2468029598319 + ], + [ + 786.5103147817335, + 827.0026880461565 + ], + [ + 839.519315939521, + 310.9602349599964 + ], + [ + 673.5918891072201, + 290.6011505602978 + ], + [ + 580.5641270118298, + 703.4218892393993 + ], + [ + 815.7299177862384, + 744.92055585026 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 37701, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1070.782490671109, + "ymin": 425.1196224518441, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 1143.5765334850514, + 1038.9637212177308 + ], + [ + 1390.0614589185961, + 1089.3460589754573 + ], + [ + 1242.3155379521752, + 559.3352679908733 + ], + [ + 1070.782490671109, + 534.297749901988 + ], + [ + 1261.3826551563532, + 992.2676905417144 + ], + [ + 1571.8864425318573, + 1053.1717910912844 + ], + [ + 1337.902264617731, + 451.54131345348105 + ], + [ + 1137.5633719769664, + 425.1196224518441 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 12796, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 813.4251540651537, + "ymin": 541.2449954369602, + "xmax": 923.4210089416099, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 904.0623291364905, + 589.2394005492986 + ], + [ + 826.2017743420008, + 577.1233443599526 + ], + [ + 813.4251540651537, + 814.5490535122692 + ], + [ + 905.9069174280814, + 831.6663719793721 + ], + [ + 918.5302059983724, + 553.6627329289885 + ], + [ + 836.3017520566568, + 541.2449954369602 + ], + [ + 824.7109390205674, + 786.955439183613 + ], + [ + 923.4210089416099, + 804.8653592176513 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 11832, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1044.361411260313, + "ymin": 116.94901916530546, + "xmax": 1176.9912914038182, + "ymax": 301.3690970507574 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 1065.8129038025475, + 291.7218366857529 + ], + [ + 1148.2060514405982, + 301.3690970507574 + ], + [ + 1116.1744178727347, + 176.41490602202944 + ], + [ + 1044.361411260313, + 169.03943796485157 + ], + [ + 1089.6832072813231, + 238.6431487810746 + ], + [ + 1176.9912914038182, + 248.2851211861735 + ], + [ + 1139.575134766488, + 124.21716879298336 + ], + [ + 1064.055401594473, + 116.94901916530546 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 678.4458955753786, + "ymin": 0.0, + "xmax": 816.1573496101381, + "ymax": 147.58562790116858 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 680.2458350585616, + 129.63312041852635 + ], + [ + 678.4458955753786, + 136.58728563457402 + ], + [ + 785.7960752873643, + 147.58562790116858 + ], + [ + 786.7035761505281, + 140.4457396167863 + ], + [ + 688.1998635959997, + -89.53311072063173 + ], + [ + 686.1216265507618, + -83.42410171607082 + ], + [ + 815.3707406383251, + -73.72035553525404 + ], + [ + 816.1573496101381, + -80.02570334810338 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1247.6361590780652, + "ymin": 118.99107762895599, + "xmax": 1280.0, + "ymax": 300.0214021937381 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1264.4203843381133, + 290.76094377257783 + ], + [ + 1346.1237338321926, + 300.0214021937381 + ], + [ + 1325.4714051122828, + 255.0320504850368 + ], + [ + 1247.6361590780652, + 246.59134820706163 + ], + [ + 1349.0467272357168, + 162.3062229461149 + ], + [ + 1442.8516139192236, + 171.45474638117273 + ], + [ + 1414.5437474580062, + 127.22778734135352 + ], + [ + 1325.7975351289506, + 118.99107762895599 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 724.1247486294345, + "ymin": 391.0696233408431, + "xmax": 750.8138519120199, + "ymax": 411.74162184065415 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 726.1438116171345, + 395.24706329442205 + ], + [ + 724.1247486294345, + 408.43595267576376 + ], + [ + 748.5351819600297, + 411.74162184065415 + ], + [ + 750.2660114808821, + 398.4736368483203 + ], + [ + 726.5705282631268, + 391.0696233408431 + ], + [ + 724.5465582662865, + 404.2735723482447 + ], + [ + 749.0810353981956, + 407.583265481268 + ], + [ + 750.8138519120199, + 394.29973410319735 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 530.1421668954913, + "ymin": 356.360440196238, + "xmax": 758.0670962101296, + "ymax": 626.3209325878175 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 563.0358426208841, + 582.4803744505588 + ], + [ + 558.6731599825548, + 599.3358388345454 + ], + [ + 724.9474058228237, + 626.3209325878175 + ], + [ + 727.1798621872749, + 608.7567740410477 + ], + [ + 536.5103677945878, + 356.360440196238 + ], + [ + 530.1421668954913, + 375.0798623740769 + ], + [ + 755.5980091913846, + 405.409523479895 + ], + [ + 758.0670962101296, + 385.6176662913142 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 724.2676816633129, + "ymin": 391.1786848088361, + "xmax": 750.6729439115342, + "ymax": 411.63089782417927 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 726.2637954688837, + 395.31159687518925 + ], + [ + 724.2676816633129, + 408.3607870051253 + ], + [ + 748.4176174415663, + 411.63089782417927 + ], + [ + 750.1315794758998, + 398.5042826526176 + ], + [ + 726.6865840478328, + 391.1786848088361 + ], + [ + 724.6856821610618, + 404.24261845947944 + ], + [ + 748.9570216422098, + 407.5166654974677 + ], + [ + 750.6729439115342, + 394.3748354108593 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1263.3284652303023, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 261.17917601406543 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1485.319491801862, + 70.07962741282233 + ], + [ + 1263.3284652303023, + 91.48791974659616 + ], + [ + 1449.291642493318, + 261.17917601406543 + ], + [ + 1711.773254983826, + 229.63761967978462 + ], + [ + 1821.882060107916, + -395.15351750166224 + ], + [ + 1521.4032343167823, + -383.435594747118 + ], + [ + 1897.565294290737, + -280.20693237111675 + ], + [ + 2275.3671348229664, + -300.91209395328667 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 6.167331854573604, + "ymax": 228.6281479367878 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + 6.167331854573604, + 79.84296924883802 + ], + [ + -205.27756267554173, + 97.22917471467395 + ], + [ + -307.7793749290829, + 228.6281479367878 + ], + [ + -59.268442272800485, + 205.03196989316518 + ], + [ + -182.70880864510866, + -265.44719165267134 + ], + [ + -464.6060170888484, + -252.9310207180789 + ], + [ + -665.4945264437151, + -152.5492335934805 + ], + [ + -313.9311292889291, + -171.3670680943933 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00091/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00091/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..946d3202106387c7704eee3b2d976e412a9238a7 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00091/meta.json @@ -0,0 +1,2780 @@ +{ + "frame_id": 91, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 45.5, + "sim_timestamp": 10835.219232592732 + }, + "drone_pose": { + "x": -105.95819408704413, + "y": -94.80403696505823, + "z": 20.20921593256224, + "pitch": -42.333819093044696, + "yaw": -13.290163192243048, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7194358110427856, + 0.16993702948093414, + 0.6734490990638733, + 46.5095329284668 + ], + [ + -0.22988267242908478, + 0.9732183218002319, + -7.450580596923828e-09, + 116.62297821044922 + ], + [ + -0.6554129719734192, + -0.1548142433166504, + 0.739233672618866, + -69.70867919921875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -105.45819408704413, + "y": -94.30403696505823, + "z": 20.21048504286233 + }, + "t1_image_uv": [ + 2748.4322917201553, + -520.5865042245533 + ], + "t1_depth": 0.2738947256083376 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -86.16718292236328, + "y": -97.68776321411131, + "z": 0.575004174709211 + }, + "image_uv": [ + 699.8685928388011, + 397.66168275039354 + ], + "depth": 27.951053823174334, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 173, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -86.16718292236328, + "y": -97.68775939941406, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.2511621117591858, + "y": 0.25645995140075684, + "z": 0.5293479561805725 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 687.1909851334796, + "ymin": 376.1784118145065, + "xmax": 712.933438048541, + "ymax": 418.9954599863149 + }, + "corners_3d": [ + [ + -86.16343688964844, + -98.04669952392578, + 0.04565620422363281 + ], + [ + -86.526123046875, + -97.68401336669922, + 0.04565620422363281 + ], + [ + -86.17092895507812, + -97.32881927490234, + 0.04565620422363281 + ], + [ + -85.80824279785156, + -97.6915054321289, + 0.04565620422363281 + ], + [ + -86.16343688964844, + -98.04669952392578, + 1.1043521165847778 + ], + [ + -86.526123046875, + -97.68401336669922, + 1.1043521165847778 + ], + [ + -86.17092895507812, + -97.32881927490234, + 1.1043521165847778 + ], + [ + -85.80824279785156, + -97.6915054321289, + 1.1043521165847778 + ] + ], + "corners_2d": [ + [ + 687.1909851334796, + 408.3814133603123 + ], + [ + 696.9609931821072, + 418.9954599863149 + ], + [ + 711.092332355917, + 412.5440746655382 + ], + [ + 701.2295106800976, + 402.07539510919315 + ], + [ + 688.4074796886493, + 382.46423753582326 + ], + [ + 698.4466667133157, + 393.0492982745776 + ], + [ + 712.933438048541, + 386.614782934358 + ], + [ + 702.7968316677559, + 376.1784118145065 + ] + ], + "center_offset_px": [ + 59.86859283880108, + 37.66168275039354 + ] + }, + "trace_timestep_index": 91, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 55, + "semantic_pixel_counts": { + "1": 272815, + "2": 132231, + "3": 409324, + "4": 2311, + "5": 661, + "6": 5592, + "7": 161, + "10": 1, + "12": 2357, + "14": 21490, + "16": 54158, + "20": 6126, + "24": 14373 + }, + "instance_pixel_counts": { + "1646": 4618, + "2158": 14, + "2670": 4583, + "3182": 15356, + "3694": 3274, + "4206": 8258, + "5230": 1020, + "5742": 1854, + "8834": 3410, + "12951": 207, + "14416": 661, + "15963": 9584, + "16475": 21243, + "16987": 65096, + "17232": 2311, + "17499": 217580, + "18011": 37595, + "22976": 2839, + "23296": 391, + "23552": 974, + "24512": 34044, + "26963": 978, + "28819": 1249, + "33429": 134, + "35668": 6126, + "37979": 3111, + "41611": 1149, + "42123": 699, + "43117": 1989, + "43147": 13944, + "43155": 44753, + "43659": 8896, + "43667": 158, + "44179": 226655, + "45717": 4047, + "46741": 10192, + "48749": 3813, + "49261": 9003, + "49664": 173, + "49920": 406, + "50176": 600, + "50624": 4825, + "50688": 647, + "50944": 531, + "51136": 1493, + "51456": 5668, + "51712": 1141, + "52160": 37438, + "52480": 43217, + "52672": 19233, + "52736": 10941, + "54016": 2119, + "55040": 12562, + "64351": 7464, + "64621": 1333 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 173, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -86.16718292236328, + "y": -97.68775939941406, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.23823241889476776, + "y": 0.2531689405441284, + "z": 0.5583682656288147 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 687.5838675698848, + "ymin": 375.6766889622586, + "xmax": 712.5489631141057, + "ymax": 419.45212038551426 + }, + "corners_3d": [ + [ + -86.15662384033203, + -98.03523254394531, + 0.016635894775390625 + ], + [ + -86.51465606689453, + -97.67720031738281, + 0.016635894775390625 + ], + [ + -86.17774200439453, + -97.34028625488281, + 0.016635894775390625 + ], + [ + -85.81970977783203, + -97.69831848144531, + 0.016635894775390625 + ], + [ + -86.15662384033203, + -98.03523254394531, + 1.13337242603302 + ], + [ + -86.51465606689453, + -97.67720031738281, + 1.13337242603302 + ], + [ + -86.17774200439453, + -97.34028625488281, + 1.13337242603302 + ], + [ + -85.81970977783203, + -97.69831848144531, + 1.13337242603302 + ] + ], + "corners_2d": [ + [ + 687.5838675698848, + 408.9774519300951 + ], + [ + 697.2238143451038, + 419.45212038551426 + ], + [ + 710.6182946816152, + 413.33335588891265 + ], + [ + 700.89155491752, + 402.9947172693886 + ], + [ + 688.8785132925633, + 381.63923356676025 + ], + [ + 698.7988848330492, + 392.08361585231626 + ], + [ + 712.5489631141057, + 385.9817599644269 + ], + [ + 702.5372494155998, + 375.6766889622586 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 406, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -82.04119873046875, + "y": -94.69005584716797, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.31526365876197815, + "y": 0.3998437523841858, + "z": 0.874284029006958 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 797.8238738596818, + "ymin": 292.24271554426775, + "xmax": 837.1433814515888, + "ymax": 355.1117367122794 + }, + "corners_3d": [ + [ + -82.08782958984375, + -95.19709777832031, + -0.2992798686027527 + ], + [ + -82.52336883544922, + -94.52642059326172, + -0.2992798686027527 + ], + [ + -81.99456787109375, + -94.18301391601562, + -0.2992798686027527 + ], + [ + -81.55902862548828, + -94.85369110107422, + -0.2992798686027527 + ], + [ + -82.08782958984375, + -95.19709777832031, + 1.4492881298065186 + ], + [ + -82.52336883544922, + -94.52642059326172, + 1.4492881298065186 + ], + [ + -81.99456787109375, + -94.18301391601562, + 1.4492881298065186 + ], + [ + -81.55902862548828, + -94.85369110107422, + 1.4492881298065186 + ] + ], + "corners_2d": [ + [ + 797.8238738596818, + 343.14358541319154 + ], + [ + 817.3486693530743, + 355.1117367122794 + ], + [ + 829.6416355795021, + 346.06029485958646 + ], + [ + 810.1498484843378, + 334.3382918605488 + ], + [ + 804.0449969505885, + 300.94124955331847 + ], + [ + 824.4408703356668, + 312.7755868888913 + ], + [ + 837.1433814515888, + 303.8241478564902 + ], + [ + 816.7852993090235, + 292.24271554426775 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 600, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -88.42300415039062, + "y": -90.74504852294922, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.49056151509284973, + "y": 0.41813963651657104, + "z": 0.8981500267982483 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 913.2772838015255, + "ymin": 458.3072070632627, + "xmax": 977.6800298479022, + "ymax": 539.9008480962738 + }, + "corners_3d": [ + [ + -88.54109954833984, + -91.37872314453125, + -0.32315564155578613 + ], + [ + -89.0673828125, + -90.72881317138672, + -0.32315564155578613 + ], + [ + -88.3049087524414, + -90.11137390136719, + -0.32315564155578613 + ], + [ + -87.77862548828125, + -90.76128387451172, + -0.32315564155578613 + ], + [ + -88.54109954833984, + -91.37872314453125, + 1.4731444120407104 + ], + [ + -89.0673828125, + -90.72881317138672, + 1.4731444120407104 + ], + [ + -88.3049087524414, + -90.11137390136719, + 1.4731444120407104 + ], + [ + -87.77862548828125, + -90.76128387451172, + 1.4731444120407104 + ] + ], + "corners_2d": [ + [ + 913.2772838015255, + 519.8933796432498 + ], + [ + 937.9823210166849, + 539.9008480962738 + ], + [ + 961.8040142610103, + 521.7204591831844 + ], + [ + 937.0726335827441, + 502.39062766175016 + ], + [ + 926.7343205561601, + 475.8757748325196 + ], + [ + 952.9539718835663, + 495.9943711626464 + ], + [ + 977.6800298479022, + 477.71141241748035 + ], + [ + 951.4419421457426, + 458.3072070632627 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 647, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -87.25056457519531, + "y": -101.02207946777344, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.4209521412849426, + "y": 0.4346337914466858, + "z": 0.8648241758346558 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 558.1838706905373, + "ymin": 365.30121002186013, + "xmax": 599.5274736408368, + "ymax": 436.1187288990435 + }, + "corners_3d": [ + [ + -87.17770385742188, + -101.62274169921875, + -0.137417733669281 + ], + [ + -87.8532485961914, + -101.07569885253906, + -0.137417733669281 + ], + [ + -87.32342529296875, + -100.42141723632812, + -0.137417733669281 + ], + [ + -86.64788055419922, + -100.96846008300781, + -0.137417733669281 + ], + [ + -87.17770385742188, + -101.62274169921875, + 1.5922305583953857 + ], + [ + -87.8532485961914, + -101.07569885253906, + 1.5922305583953857 + ], + [ + -87.32342529296875, + -100.42141723632812, + 1.5922305583953857 + ], + [ + -86.64788055419922, + -100.96846008300781, + 1.5922305583953857 + ] + ], + "corners_2d": [ + [ + 561.5428196347136, + 416.7188538476366 + ], + [ + 572.9335048703214, + 436.1187288990435 + ], + [ + 599.5274736408368, + 426.9725713258341 + ], + [ + 587.7065931130896, + 407.94043998873155 + ], + [ + 558.1838706905373, + 374.032332561864 + ], + [ + 569.9997909730921, + 393.3527134356686 + ], + [ + 597.7748391829896, + 384.2397381033049 + ], + [ + 585.4897788973553, + 365.30121002186013 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 531, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -81.32882690429688, + "y": -101.20303344726562, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.4366845488548279, + "y": 0.4897558391094208, + "z": 0.9194255471229553 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 605.2388337573893, + "ymin": 244.49943890601836, + "xmax": 640.3248738147964, + "ymax": 310.88478051150696 + }, + "corners_3d": [ + [ + -81.15592193603516, + -101.83600616455078, + -0.19201910495758057 + ], + [ + -81.97740936279297, + -101.30252838134766, + -0.19201910495758057 + ], + [ + -81.5017318725586, + -100.57006072998047, + -0.19201910495758057 + ], + [ + -80.68024444580078, + -101.1035385131836, + -0.19201910495758057 + ], + [ + -81.15592193603516, + -101.83600616455078, + 1.64683198928833 + ], + [ + -81.97740936279297, + -101.30252838134766, + 1.64683198928833 + ], + [ + -81.5017318725586, + -100.57006072998047, + 1.64683198928833 + ], + [ + -80.68024444580078, + -101.1035385131836, + 1.64683198928833 + ] + ], + "corners_2d": [ + [ + 606.5521383198798, + 293.7182012232538 + ], + [ + 615.7224138353644, + 310.88478051150696 + ], + [ + 640.3124236099288, + 305.3224896722568 + ], + [ + 630.6946528888686, + 288.3841099351777 + ], + [ + 605.2388337573893, + 249.7399926452385 + ], + [ + 614.7481154879183, + 266.62399197334355 + ], + [ + 640.3248738147964, + 261.1501766923358 + ], + [ + 630.3317907651553, + 244.49943890601836 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 5668, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 883.5015342505824, + "ymin": 240.0007345962307, + "xmax": 958.244004603421, + "ymax": 360.70948920477247 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 948.3903754865925, + 280.97181782476827 + ], + [ + 889.3907566401961, + 272.8364333307597 + ], + [ + 883.5015342505824, + 350.87162717780427 + ], + [ + 948.3477838721225, + 360.70948920477247 + ], + [ + 957.3600698632514, + 248.02361889424492 + ], + [ + 896.5681040490803, + 240.0007345962307 + ], + [ + 891.2259320821607, + 317.15399013736976 + ], + [ + 958.244004603421, + 326.91200684268944 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 1141, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 1177.5299061673495, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 23.799031120996403 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 1177.5299061673495, + 0.790993594066947 + ], + [ + 1184.2675400765538, + 15.300966881270597 + ], + [ + 1281.3490915987304, + 23.799031120996403 + ], + [ + 1271.8067817055899, + 8.832906312240084 + ], + [ + 1191.1661943378458, + -34.85453410554959 + ], + [ + 1198.4732173054358, + -20.99903423805381 + ], + [ + 1298.3420506798113, + -12.856731821581889 + ], + [ + 1288.0700914787662, + -27.159725807027826 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 43217, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 599.1973920640908, + "ymin": 394.2169528097104, + "xmax": 881.0049081234342, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 853.3986763372482, + 535.5201575487253 + ], + [ + 704.337954187695, + 507.9359080001269 + ], + [ + 605.5866758769585, + 920.9508638412367 + ], + [ + 813.3812524365056, + 975.9190797902062 + ], + [ + 881.0049081234342, + 421.90495059283137 + ], + [ + 712.4149259076434, + 394.2169528097104 + ], + [ + 599.1973920640908, + 829.451427418921 + ], + [ + 847.0436895339458, + 890.9079765621904 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 10941, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1121.8616107088712, + "ymin": 555.7885920865995, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 1208.019570739098, + 1254.3196576490386 + ], + [ + 1495.1463082127289, + 1338.5598856384224 + ], + [ + 1307.8655272680212, + 703.3098168559679 + ], + [ + 1121.8616107088712, + 666.3489937546285 + ], + [ + 1343.8819642889184, + 1216.179911184652 + ], + [ + 1711.8951946090262, + 1319.4952972951291 + ], + [ + 1410.2229863323294, + 594.4233541581855 + ], + [ + 1193.1392226949663, + 555.7885920865995 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 2119, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 842.7138432213324, + "ymin": 662.7943805360803, + "xmax": 962.2786165193361, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 943.7968343276191, + 717.1978023353466 + ], + [ + 861.6570031162205, + 699.6473432684951 + ], + [ + 842.7138432213324, + 963.5458473980805 + ], + [ + 942.6863051875871, + 989.6365130410062 + ], + [ + 959.7128980366119, + 680.7037314208195 + ], + [ + 873.0957222089363, + 662.7943805360803 + ], + [ + 855.5930760968238, + 934.9408982362116 + ], + [ + 962.2786165193361, + 962.1827662622889 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 12562, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1092.3927815181164, + "ymin": 231.1507162991831, + "xmax": 1231.496171048651, + "ymax": 421.6176174842943 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 1115.1646963340254, + 408.16842903437976 + ], + [ + 1201.6870281726715, + 421.6176174842943 + ], + [ + 1166.6362655891915, + 291.85184214330917 + ], + [ + 1092.3927815181164, + 281.8527540620091 + ], + [ + 1140.000829839726, + 355.60685520726383 + ], + [ + 1231.496171048651, + 368.9630430466714 + ], + [ + 1190.535397446179, + 240.93811762531766 + ], + [ + 1112.6567310966702, + 231.1507162991831 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 706.5545529548756, + "ymin": 0.0, + "xmax": 716.7603237377433, + "ymax": 2.3982492377613767 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 714.6969068435669, + 2.3982492377613767 + ], + [ + 715.7465986482572, + 0.05975372178420457 + ], + [ + 707.6394961884401, + -0.6888011649696182 + ], + [ + 706.5545529548756, + 1.642880957162106 + ], + [ + 715.7011874398238, + -16.57735985131768 + ], + [ + 716.7603237377433, + -18.860167031532853 + ], + [ + 708.5433887352181, + -19.590837361461126 + ], + [ + 707.4480367041859, + -17.314770343385135 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1245.2207386700566, + "ymin": 15.546216887253536, + "xmax": 1265.1091889657955, + "ymax": 38.81108815378178 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1254.7340734193954, + 36.13241842927977 + ], + [ + 1245.2207386700566, + 35.275333910733195 + ], + [ + 1246.6702581469367, + 37.94565201215096 + ], + [ + 1256.2321372126235, + 38.81108815378178 + ], + [ + 1263.5460651164708, + 16.38439328814445 + ], + [ + 1253.8826645868269, + 15.546216887253536 + ], + [ + 1255.3957034430725, + 18.157748434769246 + ], + [ + 1265.1091889657955, + 19.00421006377178 + ] + ], + "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": 1183.1675789278897, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 97.99261381999486 + }, + "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": [ + [ + 1228.3733916894737, + 96.90339891888999 + ], + [ + 1238.8399874961851, + 97.99261381999486 + ], + [ + 1191.8083277632982, + -4.945014907510995 + ], + [ + 1183.1675789278897, + -5.699140310024006 + ], + [ + 1318.2674825444367, + -104.2937801035556 + ], + [ + 1330.5211357154406, + -103.4510699231106 + ], + [ + 1260.3296457636088, + -181.11603294453562 + ], + [ + 1250.5037428008495, + -181.67063676646626 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 722.7559346451231, + "ymin": 22.649615461489475, + "xmax": 865.0259776554609, + "ymax": 251.62136901480557 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 724.7804013140551, + 230.41963202023075 + ], + [ + 722.7559346451231, + 237.21426116183756 + ], + [ + 829.7013752276868, + 251.62136901480557 + ], + [ + 830.7793541335227, + 244.56504340217606 + ], + [ + 739.665879293495, + 22.649615461489475 + ], + [ + 737.4420007884112, + 28.418797528037317 + ], + [ + 864.1284675322686, + 40.71301249271545 + ], + [ + 865.0259776554609, + 34.68107480630931 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2080193722244522285, + "instance_id": 11745, + "pixel_count": null, + "type_id": "BP_StreetLight_simple51_120_SM_2", + "bbox_3d": { + "center_world": { + "x": -78.77368927001953, + "y": -128.03121948242188, + "z": 4.08544921875 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 6.928198621174488, + "ymax": 182.3387144263467 + }, + "corners_3d": [ + [ + -80.54341888427734, + -127.2630386352539, + 0.20873045921325684 + ], + [ + -80.32381439208984, + -126.88267517089844, + 0.20873045921325684 + ], + [ + -77.00395965576172, + -128.7993927001953, + 0.20873045921325684 + ], + [ + -77.22356414794922, + -129.1797637939453, + 0.20873045921325684 + ], + [ + -80.54341888427734, + -127.2630386352539, + 7.962167739868164 + ], + [ + -80.32381439208984, + -126.88267517089844, + 7.962167739868164 + ], + [ + -77.00395965576172, + -128.7993927001953, + 7.962167739868164 + ], + [ + -77.22356414794922, + -129.1797637939453, + 7.962167739868164 + ] + ], + "corners_2d": [ + [ + -23.20525490172031, + 182.3387144263467 + ], + [ + -10.739800005559005, + 180.59744925361835 + ], + [ + 6.928198621174488, + 133.51862956585228 + ], + [ + -4.649992676744205, + 135.0317554962963 + ], + [ + -131.26037613237736, + -18.297673552315985 + ], + [ + -116.45599859651259, + -19.73907570349661 + ], + [ + -87.90929489003815, + -58.27067655412827 + ], + [ + -101.48129970833384, + -57.045308710414986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 650.3549079864707, + "ymin": 0.0, + "xmax": 679.5930974472317, + "ymax": 46.64974524377703 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 650.3549079864707, + 45.747105915046916 + ], + [ + 659.2283431343378, + 46.64974524377703 + ], + [ + 675.3816735223647, + 15.119819854889329 + ], + [ + 666.9814784740768, + 14.315681482311902 + ], + [ + 651.6677378146002, + -127.69616951602842 + ], + [ + 661.6706027433402, + -126.99377913033595 + ], + [ + 679.5930974472317, + -151.35998671399147 + ], + [ + 670.1875857123187, + -151.97690734448224 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 845.7959983877673, + "ymin": 39.235591925844346, + "xmax": 860.5787782690733, + "ymax": 48.02153035777013 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 846.5211548796844, + 42.65135423771437 + ], + [ + 845.7959983877673, + 46.68282617657917 + ], + [ + 859.4004154897432, + 48.02153035777013 + ], + [ + 860.0293372706811, + 43.970873063426666 + ], + [ + 847.0356428744554, + 39.235591925844346 + ], + [ + 846.3123984049432, + 43.252405022300536 + ], + [ + 859.952269264558, + 44.586273563503994 + ], + [ + 860.5787782690733, + 40.5502969062685 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 759.9250255683615, + "ymin": 505.2771761592969, + "xmax": 787.8741114107705, + "ymax": 527.9544801194731 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 762.4176259724364, + 509.47059649138 + ], + [ + 759.9250255683615, + 523.3179417302969 + ], + [ + 785.0212704494623, + 527.9544801194731 + ], + [ + 787.1885504468662, + 513.9839711029149 + ], + [ + 762.9852976363356, + 505.2771761592969 + ], + [ + 760.4886938712896, + 519.1326352125884 + ], + [ + 785.7059548215261, + 523.7722787107847 + ], + [ + 787.8741114107705, + 509.79300448731647 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 845.7161320446118, + "ymin": 39.188510592694456, + "xmax": 860.6578176019614, + "ymax": 48.06887365042542 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 846.4496115004919, + 42.640890126726845 + ], + [ + 845.7161320446118, + 46.71564805207311 + ], + [ + 859.4671245489577, + 48.06887365042542 + ], + [ + 860.1022925381695, + 43.974515685167944 + ], + [ + 846.9694307367414, + 39.188510592694456 + ], + [ + 846.2379018825447, + 43.24829301693336 + ], + [ + 860.0251172890661, + 44.59657832732893 + ], + [ + 860.6578176019614, + 40.517218368222416 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 563.3554753923743, + "ymin": 460.8465505050917, + "xmax": 795.6040084112749, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 587.4910563450621, + 691.197869802011 + ], + [ + 582.1577716557014, + 709.0977404824869 + ], + [ + 753.91166365812, + 747.7320814107511 + ], + [ + 756.8202409246927, + 728.692870020515 + ], + [ + 570.7516842488277, + 460.8465505050917 + ], + [ + 563.3554753923743, + 480.033783709401 + ], + [ + 792.5051560316012, + 522.0751060247637 + ], + [ + 795.6040084112749, + 501.24850588895987 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 760.0747228494552, + "ymin": 505.39644811137487, + "xmax": 787.7265706258123, + "ymax": 527.8326360699178 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 762.5391458206173, + 509.5452132390865 + ], + [ + 760.0747228494552, + 523.2460518366506 + ], + [ + 784.90296157289, + 527.8326360699178 + ], + [ + 787.048929290664, + 514.011235614583 + ], + [ + 763.1013763195245, + 505.39644811137487 + ], + [ + 760.6330508058043, + 519.1052321640406 + ], + [ + 785.5797284372452, + 523.6948522990585 + ], + [ + 787.7265706258123, + 509.8648755590923 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 700.6967542607746, + "ymin": 0.0, + "xmax": 1009.656603474579, + "ymax": 87.39296127689005 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 702.4399918577564, + 55.53589339130377 + ], + [ + 700.6967542607746, + 59.41020739828787 + ], + [ + 961.426209602587, + 87.39296127689005 + ], + [ + 961.4087378800997, + 83.13307808087563 + ], + [ + 711.2434431745702, + -135.96318330381786 + ], + [ + 709.3208447200152, + -133.0246828087329 + ], + [ + 1009.656603474579, + -111.63242995960724 + ], + [ + 1009.2444235016001, + -114.90826217100357 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 11943293054613124769, + "instance_id": 41462, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1400_541", + "bbox_3d": { + "center_world": { + "x": -83.66323852539062, + "y": -126.0107421875, + "z": 6.217052936553955 + }, + "extent": { + "x": 3.7902672290802, + "y": 3.6690924167633057, + "z": 5.612776756286621 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 78.680349560526, + "ymax": 294.3312483970818 + }, + "corners_3d": [ + [ + -78.87252044677734, + -123.80226135253906, + 0.604276180267334 + ], + [ + -81.30032348632812, + -130.72720336914062, + 0.604276180267334 + ], + [ + -88.4539566040039, + -128.21922302246094, + 0.604276180267334 + ], + [ + -86.02615356445312, + -121.29428100585938, + 0.604276180267334 + ], + [ + -78.87252044677734, + -123.80226135253906, + 11.829830169677734 + ], + [ + -81.30032348632812, + -130.72720336914062, + 11.829830169677734 + ], + [ + -88.4539566040039, + -128.21922302246094, + 11.829830169677734 + ], + [ + -86.02615356445312, + -121.29428100585938, + 11.829830169677734 + ] + ], + "corners_2d": [ + [ + 78.680349560526, + 162.2435304461766 + ], + [ + -119.05445096333438, + 172.6539360528992 + ], + [ + -229.16168229975176, + 294.3312483970818 + ], + [ + 4.9187956655972584, + 279.9466087344044 + ], + [ + -62.49921176985799, + -152.53398903236086 + ], + [ + -313.65639010458415, + -145.53768119214482 + ], + [ + -503.9177962166268, + -59.5434105503266 + ], + [ + -191.1682836247562, + -70.13349948815772 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00092/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00092/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2710d5b55ba1d90d06f8b92451c406cc889e051a --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00092/meta.json @@ -0,0 +1,2779 @@ +{ + "frame_id": 92, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 46.0, + "sim_timestamp": 10848.790103385225 + }, + "drone_pose": { + "x": -105.45819408704413, + "y": -94.30403696505823, + "z": 20.21048504286233, + "pitch": -44.47308481618436, + "yaw": -8.290163192243048, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7061231136322021, + 0.10288842022418976, + 0.7005741596221924, + 50.60472869873047 + ], + [ + -0.14418630301952362, + 0.9895505309104919, + -3.725290298461914e-09, + 108.52423858642578 + ], + [ + -0.6932535171508789, + -0.1010131984949112, + 0.7135796546936035, + -78.00509643554688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -104.95819408704413, + "y": -93.80403696505823, + "z": 20.21095260287948 + }, + "t1_image_uv": [ + 2446.213528391027, + -584.5910816508513 + ], + "t1_depth": 0.30128979180793847 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -85.66718292236328, + "y": -97.18776321411131, + "z": 0.5749992918968201 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.02770594744368, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 179, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -85.66718292236328, + "y": -97.18775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.1898779273033142, + "y": 0.22160643339157104, + "z": 0.5166253447532654 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 630.1378500375102, + "ymin": 340.27789285006077, + "xmax": 649.8951057772429, + "ymax": 379.50635246921763 + }, + "corners_3d": [ + [ + -85.64474487304688, + -97.47872161865234, + 0.05837392807006836 + ], + [ + -85.95814514160156, + -97.16532135009766, + 0.05837392807006836 + ], + [ + -85.68962097167969, + -96.89679718017578, + 0.05837392807006836 + ], + [ + -85.376220703125, + -97.21019744873047, + 0.05837392807006836 + ], + [ + -85.64474487304688, + -97.47872161865234, + 1.0916246175765991 + ], + [ + -85.95814514160156, + -97.16532135009766, + 1.0916246175765991 + ], + [ + -85.68962097167969, + -96.89679718017578, + 1.0916246175765991 + ], + [ + -85.376220703125, + -97.21019744873047, + 1.0916246175765991 + ] + ], + "corners_2d": [ + [ + 630.3889066974176, + 370.9285931011001 + ], + [ + 639.3273835328632, + 379.50635246921763 + ], + [ + 649.6423964572226, + 374.0085370409478 + ], + [ + 640.6630966177848, + 365.52810792565634 + ], + [ + 630.1378500375102, + 345.6718512938202 + ], + [ + 639.3096515101925, + 354.242525854167 + ], + [ + 649.8951057772429, + 348.74878777627936 + ], + [ + 640.6803170704442, + 340.27789285006077 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 92, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 55, + "semantic_pixel_counts": { + "1": 254629, + "2": 166007, + "3": 344922, + "4": 15790, + "5": 771, + "6": 5041, + "10": 4317, + "12": 2977, + "14": 22812, + "16": 78998, + "20": 11344, + "24": 13992 + }, + "instance_pixel_counts": { + "913": 2328, + "1646": 3081, + "2670": 5366, + "3182": 18601, + "3694": 3732, + "4206": 9547, + "5230": 988, + "5742": 2059, + "8834": 3448, + "14416": 771, + "15963": 9395, + "16475": 22563, + "16987": 76908, + "17232": 15790, + "17499": 167971, + "18011": 5260, + "22976": 2234, + "23296": 130, + "23552": 293, + "24512": 35388, + "26963": 784, + "35668": 6373, + "35924": 335, + "36692": 2308, + "37979": 2316, + "40019": 386, + "41611": 1102, + "42123": 674, + "43117": 2139, + "43147": 15003, + "43155": 22390, + "43659": 11556, + "44179": 232239, + "45717": 3000, + "46741": 10992, + "48749": 4261, + "49261": 9701, + "49664": 179, + "49920": 404, + "50176": 545, + "50432": 816, + "50624": 4584, + "50688": 577, + "50944": 456, + "51136": 1615, + "51456": 5553, + "52160": 40023, + "52480": 47887, + "52672": 45813, + "52736": 31111, + "54016": 5569, + "55040": 11690, + "55879": 3834, + "64351": 8015, + "64621": 1034 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 179, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -85.66718292236328, + "y": -97.18775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.18416503071784973, + "y": 0.22416014969348907, + "z": 0.5236354470252991 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 630.2433154436493, + "ymin": 340.13445393339674, + "xmax": 649.7920550023688, + "ymax": 379.6399677784014 + }, + "corners_3d": [ + [ + -85.63890075683594, + -97.47648620605469, + 0.05136382579803467 + ], + [ + -85.9559097290039, + -97.15947723388672, + 0.05136382579803467 + ], + [ + -85.69546508789062, + -96.89903259277344, + 0.05136382579803467 + ], + [ + -85.37845611572266, + -97.2160415649414, + 0.05136382579803467 + ], + [ + -85.63890075683594, + -97.47648620605469, + 1.0986347198486328 + ], + [ + -85.9559097290039, + -97.15947723388672, + 1.0986347198486328 + ], + [ + -85.69546508789062, + -96.89903259277344, + 1.0986347198486328 + ], + [ + -85.37845611572266, + -97.2160415649414, + 1.0986347198486328 + ] + ], + "corners_2d": [ + [ + 630.4949795266226, + 370.9649202250972 + ], + [ + 639.5354564487515, + 379.6399677784014 + ], + [ + 649.5385932406856, + 374.3070244151137 + ], + [ + 640.4580796906087, + 365.7274492398567 + ], + [ + 630.2433154436493, + 345.3654937401077 + ], + [ + 639.523041847533, + 354.03323725081447 + ], + [ + 649.7920550023688, + 348.7042894472217 + ], + [ + 640.4701398728951, + 340.13445393339674 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 404, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -81.81350708007812, + "y": -94.68929290771484, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.41068601608276367, + "y": 0.38920408487319946, + "z": 0.8783619403839111 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 716.1497349686762, + "ymin": 250.8714123720636, + "xmax": 755.2590845534609, + "ymax": 316.3421181739183 + }, + "corners_3d": [ + [ + -81.94596099853516, + -95.2393798828125, + -0.3033577799797058 + ], + [ + -82.36991119384766, + -94.58655548095703, + -0.3033577799797058 + ], + [ + -81.6810531616211, + -94.13920593261719, + -0.3033577799797058 + ], + [ + -81.2571029663086, + -94.79203033447266, + -0.3033577799797058 + ], + [ + -81.94596099853516, + -95.2393798828125, + 1.4533660411834717 + ], + [ + -82.36991119384766, + -94.58655548095703, + 1.4533660411834717 + ], + [ + -81.6810531616211, + -94.13920593261719, + 1.4533660411834717 + ], + [ + -81.2571029663086, + -94.79203033447266, + 1.4533660411834717 + ] + ], + "corners_2d": [ + [ + 716.1497349686762, + 305.7386254417139 + ], + [ + 735.345822745836, + 316.3421181739183 + ], + [ + 750.7044136235622, + 303.6320408291683 + ], + [ + 731.5979598401395, + 293.324584778268 + ], + [ + 719.290490659627, + 263.17091142007837 + ], + [ + 739.3272157842352, + 273.68780195804896 + ], + [ + 755.2590845534609, + 261.0827649574756 + ], + [ + 735.3209234498675, + 250.8714123720636 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 545, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -87.92300415039062, + "y": -90.24504852294922, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.41486814618110657, + "y": 0.29832032322883606, + "z": 0.8839008808135986 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 860.4272431661477, + "ymin": 408.4070641550207, + "xmax": 909.2320520204834, + "ymax": 479.95557439272363 + }, + "corners_3d": [ + [ + -88.05767822265625, + -90.73796844482422, + -0.3089064955711365 + ], + [ + -88.43315887451172, + -90.2742919921875, + -0.3089064955711365 + ], + [ + -87.788330078125, + -89.75212860107422, + -0.3089064955711365 + ], + [ + -87.41284942626953, + -90.21580505371094, + -0.3089064955711365 + ], + [ + -88.05767822265625, + -90.73796844482422, + 1.458895206451416 + ], + [ + -88.43315887451172, + -90.2742919921875, + 1.458895206451416 + ], + [ + -87.788330078125, + -89.75212860107422, + 1.458895206451416 + ], + [ + -87.41284942626953, + -90.21580505371094, + 1.458895206451416 + ] + ], + "corners_2d": [ + [ + 860.4272431661477, + 467.31523129321687 + ], + [ + 878.0338337563461, + 479.95557439272363 + ], + [ + 896.5942408456428, + 463.7834313138593 + ], + [ + 879.0350111647111, + 451.5227474046869 + ], + [ + 871.32221099988, + 424.28907178529164 + ], + [ + 889.9477845786307, + 437.01809693631265 + ], + [ + 909.2320520204834, + 420.7352009582183 + ], + [ + 890.6633225821728, + 408.4070641550207 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 816, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -93.86312103271484, + "y": -101.28729248046875, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.39990234375, + "y": 0.4202636480331421, + "z": 0.8803128600120544 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 386.5598816530818, + "ymin": 537.2836965161306, + "xmax": 446.08159638751715, + "ymax": 621.1055558063895 + }, + "corners_3d": [ + [ + -93.84872436523438, + -101.86724090576172, + -0.1529064178466797 + ], + [ + -94.44306945800781, + -101.27289581298828, + -0.1529064178466797 + ], + [ + -93.87751770019531, + -100.70734405517578, + -0.1529064178466797 + ], + [ + -93.28317260742188, + -101.30168914794922, + -0.1529064178466797 + ], + [ + -93.84872436523438, + -101.86724090576172, + 1.6077193021774292 + ], + [ + -94.44306945800781, + -101.27289581298828, + 1.6077193021774292 + ], + [ + -93.87751770019531, + -100.70734405517578, + 1.6077193021774292 + ], + [ + -93.28317260742188, + -101.30168914794922, + 1.6077193021774292 + ] + ], + "corners_2d": [ + [ + 400.0099350238225, + 596.2051582254358 + ], + [ + 416.13153834747584, + 621.1055558063895 + ], + [ + 446.08159638751715, + 603.3313865573973 + ], + [ + 429.58256637194165, + 579.1536003323781 + ], + [ + 386.5598816530818, + 554.6418573060398 + ], + [ + 403.30477393995983, + 580.0406089606213 + ], + [ + 435.1441811860989, + 561.9045641936634 + ], + [ + 417.96989923767586, + 537.2836965161306 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 577, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -86.91302490234375, + "y": -101.02207946777344, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.5828271508216858, + "y": 0.5001415610313416, + "z": 0.8793758749961853 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 471.2713296073938, + "ymin": 332.97336388557346, + "xmax": 529.5218688286831, + "ymax": 412.472267044662 + }, + "corners_3d": [ + [ + -86.89112854003906, + -101.7897720336914, + -0.15196943283081055 + ], + [ + -87.66849517822266, + -101.16027069091797, + -0.15196943283081055 + ], + [ + -86.93492126464844, + -100.25438690185547, + -0.15196943283081055 + ], + [ + -86.15755462646484, + -100.8838882446289, + -0.15196943283081055 + ], + [ + -86.89112854003906, + -101.7897720336914, + 1.60678231716156 + ], + [ + -87.66849517822266, + -101.16027069091797, + 1.60678231716156 + ], + [ + -86.93492126464844, + -100.25438690185547, + 1.60678231716156 + ], + [ + -86.15755462646484, + -100.8838882446289, + 1.60678231716156 + ] + ], + "corners_2d": [ + [ + 478.65763330121797, + 390.77837207757943 + ], + [ + 492.8732011229702, + 412.472267044662 + ], + [ + 529.5218688286831, + 397.35444088503596 + ], + [ + 514.7304685271257, + 376.30780653659514 + ], + [ + 471.2713296073938, + 347.4224436372082 + ], + [ + 485.9805264414871, + 369.1210133472682 + ], + [ + 524.4283971589482, + 353.99525081411633 + ], + [ + 509.0846983192932, + 332.97336388557346 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 456, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -80.14064025878906, + "y": -101.20303344726562, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.45332029461860657, + "y": 0.4293749928474426, + "z": 0.8910796046257019 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 526.0960927462529, + "ymin": 198.50427823397897, + "xmax": 564.1464110187455, + "ymax": 262.25304536182114 + }, + "corners_3d": [ + [ + -80.02743530273438, + -101.81707763671875, + -0.16367316246032715 + ], + [ + -80.74764251708984, + -101.349365234375, + -0.16367316246032715 + ], + [ + -80.25384521484375, + -100.5889892578125, + -0.16367316246032715 + ], + [ + -79.53363800048828, + -101.05670166015625, + -0.16367316246032715 + ], + [ + -80.02743530273438, + -101.81707763671875, + 1.6184860467910767 + ], + [ + -80.74764251708984, + -101.349365234375, + 1.6184860467910767 + ], + [ + -80.25384521484375, + -100.5889892578125, + 1.6184860467910767 + ], + [ + -79.53363800048828, + -101.05670166015625, + 1.6184860467910767 + ] + ], + "corners_2d": [ + [ + 530.4050728124482, + 248.0045129317213 + ], + [ + 539.1458259261865, + 262.25304536182114 + ], + [ + 564.1464110187455, + 255.2701891179844 + ], + [ + 555.0584429570744, + 241.254289055656 + ], + [ + 526.0960927462529, + 205.1558176042329 + ], + [ + 535.1097558365502, + 219.21001137520614 + ], + [ + 561.1369240586394, + 212.32002581603214 + ], + [ + 551.7469701458161, + 198.50427823397897 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 5553, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 801.8016474145929, + "ymin": 199.4459586559489, + "xmax": 873.0691845086394, + "ymax": 317.74868156436986 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 863.137989272094, + 237.63833666252987 + ], + [ + 805.0112282350177, + 232.54493071317984 + ], + [ + 801.8016474145929, + 311.61536519283527 + ], + [ + 865.5841365821991, + 317.74868156436986 + ], + [ + 869.8631689808269, + 204.47979890974102 + ], + [ + 809.952708238326, + 199.4459586559489 + ], + [ + 807.132563908499, + 277.80471330982436 + ], + [ + 873.0691845086394, + 283.90191378856514 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 47887, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 529.1473461690371, + "ymin": 368.346976661293, + "xmax": 796.9992944209696, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 778.4074956233346, + 498.6465139221441 + ], + [ + 629.6885957371144, + 481.31097153986866 + ], + [ + 547.1778019366777, + 902.4841374910421 + ], + [ + 754.2351234602477, + 936.4833625588084 + ], + [ + 796.9992944209696, + 385.9230497514505 + ], + [ + 628.328638808788, + 368.346976661293 + ], + [ + 529.1473461690371, + 817.9210577224239 + ], + [ + 777.0344206062186, + 856.3834158598938 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 31111, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1040.6640922631677, + "ymin": 498.7597553171653, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 1134.926431119086, + 1162.3201251316686 + ], + [ + 1395.1548643477831, + 1209.4624266242336 + ], + [ + 1215.0199581876082, + 629.9970141972253 + ], + [ + 1040.6640922631677, + 608.2283442053547 + ], + [ + 1251.908625463141, + 1120.838131292387 + ], + [ + 1579.6460895131968, + 1178.1031351695506 + ], + [ + 1303.1152228847243, + 521.5555871411664 + ], + [ + 1100.7799703365858, + 498.7597553171653 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 5569, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 782.2893959794865, + "ymin": 625.0559005166746, + "xmax": 895.1151061707526, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 872.166206867459, + 671.7632548246404 + ], + [ + 791.9577608878232, + 661.0252227323679 + ], + [ + 782.2893959794865, + 921.6105952348119 + ], + [ + 879.3800806162576, + 937.3494093371477 + ], + [ + 884.6172789996112, + 636.0425559158516 + ], + [ + 800.0337771156051, + 625.0559005166746 + ], + [ + 791.5392670874018, + 894.5537851687299 + ], + [ + 895.1151061707526, + 911.0254208922746 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 11690, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1002.5404976829413, + "ymin": 180.06948501328966, + "xmax": 1135.2553013773202, + "ymax": 363.3099516085273 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 1027.653989953486, + 355.2087609491435 + ], + [ + 1109.935960290007, + 363.3099516085273 + ], + [ + 1073.6518039806178, + 237.06667459094498 + ], + [ + 1002.5404976829413, + 230.97681972901145 + ], + [ + 1048.351672042585, + 302.7449492011185 + ], + [ + 1135.2553013773202, + 310.804946236976 + ], + [ + 1093.7530737608065, + 186.04285923734002 + ], + [ + 1019.2148973553767, + 180.06948501328966 + ] + ], + "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": 1082.0447547467743, + "ymin": 0.0, + "xmax": 1215.5414145381806, + "ymax": 40.663857038223625 + }, + "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": [ + [ + 1127.5442461856892, + 39.989784065744914 + ], + [ + 1137.4834654878941, + 40.663857038223625 + ], + [ + 1090.322057130097, + -60.94928644173939 + ], + [ + 1082.0447547467743, + -61.42153756150276 + ], + [ + 1203.9469611206891, + -163.39250768547174 + ], + [ + 1215.5414145381806, + -162.86745950002012 + ], + [ + 1147.9834092687013, + -240.05446954062995 + ], + [ + 1138.5884355862358, + -240.4042095830223 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 637.2062028395158, + "ymin": 0.0, + "xmax": 765.993629732235, + "ymax": 214.21642316454546 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 639.4286302292618, + 197.98027699211227 + ], + [ + 637.649118607064, + 205.04484724506207 + ], + [ + 745.1452742524052, + 214.21642316454546 + ], + [ + 745.9699172934418, + 206.98710580841112 + ], + [ + 639.3221274409157, + -14.485054624924999 + ], + [ + 637.2062028395158, + -8.37495316917665 + ], + [ + 765.2298456901676, + -0.41163749507614966 + ], + [ + 765.993629732235, + -6.691484971974319 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 545.1696230551738, + "ymin": 0.0, + "xmax": 580.8484203160602, + "ymax": 11.23751655442885 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 556.5114536596659, + 10.646741854123604 + ], + [ + 565.624322574717, + 11.23751655442885 + ], + [ + 580.8484203160602, + -22.19108889260758 + ], + [ + 572.2338434414306, + -22.717242538132098 + ], + [ + 545.1696230551738, + -169.64854263747372 + ], + [ + 555.5090335187176, + -169.1814167184683 + ], + [ + 573.3142732976179, + -195.4161286367106 + ], + [ + 563.611592718585, + -195.82586629460297 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 747.4083993386301, + "ymin": 0.0, + "xmax": 761.9107667378153, + "ymax": 7.1988869477413004 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 748.0410927778648, + 2.1344995407184797 + ], + [ + 747.4083993386301, + 6.338565026374113 + ], + [ + 761.055112770624, + 7.1988869477413004 + ], + [ + 761.5911512782158, + 2.982571847933002 + ], + [ + 748.3246779983418, + -1.3713988252969784 + ], + [ + 747.6923565189772, + 2.8185038361867782 + ], + [ + 761.3756167923298, + 3.675946966362119 + ], + [ + 761.9107667378153, + -0.526196273000437 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1255.1835281535232, + "ymin": 213.09138020895477, + "xmax": 1280.0, + "ymax": 270.6742078234736 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1276.6574868055368, + 263.502686778093 + ], + [ + 1360.3209621634337, + 270.6742078234736 + ], + [ + 1334.5637404142856, + 228.7598157751728 + ], + [ + 1255.1835281535232, + 222.27295166081396 + ], + [ + 1282.1683019548864, + 254.20353852761338 + ], + [ + 1366.6092724407524, + 261.3581479063182 + ], + [ + 1340.3268400995476, + 219.55744508813592 + ], + [ + 1260.2468233025702, + 213.09138020895477 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1205.9011758632419, + "ymin": 180.5261614003299, + "xmax": 1280.0, + "ymax": 357.81890729381087 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1224.4676436722648, + 350.125922475371 + ], + [ + 1305.4490361511794, + 357.81890729381087 + ], + [ + 1282.835708043851, + 312.521090582278 + ], + [ + 1205.9011758632419, + 305.54868847188277 + ], + [ + 1299.2627603533015, + 223.72918132125443 + ], + [ + 1391.4006285194614, + 231.2385409216097 + ], + [ + 1361.3779744663266, + 187.24893100723128 + ], + [ + 1274.439642384559, + 180.5261614003299 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 672.8588488969939, + "ymin": 482.3754472403318, + "xmax": 700.1801533198675, + "ymax": 503.75457750760324 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 675.0117484142698, + 486.5142135659918 + ], + [ + 672.8588488969939, + 500.80785419629456 + ], + [ + 698.0629797335926, + 503.75457750760324 + ], + [ + 699.8882119033899, + 489.3835864058338 + ], + [ + 675.1819636218426, + 482.3754472403318 + ], + [ + 673.0207439325114, + 496.6839010636975 + ], + [ + 698.3498371286447, + 499.63390950398883 + ], + [ + 700.1801533198675, + 485.24764451544866 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 747.3299720397013, + "ymin": 0.0, + "xmax": 761.9882319773243, + "ymax": 7.2450155272615575 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 747.9699900907458, + 2.1261224479295606 + ], + [ + 747.3299720397013, + 6.375363039571596 + ], + [ + 761.1237121994948, + 7.2450155272615575 + ], + [ + 761.6649895672151, + 2.983260576952034 + ], + [ + 748.2564262375655, + -1.4173754726458014 + ], + [ + 747.6167853501964, + 2.8173962840788818 + ], + [ + 761.4478652126602, + 3.684107702470783 + ], + [ + 761.9882319773243, + -0.5631690821289794 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1255.2731577699726, + "ymin": 213.11882502895472, + "xmax": 1280.0, + "ymax": 270.5813187882882 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1276.7255661993254, + 263.418397835846 + ], + [ + 1360.2996187476886, + 270.5813187882882 + ], + [ + 1334.573431158185, + 228.71984888108008 + ], + [ + 1255.2731577699726, + 222.23999784713516 + ], + [ + 1282.200214198796, + 254.18054236117743 + ], + [ + 1366.5457449935407, + 261.3266743437234 + ], + [ + 1340.2984800755778, + 219.57803480613612 + ], + [ + 1260.303729561405, + 213.11882502895472 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 471.33756500926495, + "ymin": 450.2230077962345, + "xmax": 707.2526953445506, + "ymax": 717.571230810871 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 519.2990757080727, + 674.888472917447 + ], + [ + 514.6547442848796, + 693.3262314618994 + ], + [ + 687.7279526922193, + 717.571230810871 + ], + [ + 689.911229382141, + 698.4313129527693 + ], + [ + 478.3939941084144, + 450.2230077962345 + ], + [ + 471.33756500926495, + 470.59967796802346 + ], + [ + 704.6464656526523, + 497.70610955914174 + ], + [ + 707.2526953445506, + 476.2776375651679 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 673.0054141775786, + "ymin": 482.48810820960176, + "xmax": 700.0361517877478, + "ymax": 503.63993668518754 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 675.1337511789875, + 486.5827638335449 + ], + [ + 673.0054141775786, + 500.72494956616316 + ], + [ + 697.940399304199, + 503.63993668518754 + ], + [ + 699.747983177432, + 489.4220342939547 + ], + [ + 675.3027526668945, + 482.48810820960176 + ], + [ + 673.1662882806494, + 496.6447960815527 + ], + [ + 698.2235745307677, + 499.56299634391354 + ], + [ + 700.0361517877478, + 485.330145662538 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 603.7380457193022, + "ymin": 0.0, + "xmax": 905.937330706882, + "ymax": 41.07566805048009 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 610.1331739550482, + 18.72272933582093 + ], + [ + 608.5151647417072, + 22.808103659871904 + ], + [ + 869.845678472001, + 41.07566805048009 + ], + [ + 869.6955445340791, + 36.74087257545949 + ], + [ + 605.6367410234405, + -179.86680654947338 + ], + [ + 603.7380457193022, + -176.71574415932753 + ], + [ + 905.937330706882, + -162.54660440424016 + ], + [ + 905.4738413066277, + -165.92064909281567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1214.165148724764, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 316.5470805794725 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1427.8786126062193, + 125.25909760777509 + ], + [ + 1214.165148724764, + 149.99873803628802 + ], + [ + 1404.3366242603765, + 316.5470805794725 + ], + [ + 1656.8198134812565, + 279.5624343388973 + ], + [ + 1712.1273613475164, + -312.2059360288707 + ], + [ + 1431.289777378559, + -299.18487269064804 + ], + [ + 1792.4664468349522, + -202.05564504398706 + ], + [ + 2141.7887542063872, + -225.17082131299298 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00093/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00093/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d020734e94ae7361cf168b2296102e30fa194319 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00093/meta.json @@ -0,0 +1,2779 @@ +{ + "frame_id": 93, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 46.5, + "sim_timestamp": 10862.914337137714 + }, + "drone_pose": { + "x": -104.95819408704413, + "y": -93.80403696505823, + "z": 20.21095260287948, + "pitch": -44.47377397871405, + "yaw": -8.290163192243048, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7061148285865784, + 0.10288719832897186, + 0.7005826830863953, + 50.30184555053711 + ], + [ + -0.14418630301952362, + 0.9895505309104919, + 0.0, + 107.95736694335938 + ], + [ + -0.6932620406150818, + -0.10101442784070969, + 0.7135711908340454, + -77.70991516113281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -104.28861038747684, + "y": -93.2729726509678, + "z": 20.184741168204315 + }, + "t1_image_uv": [ + 2008.0209431889693, + -501.7440879148445 + ], + "t1_depth": 0.436526505123447 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -85.16718292236328, + "y": -96.68776321411131, + "z": 0.5749944090844292 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.028036930696146, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 191, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -85.16718292236328, + "y": -96.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.24706053733825684, + "y": 0.2566845715045929, + "z": 0.5427320003509521 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 627.8135327407974, + "ymin": 338.15380460047436, + "xmax": 652.2233284132463, + "ymax": 381.6475798262862 + }, + "corners_3d": [ + [ + -85.1603775024414, + -97.04396057128906, + 0.03226238489151001 + ], + [ + -85.52338409423828, + -96.68095397949219, + 0.03226238489151001 + ], + [ + -85.17398834228516, + -96.33155822753906, + 0.03226238489151001 + ], + [ + -84.81098175048828, + -96.69456481933594, + 0.03226238489151001 + ], + [ + -85.1603775024414, + -97.04396057128906, + 1.1177263259887695 + ], + [ + -85.52338409423828, + -96.68095397949219, + 1.1177263259887695 + ], + [ + -85.17398834228516, + -96.33155822753906, + 1.1177263259887695 + ], + [ + -84.81098175048828, + -96.69456481933594, + 1.1177263259887695 + ] + ], + "corners_2d": [ + [ + 628.1392754176421, + 371.6948701240526 + ], + [ + 638.4786073542926, + 381.6475798262862 + ], + [ + 651.8956455122155, + 374.4837787928352 + ], + [ + 641.4948682895888, + 364.67766464924205 + ], + [ + 627.8135327407974, + 345.1618361035651 + ], + [ + 638.4363759530463, + 355.1063902377517 + ], + [ + 652.2233284132463, + 347.9478848442004 + ], + [ + 641.5356131771558, + 338.15380460047436 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 93, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 55, + "semantic_pixel_counts": { + "1": 259683, + "2": 172272, + "3": 331277, + "4": 17943, + "5": 742, + "6": 5884, + "10": 5839, + "12": 3209, + "14": 21586, + "16": 76925, + "20": 12156, + "24": 14084 + }, + "instance_pixel_counts": { + "913": 2605, + "1646": 5106, + "2670": 5880, + "3182": 20024, + "3694": 4031, + "4206": 10480, + "5230": 1149, + "5742": 2191, + "8834": 3600, + "12951": 1, + "14416": 742, + "15963": 10799, + "16475": 26294, + "16987": 89094, + "17232": 17943, + "17499": 135624, + "22976": 2483, + "23296": 157, + "23552": 332, + "24512": 36241, + "26963": 1087, + "35668": 6348, + "35924": 888, + "36692": 2315, + "37979": 2824, + "40019": 708, + "41611": 1117, + "42123": 739, + "43117": 2234, + "43147": 15107, + "43155": 24433, + "43659": 11952, + "44179": 235250, + "45717": 3103, + "46741": 10981, + "48749": 4592, + "49261": 8640, + "49664": 191, + "49920": 447, + "50176": 548, + "50432": 794, + "50624": 4672, + "50688": 651, + "50944": 578, + "51136": 1680, + "51456": 5666, + "52160": 39481, + "52480": 46725, + "52672": 50503, + "52736": 30200, + "54016": 4028, + "55040": 11892, + "55879": 4716, + "64351": 8296, + "64621": 2315 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 191, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -85.16718292236328, + "y": -96.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.24901366233825684, + "y": 0.24281737208366394, + "z": 0.5374858975410461 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 628.0443958688263, + "ymin": 338.5197704894184, + "xmax": 651.9841679118069, + "ymax": 381.2797417999332 + }, + "corners_3d": [ + [ + -85.17156219482422, + -97.03553771972656, + 0.037508487701416016 + ], + [ + -85.51496124267578, + -96.692138671875, + 0.037508487701416016 + ], + [ + -85.16280364990234, + -96.33998107910156, + 0.037508487701416016 + ], + [ + -84.81940460205078, + -96.68338012695312, + 0.037508487701416016 + ], + [ + -85.17156219482422, + -97.03553771972656, + 1.1124802827835083 + ], + [ + -85.51496124267578, + -96.692138671875, + 1.1124802827835083 + ], + [ + -85.16280364990234, + -96.33998107910156, + 1.1124802827835083 + ], + [ + -84.81940460205078, + -96.68338012695312, + 1.1124802827835083 + ] + ], + "corners_2d": [ + [ + 628.3610170511326, + 371.86409560718835 + ], + [ + 638.1428759987887, + 381.2797417999332 + ], + [ + 651.6660589173995, + 374.06336287935426 + ], + [ + 641.8255986598315, + 364.7875073710961 + ], + [ + 628.0443958688263, + 345.58730443894694 + ], + [ + 638.0918435986937, + 354.9953252884264 + ], + [ + 651.9841679118069, + 347.7843385806698 + ], + [ + 641.8748831713991, + 338.5197704894184 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 447, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -81.5409927368164, + "y": -94.82340240478516, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.4884033203125, + "y": 0.3269091844558716, + "z": 0.9205257892608643 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 695.8554160006934, + "ymin": 252.1017105114485, + "xmax": 734.3819120757397, + "ymax": 320.48849741023554 + }, + "corners_3d": [ + [ + -81.77255249023438, + -95.36357879638672, + -0.3455265164375305 + ], + [ + -82.12864685058594, + -94.81523895263672, + -0.3455265164375305 + ], + [ + -81.30943298339844, + -94.2832260131836, + -0.3455265164375305 + ], + [ + -80.95333862304688, + -94.8315658569336, + -0.3455265164375305 + ], + [ + -81.77255249023438, + -95.36357879638672, + 1.4955251216888428 + ], + [ + -82.12864685058594, + -94.81523895263672, + 1.4955251216888428 + ], + [ + -81.30943298339844, + -94.2832260131836, + 1.4955251216888428 + ], + [ + -80.95333862304688, + -94.8315658569336, + 1.4955251216888428 + ] + ], + "corners_2d": [ + [ + 695.8554160006934, + 311.5014487967714 + ], + [ + 711.8161601386637, + 320.48849741023554 + ], + [ + 730.4738424139985, + 305.3059926889331 + ], + [ + 714.5962272244607, + 296.61715063496365 + ], + [ + 698.2856916870177, + 266.84716719816424 + ], + [ + 714.9736814756395, + 275.7607320992627 + ], + [ + 734.3819120757397, + 260.70690799507946 + ], + [ + 717.7855713178017, + 252.1017105114485 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 548, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -87.42300415039062, + "y": -89.74504852294922, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.44493162631988525, + "y": 0.39402830600738525, + "z": 0.8864352107048035 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 856.9391306504099, + "ymin": 405.829121591802, + "xmax": 912.9562177339249, + "ymax": 482.6666937351256 + }, + "corners_3d": [ + [ + -87.52081298828125, + -90.33126831054688, + -0.31143105030059814 + ], + [ + -88.01675415039062, + -89.71883392333984, + -0.31143105030059814 + ], + [ + -87.3251953125, + -89.15882873535156, + -0.31143105030059814 + ], + [ + -86.82925415039062, + -89.7712631225586, + -0.31143105030059814 + ], + [ + -87.52081298828125, + -90.33126831054688, + 1.4614393711090088 + ], + [ + -88.01675415039062, + -89.71883392333984, + 1.4614393711090088 + ], + [ + -87.3251953125, + -89.15882873535156, + 1.4614393711090088 + ], + [ + -86.82925415039062, + -89.7712631225586, + 1.4614393711090088 + ] + ], + "corners_2d": [ + [ + 856.9391306504099, + 465.9523460796123 + ], + [ + 880.1948294737872, + 482.6666937351256 + ], + [ + 900.0903632837819, + 465.25604910921663 + ], + [ + 876.9017473264269, + 449.0794813426102 + ], + [ + 867.6779134057044, + 422.7947991213452 + ], + [ + 892.2838851584239, + 439.62775904366686 + ], + [ + 912.9562177339249, + 422.09413732519914 + ], + [ + 888.4308040119668, + 405.829121591802 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 794, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -92.94441223144531, + "y": -101.43074035644531, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.4272509813308716, + "y": 0.47237303853034973, + "z": 0.9152142405509949 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 363.5752314583809, + "ymin": 516.5509244255979, + "xmax": 427.723566511361, + "ymax": 605.1727040168976 + }, + "corners_3d": [ + [ + -92.91250610351562, + -102.0668716430664, + -0.18780779838562012 + ], + [ + -93.5805435180664, + -101.39883422851562, + -0.18780779838562012 + ], + [ + -92.976318359375, + -100.79460906982422, + -0.18780779838562012 + ], + [ + -92.30828094482422, + -101.462646484375, + -0.18780779838562012 + ], + [ + -92.91250610351562, + -102.0668716430664, + 1.6426206827163696 + ], + [ + -93.5805435180664, + -101.39883422851562, + 1.6426206827163696 + ], + [ + -92.976318359375, + -100.79460906982422, + 1.6426206827163696 + ], + [ + -92.30828094482422, + -101.462646484375, + 1.6426206827163696 + ] + ], + "corners_2d": [ + [ + 378.5657553306572, + 578.02804907733 + ], + [ + 395.9140177140712, + 605.1727040168976 + ], + [ + 427.723566511361, + 586.7285957616298 + ], + [ + 409.9226802192131, + 560.4111280960599 + ], + [ + 363.5752314583809, + 534.4631782818336 + ], + [ + 381.5716475842259, + 562.1240103216711 + ], + [ + 415.4552050646462, + 543.3210899672615 + ], + [ + 396.9417065239513, + 516.5509244255979 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 651, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -86.57548522949219, + "y": -101.02207946777344, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.5740332007408142, + "y": 0.4161962866783142, + "z": 0.8972683548927307 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 453.7297975664527, + "ymin": 336.48069691179995, + "xmax": 509.986445587373, + "ymax": 413.202294481428 + }, + "corners_3d": [ + [ + -86.61328887939453, + -101.73011016845703, + -0.16986191272735596 + ], + [ + -87.26017761230469, + -101.20626831054688, + -0.16986191272735596 + ], + [ + -86.53768157958984, + -100.31404876708984, + -0.16986191272735596 + ], + [ + -85.89079284667969, + -100.837890625, + -0.16986191272735596 + ], + [ + -86.61328887939453, + -101.73011016845703, + 1.6246747970581055 + ], + [ + -87.26017761230469, + -101.20626831054688, + 1.6246747970581055 + ], + [ + -86.53768157958984, + -100.31404876708984, + 1.6246747970581055 + ], + [ + -85.89079284667969, + -100.837890625, + 1.6246747970581055 + ] + ], + "corners_2d": [ + [ + 462.0792938057399, + 395.07262088018666 + ], + [ + 473.5995617471609, + 413.202294481428 + ], + [ + 509.986445587373, + 398.3006151541411 + ], + [ + 497.98271712948485, + 380.70472961554344 + ], + [ + 453.7297975664527, + 350.83222919318484 + ], + [ + 465.6389464006234, + 368.9695353825421 + ], + [ + 503.86405018002097, + 354.0592720301396 + ], + [ + 491.42058011137055, + 336.48069691179995 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 578, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -81.94930267333984, + "y": -99.02568054199219, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.44151610136032104, + "y": 0.4973241984844208, + "z": 0.8707605004310608 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 561.3664229226007, + "ymin": 244.4973234416768, + "xmax": 601.4010760041848, + "ymax": 312.65635440806653 + }, + "corners_3d": [ + [ + -81.7726821899414, + -99.66683197021484, + -0.1433638334274292 + ], + [ + -82.60685729980469, + -99.12510681152344, + -0.1433638334274292 + ], + [ + -82.12592315673828, + -98.38452911376953, + -0.1433638334274292 + ], + [ + -81.291748046875, + -98.92625427246094, + -0.1433638334274292 + ], + [ + -81.7726821899414, + -99.66683197021484, + 1.5981571674346924 + ], + [ + -82.60685729980469, + -99.12510681152344, + 1.5981571674346924 + ], + [ + -82.12592315673828, + -98.38452911376953, + 1.5981571674346924 + ], + [ + -81.291748046875, + -98.92625427246094, + 1.5981571674346924 + ] + ], + "corners_2d": [ + [ + 564.4379795633387, + 294.17763241690494 + ], + [ + 575.8939247629514, + 312.65635440806653 + ], + [ + 601.4010760041848, + 305.0140781182994 + ], + [ + 589.5188035134795, + 286.8463177273421 + ], + [ + 561.3664229226007, + 251.75501123416853 + ], + [ + 573.2308391968955, + 270.0700656469488 + ], + [ + 599.8118575620134, + 262.4916699028493 + ], + [ + 587.4846205867702, + 244.4973234416768 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 5666, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 785.3556920141605, + "ymin": 206.7915157363334, + "xmax": 856.6959567055497, + "ymax": 326.82409326464824 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 848.6276510243772, + 245.16326653575402 + ], + [ + 790.0622961140912, + 239.97621932615985 + ], + [ + 785.3556920141605, + 320.5669032333802 + ], + [ + 849.6665656211172, + 326.82409326464824 + ], + [ + 854.9749802237058, + 211.92073083274335 + ], + [ + 794.5983447281454, + 206.7915157363334 + ], + [ + 790.1943141058931, + 286.7051629131723 + ], + [ + 856.6959567055497, + 292.929653715525 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 46725, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 490.7370379298883, + "ymin": 381.2165425111499, + "xmax": 774.2886096291286, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 758.1932964450053, + 511.7636253183621 + ], + [ + 608.0294162148948, + 494.00842286543195 + ], + [ + 515.4211516705377, + 927.3368861680996 + ], + [ + 725.280652914776, + 962.4965154941514 + ], + [ + 774.2886096291286, + 399.2760153737303 + ], + [ + 603.7558123445391, + 381.2165425111499 + ], + [ + 490.7370379298883, + 846.007927530849 + ], + [ + 742.6518412894779, + 886.0497249640421 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 30200, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 1021.8713937886312, + "ymin": 515.4383597693817, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 1109.0715755859405, + 1196.7373794452824 + ], + [ + 1373.8556116058999, + 1245.7828709493392 + ], + [ + 1198.2525403168183, + 646.523732113784 + ], + [ + 1021.8713937886312, + 624.163272345352 + ], + [ + 1222.6577956967794, + 1162.5793963796282 + ], + [ + 1557.6850544871786, + 1222.7332634277493 + ], + [ + 1285.1257062762106, + 538.950229111294 + ], + [ + 1080.0509276899654, + 515.4383597693817 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 4028, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 754.0850717497941, + "ymin": 642.8565064344612, + "xmax": 866.7640617268117, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 849.9795397827072, + 689.4583455103275 + ], + [ + 768.8433335934831, + 678.4166470135884 + ], + [ + 754.0850717497941, + 947.1248211427064 + ], + [ + 852.5380170197225, + 963.404723485132 + ], + [ + 861.4082016579815, + 654.1708393044448 + ], + [ + 775.7917971260354, + 642.8565064344612 + ], + [ + 761.6355181181132, + 921.2690576380639 + ], + [ + 866.7640617268117, + 938.3450419584204 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 11892, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 989.411451960184, + "ymin": 187.3347120813313, + "xmax": 1120.6165667359405, + "ymax": 373.33638341045145 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 1012.7618759902272, + 365.06326696423366 + ], + [ + 1095.7851147123824, + 373.33638341045145 + ], + [ + 1061.0752560143035, + 244.58403444508915 + ], + [ + 989.411451960184, + 238.38232263797755 + ], + [ + 1032.8849113916497, + 312.55152672531005 + ], + [ + 1120.6165667359405, + 320.7919260205575 + ], + [ + 1080.7810630272756, + 193.42295938991992 + ], + [ + 1005.6351793710214, + 187.3347120813313 + ] + ], + "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": 1074.124428979233, + "ymin": 0.0, + "xmax": 1205.6343312581762, + "ymax": 44.99867034574396 + }, + "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": [ + [ + 1118.3869835354008, + 44.31517460776058 + ], + [ + 1128.3853618190265, + 44.99867034574396 + ], + [ + 1082.4426658229559, + -57.919126388849975 + ], + [ + 1074.124428979233, + -58.39689733971943 + ], + [ + 1193.9590517368595, + -160.0197533077437 + ], + [ + 1205.6343312581762, + -159.48619172794213 + ], + [ + 1139.4679903091424, + -237.80959872292237 + ], + [ + 1130.0201179176497, + -238.1639609264978 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 618.1018914922596, + "ymin": 0.0, + "xmax": 748.1973990184621, + "ymax": 221.37454383246885 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 623.5447146676928, + 204.8482027021036 + ], + [ + 621.6043650241247, + 212.03829868485195 + ], + [ + 729.8770414336527, + 221.37454383246885 + ], + [ + 730.8488038358574, + 214.01526831014948 + ], + [ + 620.445368980095, + -8.542382451320861 + ], + [ + 618.1018914922596, + -2.3029538096141096 + ], + [ + 747.2292520470394, + 5.831018347558825 + ], + [ + 748.1973990184621, + -0.583606830264273 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 530.735480974007, + "ymin": 0.0, + "xmax": 569.0847286256018, + "ymax": 15.207559361674669 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 543.8911434216712, + 14.60884449736767 + ], + [ + 553.0523182468597, + 15.207559361674669 + ], + [ + 569.0847286256018, + -18.657828574079645 + ], + [ + 560.426952096367, + -19.190653543415237 + ], + [ + 530.735480974007, + -166.5131672346663 + ], + [ + 541.1370958527983, + -166.03889280709018 + ], + [ + 559.9877963571195, + -192.66247182586585 + ], + [ + 550.230291449227, + -193.07807936422353 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 729.4054536551732, + "ymin": 4.767912648156198, + "xmax": 744.117245370748, + "ymax": 13.466676076737997 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 730.1747000198018, + 8.294452414639238 + ], + [ + 729.4054536551732, + 12.587968844735713 + ], + [ + 743.170479671606, + 13.466676076737997 + ], + [ + 743.8413987512527, + 9.160517094265572 + ], + [ + 730.413890561298, + 4.767912648156198 + ], + [ + 729.6443317364532, + 9.047204733756189 + ], + [ + 743.4465439615096, + 9.923021161478118 + ], + [ + 744.117245370748, + 5.631094788028406 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1242.2444413474252, + "ymin": 221.81820317645668, + "xmax": 1280.0, + "ymax": 280.51998751277245 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1263.2929879945036, + 273.1826913181874 + ], + [ + 1347.8061540934573, + 280.51998751277245 + ], + [ + 1322.3887404492289, + 237.65682028633026 + ], + [ + 1242.2444413474252, + 231.0274481064104 + ], + [ + 1268.7503884609987, + 263.86118118811976 + ], + [ + 1354.0571412315383, + 271.1826413872896 + ], + [ + 1328.11343615337, + 228.4275160457383 + ], + [ + 1247.255612564855, + 221.81820317645668 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1193.480299972176, + "ymin": 189.11501146204196, + "xmax": 1280.0, + "ymax": 367.8065869938953 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1211.6117559207612, + 359.94998637895446 + ], + [ + 1293.3451492257573, + 367.8065869938953 + ], + [ + 1271.0928890591406, + 321.56496539404037 + ], + [ + 1193.480299972176, + 314.4514802262361 + ], + [ + 1285.6321090597412, + 233.32443663371595 + ], + [ + 1378.7469572097443, + 241.01446544693408 + ], + [ + 1349.0760196394822, + 195.99069220814593 + ], + [ + 1261.2689397266652, + 189.11501146204196 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 637.965069248032, + "ymin": 503.17223904619544, + "xmax": 666.0343154566785, + "ymax": 525.2108886017934 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 640.6391171992676, + 507.2886802975521 + ], + [ + 637.9752425235703, + 522.1468299503084 + ], + [ + 663.5797265078584, + 525.2108886017934 + ], + [ + 665.9055607658313, + 510.27075717094505 + ], + [ + 640.6422850005746, + 503.17223904619544 + ], + [ + 637.965069248032, + 518.0486385096915 + ], + [ + 663.6985317374932, + 521.1167107323745 + ], + [ + 666.0343154566785, + 506.15781744270214 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 729.3258905264904, + "ymin": 4.721251415905499, + "xmax": 744.195825157618, + "ymax": 13.513500662313788 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 730.103933958306, + 8.285612251850068 + ], + [ + 729.3258905264904, + 12.625263006341811 + ], + [ + 743.2392208097311, + 13.513500662313788 + ], + [ + 743.916815140903, + 9.160934124176265 + ], + [ + 730.3454984178186, + 4.721251415905499 + ], + [ + 729.5671328649034, + 9.046370481410406 + ], + [ + 743.518456114042, + 9.931654799633407 + ], + [ + 744.195825157618, + 5.593628484373994 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1242.3338760366241, + "ymin": 221.8462618384322, + "xmax": 1280.0, + "ymax": 280.42624167232435 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1263.3614312403229, + 273.0977397990923 + ], + [ + 1347.784293777957, + 280.42624167232435 + ], + [ + 1322.3975396579356, + 237.61714569954023 + ], + [ + 1242.3338760366241, + 230.99492819713092 + ], + [ + 1268.7830290510474, + 263.83766028336856 + ], + [ + 1353.993336851755, + 271.15044021040904 + ], + [ + 1328.0844338127522, + 228.4485723713675 + ], + [ + 1247.312676668456, + 221.8462618384322 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 432.74266936403353, + "ymin": 470.03599972004434, + "xmax": 673.0810853919783, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 491.86129497666855, + 692.8099626114591 + ], + [ + 486.741747142353, + 711.7807911108576 + ], + [ + 661.8252862616081, + 736.7388087517857 + ], + [ + 664.4271113370746, + 717.0348692416806 + ], + [ + 440.69531025092056, + 470.03599972004434 + ], + [ + 432.74266936403353, + 491.2096340239454 + ], + [ + 669.7171195360835, + 519.401056232326 + ], + [ + 673.0810853919783, + 497.1125187338805 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 638.1164688684615, + "ymin": 503.28834240791457, + "xmax": 665.8864472638174, + "ymax": 525.0926784809114 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 640.7596369572376, + 507.36088939757656 + ], + [ + 638.1257848002944, + 522.0616251179744 + ], + [ + 663.4568304418594, + 525.0926784809114 + ], + [ + 665.7597750262639, + 510.3116925034494 + ], + [ + 640.7633622933133, + 503.28834240791457 + ], + [ + 638.1164688684615, + 518.0069444415918 + ], + [ + 663.5737459700589, + 521.0419236996411 + ], + [ + 665.8864472638174, + 506.24257552492236 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 589.3934761866662, + "ymin": 0.0, + "xmax": 893.5253718373342, + "ymax": 45.416243056351675 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 597.8186485860733, + 22.756102978752494 + ], + [ + 596.1054664761723, + 26.89678046378441 + ], + [ + 858.8782425013792, + 45.416243056351675 + ], + [ + 858.8038556931298, + 41.02099110013751 + ], + [ + 591.4190969930786, + -176.75571854920565 + ], + [ + 589.3934761866662, + -173.55542457164586 + ], + [ + 893.5253718373342, + -159.16012883729138 + ], + [ + 893.1587172936861, + -162.58873684189712 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1203.8347819176174, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 325.8282623230805 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1419.6319727506484, + 130.99693368740907 + ], + [ + 1203.8347819176174, + 156.1468506631385 + ], + [ + 1393.5928732735724, + 325.8282623230805 + ], + [ + 1649.018499032249, + 288.0919582286602 + ], + [ + 1704.0208938054948, + -309.2118516859813 + ], + [ + 1419.5293372123647, + -295.8928606209445 + ], + [ + 1782.2559294225953, + -196.09179830863354 + ], + [ + 2137.334631244543, + -219.91495998479775 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00094/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00094/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..699e5b26cea7acb07cf5b16254bde9be3e9f87b6 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00094/meta.json @@ -0,0 +1,2249 @@ +{ + "frame_id": 94, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 47.0, + "sim_timestamp": 10879.945951100439 + }, + "drone_pose": { + "x": -104.28861038747684, + "y": -93.2729726509678, + "z": 20.184741168204315, + "pitch": -49.67029131118462, + "yaw": -5.948875580832805, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6436999440193176, + 0.06707492470741272, + 0.7623327970504761, + 45.48679733276367 + ], + [ + -0.10364101827144623, + 0.9946147799491882, + 0.0, + 103.57925415039062 + ], + [ + -0.7582274675369263, + -0.07900895178318024, + 0.647185206413269, + -84.76835632324219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -104.00379484745038, + "y": -92.80263545555287, + "z": 20.248908149419844 + }, + "t1_image_uv": [ + 5281.041373138606, + -1696.0560303377974 + ], + "t1_depth": 0.10287130409947881 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -84.66718292236328, + "y": -96.18776321411131, + "z": 0.5749944090844292 + }, + "image_uv": [ + 610.0849908915086, + 276.47166380055 + ], + "depth": 27.77497465644894, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 181, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -84.66718292236328, + "y": -96.18775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.19679686427116394, + "y": 0.20879393815994263, + "z": 0.5253207683563232 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 599.7111315590397, + "ymin": 256.3783537379026, + "xmax": 620.182156816171, + "ymax": 296.2558971385388 + }, + "corners_3d": [ + [ + -84.65869903564453, + -96.47455596923828, + 0.049673616886138916 + ], + [ + -84.9539794921875, + -96.17927551269531, + 0.049673616886138916 + ], + [ + -84.67566680908203, + -95.90096282958984, + 0.049673616886138916 + ], + [ + -84.38038635253906, + -96.19624328613281, + 0.049673616886138916 + ], + [ + -84.65869903564453, + -96.47455596923828, + 1.1003150939941406 + ], + [ + -84.9539794921875, + -96.17927551269531, + 1.1003150939941406 + ], + [ + -84.67566680908203, + -95.90096282958984, + 1.1003150939941406 + ], + [ + -84.38038635253906, + -96.19624328613281, + 1.1003150939941406 + ] + ], + "corners_2d": [ + [ + 600.8554132810101, + 288.31436589107193 + ], + [ + 609.5851654537179, + 296.2558971385388 + ], + [ + 620.182156816171, + 290.17279181962556 + ], + [ + 611.4233817977617, + 282.3212156689173 + ], + [ + 599.7111315590397, + 262.39474483104925 + ], + [ + 608.6892104284968, + 270.37013944866135 + ], + [ + 619.6017917030669, + 264.26078187700324 + ], + [ + 610.5928892092567, + 256.3783537379026 + ] + ], + "center_offset_px": [ + -29.915009108491404, + -83.52833619945 + ] + }, + "trace_timestep_index": 94, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 44, + "semantic_pixel_counts": { + "1": 254898, + "2": 189346, + "3": 276947, + "4": 11211, + "5": 1047, + "6": 5629, + "9": 2, + "10": 8277, + "12": 3245, + "14": 28633, + "16": 111438, + "20": 18268, + "24": 12659 + }, + "instance_pixel_counts": { + "913": 2620, + "1646": 7, + "2670": 6738, + "3182": 6666, + "3694": 4859, + "4206": 12112, + "5742": 2591, + "8834": 3646, + "14416": 1047, + "15963": 7363, + "16475": 23024, + "16987": 91645, + "17232": 11211, + "17499": 101731, + "24512": 40542, + "26963": 345, + "35668": 7038, + "35924": 6256, + "36692": 2354, + "37979": 621, + "40019": 1638, + "43117": 939, + "43147": 17496, + "43659": 11808, + "44179": 254898, + "46741": 12659, + "48749": 5212, + "49261": 13439, + "49664": 181, + "49920": 424, + "50176": 532, + "50432": 768, + "50688": 727, + "50944": 613, + "51456": 5998, + "52160": 45528, + "52480": 59973, + "52672": 65193, + "52736": 51465, + "54016": 10437, + "55040": 12198, + "55879": 2643, + "57173": 2, + "64351": 8779 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 181, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -84.66718292236328, + "y": -96.18775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.2160302698612213, + "y": 0.23749999701976776, + "z": 0.5205209255218506 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 598.5696625572799, + "ymin": 255.67098879478624, + "xmax": 621.3014244885064, + "ymax": 296.990656104718 + }, + "corners_3d": [ + [ + -84.6520004272461, + -96.50845336914062, + 0.05447345972061157 + ], + [ + -84.98787689208984, + -96.17257690429688, + 0.05447345972061157 + ], + [ + -84.68236541748047, + -95.8670654296875, + 0.05447345972061157 + ], + [ + -84.34648895263672, + -96.20294189453125, + 0.05447345972061157 + ], + [ + -84.6520004272461, + -96.50845336914062, + 1.095515251159668 + ], + [ + -84.98787689208984, + -96.17257690429688, + 1.095515251159668 + ], + [ + -84.68236541748047, + -95.8670654296875, + 1.095515251159668 + ], + [ + -84.34648895263672, + -96.20294189453125, + 1.095515251159668 + ] + ], + "corners_2d": [ + [ + 599.7354917259989, + 287.95201802608926 + ], + [ + 609.6650814844878, + 296.990656104718 + ], + [ + 621.3014244885064, + 290.3060336101523 + ], + [ + 611.3355856152926, + 281.37973589830904 + ], + [ + 598.5696625572799, + 262.268331676936 + ], + [ + 608.7790389616304, + 271.34530940110494 + ], + [ + 620.7587823340943, + 264.63190022284925 + ], + [ + 610.5109288380943, + 255.67098879478624 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 424, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -81.03800201416016, + "y": -95.00215911865234, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.28224363923072815, + "y": 0.3935595750808716, + "z": 0.8708489537239075 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 646.4495730947873, + "ymin": 166.04871045349117, + "xmax": 678.3789844101977, + "ymax": 228.75399486818995 + }, + "corners_3d": [ + [ + -81.06036376953125, + -95.48594665527344, + -0.29584968090057373 + ], + [ + -81.48905944824219, + -94.82581329345703, + -0.29584968090057373 + ], + [ + -81.01564025878906, + -94.51837158203125, + -0.29584968090057373 + ], + [ + -80.58694458007812, + -95.17850494384766, + -0.29584968090057373 + ], + [ + -81.06036376953125, + -95.48594665527344, + 1.4458482265472412 + ], + [ + -81.48905944824219, + -94.82581329345703, + 1.4458482265472412 + ], + [ + -81.01564025878906, + -94.51837158203125, + 1.4458482265472412 + ], + [ + -80.58694458007812, + -95.17850494384766, + 1.4458482265472412 + ] + ], + "corners_2d": [ + [ + 646.4495730947873, + 218.33224548136195 + ], + [ + 665.8528059556781, + 228.75399486818995 + ], + [ + 676.7178957725413, + 219.49659566343504 + ], + [ + 657.3802643603237, + 209.26600636293978 + ], + [ + 646.7409881389746, + 175.10674519275375 + ], + [ + 667.0337990766961, + 185.52833710113083 + ], + [ + 678.3789844101977, + 176.27058538539197 + ], + [ + 658.1580475201037, + 166.04871045349117 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 532, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -86.92300415039062, + "y": -89.24504852294922, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.48869627714157104, + "y": 0.3943164050579071, + "z": 0.9063002467155457 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 827.6818703560996, + "ymin": 314.18657720089453, + "xmax": 884.8698184524696, + "ymax": 393.22661854743814 + }, + "corners_3d": [ + [ + -87.05464172363281, + -89.85903930664062, + -0.3313009738922119 + ], + [ + -87.55094146728516, + -89.24615478515625, + -0.3313009738922119 + ], + [ + -86.79136657714844, + -88.63105773925781, + -0.3313009738922119 + ], + [ + -86.2950668334961, + -89.24394226074219, + -0.3313009738922119 + ], + [ + -87.05464172363281, + -89.85903930664062, + 1.4812995195388794 + ], + [ + -87.55094146728516, + -89.24615478515625, + 1.4812995195388794 + ], + [ + -86.79136657714844, + -88.63105773925781, + 1.4812995195388794 + ], + [ + -86.2950668334961, + -89.24394226074219, + 1.4812995195388794 + ] + ], + "corners_2d": [ + [ + 827.6818703560996, + 377.3907445907419 + ], + [ + 850.7653750228028, + 393.22661854743814 + ], + [ + 872.1454463377386, + 373.6297294818054 + ], + [ + 849.1593313698722, + 358.3190661820631 + ], + [ + 838.0047688717987, + 333.52080936119165 + ], + [ + 862.5267210003135, + 349.60155614427504 + ], + [ + 884.8698184524696, + 329.70522164283506 + ], + [ + 860.4621228938904, + 314.18657720089453 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 768, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -90.56682586669922, + "y": -99.95462799072266, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.5069384574890137, + "y": 0.45408689975738525, + "z": 0.9326189160346985 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 398.06586493052555, + "ymin": 381.92729350713984, + "xmax": 464.13548154410853, + "ymax": 469.2741275906542 + }, + "corners_3d": [ + [ + -90.60419464111328, + -100.6341781616211, + -0.2052173614501953 + ], + [ + -91.24637603759766, + -99.99199676513672, + -0.2052173614501953 + ], + [ + -90.52945709228516, + -99.27507781982422, + -0.2052173614501953 + ], + [ + -89.88727569580078, + -99.9172592163086, + -0.2052173614501953 + ], + [ + -90.60419464111328, + -100.6341781616211, + 1.6600204706192017 + ], + [ + -91.24637603759766, + -99.99199676513672, + 1.6600204706192017 + ], + [ + -90.52945709228516, + -99.27507781982422, + 1.6600204706192017 + ], + [ + -89.88727569580078, + -99.9172592163086, + 1.6600204706192017 + ] + ], + "corners_2d": [ + [ + 411.91151957467633, + 446.492943296956 + ], + [ + 430.16374544915936, + 469.2741275906542 + ], + [ + 464.13548154410853, + 448.6059004056669 + ], + [ + 445.56809299447235, + 426.57102344938954 + ], + [ + 398.06586493052555, + 402.2706623443889 + ], + [ + 417.1729173244321, + 425.58337811321553 + ], + [ + 453.44032075628843, + 404.43069025664056 + ], + [ + 433.97017303200727, + 381.92729350713984 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 727, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -86.23794555664062, + "y": -101.02207946777344, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.45751953125, + "y": 0.4319384694099426, + "z": 0.8657121062278748 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 405.11402412213715, + "ymin": 261.77225738387796, + "xmax": 458.25140929905376, + "ymax": 336.04001061818246 + }, + "corners_3d": [ + [ + -86.19019317626953, + -101.64946746826172, + -0.1383056640625 + ], + [ + -86.8615493774414, + -101.1058120727539, + -0.1383056640625 + ], + [ + -86.28569793701172, + -100.39469146728516, + -0.1383056640625 + ], + [ + -85.61434173583984, + -100.93834686279297, + -0.1383056640625 + ], + [ + -86.19019317626953, + -101.64946746826172, + 1.5931185483932495 + ], + [ + -86.8615493774414, + -101.1058120727539, + 1.5931185483932495 + ], + [ + -86.28569793701172, + -100.39469146728516, + 1.5931185483932495 + ], + [ + -85.61434173583984, + -100.93834686279297, + 1.5931185483932495 + ] + ], + "corners_2d": [ + [ + 416.3045710419045, + 317.3180606159014 + ], + [ + 429.06241775770354, + 336.04001061818246 + ], + [ + 458.25140929905376, + 323.06841588732505 + ], + [ + 445.1525435444495, + 304.7790906397788 + ], + [ + 405.11402412213715, + 274.41205175874796 + ], + [ + 418.3192849971447, + 293.3116897643653 + ], + [ + 449.1088214987086, + 280.2135202744579 + ], + [ + 435.5230153810238, + 261.77225738387796 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 613, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -81.94930267333984, + "y": -98.16240692138672, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.4370971620082855, + "y": 0.49494627118110657, + "z": 0.9242186546325684 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 535.2940690592965, + "ymin": 169.05735312055654, + "xmax": 578.3115224887588, + "ymax": 242.65668587120604 + }, + "corners_3d": [ + [ + -81.77226257324219, + -98.79855346679688, + -0.19681710004806519 + ], + [ + -82.60246276855469, + -98.2594223022461, + -0.19681710004806519 + ], + [ + -82.1263427734375, + -97.52626037597656, + -0.19681710004806519 + ], + [ + -81.296142578125, + -98.06539154052734, + -0.19681710004806519 + ], + [ + -81.77226257324219, + -98.79855346679688, + 1.6516201496124268 + ], + [ + -82.60246276855469, + -98.2594223022461, + 1.6516201496124268 + ], + [ + -82.1263427734375, + -97.52626037597656, + 1.6516201496124268 + ], + [ + -81.296142578125, + -98.06539154052734, + 1.6516201496124268 + ] + ], + "corners_2d": [ + [ + 540.1471716469545, + 223.63677134775716 + ], + [ + 552.724717192245, + 242.65668587120604 + ], + [ + 578.3115224887588, + 233.9901325433891 + ], + [ + 565.3633663776023, + 215.29112170068262 + ], + [ + 535.2940690592965, + 177.39831318349525 + ], + [ + 548.3977634600581, + 196.43298800255803 + ], + [ + 575.2805559933813, + 187.75531803315204 + ], + [ + 561.7677452369794, + 169.05735312055654 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 5998, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 738.858628419366, + "ymin": 123.0181113472911, + "xmax": 810.0629348919581, + "ymax": 246.5458143782402 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 803.3662550416559, + 161.35991475211176 + ], + [ + 743.6919733441117, + 157.44076625931828 + ], + [ + 738.858628419366, + 241.87942541681417 + ], + [ + 803.9639790744952, + 246.5458143782402 + ], + [ + 808.9168662634627, + 126.92014459578698 + ], + [ + 747.1997487882683, + 123.0181113472911 + ], + [ + 742.5183742063747, + 207.33547954704477 + ], + [ + 810.0629348919581, + 212.01034636295864 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 59973, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 440.5918797896288, + "ymin": 314.0477104751316, + "xmax": 722.4186445495134, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 711.6310431308433, + 438.48932275410266 + ], + [ + 560.4778645196814, + 425.52747491802324 + ], + [ + 475.67646534602795, + 854.7662435905098 + ], + [ + 680.6113642100729, + 878.7919314723192 + ], + [ + 722.4186445495134, + 327.571859869899 + ], + [ + 548.64932708311, + 314.0477104751316 + ], + [ + 440.5918797896288, + 786.3943829098894 + ], + [ + 689.4382729918939, + 814.4119065284034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 51465, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 971.4889497164917, + "ymin": 436.45766402677987, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 1042.7336388943727, + 1076.623839392468 + ], + [ + 1285.7342014529677, + 1107.7276633909669 + ], + [ + 1142.4016028119602, + 556.9988209348868 + ], + [ + 971.4889497164917, + 541.3829626153554 + ], + [ + 1143.4313417084218, + 1052.027468120036 + ], + [ + 1450.6030396335607, + 1090.5528770867188 + ], + [ + 1226.754917599671, + 453.2370967065906 + ], + [ + 1026.383041426077, + 436.45766402677987 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 10437, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 708.4195549372621, + "ymin": 570.6733155808845, + "xmax": 814.8598453783617, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 802.2896163242692, + 611.7689477187809 + ], + [ + 722.4381930155216, + 603.9903349046622 + ], + [ + 708.4195549372621, + 863.0744909760033 + ], + [ + 803.3257492795537, + 874.0732888285972 + ], + [ + 811.8156182415285, + 578.7089405485817 + ], + [ + 727.2482993210353, + 570.6733155808845 + ], + [ + 713.2167830494042, + 841.2042002229074 + ], + [ + 814.8598453783617, + 852.8221138135359 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 12198, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 946.133117210135, + "ymin": 97.55610010296846, + "xmax": 1074.3494310988024, + "ymax": 287.3269026784264 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 967.3127735989409, + 281.28233479446453 + ], + [ + 1049.8008379414057, + 287.3269026784264 + ], + [ + 1018.2156435005488, + 155.21397330576733 + ], + [ + 946.133117210135, + 150.5812628531404 + ], + [ + 986.8013498269936, + 228.0696409597336 + ], + [ + 1074.3494310988024, + 234.15226321984625 + ], + [ + 1037.8961897671775, + 102.14939202921278 + ], + [ + 961.9790123564471, + 97.55610010296846 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 555.0728746075876, + "ymin": 0.0, + "xmax": 692.2617221466528, + "ymax": 139.45748091836165 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 572.2410363600425, + 124.64856106335563 + ], + [ + 570.3305569121321, + 132.3432823197296 + ], + [ + 681.9125681631051, + 139.45748091836165 + ], + [ + 682.8798760588945, + 131.64158228287536 + ], + [ + 557.5555813634535, + -102.99395015515205 + ], + [ + 555.0728746075876, + -95.9986340795192 + ], + [ + 691.1797553371462, + -89.50780963857164 + ], + [ + 692.2617221466528, + -96.63763522991235 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1197.8048744419461, + "ymin": 128.999706416079, + "xmax": 1280.0, + "ymax": 187.35260275416758 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1217.070078831113, + 181.98130693378886 + ], + [ + 1300.5730439320191, + 187.35260275416758 + ], + [ + 1277.376167248395, + 143.42766842231788 + ], + [ + 1197.8048744419461, + 138.5363099819726 + ], + [ + 1222.6359058305907, + 172.40371033351872 + ], + [ + 1306.9805221954284, + 177.7725880161065 + ], + [ + 1283.2725925643267, + 133.88454120506867 + ], + [ + 1202.9373145095894, + 128.999706416079 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1148.4101343504844, + "ymin": 95.05308001953136, + "xmax": 1280.0, + "ymax": 276.05004675840917 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1164.825613823772, + 270.3894229950121 + ], + [ + 1245.0714025948241, + 276.05004675840917 + ], + [ + 1224.994454644515, + 229.39638823371604 + ], + [ + 1148.4101343504844, + 224.2278144205817 + ], + [ + 1239.9115710031533, + 140.96890534067046 + ], + [ + 1332.1763813204593, + 146.63951435868927 + ], + [ + 1304.9431961532648, + 100.16533803891605 + ], + [ + 1217.4845831000725, + 95.05308001953136 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 575.7801090163068, + "ymin": 445.3940853886728, + "xmax": 604.5664426015705, + "ymax": 467.06428150231454 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 578.8606305774898, + 449.3785541384134 + ], + [ + 576.1352552118941, + 464.7950700347914 + ], + [ + 602.1614410835848, + 467.06428150231454 + ], + [ + 604.5664426015705, + 451.5914424510298 + ], + [ + 578.5249052952018, + 445.3940853886728 + ], + [ + 575.7801090163068, + 460.8457090567258 + ], + [ + 601.9506356158056, + 463.1202691946272 + ], + [ + 604.371516909738, + 447.6118812842832 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1197.8938788514258, + "ymin": 129.0277206095771, + "xmax": 1280.0, + "ymax": 187.25782660887143 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1217.1399881641814, + 181.8929339057933 + ], + [ + 1300.5543774368184, + 187.25782660887143 + ], + [ + 1277.3852569878234, + 143.3876586730143 + ], + [ + 1197.8938788514258, + 138.50159566076664 + ], + [ + 1222.6693689157862, + 172.37835936658425 + ], + [ + 1306.9189054002818, + 177.74084607865362 + ], + [ + 1283.2427501193292, + 133.90730914142617 + ], + [ + 1202.993202247284, + 129.0277206095771 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 364.66856492645735, + "ymin": 418.1322937185765, + "xmax": 619.2192581328239, + "ymax": 665.3833547474123 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 447.0527588409147, + 628.8617318090387 + ], + [ + 442.3623320942196, + 647.7530768212755 + ], + [ + 616.8231556616424, + 665.3833547474123 + ], + [ + 619.2192581328239, + 646.0227208515123 + ], + [ + 372.602731151133, + 418.1322937185765 + ], + [ + 364.66856492645735, + 440.48773316267534 + ], + [ + 607.5535322741916, + 461.5630550705602 + ], + [ + 611.0639715169043, + 438.430349584935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 575.9361769137645, + "ymin": 445.50850698915946, + "xmax": 604.4163240746462, + "ymax": 466.9483159159802 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 578.9815022487378, + 449.45039012967953 + ], + [ + 576.2866818508672, + 464.70351156357765 + ], + [ + 602.0351191499232, + 466.9483159159802 + ], + [ + 604.4163240746462, + 451.6400604479763 + ], + [ + 578.6499889757222, + 445.50850698915946 + ], + [ + 575.9361769137645, + 460.79599572938207 + ], + [ + 601.8258820674038, + 463.0460332171415 + ], + [ + 604.2226492951368, + 447.7029832791607 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1163.9737983900623, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 230.5928549608154 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1380.7875664977742, + 27.548309759232097 + ], + [ + 1163.9737983900623, + 59.022390008742605 + ], + [ + 1345.2085260625927, + 230.5928549608154 + ], + [ + 1596.5831086430421, + 185.11514324231987 + ], + [ + 1691.5545403887363, + -453.8159348671163 + ], + [ + 1396.2935299957535, + -435.7781927088513 + ], + [ + 1760.6117556855284, + -325.7076377133583 + ], + [ + 2120.454522851166, + -356.9913858703828 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00095/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00095/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2c2926722e05f23fedb0a7339ca76e0e8ebda4b4 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00095/meta.json @@ -0,0 +1,2249 @@ +{ + "frame_id": 95, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 47.5, + "sim_timestamp": 10893.48163729906 + }, + "drone_pose": { + "x": -104.00379484745038, + "y": -92.80263545555287, + "z": 20.248908149419844, + "pitch": -49.42815861045606, + "yaw": -6.829017530843034, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.645786702632904, + 0.07733713835477829, + 0.7595910429954529, + 44.60628890991211 + ], + [ + -0.11890684813261032, + 0.9929054379463196, + 0.0, + 104.51100158691406 + ], + [ + -0.7542020678520203, + -0.09032057225704193, + 0.6504009962081909, + -83.22779846191406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -103.5138274167881, + "y": -92.34970481801923, + "z": 20.039260416585535 + }, + "t1_image_uv": [ + 1746.7239066670472, + -58.8967781168447 + ], + "t1_depth": 0.4406326175614734 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -84.16718292236328, + "y": -95.68776321411131, + "z": 0.5749944090844292 + }, + "image_uv": [ + 622.6391737810193, + 276.77417764024193 + ], + "depth": 27.97747559324344, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 193, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -84.16718292236328, + "y": -95.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.25313475728034973, + "y": 0.25535643100738525, + "z": 0.5303815007209778 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 609.9944492407321, + "ymin": 254.9873383813362, + "xmax": 634.9505025698488, + "ymax": 298.29701954202363 + }, + "corners_3d": [ + [ + -84.16561126708984, + -96.04731750488281, + 0.044612884521484375 + ], + [ + -84.52674102783203, + -95.68618774414062, + 0.044612884521484375 + ], + [ + -84.16875457763672, + -95.32820129394531, + 0.044612884521484375 + ], + [ + -83.80762481689453, + -95.6893310546875, + 0.044612884521484375 + ], + [ + -84.16561126708984, + -96.04731750488281, + 1.10537588596344 + ], + [ + -84.52674102783203, + -95.68618774414062, + 1.10537588596344 + ], + [ + -84.16875457763672, + -95.32820129394531, + 1.10537588596344 + ], + [ + -83.80762481689453, + -95.6893310546875, + 1.10537588596344 + ] + ], + "corners_2d": [ + [ + 610.8454721461359, + 288.5582713975465 + ], + [ + 621.3395768026642, + 298.29701954202363 + ], + [ + 634.9505025698488, + 290.6925693444754 + ], + [ + 624.4068095061608, + 281.0924886604321 + ], + [ + 609.9944492407321, + 262.4785961953205 + ], + [ + 620.7896752876943, + 272.2552516378315 + ], + [ + 634.8027989024758, + 264.6207486243849 + ], + [ + 623.9549740880525, + 254.9873383813362 + ] + ], + "center_offset_px": [ + -17.36082621898072, + -83.22582235975807 + ] + }, + "trace_timestep_index": 95, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 44, + "semantic_pixel_counts": { + "1": 259207, + "2": 195367, + "3": 272267, + "4": 12003, + "5": 1005, + "6": 5753, + "9": 30, + "10": 9417, + "12": 3040, + "14": 27356, + "16": 104695, + "20": 18838, + "24": 12622 + }, + "instance_pixel_counts": { + "913": 2618, + "1646": 214, + "2670": 7497, + "3182": 2201, + "3694": 5034, + "4206": 12569, + "5742": 2665, + "8834": 3671, + "14416": 1005, + "15963": 8548, + "16475": 25962, + "16987": 100553, + "17232": 12003, + "17499": 86674, + "24512": 41210, + "26963": 421, + "35668": 7163, + "35924": 6707, + "36692": 2350, + "37979": 876, + "40019": 1661, + "43117": 1332, + "43147": 15523, + "43659": 12360, + "44179": 259207, + "46741": 12622, + "48749": 5381, + "49261": 12761, + "49664": 193, + "49920": 400, + "50176": 532, + "50432": 732, + "50688": 651, + "50944": 532, + "51456": 6047, + "52160": 45990, + "52480": 58952, + "52672": 71379, + "52736": 45743, + "54016": 8994, + "55040": 12315, + "55879": 3893, + "57173": 30, + "64351": 8905 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 193, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -84.16718292236328, + "y": -95.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.23883788287639618, + "y": 0.2463037073612213, + "z": 0.5515724420547485 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 610.5639257701512, + "ymin": 254.8297132137452, + "xmax": 634.3834681426058, + "ymax": 298.4117466150961 + }, + "corners_3d": [ + [ + -84.16190338134766, + -96.03080749511719, + 0.023421943187713623 + ], + [ + -84.5102310180664, + -95.68247985839844, + 0.023421943187713623 + ], + [ + -84.1724624633789, + -95.34471130371094, + 0.023421943187713623 + ], + [ + -83.82413482666016, + -95.69303894042969, + 0.023421943187713623 + ], + [ + -84.16190338134766, + -96.03080749511719, + 1.1265668869018555 + ], + [ + -84.5102310180664, + -95.68247985839844, + 1.1265668869018555 + ], + [ + -84.1724624633789, + -95.34471130371094, + 1.1265668869018555 + ], + [ + -83.82413482666016, + -95.69303894042969, + 1.1265668869018555 + ] + ], + "corners_2d": [ + [ + 611.4316279263455, + 289.02291091015195 + ], + [ + 621.5494444290125, + 298.4117466150961 + ], + [ + 634.3834681426058, + 291.2397828706736 + ], + [ + 624.2205750224174, + 281.97706189833957 + ], + [ + 610.5639257701512, + 261.90063003999194 + ], + [ + 620.9838853545906, + 271.32734919226755 + ], + [ + 634.2125071411817, + 264.1259852455625 + ], + [ + 623.74462175558, + 254.8297132137452 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 400, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -79.9568099975586, + "y": -95.12867736816406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.36002683639526367, + "y": 0.3373193144798279, + "z": 0.8792111277580261 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 641.8465694428669, + "ymin": 154.21200082365493, + "xmax": 673.2351007308206, + "ymax": 217.41314697165095 + }, + "corners_3d": [ + [ + -80.07503509521484, + -95.60765838623047, + -0.3042118549346924 + ], + [ + -80.44247436523438, + -95.04186248779297, + -0.3042118549346924 + ], + [ + -79.83858489990234, + -94.64969635009766, + -0.3042118549346924 + ], + [ + -79.47114562988281, + -95.21549224853516, + -0.3042118549346924 + ], + [ + -80.07503509521484, + -95.60765838623047, + 1.4542104005813599 + ], + [ + -80.44247436523438, + -95.04186248779297, + 1.4542104005813599 + ], + [ + -79.83858489990234, + -94.64969635009766, + 1.4542104005813599 + ], + [ + -79.47114562988281, + -95.21549224853516, + 1.4542104005813599 + ] + ], + "corners_2d": [ + [ + 641.8465694428669, + 208.6213123432105 + ], + [ + 657.9070344954935, + 217.41314697165095 + ], + [ + 671.8195721075001, + 206.19036903887786 + ], + [ + 655.8180861200196, + 197.59815006512684 + ], + [ + 641.9289317533603, + 165.20575699811965 + ], + [ + 658.7133066333641, + 173.98213216637507 + ], + [ + 673.2351007308206, + 162.78034065272706 + ], + [ + 656.515245342334, + 154.21200082365493 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 532, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -86.42300415039062, + "y": -88.74504852294922, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.3590966761112213, + "y": 0.4212060570716858, + "z": 0.8851691484451294 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 840.2814023860266, + "ymin": 319.15077472596715, + "xmax": 893.3275446280384, + "ymax": 392.79016820472435 + }, + "corners_3d": [ + [ + -86.43700408935547, + -89.29837036132812, + -0.31016987562179565 + ], + [ + -86.96714782714844, + -88.6436996459961, + -0.31016987562179565 + ], + [ + -86.40900421142578, + -88.19172668457031, + -0.31016987562179565 + ], + [ + -85.87886047363281, + -88.84639739990234, + -0.31016987562179565 + ], + [ + -86.43700408935547, + -89.29837036132812, + 1.4601683616638184 + ], + [ + -86.96714782714844, + -88.6436996459961, + 1.4601683616638184 + ], + [ + -86.40900421142578, + -88.19172668457031, + 1.4601683616638184 + ], + [ + -85.87886047363281, + -88.84639739990234, + 1.4601683616638184 + ] + ], + "corners_2d": [ + [ + 840.2814023860266, + 375.79896028422735 + ], + [ + 864.7032041634936, + 392.79016820472435 + ], + [ + 880.5316206745315, + 378.6818053607547 + ], + [ + 856.1738038826309, + 362.10054451831064 + ], + [ + 850.9076976848485, + 333.02441548301647 + ], + [ + 876.8130117833355, + 350.257633186653 + ], + [ + 893.3275446280384, + 335.94639632747527 + ], + [ + 867.497873597492, + 319.15077472596715 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 732, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -88.96553802490234, + "y": -97.59927368164062, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.4070996046066284, + "y": 0.457954078912735, + "z": 0.8844243288040161 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 499.39066382651197, + "ymin": 359.26285887255773, + "xmax": 551.1697328726923, + "ymax": 438.18774800760286 + }, + "corners_3d": [ + [ + -88.92958068847656, + -98.2109603881836, + -0.3094201683998108 + ], + [ + -89.57722473144531, + -97.56331634521484, + -0.3094201683998108 + ], + [ + -89.00149536132812, + -96.98758697509766, + -0.3094201683998108 + ], + [ + -88.35385131835938, + -97.6352310180664, + -0.3094201683998108 + ], + [ + -88.92958068847656, + -98.2109603881836, + 1.4594285488128662 + ], + [ + -89.57722473144531, + -97.56331634521484, + 1.4594285488128662 + ], + [ + -89.00149536132812, + -96.98758697509766, + 1.4594285488128662 + ], + [ + -88.35385131835938, + -97.6352310180664, + 1.4594285488128662 + ] + ], + "corners_2d": [ + [ + 506.7220920729667, + 416.3905742816041 + ], + [ + 525.7327486565836, + 438.18774800760286 + ], + [ + 551.1697328726923, + 422.8717525075108 + ], + [ + 531.9409928715505, + 401.6228014168337 + ], + [ + 499.39066382651197, + 374.27540792436554 + ], + [ + 519.3241930340915, + 396.4717578009471 + ], + [ + 546.2549236292788, + 380.8705538419608 + ], + [ + 526.0754130143699, + 359.26285887255773 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 651, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -85.90040588378906, + "y": -101.02207946777344, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.4072314500808716, + "y": 0.4964599609375, + "z": 0.8846684098243713 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 401.3076123510191, + "ymin": 261.5459305535318, + "xmax": 452.8343588428677, + "ymax": 337.59048227176623 + }, + "corners_3d": [ + [ + -85.77086639404297, + -101.65099334716797, + -0.15726196765899658 + ], + [ + -86.5425033569336, + -101.026123046875, + -0.15726196765899658 + ], + [ + -86.02994537353516, + -100.3931655883789, + -0.15726196765899658 + ], + [ + -85.25830841064453, + -101.01803588867188, + -0.15726196765899658 + ], + [ + -85.77086639404297, + -101.65099334716797, + 1.612074851989746 + ], + [ + -86.5425033569336, + -101.026123046875, + 1.612074851989746 + ], + [ + -86.02994537353516, + -100.3931655883789, + 1.612074851989746 + ], + [ + -85.25830841064453, + -101.01803588867188, + 1.612074851989746 + ] + ], + "corners_2d": [ + [ + 412.78131715308484, + 316.1083987082377 + ], + [ + 426.76504789831205, + 337.59048227176623 + ], + [ + 452.8343588428677, + 326.4003616615809 + ], + [ + 438.485688938376, + 305.34942051341204 + ], + [ + 401.3076123510191, + 272.38399525491593 + ], + [ + 415.7716822261092, + 294.0567250222481 + ], + [ + 443.2882857768476, + 282.761846934432 + ], + [ + 428.4166652933232, + 261.5459305535318 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 532, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -81.92434692382812, + "y": -97.31727600097656, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.5097070336341858, + "y": 0.46019530296325684, + "z": 0.9332077503204346 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 556.5581384203786, + "ymin": 184.27214602106557, + "xmax": 601.8784425257256, + "ymax": 257.9475126968383 + }, + "corners_3d": [ + [ + -81.81600189208984, + -97.99539184570312, + -0.35820358991622925 + ], + [ + -82.58790588378906, + -97.49411010742188, + -0.35820358991622925 + ], + [ + -82.0326919555664, + -96.63916015625, + -0.35820358991622925 + ], + [ + -81.26078796386719, + -97.14044189453125, + -0.35820358991622925 + ], + [ + -81.81600189208984, + -97.99539184570312, + 1.5082118511199951 + ], + [ + -82.58790588378906, + -97.49411010742188, + 1.5082118511199951 + ], + [ + -82.0326919555664, + -96.63916015625, + 1.5082118511199951 + ], + [ + -81.26078796386719, + -97.14044189453125, + 1.5082118511199951 + ] + ], + "corners_2d": [ + [ + 560.4516307680036, + 239.92694190453233 + ], + [ + 572.0768617363976, + 257.9475126968383 + ], + [ + 601.8784425257256, + 248.05911705478633 + ], + [ + 589.8420891876686, + 230.38352203490825 + ], + [ + 556.5581384203786, + 193.81713528506953 + ], + [ + 568.6895376150949, + 211.86498028114872 + ], + [ + 599.9966790315498, + 201.9576794251907 + ], + [ + 587.4116492008492, + 184.27214602106557 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 6047, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 733.8875111166309, + "ymin": 134.23517622029829, + "xmax": 806.3628791335901, + "ymax": 259.0919254812399 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 800.8941365211729, + 173.04589069737844 + ], + [ + 741.0322050415425, + 168.51053037412998 + ], + [ + 733.8875111166309, + 253.68504428910816 + ], + [ + 799.2249899607446, + 259.0919254812399 + ], + [ + 806.3628791335901, + 138.75179876662878 + ], + [ + 744.4490235959366, + 134.23517622029829 + ], + [ + 737.364378019688, + 219.30738768097766 + ], + [ + 805.1540362143519, + 224.72562838227654 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 58952, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 412.05488173944286, + "ymin": 326.4106087367034, + "xmax": 710.3745290941397, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 701.149121266958, + 452.20136296418366 + ], + [ + 549.7472248767867, + 437.1817861487588 + ], + [ + 452.2516345772201, + 871.0698144682879 + ], + [ + 657.7403741594472, + 899.0622698594574 + ], + [ + 710.3745290941397, + 342.0983332504726 + ], + [ + 536.324638802551, + 326.4106087367034 + ], + [ + 412.05488173944286, + 804.4996346108992 + ], + [ + 661.6179476629196, + 837.2192956343349 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 45743, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 960.564045232891, + "ymin": 456.4817207565684, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 1019.276804831884, + 1108.1263014098645 + ], + [ + 1266.4443052484842, + 1144.9435386565174 + ], + [ + 1133.4508022312884, + 578.3686807916113 + ], + [ + 960.564045232891, + 560.0804515489549 + ], + [ + 1115.297300670521, + 1089.4235251093683 + ], + [ + 1428.973625838505, + 1135.3289591595899 + ], + [ + 1216.9795008234364, + 476.188969782177 + ], + [ + 1013.9631551519151, + 456.4817207565684 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 211, + "instance_id": 54016, + "pixel_count": 8994, + "type_id": "vehicle.ford.crown", + "bbox_3d": { + "center_world": { + "x": -96.95728302001953, + "y": -91.5400161743164, + "z": 0.787950336933136 + }, + "extent": { + "x": 2.6828393936157227, + "y": 0.9003620743751526, + "z": 0.7874829769134521 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 686.2101833868161, + "ymin": 587.2934117811524, + "xmax": 796.4641999087306, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -94.27580261230469, + -90.63561248779297, + 0.0004673469811677933 + ], + [ + -94.2730941772461, + -92.43634033203125, + 0.0004673469811677933 + ], + [ + -99.63876342773438, + -92.44441986083984, + 0.0004673469811677933 + ], + [ + -99.6414794921875, + -90.6436996459961, + 0.0004673469811677933 + ], + [ + -94.27580261230469, + -90.63561248779297, + 1.5754332542419434 + ], + [ + -94.2730941772461, + -92.43634033203125, + 1.5754332542419434 + ], + [ + -99.63876342773438, + -92.44441986083984, + 1.5754332542419434 + ], + [ + -99.6414794921875, + -90.6436996459961, + 1.5754332542419434 + ] + ], + "corners_2d": [ + [ + 787.7560582625367, + 629.2385134189697 + ], + [ + 707.4756230638465, + 620.1766491729327 + ], + [ + 686.2101833868161, + 883.5308417315679 + ], + [ + 781.749127452306, + 896.3938756036764 + ], + [ + 796.4641999087306, + 596.6609116529121 + ], + [ + 711.4249269991553, + 587.2934117811524 + ], + [ + 689.466819092334, + 862.4962991881558 + ], + [ + 791.8224951625122, + 876.0972412790927 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 12315, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 944.9379168502225, + "ymin": 110.73296797118383, + "xmax": 1070.6380305428231, + "ymax": 303.06084963481493 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 962.9766644826188, + 296.0178683527201 + ], + [ + 1046.2034903583487, + 303.06084963481493 + ], + [ + 1017.5703587630601, + 168.93279114960797 + ], + [ + 944.9379168502225, + 163.5487465868502 + ], + [ + 982.2685699937806, + 243.09667128258627 + ], + [ + 1070.6380305428231, + 250.1895421678735 + ], + [ + 1037.2706732225793, + 116.07437454628541 + ], + [ + 960.7516441993079, + 110.73296797118383 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 552.0753414131714, + "ymin": 0.0, + "xmax": 689.460326798438, + "ymax": 149.83257682650458 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 569.966482982313, + 133.88559604635157 + ], + [ + 567.8359933434492, + 141.61222590022598 + ], + [ + 679.404793382128, + 149.83257682650458 + ], + [ + 680.5910084632832, + 141.96520801438015 + ], + [ + 554.8303326133598, + -92.64078699633797 + ], + [ + 552.0753414131714, + -85.60925653204595 + ], + [ + 688.1064861679499, + -78.09950306981284 + ], + [ + 689.460326798438, + -85.28740129456332 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1197.0169737639108, + "ymin": 145.45406514610278, + "xmax": 1280.0, + "ymax": 205.57038235835077 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1215.4101255856292, + 199.26458444199017 + ], + [ + 1300.1087324121827, + 205.57038235835077 + ], + [ + 1277.66806093555, + 160.68704799543866 + ], + [ + 1197.0169737639108, + 154.95145647106926 + ], + [ + 1220.9909630104657, + 189.73313116550824 + ], + [ + 1306.553498728717, + 196.0373012120546 + ], + [ + 1283.6020013171858, + 151.18301416417506 + ], + [ + 1202.1678507054535, + 145.45406514610278 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1147.477417090181, + "ymin": 111.58504741075436, + "xmax": 1280.0, + "ymax": 293.8421376431486 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1163.0031591599966, + 287.2076082767145 + ], + [ + 1244.3112379215736, + 293.8421376431486 + ], + [ + 1225.0237206516217, + 246.24881795231977 + ], + [ + 1147.477417090181, + 240.1976613940269 + ], + [ + 1238.259810462589, + 158.45276691022804 + ], + [ + 1331.8976292821226, + 165.11596972441234 + ], + [ + 1305.4636439080919, + 117.58417076853954 + ], + [ + 1216.7784725048664, + 111.58504741075436 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 551.4908681401399, + "ymin": 462.9748404186389, + "xmax": 581.0817271418863, + "ymax": 485.2305542716922 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 555.3170539419339, + 466.91219049486375 + ], + [ + 551.981722354947, + 482.5791484817557 + ], + [ + 578.0686736269952, + 485.2305542716922 + ], + [ + 581.0817271418863, + 469.4971501871273 + ], + [ + 554.8507815212386, + 462.9748404186389 + ], + [ + 551.4908681401399, + 478.67865874139164 + ], + [ + 577.7225589284021, + 481.33652090100304 + ], + [ + 580.7566308703585, + 465.5657298837034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1197.1061260612041, + "ymin": 145.48304508935212, + "xmax": 1280.0, + "ymax": 205.47476564240424 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1215.4812914143306, + 199.17645295977582 + ], + [ + 1300.090084698762, + 205.47476564240424 + ], + [ + 1277.6763104125534, + 160.64738429822341 + ], + [ + 1197.1061260612041, + 154.9179652901842 + ], + [ + 1221.0255991199194, + 189.7077103019808 + ], + [ + 1306.491644975977, + 196.00439995586424 + ], + [ + 1283.571062414734, + 151.20587161079175 + ], + [ + 1202.2237741164183, + 145.48304508935212 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 340.08865523312517, + "ymin": 432.8254504792988, + "xmax": 602.2699109764658, + "ymax": 681.0349320056202 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 430.0078700204682, + 641.4723861865428 + ], + [ + 424.75004526035593, + 660.540897488756 + ], + [ + 599.311911008601, + 681.0349320056202 + ], + [ + 602.2699109764658, + 661.4165027147193 + ], + [ + 348.94985359203224, + 432.8254504792988 + ], + [ + 340.08865523312517, + 455.4417790565109 + ], + [ + 582.9853526548208, + 480.01641688920995 + ], + [ + 587.4173014678186, + 456.4860276486048 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 551.6512658566032, + "ymin": 463.09230490574845, + "xmax": 580.9273853424986, + "ymax": 485.1114051480346 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 555.4343164437772, + 466.98755631199066 + ], + [ + 552.1360058958866, + 482.48851966394665 + ], + [ + 577.9445543275427, + 485.1114051480346 + ], + [ + 580.9273853424986, + 469.54539850973026 + ], + [ + 554.973619670365, + 463.09230490574845 + ], + [ + 551.6512658566032, + 478.629351491329 + ], + [ + 577.6014723747403, + 481.2585539134152 + ], + [ + 580.6048957665304, + 465.6559540676496 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1167.0209005875204, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 248.84964364140808 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1387.7484947002754, + 43.08430918167164 + ], + [ + 1167.0209005875204, + 73.09598788719376 + ], + [ + 1346.9334850399273, + 248.84964364140808 + ], + [ + 1604.3749823682635, + 205.1917624010863 + ], + [ + 1703.8801161522545, + -438.4248182058832 + ], + [ + 1401.8531482000453, + -421.0148980743604 + ], + [ + 1767.799750987527, + -306.69359810990363 + ], + [ + 2139.908631141918, + -337.2470921944365 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00096/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00096/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..495d4b6ea98d25a942d2bb8f0b90a87113ccc5e2 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00096/meta.json @@ -0,0 +1,2887 @@ +{ + "frame_id": 96, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 48.0, + "sim_timestamp": 10908.897591050714 + }, + "drone_pose": { + "x": -103.5138274167881, + "y": -92.34970481801923, + "z": 20.039260416585535, + "pitch": -42.994147054272034, + "yaw": -9.211283993051838, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7219914197921753, + 0.11708302795886993, + 0.6819236874580383, + 50.258262634277344 + ], + [ + -0.1600755900144577, + 0.9871047735214233, + -3.725290298461914e-09, + 107.72887420654297 + ], + [ + -0.6731300950050354, + -0.10915933549404144, + 0.7314233183860779, + -74.25462341308594 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -102.95819408704413, + "y": -91.80403696505823, + "z": 20.204836886940218 + }, + "t1_image_uv": [ + 3325.2472701631477, + -1503.6405297462186 + ], + "t1_depth": 0.2243635770248933 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -83.66718292236328, + "y": -95.18776321411131, + "z": 0.5750481200189097 + }, + "image_uv": [ + 652.9045558756835, + 379.4995254782732 + ], + "depth": 27.934503432903647, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 182, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -83.66718292236328, + "y": -95.18775939941406, + "z": 0.5750481486320496 + }, + "extent": { + "x": 0.24532225728034973, + "y": 0.25575193762779236, + "z": 0.5296061038970947 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 640.9124792244219, + "ymin": 357.9555883101322, + "xmax": 665.2523570454771, + "ymax": 400.8829430670858 + }, + "corners_3d": [ + [ + -83.65980529785156, + -95.54207611083984, + 0.045442044734954834 + ], + [ + -84.02149963378906, + -95.18038177490234, + 0.045442044734954834 + ], + [ + -83.674560546875, + -94.83344268798828, + 0.045442044734954834 + ], + [ + -83.3128662109375, + -95.19513702392578, + 0.045442044734954834 + ], + [ + -83.65980529785156, + -95.54207611083984, + 1.104654312133789 + ], + [ + -84.02149963378906, + -95.18038177490234, + 1.104654312133789 + ], + [ + -83.674560546875, + -94.83344268798828, + 1.104654312133789 + ], + [ + -83.3128662109375, + -95.19513702392578, + 1.104654312133789 + ] + ], + "corners_2d": [ + [ + 640.9124792244219, + 390.86126125697075 + ], + [ + 651.164045337814, + 400.8829430670858 + ], + [ + 664.6066730657965, + 393.9298472638935 + ], + [ + 654.2875739810125, + 384.0557330452762 + ], + [ + 640.9363417001279, + 364.74077279041813 + ], + [ + 651.4592427290487, + 374.7372469889873 + ], + [ + 665.2523570454771, + 367.8010391967118 + ], + [ + 654.6583943473752, + 357.9555883101322 + ] + ], + "center_offset_px": [ + 12.904555875683513, + 19.4995254782732 + ] + }, + "trace_timestep_index": 96, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 58, + "semantic_pixel_counts": { + "1": 289765, + "2": 186979, + "3": 303551, + "4": 21043, + "5": 679, + "6": 6911, + "7": 160, + "10": 8867, + "12": 2263, + "14": 18803, + "16": 52637, + "20": 14524, + "24": 15418 + }, + "instance_pixel_counts": { + "913": 2683, + "1646": 11454, + "2158": 533, + "2670": 7502, + "3182": 98, + "3694": 4981, + "4206": 13935, + "5230": 1362, + "5742": 2578, + "8834": 3263, + "12951": 283, + "14416": 679, + "15963": 17650, + "16475": 41694, + "16987": 127259, + "17232": 21043, + "17499": 56977, + "22976": 3421, + "23296": 417, + "23552": 817, + "24512": 36581, + "26963": 1265, + "28819": 1427, + "33429": 157, + "35668": 6923, + "35924": 2544, + "36692": 2374, + "37979": 5778, + "40019": 1309, + "41611": 1169, + "42123": 788, + "43117": 2470, + "43147": 12404, + "43155": 43522, + "43659": 13617, + "43667": 4343, + "44179": 240473, + "45717": 3989, + "46229": 64, + "46741": 11208, + "48749": 5696, + "49261": 3584, + "49664": 182, + "49920": 392, + "50176": 568, + "50624": 4883, + "50688": 584, + "50944": 537, + "51136": 1784, + "51456": 6098, + "51712": 40, + "52160": 38710, + "52480": 40295, + "52672": 63681, + "52736": 12342, + "55040": 12665, + "55879": 6204, + "64351": 9658 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 182, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -83.66718292236328, + "y": -95.18775939941406, + "z": 0.5750481486320496 + }, + "extent": { + "x": 0.24395018815994263, + "y": 0.21495117247104645, + "z": 0.5279942154884338 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 641.7599518038334, + "ymin": 358.7927202735458, + "xmax": 664.3594655594321, + "ymax": 400.01720893287023 + }, + "corners_3d": [ + [ + -83.68769073486328, + -95.51225280761719, + 0.04705393314361572 + ], + [ + -83.9916763305664, + -95.20826721191406, + 0.04705393314361572 + ], + [ + -83.64667510986328, + -94.86326599121094, + 0.04705393314361572 + ], + [ + -83.34268951416016, + -95.16725158691406, + 0.04705393314361572 + ], + [ + -83.68769073486328, + -95.51225280761719, + 1.1030423641204834 + ], + [ + -83.9916763305664, + -95.20826721191406, + 1.1030423641204834 + ], + [ + -83.64667510986328, + -94.86326599121094, + 1.1030423641204834 + ], + [ + -83.34268951416016, + -95.16725158691406, + 1.1030423641204834 + ] + ], + "corners_2d": [ + [ + 641.7599518038334, + 391.59494190432923 + ], + [ + 650.3762959545988, + 400.01720893287023 + ], + [ + 663.7390026358438, + 393.11485014657745 + ], + [ + 655.0662126291843, + 384.8159156988958 + ], + [ + 641.8058741196187, + 365.55184302082466 + ], + [ + 650.6495697033586, + 373.9529774352731 + ], + [ + 664.3594655594321, + 367.0676429195183 + ], + [ + 655.4563839156061, + 358.7927202735458 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 392, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -77.82195281982422, + "y": -94.33769989013672, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.3620019555091858, + "y": 0.41071775555610657, + "z": 0.8710839152336121 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 687.121272355944, + "ymin": 230.95667025812344, + "xmax": 722.3322318385468, + "ymax": 292.5430588102888 + }, + "corners_3d": [ + [ + -77.90186309814453, + -94.87931823730469, + -0.2960846424102783 + ], + [ + -78.3492431640625, + -94.1904067993164, + -0.2960846424102783 + ], + [ + -77.7420425415039, + -93.79608154296875, + -0.2960846424102783 + ], + [ + -77.29466247558594, + -94.48499298095703, + -0.2960846424102783 + ], + [ + -77.90186309814453, + -94.87931823730469, + 1.4460831880569458 + ], + [ + -78.3492431640625, + -94.1904067993164, + 1.4460831880569458 + ], + [ + -77.7420425415039, + -93.79608154296875, + 1.4460831880569458 + ], + [ + -77.29466247558594, + -94.48499298095703, + 1.4460831880569458 + ] + ], + "corners_2d": [ + [ + 687.121272355944, + 282.312992513146 + ], + [ + 705.8212348420165, + 292.5430588102888 + ], + [ + 719.3358386278369, + 282.5994216486534 + ], + [ + 700.6927410879147, + 272.6122317808237 + ], + [ + 688.9003237038129, + 240.50445774424463 + ], + [ + 708.3385915893941, + 250.58247818501695 + ], + [ + 722.3322318385468, + 240.78650017692763 + ], + [ + 702.9559692993778, + 230.95667025812344 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 568, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -85.92300415039062, + "y": -88.24504852294922, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.41291990876197815, + "y": 0.30506348609924316, + "z": 0.8881992697715759 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 874.1242920850691, + "ymin": 430.3749262994555, + "xmax": 924.2288934045855, + "ymax": 503.1234636619544 + }, + "corners_3d": [ + [ + -86.05191802978516, + -88.74198913574219, + -0.3131999969482422 + ], + [ + -86.43588256835938, + -88.26782989501953, + -0.3131999969482422 + ], + [ + -85.7940902709961, + -87.74810791015625, + -0.3131999969482422 + ], + [ + -85.41012573242188, + -88.2222671508789, + -0.3131999969482422 + ], + [ + -86.05191802978516, + -88.74198913574219, + 1.4631985425949097 + ], + [ + -86.43588256835938, + -88.26782989501953, + 1.4631985425949097 + ], + [ + -85.7940902709961, + -87.74810791015625, + 1.4631985425949097 + ], + [ + -85.41012573242188, + -88.2222671508789, + 1.4631985425949097 + ] + ], + "corners_2d": [ + [ + 874.1242920850691, + 489.87018186554786 + ], + [ + 892.3209787148884, + 503.1234636619544 + ], + [ + 911.0540367270546, + 487.13345093026146 + ], + [ + 892.8985854403383, + 474.2827613714778 + ], + [ + 885.5360943934882, + 446.01097039257627 + ], + [ + 904.786628658122, + 459.3238412237582 + ], + [ + 924.2288934045855, + 443.2640248949366 + ], + [ + 905.0290249530051, + 430.3749262994555 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 584, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -85.5628662109375, + "y": -101.02207946777344, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.552563488483429, + "y": 0.4994140565395355, + "z": 0.8698502779006958 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 409.08355659607525, + "ymin": 359.1542473106833, + "xmax": 467.63733501462235, + "ymax": 438.0870186335901 + }, + "corners_3d": [ + [ + -85.5224838256836, + -101.76579284667969, + -0.14244383573532104 + ], + [ + -86.29872131347656, + -101.13721466064453, + -0.14244383573532104 + ], + [ + -85.6032485961914, + -100.27836608886719, + -0.14244383573532104 + ], + [ + -84.82701110839844, + -100.90694427490234, + -0.14244383573532104 + ], + [ + -85.5224838256836, + -101.76579284667969, + 1.5972566604614258 + ], + [ + -86.29872131347656, + -101.13721466064453, + 1.5972566604614258 + ], + [ + -85.6032485961914, + -100.27836608886719, + 1.5972566604614258 + ], + [ + -84.82701110839844, + -100.90694427490234, + 1.5972566604614258 + ] + ], + "corners_2d": [ + [ + 418.91847201411025, + 415.93655764378565 + ], + [ + 431.26928874147825, + 438.0870186335901 + ], + [ + 467.63733501462235, + 423.93981025189703 + ], + [ + 454.64598810715347, + 402.4215944267189 + ], + [ + 409.08355659607525, + 372.61890940419244 + ], + [ + 421.7576668741949, + 394.72378539144205 + ], + [ + 459.9022750952107, + 380.6004039638515 + ], + [ + 446.5227479091166, + 359.1542473106833 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 537, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -80.73615264892578, + "y": -97.31727600097656, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.43309324979782104, + "y": 0.47602537274360657, + "z": 0.8997923135757446 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 580.6959128464047, + "ymin": 273.5897788176749, + "xmax": 619.0939256997884, + "ymax": 342.2385345568429 + }, + "corners_3d": [ + [ + -80.57280731201172, + -97.93975830078125, + -0.3247881531715393 + ], + [ + -81.37126159667969, + -97.42123413085938, + -0.3247881531715393 + ], + [ + -80.89949798583984, + -96.69479370117188, + -0.3247881531715393 + ], + [ + -80.10104370117188, + -97.21331787109375, + -0.3247881531715393 + ], + [ + -80.57280731201172, + -97.93975830078125, + 1.4747965335845947 + ], + [ + -81.37126159667969, + -97.42123413085938, + 1.4747965335845947 + ], + [ + -80.89949798583984, + -96.69479370117188, + 1.4747965335845947 + ], + [ + -80.10104370117188, + -97.21331787109375, + 1.4747965335845947 + ] + ], + "corners_2d": [ + [ + 583.0356666853619, + 324.26729938001733 + ], + [ + 593.9446449828495, + 342.2385345568429 + ], + [ + 619.0939256997884, + 334.94131725866055 + ], + [ + 607.7628505013795, + 317.2647996380997 + ], + [ + 580.6959128464047, + 280.506324681303 + ], + [ + 592.0117440139919, + 298.2781752988554 + ], + [ + 618.2241189804128, + 291.05823436681726 + ], + [ + 606.4499710880684, + 273.5897788176749 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 6098, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 747.3246372606951, + "ymin": 250.79698592355157, + "xmax": 822.9707270225759, + "ymax": 376.6432176086096 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 817.5497007592177, + 290.34757299371176 + ], + [ + 757.4301348893451, + 284.2922127668878 + ], + [ + 747.3246372606951, + 369.2611173869096 + ], + [ + 813.6473759386455, + 376.6432176086096 + ], + [ + 822.9707270225759, + 256.7821200672412 + ], + [ + 760.988462453589, + 250.79698592355157 + ], + [ + 750.9253309575827, + 335.0263572149964 + ], + [ + 819.5223352275652, + 342.3692864455621 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 40, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 1058.8163089280097, + "ymin": 0.0, + "xmax": 1173.6284459748395, + "ymax": 6.6242211311225105 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 1058.8163089280097, + -14.149349268911465 + ], + [ + 1064.9220712832052, + 0.6924852226292728 + ], + [ + 1159.61481616135, + 6.6242211311225105 + ], + [ + 1150.791817703916, + -8.536774070423007 + ], + [ + 1069.6865809791768, + -50.337454617912385 + ], + [ + 1076.272753381313, + -36.161883084863405 + ], + [ + 1173.6284459748395, + -30.472089133138695 + ], + [ + 1164.1726126376727, + -44.96110463577054 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 40295, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 368.89460428809633, + "ymin": 438.82974162423744, + "xmax": 715.3491859876731, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 706.1373990596537, + 574.2101525829415 + ], + [ + 550.3799080072673, + 552.8362317632241 + ], + [ + 415.7696305512283, + 1033.7561918744707 + ], + [ + 638.5047886936696, + 1078.5951181272417 + ], + [ + 715.3491859876731, + 460.6287440742776 + ], + [ + 538.1706837824279, + 438.82974162423744 + ], + [ + 368.89460428809633, + 959.3498385706267 + ], + [ + 638.1813505488777, + 1011.3014334968922 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 12342, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 977.7993190237081, + "ymin": 592.9261524367538, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 1043.5770462958203, + 1363.2561773080529 + ], + [ + 1336.666515829113, + 1429.3270319161466 + ], + [ + 1164.9621727524268, + 729.2537637468586 + ], + [ + 977.7993190237081, + 701.5523667684312 + ], + [ + 1150.39764282244, + 1356.2609230285973 + ], + [ + 1529.2556064273854, + 1440.2858711001259 + ], + [ + 1249.987948167618, + 622.2866980724212 + ], + [ + 1031.123153289005, + 592.9261524367538 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 12665, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 963.5728237775409, + "ymin": 233.1227847681006, + "xmax": 1091.6335598214846, + "ymax": 429.2354612971288 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 981.4306509832168, + 419.35691772927817 + ], + [ + 1067.9469098624782, + 429.2354612971288 + ], + [ + 1037.6142798535884, + 291.96445607641823 + ], + [ + 963.5728237775409, + 284.6876817753281 + ], + [ + 1000.1244657509483, + 366.23008176359997 + ], + [ + 1091.6335598214846, + 376.0750636169924 + ], + [ + 1056.3414953201498, + 240.26297819076004 + ], + [ + 978.6724097029542, + 233.1227847681006 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 574.1757779596742, + "ymin": 0.0, + "xmax": 584.7815967998775, + "ymax": 2.9846454151829676 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 583.5105474181958, + 2.9846454151829676 + ], + [ + 584.7815967998775, + 0.4456326166212534 + ], + [ + 576.4036306598841, + -0.1124671623686595 + ], + [ + 575.0942289988401, + 2.4212433092782817 + ], + [ + 582.7103419217864, + -16.65875801627834 + ], + [ + 584.0031398596067, + -19.139556911021884 + ], + [ + 575.508010595889, + -19.684816243078274 + ], + [ + 574.1757779596742, + -17.209271201574666 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1117.9660002587818, + "ymin": 1.5742141889534196, + "xmax": 1135.8363885874955, + "ymax": 24.98991087797515 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1127.2729769049208, + 22.239486313921645 + ], + [ + 1117.9660002587818, + 21.635058477584153 + ], + [ + 1119.273084004342, + 24.37950524534449 + ], + [ + 1128.6274217248183, + 24.98991087797515 + ], + [ + 1134.4261354824325, + 2.16541320244869 + ], + [ + 1124.9748107065857, + 1.5742141889534196 + ], + [ + 1126.3362208971023, + 4.258745900631595 + ], + [ + 1135.8363885874955, + 4.855878308018873 + ] + ], + "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": 1064.7121255947548, + "ymin": 0.0, + "xmax": 1190.5803693265432, + "ymax": 84.8520655396211 + }, + "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": [ + [ + 1105.5985374766874, + 84.07214678540186 + ], + [ + 1115.837514796138, + 84.8520655396211 + ], + [ + 1073.167744184731, + -20.526979172679262 + ], + [ + 1064.7121255947548, + -21.064382449312006 + ], + [ + 1178.6266418810956, + -120.71032438497832 + ], + [ + 1190.5803693265432, + -120.10639653631523 + ], + [ + 1128.1726499407046, + -199.59979450166816 + ], + [ + 1118.579835968223, + -199.9945923764892 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 575.4920415308574, + "ymin": 31.04833568013123, + "xmax": 708.8525465926153, + "ymax": 264.3291639805132 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 588.3300976660132, + 246.00779488647225 + ], + [ + 585.7960751427458, + 253.49004727479982 + ], + [ + 696.3049650395799, + 264.3291639805132 + ], + [ + 697.810594467806, + 256.6407965579927 + ], + [ + 578.6184973129232, + 31.04833568013123 + ], + [ + 575.4920415308574, + 37.5021972349096 + ], + [ + 707.1839600719982, + 46.8929458346214 + ], + [ + 708.8525465926153, + 40.22686676076023 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 506.04664132956833, + "ymin": 0.0, + "xmax": 549.9712284786524, + "ymax": 50.16092775090914 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 521.9342869955885, + 49.48587223108814 + ], + [ + 531.1451618829667, + 50.16092775090914 + ], + [ + 549.9712284786524, + 15.91518079120533 + ], + [ + 541.2783458310158, + 15.316782249839832 + ], + [ + 506.04664132956833, + -130.85950970745847 + ], + [ + 516.477791424419, + -130.32983957975847 + ], + [ + 538.6397745281702, + -156.99407049150943 + ], + [ + 528.8679562299424, + -157.45628386828957 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 689.3681733451137, + "ymin": 45.49651492543404, + "xmax": 704.7392595691636, + "ymax": 54.529500367411174 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 690.6071073371792, + 49.052553163309085 + ], + [ + 689.3681733451137, + 53.51291283318261 + ], + [ + 703.4334191673187, + 54.529500367411174 + ], + [ + 704.567698850479, + 50.05377729113786 + ], + [ + 690.7413431096526, + 45.49651492543404 + ], + [ + 689.5001255044658, + 49.94156803120387 + ], + [ + 703.6032588133112, + 50.95469215285749 + ], + [ + 704.7392595691636, + 46.49428748978329 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1220.1384067601657, + "ymin": 273.9388378786848, + "xmax": 1280.0, + "ymax": 337.4107184891688 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1240.4775421359486, + 328.5886873504193 + ], + [ + 1329.2880646069884, + 337.4107184891688 + ], + [ + 1304.0471778798442, + 291.1906622331138 + ], + [ + 1220.1384067601657, + 283.27438230138284 + ], + [ + 1245.8272521745118, + 319.13528356998506 + ], + [ + 1335.4922924192938, + 327.93928176826546 + ], + [ + 1309.7048663034816, + 281.83148125470865 + ], + [ + 1225.0334327395076, + 273.9388378786848 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1172.4342014748156, + "ymin": 240.66669354374582, + "xmax": 1280.0, + "ymax": 425.937313276002 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1189.7356242547366, + 416.50064481314695 + ], + [ + 1275.4543356467516, + 425.937313276002 + ], + [ + 1253.5466359106706, + 376.12149738496225 + ], + [ + 1172.4342014748156, + 367.6335271657506 + ], + [ + 1262.2124113348186, + 288.19667540352776 + ], + [ + 1360.173846455134, + 297.4493743738213 + ], + [ + 1330.5726598420931, + 248.87647856095967 + ], + [ + 1238.577148237578, + 240.66669354374582 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 534.8923598594906, + "ymin": 586.1684779865034, + "xmax": 566.8525713879606, + "ymax": 611.0403151450616 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 540.1260958944582, + 590.3078379868083 + ], + [ + 535.4419383597208, + 607.1640568640727 + ], + [ + 562.5542061860566, + 611.0403151450616 + ], + [ + 566.8525713879606, + 594.0703424267855 + ], + [ + 539.6089255859218, + 586.1684779865034 + ], + [ + 534.8923598594906, + 603.0509680771561 + ], + [ + 562.1457465368796, + 606.933638097367 + ], + [ + 566.4725239971153, + 589.9366194171621 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 689.2850360622194, + "ymin": 45.44809461024062, + "xmax": 704.8213493527228, + "ymax": 54.57815785369917 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 690.5378367469698, + 49.04226211364164 + ], + [ + 689.2850360622194, + 53.55053972709345 + ], + [ + 703.5018442751617, + 54.57815785369917 + ], + [ + 704.647732292739, + 50.05418478880631 + ], + [ + 690.6733250981295, + 45.44809461024062 + ], + [ + 689.4181883662075, + 49.94073494817553 + ], + [ + 703.6737061628029, + 50.964814731529145 + ], + [ + 704.8213493527228, + 46.45649117744091 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1220.2285905212386, + "ymin": 273.9693598743304, + "xmax": 1280.0, + "ymax": 337.3129850411698 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1240.5479272875755, + 328.50153751457094 + ], + [ + 1329.2634811971975, + 337.3129850411698 + ], + [ + 1304.0532284658211, + 291.15129876194266 + ], + [ + 1220.2285905212386, + 283.2435077046407 + ], + [ + 1245.86257358559, + 319.11042386407047 + ], + [ + 1335.4260295630997, + 327.90396722993523 + ], + [ + 1309.6735435008382, + 281.8536939358123 + ], + [ + 1225.0920438585258, + 273.9693598743304 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 317.3559982717415, + "ymin": 546.5577889957806, + "xmax": 591.5472715229286, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 411.0938098105978, + 769.33646538092 + ], + [ + 403.9806627369674, + 790.3395784912058 + ], + [ + 587.2416803544852, + 821.251464545428 + ], + [ + 591.5472715229286, + 799.2653328628459 + ], + [ + 328.889323957015, + 546.5577889957806 + ], + [ + 317.3559982717415, + 570.365733974853 + ], + [ + 567.2554269719394, + 605.9138025951104 + ], + [ + 573.5998537490225, + 580.5675289366634 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 535.0656871766284, + "ymin": 586.2992632525884, + "xmax": 566.6859621513004, + "ymax": 610.9066606803647 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 540.2410141865289, + 590.3944340874966 + ], + [ + 535.6085050593344, + 607.0722046657439 + ], + [ + 562.4311054935845, + 610.9066606803647 + ], + [ + 566.6859621513004, + 594.1175385512317 + ], + [ + 539.72989821021, + 586.2992632525884 + ], + [ + 535.0656871766284, + 603.002753159717 + ], + [ + 562.0263992953434, + 606.8434810679366 + ], + [ + 566.3090880600981, + 590.0278893190776 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 564.2382195410107, + "ymin": 0.0, + "xmax": 871.2613481490359, + "ymax": 83.1971734172937 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 576.1942880266474, + 58.092398476187725 + ], + [ + 574.148848756454, + 62.29561578367321 + ], + [ + 839.9507740253874, + 83.1971734172937 + ], + [ + 840.1319226426649, + 78.6957614009595 + ], + [ + 566.6691578475895, + -140.69217470766557 + ], + [ + 564.2382195410107, + -137.47708435079778 + ], + [ + 871.2613481490359, + -121.3875735004645 + ], + [ + 871.2072486106044, + -124.86702856753243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1188.6544805579447, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 382.5142095223723 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1413.631009132247, + 176.66255490206967 + ], + [ + 1188.6544805579447, + 200.96570266401525 + ], + [ + 1381.7123620989116, + 382.5142095223723 + ], + [ + 1652.0346522650575, + 345.0477548744222 + ], + [ + 1697.3342706942885, + -268.17273570264547 + ], + [ + 1399.3644700211653, + -255.56022195806713 + ], + [ + 1773.9929150990674, + -150.1632362624067 + ], + [ + 2154.5756129170386, + -173.682425239984 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00097/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00097/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..4c1d620a1400aa0a6b66ff3d72af4df8045c2cad --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00097/meta.json @@ -0,0 +1,2677 @@ +{ + "frame_id": 97, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 48.5, + "sim_timestamp": 10924.579741317779 + }, + "drone_pose": { + "x": -102.95819408704413, + "y": -91.80403696505823, + "z": 20.204836886940218, + "pitch": -44.464844468893666, + "yaw": -8.290163192243048, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7062227725982666, + 0.10290294885635376, + 0.7004715800285339, + 49.11160659790039 + ], + [ + -0.14418631792068481, + 0.9895505309104919, + 0.0, + 105.68989562988281 + ], + [ + -0.6931520104408264, + -0.1009984016418457, + 0.7136803865432739, + -76.51339721679688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -102.45819408704413, + "y": -91.30403696505823, + "z": 20.201395200682846 + }, + "t1_image_uv": [ + 2429.694387637681, + -567.0069654458069 + ], + "t1_depth": 0.30407074061841727 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -83.16718292236328, + "y": -94.68776321411131, + "z": 0.5749992918968201 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 28.0237492853433, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 182, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -83.16718292236328, + "y": -94.68775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.22603027522563934, + "y": 0.24754394590854645, + "z": 0.5284669399261475 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 628.5913373445492, + "ymin": 338.97664440746667, + "xmax": 651.4462836801307, + "ymax": 380.8260819613718 + }, + "corners_3d": [ + [ + -83.15196990966797, + -95.02262878417969, + 0.04653233289718628 + ], + [ + -83.5020523071289, + -94.67254638671875, + 0.04653233289718628 + ], + [ + -83.1823959350586, + -94.35289001464844, + 0.04653233289718628 + ], + [ + -82.83231353759766, + -94.70297241210938, + 0.04653233289718628 + ], + [ + -83.15196990966797, + -95.02262878417969, + 1.103466272354126 + ], + [ + -83.5020523071289, + -94.67254638671875, + 1.103466272354126 + ], + [ + -83.1823959350586, + -94.35289001464844, + 1.103466272354126 + ], + [ + -82.83231353759766, + -94.70297241210938, + 1.103466272354126 + ] + ], + "corners_2d": [ + [ + 628.8883375692415, + 371.2337852899364 + ], + [ + 638.8671373126585, + 380.8260819613718 + ], + [ + 651.1473537987622, + 374.27444108039225 + ], + [ + 641.1142776643561, + 364.811571179554 + ], + [ + 628.5913373445492, + 345.3906380747976 + ], + [ + 638.8365445162698, + 354.9749585826616 + ], + [ + 651.4462836801307, + 348.4282074660511 + ], + [ + 641.1438549169573, + 338.97664440746667 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 97, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 55, + "semantic_pixel_counts": { + "1": 285816, + "2": 199482, + "3": 276494, + "4": 24510, + "5": 696, + "6": 7140, + "7": 9, + "9": 78, + "10": 15360, + "12": 2290, + "14": 18942, + "16": 55512, + "20": 19665, + "24": 15606 + }, + "instance_pixel_counts": { + "913": 2609, + "1646": 11402, + "2158": 186, + "2670": 8439, + "3694": 5501, + "4206": 11630, + "5230": 1484, + "5742": 2805, + "8834": 3348, + "12951": 180, + "14416": 696, + "15963": 18289, + "16475": 45917, + "16987": 120773, + "17232": 24510, + "17499": 32330, + "22976": 3601, + "23296": 250, + "23552": 491, + "24512": 37670, + "26963": 1331, + "28819": 186, + "35668": 7195, + "35924": 7531, + "36692": 2330, + "37979": 5602, + "40019": 1729, + "41611": 1199, + "42123": 842, + "43117": 2647, + "43147": 11594, + "43155": 34231, + "43659": 13834, + "43667": 1886, + "44179": 249513, + "45717": 3787, + "46741": 11819, + "48749": 6165, + "49261": 3324, + "49664": 182, + "49920": 369, + "50176": 575, + "50624": 5028, + "50688": 683, + "50944": 481, + "51136": 1859, + "51456": 6244, + "52160": 40264, + "52480": 41855, + "52672": 73282, + "52736": 13657, + "55040": 12698, + "55879": 8515, + "57173": 78, + "64351": 10129 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 182, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -83.16718292236328, + "y": -94.68775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.21171873807907104, + "y": 0.19643065333366394, + "z": 0.5240227580070496 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 630.0407992520607, + "ymin": 340.2572205790778, + "xmax": 649.9753658128068, + "ymax": 379.5125783679057 + }, + "corners_3d": [ + [ + -83.17799377441406, + -94.97636413574219, + 0.05097651481628418 + ], + [ + -83.4557876586914, + -94.69857025146484, + 0.05097651481628418 + ], + [ + -83.1563720703125, + -94.39915466308594, + 0.05097651481628418 + ], + [ + -82.87857818603516, + -94.67694854736328, + 0.05097651481628418 + ], + [ + -83.17799377441406, + -94.97636413574219, + 1.0990220308303833 + ], + [ + -83.4557876586914, + -94.69857025146484, + 1.0990220308303833 + ], + [ + -83.1563720703125, + -94.39915466308594, + 1.0990220308303833 + ], + [ + -82.87857818603516, + -94.67694854736328, + 1.0990220308303833 + ] + ], + "corners_2d": [ + [ + 630.2981230263877, + 371.9043531262482 + ], + [ + 638.218586038318, + 379.5125783679057 + ], + [ + 649.7172234591044, + 373.38848643691244 + ], + [ + 641.7564096345106, + 365.87646791990386 + ], + [ + 630.0407992520607, + 346.2777817553138 + ], + [ + 638.1709506001305, + 353.8796438681556 + ], + [ + 649.9753658128068, + 347.76042135880596 + ], + [ + 641.8026929836523, + 340.2572205790778 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 369, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -76.51597595214844, + "y": -92.11566925048828, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.31074950098991394, + "y": 0.4111572206020355, + "z": 0.8658496737480164 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 726.7528270844571, + "ymin": 201.37963721039202, + "xmax": 761.2176671207473, + "ymax": 260.8084155314481 + }, + "corners_3d": [ + [ + -76.55265808105469, + -92.6297378540039, + -0.2908552885055542 + ], + [ + -77.00052642822266, + -91.94009399414062, + -0.2908552885055542 + ], + [ + -76.47929382324219, + -91.60160064697266, + -0.2908552885055542 + ], + [ + -76.03142547607422, + -92.29124450683594, + -0.2908552885055542 + ], + [ + -76.55265808105469, + -92.6297378540039, + 1.4408440589904785 + ], + [ + -77.00052642822266, + -91.94009399414062, + 1.4408440589904785 + ], + [ + -76.47929382324219, + -91.60160064697266, + 1.4408440589904785 + ], + [ + -76.03142547607422, + -92.29124450683594, + 1.4408440589904785 + ] + ], + "corners_2d": [ + [ + 726.7528270844571, + 250.94202545621602 + ], + [ + 745.9177736887216, + 260.8084155314481 + ], + [ + 756.7668086370063, + 252.30359103794302 + ], + [ + 737.6672592171459, + 242.63412487458427 + ], + [ + 730.0540272883105, + 209.5723590147877 + ], + [ + 749.9978237175056, + 219.31004358520062 + ], + [ + 761.2176671207473, + 210.9156411756009 + ], + [ + 741.3453311385838, + 201.37963721039202 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 575, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -85.42300415039062, + "y": -87.74504852294922, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.4535546898841858, + "y": 0.33369627594947815, + "z": 0.903417706489563 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 858.4375947550678, + "ymin": 406.45270248704225, + "xmax": 911.4243934590462, + "ymax": 481.94250495382937 + }, + "corners_3d": [ + [ + -85.56548309326172, + -88.28981018066406, + -0.32841843366622925 + ], + [ + -85.98548126220703, + -87.77114868164062, + -0.32841843366622925 + ], + [ + -85.28052520751953, + -87.20028686523438, + -0.32841843366622925 + ], + [ + -84.86052703857422, + -87.71894836425781, + -0.32841843366622925 + ], + [ + -85.56548309326172, + -88.28981018066406, + 1.478416919708252 + ], + [ + -85.98548126220703, + -87.77114868164062, + 1.478416919708252 + ], + [ + -85.28052520751953, + -87.20028686523438, + 1.478416919708252 + ], + [ + -84.86052703857422, + -87.71894836425781, + 1.478416919708252 + ] + ], + "corners_2d": [ + [ + 858.4375947550678, + 467.78353198433274 + ], + [ + 878.1269161184728, + 481.94250495382937 + ], + [ + 898.4089372529209, + 464.2377306838304 + ], + [ + 878.7774782403383, + 450.5429354692164 + ], + [ + 869.4789511306308, + 423.7915364347405 + ], + [ + 890.3341361335191, + 438.05272629994784 + ], + [ + 911.4243934590462, + 420.22318053985083 + ], + [ + 890.6389363037517, + 406.45270248704225 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 683, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -85.2253189086914, + "y": -101.02207946777344, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.5126367211341858, + "y": 0.4834081828594208, + "z": 0.8727859854698181 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 378.39061369150977, + "ymin": 345.083779933371, + "xmax": 435.6985511716474, + "ymax": 422.56436204430696 + }, + "corners_3d": [ + [ + -85.17224884033203, + -101.72469329833984, + -0.14537954330444336 + ], + [ + -85.9236068725586, + -101.11625671386719, + -0.14537954330444336 + ], + [ + -85.27838897705078, + -100.31946563720703, + -0.14537954330444336 + ], + [ + -84.52703094482422, + -100.92790222167969, + -0.14537954330444336 + ], + [ + -85.17224884033203, + -101.72469329833984, + 1.6001924276351929 + ], + [ + -85.9236068725586, + -101.11625671386719, + 1.6001924276351929 + ], + [ + -85.27838897705078, + -100.31946563720703, + 1.6001924276351929 + ], + [ + -84.52703094482422, + -100.92790222167969, + 1.6001924276351929 + ] + ], + "corners_2d": [ + [ + 389.88187433218593, + 401.1506558346354 + ], + [ + 401.83400190372805, + 422.56436204430696 + ], + [ + 435.6985511716474, + 408.9687761702638 + ], + [ + 423.192599208659, + 388.12462318118975 + ], + [ + 378.39061369150977, + 358.1039482614688 + ], + [ + 390.6423941479699, + 379.5424879344753 + ], + [ + 426.23418130468895, + 365.9261617663892 + ], + [ + 413.369665232488, + 345.083779933371 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 481, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -79.54795837402344, + "y": -97.3172836303711, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.4351855516433716, + "y": 0.49159178137779236, + "z": 0.9145655632019043 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 555.3315962840994, + "ymin": 238.90639430107439, + "xmax": 594.6295794331347, + "ymax": 308.0049354081124 + }, + "corners_3d": [ + [ + -79.37269592285156, + -97.95000457763672, + -0.339561402797699 + ], + [ + -80.19725799560547, + -97.41452026367188, + -0.339561402797699 + ], + [ + -79.72322082519531, + -96.68456268310547, + -0.339561402797699 + ], + [ + -78.8986587524414, + -97.22004699707031, + -0.339561402797699 + ], + [ + -79.37269592285156, + -97.95000457763672, + 1.4895696640014648 + ], + [ + -80.19725799560547, + -97.41452026367188, + 1.4895696640014648 + ], + [ + -79.72322082519531, + -96.68456268310547, + 1.4895696640014648 + ], + [ + -78.8986587524414, + -97.22004699707031, + 1.4895696640014648 + ] + ], + "corners_2d": [ + [ + 558.7559132157202, + 290.09253594529594 + ], + [ + 569.7979451585155, + 308.0049354081124 + ], + [ + 594.6295794331347, + 300.6201184532746 + ], + [ + 583.1817431701566, + 283.0007243149835 + ], + [ + 555.3315962840994, + 245.9204664680163 + ], + [ + 566.775659074296, + 263.65793467161745 + ], + [ + 592.6932206131752, + 256.3415157173387 + ], + [ + 580.8072213886305, + 238.90639430107439 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 6244, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 716.159554109178, + "ymin": 237.6087330455655, + "xmax": 792.5224884261507, + "ymax": 365.03905912367253 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 787.8477089243827, + 276.70736534770646 + ], + [ + 727.4533131445548, + 271.1191831129951 + ], + [ + 716.159554109178, + 358.2469665695846 + ], + [ + 782.6832304718262, + 365.03905912367253 + ], + [ + 792.5224884261507, + 243.1472252009354 + ], + [ + 730.19993428586, + 237.6087330455655 + ], + [ + 718.8041726216624, + 324.2217542877802 + ], + [ + 787.6748983503978, + 330.9971382332193 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 41855, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 320.1990392232203, + "ymin": 436.33365881002425, + "xmax": 676.837328924438, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 672.196679515203, + 567.5981866932068 + ], + [ + 515.9363616771466, + 547.9993229542672 + ], + [ + 376.89288986065253, + 1035.8453989143695 + ], + [ + 598.8099915875292, + 1076.3182944888053 + ], + [ + 676.837328924438, + 456.541952275404 + ], + [ + 498.40239532758244, + 436.33365881002425 + ], + [ + 320.1990392232203, + 970.7155037268225 + ], + [ + 589.6631391738011, + 1018.1851515092208 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 13657, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 941.4924923386964, + "ymin": 587.6095960595652, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 994.806043847621, + 1349.5371941907383 + ], + [ + 1279.6751256999808, + 1407.5239389337355 + ], + [ + 1126.5200488001146, + 717.448596380402 + ], + [ + 941.4924923386964, + 692.4554680036279 + ], + [ + 1090.0999159295961, + 1352.6082337663606 + ], + [ + 1458.0745751896002, + 1426.8848370372361 + ], + [ + 1207.3318157970566, + 614.3569218346745 + ], + [ + 990.4514819769752, + 587.6095960595652 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 12698, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 934.4619019332035, + "ymin": 217.8304596094949, + "xmax": 1058.7293070892003, + "ymax": 415.6690236987729 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 949.9949725699295, + 406.650194960122 + ], + [ + 1036.137143154597, + 415.6690236987729 + ], + [ + 1008.4338054469491, + 276.09592897224235 + ], + [ + 934.4619019332035, + 269.4150892315892 + ], + [ + 967.5055397236799, + 354.0355862614866 + ], + [ + 1058.7293070892003, + 363.06154552766293 + ], + [ + 1026.3640828881548, + 224.41207594731242 + ], + [ + 948.675322145084, + 217.8304596094949 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1092.5206697448466, + "ymin": 0.0, + "xmax": 1110.2271813523091, + "ymax": 2.401309514573825 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1101.8462372586428, + -0.4327968967755851 + ], + [ + 1092.5206697448466, + -0.9925108072447415 + ], + [ + 1093.769050730577, + 1.836131927438032 + ], + [ + 1103.1412536764497, + 2.401309514573825 + ], + [ + 1108.8775759146083, + -20.811218636492583 + ], + [ + 1099.4033034495092, + -21.359542517251384 + ], + [ + 1100.7047723237124, + -18.58829737557062 + ], + [ + 1110.2271813523091, + -18.034538949276737 + ] + ], + "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": 1041.5095431451496, + "ymin": 0.0, + "xmax": 1164.379528046919, + "ymax": 63.005735842709555 + }, + "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": [ + [ + 1080.478553967909, + 62.28269192846409 + ], + [ + 1090.721398709107, + 63.005735842709555 + ], + [ + 1049.995795114156, + -45.357687300404564 + ], + [ + 1041.5095431451496, + -45.85835803149752 + ], + [ + 1152.3689398290962, + -145.94357078670424 + ], + [ + 1164.379528046919, + -145.37413708728087 + ], + [ + 1104.2565584067722, + -228.45133207985384 + ], + [ + 1094.5910904363222, + -228.82487353743932 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 537.4563117111579, + "ymin": 16.48146725589936, + "xmax": 673.0783520029725, + "ymax": 251.35299079887938 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 557.1021880799962, + 233.58647854383008 + ], + [ + 554.4608717010815, + 241.3127640985703 + ], + [ + 665.9644144538621, + 251.35299079887938 + ], + [ + 667.5788968904237, + 243.4380725452943 + ], + [ + 540.8076985295878, + 16.48146725589936 + ], + [ + 537.4563117111579, + 23.278829229839573 + ], + [ + 671.2015716471002, + 32.14990317804859 + ], + [ + 673.0783520029725, + 25.153062680174287 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 470.73060473074327, + "ymin": 0.0, + "xmax": 520.5017727453824, + "ymax": 31.68769008634166 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 491.6685556490204, + 31.05574160181004 + ], + [ + 501.0282986944721, + 31.68769008634166 + ], + [ + 520.5017727453824, + -4.002471609293082 + ], + [ + 511.66674856172915, + -4.563112914418696 + ], + [ + 470.73060473074327, + -153.44248276365795 + ], + [ + 481.3884662742937, + -152.93820478327666 + ], + [ + 504.72536606831596, + -181.1900313401269 + ], + [ + 494.74251732656217, + -181.63015430756786 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 653.4090594236728, + "ymin": 30.63298896514874, + "xmax": 669.0197484691533, + "ymax": 39.881661705094075 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 654.7846661997819, + 34.24384325461307 + ], + [ + 653.4090594236728, + 38.9235466371573 + ], + [ + 667.6693687200452, + 39.881661705094075 + ], + [ + 668.9394816142498, + 35.18756511897533 + ], + [ + 654.8256102553058, + 30.63298896514874 + ], + [ + 653.4464766061899, + 35.29826410271926 + ], + [ + 667.7466978738469, + 36.25344934604885 + ], + [ + 669.0197484691533, + 31.573785400262977 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1187.6516672381752, + "ymin": 258.6967936494164, + "xmax": 1280.0, + "ymax": 322.2536894150234 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1206.7527913389747, + 314.1927864976751 + ], + [ + 1294.8622216924646, + 322.2536894150234 + ], + [ + 1271.0201871322251, + 275.25760022662354 + ], + [ + 1187.6516672381752, + 268.0092585832152 + ], + [ + 1211.9553091177456, + 304.79378509001225 + ], + [ + 1300.9280990109946, + 312.8440515580433 + ], + [ + 1276.5588526115214, + 265.92866846263576 + ], + [ + 1192.4175933323863, + 258.6967936494164 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1141.3000446388528, + "ymin": 225.45228068604973, + "xmax": 1280.0, + "ymax": 409.97848379662344 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1157.4725471359243, + 401.41212854208595 + ], + [ + 1242.3760295432794, + 409.97848379662344 + ], + [ + 1221.7632446787356, + 359.6502998169681 + ], + [ + 1141.3000446388528, + 351.92754995020977 + ], + [ + 1227.8309936858445, + 274.0544472940831 + ], + [ + 1325.089637835526, + 282.53563896235465 + ], + [ + 1297.0700195794593, + 232.9937840427545 + ], + [ + 1205.5909049367149, + 225.45228068604973 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 482.62255249566005, + "ymin": 595.0761274903296, + "xmax": 515.5798897623583, + "ymax": 620.1532627077203 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 488.6203108258047, + 599.0502790916363 + ], + [ + 483.47676483920736, + 616.5412294337657 + ], + [ + 510.8212321543049, + 620.1532627077203 + ], + [ + 515.5798897623583, + 602.5575229076378 + ], + [ + 487.8062877619115, + 595.0761274903296 + ], + [ + 482.62255249566005, + 612.6033678244374 + ], + [ + 510.11411411800447, + 616.223243035679 + ], + [ + 514.908840918782, + 598.5904243663068 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 653.324620104736, + "ymin": 30.583398752599408, + "xmax": 669.1031110788778, + "ymax": 39.93146649973016 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 654.7155600248099, + 34.23297924179832 + ], + [ + 653.324620104736, + 38.96295757470148 + ], + [ + 667.738582391018, + 39.93146649973016 + ], + [ + 669.0217520728033, + 35.18678392331623 + ], + [ + 654.7567494273428, + 30.583398752599408 + ], + [ + 653.3622031850176, + 35.29863706837375 + ], + [ + 667.8169434491325, + 36.26415281351069 + ], + [ + 669.1031110788778, + 31.534214792842363 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1187.740024054144, + "ymin": 258.7275198601771, + "xmax": 1280.0, + "ymax": 322.1563385679171 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1206.8226808600623, + 314.1050767510806 + ], + [ + 1294.8380843059504, + 322.1563385679171 + ], + [ + 1271.0249838055263, + 275.219310889751 + ], + [ + 1187.740024054144, + 267.9787346102918 + ], + [ + 1211.991131149893, + 304.7679740888685 + ], + [ + 1300.8632127578287, + 312.80867179559164 + ], + [ + 1276.5270539149415, + 265.95175433764393 + ], + [ + 1192.4752323727143, + 258.7275198601771 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 261.8352282432748, + "ymin": 557.4159535615613, + "xmax": 554.6100094817965, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 373.72990210545726, + 769.9806248774034 + ], + [ + 366.4280006012842, + 791.3398897364702 + ], + [ + 550.0741303571101, + 819.4992302612391 + ], + [ + 554.6100094817965, + 797.2623129266078 + ], + [ + 274.10412823435087, + 557.4159535615613 + ], + [ + 261.8352282432748, + 582.3000265676393 + ], + [ + 514.7114310929844, + 615.5621013722375 + ], + [ + 521.7685822607473, + 589.2522772440558 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 482.80136224017895, + "ymin": 595.2080727693583, + "xmax": 515.4081557281229, + "ymax": 620.0185904662007 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 488.7325576024415, + 599.1397334010633 + ], + [ + 483.6454998971662, + 616.4454937128228 + ], + [ + 510.6978663008839, + 620.0185904662007 + ], + [ + 515.4081557281229, + 602.6102532853697 + ], + [ + 487.9277376611742, + 595.2080727693583 + ], + [ + 482.80136224017895, + 612.5493593174409 + ], + [ + 509.9976886928695, + 616.1301278294416 + ], + [ + 514.7433058017455, + 598.6855004385216 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 529.7037579333124, + "ymin": 0.0, + "xmax": 841.8712319838826, + "ymax": 63.4474923541099 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 546.8566417159564, + 39.499477703588695 + ], + [ + 544.7373317140066, + 43.87176481183593 + ], + [ + 813.4494943268787, + 63.4474923541099 + ], + [ + 813.6998370261423, + 58.7985388208337 + ], + [ + 532.2762371596657, + -163.78031382639278 + ], + [ + 529.7037579333124, + -160.3731800802799 + ], + [ + 841.8176678060884, + -145.0261288139036 + ], + [ + 841.8712319838826, + -148.68459702745395 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1160.7831529162306, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 364.95356710499055 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1385.3460660110045, + 154.93250416389222 + ], + [ + 1160.7831529162306, + 181.82521418799877 + ], + [ + 1348.4470294861526, + 364.95356710499055 + ], + [ + 1616.3841940708203, + 323.9704910596679 + ], + [ + 1669.792957684714, + -296.6015430912437 + ], + [ + 1369.6889595134062, + -282.00144721094796 + ], + [ + 1738.2193523345145, + -170.45224132399096 + ], + [ + 2118.3766378093346, + -197.42957026463296 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00098/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00098/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..28ebfb9952c5c59ac85d25673767b0bcec068853 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00098/meta.json @@ -0,0 +1,2784 @@ +{ + "frame_id": 98, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 49.0, + "sim_timestamp": 10938.476441441104 + }, + "drone_pose": { + "x": -102.45819408704413, + "y": -91.30403696505823, + "z": 20.201395200682846, + "pitch": -44.45982209790652, + "yaw": -8.290163192243048, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7062835693359375, + 0.10291179269552231, + 0.700408935546875, + 48.81903839111328 + ], + [ + -0.14418630301952362, + 0.9895505309104919, + -3.725290298461914e-09, + 105.12303161621094 + ], + [ + -0.6930900812149048, + -0.10098937153816223, + 0.7137417793273926, + -76.2105941772461 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -101.95819408704413, + "y": -90.80403696505823, + "z": 20.19725079205813 + }, + "t1_image_uv": [ + 2426.6511492983263, + -563.7658300899519 + ], + "t1_depth": 0.30458867034190545 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -82.66718292236328, + "y": -94.18776321411131, + "z": 0.5749992918968201 + }, + "image_uv": [ + 640.0, + 360.0000000000001 + ], + "depth": 28.02133858987491, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 200, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -82.66718292236328, + "y": -94.18775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.23979003727436066, + "y": 0.23459960520267487, + "z": 0.5349842309951782 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 628.4689341470267, + "ymin": 338.8617164878719, + "xmax": 651.5579935003783, + "ymax": 380.9308763722555 + }, + "corners_3d": [ + [ + -82.67085266113281, + -94.52320098876953, + 0.04001504182815552 + ], + [ + -83.00262451171875, + -94.1914291381836, + 0.04001504182815552 + ], + [ + -82.66351318359375, + -93.8523178100586, + 0.04001504182815552 + ], + [ + -82.33174133300781, + -94.18408966064453, + 0.04001504182815552 + ], + [ + -82.67085266113281, + -94.52320098876953, + 1.1099834442138672 + ], + [ + -83.00262451171875, + -94.1914291381836, + 1.1099834442138672 + ], + [ + -82.66351318359375, + -93.8523178100586, + 1.1099834442138672 + ], + [ + -82.33174133300781, + -94.18408966064453, + 1.1099834442138672 + ] + ], + "corners_2d": [ + [ + 628.7729149501346, + 371.8365124199875 + ], + [ + 638.2274563472099, + 380.9308763722555 + ], + [ + 651.2526168627833, + 373.9840994118048 + ], + [ + 641.7435101402834, + 365.019859535735 + ], + [ + 628.4689341470267, + 345.66956406649876 + ], + [ + 638.1789934819284, + 354.7562834604992 + ], + [ + 651.5579935003783, + 347.8149227090806 + ], + [ + 641.7903704295363, + 338.8617164878719 + ] + ], + "center_offset_px": [ + 0.0, + 1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 98, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 58, + "semantic_pixel_counts": { + "1": 292237, + "2": 203693, + "3": 262710, + "4": 25516, + "5": 673, + "6": 7518, + "7": 35, + "9": 247, + "10": 18700, + "12": 3132, + "14": 19336, + "16": 49312, + "20": 22541, + "24": 15950 + }, + "instance_pixel_counts": { + "913": 2592, + "1646": 5879, + "2158": 574, + "2670": 9251, + "3694": 5941, + "4206": 4261, + "5230": 1569, + "5742": 2984, + "8834": 3318, + "12951": 236, + "14416": 673, + "15963": 20758, + "16475": 52058, + "16987": 120850, + "17232": 25516, + "17499": 21102, + "22976": 3837, + "23296": 313, + "23552": 557, + "24512": 37798, + "26963": 1386, + "28819": 352, + "33429": 5, + "35668": 7405, + "35924": 10216, + "36692": 2328, + "37979": 6393, + "40019": 1979, + "41611": 1225, + "42123": 884, + "43117": 2760, + "43147": 10460, + "43155": 36844, + "43659": 14312, + "43667": 2737, + "44179": 252304, + "45717": 3952, + "46229": 16, + "46741": 11977, + "48749": 6641, + "49261": 1689, + "49664": 200, + "49920": 404, + "50176": 550, + "50432": 755, + "50624": 5122, + "50688": 685, + "50944": 538, + "51136": 1897, + "51456": 6426, + "52160": 40240, + "52480": 40335, + "52672": 77144, + "52736": 8977, + "55040": 12910, + "55879": 9430, + "57173": 247, + "64351": 10538 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 200, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -82.66718292236328, + "y": -94.18775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.18384765088558197, + "y": 0.22407715022563934, + "z": 0.5290340781211853 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 630.2503264181169, + "ymin": 339.99927737755144, + "xmax": 649.7851030160567, + "ymax": 379.7681532638603 + }, + "corners_3d": [ + [ + -82.63873291015625, + -94.47620391845703, + 0.04596519470214844 + ], + [ + -82.95562744140625, + -94.15930938720703, + 0.04596519470214844 + ], + [ + -82.69563293457031, + -93.8993148803711, + 0.04596519470214844 + ], + [ + -82.37873840332031, + -94.2162094116211, + 0.04596519470214844 + ], + [ + -82.63873291015625, + -94.47620391845703, + 1.104033350944519 + ], + [ + -82.95562744140625, + -94.15930938720703, + 1.104033350944519 + ], + [ + -82.69563293457031, + -93.8993148803711, + 1.104033350944519 + ], + [ + -82.37873840332031, + -94.2162094116211, + 1.104033350944519 + ] + ], + "corners_2d": [ + [ + 630.5043654855976, + 371.096260615911 + ], + [ + 639.5424581384694, + 379.7681532638603 + ], + [ + 649.5292451972314, + 374.44440167585503 + ], + [ + 640.4511829434174, + 365.867813096603 + ], + [ + 630.2503264181169, + 345.2211046777951 + ], + [ + 639.5301030338707, + 353.8853969448735 + ], + [ + 649.7851030160567, + 348.5658113891153 + ], + [ + 640.4631855796209, + 339.99927737755144 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 404, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -76.5433578491211, + "y": -90.7691421508789, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.43323972821235657, + "y": 0.2955859303474426, + "z": 0.8931220173835754 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 750.9098747136395, + "ymin": 211.7631572912042, + "xmax": 785.6632037331314, + "ymax": 273.7589375744991 + }, + "corners_3d": [ + [ + -76.74571228027344, + -91.25299835205078, + -0.3181276321411133 + ], + [ + -77.06768798828125, + -90.7572021484375, + -0.3181276321411133 + ], + [ + -76.34100341796875, + -90.28528594970703, + -0.3181276321411133 + ], + [ + -76.01902770996094, + -90.78108215332031, + -0.3181276321411133 + ], + [ + -76.74571228027344, + -91.25299835205078, + 1.4681164026260376 + ], + [ + -77.06768798828125, + -90.7572021484375, + 1.4681164026260376 + ], + [ + -76.34100341796875, + -90.28528594970703, + 1.4681164026260376 + ], + [ + -76.01902770996094, + -90.78108215332031, + 1.4681164026260376 + ] + ], + "corners_2d": [ + [ + 750.9098747136395, + 266.4331363264977 + ], + [ + 765.0904202132256, + 273.7589375744991 + ], + [ + 780.0924085053741, + 261.60228649310375 + ], + [ + 765.9849847056087, + 254.48226130395759 + ], + [ + 755.346486035338, + 223.557396509593 + ], + [ + 770.139227175739, + 230.79375371918923 + ], + [ + 785.6632037331314, + 218.78826293363764 + ], + [ + 770.9508500648792, + 211.7631572912042 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 550, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -84.92300415039062, + "y": -87.24504852294922, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.4216845631599426, + "y": 0.41304197907447815, + "z": 0.9030480980873108 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 856.8817658268961, + "ymin": 405.44328927742936, + "xmax": 913.2311707246712, + "ymax": 483.01466347796094 + }, + "corners_3d": [ + [ + -84.99077606201172, + -87.8314208984375, + -0.32804882526397705 + ], + [ + -85.51065063476562, + -87.1894302368164, + -0.32804882526397705 + ], + [ + -84.85523223876953, + -86.65867614746094, + -0.32804882526397705 + ], + [ + -84.33535766601562, + -87.30066680908203, + -0.32804882526397705 + ], + [ + -84.99077606201172, + -87.8314208984375, + 1.4780473709106445 + ], + [ + -85.51065063476562, + -87.1894302368164, + 1.4780473709106445 + ], + [ + -84.85523223876953, + -86.65867614746094, + 1.4780473709106445 + ], + [ + -84.33535766601562, + -87.30066680908203, + 1.4780473709106445 + ] + ], + "corners_2d": [ + [ + 856.8817658268961, + 465.50826972635315 + ], + [ + 881.2546001285896, + 483.01466347796094 + ], + [ + 900.1057833904433, + 466.5010772447249 + ], + [ + 875.7995975196112, + 449.5290065851434 + ], + [ + 867.8151099219372, + 421.51078565677966 + ], + [ + 893.6302858699516, + 439.1422345549138 + ], + [ + 913.2311707246712, + 422.5098905679883 + ], + [ + 887.4963049016083, + 405.44328927742936 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 755, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -88.70674896240234, + "y": -93.23905181884766, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.40873533487319946, + "y": 0.4828515648841858, + "z": 0.9197431206703186 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 617.2278726750986, + "ymin": 490.2282565947712, + "xmax": 668.6709192510845, + "ymax": 576.5585307284456 + }, + "corners_3d": [ + [ + -88.65434265136719, + -93.86949920654297, + -0.34474873542785645 + ], + [ + -89.33719635009766, + -93.1866455078125, + -0.34474873542785645 + ], + [ + -88.7591552734375, + -92.60860443115234, + -0.34474873542785645 + ], + [ + -88.07630157470703, + -93.29145812988281, + -0.34474873542785645 + ], + [ + -88.65434265136719, + -93.86949920654297, + 1.4947375059127808 + ], + [ + -89.33719635009766, + -93.1866455078125, + 1.4947375059127808 + ], + [ + -88.7591552734375, + -92.60860443115234, + 1.4947375059127808 + ], + [ + -88.07630157470703, + -93.29145812988281, + 1.4947375059127808 + ] + ], + "corners_2d": [ + [ + 618.4301041452258, + 550.3247781914031 + ], + [ + 641.1644786151467, + 576.5585307284456 + ], + [ + 667.1445207322314, + 559.8605141740012 + ], + [ + 644.1505230571995, + 534.3691519411349 + ], + [ + 617.2278726750986, + 506.4071906042875 + ], + [ + 641.2309720984691, + 533.0634089794962 + ], + [ + 668.6709192510845, + 516.0885219891904 + ], + [ + 644.378420327755, + 490.2282565947712 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 685, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -84.88777923583984, + "y": -101.02207946777344, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.4777587652206421, + "y": 0.40092283487319946, + "z": 0.876288890838623 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 361.1884834124426, + "ymin": 349.35968085566213, + "xmax": 414.97104058428624, + "ymax": 422.64874625438085 + }, + "corners_3d": [ + [ + -84.87686920166016, + -101.64567565917969, + -0.1488824486732483 + ], + [ + -85.50001525878906, + -101.14105987548828, + -0.1488824486732483 + ], + [ + -84.89868927001953, + -100.39848327636719, + -0.1488824486732483 + ], + [ + -84.27554321289062, + -100.9030990600586, + -0.1488824486732483 + ], + [ + -84.87686920166016, + -101.64567565917969, + 1.6036953926086426 + ], + [ + -85.50001525878906, + -101.14105987548828, + 1.6036953926086426 + ], + [ + -84.89868927001953, + -100.39848327636719, + 1.6036953926086426 + ], + [ + -84.27554321289062, + -100.9030990600586, + 1.6036953926086426 + ] + ], + "corners_2d": [ + [ + 373.52829409398805, + 404.8241324600449 + ], + [ + 383.14527781693533, + 422.64874625438085 + ], + [ + 414.97104058428624, + 409.96621450371856 + ], + [ + 404.9157081265687, + 392.5848684522678 + ], + [ + 361.1884834124426, + 361.5977827272409 + ], + [ + 371.0258448171241, + 379.44586780181044 + ], + [ + 404.4935429009498, + 366.74357096387905 + ], + [ + 394.17057174559943, + 349.35968085566213 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 538, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -78.3597640991211, + "y": -97.3172836303711, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.48656249046325684, + "y": 0.5092138648033142, + "z": 0.9089494347572327 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 542.8449782526511, + "ymin": 224.20770889805084, + "xmax": 585.0945737984877, + "ymax": 293.4701002223368 + }, + "corners_3d": [ + [ + -78.19770050048828, + -98.002685546875, + -0.33394527435302734 + ], + [ + -79.05182647705078, + -97.44801330566406, + -0.33394527435302734 + ], + [ + -78.5218276977539, + -96.63188171386719, + -0.33394527435302734 + ], + [ + -77.6677017211914, + -97.18655395507812, + -0.33394527435302734 + ], + [ + -78.19770050048828, + -98.002685546875, + 1.483953595161438 + ], + [ + -79.05182647705078, + -97.44801330566406, + 1.483953595161438 + ], + [ + -78.5218276977539, + -96.63188171386719, + 1.483953595161438 + ], + [ + -77.6677017211914, + -97.18655395507812, + 1.483953595161438 + ] + ], + "corners_2d": [ + [ + 546.6858730552195, + 275.5191991022255 + ], + [ + 557.687733681468, + 293.4701002223368 + ], + [ + 585.0945737984877, + 285.48564949219445 + ], + [ + 573.6341110288998, + 267.8573655259845 + ], + [ + 542.8449782526511, + 231.77522455363697 + ], + [ + 554.2257845365913, + 249.52696278141366 + ], + [ + 582.8072579722984, + 241.62731967302392 + ], + [ + 570.9278308912365, + 224.20770889805084 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 6426, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 697.9483537204027, + "ymin": 245.69146012099748, + "xmax": 776.1376310065457, + "ymax": 375.10120831192006 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 771.9249851135098, + 284.97395609823826 + ], + [ + 711.0537254329224, + 279.27827575798284 + ], + [ + 697.9483537204027, + 368.1646114077411 + ], + [ + 765.0513966970615, + 375.10120831192006 + ], + [ + 776.1376310065457, + 251.3398295605809 + ], + [ + 713.3072449691085, + 245.69146012099748 + ], + [ + 699.9825436779337, + 334.11036495736533 + ], + [ + 769.4743162960334, + 341.0349160066271 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 40335, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 272.7373898217359, + "ymin": 451.1044130252105, + "xmax": 650.6643331459164, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 649.3034682523512, + 582.4663730020852 + ], + [ + 491.4351012729362, + 562.3606975509907 + ], + [ + 339.04336316909087, + 1065.513224659615 + ], + [ + 564.2043868497224, + 1107.5093574473935 + ], + [ + 650.6643331459164, + 471.91055284552806 + ], + [ + 470.13275884592974, + 451.1044130252105 + ], + [ + 272.7373898217359, + 1005.4192087599961 + ], + [ + 546.9829320052789, + 1055.0774422409675 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 8977, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 919.9732390411749, + "ymin": 607.1599498775884, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 963.1432610605655, + 1392.0504319735371 + ], + [ + 1253.5553385543749, + 1452.6686650463857 + ], + [ + 1107.3094053241255, + 736.4962206933651 + ], + [ + 919.9732390411749, + 710.7701411068622 + ], + [ + 1052.3800509657904, + 1406.9008223283813 + ], + [ + 1429.6864059810314, + 1485.5074146471231 + ], + [ + 1186.2638805248948, + 634.8225178956228 + ], + [ + 966.2009451180627, + 607.1599498775884 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 12910, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 920.0783757563468, + "ymin": 225.83300822167385, + "xmax": 1042.36043776321, + "ymax": 426.8465815194887 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 933.4454886467843, + 417.6253911752233 + ], + [ + 1020.408205005266, + 426.8465815194887 + ], + [ + 994.6531382428893, + 284.353948296697 + ], + [ + 920.0783757563468, + 277.54471985547326 + ], + [ + 950.2157442022649, + 365.010785840911 + ], + [ + 1042.36043776321, + 374.2507789383071 + ], + [ + 1012.08654944011, + 232.54719398714897 + ], + [ + 933.7324979586709, + 225.83300822167385 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1082.425231802681, + "ymin": 0.0, + "xmax": 1100.051150003916, + "ymax": 6.81491000567803 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1091.8111103230494, + 3.9385122331069624 + ], + [ + 1082.425231802681, + 3.370471293628782 + ], + [ + 1083.6337157961966, + 6.2412816716737325 + ], + [ + 1093.0668430651867, + 6.81491000567803 + ], + [ + 1098.7415171757775, + -16.52909055125781 + ], + [ + 1089.2049878830126, + -17.085692010840546 + ], + [ + 1090.4658408782975, + -14.272525815287793 + ], + [ + 1100.051150003916, + -13.710364916345668 + ] + ], + "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": 1033.1143809819796, + "ymin": 0.0, + "xmax": 1153.6390566404343, + "ymax": 67.6787676297252 + }, + "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": [ + [ + 1070.6674096193947, + 66.94534054483859 + ], + [ + 1080.9734143599085, + 67.6787676297252 + ], + [ + 1041.6437488600009, + -42.106526313791846 + ], + [ + 1033.1143809819796, + -42.61313986906907 + ], + [ + 1141.5414902682658, + -142.2747532359059 + ], + [ + 1153.6390566404343, + -141.69586171068 + ], + [ + 1095.155530662977, + -226.01737089814742 + ], + [ + 1085.4340974720242, + -226.39589183174837 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 516.1626253188336, + "ymin": 23.068691597327643, + "xmax": 653.2450950800591, + "ymax": 259.2015048864408 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 539.7209223660881, + 241.10343709353572 + ], + [ + 536.8886463441107, + 248.9730026895035 + ], + [ + 649.2325688157524, + 259.2015048864408 + ], + [ + 651.02255705588, + 251.13796856269855 + ], + [ + 519.7930126765265, + 23.068691597327643 + ], + [ + 516.1626253188336, + 30.016678841455132 + ], + [ + 651.1158730194396, + 39.08698480206107 + ], + [ + 653.2450950800591, + 31.93275448410685 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 455.1342404713096, + "ymin": 0.0, + "xmax": 507.9580626577837, + "ymax": 35.96088466892871 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 478.15812921675763, + 35.32023492432222 + ], + [ + 487.5689004703928, + 35.96088466892871 + ], + [ + 507.9580626577837, + -0.2061574082226798 + ], + [ + 499.07757316776906, + -0.7740538217793187 + ], + [ + 455.1342404713096, + -150.0401467375915 + ], + [ + 465.8580962475472, + -149.52798932809634 + ], + [ + 490.3982280063419, + -178.20639835672318 + ], + [ + 480.3574714696233, + -178.6529276633861 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 633.3239966753246, + "ymin": 37.44543323670774, + "xmax": 649.1948857848946, + "ymax": 46.84140775970832 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 634.8866407483221, + 41.07779194882289 + ], + [ + 633.342781473831, + 45.86183035660963 + ], + [ + 647.7327246698077, + 46.84140775970832 + ], + [ + 649.1691707748964, + 42.04248841803479 + ], + [ + 634.8723225213022, + 37.44543323670774 + ], + [ + 633.3239966753246, + 42.215005641482946 + ], + [ + 647.7545783792194, + 43.19164628712895 + ], + [ + 649.1948857848946, + 38.40719614447039 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1173.2421010580397, + "ymin": 268.4427713395323, + "xmax": 1280.0, + "ymax": 333.31794206625506 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1191.7871315375653, + 325.05939742510157 + ], + [ + 1280.8484570120545, + 333.31794206625506 + ], + [ + 1257.4614302474743, + 285.195339470935 + ], + [ + 1173.2421010580397, + 277.77878012081726 + ], + [ + 1196.9143459394563, + 315.6445885642709 + ], + [ + 1286.8579528757348, + 323.8940581475562 + ], + [ + 1262.9445181806122, + 275.84394581930565 + ], + [ + 1177.936465662469, + 268.4427713395323 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1127.587905527619, + "ymin": 235.06655774592764, + "xmax": 1280.0, + "ymax": 421.11436837589724 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1143.2095633688482, + 412.35538490673633 + ], + [ + 1228.9486918044195, + 421.11436837589724 + ], + [ + 1208.8004671286503, + 369.67916138672814 + ], + [ + 1127.587905527619, + 361.79180395284385 + ], + [ + 1212.4948942730011, + 284.86853327638244 + ], + [ + 1310.852755790093, + 293.5665325199286 + ], + [ + 1283.3155073176224, + 242.78947912649275 + ], + [ + 1190.8657353874964, + 235.06655774592764 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 439.47956778659443, + "ymin": 620.5268070940037, + "xmax": 473.9060255685972, + "ymax": 646.4813929819696 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 446.4867410841434, + 624.4488150811665 + ], + [ + 440.5918603694721, + 642.7090297071068 + ], + [ + 468.409248255727, + 646.4813929819696 + ], + [ + 473.9060255685972, + 628.1093642738674 + ], + [ + 445.423511353994, + 620.5268070940037 + ], + [ + 439.47956778659443, + 638.8291872639884 + ], + [ + 467.4491557320982, + 642.6106408940454 + ], + [ + 472.9906629989979, + 624.1955650986285 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 633.2378000746727, + "ymin": 37.39505876774882, + "xmax": 649.279532623126, + "ymax": 46.892011164492374 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 634.8180377297142, + 41.06637462384572 + ], + [ + 633.257032312024, + 45.901806473779004 + ], + [ + 647.8020286272648, + 46.892011164492374 + ], + [ + 649.2533031330911, + 42.04137680789427 + ], + [ + 634.8033719086694, + 37.39505876774882 + ], + [ + 633.2378000746727, + 42.215712019973864 + ], + [ + 647.8243166989907, + 43.202916454806996 + ], + [ + 649.279532623126, + 38.367063996087666 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1173.3301038808686, + "ymin": 268.47422289266393, + "xmax": 1280.0, + "ymax": 333.21964252013225 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1191.8573789354273, + 324.97096996779663 + ], + [ + 1280.823693185914, + 333.21964252013225 + ], + [ + 1257.4651051682843, + 285.1574573401858 + ], + [ + 1173.3301038808686, + 277.74882812322784 + ], + [ + 1196.9510375090094, + 315.61815214913446 + ], + [ + 1286.7928054021834, + 323.8578094803812 + ], + [ + 1262.911957783417, + 275.86758405677574 + ], + [ + 1177.994231238355, + 268.47422289266393 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 214.40708356328065, + "ymin": 581.5627790264364, + "xmax": 524.9837002698661, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 341.89151457559757, + 790.7785003071272 + ], + [ + 333.963203228566, + 812.8075559947015 + ], + [ + 519.8893737106134, + 841.866535068323 + ], + [ + 524.9837002698661, + 818.9176204695268 + ], + [ + 227.97470571827034, + 581.5627790264364 + ], + [ + 214.40708356328065, + 607.5290620640453 + ], + [ + 471.5964921929914, + 642.2758304949797 + ], + [ + 479.7773354616251, + 614.7880273102504 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 439.66641450470144, + "ymin": 620.663322014129, + "xmax": 473.7267028089374, + "ymax": 646.3419615488654 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 446.59619480078135, + 624.5433578303134 + ], + [ + 440.7658126346636, + 642.6102714898998 + ], + [ + 468.2860254909372, + 646.3419615488654 + ], + [ + 473.7267028089374, + 628.1655945270456 + ], + [ + 445.544799130216, + 620.663322014129 + ], + [ + 439.66641450470144, + 638.7715136246662 + ], + [ + 467.33558398843024, + 642.5120969423517 + ], + [ + 472.82006763790685, + 624.2935982553679 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 514.1742309134183, + "ymin": 0.0, + "xmax": 828.5167917119365, + "ymax": 68.12687385387585 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 533.6710971632403, + 43.841121778900856 + ], + [ + 531.4434550524915, + 48.274085013341846 + ], + [ + 801.6847121148818, + 68.12687385387585 + ], + [ + 802.0220726056313, + 63.411322678682836 + ], + [ + 516.893972926042, + -160.40125036308257 + ], + [ + 514.1742309134183, + -156.93974147506322 + ], + [ + 828.3492732192753, + -141.34206698274602 + ], + [ + 828.5167917119365, + -145.06112597591778 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1149.563602327501, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 375.2674312498833 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1376.4328147356277, + 161.172594143305 + ], + [ + 1149.563602327501, + 188.52841963850926 + ], + [ + 1336.5796542806534, + 375.2674312498833 + ], + [ + 1607.8448410752019, + 333.40694852600933 + ], + [ + 1660.7556518434199, + -293.2842258566561 + ], + [ + 1356.4777889752702, + -278.3392021914442 + ], + [ + 1726.3300781200319, + -163.5544513359963 + ], + [ + 2113.3277426374552, + -191.41198519020736 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00099/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00099/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..77ce9afef10302cebc9f733650b204fb7f2ed52c --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00099/meta.json @@ -0,0 +1,2671 @@ +{ + "frame_id": 99, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 49.5, + "sim_timestamp": 10951.87861119397 + }, + "drone_pose": { + "x": -101.95819408704413, + "y": -90.80403696505823, + "z": 20.19725079205813, + "pitch": -46.423173294948, + "yaw": -10.580391243785348, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6776068806648254, + 0.1265706717967987, + 0.7244507074356079, + 42.96253204345703 + ], + [ + -0.18361493945121765, + 0.982998251914978, + -7.450580596923828e-09, + 107.98125457763672 + ], + [ + -0.7121337652206421, + -0.13301995396614075, + 0.6893266439437866, + -74.45162200927734 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -101.45819408704413, + "y": -90.30403696505823, + "z": 20.192447869587966 + }, + "t1_image_uv": [ + 2647.0939611561503, + -624.9414854960581 + ], + "t1_depth": 0.2789975664723392 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -82.16718292236328, + "y": -93.68776321411131, + "z": 0.5749992918968201 + }, + "image_uv": [ + 667.4110211020787, + 327.37332836254586 + ], + "depth": 27.99087378983314, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 190, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -82.16718292236328, + "y": -93.68775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.1994042992591858, + "y": 0.23169921338558197, + "z": 0.5321321487426758 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 657.0107627322882, + "ymin": 306.9094778834914, + "xmax": 678.1433975339895, + "ymax": 347.581394106795 + }, + "corners_3d": [ + [ + -82.14434814453125, + -93.99259185791016, + 0.04286712408065796 + ], + [ + -82.47201538085938, + -93.66492462158203, + 0.04286712408065796 + ], + [ + -82.19001770019531, + -93.38292694091797, + 0.04286712408065796 + ], + [ + -81.86235046386719, + -93.7105941772461, + 0.04286712408065796 + ], + [ + -82.14434814453125, + -93.99259185791016, + 1.1071314811706543 + ], + [ + -82.47201538085938, + -93.66492462158203, + 1.1071314811706543 + ], + [ + -82.19001770019531, + -93.38292694091797, + 1.1071314811706543 + ], + [ + -81.86235046386719, + -93.7105941772461, + 1.1071314811706543 + ] + ], + "corners_2d": [ + [ + 657.0107627322882, + 338.3455271098231 + ], + [ + 666.0971924268856, + 347.581394106795 + ], + [ + 677.1050352643404, + 342.1140928055864 + ], + [ + 667.9665291720224, + 332.9788287557059 + ], + [ + 657.4849381062498, + 312.2793152016622 + ], + [ + 666.8316491598757, + 321.52439538495577 + ], + [ + 678.1433975339895, + 316.0510578221137 + ], + [ + 668.7417416180823, + 306.9094778834914 + ] + ], + "center_offset_px": [ + 27.411021102078735, + -32.62667163745414 + ] + }, + "trace_timestep_index": 99, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 51, + "semantic_pixel_counts": { + "1": 294040, + "2": 212124, + "3": 258281, + "4": 22782, + "5": 738, + "6": 7229, + "10": 11828, + "12": 2693, + "14": 20261, + "16": 55009, + "20": 20309, + "24": 16306 + }, + "instance_pixel_counts": { + "913": 2735, + "1646": 3846, + "2670": 9870, + "3694": 6274, + "4206": 2419, + "5230": 1534, + "5742": 3143, + "8834": 3527, + "14416": 738, + "15963": 19097, + "16475": 49605, + "16987": 119443, + "17232": 22782, + "17499": 24139, + "22976": 1984, + "23296": 71, + "23552": 350, + "24512": 39777, + "26963": 1453, + "35668": 7625, + "35924": 7481, + "36692": 2468, + "37979": 4498, + "40019": 1828, + "41611": 1337, + "42123": 722, + "43117": 2898, + "43147": 10341, + "43155": 24747, + "43659": 15280, + "44179": 269293, + "45717": 3288, + "46741": 13018, + "48749": 6809, + "49261": 4706, + "49664": 190, + "49920": 393, + "50176": 553, + "50432": 763, + "50624": 5596, + "50688": 627, + "50944": 167, + "51136": 1867, + "51456": 6694, + "52160": 43351, + "52480": 45981, + "52672": 81155, + "52736": 9028, + "55040": 13567, + "55879": 7386, + "64351": 10714 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 190, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -82.16718292236328, + "y": -93.68775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.25493407249450684, + "y": 0.25358396768569946, + "z": 0.5314432978630066 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 655.0514129763845, + "ymin": 305.7570666729343, + "xmax": 680.1564376578159, + "ymax": 348.77221084805575 + }, + "corners_3d": [ + [ + -82.16813659667969, + -94.04733276367188, + 0.04355597496032715 + ], + [ + -82.5267562866211, + -93.68871307373047, + 0.04355597496032715 + ], + [ + -82.16622924804688, + -93.32818603515625, + 0.04355597496032715 + ], + [ + -81.80760955810547, + -93.68680572509766, + 0.04355597496032715 + ], + [ + -82.16813659667969, + -94.04733276367188, + 1.1064425706863403 + ], + [ + -82.5267562866211, + -93.68871307373047, + 1.1064425706863403 + ], + [ + -82.16622924804688, + -93.32818603515625, + 1.1064425706863403 + ], + [ + -81.80760955810547, + -93.68680572509766, + 1.1064425706863403 + ] + ], + "corners_2d": [ + [ + 655.0514129763845, + 338.6483656155763 + ], + [ + 664.9883131264542, + 348.77221084805575 + ], + [ + 679.0650253175545, + 341.776195881661 + ], + [ + 669.0552536715862, + 331.79312386377984 + ], + [ + 655.4705599980557, + 312.616148644625 + ], + [ + 665.6915141260567, + 322.75051634451796 + ], + [ + 680.1564376578159, + 315.74661215611707 + ], + [ + 669.858603389159, + 305.7570666729343 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 393, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -76.72905731201172, + "y": -90.15985107421875, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.3807006776332855, + "y": 0.36916014552116394, + "z": 0.885627031326294 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 782.7159465237214, + "ymin": 194.09289178280284, + "xmax": 821.8070515650586, + "ymax": 257.6158447122725 + }, + "corners_3d": [ + [ + -76.84728240966797, + -90.67679595947266, + -0.3106326460838318 + ], + [ + -77.24939727783203, + -90.0575942993164, + -0.3106326460838318 + ], + [ + -76.61083221435547, + -89.64290618896484, + -0.3106326460838318 + ], + [ + -76.2087173461914, + -90.2621078491211, + -0.3106326460838318 + ], + [ + -76.84728240966797, + -90.67679595947266, + 1.4606213569641113 + ], + [ + -77.24939727783203, + -90.0575942993164, + 1.4606213569641113 + ], + [ + -76.61083221435547, + -89.64290618896484, + 1.4606213569641113 + ], + [ + -76.2087173461914, + -90.2621078491211, + 1.4606213569641113 + ] + ], + "corners_2d": [ + [ + 782.7159465237214, + 247.63173808089115 + ], + [ + 800.6023824358214, + 257.6158447122725 + ], + [ + 814.4904946354741, + 246.80619805390634 + ], + [ + 796.6638655189324, + 237.05749605104177 + ], + [ + 788.7059124300456, + 204.57663579285443 + ], + [ + 807.4213168432366, + 214.48482615301995 + ], + [ + 821.8070515650586, + 203.75778750302916 + ], + [ + 803.15847532807, + 194.09289178280284 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 553, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -84.42300415039062, + "y": -86.74504852294922, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.3069677948951721, + "y": 0.40510252118110657, + "z": 0.8675186038017273 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 885.166838901138, + "ymin": 383.2572046548725, + "xmax": 937.3435495959554, + "ymax": 454.44329916067954 + }, + "corners_3d": [ + [ + -84.40662384033203, + -87.2530517578125, + -0.29251933097839355 + ], + [ + -84.91650390625, + -86.62340545654297, + -0.29251933097839355 + ], + [ + -84.43938446044922, + -86.23704528808594, + -0.29251933097839355 + ], + [ + -83.92950439453125, + -86.86669158935547, + -0.29251933097839355 + ], + [ + -84.40662384033203, + -87.2530517578125, + 1.442517876625061 + ], + [ + -84.91650390625, + -86.62340545654297, + 1.442517876625061 + ], + [ + -84.43938446044922, + -86.23704528808594, + 1.442517876625061 + ], + [ + -83.92950439453125, + -86.86669158935547, + 1.442517876625061 + ] + ], + "corners_2d": [ + [ + 885.166838901138, + 436.5967301017291 + ], + [ + 908.6972766101828, + 454.44329916067954 + ], + [ + 923.043870381348, + 442.8595983627444 + ], + [ + 899.5268588250824, + 425.3828215623604 + ], + [ + 897.478310330461, + 394.57243541535905 + ], + [ + 922.4235371231044, + 412.60448449998734 + ], + [ + 937.3435495959554, + 400.89700193355696 + ], + [ + 912.4181223100758, + 383.2572046548725 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 763, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -88.89774322509766, + "y": -92.64925384521484, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.39775389432907104, + "y": 0.43910154700279236, + "z": 0.8746463060379028 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 640.3170149225176, + "ymin": 482.8284699434166, + "xmax": 689.362909920082, + "ymax": 564.3454360460582 + }, + "corners_3d": [ + [ + -88.8685073852539, + -93.24099731445312, + -0.2996470332145691 + ], + [ + -89.48948669433594, + -92.6200180053711, + -0.2996470332145691 + ], + [ + -88.9269790649414, + -92.05751037597656, + -0.2996470332145691 + ], + [ + -88.30599975585938, + -92.6784896850586, + -0.2996470332145691 + ], + [ + -88.8685073852539, + -93.24099731445312, + 1.4496455192565918 + ], + [ + -89.48948669433594, + -92.6200180053711, + 1.4496455192565918 + ], + [ + -88.9269790649414, + -92.05751037597656, + 1.4496455192565918 + ], + [ + -88.30599975585938, + -92.6784896850586, + 1.4496455192565918 + ] + ], + "corners_2d": [ + [ + 640.3170149225176, + 539.1290936644597 + ], + [ + 660.5783368184176, + 564.3454360460582 + ], + [ + 686.7386432843462, + 548.5693647535718 + ], + [ + 666.1985848061317, + 523.9978958076414 + ], + [ + 640.3346664414395, + 498.2414998432648 + ], + [ + 661.7498513434922, + 523.9761482403192 + ], + [ + 689.362909920082, + 507.8686831726044 + ], + [ + 667.6377330821481, + 482.8284699434166 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 627, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -84.55023956298828, + "y": -101.02207946777344, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.4077685475349426, + "y": 0.5019823908805847, + "z": 0.8840259313583374 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 372.5385461797605, + "ymin": 310.0388821951928, + "xmax": 423.0959425734347, + "ymax": 385.75152964793665 + }, + "corners_3d": [ + [ + -84.41674041748047, + -101.6548843383789, + -0.15661948919296265 + ], + [ + -85.19696807861328, + -101.0230712890625, + -0.15661948919296265 + ], + [ + -84.6837387084961, + -100.38927459716797, + -0.15661948919296265 + ], + [ + -83.90351104736328, + -101.02108764648438, + -0.15661948919296265 + ], + [ + -84.41674041748047, + -101.6548843383789, + 1.6114323139190674 + ], + [ + -85.19696807861328, + -101.0230712890625, + 1.6114323139190674 + ], + [ + -84.6837387084961, + -100.38927459716797, + 1.6114323139190674 + ], + [ + -83.90351104736328, + -101.02108764648438, + 1.6114323139190674 + ] + ], + "corners_2d": [ + [ + 384.7714541432574, + 363.26420135005003 + ], + [ + 395.8441332056778, + 385.75152964793665 + ], + [ + 423.0959425734347, + 375.7448728876761 + ], + [ + 411.541363824672, + 353.6857711784669 + ], + [ + 372.5385461797605, + 319.6394297032577 + ], + [ + 383.869194363783, + 342.2129429007868 + ], + [ + 412.56548622369536, + 332.16199462779537 + ], + [ + 400.7000544771647, + 310.0388821951928 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 167, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -71.7723617553711, + "y": -101.24003601074219, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.5112280249595642, + "y": 0.4639062285423279, + "z": 0.9336605668067932 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 494.34964618426625, + "ymin": 75.53163298162974, + "xmax": 532.7377341430946, + "ymax": 137.63515580827837 + }, + "corners_3d": [ + [ + -71.66173553466797, + -101.92144775390625, + -0.20625412464141846 + ], + [ + -72.43985748291016, + -101.41612243652344, + -0.20625412464141846 + ], + [ + -71.88298797607422, + -100.55862426757812, + -0.20625412464141846 + ], + [ + -71.10486602783203, + -101.06394958496094, + -0.20625412464141846 + ], + [ + -71.66173553466797, + -101.92144775390625, + 1.661067008972168 + ], + [ + -72.43985748291016, + -101.41612243652344, + 1.661067008972168 + ], + [ + -71.88298797607422, + -100.55862426757812, + 1.661067008972168 + ], + [ + -71.10486602783203, + -101.06394958496094, + 1.661067008972168 + ] + ], + "corners_2d": [ + [ + 499.71583067478673, + 124.97023685869672 + ], + [ + 506.82327373599446, + 137.63515580827837 + ], + [ + 532.7377341430946, + 131.8259057292959 + ], + [ + 525.2677077854205, + 119.3458909346281 + ], + [ + 494.34964618426625, + 81.03809455549913 + ], + [ + 501.6423514499194, + 93.44877750832802 + ], + [ + 528.5969607708225, + 87.75421280374104 + ], + [ + 520.9120469561385, + 75.53163298162974 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 6694, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 706.2834318263212, + "ymin": 222.18221505693, + "xmax": 790.731703018605, + "ymax": 355.8458343411076 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 785.8271379995296, + 263.5749268795213 + ], + [ + 724.1376817963642, + 256.1090694782854 + ], + [ + 706.2834318263212, + 346.8012279778367 + ], + [ + 774.048734199265, + 355.8458343411076 + ], + [ + 790.731703018605, + 229.60988265667604 + ], + [ + 726.9435369584121, + 222.18221505693 + ], + [ + 708.7235388115687, + 312.68809248584074 + ], + [ + 779.0299912955242, + 321.7474152200143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 45981, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 245.75925132429495, + "ymin": 427.2706423098155, + "xmax": 647.488188213615, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 646.4947115143575, + 562.8573079155117 + ], + [ + 489.52439978985643, + 537.1549003483926 + ], + [ + 318.2028453941775, + 1029.4200915337947 + ], + [ + 537.0369597596732, + 1081.3526258434204 + ], + [ + 647.488188213615, + 454.15920836061053 + ], + [ + 467.06767694402106, + 427.2706423098155 + ], + [ + 245.75925132429495, + 974.4823593712858 + ], + [ + 512.9728615908139, + 1036.455120091725 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 206, + "instance_id": 52736, + "pixel_count": 9028, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -97.19116973876953, + "y": -84.66127014160156, + "z": 2.12424635887146 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 913.2969377914274, + "ymin": 603.2217980506114, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -102.32453918457031, + -86.64108276367188, + -0.002177705755457282 + ], + [ + -102.33047485351562, + -82.69693756103516, + -0.002177705755457282 + ], + [ + -92.05780792236328, + -82.68145751953125, + -0.002177705755457282 + ], + [ + -92.05186462402344, + -86.6256103515625, + -0.002177705755457282 + ], + [ + -102.32453918457031, + -86.64108276367188, + 4.250670909881592 + ], + [ + -102.33047485351562, + -82.69693756103516, + 4.250670909881592 + ], + [ + -92.05780792236328, + -82.68145751953125, + 4.250670909881592 + ], + [ + -92.05186462402344, + -86.6256103515625, + 4.250670909881592 + ] + ], + "corners_2d": [ + [ + 918.8149613325689, + 1380.9805398537787 + ], + [ + 1207.937823895219, + 1457.4692632375416 + ], + [ + 1103.2399354784925, + 735.8941638778491 + ], + [ + 913.2969377914274, + 702.4173775101467 + ], + [ + 998.521185583054, + 1411.719244456772 + ], + [ + 1378.2495280561122, + 1512.650811824313 + ], + [ + 1186.0596764439535, + 639.7869598805519 + ], + [ + 960.7716063593402, + 603.2217980506114 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 13567, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 938.0308566615281, + "ymin": 207.52510343671085, + "xmax": 1056.5926016736048, + "ymax": 416.6405469520794 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 943.7154750880155, + 404.47601888842655 + ], + [ + 1032.6082642793726, + 416.6405469520794 + ], + [ + 1014.5423455776063, + 268.90386580890004 + ], + [ + 938.0308566615281, + 259.86435075494296 + ], + [ + 962.0447783132257, + 352.0328914255267 + ], + [ + 1056.5926016736048, + 364.29793969439635 + ], + [ + 1034.0851648416105, + 216.48850532729602 + ], + [ + 953.4204049179644, + 207.52510343671085 + ] + ], + "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": 1074.3717209636454, + "ymin": 0.0, + "xmax": 1202.4425381216574, + "ymax": 45.111085288054824 + }, + "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": [ + [ + 1106.8000279194157, + 44.12975380123987 + ], + [ + 1117.5220578750364, + 45.111085288054824 + ], + [ + 1083.2595931427368, + -71.13791033129667 + ], + [ + 1074.3717209636454, + -71.81819067554153 + ], + [ + 1189.675530199996, + -174.1242885298003 + ], + [ + 1202.4425381216574, + -173.33244075264054 + ], + [ + 1146.9852408440229, + -264.444700877488 + ], + [ + 1136.7355120694122, + -264.96237264119645 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 529.9909083641925, + "ymin": 0.0, + "xmax": 669.7057691467705, + "ymax": 233.95152020281517 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 552.4618494922014, + 212.6212272941705 + ], + [ + 549.2388058949127, + 220.6079224290911 + ], + [ + 662.2595561510147, + 233.95152020281517 + ], + [ + 664.477705959089, + 225.71897915889772 + ], + [ + 534.1037451431006, + -9.852141525020158 + ], + [ + 529.9909083641925, + -2.6714592882994452 + ], + [ + 667.0682738928662, + 9.388125942713884 + ], + [ + 669.7057691467705, + 1.9384900930417643 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 478.82372336561474, + "ymin": 0.0, + "xmax": 531.6671513358613, + "ymax": 0.4108404294988759 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 499.89049277166265, + -0.4291248868332218 + ], + [ + 509.3662087740166, + 0.4108404294988759 + ], + [ + 531.6671513358613, + -36.645708433954496 + ], + [ + 522.7043429001588, + -37.39259231597026 + ], + [ + 478.82372336561474, + -191.96955126032174 + ], + [ + 489.69492873949696, + -191.28855677343665 + ], + [ + 516.4160625033281, + -221.0816478575215 + ], + [ + 506.21444591421186, + -221.67691631118248 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 648.9186237021501, + "ymin": 7.26735167032615, + "xmax": 665.423727475047, + "ymax": 17.286957721789463 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 650.7973626356655, + 11.008946675754146 + ], + [ + 648.9186237021501, + 15.981396313632217 + ], + [ + 663.575881706399, + 17.286957721789463 + ], + [ + 665.34845377117, + 12.295034879908258 + ], + [ + 650.8293634806242, + 7.26735167032615 + ], + [ + 648.9452561682516, + 12.226373233487834 + ], + [ + 663.646421787855, + 13.52844569162528 + ], + [ + 665.423727475047, + 8.549945565197675 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1197.8021966596784, + "ymin": 259.13414227358885, + "xmax": 1280.0, + "ymax": 329.61867864750917 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1213.9791509518286, + 318.4333227857877 + ], + [ + 1306.825141258096, + 329.61867864750917 + ], + [ + 1285.6326956117528, + 278.62745761946707 + ], + [ + 1197.8021966596784, + 268.5714809121738 + ], + [ + 1219.6655141177034, + 308.9719978892185 + ], + [ + 1313.5084753242713, + 320.1589616343746 + ], + [ + 1291.7632253622946, + 269.18118379338364 + ], + [ + 1203.0407792691533, + 259.13414227358885 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1147.4405716357364, + "ymin": 225.17231368053498, + "xmax": 1280.0, + "ymax": 417.34236439480975 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1160.4609018809763, + 405.6132262881142 + ], + [ + 1249.1772554541203, + 417.34236439480975 + ], + [ + 1231.535345420147, + 363.4493984102127 + ], + [ + 1147.4405716357364, + 352.87008893780467 + ], + [ + 1237.0160332108844, + 277.9614026156987 + ], + [ + 1339.9268744451972, + 289.80650359221454 + ], + [ + 1314.5775497048212, + 235.69893082890417 + ], + [ + 1217.82950848188, + 225.17231368053498 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 417.1987688049453, + "ymin": 603.3521608369102, + "xmax": 452.60959666825505, + "ymax": 630.3525274868427 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 425.41315651086313, + 607.1614710165759 + ], + [ + 418.48380545002226, + 625.4959398141731 + ], + [ + 446.05232744555985, + 630.3525274868427 + ], + [ + 452.60959666825505, + 611.8790655707464 + ], + [ + 424.1863290937424, + 603.3521608369102 + ], + [ + 417.1987688049453, + 621.7370640857725 + ], + [ + 444.9229058499325, + 626.6075253665824 + ], + [ + 451.5342088138243, + 608.082439348533 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 648.8294148684595, + "ymin": 7.213640882782045, + "xmax": 665.5119315524285, + "ymax": 17.340927639104848 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 650.728885597706, + 10.995369995090414 + ], + [ + 648.8294148684595, + 16.02120668766736 + ], + [ + 663.6445749134975, + 17.340927639104848 + ], + [ + 665.4355881235956, + 12.295196984420159 + ], + [ + 650.7610242263629, + 7.213640882782045 + ], + [ + 648.8560656274468, + 12.225759288445431 + ], + [ + 663.7160859171936, + 13.54191590271546 + ], + [ + 665.5119315524285, + 8.509898001015301 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1197.8942544646786, + "ymin": 259.1685914282392, + "xmax": 1280.0, + "ymax": 329.51669572428887 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1214.056542646218, + 318.34454956367966 + ], + [ + 1306.804022167179, + 329.51669572428887 + ], + [ + 1285.6372565906854, + 278.589214253815 + ], + [ + 1197.8942544646786, + 268.5438619324936 + ], + [ + 1219.705742862257, + 308.9454522890074 + ], + [ + 1313.4424837831416, + 320.1191791199973 + ], + [ + 1291.7272698284005, + 269.2050761649737 + ], + [ + 1203.0990994239055, + 259.1685914282392 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 194.97475770929873, + "ymin": 556.437871772099, + "xmax": 511.08711558224365, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 331.70075839858896, + 759.6667384688462 + ], + [ + 323.03419904650696, + 781.1424539919 + ], + [ + 505.0043395708951, + 817.5956095936472 + ], + [ + 511.08711558224365, + 795.0197208993402 + ], + [ + 209.753172671539, + 556.437871772099 + ], + [ + 194.97475770929873, + 582.2397957264991 + ], + [ + 448.49157427371347, + 626.7605420543166 + ], + [ + 458.29177189375804, + 599.0797705283477 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 417.3907474652025, + "ymin": 603.494184029863, + "xmax": 452.42494847174714, + "ymax": 630.2074821906667 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 425.51502964793804, + 607.2626544695559 + ], + [ + 418.6609863010125, + 625.4032192656707 + ], + [ + 445.9351380468033, + 630.2074821906667 + ], + [ + 452.42494847174714, + 611.9308583266093 + ], + [ + 424.3017470196984, + 603.494184029863 + ], + [ + 417.3907474652025, + 621.6841223569897 + ], + [ + 444.81719942830875, + 626.5019589336313 + ], + [ + 451.35992237547663, + 608.174809443034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 538.6850796361281, + "ymin": 0.0, + "xmax": 861.5657104996537, + "ymax": 39.8857903353296 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 555.7597874290418, + 9.399765473262846 + ], + [ + 553.2951335042206, + 13.94206519884358 + ], + [ + 827.9959317771095, + 39.8857903353296 + ], + [ + 828.6007980261417, + 34.98228373472551 + ], + [ + 541.6785661029725, + -201.89420881521414 + ], + [ + 538.6850796361281, + -198.290080980448 + ], + [ + 861.1322466511915, + -177.54421296230782 + ], + [ + 861.5657104996537, + -181.48638098394667 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1181.239703219669, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 373.2646651283947 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1422.1076636372109, + 150.12507875356323 + ], + [ + 1181.239703219669, + 173.3778033823277 + ], + [ + 1364.8497712657595, + 373.2646651283947 + ], + [ + 1655.8146990472019, + 337.57848764096354 + ], + [ + 1756.0223705453454, + -329.47201947493795 + ], + [ + 1422.0339961886773, + -316.0401796150967 + ], + [ + 1814.3312655448879, + -184.9463757528913 + ], + [ + 2250.851226630254, + -210.6327555950446 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00100/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00100/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..356b3da72f222da655e428574134358ba649a94e --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00100/meta.json @@ -0,0 +1,3626 @@ +{ + "frame_id": 100, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 50.0, + "sim_timestamp": 10967.137958122417 + }, + "drone_pose": { + "x": -101.45819408704413, + "y": -90.30403696505823, + "z": 20.192447869587966, + "pitch": -39.446761426249665, + "yaw": -9.70745732486028, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7611583471298218, + 0.13020914793014526, + 0.6353608965873718, + 52.637840270996094 + ], + [ + -0.16861766576766968, + 0.9856815338134766, + -3.725290298461914e-09, + 106.11866760253906 + ], + [ + -0.6262635588645935, + -0.10713309049606323, + 0.7722152471542358, + -69.45793151855469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -100.8710817339304, + "y": -89.73700434201895, + "z": 20.335558281932077 + }, + "t1_image_uv": [ + 2878.6981642116907, + -1060.4763548172189 + ], + "t1_depth": 0.28212586598375405 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -81.66718292236328, + "y": -93.18776321411131, + "z": 0.5749992918968201 + }, + "image_uv": [ + 657.0189142145986, + 444.1370850183553 + ], + "depth": 27.90374183618867, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 185, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -81.66718292236328, + "y": -93.18775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.2477465718984604, + "y": 0.2405126839876175, + "z": 0.5372810959815979 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 645.2099814323841, + "ymin": 422.62086278637776, + "xmax": 669.1563000007361, + "ymax": 465.53148206394275 + }, + "corners_3d": [ + [ + -81.67229461669922, + -93.53301239013672, + 0.03771817684173584 + ], + [ + -82.01243591308594, + -93.19287109375, + 0.03771817684173584 + ], + [ + -81.66207122802734, + -92.8425064086914, + 0.03771817684173584 + ], + [ + -81.32192993164062, + -93.18264770507812, + 0.03771817684173584 + ], + [ + -81.67229461669922, + -93.53301239013672, + 1.1122803688049316 + ], + [ + -82.01243591308594, + -93.19287109375, + 1.1122803688049316 + ], + [ + -81.66207122802734, + -92.8425064086914, + 1.1122803688049316 + ], + [ + -81.32192993164062, + -93.18264770507812, + 1.1122803688049316 + ] + ], + "corners_2d": [ + [ + 645.2099814323841, + 455.9339896113446 + ], + [ + 654.8008138518334, + 465.53148206394275 + ], + [ + 668.4505138994301, + 458.5133885666664 + ], + [ + 658.7888821521002, + 449.064962339316 + ], + [ + 645.3388434949461, + 429.44800869835444 + ], + [ + 655.170958179211, + 438.9913710373502 + ], + [ + 669.1563000007361, + 432.012357124515 + ], + [ + 659.2499083958063, + 422.62086278637776 + ] + ], + "center_offset_px": [ + 17.018914214598567, + 84.13708501835532 + ] + }, + "trace_timestep_index": 100, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 68, + "semantic_pixel_counts": { + "1": 322649, + "2": 178235, + "3": 274531, + "4": 25680, + "5": 326, + "6": 7672, + "7": 630, + "9": 1652, + "10": 20482, + "12": 2931, + "14": 24203, + "16": 21380, + "20": 24363, + "24": 16866 + }, + "instance_pixel_counts": { + "913": 2643, + "1134": 809, + "1646": 289, + "2158": 4090, + "2670": 10031, + "3694": 6647, + "5230": 1612, + "5742": 3214, + "12951": 340, + "14416": 326, + "15963": 34288, + "16475": 77275, + "16987": 109961, + "17232": 25680, + "17499": 1014, + "22976": 4076, + "23296": 2888, + "23552": 1852, + "24404": 652, + "24512": 31429, + "26963": 1375, + "27795": 3685, + "28819": 6388, + "31893": 216, + "33429": 511, + "35668": 7643, + "35924": 11067, + "36692": 2358, + "37979": 14723, + "39051": 576, + "39563": 1315, + "40019": 2187, + "41107": 20437, + "41611": 1212, + "41619": 8850, + "42123": 785, + "43117": 2757, + "43147": 9241, + "43155": 57217, + "43659": 12588, + "43667": 7393, + "44179": 218679, + "44181": 847, + "44693": 255, + "45717": 4721, + "46229": 97, + "46741": 10219, + "48064": 483, + "48749": 7821, + "49088": 1599, + "49664": 185, + "49920": 396, + "50176": 629, + "50432": 997, + "50624": 5108, + "50688": 696, + "50944": 28, + "51136": 1864, + "51456": 6864, + "51712": 3109, + "52160": 33226, + "52480": 21380, + "52672": 64985, + "55040": 13784, + "55296": 446, + "55879": 10032, + "57173": 1652, + "64351": 9408 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 185, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -81.66718292236328, + "y": -93.18775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.23534667491912842, + "y": 0.25111815333366394, + "z": 0.5263519883155823 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 645.3446925921833, + "ymin": 422.8611712547814, + "xmax": 669.0223799071662, + "ymax": 465.3048083972149 + }, + "corners_3d": [ + [ + -81.6560287475586, + -93.53173828125, + 0.048647284507751465 + ], + [ + -82.01116180419922, + -93.17660522460938, + 0.048647284507751465 + ], + [ + -81.67833709716797, + -92.84378051757812, + 0.048647284507751465 + ], + [ + -81.32320404052734, + -93.19891357421875, + 0.048647284507751465 + ], + [ + -81.6560287475586, + -93.53173828125, + 1.101351261138916 + ], + [ + -82.01116180419922, + -93.17660522460938, + 1.101351261138916 + ], + [ + -81.67833709716797, + -92.84378051757812, + 1.101351261138916 + ], + [ + -81.32320404052734, + -93.19891357421875, + 1.101351261138916 + ] + ], + "corners_2d": [ + [ + 645.3446925921833, + 455.28870875811253 + ], + [ + 655.3626627616488, + 465.3048083972149 + ], + [ + 668.3336585714103, + 458.635212199225 + ], + [ + 658.2454360588195, + 448.76698661503093 + ], + [ + 645.4741077099726, + 429.34386484985276 + ], + [ + 655.7389630198902, + 439.3045296019874 + ], + [ + 669.0223799071662, + 432.67123956164164 + ], + [ + 658.6838934288905, + 422.8611712547814 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 396, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -76.87529754638672, + "y": -89.84288787841797, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.4948437511920929, + "y": 0.3855517506599426, + "z": 0.8783825635910034 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 760.9527827292316, + "ymin": 320.64284701812295, + "xmax": 803.5265849363931, + "ymax": 387.03580972857293 + }, + "corners_3d": [ + [ + -77.080322265625, + -90.43575286865234, + -0.3033832907676697 + ], + [ + -77.50029754638672, + -89.78904724121094, + -0.3033832907676697 + ], + [ + -76.67027282714844, + -89.2500228881836, + -0.3033832907676697 + ], + [ + -76.25029754638672, + -89.896728515625, + -0.3033832907676697 + ], + [ + -77.080322265625, + -90.43575286865234, + 1.4533817768096924 + ], + [ + -77.50029754638672, + -89.78904724121094, + 1.4533817768096924 + ], + [ + -76.67027282714844, + -89.2500228881836, + 1.4533817768096924 + ], + [ + -76.25029754638672, + -89.896728515625, + 1.4533817768096924 + ] + ], + "corners_2d": [ + [ + 760.9527827292316, + 376.59340521951526 + ], + [ + 779.9587806316392, + 387.03580972857293 + ], + [ + 797.7782232822726, + 372.5876001641686 + ], + [ + 778.8803481013248, + 362.5090316330615 + ], + [ + 765.3822802398474, + 334.47159513809544 + ], + [ + 785.153141094133, + 344.7358991866507 + ], + [ + 803.5265849363931, + 330.53669401675995 + ], + [ + 783.874364766817, + 320.64284701812295 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 629, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -84.30656433105469, + "y": -86.41669464111328, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.37766599655151367, + "y": 0.3512255847454071, + "z": 0.8865100145339966 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 872.9200880062268, + "ymin": 507.3388458672953, + "xmax": 924.3754198944197, + "ymax": 582.4423882590913 + }, + "corners_3d": [ + [ + -84.37903594970703, + -86.92732238769531, + -0.31151074171066284 + ], + [ + -84.82109832763672, + -86.38141632080078, + -0.31151074171066284 + ], + [ + -84.23409271240234, + -85.90606689453125, + -0.31151074171066284 + ], + [ + -83.79203033447266, + -86.45197296142578, + -0.31151074171066284 + ], + [ + -84.37903594970703, + -86.92732238769531, + 1.4615092277526855 + ], + [ + -84.82109832763672, + -86.38141632080078, + 1.4615092277526855 + ], + [ + -84.23409271240234, + -85.90606689453125, + 1.4615092277526855 + ], + [ + -83.79203033447266, + -86.45197296142578, + 1.4615092277526855 + ] + ], + "corners_2d": [ + [ + 872.9200880062268, + 566.3183073719428 + ], + [ + 894.3630868627384, + 582.4423882590913 + ], + [ + 911.8445867907571, + 567.2009824811948 + ], + [ + 890.4450501518731, + 551.5550256344859 + ], + [ + 883.6467313568369, + 522.0862546016681 + ], + [ + 906.2757255113415, + 538.2160153902404 + ], + [ + 924.3754198944197, + 522.968618467021 + ], + [ + 901.8000911368536, + 507.3388458672953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 997, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -89.06661987304688, + "y": -92.23995208740234, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.38155272603034973, + "y": 0.41865232586860657, + "z": 0.8813433051109314 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 623.5261303950826, + "ymin": 627.8014956718157, + "xmax": 672.806882090179, + "ymax": 714.228570560985 + }, + "corners_3d": [ + [ + -89.04039001464844, + -92.8057861328125, + -0.30634403228759766 + ], + [ + -89.63245391845703, + -92.2137222290039, + -0.30634403228759766 + ], + [ + -89.09284973144531, + -91.67411804199219, + -0.30634403228759766 + ], + [ + -88.50078582763672, + -92.26618194580078, + -0.30634403228759766 + ], + [ + -89.04039001464844, + -92.8057861328125, + 1.4563425779342651 + ], + [ + -89.63245391845703, + -92.2137222290039, + 1.4563425779342651 + ], + [ + -89.09284973144531, + -91.67411804199219, + 1.4563425779342651 + ], + [ + -88.50078582763672, + -92.26618194580078, + 1.4563425779342651 + ] + ], + "corners_2d": [ + [ + 624.335267585769, + 687.7485591063266 + ], + [ + 644.8136637366723, + 714.228570560985 + ], + [ + 671.1821815460921, + 697.0041615782211 + ], + [ + 650.4037386219461, + 671.3065102252056 + ], + [ + 623.5261303950826, + 644.4096883088548 + ], + [ + 645.0685090432498, + 671.2104008489662 + ], + [ + 672.806882090179, + 653.7699254262277 + ], + [ + 650.9328194505604, + 627.8014956718157 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 696, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -84.21269989013672, + "y": -101.02207946777344, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.6231005787849426, + "y": 0.5110498070716858, + "z": 0.9005332589149475 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 333.0248366146016, + "ymin": 428.1869000837463, + "xmax": 399.1227658140526, + "ymax": 511.9530964192454 + }, + "corners_3d": [ + [ + -84.20767211914062, + -101.82793426513672, + -0.17312681674957275 + ], + [ + -85.00199127197266, + -101.18470764160156, + -0.17312681674957275 + ], + [ + -84.21772766113281, + -100.21622467041016, + -0.17312681674957275 + ], + [ + -83.42340850830078, + -100.85945129394531, + -0.17312681674957275 + ], + [ + -84.20767211914062, + -101.82793426513672, + 1.6279397010803223 + ], + [ + -85.00199127197266, + -101.18470764160156, + 1.6279397010803223 + ], + [ + -84.21772766113281, + -100.21622467041016, + 1.6279397010803223 + ], + [ + -83.42340850830078, + -100.85945129394531, + 1.6279397010803223 + ] + ], + "corners_2d": [ + [ + 345.7660462495928, + 488.43846935506394 + ], + [ + 356.0903872992487, + 511.9530964192454 + ], + [ + 399.1227658140526, + 495.74093100583093 + ], + [ + 387.9154223070815, + 473.01911723283354 + ], + [ + 333.0248366146016, + 443.4751630593361 + ], + [ + 343.4674450033345, + 466.83273028172414 + ], + [ + 388.6054938324126, + 450.7233025280498 + ], + [ + 377.19049683560365, + 428.1869000837463 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 28, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -70.42184448242188, + "y": -101.35797882080078, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.4037231206893921, + "y": 0.4357324242591858, + "z": 0.8629969358444214 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 479.2863224580222, + "ymin": 189.8873673146175, + "xmax": 509.96181808316055, + "ymax": 243.2071799201544 + }, + "corners_3d": [ + [ + -70.27629089355469, + -101.93388366699219, + -0.13559049367904663 + ], + [ + -71.00716400146484, + -101.4592514038086, + -0.13559049367904663 + ], + [ + -70.56739807128906, + -100.78207397460938, + -0.13559049367904663 + ], + [ + -69.8365249633789, + -101.25670623779297, + -0.13559049367904663 + ], + [ + -70.27629089355469, + -101.93388366699219, + 1.5904033184051514 + ], + [ + -71.00716400146484, + -101.4592514038086, + 1.5904033184051514 + ], + [ + -70.56739807128906, + -100.78207397460938, + 1.5904033184051514 + ], + [ + -69.8365249633789, + -101.25670623779297, + 1.5904033184051514 + ] + ], + "corners_2d": [ + [ + 483.90433458107543, + 232.30604781607485 + ], + [ + 490.1454351157107, + 243.2071799201544 + ], + [ + 509.96181808316055, + 238.81610790425657 + ], + [ + 503.441891557914, + 228.05561099229558 + ], + [ + 479.2863224580222, + 194.0096740127508 + ], + [ + 485.6368817422467, + 204.58935013539516 + ], + [ + 506.07575085689064, + 200.32652354994775 + ], + [ + 499.42858291585566, + 189.8873673146175 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 6864, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 677.0479165428163, + "ymin": 347.1870052904587, + "xmax": 760.6015155316561, + "ymax": 482.03345985782494 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 757.1467447468895, + 387.6023795994636 + ], + [ + 695.2780853287206, + 380.69218997650546 + ], + [ + 677.0479165428163, + 473.44296673107874 + ], + [ + 745.8900579616286, + 482.03345985782494 + ], + [ + 760.6015155316561, + 354.0069200922934 + ], + [ + 696.8941062829588, + 347.1870052904587 + ], + [ + 678.258975173695, + 439.0104417658583 + ], + [ + 749.3855010427258, + 447.54624446583375 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 3109, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 1023.7906074871719, + "ymin": 34.48263865226153, + "xmax": 1136.8550300840718, + "ymax": 91.0628505433242 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 1023.7906074871719, + 69.58532271383501 + ], + [ + 1029.201111228018, + 84.68495382252928 + ], + [ + 1124.5947237956184, + 91.0628505433242 + ], + [ + 1116.2859650318273, + 75.59893617118229 + ], + [ + 1033.1104312952032, + 34.48263865226153 + ], + [ + 1038.9444606554403, + 48.86818881484862 + ], + [ + 1136.8550300840718, + 54.96863790944923 + ], + [ + 1127.9704650345316, + 40.22686729405325 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 21380, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 146.07104998152363, + "ymin": 563.8238552987465, + "xmax": 613.555727873864, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 613.555727873864, + 704.6223038058929 + ], + [ + 449.4621118119907, + 678.6782027771101 + ], + [ + 236.02070849248042, + 1262.7064206544997 + ], + [ + 481.97167923334166, + 1323.9444534405172 + ], + [ + 609.8790416001127, + 590.3133474339053 + ], + [ + 423.6584921982748, + 563.8238552987465 + ], + [ + 146.07104998152363, + 1203.907965062126 + ], + [ + 445.21607722530405, + 1276.7671189888497 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 13784, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 909.2990810521968, + "ymin": 330.7648442507131, + "xmax": 1030.37314328398, + "ymax": 542.3623329511665 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 919.2905886981703, + 530.6871772339819 + ], + [ + 1010.2212384136831, + 542.3623329511665 + ], + [ + 985.9402748066013, + 390.6757061935905 + ], + [ + 909.2990810521968, + 382.3438476115183 + ], + [ + 934.3005796072457, + 477.15386873676385 + ], + [ + 1030.37314328398, + 488.7784326372946 + ], + [ + 1001.6988018554038, + 338.92302855021063 + ], + [ + 921.4362143555372, + 330.7648442507131 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 216, + "instance_id": 55296, + "pixel_count": 446, + "type_id": "vehicle.audi.etron", + "bbox_3d": { + "center_world": { + "x": -44.75563430786133, + "y": -104.2794189453125, + "z": 0.8648524284362793 + }, + "extent": { + "x": 2.427854299545288, + "y": 1.0163782835006714, + "z": 0.8246796727180481 + }, + "yaw": -94.3148193359375 + }, + "bbox_2d": { + "xmin": 524.950014655208, + "ymin": 0.0, + "xmax": 612.0231139440771, + "ymax": 11.005446105039141 + }, + "corners_3d": [ + [ + -45.58646774291992, + -101.781982421875, + 0.04017278552055359 + ], + [ + -43.559471130371094, + -101.9349136352539, + 0.04017278552055359 + ], + [ + -43.92479705810547, + -106.77686309814453, + 0.04017278552055359 + ], + [ + -45.9517936706543, + -106.6239242553711, + 0.04017278552055359 + ], + [ + -45.58646774291992, + -101.781982421875, + 1.6895321607589722 + ], + [ + -43.559471130371094, + -101.9349136352539, + 1.6895321607589722 + ], + [ + -43.92479705810547, + -106.77686309814453, + 1.6895321607589722 + ], + [ + -45.9517936706543, + -106.6239242553711, + 1.6895321607589722 + ] + ], + "corners_2d": [ + [ + 608.0262308355801, + 11.005446105039141 + ], + [ + 612.0231139440771, + -0.7945503816645214 + ], + [ + 533.1855018411006, + -3.368611620231718 + ], + [ + 527.0586061971466, + 8.288314173759602 + ], + [ + 607.4255160564547, + -17.472534485973313 + ], + [ + 611.5118170370124, + -28.712036006367043 + ], + [ + 531.2453168478582, + -31.162329468942062 + ], + [ + 524.950014655208, + -20.06160540979289 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4809317425322915338, + "instance_id": 2806, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -62.6159553527832, + "y": -93.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 710.9049153596064, + "ymin": 10.362293772972464, + "xmax": 722.0274795124783, + "ymax": 34.69611819182688 + }, + "corners_3d": [ + [ + -62.754539489746094, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.9842529296875, + 6.416468620300293 + ], + [ + -62.754539489746094, + -93.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 720.1662570013792, + 34.69611819182688 + ], + [ + 720.8756206997373, + 32.20900458469919 + ], + [ + 711.6629097256972, + 31.629673343997126 + ], + [ + 710.9049153596064, + 34.110537629558735 + ], + [ + 721.3142463021884, + 13.329313989369894 + ], + [ + 722.0274795124783, + 10.922798141949784 + ], + [ + 712.6822600435063, + 10.362293772972464 + ], + [ + 711.9189830926113, + 12.762676623935135 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 527.6691606654642, + "ymin": 65.53728293405152, + "xmax": 539.1179241840093, + "ymax": 87.75992450342835 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 537.5397514943097, + 87.75992450342835 + ], + [ + 539.1179241840093, + 85.16762582266131 + ], + [ + 530.7577314298023, + 84.5667890909204 + ], + [ + 529.1393793834775, + 87.15302777643342 + ], + [ + 536.1793211807666, + 68.65312926308968 + ], + [ + 537.7852450655113, + 66.12353757246103 + ], + [ + 529.3163176890948, + 65.53728293405152 + ], + [ + 527.6691606654642, + 68.06088304085347 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5344508464058845628, + "instance_id": 48329, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -62.61595916748047, + "y": -96.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 638.5643534133961, + "ymin": 5.985855118501831, + "xmax": 648.8741104452315, + "ymax": 30.111943767253592 + }, + "corners_3d": [ + [ + -62.75454330444336, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.9842529296875, + 6.416468620300293 + ], + [ + -62.75454330444336, + -96.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 647.6639755066882, + 30.111943767253592 + ], + [ + 648.7507201881598, + 27.673543518110534 + ], + [ + 639.717864482526, + 27.10552223639712 + ], + [ + 638.5843967298744, + 29.537855751509028 + ], + [ + 647.7726261221476, + 8.893981663618092 + ], + [ + 648.8741104452315, + 6.53526364834147 + ], + [ + 639.7138912156819, + 5.985855118501831 + ], + [ + 638.5643534133961, + 8.338621832757099 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8433051479337506626, + "instance_id": 17047, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -62.61595153808594, + "y": -91.29429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 772.2809742107494, + "ymin": 14.077024110817831, + "xmax": 784.121760090717, + "ymax": 38.5866406604207 + }, + "corners_3d": [ + [ + -62.75453567504883, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.4842529296875, + 6.416468620300293 + ], + [ + -62.75453567504883, + -91.4842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 781.6979868084125, + 38.5866406604207 + ], + [ + 782.0810943779752, + 36.05780882394987 + ], + [ + 772.7143687408266, + 35.46879258399963 + ], + [ + 772.2809742107494, + 37.99121730500957 + ], + [ + 783.7443555756599, + 17.09449977229258 + ], + [ + 784.121760090717, + 14.647033801166572 + ], + [ + 774.6180588606343, + 14.077024110817831 + ], + [ + 774.188881527358, + 16.51819998107743 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1077.9315868379583, + "ymin": 0.0, + "xmax": 1094.081782254711, + "ymax": 2.626429845194764 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1086.9397036772582, + 0.47004844167287274 + ], + [ + 1077.9315868379583, + -0.032473280431077 + ], + [ + 1079.0590481365975, + 2.1188622772231156 + ], + [ + 1088.1136287078832, + 2.626429845194764 + ], + [ + 1092.8621502408519, + -19.7552549677431 + ], + [ + 1083.727799672864, + -20.24049723392818 + ], + [ + 1084.899655303584, + -18.163030929566446 + ], + [ + 1094.081782254711, + -17.67285130405179 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1076.2752257335583, + "ymin": 89.30151533427153, + "xmax": 1093.1482401535998, + "ymax": 112.4107672408866 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1085.6987927169002, + 109.56636220588402 + ], + [ + 1076.2752257335583, + 108.90728649285268 + ], + [ + 1077.4528569589602, + 111.74472693333331 + ], + [ + 1086.9275622194987, + 112.4107672408866 + ], + [ + 1091.8693775732663, + 89.94540019593848 + ], + [ + 1082.3078619035566, + 89.30151533427153 + ], + [ + 1083.5340763264971, + 92.07371139497775 + ], + [ + 1093.1482401535998, + 92.72449522364724 + ] + ], + "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": 1030.1855982850748, + "ymin": 0.0, + "xmax": 1141.4191345221097, + "ymax": 171.27557961037266 + }, + "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": [ + [ + 1066.5795559264236, + 170.42336637401394 + ], + [ + 1076.9779173248533, + 171.27557961037266 + ], + [ + 1038.6707862180847, + 63.12233864301061 + ], + [ + 1030.1855982850748, + 62.54904281225936 + ], + [ + 1129.385012795998, + -29.27354342794638 + ], + [ + 1141.4191345221097, + -28.620966419720048 + ], + [ + 1085.6392226060057, + -109.31499531741366 + ], + [ + 1076.0946259378045, + -109.73162358367995 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 498.5396762150023, + "ymin": 125.86661558803326, + "xmax": 635.5499958702727, + "ymax": 359.0943235004161 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 523.6944011329658, + 338.80508990041994 + ], + [ + 520.2657065686549, + 346.81652057080396 + ], + [ + 633.2513383042254, + 359.0943235004161 + ], + [ + 635.5499958702727, + 350.8289490279489 + ], + [ + 502.847218605015, + 125.86661558803326 + ], + [ + 498.5396762150023, + 132.70969355050656 + ], + [ + 632.0038438166753, + 143.2468075915756 + ], + [ + 634.7376006155484, + 136.1466031166805 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 457.3062656928212, + "ymin": 0.0, + "xmax": 509.53093089517154, + "ymax": 133.30142115175101 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 477.6590546432185, + 132.57307875546093 + ], + [ + 486.8596278364168, + 133.30142115175101 + ], + [ + 509.53093089517154, + 98.39848700370612 + ], + [ + 500.8723761230059, + 97.75757533669719 + ], + [ + 457.3062656928212, + -42.21958356684701 + ], + [ + 467.632336545682, + -41.654566016839226 + ], + [ + 494.2839604748315, + -68.52610238214805 + ], + [ + 484.6355713997992, + -69.01565667707797 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 614.5274417667242, + "ymin": 141.25353374696184, + "xmax": 630.7155853830895, + "ymax": 150.64971735386294 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 616.5440044149328, + 144.75744603302874 + ], + [ + 614.5923927390153, + 149.5068499622838 + ], + [ + 628.8774866402907, + 150.64971735386294 + ], + [ + 630.7155853830895, + 145.881634751178 + ], + [ + 616.4845352471219, + 141.25353374696184 + ], + [ + 614.5274417667242, + 145.98604412426278 + ], + [ + 628.8489972694712, + 147.1248759624378 + ], + [ + 630.6919999697836, + 142.37370582655709 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1165.6989943524436, + "ymin": 380.8447052545681, + "xmax": 1280.0, + "ymax": 451.1443504338741 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1184.9702114120007, + 440.6967175736206 + ], + [ + 1278.7230999229043, + 451.1443504338741 + ], + [ + 1253.7357524082818, + 399.4748891364359 + ], + [ + 1165.6989943524436, + 390.210351737203 + ], + [ + 1189.7397953169689, + 431.191304555732 + ], + [ + 1284.3808922736812, + 441.61639528809786 + ], + [ + 1258.8507132157304, + 390.0797656621439 + ], + [ + 1170.0308973669232, + 380.8447052545681 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1123.026111284639, + "ymin": 347.31897039691717, + "xmax": 1280.0, + "ymax": 540.5568405351312 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1139.3232408988201, + 529.3636388506299 + ], + [ + 1229.9502681164038, + 540.5568405351312 + ], + [ + 1208.264863807358, + 484.7791542997514 + ], + [ + 1123.026111284639, + 474.8290966080811 + ], + [ + 1203.9684123863349, + 400.2325107626618 + ], + [ + 1307.3366837635022, + 411.18949314820827 + ], + [ + 1277.9964637078033, + 356.91552227238935 + ], + [ + 1181.5751372809732, + 347.31897039691717 + ] + ], + "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": 587.4742793249031, + "ymin": 0.0, + "xmax": 639.4178839731977, + "ymax": 45.039881832187575 + }, + "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": [ + [ + 639.4178839731977, + -25.10999798974825 + ], + [ + 632.8311524143052, + -25.49652731285522 + ], + [ + 592.8012315669625, + 44.50784817679204 + ], + [ + 600.4846406301202, + 45.039881832187575 + ], + [ + 639.3627402875544, + -172.120127833673 + ], + [ + 632.1527594138871, + -172.38955936973252 + ], + [ + 587.4742793249031, + -122.78454122339764 + ], + [ + 596.0192869915826, + -122.40121525435683 + ] + ], + "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": 812.2973227477037, + "ymin": 0.0, + "xmax": 1051.0359737825713, + "ymax": 1.92947268657133 + }, + "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": [ + [ + 1013.091900268184, + 1.92947268657133 + ], + [ + 1012.2533471937293, + -0.49996034062843364 + ], + [ + 812.5805130485809, + -12.292853133921142 + ], + [ + 812.2973227477037, + -9.995397249931045 + ], + [ + 1051.0359737825713, + -153.1504236681851 + ], + [ + 1049.877602584253, + -154.86468083068632 + ], + [ + 829.4974600157666, + -163.1582031387311 + ], + [ + 829.2885971654584, + -161.54608748472776 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 614.4393940138197, + "ymin": 141.20322551621737, + "xmax": 630.8015505058846, + "ymax": 150.70038976700226 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 616.4784372740555, + 144.7446949874336 + ], + [ + 614.5052715069426, + 149.54511298354328 + ], + [ + 628.9443473710229, + 150.70038976700226 + ], + [ + 630.8015505058846, + 145.88088937396685 + ], + [ + 616.4181632160735, + 141.20322551621737 + ], + [ + 614.4393940138197, + 145.9863849938442 + ], + [ + 628.9157228410102, + 147.13753888710053 + ], + [ + 630.777932730742, + 142.33531654386937 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1165.7869220969892, + "ymin": 380.87881370985036, + "xmax": 1280.0, + "ymax": 451.0415785704391 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1185.0399536488565, + 440.6065551523498 + ], + [ + 1278.692127995345, + 451.0415785704391 + ], + [ + 1253.7356165649467, + 399.43753759264763 + ], + [ + 1165.7869220969892, + 390.1828712779519 + ], + [ + 1189.7783135941327, + 431.16379357428633 + ], + [ + 1284.3118119702076, + 441.5764363108156 + ], + [ + 1258.816755066739, + 390.1042273873059 + ], + [ + 1170.0909540407274, + 380.87881370985036 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 113.91034894141012, + "ymin": 714.3497619283378, + "xmax": 462.8992672187195, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 269.24165169425015, + 933.3551505082454 + ], + [ + 258.3699969657729, + 958.7576780579831 + ], + [ + 455.4284032361337, + 998.4993265946605 + ], + [ + 462.8992672187195, + 971.6360437111965 + ], + [ + 132.41214354521264, + 714.3497619283378 + ], + [ + 113.91034894141012, + 743.7422116028995 + ], + [ + 382.77529353788617, + 790.5515234647796 + ], + [ + 395.00065748622563, + 758.799399849029 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 513.8947701635464, + "ymin": 0.0, + "xmax": 819.8325150536739, + "ymax": 168.3917620380422 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 531.9182872867235, + 141.43274801740066 + ], + [ + 529.4131313618262, + 145.74183580263755 + ], + [ + 796.4850789451157, + 168.3917620380422 + ], + [ + 797.0106420809805, + 163.73825127952776 + ], + [ + 516.8808061472339, + -51.31159041333842 + ], + [ + 513.8947701635464, + -48.05562429155418 + ], + [ + 819.4350223371154, + -30.82813207438869 + ], + [ + 819.8325150536739, + -34.38318101704215 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 428886267066368769, + "instance_id": 451, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1953_139", + "bbox_3d": { + "center_world": { + "x": -44.69498825073242, + "y": -148.67919921875, + "z": 6.997687816619873 + }, + "extent": { + "x": 4.703411102294922, + "y": 4.569997787475586, + "z": 7.45363187789917 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 26.909149928206716, + "ymax": 5.382105514302168 + }, + "corners_3d": [ + [ + -47.320281982421875, + -154.68875122070312, + -0.4559440612792969 + ], + [ + -50.777584075927734, + -146.22787475585938, + -0.4559440612792969 + ], + [ + -42.06969451904297, + -142.66964721679688, + -0.4559440612792969 + ], + [ + -38.61239242553711, + -151.13052368164062, + -0.4559440612792969 + ], + [ + -47.320281982421875, + -154.68875122070312, + 14.451319694519043 + ], + [ + -50.777584075927734, + -146.22787475585938, + 14.451319694519043 + ], + [ + -42.06969451904297, + -142.66964721679688, + 14.451319694519043 + ], + [ + -38.61239242553711, + -151.13052368164062, + 14.451319694519043 + ] + ], + "corners_2d": [ + [ + -191.77632101056474, + -20.528906184219124 + ], + [ + -118.16657733106263, + 5.382105514302168 + ], + [ + 26.909149928206716, + -35.80814275836775 + ], + [ + -47.97558732648906, + -57.16730533646103 + ], + [ + -339.7544892667296, + -295.80482048606916 + ], + [ + -263.2206938038597, + -285.695188847899 + ], + [ + -77.39950444529882, + -301.66026149856464 + ], + [ + -157.6687981381158, + -309.71740398078816 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 3383846978417433121, + "instance_id": 8602, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1954_140", + "bbox_3d": { + "center_world": { + "x": -52.19176483154297, + "y": -136.86099243164062, + "z": 5.008176326751709 + }, + "extent": { + "x": 3.302781581878662, + "y": 3.209097146987915, + "z": 5.23401403427124 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 85.76944987557965, + "ymax": 42.882299232124865 + }, + "corners_3d": [ + [ + -49.032264709472656, + -140.21124267578125, + -0.22583770751953125 + ], + [ + -55.449745178222656, + -140.11557006835938, + -0.22583770751953125 + ], + [ + -55.35126495361328, + -133.5107421875, + -0.22583770751953125 + ], + [ + -48.93378448486328, + -133.60641479492188, + -0.22583770751953125 + ], + [ + -49.032264709472656, + -140.21124267578125, + 10.24219036102295 + ], + [ + -55.449745178222656, + -140.11557006835938, + 10.24219036102295 + ], + [ + -55.35126495361328, + -133.5107421875, + 10.24219036102295 + ], + [ + -48.93378448486328, + -133.60641479492188, + 10.24219036102295 + ] + ], + "corners_2d": [ + [ + -12.430325317808183, + -2.3594098808854937 + ], + [ + -88.4849827010147, + 36.069883826823684 + ], + [ + 17.559213243418412, + 42.882299232124865 + ], + [ + 85.76944987557965, + 3.3686957178565535 + ], + [ + -94.7312079454232, + -195.25288186504827 + ], + [ + -189.7890967861266, + -171.23034228132735 + ], + [ + -70.44272741926636, + -166.91421424535474 + ], + [ + 14.79927117343584, + -191.7067945528895 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1145.7509070274243, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 493.56454825801495 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1379.161795241534, + 269.67084038814545 + ], + [ + 1145.7509070274243, + 294.4059860539075 + ], + [ + 1342.717418033271, + 493.56454825801495 + ], + [ + 1629.0457239387824, + 453.72997353048265 + ], + [ + 1635.3909753478229, + -166.10402950411674 + ], + [ + 1329.520220641985, + -153.38873879115147 + ], + [ + 1704.4073427872404, + -38.23348411066371 + ], + [ + 2105.5693076330085, + -63.267159599530714 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00101/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00101/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..de1da470acda14693badd647a8a34be47d0ee110 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00101/meta.json @@ -0,0 +1,2680 @@ +{ + "frame_id": 101, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 50.5, + "sim_timestamp": 10981.54169984907 + }, + "drone_pose": { + "x": -100.8710817339304, + "y": -89.73700434201895, + "z": 20.335558281932077, + "pitch": -44.83236298434965, + "yaw": -7.360573966881582, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7033287286758423, + 0.09085436165332794, + 0.7050348520278931, + 48.45524978637695 + ], + [ + -0.12811318039894104, + 0.9917595386505127, + 0.0, + 101.92044830322266 + ], + [ + -0.6992250680923462, + -0.09032426029443741, + 0.7091726660728455, + -76.84757995605469 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -100.33897268596222, + "y": -89.38848872042735, + "z": 20.24895613201543 + }, + "t1_image_uv": [ + 1624.1948099610986, + -303.96127424043834 + ], + "t1_depth": 0.40364094791838445 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -81.16718292236328, + "y": -92.68776321411131, + "z": 0.5749992918968201 + }, + "image_uv": [ + 626.2418726144233, + 358.9619940832649 + ], + "depth": 28.058290784333423, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 187, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -81.16718292236328, + "y": -92.68775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.22093261778354645, + "y": 0.22514647245407104, + "z": 0.5201919674873352 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 615.2556919473848, + "ymin": 338.6748933526181, + "xmax": 636.9683033989735, + "ymax": 379.0410367417757 + }, + "corners_3d": [ + [ + -81.16419982910156, + -93.00318145751953, + 0.054807305335998535 + ], + [ + -81.48260498046875, + -92.68477630615234, + 0.054807305335998535 + ], + [ + -81.170166015625, + -92.3723373413086, + 0.054807305335998535 + ], + [ + -80.85176086425781, + -92.69074249267578, + 0.054807305335998535 + ], + [ + -81.16419982910156, + -93.00318145751953, + 1.095191240310669 + ], + [ + -81.48260498046875, + -92.68477630615234, + 1.095191240310669 + ], + [ + -81.170166015625, + -92.3723373413086, + 1.095191240310669 + ], + [ + -80.85176086425781, + -92.69074249267578, + 1.095191240310669 + ] + ], + "corners_2d": [ + [ + 615.8935275685409, + 370.390579986189 + ], + [ + 625.0377564250216, + 379.0410367417757 + ], + [ + 636.9683033989735, + 372.4806230259581 + ], + [ + 627.7798449008438, + 363.94586023732126 + ], + [ + 615.2556919473848, + 345.1156947055688 + ], + [ + 624.6382245161376, + 353.7644717747579 + ], + [ + 636.8879090467195, + 347.20495593089726 + ], + [ + 627.4587271711143, + 338.6748933526181 + ] + ], + "center_offset_px": [ + -13.7581273855767, + -1.0380059167350737 + ] + }, + "trace_timestep_index": 101, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 57, + "semantic_pixel_counts": { + "1": 310385, + "2": 205882, + "3": 213831, + "4": 35977, + "5": 554, + "6": 6679, + "7": 88, + "9": 4878, + "10": 37216, + "12": 2927, + "14": 20558, + "16": 34496, + "20": 30620, + "21": 632, + "24": 16877 + }, + "instance_pixel_counts": { + "913": 2475, + "2158": 3627, + "2670": 1715, + "3694": 7676, + "5230": 1883, + "5742": 3660, + "8834": 1965, + "12951": 401, + "14416": 554, + "15963": 29946, + "16475": 73903, + "16987": 70521, + "17232": 35977, + "17499": 614, + "22976": 4763, + "23296": 417, + "23552": 675, + "24512": 37015, + "26963": 1507, + "28819": 1011, + "33429": 73, + "35668": 8133, + "35924": 14989, + "36692": 2260, + "36948": 2763, + "37979": 9386, + "40019": 2203, + "41611": 1290, + "42123": 853, + "43117": 3071, + "43147": 9471, + "43155": 43026, + "43659": 15111, + "43667": 5227, + "44179": 261121, + "45717": 4366, + "46229": 68, + "46741": 12370, + "48749": 7829, + "49664": 187, + "49920": 431, + "50176": 567, + "50432": 808, + "50624": 5406, + "50688": 678, + "50944": 256, + "51136": 2008, + "51456": 7026, + "52160": 39187, + "52480": 34496, + "52672": 79282, + "55040": 13532, + "55879": 11367, + "57173": 4878, + "62043": 14, + "64351": 11095, + "64603": 618 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 187, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -81.16718292236328, + "y": -92.68775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.22276122868061066, + "y": 0.2393212765455246, + "z": 0.5381706357002258 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 614.9005849581588, + "ymin": 337.9339203868596, + "xmax": 637.3106588462513, + "ymax": 379.76859565384194 + }, + "corners_3d": [ + [ + -81.15547180175781, + -93.0145034790039, + 0.03682863712310791 + ], + [ + -81.49392700195312, + -92.6760482788086, + 0.03682863712310791 + ], + [ + -81.17889404296875, + -92.36101531982422, + 0.03682863712310791 + ], + [ + -80.84043884277344, + -92.69947052001953, + 0.03682863712310791 + ], + [ + -81.15547180175781, + -93.0145034790039, + 1.1131699085235596 + ], + [ + -81.49392700195312, + -92.6760482788086, + 1.1131699085235596 + ], + [ + -81.17889404296875, + -92.36101531982422, + 1.1131699085235596 + ], + [ + -80.84043884277344, + -92.69947052001953, + 1.1131699085235596 + ] + ], + "corners_2d": [ + [ + 615.5694687513052, + 370.57295732962376 + ], + [ + 625.2850731392209, + 379.76859565384194 + ], + [ + 637.3106588462513, + 373.15005465408643 + ], + [ + 627.5476925240328, + 364.0783613128149 + ], + [ + 614.9005849581588, + 344.42432823662006 + ], + [ + 624.8782476244298, + 353.61812868714696 + ], + [ + 637.2368253018818, + 347.00042660912607 + ], + [ + 627.2091176354074, + 337.9339203868596 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 431, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -77.04119873046875, + "y": -89.69005584716797, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.4249243140220642, + "y": 0.40345701575279236, + "z": 0.8973106741905212 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 717.2536620696208, + "ymin": 243.63470918784242, + "xmax": 757.4373092754666, + "ymax": 310.43299966911223 + }, + "corners_3d": [ + [ + -77.1778335571289, + -90.25985717773438, + -0.3223114013671875 + ], + [ + -77.6173095703125, + -89.58312225341797, + -0.3223114013671875 + ], + [ + -76.9045639038086, + -89.12025451660156, + -0.3223114013671875 + ], + [ + -76.465087890625, + -89.79698944091797, + -0.3223114013671875 + ], + [ + -77.1778335571289, + -90.25985717773438, + 1.472309947013855 + ], + [ + -77.6173095703125, + -89.58312225341797, + 1.472309947013855 + ], + [ + -76.9045639038086, + -89.12025451660156, + 1.472309947013855 + ], + [ + -76.465087890625, + -89.79698944091797, + 1.472309947013855 + ] + ], + "corners_2d": [ + [ + 717.2536620696208, + 299.71196153961125 + ], + [ + 737.2788499820115, + 310.43299966911223 + ], + [ + 752.6998371598137, + 297.18453381100414 + ], + [ + 732.7843585848384, + 286.77334399300065 + ], + [ + 720.510705794701, + 256.45869588986875 + ], + [ + 741.4314402345096, + 267.09661079858336 + ], + [ + 757.4373092754666, + 253.95243050067063 + ], + [ + 736.6372239958605, + 243.63470918784242 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 567, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -84.4298324584961, + "y": -86.11299896240234, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.47658202052116394, + "y": 0.4134277105331421, + "z": 0.8743139505386353 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 828.9424851695494, + "ymin": 428.4409451314368, + "xmax": 887.3444953100595, + "ymax": 508.059101586068 + }, + "corners_3d": [ + [ + -84.54003143310547, + -86.73421478271484, + -0.29930979013442993 + ], + [ + -85.06038665771484, + -86.09162902832031, + -0.29930979013442993 + ], + [ + -84.31963348388672, + -85.49178314208984, + -0.29930979013442993 + ], + [ + -83.79927825927734, + -86.13436889648438, + -0.29930979013442993 + ], + [ + -84.54003143310547, + -86.73421478271484, + 1.4493181705474854 + ], + [ + -85.06038665771484, + -86.09162902832031, + 1.4493181705474854 + ], + [ + -84.31963348388672, + -85.49178314208984, + 1.4493181705474854 + ], + [ + -83.79927825927734, + -86.13436889648438, + 1.4493181705474854 + ] + ], + "corners_2d": [ + [ + 828.9424851695494, + 489.8986570746241 + ], + [ + 853.7274166484951, + 508.059101586068 + ], + [ + 875.5269287009306, + 488.1282342713845 + ], + [ + 850.830114077661, + 470.6132681866612 + ], + [ + 838.4389604231183, + 447.8935957647356 + ], + [ + 864.6587307577947, + 466.24336762488406 + ], + [ + 887.3444953100595, + 446.10636839992173 + ], + [ + 861.22892034646, + 428.4409451314368 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 808, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -89.20936584472656, + "y": -91.94298553466797, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.4954492151737213, + "y": 0.4749072194099426, + "z": 0.912004828453064 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 579.2420816516986, + "ymin": 556.3507133797739, + "xmax": 639.5211763665112, + "ymax": 649.5634290142093 + }, + "corners_3d": [ + [ + -89.22389221191406, + -92.6291275024414, + -0.3370055556297302 + ], + [ + -89.8955078125, + -91.95751190185547, + -0.3370055556297302 + ], + [ + -89.19483947753906, + -91.25684356689453, + -0.3370055556297302 + ], + [ + -88.52322387695312, + -91.92845916748047, + -0.3370055556297302 + ], + [ + -89.22389221191406, + -92.6291275024414, + 1.487004041671753 + ], + [ + -89.8955078125, + -91.95751190185547, + 1.487004041671753 + ], + [ + -89.19483947753906, + -91.25684356689453, + 1.487004041671753 + ], + [ + -88.52322387695312, + -91.92845916748047, + 1.487004041671753 + ] + ], + "corners_2d": [ + [ + 582.6348731287028, + 620.7519765307354 + ], + [ + 606.0273759821449, + 649.5634290142093 + ], + [ + 639.5211763665112, + 626.2774514134919 + ], + [ + 615.7950462059465, + 598.5225245115055 + ], + [ + 579.2420816516986, + 579.0625723287635 + ], + [ + 603.9675773234884, + 608.5725005514796 + ], + [ + 639.4927204926155, + 584.7155852618679 + ], + [ + 614.3911808083053, + 556.3507133797739 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 678, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -83.87516784667969, + "y": -101.02207946777344, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.4393603503704071, + "y": 0.5183447003364563, + "z": 0.8760085105895996 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 287.84142653309243, + "ymin": 356.66622692909226, + "xmax": 345.40833549359496, + "ymax": 434.71839066227494 + }, + "corners_3d": [ + [ + -83.74883270263672, + -101.68972778320312, + -0.14860206842422485 + ], + [ + -84.55449676513672, + -101.03732299804688, + -0.14860206842422485 + ], + [ + -84.00150299072266, + -100.35443115234375, + -0.14860206842422485 + ], + [ + -83.19583892822266, + -101.0068359375, + -0.14860206842422485 + ], + [ + -83.74883270263672, + -101.68972778320312, + 1.6034150123596191 + ], + [ + -84.55449676513672, + -101.03732299804688, + 1.6034150123596191 + ], + [ + -84.00150299072266, + -100.35443115234375, + 1.6034150123596191 + ], + [ + -83.19583892822266, + -101.0068359375, + 1.6034150123596191 + ] + ], + "corners_2d": [ + [ + 303.6190431831774, + 411.35487515769876 + ], + [ + 315.18023299046496, + 434.71839066227494 + ], + [ + 345.40833549359496, + 422.3827903471496 + ], + [ + 333.30440392914636, + 399.56980753761326 + ], + [ + 287.84142653309243, + 368.4715122164753 + ], + [ + 299.57396332037746, + 391.91351310426865 + ], + [ + 331.4321096033578, + 379.53010491774654 + ], + [ + 319.09552042896553, + 356.66622692909226 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 256, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -69.92184448242188, + "y": -100.85797882080078, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.42659422755241394, + "y": 0.4476367235183716, + "z": 0.8978672623634338 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 436.8998507560823, + "ymin": 101.68388520556937, + "xmax": 472.07671337674253, + "ymax": 159.54269835302176 + }, + "corners_3d": [ + [ + -69.77876281738281, + -101.45954895019531, + -0.17046082019805908 + ], + [ + -70.52960205078125, + -100.9719467163086, + -0.17046082019805908 + ], + [ + -70.06492614746094, + -100.25640869140625, + -0.17046082019805908 + ], + [ + -69.3140869140625, + -100.74401092529297, + -0.17046082019805908 + ], + [ + -69.77876281738281, + -101.45954895019531, + 1.6252737045288086 + ], + [ + -70.52960205078125, + -100.9719467163086, + 1.6252737045288086 + ], + [ + -70.06492614746094, + -100.25640869140625, + 1.6252737045288086 + ], + [ + -69.3140869140625, + -100.74401092529297, + 1.6252737045288086 + ] + ], + "corners_2d": [ + [ + 443.77687050651673, + 148.0011216778186 + ], + [ + 450.8271923081978, + 159.54269835302176 + ], + [ + 472.07671337674253, + 154.21936247609722 + ], + [ + 464.75238230039065, + 142.83896298624666 + ], + [ + 436.8998507560823, + 106.72869334697836 + ], + [ + 444.09052338292673, + 118.0167961493272 + ], + [ + 466.14048026918033, + 112.80884155785645 + ], + [ + 458.6546826307277, + 101.68388520556937 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 7026, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 627.1208581354811, + "ymin": 269.45054928403886, + "xmax": 710.2195692503242, + "ymax": 404.7488666440098 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 707.9715037167747, + 308.45409556863035 + ], + [ + 645.7155262074494, + 303.0621148901393 + ], + [ + 627.5741442564387, + 398.1495776025154 + ], + [ + 696.3494826478279, + 404.7488666440098 + ], + [ + 710.2195692503242, + 274.81224393423497 + ], + [ + 645.9033934602253, + 269.45054928403886 + ], + [ + 627.1208581354811, + 364.31562227742256 + ], + [ + 698.4192397933587, + 370.9240888172857 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 34496, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 109.68717154689614, + "ymin": 502.2341219979636, + "xmax": 565.754194069965, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 565.754194069965, + 629.634493384841 + ], + [ + 402.70895942824836, + 610.2252367720027 + ], + [ + 211.36661726344147, + 1166.6661490156544 + ], + [ + 446.9726468816384, + 1208.4596160148542 + ], + [ + 554.3384318217234, + 522.6201563531844 + ], + [ + 366.8898266700206, + 502.2341219979636 + ], + [ + 109.68717154689614, + 1128.956136660288 + ], + [ + 399.8310695847589, + 1179.8430053565025 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 13532, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 860.1492720299349, + "ymin": 247.16261320877737, + "xmax": 975.0527236120906, + "ymax": 456.8946305108077 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 867.3673247877248, + 448.1513716576183 + ], + [ + 956.1274529375333, + 456.8946305108077 + ], + [ + 936.0617335549637, + 305.3378049687701 + ], + [ + 860.1492720299349, + 298.92604546022034 + ], + [ + 880.8589658310734, + 396.082845066722 + ], + [ + 975.0527236120906, + 404.88671757062485 + ], + [ + 951.1008231456989, + 253.5096718139424 + ], + [ + 871.2485150944595, + 247.16261320877737 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1032.8427895269426, + "ymin": 0.0, + "xmax": 1049.8536407545234, + "ymax": 14.374867708665477 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1042.3355960919166, + 11.356612327283074 + ], + [ + 1032.8427895269426, + 10.8281693022617 + ], + [ + 1033.9279324600634, + 13.841147811484632 + ], + [ + 1043.4689903661451, + 14.374867708665477 + ], + [ + 1048.6702485070396, + -9.33628921163546 + ], + [ + 1039.0224999139805, + -9.8547091980858 + ], + [ + 1040.1560498882602, + -6.898687299776498 + ], + [ + 1049.8536407545234, + -6.375008438577936 + ] + ], + "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": 989.3202488331091, + "ymin": 0.0, + "xmax": 1099.8107886884482, + "ymax": 75.82573896197295 + }, + "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": [ + [ + 1022.729078205285, + 75.14063572280969 + ], + [ + 1033.1420656675114, + 75.82573896197295 + ], + [ + 997.9249642514249, + -38.73819426890435 + ], + [ + 989.3202488331091, + -39.209182958766405 + ], + [ + 1087.5543942027637, + -136.6635795522041 + ], + [ + 1099.8107886884482, + -136.11577727688234 + ], + [ + 1046.8289316771302, + -225.15496723661863 + ], + [ + 1037.002560056138, + -225.5106670748986 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 431.27246946436424, + "ymin": 44.28065507512832, + "xmax": 585.0032367709235, + "ymax": 282.5991066891044 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 470.8672012518798, + 264.48013077595834 + ], + [ + 467.4938613162926, + 272.9025034941341 + ], + [ + 582.7239409308065, + 282.5991066891044 + ], + [ + 585.0032367709235, + 273.98828844100507 + ], + [ + 435.7705463665165, + 44.28065507512832 + ], + [ + 431.27246946436424, + 51.85876035573051 + ], + [ + 570.5345225979738, + 60.62172699225471 + ], + [ + 573.4379809033817, + 52.83795450850653 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 386.74873531395326, + "ymin": 0.0, + "xmax": 451.94822566637873, + "ymax": 47.38741720632618 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 419.29246359419074, + 46.785387183046566 + ], + [ + 428.9246013573096, + 47.38741720632618 + ], + [ + 451.94822566637873, + 9.101230846520139 + ], + [ + 442.8698825091544, + 8.568857535546044 + ], + [ + 386.74873531395326, + -141.7831807244017 + ], + [ + 397.76761283901305, + -141.2954731784713 + ], + [ + 426.0735672562005, + -172.0448265970614 + ], + [ + 415.77332113206626, + -172.46861577978564 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 552.6760086318998, + "ymin": 58.585734272849606, + "xmax": 569.706750776253, + "ymax": 68.42218124160576 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 554.9911140143261, + 62.27534314779274 + ], + [ + 552.9323081388163, + 67.47769965814848 + ], + [ + 567.7617547901742, + 68.42218124160576 + ], + [ + 569.706750776253, + 63.20502538268386 + ], + [ + 554.7428476008737, + 58.585734272849606 + ], + [ + 552.6760086318998, + 63.774088701923006 + ], + [ + 567.5488041073886, + 64.71605397510137 + ], + [ + 569.5011695395006, + 59.51289666043618 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1109.8287399938572, + "ymin": 293.53130567016353, + "xmax": 1222.7744808958475, + "ymax": 361.300686368198 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1126.4641086725696, + 353.46048756253896 + ], + [ + 1217.1658825063282, + 361.300686368198 + ], + [ + 1195.5200887409046, + 309.87909161013107 + ], + [ + 1109.8287399938572, + 302.85679208236087 + ], + [ + 1131.1521594398055, + 344.0916584323986 + ], + [ + 1222.7744808958475, + 351.9297952084854 + ], + [ + 1200.6252211299184, + 300.54448112903583 + ], + [ + 1114.1125480356143, + 293.53130567016353 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1068.080910888752, + "ymin": 260.0554286344601, + "xmax": 1245.4193703647156, + "ymax": 448.4085516409765 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1081.9514963479332, + 440.1547247066411 + ], + [ + 1169.0828357837713, + 448.4085516409765 + ], + [ + 1150.5481547914412, + 393.84273525751087 + ], + [ + 1068.080910888752, + 386.42701564618903 + ], + [ + 1145.1397834409727, + 313.552770444579 + ], + [ + 1245.4193703647156, + 321.8416860418688 + ], + [ + 1219.8329683070451, + 267.39239300764575 + ], + [ + 1125.6797798388761, + 260.0554286344601 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4969640485480411904, + "instance_id": 179, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_0", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 285.7201320557937, + "ymin": 712.2737020694244, + "xmax": 325.1676243901432, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -95.6453857421875, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.634469032287598 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.634469032287598 + ], + [ + -95.6453857421875, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -95.15055084228516, + 7.743766784667969 + ], + [ + -95.94111633300781, + -94.73877716064453, + 7.743766784667969 + ], + [ + -95.6453857421875, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 296.1881437621925, + 715.8756679058146 + ], + [ + 287.8341540251448, + 736.9793415095371 + ], + [ + 317.25747130209976, + 740.8475238496479 + ], + [ + 325.1676243901432, + 719.622020501683 + ], + [ + 294.1571778013585, + 712.2737020694244 + ], + [ + 285.7201320557937, + 733.445696654428 + ], + [ + 315.3144122386342, + 737.3268387867106 + ], + [ + 323.3024970622327, + 716.0318889798118 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 552.5833169584355, + "ymin": 58.533005933779236, + "xmax": 569.797131321764, + "ymax": 68.47516326894561 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 554.9241520363115, + 62.262192187476444 + ], + [ + 552.8426518339978, + 67.52043432786422 + ], + [ + 567.8318966606583, + 68.47516326894561 + ], + [ + 569.797131321764, + 63.20180200595229 + ], + [ + 554.6730274955842, + 58.533005933779236 + ], + [ + 552.5833169584355, + 63.776943386648156 + ], + [ + 567.6168513224719, + 64.72910164499655 + ], + [ + 569.5896110412262, + 59.470041417213565 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1109.913709669971, + "ymin": 293.5644909817162, + "xmax": 1222.7095515952192, + "ymax": 361.20080890924453 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1126.5335801866727, + 353.3699764817588 + ], + [ + 1217.1386921805424, + 361.20080890924453 + ], + [ + 1195.5194346432258, + 309.8434559694721 + ], + [ + 1109.913709669971, + 302.82863997630403 + ], + [ + 1131.1910153521324, + 344.06279365467583 + ], + [ + 1222.7095515952192, + 351.89156974574297 + ], + [ + 1200.5907995667244, + 300.5702522403543 + ], + [ + 1114.1699938960892, + 293.5644909817162 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 45.08046904224284, + "ymin": 672.3311920853147, + "xmax": 421.83937943623647, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 231.2222961899609, + 862.8125695409822 + ], + [ + 221.44500941151955, + 887.2239704056838 + ], + [ + 415.1285813178357, + 915.7477991282584 + ], + [ + 421.83937943623647, + 890.3954679915213 + ], + [ + 62.983482937734266, + 672.3311920853147 + ], + [ + 45.08046904224284, + 702.493176215733 + ], + [ + 317.7615692061322, + 738.2712580988473 + ], + [ + 329.6341322506474, + 706.4425490847252 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14501442283259525311, + "instance_id": 49016, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_1", + "bbox_3d": { + "center_world": { + "x": -95.79325103759766, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 285.9345544486745, + "ymin": 712.4238917544368, + "xmax": 324.96246748536566, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -95.64695739746094, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.635044574737549 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.635044574737549 + ], + [ + -95.64695739746094, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -95.14835357666016, + 7.743179798126221 + ], + [ + -95.93954467773438, + -94.74095916748047, + 7.743179798126221 + ], + [ + -95.64695739746094, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 296.28802801764107, + 715.9871377825357 + ], + [ + 288.02474414880845, + 736.8674690188631 + ], + [ + 317.1336583431258, + 740.6939242930137 + ], + [ + 324.96246748536566, + 719.6943346912052 + ], + [ + 294.27911063785996, + 712.4238917544368 + ], + [ + 285.9345544486745, + 733.3711042430352 + ], + [ + 315.21078686851695, + 737.2102390131563 + ], + [ + 323.115905810701, + 716.1426782118816 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 446.2591652866138, + "ymin": 0.0, + "xmax": 768.2853456287944, + "ymax": 78.58933154746114 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 476.21687745902864, + 55.17251652669853 + ], + [ + 473.6810877851971, + 59.86678639871735 + ], + [ + 749.1710888392134, + 78.58933154746114 + ], + [ + 749.7461574870042, + 73.6235735572505 + ], + [ + 449.4384714415073, + -152.54690412097398 + ], + [ + 446.2591652866138, + -148.82729359422984 + ], + [ + 767.7735808335955, + -133.9041044210615 + ], + [ + 768.2853456287944, + -137.8759330557736 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1096.8667040321725, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 398.87912747384803 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1327.547124659112, + 171.95031357848995 + ], + [ + 1096.8667040321725, + 202.94683649660087 + ], + [ + 1279.592667647591, + 398.87912747384803 + ], + [ + 1555.474006657414, + 351.2324838181423 + ], + [ + 1602.017439928677, + -288.60276441298913 + ], + [ + 1289.739937083576, + -271.01266776673754 + ], + [ + 1654.890078067072, + -144.91811702595436 + ], + [ + 2052.883307790019, + -178.1942490066126 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00102/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00102/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..79fb8fc50ed22049790d03984eeb811eb17bc854 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00102/meta.json @@ -0,0 +1,2678 @@ +{ + "frame_id": 102, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 51.0, + "sim_timestamp": 10994.543765364215 + }, + "drone_pose": { + "x": -100.33897268596222, + "y": -89.38848872042735, + "z": 20.24895613201543, + "pitch": -44.08066664437258, + "yaw": -11.575970649764368, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7037492990493774, + 0.14415140450000763, + 0.6956703662872314, + 43.64140319824219 + ], + [ + -0.20066706836223602, + 0.9796594977378845, + 0.0, + 107.70500946044922 + ], + [ + -0.6815201044082642, + -0.13959814608097076, + 0.7183611392974854, + -70.45063018798828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -99.95819408704413, + "y": -88.80403696505823, + "z": 20.174619723817028 + }, + "t1_image_uv": [ + 3286.207582807258, + -147.73186638826752 + ], + "t1_depth": 0.23543674582891086 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -80.66718292236328, + "y": -92.18776321411131, + "z": 0.5749944090844292 + }, + "image_uv": [ + 681.416695376322, + 371.53045653807465 + ], + "depth": 27.934120297144723, + "visible": false, + "in_view": true, + "lost_reason": "occluded", + "pixel_count": 0, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -80.66718292236328, + "y": -92.18775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.2296728491783142, + "y": 0.2222021371126175, + "z": 0.5300421118736267 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 670.178628727507, + "ymin": 350.9396235155039, + "xmax": 692.9907239756259, + "ymax": 391.9092075819168 + }, + "corners_3d": [ + [ + -80.6724624633789, + -92.50728607177734, + 0.04495227336883545 + ], + [ + -80.98670959472656, + -92.19303894042969, + 0.04495227336883545 + ], + [ + -80.66190338134766, + -91.86823272705078, + 0.04495227336883545 + ], + [ + -80.34765625, + -92.18247985839844, + 0.04495227336883545 + ], + [ + -80.6724624633789, + -92.50728607177734, + 1.1050364971160889 + ], + [ + -80.98670959472656, + -92.19303894042969, + 1.1050364971160889 + ], + [ + -80.66190338134766, + -91.86823272705078, + 1.1050364971160889 + ], + [ + -80.34765625, + -92.18247985839844, + 1.1050364971160889 + ] + ], + "corners_2d": [ + [ + 670.178628727507, + 382.8701132651665 + ], + [ + 678.8344771336541, + 391.9092075819168 + ], + [ + 691.6079099232459, + 385.72465206056705 + ], + [ + 682.8879049687072, + 376.800916355344 + ], + [ + 670.9847729128641, + 357.000680512783 + ], + [ + 679.8819494357775, + 366.03147729097424 + ], + [ + 692.9907239756259, + 359.85210429162584 + ], + [ + 684.0260514618517, + 350.9396235155039 + ] + ], + "center_offset_px": [ + 41.41669537632197, + 11.530456538074645 + ] + }, + "trace_timestep_index": 102, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 56, + "semantic_pixel_counts": { + "1": 321159, + "2": 203144, + "3": 241684, + "4": 27206, + "5": 574, + "6": 5572, + "7": 211, + "9": 32, + "10": 19594, + "12": 3011, + "14": 23112, + "16": 31755, + "20": 26838, + "24": 17708 + }, + "instance_pixel_counts": { + "913": 2728, + "2158": 4088, + "2670": 5284, + "3694": 7614, + "5230": 1882, + "5742": 3652, + "8834": 355, + "12951": 410, + "14416": 574, + "15963": 31642, + "16475": 75707, + "16987": 88866, + "17232": 27206, + "17499": 1033, + "22976": 4837, + "23296": 548, + "23552": 1086, + "24512": 37028, + "26963": 1498, + "28819": 2217, + "33429": 229, + "35668": 8121, + "35924": 13506, + "36692": 2483, + "37979": 10493, + "40019": 2296, + "41611": 1377, + "41619": 787, + "42123": 920, + "43117": 3045, + "43147": 9710, + "43155": 55677, + "43659": 14602, + "43667": 6705, + "44179": 255773, + "44693": 44, + "45717": 5029, + "46229": 80, + "46741": 12326, + "48749": 8378, + "49920": 411, + "50176": 610, + "50432": 969, + "50624": 5844, + "50688": 665, + "50944": 356, + "51136": 1940, + "51456": 7348, + "51712": 1123, + "52160": 38999, + "52480": 31755, + "52672": 76318, + "55040": 14641, + "55879": 9806, + "57173": 32, + "64351": 11159 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 0, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -80.66718292236328, + "y": -92.18775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.2031298726797104, + "y": 0.2377001941204071, + "z": 0.530419111251831 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 670.618191093648, + "ymin": 350.97037885174177, + "xmax": 692.5540144126787, + "ymax": 391.8766209373014 + }, + "corners_3d": [ + [ + -80.64273834228516, + -92.49947357177734, + 0.044575273990631104 + ], + [ + -80.97889709472656, + -92.16331481933594, + 0.044575273990631104 + ], + [ + -80.6916275024414, + -91.87604522705078, + 0.044575273990631104 + ], + [ + -80.35546875, + -92.21220397949219, + 0.044575273990631104 + ], + [ + -80.64273834228516, + -92.49947357177734, + 1.1054134368896484 + ], + [ + -80.97889709472656, + -92.16331481933594, + 1.1054134368896484 + ], + [ + -80.6916275024414, + -91.87604522705078, + 1.1054134368896484 + ], + [ + -80.35546875, + -92.21220397949219, + 1.1054134368896484 + ] + ], + "corners_2d": [ + [ + 670.618191093648, + 382.21441823856054 + ], + [ + 679.8815641468501, + 391.8766209373014 + ], + [ + 691.1806720382592, + 386.40319388513535 + ], + [ + 681.8566021516262, + 376.85013152789116 + ], + [ + 671.4360801583642, + 356.3273720055799 + ], + [ + 680.9580068689019, + 365.9805074234874 + ], + [ + 692.5540144126787, + 360.51157392678925 + ], + [ + 682.968229251896, + 350.97037885174177 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 411, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -76.54119873046875, + "y": -89.19005584716797, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.28584471344947815, + "y": 0.40348631143569946, + "z": 0.8648339509963989 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 778.5031265177131, + "ymin": 263.92041572459584, + "xmax": 816.1377410924165, + "ymax": 325.61631386535623 + }, + "corners_3d": [ + [ + -76.56117248535156, + -89.68412780761719, + -0.2898346781730652 + ], + [ + -77.00067901611328, + -89.0073471069336, + -0.2898346781730652 + ], + [ + -76.52122497558594, + -88.69598388671875, + -0.2898346781730652 + ], + [ + -76.08171844482422, + -89.37276458740234, + -0.2898346781730652 + ], + [ + -76.56117248535156, + -89.68412780761719, + 1.439833164215088 + ], + [ + -77.00067901611328, + -89.0073471069336, + 1.439833164215088 + ], + [ + -76.52122497558594, + -88.69598388671875, + 1.439833164215088 + ], + [ + -76.08171844482422, + -89.37276458740234, + 1.439833164215088 + ] + ], + "corners_2d": [ + [ + 778.5031265177131, + 313.89036853457674 + ], + [ + 798.3409160687747, + 325.61631386535623 + ], + [ + 809.2898592369484, + 317.1542528251891 + ], + [ + 789.4950740260257, + 305.6474962474639 + ], + [ + 784.0842151573812, + 272.086665720346 + ], + [ + 804.8095188096431, + 283.7141967053829 + ], + [ + 816.1377410924165, + 275.32190744273015 + ], + [ + 795.4606503757677, + 263.92041572459584 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 610, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -84.5685806274414, + "y": -85.66431427001953, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.44651854038238525, + "y": 0.3275536894798279, + "z": 0.9012686610221863 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 881.8072267508275, + "ymin": 475.34126116737855, + "xmax": 939.085954655684, + "ymax": 553.0915062356117 + }, + "corners_3d": [ + [ + -84.70945739746094, + -86.19987487792969, + -0.32626938819885254 + ], + [ + -85.1217269897461, + -85.69075775146484, + -0.32626938819885254 + ], + [ + -84.42770385742188, + -85.12875366210938, + -0.32626938819885254 + ], + [ + -84.01543426513672, + -85.63787078857422, + -0.32626938819885254 + ], + [ + -84.70945739746094, + -86.19987487792969, + 1.47626793384552 + ], + [ + -85.1217269897461, + -85.69075775146484, + 1.47626793384552 + ], + [ + -84.42770385742188, + -85.12875366210938, + 1.47626793384552 + ], + [ + -84.01543426513672, + -85.63787078857422, + 1.47626793384552 + ] + ], + "corners_2d": [ + [ + 881.8072267508275, + 536.6689223675528 + ], + [ + 901.7051693161502, + 553.0915062356117 + ], + [ + 924.0221198729021, + 534.7190276467511 + ], + [ + 904.1239301769469, + 518.8257059893306 + ], + [ + 894.6559338575412, + 493.38190486212704 + ], + [ + 915.8287372752682, + 510.0135452277889 + ], + [ + 939.085954655684, + 491.40893067003515 + ], + [ + 917.9202880830594, + 475.34126116737855 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 969, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -89.32894134521484, + "y": -91.71932220458984, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.45472654700279236, + "y": 0.43442869186401367, + "z": 0.8943537473678589 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 608.6668800143939, + "ymin": 592.7888579784603, + "xmax": 664.8222490021435, + "ymax": 682.4257986869536 + }, + "corners_3d": [ + [ + -89.34329223632812, + -92.34805297851562, + -0.31935447454452515 + ], + [ + -89.95767211914062, + -91.73367309570312, + -0.31935447454452515 + ], + [ + -89.31459045410156, + -91.09059143066406, + -0.31935447454452515 + ], + [ + -88.70021057128906, + -91.70497131347656, + -0.31935447454452515 + ], + [ + -89.34329223632812, + -92.34805297851562, + 1.4693529605865479 + ], + [ + -89.95767211914062, + -91.73367309570312, + 1.4693529605865479 + ], + [ + -89.31459045410156, + -91.09059143066406, + 1.4693529605865479 + ], + [ + -88.70021057128906, + -91.70497131347656, + 1.4693529605865479 + ] + ], + "corners_2d": [ + [ + 610.4017782010376, + 653.4023264642246 + ], + [ + 630.6286977585858, + 682.4257986869536 + ], + [ + 663.4379330234135, + 662.2312893069868 + ], + [ + 642.7812750870323, + 634.1259688478967 + ], + [ + 608.6668800143939, + 612.4943729910095 + ], + [ + 630.0655813646521, + 642.2327792935606 + ], + [ + 664.8222490021435, + 621.5320604500805 + ], + [ + 642.941581938759, + 592.7888579784603 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 665, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -83.53762817382812, + "y": -101.02207946777344, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.5442919731140137, + "y": 0.49770018458366394, + "z": 0.8735383152961731 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 324.78082267957853, + "ymin": 354.29806389065755, + "xmax": 385.18644578231124, + "ymax": 432.6669705567981 + }, + "corners_3d": [ + [ + -83.49337768554688, + -101.75828552246094, + -0.14613187313079834 + ], + [ + -84.2669448852539, + -101.1318588256836, + -0.14613187313079834 + ], + [ + -83.58187866210938, + -100.28587341308594, + -0.14613187313079834 + ], + [ + -82.80831146240234, + -100.91230010986328, + -0.14613187313079834 + ], + [ + -83.49337768554688, + -101.75828552246094, + 1.6009447574615479 + ], + [ + -84.2669448852539, + -101.1318588256836, + 1.6009447574615479 + ], + [ + -83.58187866210938, + -100.28587341308594, + 1.6009447574615479 + ], + [ + -82.80831146240234, + -100.91230010986328, + 1.6009447574615479 + ] + ], + "corners_2d": [ + [ + 338.54880181237144, + 409.8043696830435 + ], + [ + 347.698147250535, + 432.6669705567981 + ], + [ + 385.18644578231124, + 419.56411203950915 + ], + [ + 375.3098595669867, + 397.28869247550745 + ], + [ + 324.78082267957853, + 366.80350890716363 + ], + [ + 334.02184817477564, + 389.68514330726543 + ], + [ + 373.42720249727114, + 376.56540578860785 + ], + [ + 363.3822763391971, + 354.29806389065755 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 356, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -69.42184448242188, + "y": -100.35797882080078, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.4334814250469208, + "y": 0.47841307520866394, + "z": 0.9016456604003906 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 505.316562325041, + "ymin": 107.8560612751146, + "xmax": 538.0879268921905, + "ymax": 165.72106463369147 + }, + "corners_3d": [ + [ + -69.25670623779297, + -100.98208618164062, + -0.17423921823501587 + ], + [ + -70.05916595458984, + -100.4609603881836, + -0.17423921823501587 + ], + [ + -69.58698272705078, + -99.73387145996094, + -0.17423921823501587 + ], + [ + -68.7845230102539, + -100.25499725341797, + -0.17423921823501587 + ], + [ + -69.25670623779297, + -100.98208618164062, + 1.6290521621704102 + ], + [ + -70.05916595458984, + -100.4609603881836, + 1.6290521621704102 + ], + [ + -69.58698272705078, + -99.73387145996094, + 1.6290521621704102 + ], + [ + -68.7845230102539, + -100.25499725341797, + 1.6290521621704102 + ] + ], + "corners_2d": [ + [ + 509.79194567893137, + 153.25733246805208 + ], + [ + 516.5874802383287, + 165.72106463369147 + ], + [ + 538.0879268921905, + 161.24087301599715 + ], + [ + 530.9708815257848, + 148.92726997721377 + ], + [ + 505.316562325041, + 112.0789651763888 + ], + [ + 512.269976975174, + 124.24396109591831 + ], + [ + 534.5450779342707, + 119.86949228591396 + ], + [ + 527.2466520052166, + 107.8560612751146 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 7348, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 660.4781435575845, + "ymin": 290.9501102239438, + "xmax": 751.8527960490761, + "ymax": 431.57493423753976 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 748.2576678291207, + 333.34356058464283 + ], + [ + 685.2908330535146, + 324.7058459300466 + ], + [ + 660.4781435575845, + 420.96680820551643 + ], + [ + 730.0288656452768, + 431.57493423753976 + ], + [ + 751.8527960490761, + 299.53784431474776 + ], + [ + 686.780036089556, + 290.9501102239438 + ], + [ + 661.2266024007004, + 386.96346803455003 + ], + [ + 733.3558822313585, + 397.586042788512 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 1123, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 1052.8203097993317, + "ymin": 0.0, + "xmax": 1173.2186272586923, + "ymax": 22.00066039541747 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 1052.8203097993317, + -3.0916730290579153 + ], + [ + 1057.159142409862, + 13.564989228126933 + ], + [ + 1158.0521421407066, + 22.00066039541747 + ], + [ + 1150.7296824304074, + 4.873151561010502 + ], + [ + 1064.4005644426297, + -40.8225647460593 + ], + [ + 1069.2146380394647, + -24.830469772987612 + ], + [ + 1173.2186272586923, + -16.702048956278986 + ], + [ + 1165.2372960168727, + -33.15981437044758 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 31755, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 80.49014562687614, + "ymin": 515.2821156123817, + "xmax": 581.8680745906964, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 581.8680745906964, + 655.3229286097041 + ], + [ + 419.7798862578162, + 624.3779760592327 + ], + [ + 187.66596353224952, + 1183.1014719498849 + ], + [ + 419.58108795258096, + 1250.6007423098476 + ], + [ + 572.8827867786496, + 547.7458197568295 + ], + [ + 386.7299898820811, + 515.2821156123817 + ], + [ + 80.49014562687614, + 1143.245685149257 + ], + [ + 364.84447276459093, + 1225.5910568696563 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 14641, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 903.7434618723275, + "ymin": 279.16655589224047, + "xmax": 1018.0617893473122, + "ymax": 500.9207736840409 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 903.7434618723275, + 486.42478718221946 + ], + [ + 996.2329349203083, + 500.9207736840409 + ], + [ + 984.2822019126304, + 341.78901051881974 + ], + [ + 905.5194498426555, + 331.26088724801065 + ], + [ + 919.6728038520026, + 434.18808622280795 + ], + [ + 1018.0617893473122, + 448.81140880609775 + ], + [ + 1002.0808856063159, + 289.5987290556392 + ], + [ + 919.0796082371251, + 279.16655589224047 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 527.56442918316, + "ymin": 0.0, + "xmax": 539.7204530554586, + "ymax": 11.000489265502551 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 537.9099167762271, + 11.000489265502551 + ], + [ + 539.7204530554586, + 8.203073816696815 + ], + [ + 531.0900326522242, + 7.426703079441154 + ], + [ + 529.2402185960145, + 10.216588883053191 + ], + [ + 536.3631797709282, + -9.306182556574981 + ], + [ + 538.2085765698714, + -12.04647117903869 + ], + [ + 529.4502778112372, + -12.806916518022888 + ], + [ + 527.56442918316, + -10.074115024386174 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1102.2252824987822, + "ymin": 21.416766372262714, + "xmax": 1120.825657231119, + "ymax": 46.35671984123627 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1112.1933917663036, + 43.20919907609624 + ], + [ + 1102.2252824987822, + 42.33599032864521 + ], + [ + 1103.1919048368343, + 45.47452566398505 + ], + [ + 1113.2125922997097, + 46.35671984123627 + ], + [ + 1119.7506246447363, + 22.273625554821308 + ], + [ + 1109.6122721776233, + 21.416766372262714 + ], + [ + 1110.6329136106212, + 24.496719389911334 + ], + [ + 1120.825657231119, + 25.362537879996694 + ] + ], + "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": 1060.3269582608846, + "ymin": 0.0, + "xmax": 1179.1225177851602, + "ymax": 108.81426629069563 + }, + "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": [ + [ + 1088.7711802720073, + 107.70863541818414 + ], + [ + 1099.6912512843883, + 108.81426629069563 + ], + [ + 1069.2963067513829, + -10.009525595482614 + ], + [ + 1060.3269582608846, + -10.76202414975603 + ], + [ + 1166.1673842140465, + -106.76636671315606 + ], + [ + 1179.1225177851602, + -105.88024678922847 + ], + [ + 1128.6873401385642, + -198.34170180973706 + ], + [ + 1118.3881407483598, + -198.90994588035687 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 481.16679491728087, + "ymin": 57.042908644573345, + "xmax": 625.8405789896657, + "ymax": 300.83982182392253 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 512.3989471799645, + 277.1855881527012 + ], + [ + 508.4486965398902, + 285.5210552408847 + ], + [ + 622.9561493806591, + 300.83982182392253 + ], + [ + 625.8405789896657, + 292.2045690633512 + ], + [ + 486.24706176430453, + 57.042908644573345 + ], + [ + 481.16679491728087, + 64.4908558671649 + ], + [ + 619.3447626910892, + 78.25736260685142 + ], + [ + 622.876359731797, + 70.48452733671343 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 453.4123739445291, + "ymin": 0.0, + "xmax": 511.7636620615409, + "ymax": 58.08550113606145 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 476.9423801720976, + 57.156263675322464 + ], + [ + 486.3723464462587, + 58.08550113606145 + ], + [ + 511.7636620615409, + 20.787595385485986 + ], + [ + 502.85783302325376, + 19.965424919519535 + ], + [ + 453.4123739445291, + -129.5967302278254 + ], + [ + 464.16551524510226, + -128.85003879830276 + ], + [ + 494.4769314086091, + -158.57202993643887 + ], + [ + 484.3997703585701, + -159.2215011333501 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 601.3897068095952, + "ymin": 75.56405010936129, + "xmax": 618.6789561613509, + "ymax": 85.9376834981129 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 603.9774077760643, + 79.2585777712232 + ], + [ + 601.5024144417857, + 84.44364422598693 + ], + [ + 616.3160451578697, + 85.9376834981129 + ], + [ + 618.6789561613509, + 80.72899846670526 + ], + [ + 603.8727844687658, + 75.56405010936129 + ], + [ + 601.3897068095952, + 80.73469053325272 + ], + [ + 616.2465478825999, + 82.22461758774625 + ], + [ + 618.6168910187894, + 77.03035538264271 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1166.6378456320763, + "ymin": 340.4965434053178, + "xmax": 1280.0, + "ymax": 417.630143315056 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1181.5677648419755, + 404.18684083896204 + ], + [ + 1279.1034614961663, + 417.630143315056 + ], + [ + 1258.4713048899216, + 361.87755049310795 + ], + [ + 1166.6378456320763, + 349.90045064620944 + ], + [ + 1186.9566532829701, + 394.7624371698618 + ], + [ + 1285.5515552151455, + 408.20996307402345 + ], + [ + 1264.3555176882976, + 352.46394578426754 + ], + [ + 1171.5833170131739, + 340.4965434053178 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1118.892315768446, + "ymin": 306.4715855128969, + "xmax": 1280.0, + "ymax": 505.16437618341456 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1130.6217582705399, + 491.0847275398703 + ], + [ + 1223.7305917255999, + 505.16437618341456 + ], + [ + 1206.7554110718447, + 446.3068005753976 + ], + [ + 1118.892315768446, + 433.7178868852973 + ], + [ + 1203.1227855221975, + 363.9656611504354 + ], + [ + 1311.3073805924964, + 378.21726097633285 + ], + [ + 1286.4743051585797, + 319.01020480351224 + ], + [ + 1185.3021343570058, + 306.4715855128969 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 601.2956972540532, + "ymin": 75.50849494391696, + "xmax": 618.7707930367314, + "ymax": 85.99361372071866 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 603.9120438791751, + 79.24264188196457 + ], + [ + 601.4098956696257, + 84.48336270522219 + ], + [ + 616.3831455392659, + 85.99361372071866 + ], + [ + 618.7707930367314, + 80.7287639738837 + ], + [ + 603.8061080649707, + 75.50849494391696 + ], + [ + 601.2956972540532, + 80.73447797112328 + ], + [ + 616.3130951358906, + 82.24052789793649 + ], + [ + 618.7083317861483, + 76.99041263813353 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1166.7292603158471, + "ymin": 340.534497433812, + "xmax": 1280.0, + "ymax": 417.5238970815359 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1181.6463614955667, + 404.0965114476152 + ], + [ + 1279.0783544418948, + 417.5238970815359 + ], + [ + 1258.4715332281157, + 361.8410940943672 + ], + [ + 1166.7292603158471, + 349.8765576644352 + ], + [ + 1187.0000771908444, + 394.7340857269879 + ], + [ + 1285.4830790011194, + 408.1656435476409 + ], + [ + 1264.3168275617566, + 352.48941031307845 + ], + [ + 1171.6429422004153, + 340.534497433812 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 11531931410783246089, + "instance_id": 2455, + "pixel_count": null, + "type_id": "BP_StreetLight_simple53_126_SM_2", + "bbox_3d": { + "center_world": { + "x": -95.79331970214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 44.28669399718149, + "ymin": 675.2440071509942, + "xmax": 417.85797295898317, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -95.57371520996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.0129165649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -96.01292419433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57372283935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -95.57371520996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.0129165649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -96.01292419433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -95.57372283935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 231.05707082856895, + 870.8481590954743 + ], + [ + 219.54780757002771, + 895.1339813993993 + ], + [ + 409.23817599482277, + 940.6573836396599 + ], + [ + 417.85797295898317, + 914.8518915250633 + ], + [ + 64.57026255049755, + 675.2440071509942 + ], + [ + 44.28669399718149, + 704.9808207121605 + ], + [ + 308.7564054012136, + 761.8438845711698 + ], + [ + 323.48438263446866, + 729.4284816877512 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 511.8955613812701, + "ymin": 0.0, + "xmax": 834.1674538115775, + "ymax": 100.87570936292127 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 532.584429197916, + 67.45158891936751 + ], + [ + 529.7469136322188, + 72.04539530387098 + ], + [ + 805.2017970281981, + 100.87570936292127 + ], + [ + 806.1060524728885, + 95.86147648434286 + ], + [ + 515.3369980961476, + -138.6944877095919 + ], + [ + 511.8955613812701, + -135.08389421270454 + ], + [ + 833.3565379562809, + -112.23164054335786 + ], + [ + 834.1674538115775, + -116.23018307202915 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1159.8007603623741, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 459.4450073384797 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1410.1296297399135, + 221.5029173013961 + ], + [ + 1159.8007603623741, + 243.3706802112269 + ], + [ + 1346.239277823224, + 459.4450073384797 + ], + [ + 1654.5443731919145, + 424.65833609355514 + ], + [ + 1733.459862004822, + -252.8347831015957 + ], + [ + 1386.6980054275878, + -240.25480015162054 + ], + [ + 1787.6527887239417, + -97.98965843790938 + ], + [ + 2254.5440335019007, + -123.36307626642514 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00103/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00103/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..2c0ab6a4685fb572424face742637f5665931930 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00103/meta.json @@ -0,0 +1,2578 @@ +{ + "frame_id": 103, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 51.5, + "sim_timestamp": 11007.715800343081 + }, + "drone_pose": { + "x": -99.95819408704413, + "y": -88.80403696505823, + "z": 20.174619723817028, + "pitch": -42.769629740212686, + "yaw": -4.918272772490748, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7313869595527649, + 0.06293696165084839, + 0.6790523529052734, + 53.819435119628906 + ], + [ + -0.08573468029499054, + 0.996317982673645, + 0.0, + 97.04694366455078 + ], + [ + -0.6765520572662354, + -0.0582183301448822, + 0.7340898513793945, + -77.26687622070312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -99.45819408704413, + "y": -88.80403696505823, + "z": 20.16773800564696 + }, + "t1_image_uv": [ + 751.1132851178982, + -503.7260804303037 + ], + "t1_depth": 0.3703665419260034 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -80.16718292236328, + "y": -91.68776321411131, + "z": 0.5749944090844292 + }, + "image_uv": [ + 599.61891876235, + 388.504308899022 + ], + "depth": 27.965551460518306, + "visible": false, + "in_view": true, + "lost_reason": "occluded", + "pixel_count": 0, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -80.16718292236328, + "y": -91.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.27138182520866394, + "y": 0.19716794788837433, + "z": 0.5423374176025391 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 591.1077594537524, + "ymin": 368.18673135429987, + "xmax": 607.7994630387357, + "ymax": 408.5945062305701 + }, + "corners_3d": [ + [ + -80.43856811523438, + -91.88492584228516, + 0.032656967639923096 + ], + [ + -80.43856811523438, + -91.49059295654297, + 0.032656967639923096 + ], + [ + -79.89579772949219, + -91.49059295654297, + 0.032656967639923096 + ], + [ + -79.89579772949219, + -91.88492584228516, + 0.032656967639923096 + ], + [ + -80.43856811523438, + -91.88492584228516, + 1.1173317432403564 + ], + [ + -80.43856811523438, + -91.49059295654297, + 1.1173317432403564 + ], + [ + -79.89579772949219, + -91.49059295654297, + 1.1173317432403564 + ], + [ + -79.89579772949219, + -91.88492584228516, + 1.1173317432403564 + ] + ], + "corners_2d": [ + [ + 592.3871379302743, + 407.7686807238557 + ], + [ + 605.756443819203, + 408.5945062305701 + ], + [ + 607.7994630387357, + 395.5574812030251 + ], + [ + 594.614309538397, + 394.75447555654415 + ], + [ + 591.1077594537524, + 381.1658737998249 + ], + [ + 604.835470603171, + 381.9898016864802 + ], + [ + 606.94581038885, + 368.987292848815 + ], + [ + 593.4121855722896, + 368.18673135429987 + ] + ], + "center_offset_px": [ + -40.38108123765005, + 28.50430889902202 + ] + }, + "trace_timestep_index": 103, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 59, + "semantic_pixel_counts": { + "1": 331683, + "2": 192649, + "3": 178599, + "4": 40129, + "5": 275, + "6": 5449, + "7": 244, + "9": 17303, + "10": 60492, + "12": 3197, + "14": 23002, + "16": 21365, + "20": 28871, + "21": 762, + "24": 17580 + }, + "instance_pixel_counts": { + "913": 2317, + "1134": 1, + "2139": 562, + "2158": 5894, + "3694": 866, + "5230": 2107, + "5742": 4297, + "12951": 440, + "14416": 275, + "15963": 43336, + "16475": 74292, + "16987": 27628, + "17232": 40129, + "22976": 5191, + "23296": 907, + "23552": 1006, + "24512": 33411, + "26963": 1591, + "28819": 6320, + "33429": 524, + "35668": 8875, + "35924": 15167, + "36692": 2156, + "36948": 356, + "37979": 16343, + "40019": 2189, + "41107": 184, + "41611": 1251, + "41619": 2717, + "42123": 1031, + "43117": 3273, + "43147": 10583, + "43155": 61032, + "43659": 13903, + "43667": 13132, + "44179": 248298, + "44181": 21, + "44693": 83, + "45717": 5065, + "46229": 147, + "46741": 11740, + "49920": 417, + "50176": 577, + "50432": 1028, + "50624": 5277, + "50688": 757, + "50944": 418, + "51136": 1917, + "51456": 7538, + "51712": 1571, + "52160": 35497, + "52480": 21365, + "52672": 73505, + "55040": 13893, + "55879": 11223, + "57173": 17303, + "62043": 8, + "64351": 10643, + "64603": 754 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 0, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -80.16718292236328, + "y": -91.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.2983447015285492, + "y": 0.2129247784614563, + "z": 0.5278986096382141 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 590.4609423802759, + "ymin": 367.88259653175703, + "xmax": 608.4155172910945, + "ymax": 408.9397866838632 + }, + "corners_3d": [ + [ + -80.46553039550781, + -91.90068054199219, + 0.04709577560424805 + ], + [ + -80.46553039550781, + -91.47483825683594, + 0.04709577560424805 + ], + [ + -79.86883544921875, + -91.47483825683594, + 0.04709577560424805 + ], + [ + -79.86883544921875, + -91.90068054199219, + 0.04709577560424805 + ], + [ + -80.46553039550781, + -91.90068054199219, + 1.1028929948806763 + ], + [ + -80.46553039550781, + -91.47483825683594, + 1.1028929948806763 + ], + [ + -79.86883544921875, + -91.47483825683594, + 1.1028929948806763 + ], + [ + -79.86883544921875, + -91.90068054199219, + 1.1028929948806763 + ] + ], + "corners_2d": [ + [ + 591.7240148707231, + 408.04673907404975 + ], + [ + 606.1766535140114, + 408.9397866838632 + ], + [ + 608.4155172910945, + 394.6067266222836 + ], + [ + 594.1816566213607, + 393.7407798948532 + ], + [ + 590.4609423802759, + 382.1510274021629 + ], + [ + 605.2908473820111, + 383.04211070944206 + ], + [ + 607.6013249040197, + 368.74594733132756 + ], + [ + 593.0016774519739, + 367.88259653175703 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 417, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -76.04119873046875, + "y": -88.69005584716797, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.5482641458511353, + "y": 0.34913572669029236, + "z": 0.8798597455024719 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 692.8973114182564, + "ymin": 271.26092075481546, + "xmax": 722.9727128607026, + "ymax": 336.99338178886245 + }, + "corners_3d": [ + [ + -76.65007019042969, + -88.91757202148438, + -0.3048604726791382 + ], + [ + -76.50489044189453, + -88.23455810546875, + -0.3048604726791382 + ], + [ + -75.43232727050781, + -88.46253967285156, + -0.3048604726791382 + ], + [ + -75.57750701904297, + -89.14555358886719, + -0.3048604726791382 + ], + [ + -76.65007019042969, + -88.91757202148438, + 1.4548590183258057 + ], + [ + -76.50489044189453, + -88.23455810546875, + 1.4548590183258057 + ], + [ + -75.43232727050781, + -88.46253967285156, + 1.4548590183258057 + ], + [ + -75.57750701904297, + -89.14555358886719, + 1.4548590183258057 + ] + ], + "corners_2d": [ + [ + 698.4537649024281, + 336.99338178886245 + ], + [ + 719.7769037511808, + 335.231356371847 + ], + [ + 713.6962410691357, + 313.56229816673965 + ], + [ + 692.8973114182564, + 315.2368889355742 + ], + [ + 700.800354850127, + 294.4076158310442 + ], + [ + 722.9727128607026, + 292.6652262281335 + ], + [ + 716.5714664423233, + 271.26092075481546 + ], + [ + 694.9653430210883, + 272.9135180118243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 577, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -84.69082641601562, + "y": -84.96583557128906, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.3235449194908142, + "y": 0.32157713174819946, + "z": 0.8843348622322083 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 824.0299205672981, + "ymin": 497.0798920938961, + "xmax": 864.0222054974395, + "ymax": 561.2370572380769 + }, + "corners_3d": [ + [ + -85.04621124267578, + -85.2518310546875, + -0.3093355894088745 + ], + [ + -84.97898864746094, + -84.61219787597656, + -0.3093355894088745 + ], + [ + -84.33544158935547, + -84.67984008789062, + -0.3093355894088745 + ], + [ + -84.40266418457031, + -85.31947326660156, + -0.3093355894088745 + ], + [ + -85.04621124267578, + -85.2518310546875, + 1.459334135055542 + ], + [ + -84.97898864746094, + -84.61219787597656, + 1.459334135055542 + ], + [ + -84.33544158935547, + -84.67984008789062, + 1.459334135055542 + ], + [ + -84.40266418457031, + -85.31947326660156, + 1.459334135055542 + ] + ], + "corners_2d": [ + [ + 828.0609440901603, + 561.2370572380769 + ], + [ + 853.0856565178606, + 560.8425920757481 + ], + [ + 848.5821047615403, + 540.2197736226929 + ], + [ + 824.0299205672981, + 540.5994355810051 + ], + [ + 837.7167844345825, + 518.2839529042021 + ], + [ + 864.0222054974395, + 517.8855953371607 + ], + [ + 859.0745539447164, + 497.0798920938961 + ], + [ + 833.2907600391418, + 497.4625557954224 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 1028, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -89.42945098876953, + "y": -91.54554748535156, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.43543940782546997, + "y": 0.4480028748512268, + "z": 0.8795692920684814 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 530.6155464137692, + "ymin": 641.5407793248455, + "xmax": 581.4926853889818, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -89.8648910522461, + -91.9935531616211, + -0.3045700192451477 + ], + [ + -89.8648910522461, + -91.09754180908203, + -0.3045700192451477 + ], + [ + -88.99401092529297, + -91.09754180908203, + -0.3045700192451477 + ], + [ + -88.99401092529297, + -91.9935531616211, + -0.3045700192451477 + ], + [ + -89.8648910522461, + -91.9935531616211, + 1.45456862449646 + ], + [ + -89.8648910522461, + -91.09754180908203, + 1.45456862449646 + ], + [ + -88.99401092529297, + -91.09754180908203, + 1.45456862449646 + ], + [ + -88.99401092529297, + -91.9935531616211, + 1.45456862449646 + ] + ], + "corners_2d": [ + [ + 536.6960119050647, + 718.2465699531923 + ], + [ + 576.4096444253144, + 721.5256428264852 + ], + [ + 581.4926853889818, + 685.4627850595464 + ], + [ + 542.9093384443314, + 682.370019109597 + ], + [ + 530.6155464137692, + 678.2475959400917 + ], + [ + 572.6562912580894, + 681.6087592864528 + ], + [ + 578.1447219146702, + 644.7002270837809 + ], + [ + 537.3684884670309, + 641.5407793248455 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 757, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -83.20008850097656, + "y": -101.02207946777344, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.5972656607627869, + "y": 0.47043460607528687, + "z": 0.8964959383010864 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 210.0712117366554, + "ymin": 400.8028590775001, + "xmax": 281.43550344719813, + "ymax": 481.8507119003201 + }, + "corners_3d": [ + [ + -83.74491119384766, + -101.5523681640625, + -0.16908949613571167 + ], + [ + -83.84325408935547, + -100.61665344238281, + -0.16908949613571167 + ], + [ + -82.65526580810547, + -100.49179077148438, + -0.16908949613571167 + ], + [ + -82.55692291259766, + -101.42750549316406, + -0.16908949613571167 + ], + [ + -83.74491119384766, + -101.5523681640625, + 1.6239023208618164 + ], + [ + -83.84325408935547, + -100.61665344238281, + 1.6239023208618164 + ], + [ + -82.65526580810547, + -100.49179077148438, + 1.6239023208618164 + ], + [ + -82.55692291259766, + -101.42750549316406, + 1.6239023208618164 + ] + ], + "corners_2d": [ + [ + 229.84284800828686, + 476.8607276201819 + ], + [ + 261.47145144387207, + 481.8507119003201 + ], + [ + 281.43550344719813, + 449.88899733846694 + ], + [ + 250.7075892223212, + 445.2091404739912 + ], + [ + 210.0712117366554, + 432.4664107779795 + ], + [ + 243.12947281699587, + 437.46705772455766 + ], + [ + 264.63655705635244, + 405.47843546372985 + ], + [ + 232.56037322349448, + 400.8028590775001 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 418, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -68.92184448242188, + "y": -99.85797882080078, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.4169043004512787, + "y": 0.4412841796875, + "z": 0.8637816309928894 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 401.55765493034755, + "ymin": 139.59444844910416, + "xmax": 439.4842737418204, + "ymax": 193.74729159386922 + }, + "corners_3d": [ + [ + -69.2378921508789, + -100.37629699707031, + -0.13638007640838623 + ], + [ + -69.42138671875, + -99.51301574707031, + -0.13638007640838623 + ], + [ + -68.60579681396484, + -99.33966064453125, + -0.13638007640838623 + ], + [ + -68.42230224609375, + -100.20294189453125, + -0.13638007640838623 + ], + [ + -69.2378921508789, + -100.37629699707031, + 1.5911831855773926 + ], + [ + -69.42138671875, + -99.51301574707031, + 1.5911831855773926 + ], + [ + -68.60579681396484, + -99.33966064453125, + 1.5911831855773926 + ], + [ + -68.42230224609375, + -100.20294189453125, + 1.5911831855773926 + ] + ], + "corners_2d": [ + [ + 409.1198551378066, + 190.06832080947336 + ], + [ + 429.9637968003367, + 193.74729159386922 + ], + [ + 439.4842737418204, + 182.4417133972638 + ], + [ + 418.91741488836, + 178.87680747291594 + ], + [ + 401.55765493034755, + 150.5102467582604 + ], + [ + 423.0479088949023, + 154.10101640756335 + ], + [ + 432.9886356128977, + 143.070319925089 + ], + [ + 411.79261474578027, + 139.59444844910416 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 7538, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 559.8279925762978, + "ymin": 317.81641005684696, + "xmax": 645.9416407551264, + "ymax": 456.1413172641439 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 645.7545880634592, + 355.43127765247146 + ], + [ + 582.1789641306164, + 351.67166395156386 + ], + [ + 562.6263360386346, + 451.4779516820679 + ], + [ + 633.3562058003185, + 456.1413172641439 + ], + [ + 645.9416407551264, + 321.5488374766872 + ], + [ + 580.3077503696192, + 317.81641005684696 + ], + [ + 559.8279925762978, + 417.25237574251975 + ], + [ + 633.114736701813, + 421.916363044165 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 1571, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 918.9167058639559, + "ymin": 0.0, + "xmax": 1028.6750436848147, + "ymax": 25.301385347791665 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 918.9167058639559, + 6.217130123885568 + ], + [ + 924.0674236448623, + 21.993760912953007 + ], + [ + 1018.3050813189994, + 25.301385347791665 + ], + [ + 1010.4051216463574, + 9.344277245476178 + ], + [ + 926.3150768241984, + -30.3260049135622 + ], + [ + 931.8298220766853, + -15.23252259164326 + ], + [ + 1028.6750436848147, + -12.046918119290694 + ], + [ + 1020.2592015097002, + -27.318217923345173 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 21365, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 577.6685681559608, + "xmax": 495.3371210103962, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 495.3371210103962, + 700.9516302004668 + ], + [ + 323.4330518203059, + 686.6666514095921 + ], + [ + 95.6505744231888, + 1328.5008228492713 + ], + [ + 355.9109026853491, + 1362.0797813656009 + ], + [ + 472.86310102503376, + 592.6918070440001 + ], + [ + 274.9122323920942, + 577.6685681559608 + ], + [ + -43.10612898671445, + 1310.8340087599963 + ], + [ + 281.8442741319063, + 1352.764697037726 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 13893, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 800.1124189178698, + "ymin": 289.147882134663, + "xmax": 913.6600985941199, + "ymax": 502.0341908447451 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 808.2294788625937, + 495.91772801488713 + ], + [ + 898.4399566737741, + 502.0341908447451 + ], + [ + 876.5800831457123, + 345.5828177757556 + ], + [ + 800.1124189178698, + 341.1792887137587 + ], + [ + 818.0746388912091, + 443.137085026206 + ], + [ + 913.6600985941199, + 449.2799110207748 + ], + [ + 888.2918952824509, + 293.4927574329499 + ], + [ + 807.9968058047624, + 289.147882134663 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 400.49009032923107, + "ymin": 21.831263472791136, + "xmax": 414.691816944199, + "ymax": 45.2725082550395 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 412.96974612175825, + 45.2725082550395 + ], + [ + 414.691816944199, + 42.36507212508934 + ], + [ + 405.78957817039463, + 42.02591992253042 + ], + [ + 404.023186445524, + 44.929890773650186 + ], + [ + 409.5685367561741, + 25.009753054645273 + ], + [ + 411.3337797239034, + 22.163276569677123 + ], + [ + 402.30096672881314, + 21.831263472791136 + ], + [ + 400.49009032923107, + 24.674296685305478 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 966.4272372160299, + "ymin": 27.31576169232318, + "xmax": 982.0007836609707, + "ymax": 50.93847101034828 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 975.7538386374215, + 47.973430480645106 + ], + [ + 966.4272372160299, + 47.62757808596592 + ], + [ + 967.5276253701927, + 50.58904987440678 + ], + [ + 976.902901423448, + 50.93847101034828 + ], + [ + 980.8079233563207, + 27.654433137757792 + ], + [ + 971.3379343375536, + 27.31576169232318 + ], + [ + 972.4806082839507, + 30.215942549149986 + ], + [ + 982.0007836609707, + 30.558161639005732 + ] + ], + "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": 925.4740587856745, + "ymin": 0.0, + "xmax": 1023.4146499453058, + "ymax": 111.30923825791118 + }, + "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": [ + [ + 959.8659709298504, + 110.84398213359808 + ], + [ + 970.1229016210614, + 111.30923825791118 + ], + [ + 933.905937879756, + -1.1632251271224163 + ], + [ + 925.4740587856745, + -1.4792237275416937 + ], + [ + 1011.4583053093208, + -96.73517746144353 + ], + [ + 1023.4146499453058, + -96.37038776981535 + ], + [ + 971.9248575410301, + -182.13064008148558 + ], + [ + 962.3772403951456, + -182.36491709349116 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 349.0156698841007, + "ymin": 95.5516849388602, + "xmax": 519.9988501016697, + "ymax": 332.3923620075278 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 402.62976527348417, + 316.7764106672873 + ], + [ + 398.9651931178828, + 325.62409788605805 + ], + [ + 517.5441867449085, + 332.3923620075278 + ], + [ + 519.9988501016697, + 323.4045571851171 + ], + [ + 354.0538162005356, + 95.5516849388602 + ], + [ + 349.0156698841007, + 103.43583427256408 + ], + [ + 491.9244345885305, + 109.4899166441727 + ], + [ + 495.20908618128715, + 101.45482709245812 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 313.47114485487174, + "ymin": 0.0, + "xmax": 388.6054498179725, + "ymax": 95.33484468721002 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 354.4424503635901, + 94.92419025960714 + ], + [ + 364.2723535388598, + 95.33484468721002 + ], + [ + 388.6054498179725, + 56.2676114524981 + ], + [ + 379.37620025436036, + 55.90680226699766 + ], + [ + 313.47114485487174, + -92.01142283208765 + ], + [ + 324.681602060703, + -91.68272798388023 + ], + [ + 355.07262122771084, + -122.67685781754784 + ], + [ + 344.6366360703345, + -122.96053077323216 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 474.0470358235746, + "ymin": 107.61032385243035, + "xmax": 491.8890881672563, + "ymax": 117.33323885338851 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 476.84553431068366, + 111.30389436809759 + ], + [ + 474.5261218080032, + 116.68269027377957 + ], + [ + 489.69402723538076, + 117.33323885338851 + ], + [ + 491.8890881672563, + 111.94362779116503 + ], + [ + 476.37711587697953, + 107.61032385243035 + ], + [ + 474.0470358235746, + 112.97352796213201 + ], + [ + 489.2584155353773, + 113.62220832619175 + ], + [ + 491.46343323754854, + 108.24818927179984 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1045.5318361949867, + "ymin": 331.4447562850362, + "xmax": 1158.4613302441044, + "ymax": 397.89966520806746 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1062.9737588797634, + 392.5587158503504 + ], + [ + 1153.59533781678, + 397.89966520806746 + ], + [ + 1130.9385438313932, + 345.59235344883564 + ], + [ + 1045.5318361949867, + 340.8362607439759 + ], + [ + 1066.9578347001643, + 383.09006273964314 + ], + [ + 1158.4613302441044, + 388.4261575720704 + ], + [ + 1135.324766771194, + 336.19147193070756 + ], + [ + 1049.1351036310964, + 331.4447562850362 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1009.8968452068585, + "ymin": 297.81461143444255, + "xmax": 1178.5698382478445, + "ymax": 486.1248845673267 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1024.8088866154249, + 480.46890404088913 + ], + [ + 1112.1981256390943, + 486.1248845673267 + ], + [ + 1092.3955445204365, + 430.28740463464817 + ], + [ + 1009.8968452068585, + 425.23554574409013 + ], + [ + 1078.5534670497204, + 352.34806447318624 + ], + [ + 1178.5698382478445, + 357.97950036101895 + ], + [ + 1152.021314586089, + 302.76802996616306 + ], + [ + 1058.3586043633038, + 297.81461143444255 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 473.9498414411405, + "ymin": 107.55821374781999, + "xmax": 491.98368847167836, + "ymax": 117.38561771776116 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 476.77932388612913, + 111.29139919117824 + ], + [ + 474.43437335630915, + 116.72800668127127 + ], + [ + 489.765772705064, + 117.38561771776116 + ], + [ + 491.98368847167836, + 111.9379613685351 + ], + [ + 476.3056939596248, + 107.55821374781999 + ], + [ + 473.9498414411405, + 112.97889250268855 + ], + [ + 489.325658764653, + 113.63459493962421 + ], + [ + 491.5537425735097, + 108.20286754437174 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1045.61269808084, + "ymin": 331.47725742005485, + "xmax": 1158.3958709556787, + "ymax": 397.7998129214261 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1063.0380937658883, + 392.46536165719795 + ], + [ + 1153.56270252255, + 397.7998129214261 + ], + [ + 1130.9339513826994, + 345.55794844058323 + ], + [ + 1045.61269808084, + 340.80699595290315 + ], + [ + 1066.9961751339195, + 383.0590447335044 + ], + [ + 1158.3958709556787, + 388.3886720258917 + ], + [ + 1135.2911392707415, + 336.21890430656987 + ], + [ + 1049.1928822238797, + 331.47725742005485 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 373.08465924434284, + "ymin": 0.0, + "xmax": 696.6924244145041, + "ymax": 120.0263860089959 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 412.60920490826675, + 102.17344835097151 + ], + [ + 409.9321547156999, + 106.97121459502691 + ], + [ + 688.1802964674455, + 120.0263860089959 + ], + [ + 688.7667448149039, + 115.03008906575158 + ], + [ + 376.5093129586377, + -103.51776853431585 + ], + [ + 373.08465924434284, + -99.76834534704324 + ], + [ + 696.0814813243746, + -89.51972102875976 + ], + [ + 696.6924244145041, + -93.44992318021644 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1034.6992585847393, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 431.69191944307835 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1259.8612659435735, + 200.65605502214166 + ], + [ + 1034.6992585847393, + 237.33811835262634 + ], + [ + 1220.2036237765165, + 431.69191944307835 + ], + [ + 1488.1331828629116, + 374.708135996725 + ], + [ + 1492.250275375662, + -248.16227213454238 + ], + [ + 1193.1127449084056, + -228.41947404166922 + ], + [ + 1545.340296778071, + -109.70415895052724 + ], + [ + 1920.797095339664, + -147.21302331443997 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00104/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00104/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7f367cc2c1fbd38092aeb823eb382d929a190a5d --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00104/meta.json @@ -0,0 +1,2572 @@ +{ + "frame_id": 104, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 52.0, + "sim_timestamp": 11020.18623563461 + }, + "drone_pose": { + "x": -99.45819408704413, + "y": -88.80403696505823, + "z": 20.16773800564696, + "pitch": -44.41066851957273, + "yaw": -8.290163192243048, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7068779468536377, + 0.10299839079380035, + 0.6997963786125183, + 47.04480743408203 + ], + [ + -0.14418630301952362, + 0.9895505905151367, + 3.725290298461914e-09, + 102.21659088134766 + ], + [ + -0.6924838423728943, + -0.1009010523557663, + 0.7143424153327942, + -74.31945037841797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -98.95819408704413, + "y": -88.80403696505823, + "z": 20.16049552352652 + }, + "t1_image_uv": [ + 833.048916596555, + -553.3026612844451 + ], + "t1_depth": 0.3585072177427028 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -79.66718292236328, + "y": -91.68776321411131, + "z": 0.5749944090844292 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 27.99777851260064, + "visible": false, + "in_view": true, + "lost_reason": "occluded", + "pixel_count": 0, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -79.66718292236328, + "y": -91.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.19863523542881012, + "y": 0.2167675495147705, + "z": 0.5185654163360596 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.5174381385432, + "ymin": 341.701148920376, + "xmax": 648.4106376526569, + "ymax": 378.03910781322156 + }, + "corners_3d": [ + [ + -79.8658218383789, + -91.90452575683594, + 0.05642896890640259 + ], + [ + -79.8658218383789, + -91.47099304199219, + 0.05642896890640259 + ], + [ + -79.46854400634766, + -91.47099304199219, + 0.05642896890640259 + ], + [ + -79.46854400634766, + -91.90452575683594, + 0.05642896890640259 + ], + [ + -79.8658218383789, + -91.90452575683594, + 1.093559741973877 + ], + [ + -79.8658218383789, + -91.47099304199219, + 1.093559741973877 + ], + [ + -79.46854400634766, + -91.47099304199219, + 1.093559741973877 + ], + [ + -79.46854400634766, + -91.90452575683594, + 1.093559741973877 + ] + ], + "corners_2d": [ + [ + 631.7354237597793, + 376.52367777518987 + ], + [ + 646.3277510661131, + 378.03910781322156 + ], + [ + 648.1962927684484, + 368.587500082311 + ], + [ + 633.7447088829583, + 367.10178661345554 + ], + [ + 631.5174381385432, + 351.1123208297048 + ], + [ + 646.4949224629203, + 352.62648309631743 + ], + [ + 648.4106376526569, + 343.1848475617253 + ], + [ + 633.5813867703108, + 341.701148920376 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 104, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 53, + "semantic_pixel_counts": { + "1": 327853, + "2": 203859, + "3": 196871, + "4": 38410, + "5": 348, + "6": 5364, + "7": 219, + "9": 5034, + "10": 42924, + "12": 3224, + "14": 22746, + "16": 25719, + "20": 30529, + "21": 643, + "24": 17857 + }, + "instance_pixel_counts": { + "913": 2590, + "2158": 5823, + "3694": 4548, + "5230": 2143, + "5742": 4277, + "12951": 454, + "14416": 348, + "15963": 39208, + "16475": 82811, + "16987": 41386, + "17232": 38410, + "22976": 5380, + "23296": 625, + "23552": 954, + "24512": 36063, + "26963": 1607, + "28819": 2629, + "33429": 248, + "35668": 8880, + "35924": 16681, + "36692": 2378, + "37979": 12834, + "40019": 2397, + "41611": 1376, + "42123": 1079, + "43117": 3315, + "43147": 10787, + "43155": 54568, + "43659": 14630, + "43667": 9682, + "44179": 260974, + "45717": 5038, + "46229": 114, + "46741": 12457, + "48749": 526, + "49920": 426, + "50176": 653, + "50432": 934, + "50624": 5804, + "50688": 788, + "50944": 423, + "51136": 1976, + "51456": 7764, + "51712": 145, + "52160": 38045, + "52480": 25719, + "52672": 76886, + "55040": 14837, + "55879": 12651, + "57173": 5034, + "62043": 7, + "64351": 11379, + "64603": 636 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 0, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -79.66718292236328, + "y": -91.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.2511694133281708, + "y": 0.2225048542022705, + "z": 0.528656542301178 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.0409361427851, + "ymin": 340.1978236195647, + "xmax": 648.8595989069128, + "ymax": 379.563894066603 + }, + "corners_3d": [ + [ + -79.91835021972656, + -91.91026306152344, + 0.04633784294128418 + ], + [ + -79.91835021972656, + -91.46525573730469, + 0.04633784294128418 + ], + [ + -79.416015625, + -91.46525573730469, + 0.04633784294128418 + ], + [ + -79.416015625, + -91.91026306152344, + 0.04633784294128418 + ], + [ + -79.91835021972656, + -91.91026306152344, + 1.1036509275436401 + ], + [ + -79.91835021972656, + -91.46525573730469, + 1.1036509275436401 + ], + [ + -79.416015625, + -91.46525573730469, + 1.1036509275436401 + ], + [ + -79.416015625, + -91.91026306152344, + 1.1036509275436401 + ] + ], + "corners_2d": [ + [ + 631.2758924276511, + 378.0042516196796 + ], + [ + 646.2700014592195, + 379.563894066603 + ], + [ + 648.6297703789935, + 367.6121752030781 + ], + [ + 633.8182450569393, + 366.09109381523376 + ], + [ + 631.0409361427851, + 352.0971559504 + ], + [ + 646.4391463401723, + 353.6555781810614 + ], + [ + 648.8595989069128, + 341.7166962355628 + ], + [ + 633.6538833744094, + 340.1978236195647 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 426, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -75.54119873046875, + "y": -88.69005584716797, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.522717297077179, + "y": 0.3732079863548279, + "z": 0.917927622795105 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 735.839432992542, + "ymin": 246.3819578923434, + "xmax": 768.6428893255389, + "ymax": 312.8038292166271 + }, + "corners_3d": [ + [ + -76.13008880615234, + -88.94642639160156, + -0.34292834997177124 + ], + [ + -75.97489929199219, + -88.21632385253906, + -0.34292834997177124 + ], + [ + -74.95230865478516, + -88.43368530273438, + -0.34292834997177124 + ], + [ + -75.10749816894531, + -89.16378784179688, + -0.34292834997177124 + ], + [ + -76.13008880615234, + -88.94642639160156, + 1.492926836013794 + ], + [ + -75.97489929199219, + -88.21632385253906, + 1.492926836013794 + ], + [ + -74.95230865478516, + -88.43368530273438, + 1.492926836013794 + ], + [ + -75.10749816894531, + -89.16378784179688, + 1.492926836013794 + ] + ], + "corners_2d": [ + [ + 740.2584888875598, + 312.8038292166271 + ], + [ + 763.293037815434, + 311.8062467116537 + ], + [ + 758.3362177343521, + 290.78894389610474 + ], + [ + 735.839432992542, + 291.74005837295596 + ], + [ + 744.6139153694749, + 268.1823722972356 + ], + [ + 768.6428893255389, + 267.1934986399802 + ], + [ + 763.3449163447001, + 246.3819578923434 + ], + [ + 739.9005487608673, + 247.32284268653734 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 653, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -84.67767333984375, + "y": -85.08504486083984, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.5438916087150574, + "y": 0.3198632597923279, + "z": 0.8984618782997131 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 853.4050898338553, + "ymin": 486.59633562792817, + "xmax": 897.7948366421099, + "ymax": 566.615879249107 + }, + "corners_3d": [ + [ + -85.25202178955078, + -85.34630584716797, + -0.323467493057251 + ], + [ + -85.18515014648438, + -84.7100830078125, + -0.323467493057251 + ], + [ + -84.10332489013672, + -84.82378387451172, + -0.323467493057251 + ], + [ + -84.17019653320312, + -85.46000671386719, + -0.323467493057251 + ], + [ + -85.25202178955078, + -85.34630584716797, + 1.4734562635421753 + ], + [ + -85.18515014648438, + -84.7100830078125, + 1.4734562635421753 + ], + [ + -84.10332489013672, + -84.82378387451172, + 1.4734562635421753 + ], + [ + -84.17019653320312, + -85.46000671386719, + 1.4734562635421753 + ] + ], + "corners_2d": [ + [ + 858.564645360846, + 565.7440879093488 + ], + [ + 884.2917756562157, + 566.615879249107 + ], + [ + 878.3224343068779, + 530.6803282384317 + ], + [ + 853.4050898338553, + 529.8622850864184 + ], + [ + 870.6359679091235, + 522.9844490825697 + ], + [ + 897.7948366421099, + 523.870107629684 + ], + [ + 891.0607960304646, + 487.4245225135138 + ], + [ + 864.8027703250268, + 486.59633562792817 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 934, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -89.16718292236328, + "y": -91.68775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.5025292634963989, + "y": 0.44426265358924866, + "z": 0.9220556616783142 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 551.1278105293908, + "ymin": 612.2093684280842, + "xmax": 602.9726580421195, + "ymax": 700.2693809360942 + }, + "corners_3d": [ + [ + -89.66971588134766, + -92.13201904296875, + -0.34705638885498047 + ], + [ + -89.66971588134766, + -91.24349975585938, + -0.34705638885498047 + ], + [ + -88.6646499633789, + -91.24349975585938, + -0.34705638885498047 + ], + [ + -88.6646499633789, + -92.13201904296875, + -0.34705638885498047 + ], + [ + -89.66971588134766, + -92.13201904296875, + 1.497054934501648 + ], + [ + -89.66971588134766, + -91.24349975585938, + 1.497054934501648 + ], + [ + -88.6646499633789, + -91.24349975585938, + 1.497054934501648 + ], + [ + -88.6646499633789, + -92.13201904296875, + 1.497054934501648 + ] + ], + "corners_2d": [ + [ + 556.4330485942091, + 694.8477237494758 + ], + [ + 595.287945747203, + 700.2693809360942 + ], + [ + 602.9726580421195, + 659.3513952424212 + ], + [ + 565.3225585244894, + 654.269951616466 + ], + [ + 551.1278105293908, + 653.8931871653715 + ], + [ + 592.4365692552436, + 659.4753816275855 + ], + [ + 600.691440631061, + 617.4201117603859 + ], + [ + 560.7417697272913, + 612.2093684280842 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 788, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -82.68806457519531, + "y": -100.98506927490234, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.32831546664237976, + "y": 0.5094825029373169, + "z": 0.8764764070510864 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 262.4537095593756, + "ymin": 363.9310361985469, + "xmax": 323.2766849868093, + "ymax": 430.43493743917935 + }, + "corners_3d": [ + [ + -82.9613265991211, + -101.52607727050781, + -0.14906996488571167 + ], + [ + -83.06784057617188, + -100.5126953125, + -0.14906996488571167 + ], + [ + -82.41480255126953, + -100.44406127929688, + -0.14906996488571167 + ], + [ + -82.30828857421875, + -101.45744323730469, + -0.14906996488571167 + ], + [ + -82.9613265991211, + -101.52607727050781, + 1.6038827896118164 + ], + [ + -83.06784057617188, + -100.5126953125, + 1.6038827896118164 + ], + [ + -82.41480255126953, + -100.44406127929688, + 1.6038827896118164 + ], + [ + -82.30828857421875, + -101.45744323730469, + 1.6038827896118164 + ] + ], + "corners_2d": [ + [ + 279.48764055355264, + 423.7549043981996 + ], + [ + 312.18583492784023, + 430.43493743917935 + ], + [ + 323.2766849868093, + 413.7041151055698 + ], + [ + 291.04406510174806, + 407.24266323347786 + ], + [ + 262.4537095593756, + 380.46517336369084 + ], + [ + 296.58893284344634, + 387.1613658309742 + ], + [ + 308.4685347124602, + 370.39799801268475 + ], + [ + 274.8398673659154, + 363.9310361985469 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 423, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -68.42184448242188, + "y": -99.85797882080078, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.5540380477905273, + "y": 0.458808571100235, + "z": 0.9156230688095093 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 449.89945018910606, + "ymin": 101.12708960624349, + "xmax": 490.79005739288596, + "ymax": 162.16546097623984 + }, + "corners_3d": [ + [ + -68.8683853149414, + -100.42195129394531, + -0.1882215142250061 + ], + [ + -69.05916595458984, + -99.5243911743164, + -0.1882215142250061 + ], + [ + -67.97530364990234, + -99.29400634765625, + -0.1882215142250061 + ], + [ + -67.7845230102539, + -100.19156646728516, + -0.1882215142250061 + ], + [ + -68.8683853149414, + -100.42195129394531, + 1.6430246829986572 + ], + [ + -69.05916595458984, + -99.5243911743164, + 1.6430246829986572 + ], + [ + -67.97530364990234, + -99.29400634765625, + 1.6430246829986572 + ], + [ + -67.7845230102539, + -100.19156646728516, + 1.6430246829986572 + ] + ], + "corners_2d": [ + [ + 456.4720744307956, + 157.61125525149782 + ], + [ + 477.76904018082354, + 162.16546097623984 + ], + [ + 490.79005739288596, + 147.4943588348484 + ], + [ + 469.83301853888497, + 143.11779062508884 + ], + [ + 449.89945018910606, + 115.26838688832288 + ], + [ + 471.921974921813, + 119.71604072102929 + ], + [ + 485.5222842788651, + 105.39521919643843 + ], + [ + 463.86275547013906, + 101.12708960624349 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 7764, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 596.0369446697074, + "ymin": 299.29777668358906, + "xmax": 687.2403297499412, + "ymax": 442.26762338862636 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 685.6864057192067, + 339.7237497592565 + ], + [ + 621.5523833453525, + 333.2898087148504 + ], + [ + 597.6317401410874, + 434.3259787685753 + ], + [ + 668.725621850188, + 442.26762338862636 + ], + [ + 687.2403297499412, + 305.7030647800796 + ], + [ + 620.9294630280169, + 299.29777668358906 + ], + [ + 596.0369446697074, + 400.23695805651585 + ], + [ + 669.815674098536, + 408.2030605395905 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 145, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 983.4841180874598, + "ymin": 0.0, + "xmax": 1100.064703087889, + "ymax": 9.012199610487642 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 983.4841180874598, + -13.681587094457484 + ], + [ + 988.0846660100628, + 3.029224887987027 + ], + [ + 1086.9623492766293, + 9.012199610487642 + ], + [ + 1079.4552879218306, + -8.030589338356663 + ], + [ + 993.1773529477725, + -51.5740243891907 + ], + [ + 998.2050336534548, + -35.532340947047146 + ], + [ + 1100.064703087889, + -29.76329077058631 + ], + [ + 1091.9554326305147, + -46.13339492721076 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 25719, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 552.6768492804139, + "xmax": 520.0535027558886, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 520.0535027558886, + 683.5833431613316 + ], + [ + 350.95627321657, + 659.8521255041671 + ], + [ + 108.85828039027388, + 1276.5226134864392 + ], + [ + 357.4595039663197, + 1330.2299473180071 + ], + [ + 500.7315826168303, + 577.8499197378546 + ], + [ + 305.4067559109845, + 552.6768492804139 + ], + [ + -27.111679559734853, + 1260.2842917701023 + ], + [ + 282.48335553951347, + 1327.6493614527797 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 14837, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 843.9800373713656, + "ymin": 278.9539682676376, + "xmax": 956.229573451683, + "ymax": 501.80436018795365 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 845.0484928252004, + 491.16559995276157 + ], + [ + 937.6920668621663, + 501.80436018795365 + ], + [ + 922.6820730275242, + 339.04551795121336 + ], + [ + 843.9800373713656, + 331.35466835152494 + ], + [ + 857.6837639114774, + 438.8624619500313 + ], + [ + 956.229573451683, + 449.61211838288864 + ], + [ + 937.4988778749325, + 286.5827813714471 + ], + [ + 854.5775954326923, + 278.9539682676376 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 452.0706787804437, + "ymin": 0.0, + "xmax": 465.7312116703157, + "ymax": 14.414797274967498 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 463.8895697260938, + 14.414797274967498 + ], + [ + 465.7312116703157, + 11.469248298903437 + ], + [ + 456.83935334073055, + 10.88759811506128 + ], + [ + 454.9553256301978, + 13.827346682081554 + ], + [ + 461.1414419290851, + -6.269683947868884 + ], + [ + 463.0254963385727, + -9.156954058276426 + ], + [ + 453.9984198624303, + -9.72704331248383 + ], + [ + 452.0706787804437, + -6.84554721447131 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1031.4338373762334, + "ymin": 10.797414192590281, + "xmax": 1048.7891458878057, + "ymax": 35.599192909907345 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1041.2259329405988, + 32.44067142498403 + ], + [ + 1031.4338373762334, + 31.817097765288338 + ], + [ + 1032.4409105494533, + 34.96917885812462 + ], + [ + 1042.2845003231614, + 35.599192909907345 + ], + [ + 1047.6796653643557, + 11.409265921373617 + ], + [ + 1037.723554730058, + 10.797414192590281 + ], + [ + 1038.779798356714, + 13.890447750756778 + ], + [ + 1048.7891458878057, + 14.508721197587477 + ] + ], + "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": 990.7304201934476, + "ymin": 0.0, + "xmax": 1099.8844527169422, + "ymax": 98.10297416061599 + }, + "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": [ + [ + 1021.0960635858673, + 97.30042612974074 + ], + [ + 1031.8277871667601, + 98.10297416061599 + ], + [ + 999.5476827966415, + -21.071997420561047 + ], + [ + 990.7304201934476, + -21.617510249827546 + ], + [ + 1087.1968662265456, + -118.23693779955494 + ], + [ + 1099.8844527169422, + -117.5945497536411 + ], + [ + 1049.5055104842181, + -210.18164125762416 + ], + [ + 1039.4090010118082, + -210.59284898696865 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 395.9140853470468, + "ymin": 67.0278494426334, + "xmax": 560.1614746468492, + "ymax": 311.0962450473488 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 443.2327553312578, + 290.7295137701244 + ], + [ + 439.2449846369577, + 299.5787456891725 + ], + [ + 557.3247896114627, + 311.0962450473488 + ], + [ + 560.1614746468492, + 302.0150618232277 + ], + [ + 401.28069088637835, + 67.0278494426334 + ], + [ + 395.9140853470468, + 75.02434029403628 + ], + [ + 539.1954428396302, + 85.48411130615273 + ], + [ + 542.8711140493605, + 77.23198238060172 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 368.7591693259737, + "ymin": 0.0, + "xmax": 439.5406892737517, + "ymax": 63.734054654241106 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 404.02676936166125, + 63.03571349580557 + ], + [ + 413.7800416821623, + 63.734054654241106 + ], + [ + 439.5406892737517, + 24.41372157019822 + ], + [ + 430.3559156497173, + 23.797989663552585 + ], + [ + 368.7591693259737, + -127.80739976801641 + ], + [ + 379.9279433822087, + -127.24266124932183 + ], + [ + 411.6294119207706, + -158.75775254902146 + ], + [ + 401.1996285335951, + -159.24672304194257 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 521.0458636704182, + "ymin": 82.9511595931674, + "xmax": 539.1439768361932, + "ymax": 93.35941522566043 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 523.9812655526538, + 86.71909228977756 + ], + [ + 521.4053802382704, + 92.23018060223524 + ], + [ + 536.6892274773818, + 93.35941522566043 + ], + [ + 539.1439768361932, + 87.8298844448471 + ], + [ + 523.6324478194649, + 82.9511595931674 + ], + [ + 521.0458636704182, + 88.44773569697901 + ], + [ + 536.3755161629228, + 89.57403043907311 + ], + [ + 538.840240385616, + 84.05900475877343 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1099.87720000128, + "ymin": 333.9085203313379, + "xmax": 1217.1048888842874, + "ymax": 408.03407811654483 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1115.6027928382239, + 398.37551019517247 + ], + [ + 1211.3038088627375, + 408.03407811654483 + ], + [ + 1190.002817701909, + 351.9582375643104 + ], + [ + 1099.87720000128, + 343.35967315464205 + ], + [ + 1120.3844514559, + 388.9089762963099 + ], + [ + 1217.1048888842874, + 398.5712569870444 + ], + [ + 1195.2677528193612, + 342.5005824609586 + ], + [ + 1104.2384197959468, + 333.9085203313379 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1057.4990869679214, + "ymin": 299.7794014357498, + "xmax": 1240.601238826574, + "ymax": 495.8018666137432 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1070.2742545180877, + 485.69318607888096 + ], + [ + 1161.803346684599, + 495.8018666137432 + ], + [ + 1143.881757717493, + 436.63317284548276 + ], + [ + 1057.4990869679214, + 427.6007561089832 + ], + [ + 1134.548823663868, + 358.0832110005399 + ], + [ + 1240.601238826574, + 368.32575972367636 + ], + [ + 1215.1979781289986, + 308.7827954991589 + ], + [ + 1115.9909724157726, + 299.7794014357498 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 520.9473510441871, + "ymin": 82.89539899494918, + "xmax": 539.2400081379961, + "ymax": 93.41551018929908 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 523.9152007562918, + 86.70374603806482 + ], + [ + 521.3110406021453, + 92.2740199071585 + ], + [ + 536.7595975710542, + 93.41551018929908 + ], + [ + 539.2400081379961, + 87.82639537351162 + ], + [ + 523.56244521146, + 82.89539899494918 + ], + [ + 520.9473510441871, + 88.45084700600654 + ], + [ + 536.4427074145192, + 89.58933389866974 + ], + [ + 538.9333044279375, + 84.01503760110535 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1099.9644558644336, + "ymin": 333.94507324777595, + "xmax": 1217.037215214344, + "ymax": 407.9294629826923 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1115.6760557601046, + 398.282399323256 + ], + [ + 1211.275203208342, + 407.9294629826923 + ], + [ + 1190.000454729787, + 351.9235599837068 + ], + [ + 1099.9644558644336, + 343.33406940316814 + ], + [ + 1120.4265357099162, + 388.87811032237585 + ], + [ + 1217.037215214344, + 398.52884445354573 + ], + [ + 1195.2305545080278, + 342.52811114608846 + ], + [ + 1104.2977042787738, + 333.94507324777595 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 428.5173749491705, + "ymin": 0.0, + "xmax": 757.4677135106276, + "ymax": 98.59335427313454 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 461.6988998696726, + 72.06307596061305 + ], + [ + 458.83594384815535, + 76.89867139060613 + ], + [ + 739.3782726303245, + 98.59335427313454 + ], + [ + 740.2036823124631, + 93.43456378972058 + ], + [ + 432.1153833552813, + -138.30405581338857 + ], + [ + 428.5173749491705, + -134.47907221044238 + ], + [ + 756.6539522138625, + -117.20190211410545 + ], + [ + 757.4677135106276, + -121.32761849896985 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1093.2686272019716, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 444.24865091263115 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1334.8539279548568, + 202.13656508519824 + ], + [ + 1093.2686272019716, + 232.63206509734118 + ], + [ + 1279.4156261350404, + 444.24865091263115 + ], + [ + 1572.2200384225935, + 396.2819157844142 + ], + [ + 1623.9052895847644, + -271.18286313185945 + ], + [ + 1292.39864519623, + -253.83699773966634 + ], + [ + 1679.1380710206108, + -115.69041417723656 + ], + [ + 2111.9128337431102, + -150.04121552534912 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00105/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00105/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..600da8c4e477e44dd377c31dbe4aa73079eec880 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00105/meta.json @@ -0,0 +1,2573 @@ +{ + "frame_id": 105, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 52.5, + "sim_timestamp": 11033.140419913456 + }, + "drone_pose": { + "x": -98.95819408704413, + "y": -88.80403696505823, + "z": 20.16049552352652, + "pitch": -43.44261211004711, + "yaw": -3.290163192243048, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7248666286468506, + 0.04167068749666214, + 0.6876277327537537, + 54.168060302734375 + ], + [ + -0.057392627000808716, + 0.9983516931533813, + 0.0, + 94.3371353149414 + ], + [ + -0.6864942908287048, + -0.039464760571718216, + 0.7260634899139404, + -79.06739807128906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -98.45819408704413, + "y": -88.80403696505823, + "z": 20.152960376202042 + }, + "t1_image_uv": [ + 714.9384044925496, + -522.0786375381874 + ], + "t1_depth": 0.3676147193287554 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -79.16718292236328, + "y": -91.68776321411131, + "z": 0.5749944090844292 + }, + "image_uv": [ + 580.0938801609665, + 377.8742750929975 + ], + "depth": 27.933544440057204, + "visible": false, + "in_view": true, + "lost_reason": "occluded", + "pixel_count": 0, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -79.16718292236328, + "y": -91.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.1768530011177063, + "y": 0.2180517315864563, + "z": 0.5285786390304565 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 571.073058864791, + "ymin": 360.2183811441069, + "xmax": 588.8085692982814, + "ymax": 395.2465449809556 + }, + "corners_3d": [ + [ + -79.34403228759766, + -91.90580749511719, + 0.046415746212005615 + ], + [ + -79.34403228759766, + -91.46971130371094, + 0.046415746212005615 + ], + [ + -78.9903335571289, + -91.46971130371094, + 0.046415746212005615 + ], + [ + -78.9903335571289, + -91.90580749511719, + 0.046415746212005615 + ], + [ + -79.34403228759766, + -91.90580749511719, + 1.1035730838775635 + ], + [ + -79.34403228759766, + -91.46971130371094, + 1.1035730838775635 + ], + [ + -78.9903335571289, + -91.46971130371094, + 1.1035730838775635 + ], + [ + -78.9903335571289, + -91.90580749511719, + 1.1035730838775635 + ] + ], + "corners_2d": [ + [ + 572.8512290004579, + 394.6374674077347 + ], + [ + 587.6504475658909, + 395.2465449809556 + ], + [ + 588.8085692982814, + 386.72545322212477 + ], + [ + 574.1420511992958, + 386.1273133920179 + ], + [ + 571.073058864791, + 368.71191079875535 + ], + [ + 586.2632580015628, + 369.3199540929044 + ], + [ + 587.4646286774228, + 360.8152200313615 + ], + [ + 572.4142010325338, + 360.2183811441069 + ] + ], + "center_offset_px": [ + -59.90611983903352, + 17.874275092997493 + ] + }, + "trace_timestep_index": 105, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 54, + "semantic_pixel_counts": { + "1": 338983, + "2": 196690, + "3": 159772, + "4": 40852, + "5": 233, + "6": 5679, + "7": 257, + "9": 22013, + "10": 67610, + "12": 3103, + "14": 23716, + "16": 13434, + "20": 30217, + "21": 876, + "24": 18165 + }, + "instance_pixel_counts": { + "913": 2478, + "2139": 805, + "2158": 4357, + "5230": 2376, + "5742": 4954, + "9346": 1, + "12951": 498, + "14416": 233, + "15963": 51141, + "16475": 61472, + "16987": 12572, + "17232": 40852, + "22976": 5688, + "23296": 967, + "23552": 979, + "24512": 33851, + "26963": 1724, + "28819": 6606, + "33429": 537, + "35668": 9672, + "35924": 15817, + "36692": 2250, + "37979": 18534, + "40019": 2265, + "41611": 1327, + "41619": 268, + "42123": 1114, + "43117": 3561, + "43147": 11431, + "43155": 62340, + "43659": 14088, + "43667": 14661, + "44179": 255108, + "45717": 5304, + "46229": 173, + "46741": 12151, + "49920": 431, + "50176": 597, + "50432": 945, + "50624": 5527, + "50688": 691, + "50944": 439, + "51136": 2061, + "51456": 8094, + "51712": 846, + "52160": 35814, + "52480": 13434, + "52672": 74400, + "55040": 14776, + "55879": 11924, + "57173": 22013, + "62043": 13, + "64351": 10891, + "64603": 863 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 0, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -79.16718292236328, + "y": -91.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.2665795683860779, + "y": 0.2108495831489563, + "z": 0.5182908773422241 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 570.9979527055125, + "ymin": 358.3570317982658, + "xmax": 588.8445297781923, + "ymax": 397.17699519085653 + }, + "corners_3d": [ + [ + -79.43376159667969, + -91.89860534667969, + 0.05670350790023804 + ], + [ + -79.43376159667969, + -91.47691345214844, + 0.05670350790023804 + ], + [ + -78.90060424804688, + -91.47691345214844, + 0.05670350790023804 + ], + [ + -78.90060424804688, + -91.89860534667969, + 0.05670350790023804 + ], + [ + -79.43376159667969, + -91.89860534667969, + 1.093285322189331 + ], + [ + -79.43376159667969, + -91.47691345214844, + 1.093285322189331 + ], + [ + -78.90060424804688, + -91.47691345214844, + 1.093285322189331 + ], + [ + -78.90060424804688, + -91.89860534667969, + 1.093285322189331 + ] + ], + "corners_2d": [ + [ + 572.7479113895625, + 396.58531104165945 + ], + [ + 587.0948349349424, + 397.17699519085653 + ], + [ + 588.8445297781923, + 384.33258002111904 + ], + [ + 574.6911303619974, + 383.7568432335249 + ], + [ + 570.9979527055125, + 371.16095625436617 + ], + [ + 585.7173121908882, + 371.75172644939425 + ], + [ + 587.5311070865031, + 358.9314734395731 + ], + [ + 573.015378178694, + 358.3570317982658 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 431, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -75.04119873046875, + "y": -88.69005584716797, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.43534666299819946, + "y": 0.3010839819908142, + "z": 0.8753066062927246 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 674.0270916496823, + "ymin": 260.7768832144029, + "xmax": 699.3615058166818, + "ymax": 321.9383739999753 + }, + "corners_3d": [ + [ + -75.52963256835938, + -88.89404296875, + -0.30030733346939087 + ], + [ + -75.40443420410156, + -88.30503845214844, + -0.30030733346939087 + ], + [ + -74.55276489257812, + -88.48606872558594, + -0.30030733346939087 + ], + [ + -74.67796325683594, + -89.0750732421875, + -0.30030733346939087 + ], + [ + -75.52963256835938, + -88.89404296875, + 1.4503059387207031 + ], + [ + -75.40443420410156, + -88.30503845214844, + 1.4503059387207031 + ], + [ + -74.55276489257812, + -88.48606872558594, + 1.4503059387207031 + ], + [ + -74.67796325683594, + -89.0750732421875, + 1.4503059387207031 + ] + ], + "corners_2d": [ + [ + 678.7876095310274, + 321.9383739999753 + ], + [ + 697.0654545221074, + 320.08518282866123 + ], + [ + 691.9550919675929, + 302.97496061527323 + ], + [ + 674.0270916496823, + 304.7558403297799 + ], + [ + 680.3517057415862, + 279.5280685570182 + ], + [ + 699.3615058166818, + 277.69416602128285 + ], + [ + 694.0027569496242, + 260.7768832144029 + ], + [ + 675.3710878890246, + 262.5364327785617 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 597, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -84.64795684814453, + "y": -85.2886962890625, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.5971288681030273, + "y": 0.3663085997104645, + "z": 0.8956655859947205 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 792.8177286225309, + "ymin": 501.31531552322355, + "xmax": 840.1961400317595, + "ymax": 585.5759548104692 + }, + "corners_3d": [ + [ + -85.28010559082031, + -85.59058380126953, + -0.3206663131713867 + ], + [ + -85.20352172851562, + -84.86197662353516, + -0.3206663131713867 + ], + [ + -84.01580810546875, + -84.98680877685547, + -0.3206663131713867 + ], + [ + -84.09239196777344, + -85.71541595458984, + -0.3206663131713867 + ], + [ + -85.28010559082031, + -85.59058380126953, + 1.4706648588180542 + ], + [ + -85.20352172851562, + -84.86197662353516, + 1.4706648588180542 + ], + [ + -84.01580810546875, + -84.98680877685547, + 1.4706648588180542 + ], + [ + -84.09239196777344, + -85.71541595458984, + 1.4706648588180542 + ] + ], + "corners_2d": [ + [ + 800.6353853612165, + 585.5759548104692 + ], + [ + 829.8737848314194, + 584.3812494928248 + ], + [ + 821.0410924727141, + 544.7207730341438 + ], + [ + 792.8177286225309, + 545.8333003067906 + ], + [ + 809.377920265369, + 542.6846866447167 + ], + [ + 840.1961400317595, + 541.4726441609057 + ], + [ + 830.5208803878307, + 501.31531552322355 + ], + [ + 800.8282317349144, + 502.43970146804384 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 945, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -88.66718292236328, + "y": -91.68775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.5577782988548279, + "y": 0.4542040526866913, + "z": 0.93159419298172 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 506.9991872891487, + "ymin": 634.8912411686246, + "xmax": 561.5902137255766, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -89.22496032714844, + -92.14196014404297, + -0.35659492015838623 + ], + [ + -89.22496032714844, + -91.23355865478516, + -0.35659492015838623 + ], + [ + -88.10940551757812, + -91.23355865478516, + -0.35659492015838623 + ], + [ + -88.10940551757812, + -92.14196014404297, + -0.35659492015838623 + ], + [ + -89.22496032714844, + -92.14196014404297, + 1.5065934658050537 + ], + [ + -89.22496032714844, + -91.23355865478516, + 1.5065934658050537 + ], + [ + -88.10940551757812, + -91.23355865478516, + 1.5065934658050537 + ], + [ + -88.10940551757812, + -92.14196014404297, + 1.5065934658050537 + ] + ], + "corners_2d": [ + [ + 514.9981494576341, + 724.268979175967 + ], + [ + 555.7181214094026, + 726.5358762224236 + ], + [ + 561.5902137255766, + 679.8015332982483 + ], + [ + 522.3493628103203, + 677.6975471824524 + ], + [ + 506.9991872891487, + 682.7139378837023 + ], + [ + 550.3146445981118, + 685.047454482854 + ], + [ + 556.7587142265305, + 637.046939558317 + ], + [ + 515.1130721496619, + 634.8912411686246 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 691, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -80.92550659179688, + "y": -97.09931182861328, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.3496728837490082, + "y": 0.5035156607627869, + "z": 0.8624451160430908 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 353.10182167498436, + "ymin": 381.44507998905283, + "xmax": 407.77082139729515, + "ymax": 445.97118968638665 + }, + "corners_3d": [ + [ + -81.22063446044922, + -97.6366195678711, + -0.2874458432197571 + ], + [ + -81.32589721679688, + -96.6351089477539, + -0.2874458432197571 + ], + [ + -80.63037872314453, + -96.56200408935547, + -0.2874458432197571 + ], + [ + -80.52511596679688, + -97.56351470947266, + -0.2874458432197571 + ], + [ + -81.22063446044922, + -97.6366195678711, + 1.4374444484710693 + ], + [ + -81.32589721679688, + -96.6351089477539, + 1.4374444484710693 + ], + [ + -80.63037872314453, + -96.56200408935547, + 1.4374444484710693 + ], + [ + -80.52511596679688, + -97.56351470947266, + 1.4374444484710693 + ] + ], + "corners_2d": [ + [ + 365.5728654955577, + 441.66631464527296 + ], + [ + 399.4978890762019, + 445.97118968638665 + ], + [ + 407.77082139729515, + 427.94809975488454 + ], + [ + 374.42245857867835, + 423.7974178430733 + ], + [ + 353.10182167498436, + 399.3128551039901 + ], + [ + 388.518879367305, + 403.6218384406516 + ], + [ + 397.37007306205976, + 385.59289167715224 + ], + [ + 362.5809293419136, + 381.44507998905283 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 439, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -67.92184448242188, + "y": -99.85797882080078, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.4924413859844208, + "y": 0.4320361316204071, + "z": 0.9061835408210754 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 374.4730836864794, + "ymin": 128.91546642685176, + "xmax": 415.316379699541, + "ymax": 187.27768683517155 + }, + "corners_3d": [ + [ + -68.3136978149414, + -100.3829574584961, + -0.17878198623657227 + ], + [ + -68.49334716796875, + -99.53776550292969, + -0.17878198623657227 + ], + [ + -67.52999114990234, + -99.33300018310547, + -0.17878198623657227 + ], + [ + -67.350341796875, + -100.17819213867188, + -0.17878198623657227 + ], + [ + -68.3136978149414, + -100.3829574584961, + 1.6335850954055786 + ], + [ + -68.49334716796875, + -99.53776550292969, + 1.6335850954055786 + ], + [ + -67.52999114990234, + -99.33300018310547, + 1.6335850954055786 + ], + [ + -67.350341796875, + -100.17819213867188, + 1.6335850954055786 + ] + ], + "corners_2d": [ + [ + 383.49420812983794, + 183.95610326580172 + ], + [ + 404.24429720941237, + 187.27768683517155 + ], + [ + 415.316379699541, + 173.62424346685603 + ], + [ + 394.9002647597505, + 170.42441061113237 + ], + [ + 374.4730836864794, + 142.11505927900853 + ], + [ + 395.91404591817684, + 145.35774322370003 + ], + [ + 407.5296373636893, + 132.0352215589746 + ], + [ + 386.44487306103713, + 128.91546642685176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 8094, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 535.7445317984975, + "ymin": 329.41023784917485, + "xmax": 623.3854323634822, + "ymax": 472.35987335667613 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 623.3854323634822, + 366.11789823237984 + ], + [ + 558.0429896712634, + 363.4471383838115 + ], + [ + 539.5358487449203, + 469.0342469512233 + ], + [ + 612.4023786865513, + 472.35987335667613 + ], + [ + 622.8239476821578, + 332.0682817417327 + ], + [ + 555.2816294373487, + 329.41023784917485 + ], + [ + 535.7445317984975, + 434.8954595628553 + ], + [ + 611.3573690145225, + 438.2312898914348 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 846, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 894.2986638707227, + "ymin": 0.0, + "xmax": 1004.6598181234908, + "ymax": 16.52730191543401 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 894.2986638707227, + -1.9615495598477537 + ], + [ + 899.8287703286437, + 14.274989428902018 + ], + [ + 994.6873469639933, + 16.52730191543401 + ], + [ + 986.391598250215, + 0.16990099011184157 + ], + [ + 901.2336182719724, + -39.07322370674126 + ], + [ + 907.1291935647071, + -23.518776716547734 + ], + [ + 1004.6598181234908, + -21.340708809402145 + ], + [ + 995.8430260238403, + -37.01464772527771 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 13434, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 619.650606155572, + "xmax": 473.8435895722998, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 473.8435895722998, + 735.356657128101 + ], + [ + 294.58418078270824, + 725.0053121402455 + ], + [ + 60.770109942886506, + 1428.6073568727604 + ], + [ + 337.30867367626286, + 1453.660290882151 + ], + [ + 446.6012393979079, + 630.7028983292194 + ], + [ + 238.48166160165067, + 619.650606155572 + ], + [ + -99.64594266194956, + 1443.8247705985998 + ], + [ + 252.11844186507489, + 1476.1756798280617 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 14776, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 780.8434519942691, + "ymin": 295.76726654910095, + "xmax": 899.1013336592662, + "ymax": 514.554106076889 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 792.1971309484024, + 510.23479540477524 + ], + [ + 884.1861894354952, + 514.554106076889 + ], + [ + 858.6671872395173, + 351.20356174209286 + ], + [ + 780.8434519942691, + 348.1070386943492 + ], + [ + 801.4534448659606, + 457.7230431170649 + ], + [ + 899.1013336592662, + 462.0790104936552 + ], + [ + 869.8674925387197, + 298.83252060555594 + ], + [ + 788.0314880100631, + 295.76726654910095 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 364.92932457871126, + "ymin": 22.365792939278208, + "xmax": 380.1525711298993, + "ymax": 46.334605449763274 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 378.4079878566863, + 46.334605449763274 + ], + [ + 380.1525711298993, + 43.257235972927845 + ], + [ + 370.9466837194792, + 43.01739763505685 + ], + [ + 369.15501058860985, + 46.09226950787087 + ], + [ + 374.3249780734447, + 25.61729079146818 + ], + [ + 376.1180753156127, + 22.600861403450835 + ], + [ + 366.7709709993238, + 22.365792939278208 + ], + [ + 364.92932457871126, + 25.379736094624604 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 943.5995263343507, + "ymin": 20.96168267642247, + "xmax": 959.1352811072846, + "ymax": 44.88586547594957 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 953.0144949926901, + 41.82341224004546 + ], + [ + 943.5995263343507, + 41.58473318221871 + ], + [ + 944.7783686808515, + 44.644706947567784 + ], + [ + 954.2426024100669, + 44.88586547594957 + ], + [ + 957.8625397100603, + 21.195597343291638 + ], + [ + 948.299821313748, + 20.96168267642247 + ], + [ + 949.5217353035916, + 23.960796533752443 + ], + [ + 959.1352811072846, + 24.19717910281895 + ] + ], + "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": 900.7321454411544, + "ymin": 0.0, + "xmax": 999.4955108752545, + "ymax": 105.99751170955915 + }, + "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": [ + [ + 937.8314884726869, + 105.66236006069073 + ], + [ + 948.1744576841953, + 105.99751170955915 + ], + [ + 909.2316961626764, + -9.784036635493692 + ], + [ + 900.7321454411544, + -10.01122083280336 + ], + [ + 987.400506930518, + -105.37447966162807 + ], + [ + 999.4955108752545, + -105.10951118269952 + ], + [ + 945.088977117753, + -194.03631822989712 + ], + [ + 935.4408518973805, + -194.20581077553777 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 309.20939205060023, + "ymin": 105.62403508627551, + "xmax": 493.5423673368074, + "ymax": 344.6242338983101 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 372.1565432674781, + 330.41502901581634 + ], + [ + 368.4776579127531, + 339.82581943838323 + ], + [ + 491.1493419292557, + 344.6242338983101 + ], + [ + 493.5423673368074, + 335.1121232314305 + ], + [ + 314.4435631447845, + 105.62403508627551 + ], + [ + 309.20939205060023, + 114.15901155258194 + ], + [ + 458.4441134390928, + 118.52606305251004 + ], + [ + 461.77966370430397, + 109.87907019031945 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 271.20888639724825, + "ymin": 0.0, + "xmax": 354.1944242731858, + "ymax": 98.11534443425774 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 319.3788606545055, + 97.82510737175858 + ], + [ + 329.5524065801278, + 98.11534443425774 + ], + [ + 354.1944242731858, + 56.84126551131118 + ], + [ + 344.6589659091581, + 56.58685440123878 + ], + [ + 271.20888639724825, + -93.85580062870082 + ], + [ + 282.8868335106299, + -93.62084625395715 + ], + [ + 314.35421665644685, + -126.71829539280742 + ], + [ + 303.50924294448185, + -126.92035755185833 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 439.9745762469736, + "ymin": 116.49060874172395, + "xmax": 458.6011066170823, + "ymax": 126.52594628851267 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 442.94229280840614, + 120.26930789997857 + ], + [ + 440.58099542395144, + 126.05824253748 + ], + [ + 456.37367400725975, + 126.52594628851267 + ], + [ + 458.6011066170823, + 120.72902388939107 + ], + [ + 442.34820703362794, + 116.49060874172395 + ], + [ + 439.9745762469736, + 122.26437219478134 + ], + [ + 455.8148913069664, + 122.73086336846296 + ], + [ + 458.05385205408305, + 116.9491089395982 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1030.9890194021414, + "ymin": 337.914269594179, + "xmax": 1146.641375234204, + "ymax": 405.1413743141606 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1049.984329783444, + 401.41580459327486 + ], + [ + 1141.728711496042, + 405.1413743141606 + ], + [ + 1117.4258164229714, + 350.6622933520495 + ], + [ + 1030.9890194021414, + 347.34921524445184 + ], + [ + 1053.982855527853, + 391.9336254249035 + ], + [ + 1146.641375234204, + 395.6581456784702 + ], + [ + 1121.8311931689577, + 341.22272866119204 + ], + [ + 1034.5834071069135, + 337.914269594179 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 995.4710239671684, + "ymin": 304.05995752919296, + "xmax": 1167.0227601598733, + "ymax": 493.1983641573373 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1011.8267163198079, + 489.2755049486503 + ], + [ + 1100.1151273338564, + 493.1983641573373 + ], + [ + 1078.8022035851125, + 435.35971735973726 + ], + [ + 995.4710239671684, + 431.8593861698741 + ], + [ + 1065.6629471022368, + 361.22675297210367 + ], + [ + 1167.0227601598733, + 365.16599962320134 + ], + [ + 1138.5876801979884, + 307.5190855958599 + ], + [ + 1043.707323552325, + 304.05995752919296 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 439.87303287726627, + "ymin": 116.43681820347948, + "xmax": 458.69979328878776, + "ymax": 126.58000075119693 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 442.87362771516905, + 120.25605331167034 + ], + [ + 440.48629894346357, + 126.10721905065827 + ], + [ + 456.4492175443961, + 126.58000075119693 + ], + [ + 458.69979328878776, + 120.72067466244746 + ], + [ + 442.2729660134503, + 116.43681820347948 + ], + [ + 439.87303287726627, + 122.27248488948675 + ], + [ + 455.8846221438818, + 122.74402781995391 + ], + [ + 458.1469707422978, + 116.90019746523168 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1031.0713677126314, + "ymin": 337.947356530914, + "xmax": 1146.57427391107, + "ymax": 405.0409358363129 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1050.048440017349, + 401.31996396136947 + ], + [ + 1141.6947659835714, + 405.0409358363129 + ], + [ + 1117.4218133033155, + 350.62969448055054 + ], + [ + 1031.0713677126314, + 347.3202507219777 + ], + [ + 1054.0208880206476, + 391.90017040900244 + ], + [ + 1146.57427391107, + 395.6200957896999 + ], + [ + 1121.7980384708121, + 341.2522165226446 + ], + [ + 1034.6427672219943, + 337.947356530914 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 332.8547721900962, + "ymin": 0.0, + "xmax": 667.026904382941, + "ymax": 119.12849126956064 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 379.63807594275295, + 104.48491392957274 + ], + [ + 376.9401386306034, + 109.55020491341298 + ], + [ + 662.6134634204136, + 119.12849126956064 + ], + [ + 663.1219548103664, + 113.9154082460849 + ], + [ + 336.39608880489686, + -106.30500233107 + ], + [ + 332.8547721900962, + -102.29799940802889 + ], + [ + 666.4676783580549, + -94.69260129706726 + ], + [ + 667.026904382941, + -98.83652117075997 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1016.217499117348, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 434.51969646776666 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1240.8032997266866, + 194.26462877018787 + ], + [ + 1016.217499117348, + 235.9940741438029 + ], + [ + 1207.3916254791, + 434.51969646776666 + ], + [ + 1472.4710068756463, + 369.8890289960412 + ], + [ + 1473.1007007584265, + -261.74245790422185 + ], + [ + 1173.25280981399, + -238.87426281676687 + ], + [ + 1539.1148666367526, + -114.54512878962714 + ], + [ + 1910.3740107071426, + -158.12272865799252 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00106/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00106/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..00e600bae4a1dbd4537179b275fb044523bf3373 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00106/meta.json @@ -0,0 +1,2575 @@ +{ + "frame_id": 106, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 53.0, + "sim_timestamp": 11046.410525869578 + }, + "drone_pose": { + "x": -98.45819408704413, + "y": -88.80403696505823, + "z": 20.152960376202042, + "pitch": -44.19012517073453, + "yaw": -9.40731558524992, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7073875665664673, + 0.11720004677772522, + 0.6970415115356445, + 45.19282531738281 + ], + [ + -0.1634519100189209, + 0.9865512847900391, + 0.0, + 103.70292663574219 + ], + [ + -0.6876672506332397, + -0.1139327734708786, + 0.7170307636260986, + -72.03907012939453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -98.00152136332689, + "y": -88.78552102419518, + "z": 20.254001137921723 + }, + "t1_image_uv": [ + 996.1442238289362, + -1113.3915640141802 + ], + "t1_depth": 0.25044495454606336 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -78.66718292236328, + "y": -91.68776321411131, + "z": 0.5749944090844292 + }, + "image_uv": [ + 653.3765850184158, + 363.4243878949866 + ], + "depth": 27.98454461790147, + "visible": false, + "in_view": true, + "lost_reason": "occluded", + "pixel_count": 2, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -78.66718292236328, + "y": -91.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.18945066630840302, + "y": 0.22393552958965302, + "z": 0.5217591524124146 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 644.692705765581, + "ymin": 345.1379226252502, + "xmax": 662.2210180157263, + "ymax": 381.4469449550567 + }, + "corners_3d": [ + [ + -78.85663604736328, + -91.91169738769531, + 0.05323523283004761 + ], + [ + -78.85663604736328, + -91.46382141113281, + 0.05323523283004761 + ], + [ + -78.47772979736328, + -91.46382141113281, + 0.05323523283004761 + ], + [ + -78.47772979736328, + -91.91169738769531, + 0.05323523283004761 + ], + [ + -78.85663604736328, + -91.91169738769531, + 1.0967535972595215 + ], + [ + -78.85663604736328, + -91.46382141113281, + 1.0967535972595215 + ], + [ + -78.47772979736328, + -91.46382141113281, + 1.0967535972595215 + ], + [ + -78.47772979736328, + -91.91169738769531, + 1.0967535972595215 + ] + ], + "corners_2d": [ + [ + 644.692705765581, + 379.67245480471337 + ], + [ + 659.749655676232, + 381.4469449550567 + ], + [ + 661.6530174042767, + 372.4545557201363 + ], + [ + 646.7341266548875, + 370.7133063040888 + ], + [ + 644.8167689106496, + 354.08477168621346 + ], + [ + 660.2727841441764, + 355.8573534844462 + ], + [ + 662.2210180157263, + 346.87643345022593 + ], + [ + 646.91044207804, + 345.1379226252502 + ] + ], + "center_offset_px": [ + 13.376585018415767, + 3.4243878949865802 + ] + }, + "trace_timestep_index": 106, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 56, + "semantic_pixel_counts": { + "1": 338724, + "2": 201636, + "3": 205745, + "4": 33447, + "5": 288, + "6": 6004, + "7": 271, + "9": 1809, + "10": 36118, + "12": 3178, + "14": 26117, + "16": 16643, + "20": 33102, + "21": 14, + "24": 18504 + }, + "instance_pixel_counts": { + "913": 2914, + "2158": 6539, + "3694": 2932, + "5230": 2285, + "5742": 4641, + "9346": 1, + "12951": 484, + "14416": 288, + "15963": 44647, + "16475": 89758, + "16987": 36066, + "17232": 33447, + "22976": 5628, + "23296": 784, + "23552": 1165, + "24512": 35963, + "26963": 1678, + "28819": 4134, + "33429": 342, + "35668": 9345, + "35924": 18254, + "36692": 2589, + "37979": 15424, + "40019": 2647, + "41611": 1484, + "41619": 1777, + "42123": 1133, + "43117": 3450, + "43147": 11400, + "43155": 63803, + "43659": 14274, + "43667": 9971, + "44179": 259039, + "44693": 49, + "45717": 5553, + "46229": 119, + "46741": 12441, + "48749": 3, + "49664": 2, + "49920": 438, + "50176": 678, + "50432": 997, + "50624": 6220, + "50688": 651, + "50944": 412, + "51136": 2057, + "51456": 8340, + "51712": 1564, + "52160": 37565, + "52480": 16643, + "52672": 74059, + "55040": 16213, + "55879": 13537, + "57173": 1809, + "64351": 11369, + "64603": 14 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 2, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -78.66718292236328, + "y": -91.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.2088622748851776, + "y": 0.2089843451976776, + "z": 0.5157598257064819 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 645.0898992081342, + "ymin": 344.8930128267538, + "xmax": 661.8046394168649, + "ymax": 381.7094252169163 + }, + "corners_3d": [ + [ + -78.87604522705078, + -91.89674377441406, + 0.059234559535980225 + ], + [ + -78.87604522705078, + -91.47877502441406, + 0.059234559535980225 + ], + [ + -78.45832061767578, + -91.47877502441406, + 0.059234559535980225 + ], + [ + -78.45832061767578, + -91.89674377441406, + 0.059234559535980225 + ], + [ + -78.87604522705078, + -91.89674377441406, + 1.0907542705535889 + ], + [ + -78.87604522705078, + -91.47877502441406, + 1.0907542705535889 + ], + [ + -78.45832061767578, + -91.47877502441406, + 1.0907542705535889 + ], + [ + -78.45832061767578, + -91.89674377441406, + 1.0907542705535889 + ] + ], + "corners_2d": [ + [ + 645.0898992081342, + 380.0518183580307 + ], + [ + 659.1501613645365, + 381.7094252169163 + ], + [ + 661.2539093838021, + 371.7969904378278 + ], + [ + 647.3357294552158, + 370.1735879492875 + ], + [ + 645.22297053762, + 354.7578742313094 + ], + [ + 659.6517203357885, + 356.4137614539971 + ], + [ + 661.8046394168649, + 346.513851291219 + ], + [ + 647.525477464425, + 344.8930128267538 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 438, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -74.54119873046875, + "y": -88.69005584716797, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.5342675447463989, + "y": 0.3065478503704071, + "z": 0.9001844525337219 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 752.311859117272, + "ymin": 251.6063915575367, + "xmax": 781.3809277949617, + "ymax": 317.317785618779 + }, + "corners_3d": [ + [ + -75.12752532958984, + -88.87882232666016, + -0.3251851797103882 + ], + [ + -75.00005340576172, + -88.27912902832031, + -0.3251851797103882 + ], + [ + -73.95487213134766, + -88.50128936767578, + -0.3251851797103882 + ], + [ + -74.08234405517578, + -89.10098266601562, + -0.3251851797103882 + ], + [ + -75.12752532958984, + -88.87882232666016, + 1.4751837253570557 + ], + [ + -75.00005340576172, + -88.27912902832031, + 1.4751837253570557 + ], + [ + -73.95487213134766, + -88.50128936767578, + 1.4751837253570557 + ], + [ + -74.08234405517578, + -89.10098266601562, + 1.4751837253570557 + ] + ], + "corners_2d": [ + [ + 756.6112507334046, + 317.317785618779 + ], + [ + 775.6216601802987, + 316.74286542509293 + ], + [ + 770.8641159751926, + 295.16747200280093 + ], + [ + 752.311859117272, + 295.71484643781037 + ], + [ + 761.5665630355923, + 273.53964320800407 + ], + [ + 781.3809277949617, + 272.96977087688424 + ], + [ + 776.2810529971102, + 251.6063915575367 + ], + [ + 756.9639031570674, + 252.14784385800795 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 678, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -84.55647277832031, + "y": -85.71086120605469, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.5567724704742432, + "y": 0.3481835722923279, + "z": 0.876926839351654 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 839.1906917392153, + "ymin": 519.1630903542648, + "xmax": 884.995108007839, + "ymax": 601.3293433902833 + }, + "corners_3d": [ + [ + -85.14659118652344, + -85.99893951416016, + -0.3019275665283203 + ], + [ + -85.07379913330078, + -85.30638885498047, + -0.3019275665283203 + ], + [ + -83.96635437011719, + -85.42278289794922, + -0.3019275665283203 + ], + [ + -84.03914642333984, + -86.1153335571289, + -0.3019275665283203 + ], + [ + -85.14659118652344, + -85.99893951416016, + 1.4519261121749878 + ], + [ + -85.07379913330078, + -85.30638885498047, + 1.4519261121749878 + ], + [ + -83.96635437011719, + -85.42278289794922, + 1.4519261121749878 + ], + [ + -84.03914642333984, + -86.1153335571289, + 1.4519261121749878 + ] + ], + "corners_2d": [ + [ + 843.2695695788731, + 599.836342971314 + ], + [ + 872.1494442358754, + 601.3293433902833 + ], + [ + 867.1109465906281, + 562.505023744613 + ], + [ + 839.1906917392153, + 561.1090332144652 + ], + [ + 854.5021190127567, + 558.519250962803 + ], + [ + 884.995108007839, + 560.0393694276975 + ], + [ + 879.2402403826402, + 520.5792584647531 + ], + [ + 849.8150777432231, + 519.1630903542648 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 997, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -88.16718292236328, + "y": -91.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.5147802233695984, + "y": 0.4470556080341339, + "z": 0.887822687625885 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 560.3042456563447, + "ymin": 614.8417301678315, + "xmax": 612.418682232386, + "ymax": 703.1934700651802 + }, + "corners_3d": [ + [ + -88.68196105957031, + -92.13481140136719, + -0.31282830238342285 + ], + [ + -88.68196105957031, + -91.24070739746094, + -0.31282830238342285 + ], + [ + -87.65240478515625, + -91.24070739746094, + -0.31282830238342285 + ], + [ + -87.65240478515625, + -92.13481140136719, + -0.31282830238342285 + ], + [ + -88.68196105957031, + -92.13481140136719, + 1.4628170728683472 + ], + [ + -88.68196105957031, + -91.24070739746094, + 1.4628170728683472 + ], + [ + -87.65240478515625, + -91.24070739746094, + 1.4628170728683472 + ], + [ + -87.65240478515625, + -92.13481140136719, + 1.4628170728683472 + ] + ], + "corners_2d": [ + [ + 564.8769232231999, + 696.9928710207219 + ], + [ + 603.957239700788, + 703.1934700651802 + ], + [ + 612.418682232386, + 661.3092556343655 + ], + [ + 574.5749420741103, + 655.5079827218444 + ], + [ + 560.3042456563447, + 657.3952228330465 + ], + [ + 601.7519829598423, + 663.770080525207 + ], + [ + 610.7897790019663, + 620.78227934107 + ], + [ + 570.7302791388584, + 614.8417301678315 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 651, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -80.42550659179688, + "y": -97.09931182861328, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.4970532953739166, + "y": 0.5180909037590027, + "z": 0.8949122428894043 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 427.482221106993, + "ymin": 346.61215569177654, + "xmax": 483.4861879199484, + "ymax": 421.4551127898251 + }, + "corners_3d": [ + [ + -80.86568450927734, + -97.66651916503906, + -0.31991297006607056 + ], + [ + -80.97399139404297, + -96.63601684570312, + -0.31991297006607056 + ], + [ + -79.9853286743164, + -96.5321044921875, + -0.31991297006607056 + ], + [ + -79.87702178955078, + -97.56260681152344, + -0.31991297006607056 + ], + [ + -80.86568450927734, + -97.66651916503906, + 1.4699115753173828 + ], + [ + -80.97399139404297, + -96.63601684570312, + 1.4699115753173828 + ], + [ + -79.9853286743164, + -96.5321044921875, + 1.4699115753173828 + ], + [ + -79.87702178955078, + -97.56260681152344, + 1.4699115753173828 + ] + ], + "corners_2d": [ + [ + 437.0352512595906, + 414.38069875412583 + ], + [ + 470.38204637022324, + 421.4551127898251 + ], + [ + 483.4861879199484, + 397.2534970995912 + ], + [ + 450.85416745333964, + 390.5179812017698 + ], + [ + 427.482221106993, + 370.4597480429537 + ], + [ + 462.33866597735016, + 377.5401053454711 + ], + [ + 476.25314097060925, + 353.33791250186397 + ], + [ + 442.17653063880493, + 346.61215569177654 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 412, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -67.42184448242188, + "y": -99.85797882080078, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.42344236373901367, + "y": 0.442084938287735, + "z": 0.8891111612319946 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 469.3929098967109, + "ymin": 105.40870303257185, + "xmax": 505.4631793206375, + "ymax": 161.61504419430807 + }, + "corners_3d": [ + [ + -67.7441177368164, + -100.3784408569336, + -0.16170960664749146 + ], + [ + -67.92794799804688, + -99.51359558105469, + -0.16170960664749146 + ], + [ + -67.09957122802734, + -99.33751678466797, + -0.16170960664749146 + ], + [ + -66.91574096679688, + -100.20236206054688, + -0.16170960664749146 + ], + [ + -67.7441177368164, + -100.3784408569336, + 1.6165127754211426 + ], + [ + -67.92794799804688, + -99.51359558105469, + 1.6165127754211426 + ], + [ + -67.09957122802734, + -99.33751678466797, + 1.6165127754211426 + ], + [ + -66.91574096679688, + -100.20236206054688, + 1.6165127754211426 + ] + ], + "corners_2d": [ + [ + 475.0708647640764, + 157.0492951935169 + ], + [ + 495.3906181549288, + 161.61504419430807 + ], + [ + 505.4631793206375, + 150.55928543854446 + ], + [ + 485.3856164081943, + 146.1294711096557 + ], + [ + 469.3929098967109, + 116.06504772506912 + ], + [ + 490.3800005015838, + 120.52388519594737 + ], + [ + 500.87409471091297, + 109.7303102338584 + ], + [ + 480.14505292959427, + 105.40870303257185 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 8340, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 601.7216385023614, + "ymin": 324.60074233163016, + "xmax": 697.3134603174046, + "ymax": 474.1342953022603 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 695.387377297055, + 366.34674801569946 + ], + [ + 629.7585815569762, + 358.69756871508736 + ], + [ + 603.1425969705189, + 464.63831638940445 + ], + [ + 676.0566993309444, + 474.1342953022603 + ], + [ + 697.3134603174046, + 332.2263263849265 + ], + [ + 629.4054379838539, + 324.60074233163016 + ], + [ + 601.7216385023614, + 430.6003075606969 + ], + [ + 677.4600019080914, + 440.1423143662833 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 1564, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 1005.4297065389297, + "ymin": 0.0, + "xmax": 1125.5280205711451, + "ymax": 26.106936954973776 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 1005.4297065389297, + 1.7454748597601792 + ], + [ + 1010.0031607342253, + 19.046592591848707 + ], + [ + 1111.4645919479058, + 26.106936954973776 + ], + [ + 1103.8394474765528, + 8.404782093660629 + ], + [ + 1015.897479974326, + -36.50951865060233 + ], + [ + 1020.9296116940179, + -19.88783468445149 + ], + [ + 1125.5280205711451, + -13.077077002868577 + ], + [ + 1117.2557968104466, + -30.095932499105686 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 16643, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 594.2760808534565, + "xmax": 517.6701216293479, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 517.6701216293479, + 728.1872046825247 + ], + [ + 344.27153640022357, + 699.5636371240317 + ], + [ + 73.52805415207354, + 1362.7410530865927 + ], + [ + 331.0303491236885, + 1429.7493683751184 + ], + [ + 497.2712841380349, + 624.9100984932447 + ], + [ + 296.2188558489512, + 594.2760808534565 + ], + [ + -79.42631699044216, + 1366.8481867938726 + ], + [ + 243.90295212979197, + 1452.9346474010906 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 16213, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 857.3364639186324, + "ymin": 307.16766495087154, + "xmax": 973.5007488809636, + "ymax": 541.6851104950372 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 857.3364639186324, + 528.8180259481796 + ], + [ + 953.3497347715144, + 541.6851104950372 + ], + [ + 939.4925047080501, + 368.9785395106403 + ], + [ + 858.3422036838938, + 359.77258628091244 + ], + [ + 871.1414738924611, + 476.81419436678124 + ], + [ + 973.5007488809636, + 489.8625215220171 + ], + [ + 955.6083987828538, + 316.32201671775994 + ], + [ + 869.9704361719785, + 307.16766495087154 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 463.9373844815955, + "ymin": 3.056657674984308, + "xmax": 477.63270043572936, + "ymax": 27.501009641304847 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 475.69170715200124, + 27.501009641304847 + ], + [ + 477.63270043572936, + 24.481225001939492 + ], + [ + 468.6520325644973, + 23.803338083697327 + ], + [ + 466.66793144016304, + 26.81625972383972 + ], + [ + 473.1003138487082, + 6.682129578236186 + ], + [ + 475.08499405420065, + 3.7212556819133056 + ], + [ + 465.9665074844383, + 3.056657674984308 + ], + [ + 463.9373844815955, + 6.01069678241231 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1054.7420772392538, + "ymin": 29.42982664866713, + "xmax": 1072.92154672368, + "ymax": 54.724617265556674 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1064.8230345645215, + 51.4256879834914 + ], + [ + 1054.7420772392538, + 50.68534466023067 + ], + [ + 1055.7597023081971, + 53.9764382719207 + ], + [ + 1065.895112407358, + 54.724617265556674 + ], + [ + 1071.7943578049412, + 30.156683395693562 + ], + [ + 1061.5397740348626, + 29.42982664866713 + ], + [ + 1062.6106152166376, + 32.66118408343601 + ], + [ + 1072.92154672368, + 33.395860941984495 + ] + ], + "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": 1012.9108323281838, + "ymin": 0.0, + "xmax": 1127.7658169499066, + "ymax": 118.00683024254147 + }, + "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": [ + [ + 1043.1550387030825, + 117.06165538334255 + ], + [ + 1054.1931300893066, + 118.00683024254147 + ], + [ + 1021.9383599980348, + -5.772820963970958 + ], + [ + 1012.9108323281838, + -6.40995817854872 + ], + [ + 1114.6517569634138, + -101.15329904081591 + ], + [ + 1127.7658169499066, + -100.39209215285683 + ], + [ + 1075.9161990892335, + -197.02978016482643 + ], + [ + 1065.545321965612, + -197.51179743728346 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 401.2502668779203, + "ymin": 86.66649487130076, + "xmax": 567.5776417812738, + "ymax": 334.74012215951444 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 448.6349951845516, + 311.92935361067896 + ], + [ + 444.3473451782289, + 321.11475552285225 + ], + [ + 564.4777453399699, + 334.74012215951444 + ], + [ + 567.5776417812738, + 325.27419202524413 + ], + [ + 407.00946851766446, + 86.66649487130076 + ], + [ + 401.2502668779203, + 95.0227348067346 + ], + [ + 547.53189191143, + 107.48801969429243 + ], + [ + 551.5342935359668, + 98.81915061271644 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 380.8823894245574, + "ymin": 0.0, + "xmax": 451.7264060777119, + "ymax": 76.41907629557 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 414.87293598200813, + 75.60738473062816 + ], + [ + 424.7004261290722, + 76.41907629557 + ], + [ + 451.7264060777119, + 36.252636046576015 + ], + [ + 442.4741284463985, + 35.53815575561913 + ], + [ + 380.8823894245574, + -116.43238505533867 + ], + [ + 392.14685774945883, + -115.7745268133632 + ], + [ + 425.2666034196716, + -148.03313232079734 + ], + [ + 414.751128320208, + -148.60153992217846 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 528.963928094947, + "ymin": 104.40336592360299, + "xmax": 547.6143079601092, + "ymax": 115.34482730532011 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 532.1054013315754, + 108.21323581713278 + ], + [ + 529.3071137301791, + 113.99667847751331 + ], + [ + 544.9424126009462, + 115.34482730532011 + ], + [ + 547.6143079601092, + 109.53876744951901 + ], + [ + 531.7737150755643, + 104.40336592360299 + ], + [ + 528.963928094947, + 110.17230477120202 + ], + [ + 544.6471217845097, + 111.51711595461404 + ], + [ + 547.3297445621785, + 105.72554677539406 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1124.492346858847, + "ymin": 371.38867895997583, + "xmax": 1247.4969313294937, + "ymax": 451.852442530983 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1140.7721597840596, + 439.9996314278237 + ], + [ + 1241.159812133135, + 451.852442530983 + ], + [ + 1218.7775834594247, + 391.36870289479737 + ], + [ + 1124.492346858847, + 380.8661846684712 + ], + [ + 1145.9893685579063, + 430.5446806553477 + ], + [ + 1247.4969313294937, + 442.410666483768 + ], + [ + 1224.5152020061246, + 381.8899501963472 + ], + [ + 1129.2424763836636, + 371.38867895997583 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1078.612693044534, + "ymin": 336.94843755971317, + "xmax": 1273.065330997283, + "ymax": 539.2979414334905 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1091.5726133058554, + 526.9725006145169 + ], + [ + 1187.1609723861425, + 539.2979414334905 + ], + [ + 1168.6151786914452, + 475.87847464746864 + ], + [ + 1078.612693044534, + 464.91126609362345 + ], + [ + 1161.5624012601586, + 399.7932755685951 + ], + [ + 1273.065330997283, + 412.40535969103246 + ], + [ + 1246.18268656182, + 347.97475574847954 + ], + [ + 1142.203131283557, + 336.94843755971317 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 528.8624121001147, + "ymin": 104.34477970037446, + "xmax": 547.7132714570757, + "ymax": 115.40382705983461 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 532.0385865481404, + 108.19551262771742 + ], + [ + 529.2096108049444, + 114.04104427833332 + ], + [ + 545.0134149092485, + 115.40382705983461 + ], + [ + 547.7132714570757, + 109.53518955707952 + ], + [ + 531.7031399614743, + 104.34477970037446 + ], + [ + 528.8624121001147, + 110.17549403782061 + ], + [ + 544.7151506070777, + 111.53486710271685 + ], + [ + 547.4259621523489, + 105.68103334877117 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1124.5846547348613, + "ymin": 371.4286222757202, + "xmax": 1247.4257386099098, + "ymax": 451.7437903855018 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1140.850349566289, + 439.9050407582827 + ], + [ + 1241.1312972535954, + 451.7437903855018 + ], + [ + 1218.7765592098267, + 391.3353361258964 + ], + [ + 1124.5846547348613, + 380.84379591997845 + ], + [ + 1146.0335479380437, + 430.5122132842883 + ], + [ + 1247.4257386099098, + 442.3640181865382 + ], + [ + 1224.4762322286037, + 381.91892555509696 + ], + [ + 1129.3043331592603, + 371.4286222757202 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 441.167545408175, + "ymin": 0.0, + "xmax": 775.6374481681796, + "ymax": 115.5153768739348 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 472.972137180113, + 85.35149397075463 + ], + [ + 469.9566610091678, + 90.3029158132627 + ], + [ + 754.4840813499, + 115.5153768739348 + ], + [ + 755.4100196416475, + 110.18204136636106 + ], + [ + 444.93998891205626, + -126.47890533969809 + ], + [ + 441.167545408175, + -122.5514073116941 + ], + [ + 774.733507192512, + -102.39781453927935 + ], + [ + 775.6374481681796, + -106.68275300212582 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1116.949455726281, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 486.6502470889216 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1368.0560508459325, + 230.6214291324951 + ], + [ + 1116.949455726281, + 259.73572375302876 + ], + [ + 1310.61603823847, + 486.6502470889216 + ], + [ + 1618.5824879381853, + 439.95761198306496 + ], + [ + 1682.9622934619833, + -252.47533834693763 + ], + [ + 1334.1181840887575, + -235.56818470965277 + ], + [ + 1754.1661183453314, + -82.74165915269492 + ], + [ + 2219.7919844623457, + -117.6256555190933 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00107/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00107/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..197e6f96f1b1df799c79eb844847672b559b1625 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00107/meta.json @@ -0,0 +1,2576 @@ +{ + "frame_id": 107, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 53.5, + "sim_timestamp": 11059.933573167771 + }, + "drone_pose": { + "x": -98.00152136332689, + "y": -88.78552102419518, + "z": 20.254001137921723, + "pitch": -44.04566781540203, + "yaw": -10.603447845163236, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7065120935440063, + 0.1322641521692276, + 0.695231556892395, + 43.414894104003906 + ], + [ + -0.18401049077510834, + 0.9829242825508118, + 0.0, + 105.3027572631836 + ], + [ + -0.6833599805831909, + -0.1279298961162567, + 0.7187858819961548, + -70.17028045654297 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -97.59462638596523, + "y": -88.88377936250649, + "z": 20.07780547425107 + }, + "t1_image_uv": [ + 590.7310158537997, + -12.178014396756112 + ], + "t1_depth": 0.4229690580783842 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -78.16718292236328, + "y": -91.68776321411131, + "z": 0.5749944090844292 + }, + "image_uv": [ + 667.2507349417377, + 367.5120821275969 + ], + "depth": 28.07852818697068, + "visible": false, + "in_view": true, + "lost_reason": "occluded", + "pixel_count": 22, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -78.16718292236328, + "y": -91.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.2521044611930847, + "y": 0.2193017303943634, + "z": 0.5269579291343689 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 658.1545546782991, + "ymin": 347.6425602711475, + "xmax": 676.4890289092766, + "ymax": 387.15754474130927 + }, + "corners_3d": [ + [ + -78.4192886352539, + -91.90705871582031, + 0.04803645610809326 + ], + [ + -78.4192886352539, + -91.46846008300781, + 0.04803645610809326 + ], + [ + -77.91507720947266, + -91.46846008300781, + 0.04803645610809326 + ], + [ + -77.91507720947266, + -91.90705871582031, + 0.04803645610809326 + ], + [ + -78.4192886352539, + -91.90705871582031, + 1.101952314376831 + ], + [ + -78.4192886352539, + -91.46846008300781, + 1.101952314376831 + ], + [ + -77.91507720947266, + -91.46846008300781, + 1.101952314376831 + ], + [ + -77.91507720947266, + -91.90705871582031, + 1.101952314376831 + ] + ], + "corners_2d": [ + [ + 658.1545546782991, + 385.1982092900321 + ], + [ + 672.8482829852819, + 387.15754474130927 + ], + [ + 675.554004735327, + 375.25120116184576 + ], + [ + 661.0374859092557, + 373.34033262582716 + ], + [ + 658.6371616122238, + 359.48353368633093 + ], + [ + 673.7233385602875, + 361.440829679731 + ], + [ + 676.4890289092766, + 349.5501760034326 + ], + [ + 661.5895949170462, + 347.6425602711475 + ] + ], + "center_offset_px": [ + 27.250734941737733, + 7.512082127596898 + ] + }, + "trace_timestep_index": 107, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 58, + "semantic_pixel_counts": { + "1": 343395, + "2": 198883, + "3": 216658, + "4": 30788, + "5": 284, + "6": 6400, + "7": 279, + "9": 358, + "10": 29598, + "12": 3204, + "14": 28353, + "16": 12050, + "20": 32559, + "24": 18791 + }, + "instance_pixel_counts": { + "913": 3071, + "1134": 208, + "2158": 6671, + "3694": 3492, + "5230": 2327, + "5742": 4729, + "9346": 4, + "12951": 499, + "14416": 284, + "15963": 46975, + "16475": 95574, + "16987": 36329, + "17232": 30788, + "22976": 5660, + "23296": 853, + "23552": 1355, + "24512": 35413, + "26963": 1684, + "28819": 5162, + "33429": 442, + "35668": 9447, + "35924": 17329, + "36692": 2712, + "37979": 16860, + "40019": 2783, + "41107": 780, + "41611": 1547, + "41619": 3411, + "42123": 1142, + "43117": 3481, + "43147": 11843, + "43155": 69337, + "43659": 13950, + "43667": 9012, + "44179": 255693, + "44181": 67, + "44693": 51, + "45717": 5789, + "46229": 88, + "46741": 12354, + "48749": 12, + "49664": 22, + "49920": 440, + "50176": 690, + "50432": 1016, + "50624": 6487, + "50688": 646, + "50944": 390, + "51136": 2099, + "51456": 8600, + "51712": 2792, + "52160": 37144, + "52480": 12050, + "52672": 71841, + "55040": 16961, + "55879": 12762, + "57173": 358, + "64351": 11258 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 22, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -78.16718292236328, + "y": -91.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.24541990458965302, + "y": 0.21510739624500275, + "z": 0.5171951055526733 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 658.3376556986084, + "ymin": 348.05996143806027, + "xmax": 676.3013835244884, + "ymax": 386.74692056876904 + }, + "corners_3d": [ + [ + -78.41260528564453, + -91.90287017822266, + 0.05779927968978882 + ], + [ + -78.41260528564453, + -91.47264862060547, + 0.05779927968978882 + ], + [ + -77.92176055908203, + -91.47264862060547, + 0.05779927968978882 + ], + [ + -77.92176055908203, + -91.90287017822266, + 0.05779927968978882 + ], + [ + -78.41260528564453, + -91.90287017822266, + 1.0921895503997803 + ], + [ + -78.41260528564453, + -91.47264862060547, + 1.0921895503997803 + ], + [ + -77.92176055908203, + -91.47264862060547, + 1.0921895503997803 + ], + [ + -77.92176055908203, + -91.90287017822266, + 1.0921895503997803 + ] + ], + "corners_2d": [ + [ + 658.3376556986084, + 384.82565561648454 + ], + [ + 672.7518796749512, + 386.74692056876904 + ], + [ + 675.3880516322787, + 375.1567549146827 + ], + [ + 661.1431251403216, + 373.2817814311476 + ], + [ + 658.8159086710258, + 359.5876991201921 + ], + [ + 673.6078274111633, + 361.5069852015284 + ], + [ + 676.3013835244884, + 349.9318188940478 + ], + [ + 661.6876969438728, + 348.05996143806027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 440, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -74.04119873046875, + "y": -88.69005584716797, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.36716794967651367, + "y": 0.33173826336860657, + "z": 0.8811057806015015 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 766.9782180528805, + "ymin": 261.30148834766175, + "xmax": 796.4139182151202, + "ymax": 318.97553503948836 + }, + "corners_3d": [ + [ + -74.46931457519531, + -88.9382095336914, + -0.3061065077781677 + ], + [ + -74.33136749267578, + -88.28923034667969, + -0.3061065077781677 + ], + [ + -73.61308288574219, + -88.44190216064453, + -0.3061065077781677 + ], + [ + -73.75102996826172, + -89.09088134765625, + -0.3061065077781677 + ], + [ + -74.46931457519531, + -88.9382095336914, + 1.4561049938201904 + ], + [ + -74.33136749267578, + -88.28923034667969, + 1.4561049938201904 + ], + [ + -73.61308288574219, + -88.44190216064453, + 1.4561049938201904 + ], + [ + -73.75102996826172, + -89.09088134765625, + 1.4561049938201904 + ] + ], + "corners_2d": [ + [ + 769.6989589492134, + 318.97553503948836 + ], + [ + 790.2226565657593, + 318.64220773442804 + ], + [ + 787.1588933362953, + 303.77085978790996 + ], + [ + 766.9782180528805, + 304.0931039703697 + ], + [ + 775.0464501094991, + 276.36227733419196 + ], + [ + 796.4139182151202, + 276.0318763040282 + ], + [ + 793.1181044570546, + 261.30148834766175 + ], + [ + 772.122187593505, + 261.6204625102934 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 690, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -83.99948120117188, + "y": -86.99132537841797, + "z": 0.5750090479850769 + }, + "extent": { + "x": 0.44356444478034973, + "y": 0.3080712854862213, + "z": 0.8722430467605591 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 800.8758484574786, + "ymin": 520.4256524144441, + "xmax": 837.6841530550959, + "ymax": 594.1326246788411 + }, + "corners_3d": [ + [ + -84.47281646728516, + -87.2513427734375, + -0.2972339987754822 + ], + [ + -84.40841674804688, + -86.63858032226562, + -0.2972339987754822 + ], + [ + -83.5261459350586, + -86.73130798339844, + -0.2972339987754822 + ], + [ + -83.59054565429688, + -87.34407043457031, + -0.2972339987754822 + ], + [ + -84.47281646728516, + -87.2513427734375, + 1.4472520351409912 + ], + [ + -84.40841674804688, + -86.63858032226562, + 1.4472520351409912 + ], + [ + -83.5261459350586, + -86.73130798339844, + 1.4472520351409912 + ], + [ + -83.59054565429688, + -87.34407043457031, + 1.4472520351409912 + ] + ], + "corners_2d": [ + [ + 802.30957943672, + 592.3845516816467 + ], + [ + 827.5282853129296, + 594.1326246788411 + ], + [ + 825.4312769352207, + 563.6500545680501 + ], + [ + 800.8758484574786, + 561.9923753881139 + ], + [ + 811.0857609167833, + 551.2832923331814 + ], + [ + 837.6841530550959, + 553.06079456113 + ], + [ + 835.1964275184642, + 522.1064698820123 + ], + [ + 809.3348088298305, + 520.4256524144441 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 1016, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -87.66718292236328, + "y": -91.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.4307909607887268, + "y": 0.44627436995506287, + "z": 0.8714624643325806 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 571.2606865992574, + "ymin": 620.5739876661748, + "xmax": 621.2851217876463, + "ymax": 701.6114105894574 + }, + "corners_3d": [ + [ + -88.09797668457031, + -92.134033203125, + -0.2964680790901184 + ], + [ + -88.09797668457031, + -91.24148559570312, + -0.2964680790901184 + ], + [ + -87.23638916015625, + -91.24148559570312, + -0.2964680790901184 + ], + [ + -87.23638916015625, + -92.134033203125, + -0.2964680790901184 + ], + [ + -88.09797668457031, + -92.134033203125, + 1.4464569091796875 + ], + [ + -88.09797668457031, + -91.24148559570312, + 1.4464569091796875 + ], + [ + -87.23638916015625, + -91.24148559570312, + 1.4464569091796875 + ], + [ + -87.23638916015625, + -92.134033203125, + 1.4464569091796875 + ] + ], + "corners_2d": [ + [ + 575.0943117794307, + 694.7101928532433 + ], + [ + 613.7146384588613, + 701.6114105894574 + ], + [ + 621.2851217876463, + 666.8119478755054 + ], + [ + 583.677304737765, + 660.2827350493018 + ], + [ + 571.2606865992574, + 655.8566743576587 + ], + [ + 612.1531200017806, + 662.942999876678 + ], + [ + 620.2055560176973, + 627.2566788128358 + ], + [ + 580.4464928140648, + 620.5739876661748 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 646, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -79.92550659179688, + "y": -97.09931182861328, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.49725836515426636, + "y": 0.4977881610393524, + "z": 0.8834474682807922 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 443.4956285947951, + "ymin": 348.2127101264192, + "xmax": 497.1639725638025, + "ymax": 422.1328673977826 + }, + "corners_3d": [ + [ + -80.36801147460938, + -97.64634704589844, + -0.3084481954574585 + ], + [ + -80.47207641601562, + -96.6562271118164, + -0.3084481954574585 + ], + [ + -79.48300170898438, + -96.55227661132812, + -0.3084481954574585 + ], + [ + -79.37893676757812, + -97.54239654541016, + -0.3084481954574585 + ], + [ + -80.36801147460938, + -97.64634704589844, + 1.458446741104126 + ], + [ + -80.47207641601562, + -96.6562271118164, + 1.458446741104126 + ], + [ + -79.48300170898438, + -96.55227661132812, + 1.458446741104126 + ], + [ + -79.37893676757812, + -97.54239654541016, + 1.458446741104126 + ] + ], + "corners_2d": [ + [ + 452.13943218464726, + 414.87890696618723 + ], + [ + 483.79318121051125, + 422.1328673977826 + ], + [ + 497.1639725638025, + 398.24199877148783 + ], + [ + 466.1725624401818, + 391.33246928227896 + ], + [ + 443.4956285947951, + 371.73613150295756 + ], + [ + 476.5503497213987, + 378.9934481192484 + ], + [ + 490.70803815907874, + 355.1101167075482 + ], + [ + 458.374541606466, + 348.2127101264192 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 390, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -66.92184448242188, + "y": -99.85797882080078, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.5075756907463074, + "y": 0.46174314618110657, + "z": 0.9268549680709839 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 486.32998708185005, + "ymin": 106.16799756851924, + "xmax": 524.7790872786594, + "ymax": 166.2271630290085 + }, + "corners_3d": [ + [ + -67.32232666015625, + -100.4151611328125, + -0.1994534134864807 + ], + [ + -67.51432800292969, + -99.51185607910156, + -0.1994534134864807 + ], + [ + -66.5213623046875, + -99.30079650878906, + -0.1994534134864807 + ], + [ + -66.32936096191406, + -100.2041015625, + -0.1994534134864807 + ], + [ + -67.32232666015625, + -100.4151611328125, + 1.6542565822601318 + ], + [ + -67.51432800292969, + -99.51185607910156, + 1.6542565822601318 + ], + [ + -66.5213623046875, + -99.30079650878906, + 1.6542565822601318 + ], + [ + -66.32936096191406, + -100.2041015625, + 1.6542565822601318 + ] + ], + "corners_2d": [ + [ + 491.6205554484213, + 161.219358934747 + ], + [ + 512.6165536513405, + 166.2271630290085 + ], + [ + 524.7790872786594, + 153.15091342705279 + ], + [ + 504.07281294039547, + 148.31917928773146 + ], + [ + 486.32998708185005, + 118.74256905050615 + ], + [ + 508.0423244577156, + 123.62824535231371 + ], + [ + 520.7178319086091, + 110.87591992516323 + ], + [ + 499.3149112860801, + 106.16799756851924 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 8600, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 610.8716997575931, + "ymin": 339.9058387030435, + "xmax": 709.228225910582, + "ymax": 492.82553385716176 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 706.885055488975, + 382.6683561609444 + ], + [ + 640.7677309522494, + 373.8627021643876 + ], + [ + 611.9604308237298, + 481.87400337693236 + ], + [ + 685.4342943950868, + 492.82553385716176 + ], + [ + 709.228225910582, + 348.69157701124755 + ], + [ + 640.79436909135, + 339.9058387030435 + ], + [ + 610.8716997575931, + 448.0680456819682 + ], + [ + 687.2175491339349, + 459.08312234634803 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 2792, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 1026.8067140800867, + "ymin": 0.0, + "xmax": 1149.3354437384246, + "ymax": 39.774716151062364 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 1026.8067140800867, + 13.904438487557286 + ], + [ + 1031.2174684051092, + 31.597557623847706 + ], + [ + 1134.4419638019333, + 39.774716151062364 + ], + [ + 1126.8886130064723, + 21.61131159270434 + ], + [ + 1037.9711717932594, + -24.44970557185229 + ], + [ + 1042.8619021809063, + -7.434921324334368 + ], + [ + 1149.3354437384246, + 0.4583117347348775 + ], + [ + 1141.1046482819006, + -17.0227295642909 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 12050, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 614.2002939639933, + "xmax": 520.6426568305301, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 520.6426568305301, + 750.9626889202292 + ], + [ + 346.75203698589814, + 717.976960238694 + ], + [ + 59.59642174711826, + 1395.3807117555425 + ], + [ + 317.28744560005697, + 1473.3011186361352 + ], + [ + 500.5376508793524, + 649.6332858672872 + ], + [ + 298.79300593950745, + 614.2002939639933 + ], + [ + -98.95901277548751, + 1407.0881679375436 + ], + [ + 224.62627324306686, + 1507.979912479166 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 16961, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 868.4248450270508, + "ymin": 325.96955936062443, + "xmax": 987.374278157843, + "ymax": 567.1738752723716 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 868.4248450270508, + 552.1854777623132 + ], + [ + 966.1034994384363, + 567.1738752723716 + ], + [ + 954.4994152941053, + 389.0571472954728 + ], + [ + 872.0984979541262, + 378.37931729610045 + ], + [ + 883.115051449996, + 500.7149437140681 + ], + [ + 987.374278157843, + 515.9477332977419 + ], + [ + 971.620908056979, + 336.60552935271454 + ], + [ + 884.5855722529, + 325.96955936062443 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 480.46939132432294, + "ymin": 11.55673346488419, + "xmax": 493.96276357881356, + "ymax": 36.07404976124991 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 491.9579785380488, + 36.07404976124991 + ], + [ + 493.96276357881356, + 33.029073874217715 + ], + [ + 484.99201224981573, + 32.25684123332093 + ], + [ + 482.94446496178824, + 35.29398476282961 + ], + [ + 489.62188941245665, + 15.300582346249655 + ], + [ + 491.6700977127155, + 12.314065045070606 + ], + [ + 482.56168573147926, + 11.55673346488419 + ], + [ + 480.46939132432294, + 14.53544810229215 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1076.3522864469141, + "ymin": 44.04584526519113, + "xmax": 1095.1327764308307, + "ymax": 69.60814534763011 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1086.619979276213, + 66.21697946175937 + ], + [ + 1076.3522864469141, + 65.35725104319465 + ], + [ + 1077.3463428175678, + 68.7392125591939 + ], + [ + 1087.6702457218416, + 69.60814534763011 + ], + [ + 1094.024783079057, + 44.890444746853746 + ], + [ + 1083.5768946042265, + 44.04584526519113 + ], + [ + 1084.6266848809557, + 47.36851213700311 + ], + [ + 1095.1327764308307, + 48.22230505360642 + ] + ], + "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": 1034.521988335253, + "ymin": 0.0, + "xmax": 1153.0122658332348, + "ymax": 133.1627388106344 + }, + "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": [ + [ + 1063.6291693668586, + 132.07297803444453 + ], + [ + 1074.8646122657563, + 133.1627388106344 + ], + [ + 1043.6901452334014, + 6.368105150243196 + ], + [ + 1034.521988335253, + 5.636386908003203 + ], + [ + 1139.6183128559062, + -86.84745921523358 + ], + [ + 1153.0122658332348, + -85.96357188962412 + ], + [ + 1101.2576166683025, + -185.59801967732017 + ], + [ + 1090.70025052519, + -186.1548148127738 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 414.19357734344976, + "ymin": 99.0864490828589, + "xmax": 578.7284180416704, + "ymax": 348.53320252346344 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 459.5507383959978, + 323.62370322862955 + ], + [ + 455.0653488979198, + 332.9196106008234 + ], + [ + 575.428619351842, + 348.53320252346344 + ], + [ + 578.7284180416704, + 338.914208205494 + ], + [ + 420.1712637714527, + 99.0864490828589 + ], + [ + 414.19357734344976, + 107.58018881229515 + ], + [ + 560.854960749572, + 121.93390180705089 + ], + [ + 565.0768844314046, + 113.07806022835175 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 399.05266139858645, + "ymin": 0.0, + "xmax": 468.25628910430424, + "ymax": 84.18730647777898 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 430.6391550834963, + 83.26515680801424 + ], + [ + 440.4362330432883, + 84.18730647777898 + ], + [ + 468.25628910430424, + 43.79775238889755 + ], + [ + 459.02775726401944, + 42.98612258347373 + ], + [ + 399.05266139858645, + -108.22938640236896 + ], + [ + 410.2788017818647, + -107.47974373687214 + ], + [ + 444.13443630126636, + -140.01636953497655 + ], + [ + 433.6481483701789, + -140.66401669163264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 542.1697839641417, + "ymin": 118.4280516591918, + "xmax": 561.0000288664628, + "ymax": 129.68852002857682 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 545.4185055311626, + 122.23069213278399 + ], + [ + 542.4738055066422, + 128.13330586530276 + ], + [ + 558.1821959041409, + 129.68852002857682 + ], + [ + 561.0000288664628, + 123.75963573618179 + ], + [ + 545.1261693830138, + 118.4280516591918 + ], + [ + 542.1697839641417, + 124.31647111567477 + ], + [ + 557.9265714876973, + 125.86799716091127 + ], + [ + 560.7553105644901, + 119.953288694886 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1143.531765798529, + "ymin": 397.51333894258624, + "xmax": 1269.4547363179872, + "ymax": 482.50393221418807 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1159.5352506308873, + 468.516743965152 + ], + [ + 1262.7638083261472, + 482.50393221418807 + ], + [ + 1240.349909930443, + 419.3003998091328 + ], + [ + 1143.531765798529, + 406.934959404258 + ], + [ + 1165.0420276242826, + 459.14676414001235 + ], + [ + 1269.4547363179872, + 473.15649358001764 + ], + [ + 1246.4082393895465, + 409.8829245448771 + ], + [ + 1148.5488306567536, + 397.51333894258624 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1095.2601046772834, + "ymin": 363.11590741666873, + "xmax": 1280.0, + "ymax": 569.0706578507419 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1107.7365038913613, + 554.5887829599499 + ], + [ + 1205.7583042694712, + 569.0706578507419 + ], + [ + 1187.4446329868097, + 503.08377084936893 + ], + [ + 1095.2601046772834, + 490.2237101254586 + ], + [ + 1181.5361681872987, + 428.69011089088684 + ], + [ + 1296.3592226886994, + 443.60779222723767 + ], + [ + 1269.2675714195077, + 376.12343407965614 + ], + [ + 1162.36789013544, + 363.11590741666873 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 542.0673129886156, + "ymin": 118.36777921548764, + "xmax": 561.0999694540765, + "ymax": 129.7492622201517 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 545.3518925310223, + 122.21120470715715 + ], + [ + 542.374930177441, + 128.1771663148668 + ], + [ + 558.252611335946, + 129.7492622201517 + ], + [ + 561.0999694540765, + 123.75646247996033 + ], + [ + 545.0562175321538, + 118.36777921548764 + ], + [ + 542.0673129886156, + 124.31923970741494 + ], + [ + 557.9944417555213, + 125.88756787652653 + ], + [ + 560.8529373851694, + 119.90925020110535 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1143.6269559432728, + "ymin": 397.5557024487483, + "xmax": 1269.3817800643537, + "ymax": 482.392888317607 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1159.6169552116348, + 468.4222335314182 + ], + [ + 1262.7359070683601, + 482.392888317607 + ], + [ + 1240.3495189607092, + 419.26795010943283 + ], + [ + 1143.6269559432728, + 406.91535032711477 + ], + [ + 1165.0878416951061, + 459.1137913665616 + ], + [ + 1269.3817800643537, + 473.106791889472 + ], + [ + 1246.3677874112286, + 409.91241698656637 + ], + [ + 1148.6118588973704, + 397.5557024487483 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 459.24025033248876, + "ymin": 0.0, + "xmax": 795.1656010100713, + "ymax": 127.31238748398425 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 488.5369578560445, + 93.66427314472588 + ], + [ + 485.421269816369, + 98.65036428605663 + ], + [ + 770.8845562455572, + 127.31238748398425 + ], + [ + 771.9087767942996, + 121.8904380823464 + ], + [ + 463.10754376962416, + -117.68816819563989 + ], + [ + 459.24025033248876, + -113.71849818668647 + ], + [ + 794.1742636397305, + -90.70292063036698 + ], + [ + 795.1656010100713, + -95.08257918817048 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1137.1379350234515, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 516.958770509425 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1395.3537401249466, + 252.9174832815254 + ], + [ + 1137.1379350234515, + 279.5788731475123 + ], + [ + 1333.5946173184702, + 516.958770509425 + ], + [ + 1653.3644790343192, + 473.6652106623624 + ], + [ + 1729.8514056902325, + -234.02795188835807 + ], + [ + 1367.7481430590215, + -218.13463628513864 + ], + [ + 1806.8305224954274, + -53.14342082521131 + ], + [ + 2299.61566902949, + -86.8083596149907 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00108/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00108/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..62a4ac87dd4011ddf63ac0ad1763cf20b6825780 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00108/meta.json @@ -0,0 +1,2576 @@ +{ + "frame_id": 108, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 54.0, + "sim_timestamp": 11071.134970366955 + }, + "drone_pose": { + "x": -97.59462638596523, + "y": -88.88377936250649, + "z": 20.07780547425107, + "pitch": -44.10226151306299, + "yaw": -8.00948556007039, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7110937833786011, + 0.10005778074264526, + 0.695941150188446, + 46.53245162963867 + ], + [ + -0.13933704793453217, + 0.99024498462677, + 3.725290298461914e-09, + 101.61527252197266 + ], + [ + -0.6891523003578186, + -0.09697039425373077, + 0.7180988788604736, + -73.05631256103516 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -96.95819408704413, + "y": -88.80403696505823, + "z": 20.12928096496033 + }, + "t1_image_uv": [ + 1033.7206805468268, + -738.730403461251 + ], + "t1_depth": 0.4087602945453639 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -77.66718292236328, + "y": -91.68776321411131, + "z": 0.5749944090844292 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 28.023650152660323, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 134, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -77.66718292236328, + "y": -91.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.22847653925418854, + "y": 0.20628415048122406, + "z": 0.5320672392845154 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.7613186388517, + "ymin": 340.7032219529004, + "xmax": 648.1548643727184, + "ymax": 379.0407368968108 + }, + "corners_3d": [ + [ + -77.89566040039062, + -91.89404296875, + 0.04292714595794678 + ], + [ + -77.89566040039062, + -91.48147583007812, + 0.04292714595794678 + ], + [ + -77.43870544433594, + -91.48147583007812, + 0.04292714595794678 + ], + [ + -77.43870544433594, + -91.89404296875, + 0.04292714595794678 + ], + [ + -77.89566040039062, + -91.89404296875, + 1.1070616245269775 + ], + [ + -77.89566040039062, + -91.48147583007812, + 1.1070616245269775 + ], + [ + -77.43870544433594, + -91.48147583007812, + 1.1070616245269775 + ], + [ + -77.43870544433594, + -91.89404296875, + 1.1070616245269775 + ] + ], + "corners_2d": [ + [ + 631.9772799048617, + 377.6534941564949 + ], + [ + 645.8680337217186, + 379.0407368968108 + ], + [ + 647.9432251126232, + 368.2296681029851 + ], + [ + 634.2074196514569, + 366.873816097005 + ], + [ + 631.7613186388517, + 351.4639749906869 + ], + [ + 646.0262309847533, + 352.8492606895723 + ], + [ + 648.1548643727184, + 342.05633152835384 + ], + [ + 634.0533110396667, + 340.7032219529004 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 108, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 57, + "semantic_pixel_counts": { + "1": 348474, + "2": 200949, + "3": 194530, + "4": 34438, + "5": 175, + "6": 6395, + "7": 284, + "9": 3116, + "10": 40094, + "12": 3172, + "14": 28035, + "16": 7213, + "20": 35031, + "21": 526, + "24": 19168 + }, + "instance_pixel_counts": { + "913": 3104, + "2158": 7429, + "3694": 35, + "5230": 2501, + "5742": 5232, + "9346": 4, + "12951": 515, + "14416": 175, + "15963": 52548, + "16475": 83434, + "16987": 21141, + "17232": 34438, + "22976": 5828, + "23296": 913, + "23552": 1240, + "24512": 35046, + "26963": 1779, + "28819": 5591, + "33429": 502, + "35668": 10032, + "35924": 19191, + "36692": 2704, + "37979": 18547, + "40019": 2743, + "41107": 65, + "41611": 1548, + "41619": 2544, + "42123": 1187, + "43117": 3663, + "43147": 12676, + "43155": 68852, + "43659": 14130, + "43667": 11533, + "44179": 259889, + "44181": 7, + "44693": 49, + "45717": 5847, + "46229": 124, + "46741": 12639, + "49664": 134, + "49920": 435, + "50176": 518, + "50432": 1031, + "50624": 6407, + "50688": 662, + "50944": 392, + "51136": 2154, + "51456": 8899, + "51712": 1921, + "52160": 37177, + "52480": 7213, + "52672": 72989, + "55040": 17215, + "55879": 14243, + "57173": 3116, + "64351": 11292, + "64603": 526 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 134, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -77.66718292236328, + "y": -91.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.18038083612918854, + "y": 0.21200193464756012, + "z": 0.5232956409454346 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.8096139430528, + "ymin": 342.0266313652972, + "xmax": 648.1274901788684, + "ymax": 377.70008624567754 + }, + "corners_3d": [ + [ + -77.84756469726562, + -91.89976501464844, + 0.05169874429702759 + ], + [ + -77.84756469726562, + -91.47575378417969, + 0.05169874429702759 + ], + [ + -77.48680114746094, + -91.47575378417969, + 0.05169874429702759 + ], + [ + -77.48680114746094, + -91.89976501464844, + 0.05169874429702759 + ], + [ + -77.84756469726562, + -91.89976501464844, + 1.098289966583252 + ], + [ + -77.84756469726562, + -91.47575378417969, + 1.098289966583252 + ], + [ + -77.48680114746094, + -91.47575378417969, + 1.098289966583252 + ], + [ + -77.48680114746094, + -91.89976501464844, + 1.098289966583252 + ] + ], + "corners_2d": [ + [ + 632.020555735179, + 376.2778196025127 + ], + [ + 646.282771881362, + 377.70008624567754 + ], + [ + 647.919741106456, + 369.16462930982607 + ], + [ + 633.7833017837494, + 367.7678375815177 + ], + [ + 631.8096139430528, + 350.5219074523365 + ], + [ + 646.4491171779575, + 351.9421101194759 + ], + [ + 648.1274901788684, + 343.4207324036976 + ], + [ + 633.6204753826562, + 342.0266313652972 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 435, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -73.54119873046875, + "y": -88.69005584716797, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.423652321100235, + "y": 0.33140134811401367, + "z": 0.8897424340248108 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 736.8184382746625, + "ymin": 249.26432819463628, + "xmax": 765.9534286131893, + "ymax": 310.26935944375657 + }, + "corners_3d": [ + [ + -74.02449798583984, + -88.92613220214844, + -0.31474316120147705 + ], + [ + -73.88668823242188, + -88.27781677246094, + -0.31474316120147705 + ], + [ + -73.05789947509766, + -88.4539794921875, + -0.31474316120147705 + ], + [ + -73.19570922851562, + -89.102294921875, + -0.31474316120147705 + ], + [ + -74.02449798583984, + -88.92613220214844, + 1.4647417068481445 + ], + [ + -73.88668823242188, + -88.27781677246094, + 1.4647417068481445 + ], + [ + -73.05789947509766, + -88.4539794921875, + 1.4647417068481445 + ], + [ + -73.19570922851562, + -89.102294921875, + 1.4647417068481445 + ] + ], + "corners_2d": [ + [ + 740.5452717915646, + 310.26935944375657 + ], + [ + 760.9200925081442, + 309.3279924204889 + ], + [ + 756.8057684678463, + 292.42894515328265 + ], + [ + 736.8184382746625, + 293.3344738563969 + ], + [ + 744.735164918227, + 266.91846773906195 + ], + [ + 765.9534286131893, + 265.98618481246257 + ], + [ + 761.5706346178147, + 249.26432819463628 + ], + [ + 740.7722741762216, + 250.15968462875387 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 518, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -77.7266845703125, + "y": -88.54671478271484, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.3564453125, + "y": 0.31126463413238525, + "z": 0.8662773966789246 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 734.3240508841754, + "ymin": 341.31160784941915, + "xmax": 761.8133580312507, + "ymax": 401.92800158526086 + }, + "corners_3d": [ + [ + -78.11371612548828, + -88.81901550292969, + -0.2912781238555908 + ], + [ + -78.04864501953125, + -88.19989776611328, + -0.2912781238555908 + ], + [ + -77.33965301513672, + -88.2744140625, + -0.2912781238555908 + ], + [ + -77.40472412109375, + -88.8935317993164, + -0.2912781238555908 + ], + [ + -78.11371612548828, + -88.81901550292969, + 1.4412766695022583 + ], + [ + -78.04864501953125, + -88.19989776611328, + 1.4412766695022583 + ], + [ + -77.33965301513672, + -88.2744140625, + 1.4412766695022583 + ], + [ + -77.40472412109375, + -88.8935317993164, + 1.4412766695022583 + ] + ], + "corners_2d": [ + [ + 735.1897359431923, + 401.38407975161357 + ], + [ + 756.5689200347206, + 401.92800158526086 + ], + [ + 755.3192130605187, + 384.4846692570707 + ], + [ + 734.3240508841754, + 383.9600831911106 + ], + [ + 739.4698205668082, + 358.70537864523266 + ], + [ + 761.8133580312507, + 359.2488083595546 + ], + [ + 760.4102402018088, + 341.83487474153975 + ], + [ + 738.4858105142619, + 341.31160784941915 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 1031, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -87.16718292236328, + "y": -91.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.43065425753593445, + "y": 0.45085445046424866, + "z": 0.8549197316169739 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 553.9262248730544, + "ymin": 615.3586445326333, + "xmax": 604.5391389635073, + "ymax": 694.7598805938526 + }, + "corners_3d": [ + [ + -87.59783935546875, + -92.13861083984375, + -0.2799253463745117 + ], + [ + -87.59783935546875, + -91.23690795898438, + -0.2799253463745117 + ], + [ + -86.73652648925781, + -91.23690795898438, + -0.2799253463745117 + ], + [ + -86.73652648925781, + -92.13861083984375, + -0.2799253463745117 + ], + [ + -87.59783935546875, + -92.13861083984375, + 1.429914116859436 + ], + [ + -87.59783935546875, + -91.23690795898438, + 1.429914116859436 + ], + [ + -86.73652648925781, + -91.23690795898438, + 1.429914116859436 + ], + [ + -86.73652648925781, + -92.13861083984375, + 1.429914116859436 + ] + ], + "corners_2d": [ + [ + 558.6675811591257, + 689.4759624203788 + ], + [ + 598.1737672964861, + 694.7598805938526 + ], + [ + 604.5391389635073, + 659.7367424350921 + ], + [ + 566.0963184548167, + 654.7407493172957 + ], + [ + 553.9262248730544, + 650.9371079835353 + ], + [ + 595.7246391911355, + 656.3593259113497 + ], + [ + 602.523483133972, + 620.4688908326586 + ], + [ + 561.9135339480712, + 615.3586445326333 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 662, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -79.42550659179688, + "y": -97.09931182861328, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.5412696003913879, + "y": 0.5002588629722595, + "z": 0.9078673124313354 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 413.7501599276547, + "ymin": 345.3342739877031, + "xmax": 470.4391330619252, + "ymax": 422.4815749282791 + }, + "corners_3d": [ + [ + -79.9115219116211, + -97.65341186523438, + -0.3328680396080017 + ], + [ + -80.01610565185547, + -96.65837097167969, + -0.3328680396080017 + ], + [ + -78.93949127197266, + -96.54521179199219, + -0.3328680396080017 + ], + [ + -78.83490753173828, + -97.54025268554688, + -0.3328680396080017 + ], + [ + -79.9115219116211, + -97.65341186523438, + 1.4828665256500244 + ], + [ + -80.01610565185547, + -96.65837097167969, + 1.4828665256500244 + ], + [ + -78.93949127197266, + -96.54521179199219, + 1.4828665256500244 + ], + [ + -78.83490753173828, + -97.54025268554688, + 1.4828665256500244 + ] + ], + "corners_2d": [ + [ + 424.0876910606727, + 416.2375139967275 + ], + [ + 456.6312112343001, + 422.4815749282791 + ], + [ + 470.4391330619252, + 395.96062449995304 + ], + [ + 438.67505093570946, + 390.04469322283484 + ], + [ + 413.7501599276547, + 371.50343365929905 + ], + [ + 447.7935703791958, + 377.7516768946827 + ], + [ + 462.495497268141, + 351.2390508806424 + ], + [ + 429.3037512052548, + 345.3342739877031 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 392, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -66.42184448242188, + "y": -99.85797882080078, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.4261572062969208, + "y": 0.4528759717941284, + "z": 0.87935471534729 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 450.50203251747246, + "ymin": 105.8085256389844, + "xmax": 487.70260031197097, + "ymax": 161.64586011976346 + }, + "corners_3d": [ + [ + -66.7445297241211, + -100.38956451416016, + -0.15195316076278687 + ], + [ + -66.93284606933594, + -99.50360107421875, + -0.15195316076278687 + ], + [ + -66.09915924072266, + -99.3263931274414, + -0.15195316076278687 + ], + [ + -65.91084289550781, + -100.21235656738281, + -0.15195316076278687 + ], + [ + -66.7445297241211, + -100.38956451416016, + 1.6067562103271484 + ], + [ + -66.93284606933594, + -99.50360107421875, + 1.6067562103271484 + ], + [ + -66.09915924072266, + -99.3263931274414, + 1.6067562103271484 + ], + [ + -65.91084289550781, + -100.21235656738281, + 1.6067562103271484 + ] + ], + "corners_2d": [ + [ + 456.74240346621184, + 157.2624911017436 + ], + [ + 477.75359937804626, + 161.64586011976346 + ], + [ + 487.70260031197097, + 150.42549799391483 + ], + [ + 466.9528949997539, + 146.17508434648863 + ], + [ + 450.50203251747246, + 116.62761480466708 + ], + [ + 472.19428841819763, + 120.90800279411229 + ], + [ + 482.5668724619086, + 109.95475174751076 + ], + [ + 461.1530152947605, + 105.8085256389844 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 8899, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 582.9662587490106, + "ymin": 344.8480665760392, + "xmax": 679.5254086757559, + "ymax": 499.1566159213552 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 678.1685134174878, + 385.94625042635414 + ], + [ + 610.8894233818646, + 379.1278571974996 + ], + [ + 585.1385475381965, + 490.63552939763633 + ], + [ + 660.1753765357169, + 499.1566159213552 + ], + [ + 679.5254086757559, + 351.6539405649828 + ], + [ + 609.8621777507167, + 344.8480665760392 + ], + [ + 582.9662587490106, + 456.585848331774 + ], + [ + 660.9809106876013, + 465.1627789712321 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 1921, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 984.1302285251161, + "ymin": 0.0, + "xmax": 1104.2259800091274, + "ymax": 29.490162855343442 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 984.1302285251161, + 5.85748097878394 + ], + [ + 989.1391578390147, + 23.421063145110963 + ], + [ + 1090.7155816586587, + 29.490162855343442 + ], + [ + 1082.6222264543928, + 11.579029310985447 + ], + [ + 994.0514597855541, + -32.59772342280576 + ], + [ + 999.5198528727833, + -15.724484122231559 + ], + [ + 1104.2259800091274, + -9.867520213166188 + ], + [ + 1095.4833832458135, + -27.085067179190105 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 205, + "instance_id": 52480, + "pixel_count": 7213, + "type_id": "vehicle.mitsubishi.fusorosa", + "bbox_3d": { + "center_world": { + "x": -94.82156372070312, + "y": -94.91594696044922, + "z": 2.1175498962402344 + }, + "extent": { + "x": 5.136342525482178, + "y": 1.9720759391784668, + "z": 2.1264240741729736 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 642.9494719858643, + "xmax": 500.3117700015143, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -89.68819427490234, + -92.9361343383789, + -0.008874254301190376 + ], + [ + -89.68225860595703, + -96.88027954101562, + -0.008874254301190376 + ], + [ + -99.95492553710938, + -96.89575958251953, + -0.008874254301190376 + ], + [ + -99.96086883544922, + -92.95160675048828, + -0.008874254301190376 + ], + [ + -89.68819427490234, + -92.9361343383789, + 4.243974208831787 + ], + [ + -89.68225860595703, + -96.88027954101562, + 4.243974208831787 + ], + [ + -99.95492553710938, + -96.89575958251953, + 4.243974208831787 + ], + [ + -99.96086883544922, + -92.95160675048828, + 4.243974208831787 + ] + ], + "corners_2d": [ + [ + 500.3117700015143, + 771.8206524161461 + ], + [ + 319.33616615723537, + 745.585147194872 + ], + [ + 34.60065989914676, + 1479.102651827133 + ], + [ + 310.6795444997831, + 1543.4528138134515 + ], + [ + 476.0589774402755, + 671.3385681766965 + ], + [ + 264.9350919879373, + 642.9494719858643 + ], + [ + -142.06070403640786, + 1516.6112032629565 + ], + [ + 210.64678955172081, + 1602.0434898819249 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 17215, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 844.0852348500807, + "ymin": 323.32437607994655, + "xmax": 964.8381819565736, + "ymax": 564.3330845891068 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 846.6833691033194, + 552.8601306867583 + ], + [ + 944.789284621658, + 564.3330845891068 + ], + [ + 926.6076259987033, + 384.349395703778 + ], + [ + 844.0852348500807, + 376.2143403455775 + ], + [ + 860.1324969524738, + 500.9525502774103 + ], + [ + 964.8381819565736, + 512.6151207324388 + ], + [ + 942.3063667010088, + 331.4255880655628 + ], + [ + 855.1634453865364, + 323.32437607994655 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 435.9860255840665, + "ymin": 14.305786747832599, + "xmax": 450.41210410837505, + "ymax": 39.053562617434466 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 448.4548498869571, + 39.053562617434466 + ], + [ + 450.41210410837505, + 35.91172672660889 + ], + [ + 441.2128081872403, + 35.31272821071752 + ], + [ + 439.2098736531045, + 38.44834301210045 + ], + [ + 445.37633106973686, + 17.974916834637895 + ], + [ + 447.3810021609091, + 14.893254983370241 + ], + [ + 438.0378194278245, + 14.305786747832599 + ], + [ + 435.9860255840665, + 17.381248992391647 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1035.5011236313749, + "ymin": 34.865991943377026, + "xmax": 1053.5628753393949, + "ymax": 60.270196072536976 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1045.627047319936, + 56.90639752926336 + ], + [ + 1035.5011236313749, + 56.265218320519296 + ], + [ + 1036.612112879183, + 59.62212536206181 + ], + [ + 1046.7934794455518, + 60.270196072536976 + ], + [ + 1052.3404333246376, + 35.49552508151902 + ], + [ + 1042.0401177398226, + 34.865991943377026 + ], + [ + 1043.2051869679208, + 38.162161922343614 + ], + [ + 1053.5628753393949, + 38.79857423285068 + ] + ], + "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": 991.3990796279485, + "ymin": 0.0, + "xmax": 1106.9080873897462, + "ymax": 123.87575963782575 + }, + "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": [ + [ + 1024.829391251944, + 123.0499877713043 + ], + [ + 1035.9165741609927, + 123.87575963782575 + ], + [ + 1000.4437165660395, + -1.9828523498359232 + ], + [ + 991.3990796279485, + -2.5364803377669887 + ], + [ + 1093.736098196551, + -96.746143018976 + ], + [ + 1106.9080873897462, + -96.08098107547653 + ], + [ + 1051.6920391866176, + -194.2897259176541 + ], + [ + 1041.3058491189736, + -194.70806883082764 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 369.8653913879424, + "ymin": 105.55796910376858, + "xmax": 546.6387154331745, + "ymax": 355.39659654893154 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 424.187113593978, + 333.5344182676003 + ], + [ + 419.8603080282569, + 343.21710336851004 + ], + [ + 543.5834122187521, + 355.39659654893154 + ], + [ + 546.6387154331745, + 345.45542793278304 + ], + [ + 375.8107317751347, + 105.55796910376858 + ], + [ + 369.8653913879424, + 114.44295859234106 + ], + [ + 521.3273859925245, + 125.67998184105423 + ], + [ + 525.3720815488164, + 116.50297158745369 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 348.2364101672797, + "ymin": 0.0, + "xmax": 424.59569841905284, + "ymax": 89.10116744552488 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 387.2375921810998, + 88.38320274360103 + ], + [ + 397.31682623153847, + 89.10116744552488 + ], + [ + 424.59569841905284, + 47.34128922103963 + ], + [ + 415.126236279979, + 46.7113288712693 + ], + [ + 348.2364101672797, + -106.37114793141609 + ], + [ + 359.8237513980459, + -105.78731151751492 + ], + [ + 393.72632415519996, + -139.42238026744167 + ], + [ + 382.9373723055506, + -139.9247862651418 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 502.25226212805705, + "ymin": 122.43156755973251, + "xmax": 521.5439828781474, + "ymax": 133.63916038754073 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 505.5259130948248, + 126.30249671079352 + ], + [ + 502.6902430126067, + 132.4266646328932 + ], + [ + 518.8444703097953, + 133.63916038754073 + ], + [ + 521.5439828781474, + 127.4939354993902 + ], + [ + 505.10072674898305, + 122.43156755973251 + ], + [ + 502.25226212805705, + 128.54113399648986 + ], + [ + 518.4573481803103, + 129.75077914800931 + ], + [ + 521.1688006479534, + 123.62013906327897 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1115.7812282240882, + "ymin": 387.95315058032025, + "xmax": 1242.3816533397448, + "ymax": 469.6052141661832 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1134.100960624893, + 459.1116028777256 + ], + [ + 1235.9783832062353, + 469.6052141661832 + ], + [ + 1211.325375024941, + 406.7450002055274 + ], + [ + 1115.7812282240882, + 397.47595068865417 + ], + [ + 1139.3555100683884, + 449.63138351563674 + ], + [ + 1242.3816533397448, + 460.1400672979869 + ], + [ + 1217.089001086591, + 397.2235868678069 + ], + [ + 1120.535002228005, + 387.95315058032025 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1069.8642487018833, + "ymin": 353.29106128862463, + "xmax": 1268.321570770623, + "ymax": 557.1262714956465 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1084.6866332432676, + 546.2459224074975 + ], + [ + 1181.5957528090778, + 557.1262714956465 + ], + [ + 1160.9875762249371, + 491.3929736008614 + ], + [ + 1069.8642487018833, + 481.7388569341362 + ], + [ + 1155.098423841143, + 418.8898561482351 + ], + [ + 1268.321570770623, + 430.07280991359755 + ], + [ + 1238.8230557874258, + 363.03279195975733 + ], + [ + 1133.4156521128496, + 353.29106128862463 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 502.1471850893881, + "ymin": 122.37156037068354, + "xmax": 521.6462815403835, + "ymax": 133.6995980718097 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 505.4570279617524, + 126.28401108471803 + ], + [ + 502.5902215737566, + 132.4739376798952 + ], + [ + 518.9185701890964, + 133.6995980718097 + ], + [ + 521.6462815403835, + 127.48815958632412 + ], + [ + 505.0270672017124, + 122.37156037068354 + ], + [ + 502.1471850893881, + 128.54656985021924 + ], + [ + 518.5274965747867, + 129.76931811462634 + ], + [ + 521.2674011562178, + 123.57277951912866 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1115.8754926114248, + "ymin": 387.9938494636346, + "xmax": 1242.3081677335606, + "ymax": 469.4955678554261 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1134.1789333827362, + 459.01444431116863 + ], + [ + 1235.9480441481046, + 469.4955678554261 + ], + [ + 1211.325196839528, + 406.71337877947815 + ], + [ + 1115.8754926114248, + 397.45401996703225 + ], + [ + 1139.399227991833, + 449.59648698806154 + ], + [ + 1242.3081677335606, + 460.0925502996879 + ], + [ + 1217.0507234763522, + 397.2545852073732 + ], + [ + 1120.5988289327022, + 387.9938494636346 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 409.915951593676, + "ymin": 0.0, + "xmax": 751.5939372060793, + "ymax": 125.16766685476787 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 446.8698319992985, + 97.64909450818078 + ], + [ + 443.83726338304314, + 102.7990906024225 + ], + [ + 733.8888714605162, + 125.16766685476787 + ], + [ + 734.729284174027, + 119.6711299497833 + ], + [ + 413.7722064014042, + -117.06898444331182 + ], + [ + 409.915951593676, + -112.96999085541893 + ], + [ + 750.7609742705944, + -95.03977621876629 + ], + [ + 751.5939372060793, + -99.46487164343847 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1102.9049298215532, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 500.20711812039394 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1352.816447645972, + 235.07214429403186 + ], + [ + 1102.9049298215532, + 268.78304354453485 + ], + [ + 1304.3054547033214, + 500.20711812039394 + ], + [ + 1609.4352498209241, + 445.9399554283808 + ], + [ + 1663.668716087735, + -251.38332215423384 + ], + [ + 1317.132177560828, + -231.8535614747085 + ], + [ + 1753.9039786542835, + -75.31067512883192 + ], + [ + 2211.627453862603, + -115.9934970976775 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00109/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00109/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..163b5c8be3849a45943166032ba9df45975fa388 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00109/meta.json @@ -0,0 +1,2468 @@ +{ + "frame_id": 109, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 54.5, + "sim_timestamp": 11084.086865730584 + }, + "drone_pose": { + "x": -96.95819408704413, + "y": -88.80403696505823, + "z": 20.12928096496033, + "pitch": -44.01175054754831, + "yaw": -3.290163192243048, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7180118560791016, + 0.04127662256360054, + 0.6948058605194092, + 51.96566390991211 + ], + [ + -0.05739262327551842, + 0.9983516931533813, + -1.862645149230957e-09, + 94.22234344482422 + ], + [ + -0.6936606168746948, + -0.039876729249954224, + 0.7191973924636841, + -78.19178771972656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -96.46593744763078, + "y": -88.9446145283704, + "z": 20.095093040791156 + }, + "t1_image_uv": [ + 359.03538931501873, + -448.2917608389441 + ], + "t1_depth": 0.383002641563331 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -77.16718292236328, + "y": -91.68776321411131, + "z": 0.5749944090844292 + }, + "image_uv": [ + 580.0554673850324, + 367.570869702261 + ], + "depth": 27.91564447592689, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 190, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -77.16718292236328, + "y": -91.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.16376951336860657, + "y": 0.22243161499500275, + "z": 0.5213040709495544 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 570.9311887649449, + "ymin": 350.38477451808535, + "xmax": 588.877461047286, + "ymax": 384.4695149772372 + }, + "corners_3d": [ + [ + -77.3309555053711, + -91.91019439697266, + 0.053690314292907715 + ], + [ + -77.3309555053711, + -91.46532440185547, + 0.053690314292907715 + ], + [ + -77.00341033935547, + -91.46532440185547, + 0.053690314292907715 + ], + [ + -77.00341033935547, + -91.91019439697266, + 0.053690314292907715 + ], + [ + -77.3309555053711, + -91.91019439697266, + 1.0962984561920166 + ], + [ + -77.3309555053711, + -91.46532440185547, + 1.0962984561920166 + ], + [ + -77.00341033935547, + -91.46532440185547, + 1.0962984561920166 + ], + [ + -77.00341033935547, + -91.91019439697266, + 1.0962984561920166 + ] + ], + "corners_2d": [ + [ + 572.7073744421917, + 383.8489953266651 + ], + [ + 587.8093031396485, + 384.4695149772372 + ], + [ + 588.877461047286, + 376.582890990421 + ], + [ + 573.8998810274551, + 375.9726075114953 + ], + [ + 570.9311887649449, + 358.24979255393214 + ], + [ + 586.4308098452057, + 358.8695625520679 + ], + [ + 587.538660704713, + 350.9940542001915 + ], + [ + 572.1699952027021, + 350.38477451808535 + ] + ], + "center_offset_px": [ + -59.94453261496756, + 7.570869702261007 + ] + }, + "trace_timestep_index": 109, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 55, + "semantic_pixel_counts": { + "1": 356056, + "2": 198224, + "3": 153630, + "4": 39228, + "6": 6535, + "7": 278, + "9": 16655, + "10": 63711, + "12": 3188, + "14": 28192, + "20": 35267, + "21": 1272, + "24": 19364 + }, + "instance_pixel_counts": { + "913": 2957, + "2139": 1220, + "2158": 351, + "5230": 2849, + "5742": 5954, + "9346": 33, + "12951": 555, + "15963": 66170, + "16475": 47329, + "16987": 2189, + "17232": 39228, + "22976": 6384, + "23296": 1145, + "23552": 1142, + "24512": 32818, + "26963": 1912, + "28819": 8568, + "29331": 125, + "33429": 668, + "35668": 11053, + "35924": 18676, + "36692": 2581, + "37979": 23573, + "40019": 2581, + "41611": 1521, + "41619": 1429, + "42123": 1260, + "43117": 3995, + "43147": 13701, + "43155": 72122, + "43659": 13941, + "43667": 16494, + "44179": 257318, + "44693": 93, + "45717": 6033, + "46229": 161, + "46741": 12409, + "49664": 190, + "49920": 414, + "50176": 471, + "50432": 957, + "50624": 6250, + "50688": 746, + "50944": 410, + "51136": 2256, + "51456": 9402, + "51712": 1478, + "52160": 35955, + "52672": 72527, + "55040": 17312, + "55879": 14253, + "57173": 16655, + "62043": 20, + "64351": 11056, + "64603": 1252 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 190, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -77.16718292236328, + "y": -91.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.2925756573677063, + "y": 0.21265622973442078, + "z": 0.5276450514793396 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 570.7687652397244, + "ymin": 347.18215428039576, + "xmax": 588.9721101299587, + "ymax": 387.74489020802196 + }, + "corners_3d": [ + [ + -77.45975494384766, + -91.9004135131836, + 0.04734933376312256 + ], + [ + -77.45975494384766, + -91.47510528564453, + 0.04734933376312256 + ], + [ + -76.8746109008789, + -91.47510528564453, + 0.04734933376312256 + ], + [ + -76.8746109008789, + -91.9004135131836, + 0.04734933376312256 + ], + [ + -77.45975494384766, + -91.9004135131836, + 1.1026394367218018 + ], + [ + -77.45975494384766, + -91.47510528564453, + 1.1026394367218018 + ], + [ + -76.8746109008789, + -91.47510528564453, + 1.1026394367218018 + ], + [ + -76.8746109008789, + -91.9004135131836, + 1.1026394367218018 + ] + ], + "corners_2d": [ + [ + 572.5764614048297, + 387.1477391511741 + ], + [ + 587.0593519801465, + 387.74489020802196 + ], + [ + 588.9721101299587, + 373.65561741893345 + ], + [ + 574.7015365250766, + 373.07594738700783 + ], + [ + 570.7687652397244, + 361.23342210067534 + ], + [ + 585.6390456482309, + 361.8299478735697 + ], + [ + 587.6238463367034, + 347.76075959362754 + ], + [ + 572.9773050449147, + 347.18215428039576 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 414, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -73.04119873046875, + "y": -88.69005584716797, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.3982641398906708, + "y": 0.33332517743110657, + "z": 0.8886450529098511 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 673.2966639004989, + "ymin": 250.62235322971355, + "xmax": 700.2603969977507, + "ymax": 311.3192864886058 + }, + "corners_3d": [ + [ + -73.50006103515625, + -88.93329620361328, + -0.31364578008651733 + ], + [ + -73.36145782470703, + -88.28121185302734, + -0.31364578008651733 + ], + [ + -72.58233642578125, + -88.44681549072266, + -0.31364578008651733 + ], + [ + -72.72093963623047, + -89.0988998413086, + -0.31364578008651733 + ], + [ + -73.50006103515625, + -88.93329620361328, + 1.46364426612854 + ], + [ + -73.36145782470703, + -88.28121185302734, + 1.46364426612854 + ], + [ + -72.58233642578125, + -88.44681549072266, + 1.46364426612854 + ], + [ + -72.72093963623047, + -89.0988998413086, + 1.46364426612854 + ] + ], + "corners_2d": [ + [ + 677.6327068451668, + 311.3192864886058 + ], + [ + 697.8695921898841, + 309.26946913027336 + ], + [ + 693.1818938788194, + 293.60455158005277 + ], + [ + 673.2966639004989, + 295.58168923441684 + ], + [ + 679.1912374563428, + 268.149814181896 + ], + [ + 700.2603969977507, + 266.12016962477344 + ], + [ + 695.338182882295, + 250.62235322971355 + ], + [ + 674.6499213041212, + 252.57713945018585 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 471, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -75.68031311035156, + "y": -86.10720825195312, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.4388061463832855, + "y": 0.30666014552116394, + "z": 0.8739973902702332 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 756.0647699175695, + "ymin": 308.34723050564963, + "xmax": 786.224583992433, + "ymax": 371.72110460824223 + }, + "corners_3d": [ + [ + -76.14877319335938, + -86.36631774902344, + -0.2989981174468994 + ], + [ + -76.08466339111328, + -85.75636291503906, + -0.2989981174468994 + ], + [ + -75.21185302734375, + -85.84809875488281, + -0.2989981174468994 + ], + [ + -75.27596282958984, + -86.45805358886719, + -0.2989981174468994 + ], + [ + -76.14877319335938, + -86.36631774902344, + 1.448996663093567 + ], + [ + -76.08466339111328, + -85.75636291503906, + 1.448996663093567 + ], + [ + -75.21185302734375, + -85.84809875488281, + 1.448996663093567 + ], + [ + -75.27596282958984, + -86.45805358886719, + 1.448996663093567 + ] + ], + "corners_2d": [ + [ + 759.9569695351787, + 371.72110460824223 + ], + [ + 780.1123756309372, + 371.0470121377462 + ], + [ + 775.7948447046178, + 351.1151485565086 + ], + [ + 756.0647699175695, + 351.7609021401668 + ], + [ + 765.1938490063603, + 328.8514711106657 + ], + [ + 786.224583992433, + 328.1800846494177 + ], + [ + 781.5875274112434, + 308.34723050564963 + ], + [ + 761.0194441197806, + 308.98920086717254 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 957, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -86.66718292236328, + "y": -91.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.4295409619808197, + "y": 0.4467577636241913, + "z": 0.8698256015777588 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 508.879925201359, + "ymin": 630.6359602920355, + "xmax": 560.6433200057197, + "ymax": 708.1757869231283 + }, + "corners_3d": [ + [ + -87.09672546386719, + -92.13451385498047, + -0.29483121633529663 + ], + [ + -87.09672546386719, + -91.24100494384766, + -0.29483121633529663 + ], + [ + -86.23764038085938, + -91.24100494384766, + -0.29483121633529663 + ], + [ + -86.23764038085938, + -92.13451385498047, + -0.29483121633529663 + ], + [ + -87.09672546386719, + -92.13451385498047, + 1.4448199272155762 + ], + [ + -87.09672546386719, + -91.24100494384766, + 1.4448199272155762 + ], + [ + -86.23764038085938, + -91.24100494384766, + 1.4448199272155762 + ], + [ + -86.23764038085938, + -92.13451385498047, + 1.4448199272155762 + ] + ], + "corners_2d": [ + [ + 516.2827960606711, + 705.9782869880237 + ], + [ + 556.1382372571168, + 708.1757869231283 + ], + [ + 560.6433200057197, + 672.3920724633306 + ], + [ + 521.8964908468755, + 670.3160317970701 + ], + [ + 508.879925201359, + 667.2204682907434 + ], + [ + 551.1110193177577, + 669.4788080985799 + ], + [ + 556.0273762438271, + 632.7623331136799 + ], + [ + 515.0389293790428, + 630.6359602920355 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 746, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -78.92550659179688, + "y": -97.09931182861328, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.47420167922973633, + "y": 0.5011914968490601, + "z": 0.883878767490387 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 351.16416449711943, + "ymin": 367.45379702109585, + "xmax": 409.22228230504106, + "ymax": 439.4012672560887 + }, + "corners_3d": [ + [ + -79.34471893310547, + -97.64732360839844, + -0.3088794946670532 + ], + [ + -79.44950103759766, + -96.65043640136719, + -0.3088794946670532 + ], + [ + -78.50629425048828, + -96.55130004882812, + -0.3088794946670532 + ], + [ + -78.4015121459961, + -97.54818725585938, + -0.3088794946670532 + ], + [ + -79.34471893310547, + -97.64732360839844, + 1.4588780403137207 + ], + [ + -79.44950103759766, + -96.65043640136719, + 1.4588780403137207 + ], + [ + -78.50629425048828, + -96.55130004882812, + 1.4588780403137207 + ], + [ + -78.4015121459961, + -97.54818725585938, + 1.4588780403137207 + ] + ], + "corners_2d": [ + [ + 364.2010142536937, + 435.09514387499814 + ], + [ + 398.0645730428044, + 439.4012672560887 + ], + [ + 409.22228230504106, + 414.9946429252393 + ], + [ + 376.1296073512502, + 410.89433137684756 + ], + [ + 351.16416449711943, + 391.6731969101759 + ], + [ + 386.5769798743844, + 395.9884210647021 + ], + [ + 398.5423980144035, + 371.5533724990741 + ], + [ + 363.97158068429115, + 367.45379702109585 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 410, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -65.92184448242188, + "y": -99.85797882080078, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.549365222454071, + "y": 0.46178221702575684, + "z": 0.932949423789978 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 372.111406954489, + "ymin": 116.56276057835962, + "xmax": 416.18646636902633, + "ymax": 178.23870610109233 + }, + "corners_3d": [ + [ + -66.36319732666016, + -100.42388916015625, + -0.20554786920547485 + ], + [ + -66.55521392822266, + -99.5205078125, + -0.20554786920547485 + ], + [ + -65.4804916381836, + -99.29206848144531, + -0.20554786920547485 + ], + [ + -65.2884750366211, + -100.19544982910156, + -0.20554786920547485 + ], + [ + -66.36319732666016, + -100.42388916015625, + 1.660351037979126 + ], + [ + -66.55521392822266, + -99.5205078125, + 1.660351037979126 + ], + [ + -65.4804916381836, + -99.29206848144531, + 1.660351037979126 + ], + [ + -65.2884750366211, + -100.19544982910156, + 1.660351037979126 + ] + ], + "corners_2d": [ + [ + 381.60673810839813, + 174.66771423667123 + ], + [ + 403.8583718713147, + 178.23870610109233 + ], + [ + 416.18646636902633, + 162.9443910970334 + ], + [ + 394.33125195683084, + 159.51804642795952 + ], + [ + 372.111406954489, + 131.34106881242565 + ], + [ + 395.1374363271373, + 134.827755704282 + ], + [ + 408.09648001659207, + 119.90317706380094 + ], + [ + 385.49444044650477, + 116.56276057835962 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 9402, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 524.8103049635321, + "ymin": 366.56175195196096, + "xmax": 618.5300891642032, + "ymax": 521.860344933909 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 618.5300891642032, + 403.7347170750955 + ], + [ + 549.7706000102212, + 400.78030278331676 + ], + [ + 529.2872963844761, + 518.1448976520602 + ], + [ + 606.3399988283463, + 521.860344933909 + ], + [ + 617.7566862938522, + 369.5144169554925 + ], + [ + 546.5305416060714, + 366.56175195196096 + ], + [ + 524.8103049635321, + 484.3567396175524 + ], + [ + 604.9740108139194, + 488.1026332086187 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 1478, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 900.8498534483145, + "ymin": 0.0, + "xmax": 1015.7311085169767, + "ymax": 23.231492634715096 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 900.8498534483145, + 3.447487186914657 + ], + [ + 906.7035572632042, + 20.827110679431485 + ], + [ + 1004.9794815037524, + 23.231492634715096 + ], + [ + 996.1875813843434, + 5.719466876036677 + ], + [ + 908.2955998744465, + -34.695583913467146 + ], + [ + 914.5533758168804, + -18.006443381060365 + ], + [ + 1015.7311085169767, + -15.676360528574492 + ], + [ + 1006.3618418569628, + -32.496859867303215 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 17312, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 784.2359179989434, + "ymin": 331.0710111383984, + "xmax": 910.8803975624276, + "ymax": 569.1280095175423 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 796.6569014379819, + 564.2832535301653 + ], + [ + 894.1789263734618, + 569.1280095175423 + ], + [ + 866.1087017075466, + 387.26457110259264 + ], + [ + 784.2359179989434, + 383.843866014735 + ], + [ + 806.9036932298923, + 512.6481126764658 + ], + [ + 910.8803975624276, + 517.5756386815679 + ], + [ + 878.45861389519, + 334.47842348672293 + ], + [ + 792.0842282879876, + 331.0710111383984 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 349.99841629382394, + "ymin": 33.35018336082777, + "xmax": 366.21287536953776, + "ymax": 58.20066584979776 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 364.3326572557743, + 58.20066584979776 + ], + [ + 366.21287536953776, + 54.86259791224069 + ], + [ + 356.62214724169434, + 54.60248905265075 + ], + [ + 354.6912957622982, + 57.93775962494607 + ], + [ + 359.7964254601313, + 36.88261423112107 + ], + [ + 361.7320144696908, + 33.60551709091919 + ], + [ + 351.9862925710489, + 33.35018336082777 + ], + [ + 349.99841629382394, + 36.62448919033466 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 953.4944501651744, + "ymin": 31.825170406001916, + "xmax": 969.9577767789368, + "ymax": 56.62905596046875 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 963.3101742064051, + 53.307692855782705 + ], + [ + 953.4944501651744, + 53.04888193081132 + ], + [ + 954.7607149231873, + 56.36746863807775 + ], + [ + 964.6294896699505, + 56.62905596046875 + ], + [ + 968.5881033681758, + 32.07920926068641 + ], + [ + 958.6099724025823, + 31.825170406001916 + ], + [ + 959.924820423651, + 35.0828296778393 + ], + [ + 969.9577767789368, + 35.33963857921924 + ] + ], + "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": 907.4253080023707, + "ymin": 0.0, + "xmax": 1013.7754124643002, + "ymax": 119.41522925412269 + }, + "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": [ + [ + 946.938983259116, + 119.05326232997032 + ], + [ + 957.6994756851311, + 119.41522925412269 + ], + [ + 916.220120662704, + -4.967757093684497 + ], + [ + 907.4253080023707, + -5.210520156163511 + ], + [ + 1001.0820392972319, + -98.73468661836404 + ], + [ + 1013.7754124643002, + -98.44393158541976 + ], + [ + 954.9090880420622, + -195.27068730553685 + ], + [ + 944.8639940073408, + -195.4538033537873 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 282.43029286801016, + "ymin": 135.20987834581746, + "xmax": 482.1169162994824, + "ymax": 380.36786433335436 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 354.5556387502732, + 364.67647044127904 + ], + [ + 350.51850729912604, + 375.0665706467348 + ], + [ + 479.4869702021248, + 380.36786433335436 + ], + [ + 482.1169162994824, + 369.8612052255888 + ], + [ + 288.32883581644137, + 135.20987834581746 + ], + [ + 282.43029286801016, + 144.88438252300003 + ], + [ + 441.47045653239024, + 149.83991589764375 + ], + [ + 445.2346378110717, + 140.03126246817382 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 250.24373291871632, + "ymin": 0.0, + "xmax": 340.7005223326572, + "ymax": 111.12884057607107 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 303.741840488664, + 110.8153980272169 + ], + [ + 314.31680290757936, + 111.12884057607107 + ], + [ + 340.7005223326572, + 66.63979982175505 + ], + [ + 330.8071971923182, + 66.36610204324461 + ], + [ + 250.24373291871632, + -86.92563992307419 + ], + [ + 262.4733968040791, + -86.6682309152684 + ], + [ + 296.6404527377499, + -122.82933860318582 + ], + [ + 285.3132625445085, + -123.04949095105479 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 421.9199283797867, + "ymin": 146.95273212663537, + "xmax": 441.96650236237696, + "ymax": 157.9465115328458 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 425.2931612929367, + 150.857723666143 + ], + [ + 422.6320706664535, + 157.41634795009563 + ], + [ + 439.4558171200413, + 157.9465115328458 + ], + [ + 441.96650236237696, + 151.37833320951563 + ], + [ + 424.5961226372866, + 146.95273212663537 + ], + [ + 421.9199283797867, + 153.4970714434837 + ], + [ + 438.79831078061926, + 154.02609725643828 + ], + [ + 441.32312567547865, + 147.4721935835313 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1050.8851177465676, + "ymin": 383.4107666003717, + "xmax": 1175.7085951296792, + "ymax": 458.31410336941394 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1072.1722587564598, + 454.0839595084094 + ], + [ + 1170.109866322724, + 458.31410336941394 + ], + [ + 1142.8515504204956, + 396.64239574207835 + ], + [ + 1050.8851177465676, + 392.9047049498011 + ], + [ + 1076.7176024185417, + 444.6222937783846 + ], + [ + 1175.7085951296792, + 448.85751755430107 + ], + [ + 1147.8399196481694, + 387.1482167841376 + ], + [ + 1054.9452054562903, + 383.4107666003717 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1011.1926791633216, + "ymin": 349.03005727199337, + "xmax": 1198.8111701752027, + "ymax": 545.7036057848354 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1029.2744187916294, + 541.3081921744929 + ], + [ + 1122.866126294606, + 545.7036057848354 + ], + [ + 1099.2819623223209, + 481.06283574281053 + ], + [ + 1011.1926791633216, + 477.16219227456884 + ], + [ + 1090.219781017493, + 414.1187782978596 + ], + [ + 1198.8111701752027, + 418.6219817077384 + ], + [ + 1166.7071259559048, + 352.9546402149416 + ], + [ + 1065.4534832137153, + 349.03005727199337 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 421.81056991515027, + "ymin": 146.89383407060336, + "xmax": 442.0726404853804, + "ymax": 158.00575709319875 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 425.2211672924059, + 150.8407244050913 + ], + [ + 422.53074914416425, + 157.46983591069775 + ], + [ + 439.535872486112, + 158.00575709319875 + ], + [ + 442.0726404853804, + 151.3668851523631 + ], + [ + 424.5164234528137, + 146.89383407060336 + ], + [ + 421.81056991515027, + 153.5083518540866 + ], + [ + 438.8715156376257, + 154.04311073100862 + ], + [ + 441.422713303348, + 147.41882185935057 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1050.974862298396, + "ymin": 383.4481915620288, + "xmax": 1175.635963214981, + "ymax": 458.2087871873558 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1072.2417985627185, + 453.9838391284754 + ], + [ + 1170.075022279868, + 458.2087871873558 + ], + [ + 1142.850022003643, + 396.6133277939764 + ], + [ + 1050.974862298396, + 392.879689315004 + ], + [ + 1076.7575098145069, + 444.5843230435594 + ], + [ + 1175.635963214981, + 448.8143050521432 + ], + [ + 1147.8054174716535, + 387.18159145482036 + ], + [ + 1055.0090231818624, + 383.4481915620288 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 314.40730286199494, + "ymin": 0.0, + "xmax": 665.0024834085106, + "ymax": 133.605622173126 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 366.41965381545464, + 117.78169815985899 + ], + [ + 363.5275127836545, + 123.25285925528013 + ], + [ + 660.6582465108161, + 133.605622173126 + ], + [ + 661.2047489585635, + 127.9698874899735 + ], + [ + 318.26607553174614, + -99.75565987434976 + ], + [ + 314.40730286199494, + -95.35797115017812 + ], + [ + 664.3935090935051, + -87.00251595817207 + ], + [ + 665.0024834085106, + -91.55650165282566 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1030.5963911822346, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 481.11195645607415 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1264.7828600763555, + 215.92442169804627 + ], + [ + 1030.5963911822346, + 261.5467613364416 + ], + [ + 1235.625066538153, + 481.11195645607415 + ], + [ + 1513.5153499430899, + 409.1708329833664 + ], + [ + 1525.6319230915055, + -259.1014174540535 + ], + [ + 1207.4697549887728, + -233.012407445166 + ], + [ + 1623.2708203412587, + -86.78810000131102 + ], + [ + 2020.3803164747799, + -138.90121273770222 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00110/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00110/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eaa55ef79526cbf1017881f16e2a80cbba400169 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00110/meta.json @@ -0,0 +1,2468 @@ +{ + "frame_id": 110, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 55.0, + "sim_timestamp": 11094.938831223175 + }, + "drone_pose": { + "x": -96.46593744763078, + "y": -88.9446145283704, + "z": 20.095093040791156, + "pitch": -44.32163254323997, + "yaw": -7.888201107620668, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7086594104766846, + 0.09818586707115173, + 0.6986854672431946, + 45.58824157714844 + ], + [ + -0.13724055886268616, + 0.9905377626419067, + 0.0, + 101.342041015625 + ], + [ + -0.6920743584632874, + -0.09588798880577087, + 0.7154289484024048, + -72.60948944091797 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -96.00363164110345, + "y": -88.78208691833524, + "z": 20.00573836085261 + }, + "t1_image_uv": [ + 1215.9555695062263, + -257.01968353563814 + ], + "t1_depth": 0.3740902625928289 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -76.66718292236328, + "y": -91.68776321411131, + "z": 0.5749944090844292 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 27.938321281985452, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 199, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -76.66718292236328, + "y": -91.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.3002587556838989, + "y": 0.21311521530151367, + "z": 0.5315403342247009 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.1522538253556, + "ymin": 338.9869275418122, + "xmax": 648.7257024025713, + "ymax": 380.8070227187765 + }, + "corners_3d": [ + [ + -76.96744537353516, + -91.90087127685547, + 0.04345405101776123 + ], + [ + -76.96744537353516, + -91.47464752197266, + 0.04345405101776123 + ], + [ + -76.3669204711914, + -91.47464752197266, + 0.04345405101776123 + ], + [ + -76.3669204711914, + -91.90087127685547, + 0.04345405101776123 + ], + [ + -76.96744537353516, + -91.90087127685547, + 1.106534719467163 + ], + [ + -76.96744537353516, + -91.47464752197266, + 1.106534719467163 + ], + [ + -76.3669204711914, + -91.47464752197266, + 1.106534719467163 + ], + [ + -76.3669204711914, + -91.90087127685547, + 1.106534719467163 + ] + ], + "corners_2d": [ + [ + 631.3859752918635, + 379.380679034634 + ], + [ + 645.8090666897843, + 380.8070227187765 + ], + [ + 648.4983080408352, + 366.4976886000769 + ], + [ + 634.2863147062565, + 365.11359071936175 + ], + [ + 631.1522538253556, + 353.23496006503467 + ], + [ + 645.9669234842731, + 354.66003252609727 + ], + [ + 648.7257024025713, + 340.36867202047375 + ], + [ + 634.1336603191257, + 338.9869275418122 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 110, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 55, + "semantic_pixel_counts": { + "1": 356646, + "2": 201848, + "3": 192299, + "4": 34991, + "6": 6950, + "7": 291, + "9": 1916, + "10": 38705, + "12": 3164, + "14": 31144, + "20": 33738, + "21": 237, + "24": 19671 + }, + "instance_pixel_counts": { + "913": 3383, + "2158": 6748, + "5230": 2766, + "5742": 5921, + "9346": 14, + "12951": 562, + "15963": 62638, + "16475": 77525, + "16987": 11145, + "17232": 34991, + "22976": 6334, + "23296": 1031, + "23552": 1380, + "24512": 34031, + "26963": 1873, + "28819": 7036, + "29331": 16, + "33429": 576, + "35668": 10790, + "35924": 16643, + "36692": 2922, + "37979": 21666, + "40019": 2943, + "41107": 667, + "41611": 1664, + "41619": 3574, + "42123": 1270, + "43117": 3890, + "43147": 14030, + "43155": 75331, + "43659": 13928, + "43667": 12028, + "44179": 257994, + "44181": 53, + "44693": 53, + "45717": 6289, + "46229": 132, + "46741": 12568, + "49664": 199, + "49920": 422, + "50176": 487, + "50432": 1003, + "50624": 6860, + "50688": 667, + "50944": 386, + "51136": 2242, + "51456": 9685, + "51712": 2588, + "52160": 37085, + "52672": 72516, + "55040": 18871, + "55879": 15264, + "57173": 1916, + "64351": 11326, + "64603": 237 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 199, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -76.66718292236328, + "y": -91.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.29515865445137024, + "y": 0.20683103799819946, + "z": 0.5311257243156433 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.3959634017822, + "ymin": 339.13698055185057, + "xmax": 648.4872103642434, + "ymax": 380.6526095308225 + }, + "corners_3d": [ + [ + -76.96234130859375, + -91.89459228515625, + 0.04386866092681885 + ], + [ + -76.96234130859375, + -91.48092651367188, + 0.04386866092681885 + ], + [ + -76.37202453613281, + -91.48092651367188, + 0.04386866092681885 + ], + [ + -76.37202453613281, + -91.89459228515625, + 0.04386866092681885 + ], + [ + -76.96234130859375, + -91.89459228515625, + 1.1061201095581055 + ], + [ + -76.96234130859375, + -91.48092651367188, + 1.1061201095581055 + ], + [ + -76.37202453613281, + -91.48092651367188, + 1.1061201095581055 + ], + [ + -76.37202453613281, + -91.89459228515625, + 1.1061201095581055 + ] + ], + "corners_2d": [ + [ + 631.6230478743739, + 379.2686472001581 + ], + [ + 645.6195634089811, + 380.6526095308225 + ], + [ + 648.2661781822674, + 366.58715788109504 + ], + [ + 634.4710621247722, + 365.24349993396015 + ], + [ + 631.3959634017822, + 353.14342495178744 + ], + [ + 645.7721262407771, + 354.52614515486556 + ], + [ + 648.4872103642434, + 340.4783647480344 + ], + [ + 634.3234379748611, + 339.13698055185057 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 422, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -72.54119873046875, + "y": -88.69005584716797, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.5828173756599426, + "y": 0.36767578125, + "z": 0.8974804282188416 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 735.0237336708725, + "ymin": 245.1275887186399, + "xmax": 768.1605943868872, + "ymax": 313.14296345091475 + }, + "corners_3d": [ + [ + -73.1877212524414, + -88.92852020263672, + -0.3224811553955078 + ], + [ + -73.03483581542969, + -88.20923614501953, + -0.3224811553955078 + ], + [ + -71.8946762084961, + -88.45159149169922, + -0.3224811553955078 + ], + [ + -72.04756164550781, + -89.1708755493164, + -0.3224811553955078 + ], + [ + -73.1877212524414, + -88.92852020263672, + 1.4724797010421753 + ], + [ + -73.03483581542969, + -88.20923614501953, + 1.4724797010421753 + ], + [ + -71.8946762084961, + -88.45159149169922, + 1.4724797010421753 + ], + [ + -72.04756164550781, + -89.1708755493164, + 1.4724797010421753 + ] + ], + "corners_2d": [ + [ + 740.2018986705589, + 313.14296345091475 + ], + [ + 762.9418060876537, + 312.05209685992855 + ], + [ + 757.1718147529234, + 288.65828644399 + ], + [ + 735.0237336708725, + 289.6925000596918 + ], + [ + 744.4608324079306, + 269.37016566886075 + ], + [ + 768.1605943868872, + 268.28887966794684 + ], + [ + 762.0094711553883, + 245.1275887186399 + ], + [ + 738.9518432273862, + 246.1504315856335 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 487, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -75.49290466308594, + "y": -85.44257354736328, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.38551023602485657, + "y": 0.3238476514816284, + "z": 0.8828294277191162 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 839.4269947634352, + "ymin": 321.2839226818936, + "xmax": 874.5032336356824, + "ymax": 383.39829724584376 + }, + "corners_3d": [ + [ + -75.91015625, + -85.72434997558594, + -0.30783504247665405 + ], + [ + -75.84245300292969, + -85.0802001953125, + -0.30783504247665405 + ], + [ + -75.07565307617188, + -85.16079711914062, + -0.30783504247665405 + ], + [ + -75.14335632324219, + -85.80494689941406, + -0.30783504247665405 + ], + [ + -75.91015625, + -85.72434997558594, + 1.4578237533569336 + ], + [ + -75.84245300292969, + -85.0802001953125, + 1.4578237533569336 + ], + [ + -75.07565307617188, + -85.16079711914062, + 1.4578237533569336 + ], + [ + -75.14335632324219, + -85.80494689941406, + 1.4578237533569336 + ] + ], + "corners_2d": [ + [ + 842.428496879, + 382.88362240512754 + ], + [ + 864.3493472593586, + 383.39829724584376 + ], + [ + 860.9301387541716, + 365.156727979798 + ], + [ + 839.4269947634352, + 364.6614030108327 + ], + [ + 851.5851326886525, + 339.45352750396415 + ], + [ + 874.5032336356824, + 339.96716916722283 + ], + [ + 870.731037812754, + 321.77740544513506 + ], + [ + 848.2691170694134, + 321.2839226818936 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 1003, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -86.16718292236328, + "y": -91.68775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.4345409572124481, + "y": 0.44941890239715576, + "z": 0.8908261656761169 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 554.5544382636166, + "ymin": 616.4904473716801, + "xmax": 605.2810176229277, + "ymax": 697.7484787295805 + }, + "corners_3d": [ + [ + -86.60172271728516, + -92.13717651367188, + -0.3158268928527832 + ], + [ + -86.60172271728516, + -91.23834228515625, + -0.3158268928527832 + ], + [ + -85.7326431274414, + -91.23834228515625, + -0.3158268928527832 + ], + [ + -85.7326431274414, + -92.13717651367188, + -0.3158268928527832 + ], + [ + -86.60172271728516, + -92.13717651367188, + 1.4658254384994507 + ], + [ + -86.60172271728516, + -91.23834228515625, + 1.4658254384994507 + ], + [ + -85.7326431274414, + -91.23834228515625, + 1.4658254384994507 + ], + [ + -85.7326431274414, + -92.13717651367188, + 1.4658254384994507 + ] + ], + "corners_2d": [ + [ + 559.4867649833632, + 692.529419305916 + ], + [ + 598.9538455921942, + 697.7484787295805 + ], + [ + 605.2810176229277, + 662.1965952909383 + ], + [ + 566.8846352444431, + 657.2639076037951 + ], + [ + 554.5544382636166, + 652.6805437758603 + ], + [ + 596.4283456401793, + 658.0468969516252 + ], + [ + 603.207925993656, + 621.5450639745418 + ], + [ + 562.5372757137433, + 616.4904473716801 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 667, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -78.42550659179688, + "y": -97.09931182861328, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.5929200053215027, + "y": 0.4677978754043579, + "z": 0.8996184468269348 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 413.44404476546595, + "ymin": 344.8937194906125, + "xmax": 469.5106088628777, + "ymax": 423.93696014761696 + }, + "corners_3d": [ + [ + -78.96627807617188, + -97.62652587890625, + -0.3246191740036011 + ], + [ + -79.06407928466797, + -96.69605255126953, + -0.3246191740036011 + ], + [ + -77.88473510742188, + -96.57209777832031, + -0.3246191740036011 + ], + [ + -77.78693389892578, + -97.50257110595703, + -0.3246191740036011 + ], + [ + -78.96627807617188, + -97.62652587890625, + 1.4746177196502686 + ], + [ + -79.06407928466797, + -96.69605255126953, + 1.4746177196502686 + ], + [ + -77.88473510742188, + -96.57209777832031, + 1.4746177196502686 + ], + [ + -77.78693389892578, + -97.50257110595703, + 1.4746177196502686 + ] + ], + "corners_2d": [ + [ + 423.79275262152237, + 418.09033433107004 + ], + [ + 454.39138335721105, + 423.93696014761696 + ], + [ + 469.5106088628777, + 394.6719702519156 + ], + [ + 439.71536223036776, + 389.1611124132909 + ], + [ + 413.44404476546595, + 373.81947966667826 + ], + [ + 445.4525886731349, + 379.67518215236026 + ], + [ + 461.55108051469045, + 350.3977212490489 + ], + [ + 430.42026507352836, + 344.8937194906125 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 386, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -65.42184448242188, + "y": -99.85797882080078, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.4152490198612213, + "y": 0.4393066167831421, + "z": 0.8610420227050781 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 449.65754666683125, + "ymin": 104.92602196421706, + "xmax": 486.0180918861432, + "ymax": 159.70540790315607 + }, + "corners_3d": [ + [ + -65.73667907714844, + -100.3740234375, + -0.13364535570144653 + ], + [ + -65.91935729980469, + -99.51461029052734, + -0.13364535570144653 + ], + [ + -65.10700988769531, + -99.34193420410156, + -0.13364535570144653 + ], + [ + -64.92433166503906, + -100.20134735107422, + -0.13364535570144653 + ], + [ + -65.73667907714844, + -100.3740234375, + 1.5884387493133545 + ], + [ + -65.91935729980469, + -99.51461029052734, + 1.5884387493133545 + ], + [ + -65.10700988769531, + -99.34193420410156, + 1.5884387493133545 + ], + [ + -64.92433166503906, + -100.20134735107422, + 1.5884387493133545 + ] + ], + "corners_2d": [ + [ + 455.84185188902023, + 155.4483102772595 + ], + [ + 476.31477451806, + 159.70540790315607 + ], + [ + 486.0180918861432, + 148.68499621838998 + ], + [ + 465.79426462185995, + 144.55386299544713 + ], + [ + 449.65754666683125, + 115.56835997562686 + ], + [ + 470.7849770802872, + 119.72983108338266 + ], + [ + 480.8964497768487, + 108.96030623778509 + ], + [ + 460.0340024427319, + 104.92602196421706 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 9685, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 575.8447594206767, + "ymin": 369.5851595681727, + "xmax": 675.749063668867, + "ymax": 531.3271844121609 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 674.481335027454, + 410.97263952258504 + ], + [ + 605.2723841725131, + 403.8559547408954 + ], + [ + 578.3762301984369, + 522.3798736546609 + ], + [ + 655.7928641854659, + 531.3271844121609 + ], + [ + 675.749063668867, + 376.7058371443534 + ], + [ + 604.005128415602, + 369.5851595681727 + ], + [ + 575.8447594206767, + 488.6690104519221 + ], + [ + 656.4471224415421, + 497.7014019649675 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 2588, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 986.4179368377029, + "ymin": 0.0, + "xmax": 1109.0690165402805, + "ymax": 36.392946956683886 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 986.4179368377029, + 11.947835349212824 + ], + [ + 991.6429707587429, + 30.189773088273 + ], + [ + 1095.108156906578, + 36.392946956683886 + ], + [ + 1086.6945220316775, + 17.790602325354087 + ], + [ + 996.633595686568, + -26.991526847668354 + ], + [ + 1002.3424525347053, + -9.442028914285459 + ], + [ + 1109.0690165402805, + -3.447278553210083 + ], + [ + 1099.9708296309814, + -21.354550819141252 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 18871, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 845.1087358268159, + "ymin": 347.4912496293594, + "xmax": 970.9764237365551, + "ymax": 600.396337833115 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 848.4008850648104, + 588.3193397598034 + ], + [ + 949.7844207796282, + 600.396337833115 + ], + [ + 929.9812760543805, + 408.89443679408913 + ], + [ + 845.1087358268159, + 400.4109329833363 + ], + [ + 862.5012970688001, + 537.2572265430424 + ], + [ + 970.9764237365551, + 549.5952638996752 + ], + [ + 946.4107966163544, + 355.97032545052406 + ], + [ + 856.6240645100246, + 347.4912496293594 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 426.7558888429576, + "ymin": 23.570066815803443, + "xmax": 441.6997835060524, + "ymax": 48.77692218291173 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 439.6702088472374, + 48.77692218291173 + ], + [ + 441.6997835060524, + 45.48590156783126 + ], + [ + 432.2933896653409, + 44.86814764127797 + ], + [ + 430.21619943380233, + 48.15262786696047 + ], + [ + 436.3624873804023, + 27.40741685201334 + ], + [ + 438.4430604170312, + 24.176479995837667 + ], + [ + 428.885621412011, + 23.570066815803443 + ], + [ + 426.7558888429576, + 26.794477113004632 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1039.9246573710661, + "ymin": 44.51806871145982, + "xmax": 1058.5363778206613, + "ymax": 70.37840749168589 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1050.277497960785, + 66.85709484165739 + ], + [ + 1039.9246573710661, + 66.19625529254506 + ], + [ + 1041.0929181091492, + 69.71032954530818 + ], + [ + 1051.5035383852435, + 70.37840749168589 + ], + [ + 1057.250627247885, + 45.167507332078515 + ], + [ + 1046.7147394052672, + 44.51806871145982 + ], + [ + 1047.940644915545, + 47.9717774036489 + ], + [ + 1058.5363778206613, + 48.628451390459475 + ] + ], + "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": 993.7414451976597, + "ymin": 0.0, + "xmax": 1113.998149939232, + "ymax": 134.7681620849964 + }, + "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": [ + [ + 1028.7800944572446, + 133.91828339267582 + ], + [ + 1040.1032472070274, + 134.7681620849964 + ], + [ + 1002.9478512911553, + 3.759623480115124 + ], + [ + 993.7414451976597, + 3.1934956864307082 + ], + [ + 1100.4822562008408, + -89.07200777453181 + ], + [ + 1113.998149939232, + -88.38074028389383 + ], + [ + 1055.8545137212673, + -191.4613799934932 + ], + [ + 1045.248564302337, + -191.89212767488152 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 354.2713837427364, + "ymin": 126.1049521899983, + "xmax": 539.2635380398938, + "ymax": 379.0646364876317 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 413.3993432319047, + 356.1135914183454 + ], + [ + 408.87039368646634, + 366.36393944007887 + ], + [ + 536.074084501351, + 379.0646364876317 + ], + [ + 539.2635380398938, + 368.5381215564359 + ], + [ + 360.5869794401398, + 126.1049521899983 + ], + [ + 354.2713837427364, + 135.65495403534692 + ], + [ + 511.11432418939035, + 147.5560708941182 + ], + [ + 515.399086042427, + 137.68688908683606 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 335.88145694919166, + "ymin": 0.0, + "xmax": 416.0796717432405, + "ymax": 99.302958369566 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 377.5765165787477, + 98.56425658967794 + ], + [ + 387.8714440275196, + 99.302958369566 + ], + [ + 416.0796717432405, + 55.71756591025337 + ], + [ + 406.4182116228676, + 55.070894047951924 + ], + [ + 335.88145694919166, + -99.15838009494877 + ], + [ + 347.76135845964967, + -98.55256008757107 + ], + [ + 383.08903167623123, + -133.94123865152403 + ], + [ + 372.0444440508317, + -134.46089415726 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 491.4323049561462, + "ymin": 143.73402505304858, + "xmax": 511.5074534221902, + "ymax": 155.528643958923 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 494.9273124232302, + 147.66407331774815 + ], + [ + 491.92358387170435, + 154.24525218755784 + ], + [ + 508.6491860243285, + 155.528643958923 + ], + [ + 511.5074534221902, + 148.9244648744886 + ], + [ + 494.4503419753043, + 143.73402505304858 + ], + [ + 491.4323049561462, + 150.30125494017827 + ], + [ + 508.21263146850276, + 151.58197219319285 + ], + [ + 511.084258564681, + 144.9917148367721 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1126.8033535420245, + "ymin": 419.3132250379607, + "xmax": 1259.1721239574017, + "ymax": 506.15533510599437 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1146.6035148326273, + 495.02948632572804 + ], + [ + 1252.3194546530003, + 506.15533510599437 + ], + [ + 1225.736018194522, + 438.59459377291233 + ], + [ + 1126.8033535420245, + 428.80649514139964 + ], + [ + 1152.2142288539785, + 485.6380149279021 + ], + [ + 1259.1721239574017, + 496.78986543506664 + ], + [ + 1231.8782270521274, + 429.1106587586488 + ], + [ + 1131.8584392919556, + 419.3132250379607 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1078.2273965859913, + "ymin": 384.54167688728353, + "xmax": 1280.0, + "ymax": 592.5637855286529 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1094.1510559430826, + 581.1193041295443 + ], + [ + 1194.2982066402653, + 592.5637855286529 + ], + [ + 1172.2262948008943, + 522.4565787031986 + ], + [ + 1078.2273965859913, + 512.3364915797833 + ], + [ + 1169.1579843681172, + 455.2872427505521 + ], + [ + 1286.9006070192659, + 467.1931309021674 + ], + [ + 1254.985505891017, + 394.86422875348524 + ], + [ + 1145.6467540304118, + 384.54167688728353 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 491.322918750858, + "ymin": 143.67089452025473, + "xmax": 511.613865193833, + "ymax": 155.59226612246377 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 494.85656853039404, + 147.64310430137988 + ], + [ + 491.8198556463938, + 154.29493783395426 + ], + [ + 508.72575151841215, + 155.59226612246377 + ], + [ + 511.613865193833, + 148.91693551582037 + ], + [ + 494.3742545221661, + 143.67089452025473 + ], + [ + 491.322918750858, + 150.30847748354242 + ], + [ + 508.28472718293244, + 151.6030735949746 + ], + [ + 511.18648405358044, + 144.94196541461204 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1126.902283197308, + "ymin": 419.35685233481996, + "xmax": 1259.0951173843955, + "ymax": 506.0428562970392 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1146.6849069335842, + 494.93021454600034 + ], + [ + 1252.2886287394463, + 506.0428562970392 + ], + [ + 1225.7375465560276, + 438.5656132277551 + ], + [ + 1126.902283197308, + 428.78767639561323 + ], + [ + 1152.259053430905, + 485.6003582245573 + ], + [ + 1259.0951173843955, + 496.7387825401397 + ], + [ + 1231.8391782025017, + 429.14405452809757 + ], + [ + 1131.925034118809, + 419.35685233481996 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 398.9139808660234, + "ymin": 0.0, + "xmax": 749.521091237549, + "ymax": 136.46518836365493 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 438.50882940584495, + 108.04059602734031 + ], + [ + 435.3722554430144, + 113.4222322376431 + ], + [ + 731.6880373867283, + 136.46518836365493 + ], + [ + 732.5441113690986, + 130.72010997994948 + ], + [ + 402.9383652961244, + -109.975331104073 + ], + [ + 398.9139808660234, + -105.65116027655074 + ], + [ + 748.6696792671332, + -86.99951477950168 + ], + [ + 749.521091237549, + -91.6705848506652 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1110.187676793304, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 532.2243409397486 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1365.6406615502378, + 251.35598936989712 + ], + [ + 1110.187676793304, + 287.1828198430171 + ], + [ + 1320.3209796203873, + 532.2243409397486 + ], + [ + 1633.3155504882438, + 473.9001931269251 + ], + [ + 1695.1577128670115, + -244.36763190837223 + ], + [ + 1337.3903911203672, + -223.0088584208827 + ], + [ + 1809.16058239702, + -50.35665120662276 + ], + [ + 2284.9364149051553, + -96.23819483351883 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00111/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00111/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..eef7bc9f3081adac161019115bfc49c86bc010d3 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00111/meta.json @@ -0,0 +1,2468 @@ +{ + "frame_id": 111, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 55.5, + "sim_timestamp": 11105.79308893159 + }, + "drone_pose": { + "x": -96.00363164110345, + "y": -88.78208691833524, + "z": 20.00573836085261, + "pitch": -44.50036694295591, + "yaw": -6.731974155913231, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7083284258842468, + 0.08361023664474487, + 0.7009138464927673, + 46.556705474853516 + ], + [ + -0.11722496151924133, + 0.993105411529541, + 0.0, + 99.42399597167969 + ], + [ + -0.6960813403129578, + -0.08216459304094315, + 0.7132459878921509, + -73.80060577392578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -95.45819408704413, + "y": -88.80403696505823, + "z": 20.105354698508737 + }, + "t1_image_uv": [ + 767.0711284341784, + -1004.5561848143495 + ], + "t1_depth": 0.31836169212307985 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -76.16718292236328, + "y": -91.68776321411131, + "z": 0.5749944090844292 + }, + "image_uv": [ + 620.7292542920677, + 353.5470741750487 + ], + "depth": 27.912941550451198, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 204, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -76.16718292236328, + "y": -91.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.2631615996360779, + "y": 0.21065916121006012, + "z": 0.5183371901512146 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 611.9381667406783, + "ymin": 333.7870753573675, + "xmax": 629.1917004085514, + "ymax": 373.082844791785 + }, + "corners_3d": [ + [ + -76.43034362792969, + -91.89842224121094, + 0.05665719509124756 + ], + [ + -76.43034362792969, + -91.47709655761719, + 0.05665719509124756 + ], + [ + -75.90402221679688, + -91.47709655761719, + 0.05665719509124756 + ], + [ + -75.90402221679688, + -91.89842224121094, + 0.05665719509124756 + ], + [ + -76.43034362792969, + -91.89842224121094, + 1.0933315753936768 + ], + [ + -76.43034362792969, + -91.47709655761719, + 1.0933315753936768 + ], + [ + -75.90402221679688, + -91.47709655761719, + 1.0933315753936768 + ], + [ + -75.90402221679688, + -91.89842224121094, + 1.0933315753936768 + ] + ], + "corners_2d": [ + [ + 612.6636066263177, + 371.8840810564108 + ], + [ + 626.9382454847943, + 373.082844791785 + ], + [ + 629.1917004085514, + 360.54690291787597 + ], + [ + 615.101130128823, + 359.37933673033496 + ], + [ + 611.9381667406783, + 346.2752087918223 + ], + [ + 626.5911724779996, + 347.47283588183416 + ], + [ + 628.9083682531007, + 334.9527234756022 + ], + [ + 614.4492518119617, + 333.7870753573675 + ] + ], + "center_offset_px": [ + -19.270745707932292, + -6.452925824951308 + ] + }, + "trace_timestep_index": 111, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 55, + "semantic_pixel_counts": { + "1": 359014, + "2": 202602, + "3": 175490, + "4": 36766, + "6": 7063, + "7": 299, + "9": 4105, + "10": 45338, + "12": 3193, + "14": 31575, + "20": 35382, + "21": 975, + "24": 19798 + }, + "instance_pixel_counts": { + "913": 3402, + "2158": 2238, + "5230": 2966, + "5742": 6464, + "9346": 29, + "12951": 592, + "15963": 69405, + "16475": 62561, + "16987": 4218, + "17232": 36766, + "22976": 6677, + "23296": 1081, + "23552": 1341, + "24512": 33633, + "26963": 1941, + "28819": 7463, + "29331": 59, + "33429": 615, + "35668": 11374, + "35924": 17677, + "36692": 2929, + "37979": 23555, + "40019": 2970, + "41107": 208, + "41611": 1690, + "41619": 2930, + "42123": 1325, + "43117": 4083, + "43147": 14007, + "43155": 76337, + "43659": 14010, + "43667": 13641, + "44179": 258376, + "44181": 23, + "44693": 52, + "45717": 6422, + "46229": 128, + "46741": 12558, + "49664": 204, + "49920": 445, + "50176": 481, + "50432": 949, + "50624": 6936, + "50688": 692, + "50944": 422, + "51136": 2347, + "51456": 10072, + "51712": 2166, + "52160": 36879, + "52672": 73052, + "55040": 19337, + "55879": 15829, + "57173": 4105, + "64351": 11454, + "64603": 975 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 204, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -76.16718292236328, + "y": -91.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.20555661618709564, + "y": 0.2127441167831421, + "z": 0.5323067903518677 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 612.1341257972707, + "ymin": 334.7775968201242, + "xmax": 629.0215860248549, + "ymax": 372.0366448180971 + }, + "corners_3d": [ + [ + -76.37274169921875, + -91.90050506591797, + 0.04268759489059448 + ], + [ + -76.37274169921875, + -91.47501373291016, + 0.04268759489059448 + ], + [ + -75.96162414550781, + -91.47501373291016, + 0.04268759489059448 + ], + [ + -75.96162414550781, + -91.90050506591797, + 0.04268759489059448 + ], + [ + -76.37274169921875, + -91.90050506591797, + 1.1073012351989746 + ], + [ + -76.37274169921875, + -91.47501373291016, + 1.1073012351989746 + ], + [ + -75.96162414550781, + -91.47501373291016, + 1.1073012351989746 + ], + [ + -75.96162414550781, + -91.90050506591797, + 1.1073012351989746 + ] + ], + "corners_2d": [ + [ + 612.8725807759763, + 370.82953331002676 + ], + [ + 627.2627727590666, + 372.0366448180971 + ], + [ + 629.0215860248549, + 362.2446081293903 + ], + [ + 614.7764915957208, + 361.0620972627077 + ], + [ + 612.1341257972707, + 344.53169105493174 + ], + [ + 626.9155929692023, + 345.7375311245538 + ], + [ + 628.7254959144984, + 335.95820330109495 + ], + [ + 614.0970819168531, + 334.7775968201242 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 445, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -72.04119873046875, + "y": -88.69005584716797, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.46840086579322815, + "y": 0.3016357421875, + "z": 0.8845236301422119 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 717.8843893261396, + "ymin": 239.9715273091121, + "xmax": 745.0187727287619, + "ymax": 302.8673236406003 + }, + "corners_3d": [ + [ + -72.56208038330078, + -88.88771057128906, + -0.3095243573188782 + ], + [ + -72.43665313720703, + -88.29762268066406, + -0.3095243573188782 + ], + [ + -71.52031707763672, + -88.49240112304688, + -0.3095243573188782 + ], + [ + -71.64574432373047, + -89.08248901367188, + -0.3095243573188782 + ], + [ + -72.56208038330078, + -88.88771057128906, + 1.4595229625701904 + ], + [ + -72.43665313720703, + -88.29762268066406, + 1.4595229625701904 + ], + [ + -71.52031707763672, + -88.49240112304688, + 1.4595229625701904 + ], + [ + -71.64574432373047, + -89.08248901367188, + 1.4595229625701904 + ] + ], + "corners_2d": [ + [ + 722.2405468148077, + 302.8673236406003 + ], + [ + 740.8034933874884, + 301.7339134534746 + ], + [ + 736.0614086670521, + 283.0717427446177 + ], + [ + 717.8843893261396, + 284.1578338681892 + ], + [ + 725.6841712220493, + 259.5700953276928 + ], + [ + 745.0187727287619, + 258.4469759122293 + ], + [ + 739.9902313946585, + 239.9715273091121 + ], + [ + 721.0739450728627, + 241.04585960277515 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 481, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -75.44517517089844, + "y": -85.16520690917969, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.6005395650863647, + "y": 0.36738768219947815, + "z": 0.8923192620277405 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 827.1895790003723, + "ymin": 317.8726203682928, + "xmax": 867.6916146721023, + "ymax": 390.9941142908446 + }, + "corners_3d": [ + [ + -76.08082580566406, + -85.46781158447266, + -0.3173248767852783 + ], + [ + -76.00402069091797, + -84.737060546875, + -0.3173248767852783 + ], + [ + -74.80952453613281, + -84.86260223388672, + -0.3173248767852783 + ], + [ + -74.8863296508789, + -85.59335327148438, + -0.3173248767852783 + ], + [ + -76.08082580566406, + -85.46781158447266, + 1.4673136472702026 + ], + [ + -76.00402069091797, + -84.737060546875, + 1.4673136472702026 + ], + [ + -74.80952453613281, + -84.86260223388672, + 1.4673136472702026 + ], + [ + -74.8863296508789, + -85.59335327148438, + 1.4673136472702026 + ] + ], + "corners_2d": [ + [ + 832.3752281046677, + 390.7617883342231 + ], + [ + 857.5460516705649, + 390.9941142908446 + ], + [ + 851.6139007080374, + 362.14250613728393 + ], + [ + 827.1895790003723, + 361.9237331737788 + ], + [ + 841.3446758416883, + 346.64876580126014 + ], + [ + 867.6916146721023, + 346.8809155547078 + ], + [ + 861.1773875360216, + 318.0906250550912 + ], + [ + 835.6472093965992, + 317.8726203682928 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 949, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -85.66718292236328, + "y": -91.68775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.5562694668769836, + "y": 0.44854000210762024, + "z": 0.9317126870155334 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 536.0446853172651, + "ymin": 604.3951073640419, + "xmax": 589.6804185904632, + "ymax": 696.981027330186 + }, + "corners_3d": [ + [ + -86.22344970703125, + -92.13629913330078, + -0.3567134141921997 + ], + [ + -86.22344970703125, + -91.23921966552734, + -0.3567134141921997 + ], + [ + -85.11091613769531, + -91.23921966552734, + -0.3567134141921997 + ], + [ + -85.11091613769531, + -92.13629913330078, + -0.3567134141921997 + ], + [ + -86.22344970703125, + -92.13629913330078, + 1.5067119598388672 + ], + [ + -86.22344970703125, + -91.23921966552734, + 1.5067119598388672 + ], + [ + -85.11091613769531, + -91.23921966552734, + 1.5067119598388672 + ], + [ + -85.11091613769531, + -92.13629913330078, + 1.5067119598388672 + ] + ], + "corners_2d": [ + [ + 542.3656294900903, + 692.5101918948884 + ], + [ + 581.978892313562, + 696.981027330186 + ], + [ + 589.6804185904632, + 651.5174136182243 + ], + [ + 551.4430588958757, + 647.3579250049363 + ], + [ + 536.0446853172651, + 650.7923782387835 + ], + [ + 578.2085316612458, + 655.398060299249 + ], + [ + 586.5338900993045, + 608.6604155531411 + ], + [ + 545.9253279082463, + 604.3951073640419 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 692, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -77.92550659179688, + "y": -97.09932708740234, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.3511865437030792, + "y": 0.49417975544929504, + "z": 0.8645878434181213 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 395.8719235013192, + "ymin": 347.7859897208283, + "xmax": 447.90550943674305, + "ymax": 413.41490425029895 + }, + "corners_3d": [ + [ + -78.22311401367188, + -97.62751007080078, + -0.2895885705947876 + ], + [ + -78.32642364501953, + -96.64456176757812, + -0.2895885705947876 + ], + [ + -77.62789916992188, + -96.5711441040039, + -0.2895885705947876 + ], + [ + -77.52458953857422, + -97.55409240722656, + -0.2895885705947876 + ], + [ + -78.22311401367188, + -97.62751007080078, + 1.439587116241455 + ], + [ + -78.32642364501953, + -96.64456176757812, + 1.439587116241455 + ], + [ + -77.62789916992188, + -96.5711441040039, + 1.439587116241455 + ], + [ + -77.52458953857422, + -97.55409240722656, + 1.439587116241455 + ] + ], + "corners_2d": [ + [ + 406.6081946796933, + 407.79548983853294 + ], + [ + 439.05749305682014, + 413.41490425029895 + ], + [ + 447.90550943674305, + 395.9518119116248 + ], + [ + 415.9725266271492, + 390.52702862585545 + ], + [ + 395.8719235013192, + 365.05612779407323 + ], + [ + 429.7590943619331, + 370.6820590576954 + ], + [ + 439.17934181956525, + 353.20831934203807 + ], + [ + 405.8546740158887, + 347.7859897208283 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 422, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -64.92184448242188, + "y": -99.85797882080078, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.5061010718345642, + "y": 0.4301855266094208, + "z": 0.9198029637336731 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 426.0672714760975, + "ymin": 98.24333376739173, + "xmax": 465.545379145837, + "ymax": 158.18764522490724 + }, + "corners_3d": [ + [ + -65.32744598388672, + -100.38398742675781, + -0.19239652156829834 + ], + [ + -65.5063247680664, + -99.54241943359375, + -0.19239652156829834 + ], + [ + -64.51624298095703, + -99.33197021484375, + -0.19239652156829834 + ], + [ + -64.33736419677734, + -100.17353820800781, + -0.19239652156829834 + ], + [ + -65.32744598388672, + -100.38398742675781, + 1.6472094058990479 + ], + [ + -65.5063247680664, + -99.54241943359375, + 1.6472094058990479 + ], + [ + -64.51624298095703, + -99.33197021484375, + 1.6472094058990479 + ], + [ + -64.33736419677734, + -100.17353820800781, + 1.6472094058990479 + ] + ], + "corners_2d": [ + [ + 433.55169615944857, + 154.22237698331307 + ], + [ + 453.7792424788221, + 158.18764522490724 + ], + [ + 465.545379145837, + 144.60987223299034 + ], + [ + 445.6244677335959, + 140.7881009944171 + ], + [ + 426.0672714760975, + 111.34679532313254 + ], + [ + 446.99051715437594, + 115.21772829889093 + ], + [ + 459.30619725720044, + 101.96923492841086 + ], + [ + 438.710627237101, + 98.24333376739173 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 10072, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 553.5923811119021, + "ymin": 376.2951623493869, + "xmax": 654.4560550648198, + "ymax": 540.5109631105662 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 653.9348939783015, + 416.9428405987997 + ], + [ + 583.7121183971728, + 410.710209463495 + ], + [ + 557.0678127379203, + 532.6495023849437 + ], + [ + 635.7772158657502, + 540.5109631105662 + ], + [ + 654.4560550648198, + 382.5370557051883 + ], + [ + 581.620571055407, + 376.2951623493869 + ], + [ + 553.5923811119021, + 498.9462446124357 + ], + [ + 635.5989528805391, + 506.8921458069982 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 2166, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 964.4504778464593, + "ymin": 0.0, + "xmax": 1086.5293661613327, + "ymax": 31.481967364591924 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 964.4504778464593, + 7.811602276940903 + ], + [ + 969.852791933421, + 26.178265086232216 + ], + [ + 1073.1541615955202, + 31.481967364591924 + ], + [ + 1064.5671892075138, + 12.807507508426795 + ], + [ + 974.0973437303553, + -31.373258269839653 + ], + [ + 979.9732260755595, + -13.703897294751414 + ], + [ + 1086.5293661613327, + -8.575612042923524 + ], + [ + 1077.2683912482885, + -26.550659677865383 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 19337, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 826.2375134816135, + "ymin": 350.4206295728244, + "xmax": 953.8560881485623, + "ymax": 606.0860432298639 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 831.1595565784995, + 595.5498966821823 + ], + [ + 933.4698500542444, + 606.0860432298639 + ], + [ + 911.7279574058896, + 410.9613847424102 + ], + [ + 826.2375134816135, + 403.5877212771325 + ], + [ + 844.3129701274273, + 544.5393126636075 + ], + [ + 953.8560881485623, + 555.3198219770313 + ], + [ + 927.329660111853, + 357.7976536018911 + ], + [ + 836.8468316022145, + 350.4206295728244 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 399.09123133814086, + "ymin": 25.161416543658447, + "xmax": 414.7514662277139, + "ymax": 50.62858617762049 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 412.6940540917585, + 50.62858617762049 + ], + [ + 414.7514662277139, + 47.250740256003155 + ], + [ + 405.17694285646337, + 46.71052748726402 + ], + [ + 403.0700644298373, + 50.08257353257909 + ], + [ + 408.87349401357596, + 29.009084700132462 + ], + [ + 410.9859944386752, + 25.691876529639273 + ], + [ + 401.2548328450233, + 25.161416543658447 + ], + [ + 399.09123133814086, + 28.472833604198684 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1018.2130676567202, + "ymin": 40.683324423302224, + "xmax": 1036.5483950387923, + "ymax": 66.62908484662029 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1028.5666600534448, + 63.07907710360206 + ], + [ + 1018.2130676567202, + 62.51141933328165 + ], + [ + 1019.4164494875274, + 66.05517838704714 + ], + [ + 1029.8279597873789, + 66.62908484662029 + ], + [ + 1035.228140442964, + 41.24120155793423 + ], + [ + 1024.6912579593602, + 40.683324423302224 + ], + [ + 1025.951521196625, + 44.16630006389971 + ], + [ + 1036.5483950387923, + 44.73042433929669 + ] + ], + "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": 971.6861631414074, + "ymin": 0.0, + "xmax": 1090.074756653933, + "ymax": 131.34176495653597 + }, + "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": [ + [ + 1008.0236833688152, + 130.60429718714454 + ], + [ + 1019.3453112246292, + 131.34176495653597 + ], + [ + 980.8871555434588, + -0.6036165690431403 + ], + [ + 971.6861631414074, + -1.094029091615539 + ], + [ + 1076.5582111992303, + -94.03412890149633 + ], + [ + 1090.074756653933, + -93.43443968594858 + ], + [ + 1030.98824722302, + -197.17869545070414 + ], + [ + 1020.3879162160476, + -197.55141385692662 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 321.4123692810503, + "ymin": 132.44937152514836, + "xmax": 516.3857267124313, + "ymax": 386.43230328020854 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 388.114864367057, + 364.6973092458018 + ], + [ + 383.53012198242703, + 375.27960270661373 + ], + [ + 513.1960111543756, + 386.43230328020854 + ], + [ + 516.3857267124313, + 375.6037525230665 + ], + [ + 327.9418464086961, + 132.44937152514836 + ], + [ + 321.4123692810503, + 142.37461790974578 + ], + [ + 482.03863709850793, + 152.89245645720104 + ], + [ + 486.43341292936054, + 142.67947927694618 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 303.73953034592284, + "ymin": 0.0, + "xmax": 389.7134040427478, + "ymax": 102.26538975631291 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 350.66637079533444, + 101.61879771869883 + ], + [ + 361.1562867056242, + 102.26538975631291 + ], + [ + 389.7134040427478, + 57.531980306826824 + ], + [ + 379.8820803215306, + 56.966969664032604 + ], + [ + 303.73953034592284, + -98.7291608561597 + ], + [ + 315.88117952251156, + -98.19739735150807 + ], + [ + 352.12449428552634, + -134.60653539248813 + ], + [ + 340.85627285169716, + -135.06152477469902 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 462.0757033638997, + "ymin": 149.04921956536066, + "xmax": 482.70104166437613, + "ymax": 160.97585428088206 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 465.75938259728713, + 153.03118345339703 + ], + [ + 462.67767134272424, + 159.84404321986688 + ], + [ + 479.77160634185316, + 160.97585428088206 + ], + [ + 482.70104166437613, + 154.14232491460498 + ], + [ + 465.17331650965957, + 149.04921956536066 + ], + [ + 462.0757033638997, + 155.84824454281772 + ], + [ + 479.22683716567803, + 156.97779823636168 + ], + [ + 482.1711586259064, + 150.15807576807967 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1108.9661820265592, + "ymin": 420.7301194897702, + "xmax": 1242.284259103549, + "ymax": 507.25628621970816 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1129.5711942858918, + 497.62350729860395 + ], + [ + 1235.53857037889, + 507.25628621970816 + ], + [ + 1208.1037224124118, + 438.73200502433866 + ], + [ + 1108.9661820265592, + 430.2669411821297 + ], + [ + 1135.06705809605, + 488.2020021125552 + ], + [ + 1242.284259103549, + 497.8589860335048 + ], + [ + 1214.1300702763588, + 429.204491277124 + ], + [ + 1113.8992619217736, + 420.7301194897702 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1061.5220587572153, + "ymin": 385.792295647239, + "xmax": 1269.692614975756, + "ymax": 593.8246733568092 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1078.2383355977654, + 583.9320892038796 + ], + [ + 1178.584407653802, + 593.8246733568092 + ], + [ + 1155.6827758439053, + 522.8218807733174 + ], + [ + 1061.5220587572153, + 514.0821959636986 + ], + [ + 1151.6444511095203, + 457.80948958608724 + ], + [ + 1269.692614975756, + 468.12589346988307 + ], + [ + 1236.827578325257, + 394.7248274958983 + ], + [ + 1127.2445571919102, + 385.792295647239 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 461.96326152031634, + "ymin": 148.98537709291662, + "xmax": 482.8103137713913, + "ymax": 161.0401822764382 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 465.6876622372352, + 153.0100635063026 + ], + [ + 462.5720998853509, + 159.89607912001188 + ], + [ + 479.8503123054004, + 161.0401822764382 + ], + [ + 482.8103137713913, + 154.13305056791643 + ], + [ + 465.0950749902984, + 148.98537709291662 + ], + [ + 461.96326152031634, + 155.8572587954912 + ], + [ + 479.29991480624494, + 156.99905594640717 + ], + [ + 482.27511853083183, + 150.1060293489197 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1109.06494794284, + "ymin": 420.7736763542612, + "xmax": 1242.2066157604268, + "ymax": 507.1437867527918 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1129.6515075456343, + 497.5224813390023 + ], + [ + 1235.5064081367173, + 507.1437867527918 + ], + [ + 1208.1049262692093, + 438.7040185247084 + ], + [ + 1109.06494794284, + 430.24776724260266 + ], + [ + 1135.1115643608941, + 488.1627684597868 + ], + [ + 1242.2066157604268, + 497.80807561525523 + ], + [ + 1214.091465821372, + 429.2391659207349 + ], + [ + 1113.9665077129496, + 420.7736763542612 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 367.7571435289544, + "ymin": 0.0, + "xmax": 723.8177367001167, + "ymax": 136.40191766803824 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 412.7983326405255, + 110.61449381295736 + ], + [ + 409.6300554589981, + 116.13623333654294 + ], + [ + 709.8386511850135, + 136.40191766803824 + ], + [ + 710.6602059624493, + 130.55694970546145 + ], + [ + 371.88597172563675, + -110.20188709911974 + ], + [ + 367.7571435289544, + -105.75269169000757 + ], + [ + 722.9696832750282, + -89.31342641040698 + ], + [ + 723.8177367001167, + -94.0726227359936 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1090.9648297915328, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 530.483177402724 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1344.6072563115033, + 245.4410009326014 + ], + [ + 1090.9648297915328, + 284.93742524861966 + ], + [ + 1303.479480569431, + 530.483177402724 + ], + [ + 1612.4720897742454, + 466.31652376170535 + ], + [ + 1666.741071435617, + -253.55019535593635 + ], + [ + 1311.773034207501, + -230.1357521868067 + ], + [ + 1787.17733722767, + -57.41372805386504 + ], + [ + 2253.666703107605, + -107.69213198210724 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00112/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00112/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3dfcafd3a48d1fd8681b8201c0b6f3ca8ae6983b --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00112/meta.json @@ -0,0 +1,2674 @@ +{ + "frame_id": 112, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 56.0, + "sim_timestamp": 11119.658021979034 + }, + "drone_pose": { + "x": -95.45819408704413, + "y": -88.80403696505823, + "z": 20.105354698508737, + "pitch": -44.31933057993158, + "yaw": -8.290163192243048, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7079808712005615, + 0.103159099817276, + 0.6986567378044128, + 44.37488555908203 + ], + [ + -0.14418630301952362, + 0.9895505309104919, + -3.725290298461914e-09, + 101.63984680175781 + ], + [ + -0.6913561224937439, + -0.10073673725128174, + 0.715457022190094, + -71.43429565429688 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -94.95819408704413, + "y": -88.80403696505823, + "z": 20.097598643649434 + }, + "t1_image_uv": [ + 832.5643899842717, + -548.5012492484325 + ], + "t1_depth": 0.3594092863323636 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -75.66718292236328, + "y": -91.68776321411131, + "z": 0.5749944090844292 + }, + "image_uv": [ + 640.0, + 360.0000000000001 + ], + "depth": 27.954158421149472, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 200, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -75.66718292236328, + "y": -91.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.21418942511081696, + "y": 0.2088671624660492, + "z": 0.5215920805931091 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.6945829459486, + "ymin": 341.2481889673071, + "xmax": 648.2277210464815, + "ymax": 378.49703017463844 + }, + "corners_3d": [ + [ + -75.8813705444336, + -91.8966293334961, + 0.05340230464935303 + ], + [ + -75.8813705444336, + -91.47888946533203, + 0.05340230464935303 + ], + [ + -75.45299530029297, + -91.47888946533203, + 0.05340230464935303 + ], + [ + -75.45299530029297, + -91.8966293334961, + 0.05340230464935303 + ], + [ + -75.8813705444336, + -91.8966293334961, + 1.0965864658355713 + ], + [ + -75.8813705444336, + -91.47888946533203, + 1.0965864658355713 + ], + [ + -75.45299530029297, + -91.47888946533203, + 1.0965864658355713 + ], + [ + -75.45299530029297, + -91.8966293334961, + 1.0965864658355713 + ] + ], + "corners_2d": [ + [ + 631.9093237804385, + 377.0355967042377 + ], + [ + 645.996574120099, + 378.49703017463844 + ], + [ + 648.0169347013963, + 368.3059277660456 + ], + [ + 634.0765807909194, + 366.8754645767651 + ], + [ + 631.6945829459486, + 351.39494532772153 + ], + [ + 646.1559839559055, + 352.85492650647404 + ], + [ + 648.2277210464815, + 342.67642225823965 + ], + [ + 633.9210802299099, + 341.2481889673071 + ] + ], + "center_offset_px": [ + 0.0, + 1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 112, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 54, + "semantic_pixel_counts": { + "1": 360775, + "2": 198956, + "3": 190127, + "4": 36698, + "6": 7651, + "7": 345, + "9": 911, + "10": 37420, + "12": 3165, + "14": 34478, + "20": 31007, + "24": 20067 + }, + "instance_pixel_counts": { + "913": 3637, + "2158": 3828, + "5230": 3017, + "5742": 6602, + "9346": 53, + "12951": 621, + "15963": 74232, + "16475": 69147, + "16987": 4117, + "17232": 36698, + "22976": 6923, + "23296": 1202, + "23552": 1615, + "24512": 32762, + "26963": 1955, + "28819": 8870, + "29331": 183, + "33429": 692, + "35668": 11519, + "35924": 12719, + "36692": 3132, + "37979": 25066, + "40019": 3171, + "41107": 3023, + "41611": 1766, + "41619": 5437, + "42123": 1357, + "43117": 4118, + "43147": 13737, + "43155": 81439, + "43659": 13612, + "43667": 12163, + "44179": 249660, + "44181": 128, + "44693": 70, + "45717": 6700, + "46229": 156, + "46741": 12321, + "49664": 200, + "49920": 439, + "50176": 493, + "50432": 932, + "50624": 7314, + "50688": 676, + "50944": 425, + "51136": 2614, + "51456": 10458, + "51712": 3516, + "52160": 35759, + "52672": 71151, + "55040": 20504, + "55879": 15939, + "57173": 911, + "64351": 11340 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 200, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -75.66718292236328, + "y": -91.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.23672360181808472, + "y": 0.20414549112319946, + "z": 0.5334895849227905 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.7369062309828, + "ymin": 340.43656727918557, + "xmax": 648.176017407348, + "ymax": 379.30750533931973 + }, + "corners_3d": [ + [ + -75.9039077758789, + -91.89190673828125, + 0.04150480031967163 + ], + [ + -75.9039077758789, + -91.48361206054688, + 0.04150480031967163 + ], + [ + -75.43045806884766, + -91.48361206054688, + 0.04150480031967163 + ], + [ + -75.43045806884766, + -91.89190673828125, + 0.04150480031967163 + ], + [ + -75.9039077758789, + -91.89190673828125, + 1.1084840297698975 + ], + [ + -75.9039077758789, + -91.48361206054688, + 1.1084840297698975 + ], + [ + -75.43045806884766, + -91.48361206054688, + 1.1084840297698975 + ], + [ + -75.43045806884766, + -91.89190673828125, + 1.1084840297698975 + ] + ], + "corners_2d": [ + [ + 631.9554891097404, + 377.8774917059843 + ], + [ + 645.7277945636769, + 379.30750533931973 + ], + [ + 647.9619640943694, + 368.04432725810307 + ], + [ + 634.3482487861779, + 366.64775954382526 + ], + [ + 631.7369062309828, + 351.6511876922129 + ], + [ + 645.8836676704599, + 353.07979120090005 + ], + [ + 648.176017407348, + 341.8308656939923 + ], + [ + 634.1965348156981, + 340.43656727918557 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 439, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -71.54119873046875, + "y": -88.69005584716797, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.5199072360992432, + "y": 0.3068163990974426, + "z": 0.8969994187355042 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 738.0238366035074, + "ymin": 247.0258509413326, + "xmax": 766.5977638296088, + "ymax": 312.24699234299567 + }, + "corners_3d": [ + [ + -72.11353302001953, + -88.88207244873047, + -0.3220001459121704 + ], + [ + -71.98595428466797, + -88.28185272216797, + -0.3220001459121704 + ], + [ + -70.96886444091797, + -88.49803924560547, + -0.3220001459121704 + ], + [ + -71.09644317626953, + -89.09825897216797, + -0.3220001459121704 + ], + [ + -72.11353302001953, + -88.88207244873047, + 1.471998691558838 + ], + [ + -71.98595428466797, + -88.28185272216797, + 1.471998691558838 + ], + [ + -70.96886444091797, + -88.49803924560547, + 1.471998691558838 + ], + [ + -71.09644317626953, + -89.09825897216797, + 1.471998691558838 + ] + ], + "corners_2d": [ + [ + 742.4824209051147, + 312.24699234299567 + ], + [ + 761.4519073587888, + 311.42741713244743 + ], + [ + 756.5513729053934, + 290.530294511204 + ], + [ + 738.0238366035074, + 291.3117703544405 + ], + [ + 746.8287230874482, + 268.5289332063383 + ], + [ + 766.5977638296088, + 267.7166113870863 + ], + [ + 761.3687032030108, + 247.0258509413326 + ], + [ + 742.0791808092288, + 247.79886840226766 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 493, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -75.42644500732422, + "y": -85.01473236083984, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.5936181545257568, + "y": 0.3555664122104645, + "z": 0.8737033009529114 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 852.5681803500896, + "ymin": 340.8549925710531, + "xmax": 893.523126737781, + "ymax": 414.07064914557486 + }, + "corners_3d": [ + [ + -76.0539779663086, + -85.3062973022461, + -0.2987089157104492 + ], + [ + -75.97964477539062, + -84.59906005859375, + -0.2987089157104492 + ], + [ + -74.79891204833984, + -84.7231674194336, + -0.2987089157104492 + ], + [ + -74.87324523925781, + -85.43040466308594, + -0.2987089157104492 + ], + [ + -76.0539779663086, + -85.3062973022461, + 1.4486976861953735 + ], + [ + -75.97964477539062, + -84.59906005859375, + 1.4486976861953735 + ], + [ + -74.79891204833984, + -84.7231674194336, + 1.4486976861953735 + ], + [ + -74.87324523925781, + -85.43040466308594, + 1.4486976861953735 + ] + ], + "corners_2d": [ + [ + 857.4493052377236, + 413.341099158662 + ], + [ + 882.3138906262864, + 414.07064914557486 + ], + [ + 876.6877845884501, + 384.50199791431123 + ], + [ + 852.5681803500896, + 383.8152963203245 + ], + [ + 867.5005832348885, + 370.3650490923825 + ], + [ + 893.523126737781, + 371.09523924920376 + ], + [ + 887.2956154707759, + 341.5404057698128 + ], + [ + 862.0879177393297, + 340.8549925710531 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 932, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -85.16718292236328, + "y": -91.68775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.5498974323272705, + "y": 0.44719722867012024, + "z": 0.9048302173614502 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 550.3384280588486, + "ymin": 610.8355733998209, + "xmax": 603.3377752160385, + "ymax": 702.3492973612919 + }, + "corners_3d": [ + [ + -85.71707916259766, + -92.13495635986328, + -0.32983094453811646 + ], + [ + -85.71707916259766, + -91.24056243896484, + -0.32983094453811646 + ], + [ + -84.6172866821289, + -91.24056243896484, + -0.32983094453811646 + ], + [ + -84.6172866821289, + -92.13495635986328, + -0.32983094453811646 + ], + [ + -85.71707916259766, + -92.13495635986328, + 1.4798295497894287 + ], + [ + -85.71707916259766, + -91.24056243896484, + 1.4798295497894287 + ], + [ + -84.6172866821289, + -91.24056243896484, + 1.4798295497894287 + ], + [ + -84.6172866821289, + -92.13495635986328, + 1.4798295497894287 + ] + ], + "corners_2d": [ + [ + 555.6068330433204, + 696.8615683871626 + ], + [ + 594.900064144355, + 702.3492973612919 + ], + [ + 603.3377752160385, + 657.469427249993 + ], + [ + 565.3818482851822, + 652.359065379056 + ], + [ + 550.3384280588486, + 656.5198472997656 + ], + [ + 592.0717295082276, + 662.1671035016636 + ], + [ + 601.1240868482208, + 616.0715375701803 + ], + [ + 560.8961224075872, + 610.8355733998209 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 676, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -77.42550659179688, + "y": -97.09932708740234, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.42117923498153687, + "y": 0.5174121856689453, + "z": 0.8768236637115479 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 414.5037924581201, + "ymin": 348.2396350840525, + "xmax": 468.9558367536598, + "ymax": 418.3815764535584 + }, + "corners_3d": [ + [ + -77.79029083251953, + -97.65792846679688, + -0.3018243908882141 + ], + [ + -77.8984603881836, + -96.62877655029297, + -0.3018243908882141 + ], + [ + -77.06072235107422, + -96.54072570800781, + -0.3018243908882141 + ], + [ + -76.95255279541016, + -97.56987762451172, + -0.3018243908882141 + ], + [ + -77.79029083251953, + -97.65792846679688, + 1.4518229961395264 + ], + [ + -77.8984603881836, + -96.62877655029297, + 1.4518229961395264 + ], + [ + -77.06072235107422, + -96.54072570800781, + 1.4518229961395264 + ], + [ + -76.95255279541016, + -97.56987762451172, + 1.4518229961395264 + ] + ], + "corners_2d": [ + [ + 424.48508851289387, + 411.8067512822113 + ], + [ + 458.0637410424727, + 418.3815764535584 + ], + [ + 468.9558367536598, + 397.6702894312412 + ], + [ + 436.00060488417625, + 391.3652387384076 + ], + [ + 414.5037924581201, + 368.6758065315958 + ], + [ + 449.57898376933485, + 375.25723005259306 + ], + [ + 461.15251059310583, + 354.5388694084839 + ], + [ + 426.75670828052785, + 348.2396350840525 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 425, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -64.42184448242188, + "y": -99.85797882080078, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.4407324194908142, + "y": 0.43636229634284973, + "z": 0.8960762023925781 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 451.8077270787534, + "ymin": 103.2727938593477, + "xmax": 488.7879220742359, + "ymax": 160.28928603918828 + }, + "corners_3d": [ + [ + -64.76222229003906, + -100.3764419555664, + -0.16867464780807495 + ], + [ + -64.94367218017578, + -99.52278900146484, + -0.16867464780807495 + ], + [ + -64.08146667480469, + -99.33951568603516, + -0.16867464780807495 + ], + [ + -63.90001678466797, + -100.19316864013672, + -0.16867464780807495 + ], + [ + -64.76222229003906, + -100.3764419555664, + 1.6234776973724365 + ], + [ + -64.94367218017578, + -99.52278900146484, + 1.6234776973724365 + ], + [ + -64.08146667480469, + -99.33951568603516, + 1.6234776973724365 + ], + [ + -63.90001678466797, + -100.19316864013672, + 1.6234776973724365 + ] + ], + "corners_2d": [ + [ + 458.1607041908671, + 155.98250998020222 + ], + [ + 478.4040764585068, + 160.28928603918828 + ], + [ + 488.7879220742359, + 148.6414916175191 + ], + [ + 468.80265588220504, + 144.4692511490739 + ], + [ + 451.8077270787534, + 114.50834162520178 + ], + [ + 472.7240313328065, + 118.71440192127363 + ], + [ + 483.5596831647809, + 107.34297251162823 + ], + [ + 462.91859724140505, + 103.2727938593477 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 10458, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 566.3054573862922, + "ymin": 395.3445134908503, + "xmax": 670.9322852093743, + "ymax": 564.5078721672572 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 669.8066646928728, + 437.4345895281747 + ], + [ + 598.9181594199999, + 429.56520023768553 + ], + [ + 569.2966636261341, + 554.5541445785996 + ], + [ + 648.8005652094819, + 564.5078721672572 + ], + [ + 670.9322852093743, + 403.2335660777596 + ], + [ + 597.3792227353858, + 395.3445134908503 + ], + [ + 566.3054573862922, + 521.1942228854826 + ], + [ + 649.1762993374547, + 531.2670621110017 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 3516, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 992.9406818169754, + "ymin": 0.0, + "xmax": 1118.1902187726307, + "ymax": 48.129609544820596 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 992.9406818169754, + 22.49231899783433 + ], + [ + 998.1575872778875, + 41.371731292684785 + ], + [ + 1103.696412444277, + 48.129609544820596 + ], + [ + 1095.169928317954, + 28.850496681684774 + ], + [ + 1003.5320377262722, + -16.826438699863274 + ], + [ + 1009.2532835911769, + 1.3562486565809877 + ], + [ + 1118.1902187726307, + 7.893043172684429 + ], + [ + 1108.946590766391, + -10.687034960808887 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 20504, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 845.1935541108465, + "ymin": 374.36448424266797, + "xmax": 973.464275157193, + "ymax": 639.8018400963604 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 846.7026987957538, + 626.2769279314452 + ], + [ + 951.4113762060281, + 639.8018400963604 + ], + [ + 932.4126454489663, + 436.6461577217366 + ], + [ + 845.1935541108465, + 427.24158686169295 + ], + [ + 861.1665299479896, + 576.1189578638247 + ], + [ + 973.464275157193, + 589.998175712176 + ], + [ + 949.4626223093906, + 383.79359535558467 + ], + [ + 857.04060464035, + 374.36448424266797 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4809317425322915338, + "instance_id": 2806, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -62.6159553527832, + "y": -93.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 628.1438058190099, + "ymin": 0.0, + "xmax": 640.1506020395972, + "ymax": 0.18142001908381644 + }, + "corners_3d": [ + [ + -62.754539489746094, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.9842529296875, + 6.416468620300293 + ], + [ + -62.754539489746094, + -93.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 639.0144050976544, + 0.18142001908381644 + ], + [ + 640.1479081441457, + -3.1507063129895414 + ], + [ + 629.5504734047092, + -3.811606630655376 + ], + [ + 628.3568671897775, + -0.4871671687203616 + ], + [ + 638.9963481022264, + -24.42179152483118 + ], + [ + 640.1506020395972, + -27.670097596051903 + ], + [ + 629.3603760396056, + -28.314291257837738 + ], + [ + 628.1438058190099, + -25.073615336668183 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 421.94133785931183, + "ymin": 34.76258409578992, + "xmax": 437.27765331979367, + "ymax": 60.33216782965178 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 435.138694177145, + 60.33216782965178 + ], + [ + 437.27765331979367, + 56.92483487607649 + ], + [ + 427.73016351811657, + 56.25231377361314 + ], + [ + 425.54225818092596, + 59.65240683358928 + ], + [ + 431.69517408426253, + 38.77033903258797 + ], + [ + 433.8885960147563, + 35.42316109518703 + ], + [ + 424.1853187033353, + 34.76258409578992 + ], + [ + 421.94133785931183, + 38.10253092677294 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8433051479337506626, + "instance_id": 17047, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -62.61595153808594, + "y": -91.29429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 698.9447156206721, + "ymin": 0.0, + "xmax": 711.7914583928907, + "ymax": 4.6199202805537425 + }, + "corners_3d": [ + [ + -62.75453567504883, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.4842529296875, + 6.416468620300293 + ], + [ + -62.75453567504883, + -91.4842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 709.7665696580028, + 4.6199202805537425 + ], + [ + 710.4974779388925, + 1.2365399355977615 + ], + [ + 699.7376065070157, + 0.5655094413639858 + ], + [ + 698.9447156206721, + 3.9410249831511237 + ], + [ + 711.0547594638617, + -20.093876021073925 + ], + [ + 711.7914583928907, + -23.39307021578645 + ], + [ + 700.8327948877218, + -24.047319810641113 + ], + [ + 700.0317948185107, + -20.755935660985017 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1047.2659169375622, + "ymin": 58.61159595487652, + "xmax": 1066.4233690075685, + "ymax": 84.91681211228314 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1057.8620711450324, + 81.24249054335883 + ], + [ + 1047.2659169375622, + 80.51745143855317 + ], + [ + 1048.445802438606, + 84.18366620529503 + ], + [ + 1059.1023709073686, + 84.91681211228314 + ], + [ + 1065.1202091714285, + 59.32467087027561 + ], + [ + 1054.3320813308505, + 58.61159595487652 + ], + [ + 1055.5726136350781, + 62.21759257131919 + ], + [ + 1066.4233690075685, + 62.93878010540169 + ] + ], + "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": 1000.4576404359927, + "ymin": 0.0, + "xmax": 1124.1390268938198, + "ymax": 149.999339819477 + }, + "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": [ + [ + 1035.518735582055, + 149.07128234709984 + ], + [ + 1047.0967598857942, + 149.999339819477 + ], + [ + 1009.8355781972317, + 14.054229844902068 + ], + [ + 1000.4576404359927, + 13.44048108595723 + ], + [ + 1110.2563480301378, + -76.55069257984917 + ], + [ + 1124.1390268938198, + -75.78975089919123 + ], + [ + 1064.8026031027885, + -183.4736982462897 + ], + [ + 1053.9670248705847, + -183.94317821735433 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 339.67731855526597, + "ymin": 147.2601822101477, + "xmax": 531.7984235070368, + "ymax": 403.33014425555035 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 403.2795627875054, + 378.58831996872027 + ], + [ + 398.4260627654287, + 389.3236688626137 + ], + [ + 528.3386414170429, + 403.33014425555035 + ], + [ + 531.7984235070368, + 392.2832572578364 + ], + [ + 346.5037216837183, + 147.2601822101477 + ], + [ + 339.67731855526597, + 157.3770095817709 + ], + [ + 500.69271975598133, + 170.65893692754196 + ], + [ + 505.38449437528266, + 160.17569539224294 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 329.1370162383249, + "ymin": 0.0, + "xmax": 412.4569641476619, + "ymax": 110.86107760675111 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 372.4541822748326, + 110.05884359248284 + ], + [ + 382.88732492889227, + 110.86107760675111 + ], + [ + 412.4569641476619, + 65.89375433356867 + ], + [ + 402.67245397573015, + 65.19286178285398 + ], + [ + 329.1370162383249, + -89.5749603785689 + ], + [ + 341.2028940861724, + -88.91337459010168 + ], + [ + 378.33791326066194, + -125.61527394303721 + ], + [ + 367.1308349580718, + -126.1812477871589 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 480.571957822572, + "ymin": 166.20672103157045, + "xmax": 501.4272794795364, + "ymax": 178.5968636856574 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 484.39530048675715, + 170.1794432739853 + ], + [ + 481.11515787607135, + 177.16388524767873 + ], + [ + 498.3003234228163, + 178.5968636856574 + ], + [ + 501.4272794795364, + 171.5859937102444 + ], + [ + 483.8682551830714, + 166.20672103157045 + ], + [ + 480.571957822572, + 173.1778014565941 + ], + [ + 497.8149534204918, + 174.60809308587758 + ], + [ + 500.9570368119622, + 167.61054519846715 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1135.6881086839835, + "ymin": 455.1493844735925, + "xmax": 1273.4664151460427, + "ymax": 548.2434979805809 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1156.1567085405063, + 535.6491947841498 + ], + [ + 1266.1882427272726, + 548.2434979805809 + ], + [ + 1238.4046891946725, + 475.6228736668201 + ], + [ + 1135.6881086839835, + 464.5931632449805 + ], + [ + 1162.0880945830172, + 526.3705937376302 + ], + [ + 1273.4664151460427, + 539.0050748985561 + ], + [ + 1244.9063657772836, + 466.19788605941176 + ], + [ + 1141.0167523894816, + 455.1493844735925 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1084.7248521808451, + "ymin": 420.3144244904426, + "xmax": 1280.0, + "ymax": 633.3533860909495 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1100.9631276980786, + 620.4949131301913 + ], + [ + 1204.7552469186448, + 633.3533860909495 + ], + [ + 1181.9402908995075, + 558.5392836330697 + ], + [ + 1084.7248521808451, + 547.2132975660518 + ], + [ + 1180.0730139607904, + 496.4849892195065 + ], + [ + 1302.8989299982072, + 510.0156151990017 + ], + [ + 1269.3613076752792, + 431.98333940504335 + ], + [ + 1155.6346455694816, + 420.3144244904426 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 480.4582975999431, + "ymin": 166.1404306171366, + "xmax": 501.537803400832, + "ymax": 178.66372553464396 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 484.32386939266365, + 170.15577613040583 + ], + [ + 481.0077408479743, + 177.21518364151487 + ], + [ + 498.3781659769056, + 178.66372553464396 + ], + [ + 501.537803400832, + 171.57731915671656 + ], + [ + 483.79093564382777, + 166.1404306171366 + ], + [ + 480.4582975999431, + 173.18618762201814 + ], + [ + 497.8878085529595, + 174.63198485080616 + ], + [ + 501.0628945749246, + 167.55918823225255 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1135.7912148430216, + "ymin": 455.1964557424443, + "xmax": 1273.386039535861, + "ymax": 548.1276333939354 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1156.2420195103539, + 535.548230585981 + ], + [ + 1266.1569277593767, + 548.1276333939354 + ], + [ + 1238.4071056485395, + 475.5964567762768 + ], + [ + 1135.7912148430216, + 464.5780988423398 + ], + [ + 1162.1347696300118, + 526.3304394455871 + ], + [ + 1273.386039535861, + 538.9496880025529 + ], + [ + 1244.8658454029787, + 466.233464118139 + ], + [ + 1141.0858088575105, + 455.1964557424443 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 392.92933151045895, + "ymin": 0.0, + "xmax": 750.5029901644846, + "ymax": 150.56649493699814 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 434.2215617845508, + 119.97503021999464 + ], + [ + 430.9241823855249, + 125.5368413053236 + ], + [ + 732.1019312978979, + 150.56649493699814 + ], + [ + 733.0488079901268, + 144.60326367109622 + ], + [ + 397.1750590656379, + -100.22266960459535 + ], + [ + 392.92933151045895, + -95.72524912704722 + ], + [ + 749.548205331337, + -75.32454278568883 + ], + [ + 750.5029901644846, + -80.20901728682094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1118.4365902431653, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 570.429119168866 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1381.3475026298152, + 273.6150078505669 + ], + [ + 1118.4365902431653, + 310.0429812762993 + ], + [ + 1335.542256263922, + 570.429119168866 + ], + [ + 1660.1544654851514, + 510.215170558375 + ], + [ + 1730.989196992076, + -230.77898120310613 + ], + [ + 1358.5876892155559, + -208.4920324351375 + ], + [ + 1865.0859144899473, + -17.824006933149576 + ], + [ + 2367.833510913895, + -67.5447589282685 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00113/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00113/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..b4cfe8340d141466cc52de503849341091d5f6b5 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00113/meta.json @@ -0,0 +1,4164 @@ +{ + "frame_id": 113, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 56.5, + "sim_timestamp": 11131.342781210318 + }, + "drone_pose": { + "x": -94.95819408704413, + "y": -88.80403696505823, + "z": 20.097598643649434, + "pitch": -39.30795470404516, + "yaw": -6.891394060008626, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.768162190914154, + 0.092840775847435, + 0.6334882974624634, + 51.96706008911133 + ], + [ + -0.11998772621154785, + 0.9927753806114197, + 3.725290298461914e-09, + 99.5562744140625 + ], + [ + -0.6289116144180298, + -0.0760108232498169, + 0.7737522721290588, + -68.52080535888672 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -94.45819408704413, + "y": -88.80403696505823, + "z": 20.09003590081898 + }, + "t1_image_uv": [ + 788.1055619764105, + -401.8443465931963 + ], + "t1_depth": 0.3888720075137747 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -75.16718292236328, + "y": -91.68776321411131, + "z": 0.5749944090844292 + }, + "image_uv": [ + 623.1636878748666, + 444.1332266932403 + ], + "depth": 27.83777541767697, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 201, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -75.16718292236328, + "y": -91.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.1653124839067459, + "y": 0.22020505368709564, + "z": 0.525870680809021 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 614.5385367333693, + "ymin": 426.3815169628067, + "xmax": 631.5208766420093, + "ymax": 461.649690379495 + }, + "corners_3d": [ + [ + -75.3324966430664, + -91.90796661376953, + 0.04912370443344116 + ], + [ + -75.3324966430664, + -91.4675521850586, + 0.04912370443344116 + ], + [ + -75.00186920166016, + -91.4675521850586, + 0.04912370443344116 + ], + [ + -75.00186920166016, + -91.90796661376953, + 0.04912370443344116 + ], + [ + -75.3324966430664, + -91.90796661376953, + 1.100865125656128 + ], + [ + -75.3324966430664, + -91.4675521850586, + 1.100865125656128 + ], + [ + -75.00186920166016, + -91.4675521850586, + 1.100865125656128 + ], + [ + -75.00186920166016, + -91.90796661376953, + 1.100865125656128 + ] + ], + "corners_2d": [ + [ + 615.1430080894193, + 460.35646651344734 + ], + [ + 630.0850135764217, + 461.649690379495 + ], + [ + 631.5208766420093, + 453.67745346052686 + ], + [ + 616.7108066137487, + 452.40733897589917 + ], + [ + 614.5385367333693, + 434.28269633055487 + ], + [ + 629.8435409555002, + 435.5684455962527 + ], + [ + 631.3162729452841, + 427.6437389692506 + ], + [ + 616.1496626258117, + 426.3815169628067 + ] + ], + "center_offset_px": [ + -16.836312125133418, + 84.13322669324032 + ] + }, + "trace_timestep_index": 113, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 86, + "semantic_pixel_counts": { + "1": 353474, + "2": 176372, + "3": 198214, + "4": 38817, + "5": 1694, + "6": 12607, + "7": 1187, + "9": 10801, + "10": 41887, + "12": 1857, + "14": 39671, + "20": 23508, + "21": 849, + "24": 20662 + }, + "instance_pixel_counts": { + "110": 175, + "913": 3832, + "2158": 962, + "5230": 3123, + "5742": 6751, + "9296": 1694, + "9346": 257, + "9799": 4038, + "11927": 319, + "12439": 490, + "12951": 615, + "15963": 96605, + "16475": 46196, + "17232": 38817, + "21952": 631, + "22464": 1576, + "22784": 185, + "22976": 6908, + "23040": 53, + "23296": 4699, + "23552": 3217, + "24404": 883, + "24512": 24505, + "25940": 43, + "26196": 42, + "26963": 1959, + "27795": 6495, + "28307": 1503, + "28819": 10445, + "29331": 475, + "29781": 181, + "31893": 390, + "32405": 58, + "33429": 755, + "33697": 108, + "33941": 14, + "35668": 12464, + "35924": 3014, + "36692": 3230, + "37979": 39901, + "38539": 469, + "39051": 1090, + "39563": 1878, + "40019": 3365, + "40787": 59, + "41099": 80, + "41107": 35772, + "41611": 1713, + "41619": 13946, + "41889": 1, + "42123": 1335, + "42643": 426, + "43117": 4211, + "43147": 11398, + "43155": 78754, + "43659": 10956, + "43667": 13878, + "44179": 191780, + "44181": 2443, + "44693": 371, + "45205": 20, + "45717": 6540, + "46229": 303, + "46741": 9768, + "47552": 453, + "48064": 1571, + "49088": 2311, + "49664": 201, + "49920": 423, + "50015": 1138, + "50112": 121, + "50176": 533, + "50624": 7071, + "50688": 300, + "50944": 400, + "51136": 2721, + "51456": 11468, + "51712": 3633, + "52160": 26358, + "52672": 58649, + "55040": 22088, + "55296": 2482, + "55879": 16652, + "57173": 10801, + "64351": 9116, + "64603": 849 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 201, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -75.16718292236328, + "y": -91.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.1719994843006134, + "y": 0.21474118530750275, + "z": 0.5254956483840942 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 614.6954701857187, + "ymin": 426.24842843863075, + "xmax": 631.3656379349197, + "ymax": 461.78718387105005 + }, + "corners_3d": [ + [ + -75.33917999267578, + -91.90250396728516, + 0.04949873685836792 + ], + [ + -75.33917999267578, + -91.47301483154297, + 0.04949873685836792 + ], + [ + -74.99518585205078, + -91.47301483154297, + 0.04949873685836792 + ], + [ + -74.99518585205078, + -91.90250396728516, + 0.04949873685836792 + ], + [ + -75.33917999267578, + -91.90250396728516, + 1.1004900932312012 + ], + [ + -75.33917999267578, + -91.47301483154297, + 1.1004900932312012 + ], + [ + -74.99518585205078, + -91.47301483154297, + 1.1004900932312012 + ], + [ + -74.99518585205078, + -91.90250396728516, + 1.1004900932312012 + ] + ], + "corners_2d": [ + [ + 615.2959131856176, + 460.52558119104515 + ], + [ + 629.870001979832, + 461.78718387105005 + ], + [ + 631.3656379349197, + 453.4929432121709 + ], + [ + 616.9254157635731, + 452.25478797096247 + ], + [ + 614.6954701857187, + 434.4693766669103 + ], + [ + 629.6234292848751, + 435.72370388452885 + ], + [ + 631.157481189106, + 427.47888452756354 + ], + [ + 616.369936914498, + 426.24842843863075 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 423, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -71.04119873046875, + "y": -88.69005584716797, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.5305322408676147, + "y": 0.34761717915534973, + "z": 0.8800875544548035 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 718.4889304927302, + "ymin": 329.8022838872726, + "xmax": 748.8188194677705, + "ymax": 394.4741804035547 + }, + "corners_3d": [ + [ + -71.63240814208984, + -88.91976928710938, + -0.3050882816314697 + ], + [ + -71.48786163330078, + -88.23973083496094, + -0.3050882816314697 + ], + [ + -70.44998931884766, + -88.46034240722656, + -0.3050882816314697 + ], + [ + -70.59453582763672, + -89.140380859375, + -0.3050882816314697 + ], + [ + -71.63240814208984, + -88.91976928710938, + 1.4550868272781372 + ], + [ + -71.48786163330078, + -88.23973083496094, + 1.4550868272781372 + ], + [ + -70.44998931884766, + -88.46034240722656, + 1.4550868272781372 + ], + [ + -70.59453582763672, + -89.140380859375, + 1.4550868272781372 + ] + ], + "corners_2d": [ + [ + 723.5090778556307, + 394.4741804035547 + ], + [ + 744.8921983827797, + 393.2024187823022 + ], + [ + 739.3283655954764, + 372.08369579691475 + ], + [ + 718.4889304927302, + 373.2906811910588 + ], + [ + 726.6402608523179, + 351.8015660888133 + ], + [ + 748.8188194677705, + 350.5508185354528 + ], + [ + 742.9473524632713, + 329.8022838872726 + ], + [ + 721.3531242501763, + 330.98703409563086 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 533, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -75.417236328125, + "y": -84.92057800292969, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.2901684641838074, + "y": 0.32661619782447815, + "z": 0.8778651356697083 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 842.967562879672, + "ymin": 440.75158476997, + "xmax": 878.6795768848593, + "ymax": 499.6399073219886 + }, + "corners_3d": [ + [ + -75.73995971679688, + -85.21507263183594, + -0.3028658628463745 + ], + [ + -75.67167663574219, + -84.56542205810547, + -0.3028658628463745 + ], + [ + -75.09451293945312, + -84.62608337402344, + -0.3028658628463745 + ], + [ + -75.16279602050781, + -85.2757339477539, + -0.3028658628463745 + ], + [ + -75.73995971679688, + -85.21507263183594, + 1.452864408493042 + ], + [ + -75.67167663574219, + -84.56542205810547, + 1.452864408493042 + ], + [ + -75.09451293945312, + -84.62608337402344, + 1.452864408493042 + ], + [ + -75.16279602050781, + -85.2757339477539, + 1.452864408493042 + ] + ], + "corners_2d": [ + [ + 845.9822812764264, + 499.37387469689025 + ], + [ + 868.9715284411034, + 499.6399073219886 + ], + [ + 865.5845879697849, + 484.68750575254205 + ], + [ + 842.967562879672, + 484.4299975164015 + ], + [ + 854.7130037553231, + 455.5815188950568 + ], + [ + 878.6795768848593, + 455.8457070251633 + ], + [ + 874.9880901820256, + 441.0069577820758 + ], + [ + 851.4257813919282, + 440.75158476997 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 300, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -77.40241241455078, + "y": -98.56710052490234, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.5902222394943237, + "y": 0.46930667757987976, + "z": 0.9025596976280212 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 334.94283671507145, + "ymin": 434.854427833334, + "xmax": 396.6192647745754, + "ymax": 515.7714568482922 + }, + "corners_3d": [ + [ + -77.94034576416016, + -99.09552764892578, + -0.17516303062438965 + ], + [ + -78.03845977783203, + -98.16206359863281, + -0.17516303062438965 + ], + [ + -76.8644790649414, + -98.0386734008789, + -0.17516303062438965 + ], + [ + -76.76636505126953, + -98.97213745117188, + -0.17516303062438965 + ], + [ + -77.94034576416016, + -99.09552764892578, + 1.6299563646316528 + ], + [ + -78.03845977783203, + -98.16206359863281, + 1.6299563646316528 + ], + [ + -76.8644790649414, + -98.0386734008789, + 1.6299563646316528 + ], + [ + -76.76636505126953, + -98.97213745117188, + 1.6299563646316528 + ] + ], + "corners_2d": [ + [ + 347.9250904171035, + 510.0926676971702 + ], + [ + 379.03974183963544, + 515.7714568482922 + ], + [ + 396.6192647745754, + 485.39028174112764 + ], + [ + 366.3999233261041, + 480.07094895783894 + ], + [ + 334.94283671507145, + 464.64572219500496 + ], + [ + 367.3669674036532, + 470.2904806186503 + ], + [ + 386.0992066610097, + 440.1267490825424 + ], + [ + 354.6456349929319, + 434.854427833334 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 400, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -63.92184829711914, + "y": -99.85797882080078, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.4158593714237213, + "y": 0.4412890672683716, + "z": 0.8592846393585205 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 434.2247337787937, + "ymin": 194.600967718356, + "xmax": 470.2359168287781, + "ymax": 247.50770576100192 + }, + "corners_3d": [ + [ + -64.23686981201172, + -100.37608337402344, + -0.13187819719314575 + ], + [ + -64.42037200927734, + -99.5127944946289, + -0.13187819719314575 + ], + [ + -63.60682678222656, + -99.33987426757812, + -0.13187819719314575 + ], + [ + -63.4233283996582, + -100.20316314697266, + -0.13187819719314575 + ], + [ + -64.23686981201172, + -100.37608337402344, + 1.58669114112854 + ], + [ + -64.42037200927734, + -99.5127944946289, + 1.58669114112854 + ], + [ + -63.60682678222656, + -99.33987426757812, + 1.58669114112854 + ], + [ + -63.4233283996582, + -100.20316314697266, + 1.58669114112854 + ] + ], + "corners_2d": [ + [ + 440.20060587675795, + 243.53549654542536 + ], + [ + 460.5255128749584, + 247.50770576100192 + ], + [ + 470.2359168287781, + 236.6811348001534 + ], + [ + 450.17946430583527, + 232.83529588535885 + ], + [ + 434.2247337787937, + 204.98163906902082 + ], + [ + 455.12473911603604, + 208.83775656158974 + ], + [ + 465.21190333421634, + 198.33082010740142 + ], + [ + 444.59546002182356, + 194.600967718356 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 11468, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 546.3189109164398, + "ymin": 494.4180014013461, + "xmax": 652.9378336462427, + "ymax": 672.2077327632121 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 652.4999705072335, + 536.2057982863797 + ], + [ + 579.6555060688584, + 529.3002810845333 + ], + [ + 549.9079506625221, + 663.2212057337208 + ], + [ + 632.803384884647, + 672.2077327632121 + ], + [ + 652.9378336462427, + 501.3044217329374 + ], + [ + 577.5573889476653, + 494.4180014013461 + ], + [ + 546.3189109164398, + 628.5889980725483 + ], + [ + 632.514229460507, + 637.63938027606 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 3633, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 961.0243861055997, + "ymin": 77.86191636493771, + "xmax": 1081.5005953668199, + "ymax": 138.47575467446472 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 961.0243861055997, + 115.07114010072326 + ], + [ + 966.9890708437459, + 133.12546375610242 + ], + [ + 1069.6437371883271, + 138.47575467446472 + ], + [ + 1060.278265861629, + 120.08802985218304 + ], + [ + 969.5313257653988, + 77.86191636493771 + ], + [ + 975.9498607788071, + 95.12937040671824 + ], + [ + 1081.5005953668199, + 100.27114529110304 + ], + [ + 1071.4901792526657, + 82.6755870940317 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 22088, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 831.2980999432598, + "ymin": 468.37429553389416, + "xmax": 969.9840485633811, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 840.1446347371406, + 734.7645154662289 + ], + [ + 949.3547152708778, + 747.0271373181631 + ], + [ + 920.2553574115947, + 530.3145396601301 + ], + [ + 831.2980999432598, + 522.1486427721798 + ], + [ + 853.3425614086393, + 682.1564192760732 + ], + [ + 969.9840485633811, + 694.6439340465537 + ], + [ + 935.3059981637484, + 476.490713208015 + ], + [ + 841.4790468883136, + 468.37429553389416 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 216, + "instance_id": 55296, + "pixel_count": 2482, + "type_id": "vehicle.audi.etron", + "bbox_3d": { + "center_world": { + "x": -44.75563430786133, + "y": -104.2794189453125, + "z": 0.8648524284362793 + }, + "extent": { + "x": 2.427854299545288, + "y": 1.0163782835006714, + "z": 0.8246796727180481 + }, + "yaw": -94.3148193359375 + }, + "bbox_2d": { + "xmin": 417.50367630652437, + "ymin": 8.791857612635454, + "xmax": 516.5340313917432, + "ymax": 54.10101918966819 + }, + "corners_3d": [ + [ + -45.58646774291992, + -101.781982421875, + 0.04017278552055359 + ], + [ + -43.559471130371094, + -101.9349136352539, + 0.04017278552055359 + ], + [ + -43.92479705810547, + -106.77686309814453, + 0.04017278552055359 + ], + [ + -45.9517936706543, + -106.6239242553711, + 0.04017278552055359 + ], + [ + -45.58646774291992, + -101.781982421875, + 1.6895321607589722 + ], + [ + -43.559471130371094, + -101.9349136352539, + 1.6895321607589722 + ], + [ + -43.92479705810547, + -106.77686309814453, + 1.6895321607589722 + ], + [ + -45.9517936706543, + -106.6239242553711, + 1.6895321607589722 + ] + ], + "corners_2d": [ + [ + 511.09905974726075, + 54.10101918966819 + ], + [ + 516.5340313917432, + 39.97719563578772 + ], + [ + 430.00539560305504, + 38.5082837187972 + ], + [ + 421.97388827570046, + 52.541862282002 + ], + [ + 508.4474019433658, + 23.687248363425397 + ], + [ + 514.0703916019531, + 10.194227521348466 + ], + [ + 425.8286359857276, + 8.791857612635454 + ], + [ + 417.50367630652437, + 22.196925116553246 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1002.5375282474872, + "ymin": 0.0, + "xmax": 1018.164040885504, + "ymax": 22.732073883385567 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1011.804870545348, + 20.370326237848815 + ], + [ + 1002.5375282474872, + 19.981469287771176 + ], + [ + 1003.6613957775821, + 22.339092725101523 + ], + [ + 1012.9787597003271, + 22.732073883385567 + ], + [ + 1016.9462490289543, + -0.540460612376819 + ], + [ + 1007.5463285168989, + -0.9162207160614457 + ], + [ + 1008.7126543286574, + 1.3621360556835498 + ], + [ + 1018.164040885504, + 1.7419369913016567 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4809317425322915338, + "instance_id": 2806, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -62.6159553527832, + "y": -93.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 603.7720757972202, + "ymin": 71.8305251764163, + "xmax": 615.9180998212552, + "ymax": 98.84853038906789 + }, + "corners_3d": [ + [ + -62.754539489746094, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.9842529296875, + 6.416468620300293 + ], + [ + -62.754539489746094, + -93.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 614.8410126053217, + 98.84853038906789 + ], + [ + 615.9180998212552, + 95.62042962844254 + ], + [ + 605.4929325081637, + 95.0894815217107 + ], + [ + 604.3524940773982, + 98.31099334599645 + ], + [ + 614.4309431853144, + 75.48031373695773 + ], + [ + 615.5280393759205, + 72.34598909776685 + ], + [ + 604.9345912189874, + 71.8305251764163 + ], + [ + 603.7720757972202, + 74.95834849999676 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 400.60011621761277, + "ymin": 133.91708638520777, + "xmax": 415.86456501305827, + "ymax": 158.47067395060387 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 413.70310959004183, + 158.47067395060387 + ], + [ + 415.86456501305827, + 155.11319772176086 + ], + [ + 406.3687253591546, + 154.56368453943819 + ], + [ + 404.1545116675154, + 157.91479536676684 + ], + [ + 410.2893239018345, + 137.7419675888884 + ], + [ + 412.5031010926303, + 134.45500453372773 + ], + [ + 402.8682110309592, + 133.91708638520777 + ], + [ + 400.60011621761277, + 137.1977241244888 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5344508464058845628, + "instance_id": 48329, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -62.61595916748047, + "y": -96.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 520.3769824932604, + "ymin": 67.7973415601304, + "xmax": 534.1692445467654, + "ymax": 94.63366528413127 + }, + "corners_3d": [ + [ + -62.75454330444336, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.9842529296875, + 6.416468620300293 + ], + [ + -62.75454330444336, + -96.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 532.5989338895031, + 94.63366528413127 + ], + [ + 534.1692445467654, + 91.4570493949546 + ], + [ + 523.9097586119315, + 90.93453930580972 + ], + [ + 522.2781222385404, + 94.10472318017031 + ], + [ + 530.8626766966369, + 71.38801559242847 + ], + [ + 532.4689801950233, + 68.30448253619471 + ], + [ + 522.0465802061312, + 67.7973415601304 + ], + [ + 520.3769824932604, + 70.8745306092494 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8433051479337506626, + "instance_id": 17047, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -62.61595153808594, + "y": -91.29429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 673.7688231939312, + "ymin": 75.242179673061, + "xmax": 685.7886162274008, + "ymax": 102.41339810746524 + }, + "corners_3d": [ + [ + -62.75453567504883, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.4842529296875, + 6.416468620300293 + ], + [ + -62.75453567504883, + -91.4842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 684.4002396917679, + 102.41339810746524 + ], + [ + 685.0538613038415, + 99.14143118687059 + ], + [ + 674.4875411698139, + 98.60329428999404 + ], + [ + 673.7688231939312, + 101.86853758425679 + ], + [ + 685.1289209653529, + 78.9423525733564 + ], + [ + 685.7886162274008, + 75.76473688377001 + ], + [ + 675.0493908893856, + 75.242179673061 + ], + [ + 674.32244451207, + 78.41315896013151 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1015.3683591053065, + "ymin": 25.11484606533071, + "xmax": 1032.2327749944716, + "ymax": 49.99150043452238 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1025.207425638533, + 47.334927453595924 + ], + [ + 1015.3683591053065, + 46.89769094270321 + ], + [ + 1016.6323892194418, + 49.549344222805814 + ], + [ + 1026.5278555403534, + 49.99150043452238 + ], + [ + 1030.8606577069881, + 25.538062455863155 + ], + [ + 1020.8720312651545, + 25.11484606533071 + ], + [ + 1022.1860173660323, + 27.681649526877834 + ], + [ + 1032.2327749944716, + 28.10969831635515 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 992.9102614454057, + "ymin": 0.0, + "xmax": 1007.6304167721314, + "ymax": 2.2923935425208697 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1001.7495598295073, + 0.14039644738016932 + ], + [ + 992.9102614454057, + -0.21402446973792166 + ], + [ + 993.934396937565, + 1.9343852354655269 + ], + [ + 1002.8191931493591, + 2.2923935425208697 + ], + [ + 1006.5221766995878, + -20.077029960495565 + ], + [ + 997.5623364261392, + -20.4190853214958 + ], + [ + 998.6238268284601, + -18.345517305406645 + ], + [ + 1007.6304167721314, + -17.999953707502982 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1017.0252300664838, + "ymin": 150.1323754011178, + "xmax": 1034.8342141928078, + "ymax": 175.25548637667097 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1027.3866971909836, + 171.70297845883206 + ], + [ + 1017.0252300664838, + 171.12165633413878 + ], + [ + 1018.3735961570937, + 174.66723651514442 + ], + [ + 1028.797970987589, + 175.25548637667097 + ], + [ + 1033.364944241161, + 150.70191845447715 + ], + [ + 1022.8378300159402, + 150.1323754011178 + ], + [ + 1024.2421600640644, + 153.60637896430498 + ], + [ + 1034.8342141928078, + 154.18281502181762 + ] + ], + "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": 967.8676526249524, + "ymin": 0.0, + "xmax": 1083.4725720886306, + "ymax": 238.04579625958155 + }, + "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": [ + [ + 1008.8841228400072, + 237.28389966383355 + ], + [ + 1020.2808762687349, + 238.04579625958155 + ], + [ + 976.9742231032391, + 106.81345421225444 + ], + [ + 967.8676526249524, + 106.32283981478605 + ], + [ + 1070.1000024821492, + 22.33460538959133 + ], + [ + 1083.4725720886306, + 22.935160402665417 + ], + [ + 1020.4744615532097, + -77.23698874916403 + ], + [ + 1010.1483170308829, + -77.59953325638008 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 314.0397627292752, + "ymin": 248.8885388884791, + "xmax": 510.53309032072514, + "ymax": 503.213086037534 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 378.5096250211234, + 479.6372886360842 + ], + [ + 373.3659277038609, + 490.95886579045833 + ], + [ + 506.99321227520886, + 503.213086037534 + ], + [ + 510.53309032072514, + 491.588793520197 + ], + [ + 321.203751503764, + 248.8885388884791 + ], + [ + 314.0397627292752, + 259.20259098925976 + ], + [ + 476.9142122096605, + 270.4303449922229 + ], + [ + 481.7024653688481, + 259.77812499881236 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 309.3901864070665, + "ymin": 0.0, + "xmax": 391.56348490194426, + "ymax": 207.97918016233962 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 351.0184944220582, + 207.31649550928645 + ], + [ + 361.4581645402641, + 207.97918016233962 + ], + [ + 391.56348490194426, + 163.43873908748898 + ], + [ + 381.8273145346187, + 162.86585939979543 + ], + [ + 309.3901864070665, + 16.41297185470893 + ], + [ + 321.28566747942386, + 16.942656376441903 + ], + [ + 358.58447669618397, + -18.3067504326267 + ], + [ + 347.59359361009155, + -18.75552284726001 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 456.6380063782855, + "ymin": 266.00384359094016, + "xmax": 477.77282106092844, + "ymax": 278.2303089031708 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 460.5747950930004, + 269.9085558930546 + ], + [ + 457.20907678837307, + 277.01935745621233 + ], + [ + 474.5773441218274, + 278.2303089031708 + ], + [ + 477.77282106092844, + 271.095112915719 + ], + [ + 460.019927342714, + 266.00384359094016 + ], + [ + 456.6380063782855, + 273.09683595725784 + ], + [ + 474.05964215472045, + 274.3047992155894 + ], + [ + 477.27027967957395, + 267.1873976885577 + ] + ], + "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": 905.0637882986432, + "ymin": 0.0, + "xmax": 966.0021583180321, + "ymax": 17.993098302615067 + }, + "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": [ + [ + 908.3121680404408, + 16.29936812480389 + ], + [ + 948.6528090004444, + 17.993098302615067 + ], + [ + 944.2810558096265, + 5.763013153469444 + ], + [ + 905.0637882986432, + 4.161144755714929 + ], + [ + 923.3332150793399, + -68.58609134620491 + ], + [ + 966.0021583180321, + -67.14050707172288 + ], + [ + 960.8877962914316, + -77.56487749380176 + ], + [ + 919.4735764109039, + -78.92785063761914 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1128.5553543277038, + "ymin": 548.9490275840932, + "xmax": 1274.1292081500806, + "ymax": 644.7861159588326 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1154.3590354706341, + 633.6809779477072 + ], + [ + 1267.3302741804964, + 644.7861159588326 + ], + [ + 1233.1981385810652, + 568.2275678605258 + ], + [ + 1128.5553543277038, + 558.6465869263747 + ], + [ + 1159.8751635742137, + 624.0411662107462 + ], + [ + 1274.1292081500806, + 635.1645387166449 + ], + [ + 1239.1628603895424, + 558.5310328734571 + ], + [ + 1133.420059086207, + 548.9490275840932 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1081.2103642630361, + "ymin": 513.3144235563047, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1102.5699815508033, + 722.623687301405 + ], + [ + 1209.9965671709533, + 734.1251927855449 + ], + [ + 1181.0294423376722, + 654.1222481705402 + ], + [ + 1081.2103642630361, + 644.1455608599406 + ], + [ + 1176.4836990021936, + 593.2047782744539 + ], + [ + 1302.135351887137, + 605.0600533888193 + ], + [ + 1261.556884362667, + 523.3747710205973 + ], + [ + 1146.1847054581785, + 513.3144235563047 + ] + ], + "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": 472.62422825875467, + "ymin": 0.0, + "xmax": 548.6108504359548, + "ymax": 95.08160126285605 + }, + "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": [ + [ + 548.6108504359548, + 10.683826173373006 + ], + [ + 541.4694582853164, + 10.354226489677501 + ], + [ + 491.3223288839505, + 94.61234591090061 + ], + [ + 499.7988173632825, + 95.08160126285605 + ], + [ + 539.1620349832745, + -146.66432963238623 + ], + [ + 531.2907710585001, + -146.89693876971126 + ], + [ + 472.62422825875467, + -86.22761529061398 + ], + [ + 482.1488481776703, + -85.88281536910114 + ] + ], + "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": 734.8330197123087, + "ymin": 0.0, + "xmax": 983.0983226325441, + "ymax": 35.120930783770405 + }, + "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": [ + [ + 949.1497894104992, + 35.120930783770405 + ], + [ + 948.2463986761891, + 32.30643706037745 + ], + [ + 735.2290611352443, + 22.405737039791575 + ], + [ + 734.8330197123087, + 25.099578071491862 + ], + [ + 983.0983226325441, + -129.3165527703258 + ], + [ + 981.8665786301098, + -131.3248295248094 + ], + [ + 745.3673353610814, + -138.36812704112907 + ], + [ + 744.9962881519541, + -136.45502635522018 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1260.7447785824388, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 32.766232255573414 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 1274.498245545476, + 30.954504737127536 + ], + [ + 1317.7172459694884, + 32.766232255573414 + ], + [ + 1302.6793345659867, + 19.695079377317768 + ], + [ + 1260.7447785824388, + 17.984933828333965 + ], + [ + 1311.3433689702642, + -56.24319777075817 + ], + [ + 1357.2372258217163, + -54.691724015876105 + ], + [ + 1340.1590476075567, + -65.8692180375466 + ], + [ + 1295.7104567209567, + -67.32886684263599 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 456.5227362631995, + "ymin": 265.9384987696067, + "xmax": 477.8847412587538, + "ymax": 278.296356737586 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 460.5030423333843, + 269.8850776459146 + ], + [ + 457.10032571174526, + 277.0722378660611 + ], + [ + 474.6559390322648, + 278.296356737586 + ], + [ + 477.8847412587538, + 271.0842750328377 + ], + [ + 459.9420114150689, + 265.9384987696067 + ], + [ + 456.5227362631995, + 273.10746485836125 + ], + [ + 474.1328774445079, + 274.32853103383184 + ], + [ + 477.3771621631868, + 267.1346282436803 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1128.6595107467313, + "ymin": 548.997222995371, + "xmax": 1274.042874297831, + "ymax": 644.6655334760111 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1154.4396551969248, + 633.5738123639712 + ], + [ + 1267.2898981014625, + 644.6655334760111 + ], + [ + 1233.1995470735774, + 568.2020560855694 + ], + [ + 1128.6595107467313, + 558.6310029567062 + ], + [ + 1159.9197758154214, + 623.9972854105713 + ], + [ + 1274.042874297831, + 635.1070805973686 + ], + [ + 1239.1248965152806, + 558.5692947269425 + ], + [ + 1133.4931740308289, + 548.997222995371 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 372.19799421506355, + "ymin": 5.871050121774658, + "xmax": 722.2433044323353, + "ymax": 242.69537440786326 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 412.7766237962825, + 216.28359413079306 + ], + [ + 409.4257064993264, + 221.825059495808 + ], + [ + 709.7394197141234, + 242.69537440786326 + ], + [ + 710.5463320818002, + 236.79272199540583 + ], + [ + 376.4539348330611, + 5.871050121774658 + ], + [ + 372.19799421506355, + 10.19863996385044 + ], + [ + 721.4228368585119, + 26.605098453046594 + ], + [ + 722.2433044323353, + 21.947562395244177 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 897939386194665430, + "instance_id": 54815, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1949_135", + "bbox_3d": { + "center_world": { + "x": -36.33243179321289, + "y": -120.14290618896484, + "z": 6.611191272735596 + }, + "extent": { + "x": 4.422521591186523, + "y": 4.2970757484436035, + "z": 7.008497714996338 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 72.68318734091713, + "ymin": 0.0, + "xmax": 353.41653815737027, + "ymax": 20.78376281080375 + }, + "corners_3d": [ + [ + -32.2579460144043, + -115.5145034790039, + -0.3973064422607422 + ], + [ + -31.58873176574707, + -124.08255767822266, + -0.3973064422607422 + ], + [ + -40.406917572021484, + -124.77130889892578, + -0.3973064422607422 + ], + [ + -41.076133728027344, + -116.20325469970703, + -0.3973064422607422 + ], + [ + -32.2579460144043, + -115.5145034790039, + 13.619688987731934 + ], + [ + -31.58873176574707, + -124.08255767822266, + 13.619688987731934 + ], + [ + -40.406917572021484, + -124.77130889892578, + 13.619688987731934 + ], + [ + -41.076133728027344, + -116.20325469970703, + 13.619688987731934 + ] + ], + "corners_2d": [ + [ + 353.41653815737027, + -26.329460913685466 + ], + [ + 234.6309424694548, + -34.38879645544165 + ], + [ + 159.19924235582675, + 10.736100562529941 + ], + [ + 290.2527102352981, + 20.78376281080375 + ], + [ + 306.93498015623715, + -279.16870940451486 + ], + [ + 170.4192157034928, + -282.5981701279277 + ], + [ + 72.68318734091713, + -263.10307172156547 + ], + [ + 225.6030077573521, + -258.6631353023291 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 3415205581764433368, + "instance_id": 55317, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1948_134", + "bbox_3d": { + "center_world": { + "x": -37.65735626220703, + "y": -129.6263885498047, + "z": 6.917623043060303 + }, + "extent": { + "x": 4.636507987976074, + "y": 4.5049920082092285, + "z": 7.347609519958496 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 214.65314973139016, + "ymax": 25.5644499242523 + }, + "corners_3d": [ + [ + -33.784976959228516, + -124.44982147216797, + -0.42998647689819336 + ], + [ + -32.37153244018555, + -133.34825134277344, + -0.42998647689819336 + ], + [ + -41.52973556518555, + -134.80294799804688, + -0.42998647689819336 + ], + [ + -42.943180084228516, + -125.90452575683594, + -0.42998647689819336 + ], + [ + -33.784976959228516, + -124.44982147216797, + 14.26523208618164 + ], + [ + -32.37153244018555, + -133.34825134277344, + 14.26523208618164 + ], + [ + -41.52973556518555, + -134.80294799804688, + 14.26523208618164 + ], + [ + -42.943180084228516, + -125.90452575683594, + 14.26523208618164 + ] + ], + "corners_2d": [ + [ + 214.65314973139016, + -23.65146443432195 + ], + [ + 99.57827992998205, + -35.44601897423166 + ], + [ + -6.227656580525377, + 10.760842336585881 + ], + [ + 119.33774736424573, + 25.5644499242523 + ], + [ + 141.31942322602293, + -291.9564612422637 + ], + [ + 9.590912594908787, + -296.53954077463925 + ], + [ + -128.98338987674242, + -278.31592682609164 + ], + [ + 16.41896547984379, + -272.32156798745655 + ] + ], + "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": 429.65251254064344, + "ymin": 0.0, + "xmax": 586.2854030329893, + "ymax": 6.276568962200827 + }, + "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": [ + [ + 492.1208512017512, + 6.276568962200827 + ], + [ + 586.2854030329893, + -16.89220083868355 + ], + [ + 531.0854170485833, + -41.89764501881831 + ], + [ + 440.05666778674174, + -21.545179560417978 + ], + [ + 483.86697840476324, + -78.91284462323273 + ], + [ + 583.4564849969947, + -98.49514758116635 + ], + [ + 525.7172551721975, + -119.49915541191876 + ], + [ + 429.65251254064344, + -102.41377919534659 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 8418614953964379880, + "instance_id": 59550, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2345_119", + "bbox_3d": { + "center_world": { + "x": -35.8762092590332, + "y": -131.68106079101562, + "z": 7.344003677368164 + }, + "extent": { + "x": 5.283463001251221, + "y": 5.114550590515137, + "z": 7.8239593505859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 213.03083098292421, + "ymax": 20.419886142619873 + }, + "corners_3d": [ + [ + -31.924062728881836, + -125.47991943359375, + -0.47995567321777344 + ], + [ + -29.549972534179688, + -135.42970275878906, + -0.47995567321777344 + ], + [ + -39.8283576965332, + -137.8822021484375, + -0.47995567321777344 + ], + [ + -42.20244598388672, + -127.93241882324219, + -0.47995567321777344 + ], + [ + -31.924062728881836, + -125.47991943359375, + 15.167963027954102 + ], + [ + -29.549972534179688, + -135.42970275878906, + 15.167963027954102 + ], + [ + -39.8283576965332, + -137.8822021484375, + 15.167963027954102 + ], + [ + -42.20244598388672, + -127.93241882324219, + 15.167963027954102 + ] + ], + "corners_2d": [ + [ + 213.03083098292421, + -32.35201631415538 + ], + [ + 94.16641506731219, + -48.34775338739138 + ], + [ + -34.40500886687437, + -0.04089788315371834 + ], + [ + 94.2190326544985, + 20.419886142619873 + ], + [ + 136.00484357755482, + -314.66464290751094 + ], + [ + 0.3861202762875564, + -319.9650935002271 + ], + [ + -168.03471787242597, + -303.71721400383 + ], + [ + -20.208642724428614, + -296.6130106307886 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1100.1839165339811, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 663.7526126939827 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1356.8179489053432, + 356.0769353902652 + ], + [ + 1100.1839165339811, + 396.92950511924266 + ], + [ + 1338.058097597644, + 663.7526126939827 + ], + [ + 1657.1304068151148, + 593.2473357900197 + ], + [ + 1648.0300158634222, + -121.87658958337329 + ], + [ + 1301.1679662707343, + -99.05336589236595 + ], + [ + 1808.3934316059906, + 78.37129729279002 + ], + [ + 2271.3339314942386, + 26.03559717554623 + ] + ], + "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": 314.48725114854955, + "ymin": 0.0, + "xmax": 526.7375225459102, + "ymax": 33.046448657674944 + }, + "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": [ + [ + 372.2795622066198, + 33.046448657674944 + ], + [ + 526.7375225459102, + 16.83171521513833 + ], + [ + 498.5407819650751, + -30.86895257787444 + ], + [ + 360.3454778176267, + -18.010215417703137 + ], + [ + 321.8491078903409, + -249.41641103430493 + ], + [ + 506.29199554524394, + -256.77907114235995 + ], + [ + 476.1907216588521, + -277.88502686252286 + ], + [ + 314.48725114854955, + -272.2751453484967 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12783736354476579425, + "instance_id": 25050, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2728_95", + "bbox_3d": { + "center_world": { + "x": -40.00048828125, + "y": -120.97515106201172, + "z": 4.526856422424316 + }, + "extent": { + "x": 2.978419780731201, + "y": 2.8939361572265625, + "z": 4.719987869262695 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 94.43491103438203, + "ymin": 0.0, + "xmax": 283.8993551175382, + "ymax": 25.045285338249755 + }, + "corners_3d": [ + [ + -37.48514938354492, + -124.27953338623047, + -0.1931314468383789 + ], + [ + -43.23114013671875, + -123.58450317382812, + -0.1931314468383789 + ], + [ + -42.51582717895508, + -117.67076873779297, + -0.1931314468383789 + ], + [ + -36.76983642578125, + -118.36579895019531, + -0.1931314468383789 + ], + [ + -37.48514938354492, + -124.27953338623047, + 9.246844291687012 + ], + [ + -43.23114013671875, + -123.58450317382812, + 9.246844291687012 + ], + [ + -42.51582717895508, + -117.67076873779297, + 9.246844291687012 + ], + [ + -36.76983642578125, + -118.36579895019531, + 9.246844291687012 + ] + ], + "corners_2d": [ + [ + 189.05542727433664, + -8.453272280369674 + ], + [ + 152.8848014566646, + 25.045285338249755 + ], + [ + 255.33848992250785, + 25.04172444202044 + ], + [ + 283.8993551175382, + -8.456323864520982 + ], + [ + 139.40708943528455, + -178.11642839011859 + ], + [ + 94.43491103438203, + -155.844142772998 + ], + [ + 209.1826229543155, + -155.84653141435376 + ], + [ + 244.69351310105503, + -178.11843938201162 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00114/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00114/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..09de818db6e9eb7523438371f8f7aa50a9817bd8 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00114/meta.json @@ -0,0 +1,2674 @@ +{ + "frame_id": 114, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 57.0, + "sim_timestamp": 11143.961084347218 + }, + "drone_pose": { + "x": -94.45819408704413, + "y": -88.80403696505823, + "z": 20.09003590081898, + "pitch": -44.946781961442824, + "yaw": -7.706159279183612, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7013713121414185, + 0.09490589797496796, + 0.7064496278762817, + 43.62963104248047 + ], + [ + -0.13409271836280823, + 0.9909687638282776, + 3.725290298461914e-09, + 100.66818237304688 + ], + [ + -0.7000695466995239, + -0.09472975134849548, + 0.7077633142471313, + -71.93390655517578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -93.94277855665193, + "y": -88.64445395129525, + "z": 20.12388726432679 + }, + "t1_image_uv": [ + 1316.6108204715738, + -740.619340168598 + ], + "t1_depth": 0.32243800604466477 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -74.66718292236328, + "y": -91.68776321411131, + "z": 0.5749944090844292 + }, + "image_uv": [ + 632.996001336158, + 349.13488477504984 + ], + "depth": 27.94092494673524, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 200, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -74.66718292236328, + "y": -91.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.2279662787914276, + "y": 0.2063964605331421, + "z": 0.5302388668060303 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 624.6352910298431, + "ymin": 329.8753936852057, + "xmax": 641.0829149086821, + "ymax": 368.12729254471606 + }, + "corners_3d": [ + [ + -74.89514923095703, + -91.89415740966797, + 0.044755518436431885 + ], + [ + -74.89514923095703, + -91.48136138916016, + 0.044755518436431885 + ], + [ + -74.43921661376953, + -91.48136138916016, + 0.044755518436431885 + ], + [ + -74.43921661376953, + -91.89415740966797, + 0.044755518436431885 + ], + [ + -74.89514923095703, + -91.89415740966797, + 1.1052331924438477 + ], + [ + -74.89514923095703, + -91.48136138916016, + 1.1052331924438477 + ], + [ + -74.43921661376953, + -91.48136138916016, + 1.1052331924438477 + ], + [ + -74.43921661376953, + -91.89415740966797, + 1.1052331924438477 + ] + ], + "corners_2d": [ + [ + 625.0438360602137, + 366.7836183014536 + ], + [ + 638.980388601879, + 368.12729254471606 + ], + [ + 641.0544043244898, + 357.2677848912049 + ], + [ + 627.2713998456803, + 355.9541200658892 + ], + [ + 624.6352910298431, + 340.696643393045 + ], + [ + 638.9524968875068, + 342.0397568707944 + ], + [ + 641.0829149086821, + 331.18770444023596 + ], + [ + 626.927710610453, + 329.8753936852057 + ] + ], + "center_offset_px": [ + -7.003998663842026, + -10.86511522495016 + ] + }, + "trace_timestep_index": 114, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 54, + "semantic_pixel_counts": { + "1": 362956, + "2": 200439, + "3": 179984, + "4": 39184, + "6": 8006, + "7": 362, + "9": 816, + "10": 39052, + "12": 3084, + "14": 36711, + "20": 30142, + "24": 20864 + }, + "instance_pixel_counts": { + "913": 3884, + "2158": 448, + "5230": 3356, + "5742": 7010, + "9346": 78, + "12951": 686, + "15963": 83025, + "16475": 53193, + "16987": 304, + "17232": 39184, + "22976": 7527, + "23296": 1269, + "23552": 1662, + "24512": 31770, + "26963": 2086, + "28819": 9233, + "29331": 263, + "33429": 715, + "35668": 12417, + "35924": 10523, + "36692": 3318, + "37979": 28212, + "40019": 3273, + "41107": 1941, + "41611": 1892, + "41619": 4677, + "42123": 1448, + "43117": 4436, + "43147": 14264, + "43155": 85854, + "43659": 13672, + "43667": 12968, + "44179": 248020, + "44181": 100, + "44693": 57, + "45717": 7153, + "46229": 408, + "46741": 12431, + "49664": 200, + "49920": 428, + "50176": 535, + "50432": 952, + "50624": 7762, + "50688": 538, + "50944": 431, + "51136": 2962, + "51456": 11274, + "51712": 3317, + "52160": 35263, + "52672": 71758, + "55040": 22120, + "55879": 16991, + "57173": 816, + "64351": 11435 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 200, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -74.66718292236328, + "y": -91.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.2502734065055847, + "y": 0.21116696298122406, + "z": 0.5144120454788208 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 624.3628936572264, + "ymin": 329.73673242960655, + "xmax": 641.3490044724433, + "ymax": 368.30141887196055 + }, + "corners_3d": [ + [ + -74.9174575805664, + -91.89892578125, + 0.06058233976364136 + ], + [ + -74.9174575805664, + -91.47659301757812, + 0.06058233976364136 + ], + [ + -74.41690826416016, + -91.47659301757812, + 0.06058233976364136 + ], + [ + -74.41690826416016, + -91.89892578125, + 0.06058233976364136 + ], + [ + -74.9174575805664, + -91.89892578125, + 1.0894064903259277 + ], + [ + -74.9174575805664, + -91.47659301757812, + 1.0894064903259277 + ], + [ + -74.41690826416016, + -91.47659301757812, + 1.0894064903259277 + ], + [ + -74.41690826416016, + -91.89892578125, + 1.0894064903259277 + ] + ], + "corners_2d": [ + [ + 624.7666490499431, + 366.92516597602855 + ], + [ + 639.0386177423482, + 368.30141887196055 + ], + [ + 641.3145533361619, + 356.37875359258135 + ], + [ + 627.2151904509208, + 355.0362216868751 + ], + [ + 624.3628936572264, + 341.616892476978 + ], + [ + 639.0130992948145, + 342.9926295181846 + ], + [ + 641.3490044724433, + 331.0778839640948 + ], + [ + 626.8806163039872, + 329.73673242960655 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 428, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -70.54119873046875, + "y": -88.69005584716797, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.5270043611526489, + "y": 0.3416992127895355, + "z": 0.8790817856788635 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 729.5239750564754, + "ymin": 235.49311499267475, + "xmax": 760.1077180358905, + "ymax": 300.4554245004594 + }, + "corners_3d": [ + [ + -71.12773132324219, + -88.91471862792969, + -0.3040825128555298 + ], + [ + -70.98564147949219, + -88.24625396728516, + -0.3040825128555298 + ], + [ + -69.95466613769531, + -88.46539306640625, + -0.3040825128555298 + ], + [ + -70.09675598144531, + -89.13385772705078, + -0.3040825128555298 + ], + [ + -71.12773132324219, + -88.91471862792969, + 1.4540810585021973 + ], + [ + -70.98564147949219, + -88.24625396728516, + 1.4540810585021973 + ], + [ + -69.95466613769531, + -88.46539306640625, + 1.4540810585021973 + ], + [ + -70.09675598144531, + -89.13385772705078, + 1.4540810585021973 + ] + ], + "corners_2d": [ + [ + 734.1486598845981, + 300.4554245004594 + ], + [ + 755.2669458761029, + 299.3993082327696 + ], + [ + 750.1498144859511, + 278.24265819011475 + ], + [ + 729.5239750564754, + 279.2495483868628 + ], + [ + 738.1073922245025, + 257.5108889862126 + ], + [ + 760.1077180358905, + 256.46300750832404 + ], + [ + 754.6621893167634, + 235.49311499267475 + ], + [ + 733.195781942176, + 236.49017703697854 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 535, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -75.41205596923828, + "y": -84.85617065429688, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.30180907249450684, + "y": 0.32728514075279236, + "z": 0.8815152645111084 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 853.7407824280002, + "ymin": 360.3086391985888, + "xmax": 891.2033599873657, + "ymax": 419.92975595775613 + }, + "corners_3d": [ + [ + -75.74642181396484, + -85.15011596679688, + -0.30651599168777466 + ], + [ + -75.6780014038086, + -84.49913024902344, + -0.30651599168777466 + ], + [ + -75.07769012451172, + -84.56222534179688, + -0.30651599168777466 + ], + [ + -75.14611053466797, + -85.21321105957031, + -0.30651599168777466 + ], + [ + -75.74642181396484, + -85.15011596679688, + 1.456514596939087 + ], + [ + -75.6780014038086, + -84.49913024902344, + 1.456514596939087 + ], + [ + -75.07769012451172, + -84.56222534179688, + 1.456514596939087 + ], + [ + -75.14611053466797, + -85.21321105957031, + 1.456514596939087 + ] + ], + "corners_2d": [ + [ + 856.4634938132655, + 419.41314900228167 + ], + [ + 879.6890611857776, + 419.92975595775613 + ], + [ + 876.6056347387806, + 404.1766067835687 + ], + [ + 853.7407824280002, + 403.6758584778247 + ], + [ + 866.8565420487085, + 376.0876249889223 + ], + [ + 891.2033599873657, + 376.6059979049464 + ], + [ + 887.7876376658239, + 360.81035354459823 + ], + [ + 863.8369059054235, + 360.3086391985888 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 952, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -84.16718292236328, + "y": -91.68775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.435488224029541, + "y": 0.44851070642471313, + "z": 0.8783337473869324 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 546.7710492219959, + "ymin": 605.2131941237137, + "xmax": 597.7695476105237, + "ymax": 685.3444729721498 + }, + "corners_3d": [ + [ + -84.60266876220703, + -92.13626861572266, + -0.30333447456359863 + ], + [ + -84.60266876220703, + -91.23925018310547, + -0.30333447456359863 + ], + [ + -83.73169708251953, + -91.23925018310547, + -0.30333447456359863 + ], + [ + -83.73169708251953, + -92.13626861572266, + -0.30333447456359863 + ], + [ + -84.60266876220703, + -92.13626861572266, + 1.4533330202102661 + ], + [ + -84.60266876220703, + -91.23925018310547, + 1.4533330202102661 + ], + [ + -83.73169708251953, + -91.23925018310547, + 1.4533330202102661 + ], + [ + -83.73169708251953, + -92.13626861572266, + 1.4533330202102661 + ] + ], + "corners_2d": [ + [ + 552.1185916542904, + 680.293857391533 + ], + [ + 591.3698103574458, + 685.3444729721498 + ], + [ + 597.7695476105237, + 649.963105049492 + ], + [ + 559.5716566326556, + 645.1865739143013 + ], + [ + 546.7710492219959, + 641.259421847244 + ], + [ + 588.3982821785927, + 646.4550298091756 + ], + [ + 595.2644230077636, + 610.1104041491731 + ], + [ + 554.8199567557094, + 605.2131941237137 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 538, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -77.68806457519531, + "y": -100.98506927490234, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.5971265435218811, + "y": 0.4705810844898224, + "z": 0.8967300057411194 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 249.6982409737388, + "ymin": 348.6309432142535, + "xmax": 318.73688822541334, + "ymax": 429.40436775328004 + }, + "corners_3d": [ + [ + -78.23272705078125, + -101.51548767089844, + -0.16932356357574463 + ], + [ + -78.33110809326172, + -100.57948303222656, + -0.16932356357574463 + ], + [ + -77.14340209960938, + -100.45465087890625, + -0.16932356357574463 + ], + [ + -77.0450210571289, + -101.39065551757812, + -0.16932356357574463 + ], + [ + -78.23272705078125, + -101.51548767089844, + 1.6241364479064941 + ], + [ + -78.33110809326172, + -100.57948303222656, + 1.6241364479064941 + ], + [ + -77.14340209960938, + -100.45465087890625, + 1.6241364479064941 + ], + [ + -77.0450210571289, + -101.39065551757812, + 1.6241364479064941 + ] + ], + "corners_2d": [ + [ + 268.08234077900136, + 423.374564268693 + ], + [ + 298.71276191441484, + 429.40436775328004 + ], + [ + 318.73688822541334, + 398.78765706695265 + ], + [ + 288.89985003845027, + 393.1108093501003 + ], + [ + 249.6982409737388, + 378.9656287716314 + ], + [ + 281.7382158285103, + 385.0201814057931 + ], + [ + 303.2572794915308, + 354.31433475175544 + ], + [ + 272.08352454481525, + 348.6309432142535 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 431, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -63.42184829711914, + "y": -99.85797882080078, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.4168408215045929, + "y": 0.4409765601158142, + "z": 0.8639968633651733 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 442.4763973417065, + "ymin": 93.60330320969877, + "xmax": 479.39373568472024, + "ymax": 148.86020249639103 + }, + "corners_3d": [ + [ + -63.73789596557617, + -100.37598419189453, + -0.13659042119979858 + ], + [ + -63.9212646484375, + -99.5133056640625, + -0.13659042119979858 + ], + [ + -63.10580062866211, + -99.33997344970703, + -0.13659042119979858 + ], + [ + -62.92243194580078, + -100.20265197753906, + -0.13659042119979858 + ], + [ + -63.73789596557617, + -100.37598419189453, + 1.5914032459259033 + ], + [ + -63.9212646484375, + -99.5133056640625, + 1.5914032459259033 + ], + [ + -63.10580062866211, + -99.33997344970703, + 1.5914032459259033 + ], + [ + -62.92243194580078, + -100.20265197753906, + 1.5914032459259033 + ] + ], + "corners_2d": [ + [ + 449.004994291627, + 144.60264671726296 + ], + [ + 469.6155651413005, + 148.86020249639103 + ], + [ + 479.39373568472024, + 137.7279232215776 + ], + [ + 459.0336608460377, + 133.59595558637685 + ], + [ + 442.4763973417065, + 104.36416419008142 + ], + [ + 463.7569501725146, + 108.52955344175848 + ], + [ + 473.9564156154843, + 97.64170740806514 + ], + [ + 452.94260668749166, + 93.60330320969877 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 11274, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 552.2018447059259, + "ymin": 412.2093730635103, + "xmax": 659.7512492783317, + "ymax": 588.2807717766055 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 659.0052755039409, + 454.0248014933951 + ], + [ + 586.204673403271, + 446.3107767961574 + ], + [ + 555.9100528867646, + 578.4818651152743 + ], + [ + 637.7470258823299, + 588.2807717766055 + ], + [ + 659.7512492783317, + 419.9644502283197 + ], + [ + 584.1092420618562, + 412.2093730635103 + ], + [ + 552.2018447059259, + 545.7035972601658 + ], + [ + 637.646809820531, + 555.6532747720946 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 3317, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 986.6016077682654, + "ymin": 0.0, + "xmax": 1113.9089123769081, + "ymax": 44.43652294781185 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 986.6016077682654, + 18.383986448127246 + ], + [ + 992.0421275601597, + 37.94637694577125 + ], + [ + 1099.1380645373179, + 44.43652294781185 + ], + [ + 1090.317548757136, + 24.48799325103562 + ], + [ + 997.3121540467091, + -21.57650598455251 + ], + [ + 1003.2759330940255, + -2.704448650230063 + ], + [ + 1113.9089123769081, + 3.5851024875940425 + ], + [ + 1104.3421209572234, + -15.671868804424093 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 22120, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 838.694931323436, + "ymin": 389.1402171953555, + "xmax": 971.5997222914132, + "ymax": 665.0349802966632 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 841.3331153935485, + 651.7496464215543 + ], + [ + 948.8177803066397, + 665.0349802966632 + ], + [ + 927.9518411553811, + 451.08028216949066 + ], + [ + 838.694931323436, + 441.8977167201581 + ], + [ + 856.0181606367587, + 602.8779064698844 + ], + [ + 971.5997222914132, + 616.585564244201 + ], + [ + 945.3789069624984, + 398.38456553246687 + ], + [ + 850.6085568527697, + 389.1402171953555 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4809317425322915338, + "instance_id": 2806, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -62.6159553527832, + "y": -93.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 613.8504386351245, + "ymin": 0.0, + "xmax": 626.435482192926, + "ymax": 0.2047776055385384 + }, + "corners_3d": [ + [ + -62.754539489746094, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.9842529296875, + 6.416468620300293 + ], + [ + -62.754539489746094, + -93.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 625.2731984015387, + 0.2047776055385384 + ], + [ + 626.435482192926, + -3.3033278849310364 + ], + [ + 615.5630051220079, + -3.949478078386278 + ], + [ + 614.3379481715626, + -0.4490113294057778 + ], + [ + 624.9931172185497, + -24.929651823029587 + ], + [ + 626.1790467771785, + -28.353947758981633 + ], + [ + 615.1015382046094, + -28.984577996139194 + ], + [ + 613.8504386351245, + -25.56787945897355 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 403.15569204138797, + "ymin": 35.947794119625826, + "xmax": 419.26640120764864, + "ymax": 62.07674307713694 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 417.06139029694793, + 62.07674307713694 + ], + [ + 419.26640120764864, + 58.49485408261188 + ], + [ + 409.4659755793017, + 57.83832652119594 + ], + [ + 407.20978065813574, + 61.413037850228875 + ], + [ + 413.1748948473921, + 40.116211154248106 + ], + [ + 415.43958214359077, + 36.59341775170657 + ], + [ + 405.4733130810143, + 35.947794119625826 + ], + [ + 403.15569204138797, + 39.46340573931502 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8433051479337506626, + "instance_id": 17047, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -62.61595153808594, + "y": -91.29429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 686.738699263487, + "ymin": 0.0, + "xmax": 699.6907008258999, + "ymax": 4.542880225681529 + }, + "corners_3d": [ + [ + -62.75453567504883, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.4842529296875, + 6.416468620300293 + ], + [ + -62.75453567504883, + -91.4842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 697.8329813519183, + 4.542880225681529 + ], + [ + 698.5752121370673, + 0.9838795446480617 + ], + [ + 687.5455525712433, + 0.32838806562415357 + ], + [ + 686.738699263487, + 3.8795832624026616 + ], + [ + 698.9410021146089, + -20.694131553090926 + ], + [ + 699.6907008258999, + -24.16905921189101 + ], + [ + 688.4499864043394, + -24.808980522789568 + ], + [ + 687.633160674177, + -21.341819292392074 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1042.7842229562355, + "ymin": 57.795522383123, + "xmax": 1062.3526274077956, + "ymax": 84.57356161053059 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1053.5719297150588, + 80.74414638044715 + ], + [ + 1042.7842229562355, + 80.04240299042107 + ], + [ + 1044.0195022461687, + 83.86388423050272 + ], + [ + 1054.8693379914266, + 84.57356161053059 + ], + [ + 1060.9892279788073, + 58.48642143112602 + ], + [ + 1050.0004467155345, + 57.795522383123 + ], + [ + 1051.2993745396004, + 61.558258710082725 + ], + [ + 1062.3526274077956, + 62.25711036856535 + ] + ], + "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": 994.1498911044129, + "ymin": 0.0, + "xmax": 1121.569413194583, + "ymax": 150.53738383976264 + }, + "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": [ + [ + 1030.8396862152154, + 149.63787122882243 + ], + [ + 1042.6100286399987, + 150.53738383976264 + ], + [ + 1003.667724624338, + 9.525421408288878 + ], + [ + 994.1498911044129, + 8.932678696129301 + ], + [ + 1107.3805680114174, + -79.91193888403285 + ], + [ + 1121.569413194583, + -79.16626313315288 + ], + [ + 1059.4958250952554, + -191.9248457204434 + ], + [ + 1048.4557145667013, + -192.38187437685667 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 313.50976519451, + "ymin": 160.98397859190817, + "xmax": 517.1356133816265, + "ymax": 419.45979703163084 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 384.91739071350827, + 394.36289086056786 + ], + [ + 379.90126459112304, + 405.7141604376703 + ], + [ + 513.5835727295287, + 419.45979703163084 + ], + [ + 517.1356133816265, + 407.79736645979335 + ], + [ + 320.72774014104493, + 160.98397859190817 + ], + [ + 313.50976519451, + 171.88250686145352 + ], + [ + 480.7586166855497, + 185.16441184561188 + ], + [ + 485.69213433428786, + 173.889460552962 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 305.4520995917415, + "ymin": 0.0, + "xmax": 394.8066938040588, + "ymax": 113.56690666446755 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 353.7128799153937, + 112.7855058565749 + ], + [ + 364.41465353665154, + 113.56690666446755 + ], + [ + 394.8066938040588, + 66.44981616986331 + ], + [ + 384.78144667649804, + 65.76839253200365 + ], + [ + 305.4520995917415, + -91.0212863028924 + ], + [ + 317.89824771978704, + -90.36978455593555 + ], + [ + 356.58684580390076, + -129.22730536788862 + ], + [ + 345.04603469292624, + -129.7829777968475 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 460.0072097115142, + "ymin": 180.15647023893794, + "xmax": 481.7653956883415, + "ymax": 193.1337444428242 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 464.09908611423924, + 184.1955564776924 + ], + [ + 460.650135368756, + 191.7030884571224 + ], + [ + 478.4800197935033, + 193.1337444428242 + ], + [ + 481.7653956883415, + 185.59912319253115 + ], + [ + 463.47453834160956, + 180.15647023893794 + ], + [ + 460.0072097115142, + 187.65201953118245 + ], + [ + 477.8999575044156, + 189.08045000180542 + ], + [ + 481.2025618765708, + 181.55775792036667 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1137.5149938870773, + "ymin": 475.538685514148, + "xmax": 1280.0, + "ymax": 572.7290051215549 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1159.3728805872638, + 560.3082481323305 + ], + [ + 1272.4074704199681, + 572.7290051215549 + ], + [ + 1242.9000480370753, + 495.75403103740314 + ], + [ + 1137.5149938870773, + 484.9050634037982 + ], + [ + 1165.595229501554, + 551.1853726560082 + ], + [ + 1280.0662455545184, + 563.6575570619177 + ], + [ + 1249.7160706455966, + 486.41542530926796 + ], + [ + 1143.0831921046495, + 475.538685514148 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1084.527077236354, + "ymin": 440.7756226526243, + "xmax": 1280.0, + "ymax": 656.0795788752159 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1101.8148795250418, + 643.5041596865864 + ], + [ + 1208.0082019854651, + 656.0795788752159 + ], + [ + 1183.8964489300831, + 577.4170416496488 + ], + [ + 1084.527077236354, + 566.3625311362557 + ], + [ + 1184.5874316611316, + 521.9337216033013 + ], + [ + 1311.032156407364, + 535.3355368549403 + ], + [ + 1275.320312219375, + 452.2958063502225 + ], + [ + 1158.4284804590868, + 440.7756226526243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 459.88856683088864, + "ymin": 180.0870469482174, + "xmax": 481.8806439764305, + "ymax": 193.20378192925313 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 464.0256426174371, + 184.16947971768747 + ], + [ + 460.5388475430141, + 191.75758623164788 + ], + [ + 478.5609521405837, + 193.20378192925313 + ], + [ + 481.8806439764305, + 185.58800106466245 + ], + [ + 463.3941432551909, + 180.0870469482174 + ], + [ + 459.88856683088864, + 187.66291153944704 + ], + [ + 477.974900052684, + 189.1068339166051 + ], + [ + 481.3121863688772, + 181.50323971202948 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1137.6219477801665, + "ymin": 475.5881888513787, + "xmax": 1279.9830012291802, + "ymax": 572.6114442306637 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1159.4608284237438, + 560.2053489154415 + ], + [ + 1272.3758562906369, + 572.6114442306637 + ], + [ + 1242.9040611702865, + 495.7307797375569 + ], + [ + 1137.6219477801665, + 484.892920609975 + ], + [ + 1165.6426637849327, + 551.1421821962712 + ], + [ + 1279.9830012291802, + 563.5992849933588 + ], + [ + 1249.6750963178035, + 486.4536117747872 + ], + [ + 1143.1546069945448, + 475.5881888513787 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 370.9054516573985, + "ymin": 0.0, + "xmax": 738.933983712443, + "ymax": 152.93942127374874 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 417.1150228385958, + 122.68706888853549 + ], + [ + 413.729283366377, + 128.516399226916 + ], + [ + 721.8506678915328, + 152.93942127374874 + ], + [ + 722.7953536113876, + 146.7133786571492 + ], + [ + 375.3337631339391, + -102.09175296681497 + ], + [ + 370.9054516573985, + -97.3207529263517 + ], + [ + 737.9647555741669, + -77.17330502181164 + ], + [ + 738.933983712443, + -82.33385173437603 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1116.761343531927, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 589.1499231015335 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1383.3020129787942, + 277.66025178483994 + ], + [ + 1116.761343531927, + 317.52414172133524 + ], + [ + 1340.8654282173943, + 589.1499231015335 + ], + [ + 1669.5731583470854, + 522.9843644646713 + ], + [ + 1749.692137347762, + -237.01210763251208 + ], + [ + 1368.1021595031439, + -211.90583415038532 + ], + [ + 1908.7470786828992, + -4.473341457886761 + ], + [ + 2423.2756749138503, + -61.7803542520644 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00115/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00115/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..d8021de1cd4231113018dadd9f16e307ef2ad42b --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00115/meta.json @@ -0,0 +1,2358 @@ +{ + "frame_id": 115, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 57.5, + "sim_timestamp": 11157.111914381385 + }, + "drone_pose": { + "x": -93.94277855665193, + "y": -88.64445395129525, + "z": 20.12388726432679, + "pitch": -47.1325604155982, + "yaw": -3.748737639310413, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6788488626480103, + 0.04447908326983452, + 0.7329296469688416, + 45.08073043823242 + ], + [ + -0.06538113951683044, + 0.9978603720664978, + 1.862645149230957e-09, + 94.59687805175781 + ], + [ + -0.731361448764801, + -0.04791977256536484, + 0.6803044676780701, + -78.14867401123047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -93.45819408704413, + "y": -88.80403696505823, + "z": 20.07565449185765 + }, + "t1_image_uv": [ + 310.291945525556, + -491.00527475730496 + ], + "t1_depth": 0.3714089493529267 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -74.16718292236328, + "y": -91.68776321411131, + "z": 0.5749944090844292 + }, + "image_uv": [ + 579.9707851062535, + 314.91411651747114 + ], + "depth": 27.88796688744263, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 197, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -74.16718292236328, + "y": -91.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.2898901104927063, + "y": 0.21831540763378143, + "z": 0.5355929136276245 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 570.3722435532853, + "ymin": 294.2745951618582, + "xmax": 589.1787096122383, + "ymax": 335.28008471973936 + }, + "corners_3d": [ + [ + -74.45706939697266, + -91.90607452392578, + 0.039401471614837646 + ], + [ + -74.45706939697266, + -91.46944427490234, + 0.039401471614837646 + ], + [ + -73.8772964477539, + -91.46944427490234, + 0.039401471614837646 + ], + [ + -73.8772964477539, + -91.90607452392578, + 0.039401471614837646 + ], + [ + -74.45706939697266, + -91.90607452392578, + 1.1105873584747314 + ], + [ + -74.45706939697266, + -91.46944427490234, + 1.1105873584747314 + ], + [ + -73.8772964477539, + -91.46944427490234, + 1.1105873584747314 + ], + [ + -73.8772964477539, + -91.90607452392578, + 1.1105873584747314 + ] + ], + "corners_2d": [ + [ + 572.3180722257918, + 334.58219183032753 + ], + [ + 587.1700153073258, + 335.28008471973936 + ], + [ + 589.1787096122383, + 321.3226930235785 + ], + [ + 574.5305923714809, + 320.64395765798724 + ], + [ + 570.3722435532853, + 308.2335026993554 + ], + [ + 585.6500932027809, + 308.93272223707135 + ], + [ + 587.7373657576752, + 294.95408048342495 + ], + [ + 572.6751146349189, + 294.2745951618582 + ] + ], + "center_offset_px": [ + -60.029214893746484, + -45.08588348252886 + ] + }, + "trace_timestep_index": 115, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 49, + "semantic_pixel_counts": { + "1": 357596, + "2": 213066, + "3": 133182, + "4": 42834, + "6": 7332, + "7": 332, + "9": 9177, + "10": 61216, + "12": 3032, + "14": 33423, + "20": 36999, + "21": 2276, + "24": 21135 + }, + "instance_pixel_counts": { + "913": 3655, + "5230": 3866, + "5742": 596, + "9346": 78, + "12951": 777, + "15963": 68872, + "16475": 25212, + "17232": 42834, + "22976": 8422, + "23296": 1101, + "23552": 1125, + "24512": 33009, + "26963": 2260, + "28819": 5686, + "29331": 6, + "33429": 476, + "35668": 13480, + "35924": 16709, + "36692": 3155, + "37979": 29741, + "40019": 3100, + "41611": 1920, + "42123": 1579, + "43117": 4895, + "43147": 15059, + "43155": 72897, + "43659": 14737, + "43667": 11911, + "44179": 267096, + "45717": 6851, + "46229": 555, + "46741": 13253, + "49664": 197, + "49920": 446, + "50176": 495, + "50432": 918, + "50624": 7805, + "50688": 521, + "50944": 455, + "51136": 3203, + "51456": 11638, + "52160": 37006, + "52672": 77449, + "55040": 21785, + "55879": 18526, + "57173": 9177, + "62043": 71, + "64351": 12100, + "64603": 2205 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 197, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -74.16718292236328, + "y": -91.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.2780419588088989, + "y": 0.21154294908046722, + "z": 0.5188502669334412 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 570.6878976184962, + "ymin": 294.9899003981428, + "xmax": 588.8887018853127, + "ymax": 334.5798064159311 + }, + "corners_3d": [ + [ + -74.44522857666016, + -91.89929962158203, + 0.056144118309020996 + ], + [ + -74.44522857666016, + -91.4762191772461, + 0.056144118309020996 + ], + [ + -73.8891372680664, + -91.4762191772461, + 0.056144118309020996 + ], + [ + -73.8891372680664, + -91.89929962158203, + 0.056144118309020996 + ], + [ + -74.44522857666016, + -91.89929962158203, + 1.0938446521759033 + ], + [ + -74.44522857666016, + -91.4762191772461, + 1.0938446521759033 + ], + [ + -73.8891372680664, + -91.4762191772461, + 1.0938446521759033 + ], + [ + -73.8891372680664, + -91.89929962158203, + 1.0938446521759033 + ] + ], + "corners_2d": [ + [ + 572.5646568890386, + 333.90393099824183 + ], + [ + 586.9578854771323, + 334.5798064159311 + ], + [ + 588.8887018853127, + 321.1924011034006 + ], + [ + 574.6850700111498, + 320.53433866649664 + ], + [ + 570.6878976184962, + 308.37871531461553 + ], + [ + 585.4806797447707, + 309.0558249316462 + ], + [ + 587.4846767272213, + 295.64867781959595 + ], + [ + 572.892090343854, + 294.9899003981428 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 446, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -70.04119873046875, + "y": -88.69005584716797, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.5041235089302063, + "y": 0.29987791180610657, + "z": 0.8942039012908936 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 674.9658315849287, + "ymin": 195.41982544302854, + "xmax": 701.1989791747228, + "ymax": 261.07663260404206 + }, + "corners_3d": [ + [ + -70.5966567993164, + -88.87857055664062, + -0.3192046284675598 + ], + [ + -70.47195434570312, + -88.29191589355469, + -0.3192046284675598 + ], + [ + -69.4857406616211, + -88.50154113769531, + -0.3192046284675598 + ], + [ + -69.61044311523438, + -89.08819580078125, + -0.3192046284675598 + ], + [ + -70.5966567993164, + -88.87857055664062, + 1.469203233718872 + ], + [ + -70.47195434570312, + -88.29191589355469, + 1.469203233718872 + ], + [ + -69.4857406616211, + -88.50154113769531, + 1.469203233718872 + ], + [ + -69.61044311523438, + -89.08819580078125, + 1.469203233718872 + ] + ], + "corners_2d": [ + [ + 680.2392589605338, + 261.07663260404206 + ], + [ + 698.6029882518657, + 259.30407006607595 + ], + [ + 692.9446055942558, + 239.23679210800003 + ], + [ + 674.9658315849287, + 240.93390080871492 + ], + [ + 682.0253094246337, + 217.13497390736023 + ], + [ + 701.1989791747228, + 215.3708534153271 + ], + [ + 695.2373450065921, + 195.41982544302854 + ], + [ + 676.4829443806768, + 197.1056333047979 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 495, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -75.40885162353516, + "y": -84.80937194824219, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.5933520197868347, + "y": 0.356757789850235, + "z": 0.8806368708610535 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 801.0066325903853, + "ymin": 319.5830755022466, + "xmax": 842.401828328871, + "ymax": 394.59263630151673 + }, + "corners_3d": [ + [ + -76.03624725341797, + -85.1021499633789, + -0.3056375980377197 + ], + [ + -75.96166229248047, + -84.39254760742188, + -0.3056375980377197 + ], + [ + -74.78145599365234, + -84.51659393310547, + -0.3056375980377197 + ], + [ + -74.85604095458984, + -85.2261962890625, + -0.3056375980377197 + ], + [ + -76.03624725341797, + -85.1021499633789, + 1.4556361436843872 + ], + [ + -75.96166229248047, + -84.39254760742188, + 1.4556361436843872 + ], + [ + -74.78145599365234, + -84.51659393310547, + 1.4556361436843872 + ], + [ + -74.85604095458984, + -85.2261962890625, + 1.4556361436843872 + ] + ], + "corners_2d": [ + [ + 807.4814581349373, + 394.59263630151673 + ], + [ + 832.7215304474394, + 393.83747163280657 + ], + [ + 825.5186640434704, + 362.84058323509356 + ], + [ + 801.0066325903853, + 363.55253859103794 + ], + [ + 815.9002076472964, + 351.54025103597746 + ], + [ + 842.401828328871, + 350.7790999960353 + ], + [ + 834.5535670137272, + 319.5830755022466 + ], + [ + 808.8534257705344, + 320.29858570080125 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 918, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -83.66718292236328, + "y": -91.68775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.5691503286361694, + "y": 0.4469433128833771, + "z": 0.91721111536026 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 505.96977526354647, + "ymin": 567.5043966335772, + "xmax": 559.631577142254, + "ymax": 656.3316819713784 + }, + "corners_3d": [ + [ + -84.23633575439453, + -92.13470458984375, + -0.34221184253692627 + ], + [ + -84.23633575439453, + -91.24081420898438, + -0.34221184253692627 + ], + [ + -83.09803009033203, + -91.24081420898438, + -0.34221184253692627 + ], + [ + -83.09803009033203, + -92.13470458984375, + -0.34221184253692627 + ], + [ + -84.23633575439453, + -92.13470458984375, + 1.4922103881835938 + ], + [ + -84.23633575439453, + -91.24081420898438, + 1.4922103881835938 + ], + [ + -83.09803009033203, + -91.24081420898438, + 1.4922103881835938 + ], + [ + -83.09803009033203, + -92.13470458984375, + 1.4922103881835938 + ] + ], + "corners_2d": [ + [ + 514.257048971235, + 653.8987351417973 + ], + [ + 553.4785673869887, + 656.3316819713784 + ], + [ + 559.631577142254, + 610.5884911530595 + ], + [ + 521.7451729007396, + 608.3198062929454 + ], + [ + 505.96977526354647, + 614.5412249888334 + ], + [ + 547.7651100127758, + 617.0579752264791 + ], + [ + 554.5184915569812, + 569.840627310753 + ], + [ + 514.2358602043624, + 567.5043966335772 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 521, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -77.18806457519531, + "y": -100.98506927490234, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.3777417242527008, + "y": 0.5098340511322021, + "z": 0.8681452870368958 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 192.96020672441227, + "ymin": 338.5673030072221, + "xmax": 260.8275735283344, + "ymax": 406.3301358767769 + }, + "corners_3d": [ + [ + -77.51044464111328, + -101.5315933227539, + -0.140738844871521 + ], + [ + -77.61702728271484, + -100.51750946044922, + -0.140738844871521 + ], + [ + -76.86568450927734, + -100.43854522705078, + -0.140738844871521 + ], + [ + -76.75910186767578, + -101.45262908935547, + -0.140738844871521 + ], + [ + -77.51044464111328, + -101.5315933227539, + 1.5955517292022705 + ], + [ + -77.61702728271484, + -100.51750946044922, + 1.5955517292022705 + ], + [ + -76.86568450927734, + -100.43854522705078, + 1.5955517292022705 + ], + [ + -76.75910186767578, + -101.45262908935547, + 1.5955517292022705 + ] + ], + "corners_2d": [ + [ + 214.36260420150575, + 401.55506972048755 + ], + [ + 248.92936528053644, + 406.3301358767769 + ], + [ + 260.8275735283344, + 386.03498233420606 + ], + [ + 226.85561956404695, + 381.4372162741977 + ], + [ + 192.96020672441227, + 358.83871915146784 + ], + [ + 229.1734040057155, + 363.6558334993292 + ], + [ + 242.05025553528372, + 343.19680627830525 + ], + [ + 206.48904065575562, + 338.5673030072221 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 455, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -62.92184829711914, + "y": -99.85797882080078, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.4493725597858429, + "y": 0.4350927770137787, + "z": 0.8950533270835876 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 373.15135465169703, + "ymin": 61.33852586880704, + "xmax": 414.15348857770357, + "ymax": 119.91647130707096 + }, + "corners_3d": [ + [ + -63.270938873291016, + -100.37699127197266, + -0.16765666007995605 + ], + [ + -63.45186233520508, + -99.52582550048828, + -0.16765666007995605 + ], + [ + -62.572757720947266, + -99.3389663696289, + -0.16765666007995605 + ], + [ + -62.3918342590332, + -100.19013214111328, + -0.16765666007995605 + ], + [ + -63.270938873291016, + -100.37699127197266, + 1.6224499940872192 + ], + [ + -63.45186233520508, + -99.52582550048828, + 1.6224499940872192 + ], + [ + -62.572757720947266, + -99.3389663696289, + 1.6224499940872192 + ], + [ + -62.3918342590332, + -100.19013214111328, + 1.6224499940872192 + ] + ], + "corners_2d": [ + [ + 382.8187541503251, + 116.3929283835675 + ], + [ + 403.9723142399498, + 119.91647130707096 + ], + [ + 414.15348857770357, + 107.16254536283569 + ], + [ + 393.2937077246863, + 103.75102182068912 + ], + [ + 373.15135465169703, + 73.74057417666069 + ], + [ + 395.059041278555, + 77.19992106454481 + ], + [ + 405.7667467481023, + 64.68385361273243 + ], + [ + 384.1738192775215, + 61.33852586880704 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 11638, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 504.47853465533956, + "ymin": 395.028394644204, + "xmax": 609.2149937848875, + "ymax": 570.273211367942 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 609.2149937848875, + 432.66878649668786 + ], + [ + 535.1736042082858, + 428.7696680066161 + ], + [ + 510.48156920282247, + 565.3465827283225 + ], + [ + 593.6290411188361, + 570.273211367942 + ], + [ + 607.9471514807958, + 398.9639089168654 + ], + [ + 530.8722900579942, + 395.028394644204 + ], + [ + 504.47853465533956, + 533.564025202917 + ], + [ + 591.4708596074028, + 538.5877535757829 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 21785, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 788.392719339683, + "ymin": 358.2329241111974, + "xmax": 924.6416625523333, + "ymax": 627.9065647423967 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 798.8440879920909, + 621.4474947000534 + ], + [ + 904.573074031643, + 627.9065647423967 + ], + [ + 876.8079877280813, + 415.2061216267077 + ], + [ + 788.392719339683, + 410.6811429777258 + ], + [ + 810.828570933486, + 573.9436091195015 + ], + [ + 924.6416625523333, + 580.6378493771538 + ], + [ + 891.6525340806731, + 362.8090969852268 + ], + [ + 797.6538192423344, + 358.2329241111974 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 324.72402380943805, + "ymin": 11.236292989051378, + "xmax": 343.01070487912045, + "ymax": 38.12853283299364 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 340.88273938271084, + 38.12853283299364 + ], + [ + 343.01070487912045, + 34.257155806090225 + ], + [ + 332.7052564817592, + 33.91338955123376 + ], + [ + 330.5220471079508, + 37.78100052610375 + ], + [ + 335.2760356903671, + 15.392938666928671 + ], + [ + 337.474704086344, + 11.575253941045275 + ], + [ + 326.979988953962, + 11.236292989051378 + ], + [ + 324.72402380943805, + 15.050194525730205 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 976.8981399614028, + "ymin": 12.005437418287158, + "xmax": 995.4709075469486, + "ymax": 38.917890730549345 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 987.5279976457962, + 35.03795301392205 + ], + [ + 976.8981399614028, + 34.69342885517278 + ], + [ + 978.2345921258689, + 38.56958802419905 + ], + [ + 988.9232492258695, + 38.917890730549345 + ], + [ + 994.0133324695917, + 12.345159630050489 + ], + [ + 983.181996802908, + 12.005437418287158 + ], + [ + 984.5785163872804, + 15.827926195819202 + ], + [ + 995.4709075469486, + 16.171444384321603 + ] + ], + "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": 926.8927049357144, + "ymin": 0.0, + "xmax": 1048.7868492812204, + "ymax": 105.63419060460416 + }, + "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": [ + [ + 967.7070277382973, + 105.1662257236948 + ], + [ + 979.2839186873625, + 105.63419060460416 + ], + [ + 936.3263014411809, + -37.404144831346684 + ], + [ + 926.8927049357144, + -37.716229370589076 + ], + [ + 1034.789884140067, + -129.4047616626878 + ], + [ + 1048.7868492812204, + -129.01061914994597 + ], + [ + 984.100971604977, + -245.13620121378744 + ], + [ + 973.1201422677127, + -245.38037298751146 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 233.17271290915, + "ymin": 150.98996267740768, + "xmax": 462.82956240505433, + "ymax": 405.28183735999255 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 325.7747198240388, + 386.2423803257458 + ], + [ + 321.15997560481213, + 398.27615878000074 + ], + [ + 459.7500266122954, + 405.28183735999255 + ], + [ + 462.82956240505433, + 393.0912326359886 + ], + [ + 240.29852175162011, + 150.98996267740768 + ], + [ + 233.17271290915, + 162.93845877519178 + ], + [ + 409.59283006680727, + 169.92862640141274 + ], + [ + 414.23869459972866, + 157.78121777903132 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 211.76207705377993, + "ymin": 0.0, + "xmax": 318.7989307984461, + "ymax": 93.4797670623031 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 278.1349711982081, + 93.07070353609242 + ], + [ + 289.4234054951705, + 93.4797670623031 + ], + [ + 318.7989307984461, + 42.57465806286132 + ], + [ + 308.2439900817874, + 42.218029515070725 + ], + [ + 211.76207705377993, + -119.32845270216296 + ], + [ + 225.08045283152398, + -118.97832311596676 + ], + [ + 264.41796678268804, + -162.02986806393585 + ], + [ + 252.1086933217107, + -162.32782516805048 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 388.2280826084821, + "ymin": 165.15626741099544, + "xmax": 410.9368161217595, + "ymax": 178.11856552707945 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 392.45578519537867, + 169.2757160175547 + ], + [ + 389.1923539433935, + 177.3721743616097 + ], + [ + 407.8480653296339, + 178.11856552707945 + ], + [ + 410.9368161217595, + 170.0079766944422 + ], + [ + 391.5131431382322, + 165.15626741099544 + ], + [ + 388.2280826084821, + 173.24416250232167 + ], + [ + 406.9547336936022, + 173.98979400912177 + ], + [ + 410.0637892724823, + 165.88772929161442 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1081.207923863747, + "ymin": 431.8405491144541, + "xmax": 1219.6406087610394, + "ymax": 521.0010749496378 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1104.350312286422, + 515.1490820271689 + ], + [ + 1212.594761615102, + 521.0010749496378 + ], + [ + 1182.578614906985, + 446.2780679289386 + ], + [ + 1081.207923863747, + 441.1333295010478 + ], + [ + 1110.0358796953656, + 506.1383563041087 + ], + [ + 1219.6406087610394, + 512.017477848517 + ], + [ + 1188.8329108111518, + 437.00123210342304 + ], + [ + 1086.2701018795417, + 431.8405491144541 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1032.916519356593, + "ymin": 397.47743814973506, + "xmax": 1248.349563373347, + "ymax": 603.1507379232031 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1051.8444037360296, + 597.2529312164725 + ], + [ + 1153.6521916424945, + 603.1507379232031 + ], + [ + 1128.5819299102136, + 527.1165728909122 + ], + [ + 1032.916519356593, + 521.8985360508983 + ], + [ + 1127.3575660965398, + 477.3730332876982 + ], + [ + 1248.349563373347, + 483.6995980985141 + ], + [ + 1212.3763332536812, + 402.9545437274678 + ], + [ + 1099.961164470392, + 397.47743814973506 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 388.10409110013575, + "ymin": 165.0868514232543, + "xmax": 411.0569411265509, + "ymax": 178.18844527221424 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 392.3785620382908, + 169.2505369606043 + ], + [ + 389.0792348018122, + 177.43394899513083 + ], + [ + 407.93606177834437, + 178.18844527221424 + ], + [ + 411.0569411265509, + 169.99059761611483 + ], + [ + 391.4255223269483, + 165.0868514232543 + ], + [ + 388.10409110013575, + 173.26151494379894 + ], + [ + 407.03339859191806, + 174.01523536135323 + ], + [ + 410.17501427058494, + 165.826095805987 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1081.3104206298854, + "ymin": 431.8863072214127, + "xmax": 1219.5601612409978, + "ymax": 520.8894266088346 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1104.4316562855588, + 515.0444617533793 + ], + [ + 1212.5618264236446, + 520.8894266088346 + ], + [ + 1182.5817708990862, + 446.25724817541146 + ], + [ + 1081.3104206298854, + 441.1179237949538 + ], + [ + 1110.0802316746958, + 506.0926580446923 + ], + [ + 1219.5601612409978, + 511.96453074934965 + ], + [ + 1188.7947877973224, + 437.04145563489703 + ], + [ + 1086.3403526583336, + 431.8863072214127 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 280.7339401803422, + "ymin": 0.0, + "xmax": 664.8224475137705, + "ymax": 120.54253798003052 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 345.17324747137343, + 100.96004885184493 + ], + [ + 341.9417908369858, + 107.22459951437844 + ], + [ + 659.8619732523342, + 120.54253798003052 + ], + [ + 660.5564597810655, + 114.06353435679463 + ], + [ + 285.2130337533806, + -132.9430618669582 + ], + [ + 280.7339401803422, + -127.6703757994431 + ], + [ + 664.0248138440281, + -116.40317943966119 + ], + [ + 664.8224475137705, + -121.89439202144422 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1056.6358213187605, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 529.9509980621644 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1310.682696110085, + 220.08877857088117 + ], + [ + 1056.6358213187605, + 271.806516638258 + ], + [ + 1277.6174596861554, + 529.9509980621644 + ], + [ + 1581.0807853983083, + 447.3907556883841 + ], + [ + 1649.4914068074845, + -300.73237461494125 + ], + [ + 1285.9783762792745, + -267.24219742547325 + ], + [ + 1803.3345639992062, + -64.61409643041895 + ], + [ + 2265.139050348534, + -136.79295908052563 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00116/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00116/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5f5b7d0a23066327e90a3e611793a8161c8bc228 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00116/meta.json @@ -0,0 +1,2883 @@ +{ + "frame_id": 116, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 58.0, + "sim_timestamp": 11170.076235936955 + }, + "drone_pose": { + "x": -93.45819408704413, + "y": -88.80403696505823, + "z": 20.07565449185765, + "pitch": -44.27574511672118, + "yaw": -8.290163192243048, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.70850670337677, + 0.10323570668697357, + 0.6981122493743896, + 43.03294372558594 + ], + [ + -0.14418630301952362, + 0.9895505309104919, + 0.0, + 101.35147094726562 + ], + [ + -0.6908173561096191, + -0.10065822303295135, + 0.7159883379936218, + -69.99761199951172 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -93.01295840740451, + "y": -88.90829505699801, + "z": 20.20804224964166 + }, + "t1_image_uv": [ + 479.9750272404085, + -1335.2725948819593 + ], + "t1_depth": 0.23379408303760732 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -73.66718292236328, + "y": -91.68776321411131, + "z": 0.5749944090844292 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 27.933416254798928, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 200, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -73.66718292236328, + "y": -91.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.30095943808555603, + "y": 0.20252926647663116, + "z": 0.5436949133872986 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.4459657066154, + "ymin": 338.6645845234001, + "xmax": 648.4357116120729, + "ymax": 381.11444820960884 + }, + "corners_3d": [ + [ + -73.9681396484375, + -91.89028930664062, + 0.031299471855163574 + ], + [ + -73.9681396484375, + -91.4852294921875, + 0.031299471855163574 + ], + [ + -73.36622619628906, + -91.4852294921875, + 0.031299471855163574 + ], + [ + -73.36622619628906, + -91.89028930664062, + 0.031299471855163574 + ], + [ + -73.9681396484375, + -91.89028930664062, + 1.1186892986297607 + ], + [ + -73.9681396484375, + -91.4852294921875, + 1.1186892986297607 + ], + [ + -73.36622619628906, + -91.4852294921875, + 1.1186892986297607 + ], + [ + -73.36622619628906, + -91.89028930664062, + 1.1186892986297607 + ] + ], + "corners_2d": [ + [ + 631.6768828030846, + 379.6911301428658 + ], + [ + 645.3685475683616, + 381.11444820960884 + ], + [ + 648.211061483611, + 366.7948559730883 + ], + [ + 634.7197699895154, + 365.4137763268246 + ], + [ + 631.4459657066154, + 352.9211345072422 + ], + [ + 645.5177208774738, + 354.34302643037717 + ], + [ + 648.4357116120729, + 340.04313567970377 + ], + [ + 634.5755231953418, + 338.6645845234001 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 116, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 55, + "semantic_pixel_counts": { + "1": 367574, + "2": 193365, + "3": 185299, + "4": 40706, + "6": 9933, + "7": 911, + "9": 153, + "10": 33661, + "12": 3067, + "14": 41052, + "20": 24661, + "24": 21218 + }, + "instance_pixel_counts": { + "913": 4291, + "5230": 3639, + "5742": 6020, + "9346": 141, + "12951": 729, + "15963": 93244, + "16475": 43331, + "17232": 40706, + "22976": 7959, + "23296": 3353, + "23552": 2220, + "24512": 29646, + "26963": 2178, + "27795": 353, + "28819": 11982, + "29331": 794, + "31893": 30, + "33429": 889, + "33941": 19, + "35668": 13280, + "35924": 3465, + "36692": 3625, + "37979": 34375, + "40019": 2952, + "41107": 10830, + "41611": 2023, + "41619": 8750, + "42123": 1514, + "43117": 4690, + "43147": 13643, + "43155": 91153, + "43659": 13001, + "43667": 12625, + "44179": 231087, + "44181": 478, + "44693": 148, + "45717": 7567, + "46229": 383, + "46741": 11704, + "49664": 200, + "49920": 430, + "50176": 552, + "50432": 956, + "50624": 8282, + "50688": 507, + "50944": 422, + "51136": 3124, + "51456": 12330, + "51712": 4196, + "52160": 32975, + "52672": 69427, + "55040": 24526, + "55879": 16415, + "57173": 153, + "64351": 11042 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 200, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -73.66718292236328, + "y": -91.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.29393795132637024, + "y": 0.21794919669628143, + "z": 0.5379314422607422 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 630.9496421520856, + "ymin": 338.92153179943836, + "xmax": 648.9294262817145, + "ymax": 380.86112328142144 + }, + "corners_3d": [ + [ + -73.96112060546875, + -91.90570831298828, + 0.03706294298171997 + ], + [ + -73.96112060546875, + -91.46981048583984, + 0.03706294298171997 + ], + [ + -73.37324523925781, + -91.46981048583984, + 0.03706294298171997 + ], + [ + -73.37324523925781, + -91.90570831298828, + 0.03706294298171997 + ], + [ + -73.96112060546875, + -91.90570831298828, + 1.1129257678985596 + ], + [ + -73.96112060546875, + -91.46981048583984, + 1.1129257678985596 + ], + [ + -73.37324523925781, + -91.46981048583984, + 1.1129257678985596 + ], + [ + -73.37324523925781, + -91.90570831298828, + 1.1129257678985596 + ] + ], + "corners_2d": [ + [ + 631.1913458208169, + 379.32998892158776 + ], + [ + 645.9249432616487, + 380.86112328142144 + ], + [ + 648.6940614944594, + 366.874004744161 + ], + [ + 634.1711225712401, + 365.3872703379298 + ], + [ + 630.9496421520856, + 352.84410797467837 + ], + [ + 646.0877875208685, + 354.3737099050453 + ], + [ + 648.9294262817145, + 340.40558746227254 + ], + [ + 634.0135793038102, + 338.92153179943836 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 430, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -69.54119873046875, + "y": -88.69005584716797, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.5883325338363647, + "y": 0.3672119081020355, + "z": 0.8922518491744995 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 735.982960472319, + "ymin": 245.73439977623326, + "xmax": 768.9647905653187, + "ymax": 313.66706659831743 + }, + "corners_3d": [ + [ + -70.19302368164062, + -88.92691802978516, + -0.31725257635116577 + ], + [ + -70.04032897949219, + -88.20854949951172, + -0.31725257635116577 + ], + [ + -68.88937377929688, + -88.45319366455078, + -0.31725257635116577 + ], + [ + -69.04206848144531, + -89.17156219482422, + -0.31725257635116577 + ], + [ + -70.19302368164062, + -88.92691802978516, + 1.4672510623931885 + ], + [ + -70.04032897949219, + -88.20854949951172, + 1.4672510623931885 + ], + [ + -68.88937377929688, + -88.45319366455078, + 1.4672510623931885 + ], + [ + -69.04206848144531, + -89.17156219482422, + 1.4672510623931885 + ] + ], + "corners_2d": [ + [ + 740.9868959762384, + 313.66706659831743 + ], + [ + 763.7428506914844, + 312.6831792773771 + ], + [ + 758.1390248463304, + 289.04459653630875 + ], + [ + 735.982960472319, + 289.97681241672234 + ], + [ + 745.2534534593997, + 270.11232595074716 + ], + [ + 768.9647905653187, + 269.13711693406185 + ], + [ + 762.9864363376804, + 245.73439977623326 + ], + [ + 739.9256955721007, + 246.6563200053304 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 552, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -75.40672302246094, + "y": -84.77383422851562, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.39356932044029236, + "y": 0.32686033844947815, + "z": 0.8887507319450378 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 864.1307915006262, + "ymin": 396.5797191794611, + "xmax": 904.2255521244367, + "ymax": 462.7837277342299 + }, + "corners_3d": [ + [ + -75.83230590820312, + -85.0577621459961, + -0.3137514591217041 + ], + [ + -75.76396942138672, + -84.40762329101562, + -0.3137514591217041 + ], + [ + -74.98114013671875, + -84.48990631103516, + -0.3137514591217041 + ], + [ + -75.04947662353516, + -85.14004516601562, + -0.3137514591217041 + ], + [ + -75.83230590820312, + -85.0577621459961, + 1.4637500047683716 + ], + [ + -75.76396942138672, + -84.40762329101562, + 1.4637500047683716 + ], + [ + -74.98114013671875, + -84.48990631103516, + 1.4637500047683716 + ], + [ + -75.04947662353516, + -85.14004516601562, + 1.4637500047683716 + ] + ], + "corners_2d": [ + [ + 867.7769736712589, + 462.04606786035015 + ], + [ + 891.7666847982188, + 462.7837277342299 + ], + [ + 887.6153799520229, + 441.02047881105227 + ], + [ + 864.1307915006262, + 440.31339269793745 + ], + [ + 879.040291954373, + 418.40564375663484 + ], + [ + 904.2255521244367, + 419.14726173139894 + ], + [ + 899.5996820113484, + 397.28912870762673 + ], + [ + 874.9705598763525, + 396.5797191794611 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 956, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -83.69239044189453, + "y": -91.71723175048828, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.43572261929512024, + "y": 0.44835445284843445, + "z": 0.8824885487556458 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 544.6902389521749, + "ymin": 637.4023148235784, + "xmax": 597.1926223898574, + "ymax": 719.5506964164153 + }, + "corners_3d": [ + [ + -84.12811279296875, + -92.16558837890625, + -0.307489275932312 + ], + [ + -84.12811279296875, + -91.26887512207031, + -0.307489275932312 + ], + [ + -83.25666809082031, + -91.26887512207031, + -0.307489275932312 + ], + [ + -83.25666809082031, + -92.16558837890625, + -0.307489275932312 + ], + [ + -84.12811279296875, + -92.16558837890625, + 1.4574878215789795 + ], + [ + -84.12811279296875, + -91.26887512207031, + 1.4574878215789795 + ], + [ + -83.25666809082031, + -91.26887512207031, + 1.4574878215789795 + ], + [ + -83.25666809082031, + -92.16558837890625, + 1.4574878215789795 + ] + ], + "corners_2d": [ + [ + 550.233030866369, + 713.889927042955 + ], + [ + 590.2214233156209, + 719.5506964164153 + ], + [ + 597.1926223898574, + 682.7082591026563 + ], + [ + 558.3069541499715, + 677.3641983467423 + ], + [ + 544.6902389521749, + 674.9469253226705 + ], + [ + 587.1334474377354, + 680.7773547452529 + ], + [ + 594.6171578203209, + 642.8872607399892 + ], + [ + 553.4140875324547, + 637.4023148235784 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 507, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -76.68806457519531, + "y": -100.98506927490234, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.5921704769134521, + "y": 0.47620609402656555, + "z": 0.9035094380378723 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 257.20546120600267, + "ymin": 356.8254041324005, + "xmax": 326.02491562095344, + "ymax": 437.8356383669279 + }, + "corners_3d": [ + [ + -77.22721099853516, + -101.52056884765625, + -0.17610299587249756 + ], + [ + -77.32676696777344, + -100.57337188720703, + -0.17610299587249756 + ], + [ + -76.14891815185547, + -100.44956970214844, + -0.17610299587249756 + ], + [ + -76.04936218261719, + -101.39676666259766, + -0.17610299587249756 + ], + [ + -77.22721099853516, + -101.52056884765625, + 1.630915880203247 + ], + [ + -77.32676696777344, + -100.57337188720703, + 1.630915880203247 + ], + [ + -76.14891815185547, + -100.44956970214844, + 1.630915880203247 + ], + [ + -76.04936218261719, + -101.39676666259766, + 1.630915880203247 + ] + ], + "corners_2d": [ + [ + 275.12331102283395, + 431.503496050423 + ], + [ + 305.9127685824012, + 437.8356383669279 + ], + [ + 326.02491562095344, + 407.65417948881054 + ], + [ + 296.02456905592805, + 401.6923159910335 + ], + [ + 257.20546120600267, + 386.66532193696384 + ], + [ + 289.3986799088199, + 393.01473729958263 + ], + [ + 310.989112171015, + 362.7860861250958 + ], + [ + 279.656679275319, + 356.8254041324005 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 422, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -62.42184829711914, + "y": -99.85797882080078, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.41798827052116394, + "y": 0.4468994140625, + "z": 0.8601047992706299 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 451.9076806219467, + "ymin": 104.44059868832622, + "xmax": 488.6067641992355, + "ymax": 159.32528376239753 + }, + "corners_3d": [ + [ + -62.73778533935547, + -100.38201904296875, + -0.1327032446861267 + ], + [ + -62.92361831665039, + -99.50775146484375, + -0.1327032446861267 + ], + [ + -62.10591125488281, + -99.33393859863281, + -0.1327032446861267 + ], + [ + -61.92007827758789, + -100.20820617675781, + -0.1327032446861267 + ], + [ + -62.73778533935547, + -100.38201904296875, + 1.5875062942504883 + ], + [ + -62.92361831665039, + -99.50775146484375, + 1.5875062942504883 + ], + [ + -62.10591125488281, + -99.33393859863281, + 1.5875062942504883 + ], + [ + -61.92007827758789, + -100.20820617675781, + 1.5875062942504883 + ] + ], + "corners_2d": [ + [ + 458.00124992685664, + 154.92290060468687 + ], + [ + 478.7470887851905, + 159.32528376239753 + ], + [ + 488.6067641992355, + 148.2893027904527 + ], + [ + 468.1122889463827, + 144.01768315749246 + ], + [ + 451.9076806219467, + 115.09147038639352 + ], + [ + 473.3145064653943, + 119.39419081392575 + ], + [ + 483.58543662396744, + 108.61132273661613 + ], + [ + 462.44594184098565, + 104.44059868832622 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 12330, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 548.4382692834637, + "ymin": 451.7285383356399, + "xmax": 661.3276480077342, + "ymax": 637.4070115180871 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 660.5077724066063, + 494.5488098353328 + ], + [ + 585.6730952815017, + 485.7700887548607 + ], + [ + 552.390721957041, + 626.141437323306 + ], + [ + 636.8994448510088, + 637.4070115180871 + ], + [ + 661.3276480077342, + 460.56552267187016 + ], + [ + 583.5196878577926, + 451.7285383356399 + ], + [ + 548.4382692834637, + 593.729316050279 + ], + [ + 636.7581941834918, + 605.1905398536883 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 4196, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 998.1569762311633, + "ymin": 2.194968295983699, + "xmax": 1128.247012081252, + "ymax": 69.59014421375775 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 998.1569762311633, + 42.25103735909454 + ], + [ + 1003.729592735561, + 62.38363710934226 + ], + [ + 1112.9541701247772, + 69.59014421375775 + ], + [ + 1103.8382226479307, + 49.01682766798814 + ], + [ + 1009.2586821795551, + 2.194968295983699 + ], + [ + 1015.3819025717967, + 21.620037873101126 + ], + [ + 1128.247012081252, + 28.60319217513984 + ], + [ + 1118.3446301797492, + 8.738733129786624 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 24526, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 845.9203984069413, + "ymin": 430.5250106143153, + "xmax": 984.0495380578532, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 847.7196097725106, + 707.6403937909379 + ], + [ + 959.7316323902721, + 723.0789861376057 + ], + [ + 938.1364060388331, + 493.6923005798668 + ], + [ + 845.9203984069413, + 483.2024056507944 + ], + [ + 863.3163429443666, + 659.8153032071973 + ], + [ + 984.0495380578532, + 675.809177658027 + ], + [ + 956.5605611385448, + 441.1092395672147 + ], + [ + 858.5133940355693, + 430.5250106143153 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4809317425322915338, + "instance_id": 2806, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -62.6159553527832, + "y": -93.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 618.9129685722016, + "ymin": 0.0, + "xmax": 631.6596560363975, + "ymax": 25.396632303236288 + }, + "corners_3d": [ + [ + -62.754539489746094, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.9842529296875, + 6.416468620300293 + ], + [ + -62.754539489746094, + -93.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 630.4247224581852, + 25.396632303236288 + ], + [ + 631.6596560363975, + 21.772568883168105 + ], + [ + 620.6086437204982, + 21.053988050329167 + ], + [ + 619.3082901254296, + 24.66931786914205 + ], + [ + 630.2415580676338, + 0.16208498880649813 + ], + [ + 631.5010941849389, + -3.3759288692682503 + ], + [ + 620.2404378934497, + -4.07735087725365 + ], + [ + 618.9129685722016, + -0.5480255487657928 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 405.0037653009571, + "ymin": 59.60841649641986, + "xmax": 421.320145585819, + "ymax": 85.9542418621167 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 419.0045179210989, + 85.9542418621167 + ], + [ + 421.320145585819, + 82.27256357757909 + ], + [ + 411.40658295360237, + 81.54608536745525 + ], + [ + 409.0381432431475, + 85.21961955772343 + ], + [ + 415.1398662456777, + 63.94402678736685 + ], + [ + 417.51762650398814, + 60.32286937539277 + ], + [ + 407.43614441868624, + 59.60841649641986 + ], + [ + 405.0037653009571, + 63.22142424255509 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5344508464058845628, + "instance_id": 48329, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -62.61595916748047, + "y": -96.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 530.4276775011218, + "ymin": 0.0, + "xmax": 545.1123605736095, + "ymax": 19.70091859841591 + }, + "corners_3d": [ + [ + -62.75454330444336, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.9842529296875, + 6.416468620300293 + ], + [ + -62.75454330444336, + -96.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 543.3694161347369, + 19.70091859841591 + ], + [ + 545.1123605736095, + 16.14496924588002 + ], + [ + 534.2683108043265, + 15.43984588230279 + ], + [ + 532.462414983375, + 18.987306550121218 + ], + [ + 541.5388176162177, + -5.398023688254966 + ], + [ + 543.3257127632941, + -8.868290929564068 + ], + [ + 532.2798945420993, + -9.556330815098192 + ], + [ + 530.4276775011218, + -6.094503896072467 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8433051479337506626, + "instance_id": 17047, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -62.61595153808594, + "y": -91.29429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 692.9570299512039, + "ymin": 0.5700769242205865, + "xmax": 706.2957370664035, + "ymax": 30.226916586946516 + }, + "corners_3d": [ + [ + -62.75453567504883, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.4842529296875, + 6.416468620300293 + ], + [ + -62.75453567504883, + -91.4842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 704.2526306070154, + 30.226916586946516 + ], + [ + 705.0490015858261, + 26.544585332300073 + ], + [ + 693.8209608294829, + 25.814493467115653 + ], + [ + 692.9570299512039, + 29.48787977620816 + ], + [ + 705.491773398144, + 4.878947472702464 + ], + [ + 706.2957370664035, + 1.2829511872486137 + ], + [ + 694.8512248368754, + 0.5700769242205865 + ], + [ + 693.9770627075643, + 4.157170353761444 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1056.205027391698, + "ymin": 85.4432944368973, + "xmax": 1076.4066681084219, + "ymax": 112.56651741047548 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1067.2556483883272, + 108.58376780396642 + ], + [ + 1056.205027391698, + 107.79809174988247 + ], + [ + 1057.4882690851887, + 111.7716787339856 + ], + [ + 1068.6046599953695, + 112.56651741047548 + ], + [ + 1074.9873024217918, + 86.2170391550552 + ], + [ + 1063.7279087485265, + 85.4432944368973 + ], + [ + 1065.0789908257887, + 89.3568680036895 + ], + [ + 1076.4066681084219, + 90.13980084485428 + ] + ], + "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": 1005.8136599223947, + "ymin": 0.0, + "xmax": 1138.0528872725527, + "ymax": 178.95645272686983 + }, + "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": [ + [ + 1043.6242080706752, + 177.95390513151133 + ], + [ + 1055.6782977925695, + 178.95645272686983 + ], + [ + 1015.5001509330895, + 33.20680976074436 + ], + [ + 1005.8136599223947, + 32.55381339916494 + ], + [ + 1123.482821829111, + -52.86799565303812 + ], + [ + 1138.0528872725527, + -52.034510902428224 + ], + [ + 1073.3348725660321, + -168.77186359284144 + ], + [ + 1062.0867840607189, + -169.27552285716024 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 305.72626863651874, + "ymin": 195.3602468054214, + "xmax": 515.2716892400097, + "ymax": 457.0179032908681 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 380.04235385598435, + 429.5264152708562 + ], + [ + 374.6454219717721, + 441.4452251089994 + ], + [ + 511.41955227748997, + 457.0179032908681 + ], + [ + 515.2716892400097, + 444.7336645643414 + ], + [ + 313.5182177888828, + 195.3602468054214 + ], + [ + 305.72626863651874, + 206.87823100738817 + ], + [ + 477.37758032976376, + 222.03323394492747 + ], + [ + 482.7446559433286, + 210.06842765251028 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 306.6569738769833, + "ymin": 0.0, + "xmax": 397.4555416172109, + "ymax": 137.01189330901937 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 354.84301032307997, + 136.14846251729244 + ], + [ + 365.65350854370547, + 137.01189330901937 + ], + [ + 397.4555416172109, + 88.73516073896394 + ], + [ + 387.34023857301185, + 87.9846279047473 + ], + [ + 306.6569738769833, + -68.05352898926651 + ], + [ + 319.2285220639577, + -67.33345182105171 + ], + [ + 359.6243911139987, + -107.14700133946917 + ], + [ + 347.9827661962441, + -107.7588426438972 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 456.10692875620765, + "ymin": 216.24214511569735, + "xmax": 478.67553353950177, + "ymax": 229.90300057801414 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 460.5231085488515, + 220.30867674993303 + ], + [ + 456.77630311242376, + 228.26860886179955 + ], + [ + 475.1029281714931, + 229.90300057801414 + ], + [ + 478.67553353950177, + 221.91084610228876 + ], + [ + 459.8739350737052, + 216.24214511569735 + ], + [ + 456.10692875620765, + 224.19036130000893 + ], + [ + 474.4992781554301, + 225.8224185378252 + ], + [ + 478.0908397089096, + 217.84191009597203 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1157.5046375567904, + "ymin": 528.8442359133134, + "xmax": 1280.0, + "ymax": 634.6426712779119 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1181.1852928881076, + 620.0404412635867 + ], + [ + 1300.1321213263557, + 634.6426712779119 + ], + [ + 1267.9446813111344, + 550.7970656370745 + ], + [ + 1157.5046375567904, + 538.1368025345869 + ], + [ + 1187.8853932184857, + 611.0703129602705 + ], + [ + 1308.4058618184622, + 625.7446733687814 + ], + [ + 1275.2635875528367, + 541.5452348718436 + ], + [ + 1163.467778017885, + 528.8442359133134 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1101.0073287898672, + "ymin": 494.04555263912323, + "xmax": 1280.0, + "ymax": 716.3969153188573 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1119.523882818905, + 701.7138655962192 + ], + [ + 1230.7771506375739, + 716.3969153188573 + ], + [ + 1204.7343956896498, + 631.2741479594181 + ], + [ + 1101.0073287898672, + 618.4519395575269 + ], + [ + 1208.4686532283204, + 582.4710798697878 + ], + [ + 1341.853789181299, + 598.2869075976081 + ], + [ + 1302.7079857634426, + 507.5251127953637 + ], + [ + 1179.9907710262746, + 494.04555263912323 + ] + ], + "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": 482.3381889694431, + "ymin": 0.0, + "xmax": 564.5609797646986, + "ymax": 14.701141003689827 + }, + "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": [ + [ + 564.5609797646986, + -78.44048772659818 + ], + [ + 557.0428847737403, + -78.87616687792297 + ], + [ + 502.72004318681377, + 14.087191804830354 + ], + [ + 511.58889658111303, + 14.701141003689827 + ], + [ + 555.3316191290039, + -252.53591220217857 + ], + [ + 546.9037178116148, + -252.85377623940371 + ], + [ + 482.3381889694431, + -183.45040210876027 + ], + [ + 492.50101110428295, + -182.9812550642057 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 455.9838399483442, + "ymin": 216.16911304311648, + "xmax": 478.79504724270237, + "ymax": 229.97677539171076 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 460.4487767270398, + 220.2792869095374 + ], + [ + 456.6608792375418, + 228.32462498845857 + ], + [ + 475.18510729497666, + 229.97677539171076 + ], + [ + 478.79504724270237, + 221.89851903460388 + ], + [ + 459.79238170090423, + 216.16911304311648 + ], + [ + 455.9838399483442, + 224.20248163688112 + ], + [ + 474.5752199790752, + 225.8522474937996 + ], + [ + 478.20451892622134, + 217.7858884500192 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1157.6178763411904, + "ymin": 528.8983792981566, + "xmax": 1280.0, + "ymax": 634.5203246674982 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1181.2782351540684, + 619.9352978033546 + ], + [ + 1300.0993222322074, + 634.5203246674982 + ], + [ + 1267.9506145909065, + 550.777192612714 + ], + [ + 1157.6178763411904, + 538.1297590589872 + ], + [ + 1187.9347166409013, + 611.0238038286204 + ], + [ + 1308.3172618415529, + 625.680375539458 + ], + [ + 1275.2212453367226, + 541.5862436547987 + ], + [ + 1163.5429970270789, + 528.8983792981566 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 372.66468348994937, + "ymin": 0.0, + "xmax": 746.5349538838955, + "ymax": 179.5691818386872 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 418.88800897356214, + 146.57525783267693 + ], + [ + 415.3345664290124, + 152.56542297858394 + ], + [ + 728.0320947996627, + 179.5691818386872 + ], + [ + 729.0508001888514, + 173.12872772189004 + ], + [ + 377.3032142531102, + -78.73530334145698 + ], + [ + 372.66468348994937, + -73.8299302767798 + ], + [ + 745.4943013460148, + -51.52489227327942 + ], + [ + 746.5349538838955, + -56.87336093820727 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1132.9779191591028, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 646.0804212533635 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1408.042411470648, + 314.4480687803981 + ], + [ + 1132.9779191591028, + 354.5322433326275 + ], + [ + 1369.3116431655708, + 646.0804212533635 + ], + [ + 1712.552784433377, + 577.8652835726222 + ], + [ + 1796.3708210241996, + -206.39594576404124 + ], + [ + 1399.5177631229212, + -180.76094599918179 + ], + [ + 1992.784776476645, + 48.94611386300187 + ], + [ + 2538.8479523207075, + -12.81367739712772 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00117/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00117/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f7d56ff36e246881718f9dea322e612f11bae202 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00117/meta.json @@ -0,0 +1,2884 @@ +{ + "frame_id": 117, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 58.5, + "sim_timestamp": 11183.16540608555 + }, + "drone_pose": { + "x": -93.01295840740451, + "y": -88.90829505699801, + "z": 20.20804224964166, + "pitch": -44.41306210312612, + "yaw": -7.972610655576522, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7074089050292969, + 0.09907501190900803, + 0.699826180934906, + 42.84748840332031 + ], + [ + -0.1386996954679489, + 0.9903345108032227, + 0.0, + 100.94982147216797 + ], + [ + -0.6930620074272156, + -0.09706567972898483, + 0.7143131494522095, + -70.2686767578125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -92.45819408704413, + "y": -88.80403696505823, + "z": 20.06248226719634 + }, + "t1_image_uv": [ + 997.4264910516915, + -176.33163295219538 + ], + "t1_depth": 0.48398256258330863 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -73.16718292236328, + "y": -91.68776321411131, + "z": 0.5749944090844292 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 28.05417643326354, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 196, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -73.16718292236328, + "y": -91.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.29864010214805603, + "y": 0.2193359136581421, + "z": 0.5373847484588623 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 630.9675480035223, + "ymin": 338.94600508385156, + "xmax": 648.9098527622621, + "ymax": 380.8403468278029 + }, + "corners_3d": [ + [ + -73.4658203125, + -91.90709686279297, + 0.037609636783599854 + ], + [ + -73.4658203125, + -91.46842193603516, + 0.037609636783599854 + ], + [ + -72.86854553222656, + -91.46842193603516, + 0.037609636783599854 + ], + [ + -72.86854553222656, + -91.90709686279297, + 0.037609636783599854 + ], + [ + -73.4658203125, + -91.90709686279297, + 1.1123790740966797 + ], + [ + -73.4658203125, + -91.46842193603516, + 1.1123790740966797 + ], + [ + -72.86854553222656, + -91.46842193603516, + 1.1123790740966797 + ], + [ + -72.86854553222656, + -91.90709686279297, + 1.1123790740966797 + ] + ], + "corners_2d": [ + [ + 631.2081146106979, + 379.3608228222428 + ], + [ + 645.9852725963494, + 380.8403468278029 + ], + [ + 648.6756943596358, + 366.6475073635159 + ], + [ + 634.1122832320208, + 365.2113130750864 + ], + [ + 630.9675480035223, + 353.0789634636253 + ], + [ + 646.1493030399308, + 354.55741520685694 + ], + [ + 648.9098527622621, + 340.3799997041783 + ], + [ + 633.9536202455392, + 338.94600508385156 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 117, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 56, + "semantic_pixel_counts": { + "1": 368147, + "2": 190764, + "3": 185377, + "4": 41489, + "6": 11010, + "7": 924, + "9": 135, + "10": 33786, + "12": 3082, + "14": 42231, + "20": 23402, + "24": 21253 + }, + "instance_pixel_counts": { + "913": 4407, + "5230": 3783, + "5742": 5161, + "9346": 165, + "12951": 744, + "15963": 95090, + "16475": 39061, + "17232": 41489, + "22976": 8290, + "23296": 4209, + "23552": 2353, + "24512": 28755, + "26963": 2226, + "27795": 845, + "28307": 30, + "28819": 12307, + "29331": 983, + "31893": 20, + "33429": 942, + "33941": 17, + "35668": 13630, + "35924": 1643, + "36692": 3722, + "37979": 37438, + "40019": 2981, + "41107": 12714, + "41611": 2096, + "41619": 9550, + "42123": 1574, + "43117": 4844, + "43147": 13374, + "43155": 93451, + "43659": 12786, + "43667": 13178, + "44179": 225089, + "44181": 534, + "44693": 161, + "45717": 7735, + "46229": 390, + "46741": 11454, + "49664": 196, + "49920": 416, + "50176": 539, + "50432": 982, + "50624": 8487, + "50688": 543, + "50944": 406, + "51136": 3171, + "51456": 12719, + "51712": 4207, + "52160": 31941, + "52672": 68704, + "55040": 25305, + "55879": 16763, + "57173": 135, + "64351": 10842 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 196, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -73.16718292236328, + "y": -91.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.27861326932907104, + "y": 0.2114306390285492, + "z": 0.5266475081443787 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.3445078135751, + "ymin": 339.7081899503739, + "xmax": 648.5463115063877, + "ymax": 380.0752501085493 + }, + "corners_3d": [ + [ + -73.44579315185547, + -91.8991928100586, + 0.048346877098083496 + ], + [ + -73.44579315185547, + -91.47632598876953, + 0.048346877098083496 + ], + [ + -72.8885726928711, + -91.47632598876953, + 0.048346877098083496 + ], + [ + -72.8885726928711, + -91.8991928100586, + 0.048346877098083496 + ], + [ + -73.44579315185547, + -91.8991928100586, + 1.1016418933868408 + ], + [ + -73.44579315185547, + -91.47632598876953, + 1.1016418933868408 + ], + [ + -72.8885726928711, + -91.47632598876953, + 1.1016418933868408 + ], + [ + -72.8885726928711, + -91.8991928100586, + 1.1016418933868408 + ] + ], + "corners_2d": [ + [ + 631.5703816394828, + 378.65047346891606 + ], + [ + 645.8118118825598, + 380.0752501085493 + ], + [ + 648.3260341265594, + 366.83507760650906 + ], + [ + 634.2769307642535, + 365.44927779125385 + ], + [ + 631.3445078135751, + 352.8942715035584 + ], + [ + 645.967778429285, + 354.3179984070907 + ], + [ + 648.5463115063877, + 341.09194641924597 + ], + [ + 634.125745953719, + 339.7081899503739 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 416, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -69.04119873046875, + "y": -88.69005584716797, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.5018163919448853, + "y": 0.31467771530151367, + "z": 0.8861775994300842 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 736.8518789394408, + "ymin": 247.45359623838965, + "xmax": 765.683002530546, + "ymax": 311.26537102104993 + }, + "corners_3d": [ + [ + -69.59747314453125, + -88.89352416992188, + -0.3111783266067505 + ], + [ + -69.46662139892578, + -88.27792358398438, + -0.3111783266067505 + ], + [ + -68.48492431640625, + -88.48658752441406, + -0.3111783266067505 + ], + [ + -68.61577606201172, + -89.10218811035156, + -0.3111783266067505 + ], + [ + -69.59747314453125, + -88.89352416992188, + 1.461176872253418 + ], + [ + -69.46662139892578, + -88.27792358398438, + 1.461176872253418 + ], + [ + -68.48492431640625, + -88.48658752441406, + 1.461176872253418 + ], + [ + -68.61577606201172, + -89.10218811035156, + 1.461176872253418 + ] + ], + "corners_2d": [ + [ + 741.2799684857938, + 311.26537102104993 + ], + [ + 760.6468811219886, + 310.3556920870543 + ], + [ + 755.785878146948, + 290.2384087951511 + ], + [ + 736.8518789394408, + 291.1074482447398 + ], + [ + 745.5121607644082, + 268.28289117768554 + ], + [ + 765.683002530546, + 267.3809144221193 + ], + [ + 760.5054999258685, + 247.45359623838965 + ], + [ + 740.803820709934, + 248.31365378276968 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 539, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -75.42300415039062, + "y": -84.74504852294922, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.3667871057987213, + "y": 0.31111815571784973, + "z": 0.8618183732032776 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 865.7180602360644, + "ymin": 411.2394210333493, + "xmax": 904.5440980408596, + "ymax": 474.6285357716549 + }, + "corners_3d": [ + [ + -75.82030487060547, + -85.01612091064453, + -0.28681910037994385 + ], + [ + -75.75526428222656, + -84.39729309082031, + -0.28681910037994385 + ], + [ + -75.02570343017578, + -84.4739761352539, + -0.28681910037994385 + ], + [ + -75.09074401855469, + -85.09280395507812, + -0.28681910037994385 + ], + [ + -75.82030487060547, + -85.01612091064453, + 1.4368176460266113 + ], + [ + -75.75526428222656, + -84.39729309082031, + 1.4368176460266113 + ], + [ + -75.02570343017578, + -84.4739761352539, + 1.4368176460266113 + ], + [ + -75.09074401855469, + -85.09280395507812, + 1.4368176460266113 + ] + ], + "corners_2d": [ + [ + 869.3157373490983, + 474.010451782647 + ], + [ + 892.3197899300988, + 474.6285357716549 + ], + [ + 888.267620428866, + 453.87652081861427 + ], + [ + 865.7180602360644, + 453.2825028695699 + ], + [ + 880.4187295815309, + 432.08719577518127 + ], + [ + 904.5440980408596, + 432.7094621236371 + ], + [ + 900.0478289681939, + 411.83632114111117 + ], + [ + 876.4218582046082, + 411.2394210333493 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 982, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -83.68998718261719, + "y": -91.7562484741211, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.4348143935203552, + "y": 0.45085933804512024, + "z": 0.861763060092926 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 541.130330076472, + "ymin": 658.1701373351209, + "xmax": 594.3964765984919, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -84.12480163574219, + -92.20710754394531, + -0.2867637872695923 + ], + [ + -84.12480163574219, + -91.30538940429688, + -0.2867637872695923 + ], + [ + -83.25517272949219, + -91.30538940429688, + -0.2867637872695923 + ], + [ + -83.25517272949219, + -92.20710754394531, + -0.2867637872695923 + ], + [ + -84.12480163574219, + -92.20710754394531, + 1.4367623329162598 + ], + [ + -84.12480163574219, + -91.30538940429688, + 1.4367623329162598 + ], + [ + -83.25517272949219, + -91.30538940429688, + 1.4367623329162598 + ], + [ + -83.25517272949219, + -92.20710754394531, + 1.4367623329162598 + ] + ], + "corners_2d": [ + [ + 546.8206675417377, + 733.7659528308013 + ], + [ + 587.503238319285, + 739.392609511403 + ], + [ + 594.3964765984919, + 701.5956074216779 + ], + [ + 554.8455108548396, + 696.2859359270035 + ], + [ + 541.130330076472, + 696.7518197524146 + ], + [ + 584.2827643187504, + 702.5554672565856 + ], + [ + 591.6837530516761, + 663.6277202288725 + ], + [ + 549.8023196487286, + 658.1701373351209 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 543, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -76.18806457519531, + "y": -100.98506927490234, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.5405688881874084, + "y": 0.5072119832038879, + "z": 0.9053919911384583 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 258.79533377513815, + "ymin": 359.37793564827507, + "xmax": 327.4218988696135, + "ymax": 437.857762039375 + }, + "corners_3d": [ + [ + -76.67265319824219, + -101.54600524902344, + -0.1779855489730835 + ], + [ + -76.7786865234375, + -100.53713989257812, + -0.1779855489730835 + ], + [ + -75.70347595214844, + -100.42413330078125, + -0.1779855489730835 + ], + [ + -75.59744262695312, + -101.43299865722656, + -0.1779855489730835 + ], + [ + -76.67265319824219, + -101.54600524902344, + 1.632798433303833 + ], + [ + -76.7786865234375, + -100.53713989257812, + 1.632798433303833 + ], + [ + -75.70347595214844, + -100.42413330078125, + 1.632798433303833 + ], + [ + -75.59744262695312, + -101.43299865722656, + 1.632798433303833 + ] + ], + "corners_2d": [ + [ + 276.63545869920557, + 431.2775397515662 + ], + [ + 309.3995951281205, + 437.857762039375 + ], + [ + 327.4218988696135, + 410.2581591423588 + ], + [ + 295.4268156427251, + 404.02867763963576 + ], + [ + 258.79533377513815, + 386.6682006418644 + ], + [ + 293.057313922868, + 393.26924261971834 + ], + [ + 312.40936283605333, + 365.61052553898645 + ], + [ + 278.98663204998934, + 359.37793564827507 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 406, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -61.92184829711914, + "y": -99.85797882080078, + "z": 0.7335149049758911 + }, + "extent": { + "x": 0.4243798851966858, + "y": 0.4509570300579071, + "z": 0.8801046013832092 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 450.22058571608386, + "ymin": 104.37396368122077, + "xmax": 487.34816565409767, + "ymax": 160.23627096942585 + }, + "corners_3d": [ + [ + -62.243194580078125, + -100.38731384277344, + -0.14658969640731812 + ], + [ + -62.43071365356445, + -99.50511169433594, + -0.14658969640731812 + ], + [ + -61.600502014160156, + -99.32864379882812, + -0.14658969640731812 + ], + [ + -61.41298294067383, + -100.21084594726562, + -0.14658969640731812 + ], + [ + -62.243194580078125, + -100.38731384277344, + 1.6136195659637451 + ], + [ + -62.43071365356445, + -99.50511169433594, + 1.6136195659637451 + ], + [ + -61.600502014160156, + -99.32864379882812, + 1.6136195659637451 + ], + [ + -61.41298294067383, + -100.21084594726562, + 1.6136195659637451 + ] + ], + "corners_2d": [ + [ + 456.5136022310582, + 155.84822100600502 + ], + [ + 477.45616102976095, + 160.23627096942585 + ], + [ + 487.34816565409767, + 148.97982811126198 + ], + [ + 466.6642747276828, + 144.72374050570974 + ], + [ + 450.22058571608386, + 115.23983803517672 + ], + [ + 471.8470434968571, + 119.52897812558678 + ], + [ + 482.1631707881301, + 108.5297823675246 + ], + [ + 460.8122363800594, + 104.37396368122077 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 12719, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 546.3954430220172, + "ymin": 466.9351654843466, + "xmax": 659.7370533802823, + "ymax": 655.9001176024155 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 658.9696793647115, + 509.26359032635384 + ], + [ + 583.4070503907644, + 500.60521306807664 + ], + [ + 550.4872846528912, + 644.7668383209431 + ], + [ + 635.9180802948849, + 655.9001176024155 + ], + [ + 659.7370533802823, + 475.66323929148405 + ], + [ + 581.1366333615823, + 466.9351654843466 + ], + [ + 546.3954430220172, + 612.9918743587405 + ], + [ + 635.7297122516426, + 624.3368837401027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 4207, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 995.698818565116, + "ymin": 6.1587124625736465, + "xmax": 1126.3752138284196, + "ymax": 73.75260859309259 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 995.698818565116, + 46.241936076470154 + ], + [ + 1001.4427572959357, + 66.71707060720428 + ], + [ + 1111.03644618979, + 73.75260859309259 + ], + [ + 1101.7283915679109, + 52.84625639234588 + ], + [ + 1006.8061668649107, + 6.1587124625736465 + ], + [ + 1013.1090072743647, + 25.93651193712458 + ], + [ + 1126.3752138284196, + 32.76197847588418 + ], + [ + 1116.2697425315052, + 12.553676489668192 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 25305, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 845.7994290740487, + "ymin": 444.67915093616375, + "xmax": 986.9533473324746, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 849.112086424355, + 726.8942323761867 + ], + [ + 962.1465054966579, + 742.1282404642482 + ], + [ + 938.7196967977133, + 507.1363556233201 + ], + [ + 845.7994290740487, + 496.8134979276725 + ], + [ + 865.0151598319286, + 680.2769252744635 + ], + [ + 986.9533473324746, + 696.0990170043667 + ], + [ + 957.3804258775017, + 455.116122597444 + ], + [ + 858.5259590644841, + 444.67915093616375 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4809317425322915338, + "instance_id": 2806, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -62.6159553527832, + "y": -93.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 614.7506986525394, + "ymin": 3.1486100722444235, + "xmax": 627.6649470898205, + "ymax": 32.75037000052623 + }, + "corners_3d": [ + [ + -62.754539489746094, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.9842529296875, + 6.416468620300293 + ], + [ + -62.754539489746094, + -93.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 626.4411036398164, + 32.75037000052623 + ], + [ + 627.6649470898205, + 29.030740780415385 + ], + [ + 616.5194357891909, + 28.321837716713333 + ], + [ + 615.2290923731733, + 32.03279397511915 + ], + [ + 626.1789317250366, + 7.476131749642491 + ], + [ + 627.4279135302188, + 3.8412625015729986 + ], + [ + 616.0687620235827, + 3.1486100722444235 + ], + [ + 614.7506986525394, + 6.774840910350747 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 399.1684791068211, + "ymin": 67.12216928889154, + "xmax": 415.73123438766197, + "ymax": 93.57440220235685 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 413.4088300413771, + 93.57440220235685 + ], + [ + 415.73123438766197, + 89.80033175071753 + ], + [ + 405.7237911729504, + 89.08452847522818 + ], + [ + 403.34759769213196, + 92.85052041106246 + ], + [ + 409.4030083138447, + 71.54155335565338 + ], + [ + 411.7890570687178, + 67.82666494093564 + ], + [ + 401.61017852333816, + 67.12216928889154 + ], + [ + 399.1684791068211, + 70.82896591965147 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5344508464058845628, + "instance_id": 48329, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -62.61595916748047, + "y": -96.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 525.4557951558693, + "ymin": 0.0, + "xmax": 540.3542453928532, + "ymax": 27.129412315087848 + }, + "corners_3d": [ + [ + -62.75454330444336, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.9842529296875, + 6.416468620300293 + ], + [ + -62.75454330444336, + -96.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 538.6137196279903, + 27.129412315087848 + ], + [ + 540.3542453928532, + 23.477451339935612 + ], + [ + 529.4107721337584, + 22.78139871634562 + ], + [ + 527.6061743593602, + 26.424922186345952 + ], + [ + 536.6716480910037, + 1.9835892241671331 + ], + [ + 538.4572035566612, + -1.5838968629753367 + ], + [ + 527.3078623532391, + -2.2637556478725287 + ], + [ + 525.4557951558693, + 1.295330981977429 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8433051479337506626, + "instance_id": 17047, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -62.61595153808594, + "y": -91.29429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 689.4946462367825, + "ymin": 7.736908676548751, + "xmax": 702.8539402856995, + "ymax": 37.51454633053237 + }, + "corners_3d": [ + [ + -62.75453567504883, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.4842529296875, + 6.416468620300293 + ], + [ + -62.75453567504883, + -91.4842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 700.8814291587422, + 37.51454633053237 + ], + [ + 701.6597453118973, + 33.73707988728296 + ], + [ + 690.34156426941, + 33.017194337274816 + ], + [ + 689.4946462367825, + 36.785784867819245 + ], + [ + 702.0679424719657, + 12.132991269601234 + ], + [ + 702.8539402856995, + 8.440500350694492 + ], + [ + 691.3153896631414, + 7.736908676548751 + ], + [ + 690.4580839113195, + 11.420555087148955 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1054.9580344055348, + "ymin": 91.75002353039952, + "xmax": 1075.295099790579, + "ymax": 118.92443721697833 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1066.0595908159337, + 114.86203336268 + ], + [ + 1054.9580344055348, + 114.0917367124494 + ], + [ + 1056.281110306074, + 118.14511934836028 + ], + [ + 1067.4489965501843, + 118.92443721697833 + ], + [ + 1073.833940082471, + 92.50914807139009 + ], + [ + 1062.5212722859173, + 91.75002353039952 + ], + [ + 1063.9135501002252, + 95.74496149969099 + ], + [ + 1075.295099790579, + 96.51313999808974 + ] + ], + "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": 1003.2969585370766, + "ymin": 0.0, + "xmax": 1137.3659002629788, + "ymax": 185.25849785321284 + }, + "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": [ + [ + 1042.3600560524146, + 184.27509647584293 + ], + [ + 1054.465657650684, + 185.25849785321284 + ], + [ + 1013.0179312737564, + 36.97126797414734 + ], + [ + 1003.2969585370766, + 36.33168494995721 + ], + [ + 1122.7149825939364, + -46.50816121967216 + ], + [ + 1137.3659002629788, + -45.68416241238083 + ], + [ + 1070.9371637615052, + -165.3328238063168 + ], + [ + 1059.639308104564, + -165.82956247030495 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 298.82758792788684, + "ymin": 211.19143700801317, + "xmax": 512.1375220871455, + "ymax": 471.6026535403996 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 375.44820944200126, + 443.98719351608304 + ], + [ + 370.03697025246356, + 456.2314495363837 + ], + [ + 508.3038820952813, + 471.6026535403996 + ], + [ + 512.1375220871455, + 458.99484285362644 + ], + [ + 306.70445771775167, + 211.19143700801317 + ], + [ + 298.82758792788684, + 223.14934488745433 + ], + [ + 472.91235439570835, + 238.2669589668024 + ], + [ + 478.29696378801066, + 225.85842446644935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 299.12662916931174, + "ymin": 0.0, + "xmax": 391.7338048462792, + "ymax": 144.68739973798623 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 348.918542502108, + 143.83785742074596 + ], + [ + 359.83136081917667, + 144.68739973798623 + ], + [ + 391.7338048462792, + 95.29253577812483 + ], + [ + 381.52862255262283, + 94.55471887132478 + ], + [ + 299.12662916931174, + -60.75389565819245 + ], + [ + 311.84034142072204, + -60.03987973963177 + ], + [ + 352.56097127447265, + -101.0843150449839 + ], + [ + 340.7970985837301, + -101.69022594720514 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 451.3696843264993, + "ymin": 232.089549850959, + "xmax": 474.2255769003576, + "ymax": 246.02208565012245 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 455.8294657912313, + 236.1412580612095 + ], + [ + 452.06656949161174, + 244.39338238502881 + ], + [ + 470.6415032691715, + 246.02208565012245 + ], + [ + 474.2255769003576, + 237.7375073160839 + ], + [ + 455.1533907933906, + 232.089549850959 + ], + [ + 451.3696843264993, + 240.33118165039613 + ], + [ + 470.0122522032326, + 241.95788627807298 + ], + [ + 473.61583870164543, + 233.68372178871059 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1161.0834647375875, + "ymin": 546.2768985326171, + "xmax": 1280.0, + "ymax": 654.0351799065642 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1185.7512532585924, + 639.6063316441847 + ], + [ + 1305.6811385794686, + 654.0351799065642 + ], + [ + 1272.3763135146069, + 567.9184816160241 + ], + [ + 1161.0834647375875, + 555.4222136243984 + ], + [ + 1192.5911811581798, + 630.8298574198817 + ], + [ + 1314.1240679626258, + 645.3366036199343 + ], + [ + 1279.8307693678507, + 558.8186799852299 + ], + [ + 1167.1583824762602, + 546.2768985326171 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1103.6184069680876, + "ymin": 511.89886966789845, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1122.9456164051383, + 719.5194221777708 + ], + [ + 1234.9876477626112, + 733.9713922304664 + ], + [ + 1208.0360688355308, + 646.8742735473952 + ], + [ + 1103.6184069680876, + 634.2648070727274 + ], + [ + 1213.6796651493046, + 602.969717392099 + ], + [ + 1348.2509398877733, + 618.6305399284672 + ], + [ + 1307.746401421295, + 525.2286381954044 + ], + [ + 1184.0187221765939, + 511.89886966789845 + ] + ], + "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": 476.1402899213114, + "ymin": 0.0, + "xmax": 559.3311869608328, + "ymax": 19.398541283742077 + }, + "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": [ + [ + 559.3311869608328, + -75.59464489624253 + ], + [ + 551.7650954125993, + -76.02237998648587 + ], + [ + 497.5152568189636, + 18.79482473398224 + ], + [ + 506.4501044842259, + 19.398541283742077 + ], + [ + 549.3708320330622, + -250.36550247410992 + ], + [ + 540.8809058912063, + -250.67968824080458 + ], + [ + 476.1402899213114, + -179.38777556330263 + ], + [ + 486.3922937331646, + -178.9230048566037 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 451.2449997553936, + "ymin": 232.01507134396098, + "xmax": 474.3465841167356, + "ymax": 246.09733278613788 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 455.75404265546314, + 236.11027071226363 + ], + [ + 451.94985942166056, + 244.4509324723486 + ], + [ + 470.72508063081045, + 246.09733278613788 + ], + [ + 474.3465841167356, + 237.72351614247722 + ], + [ + 455.0704499960068, + 232.01507134396098 + ], + [ + 451.2449997553936, + 240.34501341353135 + ], + [ + 470.0893242732054, + 241.98937233093915 + ], + [ + 473.73075518327937, + 233.62619413356325 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1161.1984880392074, + "ymin": 546.3322861396391, + "xmax": 1280.0, + "ymax": 653.9127274153675 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1185.8450111767675, + 639.5008588617553 + ], + [ + 1305.6481770315052, + 653.9127274153675 + ], + [ + 1272.3833213800601, + 567.9009973835422 + ], + [ + 1161.1984880392074, + 555.417362084178 + ], + [ + 1192.6404064126978, + 630.7817101839263 + ], + [ + 1314.0341646613751, + 645.2708465293365 + ], + [ + 1279.788623628472, + 558.8610939630577 + ], + [ + 1167.2346857928674, + 546.3322861396391 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 365.8060870784488, + "ymin": 0.0, + "xmax": 743.3010352866061, + "ymax": 186.9253644876882 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 413.5815670316176, + 154.20694529000417 + ], + [ + 410.0209691383089, + 160.33606053157442 + ], + [ + 725.2063067481959, + 186.9253644876882 + ], + [ + 726.1933202160292, + 180.3503653459246 + ], + [ + 370.47990792331785, + -71.49978110058487 + ], + [ + 365.8060870784488, + -66.43711693035488 + ], + [ + 742.293565613265, + -44.286516105910266 + ], + [ + 743.3010352866061, + -49.792510140450474 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1133.6277033673427, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 661.5572356944272 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1409.1209644520434, + 322.4433151573165 + ], + [ + 1133.6277033673427, + 364.408756759155 + ], + [ + 1373.6678125254584, + 661.5572356944272 + ], + [ + 1716.9862677505712, + 590.0474605913091 + ], + [ + 1802.305088419491, + -197.67916133469748 + ], + [ + 1404.1308368400014, + -170.13593099967852 + ], + [ + 2012.1659020880948, + 71.2312705252499 + ], + [ + 2558.1605934330696, + 4.400456097411961 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00118/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00118/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..02f37160cb7dd48ec724c89f39cfb0e84fe46232 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00118/meta.json @@ -0,0 +1,2883 @@ +{ + "frame_id": 118, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 59.0, + "sim_timestamp": 11194.58773355931 + }, + "drone_pose": { + "x": -92.45819408704413, + "y": -88.80403696505823, + "z": 20.06248226719634, + "pitch": -45.59326965296041, + "yaw": -6.026290047585384, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6958802938461304, + 0.0734628289937973, + 0.7143905758857727, + 43.48359298706055 + ], + [ + -0.10498480498790741, + 0.9944738149642944, + -3.725290298461914e-09, + 98.0199966430664 + ], + [ + -0.7104427218437195, + -0.07500013709068298, + 0.6997472047805786, + -73.06459045410156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -91.8647725402838, + "y": -88.26212665708734, + "z": 20.003788772459668 + }, + "t1_image_uv": [ + 2030.5291533917753, + -426.0908619932072 + ], + "t1_depth": 0.41507020351956003 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -72.66718292236328, + "y": -91.68776321411131, + "z": 0.5749944090844292 + }, + "image_uv": [ + 612.8215439242637, + 337.97123117512143 + ], + "depth": 27.90569815864965, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 191, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -72.66718292236328, + "y": -91.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.2578662037849426, + "y": 0.24489256739616394, + "z": 0.5377426743507385 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 600.1051500183936, + "ymin": 316.1454356735658, + "xmax": 625.2103470455281, + "ymax": 359.58310703224805 + }, + "corners_3d": [ + [ + -72.67635345458984, + -92.04326629638672, + 0.03725171089172363 + ], + [ + -73.02268981933594, + -91.69692993164062, + 0.03725171089172363 + ], + [ + -72.65801239013672, + -91.3322525024414, + 0.03725171089172363 + ], + [ + -72.31167602539062, + -91.6785888671875, + 0.03725171089172363 + ], + [ + -72.67635345458984, + -92.04326629638672, + 1.1127370595932007 + ], + [ + -73.02268981933594, + -91.69692993164062, + 1.1127370595932007 + ], + [ + -72.65801239013672, + -91.3322525024414, + 1.1127370595932007 + ], + [ + -72.31167602539062, + -91.6785888671875, + 1.1127370595932007 + ] + ], + "corners_2d": [ + [ + 601.18788807387, + 350.36237271608485 + ], + [ + 611.3650067361366, + 359.58310703224805 + ], + [ + 625.2103470455281, + 351.71728818093504 + ], + [ + 614.9849011727018, + 342.64334081760484 + ], + [ + 600.1051500183936, + 323.8614220379766 + ], + [ + 610.5583750005484, + 333.0830078342512 + ], + [ + 624.7971692720282, + 325.21615621659635 + ], + [ + 614.2927614467686, + 316.1454356735658 + ] + ], + "center_offset_px": [ + -27.178456075736335, + -22.02876882487857 + ] + }, + "trace_timestep_index": 118, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 54, + "semantic_pixel_counts": { + "1": 369965, + "2": 198733, + "3": 157846, + "4": 44992, + "6": 9410, + "7": 733, + "9": 1043, + "10": 44724, + "12": 3058, + "14": 42788, + "20": 26583, + "21": 143, + "24": 21582 + }, + "instance_pixel_counts": { + "913": 4411, + "5230": 4218, + "5742": 455, + "9346": 243, + "12951": 712, + "15963": 84325, + "16475": 24306, + "17232": 44992, + "22976": 8997, + "23296": 2252, + "23552": 1890, + "24512": 29374, + "26963": 2402, + "28819": 11872, + "29331": 856, + "33429": 893, + "33941": 6, + "35668": 14630, + "35924": 3813, + "36692": 3729, + "37979": 39302, + "40019": 3356, + "41107": 3277, + "41611": 2140, + "41619": 5395, + "42123": 1663, + "43117": 5240, + "43147": 13903, + "43155": 96902, + "43659": 13455, + "43667": 15919, + "44179": 235744, + "44181": 126, + "44693": 61, + "45717": 8026, + "46229": 462, + "46741": 12008, + "49664": 191, + "49920": 438, + "50176": 540, + "50432": 926, + "50624": 8647, + "50688": 515, + "50944": 448, + "51136": 3407, + "51456": 13285, + "51712": 3620, + "52160": 32982, + "52672": 72152, + "55040": 25883, + "55879": 19734, + "57173": 1043, + "64351": 11301, + "64603": 143 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 191, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -72.66718292236328, + "y": -91.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.2481103390455246, + "y": 0.25700193643569946, + "z": 0.5349732637405396 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 600.1226763802928, + "ymin": 316.1382480809893, + "xmax": 625.2046795108439, + "ymax": 359.5968420250654 + }, + "corners_3d": [ + [ + -72.66089630126953, + -92.04492950439453, + 0.04002112150192261 + ], + [ + -73.02435302734375, + -91.68147277832031, + 0.04002112150192261 + ], + [ + -72.67346954345703, + -91.3305892944336, + 0.04002112150192261 + ], + [ + -72.31001281738281, + -91.69404602050781, + 0.04002112150192261 + ], + [ + -72.66089630126953, + -92.04492950439453, + 1.1099677085876465 + ], + [ + -73.02435302734375, + -91.68147277832031, + 1.1099677085876465 + ], + [ + -72.67346954345703, + -91.3305892944336, + 1.1099677085876465 + ], + [ + -72.31001281738281, + -91.69404602050781, + 1.1099677085876465 + ] + ], + "corners_2d": [ + [ + 601.1990267234804, + 349.923206958613 + ], + [ + 611.8809664920846, + 359.5968420250654 + ], + [ + 625.2046795108439, + 352.0249985345885 + ], + [ + 614.4739354477817, + 342.4995907300516 + ], + [ + 600.1226763802928, + 323.5588556959979 + ], + [ + 611.0929392775787, + 333.23329953657037 + ], + [ + 624.7933389715688, + 325.660367810023 + ], + [ + 613.771403274424, + 316.1382480809893 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 438, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -68.54119873046875, + "y": -88.69005584716797, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.3638940453529358, + "y": 0.33418944478034973, + "z": 0.883198618888855 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 705.8412194196976, + "ymin": 223.08886852097973, + "xmax": 739.695506531502, + "ymax": 286.02966928975457 + }, + "corners_3d": [ + [ + -68.66437530517578, + -89.16851806640625, + -0.30819934606552124 + ], + [ + -69.02839660644531, + -88.60797119140625, + -0.30819934606552124 + ], + [ + -68.41802215576172, + -88.21159362792969, + -0.30819934606552124 + ], + [ + -68.05400085449219, + -88.77214050292969, + -0.30819934606552124 + ], + [ + -68.66437530517578, + -89.16851806640625, + 1.458197832107544 + ], + [ + -69.02839660644531, + -88.60797119140625, + 1.458197832107544 + ], + [ + -68.41802215576172, + -88.21159362792969, + 1.458197832107544 + ], + [ + -68.05400085449219, + -88.77214050292969, + 1.458197832107544 + ] + ], + "corners_2d": [ + [ + 705.8412194196976, + 277.45958293387145 + ], + [ + 722.6314339754435, + 286.02966928975457 + ], + [ + 735.6682076238174, + 274.5537584992144 + ], + [ + 718.9668985837053, + 266.1983752948452 + ], + [ + 708.6222885983598, + 234.2548510520537 + ], + [ + 726.1564534318092, + 242.76040226432133 + ], + [ + 739.695506531502, + 231.37246557937692 + ], + [ + 722.2587900735056, + 223.08886852097973 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 540, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -74.92300415039062, + "y": -84.74504852294922, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.3660229444503784, + "y": 0.4179784953594208, + "z": 0.8883470892906189 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 832.9369882235001, + "ymin": 377.463844381461, + "xmax": 885.3597217896305, + "ymax": 452.0749596580246 + }, + "corners_3d": [ + [ + -74.94441223144531, + -85.30022430419922, + -0.31334781646728516 + ], + [ + -75.47049713134766, + -84.65056610107422, + -0.31334781646728516 + ], + [ + -74.90159606933594, + -84.18987274169922, + -0.31334781646728516 + ], + [ + -74.3755111694336, + -84.83953094482422, + -0.31334781646728516 + ], + [ + -74.94441223144531, + -85.30022430419922, + 1.4633463621139526 + ], + [ + -75.47049713134766, + -84.65056610107422, + 1.4633463621139526 + ], + [ + -74.90159606933594, + -84.18987274169922, + 1.4633463621139526 + ], + [ + -74.3755111694336, + -84.83953094482422, + 1.4633463621139526 + ] + ], + "corners_2d": [ + [ + 832.9369882235001, + 435.32368997918167 + ], + [ + 857.7540377034691, + 452.0749596580246 + ], + [ + 873.5788203194315, + 437.3908132314405 + ], + [ + 848.8525123208294, + 421.09175777246713 + ], + [ + 842.64807799028, + 391.7857446681578 + ], + [ + 868.8971027465525, + 408.66783660798666 + ], + [ + 885.3597217896305, + 393.8675524794526 + ], + [ + 859.2158902175428, + 377.463844381461 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 926, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -83.68566131591797, + "y": -91.8138198852539, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.41362303495407104, + "y": 0.476508766412735, + "z": 0.8951607942581177 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 508.6467658260914, + "ymin": 652.1445015011961, + "xmax": 573.0668333555509, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -83.64119720458984, + -92.4432373046875, + -0.32016152143478394 + ], + [ + -84.31507873535156, + -91.76935577392578, + -0.32016152143478394 + ], + [ + -83.7301254272461, + -91.18440246582031, + -0.32016152143478394 + ], + [ + -83.05624389648438, + -91.85828399658203, + -0.32016152143478394 + ], + [ + -83.64119720458984, + -92.4432373046875, + 1.4701600074768066 + ], + [ + -84.31507873535156, + -91.76935577392578, + 1.4701600074768066 + ], + [ + -83.7301254272461, + -91.18440246582031, + 1.4701600074768066 + ], + [ + -83.05624389648438, + -91.85828399658203, + 1.4701600074768066 + ] + ], + "corners_2d": [ + [ + 516.6604367340217, + 713.7838975824264 + ], + [ + 541.6774512208381, + 747.6073149748927 + ], + [ + 573.0668333555509, + 723.6782109011472 + ], + [ + 547.7138604264021, + 691.0138499995795 + ], + [ + 508.6467658260914, + 675.6750674292286 + ], + [ + 535.1163981347985, + 710.724697450437 + ], + [ + 568.6836522262574, + 685.9161264392296 + ], + [ + 541.8266918173343, + 652.1445015011961 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 515, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -75.68806457519531, + "y": -100.98506927490234, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.4075976610183716, + "y": 0.46651366353034973, + "z": 0.8883035182952881 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 233.56874288268568, + "ymin": 346.87648696600235, + "xmax": 291.7027393022489, + "ymax": 423.61414768432985 + }, + "corners_3d": [ + [ + -75.58202362060547, + -101.59542083740234, + -0.16089707612991333 + ], + [ + -76.30712127685547, + -101.00824737548828, + -0.16089707612991333 + ], + [ + -75.79410552978516, + -100.37471771240234, + -0.16089707612991333 + ], + [ + -75.06900787353516, + -100.9618911743164, + -0.16089707612991333 + ], + [ + -75.58202362060547, + -101.59542083740234, + 1.6157100200653076 + ], + [ + -76.30712127685547, + -101.00824737548828, + 1.6157100200653076 + ], + [ + -75.79410552978516, + -100.37471771240234, + 1.6157100200653076 + ], + [ + -75.06900787353516, + -100.9618911743164, + 1.6157100200653076 + ] + ], + "corners_2d": [ + [ + 252.58172927353627, + 402.5439186777642 + ], + [ + 262.9377900467736, + 423.61414768432985 + ], + [ + 291.7027393022489, + 411.5657585162458 + ], + [ + 280.88970610725454, + 390.9743873255699 + ], + [ + 233.56874288268568, + 358.48443263470386 + ], + [ + 244.03265291287073, + 379.65776822134666 + ], + [ + 274.451393313913, + 367.54517635640025 + ], + [ + 263.4750201126024, + 346.87648696600235 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 448, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -61.42184829711914, + "y": -99.85797882080078, + "z": 0.7485344409942627 + }, + "extent": { + "x": 0.5140307545661926, + "y": 0.5138232111930847, + "z": 0.9237443804740906 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 413.45678349924077, + "ymin": 80.13976414709606, + "xmax": 455.8101489044484, + "ymax": 143.01597823007108 + }, + "corners_3d": [ + [ + -61.27088165283203, + -100.56893157958984, + -0.17520993947982788 + ], + [ + -62.13273620605469, + -100.00923156738281, + -0.17520993947982788 + ], + [ + -61.57281494140625, + -99.14702606201172, + -0.17520993947982788 + ], + [ + -60.710960388183594, + -99.70672607421875, + -0.17520993947982788 + ], + [ + -61.27088165283203, + -100.56893157958984, + 1.672278881072998 + ], + [ + -62.13273620605469, + -100.00923156738281, + 1.672278881072998 + ], + [ + -61.57281494140625, + -99.14702606201172, + 1.672278881072998 + ], + [ + -60.710960388183594, + -99.70672607421875, + 1.672278881072998 + ] + ], + "corners_2d": [ + [ + 421.53246041844034, + 129.80724090192527 + ], + [ + 429.98329100786987, + 143.01597823007108 + ], + [ + 455.8101489044484, + 136.23308282967508 + ], + [ + 446.9900083934659, + 123.25611825502449 + ], + [ + 413.45678349924077, + 86.53901805304008 + ], + [ + 422.07810965927416, + 99.45412489351662 + ], + [ + 448.94103206607514, + 92.8199119833368 + ], + [ + 439.9199841039639, + 80.13976414709606 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 13285, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 519.4242629758565, + "ymin": 462.12058788744434, + "xmax": 632.8674056933835, + "ymax": 653.5153982547511 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 632.8674056933835, + 502.48791427312835 + ], + [ + 555.7883828807703, + 495.7298248836694 + ], + [ + 524.9049727756162, + 644.8236092081308 + ], + [ + 612.1417142207126, + 653.5153982547511 + ], + [ + 632.5675844024415, + 468.95064119495225 + ], + [ + 552.2707165314978, + 462.12058788744434 + ], + [ + 519.4242629758565, + 613.6094143967331 + ], + [ + 610.8055778279174, + 622.4933041436037 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 3620, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 964.2886515706405, + "ymin": 0.0, + "xmax": 1094.608380756755, + "ymax": 47.473715848765664 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 964.2886515706405, + 21.319516334240177 + ], + [ + 970.3838407887833, + 42.12399365325348 + ], + [ + 1079.8711413325018, + 47.473715848765664 + ], + [ + 1070.2615091207183, + 26.346479530329702 + ], + [ + 974.7422429922294, + -19.571236662074625 + ], + [ + 981.3895073377684, + 0.5486231248502804 + ], + [ + 1094.608380756755, + 5.749730878527828 + ], + [ + 1084.2072596201892, + -14.693174427574036 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 25883, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 821.5767093874177, + "ymin": 432.3255626688273, + "xmax": 966.5319028263959, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 828.9355018354424, + 719.0825657571903 + ], + [ + 942.5142998379062, + 730.7830311002042 + ], + [ + 915.0665115701174, + 492.480294349552 + ], + [ + 821.5767093874177, + 484.53165143925446 + ], + [ + 843.7955696620913, + 673.3671594149629 + ], + [ + 966.5319028263959, + 685.5654322644614 + ], + [ + 932.8040786611917, + 440.38688130145846 + ], + [ + 833.1966130461286, + 432.3255626688273 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4809317425322915338, + "instance_id": 2806, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -62.6159553527832, + "y": -93.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 576.6274721869216, + "ymin": 0.0, + "xmax": 590.573939161855, + "ymax": 14.312125758347747 + }, + "corners_3d": [ + [ + -62.754539489746094, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.9842529296875, + 6.416468620300293 + ], + [ + -62.754539489746094, + -93.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 589.3804599626687, + 14.312125758347747 + ], + [ + 590.573939161855, + 10.438291146496795 + ], + [ + 579.1449074331572, + 9.881654906365497 + ], + [ + 577.8823330258579, + 13.748631842503073 + ], + [ + 588.3569493529288, + -11.690582890928056 + ], + [ + 589.5807854236407, + -15.480286921957884 + ], + [ + 577.9232030365193, + -16.02475744785579 + ], + [ + 576.6274721869216, + -12.241897204151826 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 357.06073648940196, + "ymin": 53.25618147159486, + "xmax": 374.9406548166195, + "ymax": 80.33178914288925 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 372.6106750892779, + 80.33178914288925 + ], + [ + 374.9406548166195, + 76.37282578947912 + ], + [ + 364.59299935162437, + 75.80672732060594 + ], + [ + 362.20615220029794, + 79.75923917772053 + ], + [ + 367.65384943126924, + 57.715775119476916 + ], + [ + 370.0553070209073, + 53.814031228414365 + ], + [ + 359.5211343070998, + 53.25618147159486 + ], + [ + 357.06073648940196, + 57.15144972700739 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5344508464058845628, + "instance_id": 48329, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -62.61595916748047, + "y": -96.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 484.7465826714978, + "ymin": 0.0, + "xmax": 500.8702792163906, + "ymax": 9.889618908560351 + }, + "corners_3d": [ + [ + -62.75454330444336, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.9842529296875, + 6.416468620300293 + ], + [ + -62.75454330444336, + -96.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 499.1378407318582, + 9.889618908560351 + ], + [ + 500.8702792163906, + 6.069443572557532 + ], + [ + 489.5990114716545, + 5.520490976829194 + ], + [ + 487.79939607626056, + 9.333950566917224 + ], + [ + 496.30990750102706, + -16.016967641275585 + ], + [ + 498.0944017671976, + -19.75313087353271 + ], + [ + 486.60093602912684, + -20.289936333838853 + ], + [ + 484.7465826714978, + -16.560472433096606 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8433051479337506626, + "instance_id": 17047, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -62.61595153808594, + "y": -91.29429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 653.922417370103, + "ymin": 0.0, + "xmax": 666.8201833844272, + "ymax": 18.04525016758214 + }, + "corners_3d": [ + [ + -62.75453567504883, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.4842529296875, + 6.416468620300293 + ], + [ + -62.75453567504883, + -91.4842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 665.5562036913327, + 18.04525016758214 + ], + [ + 666.288791824758, + 14.125831228349398 + ], + [ + 654.7257461810492, + 13.562668061483919 + ], + [ + 653.922417370103, + 17.475107979764687 + ], + [ + 666.0760443928476, + -8.037647625273507 + ], + [ + 666.8201833844272, + -11.872852961148226 + ], + [ + 655.0231371178508, + -12.423837137158785 + ], + [ + 654.2053561660663, + -8.595599157253332 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1024.7692671336906, + "ymin": 67.30153937842186, + "xmax": 1044.85384804326, + "ymax": 94.76748763627307 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1035.877003535985, + 90.64413429164705 + ], + [ + 1024.7692671336906, + 90.05460793228099 + ], + [ + 1026.1601158355645, + 94.1711039757999 + ], + [ + 1037.3334555954289, + 94.76748763627307 + ], + [ + 1043.3257970406944, + 67.88291434959325 + ], + [ + 1032.002940234011, + 67.30153937842186 + ], + [ + 1033.46281581536, + 71.36149567037074 + ], + [ + 1044.85384804326, + 71.94976144379444 + ] + ], + "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": 971.7260036313537, + "ymin": 0.0, + "xmax": 1105.0879566717722, + "ymax": 161.98589740596927 + }, + "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": [ + [ + 1013.2495752901962, + 161.22061902179937 + ], + [ + 1025.3450527073364, + 161.98589740596927 + ], + [ + 981.4623880196903, + 11.574504337383587 + ], + [ + 971.7260036313537, + 11.075187551115448 + ], + [ + 1090.3982506025447, + -74.22557739837106 + ], + [ + 1105.0879566717722, + -73.58027144896198 + ], + [ + 1036.3498489647372, + -195.58183798360903 + ], + [ + 1024.999496098384, + -195.97129199233837 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 251.17124944428957, + "ymin": 207.5916858036545, + "xmax": 482.1024334402697, + "ymax": 468.0910030432267 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 341.3626953228965, + 443.21397295185534 + ], + [ + 336.0227998062115, + 456.0174188118391 + ], + [ + 478.4163146715196, + 468.0910030432267 + ], + [ + 482.1024334402697, + 455.00039157411214 + ], + [ + 259.2661913024244, + 207.5916858036545 + ], + [ + 251.17124944428957, + 220.33992098449403 + ], + [ + 432.6628408976507, + 232.43926046231374 + ], + [ + 438.0805108643849, + 219.32418416056134 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 248.08238240582926, + "ymin": 0.0, + "xmax": 351.31280169383166, + "ymax": 133.7795518427248 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 308.0444733202063, + 133.1076796624395 + ], + [ + 319.3408051726186, + 133.7795518427248 + ], + [ + 351.31280169383166, + 82.00043930311926 + ], + [ + 340.76516976261286, + 81.41765626222525 + ], + [ + 248.08238240582926, + -77.72970384842631 + ], + [ + 261.3581931468779, + -77.15842215912471 + ], + [ + 303.2932804614769, + -120.65224917807149 + ], + [ + 291.0393628502219, + -121.13570785312498 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 410.51939420412043, + "ymin": 226.21251050114785, + "xmax": 434.2985522124537, + "ymax": 240.37481266083032 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 415.2051687330852, + 230.35140180355558 + ], + [ + 411.41272959480534, + 239.07709218554922 + ], + [ + 430.6965825989956, + 240.37481266083032 + ], + [ + 434.2985522124537, + 231.62287734179168 + ], + [ + 414.3356111650428, + 226.21251050114785 + ], + [ + 410.51939420412043, + 234.92966970360976 + ], + [ + 429.87736954868365, + 236.2261804966828 + ], + [ + 433.5016579546691, + 227.4826998391691 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1138.120891922925, + "ymin": 529.1827652164872, + "xmax": 1280.0, + "ymax": 634.319457182557 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1164.058366474901, + 623.3716823892454 + ], + [ + 1283.0865486100638, + 634.319457182557 + ], + [ + 1248.7287086430765, + 547.8200252384022 + ], + [ + 1138.120891922925, + 538.3243320904035 + ], + [ + 1170.8129350893755, + 614.6464901053376 + ], + [ + 1291.4491938398523, + 625.6588091307055 + ], + [ + 1256.0921159553873, + 538.7174786524396 + ], + [ + 1144.0967673029872, + 529.1827652164872 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1081.6934284986737, + "ymin": 494.8202551089171, + "xmax": 1280.0, + "ymax": 713.5860218480711 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1102.2698773228449, + 702.6701987276156 + ], + [ + 1213.3285684449252, + 713.5860218480711 + ], + [ + 1185.3390242301136, + 626.4699832610277 + ], + [ + 1081.6934284986737, + 616.9285330650755 + ], + [ + 1191.7006128117785, + 587.0483989586453 + ], + [ + 1325.338857609744, + 598.9562718556574 + ], + [ + 1283.6668748430811, + 504.9704095641697 + ], + [ + 1160.6148634038564, + 494.8202551089171 + ] + ], + "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": 430.19378369371856, + "ymin": 0.0, + "xmax": 520.3386601558298, + "ymax": 1.5107670336565775 + }, + "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": [ + [ + 520.3386601558298, + -97.4109831414653 + ], + [ + 512.5827231507025, + -97.75290936786672 + ], + [ + 458.7631028712333, + 1.0272277528774225 + ], + [ + 467.9450245205999, + 1.5107670336565775 + ], + [ + 504.8522092518089, + -278.30423836056195 + ], + [ + 496.1046893093372, + -278.55674300370197 + ], + [ + 430.19378369371856, + -203.78745863922427 + ], + [ + 440.7986538400298, + -203.41223337659574 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 410.389558465836, + "ymin": 226.1367718153948, + "xmax": 434.4243374430454, + "ymax": 240.4512665153687 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 415.1271243611038, + 230.32010637084193 + ], + [ + 411.29303242520825, + 239.13944524514653 + ], + [ + 430.78482291782274, + 240.4512665153687 + ], + [ + 434.4243374430454, + 231.6051159897372 + ], + [ + 414.2479500976154, + 226.1367718153948 + ], + [ + 410.389558465836, + 234.94739474257887 + ], + [ + 429.95708166548604, + 236.25798061320583 + ], + [ + 433.61938930247004, + 227.42046702262505 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1138.2357879619296, + "ymin": 529.2370910515484, + "xmax": 1280.0, + "ymax": 634.1990236984575 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1164.1504277381416, + 623.2641758663065 + ], + [ + 1283.0530614519585, + 634.1990236984575 + ], + [ + 1248.7362708721294, + 547.8044764060583 + ], + [ + 1138.2357879619296, + 538.318440479228 + ], + [ + 1170.8610373311458, + 614.5959136297874 + ], + [ + 1291.359303885522, + 625.594784767059 + ], + [ + 1256.0511426239482, + 538.7618543287983 + ], + [ + 1144.1736223785117, + 529.2370910515484 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 317.06770157987415, + "ymin": 0.0, + "xmax": 706.5256090410693, + "ymax": 170.174044440248 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 375.0646569573378, + 142.562263555668 + ], + [ + 371.51574107282335, + 148.9744155995997 + ], + [ + 694.2167640652327, + 170.174044440248 + ], + [ + 695.0985840228933, + 163.40506743247317 + ], + [ + 321.87423277006036, + -89.87842035758479 + ], + [ + 317.06770157987415, + -84.51651727670878 + ], + [ + 705.5784071373166, + -66.65938453410331 + ], + [ + 706.5256090410693, + -72.38289227270712 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1107.1296590877287, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 636.463217924254 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1378.246410945316, + 293.69821686573255 + ], + [ + 1107.1296590877287, + 342.57994129885765 + ], + [ + 1348.691774326504, + 636.463217924254 + ], + [ + 1681.4070396272216, + 554.4520250240316 + ], + [ + 1766.877756604865, + -236.2138854984927 + ], + [ + 1373.69959911782, + -203.96070889010616 + ], + [ + 1987.9328943535718, + 37.661175574826984 + ], + [ + 2510.6322884608003, + -39.45075935452911 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00119/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00119/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..8a4efc74b67186030a33812a05292cc91985d426 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00119/meta.json @@ -0,0 +1,4583 @@ +{ + "frame_id": 119, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 59.5, + "sim_timestamp": 11207.433151664212 + }, + "drone_pose": { + "x": -91.8647725402838, + "y": -88.26212665708734, + "z": 20.003788772459668, + "pitch": -39.585793489215895, + "yaw": -10.87568342161352, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7568291425704956, + 0.1454092562198639, + 0.6372328996658325, + 43.944732666015625 + ], + [ + -0.18867868185043335, + 0.9820388555526733, + 3.725290298461914e-09, + 104.00975799560547 + ], + [ + -0.6257874965667725, + -0.12023226916790009, + 0.7706713080406189, + -62.292213439941406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -91.31206864097136, + "y": -88.26645680060642, + "z": 19.956748826971957 + }, + "t1_image_uv": [ + 853.9189843898656, + -303.2497001646535 + ], + "t1_depth": 0.44890746556702277 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -72.16718292236328, + "y": -91.18776321411131, + "z": 0.5749944090844292 + }, + "image_uv": [ + 669.216113279999, + 439.4966706410029 + ], + "depth": 27.713791918139535, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 206, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -72.16718292236328, + "y": -91.18775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.20168699324131012, + "y": 0.2136572003364563, + "z": 0.5313840508460999 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 660.46974278949, + "ymin": 420.3865321565521, + "xmax": 678.1008201084147, + "ymax": 458.3944049379948 + }, + "corners_3d": [ + [ + -72.3688735961914, + -91.40141296386719, + 0.043610334396362305 + ], + [ + -72.3688735961914, + -90.97410583496094, + 0.043610334396362305 + ], + [ + -71.96549224853516, + -90.97410583496094, + 0.043610334396362305 + ], + [ + -71.96549224853516, + -91.40141296386719, + 0.043610334396362305 + ], + [ + -72.3688735961914, + -91.40141296386719, + 1.106378436088562 + ], + [ + -72.3688735961914, + -90.97410583496094, + 1.106378436088562 + ], + [ + -71.96549224853516, + -90.97410583496094, + 1.106378436088562 + ], + [ + -71.96549224853516, + -91.40141296386719, + 1.106378436088562 + ] + ], + "corners_2d": [ + [ + 660.46974278949, + 456.4096898269602 + ], + [ + 674.9705585368134, + 458.3944049379948 + ], + [ + 677.1849734596171, + 448.72688119566817 + ], + [ + 662.836068591893, + 446.7848986213204 + ], + [ + 660.978400062586, + 429.9547813910857 + ], + [ + 675.8415355697259, + 431.92847651025215 + ], + [ + 678.1008201084147, + 422.3166923793249 + ], + [ + 663.3972410598309, + 420.3865321565521 + ] + ], + "center_offset_px": [ + 29.216113279999036, + 79.49667064100288 + ] + }, + "trace_timestep_index": 119, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 89, + "semantic_pixel_counts": { + "1": 374828, + "2": 174533, + "3": 210353, + "4": 33456, + "5": 2967, + "6": 12353, + "7": 1641, + "9": 7093, + "10": 24411, + "12": 2281, + "14": 30079, + "20": 25327, + "24": 22271, + "25": 7 + }, + "instance_pixel_counts": { + "110": 3596, + "913": 4777, + "5230": 4065, + "5695": 7, + "5742": 1159, + "9296": 2967, + "9346": 930, + "9799": 6275, + "11927": 282, + "12439": 898, + "12951": 741, + "15963": 112772, + "16475": 24594, + "17232": 33456, + "21596": 1, + "21952": 912, + "22464": 2246, + "22784": 363, + "22976": 8712, + "23040": 101, + "23296": 5250, + "23552": 4472, + "24404": 737, + "24512": 20946, + "25940": 47, + "26196": 81, + "26963": 2359, + "27795": 7468, + "28307": 2835, + "28819": 11718, + "29331": 1664, + "29781": 505, + "31893": 427, + "32405": 75, + "33185": 12, + "33429": 890, + "33697": 1549, + "33941": 27, + "35668": 15292, + "36692": 4393, + "37979": 55565, + "38539": 601, + "39051": 1298, + "39563": 1415, + "40019": 411, + "40075": 61, + "40787": 108, + "41099": 300, + "41107": 42941, + "41611": 2248, + "41619": 10443, + "41889": 762, + "42123": 1466, + "42643": 3777, + "43117": 5117, + "43147": 11005, + "43155": 95971, + "43659": 10004, + "43667": 10866, + "44179": 187145, + "44181": 2929, + "44693": 311, + "45205": 111, + "45717": 7999, + "46229": 311, + "46741": 9191, + "47552": 810, + "48033": 656, + "48064": 1892, + "49088": 1913, + "49600": 60, + "49664": 206, + "49920": 453, + "50015": 2460, + "50112": 551, + "50176": 587, + "50624": 9203, + "50688": 628, + "50944": 407, + "51136": 3294, + "51456": 10444, + "51712": 4290, + "52160": 24293, + "52672": 53907, + "55040": 12725, + "55296": 2620, + "55879": 14140, + "57173": 7093, + "64351": 9200 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 206, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -72.16718292236328, + "y": -91.18775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.1791405975818634, + "y": 0.21609371900558472, + "z": 0.5274585485458374 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 660.5226261604175, + "ymin": 421.0047705717547, + "xmax": 678.0566172906808, + "ymax": 457.7642918586058 + }, + "corners_3d": [ + [ + -72.34632110595703, + -91.40385437011719, + 0.047535836696624756 + ], + [ + -72.34632110595703, + -90.97166442871094, + 0.047535836696624756 + ], + [ + -71.98804473876953, + -90.97166442871094, + 0.047535836696624756 + ], + [ + -71.98804473876953, + -91.40385437011719, + 0.047535836696624756 + ], + [ + -72.34632110595703, + -91.40385437011719, + 1.1024529933929443 + ], + [ + -72.34632110595703, + -90.97166442871094, + 1.1024529933929443 + ], + [ + -71.98804473876953, + -90.97166442871094, + 1.1024529933929443 + ], + [ + -71.98804473876953, + -91.40385437011719, + 1.1024529933929443 + ] + ], + "corners_2d": [ + [ + 660.5226261604175, + 455.75938639665617 + ], + [ + 675.1817855127379, + 457.7642918586058 + ], + [ + 677.147948296569, + 449.17775565271467 + ], + [ + 662.6252790158148, + 447.21124043749813 + ], + [ + 661.0284604429314, + 429.5030628129215 + ], + [ + 676.0509361852951, + 431.49685831006195 + ], + [ + 678.0566172906808, + 422.9594603874137 + ], + [ + 663.1774490397617, + 421.0047705717547 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 453, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -68.04119873046875, + "y": -88.19005584716797, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.42704343795776367, + "y": 0.3243115246295929, + "z": 0.8852950930595398 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 769.8808280330859, + "ymin": 331.83932783639335, + "xmax": 799.3394699198263, + "ymax": 392.33705204664597 + }, + "corners_3d": [ + [ + -68.52633666992188, + -88.41849517822266, + -0.31029582023620605 + ], + [ + -68.3914794921875, + -87.78404235839844, + -0.31029582023620605 + ], + [ + -67.55606079101562, + -87.96161651611328, + -0.31029582023620605 + ], + [ + -67.69091796875, + -88.5960693359375, + -0.31029582023620605 + ], + [ + -68.52633666992188, + -88.41849517822266, + 1.4602943658828735 + ], + [ + -68.3914794921875, + -87.78404235839844, + 1.4602943658828735 + ], + [ + -67.55606079101562, + -87.96161651611328, + 1.4602943658828735 + ], + [ + -67.69091796875, + -88.5960693359375, + 1.4602943658828735 + ] + ], + "corners_2d": [ + [ + 773.196514518917, + 392.33705204664597 + ], + [ + 793.4721069463164, + 392.0725984255002 + ], + [ + 789.7311418514975, + 374.7080913102127 + ], + [ + 769.8808280330859, + 374.9615392553051 + ], + [ + 778.2904181514918, + 349.1719874240495 + ], + [ + 799.3394699198263, + 348.91176963577465 + ], + [ + 795.330622668683, + 331.83932783639335 + ], + [ + 774.7395482074928, + 332.08831564340255 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 587, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -74.42300415039062, + "y": -84.24504852294922, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.35979002714157104, + "y": 0.3073827922344208, + "z": 0.8629510402679443 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 898.5475971700439, + "ymin": 500.8838320423073, + "xmax": 938.5858321300232, + "ymax": 567.2607127763798 + }, + "corners_3d": [ + [ + -74.81295013427734, + -84.51313781738281, + -0.287946879863739 + ], + [ + -74.74869537353516, + -83.90174102783203, + -0.287946879863739 + ], + [ + -74.0330581665039, + -83.97695922851562, + -0.287946879863739 + ], + [ + -74.0973129272461, + -84.5883560180664, + -0.287946879863739 + ], + [ + -74.81295013427734, + -84.51313781738281, + 1.4379551410675049 + ], + [ + -74.74869537353516, + -83.90174102783203, + 1.4379551410675049 + ], + [ + -74.0330581665039, + -83.97695922851562, + 1.4379551410675049 + ], + [ + -74.0973129272461, + -84.5883560180664, + 1.4379551410675049 + ] + ], + "corners_2d": [ + [ + 901.8748691380483, + 565.6666595891446 + ], + [ + 925.5807196944486, + 567.2607127763798 + ], + [ + 921.7406113967622, + 545.824164667462 + ], + [ + 898.5475971700439, + 544.2975993694107 + ], + [ + 913.7805829444976, + 522.2327748065808 + ], + [ + 938.5858321300232, + 523.8269909402513 + ], + [ + 934.2838664127642, + 502.4075848390396 + ], + [ + 910.0395508115164, + 500.8838320423073 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 628, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -75.35051727294922, + "y": -100.98506927490234, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.5397217273712158, + "y": 0.5015918612480164, + "z": 0.9025891423225403 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 266.9227743215875, + "ymin": 427.7213015333932, + "xmax": 334.7520288578828, + "ymax": 507.76106845626884 + }, + "corners_3d": [ + [ + -75.83485412597656, + -101.54032897949219, + -0.17518270015716553 + ], + [ + -75.93971252441406, + -100.54264068603516, + -0.17518270015716553 + ], + [ + -74.86618041992188, + -100.4298095703125, + -0.17518270015716553 + ], + [ + -74.76132202148438, + -101.42749786376953, + -0.17518270015716553 + ], + [ + -75.83485412597656, + -101.54032897949219, + 1.629995584487915 + ], + [ + -75.93971252441406, + -100.54264068603516, + 1.629995584487915 + ], + [ + -74.86618041992188, + -100.4298095703125, + 1.629995584487915 + ], + [ + -74.76132202148438, + -101.42749786376953, + 1.629995584487915 + ] + ], + "corners_2d": [ + [ + 282.86392259938776, + 499.9118103432423 + ], + [ + 314.38181200310447, + 507.76106845626884 + ], + [ + 334.7520288578828, + 480.49829324960683 + ], + [ + 303.9744242154034, + 473.09522513248015 + ], + [ + 266.9227743215875, + 454.33326352778687 + ], + [ + 299.7198109657758, + 462.13554174291573 + ], + [ + 321.42262732889264, + 435.06106883523114 + ], + [ + 289.42500035371677, + 427.7213015333932 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 407, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -60.92184829711914, + "y": -99.35797882080078, + "z": 0.7519475221633911 + }, + "extent": { + "x": 0.424384742975235, + "y": 0.45087888836860657, + "z": 0.8800155520439148 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 491.9903625347004, + "ymin": 181.81841693007814, + "xmax": 526.9541025194104, + "ymax": 236.30990261281482 + }, + "corners_3d": [ + [ + -61.24321746826172, + -99.88723754882812, + -0.12806802988052368 + ], + [ + -61.430702209472656, + -99.00518798828125, + -0.12806802988052368 + ], + [ + -60.60047912597656, + -98.82872009277344, + -0.12806802988052368 + ], + [ + -60.412994384765625, + -99.71076965332031, + -0.12806802988052368 + ], + [ + -61.24321746826172, + -99.88723754882812, + 1.6319630146026611 + ], + [ + -61.430702209472656, + -99.00518798828125, + 1.6319630146026611 + ], + [ + -60.60047912597656, + -98.82872009277344, + 1.6319630146026611 + ], + [ + -60.412994384765625, + -99.71076965332031, + 1.6319630146026611 + ] + ], + "corners_2d": [ + [ + 496.3942081585116, + 231.50742807934878 + ], + [ + 516.6699549338899, + 236.30990261281482 + ], + [ + 526.9541025194104, + 225.68984215622595 + ], + [ + 506.92488761989296, + 221.03785893168302 + ], + [ + 491.9903625347004, + 191.96275785603504 + ], + [ + 512.8597448118974, + 196.61932407476914 + ], + [ + 523.5186486897281, + 186.32468187124127 + ], + [ + 502.91013641731763, + 181.81841693007814 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 10444, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 526.3470054992794, + "ymin": 575.6290937889032, + "xmax": 657.1524966149676, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 656.5103885224809, + 623.5299164734331 + ], + [ + 577.5827176872846, + 610.5870591239578 + ], + [ + 531.191522746069, + 770.1220072252938 + ], + [ + 621.6845519840894, + 787.3537435803139 + ], + [ + 657.1524966149676, + 588.6252303045327 + ], + [ + 575.18609394663, + 575.6290937889032 + ], + [ + 526.3470054992794, + 736.6892206216135 + ], + [ + 620.8568876033348, + 754.1994931515717 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 4290, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 1026.9715953153684, + "ymin": 109.36927641650732, + "xmax": 1161.1619638442319, + "ymax": 179.001670262983 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 1026.9715953153684, + 148.48337710063763 + ], + [ + 1032.491419854291, + 169.15203905596377 + ], + [ + 1145.8807798678952, + 179.001670262983 + ], + [ + 1136.325262934757, + 157.6734276549386 + ], + [ + 1038.0880989728669, + 109.36927641650732 + ], + [ + 1044.1777215376312, + 129.21735414973068 + ], + [ + 1161.1619638442319, + 138.71039354238343 + ], + [ + 1150.78198794123, + 118.20939447354766 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 12725, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 849.742371771392, + "ymin": 564.2474927211207, + "xmax": 1000.7626386520858, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 849.742371771392, + 881.8538690096514 + ], + [ + 974.8200872294631, + 906.6331253366168 + ], + [ + 955.7956650298827, + 634.0318665290497 + ], + [ + 856.0603397525372, + 618.2471682499528 + ], + [ + 865.6704034812024, + 833.3144890405567 + ], + [ + 1000.7626386520858, + 859.0286452171658 + ], + [ + 974.9855932345258, + 580.1319289246672 + ], + [ + 868.9839697073646, + 564.2474927211207 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 216, + "instance_id": 55296, + "pixel_count": 2620, + "type_id": "vehicle.audi.etron", + "bbox_3d": { + "center_world": { + "x": -44.75563430786133, + "y": -104.2794189453125, + "z": 0.8648524284362793 + }, + "extent": { + "x": 2.427854299545288, + "y": 1.0163782835006714, + "z": 0.8246796727180481 + }, + "yaw": -94.3148193359375 + }, + "bbox_2d": { + "xmin": 456.77187537738314, + "ymin": 16.67800230745536, + "xmax": 559.2387488803639, + "ymax": 66.46009116555746 + }, + "corners_3d": [ + [ + -45.58646774291992, + -101.781982421875, + 0.04017278552055359 + ], + [ + -43.559471130371094, + -101.9349136352539, + 0.04017278552055359 + ], + [ + -43.92479705810547, + -106.77686309814453, + 0.04017278552055359 + ], + [ + -45.9517936706543, + -106.6239242553711, + 0.04017278552055359 + ], + [ + -45.58646774291992, + -101.781982421875, + 1.6895321607589722 + ], + [ + -43.559471130371094, + -101.9349136352539, + 1.6895321607589722 + ], + [ + -43.92479705810547, + -106.77686309814453, + 1.6895321607589722 + ], + [ + -45.9517936706543, + -106.6239242553711, + 1.6895321607589722 + ] + ], + "corners_2d": [ + [ + 552.2250325705911, + 66.46009116555746 + ], + [ + 559.2387488803639, + 51.274585117949584 + ], + [ + 470.32628495295864, + 47.26272718355847 + ], + [ + 460.6126927076842, + 62.19421997283126 + ], + [ + 550.3291912131896, + 35.04307601431617 + ], + [ + 557.5484565486096, + 20.513413787380784 + ], + [ + 466.8050806850854, + 16.67800230745536 + ], + [ + 456.77187537738314, + 30.95951864686026 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1077.2738326608812, + "ymin": 28.095460223125542, + "xmax": 1095.5952540060102, + "ymax": 53.84263044381851 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1087.5666955311547, + 51.08883353535202 + ], + [ + 1077.2738326608812, + 50.368784518704956 + ], + [ + 1078.3963717230117, + 53.11438535646795 + ], + [ + 1088.7493715247483, + 53.84263044381851 + ], + [ + 1094.3553913799308, + 28.792802566801413 + ], + [ + 1083.8964074702058, + 28.095460223125542 + ], + [ + 1085.074174012262, + 30.754647314575323 + ], + [ + 1095.5952540060102, + 31.46004861450632 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4809317425322915338, + "instance_id": 2806, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -62.6159553527832, + "y": -93.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 636.136156177369, + "ymin": 99.60894143523075, + "xmax": 649.04696263286, + "ymax": 128.6589135336432 + }, + "corners_3d": [ + [ + -62.754539489746094, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.9842529296875, + 6.416468620300293 + ], + [ + -62.754539489746094, + -93.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 647.3816124861842, + 128.6589135336432 + ], + [ + 648.8911836732519, + 124.99842772808711 + ], + [ + 637.7826246986345, + 124.04234728222951 + ], + [ + 636.2030079156801, + 127.6902765998363 + ], + [ + 647.5118050071886, + 104.10115342096367 + ], + [ + 649.04696263286, + 100.53916161498961 + ], + [ + 637.7438425665214, + 99.60894143523075 + ], + [ + 636.136156177369, + 103.15850038411139 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 421.6927848773282, + "ymin": 156.3502835070264, + "xmax": 437.6549098007925, + "ymax": 182.3631332054901 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 435.00051166985554, + 182.3631332054901 + ], + [ + 437.6549098007925, + 178.68232497441417 + ], + [ + 427.8417981914637, + 177.72546495121964 + ], + [ + 425.1326893111942, + 181.3947465434142 + ], + [ + 431.71333637156124, + 160.89760783116418 + ], + [ + 434.42998995218187, + 157.2884135870222 + ], + [ + 424.4658464438695, + 156.3502835070264 + ], + [ + 421.6927848773282, + 159.94799512076509 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5344508464058845628, + "instance_id": 48329, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -62.61595916748047, + "y": -96.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 547.6893190340035, + "ymin": 92.37569709335389, + "xmax": 562.195022195508, + "ymax": 121.09986608768091 + }, + "corners_3d": [ + [ + -62.75454330444336, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.9842529296875, + 6.416468620300293 + ], + [ + -62.75454330444336, + -96.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 560.1454369817982, + 121.09986608768091 + ], + [ + 562.195022195508, + 117.53679954936027 + ], + [ + 551.3809117150346, + 116.60606131838583 + ], + [ + 549.2650379766482, + 120.15706886745164 + ], + [ + 558.7562675890349, + 96.74639901190625 + ], + [ + 560.8503494529698, + 93.28083766125172 + ], + [ + 549.8519731836373, + 92.37569709335389 + ], + [ + 547.6893190340035, + 95.82932660474 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8433051479337506626, + "instance_id": 17047, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -62.61595153808594, + "y": -91.29429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 710.4783203059268, + "ymin": 105.79031631731684, + "xmax": 724.4212985731824, + "ymax": 135.11724168054656 + }, + "corners_3d": [ + [ + -62.75453567504883, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.4842529296875, + 6.416468620300293 + ], + [ + -62.75453567504883, + -91.4842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 721.9148951672983, + 135.11724168054656 + ], + [ + 722.951072766168, + 131.3724884537468 + ], + [ + 711.5878554903218, + 130.3944904202836 + ], + [ + 710.4783203059268, + 134.1262514632413 + ], + [ + 723.3765475682646, + 110.38769960317995 + ], + [ + 724.4212985731824, + 106.74224105849359 + ], + [ + 712.8544449473177, + 105.79031631731684 + ], + [ + 711.7336739639135, + 109.42290284458846 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1090.1407335652505, + "ymin": 58.603327446380206, + "xmax": 1109.9910524916368, + "ymax": 85.78171820298633 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1101.1241014583352, + 82.65651794877675 + ], + [ + 1090.1407335652505, + 81.83973737392415 + ], + [ + 1091.4144212128933, + 84.9550301867904 + ], + [ + 1102.4662844292225, + 85.78171820298633 + ], + [ + 1108.5811704625758, + 59.39591313372432 + ], + [ + 1097.4084861804904, + 58.603327446380206 + ], + [ + 1098.7474883364673, + 61.62655583795981 + ], + [ + 1109.9910524916368, + 62.428912266567124 + ] + ], + "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": 1021.9452320533476, + "ymin": 0.0, + "xmax": 1034.812608769481, + "ymax": 9.248788848856009 + }, + "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": [ + [ + 1021.9452320533476, + 6.845976327313792 + ], + [ + 1022.5608201885507, + 8.7478999457403 + ], + [ + 1030.3323529797783, + 9.248788848856009 + ], + [ + 1029.6826324718495, + 7.342566566728578 + ], + [ + 1026.3051715989777, + -10.43853396793827 + ], + [ + 1026.946852459529, + -8.59026734237898 + ], + [ + 1034.812608769481, + -8.103479195078876 + ], + [ + 1034.1359656761404, + -9.955971082123085 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1067.692962140859, + "ymin": 5.4183237344702775, + "xmax": 1084.9033334901303, + "ymax": 30.080166393792695 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1077.4733779499388, + 27.587535824915335 + ], + [ + 1067.692962140859, + 26.935548928077083 + ], + [ + 1068.7091872019378, + 29.421120521281807 + ], + [ + 1078.543889534551, + 30.080166393792695 + ], + [ + 1083.782716365779, + 6.048824235867301 + ], + [ + 1073.8524029112914, + 5.4183237344702775 + ], + [ + 1074.9170547917665, + 7.822120457395158 + ], + [ + 1084.9033334901303, + 8.459546493672462 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1085.5802452337425, + "ymin": 197.64754616169856, + "xmax": 1106.4418579983187, + "ymax": 225.102775852831 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1097.1698497449593, + 220.89535141477765 + ], + [ + 1085.5802452337425, + 219.80216342610137 + ], + [ + 1086.9035360219032, + 223.99550334241783 + ], + [ + 1098.5698513890397, + 225.102775852831 + ], + [ + 1104.966853872671, + 198.721690397435 + ], + [ + 1093.166683797056, + 197.64754616169856 + ], + [ + 1094.562160136305, + 201.7681692823315 + ], + [ + 1106.4418579983187, + 202.85639082088997 + ] + ], + "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": 1034.9936444143657, + "ymin": 0.0, + "xmax": 1168.6731922176907, + "ymax": 291.6380382794724 + }, + "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": [ + [ + 1073.1429251575842, + 290.2501409032302 + ], + [ + 1085.8318617877458, + 291.6380382794724 + ], + [ + 1044.965567499275, + 139.6127045067393 + ], + [ + 1034.9936444143657, + 138.7452250174688 + ], + [ + 1153.4439553998232, + 62.0745948428887 + ], + [ + 1168.6731922176907, + 63.20171780154624 + ], + [ + 1102.2144691498038, + -55.67410189965682 + ], + [ + 1090.7364415552695, + -56.32686132547411 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 291.2805092526777, + "ymin": 303.42456824489034, + "xmax": 506.3153949163606, + "ymax": 575.8386878974793 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 366.8635755607233, + 540.4433562291343 + ], + [ + 360.0631425085406, + 553.3713227961138 + ], + [ + 501.2528315345834, + 575.8386878974793 + ], + [ + 506.3153949163606, + 562.3195784474583 + ], + [ + 300.8432148088897, + 303.42456824489034 + ], + [ + 291.2805092526777, + 315.61098062402255 + ], + [ + 466.18959567603474, + 336.9772423292082 + ], + [ + 473.09632206310704, + 324.0919921367123 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 328.9364655141676, + "ymin": 0.0, + "xmax": 417.0056497793705, + "ymax": 230.5759523020374 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 370.2271885376662, + 229.4360305121252 + ], + [ + 380.9071680126309, + 230.5759523020374 + ], + [ + 417.0056497793705, + 182.45962996216966 + ], + [ + 407.0404818227046, + 181.47872566403734 + ], + [ + 328.9364655141676, + 31.748535018524308 + ], + [ + 341.1724817193659, + 32.671386038429716 + ], + [ + 385.6323760809097, + -5.864559156505891 + ], + [ + 374.3246966282196, + -6.641352979236899 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 444.57560148683774, + "ymin": 329.61220073799745, + "xmax": 468.66813334852463, + "ymax": 344.58424635675834 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 450.0419253448804, + 333.7016867494578 + ], + [ + 445.2538701081886, + 342.2617897289258 + ], + [ + 464.074117905101, + 344.58424635675834 + ], + [ + 468.66813334852463, + 335.97311542545805 + ], + [ + 449.38765553795065, + 329.61220073799745 + ], + [ + 444.57560148683774, + 338.15634623564614 + ], + [ + 463.45955700816097, + 340.4745866302682 + ], + [ + 468.0762649844386, + 331.8793311004739 + ] + ], + "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": 972.6541888207297, + "ymin": 0.0, + "xmax": 1041.99222201916, + "ymax": 39.41810046076915 + }, + "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": [ + [ + 975.4146962039191, + 36.41003665922534 + ], + [ + 1019.0388649789097, + 39.41810046076915 + ], + [ + 1015.0001083428108, + 25.738755139228317 + ], + [ + 972.6541888207297, + 22.90157200553108 + ], + [ + 995.5894311260606, + -52.88762210246688 + ], + [ + 1041.99222201916, + -50.303280868988736 + ], + [ + 1037.0138826842, + -62.03970159106069 + ], + [ + 992.0545126562971, + -64.46877554713097 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1195.985145242326, + "ymin": 697.2287195435252, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1223.8738472739415, + 807.1535017671526 + ], + [ + 1361.149367678052, + 831.2575891432407 + ], + [ + 1321.45393107881, + 727.0355969216514 + ], + [ + 1195.985145242326, + 706.7077113789178 + ], + [ + 1231.2765444633167, + 798.102596442607 + ], + [ + 1370.4724209157503, + 822.340221712418 + ], + [ + 1329.5293847541793, + 717.626540996459 + ], + [ + 1202.4570302225304, + 697.2287195435252 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1134.60210192781, + "ymin": 661.046798793727, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1155.8701272981589, + 889.6911034290268 + ], + [ + 1283.4782976394238, + 913.8198928417416 + ], + [ + 1251.8739011514003, + 808.4376996717303 + ], + [ + 1134.60210192781, + 787.9063477454733 + ], + [ + 1253.9883689102576, + 769.611392261606 + ], + [ + 1408.5325216297806, + 795.8147124234439 + ], + [ + 1359.8462687038048, + 682.6929697154367 + ], + [ + 1220.188324896517, + 661.046798793727 + ] + ], + "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": 512.8099720187352, + "ymin": 0.0, + "xmax": 595.3083809333959, + "ymax": 110.77937055941894 + }, + "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": [ + [ + 595.3083809333959, + 20.38620642529986 + ], + [ + 587.946448923203, + 19.8418025010547 + ], + [ + 527.7497887754421, + 109.9968812400549 + ], + [ + 536.4903506082132, + 110.77937055941894 + ], + [ + 590.4470419861863, + -142.84623166776987 + ], + [ + 582.291838914334, + -143.2328545471409 + ], + [ + 512.8099720187352, + -77.80255616751589 + ], + [ + 522.6913821640267, + -77.22201993618125 + ] + ], + "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": 789.1647584629341, + "ymin": 0.0, + "xmax": 1063.6504859132308, + "ymax": 58.33376496951371 + }, + "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": [ + [ + 1018.6160520020937, + 58.33376496951371 + ], + [ + 1017.7960381868968, + 55.175970037010416 + ], + [ + 789.7944276932822, + 38.1917487621605 + ], + [ + 789.1647584629341, + 41.13331764611445 + ], + [ + 1063.6504859132308, + -115.64604048149903 + ], + [ + 1062.4105329859497, + -117.92851471789209 + ], + [ + 806.799663906473, + -130.14534179869293 + ], + [ + 806.2161164533381, + -128.0366098758729 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7298902328162137019, + "instance_id": 47923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_0", + "bbox_3d": { + "center_world": { + "x": -58.97412109375, + "y": -104.33528900146484, + "z": 7.722432613372803 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 371.3519761868536, + "ymin": 0.0, + "xmax": 383.9642594122195, + "ymax": 6.353618271757398 + }, + "corners_3d": [ + [ + -59.18000793457031, + -104.483154296875, + 7.667783737182617 + ], + [ + -59.18000793457031, + -104.18742370605469, + 7.667783737182617 + ], + [ + -58.76823425292969, + -104.18742370605469, + 7.667783737182617 + ], + [ + -58.76823425292969, + -104.483154296875, + 7.667783737182617 + ], + [ + -59.18000793457031, + -104.483154296875, + 7.777081489562988 + ], + [ + -59.18000793457031, + -104.18742370605469, + 7.777081489562988 + ], + [ + -58.76823425292969, + -104.18742370605469, + 7.777081489562988 + ], + [ + -58.76823425292969, + -104.483154296875, + 7.777081489562988 + ] + ], + "corners_2d": [ + [ + 371.88723848605696, + 5.812182971582729 + ], + [ + 379.54255097200615, + 6.353618271757398 + ], + [ + 383.9642594122195, + 2.459671990570598 + ], + [ + 376.37120097998536, + 1.9277688804499462 + ], + [ + 371.3519761868536, + 2.787197563315374 + ], + [ + 379.0219300693269, + 3.325981874331603 + ], + [ + 383.4570137409135, + -0.548839773186728 + ], + [ + 375.8495503888807, + -1.0781198686801758 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 444.44421604420705, + "ymin": 329.53235097983605, + "xmax": 468.7957262235772, + "ymax": 344.6652973959871 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 449.97067479546195, + 333.6656926428312 + ], + [ + 445.1302548222791, + 342.3175716561393 + ], + [ + 464.15353190593555, + 344.6652973959871 + ], + [ + 468.7957262235772, + 335.9612881994359 + ], + [ + 449.30916061358414, + 329.53235097983605 + ], + [ + 444.44421604420705, + 338.1679272340249 + ], + [ + 463.5325852437668, + 340.51134607029496 + ], + [ + 468.19795530052056, + 331.823554877031 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1196.111710101153, + "ymin": 697.2969886383203, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1223.9777771201589, + 807.0398178476405 + ], + [ + 1361.1073957915492, + 831.1153013541643 + ], + [ + 1321.4601148280303, + 727.0212825674464 + ], + [ + 1196.111710101153, + 706.71352362172 + ], + [ + 1231.3322896685022, + 798.0479940381847 + ], + [ + 1370.3673664321523, + 822.2559288432708 + ], + [ + 1329.482337291756, + 717.6741649074106 + ], + [ + 1202.5424614420535, + 697.2969886383203 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14685537128847865056, + "instance_id": 57460, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_1", + "bbox_3d": { + "center_world": { + "x": -58.97411346435547, + "y": -104.33528900146484, + "z": 7.7224273681640625 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 371.4198182341813, + "ymin": 0.0, + "xmax": 383.89792146820986, + "ymax": 6.313814294011138 + }, + "corners_3d": [ + [ + -59.17780685424805, + -104.48158264160156, + 7.668359756469727 + ], + [ + -59.17780685424805, + -104.18899536132812, + 7.668359756469727 + ], + [ + -58.77042007446289, + -104.18899536132812, + 7.668359756469727 + ], + [ + -58.77042007446289, + -104.48158264160156, + 7.668359756469727 + ], + [ + -59.17780685424805, + -104.48158264160156, + 7.776494979858398 + ], + [ + -59.17780685424805, + -104.18899536132812, + 7.776494979858398 + ], + [ + -58.77042007446289, + -104.18899536132812, + 7.776494979858398 + ], + [ + -58.77042007446289, + -104.48158264160156, + 7.776494979858398 + ] + ], + "corners_2d": [ + [ + 371.94923735512407, + 5.778198735144656 + ], + [ + 379.5229260141592, + 6.313814294011138 + ], + [ + 383.89792146820986, + 2.4615051740667013 + ], + [ + 376.3851701574654, + 1.9352198590661374 + ], + [ + 371.4198182341813, + 2.7854763605660082 + ], + [ + 379.0078373355386, + 3.3184971530948815 + ], + [ + 383.3959259889142, + -0.515092490773668 + ], + [ + 375.86907324415756, + -1.038810130487093 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 393.0141016293512, + "ymin": 22.94993513737313, + "xmax": 765.3897495097924, + "ymax": 283.4522008465109 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 433.4498691987736, + 241.45420585583685 + ], + [ + 429.36068625143446, + 247.4911779589483 + ], + [ + 744.782657015378, + 283.4522008465109 + ], + [ + 746.1444546812212, + 276.7642112349617 + ], + [ + 398.1786462858897, + 22.94993513737313 + ], + [ + 393.0141016293512, + 27.737966694961187 + ], + [ + 763.992646970292, + 56.56548273437386 + ], + [ + 765.3897495097924, + 51.16412709070187 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 897939386194665430, + "instance_id": 54815, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1949_135", + "bbox_3d": { + "center_world": { + "x": -36.33243179321289, + "y": -120.14290618896484, + "z": 6.611191272735596 + }, + "extent": { + "x": 4.422521591186523, + "y": 4.2970757484436035, + "z": 7.008497714996338 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 120.59276792348942, + "ymin": 0.0, + "xmax": 400.0377169904351, + "ymax": 24.099142147386203 + }, + "corners_3d": [ + [ + -32.2579460144043, + -115.5145034790039, + -0.3973064422607422 + ], + [ + -31.58873176574707, + -124.08255767822266, + -0.3973064422607422 + ], + [ + -40.406917572021484, + -124.77130889892578, + -0.3973064422607422 + ], + [ + -41.076133728027344, + -116.20325469970703, + -0.3973064422607422 + ], + [ + -32.2579460144043, + -115.5145034790039, + 13.619688987731934 + ], + [ + -31.58873176574707, + -124.08255767822266, + 13.619688987731934 + ], + [ + -40.406917572021484, + -124.77130889892578, + 13.619688987731934 + ], + [ + -41.076133728027344, + -116.20325469970703, + 13.619688987731934 + ] + ], + "corners_2d": [ + [ + 400.0377169904351, + -24.389906068174923 + ], + [ + 281.9714178388694, + -35.6295250511576 + ], + [ + 201.62477805095682, + 10.084919475234926 + ], + [ + 331.13828529470237, + 24.099142147386203 + ], + [ + 359.7057575067135, + -284.13772161205407 + ], + [ + 223.71624060032036, + -288.9145620429822 + ], + [ + 120.59276792348942, + -269.2069777114741 + ], + [ + 271.8980507801742, + -263.01426076418215 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 3415205581764433368, + "instance_id": 55317, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1948_134", + "bbox_3d": { + "center_world": { + "x": -37.65735626220703, + "y": -129.6263885498047, + "z": 6.917623043060303 + }, + "extent": { + "x": 4.636507987976074, + "y": 4.5049920082092285, + "z": 7.347609519958496 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 260.88222049225476, + "ymax": 24.680253886330377 + }, + "corners_3d": [ + [ + -33.784976959228516, + -124.44982147216797, + -0.42998647689819336 + ], + [ + -32.37153244018555, + -133.34825134277344, + -0.42998647689819336 + ], + [ + -41.52973556518555, + -134.80294799804688, + -0.42998647689819336 + ], + [ + -42.943180084228516, + -125.90452575683594, + -0.42998647689819336 + ], + [ + -33.784976959228516, + -124.44982147216797, + 14.26523208618164 + ], + [ + -32.37153244018555, + -133.34825134277344, + 14.26523208618164 + ], + [ + -41.52973556518555, + -134.80294799804688, + 14.26523208618164 + ], + [ + -42.943180084228516, + -125.90452575683594, + 14.26523208618164 + ] + ], + "corners_2d": [ + [ + 260.88222049225476, + -24.817218370144644 + ], + [ + 148.86090697142203, + -39.780020118622474 + ], + [ + 39.49380877949545, + 5.959230497586873 + ], + [ + 160.4170441731573, + 24.680253886330377 + ], + [ + 193.74002703591964, + -298.5879439113352 + ], + [ + 65.60150082803204, + -304.37276005909666 + ], + [ + -76.40456586218147, + -286.4505007356563 + ], + [ + 63.11695314747328, + -278.90568666831075 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 7924374137733604808, + "instance_id": 51301, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2352_126", + "bbox_3d": { + "center_world": { + "x": -45.401039123535156, + "y": -136.5944061279297, + "z": 4.371899127960205 + }, + "extent": { + "x": 3.0805811882019043, + "y": 2.9820950031280518, + "z": 4.561844825744629 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 41.751994805382765, + "ymax": 44.55273236659474 + }, + "corners_3d": [ + [ + -41.713294982910156, + -134.4073028564453, + -0.18994569778442383 + ], + [ + -43.09531021118164, + -140.20916748046875, + -0.18994569778442383 + ], + [ + -49.088783264160156, + -138.78150939941406, + -0.18994569778442383 + ], + [ + -47.70676803588867, + -132.97964477539062, + -0.18994569778442383 + ], + [ + -41.713294982910156, + -134.4073028564453, + 8.933744430541992 + ], + [ + -43.09531021118164, + -140.20916748046875, + 8.933744430541992 + ], + [ + -49.088783264160156, + -138.78150939941406, + 8.933744430541992 + ], + [ + -47.70676803588867, + -132.97964477539062, + 8.933744430541992 + ] + ], + "corners_2d": [ + [ + 41.751994805382765, + 3.432745001871524 + ], + [ + -60.13039753696455, + 4.97552181318315 + ], + [ + -118.33414851594182, + 44.55273236659474 + ], + [ + -7.073798431109708, + 42.71965687046378 + ], + [ + -25.49757802601289, + -167.16129368589952 + ], + [ + -139.14171203206524, + -166.1143132575903 + ], + [ + -212.59298506835785, + -138.96889335930587 + ], + [ + -87.15691178536451, + -140.2384980987963 + ] + ], + "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": 479.9508542324046, + "ymin": 0.0, + "xmax": 637.8657358565716, + "ymax": 13.304878121252216 + }, + "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": [ + [ + 538.6362706723999, + 13.304878121252216 + ], + [ + 637.8657358565716, + -9.186739234906497 + ], + [ + 583.1892593448098, + -37.253145083350205 + ], + [ + 488.1469539140671, + -17.70516460664618 + ], + [ + 532.7337792280714, + -74.49097400125714 + ], + [ + 637.7480528636928, + -93.56246871925146 + ], + [ + 580.2744144230503, + -117.2053505999142 + ], + [ + 479.9508542324046, + -100.75650828260495 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 8418614953964379880, + "instance_id": 59550, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2345_119", + "bbox_3d": { + "center_world": { + "x": -35.8762092590332, + "y": -131.68106079101562, + "z": 7.344003677368164 + }, + "extent": { + "x": 5.283463001251221, + "y": 5.114550590515137, + "z": 7.8239593505859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 260.39253270231, + "ymax": 18.57184122554736 + }, + "corners_3d": [ + [ + -31.924062728881836, + -125.47991943359375, + -0.47995567321777344 + ], + [ + -29.549972534179688, + -135.42970275878906, + -0.47995567321777344 + ], + [ + -39.8283576965332, + -137.8822021484375, + -0.47995567321777344 + ], + [ + -42.20244598388672, + -127.93241882324219, + -0.47995567321777344 + ], + [ + -31.924062728881836, + -125.47991943359375, + 15.167963027954102 + ], + [ + -29.549972534179688, + -135.42970275878906, + 15.167963027954102 + ], + [ + -39.8283576965332, + -137.8822021484375, + 15.167963027954102 + ], + [ + -42.20244598388672, + -127.93241882324219, + 15.167963027954102 + ] + ], + "corners_2d": [ + [ + 260.39253270231, + -34.029481885616065 + ], + [ + 145.3103891045709, + -53.360904801411664 + ], + [ + 13.784621369651859, + -6.025232999859554 + ], + [ + 136.4468138544911, + 18.57184122554736 + ], + [ + 190.11161566656466, + -321.9341781156937 + ], + [ + 58.92550905657822, + -328.2874021493544 + ], + [ + -111.90569562521387, + -312.5262302540675 + ], + [ + 28.31672939045825, + -304.0565767023022 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1168.552622469691, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1468.6418135386825, + 450.2714885558551 + ], + [ + 1168.552622469691, + 485.35397584360584 + ], + [ + 1440.7242648450415, + 835.9751346267774 + ], + [ + 1835.1931372093397, + 769.9826063931919 + ], + [ + 1874.5064539699658, + -74.17907686855892 + ], + [ + 1443.04375324137, + -52.49780556338794 + ], + [ + 2157.1111856903926, + 223.07755771011526 + ], + [ + 2803.8835352303304, + 161.2699619716899 + ] + ], + "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": 366.3727239143749, + "ymin": 0.0, + "xmax": 572.5584360141434, + "ymax": 39.36905779992958 + }, + "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": [ + [ + 412.7006062521592, + 39.36905779992958 + ], + [ + 572.5584360141434, + 26.088533823013734 + ], + [ + 548.132656074167, + -25.83422338281281 + ], + [ + 406.1612031228789, + -15.417321827351145 + ], + [ + 367.9632211551515, + -252.25286951513544 + ], + [ + 559.7279521399166, + -258.3173806492207 + ], + [ + 532.9546276248126, + -281.4016282812022 + ], + [ + 366.3727239143749, + -276.8485758887764 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12783736354476579425, + "instance_id": 25050, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2728_95", + "bbox_3d": { + "center_world": { + "x": -40.00048828125, + "y": -120.97515106201172, + "z": 4.526856422424316 + }, + "extent": { + "x": 2.978419780731201, + "y": 2.8939361572265625, + "z": 4.719987869262695 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 138.10997162367408, + "ymin": 0.0, + "xmax": 327.8268968068665, + "ymax": 27.887342206946016 + }, + "corners_3d": [ + [ + -37.48514938354492, + -124.27953338623047, + -0.1931314468383789 + ], + [ + -43.23114013671875, + -123.58450317382812, + -0.1931314468383789 + ], + [ + -42.51582717895508, + -117.67076873779297, + -0.1931314468383789 + ], + [ + -36.76983642578125, + -118.36579895019531, + -0.1931314468383789 + ], + [ + -37.48514938354492, + -124.27953338623047, + 9.246844291687012 + ], + [ + -43.23114013671875, + -123.58450317382812, + 9.246844291687012 + ], + [ + -42.51582717895508, + -117.67076873779297, + 9.246844291687012 + ], + [ + -36.76983642578125, + -118.36579895019531, + 9.246844291687012 + ] + ], + "corners_2d": [ + [ + 233.24350383756644, + -9.258418509021453 + ], + [ + 193.18929394351176, + 25.20442742957249 + ], + [ + 295.2617562313584, + 27.887342206946016 + ], + [ + 327.8268968068665, + -6.964278139588032 + ], + [ + 187.29196464488962, + -182.1356951848917 + ], + [ + 138.10997162367408, + -159.1888166047047 + ], + [ + 252.4858976796217, + -157.3845791335416 + ], + [ + 292.34826213595267, + -180.6212401167262 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 17710446379817129709, + "instance_id": 60758, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2724_91", + "bbox_3d": { + "center_world": { + "x": -42.07095718383789, + "y": -139.09397888183594, + "z": 4.6431708335876465 + }, + "extent": { + "x": 3.07551908493042, + "y": 2.98828125, + "z": 4.87386417388916 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 37.37863578304223, + "ymax": 22.480084167792256 + }, + "corners_3d": [ + [ + -43.667564392089844, + -135.1140899658203, + -0.23069334030151367 + ], + [ + -38.138648986816406, + -137.383544921875, + -0.23069334030151367 + ], + [ + -40.47434997558594, + -143.07386779785156, + -0.23069334030151367 + ], + [ + -46.003265380859375, + -140.80441284179688, + -0.23069334030151367 + ], + [ + -43.667564392089844, + -135.1140899658203, + 9.517034530639648 + ], + [ + -38.138648986816406, + -137.383544921875, + 9.517034530639648 + ], + [ + -40.47434997558594, + -143.07386779785156, + 9.517034530639648 + ], + [ + -46.003265380859375, + -140.80441284179688, + 9.517034530639648 + ] + ], + "corners_2d": [ + [ + 9.213666762330035, + 14.844043890031458 + ], + [ + 37.37863578304223, + -18.522453962051088 + ], + [ + -68.95541433895175, + -11.988308849294413 + ], + [ + -106.2892870114697, + 22.480084167792256 + ], + [ + -69.19333374901771, + -172.37507595142824 + ], + [ + -31.321175802123776, + -194.0335479613343 + ], + [ + -151.1967548169922, + -189.82347940242437 + ], + [ + -200.83231721433253, + -167.36202908370558 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00120/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00120/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bbee92f0310b80ff33cbb3d2ac186aa6b0bd8833 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00120/meta.json @@ -0,0 +1,4478 @@ +{ + "frame_id": 120, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 60.0, + "sim_timestamp": 11221.124926635996 + }, + "drone_pose": { + "x": -91.31206864097136, + "y": -88.26645680060642, + "z": 19.956748826971957, + "pitch": -40.01428100831011, + "yaw": -5.722669741835984, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7620671987533569, + 0.07636895775794983, + 0.6429784893989563, + 50.01335144042969 + ], + [ + -0.09971344470977783, + 0.9950162172317505, + 3.725290298461914e-09, + 96.93159484863281 + ], + [ + -0.6397740244865417, + -0.06411360204219818, + 0.7658842206001282, + -68.04457092285156 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -90.94085071398501, + "y": -87.70023293634476, + "z": 19.983542988245535 + }, + "t1_image_uv": [ + 3231.4614218271804, + -596.9405774791704 + ], + "t1_depth": 0.2224230065469719 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -71.66718292236328, + "y": -91.18776321411131, + "z": 0.5749944090844292 + }, + "image_uv": [ + 607.0965932468963, + 432.50005350222716 + ], + "depth": 27.65587180888612, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 199, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -71.66718292236328, + "y": -91.18775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.20738524198532104, + "y": 0.19777831435203552, + "z": 0.5215045809745789 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 596.678914183841, + "ymin": 412.5113490681481, + "xmax": 617.2772305580598, + "ymax": 452.3196332159112 + }, + "corners_3d": [ + [ + -71.6739730834961, + -91.47425079345703, + 0.0534898042678833 + ], + [ + -71.95367431640625, + -91.19454956054688, + 0.0534898042678833 + ], + [ + -71.66039276123047, + -90.9012680053711, + 0.0534898042678833 + ], + [ + -71.38069152832031, + -91.18096923828125, + 0.0534898042678833 + ], + [ + -71.6739730834961, + -91.47425079345703, + 1.096498966217041 + ], + [ + -71.95367431640625, + -91.19454956054688, + 1.096498966217041 + ], + [ + -71.66039276123047, + -90.9012680053711, + 1.096498966217041 + ], + [ + -71.38069152832031, + -91.18096923828125, + 1.096498966217041 + ] + ], + "corners_2d": [ + [ + 597.7162120840096, + 444.79842671335877 + ], + [ + 606.0149695999585, + 452.3196332159112 + ], + [ + 617.2772305580598, + 445.86220962428894 + ], + [ + 608.9440078294058, + 438.44830490279537 + ], + [ + 596.678914183841, + 418.8264493595836 + ], + [ + 605.17404138192, + 426.3090337615067 + ], + [ + 616.7191177972251, + 419.88458142505226 + ], + [ + 608.1877116787043, + 412.5113490681481 + ] + ], + "center_offset_px": [ + -32.903406753103695, + 72.50005350222716 + ] + }, + "trace_timestep_index": 120, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 87, + "semantic_pixel_counts": { + "1": 390065, + "2": 173600, + "3": 154169, + "4": 40156, + "5": 3147, + "6": 13357, + "7": 1513, + "9": 10934, + "10": 51879, + "12": 2394, + "14": 29388, + "20": 27594, + "21": 734, + "24": 22667, + "25": 3 + }, + "instance_pixel_counts": { + "110": 140, + "913": 5030, + "5230": 4814, + "5695": 3, + "9296": 3147, + "9346": 1111, + "9799": 5744, + "11927": 349, + "12439": 1021, + "12951": 841, + "15963": 72584, + "16475": 3070, + "17232": 40156, + "21952": 959, + "22464": 2550, + "22784": 232, + "22976": 9621, + "23040": 94, + "23296": 5645, + "23552": 3972, + "24404": 1042, + "24512": 18547, + "25940": 54, + "26196": 51, + "26963": 2632, + "27795": 8099, + "28307": 3298, + "28819": 12766, + "29331": 2114, + "29781": 272, + "31893": 450, + "32405": 96, + "33429": 929, + "33697": 198, + "33941": 34, + "35668": 17301, + "36692": 4116, + "37979": 67242, + "38539": 611, + "39051": 1254, + "39563": 2120, + "40019": 1115, + "40075": 8, + "40787": 69, + "41099": 135, + "41107": 43073, + "41611": 2182, + "41619": 16531, + "41889": 31, + "42123": 1631, + "42635": 30, + "42643": 1414, + "43117": 5815, + "43147": 10763, + "43155": 97124, + "43659": 10275, + "43667": 17777, + "44179": 187869, + "44181": 2919, + "44693": 431, + "45205": 47, + "45717": 8054, + "46229": 504, + "46741": 9203, + "47552": 753, + "48033": 3, + "48064": 1825, + "49088": 2793, + "49664": 199, + "49920": 413, + "50015": 3138, + "50112": 221, + "50176": 571, + "50624": 8852, + "50688": 818, + "50944": 393, + "51136": 3581, + "51456": 9159, + "51712": 4023, + "52160": 22462, + "52672": 55557, + "55040": 13411, + "55296": 2795, + "55879": 21733, + "57173": 10934, + "64351": 8915, + "64603": 734 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 199, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -71.66718292236328, + "y": -91.18775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.19319091737270355, + "y": 0.23322264850139618, + "z": 0.5218343734741211 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 596.3208591021887, + "ymin": 412.0625772188208, + "xmax": 617.648233038051, + "ymax": 452.78502196461534 + }, + "corners_3d": [ + [ + -71.63887786865234, + -91.4892807006836, + 0.053160011768341064 + ], + [ + -71.96870422363281, + -91.15945434570312, + 0.053160011768341064 + ], + [ + -71.69548797607422, + -90.88623809814453, + 0.053160011768341064 + ], + [ + -71.36566162109375, + -91.216064453125, + 0.053160011768341064 + ], + [ + -71.63887786865234, + -91.4892807006836, + 1.0968286991119385 + ], + [ + -71.96870422363281, + -91.15945434570312, + 1.0968286991119385 + ], + [ + -71.69548797607422, + -90.88623809814453, + 1.0968286991119385 + ], + [ + -71.36566162109375, + -91.216064453125, + 1.0968286991119385 + ] + ], + "corners_2d": [ + [ + 597.3663426555745, + 443.920244086307 + ], + [ + 607.1537389580686, + 452.78502196461534 + ], + [ + 617.648233038051, + 446.7603147957624 + ], + [ + 607.8229772574907, + 438.01341185457756 + ], + [ + 596.3208591021887, + 417.9365969535046 + ], + [ + 606.3400439068797, + 426.7557203396891 + ], + [ + 617.0983195835988, + 420.7615718800203 + ], + [ + 607.0392817306348, + 412.0625772188208 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 413, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -67.54119873046875, + "y": -88.19005584716797, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.3635888695716858, + "y": 0.3547656238079071, + "z": 0.8809002637863159 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 699.9666868149819, + "ymin": 317.0835592384887, + "xmax": 734.2530989487053, + "ymax": 380.00651843841297 + }, + "corners_3d": [ + [ + -67.65290832519531, + -88.68561553955078, + -0.3059009909629822 + ], + [ + -68.03935241699219, + -88.09054565429688, + -0.3059009909629822 + ], + [ + -67.42948913574219, + -87.69449615478516, + -0.3059009909629822 + ], + [ + -67.04304504394531, + -88.28956604003906, + -0.3059009909629822 + ], + [ + -67.65290832519531, + -88.68561553955078, + 1.4558994770050049 + ], + [ + -68.03935241699219, + -88.09054565429688, + 1.4558994770050049 + ], + [ + -67.42948913574219, + -87.69449615478516, + 1.4558994770050049 + ], + [ + -67.04304504394531, + -88.28956604003906, + 1.4558994770050049 + ] + ], + "corners_2d": [ + [ + 699.9666868149819, + 370.97559257841 + ], + [ + 717.911593080526, + 380.00651843841297 + ], + [ + 730.8293296866457, + 368.4982467946167 + ], + [ + 712.992464771796, + 359.7158922758109 + ], + [ + 702.2342387976024, + 328.1506793491824 + ], + [ + 720.8915198120168, + 337.0354852115999 + ], + [ + 734.2530989487053, + 325.7147150827344 + ], + [ + 715.7131065566793, + 317.0835592384887 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 571, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -73.92300415039062, + "y": -84.24504852294922, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.3310595750808716, + "y": 0.4140722453594208, + "z": 0.8723806738853455 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 832.2224143843447, + "ymin": 472.93075798960297, + "xmax": 882.391744525735, + "ymax": 547.1491879460432 + }, + "corners_3d": [ + [ + -73.9197006225586, + -84.77518463134766, + -0.29737651348114014 + ], + [ + -74.44087219238281, + -84.13159942626953, + -0.29737651348114014 + ], + [ + -73.92630767822266, + -83.71491241455078, + -0.29737651348114014 + ], + [ + -73.40513610839844, + -84.3584976196289, + -0.29737651348114014 + ], + [ + -73.9197006225586, + -84.77518463134766, + 1.4473848342895508 + ], + [ + -74.44087219238281, + -84.13159942626953, + 1.4473848342895508 + ], + [ + -73.92630767822266, + -83.71491241455078, + 1.4473848342895508 + ], + [ + -73.40513610839844, + -84.3584976196289, + 1.4473848342895508 + ] + ], + "corners_2d": [ + [ + 832.2224143843447, + 530.1085739440011 + ], + [ + 857.6746605293284, + 547.1491879460432 + ], + [ + 871.902598738515, + 533.3467173399722 + ], + [ + 846.5573094387977, + 516.7725359269009 + ], + [ + 840.886747830513, + 486.233218056585 + ], + [ + 867.6654015436982, + 503.25478988619955 + ], + [ + 882.391744525735, + 489.4656809545522 + ], + [ + 855.7349180108777, + 472.93075798960297 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 818, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -74.85051727294922, + "y": -100.98506927490234, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.40791013836860657, + "y": 0.5033935308456421, + "z": 0.8838163018226624 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 201.4865666981123, + "ymin": 445.15093693270785, + "xmax": 260.4704993120609, + "ymax": 525.3988866739295 + }, + "corners_3d": [ + [ + -74.71601104736328, + -101.6188735961914, + -0.1564098596572876 + ], + [ + -75.4984359741211, + -100.98528289794922, + -0.1564098596572876 + ], + [ + -74.98502349853516, + -100.35126495361328, + -0.1564098596572876 + ], + [ + -74.20259857177734, + -100.98485565185547, + -0.1564098596572876 + ], + [ + -74.71601104736328, + -101.6188735961914, + 1.611222743988037 + ], + [ + -75.4984359741211, + -100.98528289794922, + 1.611222743988037 + ], + [ + -74.98502349853516, + -100.35126495361328, + 1.611222743988037 + ], + [ + -74.20259857177734, + -100.98485565185547, + 1.611222743988037 + ] + ], + "corners_2d": [ + [ + 220.22357925692364, + 501.8579744349555 + ], + [ + 230.2298779024245, + 525.3988866739295 + ], + [ + 260.4704993120609, + 512.7356992329153 + ], + [ + 249.86796054772708, + 489.7973345005596 + ], + [ + 201.4865666981123, + 457.148785162366 + ], + [ + 211.4644142927138, + 480.60644276070605 + ], + [ + 243.32673030387969, + 467.98157246489325 + ], + [ + 232.6854932581703, + 445.15093693270785 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 393, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -60.42184829711914, + "y": -99.35797882080078, + "z": 0.6117326617240906 + }, + "extent": { + "x": 0.5105566382408142, + "y": 0.4622558355331421, + "z": 0.9335036277770996 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 412.3712193085522, + "ymin": 182.5492053558366, + "xmax": 452.31710146297297, + "ymax": 242.29440717907897 + }, + "corners_3d": [ + [ + -60.31223678588867, + -100.03793334960938, + -0.32177096605300903 + ], + [ + -61.08759689331055, + -99.5344009399414, + -0.32177096605300903 + ], + [ + -60.53145980834961, + -98.67802429199219, + -0.32177096605300903 + ], + [ + -59.756099700927734, + -99.18155670166016, + -0.32177096605300903 + ], + [ + -60.31223678588867, + -100.03793334960938, + 1.545236349105835 + ], + [ + -61.08759689331055, + -99.5344009399414, + 1.545236349105835 + ], + [ + -60.53145980834961, + -98.67802429199219, + 1.545236349105835 + ], + [ + -59.756099700927734, + -99.18155670166016, + 1.545236349105835 + ] + ], + "corners_2d": [ + [ + 419.64609834502164, + 230.76323010183592 + ], + [ + 426.90493612459966, + 242.29440717907897 + ], + [ + 452.31710146297297, + 235.67951930110613 + ], + [ + 444.7051256381616, + 224.36711542074207 + ], + [ + 412.3712193085522, + 188.7442838434768 + ], + [ + 419.74579528832123, + 199.92279854972853 + ], + [ + 446.07432670946355, + 193.5086778669286 + ], + [ + 438.320492041693, + 182.5492053558366 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 9159, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 474.5530068111683, + "ymin": 592.7470739241546, + "xmax": 602.3382387558785, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 602.3382387558785, + 634.7044511336458 + ], + [ + 520.9042372155768, + 627.5399696593254 + ], + [ + 481.87374449909015, + 797.4353360504515 + ], + [ + 575.9936347022383, + 807.0572165786814 + ], + [ + 600.831948390529, + 599.9566036296062 + ], + [ + 516.1738099731557, + 592.7470739241546 + ], + [ + 474.5530068111683, + 764.7466020356025 + ], + [ + 573.0063439473429, + 774.552785053603 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 4023, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 941.8921365094162, + "ymin": 92.31553547420594, + "xmax": 1069.5622539725566, + "ymax": 156.61341778855424 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 941.8921365094162, + 131.27995549536195 + ], + [ + 948.3812729098712, + 151.6382732081051 + ], + [ + 1057.101834475507, + 156.61341778855424 + ], + [ + 1046.8270730564304, + 135.929785098178 + ], + [ + 950.5489822952686, + 92.31553547420594 + ], + [ + 957.5436949540576, + 111.85638786075577 + ], + [ + 1069.5622539725566, + 116.65753179925875 + ], + [ + 1058.553117997698, + 96.7946241600294 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 13411, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 802.0195657481027, + "ymin": 559.9150465694381, + "xmax": 957.900151999226, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 810.7789223358398, + 882.9014646438492 + ], + [ + 934.8949633502903, + 896.1049045967245 + ], + [ + 900.736585539413, + 622.2180664179298 + ], + [ + 802.0195657481027, + 613.8370347196574 + ], + [ + 823.9604472580543, + 835.000387579463 + ], + [ + 957.900151999226, + 848.7207715538291 + ], + [ + 916.6722209890954, + 568.3558160027627 + ], + [ + 811.8394338316298, + 559.9150465694381 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 216, + "instance_id": 55296, + "pixel_count": 2795, + "type_id": "vehicle.audi.etron", + "bbox_3d": { + "center_world": { + "x": -44.75563430786133, + "y": -104.2794189453125, + "z": 0.8648524284362793 + }, + "extent": { + "x": 2.427854299545288, + "y": 1.0163782835006714, + "z": 0.8246796727180481 + }, + "yaw": -94.3148193359375 + }, + "bbox_2d": { + "xmin": 363.4990023903652, + "ymin": 18.770974423631117, + "xmax": 471.1080608934162, + "ymax": 66.8421547922656 + }, + "corners_3d": [ + [ + -45.58646774291992, + -101.781982421875, + 0.04017278552055359 + ], + [ + -43.559471130371094, + -101.9349136352539, + 0.04017278552055359 + ], + [ + -43.92479705810547, + -106.77686309814453, + 0.04017278552055359 + ], + [ + -45.9517936706543, + -106.6239242553711, + 0.04017278552055359 + ], + [ + -45.58646774291992, + -101.781982421875, + 1.6895321607589722 + ], + [ + -43.559471130371094, + -101.9349136352539, + 1.6895321607589722 + ], + [ + -43.92479705810547, + -106.77686309814453, + 1.6895321607589722 + ], + [ + -45.9517936706543, + -106.6239242553711, + 1.6895321607589722 + ] + ], + "corners_2d": [ + [ + 464.7237768186594, + 66.8421547922656 + ], + [ + 471.1080608934162, + 50.95669635318046 + ], + [ + 378.8276150355868, + 50.05463067129682 + ], + [ + 369.51083935221266, + 65.88155256087413 + ], + [ + 460.820648956239, + 34.84992726906563 + ], + [ + 467.46612329153413, + 19.634369919419385 + ], + [ + 373.2062122548129, + 18.770974423631117 + ], + [ + 363.4990023903652, + 33.92923799987267 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 985.2848667723788, + "ymin": 10.906546248873838, + "xmax": 1001.883966576492, + "ymax": 36.14257985526376 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 995.1814854448646, + 33.440265110064786 + ], + [ + 985.2848667723788, + 33.07143616968307 + ], + [ + 986.5222167702254, + 35.76958259113229 + ], + [ + 996.4755813689701, + 36.14257985526376 + ], + [ + 1000.5395747391103, + 11.26361531777161 + ], + [ + 990.4895926958598, + 10.906546248873838 + ], + [ + 991.7754618938384, + 13.518855504837177 + ], + [ + 1001.883966576492, + 13.880021368382074 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4809317425322915338, + "instance_id": 2806, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -62.6159553527832, + "y": -93.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 551.7290305190261, + "ymin": 99.48970885744097, + "xmax": 566.1043358432532, + "ymax": 128.66820493124723 + }, + "corners_3d": [ + [ + -62.754539489746094, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.9842529296875, + 6.416468620300293 + ], + [ + -62.754539489746094, + -93.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 564.7638493459959, + 128.66820493124723 + ], + [ + 566.1043358432532, + 124.8331754464221 + ], + [ + 554.7156913872393, + 124.31038566743214 + ], + [ + 553.2999915519567, + 128.13836959740064 + ], + [ + 563.3993267241186, + 103.73344678994641 + ], + [ + 564.7732308506221, + 99.99875114779525 + ], + [ + 553.180871708308, + 99.48970885744097 + ], + [ + 551.7290305190261, + 103.21741943037654 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 333.11257476297385, + "ymin": 166.28860452332262, + "xmax": 351.1675240826076, + "ymax": 192.62951370143318 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 348.577362559297, + 192.62951370143318 + ], + [ + 351.1675240826076, + 188.6634005517106 + ], + [ + 340.8079876685239, + 188.1253700519809 + ], + [ + 338.1553469087478, + 192.08473999712805 + ], + [ + 343.70447941014476, + 170.71034960973464 + ], + [ + 346.3684454632185, + 166.81673747389846 + ], + [ + 335.8410654373038, + 166.28860452332262 + ], + [ + 333.11257476297385, + 170.17548652051386 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5344508464058845628, + "instance_id": 48329, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -62.61595916748047, + "y": -96.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 460.33807285372086, + "ymin": 95.50318771820747, + "xmax": 476.73794997704505, + "ymax": 124.51083013332251 + }, + "corners_3d": [ + [ + -62.75454330444336, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.9842529296875, + 6.416468620300293 + ], + [ + -62.75454330444336, + -96.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 474.8110565673654, + 124.51083013332251 + ], + [ + 476.73794997704505, + 120.73091103967275 + ], + [ + 465.5123484558785, + 120.21560561340627 + ], + [ + 463.5124087477852, + 123.98863040705348 + ], + [ + 471.83716878696197, + 99.68488037019614 + ], + [ + 473.8185757930962, + 96.0048126932428 + ], + [ + 462.39513137011863, + 95.50318771820747 + ], + [ + 460.33807285372086, + 99.17642295186181 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8433051479337506626, + "instance_id": 17047, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -62.61595153808594, + "y": -91.29429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 628.9296443042911, + "ymin": 102.85692083650684, + "xmax": 641.5991742843216, + "ymax": 132.17924679147293 + }, + "corners_3d": [ + [ + -62.75453567504883, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.4842529296875, + 6.416468620300293 + ], + [ + -62.75453567504883, + -91.4842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 640.7321828947718, + 132.17924679147293 + ], + [ + 641.5707058503, + 128.29736617465014 + ], + [ + 630.0434636482585, + 127.76821418786145 + ], + [ + 629.1278664776864, + 131.64291980664618 + ], + [ + 640.7455447718253, + 107.15342400032807 + ], + [ + 641.5991742843216, + 103.37227060463402 + ], + [ + 629.8631745905611, + 102.85692083650684 + ], + [ + 628.9296443042911, + 106.63095848371722 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 999.4621205573044, + "ymin": 40.864349561582685, + "xmax": 1017.4849187143573, + "ymax": 67.46792586478921 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1010.0095927209957, + 64.404131226387 + ], + [ + 999.4621205573044, + 63.98613826071795 + ], + [ + 1000.8648466235339, + 67.04490119962537 + ], + [ + 1011.4767956665062, + 67.46792586478921 + ], + [ + 1015.9576996958032, + 41.26980421603838 + ], + [ + 1005.2358622774464, + 40.864349561582685 + ], + [ + 1006.6964494013255, + 43.83160724910533 + ], + [ + 1017.4849187143573, + 44.242021816328815 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 974.7202775562075, + "ymin": 0.0, + "xmax": 990.2868401502658, + "ymax": 12.816856827349284 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 984.1328605764124, + 10.369054655135301 + ], + [ + 974.7202775562075, + 10.034860182669604 + ], + [ + 975.8411724759537, + 12.47906861937571 + ], + [ + 985.3050734447453, + 12.816856827349284 + ], + [ + 989.070844557322, + -11.056039352237121 + ], + [ + 979.5196317899611, + -11.379109327067738 + ], + [ + 980.6827830951901, + -9.016105685068453 + ], + [ + 990.2868401502658, + -8.689511362517635 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1002.5817357885483, + "ymin": 178.51896780551127, + "xmax": 1021.7004625654365, + "ymax": 205.2645449315872 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1013.7175310841785, + 201.14043603052627 + ], + [ + 1002.5817357885483, + 200.5810503905726 + ], + [ + 1004.0907179521405, + 204.69800934121196 + ], + [ + 1015.2987997759944, + 205.2645449315872 + ], + [ + 1020.051166178301, + 179.06842166906335 + ], + [ + 1008.7212432385159, + 178.51896780551127 + ], + [ + 1010.295703729806, + 182.56320782606358 + ], + [ + 1021.7004625654365, + 183.11980482282215 + ] + ], + "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": 949.0436996148087, + "ymin": 0.0, + "xmax": 1074.0586823124036, + "ymax": 271.0306184704949 + }, + "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": [ + [ + 994.2865581400388, + 270.29191425812667 + ], + [ + 1006.4911756072188, + 271.0306184704949 + ], + [ + 958.6695353964656, + 121.70747283574198 + ], + [ + 949.0436996148087, + 121.24432505425722 + ], + [ + 1059.5242927824452, + 43.210210781266596 + ], + [ + 1074.0586823124036, + 43.8077206172228 + ], + [ + 1003.4645179827726, + -72.53002619909307 + ], + [ + 992.4451682922254, + -72.87748222470123 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 199.09438480643257, + "ymin": 331.3636276851231, + "xmax": 444.5078564150607, + "ymax": 597.500928848866 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 296.88238721712855, + 570.6863918826743 + ], + [ + 290.3677933876415, + 584.8159203288988 + ], + [ + 439.9900986169173, + 597.500928848866 + ], + [ + 444.5078564150607, + 583.0239334999189 + ], + [ + 208.85251815053948, + 331.3636276851231 + ], + [ + 199.09438480643257, + 344.9872200353831 + ], + [ + 386.9634917818593, + 357.3013457542667 + ], + [ + 393.5853929613726, + 343.2540024659754 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 226.09099574818202, + "ymin": 0.0, + "xmax": 330.34983605634187, + "ymax": 244.74585087637865 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 283.5495047190411, + 244.1007472042474 + ], + [ + 294.9095696116333, + 244.74585087637865 + ], + [ + 330.34983605634187, + 192.74228350166072 + ], + [ + 319.8137463606253, + 192.19062662896908 + ], + [ + 226.09099574818202, + 41.089494491653966 + ], + [ + 239.2218648295759, + 41.61828306127961 + ], + [ + 284.69809769738833, + -0.5034516108798925 + ], + [ + 272.65544977110244, + -0.9448613988332113 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 364.3204277073217, + "ymin": 350.2884890805189, + "xmax": 389.7139636654791, + "ymax": 365.12330529642145 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 369.9506743421057, + 354.44372371195806 + ], + [ + 365.3253603826075, + 363.80031317359374 + ], + [ + 385.3125045617478, + 365.12330529642145 + ], + [ + 389.7139636654791, + 355.736293728123 + ], + [ + 368.97412171965846, + 350.2884890805189 + ], + [ + 364.3204277073217, + 359.6305580964288 + ], + [ + 384.3791694338786, + 360.9515608139599 + ], + [ + 388.80741212501016, + 351.5790061431806 + ] + ], + "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": 882.3001215969691, + "ymin": 0.0, + "xmax": 945.4172436815568, + "ymax": 23.011500000221645 + }, + "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": [ + [ + 885.7416922015586, + 21.46110342820606 + ], + [ + 928.0459591661861, + 23.011500000221645 + ], + [ + 923.3774284400583, + 9.533203946433275 + ], + [ + 882.3001215969691, + 8.07050797757853 + ], + [ + 900.5097786011182, + -67.60373806405954 + ], + [ + 945.4172436815568, + -66.2730889056337 + ], + [ + 939.9472674140256, + -77.82330807798257 + ], + [ + 896.4199105666437, + -79.07436089249097 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1136.5577804470709, + "ymin": 671.0277162915573, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1168.9152203953058, + 778.8048808767187 + ], + [ + 1298.51423633963, + 790.9804170442974 + ], + [ + 1255.3682909322176, + 690.8339659238145 + ], + [ + 1136.5577804470709, + 680.5419958259072 + ], + [ + 1175.5701181375016, + 769.6865918881631 + ], + [ + 1306.8831872084447, + 781.9250638302194 + ], + [ + 1262.548329723053, + 681.3518297568056 + ], + [ + 1142.2984910253033, + 671.0277162915573 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1081.645101512864, + "ymin": 635.0763719778474, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1107.7507087107601, + 862.2541501030774 + ], + [ + 1229.0202570143047, + 874.4804724060951 + ], + [ + 1193.356601370056, + 772.8613030153538 + ], + [ + 1081.645101512864, + 762.4370020774742 + ], + [ + 1196.0325037812206, + 741.2265802059737 + ], + [ + 1341.427347132005, + 754.4391678447848 + ], + [ + 1289.4198648548938, + 646.0209086800764 + ], + [ + 1157.5466879382, + 635.0763719778474 + ] + ], + "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": 414.5214597945712, + "ymin": 0.0, + "xmax": 506.4162220022481, + "ymax": 113.11839319311906 + }, + "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": [ + [ + 506.4162220022481, + 17.963145309807032 + ], + [ + 498.8500400013414, + 17.653772057780316 + ], + [ + 441.86797206976195, + 112.66914953178622 + ], + [ + 450.9402827075271, + 113.11839319311906 + ], + [ + 491.45471164963203, + -148.41890066339363 + ], + [ + 483.0528327517081, + -148.63952212773916 + ], + [ + 414.5214597945712, + -79.29625990878503 + ], + [ + 424.82206134409523, + -78.96066269576335 + ] + ], + "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": 703.1521350226086, + "ymin": 0.0, + "xmax": 962.9006333538982, + "ymax": 41.82671388685901 + }, + "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": [ + [ + 928.7050405994966, + 41.82671388685901 + ], + [ + 927.7356000794061, + 38.712388718613795 + ], + [ + 703.6138438241348, + 29.4805740957878 + ], + [ + 703.1521350226086, + 32.47701799607063 + ], + [ + 962.9006333538982, + -131.30132731030739 + ], + [ + 961.5731785084076, + -133.546510723133 + ], + [ + 710.935902988433, + -140.1820294236905 + ], + [ + 710.4721746701028, + -138.03153971142257 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1253.35537431626, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 36.37258281905133 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 1268.1791860932312, + 34.729417032683216 + ], + [ + 1313.0844892422588, + 36.37258281905133 + ], + [ + 1296.8825731940324, + 22.09890336372831 + ], + [ + 1253.35537431626, + 20.551398276382486 + ], + [ + 1307.15211760296, + -56.39501339851006 + ], + [ + 1354.9950356107397, + -54.98043607145661 + ], + [ + 1336.5008327447624, + -67.24843762149197 + ], + [ + 1290.2187353476374, + -68.57578265259627 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7298902328162137019, + "instance_id": 47923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_0", + "bbox_3d": { + "center_world": { + "x": -58.97412109375, + "y": -104.33528900146484, + "z": 7.722432613372803 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 270.0388659708531, + "ymin": 4.794788522405838, + "xmax": 283.47247070927347, + "ymax": 12.440992867261286 + }, + "corners_3d": [ + [ + -59.18000793457031, + -104.483154296875, + 7.667783737182617 + ], + [ + -59.18000793457031, + -104.18742370605469, + 7.667783737182617 + ], + [ + -58.76823425292969, + -104.18742370605469, + 7.667783737182617 + ], + [ + -58.76823425292969, + -104.483154296875, + 7.667783737182617 + ], + [ + -59.18000793457031, + -104.483154296875, + 7.777081489562988 + ], + [ + -59.18000793457031, + -104.18742370605469, + 7.777081489562988 + ], + [ + -58.76823425292969, + -104.18742370605469, + 7.777081489562988 + ], + [ + -58.76823425292969, + -104.483154296875, + 7.777081489562988 + ] + ], + "corners_2d": [ + [ + 270.81204220097476, + 12.133129730389442 + ], + [ + 278.9702040981921, + 12.440992867261286 + ], + [ + 283.47247070927347, + 8.200156069218963 + ], + [ + 275.3867395904117, + 7.8979612196245625 + ], + [ + 270.0388659708531, + 9.009807677107915 + ], + [ + 278.2136039778858, + 9.31621247965171 + ], + [ + 282.73223276304964, + 5.095540233521604 + ], + [ + 274.63021848094024, + 4.794788522405838 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 364.18164254576374, + "ymin": 350.2093070807412, + "xmax": 389.848153934842, + "ymax": 365.20354324787405 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 369.87399763539867, + 354.4091240121264 + ], + [ + 365.19792545685067, + 363.8661511101376 + ], + [ + 385.40076519476395, + 365.20354324787405 + ], + [ + 389.848153934842, + 355.71543698399944 + ], + [ + 368.886716869714, + 350.2093070807412 + ], + [ + 364.18164254576374, + 359.65149961493654 + ], + [ + 384.45763640186277, + 360.9868597059843 + ], + [ + 388.9323787880877, + 351.5135223862826 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1136.67904045139, + "ymin": 671.0893685893531, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1169.007796081716, + 778.6859174609413 + ], + [ + 1298.468683714831, + 790.8467899791106 + ], + [ + 1255.3748268193071, + 690.8225595833038 + ], + [ + 1136.67904045139, + 680.5409889956493 + ], + [ + 1175.6193267786748, + 769.6271468439415 + ], + [ + 1306.780969164489, + 781.8504406859727 + ], + [ + 1262.507575542876, + 681.4028436810704 + ], + [ + 1142.3833295434943, + 671.0893685893531 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14685537128847865056, + "instance_id": 57460, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_1", + "bbox_3d": { + "center_world": { + "x": -58.97411346435547, + "y": -104.33528900146484, + "z": 7.7224273681640625 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 270.1112067061644, + "ymin": 4.8352414897399285, + "xmax": 283.4018952117987, + "ymax": 12.40004314357384 + }, + "corners_3d": [ + [ + -59.17780685424805, + -104.48158264160156, + 7.668359756469727 + ], + [ + -59.17780685424805, + -104.18899536132812, + 7.668359756469727 + ], + [ + -58.77042007446289, + -104.18899536132812, + 7.668359756469727 + ], + [ + -58.77042007446289, + -104.48158264160156, + 7.668359756469727 + ], + [ + -59.17780685424805, + -104.48158264160156, + 7.776494979858398 + ], + [ + -59.17780685424805, + -104.18899536132812, + 7.776494979858398 + ], + [ + -58.77042007446289, + -104.18899536132812, + 7.776494979858398 + ], + [ + -58.77042007446289, + -104.48158264160156, + 7.776494979858398 + ] + ], + "corners_2d": [ + [ + 270.8759825931285, + 12.095490234547242 + ], + [ + 278.9471314291935, + 12.40004314357384 + ], + [ + 283.4018952117987, + 8.204524637446355 + ], + [ + 275.4016452909168, + 7.9055199359551125 + ], + [ + 270.1112067061644, + 9.00548906653205 + ], + [ + 278.19857947294975, + 9.308614568881126 + ], + [ + 282.66936043003017, + 5.132833500495224 + ], + [ + 274.6531702730951, + 4.8352414897399285 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 293.876415395248, + "ymin": 29.550502211328194, + "xmax": 679.5770847102398, + "ymax": 280.3664940054451 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 350.8745649350942, + 253.3274769501075 + ], + [ + 346.91378199377, + 259.8290980729517 + ], + [ + 672.4051949218565, + 280.3664940054451 + ], + [ + 673.3952684086023, + 273.4828292697754 + ], + [ + 299.12220170013796, + 29.550502211328194 + ], + [ + 293.876415395248, + 34.77154184033941 + ], + [ + 678.4718790945337, + 51.378766162231784 + ], + [ + 679.5770847102398, + 45.79284949613674 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 897939386194665430, + "instance_id": 54815, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1949_135", + "bbox_3d": { + "center_world": { + "x": -36.33243179321289, + "y": -120.14290618896484, + "z": 6.611191272735596 + }, + "extent": { + "x": 4.422521591186523, + "y": 4.2970757484436035, + "z": 7.008497714996338 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 301.3868133492508, + "ymax": 30.89771715962013 + }, + "corners_3d": [ + [ + -32.2579460144043, + -115.5145034790039, + -0.3973064422607422 + ], + [ + -31.58873176574707, + -124.08255767822266, + -0.3973064422607422 + ], + [ + -40.406917572021484, + -124.77130889892578, + -0.3973064422607422 + ], + [ + -41.076133728027344, + -116.20325469970703, + -0.3973064422607422 + ], + [ + -32.2579460144043, + -115.5145034790039, + 13.619688987731934 + ], + [ + -31.58873176574707, + -124.08255767822266, + 13.619688987731934 + ], + [ + -40.406917572021484, + -124.77130889892578, + 13.619688987731934 + ], + [ + -41.076133728027344, + -116.20325469970703, + 13.619688987731934 + ] + ], + "corners_2d": [ + [ + 301.3868133492508, + -21.94000047099138 + ], + [ + 175.42379421928655, + -29.988753844309713 + ], + [ + 91.28777616007073, + 20.741973945047505 + ], + [ + 231.1168962146764, + 30.89771715962013 + ], + [ + 241.7333441218522, + -290.67748587874394 + ], + [ + 95.40066981587665, + -294.1325467199481 + ], + [ + -17.03061716799766, + -271.96237463374223 + ], + [ + 148.28913763606943, + -267.40934811014176 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 3415205581764433368, + "instance_id": 55317, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1948_134", + "bbox_3d": { + "center_world": { + "x": -37.65735626220703, + "y": -129.6263885498047, + "z": 6.917623043060303 + }, + "extent": { + "x": 4.636507987976074, + "y": 4.5049920082092285, + "z": 7.347609519958496 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 153.38742633106756, + "ymax": 37.63692715052986 + }, + "corners_3d": [ + [ + -33.784976959228516, + -124.44982147216797, + -0.42998647689819336 + ], + [ + -32.37153244018555, + -133.34825134277344, + -0.42998647689819336 + ], + [ + -41.52973556518555, + -134.80294799804688, + -0.42998647689819336 + ], + [ + -42.943180084228516, + -125.90452575683594, + -0.42998647689819336 + ], + [ + -33.784976959228516, + -124.44982147216797, + 14.26523208618164 + ], + [ + -32.37153244018555, + -133.34825134277344, + 14.26523208618164 + ], + [ + -41.52973556518555, + -134.80294799804688, + 14.26523208618164 + ], + [ + -42.943180084228516, + -125.90452575683594, + 14.26523208618164 + ] + ], + "corners_2d": [ + [ + 153.38742633106756, + -17.985378369700527 + ], + [ + 31.213033784571053, + -30.216112776340992 + ], + [ + -86.87213662904276, + 22.078091625901322 + ], + [ + 47.255694230620406, + 37.63692715052986 + ], + [ + 61.910126947888784, + -304.00713827450784 + ], + [ + -79.36673794452724, + -308.8003863990358 + ], + [ + -238.98420087165653, + -287.9390585458557 + ], + [ + -81.80909145274632, + -281.54266129070095 + ] + ], + "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": 380.2195133987538, + "ymin": 0.0, + "xmax": 548.267903805383, + "ymax": 12.45725333607885 + }, + "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": [ + [ + 447.9328549211663, + 12.45725333607885 + ], + [ + 548.267903805383, + -13.814334369670064 + ], + [ + 490.9307150986057, + -40.854794561559686 + ], + [ + 393.97523803112324, + -17.855708758133176 + ], + [ + 436.38787828973614, + -77.16820322812367 + ], + [ + 543.0878293080032, + -99.49671710966959 + ], + [ + 483.0673670273329, + -122.31915963136106 + ], + [ + 380.2195133987538, + -102.91792717374744 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 8418614953964379880, + "instance_id": 59550, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2345_119", + "bbox_3d": { + "center_world": { + "x": -35.8762092590332, + "y": -131.68106079101562, + "z": 7.344003677368164 + }, + "extent": { + "x": 5.283463001251221, + "y": 5.114550590515137, + "z": 7.8239593505859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 152.3778055460777, + "ymax": 32.024964105102185 + }, + "corners_3d": [ + [ + -31.924062728881836, + -125.47991943359375, + -0.47995567321777344 + ], + [ + -29.549972534179688, + -135.42970275878906, + -0.47995567321777344 + ], + [ + -39.8283576965332, + -137.8822021484375, + -0.47995567321777344 + ], + [ + -42.20244598388672, + -127.93241882324219, + -0.47995567321777344 + ], + [ + -31.924062728881836, + -125.47991943359375, + 15.167963027954102 + ], + [ + -29.549972534179688, + -135.42970275878906, + 15.167963027954102 + ], + [ + -39.8283576965332, + -137.8822021484375, + 15.167963027954102 + ], + [ + -42.20244598388672, + -127.93241882324219, + 15.167963027954102 + ] + ], + "corners_2d": [ + [ + 152.3778055460777, + -27.647165126515233 + ], + [ + 26.624579480478815, + -44.488554880646575 + ], + [ + -116.10403714800316, + 10.161407963540285 + ], + [ + 20.74680690120988, + 32.024964105102185 + ], + [ + 56.51561527308593, + -328.6579753602167 + ], + [ + -88.19581681990519, + -334.26406525183563 + ], + [ + -281.1149321115605, + -315.7433184725402 + ], + [ + -122.37343038490428, + -308.0596766539451 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 9770036198262151550, + "instance_id": 32409, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2725_92", + "bbox_3d": { + "center_world": { + "x": -34.697166442871094, + "y": -128.8380889892578, + "z": 3.9503350257873535 + }, + "extent": { + "x": 2.6083247661590576, + "y": 2.53433895111084, + "z": 4.133487224578857 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 133.08886514167477, + "ymax": 1.5389238957977796 + }, + "corners_3d": [ + [ + -31.06170082092285, + -128.9361572265625, + -0.1831521987915039 + ], + [ + -34.690616607666016, + -132.47486877441406, + -0.1831521987915039 + ], + [ + -38.33263397216797, + -128.74002075195312, + -0.1831521987915039 + ], + [ + -34.70371627807617, + -125.20130920410156, + -0.1831521987915039 + ], + [ + -31.06170082092285, + -128.9361572265625, + 8.083822250366211 + ], + [ + -34.690616607666016, + -132.47486877441406, + 8.083822250366211 + ], + [ + -38.33263397216797, + -128.74002075195312, + 8.083822250366211 + ], + [ + -34.70371627807617, + -125.20130920410156, + 8.083822250366211 + ] + ], + "corners_2d": [ + [ + 106.18148786229335, + -38.57993198500867 + ], + [ + 21.110319227437685, + -21.489300349734435 + ], + [ + 44.59237637910462, + 1.5389238957977796 + ], + [ + 133.08886514167477, + -17.415079714929107 + ], + [ + 56.09734652111251, + -183.26201527124238 + ], + [ + -39.63059965062757, + -171.15979467061936 + ], + [ + -17.34407730476005, + -154.70096517870866 + ], + [ + 82.81317167076736, + -168.26062463564335 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1096.3457442308386, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1371.9163634026218, + 406.19008544887254 + ], + [ + 1096.3457442308386, + 458.95612660980055 + ], + [ + 1369.4329463031331, + 784.3115124849883 + ], + [ + 1715.1859855115972, + 688.7830509266794 + ], + [ + 1714.0345862739423, + -106.72542609665021 + ], + [ + 1329.6148887687395, + -74.98312351101498 + ], + [ + 1990.5039723787818, + 171.95923767513372 + ], + [ + 2507.198254363416, + 88.63629622652286 + ] + ], + "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": 249.18884122620534, + "ymin": 0.0, + "xmax": 483.4620216166471, + "ymax": 43.88774490851256 + }, + "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": [ + [ + 318.17425278748533, + 43.88774490851256 + ], + [ + 483.4620216166471, + 24.5308011777949 + ], + [ + 455.49262661771917, + -28.018895777320495 + ], + [ + 308.3208195557989, + -12.81449502900432 + ], + [ + 251.73718244795504, + -257.43264843026816 + ], + [ + 452.6748169872877, + -266.34727354165136 + ], + [ + 423.9506343752354, + -289.83661094770866 + ], + [ + 249.18884122620534, + -283.144823198774 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12783736354476579425, + "instance_id": 25050, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2728_95", + "bbox_3d": { + "center_world": { + "x": -40.00048828125, + "y": -120.97515106201172, + "z": 4.526856422424316 + }, + "extent": { + "x": 2.978419780731201, + "y": 2.8939361572265625, + "z": 4.719987869262695 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 9.730206797351798, + "ymin": 0.0, + "xmax": 225.87573367317793, + "ymax": 37.035673098936456 + }, + "corners_3d": [ + [ + -37.48514938354492, + -124.27953338623047, + -0.1931314468383789 + ], + [ + -43.23114013671875, + -123.58450317382812, + -0.1931314468383789 + ], + [ + -42.51582717895508, + -117.67076873779297, + -0.1931314468383789 + ], + [ + -36.76983642578125, + -118.36579895019531, + -0.1931314468383789 + ], + [ + -37.48514938354492, + -124.27953338623047, + 9.246844291687012 + ], + [ + -43.23114013671875, + -123.58450317382812, + 9.246844291687012 + ], + [ + -42.51582717895508, + -117.67076873779297, + 9.246844291687012 + ], + [ + -36.76983642578125, + -118.36579895019531, + 9.246844291687012 + ] + ], + "corners_2d": [ + [ + 124.40398864618442, + -0.6987329542467364 + ], + [ + 82.88480707684937, + 37.035673098936456 + ], + [ + 193.01501081855668, + 36.173748209179905 + ], + [ + 225.87573367317793, + -1.431339538528789 + ], + [ + 62.62456217868305, + -180.9344421263595 + ], + [ + 9.730206797351798, + -155.525832847292 + ], + [ + 134.44003943860446, + -156.1120300954908 + ], + [ + 176.3462032518006, + -181.42263995537257 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00121/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00121/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9aef3cbae14acb367b9ffda3eea0a81b92fc1297 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00121/meta.json @@ -0,0 +1,2989 @@ +{ + "frame_id": 121, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 60.5, + "sim_timestamp": 11234.44324926287 + }, + "drone_pose": { + "x": -90.94085071398501, + "y": -87.70023293634476, + "z": 19.983542988245535, + "pitch": -44.142904513806414, + "yaw": -8.59162662577915, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7095521688461304, + 0.10720359534025192, + 0.6964503526687622, + 41.20795440673828 + ], + [ + -0.1493908166885376, + 0.9887782335281372, + -3.725290298461914e-09, + 100.30181121826172 + ], + [ + -0.688634991645813, + -0.10404329001903534, + 0.71760493516922, + -67.84071350097656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -90.53132369272952, + "y": -87.79994323857329, + "z": 20.131744396227486 + }, + "t1_image_uv": [ + 458.66003701294784, + -1572.7408464281764 + ], + "t1_depth": 0.1980551713246931 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -71.16718292236328, + "y": -90.68776321411131, + "z": 0.5749944090844292 + }, + "image_uv": [ + 640.0, + 359.99999999999983 + ], + "depth": 27.86781356769216, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 198, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -71.16718292236328, + "y": -90.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.25738033652305603, + "y": 0.21397458016872406, + "z": 0.5293303728103638 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.2208209240109, + "ymin": 339.9248136243748, + "xmax": 648.6780704416379, + "ymax": 379.84160850578684 + }, + "corners_3d": [ + [ + -71.424560546875, + -90.9017333984375, + 0.04566401243209839 + ], + [ + -71.424560546875, + -90.47378540039062, + 0.04566401243209839 + ], + [ + -70.90980529785156, + -90.47378540039062, + 0.04566401243209839 + ], + [ + -70.90980529785156, + -90.9017333984375, + 0.04566401243209839 + ], + [ + -71.424560546875, + -90.9017333984375, + 1.1043248176574707 + ], + [ + -71.424560546875, + -90.47378540039062, + 1.1043248176574707 + ], + [ + -70.90980529785156, + -90.47378540039062, + 1.1043248176574707 + ], + [ + -70.90980529785156, + -90.9017333984375, + 1.1043248176574707 + ] + ], + "corners_2d": [ + [ + 631.4513647963643, + 378.28678628116774 + ], + [ + 645.9292298849317, + 379.84160850578684 + ], + [ + 648.4527447499019, + 367.60240069394484 + ], + [ + 634.1567304598645, + 366.0872872167432 + ], + [ + 631.2208209240109, + 352.10379352154524 + ], + [ + 646.089401102369, + 353.6566066892097 + ], + [ + 648.6780704416379, + 341.43692008983095 + ], + [ + 634.001223756998, + 339.9248136243748 + ] + ], + "center_offset_px": [ + 0.0, + -1.7053025658242404e-13 + ] + }, + "trace_timestep_index": 121, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 57, + "semantic_pixel_counts": { + "1": 395498, + "2": 185725, + "3": 149845, + "4": 41408, + "6": 12148, + "7": 1057, + "9": 346, + "10": 46332, + "12": 2414, + "14": 38596, + "20": 25456, + "24": 22775 + }, + "instance_pixel_counts": { + "913": 4938, + "5230": 4813, + "9346": 713, + "12951": 914, + "13975": 6, + "15963": 76579, + "16475": 7832, + "17232": 41408, + "22976": 10063, + "23296": 4820, + "23552": 3061, + "24512": 24969, + "26963": 2573, + "27795": 3980, + "28307": 1042, + "28819": 13321, + "29331": 2986, + "31893": 171, + "33429": 963, + "33941": 55, + "35668": 16413, + "36692": 4105, + "37979": 54758, + "39563": 516, + "40019": 2038, + "41107": 23639, + "41611": 2366, + "41619": 13947, + "42123": 1779, + "42635": 124, + "43117": 5863, + "43147": 13057, + "43155": 103536, + "43659": 12030, + "43667": 15212, + "44179": 217835, + "44181": 998, + "44693": 379, + "45717": 8658, + "46229": 442, + "46741": 11109, + "49664": 198, + "49920": 420, + "50176": 576, + "50432": 53, + "50624": 9584, + "50688": 740, + "50944": 427, + "51136": 3667, + "51456": 15103, + "51712": 4512, + "52160": 30160, + "52672": 65510, + "55040": 18981, + "55879": 20641, + "57173": 346, + "64351": 10980 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 198, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -71.16718292236328, + "y": -90.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.16783933341503143, + "y": 0.22279293835163116, + "z": 0.5259573459625244 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.4053075018505, + "ymin": 342.0744859552198, + "xmax": 648.5356530285236, + "ymax": 377.6405233527282 + }, + "corners_3d": [ + [ + -71.33502197265625, + -90.91055297851562, + 0.049037039279937744 + ], + [ + -71.33502197265625, + -90.4649658203125, + 0.049037039279937744 + ], + [ + -70.99934387207031, + -90.4649658203125, + 0.049037039279937744 + ], + [ + -70.99934387207031, + -90.91055297851562, + 0.049037039279937744 + ], + [ + -71.33502197265625, + -90.91055297851562, + 1.1009516716003418 + ], + [ + -71.33502197265625, + -90.4649658203125, + 1.1009516716003418 + ], + [ + -70.99934387207031, + -90.4649658203125, + 1.1009516716003418 + ], + [ + -70.99934387207031, + -90.91055297851562, + 1.1009516716003418 + ] + ], + "corners_2d": [ + [ + 631.6290733121178, + 376.02892545586826 + ], + [ + 646.671663749738, + 377.6405233527282 + ], + [ + 648.3149180183005, + 369.6588668434271 + ], + [ + 633.3958203390745, + 368.07423169547843 + ], + [ + 631.4053075018505, + 350.0158619820301 + ], + [ + 646.8503174301435, + 351.62519588341496 + ], + [ + 648.5356530285236, + 343.6561839236057 + ], + [ + 633.2208030162609, + 342.0744859552198 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 420, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -67.04119873046875, + "y": -87.69005584716797, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.4543481469154358, + "y": 0.3006542921066284, + "z": 0.8795633316040039 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 739.4668046280451, + "ymin": 249.09349720439803, + "xmax": 766.952014424417, + "ymax": 310.98546442380115 + }, + "corners_3d": [ + [ + -67.54812622070312, + -87.88967895507812, + -0.30456405878067017 + ], + [ + -67.42311096191406, + -87.30150604248047, + -0.30456405878067017 + ], + [ + -66.53427124023438, + -87.49043273925781, + -0.30456405878067017 + ], + [ + -66.65928649902344, + -88.07860565185547, + -0.30456405878067017 + ], + [ + -67.54812622070312, + -87.88967895507812, + 1.4545626640319824 + ], + [ + -67.42311096191406, + -87.30150604248047, + 1.4545626640319824 + ], + [ + -66.53427124023438, + -87.49043273925781, + 1.4545626640319824 + ], + [ + -66.65928649902344, + -88.07860565185547, + 1.4545626640319824 + ] + ], + "corners_2d": [ + [ + 743.2591185807001, + 310.98546442380115 + ], + [ + 761.8979211923399, + 310.24973264237786 + ], + [ + 757.7226208088987, + 291.9811387083261 + ], + [ + 739.4668046280451, + 292.68669425588996 + ], + [ + 747.5441353605643, + 267.90360339562824 + ], + [ + 766.952014424417, + 267.17476519896195 + ], + [ + 762.4983934687278, + 249.09349720439803 + ], + [ + 743.5054053646218, + 249.79124189187962 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 576, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -73.42300415039062, + "y": -83.74504852294922, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.5989184379577637, + "y": 0.36351561546325684, + "z": 0.8911106586456299 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 863.590457629153, + "ymin": 405.76517240043734, + "xmax": 909.3786813129466, + "ymax": 484.8773674282567 + }, + "corners_3d": [ + [ + -74.056640625, + -84.0439682006836, + -0.31611138582229614 + ], + [ + -73.98064422607422, + -83.3209228515625, + -0.31611138582229614 + ], + [ + -72.78936767578125, + -83.44612884521484, + -0.31611138582229614 + ], + [ + -72.86536407470703, + -84.16917419433594, + -0.31611138582229614 + ], + [ + -74.056640625, + -84.0439682006836, + 1.4661099910736084 + ], + [ + -73.98064422607422, + -83.3209228515625, + 1.4661099910736084 + ], + [ + -72.78936767578125, + -83.44612884521484, + 1.4661099910736084 + ], + [ + -72.86536407470703, + -84.16917419433594, + 1.4661099910736084 + ] + ], + "corners_2d": [ + [ + 869.0323466759494, + 483.9085292552819 + ], + [ + 896.3697453008792, + 484.8773674282567 + ], + [ + 890.0392297595387, + 450.71918588919897 + ], + [ + 863.590457629153, + 449.81195154596304 + ], + [ + 880.6429077835921, + 440.0454925109811 + ], + [ + 909.3786813129466, + 441.02119199373703 + ], + [ + 902.2966472037826, + 406.6758442311689 + ], + [ + 874.5411016120821, + 405.76517240043734 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 53, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -82.17112731933594, + "y": -88.56307220458984, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.5691137313842773, + "y": 0.4465673267841339, + "z": 0.9215851426124573 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 636.4517668361519, + "ymin": 687.4149408860469, + "xmax": 688.3054472964599, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -82.74024200439453, + -89.00963592529297, + -0.3465907573699951 + ], + [ + -82.74024200439453, + -88.11650848388672, + -0.3465907573699951 + ], + [ + -81.60201263427734, + -88.11650848388672, + -0.3465907573699951 + ], + [ + -81.60201263427734, + -89.00963592529297, + -0.3465907573699951 + ], + [ + -82.74024200439453, + -89.00963592529297, + 1.4965795278549194 + ], + [ + -82.74024200439453, + -88.11650848388672, + 1.4965795278549194 + ], + [ + -81.60201263427734, + -88.11650848388672, + 1.4965795278549194 + ], + [ + -81.60201263427734, + -89.00963592529297, + 1.4965795278549194 + ] + ], + "corners_2d": [ + [ + 636.6781695593331, + 780.1857706460755 + ], + [ + 679.0040804662077, + 786.6504719645438 + ], + [ + 685.3285520949112, + 733.9835812833048 + ], + [ + 644.6072838426277, + 728.0093667578591 + ], + [ + 636.4517668361519, + 741.4067598171082 + ], + [ + 681.6760262390682, + 748.1161764468014 + ], + [ + 688.3054472964599, + 693.5826544981621 + ], + [ + 644.9083864320942, + 687.4149408860469 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 740, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -74.51297760009766, + "y": -100.98506927490234, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.3733154535293579, + "y": 0.5094531774520874, + "z": 0.8675301671028137 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 219.40064216572722, + "ymin": 365.84492936160706, + "xmax": 284.54505470817804, + "ymax": 434.90767328203736 + }, + "corners_3d": [ + [ + -74.83099365234375, + -101.53075408935547, + -0.14012372493743896 + ], + [ + -74.9375, + -100.51742553710938, + -0.14012372493743896 + ], + [ + -74.19496154785156, + -100.43938446044922, + -0.14012372493743896 + ], + [ + -74.08845520019531, + -101.45271301269531, + -0.14012372493743896 + ], + [ + -74.83099365234375, + -101.53075408935547, + 1.5949366092681885 + ], + [ + -74.9375, + -100.51742553710938, + 1.5949366092681885 + ], + [ + -74.19496154785156, + -100.43938446044922, + 1.5949366092681885 + ], + [ + -74.08845520019531, + -101.45271301269531, + 1.5949366092681885 + ] + ], + "corners_2d": [ + [ + 238.2744514217399, + 428.02200556028146 + ], + [ + 270.9020232944845, + 434.90767328203736 + ], + [ + 284.54505470817804, + 415.7633624094233 + ], + [ + 252.44228883389877, + 409.1362540938787 + ], + [ + 219.40064216572722, + 384.74524233980037 + ], + [ + 253.4360289090178, + 391.6445676718329 + ], + [ + 268.05939674183554, + 372.47332880577756 + ], + [ + 234.59392267735922, + 365.84492936160706 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 427, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -59.92184829711914, + "y": -98.85797882080078, + "z": 0.6244377493858337 + }, + "extent": { + "x": 0.4792431592941284, + "y": 0.4329882860183716, + "z": 0.9015931487083435 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 453.2784584471886, + "ymin": 104.9513492961855, + "xmax": 491.0027968853208, + "ymax": 163.1341851731399 + }, + "corners_3d": [ + [ + -60.300594329833984, + -99.38114929199219, + -0.27715539932250977 + ], + [ + -60.48064422607422, + -98.53409576416016, + -0.27715539932250977 + ], + [ + -59.5431022644043, + -98.33480834960938, + -0.27715539932250977 + ], + [ + -59.36305236816406, + -99.1818618774414, + -0.27715539932250977 + ], + [ + -60.300594329833984, + -99.38114929199219, + 1.5260308980941772 + ], + [ + -60.48064422607422, + -98.53409576416016, + 1.5260308980941772 + ], + [ + -59.5431022644043, + -98.33480834960938, + 1.5260308980941772 + ], + [ + -59.36305236816406, + -99.1818618774414, + 1.5260308980941772 + ] + ], + "corners_2d": [ + [ + 459.59833135420547, + 158.80558997782987 + ], + [ + 479.6279694952968, + 163.1341851731399 + ], + [ + 491.0027968853208, + 150.5269151623448 + ], + [ + 471.2489486595798, + 146.34515140455244 + ], + [ + 453.2784584471886, + 117.10482198218611 + ], + [ + 473.97531562393004, + 121.33018116269949 + ], + [ + 485.8442943593151, + 109.02847562855922 + ], + [ + 465.4415311244418, + 104.9513492961855 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 15103, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 471.85680420024846, + "ymin": 526.6768737168053, + "xmax": 605.2217168320924, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 605.2217168320924, + 570.6949011452277 + ], + [ + 525.4555769115852, + 560.2570482798963 + ], + [ + 479.7070821144731, + 722.7333000242504 + ], + [ + 570.560362684965, + 736.4006983143261 + ], + [ + 603.727118989846, + 537.2403414795971 + ], + [ + 520.579917534852, + 526.6768737168053 + ], + [ + 471.85680420024846, + 692.0543206478412 + ], + [ + 567.1219003156261, + 706.0585243918488 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 4512, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 984.4453086089891, + "ymin": 27.298448775441045, + "xmax": 1119.2502389569431, + "ymax": 98.19381171484889 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 984.4453086089891, + 68.31171414113442 + ], + [ + 989.5729807024422, + 90.09783206463243 + ], + [ + 1103.6027468093087, + 98.19381171484889 + ], + [ + 1094.6156025735106, + 75.89020656839512 + ], + [ + 995.5643789811213, + 27.298448775441045 + ], + [ + 1001.2535233546869, + 48.362488643129495 + ], + [ + 1119.2502389569431, + 56.222931123050955 + ], + [ + 1109.4335220881542, + 34.64126493707357 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 18981, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 796.0293949967142, + "ymin": 506.5339448625208, + "xmax": 941.066197192819, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 796.0293949967142, + 820.4932539091747 + ], + [ + 917.8467460614443, + 839.5037773599416 + ], + [ + 903.8350417535341, + 571.0826268792032 + ], + [ + 805.0880667805984, + 558.5841798525876 + ], + [ + 808.8785394087988, + 776.9571340607483 + ], + [ + 941.066197192819, + 796.9121823533269 + ], + [ + 921.4103907937856, + 519.2510731344128 + ], + [ + 815.9571994232257, + 506.5339448625208 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4809317425322915338, + "instance_id": 2806, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -62.6159553527832, + "y": -93.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 576.1726124635389, + "ymin": 26.93264104659312, + "xmax": 590.7119707654751, + "ymax": 57.697997022463596 + }, + "corners_3d": [ + [ + -62.754539489746094, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.9842529296875, + 6.416468620300293 + ], + [ + -62.754539489746094, + -93.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 589.1008047543048, + 57.697997022463596 + ], + [ + 590.7119707654751, + 53.69015401107748 + ], + [ + 579.1157684942386, + 52.86652782537891 + ], + [ + 577.432521575849, + 56.86378754990358 + ], + [ + 588.074469879, + 31.656869782062643 + ], + [ + 589.7245788973039, + 27.737882433112475 + ], + [ + 577.8977072387031, + 26.93264104659312 + ], + [ + 576.1726124635389, + 30.841072169866607 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 355.4309021019645, + "ymin": 90.74668630355683, + "xmax": 373.688453664762, + "ymax": 118.098318176178 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 370.9338428399696, + 118.098318176178 + ], + [ + 373.688453664762, + 114.06568252305621 + ], + [ + 363.3594137544659, + 113.240903929014 + ], + [ + 360.54746907041675, + 117.26381676052162 + ], + [ + 366.00136616289683, + 95.53069859041597 + ], + [ + 368.8355347428318, + 91.55891435463133 + ], + [ + 358.3244450953904, + 90.74668630355683 + ], + [ + 355.4309021019645, + 94.70871972830179 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5344508464058845628, + "instance_id": 48329, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -62.61595916748047, + "y": -96.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 483.30769656332143, + "ymin": 20.649268302099017, + "xmax": 499.966297523924, + "ymax": 51.17035265703703 + }, + "corners_3d": [ + [ + -62.75454330444336, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.9842529296875, + 6.416468620300293 + ], + [ + -62.75454330444336, + -96.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 497.7963243966966, + 51.17035265703703 + ], + [ + 499.966297523924, + 47.24495204025072 + ], + [ + 488.6077289426642, + 46.43820383596284 + ], + [ + 486.3686595905164, + 50.35334582323344 + ], + [ + 494.95925159184424, + 25.274461363167404 + ], + [ + 497.19047309652854, + 21.4376833000224 + ], + [ + 485.61073776151716, + 20.649268302099017 + ], + [ + 483.30769656332143, + 24.475820334392836 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8433051479337506626, + "instance_id": 17047, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -62.61595153808594, + "y": -91.29429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 654.7879809762682, + "ymin": 32.27151231750997, + "xmax": 668.3513700203388, + "ymax": 63.243126338980744 + }, + "corners_3d": [ + [ + -62.75453567504883, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.4842529296875, + 6.416468620300293 + ], + [ + -62.75453567504883, + -91.4842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 666.6626324414028, + 63.243126338980744 + ], + [ + 667.7896848120992, + 59.16458112869134 + ], + [ + 655.9897113692491, + 58.32648206706028 + ], + [ + 654.7879809762682, + 62.39416289806741 + ], + [ + 667.2050925756685, + 37.08072086821653 + ], + [ + 668.3513700203388, + 33.09119059188072 + ], + [ + 656.3124574581132, + 32.27151231750997 + ], + [ + 655.0884369198528, + 36.250200261922316 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1046.6815144299153, + "ymin": 0.0, + "xmax": 1066.7991498491674, + "ymax": 2.8556778431070597 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1057.8363363617505, + -0.4860049714012007 + ], + [ + 1046.6815144299153, + -1.1731924776747178 + ], + [ + 1047.8767765247617, + 2.160431418554481 + ], + [ + 1059.0983038718282, + 2.8556778431070597 + ], + [ + 1065.4685241154432, + -25.13860280591564 + ], + [ + 1054.1008488242846, + -25.808128191930336 + ], + [ + 1055.362193808412, + -22.55991034305515 + ], + [ + 1066.7991498491674, + -21.882388555247076 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1040.2191755282047, + "ymin": 121.06087675830341, + "xmax": 1061.0765933798702, + "ymax": 149.30417986903558 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1051.864332417998, + 144.8995901486386 + ], + [ + 1040.2191755282047, + 143.99902418807218 + ], + [ + 1041.4352513704507, + 148.39251623939123 + ], + [ + 1053.15352501331, + 149.30417986903558 + ], + [ + 1059.7135075778037, + 121.9491922012796 + ], + [ + 1047.8366533470755, + 121.06087675830341 + ], + [ + 1049.1236772442533, + 125.39500616770047 + ], + [ + 1061.0765933798702, + 126.29447876178878 + ] + ], + "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": 992.8255387162917, + "ymin": 0.0, + "xmax": 1124.506178572333, + "ymax": 217.42034421265305 + }, + "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": [ + [ + 1027.701017754397, + 216.27766167922698 + ], + [ + 1040.3740858198091, + 217.42034421265305 + ], + [ + 1002.9063795232112, + 58.52392062862066 + ], + [ + 992.8255387162917, + 57.79487377749638 + ], + [ + 1109.0273544398651, + -21.36206685285663 + ], + [ + 1124.506178572333, + -20.396295280210495 + ], + [ + 1061.3374800422587, + -149.27976244711442 + ], + [ + 1049.5572532254414, + -149.8469932094721 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 207.05435263139026, + "ymin": 258.74225129140854, + "xmax": 452.3775586390303, + "ymax": 527.603200744102 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 309.0775456790086, + 495.6433386164076 + ], + [ + 302.3092419489161, + 509.19590235486555 + ], + [ + 447.3445278685335, + 527.603200744102 + ], + [ + 452.3775586390303, + 513.5881077157848 + ], + [ + 217.22708813699342, + 258.74225129140854 + ], + [ + 207.05435263139026, + 272.2611376920627 + ], + [ + 391.8085638263167, + 290.77657778187506 + ], + [ + 399.17749643544437, + 276.66296971553163 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 247.56529099331982, + "ymin": 0.0, + "xmax": 355.1080282115007, + "ymax": 169.5816700421467 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 306.8003593268268, + 168.60602749846004 + ], + [ + 318.03041821498977, + 169.5816700421467 + ], + [ + 355.1080282115007, + 117.1385313462348 + ], + [ + 344.6261343215519, + 116.29597397078749 + ], + [ + 247.56529099331982, + -41.26872153383158 + ], + [ + 260.70292496546864, + -40.445203434265295 + ], + [ + 308.55735059654137, + -84.17086493980105 + ], + [ + 296.4314058778404, + -84.86448866194866 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 369.66984330169913, + "ymin": 282.91386085967093, + "xmax": 395.3752574562438, + "ymax": 298.4551903676555 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 375.827184555057, + 287.0883258493971 + ], + [ + 370.7397613595982, + 296.4579988078442 + ], + [ + 390.4898975207434, + 298.4551903676555 + ], + [ + 395.3752574562438, + 289.0425917682536 + ], + [ + 374.7888551550961, + 282.91386085967093 + ], + [ + 369.66984330169913, + 292.2750388236711 + ], + [ + 389.4961676602068, + 294.2705234465321 + ], + [ + 394.4115650115429, + 284.8662886815755 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1134.052491486811, + "ymin": 632.8652356296365, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1157.8174137516426, + 740.5867100404225 + ], + [ + 1289.4389978674203, + 759.016457662285 + ], + [ + 1255.3290542575055, + 657.543621200241 + ], + [ + 1134.052491486811, + 641.8007976745592 + ], + [ + 1164.8984051632215, + 732.2646613514275 + ], + [ + 1298.4463280076411, + 750.8315209949074 + ], + [ + 1263.2041981551836, + 648.6921328789012 + ], + [ + 1140.293503304223, + 632.8652356296365 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1075.4642162162395, + "ymin": 598.5470659948344, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1093.2777048048556, + 816.0111751971018 + ], + [ + 1214.9293766768933, + 834.1485422014541 + ], + [ + 1188.166871566766, + 733.2280793813279 + ], + [ + 1075.4642162162395, + 717.5867841687632 + ], + [ + 1186.5765958340792, + 706.2722957925517 + ], + [ + 1335.1381028226433, + 726.4677293200568 + ], + [ + 1292.97917504535, + 615.4587664556065 + ], + [ + 1157.5410715806627, + 598.5470659948344 + ] + ], + "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": 444.32471425922967, + "ymin": 0.0, + "xmax": 540.7004566560527, + "ymax": 37.33999956698 + }, + "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": [ + [ + 540.7004566560527, + -61.8684041598994 + ], + [ + 532.9762050472855, + -62.34562021757097 + ], + [ + 470.51951367406764, + 36.65911392227662 + ], + [ + 479.67692985177166, + 37.33999956698 + ], + [ + 528.1525306800646, + -240.17213512330318 + ], + [ + 519.4664655180056, + -240.5216259193112 + ], + [ + 444.32471425922967, + -166.20020221656375 + ], + [ + 454.865469438894, + -165.67612401094266 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 369.5295184345661, + "ymin": 282.8308699736756, + "xmax": 395.511253505782, + "ymax": 298.53921380188984 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 375.7545361449268, + 287.05015758728314 + ], + [ + 370.6115274331409, + 296.5203077754884 + ], + [ + 390.57466597020755, + 298.53921380188984 + ], + [ + 395.511253505782, + 289.0252110938973 + ], + [ + 374.7048069702979, + 282.8308699736756 + ], + [ + 369.5295184345661, + 292.2923408902697 + ], + [ + 389.57050070862454, + 294.30950382339563 + ], + [ + 394.5377662664581, + 284.8040449518534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1134.1732599773513, + "ymin": 632.9306093618424, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1157.9193566328283, + 740.4764125274482 + ], + [ + 1289.4023395254562, + 758.8845862417859 + ], + [ + 1255.333473363793, + 657.5344638906025 + ], + [ + 1134.1732599773513, + 641.8072238743798 + ], + [ + 1164.954398941792, + 732.2084954688498 + ], + [ + 1298.3488060954662, + 750.7526805029698 + ], + [ + 1263.1566832108483, + 648.7412950235939 + ], + [ + 1140.374671954745, + 632.9306093618424 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 315.0539022248487, + "ymin": 0.0, + "xmax": 708.6961850259896, + "ymax": 217.02509187159148 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 373.44470641235773, + 179.8845732825606 + ], + [ + 369.2626234622267, + 186.42132205236638 + ], + [ + 695.4559878320356, + 217.02509187159148 + ], + [ + 696.8803228243953, + 209.9524028427885 + ], + [ + 320.6247208404121, + -51.81634899618541 + ], + [ + 315.0539022248487, + -46.3894326518506 + ], + [ + 707.1020978181907, + -20.730420840994157 + ], + [ + 708.6961850259896, + -26.697434344364467 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1116.8839450650075, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1411.6170210028772, + 370.6803980064581 + ], + [ + 1116.8839450650075, + 414.84359354691424 + ], + [ + 1367.5454686699582, + 753.4331124970515 + ], + [ + 1742.598847183189, + 674.9592031041509 + ], + [ + 1840.0678870541287, + -172.6336951271635 + ], + [ + 1401.4955699296893, + -142.77067051149805 + ], + [ + 2101.0187675924863, + 152.85248710057303 + ], + [ + 2729.437421664502, + 71.54184609426352 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00122/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00122/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a42a50ef6cb22de9adb6170393a855a144991dfc --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00122/meta.json @@ -0,0 +1,2886 @@ +{ + "frame_id": 122, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 61.0, + "sim_timestamp": 11248.77268057689 + }, + "drone_pose": { + "x": -90.53132369272952, + "y": -87.79994323857329, + "z": 20.131744396227486, + "pitch": -44.2537215432315, + "yaw": -8.271628756985642, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.708805501461029, + 0.10304511338472366, + 0.6978369951248169, + 41.07307434082031 + ], + [ + -0.14386619627475739, + 0.9895971417427063, + -3.725290298461914e-09, + 99.91097259521484 + ], + [ + -0.690577507019043, + -0.10039514303207397, + 0.7162566184997559, + -68.12370300292969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -89.95819408704413, + "y": -87.30403696505823, + "z": 20.035814564718056 + }, + "t1_image_uv": [ + 1943.7178829217453, + -270.6900344730575 + ], + "t1_depth": 0.422080085403965 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -70.66718292236328, + "y": -90.68776321411131, + "z": 0.5749944090844292 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 28.024811557183796, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 189, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -70.66718292236328, + "y": -90.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.23139403760433197, + "y": 0.22716796398162842, + "z": 0.5315914750099182 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 628.8586245141048, + "ymin": 339.191914212303, + "xmax": 651.1668810988372, + "ymax": 380.5991287930534 + }, + "corners_3d": [ + [ + -70.67017364501953, + -91.01200866699219, + 0.043402910232543945 + ], + [ + -70.9914321899414, + -90.69075012207031, + 0.043402910232543945 + ], + [ + -70.66419219970703, + -90.36351013183594, + 0.043402910232543945 + ], + [ + -70.34293365478516, + -90.68476867675781, + 0.043402910232543945 + ], + [ + -70.67017364501953, + -91.01200866699219, + 1.1065858602523804 + ], + [ + -70.9914321899414, + -90.69075012207031, + 1.1065858602523804 + ], + [ + -70.66419219970703, + -90.36351013183594, + 1.1065858602523804 + ], + [ + -70.34293365478516, + -90.68476867675781, + 1.1065858602523804 + ] + ], + "corners_2d": [ + [ + 629.1494073255811, + 371.8287908359258 + ], + [ + 638.3093182570301, + 380.5991287930534 + ], + [ + 650.8747895394105, + 373.9186136829864 + ], + [ + 641.663822718455, + 365.2698782052211 + ], + [ + 628.8586245141048, + 345.73987635055585 + ], + [ + 638.2635791276226, + 354.4993702788901 + ], + [ + 651.1668810988372, + 347.8267206935738 + ], + [ + 641.7080941737293, + 339.191914212303 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 122, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 58, + "semantic_pixel_counts": { + "1": 401008, + "2": 183163, + "3": 149560, + "4": 41134, + "6": 12000, + "7": 1121, + "9": 326, + "10": 46460, + "12": 2152, + "14": 35635, + "20": 26067, + "24": 22974 + }, + "instance_pixel_counts": { + "913": 5065, + "5230": 4990, + "9346": 762, + "12951": 944, + "13975": 13, + "15963": 73429, + "16475": 6341, + "17232": 41134, + "22976": 10399, + "23296": 4980, + "23552": 3271, + "24512": 24088, + "26963": 2642, + "27795": 5210, + "28307": 1551, + "28819": 13495, + "29331": 3209, + "31893": 238, + "32405": 27, + "33429": 995, + "33941": 57, + "35668": 16811, + "36692": 4191, + "37979": 58737, + "39563": 1019, + "40019": 1466, + "41107": 26673, + "41611": 2494, + "41619": 14476, + "42123": 1848, + "42635": 356, + "43117": 6063, + "43147": 12740, + "43155": 105385, + "43659": 11788, + "43667": 15634, + "44179": 215375, + "44181": 1181, + "44693": 398, + "45717": 8878, + "46229": 455, + "46741": 10745, + "49088": 54, + "49664": 189, + "49920": 429, + "50176": 561, + "50624": 9822, + "50688": 557, + "50944": 416, + "51136": 3763, + "51456": 13776, + "51712": 4515, + "52160": 28941, + "52672": 64124, + "55040": 17344, + "55879": 21141, + "57173": 326, + "64351": 10770 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 189, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -70.66718292236328, + "y": -90.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.1898779273033142, + "y": 0.23024901747703552, + "z": 0.5299433469772339 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 629.9560168612941, + "ymin": 339.75888230712764, + "xmax": 650.0812484287362, + "ymax": 380.01661102331536 + }, + "corners_3d": [ + [ + -70.63863372802734, + -90.98483276367188, + 0.04505103826522827 + ], + [ + -70.9642562866211, + -90.65921020507812, + 0.04505103826522827 + ], + [ + -70.69573211669922, + -90.39068603515625, + 0.04505103826522827 + ], + [ + -70.37010955810547, + -90.71630859375, + 0.04505103826522827 + ], + [ + -70.63863372802734, + -90.98483276367188, + 1.1049377918243408 + ], + [ + -70.9642562866211, + -90.65921020507812, + 1.1049377918243408 + ], + [ + -70.69573211669922, + -90.39068603515625, + 1.1049377918243408 + ], + [ + -70.37010955810547, + -90.71630859375, + 1.1049377918243408 + ] + ], + "corners_2d": [ + [ + 630.2171766219218, + 371.1383011705991 + ], + [ + 639.5066368009396, + 380.01661102331536 + ], + [ + 649.8181792102171, + 374.5341018073562 + ], + [ + 640.4862523882458, + 365.7569343939933 + ], + [ + 629.9560168612941, + 345.1312738434794 + ], + [ + 639.4933392230796, + 353.9983420167706 + ], + [ + 650.0812484287362, + 348.5222502174406 + ], + [ + 640.4991574921243, + 339.75888230712764 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 429, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -66.54119873046875, + "y": -87.69005584716797, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.513378918170929, + "y": 0.39171385765075684, + "z": 0.906732976436615 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 730.1158610984799, + "ymin": 245.08068108125718, + "xmax": 773.7398778784311, + "ymax": 314.8431538544502 + }, + "corners_3d": [ + [ + -66.75841522216797, + -88.29817962646484, + -0.33173370361328125 + ], + [ + -67.18509674072266, + -87.64114379882812, + -0.33173370361328125 + ], + [ + -66.32398223876953, + -87.0819320678711, + -0.33173370361328125 + ], + [ + -65.89730072021484, + -87.73896789550781, + -0.33173370361328125 + ], + [ + -66.75841522216797, + -88.29817962646484, + 1.4817322492599487 + ], + [ + -67.18509674072266, + -87.64114379882812, + 1.4817322492599487 + ], + [ + -66.32398223876953, + -87.0819320678711, + 1.4817322492599487 + ], + [ + -65.89730072021484, + -87.73896789550781, + 1.4817322492599487 + ] + ], + "corners_2d": [ + [ + 730.1158610984799, + 304.2767361296456 + ], + [ + 749.5441182474078, + 314.8431538544502 + ], + [ + 768.3437006798671, + 299.1558788320698 + ], + [ + 749.0345657655505, + 288.95647142025143 + ], + [ + 733.9278850535374, + 260.23835941551715 + ], + [ + 754.2360344493669, + 270.7056626361209 + ], + [ + 773.7398778784311, + 255.1693626651167 + ], + [ + 753.5632050612239, + 245.08068108125718 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 561, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -72.92300415039062, + "y": -83.74504852294922, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.3761865198612213, + "y": 0.37938475608825684, + "z": 0.88956218957901 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 859.056623547242, + "ymin": 406.92479825201593, + "xmax": 911.0705003618159, + "ymax": 480.7766162277054 + }, + "corners_3d": [ + [ + -72.97660064697266, + -84.27662658691406, + -0.31456780433654785 + ], + [ + -73.45410919189453, + -83.68695068359375, + -0.31456780433654785 + ], + [ + -72.8694076538086, + -83.21347045898438, + -0.31456780433654785 + ], + [ + -72.39189910888672, + -83.80314636230469, + -0.31456780433654785 + ], + [ + -72.97660064697266, + -84.27662658691406, + 1.4645565748214722 + ], + [ + -73.45410919189453, + -83.68695068359375, + 1.4645565748214722 + ], + [ + -72.8694076538086, + -83.21347045898438, + 1.4645565748214722 + ], + [ + -72.39189910888672, + -83.80314636230469, + 1.4645565748214722 + ] + ], + "corners_2d": [ + [ + 859.056623547242, + 464.77480919148786 + ], + [ + 881.4739718557497, + 480.7766162277054 + ], + [ + 898.2811532027728, + 466.10183501485034 + ], + [ + 875.9194719555946, + 450.5383647297796 + ], + [ + 869.8891782884014, + 421.23006177427993 + ], + [ + 893.6080319138048, + 437.3323558947802 + ], + [ + 911.0705003618159, + 422.56448921064117 + ], + [ + 887.4184397531183, + 406.92479825201593 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 557, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -74.02500915527344, + "y": -101.02207946777344, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.6209863424301147, + "y": 0.4718993902206421, + "z": 0.9111422300338745 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 216.44643303051777, + "ymin": 360.54545801640967, + "xmax": 289.0427602255761, + "ymax": 443.68210134729003 + }, + "corners_3d": [ + [ + -74.049072265625, + -101.80165100097656, + -0.18373578786849976 + ], + [ + -74.78253936767578, + -101.20770263671875, + -0.18373578786849976 + ], + [ + -74.00094604492188, + -100.24250793457031, + -0.18373578786849976 + ], + [ + -73.2674789428711, + -100.83645629882812, + -0.18373578786849976 + ], + [ + -74.049072265625, + -101.80165100097656, + 1.6385486125946045 + ], + [ + -74.78253936767578, + -101.20770263671875, + 1.6385486125946045 + ], + [ + -74.00094604492188, + -100.24250793457031, + 1.6385486125946045 + ], + [ + -73.2674789428711, + -100.83645629882812, + 1.6385486125946045 + ] + ], + "corners_2d": [ + [ + 236.1741793091756, + 421.9944076596714 + ], + [ + 244.71791069359898, + 443.68210134729003 + ], + [ + 289.0427602255761, + 426.6385692020217 + ], + [ + 279.7110019724105, + 405.66283098044096 + ], + [ + 216.44643303051777, + 376.8870445201649 + ], + [ + 224.96663260516834, + 398.62848841359977 + ], + [ + 271.81399747100676, + 381.5388283051641 + ], + [ + 262.41218692956136, + 360.54545801640967 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 416, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -59.42184829711914, + "y": -98.85797882080078, + "z": 0.6274455785751343 + }, + "extent": { + "x": 0.38786131143569946, + "y": 0.4352441430091858, + "z": 0.8605139255523682 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 455.1721160398451, + "ymin": 107.43311183574843, + "xmax": 487.030998680945, + "ymax": 162.35070797300475 + }, + "corners_3d": [ + [ + -59.26806640625, + -99.42031860351562, + -0.2330683469772339 + ], + [ + -59.99811935424805, + -98.94621276855469, + -0.2330683469772339 + ], + [ + -59.57563018798828, + -98.29563903808594, + -0.2330683469772339 + ], + [ + -58.845577239990234, + -98.76974487304688, + -0.2330683469772339 + ], + [ + -59.26806640625, + -99.42031860351562, + 1.4879595041275024 + ], + [ + -59.99811935424805, + -98.94621276855469, + 1.4879595041275024 + ], + [ + -59.57563018798828, + -98.29563903808594, + 1.4879595041275024 + ], + [ + -58.845577239990234, + -98.76974487304688, + 1.4879595041275024 + ] + ], + "corners_2d": [ + [ + 461.0807583197127, + 151.23088152087988 + ], + [ + 467.78992612024547, + 162.35070797300475 + ], + [ + 487.030998680945, + 157.74607826365974 + ], + [ + 480.0748190686098, + 146.7636091902359 + ], + [ + 455.1721160398451, + 111.79654973839936 + ], + [ + 462.0128865604151, + 122.66561311376961 + ], + [ + 481.9325289822551, + 118.16348909701486 + ], + [ + 474.8269771149464, + 107.43311183574843 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 13776, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 469.5283951207314, + "ymin": 543.8196366335937, + "xmax": 603.527104736878, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 603.527104736878, + 587.1879230965342 + ], + [ + 523.0184086504529, + 576.8876558442652 + ], + [ + 477.5795820421131, + 743.6786651681603 + ], + [ + 569.3964270074887, + 757.1943738848087 + ], + [ + 601.9429629514943, + 554.2588232154868 + ], + [ + 517.9844569710409, + 543.8196366335937 + ], + [ + 469.5283951207314, + 713.8543118070205 + ], + [ + 565.8589453889275, + 727.7262814685241 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 4515, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 981.7068188776426, + "ymin": 32.220077163971155, + "xmax": 1116.9920607799133, + "ymax": 103.2499754437057 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 981.7068188776426, + 73.20328219055028 + ], + [ + 987.0043334417771, + 95.34366309822275 + ], + [ + 1101.3314786477222, + 103.2499754437057 + ], + [ + 1092.1557551967421, + 80.60322157334917 + ], + [ + 992.8052037518692, + 32.220077163971155 + ], + [ + 998.671399562515, + 53.65122376251668 + ], + [ + 1116.9920607799133, + 61.33657887113969 + ], + [ + 1106.9771348863871, + 39.39824420169117 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 17344, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 797.3253100017139, + "ymin": 522.5319856333342, + "xmax": 943.8750806315453, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 797.3253100017139, + 842.1649823907135 + ], + [ + 920.1961249818453, + 860.9326690341281 + ], + [ + 904.261348903935, + 586.1351094740323 + ], + [ + 804.819241817419, + 573.8312902776659 + ], + [ + 810.4324301254113, + 800.2443975972454 + ], + [ + 943.8750806315453, + 819.9961709177701 + ], + [ + 922.0334639408095, + 535.0770639906539 + ], + [ + 815.7784412959213, + 522.5319856333342 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4809317425322915338, + "instance_id": 2806, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -62.6159553527832, + "y": -93.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 571.8022904620049, + "ymin": 35.54606851297831, + "xmax": 586.523571441773, + "ymax": 66.40012854311499 + }, + "corners_3d": [ + [ + -62.754539489746094, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.9842529296875, + 6.416468620300293 + ], + [ + -62.754539489746094, + -93.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 584.9222048485208, + 66.40012854311499 + ], + [ + 586.523571441773, + 62.28849321151404 + ], + [ + 574.8356501365238, + 61.475456438205185 + ], + [ + 573.161064604388, + 65.57657882415361 + ], + [ + 583.8010557892641, + 40.36637606147508 + ], + [ + 585.4421350912615, + 36.341771481937656 + ], + [ + 573.5195670982487, + 35.54606851297831 + ], + [ + 571.8022904620049, + 39.56017429584455 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 349.474773687163, + "ymin": 99.51998634168172, + "xmax": 367.99170123999056, + "ymax": 126.94674753908046 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 365.2285520185212, + 126.94674753908046 + ], + [ + 367.99170123999056, + 122.81482077359985 + ], + [ + 357.57001642565285, + 122.0016602125475 + ], + [ + 354.74849527363676, + 126.1239386386504 + ], + [ + 360.14251614019315, + 104.39422486015212 + ], + [ + 362.9869805892516, + 100.3214093801954 + ], + [ + 352.37970961494506, + 99.51998634168172 + ], + [ + 349.474773687163, + 103.5831163138659 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5344508464058845628, + "instance_id": 48329, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -62.61595916748047, + "y": -96.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 478.14604112791216, + "ymin": 29.334804241668337, + "xmax": 495.0339988884011, + "ymax": 59.95404604047462 + }, + "corners_3d": [ + [ + -62.75454330444336, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.9842529296875, + 6.416468620300293 + ], + [ + -62.75454330444336, + -96.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 492.864664434478, + 59.95404604047462 + ], + [ + 495.0339988884011, + 55.92434028117253 + ], + [ + 483.5780922187783, + 55.12744286936146 + ], + [ + 481.3384742414456, + 59.14694814328266 + ], + [ + 489.9003081669289, + 34.05720456097481 + ], + [ + 492.1322460127151, + 30.114397585919846 + ], + [ + 480.45106074968623, + 29.334804241668337 + ], + [ + 478.14604112791216, + 33.26743065809666 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8433051479337506626, + "instance_id": 17047, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -62.61595153808594, + "y": -91.29429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 651.1136489569731, + "ymin": 40.82043508438403, + "xmax": 664.6793847935606, + "ymax": 71.87263657590148 + }, + "corners_3d": [ + [ + -62.75453567504883, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.4842529296875, + 6.416468620300293 + ], + [ + -62.75453567504883, + -91.4842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 663.0761122042398, + 71.87263657590148 + ], + [ + 664.1860495438142, + 67.69080284915316 + ], + [ + 652.2993559525322, + 66.8639391259095 + ], + [ + 651.1136489569731, + 71.0349897030078 + ], + [ + 663.5499315624804, + 45.72467663602578 + ], + [ + 664.6793847935606, + 41.62994724316047 + ], + [ + 652.5499030363748, + 40.82043508438403 + ], + [ + 651.3415429211649, + 44.90439027372594 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1044.5196420388793, + "ymin": 0.0, + "xmax": 1064.7290425285094, + "ymax": 9.067751853894379 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1055.7158459800464, + 5.656033970837882 + ], + [ + 1044.5196420388793, + 4.9809363403316524 + ], + [ + 1045.7494748705255, + 8.38470662250512 + ], + [ + 1057.0128673358063, + 9.067751853894379 + ], + [ + 1063.3622874434923, + -18.985344005531317 + ], + [ + 1051.9513420076732, + -19.643684437136415 + ], + [ + 1053.2483009476168, + -16.32411538884594 + ], + [ + 1064.7290425285094, + -15.657880881284655 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1038.6410350466845, + "ymin": 128.51203607784814, + "xmax": 1059.6094757023961, + "ymax": 156.76855483382008 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1050.3303080394815, + 152.27936946873214 + ], + [ + 1038.6410350466845, + 151.39616474627118 + ], + [ + 1039.8968679183852, + 155.87442457145656 + ], + [ + 1051.6597985478738, + 156.76855483382008 + ], + [ + 1058.204787840746, + 129.38384406597422 + ], + [ + 1046.2817265101764, + 128.51203607784814 + ], + [ + 1047.609773986825, + 132.9329283401374 + ], + [ + 1059.6094757023961, + 133.8157296728503 + ] + ], + "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": 990.0232957715182, + "ymin": 0.0, + "xmax": 1123.3391403968988, + "ymax": 224.71585271464957 + }, + "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": [ + [ + 1026.1493020114908, + 223.5948455805433 + ], + [ + 1038.8667950877061, + 224.71585271464957 + ], + [ + 1000.1324746543398, + 63.177839821200166 + ], + [ + 990.0232957715182, + 62.46362465041051 + ], + [ + 1107.7895096800573, + -13.565928791809824 + ], + [ + 1123.3391403968988, + -12.61076821345415 + ], + [ + 1058.5055712586673, + -144.64498205404192 + ], + [ + 1046.6840808441934, + -145.20470996013347 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 199.45212005648887, + "ymin": 277.2265206049704, + "xmax": 449.06005541221987, + "ymax": 543.9645113283844 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 304.261373752245, + 511.8662524098236 + ], + [ + 297.4691827252417, + 525.7834516348518 + ], + [ + 444.0399177641318, + 543.9645113283844 + ], + [ + 449.06005541221987, + 529.586922563565 + ], + [ + 209.74409878670247, + 277.2265206049704 + ], + [ + 199.45212005648887, + 291.26301247135893 + ], + [ + 386.76836679667053, + 309.7536013774233 + ], + [ + 394.1785647005386, + 295.1167689390426 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 239.8394599768498, + "ymin": 0.0, + "xmax": 349.33193533188773, + "ymax": 178.3920290478033 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 300.8057414357066, + 177.43150840583078 + ], + [ + 312.1371060616979, + 178.3920290478033 + ], + [ + 349.33193533188773, + 124.76060419463022 + ], + [ + 338.7618914020809, + 123.9318407423365 + ], + [ + 239.8394599768498, + -32.48657318183194 + ], + [ + 253.11877592551258, + -31.66922842500128 + ], + [ + 301.3468031319427, + -76.73948251498643 + ], + [ + 289.1003736117394, + -77.42700810975435 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 364.358920367805, + "ymin": 301.411235131425, + "xmax": 390.38759199914904, + "ymax": 317.2597674387973 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 370.584350840195, + 305.554129682242 + ], + [ + 365.4648816253277, + 315.26744100579117 + ], + [ + 385.47552879500773, + 317.2597674387973 + ], + [ + 390.38759199914904, + 307.50318602519604 + ], + [ + 369.5108979486906, + 301.411235131425 + ], + [ + 364.358920367805, + 311.1178086770581 + ], + [ + 384.4478770956248, + 313.1088585252847 + ], + [ + 389.39083325463, + 303.35887108018403 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1137.4608475786217, + "ymin": 652.7671649601668, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1162.286867510447, + 762.9628550631061 + ], + [ + 1294.8970336982738, + 781.1806708086151 + ], + [ + 1259.5781973733638, + 677.0394397478037 + ], + [ + 1137.4608475786217, + 661.4954916031024 + ], + [ + 1169.5075998859115, + 754.9113679580967 + ], + [ + 1304.076113167338, + 773.2733837593149 + ], + [ + 1267.5869325743724, + 668.4009202948789 + ], + [ + 1143.8102498436135, + 652.7671649601668 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1077.9439730821712, + "ymin": 619.0688171403037, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1096.6224782567087, + 836.0002484566965 + ], + [ + 1219.0516038735768, + 853.8573684263599 + ], + [ + 1191.3154288290943, + 750.6828603108838 + ], + [ + 1077.9439730821712, + 735.297076541214 + ], + [ + 1191.6969002094804, + 729.9495428276191 + ], + [ + 1341.4652723728914, + 749.9562104803324 + ], + [ + 1297.8260595194388, + 635.7989813814735 + ], + [ + 1161.3831943193381, + 619.0688171403037 + ] + ], + "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": 438.00840095528906, + "ymin": 0.0, + "xmax": 535.4146882705822, + "ymax": 42.998876070221854 + }, + "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": [ + [ + 535.4146882705822, + -58.128205609739155 + ], + [ + 527.6455615501308, + -58.59691456855347 + ], + [ + 465.2621952533425, + 42.32906823973178 + ], + [ + 474.4827986627803, + 42.998876070221854 + ], + [ + 522.0935965246288, + -236.88870184813823 + ], + [ + 513.3495311880447, + -237.23443038422045 + ], + [ + 438.00840095528906, + -160.90101493657835 + ], + [ + 448.6347705626131, + -160.38141958661993 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 364.2167960794259, + "ymin": 301.32661107374577, + "xmax": 390.5252647892843, + "ymax": 317.3454580259255 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 370.5106758022391, + 305.5140004406619 + ], + [ + 365.33525246916145, + 315.331469781638 + ], + [ + 385.5617204896475, + 317.3454580259255 + ], + [ + 390.5252647892843, + 307.4837843397582 + ], + [ + 369.4254391750486, + 301.32661107374577 + ], + [ + 364.2167960794259, + 311.13719626727396 + ], + [ + 384.52327541348063, + 313.14988114432936 + ], + [ + 389.5183714133929, + 303.2949431087244 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1137.5834129723946, + "ymin": 652.8339915204486, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1162.3895776766844, + 762.8524293719067 + ], + [ + 1294.8601620003542, + 781.0489457133418 + ], + [ + 1259.5837342892228, + 677.0333031329285 + ], + [ + 1137.5834129723946, + 661.5047009290829 + ], + [ + 1169.5634481340082, + 754.8532520340725 + ], + [ + 1303.9772174104623, + 773.1928129761471 + ], + [ + 1267.5396728687508, + 668.4517299686207 + ], + [ + 1143.8925407220338, + 652.8339915204486 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 307.9762399447934, + "ymin": 0.0, + "xmax": 705.1778841811633, + "ymax": 225.46951083877275 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 368.06285190066393, + 188.63966152991665 + ], + [ + 363.87167009479515, + 195.32464518552896 + ], + [ + 692.4863273592812, + 225.46951083877275 + ], + [ + 693.8788673016035, + 218.25375609093072 + ], + [ + 313.58899048926594, + -43.06795094600005 + ], + [ + 307.9762399447934, + -37.46775123958861 + ], + [ + 703.614617403563, + -11.968290734291031 + ], + [ + 705.1778841811633, + -18.109063219997324 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1117.2471469806567, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1412.1851053251903, + 379.7373869802902 + ], + [ + 1117.2471469806567, + 425.9745231917667 + ], + [ + 1371.689556733161, + 770.7464098354305 + ], + [ + 1746.429393310609, + 688.4935759455784 + ], + [ + 1844.9044516535073, + -161.3695539791796 + ], + [ + 1405.4551015140232, + -129.2269158681935 + ], + [ + 2121.646607327597, + 181.80791268514022 + ], + [ + 2748.4270464057527, + 93.64487616195362 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00123/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00123/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5cb1cdcfb152d49f46778305118303a45b5038d0 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00123/meta.json @@ -0,0 +1,2780 @@ +{ + "frame_id": 123, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 61.5, + "sim_timestamp": 11263.671018145978 + }, + "drone_pose": { + "x": -89.95819408704413, + "y": -87.30403696505823, + "z": 20.035814564718056, + "pitch": -47.18792790378564, + "yaw": -4.259427986806172, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6777188181877136, + 0.0504753440618515, + 0.7335866689682007, + 41.86165237426758 + ], + [ + -0.07427258789539337, + 0.9972379803657532, + 0.0, + 93.74433135986328 + ], + [ + -0.731560468673706, + -0.05448538064956665, + 0.6795958876609802, + -74.6693115234375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -89.45819408704413, + "y": -87.30403696505823, + "z": 20.031599330697006 + }, + "t1_image_uv": [ + 744.2569647454943, + -658.8544851365642 + ], + "t1_depth": 0.3419516521111722 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -70.16718292236328, + "y": -90.18776321411131, + "z": 0.5749944090844292 + }, + "image_uv": [ + 591.5134582674239, + 311.3714277342502 + ], + "depth": 27.834496577497557, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 198, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -70.16718292236328, + "y": -90.18775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.25672850012779236, + "y": 0.2220165729522705, + "z": 0.529664158821106 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 582.0724633992088, + "ymin": 291.56184817220003, + "xmax": 600.5879646288615, + "ymax": 330.8936634060361 + }, + "corners_3d": [ + [ + -70.42391204833984, + -90.40977478027344, + 0.0453302264213562 + ], + [ + -70.42391204833984, + -89.96574401855469, + 0.0453302264213562 + ], + [ + -69.91045379638672, + -89.96574401855469, + 0.0453302264213562 + ], + [ + -69.91045379638672, + -90.40977478027344, + 0.0453302264213562 + ], + [ + -70.42391204833984, + -90.40977478027344, + 1.104658603668213 + ], + [ + -70.42391204833984, + -89.96574401855469, + 1.104658603668213 + ], + [ + -69.91045379638672, + -89.96574401855469, + 1.104658603668213 + ], + [ + -69.91045379638672, + -90.40977478027344, + 1.104658603668213 + ] + ], + "corners_2d": [ + [ + 583.6767254468717, + 330.08921244467894 + ], + [ + 598.7930680140704, + 330.8936634060361 + ], + [ + 600.5879646288615, + 318.54693067472806 + ], + [ + 585.6553701606364, + 317.76207457064237 + ], + [ + 582.0724633992088, + 303.90593309446257 + ], + [ + 597.6184014540505, + 304.7117894001865 + ], + [ + 599.4786249348502, + 292.3475266091891 + ], + [ + 584.1269600238384, + 291.56184817220003 + ] + ], + "center_offset_px": [ + -48.48654173257614, + -48.628572265749824 + ] + }, + "trace_timestep_index": 123, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 55, + "semantic_pixel_counts": { + "1": 389834, + "2": 199488, + "3": 89694, + "4": 49483, + "6": 11247, + "7": 1028, + "9": 8939, + "10": 73937, + "12": 3047, + "14": 41559, + "20": 27097, + "21": 2894, + "24": 23353 + }, + "instance_pixel_counts": { + "913": 4598, + "5230": 2176, + "9346": 720, + "12951": 1082, + "13975": 51, + "15963": 27058, + "17232": 49483, + "22976": 11941, + "23296": 3166, + "23488": 41, + "23552": 1961, + "24512": 24855, + "26963": 2959, + "28819": 13341, + "29331": 3405, + "33429": 1036, + "33941": 63, + "35668": 18637, + "36692": 3862, + "37979": 53503, + "40019": 3469, + "41107": 894, + "41611": 2574, + "41619": 3897, + "42123": 2026, + "42635": 771, + "43117": 6957, + "43147": 14012, + "43155": 110727, + "43659": 13270, + "43667": 22370, + "44179": 235200, + "44181": 57, + "44693": 63, + "45717": 9337, + "46229": 652, + "46741": 12145, + "49664": 198, + "49920": 454, + "50176": 526, + "50432": 830, + "50624": 9874, + "50688": 580, + "50944": 459, + "51136": 4163, + "51456": 16313, + "51712": 3031, + "52160": 32098, + "52672": 72862, + "55040": 22215, + "55879": 25462, + "57173": 8939, + "62043": 354, + "64351": 9868, + "64603": 2540 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 198, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -70.16718292236328, + "y": -90.18775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.2267162799835205, + "y": 0.21633298695087433, + "z": 0.5303998589515686 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 582.3915512729064, + "ymin": 292.26621288628473, + "xmax": 600.2935792929, + "ymax": 330.1709008617873 + }, + "corners_3d": [ + [ + -70.3938980102539, + -90.40409088134766, + 0.044594526290893555 + ], + [ + -70.3938980102539, + -89.97142791748047, + 0.044594526290893555 + ], + [ + -69.94046783447266, + -89.97142791748047, + 0.044594526290893555 + ], + [ + -69.94046783447266, + -90.40409088134766, + 0.044594526290893555 + ], + [ + -70.3938980102539, + -90.40409088134766, + 1.1053942441940308 + ], + [ + -70.3938980102539, + -89.97142791748047, + 1.1053942441940308 + ], + [ + -69.94046783447266, + -89.97142791748047, + 1.1053942441940308 + ], + [ + -69.94046783447266, + -90.40409088134766, + 1.1053942441940308 + ] + ], + "corners_2d": [ + [ + 583.9880206790099, + 329.388181914213 + ], + [ + 598.7064945945268, + 330.1709008617873 + ], + [ + 600.2935792929, + 319.26794573518833 + ], + [ + 585.7332100283174, + 318.50208718634985 + ], + [ + 582.3915512729064, + 303.16729509475886 + ], + [ + 597.5285931511928, + 303.9513508751092 + ], + [ + 599.1735657164677, + 293.03290592564343 + ], + [ + 584.2036975387887, + 292.26621288628473 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 454, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -66.04119873046875, + "y": -87.19005584716797, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.5391821265220642, + "y": 0.3458935618400574, + "z": 0.8794887065887451 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 685.0053640943105, + "ymin": 192.03948769464637, + "xmax": 715.0162696081387, + "ymax": 258.74424743721517 + }, + "corners_3d": [ + [ + -66.64051055908203, + -87.41629028320312, + -0.3044894337654114 + ], + [ + -66.4966812133789, + -86.73961639404297, + -0.3044894337654114 + ], + [ + -65.44188690185547, + -86.96382141113281, + -0.3044894337654114 + ], + [ + -65.5857162475586, + -87.64049530029297, + -0.3044894337654114 + ], + [ + -66.64051055908203, + -87.41629028320312, + 1.4544880390167236 + ], + [ + -66.4966812133789, + -86.73961639404297, + 1.4544880390167236 + ], + [ + -65.44188690185547, + -86.96382141113281, + 1.4544880390167236 + ], + [ + -65.5857162475586, + -87.64049530029297, + 1.4544880390167236 + ] + ], + "corners_2d": [ + [ + 690.6062751424189, + 258.74424743721517 + ], + [ + 711.8727771705925, + 256.8215685499363 + ], + [ + 705.7931617083308, + 235.32424180199206 + ], + [ + 685.0053640943105, + 237.1592613925086 + ], + [ + 692.824397365072, + 215.32523022643284 + ], + [ + 715.0162696081387, + 213.41164746739855 + ], + [ + 708.6016242559156, + 192.03948769464637 + ], + [ + 686.9305063527607, + 193.86214316246486 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 526, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -72.42300415039062, + "y": -83.24504852294922, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.3074633777141571, + "y": 0.3234619200229645, + "z": 0.8836703300476074 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 819.6936823648873, + "ymin": 351.928015810353, + "xmax": 857.3088810622679, + "ymax": 412.8163612684656 + }, + "corners_3d": [ + [ + -72.7625961303711, + -83.53459930419922, + -0.3086710572242737 + ], + [ + -72.6949691772461, + -82.89122009277344, + -0.3086710572242737 + ], + [ + -72.08341217041016, + -82.95549774169922, + -0.3086710572242737 + ], + [ + -72.15103912353516, + -83.598876953125, + -0.3086710572242737 + ], + [ + -72.7625961303711, + -83.53459930419922, + 1.458669662475586 + ], + [ + -72.6949691772461, + -82.89122009277344, + 1.458669662475586 + ], + [ + -72.08341217041016, + -82.95549774169922, + 1.458669662475586 + ], + [ + -72.15103912353516, + -83.598876953125, + 1.458669662475586 + ] + ], + "corners_2d": [ + [ + 823.2176597602719, + 412.8163612684656 + ], + [ + 846.6374270816016, + 412.2653587925991 + ], + [ + 842.7504403615129, + 395.31138421435236 + ], + [ + 819.6936823648873, + 395.845352342997 + ], + [ + 832.6846749530362, + 369.59217417692923 + ], + [ + 857.3088810622679, + 369.0357139377081 + ], + [ + 853.0497908412581, + 351.928015810353 + ], + [ + 828.826571547723, + 352.4664060720655 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 830, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -77.9559097290039, + "y": -88.67072296142578, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.4354687035083771, + "y": 0.44835445284843445, + "z": 0.8787544965744019 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 597.6622820342743, + "ymin": 508.6611476068241, + "xmax": 640.3470204001701, + "ymax": 583.5526556369789 + }, + "corners_3d": [ + [ + -78.3913803100586, + -89.11907958984375, + -0.3037552237510681 + ], + [ + -78.3913803100586, + -88.22236633300781, + -0.3037552237510681 + ], + [ + -77.52043914794922, + -88.22236633300781, + -0.3037552237510681 + ], + [ + -77.52043914794922, + -89.11907958984375, + -0.3037552237510681 + ], + [ + -78.3913803100586, + -89.11907958984375, + 1.4537537097930908 + ], + [ + -78.3913803100586, + -88.22236633300781, + 1.4537537097930908 + ], + [ + -77.52043914794922, + -88.22236633300781, + 1.4537537097930908 + ], + [ + -77.52043914794922, + -89.11907958984375, + 1.4537537097930908 + ] + ], + "corners_2d": [ + [ + 600.0509826237372, + 581.0573326727525 + ], + [ + 637.6134635401704, + 583.5526556369789 + ], + [ + 640.3278975220194, + 551.769557206103 + ], + [ + 603.7059825535414, + 549.3984329792236 + ], + [ + 597.6622820342743, + 541.097891128236 + ], + [ + 637.4704634576885, + 543.6586760671169 + ], + [ + 640.3470204001701, + 511.08715022642343 + ], + [ + 601.5936518642836, + 508.6611476068241 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 580, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -73.78268432617188, + "y": -101.31512451171875, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.6033594608306885, + "y": 0.46620118618011475, + "z": 0.8910343647003174 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 124.41443288488449, + "ymin": 338.40228768861874, + "xmax": 203.3801441491142, + "ymax": 420.01517616780194 + }, + "corners_3d": [ + [ + -74.3340072631836, + -101.84184265136719, + -0.16362792253494263 + ], + [ + -74.43147277832031, + -100.91454315185547, + -0.16362792253494263 + ], + [ + -73.23136138916016, + -100.78840637207031, + -0.16362792253494263 + ], + [ + -73.13389587402344, + -101.71570587158203, + -0.16362792253494263 + ], + [ + -74.3340072631836, + -101.84184265136719, + 1.618440866470337 + ], + [ + -74.43147277832031, + -100.91454315185547, + 1.618440866470337 + ], + [ + -73.23136138916016, + -100.78840637207031, + 1.618440866470337 + ], + [ + -73.13389587402344, + -101.71570587158203, + 1.618440866470337 + ] + ], + "corners_2d": [ + [ + 150.19902719783653, + 415.282070482683 + ], + [ + 181.9159118430607, + 420.01517616780194 + ], + [ + 203.3801441491142, + 387.0479068827594 + ], + [ + 172.52315594713423, + 382.5946094198182 + ], + [ + 124.41443288488449, + 371.3744645831187 + ], + [ + 157.69089429252853, + 376.15741503761825 + ], + [ + 181.02014294738638, + 342.88826604367785 + ], + [ + 148.68829581969243, + 338.40228768861874 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 459, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -58.92184829711914, + "y": -98.35797882080078, + "z": 0.6251115798950195 + }, + "extent": { + "x": 0.4160107374191284, + "y": 0.4366992115974426, + "z": 0.8665605783462524 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 386.22964105240555, + "ymin": 60.5946097843771, + "xmax": 425.6995808064039, + "ymax": 116.91349614572908 + }, + "corners_3d": [ + [ + -59.237972259521484, + -98.87162780761719, + -0.2414489984512329 + ], + [ + -59.41956329345703, + -98.01731872558594, + -0.2414489984512329 + ], + [ + -58.6057243347168, + -97.84432983398438, + -0.2414489984512329 + ], + [ + -58.42413330078125, + -98.69863891601562, + -0.2414489984512329 + ], + [ + -59.237972259521484, + -98.87162780761719, + 1.491672158241272 + ], + [ + -59.41956329345703, + -98.01731872558594, + 1.491672158241272 + ], + [ + -58.6057243347168, + -97.84432983398438, + 1.491672158241272 + ], + [ + -58.42413330078125, + -98.69863891601562, + 1.491672158241272 + ] + ], + "corners_2d": [ + [ + 395.12308080546677, + 113.2800084140334 + ], + [ + 416.2855037646295, + 116.91349614572908 + ], + [ + 425.6995808064039, + 105.16741180888155 + ], + [ + 404.8066448666706, + 101.64050339195455 + ], + [ + 386.22964105240555, + 72.02038151218835 + ], + [ + 408.12188593515395, + 75.58965462135973 + ], + [ + 417.99946167251636, + 64.05546299495938 + ], + [ + 396.3953186461807, + 60.5946097843771 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 16313, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 409.47049009533987, + "ymin": 518.5085937612805, + "xmax": 543.3721674861937, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 543.3721674861937, + 556.1706671374905 + ], + [ + 461.0982802755433, + 550.6872542170929 + ], + [ + 421.04107788925376, + 722.385494273904 + ], + [ + 514.682741575714, + 729.5154280475567 + ], + [ + 538.90089247319, + 524.0952765485521 + ], + [ + 452.8584614024428, + 518.5085937612805 + ], + [ + 409.47049009533987, + 694.5390043252938 + ], + [ + 508.0249690481255, + 701.89823745823 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 3031, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 909.4694021223331, + "ymin": 0.0, + "xmax": 1042.2916334875101, + "ymax": 38.766355448046454 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 909.4694021223331, + 12.001405754427992 + ], + [ + 915.1705320942483, + 34.69870105359661 + ], + [ + 1028.3345963773052, + 38.766355448046454 + ], + [ + 1018.9687859565267, + 15.823052287130281 + ], + [ + 918.8119427151205, + -30.488209692167686 + ], + [ + 925.0349044654515, + -8.437911568361983 + ], + [ + 1042.2916334875101, + -4.459561199592372 + ], + [ + 1032.1387887996675, + -26.75794150636648 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 22215, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 744.3705499271916, + "ymin": 480.0017222223312, + "xmax": 884.6378580706842, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 744.3705499271916, + 797.5883051989911 + ], + [ + 864.9062385527294, + 807.0920949347244 + ], + [ + 843.4887837117149, + 536.8468018308133 + ], + [ + 744.9099959813477, + 530.4830297479891 + ], + [ + 753.463476963368, + 758.2305022720417 + ], + [ + 884.6378580706842, + 768.2920301579038 + ], + [ + 857.8592322036567, + 486.52989409018676 + ], + [ + 752.2771819529007, + 480.0017222223312 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4809317425322915338, + "instance_id": 2806, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -62.6159553527832, + "y": -93.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 485.10021762921593, + "ymin": 0.0, + "xmax": 502.29763718749416, + "ymax": 20.329553741581094 + }, + "corners_3d": [ + [ + -62.754539489746094, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.9842529296875, + 6.416468620300293 + ], + [ + -62.754539489746094, + -93.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 500.7448063297742, + 20.329553741581094 + ], + [ + 502.29763718749416, + 15.904772930521858 + ], + [ + 490.09579405186435, + 15.456220153701963 + ], + [ + 488.4660252915096, + 19.875249680285776 + ], + [ + 497.64966627404857, + -6.987033128645805 + ], + [ + 499.2568813312975, + -11.332175994630688 + ], + [ + 486.7877884730427, + -11.772587162308753 + ], + [ + 485.10021762921593, + -7.433217066901932 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 256.9460391477271, + "ymin": 63.483814119437625, + "xmax": 278.4841597533111, + "ymax": 91.94072833231508 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 275.7276851922327, + 91.94072833231508 + ], + [ + 278.4841597533111, + 87.43032574678631 + ], + [ + 267.39924241246985, + 86.97531551914199 + ], + [ + 264.5789915280037, + 91.48032926989947 + ], + [ + 268.31687314234995, + 68.39430675513358 + ], + [ + 271.1734811344178, + 63.93373794333644 + ], + [ + 259.86898134237435, + 63.483814119437625 + ], + [ + 256.9460391477271, + 67.93894563831185 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5344508464058845628, + "instance_id": 48329, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -62.61595916748047, + "y": -96.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 386.58765501519844, + "ymin": 0.0, + "xmax": 406.3739936636532, + "ymax": 16.75824831438672 + }, + "corners_3d": [ + [ + -62.75454330444336, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.9842529296875, + 6.416468620300293 + ], + [ + -62.75454330444336, + -96.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 404.21906618591197, + 16.75824831438672 + ], + [ + 406.3739936636532, + 12.378578394607757 + ], + [ + 394.2961168883189, + 11.93458271418666 + ], + [ + 392.06582425034884, + 16.30858904901629 + ], + [ + 399.0059687754508, + -10.494157095686887 + ], + [ + 401.2419023819663, + -14.794027245916084 + ], + [ + 388.9022656999796, + -15.229866031748713 + ], + [ + 386.58765501519844, + -10.935678695698755 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8433051479337506626, + "instance_id": 17047, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -62.61595153808594, + "y": -91.29429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 567.9898082723532, + "ymin": 0.0, + "xmax": 582.9876303212195, + "ymax": 23.333869282077615 + }, + "corners_3d": [ + [ + -62.75453567504883, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.4842529296875, + 6.416468620300293 + ], + [ + -62.75453567504883, + -91.4842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 581.9461457763088, + 23.333869282077615 + ], + [ + 582.9876303212195, + 18.870961644154704 + ], + [ + 570.6810182944389, + 18.41855749113597 + ], + [ + 569.5612571243352, + 22.875639373564013 + ], + [ + 580.6501290327384, + -4.036090366509939 + ], + [ + 581.7231634056418, + -8.419508795420654 + ], + [ + 569.1446280250342, + -8.863785457417237 + ], + [ + 567.9898082723532, + -4.48621621837799 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 965.8508628948102, + "ymin": 67.72306113630168, + "xmax": 985.7282568958689, + "ymax": 96.28358156535842 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 977.4168003883401, + 91.7221896101251 + ], + [ + 965.8508628948102, + 91.26205237921909 + ], + [ + 967.1605552115661, + 95.8179638894701 + ], + [ + 978.7959771605778, + 96.28358156535842 + ], + [ + 984.2792672115772, + 68.17815802217177 + ], + [ + 972.474047421967, + 67.72306113630168 + ], + [ + 973.8506394521453, + 72.22955597596803 + ], + [ + 985.7282568958689, + 72.69018448467273 + ] + ], + "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": 917.5714102881923, + "ymin": 0.0, + "xmax": 1043.1570225510204, + "ymax": 165.4129755376801 + }, + "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": [ + [ + 956.3223870005471, + 164.80136562170614 + ], + [ + 968.8665843653953, + 165.4129755376801 + ], + [ + 927.6423821809464, + 0.9878234917740087 + ], + [ + 917.5714102881923, + 0.5917766481499029 + ], + [ + 1027.7154675416646, + -79.97722884373627 + ], + [ + 1043.1570225510204, + -79.44566529014992 + ], + [ + 977.7168865931752, + -216.33374538223006 + ], + [ + 965.8595264772378, + -216.64949668084796 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 93.93770168245499, + "ymin": 263.0184433339664, + "xmax": 383.1268520381105, + "ymax": 522.0611764597239 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 231.835976924129, + 497.4648273578627 + ], + [ + 225.36963488785545, + 512.2489410388941 + ], + [ + 378.52848882245536, + 522.0611764597239 + ], + [ + 383.1268520381105, + 507.03348701667096 + ], + [ + 104.56501727393538, + 263.0184433339664 + ], + [ + 93.93770168245499, + 278.5997957935367 + ], + [ + 294.7421985560773, + 289.0091771854296 + ], + [ + 302.17163345437075, + 273.0890882389961 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 126.56689919464327, + "ymin": 0.0, + "xmax": 261.3873476567166, + "ymax": 147.96649706773997 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 212.35623257546115, + 147.42970661863689 + ], + [ + 224.43781140480996, + 147.96649706773997 + ], + [ + 261.3873476567166, + 89.48571406380836 + ], + [ + 250.14010084806444, + 89.02237227754881 + ], + [ + 126.56689919464327, + -73.62489916168914 + ], + [ + 141.00692024567542, + -73.15331898528251 + ], + [ + 191.759729018906, + -123.81481046291032 + ], + [ + 178.49544526878333, + -124.21051878936595 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 271.5426153462608, + "ymin": 280.79169339447776, + "xmax": 299.3187105802323, + "ymax": 296.69295486822966 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 278.3006765099352, + 285.00789274972453 + ], + [ + 273.16418741135755, + 295.5829625679409 + ], + [ + 294.40784005562557, + 296.69295486822966 + ], + [ + 299.3187105802323, + 286.09384649898806 + ], + [ + 276.71928386642423, + 280.79169339447776 + ], + [ + 271.5426153462608, + 291.3669217880523 + ], + [ + 292.8784215373773, + 292.4769897291969 + ], + [ + 297.8275212382456, + 281.8776165583904 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1068.0956197069065, + "ymin": 592.5467204847884, + "xmax": 1227.3900572279144, + "ymax": 708.35337399632 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1092.9416375471576, + 699.4176685524891 + ], + [ + 1219.0761686799437, + 708.35337399632 + ], + [ + 1185.0135423233878, + 608.8238704193045 + ], + [ + 1068.0956197069065, + 601.123074849493 + ], + [ + 1099.4020256186973, + 691.5739484373518 + ], + [ + 1227.3900572279144, + 700.586263586044 + ], + [ + 1192.268434542543, + 600.2976315553022 + ], + [ + 1073.7595699062213, + 592.5467204847884 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1014.9401290426179, + "ymin": 559.6021046464007, + "xmax": 1261.5138692837454, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1034.3070089046062, + 770.4572131203606 + ], + [ + 1150.8127162159262, + 779.1629632772199 + ], + [ + 1123.4885619845745, + 681.1156687033351 + ], + [ + 1014.9401290426179, + 673.5403093289221 + ], + [ + 1119.1384354101365, + 667.4289163171431 + ], + [ + 1261.5138692837454, + 677.2670016612698 + ], + [ + 1219.8033683950414, + 567.9197134235842 + ], + [ + 1089.1318925188073, + 559.6021046464007 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 271.3907062924533, + "ymin": 280.70667510190333, + "xmax": 299.46539329202614, + "ymax": 296.7788116814362 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 278.2231223328397, + 284.9682018501385 + ], + [ + 273.0304355210293, + 295.65675543575327 + ], + [ + 294.5031898348524, + 296.7788116814362 + ], + [ + 299.46539329202614, + 286.0657006642621 + ], + [ + 276.62445157722743, + 280.70667510190333 + ], + [ + 271.3907062924533, + 291.3953901362717 + ], + [ + 292.9576170416624, + 292.5175242567979 + ], + [ + 297.9588651617437, + 281.80414210223887 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1068.211307011665, + "ymin": 592.6077794298776, + "xmax": 1227.2963307844252, + "ymax": 708.2312205331589 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1093.0363661743065, + 699.3060713173032 + ], + [ + 1219.038628362946, + 708.2312205331589 + ], + [ + 1185.016760214336, + 608.8205288435057 + ], + [ + 1068.211307011665, + 601.1275224743815 + ], + [ + 1099.454902477008, + 691.513212876037 + ], + [ + 1227.2963307844252, + 700.5143588729143 + ], + [ + 1192.2238078030891, + 600.3505247197728 + ], + [ + 1073.8394293868641, + 592.6077794298776 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 199.08436618134385, + "ymin": 0.0, + "xmax": 623.2089746477909, + "ymax": 180.93185160241728 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 284.27773609782736, + 156.36519935616317 + ], + [ + 280.1584116052203, + 163.6079905985096 + ], + [ + 622.0137428380882, + 180.93185160241728 + ], + [ + 623.2089746477909, + 173.3885308880005 + ], + [ + 204.97702195634912, + -87.29152391824238 + ], + [ + 199.08436618134385, + -81.0139149633626 + ], + [ + 617.8584540640212, + -65.89923436553073 + ], + [ + 619.371752797802, + -72.49792583986584 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1048.2186090591624, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 689.1024362073003 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1329.8960682386114, + 304.7000508291364 + ], + [ + 1048.2186090591624, + 365.29865167415323 + ], + [ + 1293.2952200400046, + 689.1024362073003 + ], + [ + 1637.6217572713283, + 586.8191766743626 + ], + [ + 1734.6085088974858, + -249.45556384686165 + ], + [ + 1312.0450652416666, + -206.04952145520406 + ], + [ + 1985.9352228444736, + 95.11862899286336 + ], + [ + 2544.094429587374, + -15.174549713893555 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00124/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00124/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dc979378fb5900745848954a04029becf417d360 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00124/meta.json @@ -0,0 +1,2464 @@ +{ + "frame_id": 124, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 62.0, + "sim_timestamp": 11276.327455390245 + }, + "drone_pose": { + "x": -89.45819408704413, + "y": -87.30403696505823, + "z": 20.031599330697006, + "pitch": -48.983445125030464, + "yaw": -8.64134538607723, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6488271951675415, + 0.09860485047101974, + 0.7545199990272522, + 34.320068359375 + ], + [ + -0.15024881064891815, + 0.9886482357978821, + 3.725290298461914e-09, + 99.75396728515625 + ], + [ + -0.7459548115730286, + -0.11336572468280792, + 0.6562771201133728, + -69.98075866699219 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -88.94101895764234, + "y": -86.89113647175185, + "z": 20.095011970884215 + }, + "t1_image_uv": [ + 2528.6108938516772, + -1119.25951709275 + ], + "t1_depth": 0.24699717206076038 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -69.66718292236328, + "y": -90.18776321411131, + "z": 0.5749944090844292 + }, + "image_uv": [ + 644.2322825659867, + 279.86011253269476 + ], + "depth": 27.80569208365621, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 197, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -69.66718292236328, + "y": -90.18775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.22553955018520355, + "y": 0.1891455054283142, + "z": 0.5212247967720032 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 634.0079354890157, + "ymin": 259.8586504776662, + "xmax": 654.5875031466744, + "ymax": 299.56804596197594 + }, + "corners_3d": [ + [ + -69.69291687011719, + -90.48098754882812, + 0.053769588470458984 + ], + [ + -69.96041107177734, + -90.21349334716797, + 0.053769588470458984 + ], + [ + -69.64144897460938, + -89.89453125, + 0.053769588470458984 + ], + [ + -69.37395477294922, + -90.16202545166016, + 0.053769588470458984 + ], + [ + -69.69291687011719, + -90.48098754882812, + 1.0962191820144653 + ], + [ + -69.96041107177734, + -90.21349334716797, + 1.0962191820144653 + ], + [ + -69.64144897460938, + -89.89453125, + 1.0962191820144653 + ], + [ + -69.37395477294922, + -90.16202545166016, + 1.0962191820144653 + ] + ], + "corners_2d": [ + [ + 634.1749987656292, + 292.17429887373754 + ], + [ + 641.8194877856978, + 299.56804596197594 + ], + [ + 654.1804400031064, + 293.07225396286674 + ], + [ + 646.4961519362668, + 285.7699698658586 + ], + [ + 634.0079354890157, + 266.28084228760076 + ], + [ + 641.8720546233064, + 273.6980448983759 + ], + [ + 654.5875031466744, + 267.18148398884296 + ], + [ + 646.6812793764115, + 259.8586504776662 + ] + ], + "center_offset_px": [ + 4.232282565986679, + -80.13988746730524 + ] + }, + "trace_timestep_index": 124, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 52, + "semantic_pixel_counts": { + "1": 384014, + "2": 215995, + "3": 115586, + "4": 45879, + "6": 9120, + "7": 440, + "9": 381, + "10": 55549, + "12": 3056, + "14": 41034, + "20": 26992, + "24": 23554 + }, + "instance_pixel_counts": { + "913": 5066, + "5230": 5712, + "9346": 568, + "12951": 1083, + "13975": 64, + "15963": 51617, + "16475": 833, + "17232": 45879, + "22976": 12011, + "23296": 1426, + "23488": 74, + "23552": 1990, + "24512": 29281, + "26963": 2889, + "28819": 7571, + "29331": 1186, + "33429": 631, + "33941": 28, + "35668": 17656, + "36692": 4270, + "37979": 50582, + "40019": 2687, + "41611": 2873, + "41619": 816, + "42123": 2071, + "42635": 679, + "43117": 6842, + "43147": 15187, + "43155": 105790, + "43659": 13883, + "43667": 16109, + "44179": 252542, + "44693": 82, + "45717": 9506, + "46229": 457, + "46741": 12850, + "49664": 197, + "49920": 419, + "50176": 579, + "50432": 902, + "50624": 10954, + "50688": 548, + "50944": 411, + "51136": 4196, + "51456": 16310, + "51712": 1849, + "52160": 36216, + "52672": 75886, + "55040": 22875, + "55879": 22959, + "57173": 381, + "64351": 11537 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 197, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -69.66718292236328, + "y": -90.18775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.18584227561950684, + "y": 0.21703124046325684, + "z": 0.5172762274742126 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 634.5549912222756, + "ymin": 259.9853286420029, + "xmax": 654.0605100628701, + "ymax": 299.446426640277 + }, + "corners_3d": [ + [ + -69.64512634277344, + -90.4726333618164, + 0.05771815776824951 + ], + [ + -69.95205688476562, + -90.16570281982422, + 0.05771815776824951 + ], + [ + -69.68923950195312, + -89.90288543701172, + 0.05771815776824951 + ], + [ + -69.38230895996094, + -90.2098159790039, + 0.05771815776824951 + ], + [ + -69.64512634277344, + -90.4726333618164, + 1.0922706127166748 + ], + [ + -69.95205688476562, + -90.16570281982422, + 1.0922706127166748 + ], + [ + -69.68923950195312, + -89.90288543701172, + 1.0922706127166748 + ], + [ + -69.38230895996094, + -90.2098159790039, + 1.0922706127166748 + ] + ], + "corners_2d": [ + [ + 634.7055069735964, + 290.9717898334952 + ], + [ + 643.482070028285, + 299.446426640277 + ], + [ + 653.67066627421, + 294.08836432382947 + ], + [ + 644.8564679474637, + 285.70021210404377 + ], + [ + 634.5549912222756, + 265.2713418342566 + ], + [ + 643.5818949186072, + 273.77239551158266 + ], + [ + 654.0605100628701, + 268.3971709290845 + ], + [ + 644.9938078905924, + 259.9853286420029 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 419, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -65.54119873046875, + "y": -87.19005584716797, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.3954223692417145, + "y": 0.3921826183795929, + "z": 0.8771756291389465 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 738.1099021026499, + "ymin": 165.5473064869926, + "xmax": 778.4698119286701, + "ymax": 232.02003655389927 + }, + "corners_3d": [ + [ + -65.65923309326172, + -87.73432922363281, + -0.3021714687347412 + ], + [ + -66.08642578125, + -87.07650756835938, + -0.3021714687347412 + ], + [ + -65.42316436767578, + -86.64578247070312, + -0.3021714687347412 + ], + [ + -64.9959716796875, + -87.30360412597656, + -0.3021714687347412 + ], + [ + -65.65923309326172, + -87.73432922363281, + 1.4521797895431519 + ], + [ + -66.08642578125, + -87.07650756835938, + 1.4521797895431519 + ], + [ + -65.42316436767578, + -86.64578247070312, + 1.4521797895431519 + ], + [ + -64.9959716796875, + -87.30360412597656, + 1.4521797895431519 + ] + ], + "corners_2d": [ + [ + 738.1099021026499, + 221.1935809684302 + ], + [ + 757.670290200262, + 232.02003655389927 + ], + [ + 772.5326497061369, + 219.761105357008 + ], + [ + 753.0524627835488, + 209.20351322621553 + ], + [ + 742.5118310464669, + 177.5013845308615 + ], + [ + 763.0117683701886, + 188.30680079315815 + ], + [ + 778.4698119286701, + 176.07250760090773 + ], + [ + 758.0590030426563, + 165.5473064869926 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 579, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -71.92300415039062, + "y": -83.24504852294922, + "z": 0.5749504566192627 + }, + "extent": { + "x": 0.4039599597454071, + "y": 0.2945605516433716, + "z": 0.881882905960083 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 864.6178982684685, + "ymin": 329.67164090674635, + "xmax": 914.0441190381725, + "ymax": 400.50212164863507 + }, + "corners_3d": [ + [ + -72.05156707763672, + -83.72818756103516, + -0.3069324493408203 + ], + [ + -72.42230987548828, + -83.27035522460938, + -0.3069324493408203 + ], + [ + -71.79444122314453, + -82.76190948486328, + -0.3069324493408203 + ], + [ + -71.42369842529297, + -83.21974182128906, + -0.3069324493408203 + ], + [ + -72.05156707763672, + -83.72818756103516, + 1.4568333625793457 + ], + [ + -72.42230987548828, + -83.27035522460938, + 1.4568333625793457 + ], + [ + -71.79444122314453, + -82.76190948486328, + 1.4568333625793457 + ], + [ + -71.42369842529297, + -83.21974182128906, + 1.4568333625793457 + ] + ], + "corners_2d": [ + [ + 864.6178982684685, + 388.06665607918694 + ], + [ + 881.7410259362165, + 400.50212164863507 + ], + [ + 900.2081820982794, + 384.9944536618951 + ], + [ + 883.1166254604159, + 372.89200058356283 + ], + [ + 876.595650863933, + 345.0367974912321 + ], + [ + 894.7811489300652, + 357.64476643097044 + ], + [ + 914.0441190381725, + 341.9242533831422 + ], + [ + 895.8978630239542, + 329.67164090674635 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 902, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -77.96096801757812, + "y": -88.67327880859375, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.3993212878704071, + "y": 0.41975095868110657, + "z": 0.880059003829956 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 631.2899628314797, + "ymin": 492.1160228378689, + "xmax": 682.0710518050505, + "ymax": 574.8121339370375 + }, + "corners_3d": [ + [ + -77.94652557373047, + -89.25244903564453, + -0.3050597310066223 + ], + [ + -78.5401382446289, + -88.6588363647461, + -0.3050597310066223 + ], + [ + -77.97541046142578, + -88.09410858154297, + -0.3050597310066223 + ], + [ + -77.38179779052734, + -88.6877212524414, + -0.3050597310066223 + ], + [ + -77.94652557373047, + -89.25244903564453, + 1.4550583362579346 + ], + [ + -78.5401382446289, + -88.6588363647461, + 1.4550583362579346 + ], + [ + -77.97541046142578, + -88.09410858154297, + 1.4550583362579346 + ], + [ + -77.38179779052734, + -88.6877212524414, + 1.4550583362579346 + ] + ], + "corners_2d": [ + [ + 631.792766670012, + 549.3832024722058 + ], + [ + 652.8076163774124, + 574.8121339370375 + ], + [ + 679.628300804261, + 556.8999778264872 + ], + [ + 658.3831370806523, + 532.1507747135155 + ], + [ + 631.2899628314797, + 509.8303123562532 + ], + [ + 653.6086509307859, + 536.0231978910408 + ], + [ + 682.0710518050505, + 517.5663390611671 + ], + [ + 659.4934373826611, + 492.1160228378689 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 548, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -73.28268432617188, + "y": -101.31512451171875, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.56085205078125, + "y": 0.4907324016094208, + "z": 0.8679365515708923 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 189.1525806241621, + "ymin": 283.6179998228416, + "xmax": 259.9926492854151, + "ymax": 364.2282706338699 + }, + "corners_3d": [ + [ + -73.2542724609375, + -102.059814453125, + -0.14053010940551758 + ], + [ + -74.01701354980469, + -101.4421615600586, + -0.14053010940551758 + ], + [ + -73.31109619140625, + -100.5704345703125, + -0.14053010940551758 + ], + [ + -72.54835510253906, + -101.1880874633789, + -0.14053010940551758 + ], + [ + -73.2542724609375, + -102.059814453125, + 1.595342993736267 + ], + [ + -74.01701354980469, + -101.4421615600586, + 1.595342993736267 + ], + [ + -73.31109619140625, + -100.5704345703125, + 1.595342993736267 + ], + [ + -72.54835510253906, + -101.1880874633789, + 1.595342993736267 + ] + ], + "corners_2d": [ + [ + 210.87099459945608, + 341.57992890388323 + ], + [ + 219.7957418021711, + 364.2282706338699 + ], + [ + 259.9926492854151, + 348.96368619931104 + ], + [ + 250.37777482145344, + 326.9289135056656 + ], + [ + 189.1525806241621, + 298.3878310925604 + ], + [ + 198.0622548826613, + 321.25960058146603 + ], + [ + 240.62278789492308, + 305.8391200623133 + ], + [ + 230.9382972693901, + 283.6179998228416 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 411, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -58.42184829711914, + "y": -98.35797882080078, + "z": 0.6241936087608337 + }, + "extent": { + "x": 0.43254148960113525, + "y": 0.47541502118110657, + "z": 0.8926599025726318 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 453.9018864458432, + "ymin": 17.09507520262997, + "xmax": 490.230067898465, + "ymax": 77.891581287772 + }, + "corners_3d": [ + [ + -58.25871276855469, + -98.97966766357422, + -0.2684662938117981 + ], + [ + -59.05614471435547, + -98.46180725097656, + -0.2684662938117981 + ], + [ + -58.584983825683594, + -97.73628997802734, + -0.2684662938117981 + ], + [ + -57.78755187988281, + -98.254150390625, + -0.2684662938117981 + ], + [ + -58.25871276855469, + -98.97966766357422, + 1.5168535709381104 + ], + [ + -59.05614471435547, + -98.46180725097656, + 1.5168535709381104 + ], + [ + -58.584983825683594, + -97.73628997802734, + 1.5168535709381104 + ], + [ + -57.78755187988281, + -98.254150390625, + 1.5168535709381104 + ] + ], + "corners_2d": [ + [ + 460.73047228874316, + 65.16938292238785 + ], + [ + 468.32742885469503, + 77.891581287772 + ], + [ + 490.230067898465, + 72.60283037401905 + ], + [ + 482.34425652009105, + 60.04264172519845 + ], + [ + 453.9018864458432, + 22.132723700872248 + ], + [ + 461.68138838157563, + 34.644349089574746 + ], + [ + 484.4707129758385, + 29.44131423780783 + ], + [ + 476.3784673086478, + 17.09507520262997 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 16310, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 438.4220724591487, + "ymin": 495.05043949997594, + "xmax": 579.1051582359328, + "ymax": 710.132228790897 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 579.1051582359328, + 537.780326644508 + ], + [ + 497.6357700733387, + 526.7531271760163 + ], + [ + 448.7680250724472, + 695.9557998348059 + ], + [ + 540.7133051880198, + 710.132228790897 + ], + [ + 576.1899455322628, + 506.31720089693096 + ], + [ + 490.8818100293658, + 495.05043949997594 + ], + [ + 438.4220724591487, + 668.9565900113815 + ], + [ + 535.2859524409064, + 683.6275564004188 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 1849, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 988.7346235271712, + "ymin": 0.0, + "xmax": 1131.0206191102993, + "ymax": 28.491956647946722 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 988.7346235271712, + -4.731900719368241 + ], + [ + 993.1723729655286, + 19.469512573185057 + ], + [ + 1112.765009679401, + 28.491956647946722 + ], + [ + 1104.439487480123, + 3.7351050677078774 + ], + [ + 1001.6314716589823, + -48.773237626444484 + ], + [ + 1006.6766134892243, + -25.152278773054434 + ], + [ + 1131.0206191102993, + -16.309122903872435 + ], + [ + 1121.7783000870686, + -40.49350819540433 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 22875, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 766.8206149903816, + "ymin": 475.9420071215389, + "xmax": 912.0305075730082, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 766.8206149903816, + 796.6414643405515 + ], + [ + 889.1090139134787, + 816.1503675971177 + ], + [ + 884.7385655256295, + 538.4407181695947 + ], + [ + 784.0424961378466, + 525.230572671296 + ], + [ + 778.3306839905274, + 760.4867621555027 + ], + [ + 912.0305075730082, + 781.2907142120885 + ], + [ + 902.9503444172851, + 489.5838668069829 + ], + [ + 794.6425960385714, + 475.9420071215389 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 321.28360216317884, + "ymin": 24.001628532125494, + "xmax": 341.70973907611796, + "ymax": 53.319233776245426 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 338.75980887545336, + 53.319233776245426 + ], + [ + 341.70973907611796, + 48.82837078610305 + ], + [ + 330.83412756148556, + 47.904245755924705 + ], + [ + 327.82610287629797, + 52.38461226254634 + ], + [ + 332.4388879200248, + 29.36330391386059 + ], + [ + 335.4867187286808, + 24.91654702642529 + ], + [ + 324.39189448595226, + 24.001628532125494 + ], + [ + 321.28360216317884, + 28.437774955366137 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1042.9535495125547, + "ymin": 58.25518698135551, + "xmax": 1065.4413396104744, + "ymax": 88.37183757171533 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1055.1723176089768, + 83.4784928740209 + ], + [ + 1042.9535495125547, + 82.47184636287022 + ], + [ + 1044.0208807028778, + 87.35325325245236 + ], + [ + 1056.3132387780108, + 88.37183757171533 + ], + [ + 1064.2207019533275, + 59.25362318819589 + ], + [ + 1051.7247145332278, + 58.25518698135551 + ], + [ + 1052.868377182151, + 63.09727498279119 + ], + [ + 1065.4413396104744, + 64.10781186501669 + ] + ], + "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": 998.0545762970589, + "ymin": 0.0, + "xmax": 1138.650904058361, + "ymax": 159.62763659693277 + }, + "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": [ + [ + 1027.4918447887042, + 158.37140228593447 + ], + [ + 1040.678225560471, + 159.62763659693277 + ], + [ + 1008.6490032466071, + -15.671611154028142 + ], + [ + 998.0545762970589, + -16.487810209711427 + ], + [ + 1122.076302431589, + -94.66406059161261 + ], + [ + 1138.650904058361, + -93.53919373208481 + ], + [ + 1078.0064289481247, + -243.44716537328338 + ], + [ + 1065.3290609055807, + -244.1133823922579 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 148.7214892505624, + "ymin": 223.86694367617116, + "xmax": 423.0602220765933, + "ymax": 492.7164078409476 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 275.9877124741071, + 458.817142898721 + ], + [ + 268.9956329725984, + 473.1577263599316 + ], + [ + 417.7378445476538, + 492.7164078409476 + ], + [ + 423.0602220765933, + 477.91393165089056 + ], + [ + 159.81483128590207, + 223.86694367617116 + ], + [ + 148.7214892505624, + 239.14633807786896 + ], + [ + 344.14212812888667, + 260.1746205935899 + ], + [ + 352.36708631028614, + 244.239724225727 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 199.093607545702, + "ymin": 0.0, + "xmax": 325.47350628644784, + "ymax": 107.03557933783614 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 274.58974618875243, + 105.95717365180184 + ], + [ + 286.3425083597214, + 107.03557933783614 + ], + [ + 325.47350628644784, + 49.23601212280721 + ], + [ + 314.4720461234277, + 48.29908164416349 + ], + [ + 199.093607545702, + -119.0466587090977 + ], + [ + 213.16263859856883, + -118.08977577416243 + ], + [ + 265.65343023242804, + -168.6783204471676 + ], + [ + 252.64664095335831, + -169.48681005130368 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 321.2923822156594, + "ymin": 250.57254811746992, + "xmax": 349.0273674612206, + "ymax": 267.624613821761 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 328.3797085301818, + 254.81563172316413 + ], + [ + 322.739380769361, + 265.36389959938134 + ], + [ + 343.5930106046579, + 267.624613821761 + ], + [ + 349.0273674612206, + 257.02927674719615 + ], + [ + 326.97335924933066, + 250.57254811746992 + ], + [ + 321.2923822156594, + 261.12389801240056 + ], + [ + 342.2380810792212, + 263.385403700254 + ], + [ + 347.71127717817416, + 252.7867565167389 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 3217544506615888357, + "instance_id": 58745, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_0", + "bbox_3d": { + "center_world": { + "x": -81.25287628173828, + "y": -78.72919464111328, + "z": 3.6046934127807617 + }, + "extent": { + "x": 0.9673661589622498, + "y": 1.0892709493637085, + "z": 0.16332335770130157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1115.303887700701, + "ymin": 616.9367529630599, + "xmax": 1277.9381449243374, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -82.2202377319336, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.4413716793060303 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.441368341445923 + ], + [ + -82.2202377319336, + -79.81846618652344, + 3.768015146255493 + ], + [ + -82.22024536132812, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28551483154297, + -77.63992309570312, + 3.7680184841156006 + ], + [ + -80.28550720214844, + -79.81846618652344, + 3.768015146255493 + ] + ], + "corners_2d": [ + [ + 1134.5800210321167, + 729.2533460083699 + ], + [ + 1268.2691139038604, + 748.7123136131206 + ], + [ + 1239.175697482837, + 641.7573746106733 + ], + [ + 1115.303887700701, + 624.9718699295247 + ], + [ + 1142.090831271795, + 722.1803700984727 + ], + [ + 1277.9381449243374, + 741.8439313389108 + ], + [ + 1247.7267044387127, + 633.861857712267 + ], + [ + 1122.003743760893, + 616.9367529630599 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 4953817972586843672, + "instance_id": 6158, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_2", + "bbox_3d": { + "center_world": { + "x": -81.25251770019531, + "y": -78.72915649414062, + "z": 2.495224952697754 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1053.5821850882244, + "ymin": 585.2967349983068, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -82.28094482421875, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -77.57880401611328, + 0.15240001678466797 + ], + [ + -80.22409057617188, + -79.87950897216797, + 0.15240001678466797 + ], + [ + -82.28094482421875, + -79.87950897216797, + 4.83804988861084 + ], + [ + -82.28094482421875, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -77.57880401611328, + 4.83804988861084 + ], + [ + -80.22409057617188, + -79.87950897216797, + 4.83804988861084 + ] + ], + "corners_2d": [ + [ + 1067.0711672939628, + 792.92666804485 + ], + [ + 1189.0414683155375, + 811.5713997674111 + ], + [ + 1167.2738451386926, + 707.9558465710337 + ], + [ + 1053.5821850882244, + 691.6996676003491 + ], + [ + 1165.1879989557976, + 700.5523813863421 + ], + [ + 1317.0675703038073, + 722.1625373355523 + ], + [ + 1280.2774779983738, + 603.5736027624097 + ], + [ + 1141.0173542999974, + 585.2967349983068 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 321.1409253924965, + "ymin": 250.48141763491984, + "xmax": 349.1740500889657, + "ymax": 267.71672995130723 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 328.3060316276778, + 254.77013663656936 + ], + [ + 322.6042052579314, + 265.43145922879006 + ], + [ + 343.6826355791868, + 267.71672995130723 + ], + [ + 349.1740500889657, + 257.00732226968586 + ], + [ + 326.88428943393603, + 250.48141763491984 + ], + [ + 321.1409253924965, + 261.14588762788776 + ], + [ + 342.3134250084369, + 263.43196820789774 + ], + [ + 347.84450816508183, + 252.71917760080555 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8567945449086369241, + "instance_id": 55741, + "pixel_count": null, + "type_id": "BP_Lamppost_tall30_86_SM_1", + "bbox_3d": { + "center_world": { + "x": -81.25288391113281, + "y": -78.72919464111328, + "z": 3.6057939529418945 + }, + "extent": { + "x": 0.9661715626716614, + "y": 1.0880763530731201, + "z": 0.1622384637594223 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1115.4265481663456, + "ymin": 617.0064261537788, + "xmax": 1277.842887256867, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -82.21905517578125, + -79.81727600097656, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.4435572624206543 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.4435536861419678 + ], + [ + -82.21905517578125, + -79.81727600097656, + 3.7680306434631348 + ], + [ + -82.21905517578125, + -77.64112091064453, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -77.64111328125, + 3.7680342197418213 + ], + [ + -80.28671264648438, + -79.81726837158203, + 3.7680306434631348 + ] + ], + "corners_2d": [ + [ + 1134.688930176833, + 729.1486238155227 + ], + [ + 1268.2390717070452, + 748.5853333962468 + ], + [ + 1239.1803250785756, + 641.7574783379164 + ], + [ + 1115.4265481663456, + 624.9883529978863 + ], + [ + 1142.1511971265868, + 722.1213288084208 + ], + [ + 1277.842887256867, + 741.7610094777799 + ], + [ + 1247.6749254473352, + 633.9141061434859 + ], + [ + 1122.0839632163677, + 617.0064261537788 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 270.20244129426703, + "ymin": 0.0, + "xmax": 692.3013721137805, + "ymax": 159.00266570717588 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 344.51656804211905, + 118.15207014185765 + ], + [ + 340.0992360687312, + 125.32039442635929 + ], + [ + 680.4487322163519, + 159.00266570717588 + ], + [ + 682.1205028688698, + 151.27037843833148 + ], + [ + 276.34841918602206, + -130.27773647919412 + ], + [ + 270.20244129426703, + -123.9865458871979 + ], + [ + 690.3306246420315, + -94.09890551507249 + ], + [ + 692.3013721137805, + -101.00816188141374 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1110.458317739857, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1418.2270278635815, + 326.8699867843918 + ], + [ + 1110.458317739857, + 374.08042719192184 + ], + [ + 1348.1780270375878, + 730.1339110209233 + ], + [ + 1735.531775176939, + 649.1466758434226 + ], + [ + 1938.924093975042, + -253.98106468419223 + ], + [ + 1449.105929229905, + -216.8396315704358 + ], + [ + 2220.2825377038253, + 157.659379736413 + ], + [ + 2929.710307642863, + 54.139600520163924 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00125/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00125/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1be0d7d1bc6ee026399905c0f5265886536d36cd --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00125/meta.json @@ -0,0 +1,4051 @@ +{ + "frame_id": 125, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 62.5, + "sim_timestamp": 11291.062133297324 + }, + "drone_pose": { + "x": -88.94101895764234, + "y": -86.89113647175185, + "z": 20.095011970884215, + "pitch": -41.942764179558765, + "yaw": -7.013118621421217, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7382478713989258, + 0.09081703424453735, + 0.6683879494667053, + 44.33805847167969 + ], + [ + -0.12209661304950714, + 0.9925182461738586, + 0.0, + 97.10043334960938 + ], + [ + -0.6633872389793396, + -0.08160790055990219, + 0.7438129186630249, + -66.8582534790039 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -88.41964796712791, + "y": -86.86315209960888, + "z": 19.971860001575752 + }, + "t1_image_uv": [ + 828.8970275774068, + -160.59350017737518 + ], + "t1_depth": 0.46467283816325616 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -69.16718292236328, + "y": -89.68776321411133, + "z": 0.5749992918968201 + }, + "image_uv": [ + 627.5647658436817, + 400.37321625946555 + ], + "depth": 27.898913484293388, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 199, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -69.16718292236328, + "y": -89.68775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.26152098178863525, + "y": 0.21363279223442078, + "z": 0.5175784826278687 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 618.7748277863204, + "ymin": 380.65519899390665, + "xmax": 636.0335261975935, + "ymax": 419.90348525164103 + }, + "corners_3d": [ + [ + -69.42870330810547, + -89.9013900756836, + 0.05742079019546509 + ], + [ + -69.42870330810547, + -89.47412872314453, + 0.05742079019546509 + ], + [ + -68.9056625366211, + -89.47412872314453, + 0.05742079019546509 + ], + [ + -68.9056625366211, + -89.9013900756836, + 0.05742079019546509 + ], + [ + -69.42870330810547, + -89.9013900756836, + 1.0925776958465576 + ], + [ + -69.42870330810547, + -89.47412872314453, + 1.0925776958465576 + ], + [ + -68.9056625366211, + -89.47412872314453, + 1.0925776958465576 + ], + [ + -68.9056625366211, + -89.9013900756836, + 1.0925776958465576 + ] + ], + "corners_2d": [ + [ + 619.2979764895073, + 418.62824215931784 + ], + [ + 633.79188245774, + 419.90348525164103 + ], + [ + 636.0335261975935, + 407.3683451299872 + ], + [ + 621.7332295838186, + 406.1274977670598 + ], + [ + 618.7748277863204, + 393.1126033874298 + ], + [ + 633.6347781057179, + 394.3839054430882 + ], + [ + 635.9345473979372, + 381.89136255194217 + ], + [ + 621.2780403248229, + 380.65519899390665 + ] + ], + "center_offset_px": [ + -12.435234156318302, + 40.37321625946555 + ] + }, + "trace_timestep_index": 125, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 77, + "semantic_pixel_counts": { + "1": 427935, + "2": 179636, + "3": 111738, + "4": 40629, + "5": 598, + "6": 13420, + "7": 1626, + "9": 11539, + "10": 60858, + "12": 3325, + "14": 20345, + "20": 24916, + "21": 530, + "24": 24505 + }, + "instance_pixel_counts": { + "913": 2237, + "5230": 2441, + "9296": 598, + "9346": 1131, + "9799": 1701, + "11927": 449, + "12439": 1526, + "12951": 1054, + "13975": 90, + "15963": 27476, + "17232": 40629, + "21952": 895, + "22464": 3648, + "22784": 152, + "22976": 11886, + "23296": 6323, + "23488": 180, + "23552": 4310, + "24404": 1095, + "24512": 16572, + "25940": 41, + "26196": 40, + "26963": 3113, + "27795": 9970, + "28307": 5478, + "28819": 14286, + "29331": 5606, + "31893": 601, + "32405": 205, + "33429": 1026, + "33941": 99, + "35668": 17022, + "36692": 4481, + "37979": 74504, + "38539": 372, + "39051": 1343, + "39563": 2300, + "40787": 17, + "41107": 47417, + "41611": 2798, + "41619": 18051, + "42123": 2032, + "42635": 1146, + "43117": 7317, + "43147": 10991, + "43155": 111381, + "43659": 10008, + "43667": 19767, + "44179": 195979, + "44181": 3045, + "44693": 512, + "45717": 9468, + "46229": 566, + "46741": 8983, + "47552": 136, + "48064": 1941, + "49088": 3118, + "49664": 199, + "49920": 425, + "50015": 340, + "50176": 582, + "50432": 1022, + "50624": 10465, + "50688": 694, + "50944": 403, + "51136": 4140, + "51456": 4816, + "51648": 3, + "51712": 4481, + "52160": 25494, + "52672": 55626, + "55040": 8016, + "55296": 3032, + "55879": 27312, + "57173": 11539, + "64351": 9722, + "64603": 530 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 199, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -69.16718292236328, + "y": -89.68775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.30088865756988525, + "y": 0.2192382514476776, + "z": 0.5375738143920898 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 618.3780398292165, + "ymin": 379.2109569127576, + "xmax": 636.3892369798331, + "ymax": 421.35833967615815 + }, + "corners_3d": [ + [ + -69.46807098388672, + -89.90699768066406, + 0.037425458431243896 + ], + [ + -69.46807098388672, + -89.46852111816406, + 0.037425458431243896 + ], + [ + -68.86629486083984, + -89.46852111816406, + 0.037425458431243896 + ], + [ + -68.86629486083984, + -89.90699768066406, + 0.037425458431243896 + ], + [ + -69.46807098388672, + -89.90699768066406, + 1.1125731468200684 + ], + [ + -69.46807098388672, + -89.46852111816406, + 1.1125731468200684 + ], + [ + -68.86629486083984, + -89.46852111816406, + 1.1125731468200684 + ], + [ + -68.86629486083984, + -89.90699768066406, + 1.1125731468200684 + ] + ], + "corners_2d": [ + [ + 618.9318564606302, + 420.0468491839229 + ], + [ + 633.8142984957316, + 421.35833967615815 + ], + [ + 636.3892369798331, + 406.93476836315017 + ], + [ + 621.7351835717351, + 405.6638741880542 + ], + [ + 618.3780398292165, + 393.54212961776557 + ], + [ + 633.6514582449881, + 394.84948089984476 + ], + [ + 636.2957048827985, + 380.4768009267996 + ], + [ + 621.2627355337153, + 379.2109569127576 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 425, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -65.04119873046875, + "y": -86.69005584716797, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.4625195264816284, + "y": 0.3634619116783142, + "z": 0.9026640057563782 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 722.504745479135, + "ymin": 286.8322758211647, + "xmax": 753.5846662642249, + "ymax": 350.10219029422996 + }, + "corners_3d": [ + [ + -65.56917572021484, + -86.94940948486328, + -0.32766473293304443 + ], + [ + -65.41804504394531, + -86.23837280273438, + -0.32766473293304443 + ], + [ + -64.51322174072266, + -86.43070220947266, + -0.32766473293304443 + ], + [ + -64.66435241699219, + -87.14173889160156, + -0.32766473293304443 + ], + [ + -65.56917572021484, + -86.94940948486328, + 1.477663278579712 + ], + [ + -65.41804504394531, + -86.23837280273438, + 1.477663278579712 + ], + [ + -64.51322174072266, + -86.43070220947266, + 1.477663278579712 + ], + [ + -64.66435241699219, + -87.14173889160156, + 1.477663278579712 + ] + ], + "corners_2d": [ + [ + 726.831886027457, + 350.10219029422996 + ], + [ + 749.1572665756731, + 348.80756250671226 + ], + [ + 744.3529288157283, + 330.36277276248916 + ], + [ + 722.504745479135, + 331.6018774326248 + ], + [ + 730.3593446692166, + 306.30017017198253 + ], + [ + 753.5846662642249, + 305.02222863097836 + ], + [ + 748.4901428752826, + 286.8322758211647 + ], + [ + 725.7808173482628, + 288.05326004900564 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 582, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -71.42300415039062, + "y": -82.74504852294922, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.5422289967536926, + "y": 0.3153173625469208, + "z": 0.9031599760055542 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 854.5608172465126, + "ymin": 443.0705106898813, + "xmax": 896.0694115321376, + "ymax": 519.0458162023658 + }, + "corners_3d": [ + [ + -71.99522399902344, + -83.00196075439453, + -0.32816559076309204 + ], + [ + -71.92930603027344, + -82.3747787475586, + -0.32816559076309204 + ], + [ + -70.85078430175781, + -82.4881362915039, + -0.32816559076309204 + ], + [ + -70.91670227050781, + -83.11531829833984, + -0.32816559076309204 + ], + [ + -71.99522399902344, + -83.00196075439453, + 1.4781544208526611 + ], + [ + -71.92930603027344, + -82.3747787475586, + 1.4781544208526611 + ], + [ + -70.85078430175781, + -82.4881362915039, + 1.4781544208526611 + ], + [ + -70.91670227050781, + -83.11531829833984, + 1.4781544208526611 + ] + ], + "corners_2d": [ + [ + 860.5527836065037, + 518.7174247243744 + ], + [ + 884.086206086634, + 519.0458162023658 + ], + [ + 877.3789949132604, + 488.0747121423414 + ], + [ + 854.5608172465126, + 487.76592518334235 + ], + [ + 871.3769845582691, + 474.07571250875924 + ], + [ + 896.0694115321376, + 474.4051682048229 + ], + [ + 888.662853508018, + 443.37937862982 + ], + [ + 864.7566792340953, + 443.0705106898813 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 1022, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -77.8678207397461, + "y": -88.65548706054688, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.48531976342201233, + "y": 0.443789005279541, + "z": 0.9171295762062073 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 597.8055058949427, + "ymin": 631.6200525148408, + "xmax": 644.5786280822215, + "ymax": 718.717546580252 + }, + "corners_3d": [ + [ + -78.35314178466797, + -89.09927368164062, + -0.34213030338287354 + ], + [ + -78.35314178466797, + -88.21170043945312, + -0.34213030338287354 + ], + [ + -77.38249969482422, + -88.21170043945312, + -0.34213030338287354 + ], + [ + -77.38249969482422, + -89.09927368164062, + -0.34213030338287354 + ], + [ + -78.35314178466797, + -89.09927368164062, + 1.492128849029541 + ], + [ + -78.35314178466797, + -88.21170043945312, + 1.492128849029541 + ], + [ + -77.38249969482422, + -88.21170043945312, + 1.492128849029541 + ], + [ + -77.38249969482422, + -89.09927368164062, + 1.492128849029541 + ] + ], + "corners_2d": [ + [ + 600.191925635971, + 714.1758234253266 + ], + [ + 639.2025303203039, + 718.717546580252 + ], + [ + 644.3270526481326, + 679.4935067578533 + ], + [ + 606.5463091880507, + 675.2383041389485 + ], + [ + 597.8055058949427, + 671.3634775895492 + ], + [ + 639.1545343271902, + 676.0091347933339 + ], + [ + 644.5786280822215, + 635.9559183084425 + ], + [ + 604.608713660623, + 631.6200525148408 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 694, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -72.78268432617188, + "y": -100.81512451171875, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.3322046101093292, + "y": 0.5081738829612732, + "z": 0.8765185475349426 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 170.64527773241412, + "ymin": 419.56008207605794, + "xmax": 237.24915449944478, + "ymax": 487.10289549000163 + }, + "corners_3d": [ + [ + -73.05995178222656, + -101.35523986816406, + -0.14911210536956787 + ], + [ + -73.16619110107422, + -100.3444595336914, + -0.14911210536956787 + ], + [ + -72.50541687011719, + -100.27500915527344, + -0.14911210536956787 + ], + [ + -72.39917755126953, + -101.2857894897461, + -0.14911210536956787 + ], + [ + -73.05995178222656, + -101.35523986816406, + 1.6039249897003174 + ], + [ + -73.16619110107422, + -100.3444595336914, + 1.6039249897003174 + ], + [ + -72.50541687011719, + -100.27500915527344, + 1.6039249897003174 + ], + [ + -72.39917755126953, + -101.2857894897461, + 1.6039249897003174 + ] + ], + "corners_2d": [ + [ + 191.34435254476398, + 480.7614742982448 + ], + [ + 224.46232880898606, + 487.10289549000163 + ], + [ + 237.24915449944478, + 469.37313480592013 + ], + [ + 204.64022846099613, + 463.2561678325468 + ], + [ + 170.64527773241412, + 437.0445637010076 + ], + [ + 205.1618127976758, + 443.38552903104045 + ], + [ + 218.89291849113414, + 425.66650963365424 + ], + [ + 184.92829296421166, + 419.56008207605794 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 403, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -57.92184829711914, + "y": -97.85797882080078, + "z": 0.6218596696853638 + }, + "extent": { + "x": 0.5576831102371216, + "y": 0.45912107825279236, + "z": 0.9236617684364319 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 434.3892721136883, + "ymin": 147.95768026386378, + "xmax": 475.42785998026034, + "ymax": 208.34866727591935 + }, + "corners_3d": [ + [ + -58.37188720703125, + -98.42301940917969, + -0.3018020987510681 + ], + [ + -58.562801361083984, + -97.52484130859375, + -0.3018020987510681 + ], + [ + -57.47180938720703, + -97.29293823242188, + -0.3018020987510681 + ], + [ + -57.2808952331543, + -98.19111633300781, + -0.3018020987510681 + ], + [ + -58.37188720703125, + -98.42301940917969, + 1.5455214977264404 + ], + [ + -58.562801361083984, + -97.52484130859375, + 1.5455214977264404 + ], + [ + -57.47180938720703, + -97.29293823242188, + 1.5455214977264404 + ], + [ + -57.2808952331543, + -98.19111633300781, + 1.5455214977264404 + ] + ], + "corners_2d": [ + [ + 441.20505708301437, + 204.10127633021256 + ], + [ + 462.51985419679295, + 208.34866727591935 + ], + [ + 475.42785998026034, + 193.59895592283314 + ], + [ + 454.47713108574544, + 189.52545632202862 + ], + [ + 434.3892721136883, + 162.12789865830146 + ], + [ + 456.3970271328194, + 166.26086867765164 + ], + [ + 469.87209789722715, + 151.91580992665547 + ], + [ + 448.25196912185856, + 147.95768026386378 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 4816, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 386.70879445861664, + "ymin": 642.04157806361, + "xmax": 540.7338999987248, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 540.7338999987248, + 684.9637896825482 + ], + [ + 455.34430663849037, + 675.083060672774 + ], + [ + 399.0862305722731, + 866.9104660757719 + ], + [ + 497.9701835831006, + 880.2903157091197 + ], + [ + 536.341417787427, + 652.0700542142894 + ], + [ + 447.244334158912, + 642.04157806361 + ], + [ + 386.70879445861664, + 838.066276096822 + ], + [ + 490.59812375389686, + 851.8441894548607 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 4481, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 939.7596102891159, + "ymin": 86.48761438463362, + "xmax": 1073.8486202527881, + "ymax": 156.48523902804143 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 939.7596102891159, + 127.00726458607971 + ], + [ + 945.1176405375097, + 149.6614238120958 + ], + [ + 1060.0499243557451, + 156.48523902804143 + ], + [ + 1050.6056043360127, + 133.3731975869851 + ], + [ + 949.1834327134554, + 86.48761438463362 + ], + [ + 955.0648682350682, + 108.36656911217119 + ], + [ + 1073.8486202527881, + 114.98708350836114 + ], + [ + 1063.6077928362743, + 92.65096451702476 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 8016, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 742.1780968798016, + "ymin": 614.287703452826, + "xmax": 895.2952852583006, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 742.1780968798016, + 973.6003603483919 + ], + [ + 874.6619753989058, + 992.2894718060871 + ], + [ + 859.0913788208277, + 677.3825320914007 + ], + [ + 754.3929279290104, + 665.7070438828553 + ], + [ + 751.0403321779512, + 934.1599976829839 + ], + [ + 895.2952852583006, + 953.9491902577298 + ], + [ + 874.0211009645514, + 626.2099527822533 + ], + [ + 762.1057712604132, + 614.287703452826 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 216, + "instance_id": 55296, + "pixel_count": 3032, + "type_id": "vehicle.audi.etron", + "bbox_3d": { + "center_world": { + "x": -44.75563430786133, + "y": -104.2794189453125, + "z": 0.8648524284362793 + }, + "extent": { + "x": 2.427854299545288, + "y": 1.0163782835006714, + "z": 0.8246796727180481 + }, + "yaw": -94.3148193359375 + }, + "bbox_2d": { + "xmin": 339.7026444573235, + "ymin": 0.0, + "xmax": 453.2581252133574, + "ymax": 50.85374200751062 + }, + "corners_3d": [ + [ + -45.58646774291992, + -101.781982421875, + 0.04017278552055359 + ], + [ + -43.559471130371094, + -101.9349136352539, + 0.04017278552055359 + ], + [ + -43.92479705810547, + -106.77686309814453, + 0.04017278552055359 + ], + [ + -45.9517936706543, + -106.6239242553711, + 0.04017278552055359 + ], + [ + -45.58646774291992, + -101.781982421875, + 1.6895321607589722 + ], + [ + -43.559471130371094, + -101.9349136352539, + 1.6895321607589722 + ], + [ + -43.92479705810547, + -106.77686309814453, + 1.6895321607589722 + ], + [ + -45.9517936706543, + -106.6239242553711, + 1.6895321607589722 + ] + ], + "corners_2d": [ + [ + 445.2622310511253, + 50.85374200751062 + ], + [ + 453.2581252133574, + 33.536378486561034 + ], + [ + 357.7951030003857, + 31.65442411100628 + ], + [ + 346.7563175916078, + 48.84849665780354 + ], + [ + 440.5605727710807, + 17.596539922747922 + ], + [ + 448.89387193411983, + 0.9392839223097553 + ], + [ + 351.2235175824868, + -0.8694189383500088 + ], + [ + 339.7026444573235, + 15.666442864128157 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 984.6681605711469, + "ymin": 3.0913292551755376, + "xmax": 1002.3373018637728, + "ymax": 30.0584505531653 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 995.213379545384, + 26.98404569205934 + ], + [ + 984.6681605711469, + 26.46913603005703 + ], + [ + 985.7461869758035, + 29.53754864800493 + ], + [ + 996.3536733588069, + 30.0584505531653 + ], + [ + 1001.1428640231127, + 3.5917045432126997 + ], + [ + 990.4159297030536, + 3.0913292551755376 + ], + [ + 991.5459303386489, + 6.0733696706543014 + ], + [ + 1002.3373018637728, + 6.579666074634531 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4809317425322915338, + "instance_id": 2806, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -62.6159553527832, + "y": -93.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 513.3104062715549, + "ymin": 99.39610000705954, + "xmax": 529.7067417601788, + "ymax": 130.32551161044145 + }, + "corners_3d": [ + [ + -62.754539489746094, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.9842529296875, + 6.416468620300293 + ], + [ + -62.754539489746094, + -93.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 527.8509188761782, + 130.32551161044145 + ], + [ + 529.7067417601788, + 125.98956990250082 + ], + [ + 517.7296325733975, + 125.26429441912703 + ], + [ + 515.7934516779034, + 129.5902025768615 + ], + [ + 525.6062577593405, + 104.34593803810299 + ], + [ + 527.514647064646, + 100.10531755299485 + ], + [ + 515.3023504283508, + 99.39610000705954 + ], + [ + 513.3104062715549, + 103.62671214313463 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 288.1729690149543, + "ymin": 164.93207069725176, + "xmax": 308.39540514975613, + "ymax": 192.5380599976247 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 305.28126719115687, + 192.5380599976247 + ], + [ + 308.39540514975613, + 188.15110253138005 + ], + [ + 297.65423541302414, + 187.42078422459164 + ], + [ + 294.47527128309537, + 191.79844141745397 + ], + [ + 299.1694431222511, + 169.97297454543576 + ], + [ + 302.3793465798218, + 165.6514066047146 + ], + [ + 291.4499928833978, + 164.93207069725176 + ], + [ + 288.1729690149543, + 169.24431050712658 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5344508464058845628, + "instance_id": 48329, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -62.61595916748047, + "y": -96.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 417.2297389571147, + "ymin": 93.85387762129386, + "xmax": 435.8755930585586, + "ymax": 124.56532301379775 + }, + "corners_3d": [ + [ + -62.75454330444336, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.9842529296875, + 6.416468620300293 + ], + [ + -62.75454330444336, + -96.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 433.3953654443209, + 124.56532301379775 + ], + [ + 435.8755930585586, + 120.3076721254501 + ], + [ + 424.1138907870279, + 119.59544056837447 + ], + [ + 421.5562248572278, + 123.84332827573849 + ], + [ + 429.298555674377, + 98.71263493033155 + ], + [ + 431.8559812399217, + 94.55009017361368 + ], + [ + 419.86762390064564, + 93.85387762129386 + ], + [ + 417.2297389571147, + 98.00668899597144 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8433051479337506626, + "instance_id": 17047, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -62.61595153808594, + "y": -91.29429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 594.7618529679589, + "ymin": 104.09389337820181, + "xmax": 609.2168776124723, + "ymax": 135.2071011542545 + }, + "corners_3d": [ + [ + -62.75453567504883, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.4842529296875, + 6.416468620300293 + ], + [ + -62.75453567504883, + -91.4842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 607.8993777699837, + 135.2071011542545 + ], + [ + 609.2168776124723, + 130.80425577437114 + ], + [ + 597.0557101199047, + 130.0678346863682 + ], + [ + 595.6553252946285, + 134.46041353174266 + ], + [ + 607.2518296792715, + 109.12160258220314 + ], + [ + 608.6002788402828, + 104.81422878722762 + ], + [ + 596.1965381107767, + 104.09389337820181 + ], + [ + 594.7618529679589, + 108.39102171966306 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 997.0413299442039, + "ymin": 37.35275258501065, + "xmax": 1016.2293857341381, + "ymax": 65.77205250255457 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1008.3020040220758, + 62.27296004259887 + ], + [ + 997.0413299442039, + 61.68718715041706 + ], + [ + 998.2681112759249, + 65.17900451356843 + ], + [ + 1009.5998140584699, + 65.77205250255457 + ], + [ + 1014.8669049882465, + 37.92325790124312 + ], + [ + 1003.3987953738725, + 37.35275258501065 + ], + [ + 1004.687599542251, + 40.753871130149946 + ], + [ + 1016.2293857341381, + 41.33158935010033 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 975.4783522607487, + "ymin": 0.0, + "xmax": 992.047701376178, + "ymax": 3.5546554416906133 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 985.4932964365362, + 0.7777625592997879 + ], + [ + 975.4783522607487, + 0.31252505121057084 + ], + [ + 976.4521505389571, + 3.0842737333458103 + ], + [ + 986.5232422512277, + 3.5546554416906133 + ], + [ + 990.9706412499795, + -21.85424902552296 + ], + [ + 980.7919302974595, + -22.30560905939052 + ], + [ + 981.8109872584953, + -19.61634296528183 + ], + [ + 992.047701376178, + -19.159912426588676 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 994.7203569741471, + "ymin": 187.12052417226226, + "xmax": 1014.8806217101857, + "ymax": 215.39306567138573 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1006.5741643488751, + 210.71388739414496 + ], + [ + 994.7203569741471, + 209.93511011955428 + ], + [ + 996.0042293979228, + 214.60404409234195 + ], + [ + 1007.9372016326225, + 215.39306567138573 + ], + [ + 1013.4459377270157, + 187.88849921117026 + ], + [ + 1001.3625245083153, + 187.12052417226226 + ], + [ + 1002.7149384008906, + 191.72516717838784 + ], + [ + 1014.8806217101857, + 192.50343559389103 + ] + ], + "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": 948.1474291934921, + "ymin": 0.0, + "xmax": 1072.036991684399, + "ymax": 283.2913521348626 + }, + "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": [ + [ + 985.1976374588619, + 282.28884579538874 + ], + [ + 998.1219364015142, + 283.2913521348626 + ], + [ + 958.291776932944, + 116.50562796957723 + ], + [ + 948.1474291934921, + 115.88329192874386 + ], + [ + 1056.335557160702, + 46.11357582998767 + ], + [ + 1072.036991684399, + 46.959102473898156 + ], + [ + 1007.8733664573876, + -87.842881474786 + ], + [ + 996.0930381837798, + -88.32469311342038 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 92.37877530619755, + "ymin": 370.7425436336983, + "xmax": 378.1666799949716, + "ymax": 640.1805350257005 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 224.61393963836161, + 607.0492878742778 + ], + [ + 216.47351299659198, + 622.7826859187682 + ], + [ + 372.1111435223654, + 640.1805350257005 + ], + [ + 378.1666799949716, + 623.9604445400305 + ], + [ + 105.09541868896599, + 370.7425436336983 + ], + [ + 92.37877530619755, + 386.75384797909436 + ], + [ + 292.04271117561933, + 404.6124160322062 + ], + [ + 301.3447637551923, + 387.95768850084346 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 170.53126407273794, + "ymin": 0.0, + "xmax": 294.40428006307485, + "ymax": 244.49246719363654 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 241.19343312568276, + 243.62689954303391 + ], + [ + 252.89951209500123, + 244.49246719363654 + ], + [ + 294.40428006307485, + 187.6840996340964 + ], + [ + 283.5428756939186, + 186.94508784737076 + ], + [ + 170.53126407273794, + 33.7159847033729 + ], + [ + 184.21780785352888, + 34.448466026194524 + ], + [ + 238.50295397270963, + -12.99511610306672 + ], + [ + 225.95637434727877, + -13.603982066879098 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 268.9577029676208, + "ymin": 394.74345881773354, + "xmax": 297.9300328690242, + "ymax": 411.9038441234334 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 276.87717465036326, + 398.93164143613023 + ], + [ + 270.479625636296, + 409.9835559432526 + ], + [ + 291.7776384354708, + 411.9038441234334 + ], + [ + 297.9300328690242, + 400.8056545729027 + ], + [ + 275.3997860996636, + 394.74345881773354 + ], + [ + 268.9577029676208, + 405.78934067693604 + ], + [ + 290.3404045091561, + 407.7086930324712 + ], + [ + 296.53539460500036, + 396.61637145696045 + ] + ], + "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": 886.017071142994, + "ymin": 0.0, + "xmax": 952.4372430940572, + "ymax": 7.318075192915899 + }, + "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": [ + [ + 888.6293739242927, + 5.216967947555474 + ], + [ + 933.0628203867682, + 7.318075192915899 + ], + [ + 929.1430905605489, + -7.567093838715891 + ], + [ + 886.017071142994, + -9.547573955525934 + ], + [ + 904.9941171180552, + -88.45223982169847 + ], + [ + 952.4372430940572, + -86.62536561260356 + ], + [ + 947.6646972776721, + -99.54633942710223 + ], + [ + 901.7090975334316, + -101.2617317657947 + ] + ], + "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": 384.02891733109846, + "ymin": 0.0, + "xmax": 492.7864369817405, + "ymax": 101.36508715692446 + }, + "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": [ + [ + 492.7864369817405, + -2.232605070514694 + ], + [ + 484.9641634082121, + -2.6392120286529916 + ], + [ + 417.65180038078535, + 100.7728009010304 + ], + [ + 427.0273817508273, + 101.36508715692446 + ], + [ + 474.7897690502301, + -177.11731349525542 + ], + [ + 466.0285133701494, + -177.41412748722382 + ], + [ + 384.02891733109846, + -99.9770900808993 + ], + [ + 394.78585223870664, + -99.52201278562012 + ] + ], + "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": 696.4679305803846, + "ymin": 0.0, + "xmax": 970.7239528182536, + "ymax": 27.920736434606454 + }, + "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": [ + [ + 932.5267497131116, + 27.920736434606454 + ], + [ + 931.734644820302, + 24.478798215023346 + ], + [ + 697.1899605386084, + 12.195571133650162 + ], + [ + 696.4679305803846, + 15.478470644500192 + ], + [ + 970.7239528182536, + -154.94050241592697 + ], + [ + 969.5492635286794, + -157.48856414965803 + ], + [ + 704.4083788205503, + -166.54676325486616 + ], + [ + 703.6464396007752, + -164.13115294683848 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1278.096094519737, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 25.8089835094695 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 1292.9960422997065, + 23.548552523874434 + ], + [ + 1340.870535167201, + 25.8089835094695 + ], + [ + 1324.4591794641256, + 9.81047261470627 + ], + [ + 1278.096094519737, + 7.684557984293349 + ], + [ + 1337.7297644479625, + -72.6866472453321 + ], + [ + 1389.104364087608, + -70.71250648452491 + ], + [ + 1370.0425851402726, + -84.65981367193376 + ], + [ + 1320.4038466519874, + -86.50879606087568 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7298902328162137019, + "instance_id": 47923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_0", + "bbox_3d": { + "center_world": { + "x": -58.97412109375, + "y": -104.33528900146484, + "z": 7.722432613372803 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 222.61458042071473, + "ymin": 0.0, + "xmax": 237.42564458832595, + "ymax": 0.9630487461719213 + }, + "corners_3d": [ + [ + -59.18000793457031, + -104.483154296875, + 7.667783737182617 + ], + [ + -59.18000793457031, + -104.18742370605469, + 7.667783737182617 + ], + [ + -58.76823425292969, + -104.18742370605469, + 7.667783737182617 + ], + [ + -58.76823425292969, + -104.483154296875, + 7.667783737182617 + ], + [ + -59.18000793457031, + -104.483154296875, + 7.777081489562988 + ], + [ + -59.18000793457031, + -104.18742370605469, + 7.777081489562988 + ], + [ + -58.76823425292969, + -104.18742370605469, + 7.777081489562988 + ], + [ + -58.76823425292969, + -104.483154296875, + 7.777081489562988 + ] + ], + "corners_2d": [ + [ + 223.5711767755231, + 0.5387080638845987 + ], + [ + 232.06756663547964, + 0.9630487461719213 + ], + [ + 237.42564458832595, + -3.7985447262929597 + ], + [ + 229.00504742781777, + -4.214902538104695 + ], + [ + 222.61458042071473, + -2.741137235898691 + ], + [ + 231.12969564515487, + -2.318593205659454 + ], + [ + 236.50886311941048, + -7.059932283797082 + ], + [ + 228.06987271008154, + -7.474509234191771 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 268.79928163721956, + "ymin": 394.65194393909127, + "xmax": 298.0830546532173, + "ymax": 411.996739715536 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 276.8056496304705, + 398.88511323186003 + ], + [ + 270.33827313605934, + 410.05554885467757 + ], + [ + 291.86611974501756, + 411.996739715536 + ], + [ + 298.0830546532173, + 400.7790299577428 + ], + [ + 275.312165328334, + 394.65194393909127 + ], + [ + 268.79928163721956, + 405.8162156852212 + ], + [ + 290.41365845763323, + 407.7564514265794 + ], + [ + 296.6740989261787, + 396.5447355048956 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14685537128847865056, + "instance_id": 57460, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_1", + "bbox_3d": { + "center_world": { + "x": -58.97411346435547, + "y": -104.33528900146484, + "z": 7.7224273681640625 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 222.6943752504534, + "ymin": 0.0, + "xmax": 237.34785755324236, + "ymax": 0.9178430724604141 + }, + "corners_3d": [ + [ + -59.17780685424805, + -104.48158264160156, + 7.668359756469727 + ], + [ + -59.17780685424805, + -104.18899536132812, + 7.668359756469727 + ], + [ + -58.77042007446289, + -104.18899536132812, + 7.668359756469727 + ], + [ + -58.77042007446289, + -104.48158264160156, + 7.668359756469727 + ], + [ + -59.17780685424805, + -104.48158264160156, + 7.776494979858398 + ], + [ + -59.17780685424805, + -104.18899536132812, + 7.776494979858398 + ], + [ + -58.77042007446289, + -104.18899536132812, + 7.776494979858398 + ], + [ + -58.77042007446289, + -104.48158264160156, + 7.776494979858398 + ] + ], + "corners_2d": [ + [ + 223.64058340753866, + 0.49806482769008653 + ], + [ + 232.04635839841967, + 0.9178430724604141 + ], + [ + 237.34785755324236, + -3.7928710084333375 + ], + [ + 229.01627242681042, + -4.204835467230055 + ], + [ + 222.6943752504534, + -2.746796030068708 + ], + [ + 231.11847775649147, + -2.3287763504770282 + ], + [ + 236.44062151798272, + -7.019665056310714 + ], + [ + 228.09103050309602, + -7.429886241875181 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 239.39557531594488, + "ymin": 22.734882629798108, + "xmax": 646.9907419608278, + "ymax": 288.8508911558258 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 310.7297778341294, + 254.35907900390373 + ], + [ + 306.030766541957, + 261.4778469289693 + ], + [ + 644.1943251769899, + 288.8508911558258 + ], + [ + 645.7978896761309, + 281.21551268407643 + ], + [ + 245.76496342172106, + 22.734882629798108 + ], + [ + 239.39557531594488, + 28.66128795087525 + ], + [ + 645.0674168855581, + 51.65618078398836 + ], + [ + 646.9907419608278, + 45.208806204066605 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 897939386194665430, + "instance_id": 54815, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1949_135", + "bbox_3d": { + "center_world": { + "x": -36.33243179321289, + "y": -120.14290618896484, + "z": 6.611191272735596 + }, + "extent": { + "x": 4.422521591186523, + "y": 4.2970757484436035, + "z": 7.008497714996338 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 285.2013581064034, + "ymax": 8.970021536124136 + }, + "corners_3d": [ + [ + -32.2579460144043, + -115.5145034790039, + -0.3973064422607422 + ], + [ + -31.58873176574707, + -124.08255767822266, + -0.3973064422607422 + ], + [ + -40.406917572021484, + -124.77130889892578, + -0.3973064422607422 + ], + [ + -41.076133728027344, + -116.20325469970703, + -0.3973064422607422 + ], + [ + -32.2579460144043, + -115.5145034790039, + 13.619688987731934 + ], + [ + -31.58873176574707, + -124.08255767822266, + 13.619688987731934 + ], + [ + -40.406917572021484, + -124.77130889892578, + 13.619688987731934 + ], + [ + -41.076133728027344, + -116.20325469970703, + 13.619688987731934 + ] + ], + "corners_2d": [ + [ + 285.2013581064034, + -47.76420315535381 + ], + [ + 156.71471489980343, + -57.504166394576146 + ], + [ + 65.98270266196891, + -3.318205678007928 + ], + [ + 208.26148141004563, + 8.970021536124136 + ], + [ + 217.04913879443558, + -331.303199116605 + ], + [ + 66.24169866578632, + -335.65892993451246 + ], + [ + -57.36698827936641, + -310.9633668244985 + ], + [ + 112.69735876236018, + -305.2018726338057 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 3415205581764433368, + "instance_id": 55317, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1948_134", + "bbox_3d": { + "center_world": { + "x": -37.65735626220703, + "y": -129.6263885498047, + "z": 6.917623043060303 + }, + "extent": { + "x": 4.636507987976074, + "y": 4.5049920082092285, + "z": 7.347609519958496 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 133.13114161378218, + "ymax": 14.54278437419282 + }, + "corners_3d": [ + [ + -33.784976959228516, + -124.44982147216797, + -0.42998647689819336 + ], + [ + -32.37153244018555, + -133.34825134277344, + -0.42998647689819336 + ], + [ + -41.52973556518555, + -134.80294799804688, + -0.42998647689819336 + ], + [ + -42.943180084228516, + -125.90452575683594, + -0.42998647689819336 + ], + [ + -33.784976959228516, + -124.44982147216797, + 14.26523208618164 + ], + [ + -32.37153244018555, + -133.34825134277344, + 14.26523208618164 + ], + [ + -41.52973556518555, + -134.80294799804688, + 14.26523208618164 + ], + [ + -42.943180084228516, + -125.90452575683594, + 14.26523208618164 + ] + ], + "corners_2d": [ + [ + 133.13114161378218, + -44.7231861722633 + ], + [ + 9.607194315059019, + -58.92590842447123 + ], + [ + -115.4765398812541, + -3.5016711786957444 + ], + [ + 19.512120617631922, + 14.54278437419282 + ], + [ + 29.4688873640805, + -345.9850350471553 + ], + [ + -114.53152568445341, + -351.80096211233797 + ], + [ + -287.04961791278606, + -328.6794151175494 + ], + [ + -127.70707989659275, + -320.8980275404215 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 8418614953964379880, + "instance_id": 59550, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2345_119", + "bbox_3d": { + "center_world": { + "x": -35.8762092590332, + "y": -131.68106079101562, + "z": 7.344003677368164 + }, + "extent": { + "x": 5.283463001251221, + "y": 5.114550590515137, + "z": 7.8239593505859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 133.08596163974852, + "ymax": 8.17817260209938 + }, + "corners_3d": [ + [ + -31.924062728881836, + -125.47991943359375, + -0.47995567321777344 + ], + [ + -29.549972534179688, + -135.42970275878906, + -0.47995567321777344 + ], + [ + -39.8283576965332, + -137.8822021484375, + -0.47995567321777344 + ], + [ + -42.20244598388672, + -127.93241882324219, + -0.47995567321777344 + ], + [ + -31.924062728881836, + -125.47991943359375, + 15.167963027954102 + ], + [ + -29.549972534179688, + -135.42970275878906, + 15.167963027954102 + ], + [ + -39.8283576965332, + -137.8822021484375, + 15.167963027954102 + ], + [ + -42.20244598388672, + -127.93241882324219, + 15.167963027954102 + ] + ], + "corners_2d": [ + [ + 133.08596163974852, + -55.216203931223674 + ], + [ + 6.394778541214464, + -74.38411368392758 + ], + [ + -143.82810997258628, + -16.655325341052503 + ], + [ + -6.862949802135745, + 8.17817260209938 + ], + [ + 24.64424177545743, + -372.5847043920569 + ], + [ + -122.16458678943184, + -379.2873219510708 + ], + [ + -329.38068603250133, + -358.721612099784 + ], + [ + -169.78767155296146, + -349.5146146193649 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1079.7466479111072, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1380.5880526559324, + 442.81222704038544 + ], + [ + 1079.7466479111072, + 497.77121440390533 + ], + [ + 1353.690752983827, + 877.7153209934409 + ], + [ + 1739.9627934050716, + 775.2227062162201 + ], + [ + 1786.931404366582, + -97.91958297764603 + ], + [ + 1343.4615909511174, + -60.28387806404902 + ], + [ + 2118.402752609608, + 287.73515414210215 + ], + [ + 2750.6420753792436, + 175.12576583445463 + ] + ], + "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": 219.07488263784262, + "ymin": 0.0, + "xmax": 469.17270064387685, + "ymax": 23.88555672701699 + }, + "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": [ + [ + 296.71204632242933, + 23.88555672701699 + ], + [ + 469.17270064387685, + 4.341580269475628 + ], + [ + 444.6567828083365, + -53.12505199160154 + ], + [ + 291.57508729591996, + -37.827360976325565 + ], + [ + 219.07488263784262, + -293.74067612220335 + ], + [ + 432.2824973293384, + -303.1696098553749 + ], + [ + 408.1475184936022, + -330.0065213617893 + ], + [ + 223.80807082691786, + -322.988554570559 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12783736354476579425, + "instance_id": 25050, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2728_95", + "bbox_3d": { + "center_world": { + "x": -40.00048828125, + "y": -120.97515106201172, + "z": 4.526856422424316 + }, + "extent": { + "x": 2.978419780731201, + "y": 2.8939361572265625, + "z": 4.719987869262695 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 205.3973607742122, + "ymax": 14.537871002543 + }, + "corners_3d": [ + [ + -37.48514938354492, + -124.27953338623047, + -0.1931314468383789 + ], + [ + -43.23114013671875, + -123.58450317382812, + -0.1931314468383789 + ], + [ + -42.51582717895508, + -117.67076873779297, + -0.1931314468383789 + ], + [ + -36.76983642578125, + -118.36579895019531, + -0.1931314468383789 + ], + [ + -37.48514938354492, + -124.27953338623047, + 9.246844291687012 + ], + [ + -43.23114013671875, + -123.58450317382812, + 9.246844291687012 + ], + [ + -42.51582717895508, + -117.67076873779297, + 9.246844291687012 + ], + [ + -36.76983642578125, + -118.36579895019531, + 9.246844291687012 + ] + ], + "corners_2d": [ + [ + 101.38697410683471, + -26.071464447286644 + ], + [ + 55.37323171383093, + 14.446056704410466 + ], + [ + 168.2196676811078, + 14.537871002543 + ], + [ + 205.3973607742122, + -25.993475832836623 + ], + [ + 31.508881636863293, + -214.76158868978814 + ], + [ + -27.84073806191782, + -186.8021432698739 + ], + [ + 101.05429061407017, + -186.73807783189977 + ], + [ + 149.00285026398717, + -214.7083644715874 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00126/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00126/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..79c6cff090b1f1f9d07d25ba20493d2b19708933 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00126/meta.json @@ -0,0 +1,2787 @@ +{ + "frame_id": 126, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 63.0, + "sim_timestamp": 11305.298670940101 + }, + "drone_pose": { + "x": -88.41964796712791, + "y": -86.86315209960888, + "z": 19.971860001575752, + "pitch": -44.18970262403007, + "yaw": -8.13814808608735, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7098150253295898, + 0.1015038788318634, + 0.6970363259315491, + 40.02354431152344 + ], + [ + -0.1415603905916214, + 0.9899296164512634, + 0.0, + 98.50511932373047 + ], + [ + -0.6900169253349304, + -0.09867271780967712, + 0.7170358896255493, + -66.76055908203125 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -87.95819408704413, + "y": -86.80403696505824, + "z": 20.021081209134188 + }, + "t1_image_uv": [ + 1053.9071388563348, + -802.6489218000593 + ], + "t1_depth": 0.28723753889424114 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -68.66718292236328, + "y": -89.68776321411133, + "z": 0.5749992918968201 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 27.82762132636395, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 201, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -68.66718292236328, + "y": -89.68775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.2965112030506134, + "y": 0.21461911499500275, + "z": 0.5403239130973816 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.0405979385229, + "ymin": 338.73527989884997, + "xmax": 648.8373422237146, + "ymax": 381.0452365228205 + }, + "corners_3d": [ + [ + -68.96369171142578, + -89.90238189697266, + 0.03467535972595215 + ], + [ + -68.96369171142578, + -89.47313690185547, + 0.03467535972595215 + ], + [ + -68.37067413330078, + -89.47313690185547, + 0.03467535972595215 + ], + [ + -68.37067413330078, + -89.90238189697266, + 0.03467535972595215 + ], + [ + -68.96369171142578, + -89.90238189697266, + 1.1153231859207153 + ], + [ + -68.96369171142578, + -89.47313690185547, + 1.1153231859207153 + ], + [ + -68.37067413330078, + -89.47313690185547, + 1.1153231859207153 + ], + [ + -68.37067413330078, + -89.90238189697266, + 1.1153231859207153 + ] + ], + "corners_2d": [ + [ + 631.2814881698604, + 379.56115019923794 + ], + [ + 645.8512598082156, + 381.0452365228205 + ], + [ + 648.602891788592, + 366.89794393769694 + ], + [ + 634.2445739787839, + 365.45750217792414 + ], + [ + 631.0405979385229, + 352.81601433178787 + ], + [ + 646.0131873953964, + 354.2983593113977 + ], + [ + 648.8373422237146, + 340.17285352999295 + ], + [ + 634.0879710087526, + 338.73527989884997 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 126, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 63, + "semantic_pixel_counts": { + "1": 437063, + "2": 181619, + "3": 110444, + "4": 41487, + "6": 12941, + "7": 1457, + "9": 882, + "10": 57883, + "12": 3244, + "14": 22695, + "20": 27503, + "24": 24382 + }, + "instance_pixel_counts": { + "913": 3139, + "5230": 2509, + "9346": 1013, + "12951": 1105, + "13975": 109, + "15963": 29075, + "17232": 41487, + "22976": 12390, + "23296": 6195, + "23488": 266, + "23552": 4005, + "24404": 296, + "24512": 18813, + "26963": 3185, + "27795": 8550, + "28307": 4006, + "28819": 14970, + "29331": 6328, + "31893": 486, + "32405": 84, + "33429": 1089, + "33941": 102, + "35668": 19386, + "36692": 4682, + "37979": 71286, + "39051": 596, + "39563": 2167, + "41107": 37205, + "41611": 3022, + "41619": 16717, + "42123": 2128, + "42635": 1118, + "43117": 7574, + "43147": 12201, + "43155": 117644, + "43659": 10988, + "43667": 18244, + "44179": 213399, + "44181": 1626, + "44693": 470, + "45717": 9965, + "46229": 539, + "46741": 10021, + "48064": 80, + "49088": 2371, + "49664": 201, + "49920": 450, + "50176": 575, + "50432": 937, + "50624": 11155, + "50688": 661, + "50944": 420, + "51136": 4291, + "51456": 7388, + "51648": 55, + "51712": 4799, + "52160": 27743, + "52672": 60786, + "55040": 10246, + "55296": 262, + "55879": 26438, + "57173": 882, + "64351": 10235 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 201, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -68.66718292236328, + "y": -89.68775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.3007861077785492, + "y": 0.20372067391872406, + "z": 0.5390596389770508 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.3982778325591, + "ymin": 338.7037685787955, + "xmax": 648.4819877399633, + "ymax": 381.08068220695804 + }, + "corners_3d": [ + [ + -68.96797180175781, + -89.8914794921875, + 0.03593963384628296 + ], + [ + -68.96797180175781, + -89.48403930664062, + 0.03593963384628296 + ], + [ + -68.36639404296875, + -89.48403930664062, + 0.03593963384628296 + ], + [ + -68.36639404296875, + -89.8914794921875, + 0.03593963384628296 + ], + [ + -68.96797180175781, + -89.8914794921875, + 1.1140589714050293 + ], + [ + -68.96797180175781, + -89.48403930664062, + 1.1140589714050293 + ], + [ + -68.36639404296875, + -89.48403930664062, + 1.1140589714050293 + ], + [ + -68.36639404296875, + -89.8914794921875, + 1.1140589714050293 + ] + ], + "corners_2d": [ + [ + 631.6290514424585, + 379.6716794792804 + ], + [ + 645.4606117496526, + 381.08068220695804 + ], + [ + 648.257516995367, + 366.73029047023306 + ], + [ + 634.6295793522356, + 365.36331465737806 + ], + [ + 631.3982778325591, + 352.98897423291214 + ], + [ + 645.611380790132, + 354.3963360771987 + ], + [ + 648.4819877399633, + 340.0680210486967 + ], + [ + 634.4838089502349, + 338.7037685787955 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 450, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -64.54119873046875, + "y": -86.69005584716797, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.5370312333106995, + "y": 0.30607908964157104, + "z": 0.8962609767913818 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 737.9971957606708, + "ymin": 246.2434150315417, + "xmax": 766.87353442447, + "ymax": 312.41258604479174 + }, + "corners_3d": [ + [ + -65.13013458251953, + -86.87779235839844, + -0.3212617039680481 + ], + [ + -65.00285339355469, + -86.27900695800781, + -0.3212617039680481 + ], + [ + -63.952266693115234, + -86.5023193359375, + -0.3212617039680481 + ], + [ + -64.07954406738281, + -87.10110473632812, + -0.3212617039680481 + ], + [ + -65.13013458251953, + -86.87779235839844, + 1.4712603092193604 + ], + [ + -65.00285339355469, + -86.27900695800781, + 1.4712603092193604 + ], + [ + -63.952266693115234, + -86.5023193359375, + 1.4712603092193604 + ], + [ + -64.07954406738281, + -87.10110473632812, + 1.4712603092193604 + ] + ], + "corners_2d": [ + [ + 742.7155354160603, + 312.41258604479174 + ], + [ + 761.7111698621757, + 311.55983657272765 + ], + [ + 756.5335306771689, + 289.96039755709984 + ], + [ + 737.9971957606708, + 290.7719268895888 + ], + [ + 747.0765796470248, + 268.4634701131537 + ], + [ + 766.87353442447, + 267.61866338714105 + ], + [ + 761.3506353450055, + 246.2434150315417 + ], + [ + 742.0520366609023, + 247.0457215965658 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 575, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -70.92300415039062, + "y": -82.74504852294922, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.47541502118110657, + "y": 0.3326660096645355, + "z": 0.8722537755966187 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 866.1853179338409, + "ymin": 408.50216567635755, + "xmax": 908.4169752865753, + "ymax": 479.4166329457365 + }, + "corners_3d": [ + [ + -71.43058776855469, + -83.02619934082031, + -0.2972593903541565 + ], + [ + -71.36103820800781, + -82.36450958251953, + -0.2972593903541565 + ], + [ + -70.41542053222656, + -82.46389770507812, + -0.2972593903541565 + ], + [ + -70.48497009277344, + -83.1255874633789, + -0.2972593903541565 + ], + [ + -71.43058776855469, + -83.02619934082031, + 1.4472482204437256 + ], + [ + -71.36103820800781, + -82.36450958251953, + 1.4472482204437256 + ], + [ + -70.41542053222656, + -82.46389770507812, + 1.4472482204437256 + ], + [ + -70.48497009277344, + -83.1255874633789, + 1.4472482204437256 + ] + ], + "corners_2d": [ + [ + 870.8385874234874, + 478.6904676704414 + ], + [ + 895.7564144676453, + 479.4166329457365 + ], + [ + 890.4584568444857, + 452.31433658887494 + ], + [ + 866.1853179338409, + 451.6250708034045 + ], + [ + 882.2573826412848, + 435.7112207044127 + ], + [ + 908.4169752865753, + 436.44219443188535 + ], + [ + 902.5221616690469, + 409.1942315572762 + ], + [ + 877.0721961630385, + 408.50216567635755 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 937, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -77.4655532836914, + "y": -89.018310546875, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.49421870708465576, + "y": 0.4481542408466339, + "z": 0.8681015372276306 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 588.9161828888185, + "ymin": 591.1221486024413, + "xmax": 637.037985149577, + "ymax": 675.7439255831786 + }, + "corners_3d": [ + [ + -77.95977020263672, + -89.46646118164062, + -0.2931022644042969 + ], + [ + -77.95977020263672, + -88.57015991210938, + -0.2931022644042969 + ], + [ + -76.9713363647461, + -88.57015991210938, + -0.2931022644042969 + ], + [ + -76.9713363647461, + -89.46646118164062, + -0.2931022644042969 + ], + [ + -77.95977020263672, + -89.46646118164062, + 1.4431008100509644 + ], + [ + -77.95977020263672, + -88.57015991210938, + 1.4431008100509644 + ], + [ + -76.9713363647461, + -88.57015991210938, + 1.4431008100509644 + ], + [ + -76.9713363647461, + -89.46646118164062, + 1.4431008100509644 + ] + ], + "corners_2d": [ + [ + 591.750178519547, + 670.5350056908451 + ], + [ + 630.7588032676348, + 675.7439255831786 + ], + [ + 637.037985149577, + 636.6675643319384 + ], + [ + 599.2195173658911, + 631.7788499167203 + ], + [ + 588.9161828888185, + 630.7702463022817 + ], + [ + 630.2136061215225, + 636.1101118475385 + ], + [ + 636.8690162174956, + 596.1153868191819 + ], + [ + 596.9031175538594, + 591.1221486024413 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 661, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -72.28268432617188, + "y": -100.81512451171875, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.5179517269134521, + "y": 0.5163623690605164, + "z": 0.9013688564300537 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 180.37928219895764, + "ymin": 367.47140604495047, + "xmax": 255.05073385205753, + "ymax": 446.0457344543143 + }, + "corners_3d": [ + [ + -72.74382019042969, + -101.38279724121094, + -0.17396241426467896 + ], + [ + -72.85177612304688, + -100.35572814941406, + -0.17396241426467896 + ], + [ + -71.82154846191406, + -100.24745178222656, + -0.17396241426467896 + ], + [ + -71.71359252929688, + -101.27452087402344, + -0.17396241426467896 + ], + [ + -72.74382019042969, + -101.38279724121094, + 1.6287753582000732 + ], + [ + -72.85177612304688, + -100.35572814941406, + 1.6287753582000732 + ], + [ + -71.82154846191406, + -100.24745178222656, + 1.6287753582000732 + ], + [ + -71.71359252929688, + -101.27452087402344, + 1.6287753582000732 + ] + ], + "corners_2d": [ + [ + 202.0564551479539, + 439.125908461916 + ], + [ + 235.39343589665987, + 446.0457344543143 + ], + [ + 255.05073385205753, + 419.0371903616225 + ], + [ + 222.46133471276806, + 412.478048084736 + ], + [ + 180.37928219895764, + 394.1613195662975 + ], + [ + 215.22264709196884, + 401.1034447324989 + ], + [ + 236.39308126295947, + 374.03445302368226 + ], + [ + 202.3643576438829, + 367.47140604495047 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 420, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -57.42184829711914, + "y": -97.85797882080078, + "z": 0.6209465861320496 + }, + "extent": { + "x": 0.42384275794029236, + "y": 0.44532713294029236, + "z": 0.8827950954437256 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 450.76567665941644, + "ymin": 106.3046515475566, + "xmax": 487.72512144551035, + "ymax": 162.37092776320154 + }, + "corners_3d": [ + [ + -57.743839263916016, + -98.38169860839844, + -0.261848509311676 + ], + [ + -57.92901611328125, + -97.51050567626953, + -0.261848509311676 + ], + [ + -57.099857330322266, + -97.33425903320312, + -0.261848509311676 + ], + [ + -56.91468048095703, + -98.20545196533203, + -0.261848509311676 + ], + [ + -57.743839263916016, + -98.38169860839844, + 1.50374174118042 + ], + [ + -57.92901611328125, + -97.51050567626953, + 1.50374174118042 + ], + [ + -57.099857330322266, + -97.33425903320312, + 1.50374174118042 + ], + [ + -56.91468048095703, + -98.20545196533203, + 1.50374174118042 + ] + ], + "corners_2d": [ + [ + 457.0519412890276, + 158.00523237172965 + ], + [ + 477.75770181122044, + 162.37092776320154 + ], + [ + 487.72512144551035, + 151.14634403427823 + ], + [ + 467.2752091013436, + 146.91248273283793 + ], + [ + 450.76567665941644, + 117.13155493884852 + ], + [ + 472.1484720544755, + 121.3957189799473 + ], + [ + 482.5435644688017, + 110.43571366106698 + ], + [ + 461.4333043151022, + 106.3046515475566 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 7388, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 388.4105341728649, + "ymin": 615.8769058210132, + "xmax": 545.4009246077446, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 545.4009246077446, + 659.6407106222725 + ], + [ + 459.7921539489954, + 648.1288260584325 + ], + [ + 401.2381746022381, + 839.4885822679704 + ], + [ + 499.76713797334594, + 854.9131726912185 + ], + [ + 540.9956796731636, + 627.6067230525662 + ], + [ + 451.48229251023065, + 615.8769058210132 + ], + [ + 388.4105341728649, + 812.1929234942438 + ], + [ + 492.1463017517995, + 828.1415287052057 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 4799, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 962.7459542667063, + "ymin": 51.250379242230906, + "xmax": 1101.9179771468473, + "ymax": 125.11948592314445 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 962.7459542667063, + 93.15437435359075 + ], + [ + 967.700288049813, + 116.80971416705356 + ], + [ + 1086.1827927379532, + 125.11948592314445 + ], + [ + 1077.061149063485, + 100.91164119849662 + ], + [ + 973.6209316787094, + 51.250379242230906 + ], + [ + 979.1467132913587, + 74.18401501144024 + ], + [ + 1101.9179771468473, + 82.27471239057678 + ], + [ + 1091.9236472354028, + 58.78614359587806 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 10246, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 742.8926280683075, + "ymin": 593.8820998872079, + "xmax": 897.6051305282832, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 742.8926280683075, + 953.4108743204504 + ], + [ + 875.7937166928631, + 975.0739179369039 + ], + [ + 867.1291950692157, + 657.7851628043638 + ], + [ + 761.2560179552818, + 644.0517035787686 + ], + [ + 752.265113569413, + 917.5092385835363 + ], + [ + 897.6051305282832, + 940.6195877544288 + ], + [ + 883.5228484887659, + 607.9999339920895 + ], + [ + 769.9033908749943, + 593.8820998872079 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 216, + "instance_id": 55296, + "pixel_count": 262, + "type_id": "vehicle.audi.etron", + "bbox_3d": { + "center_world": { + "x": -44.75563430786133, + "y": -104.2794189453125, + "z": 0.8648524284362793 + }, + "extent": { + "x": 2.427854299545288, + "y": 1.0163782835006714, + "z": 0.8246796727180481 + }, + "yaw": -94.3148193359375 + }, + "bbox_2d": { + "xmin": 350.2478067725145, + "ymin": 0.0, + "xmax": 465.94495864173274, + "ymax": 9.28727900289357 + }, + "corners_3d": [ + [ + -45.58646774291992, + -101.781982421875, + 0.04017278552055359 + ], + [ + -43.559471130371094, + -101.9349136352539, + 0.04017278552055359 + ], + [ + -43.92479705810547, + -106.77686309814453, + 0.04017278552055359 + ], + [ + -45.9517936706543, + -106.6239242553711, + 0.04017278552055359 + ], + [ + -45.58646774291992, + -101.781982421875, + 1.6895321607589722 + ], + [ + -43.559471130371094, + -101.9349136352539, + 1.6895321607589722 + ], + [ + -43.92479705810547, + -106.77686309814453, + 1.6895321607589722 + ], + [ + -45.9517936706543, + -106.6239242553711, + 1.6895321607589722 + ] + ], + "corners_2d": [ + [ + 457.57885297964856, + 9.28727900289357 + ], + [ + 465.94495864173274, + -8.636088225350647 + ], + [ + 368.8725772411905, + -11.395729370609217 + ], + [ + 357.48269190867944, + 6.350107317007996 + ], + [ + 452.88301077289884, + -25.161828608101473 + ], + [ + 461.60577232725257, + -42.445629794701176 + ], + [ + 362.1472374555146, + -45.10436756331006 + ], + [ + 350.2478067725145, + -27.996067632194467 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4809317425322915338, + "instance_id": 2806, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -62.6159553527832, + "y": -93.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 524.4767671719719, + "ymin": 61.660626897307736, + "xmax": 541.1850108665132, + "ymax": 93.77727867409493 + }, + "corners_3d": [ + [ + -62.754539489746094, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.9842529296875, + 6.416468620300293 + ], + [ + -62.754539489746094, + -93.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 539.2128978272622, + 93.77727867409493 + ], + [ + 541.1850108665132, + 89.2762190870722 + ], + [ + 528.9479359342876, + 88.40107728710183 + ], + [ + 526.8954168886098, + 92.89021291755927 + ], + [ + 537.0547158310064, + 66.93001113960793 + ], + [ + 539.0836408062443, + 62.518256999605626 + ], + [ + 526.589521743432, + 61.660626897307736 + ], + [ + 524.4767671719719, + 66.06044476458999 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 295.5923805424536, + "ymin": 126.66197384852211, + "xmax": 316.26099750030994, + "ymax": 155.0774677553403 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 313.0614934507089, + 155.0774677553403 + ], + [ + 316.26099750030994, + 150.58242655819546 + ], + [ + 305.39823474692696, + 149.7125605041776 + ], + [ + 302.13522042357226, + 154.1967704943019 + ], + [ + 306.72242975573903, + 131.95652713112693 + ], + [ + 310.02345748229544, + 127.52032999152766 + ], + [ + 298.9592967091676, + 126.66197384852211 + ], + [ + 295.5923805424536, + 131.08727534296983 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5344508464058845628, + "instance_id": 48329, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -62.61595916748047, + "y": -96.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 426.34203262116563, + "ymin": 54.96879923214226, + "xmax": 445.4268174375331, + "ymax": 86.83625453014974 + }, + "corners_3d": [ + [ + -62.75454330444336, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.9842529296875, + 6.416468620300293 + ], + [ + -62.75454330444336, + -96.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 442.8314106755045, + 86.83625453014974 + ], + [ + 445.4268174375331, + 82.42807688776463 + ], + [ + 433.44125738818684, + 81.57092224435172 + ], + [ + 430.768789370359, + 85.96754286911482 + ], + [ + 438.65425188802124, + 60.12723653732945 + ], + [ + 441.33275320927805, + 55.80843341626377 + ], + [ + 429.1008033149536, + 54.96879923214226 + ], + [ + 426.34203262116563, + 59.276041066462255 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8433051479337506626, + "instance_id": 17047, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -62.61595153808594, + "y": -91.29429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 607.878399657226, + "ymin": 67.34702249682795, + "xmax": 622.524969106438, + "ymax": 99.67395333379056 + }, + "corners_3d": [ + [ + -62.75453567504883, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.4842529296875, + 6.416468620300293 + ], + [ + -62.75453567504883, + -91.4842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 621.0929350943105, + 99.67395333379056 + ], + [ + 622.524969106438, + 95.09323128096207 + ], + [ + 610.0722012044318, + 94.20266415337176 + ], + [ + 608.5568502925624, + 98.77114451018446 + ], + [ + 620.6844163508716, + 72.71161963978682 + ], + [ + 622.1500173435917, + 68.22009483924364 + ], + [ + 609.4309315341147, + 67.34702249682795 + ], + [ + 607.878399657226, + 71.82628605167957 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1024.250102689446, + "ymin": 1.0080654352454417, + "xmax": 1044.8770331238734, + "ymax": 30.79734844885678 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1035.9324493395152, + 27.10380883329384 + ], + [ + 1024.250102689446, + 26.385126313996693 + ], + [ + 1025.4348512848403, + 30.069800634238845 + ], + [ + 1037.1905028268707, + 30.79734844885678 + ], + [ + 1043.5468787542238, + 1.70956784869054 + ], + [ + 1031.6308448608809, + 1.0080654352454417 + ], + [ + 1032.8847251456807, + 4.604999382007293 + ], + [ + 1044.8770331238734, + 5.315323048216271 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1017.5838066501383, + "ymin": 157.34209715468657, + "xmax": 1039.0109241709097, + "ymax": 186.61685475759032 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1029.8077590562043, + 181.7253717804385 + ], + [ + 1017.5838066501383, + 180.77908944207363 + ], + [ + 1018.7882525944578, + 185.65827812922734 + ], + [ + 1031.0929281089536, + 186.61685475759032 + ], + [ + 1037.6479092851482, + 158.27740664161502 + ], + [ + 1025.1683880042947, + 157.34209715468657 + ], + [ + 1026.4472601493271, + 162.1652133561401 + ], + [ + 1039.0109241709097, + 163.11292124451853 + ] + ], + "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": 971.6739371229154, + "ymin": 0.0, + "xmax": 1103.4760456360352, + "ymax": 256.14474507056366 + }, + "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": [ + [ + 1005.566693775975, + 254.94612978222742 + ], + [ + 1018.8374082805792, + 256.14474507056366 + ], + [ + 982.1254424085269, + 82.37840982472386 + ], + [ + 971.6739371229154, + 81.62921120395288 + ], + [ + 1087.0960699903314, + 11.27272586055335 + ], + [ + 1103.4760456360352, + 12.307669441905944 + ], + [ + 1039.8454446499595, + -131.06786625971176 + ], + [ + 1027.5559461539513, + -131.65827802507698 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 91.11372214274934, + "ymin": 339.8339953962717, + "xmax": 382.9501592124523, + "ymax": 611.5916426598858 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 229.5458536788916, + 575.6374165990562 + ], + [ + 221.31003477175057, + 591.3570717430459 + ], + [ + 376.7067163297263, + 611.5916426598858 + ], + [ + 382.9501592124523, + 595.324799428776 + ], + [ + 104.1596928317573, + 339.8339953962717 + ], + [ + 91.11372214274934, + 356.2120951990846 + ], + [ + 292.9576837115229, + 377.49772079408075 + ], + [ + 302.66025247641124, + 360.3677723571249 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 174.9732360225412, + "ymin": 0.0, + "xmax": 303.06999981030856, + "ymax": 207.25136253448565 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 248.92426527523298, + 206.22752897570933 + ], + [ + 260.70854590799036, + 207.25136253448565 + ], + [ + 303.06999981030856, + 149.32366540496088 + ], + [ + 292.1078483298774, + 148.44608641568934 + ], + [ + 174.9732360225412, + -9.591486849736384 + ], + [ + 188.87382959215233, + -8.710922381182684 + ], + [ + 244.81328655182188, + -57.85414520693894 + ], + [ + 232.0414024307657, + -58.58816890602242 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 269.7213739721, + "ymin": 366.83560565741953, + "xmax": 299.31519371375964, + "ymax": 384.6999577135857 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 277.98658438681053, + 371.06163523112406 + ], + [ + 271.3361352345022, + 382.4081107272813 + ], + [ + 292.9056930462708, + 384.6999577135857 + ], + [ + 299.31519371375964, + 373.299318143148 + ], + [ + 276.4198604555519, + 366.83560565741953 + ], + [ + 269.7213739721, + 378.18077699297305 + ], + [ + 291.3817452000534, + 380.4725038030032 + ], + [ + 297.83726677067625, + 369.0729379640132 + ] + ], + "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": 394.6339301707744, + "ymin": 0.0, + "xmax": 506.73877539245524, + "ymax": 61.499492926968344 + }, + "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": [ + [ + 506.73877539245524, + -45.53831038931435 + ], + [ + 498.7619787387656, + -46.02378131656616 + ], + [ + 428.8879812936931, + 60.79722825732466 + ], + [ + 438.40542850433815, + 61.499492926968344 + ], + [ + 489.2195943519728, + -228.67990837865182 + ], + [ + 480.21345432065095, + -229.0385173194768 + ], + [ + 394.6339301707744, + -147.98441413643502 + ], + [ + 405.65351721914567, + -147.43688130020928 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 269.55959868082715, + "ymin": 366.7403183845629, + "xmax": 299.47154053621614, + "ymax": 384.796646561413 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 277.915430508306, + 371.0117708863959 + ], + [ + 271.1924792505295, + 382.4798637612285 + ], + [ + 292.99473345152245, + 384.796646561413 + ], + [ + 299.47154053621614, + 373.2732204011863 + ], + [ + 276.3316364758198, + 366.7403183845629 + ], + [ + 269.55959868082715, + 378.2070776981336 + ], + [ + 291.4546405913419, + 380.5237390284137 + ], + [ + 297.9784520632472, + 369.00140848930835 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 244.68306040854674, + "ymin": 0.0, + "xmax": 662.2655546922352, + "ymax": 257.4873598209341 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 318.99216014966134, + 218.00004199948583 + ], + [ + 314.1854342628387, + 225.24951856749274 + ], + [ + 656.4642877248033, + 257.4873598209341 + ], + [ + 658.2313571435667, + 249.6435552545705 + ], + [ + 251.26803132889358, + -20.3038841167658 + ], + [ + 244.68306040854674, + -14.157150492469043 + ], + [ + 660.1499737867904, + 13.467743149154899 + ], + [ + 662.2655546922352, + 6.702225705885041 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1096.9738732149087, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1409.1730869142996, + 426.6538699685557 + ], + [ + 1096.9738732149087, + 478.64859647248335 + ], + [ + 1366.2525237883713, + 871.156297109769 + ], + [ + 1769.2387225097907, + 774.8934747299818 + ], + [ + 1878.7042886342742, + -135.4913607399127 + ], + [ + 1400.0539988343314, + -97.6319272773614 + ], + [ + 2245.189714547514, + 294.6137324789766 + ], + [ + 2949.5970181635503, + 176.31885835206702 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00127/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00127/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e3ba460732a4b252d12e8af26ee41f49db8956c0 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00127/meta.json @@ -0,0 +1,2891 @@ +{ + "frame_id": 127, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 63.5, + "sim_timestamp": 11316.783709337935 + }, + "drone_pose": { + "x": -87.95819408704413, + "y": -86.80403696505824, + "z": 20.021081209134188, + "pitch": -44.19548201073591, + "yaw": -8.290163192243048, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.709473729133606, + 0.1033766120672226, + 0.6971085667610168, + 39.47365188598633 + ], + [ + -0.14418630301952362, + 0.9895505905151367, + 0.0, + 98.579345703125 + ], + [ + -0.6898241639137268, + -0.1005135029554367, + 0.7169656157493591, + -66.30513000488281 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -87.4593725965608, + "y": -86.38120488825597, + "z": 19.83996616025258 + }, + "t1_image_uv": [ + 1718.536172454597, + -17.768319814018696 + ], + "t1_depth": 0.43644662366365394 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -68.16718292236328, + "y": -89.68776321411133, + "z": 0.5749992918968201 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 27.89534193968423, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 183, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -68.16718292236328, + "y": -89.68775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.18701903522014618, + "y": 0.2299218624830246, + "z": 0.522508442401886 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 629.9985919771304, + "ymin": 339.89420222053553, + "xmax": 650.0395235331243, + "ymax": 379.88798703974265 + }, + "corners_3d": [ + [ + -68.13684844970703, + -89.98258209228516, + 0.052490830421447754 + ], + [ + -68.46200561523438, + -89.65742492675781, + 0.052490830421447754 + ], + [ + -68.19751739501953, + -89.39293670654297, + 0.052490830421447754 + ], + [ + -67.87236022949219, + -89.71809387207031, + 0.052490830421447754 + ], + [ + -68.13684844970703, + -89.98258209228516, + 1.0975077152252197 + ], + [ + -68.46200561523438, + -89.65742492675781, + 1.0975077152252197 + ], + [ + -68.19751739501953, + -89.39293670654297, + 1.0975077152252197 + ], + [ + -67.87236022949219, + -89.71809387207031, + 1.0975077152252197 + ] + ], + "corners_2d": [ + [ + 630.2559399052758, + 370.98841211024234 + ], + [ + 639.57255741644, + 379.88798703974265 + ], + [ + 649.780242416144, + 374.4703222518115 + ], + [ + 640.4213225631894, + 365.6711467689428 + ], + [ + 629.9985919771304, + 345.2020918541951 + ], + [ + 639.5611591178459, + 354.0895075009549 + ], + [ + 650.0395235331243, + 348.67871787354545 + ], + [ + 640.4323857117283, + 339.89420222053553 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 127, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 63, + "semantic_pixel_counts": { + "1": 444764, + "2": 181849, + "3": 107881, + "4": 41557, + "6": 13805, + "7": 1498, + "9": 1179, + "10": 56891, + "12": 3136, + "14": 19000, + "20": 25751, + "24": 24289 + }, + "instance_pixel_counts": { + "913": 1595, + "5230": 1497, + "9346": 1070, + "12951": 1139, + "13975": 127, + "15963": 25465, + "17232": 41557, + "22976": 12755, + "23296": 6763, + "23488": 362, + "23552": 4182, + "24404": 660, + "24512": 18068, + "26963": 3288, + "27795": 9100, + "28307": 4850, + "28819": 15394, + "29331": 7003, + "31893": 511, + "32405": 88, + "33429": 1095, + "33941": 113, + "35668": 18657, + "36692": 4839, + "37979": 73022, + "39051": 786, + "39563": 2174, + "41107": 40131, + "41611": 3151, + "41619": 16788, + "42123": 2185, + "42635": 1139, + "43117": 7897, + "43147": 11970, + "43155": 121054, + "43659": 10723, + "43667": 18322, + "44179": 212122, + "44181": 1711, + "44693": 473, + "45717": 10209, + "46229": 537, + "46741": 9552, + "48064": 387, + "49088": 2909, + "49664": 183, + "49920": 403, + "50176": 559, + "50432": 1011, + "50624": 11567, + "50688": 590, + "50944": 390, + "51136": 4410, + "51456": 5537, + "51648": 258, + "51712": 4873, + "52160": 27879, + "52672": 59670, + "55040": 8208, + "55296": 382, + "55879": 26851, + "57173": 1179, + "64351": 10190 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 183, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -68.16718292236328, + "y": -89.68775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.19683349132537842, + "y": 0.20894043147563934, + "z": 0.5290693640708923 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 630.1538393850917, + "ymin": 339.9866863114083, + "xmax": 649.8720218856773, + "ymax": 379.77887421815615 + }, + "corners_3d": [ + [ + -68.15862274169922, + -89.97468566894531, + 0.045929908752441406 + ], + [ + -68.45410919189453, + -89.67919921875, + 0.045929908752441406 + ], + [ + -68.17574310302734, + -89.40083312988281, + 0.045929908752441406 + ], + [ + -67.88025665283203, + -89.69631958007812, + 0.045929908752441406 + ], + [ + -68.15862274169922, + -89.97468566894531, + 1.104068636894226 + ], + [ + -68.45410919189453, + -89.67919921875, + 1.104068636894226 + ], + [ + -68.17574310302734, + -89.40083312988281, + 1.104068636894226 + ], + [ + -67.88025665283203, + -89.69631958007812, + 1.104068636894226 + ] + ], + "corners_2d": [ + [ + 630.4104798436898, + 371.6889739478721 + ], + [ + 638.8745257042026, + 379.77887421815615 + ], + [ + 649.614055877405, + 374.0818023671202 + ], + [ + 641.1095633595219, + 366.08791173028783 + ], + [ + 630.1538393850917, + 345.5778740439455 + ], + [ + 638.8441403017155, + 353.65664364859936 + ], + [ + 649.8720218856773, + 347.967024719926 + ], + [ + 641.1390774911282, + 339.9866863114083 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 403, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -64.04119873046875, + "y": -86.69005584716797, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.47236570715904236, + "y": 0.3032324016094208, + "z": 0.9136106371879578 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 733.4603712338161, + "ymin": 246.25944463744378, + "xmax": 771.2843425127925, + "ymax": 313.0809343929193 + }, + "corners_3d": [ + [ + -64.27220916748047, + -87.2016372680664, + -0.338611364364624 + ], + [ + -64.60250854492188, + -86.6930160522461, + -0.338611364364624 + ], + [ + -63.8101921081543, + -86.17847442626953, + -0.338611364364624 + ], + [ + -63.479888916015625, + -86.68709564208984, + -0.338611364364624 + ], + [ + -64.27220916748047, + -87.2016372680664, + 1.4886099100112915 + ], + [ + -64.60250854492188, + -86.6930160522461, + 1.4886099100112915 + ], + [ + -63.8101921081543, + -86.17847442626953, + 1.4886099100112915 + ], + [ + -63.479888916015625, + -86.68709564208984, + 1.4886099100112915 + ] + ], + "corners_2d": [ + [ + 733.4603712338161, + 304.8862678481388 + ], + [ + 748.5577552298876, + 313.0809343929193 + ], + [ + 765.9349198241873, + 298.6484561581371 + ], + [ + 750.9230577330729, + 290.7171751247128 + ], + [ + 737.4599629148775, + 260.2747291325272 + ], + [ + 753.2486501147532, + 268.38927699215685 + ], + [ + 771.2843425127925, + 254.1022463995124 + ], + [ + 755.5901555602806, + 246.25944463744378 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 559, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -70.42300415039062, + "y": -82.74504852294922, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.43697020411491394, + "y": 0.4068847596645355, + "z": 0.8981507420539856 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 857.8933341520159, + "ymin": 405.2039003911561, + "xmax": 914.8100758531505, + "ymax": 483.3848616193776 + }, + "corners_3d": [ + [ + -70.50653076171875, + -83.33625030517578, + -0.32315635681152344 + ], + [ + -71.0186538696289, + -82.7038345336914, + -0.32315635681152344 + ], + [ + -70.3394775390625, + -82.15384674072266, + -0.32315635681152344 + ], + [ + -69.82735443115234, + -82.78626251220703, + -0.32315635681152344 + ], + [ + -70.50653076171875, + -83.33625030517578, + 1.4731451272964478 + ], + [ + -71.0186538696289, + -82.7038345336914, + 1.4731451272964478 + ], + [ + -70.3394775390625, + -82.15384674072266, + 1.4731451272964478 + ], + [ + -69.82735443115234, + -82.78626251220703, + 1.4731451272964478 + ] + ], + "corners_2d": [ + [ + 857.8933341520159, + 466.09572173908566 + ], + [ + 882.0744008153906, + 483.3848616193776 + ], + [ + 901.6763729451297, + 466.2430309921492 + ], + [ + 877.5656528996926, + 449.50577959935544 + ], + [ + 868.8279112919951, + 421.87182251395734 + ], + [ + 894.4348241203959, + 439.2706626928934 + ], + [ + 914.8100758531505, + 422.0199437719947 + ], + [ + 889.287796070616, + 405.2039003911561 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 1011, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -77.19804382324219, + "y": -89.33281707763672, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.4126879870891571, + "y": 0.4852246046066284, + "z": 0.9236359000205994 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 567.8368197838573, + "ymin": 592.9653159463769, + "xmax": 625.5955785177025, + "ymax": 686.9887006111242 + }, + "corners_3d": [ + [ + -77.1467514038086, + -89.96773529052734, + -0.3486366271972656 + ], + [ + -77.83296203613281, + -89.28152465820312, + -0.3486366271972656 + ], + [ + -77.24933624267578, + -88.6978988647461, + -0.3486366271972656 + ], + [ + -76.56312561035156, + -89.38410949707031, + -0.3486366271972656 + ], + [ + -77.1467514038086, + -89.96773529052734, + 1.498635172843933 + ], + [ + -77.83296203613281, + -89.28152465820312, + 1.498635172843933 + ], + [ + -77.24933624267578, + -88.6978988647461, + 1.498635172843933 + ], + [ + -76.56312561035156, + -89.38410949707031, + 1.498635172843933 + ] + ], + "corners_2d": [ + [ + 572.0232604995924, + 655.3167587395569 + ], + [ + 596.0060230733407, + 686.9887006111242 + ], + [ + 625.5955785177025, + 666.7168168424051 + ], + [ + 601.2571290520071, + 636.0430877981687 + ], + [ + 567.8368197838573, + 612.6972244265344 + ], + [ + 593.2223359181852, + 645.2051052704214 + ], + [ + 624.6997199802312, + 624.3862762152637 + ], + [ + 598.9107898511891, + 592.9653159463769 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 590, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -71.78268432617188, + "y": -100.81512451171875, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.4905175566673279, + "y": 0.39329588413238525, + "z": 0.8811349868774414 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 188.12271779150143, + "ymin": 368.2222858896921, + "xmax": 251.02555011390564, + "ymax": 443.41685691342155 + }, + "corners_3d": [ + [ + -71.78572845458984, + -101.44384002685547, + -0.15372854471206665 + ], + [ + -72.39702606201172, + -100.94882202148438, + -0.15372854471206665 + ], + [ + -71.7796401977539, + -100.18640899658203, + -0.15372854471206665 + ], + [ + -71.16834259033203, + -100.68142700195312, + -0.15372854471206665 + ], + [ + -71.78572845458984, + -101.44384002685547, + 1.608541488647461 + ], + [ + -72.39702606201172, + -100.94882202148438, + 1.608541488647461 + ], + [ + -71.7796401977539, + -100.18640899658203, + 1.608541488647461 + ], + [ + -71.16834259033203, + -100.68142700195312, + 1.608541488647461 + ] + ], + "corners_2d": [ + [ + 208.64397104297154, + 425.19107360981087 + ], + [ + 215.28705538507444, + 443.41685691342155 + ], + [ + 251.02555011390564, + 429.8518209140425 + ], + [ + 243.83733307363036, + 412.1048336105546 + ], + [ + 188.12271779150143, + 381.32067028756904 + ], + [ + 194.6951883836141, + 399.5906042107097 + ], + [ + 232.43005367339424, + 385.9896879655361 + ], + [ + 225.24893206626615, + 368.2222858896921 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 390, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -56.92184829711914, + "y": -97.85797882080078, + "z": 0.6200286149978638 + }, + "extent": { + "x": 0.4910302758216858, + "y": 0.5095751881599426, + "z": 0.9067205786705017 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 451.321745735741, + "ymin": 104.41156366460044, + "xmax": 489.94522470866843, + "ymax": 164.69174913987206 + }, + "corners_3d": [ + [ + -56.76191711425781, + -98.54732513427734, + -0.28669196367263794 + ], + [ + -57.61664962768555, + -97.99225616455078, + -0.28669196367263794 + ], + [ + -57.08177947998047, + -97.16863250732422, + -0.28669196367263794 + ], + [ + -56.227046966552734, + -97.72370147705078, + -0.28669196367263794 + ], + [ + -56.76191711425781, + -98.54732513427734, + 1.5267491340637207 + ], + [ + -57.61664962768555, + -97.99225616455078, + 1.5267491340637207 + ], + [ + -57.08177947998047, + -97.16863250732422, + 1.5267491340637207 + ], + [ + -56.227046966552734, + -97.72370147705078, + 1.5267491340637207 + ] + ], + "corners_2d": [ + [ + 457.6816749423914, + 151.62776814312446 + ], + [ + 465.49836308817214, + 164.69174913987206 + ], + [ + 489.94522470866843, + 158.84139372227642 + ], + [ + 481.76008010414455, + 145.98188332287629 + ], + [ + 451.321745735741, + 109.91676821269684 + ], + [ + 459.2975290583823, + 122.66670408197959 + ], + [ + 484.6568514441409, + 116.95500305282383 + ], + [ + 476.28456513399976, + 104.41156366460044 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 5537, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 378.69320090989606, + "ymin": 635.0309408969761, + "xmax": 539.839639983533, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 539.839639983533, + 678.8976376307266 + ], + [ + 453.23221414462444, + 666.8374122649495 + ], + [ + 392.2155072301997, + 863.9473896224576 + ], + [ + 492.0539194824266, + 880.1707119394209 + ], + [ + 535.1105427059199, + 647.3367026733436 + ], + [ + 444.50281768065247, + 635.0309408969761 + ], + [ + 378.69320090989606, + 837.566980479827 + ], + [ + 483.88391905741184, + 854.3720048392446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 4873, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 964.6100495546086, + "ymin": 57.94631458417251, + "xmax": 1105.0604995186768, + "ymax": 132.67540236989043 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 964.6100495546086, + 99.96124907061869 + ], + [ + 969.5390583718379, + 124.04934922842742 + ], + [ + 1089.0825486828792, + 132.67540236989043 + ], + [ + 1079.9160087431553, + 108.00916038116702 + ], + [ + 975.6379241999236, + 57.94631458417251 + ], + [ + 981.1478305768057, + 81.31841827699441 + ], + [ + 1105.0604995186768, + 89.72332538670992 + ], + [ + 1095.0037760431994, + 65.76992369385465 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 8208, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 738.3951648640979, + "ymin": 613.9142291009051, + "xmax": 895.5176706311405, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 738.3951648640979, + 982.8488148872502 + ], + [ + 873.5061945209802, + 1005.7246105066282 + ], + [ + 865.9585909441491, + 677.8038422191954 + ], + [ + 758.6683666646194, + 663.398961272652 + ], + [ + 747.5235625750242, + 949.0334336246343 + ], + [ + 895.5176706311405, + 973.5217030196521 + ], + [ + 882.5114494520226, + 628.7557975058012 + ], + [ + 767.2542321669397, + 613.9142291009051 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 216, + "instance_id": 55296, + "pixel_count": 382, + "type_id": "vehicle.audi.etron", + "bbox_3d": { + "center_world": { + "x": -44.75563430786133, + "y": -104.2794189453125, + "z": 0.8648524284362793 + }, + "extent": { + "x": 2.427854299545288, + "y": 1.0163782835006714, + "z": 0.8246796727180481 + }, + "yaw": -94.3148193359375 + }, + "bbox_2d": { + "xmin": 348.4098989493805, + "ymin": 0.0, + "xmax": 464.9042005568351, + "ymax": 14.085578787170732 + }, + "corners_3d": [ + [ + -45.58646774291992, + -101.781982421875, + 0.04017278552055359 + ], + [ + -43.559471130371094, + -101.9349136352539, + 0.04017278552055359 + ], + [ + -43.92479705810547, + -106.77686309814453, + 0.04017278552055359 + ], + [ + -45.9517936706543, + -106.6239242553711, + 0.04017278552055359 + ], + [ + -45.58646774291992, + -101.781982421875, + 1.6895321607589722 + ], + [ + -43.559471130371094, + -101.9349136352539, + 1.6895321607589722 + ], + [ + -43.92479705810547, + -106.77686309814453, + 1.6895321607589722 + ], + [ + -45.9517936706543, + -106.6239242553711, + 1.6895321607589722 + ] + ], + "corners_2d": [ + [ + 456.3429777234759, + 14.085578787170732 + ], + [ + 464.9042005568351, + -4.091019864335465 + ], + [ + 367.34745322623604, + -7.00011575418273 + ], + [ + 355.73326424501914, + 10.988276669994264 + ], + [ + 451.5858242290825, + -20.449020837816363 + ], + [ + 460.5126432195441, + -37.986239799804935 + ], + [ + 360.54490072242436, + -40.79039848946559 + ], + [ + 348.4098989493805, + -23.439358807499275 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1014.7341458919796, + "ymin": 0.0, + "xmax": 1033.9737819055617, + "ymax": 0.17082915612485294 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1025.7856265279756, + -3.147688268305558 + ], + [ + 1014.7341458919796, + -3.805875831394758 + ], + [ + 1015.7782661998856, + -0.4950365560653154 + ], + [ + 1026.895271820732, + 0.17082915612485294 + ], + [ + 1032.8022562500778, + -27.710319587322715 + ], + [ + 1021.5417630429627, + -28.35159941874406 + ], + [ + 1022.6452560699967, + -25.125537101711302 + ], + [ + 1033.9737819055617, + -24.47663916860506 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4809317425322915338, + "instance_id": 2806, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -62.6159553527832, + "y": -93.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 521.4437606830713, + "ymin": 70.17803644405939, + "xmax": 538.4120371843231, + "ymax": 102.51414708127675 + }, + "corners_3d": [ + [ + -62.754539489746094, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.9842529296875, + 6.416468620300293 + ], + [ + -62.754539489746094, + -93.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 536.377469601205, + 102.51414708127675 + ], + [ + 538.4120371843231, + 97.91049779189501 + ], + [ + 526.0668186176453, + 96.99854809264787 + ], + [ + 523.9504912247027, + 101.58965556694176 + ], + [ + 534.1360364210909, + 75.58751136329784 + ], + [ + 536.2299010953361, + 71.07230783087084 + ], + [ + 523.6228998325721, + 70.17803644405939 + ], + [ + 521.4437606830713, + 74.6806745152112 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 291.0343437353774, + "ymin": 134.6302130348766, + "xmax": 311.99602715553743, + "ymax": 163.20660883047708 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 308.721501868804, + 163.20660883047708 + ], + [ + 311.99602715553743, + 158.62421699797034 + ], + [ + 301.0591462869584, + 157.7207253349509 + ], + [ + 297.72031020269503, + 162.29177749776056 + ], + [ + 302.2422246459799, + 140.0467487776835 + ], + [ + 305.6214781833789, + 135.5221750197281 + ], + [ + 294.4803336925403, + 134.6302130348766 + ], + [ + 291.0343437353774, + 139.14337231879023 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5344508464058845628, + "instance_id": 48329, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -62.61595916748047, + "y": -96.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 422.4509853130402, + "ymin": 63.20267739733407, + "xmax": 441.83232308850506, + "ymax": 95.28214497223507 + }, + "corners_3d": [ + [ + -62.75454330444336, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.9842529296875, + 6.416468620300293 + ], + [ + -62.75454330444336, + -96.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 439.164306994786, + 95.28214497223507 + ], + [ + 441.83232308850506, + 90.77615286002077 + ], + [ + 429.74792965726203, + 89.88347040466817 + ], + [ + 427.00165158505604, + 94.3773173887671 + ], + [ + 434.86755511077786, + 68.49504765150454 + ], + [ + 437.6218277280517, + 64.07765606372277 + ], + [ + 425.28680703549566, + 63.20267739733407 + ], + [ + 422.4509853130402, + 67.60790933419105 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8433051479337506626, + "instance_id": 17047, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -62.61595153808594, + "y": -91.29429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 605.6219417906257, + "ymin": 76.10866728115064, + "xmax": 620.4943772951071, + "ymax": 108.66138645171961 + }, + "corners_3d": [ + [ + -62.75453567504883, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.4842529296875, + 6.416468620300293 + ], + [ + -62.75453567504883, + -91.4842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 619.009311904497, + 108.66138645171961 + ], + [ + 620.4943772951071, + 103.97391056120603 + ], + [ + 607.9252995524954, + 103.04542432212236 + ], + [ + 606.355426451668, + 107.72001452447705 + ], + [ + 618.5510480747273, + 81.61872408449324 + ], + [ + 620.0715250666027, + 77.01950754807507 + ], + [ + 607.2309425540328, + 76.10866728115064 + ], + [ + 605.6219417906257, + 80.69496627578519 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1026.7198327706487, + "ymin": 8.722107747506698, + "xmax": 1047.603407671193, + "ymax": 38.72717088948281 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1038.5243857307619, + 34.94898519665861 + ], + [ + 1026.7198327706487, + 34.199977094966755 + ], + [ + 1027.908396205753, + 37.96883636565377 + ], + [ + 1039.7877348210327, + 38.72717088948281 + ], + [ + 1046.2663398069303, + 9.453649592495026 + ], + [ + 1034.2230361629086, + 8.722107747506698 + ], + [ + 1035.4822552610794, + 12.403435297365888 + ], + [ + 1047.603407671193, + 13.14426460457247 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1019.6721639309728, + "ymin": 167.03841791132137, + "xmax": 1041.3642535029041, + "ymax": 196.51119235467533 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1032.0282269759484, + 191.50647535678704 + ], + [ + 1019.6721639309728, + 190.5200476962614 + ], + [ + 1020.8782123098804, + 195.51182287837136 + ], + [ + 1033.3166862469125, + 196.51119235467533 + ], + [ + 1039.9962315094913, + 168.01395785203096 + ], + [ + 1027.3788769526575, + 167.03841791132137 + ], + [ + 1028.6609564626915, + 171.975621709261 + ], + [ + 1041.3642535029041, + 172.96422319399446 + ] + ], + "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": 973.6489374170983, + "ymin": 0.0, + "xmax": 1106.9204292059574, + "ymax": 266.1962055519406 + }, + "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": [ + [ + 1007.4047745264693, + 264.94974999117505 + ], + [ + 1020.8117553609544, + 266.1962055519406 + ], + [ + 984.1868425597797, + 89.00086344507804 + ], + [ + 973.6489374170983, + 88.22476459936888 + ], + [ + 1090.3307078466778, + 20.645163522739892 + ], + [ + 1106.9204292059574, + 21.72810776472022 + ], + [ + 1042.792173347509, + -125.25979416960399 + ], + [ + 1030.382080466355, + -125.87414142908437 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 77.3632829928589, + "ymin": 357.5768236107726, + "xmax": 375.858558892959, + "ymax": 629.2149848946832 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 220.9204420201582, + 591.9219918060853 + ], + [ + 212.4209621364103, + 608.048741335391 + ], + [ + 369.3893690444773, + 629.2149848946832 + ], + [ + 375.858558892959, + 612.5093128824452 + ], + [ + 90.91485139646682, + 357.5768236107726 + ], + [ + 77.3632829928589, + 374.5300574263962 + ], + [ + 281.8861634506844, + 397.00416873569066 + ], + [ + 292.0102664295376, + 379.2450703693515 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 168.96998456563364, + "ymin": 0.0, + "xmax": 299.5672896440861, + "ymax": 215.17052975652265 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 244.46379943235064, + 214.10881284873793 + ], + [ + 256.31947147255096, + 215.17052975652265 + ], + [ + 299.5672896440861, + 156.245904394245 + ], + [ + 288.542514184677, + 155.33683570205798 + ], + [ + 168.96998456563364, + -2.185814081239414 + ], + [ + 182.97088111490416, + -1.2684771067203542 + ], + [ + 240.19749472960007, + -51.47600969824168 + ], + [ + 227.33971367283812, + -52.23951932206944 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 258.45775946749063, + "ymin": 385.63584670103506, + "xmax": 288.6995865209908, + "ymax": 404.02205167698384 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 267.0806891263385, + 389.8464960405307 + ], + [ + 260.1486509998834, + 401.60196811993484 + ], + [ + 282.01483125587356, + 404.02205167698384 + ], + [ + 288.6995865209908, + 392.208504154474 + ], + [ + 265.4407578388955, + 385.63584670103506 + ], + [ + 258.45775946749063, + 397.3920328230204 + ], + [ + 280.4173030438819, + 399.8124200155492 + ], + [ + 287.15092055719356, + 387.99789698716796 + ] + ], + "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": 392.23983663238437, + "ymin": 0.0, + "xmax": 506.21844261695344, + "ymax": 67.06642943600917 + }, + "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": [ + [ + 506.21844261695344, + -41.47832503443311 + ], + [ + 498.2040916889132, + -41.978906435247325 + ], + [ + 427.0552091883735, + 66.34084930057287 + ], + [ + 436.624250191124, + 67.06642943600917 + ], + [ + 488.51976654433145, + -225.2132294626075 + ], + [ + 479.4651406112421, + -225.58420910771724 + ], + [ + 392.23983663238437, + -143.0967770051758 + ], + [ + 403.329480840935, + -142.528833889623 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 258.29241444350197, + "ymin": 385.53780213883186, + "xmax": 288.85932957237185, + "ymax": 404.12159101665395 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 267.0098580933853, + 389.7937218219826 + ], + [ + 260.00227380314203, + 401.67517375077705 + ], + [ + 282.1043602736707, + 404.12159101665395 + ], + [ + 288.85932957237185, + 392.18081007567037 + ], + [ + 265.3520718009215, + 385.53780213883186 + ], + [ + 258.29241444350197, + 397.4199821603383 + ], + [ + 280.4898941053734, + 399.866711105282 + ], + [ + 287.2947700938023, + 387.9249320857055 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 238.98168240387554, + "ymin": 0.0, + "xmax": 660.4563164112275, + "ymax": 266.95819700448715 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 314.971703187528, + 226.1337602661919 + ], + [ + 310.0580913669485, + 233.51438809372974 + ], + [ + 654.8844686374075, + 266.95819700448715 + ], + [ + 656.7163282594199, + 258.9561305740191 + ], + [ + 245.73064514650514, + -12.718926289031401 + ], + [ + 238.98168240387554, + -6.428184122979474 + ], + [ + 658.2538718897029, + 22.390498566732447 + ], + [ + 660.4563164112275, + 15.447927120432553 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1099.4667279312741, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1415.9858421838917, + 441.7958044149627 + ], + [ + 1099.4667279312741, + 494.5311614880013 + ], + [ + 1373.1494466435533, + 900.2113984090662 + ], + [ + 1783.5580723161659, + 801.6498407962133 + ], + [ + 1899.501559835214, + -122.45092598525906 + ], + [ + 1410.7053129717322, + -83.15746817674619 + ], + [ + 2295.8676007318904, + 337.46299177030346 + ], + [ + 3022.2690423685613, + 210.54815399894164 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00128/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00128/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f33777543c8c240d09aa8134e35293bb1599b3d2 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00128/meta.json @@ -0,0 +1,2679 @@ +{ + "frame_id": 128, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 64.0, + "sim_timestamp": 11327.930628083646 + }, + "drone_pose": { + "x": -87.4593725965608, + "y": -86.38120488825597, + "z": 19.83996616025258, + "pitch": -45.233923658246724, + "yaw": -8.312608428703841, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6968154907226562, + 0.101810984313488, + 0.7099877595901489, + 38.062355041503906 + ], + [ + -0.14457392692565918, + 0.9894940257072449, + 0.0, + 98.11803436279297 + ], + [ + -0.7025285959243774, + -0.10264573246240616, + 0.7042139768600464, + -66.54763793945312 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -86.95819408704413, + "y": -86.30403696505824, + "z": 20.01569722270732 + }, + "t1_image_uv": [ + 1299.5491629557096, + -1713.8469472964493 + ], + "t1_depth": 0.216605493685678 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -67.66718292236328, + "y": -89.18776321411133, + "z": 0.5749992918968201 + }, + "image_uv": [ + 642.9179446470573, + 338.34767131215995 + ], + "depth": 27.755134531373482, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 197, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -67.66718292236328, + "y": -89.18775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.28953611850738525, + "y": 0.1960204839706421, + "z": 0.5570573806762695 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 634.6501450092652, + "ymin": 316.77709120407263, + "xmax": 651.1606645063453, + "ymax": 359.64982178762796 + }, + "corners_3d": [ + [ + -67.95671844482422, + -89.38378143310547, + 0.01794189214706421 + ], + [ + -67.95671844482422, + -88.99173736572266, + 0.01794189214706421 + ], + [ + -67.37764739990234, + -88.99173736572266, + 0.01794189214706421 + ], + [ + -67.37764739990234, + -89.38378143310547, + 0.01794189214706421 + ], + [ + -67.95671844482422, + -89.38378143310547, + 1.132056713104248 + ], + [ + -67.95671844482422, + -88.99173736572266, + 1.132056713104248 + ], + [ + -67.37764739990234, + -88.99173736572266, + 1.132056713104248 + ], + [ + -67.37764739990234, + -89.38378143310547, + 1.132056713104248 + ] + ], + "corners_2d": [ + [ + 634.8014482961203, + 358.26907064036516 + ], + [ + 648.1281589976861, + 359.64982178762796 + ], + [ + 650.8490719915651, + 345.87055524481394 + ], + [ + 637.708063219347, + 344.52882561344023 + ], + [ + 634.6501450092652, + 330.50521829172766 + ], + [ + 648.3650761344455, + 331.8853801421527 + ], + [ + 651.1606645063453, + 318.11713701051826 + ], + [ + 637.6423325410434, + 316.77709120407263 + ] + ], + "center_offset_px": [ + 2.917944647057311, + -21.652328687840054 + ] + }, + "trace_timestep_index": 128, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 59, + "semantic_pixel_counts": { + "1": 451674, + "2": 183712, + "3": 89732, + "4": 43018, + "6": 13021, + "7": 1475, + "9": 1124, + "10": 63707, + "12": 2962, + "14": 19986, + "20": 26021, + "24": 25168 + }, + "instance_pixel_counts": { + "913": 1729, + "5230": 6, + "9346": 977, + "12951": 1214, + "13975": 166, + "15963": 16123, + "17232": 43018, + "22976": 13335, + "23296": 6041, + "23488": 653, + "23552": 4018, + "24512": 17705, + "26963": 3460, + "27795": 6671, + "28307": 2955, + "28819": 16046, + "29331": 8363, + "31893": 355, + "32405": 92, + "33429": 1149, + "33941": 127, + "35668": 19421, + "36692": 4871, + "37979": 65142, + "39563": 1460, + "41107": 32723, + "41611": 3268, + "41619": 17652, + "42123": 2286, + "42635": 1207, + "43117": 8461, + "43147": 12616, + "43155": 125900, + "43659": 10722, + "43667": 19303, + "44179": 222061, + "44181": 1464, + "44693": 497, + "45717": 10461, + "46229": 569, + "46741": 10454, + "49088": 195, + "49664": 197, + "49920": 453, + "50176": 551, + "50432": 940, + "50624": 12009, + "50688": 390, + "50944": 431, + "51136": 4581, + "51456": 6133, + "51648": 367, + "51712": 5053, + "52160": 29737, + "52672": 62491, + "55040": 8800, + "55879": 29014, + "57173": 1124, + "64351": 9700 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 197, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -67.66718292236328, + "y": -89.18775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.2961742877960205, + "y": 0.2177782952785492, + "z": 0.5404253005981445 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 633.8578551555236, + "ymin": 316.9738091063573, + "xmax": 651.9384276221957, + "ymax": 359.4839375116809 + }, + "corners_3d": [ + [ + -67.9633560180664, + -89.4055404663086, + 0.03457397222518921 + ], + [ + -67.9633560180664, + -88.96997833251953, + 0.03457397222518921 + ], + [ + -67.37100982666016, + -88.96997833251953, + 0.03457397222518921 + ], + [ + -67.37100982666016, + -89.4055404663086, + 0.03457397222518921 + ], + [ + -67.9633560180664, + -89.4055404663086, + 1.115424633026123 + ], + [ + -67.9633560180664, + -88.96997833251953, + 1.115424633026123 + ], + [ + -67.37100982666016, + -88.96997833251953, + 1.115424633026123 + ], + [ + -67.37100982666016, + -89.4055404663086, + 1.115424633026123 + ] + ], + "corners_2d": [ + [ + 634.026465021671, + 357.9494017541074 + ], + [ + 648.8411422849701, + 359.4839375116809 + ], + [ + 651.6149651309888, + 345.38652276459425 + ], + [ + 637.0115108195125, + 343.89635271516374 + ], + [ + 633.8578551555236, + 331.01478405935313 + ], + [ + 649.0911013590611, + 332.5486998610754 + ], + [ + 651.9384276221957, + 318.4621523865605 + ], + [ + 636.928418791153, + 316.9738091063573 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 453, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -63.541194915771484, + "y": -86.19005584716797, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.39607176184654236, + "y": 0.32249021530151367, + "z": 0.8734302520751953 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 741.5033094987219, + "ymin": 227.9148796134198, + "xmax": 770.2465198667501, + "ymax": 287.7625453586361 + }, + "corners_3d": [ + [ + -63.995662689208984, + -86.42314910888672, + -0.2984309792518616 + ], + [ + -63.8615608215332, + -85.79226684570312, + -0.2984309792518616 + ], + [ + -63.086727142333984, + -85.95696258544922, + -0.2984309792518616 + ], + [ + -63.220829010009766, + -86.58784484863281, + -0.2984309792518616 + ], + [ + -63.995662689208984, + -86.42314910888672, + 1.4484295845031738 + ], + [ + -63.8615608215332, + -85.79226684570312, + 1.4484295845031738 + ], + [ + -63.086727142333984, + -85.95696258544922, + 1.4484295845031738 + ], + [ + -63.220829010009766, + -86.58784484863281, + 1.4484295845031738 + ] + ], + "corners_2d": [ + [ + 744.9422887932683, + 287.7625453586361 + ], + [ + 764.9814951375848, + 286.9097609954269 + ], + [ + 761.188619361157, + 270.96414553986176 + ], + [ + 741.5033094987219, + 271.78679233619096 + ], + [ + 749.3675242376787, + 244.56407986214683 + ], + [ + 770.2465198667501, + 243.71823521776048 + ], + [ + 766.1991232593838, + 227.9148796134198 + ], + [ + 745.704021571082, + 228.72960703316767 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 551, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -69.92300415039062, + "y": -82.24504852294922, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.4384863078594208, + "y": 0.34141600131988525, + "z": 0.8872793316841125 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 869.0432317599965, + "ymin": 387.68561073501644, + "xmax": 912.0702760361942, + "ymax": 457.4252081226759 + }, + "corners_3d": [ + [ + -70.394775390625, + -82.53875732421875, + -0.3122751712799072 + ], + [ + -70.32340240478516, + -81.85966491699219, + -0.3122751712799072 + ], + [ + -69.45123291015625, + -81.95133972167969, + -0.3122751712799072 + ], + [ + -69.5226058959961, + -82.63043212890625, + -0.3122751712799072 + ], + [ + -70.394775390625, + -82.53875732421875, + 1.4622834920883179 + ], + [ + -70.32340240478516, + -81.85966491699219, + 1.4622834920883179 + ], + [ + -69.45123291015625, + -81.95133972167969, + 1.4622834920883179 + ], + [ + -69.5226058959961, + -82.63043212890625, + 1.4622834920883179 + ] + ], + "corners_2d": [ + [ + 873.2036752236872, + 456.62418715497324 + ], + [ + 898.7778947161574, + 457.4252081226759 + ], + [ + 894.01673827332, + 432.52982039646815 + ], + [ + 869.0432317599965, + 431.7657873801265 + ], + [ + 885.1729422004036, + 412.7117950687442 + ], + [ + 912.0702760361942, + 413.5192203574504 + ], + [ + 906.7443595565392, + 388.4539081263637 + ], + [ + 880.5106946835906, + 387.68561073501644 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 940, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -77.16718292236328, + "y": -89.18775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.4348143935203552, + "y": 0.45311519503593445, + "z": 0.8883161544799805 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 554.643052286388, + "ymin": 593.4180328600457, + "xmax": 606.0920792202865, + "ymax": 674.9158788520633 + }, + "corners_3d": [ + [ + -77.60199737548828, + -89.64087677001953, + -0.31331688165664673 + ], + [ + -77.60199737548828, + -88.7346420288086, + -0.31331688165664673 + ], + [ + -76.73236846923828, + -88.7346420288086, + -0.31331688165664673 + ], + [ + -76.73236846923828, + -89.64087677001953, + -0.31331688165664673 + ], + [ + -77.60199737548828, + -89.64087677001953, + 1.463315486907959 + ], + [ + -77.60199737548828, + -88.7346420288086, + 1.463315486907959 + ], + [ + -76.73236846923828, + -88.7346420288086, + 1.463315486907959 + ], + [ + -76.73236846923828, + -89.64087677001953, + 1.463315486907959 + ] + ], + "corners_2d": [ + [ + 559.6487258776338, + 669.4133149094299 + ], + [ + 599.4971257935381, + 674.9158788520633 + ], + [ + 606.0920792202865, + 639.6194219101228 + ], + [ + 567.3080373497398, + 634.4148887198119 + ], + [ + 554.643052286388, + 629.3698283831003 + ], + [ + 596.9623526150756, + 635.0334527585429 + ], + [ + 604.0319715240663, + 598.7565816554162 + ], + [ + 562.9111086480814, + 593.4180328600457 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 390, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -71.28268432617188, + "y": -100.31512451171875, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.5302954912185669, + "y": 0.4515625238418579, + "z": 0.875221848487854 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 185.00655940796986, + "ymin": 345.42554768648205, + "xmax": 255.50103224579527, + "ymax": 422.6255987655386 + }, + "corners_3d": [ + [ + -71.76287078857422, + -100.81964111328125, + -0.14781540632247925 + ], + [ + -71.8572769165039, + -99.92146301269531, + -0.14781540632247925 + ], + [ + -70.80249786376953, + -99.81060791015625, + -0.14781540632247925 + ], + [ + -70.70809173583984, + -100.70878601074219, + -0.14781540632247925 + ], + [ + -71.76287078857422, + -100.81964111328125, + 1.602628231048584 + ], + [ + -71.8572769165039, + -99.92146301269531, + 1.602628231048584 + ], + [ + -70.80249786376953, + -99.81060791015625, + 1.602628231048584 + ], + [ + -70.70809173583984, + -100.70878601074219, + 1.602628231048584 + ] + ], + "corners_2d": [ + [ + 206.2656534863093, + 416.5341972972129 + ], + [ + 235.458280684589, + 422.6255987655386 + ], + [ + 255.50103224579527, + 395.1723501323109 + ], + [ + 226.96630717737548, + 389.40027597580183 + ], + [ + 185.00655940796986, + 372.6342978740098 + ], + [ + 215.50631730513726, + 378.75221107868884 + ], + [ + 237.06699809688837, + 351.20763005072155 + ], + [ + 207.28361521177538, + 345.42554768648205 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 431, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -56.42184829711914, + "y": -97.35797882080078, + "z": 0.6176995038986206 + }, + "extent": { + "x": 0.43724119663238525, + "y": 0.43916991353034973, + "z": 0.9033336639404297 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 452.7524035104725, + "ymin": 82.9898394101885, + "xmax": 490.11090235040945, + "ymax": 140.96399010802685 + }, + "corners_3d": [ + [ + -56.75822448730469, + -97.87845611572266, + -0.2856341600418091 + ], + [ + -56.94084167480469, + -97.0193099975586, + -0.2856341600418091 + ], + [ + -56.085472106933594, + -96.8375015258789, + -0.2856341600418091 + ], + [ + -55.902854919433594, + -97.69664764404297, + -0.2856341600418091 + ], + [ + -56.75822448730469, + -97.87845611572266, + 1.5210331678390503 + ], + [ + -56.94084167480469, + -97.0193099975586, + 1.5210331678390503 + ], + [ + -56.085472106933594, + -96.8375015258789, + 1.5210331678390503 + ], + [ + -55.902854919433594, + -97.69664764404297, + 1.5210331678390503 + ] + ], + "corners_2d": [ + [ + 459.26986128886426, + 136.6009061014692 + ], + [ + 479.79410440187155, + 140.96399010802685 + ], + [ + 490.11090235040945, + 129.34321848907607 + ], + [ + 469.8441535906046, + 125.1141181144202 + ], + [ + 452.7524035104725, + 94.20691625877902 + ], + [ + 473.9817009789785, + 98.4708263736311 + ], + [ + 484.76020451842544, + 87.11818865242094 + ], + [ + 463.8060607849362, + 82.9898394101885 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 6133, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 347.6765306072661, + "ymin": 630.1627751744961, + "xmax": 516.2635504829763, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 516.2635504829763, + 673.9652605945735 + ], + [ + 428.61279867059625, + 661.6310451725313 + ], + [ + 363.29881220501386, + 862.5609165104917 + ], + [ + 464.2426606570078, + 879.1339845508606 + ], + [ + 510.21731342021207, + 642.7790089431444 + ], + [ + 418.3878081900692, + 630.1627751744961 + ], + [ + 347.6765306072661, + 837.1751251887712 + ], + [ + 454.2013394507325, + 854.3925744512661 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 5053, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 958.2018966971418, + "ymin": 39.65497236861137, + "xmax": 1100.4678077738613, + "ymax": 116.08174703963371 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 958.2018966971418, + 82.57678721200318 + ], + [ + 962.7523862072873, + 107.23003919824188 + ], + [ + 1084.0937100286544, + 116.08174703963371 + ], + [ + 1075.2546171161698, + 90.83635831998623 + ], + [ + 969.405210913528, + 39.65497236861137 + ], + [ + 974.5354002257762, + 63.610605040199346 + ], + [ + 1100.4678077738613, + 72.2486386107364 + ], + [ + 1090.7247438661032, + 47.6960255218537 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 8800, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 712.142588087336, + "ymin": 609.2281958882988, + "xmax": 869.0678530030738, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 712.142588087336, + 983.8449538876216 + ], + [ + 848.6942451166349, + 1007.2034398628784 + ], + [ + 847.1590298055219, + 672.9770885533683 + ], + [ + 738.5581838964697, + 658.2418684008868 + ], + [ + 719.0738044841169, + 952.2983842580994 + ], + [ + 869.0678530030738, + 977.4290818438097 + ], + [ + 862.8800247635577, + 624.4679324911823 + ], + [ + 745.9451253822223, + 609.2281958882988 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4809317425322915338, + "instance_id": 2806, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -62.6159553527832, + "y": -93.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 502.15366218379916, + "ymin": 52.45365418542866, + "xmax": 520.0343511882759, + "ymax": 85.62344103087594 + }, + "corners_3d": [ + [ + -62.754539489746094, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.9842529296875, + 6.416468620300293 + ], + [ + -62.754539489746094, + -93.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 517.8407467481512, + 85.62344103087594 + ], + [ + 520.0343511882759, + 80.8893246225038 + ], + [ + 507.4598746352102, + 79.9489765593006 + ], + [ + 505.1829751953573, + 84.67013073629107 + ], + [ + 515.0919879882852, + 58.023863777481154 + ], + [ + 517.3537907878477, + 53.37658380753783 + ], + [ + 504.50247863002386, + 52.45365418542866 + ], + [ + 502.15366218379916, + 57.087924962366 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 269.4397930062183, + "ymin": 118.29511919077581, + "xmax": 291.4041098228662, + "ymax": 147.48565027150943 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 287.9763553507281, + 147.48565027150943 + ], + [ + 291.4041098228662, + 142.78832630719543 + ], + [ + 280.2923548285445, + 141.85963166264574 + ], + [ + 276.79942125573467, + 146.54530374736703 + ], + [ + 280.83413669335533, + 123.85486722106452 + ], + [ + 284.37630639984525, + 119.21275868005313 + ], + [ + 273.0496873022517, + 118.29511919077581 + ], + [ + 269.4397930062183, + 122.92548037049534 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5344508464058845628, + "instance_id": 48329, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -62.61595916748047, + "y": -96.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 401.24916602576474, + "ymin": 45.255277195898145, + "xmax": 421.66568934332383, + "ymax": 78.16635050049126 + }, + "corners_3d": [ + [ + -62.75454330444336, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.9842529296875, + 6.416468620300293 + ], + [ + -62.75454330444336, + -96.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 418.8268170161368, + 78.16635050049126 + ], + [ + 421.66568934332383, + 73.53315776024897 + ], + [ + 409.35819851743247, + 72.61277540976238 + ], + [ + 406.4396160225345, + 77.23341792739723 + ], + [ + 413.9048076613335, + 50.70420295972451 + ], + [ + 416.8403961467457, + 46.15818053171455 + ], + [ + 404.26794079863737, + 45.255277195898145 + ], + [ + 401.24916602576474, + 49.788712995877916 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8433051479337506626, + "instance_id": 17047, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -62.61595153808594, + "y": -91.29429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 587.9677008698094, + "ymin": 58.57462273250428, + "xmax": 603.6453897354984, + "ymax": 91.96264122892336 + }, + "corners_3d": [ + [ + -62.75453567504883, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.4842529296875, + 6.416468620300293 + ], + [ + -62.75453567504883, + -91.4842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 602.0116778974458, + 91.96264122892336 + ], + [ + 603.6453897354984, + 87.14188140114254 + ], + [ + 590.8417325260067, + 86.18439477832646 + ], + [ + 589.1216012268982, + 90.99183514874233 + ], + [ + 601.1488949821413, + 64.24902227261754 + ], + [ + 602.8255272451879, + 59.514754279377655 + ], + [ + 589.7346859828366, + 58.57462273250428 + ], + [ + 587.9677008698094, + 63.2955148288882 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1019.9166030819868, + "ymin": 0.0, + "xmax": 1041.1394618730747, + "ymax": 20.129480401525143 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1031.9457312762338, + 16.24482053596938 + ], + [ + 1019.9166030819868, + 15.472605182744587 + ], + [ + 1021.0401606783062, + 19.347628213300197 + ], + [ + 1033.1455618614682, + 20.129480401525143 + ], + [ + 1039.8649414380072, + -9.939635535965067 + ], + [ + 1027.5830770110529, + -10.694382038694243 + ], + [ + 1028.7780776351265, + -6.906638274271984 + ], + [ + 1041.1394618730747, + -6.142280939701379 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1011.0927017295866, + "ymin": 151.71384692218518, + "xmax": 1033.0294633276542, + "ymax": 181.79778991651222 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1023.6520277261347, + 176.66547045877425 + ], + [ + 1011.0927017295866, + 175.65111727419458 + ], + [ + 1012.2158718363005, + 180.77013052302553 + ], + [ + 1024.8588226246397, + 181.79778991651222 + ], + [ + 1031.7429943017376, + 152.7179492417954 + ], + [ + 1018.9084687224282, + 151.71384692218518 + ], + [ + 1020.1075979659861, + 156.7816875512328 + ], + [ + 1033.0294633276542, + 157.7992419928174 + ] + ], + "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": 967.6396123859637, + "ymin": 0.0, + "xmax": 1099.9238000224104, + "ymax": 252.64009793489487 + }, + "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": [ + [ + 998.5713781467871, + 251.36220865435575 + ], + [ + 1012.1685391574495, + 252.64009793489487 + ], + [ + 978.335988142413, + 71.35877409211145 + ], + [ + 967.6396123859637, + 70.56234043542315 + ], + [ + 1082.965394377416, + 1.6831370542449235 + ], + [ + 1099.9238000224104, + 2.803453445463049 + ], + [ + 1038.3271756351044, + -148.656594420877 + ], + [ + 1025.6540184172884, + -149.29039095758725 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 34.960268633691385, + "ymin": 349.6583337911802, + "xmax": 350.83706532816626, + "ymax": 623.3274778072807 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 193.97005938670696, + 585.2140937667511 + ], + [ + 185.07060596475225, + 601.670477638894 + ], + [ + 343.9806948727436, + 623.3274778072807 + ], + [ + 350.83706532816626, + 606.2806634151095 + ], + [ + 49.44739918027801, + 349.6583337911802 + ], + [ + 34.960268633691385, + 367.22360971983613 + ], + [ + 243.96517795035913, + 390.58171608750797 + ], + [ + 254.93942096699044, + 372.1727624393148 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 141.66661431254926, + "ymin": 0.0, + "xmax": 281.2830326574764, + "ymax": 200.30672638487536 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 224.3052145186722, + 199.21807064864657 + ], + [ + 236.32965913326666, + 200.30672638487536 + ], + [ + 281.2830326574764, + 140.04238492607294 + ], + [ + 270.0980664442877, + 139.10994029780818 + ], + [ + 141.66661431254926, + -22.037262013680504 + ], + [ + 155.9516770034337, + -21.0897049712284 + ], + [ + 216.14934484370707, + -72.78972915413914 + ], + [ + 203.03239702438356, + -73.57777982276684 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 220.4529263002318, + "ymin": 378.6444098892732, + "xmax": 251.96951331064326, + "ymax": 397.6033008478932 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 229.88293015197615, + 382.9124861578271 + ], + [ + 222.39462098639717, + 395.0893145348042 + ], + [ + 244.7345609134503, + 397.6033008478932 + ], + [ + 251.96951331064326, + 385.36572433061446 + ], + [ + 227.9993105594765, + 378.6444098892732 + ], + [ + 220.4529263002318, + 390.82515657364104 + ], + [ + 242.8921097385841, + 393.34012311839433 + ], + [ + 250.1829017072875, + 381.0983268587086 + ] + ], + "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": 373.8181035084039, + "ymin": 0.0, + "xmax": 494.8889231736671, + "ymax": 48.802304813062904 + }, + "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": [ + [ + 494.8889231736671, + -62.312212023050506 + ], + [ + 486.7510030314306, + -62.82613676381567 + ], + [ + 412.5319267702108, + 48.05786119526738 + ], + [ + 422.2430707145686, + 48.802304813062904 + ], + [ + 474.91936275890527, + -251.4656863531378 + ], + [ + 465.68413477690575, + -251.8475791178597 + ], + [ + 373.8181035084039, + -167.09102817326857 + ], + [ + 385.1328005530592, + -166.50551199677034 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 220.280566476385, + "ymin": 378.54330662651347, + "xmax": 252.13594499800155, + "ymax": 397.7059353676594 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 229.8138236575503, + 382.85729110733297 + ], + [ + 222.24399678137837, + 395.16459476626756 + ], + [ + 244.82493753040524, + 397.7059353676594 + ], + [ + 252.13594499800155, + 385.3365724579867 + ], + [ + 227.90973578892618, + 378.54330662651347 + ], + [ + 220.280566476385, + 390.85461167626903 + ], + [ + 242.96290848567554, + 393.3969554040741 + ], + [ + 250.33095000427562, + 381.0232798430628 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 212.36883567551092, + "ymin": 0.0, + "xmax": 642.9974373907143, + "ymax": 253.32725039903247 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 295.89447036384485, + 211.5021773038794 + ], + [ + 290.77730990834925, + 219.04777513466692 + ], + [ + 640.4247430783696, + 253.32725039903247 + ], + [ + 642.4304952984845, + 245.14618290736803 + ], + [ + 219.49642697636233, + -32.87234147681386 + ], + [ + 212.36883567551092, + -26.38830207778824 + ], + [ + 640.5249939734211, + 3.40619953298841 + ], + [ + 642.9974373907143, + -3.755240774339427 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1087.382894072587, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1410.0109551100084, + 432.42064504139296 + ], + [ + 1087.382894072587, + 486.2218490242526 + ], + [ + 1357.1989836208877, + 900.513512112387 + ], + [ + 1775.9055134726134, + 800.1223752055059 + ], + [ + 1917.3992459262372, + -147.29341636538942 + ], + [ + 1408.3644989926224, + -106.38359188342577 + ], + [ + 2331.2332883872386, + 341.40798177522294 + ], + [ + 3096.543210587964, + 204.77379395931172 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00129/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00129/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..70de59594d444662615c4d4f8ed714a47eb7bfea --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00129/meta.json @@ -0,0 +1,2994 @@ +{ + "frame_id": 129, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 64.5, + "sim_timestamp": 11338.974726457149 + }, + "drone_pose": { + "x": -86.95819408704413, + "y": -86.30403696505824, + "z": 20.01569722270732, + "pitch": -44.187552404174, + "yaw": -8.290163192243048, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7095690965652466, + 0.10339052975177765, + 0.6970094442367554, + 38.828704833984375 + ], + [ + -0.14418631792068481, + 0.9895505309104919, + 0.0, + 97.94038391113281 + ], + [ + -0.6897261142730713, + -0.1004992127418518, + 0.7170619964599609, + -65.65632629394531 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -86.39400019371882, + "y": -85.87727068041366, + "z": 20.007272578721665 + }, + "t1_image_uv": [ + 1975.3555905201233, + -542.0035141872497 + ], + "t1_depth": 0.3620830447988592 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -67.16718292236328, + "y": -89.18776321411133, + "z": 0.5749992918968201 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 27.89158898372446, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 189, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -67.16718292236328, + "y": -89.18775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.24857909977436066, + "y": 0.2205810546875, + "z": 0.5303034782409668 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 628.4581568949507, + "ymin": 339.0021161353209, + "xmax": 651.5591047911611, + "ymax": 380.7937214578216 + }, + "corners_3d": [ + [ + -67.18698120117188, + -89.5195083618164, + 0.04469579458236694 + ], + [ + -67.49893188476562, + -89.20755767822266, + 0.04469579458236694 + ], + [ + -67.14738464355469, + -88.85601043701172, + 0.04469579458236694 + ], + [ + -66.83543395996094, + -89.16796112060547, + 0.04469579458236694 + ], + [ + -67.18698120117188, + -89.5195083618164, + 1.1053028106689453 + ], + [ + -67.49893188476562, + -89.20755767822266, + 1.1053028106689453 + ], + [ + -67.14738464355469, + -88.85601043701172, + 1.1053028106689453 + ], + [ + -66.83543395996094, + -89.16796112060547, + 1.1053028106689453 + ] + ], + "corners_2d": [ + [ + 628.7598506577252, + 372.2395613825789 + ], + [ + 637.6907111758752, + 380.7937214578216 + ], + [ + 651.2565264895929, + 373.59543467756356 + ], + [ + 642.2717200457062, + 365.1693132076791 + ], + [ + 628.4581568949507, + 346.0596732967152 + ], + [ + 637.6281521572683, + 354.60226743464403 + ], + [ + 651.5591047911611, + 347.41343660611784 + ], + [ + 642.3322265074368, + 339.0021161353209 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 129, + "instance_stats": { + "semantic_tags_present": 12, + "instances_present": 62, + "semantic_pixel_counts": { + "1": 465376, + "2": 182799, + "3": 88099, + "4": 41929, + "6": 14731, + "7": 1661, + "9": 3485, + "10": 62083, + "12": 3153, + "14": 11986, + "20": 20983, + "24": 25315 + }, + "instance_pixel_counts": { + "9346": 1183, + "12439": 107, + "12951": 1223, + "13975": 198, + "15963": 11712, + "17232": 41929, + "22976": 13653, + "23296": 7050, + "23488": 809, + "23552": 4562, + "24404": 1079, + "24512": 18030, + "26963": 3597, + "27795": 10098, + "28307": 6986, + "28819": 16360, + "29331": 9209, + "31893": 559, + "32405": 173, + "33429": 1145, + "33941": 146, + "35668": 15182, + "36692": 4722, + "37979": 67585, + "39051": 1032, + "39563": 2339, + "41107": 45076, + "41611": 3368, + "41619": 18205, + "42123": 2340, + "42635": 1268, + "43117": 8802, + "43147": 11528, + "43155": 128209, + "43659": 9824, + "43667": 19863, + "44179": 211370, + "44181": 1993, + "44693": 508, + "45717": 10788, + "46229": 589, + "46741": 9414, + "48064": 1004, + "49088": 3144, + "49664": 189, + "49920": 442, + "50176": 558, + "50432": 876, + "50624": 12413, + "50688": 654, + "50944": 434, + "51136": 4700, + "51456": 1743, + "51648": 701, + "51712": 4991, + "52160": 28237, + "52672": 57306, + "55040": 3679, + "55296": 1573, + "55879": 30211, + "57173": 3485, + "64351": 9575 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 189, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -67.16718292236328, + "y": -89.18775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.2151806652545929, + "y": 0.24153320491313934, + "z": 0.5172353386878967 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 628.9691684216563, + "ymin": 339.4077559979029, + "xmax": 651.0685084422023, + "ymax": 380.40202402795126 + }, + "corners_3d": [ + [ + -67.14855194091797, + -89.51070404052734, + 0.05776393413543701 + ], + [ + -67.49012756347656, + -89.16912841796875, + 0.05776393413543701 + ], + [ + -67.1858139038086, + -88.86481475830078, + 0.05776393413543701 + ], + [ + -66.84423828125, + -89.20639038085938, + 0.05776393413543701 + ], + [ + -67.14855194091797, + -89.51070404052734, + 1.0922346115112305 + ], + [ + -67.49012756347656, + -89.16912841796875, + 1.0922346115112305 + ], + [ + -67.1858139038086, + -88.86481475830078, + 1.0922346115112305 + ], + [ + -66.84423828125, + -89.20639038085938, + 1.0922346115112305 + ] + ], + "corners_2d": [ + [ + 629.2502279452054, + 371.0450561941378 + ], + [ + 639.0364679544988, + 380.40202402795126 + ], + [ + 650.7855568623121, + 374.1656193257378 + ], + [ + 640.9481526523547, + 364.9300506654722 + ], + [ + 628.9691684216563, + 345.51192231468644 + ], + [ + 639.0110195587928, + 354.8563071164583 + ], + [ + 651.0685084422023, + 348.62775077042954 + ], + [ + 640.9727779773428, + 339.4077559979029 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 442, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -63.041194915771484, + "y": -86.19005584716797, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.4050830006599426, + "y": 0.37064939737319946, + "z": 0.8857572674751282 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 733.1310876470186, + "ymin": 247.08124588670879, + "xmax": 771.7132705060856, + "ymax": 312.3088722498716 + }, + "corners_3d": [ + [ + -63.179054260253906, + -86.7215347290039, + -0.31075799465179443 + ], + [ + -63.58279800415039, + -86.0998306274414, + -0.31075799465179443 + ], + [ + -62.90333557128906, + -85.65857696533203, + -0.31075799465179443 + ], + [ + -62.49959182739258, + -86.28028106689453, + -0.31075799465179443 + ], + [ + -63.179054260253906, + -86.7215347290039, + 1.460756540298462 + ], + [ + -63.58279800415039, + -86.0998306274414, + 1.460756540298462 + ], + [ + -62.90333557128906, + -85.65857696533203, + 1.460756540298462 + ], + [ + -62.49959182739258, + -86.28028106689453, + 1.460756540298462 + ] + ], + "corners_2d": [ + [ + 733.1310876470186, + 302.31696185316787 + ], + [ + 751.592645854273, + 312.3088722498716 + ], + [ + 766.4955369722153, + 299.90870574824845 + ], + [ + 748.1237992419749, + 290.1931572790087 + ], + [ + 736.9836270936202, + 259.0761180895553 + ], + [ + 756.2637730972841, + 268.97210333457264 + ], + [ + 771.7132705060856, + 256.69237926131143 + ], + [ + 752.5320745695035, + 247.08124588670879 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 558, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -69.42300415039062, + "y": -82.24504852294922, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.2641333043575287, + "y": 0.3889111280441284, + "z": 0.8628906607627869 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 862.6028072503564, + "ymin": 409.72892725871566, + "xmax": 910.0388577496983, + "ymax": 478.7477387793043 + }, + "corners_3d": [ + [ + -69.3835220336914, + -82.71351623535156, + -0.28788650035858154 + ], + [ + -69.8730239868164, + -82.1090316772461, + -0.28788650035858154 + ], + [ + -69.46248626708984, + -81.77658081054688, + -0.28788650035858154 + ], + [ + -68.97298431396484, + -82.38106536865234, + -0.28788650035858154 + ], + [ + -69.3835220336914, + -82.71351623535156, + 1.4378948211669922 + ], + [ + -69.8730239868164, + -82.1090316772461, + 1.4378948211669922 + ], + [ + -69.46248626708984, + -81.77658081054688, + 1.4378948211669922 + ], + [ + -68.97298431396484, + -82.38106536865234, + 1.4378948211669922 + ] + ], + "corners_2d": [ + [ + 862.6028072503564, + 462.32534644382184 + ], + [ + 885.7331458981398, + 478.7477387793043 + ], + [ + 897.5925185348719, + 468.3919009735133 + ], + [ + 874.503019384964, + 452.2887947675211 + ], + [ + 873.2928598853492, + 419.81090372943294 + ], + [ + 897.7302818561091, + 436.3278813459418 + ], + [ + 910.0388577496983, + 425.90946752714683 + ], + [ + 885.6502127851778, + 409.72892725871566 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 876, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -76.66718292236328, + "y": -89.18775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.36979979276657104, + "y": 0.4260546863079071, + "z": 0.863210141658783 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 550.6359235104792, + "ymin": 613.8906381955663, + "xmax": 603.7271489218399, + "ymax": 700.1096232039188 + }, + "corners_3d": [ + [ + -76.62740325927734, + -89.7505111694336, + -0.2882108688354492 + ], + [ + -77.22993469238281, + -89.14797973632812, + -0.2882108688354492 + ], + [ + -76.70696258544922, + -88.62500762939453, + -0.2882108688354492 + ], + [ + -76.10443115234375, + -89.2275390625, + -0.2882108688354492 + ], + [ + -76.62740325927734, + -89.7505111694336, + 1.4382094144821167 + ], + [ + -77.22993469238281, + -89.14797973632812, + 1.4382094144821167 + ], + [ + -76.70696258544922, + -88.62500762939453, + 1.4382094144821167 + ], + [ + -76.10443115234375, + -89.2275390625, + 1.4382094144821167 + ] + ], + "corners_2d": [ + [ + 555.5599477805762, + 671.5508881684502 + ], + [ + 576.5269351903046, + 700.1096232039188 + ], + [ + 603.7271489218399, + 681.479324637308 + ], + [ + 582.4588069010973, + 653.7411109194692 + ], + [ + 550.6359235104792, + 632.1267638072791 + ], + [ + 572.735579236702, + 661.432776240009 + ], + [ + 601.5940751999642, + 642.3060944211499 + ], + [ + 579.1541271691223, + 613.8906381955663 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 654, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -70.78268432617188, + "y": -100.31512451171875, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.42446044087409973, + "y": 0.5507226586341858, + "z": 0.8923499584197998 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 189.15894190895432, + "ymin": 365.30933233335327, + "xmax": 250.166341637885, + "ymax": 446.48521794715487 + }, + "corners_3d": [ + [ + -70.62181091308594, + -100.99156951904297, + -0.16494351625442505 + ], + [ + -71.47779846191406, + -100.29840850830078, + -0.16494351625442505 + ], + [ + -70.94355773925781, + -99.63867950439453, + -0.16494351625442505 + ], + [ + -70.08757019042969, + -100.33184051513672, + -0.16494351625442505 + ], + [ + -70.62181091308594, + -100.99156951904297, + 1.6197564601898193 + ], + [ + -71.47779846191406, + -100.29840850830078, + 1.6197564601898193 + ], + [ + -70.94355773925781, + -99.63867950439453, + 1.6197564601898193 + ], + [ + -70.08757019042969, + -100.33184051513672, + 1.6197564601898193 + ] + ], + "corners_2d": [ + [ + 209.79537824979366, + 421.00784558788547 + ], + [ + 219.14975041802865, + 446.48521794715487 + ], + [ + 250.166341637885, + 434.66139651109717 + ], + [ + 240.15152760447813, + 409.764260102195 + ], + [ + 189.15894190895432, + 376.55934754470485 + ], + [ + 198.41919821994338, + 402.0965117521924 + ], + [ + 231.1971393385155, + 390.2371285845534 + ], + [ + 221.19844586814276, + 365.30933233335327 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 434, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -55.92184829711914, + "y": -97.35797882080078, + "z": 0.6167815327644348 + }, + "extent": { + "x": 0.47322508692741394, + "y": 0.4310253858566284, + "z": 0.9034643173217773 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 452.3936672132121, + "ymin": 105.6301825595198, + "xmax": 488.85375370972315, + "ymax": 163.5793002358464 + }, + "corners_3d": [ + [ + -55.81809616088867, + -97.98960876464844, + -0.28668278455734253 + ], + [ + -56.541072845458984, + -97.52010345458984, + -0.28668278455734253 + ], + [ + -56.02560043334961, + -96.72634887695312, + -0.28668278455734253 + ], + [ + -55.3026237487793, + -97.19585418701172, + -0.28668278455734253 + ], + [ + -55.81809616088867, + -97.98960876464844, + 1.5202457904815674 + ], + [ + -56.541072845458984, + -97.52010345458984, + 1.5202457904815674 + ], + [ + -56.02560043334961, + -96.72634887695312, + 1.5202457904815674 + ], + [ + -55.3026237487793, + -97.19585418701172, + 1.5202457904815674 + ] + ], + "corners_2d": [ + [ + 458.7020087889133, + 152.53388113478397 + ], + [ + 465.31926954645326, + 163.5793002358464 + ], + [ + 488.85375370972315, + 157.95736356169374 + ], + [ + 481.93605044575133, + 147.07862973532332 + ], + [ + 452.3936672132121, + 110.9503851916497 + ], + [ + 459.14539629370375, + 121.73089387699727 + ], + [ + 483.55387181091874, + 116.24236497556316 + ], + [ + 476.4789194990844, + 105.6301825595198 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 1743, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 332.5111818246203, + "ymin": 674.7893882604992, + "xmax": 507.0894966173291, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 507.0894966173291, + 718.6129796588266 + ], + [ + 418.0703923416969, + 705.7778703312188 + ], + [ + 349.00713853518, + 916.5509892963155 + ], + [ + 452.06006657674345, + 933.9941120735504 + ], + [ + 500.6049531249748, + 687.9245396317746 + ], + [ + 407.3554929524198, + 674.7893882604992 + ], + [ + 332.5111818246203, + 892.1143864198284 + ], + [ + 441.2741197863843, + 910.2560246911727 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 4991, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 954.3826948691737, + "ymin": 68.97022493718435, + "xmax": 1096.5286884448362, + "ymax": 145.1775028621349 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 954.3826948691737, + 111.3337022536027 + ], + [ + 959.0269775489996, + 136.25262767725272 + ], + [ + 1080.5658650877167, + 145.1775028621349 + ], + [ + 1071.5432813918412, + 119.65013042004355 + ], + [ + 965.2514881872854, + 68.97022493718435 + ], + [ + 970.4711184594512, + 93.17620285979598 + ], + [ + 1096.5286884448362, + 101.88217173143084 + ], + [ + 1086.6056761481884, + 77.06337072994859 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 3679, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 705.3055245210004, + "ymin": 653.8586827352882, + "xmax": 865.6261250221995, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 705.3055245210004, + 1044.7564115481496 + ], + [ + 845.402476556984, + 1069.5084136607472 + ], + [ + 843.6303061590352, + 717.4646636926257 + ], + [ + 733.222386156317, + 702.1356487555026 + ], + [ + 711.6291488426286, + 1015.4298211471811 + ], + [ + 865.6261250221995, + 1042.126037019461 + ], + [ + 859.057152204862, + 669.7247569368867 + ], + [ + 740.1946727542964, + 653.8586827352882 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 216, + "instance_id": 55296, + "pixel_count": 1573, + "type_id": "vehicle.audi.etron", + "bbox_3d": { + "center_world": { + "x": -44.75563430786133, + "y": -104.2794189453125, + "z": 0.8648524284362793 + }, + "extent": { + "x": 2.427854299545288, + "y": 1.0163782835006714, + "z": 0.8246796727180481 + }, + "yaw": -94.3148193359375 + }, + "bbox_2d": { + "xmin": 330.08867119805296, + "ymin": 0.0, + "xmax": 449.1743793732236, + "ymax": 22.7345353165274 + }, + "corners_3d": [ + [ + -45.58646774291992, + -101.781982421875, + 0.04017278552055359 + ], + [ + -43.559471130371094, + -101.9349136352539, + 0.04017278552055359 + ], + [ + -43.92479705810547, + -106.77686309814453, + 0.04017278552055359 + ], + [ + -45.9517936706543, + -106.6239242553711, + 0.04017278552055359 + ], + [ + -45.58646774291992, + -101.781982421875, + 1.6895321607589722 + ], + [ + -43.559471130371094, + -101.9349136352539, + 1.6895321607589722 + ], + [ + -43.92479705810547, + -106.77686309814453, + 1.6895321607589722 + ], + [ + -45.9517936706543, + -106.6239242553711, + 1.6895321607589722 + ] + ], + "corners_2d": [ + [ + 439.97696465560057, + 22.7345353165274 + ], + [ + 449.1743793732236, + 4.033545382213731 + ], + [ + 350.3186580470957, + 1.0421146761350997 + ], + [ + 337.9847905600501, + 19.54666390960807 + ], + [ + 434.7185407095144, + -12.095470468460235 + ], + [ + 444.31919179069746, + -30.151375553162552 + ], + [ + 342.9874442399377, + -33.03685633491784 + ], + [ + 330.08867119805296, + -15.175483462892203 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1003.7613984978873, + "ymin": 0.0, + "xmax": 1023.1062940877985, + "ymax": 11.556780267497516 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1015.0188062117703, + 8.10644400953879 + ], + [ + 1003.7613984978873, + 7.4222069170479585 + ], + [ + 1004.7615315128401, + 10.864400694398341 + ], + [ + 1016.086948460664, + 11.556780267497516 + ], + [ + 1021.9761465635127, + -16.744159893038443 + ], + [ + 1010.5018004071969, + -17.41128047756365 + ], + [ + 1011.5612859115645, + -14.05489932649806 + ], + [ + 1023.1062940877985, + -13.379691421619839 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4809317425322915338, + "instance_id": 2806, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -62.6159553527832, + "y": -93.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 496.24225936286996, + "ymin": 85.46327873049813, + "xmax": 514.2904330805227, + "ymax": 118.35990479325349 + }, + "corners_3d": [ + [ + -62.754539489746094, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.9842529296875, + 6.416468620300293 + ], + [ + -62.754539489746094, + -93.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 512.0384573191268, + 118.35990479325349 + ], + [ + 514.2904330805227, + 113.53916921348957 + ], + [ + 501.69012823814484, + 112.58440106358853 + ], + [ + 499.3529724470113, + 117.39169366915942 + ], + [ + 509.20425512985605, + 91.1332212168578 + ], + [ + 511.5259467452181, + 86.40045148745071 + ], + [ + 498.6528697118411, + 85.46327873049813 + ], + [ + 496.24225936286996, + 90.18256013204706 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 263.233601087369, + "ymin": 149.86380217574413, + "xmax": 285.3222902059553, + "ymax": 178.86983409710194 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 281.8069543884332, + 178.86983409710194 + ], + [ + 285.3222902059553, + 174.0916494687994 + ], + [ + 274.1871923209988, + 173.1497049841874 + ], + [ + 270.60520413532026, + 177.9158124475909 + ], + [ + 274.6496312484535, + 155.5161856192614 + ], + [ + 278.28113325411493, + 150.79447269535677 + ], + [ + 266.93431435271145, + 149.86380217574413 + ], + [ + 263.233601087369, + 154.5733434297455 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5344508464058845628, + "instance_id": 48329, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -62.61595916748047, + "y": -96.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 395.17592988740194, + "ymin": 78.1554342386413, + "xmax": 415.73662639713757, + "ymax": 110.78757395891682 + }, + "corners_3d": [ + [ + -62.75454330444336, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.9842529296875, + 6.416468620300293 + ], + [ + -62.75454330444336, + -96.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 412.8250171594458, + 110.78757395891682 + ], + [ + 415.73662639713757, + 106.07147802421392 + ], + [ + 403.40869950040815, + 105.13734878910108 + ], + [ + 400.4156437660762, + 109.84043676346141 + ], + [ + 407.8496558063409, + 83.69972069992747 + ], + [ + 410.8596364922591, + 79.0719106445618 + ], + [ + 398.27084740615794, + 78.1554342386413 + ], + [ + 395.17592988740194, + 82.77020186039096 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8433051479337506626, + "instance_id": 17047, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -62.61595153808594, + "y": -91.29429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 582.2256899008829, + "ymin": 91.67959190297091, + "xmax": 598.0893290613299, + "ymax": 124.7994476169379 + }, + "corners_3d": [ + [ + -62.75453567504883, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.4842529296875, + 6.416468620300293 + ], + [ + -62.75453567504883, + -91.4842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 596.4101475458181, + 124.7994476169379 + ], + [ + 598.0893290613299, + 119.88882903245039 + ], + [ + 585.2550874327219, + 118.91633478956527 + ], + [ + 583.4874691054792, + 123.813132951542 + ], + [ + 595.4354903615115, + 97.45753976694999 + ], + [ + 597.158957554749, + 92.63455186514733 + ], + [ + 584.0415527708669, + 91.67959190297091 + ], + [ + 582.2256899008829, + 96.4887042437071 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1015.2560884900304, + "ymin": 21.208675013339416, + "xmax": 1036.2745362808548, + "ymax": 51.703434494733756 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1027.296037484386, + 47.76462273163929 + ], + [ + 1015.2560884900304, + 46.98389498450416 + ], + [ + 1016.3976291381255, + 50.91277649998062 + ], + [ + 1028.5154001609646, + 51.703434494733756 + ], + [ + 1034.9810974117484, + 21.971800776688042 + ], + [ + 1022.6926932707609, + 21.208675013339416 + ], + [ + 1023.9050568292357, + 25.049363894055716 + ], + [ + 1036.2745362808548, + 25.822390369021264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1007.5058049470197, + "ymin": 183.71121011029817, + "xmax": 1029.3381350200768, + "ymax": 213.63587673785696 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1020.1203176185268, + 208.4072249470071 + ], + [ + 1007.5058049470197, + 207.37684022031397 + ], + [ + 1008.6578415984739, + 212.59166852936352 + ], + [ + 1021.3582765174345, + 213.63587673785696 + ], + [ + 1028.0203150475713, + 184.73111872441476 + ], + [ + 1015.13335792617, + 183.71121011029817 + ], + [ + 1016.3614936993258, + 188.87359271493725 + ], + [ + 1029.3381350200768, + 189.90747135745494 + ] + ], + "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": 963.7842024014083, + "ymin": 0.0, + "xmax": 1094.9004977745049, + "ymax": 283.8633426177907 + }, + "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": [ + [ + 995.5741117974912, + 282.5640044879823 + ], + [ + 1009.2467114111735, + 283.8633426177907 + ], + [ + 974.4851145503984, + 99.97042479392172 + ], + [ + 963.7842024014083, + 99.16860858724357 + ], + [ + 1077.9022722301434, + 35.96560373353765 + ], + [ + 1094.9004977745049, + 37.10504977467127 + ], + [ + 1032.5370146254459, + -116.5664533916243 + ], + [ + 1019.9003552350603, + -117.20459554572051 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 17.44354819497994, + "ymin": 394.02332491464017, + "xmax": 339.64358793380154, + "ymax": 666.100351282166 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 180.72359262859237, + 626.5178647407924 + ], + [ + 171.39246524159103, + 643.625330951251 + ], + [ + 332.44818455932017, + 666.100351282166 + ], + [ + 339.64358793380154, + 648.3596744259423 + ], + [ + 32.64550490072497, + 394.02332491464017 + ], + [ + 17.44354819497994, + 412.34641643131357 + ], + [ + 228.91544949352914, + 436.67730109568663 + ], + [ + 240.45852341097077, + 417.4471151454118 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 135.5495484963899, + "ymin": 0.0, + "xmax": 276.1105418818774, + "ymax": 230.8879657698135 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 218.00423834895537, + 229.78364717943452 + ], + [ + 230.06076827536646, + 230.8879657698135 + ], + [ + 276.1105418818774, + 169.68947637832497 + ], + [ + 264.9120736430146, + 168.74676893532148 + ], + [ + 135.5495484963899, + 11.367339574769119 + ], + [ + 149.83010604884987, + 12.328597609383223 + ], + [ + 211.2788725359099, + -40.17406005606637 + ], + [ + 198.18514428866865, + -40.970765162101884 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 205.24677676366844, + "ymin": 423.82921843232816, + "xmax": 237.47681552361757, + "ymax": 443.36864549504253 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 215.124281972885, + 428.03490249241327 + ], + [ + 207.25118872144674, + 440.74955152631827 + ], + [ + 229.86798520664212, + 443.36864549504253 + ], + [ + 237.47681552361757, + 430.5886371610641 + ], + [ + 213.181128209662, + 423.82921843232816 + ], + [ + 205.24677676366844, + 436.54910164386445 + ], + [ + 227.96340010211253, + 439.1694573452652 + ], + [ + 235.63117308116028, + 426.3838858016568 + ] + ], + "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": 370.2724096101123, + "ymin": 0.0, + "xmax": 492.1140349855377, + "ymax": 77.32124925836985 + }, + "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": [ + [ + 492.1140349855377, + -34.39262468520394 + ], + [ + 484.0071153380617, + -34.90640818467671 + ], + [ + 408.7755705872502, + 76.57245402983176 + ], + [ + 418.4767844618585, + 77.32124925836985 + ], + [ + 472.25871904339067, + -219.94285411313103 + ], + [ + 463.0860078014239, + -220.32486459659924 + ], + [ + 370.2724096101123, + -135.08037454590328 + ], + [ + 381.5394548062092, + -134.4913214083316 + ] + ], + "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": 703.6726634164645, + "ymin": 0.0, + "xmax": 996.3210587875265, + "ymax": 2.70075993005986 + }, + "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": [ + [ + 951.2399207349707, + 2.70075993005986 + ], + [ + 950.5589013636553, + -1.0699720790281049 + ], + [ + 704.5869212246904, + -16.776609585461074 + ], + [ + 703.6726634164645, + -13.210732551815681 + ], + [ + 996.3210587875265, + -192.1021386259731 + ], + [ + 995.2045057280741, + -194.9559882537137 + ], + [ + 713.5814454272286, + -206.785482490611 + ], + [ + 712.6046690088197, + -204.1080016746605 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 205.07046402109353, + "ymin": 423.7250819799805, + "xmax": 237.6469639420199, + "ymax": 443.4744851678472 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 215.05609418341805, + 427.9760115825114 + ], + [ + 207.09730678792755, + 440.8268828576525 + ], + [ + 229.95813736811016, + 443.4744851678472 + ], + [ + 237.6469639420199, + 430.5568439787467 + ], + [ + 213.0918461881363, + 423.7250819799805 + ], + [ + 205.07046402109353, + 436.581298812517 + ], + [ + 228.0332922658784, + 439.23019199358157 + ], + [ + 235.78232260765418, + 426.30686548993936 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 206.05967893548768, + "ymin": 0.9138345762931408, + "xmax": 637.6216280561521, + "ymax": 284.65770303414166 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 289.7725291757023, + 242.14224459973187 + ], + [ + 284.5213858137565, + 249.82208035106834 + ], + [ + 635.5635376346361, + 284.65770303414166 + ], + [ + 637.6216280561521, + 276.3172441150649 + ], + [ + 213.34864605270394, + 0.9138345762931408 + ], + [ + 206.05967893548768, + 7.514931651384586 + ], + [ + 634.5332405380768, + 37.802053780484584 + ], + [ + 637.0758920246843, + 30.4987143890188 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1086.493511252497, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1412.0124334268921, + 468.3939005951295 + ], + [ + 1086.493511252497, + 524.0080158024542 + ], + [ + 1365.6989900005124, + 957.0160274545175 + ], + [ + 1791.4328531447168, + 850.96358558474 + ], + [ + 1913.8641807164367, + -103.1520550018796 + ], + [ + 1403.231465728813, + -60.25314068424717 + ], + [ + 2362.8464993033044, + 420.30776320508926 + ], + [ + 3135.872880692232, + 271.05722459296766 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00130/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00130/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..a3eef2512af5f17af160a619180085075722ede6 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00130/meta.json @@ -0,0 +1,2786 @@ +{ + "frame_id": 130, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 65.0, + "sim_timestamp": 11350.108370546252 + }, + "drone_pose": { + "x": -86.39400019371882, + "y": -85.87727068041366, + "z": 20.007272578721665, + "pitch": -45.39783308824, + "yaw": -6.959076608386546, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6970069408416748, + 0.08507639169692993, + 0.7119995355606079, + 38.665916442871094 + ], + [ + -0.12116038799285889, + 0.9926329255104065, + 0.0, + 95.7121353149414 + ], + [ + -0.706754207611084, + -0.08626613765954971, + 0.7021799087524414, + -67.69972229003906 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -85.95819408704413, + "y": -85.80403696505824, + "z": 20.01144657510084 + }, + "t1_image_uv": [ + 1049.0092688687848, + -632.7982950909857 + ], + "t1_depth": 0.29455755481885837 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -66.66718292236328, + "y": -88.68776321411133, + "z": 0.5749992918968201 + }, + "image_uv": [ + 626.2103525121729, + 341.3860167635315 + ], + "depth": 27.82460461920089, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 203, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -66.66718292236328, + "y": -88.68775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.2730492949485779, + "y": 0.1971484124660492, + "z": 0.543006181716919 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 617.8716159601971, + "ymin": 320.732637812136, + "xmax": 634.2202205385905, + "ymax": 361.77460547232477 + }, + "corners_3d": [ + [ + -66.94023132324219, + -88.8849105834961, + 0.031993091106414795 + ], + [ + -66.94023132324219, + -88.49060821533203, + 0.031993091106414795 + ], + [ + -66.39413452148438, + -88.49060821533203, + 0.031993091106414795 + ], + [ + -66.39413452148438, + -88.8849105834961, + 0.031993091106414795 + ], + [ + -66.94023132324219, + -88.8849105834961, + 1.1180055141448975 + ], + [ + -66.94023132324219, + -88.49060821533203, + 1.1180055141448975 + ], + [ + -66.39413452148438, + -88.49060821533203, + 1.1180055141448975 + ], + [ + -66.39413452148438, + -88.8849105834961, + 1.1180055141448975 + ] + ], + "corners_2d": [ + [ + 618.4818860573567, + 360.6078230082717 + ], + [ + 631.873471914714, + 361.77460547232477 + ], + [ + 634.2202205385905, + 348.69740134187873 + ], + [ + 621.0052306494713, + 347.5616834177854 + ], + [ + 617.8716159601971, + 333.7742210304442 + ], + [ + 631.6427134676761, + 334.9410786987236 + ], + [ + 634.0583621156487, + 321.8675655000491 + ], + [ + 620.4739417423438, + 320.732637812136 + ] + ], + "center_offset_px": [ + -13.789647487827096, + -18.613983236468528 + ] + }, + "trace_timestep_index": 130, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 61, + "semantic_pixel_counts": { + "1": 478691, + "2": 185616, + "3": 59991, + "4": 44430, + "6": 14972, + "7": 1635, + "9": 5288, + "10": 73491, + "12": 3526, + "14": 10542, + "20": 16633, + "21": 911, + "24": 25874 + }, + "instance_pixel_counts": { + "913": 66, + "9346": 1228, + "12951": 1328, + "13975": 259, + "15963": 2165, + "17232": 44430, + "22976": 14542, + "23296": 7468, + "23488": 1252, + "23552": 4287, + "24512": 18561, + "26963": 3624, + "27795": 8979, + "28307": 5792, + "28819": 17534, + "29331": 11280, + "31893": 499, + "32405": 62, + "33429": 1175, + "33941": 184, + "35668": 11755, + "36692": 4812, + "37979": 48231, + "39051": 147, + "39563": 2476, + "41107": 38787, + "41611": 3444, + "41619": 21292, + "42123": 2494, + "42635": 1513, + "43117": 9595, + "43147": 11921, + "43155": 133464, + "43659": 10289, + "43667": 23263, + "44179": 218300, + "44181": 1720, + "44693": 597, + "45717": 11241, + "46229": 671, + "46741": 9725, + "49088": 1020, + "49664": 203, + "49920": 433, + "50176": 597, + "50432": 991, + "50624": 12763, + "50688": 870, + "50944": 432, + "51136": 4962, + "51456": 1351, + "51648": 1125, + "51712": 5040, + "52160": 29414, + "52672": 59267, + "55040": 4023, + "55296": 128, + "55879": 34447, + "57173": 5288, + "64351": 8839, + "64603": 911 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 203, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -66.66718292236328, + "y": -88.68775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.30254635214805603, + "y": 0.2128661870956421, + "z": 0.5302795767784119 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 617.1879703975102, + "ymin": 320.3164266103174, + "xmax": 634.8705538623248, + "ymax": 362.2318164853765 + }, + "corners_3d": [ + [ + -66.9697265625, + -88.90062713623047, + 0.044719696044921875 + ], + [ + -66.9697265625, + -88.47489166259766, + 0.044719696044921875 + ], + [ + -66.36463928222656, + -88.47489166259766, + 0.044719696044921875 + ], + [ + -66.36463928222656, + -88.90062713623047, + 0.044719696044921875 + ], + [ + -66.9697265625, + -88.90062713623047, + 1.1052788496017456 + ], + [ + -66.9697265625, + -88.47489166259766, + 1.1052788496017456 + ], + [ + -66.36463928222656, + -88.47489166259766, + 1.1052788496017456 + ], + [ + -66.36463928222656, + -88.90062713623047, + 1.1052788496017456 + ] + ], + "corners_2d": [ + [ + 617.8029698508694, + 360.97015681108957 + ], + [ + 632.2772321611488, + 362.2318164853765 + ], + [ + 634.8705538623248, + 347.7403800004046 + ], + [ + 620.6077002060342, + 346.515897349766 + ], + [ + 617.1879703975102, + 334.76573408085034 + ], + [ + 632.0629774480961, + 336.0275251431648 + ], + [ + 634.7304177737202, + 321.5400294598665 + ], + [ + 620.0785973641365, + 320.3164266103174 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 433, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -62.541194915771484, + "y": -85.69005584716797, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.5249438285827637, + "y": 0.3005712926387787, + "z": 0.9022935032844543 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 723.377790418894, + "ymin": 225.75142241390373, + "xmax": 751.5125507390069, + "ymax": 292.07690594029515 + }, + "corners_3d": [ + [ + -63.11716079711914, + -85.87491607666016, + -0.3272942304611206 + ], + [ + -62.9921760559082, + -85.28691101074219, + -0.3272942304611206 + ], + [ + -61.96522903442383, + -85.50519561767578, + -0.3272942304611206 + ], + [ + -62.090213775634766, + -86.09320068359375, + -0.3272942304611206 + ], + [ + -63.11716079711914, + -85.87491607666016, + 1.477292776107788 + ], + [ + -62.9921760559082, + -85.28691101074219, + 1.477292776107788 + ], + [ + -61.96522903442383, + -85.50519561767578, + 1.477292776107788 + ], + [ + -62.090213775634766, + -86.09320068359375, + 1.477292776107788 + ] + ], + "corners_2d": [ + [ + 728.2566217694479, + 292.07690594029515 + ], + [ + 746.8514493257795, + 290.9843288104054 + ], + [ + 741.5445018076, + 269.8821123358632 + ], + [ + 723.377790418894, + 270.9242695782413 + ], + [ + 732.1114289313073, + 247.75832267695975 + ], + [ + 751.5125507390069, + 246.67389228878906 + ], + [ + 745.8663492484955, + 225.75142241390373 + ], + [ + 726.9308075690933, + 226.78370387528224 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 597, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -68.92300415039062, + "y": -81.74504852294922, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.5810400247573853, + "y": 0.35334959626197815, + "z": 0.8740655183792114 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 852.1294401052056, + "ymin": 379.5125664794453, + "xmax": 896.9329766332859, + "ymax": 456.073973821596 + }, + "corners_3d": [ + [ + -69.53779602050781, + -82.03572845458984, + -0.14666885137557983 + ], + [ + -69.46392822265625, + -81.33290100097656, + -0.14666885137557983 + ], + [ + -68.30821228027344, + -81.4543685913086, + -0.14666885137557983 + ], + [ + -68.382080078125, + -82.15719604492188, + -0.14666885137557983 + ], + [ + -69.53779602050781, + -82.03572845458984, + 1.6014621257781982 + ], + [ + -69.46392822265625, + -81.33290100097656, + 1.6014621257781982 + ], + [ + -68.30821228027344, + -81.4543685913086, + 1.6014621257781982 + ], + [ + -68.382080078125, + -82.15719604492188, + 1.6014621257781982 + ] + ], + "corners_2d": [ + [ + 858.1203320637547, + 455.7292141009676 + ], + [ + 884.5201391668502, + 456.073973821596 + ], + [ + 877.7170062004445, + 423.24463480830246 + ], + [ + 852.1294401052056, + 422.92071252338985 + ], + [ + 869.1892573937776, + 412.54205048234064 + ], + [ + 896.9329766332859, + 412.8896785181487 + ], + [ + 889.3958668662557, + 379.83816851620224 + ], + [ + 862.5477862141781, + 379.5125664794453 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 991, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -76.16718292236328, + "y": -88.68775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.5663500428199768, + "y": 0.44731929898262024, + "z": 0.9088451266288757 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 541.9365330277313, + "ymin": 593.1591680852887, + "xmax": 595.1249256798526, + "ymax": 685.0463348883436 + }, + "corners_3d": [ + [ + -76.73353576660156, + -89.13507843017578, + -0.333845853805542 + ], + [ + -76.73353576660156, + -88.24044036865234, + -0.333845853805542 + ], + [ + -75.600830078125, + -88.24044036865234, + -0.333845853805542 + ], + [ + -75.600830078125, + -89.13507843017578, + -0.333845853805542 + ], + [ + -76.73353576660156, + -89.13507843017578, + 1.4838443994522095 + ], + [ + -76.73353576660156, + -88.24044036865234, + 1.4838443994522095 + ], + [ + -75.600830078125, + -88.24044036865234, + 1.4838443994522095 + ], + [ + -75.600830078125, + -89.13507843017578, + 1.4838443994522095 + ] + ], + "corners_2d": [ + [ + 547.8412744249696, + 680.4481873984876 + ], + [ + 587.3191645512779, + 685.0463348883436 + ], + [ + 595.1249256798526, + 638.8827025021243 + ], + [ + 557.0191086208621, + 634.6051539583361 + ], + [ + 541.9365330277313, + 640.3194805083963 + ], + [ + 583.931061375066, + 645.0615716776101 + ], + [ + 592.3477972958245, + 597.5505912640318 + ], + [ + 551.902395063682, + 593.1591680852887 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 870, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -70.28268432617188, + "y": -99.81512451171875, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.42502444982528687, + "y": 0.5138233304023743, + "z": 0.8754638433456421 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 166.65942294932995, + "ymin": 358.4112879027771, + "xmax": 238.32497047440927, + "ymax": 430.5794839002436 + }, + "corners_3d": [ + [ + -70.65167236328125, + -100.37055969238281, + -0.14806228876113892 + ], + [ + -70.75908660888672, + -99.34854125976562, + -0.14806228876113892 + ], + [ + -69.9136962890625, + -99.25968933105469, + -0.14806228876113892 + ], + [ + -69.80628204345703, + -100.28170776367188, + -0.14806228876113892 + ], + [ + -70.65167236328125, + -100.37055969238281, + 1.60286545753479 + ], + [ + -70.75908660888672, + -99.34854125976562, + 1.60286545753479 + ], + [ + -69.9136962890625, + -99.25968933105469, + 1.60286545753479 + ], + [ + -69.80628204345703, + -100.28170776367188, + 1.60286545753479 + ] + ], + "corners_2d": [ + [ + 188.88007181074448, + 424.21790957631424 + ], + [ + 222.5394524430543, + 430.5794839002436 + ], + [ + 238.32497047440927, + 408.06760863789464 + ], + [ + 205.29293320121525, + 401.97662545253627 + ], + [ + 166.65942294932995, + 380.7468474893799 + ], + [ + 201.84443614252535, + 387.1440637878891 + ], + [ + 218.86267600790325, + 364.52340344664213 + ], + [ + 184.3617839509115, + 358.4112879027771 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 432, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -55.42184829711914, + "y": -96.85797882080078, + "z": 0.6144474744796753 + }, + "extent": { + "x": 0.4288891553878784, + "y": 0.43778806924819946, + "z": 0.8860293626785278 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 431.83990113385767, + "ymin": 87.78006273431458, + "xmax": 469.58688996206786, + "ymax": 144.57966856064328 + }, + "corners_3d": [ + [ + -55.750343322753906, + -97.37537384033203, + -0.27158188819885254 + ], + [ + -55.93238830566406, + -96.51892852783203, + -0.27158188819885254 + ], + [ + -55.093353271484375, + -96.34058380126953, + -0.27158188819885254 + ], + [ + -54.91130828857422, + -97.19702911376953, + -0.27158188819885254 + ], + [ + -55.750343322753906, + -97.37537384033203, + 1.5004768371582031 + ], + [ + -55.93238830566406, + -96.51892852783203, + 1.5004768371582031 + ], + [ + -55.093353271484375, + -96.34058380126953, + 1.5004768371582031 + ], + [ + -54.91130828857422, + -97.19702911376953, + 1.5004768371582031 + ] + ], + "corners_2d": [ + [ + 438.9815021200477, + 140.4624991278105 + ], + [ + 459.6181439978644, + 144.57966856064328 + ], + [ + 469.58688996206786, + 132.9553750597627 + ], + [ + 449.21170601770757, + 128.96318161009802 + ], + [ + 431.83990113385767, + 99.02734306091304 + ], + [ + 453.1734541859222, + 103.05723822434788 + ], + [ + 463.5950167506297, + 91.68337607870512 + ], + [ + 442.5405590809692, + 87.78006273431458 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 201, + "instance_id": 51456, + "pixel_count": 1351, + "type_id": "vehicle.audi.tt", + "bbox_3d": { + "center_world": { + "x": -80.08149719238281, + "y": -91.51465606689453, + "z": 0.6812185645103455 + }, + "extent": { + "x": 2.0906050205230713, + "y": 0.9970585703849792, + "z": 0.6926480531692505 + }, + "yaw": -179.9136962890625 + }, + "bbox_2d": { + "xmin": 292.2349384701401, + "ymin": 680.4333840008119, + "xmax": 472.14457373763776, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -77.99240112304688, + -90.51445007324219, + -0.0114295007660985 + ], + [ + -77.98939514160156, + -92.5085678100586, + -0.0114295007660985 + ], + [ + -82.17060089111328, + -92.51486206054688, + -0.0114295007660985 + ], + [ + -82.1736068725586, + -90.52074432373047, + -0.0114295007660985 + ], + [ + -77.99240112304688, + -90.51445007324219, + 1.3738665580749512 + ], + [ + -77.98939514160156, + -92.5085678100586, + 1.3738665580749512 + ], + [ + -82.17060089111328, + -92.51486206054688, + 1.3738665580749512 + ], + [ + -82.1736068725586, + -90.52074432373047, + 1.3738665580749512 + ] + ], + "corners_2d": [ + [ + 472.14457373763776, + 721.4005340108422 + ], + [ + 381.6477161729277, + 710.3124080917821 + ], + [ + 311.5467295094093, + 927.4699959631765 + ], + [ + 416.34998546513503, + 942.5151884925217 + ], + [ + 463.66187008979557, + 691.8189309027948 + ], + [ + 368.70557072676587, + 680.4333840008119 + ], + [ + 292.2349384701401, + 905.1691882710485 + ], + [ + 403.0642029311176, + 920.877452132057 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 5040, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 924.977283587449, + "ymin": 49.22212056965691, + "xmax": 1066.6768507339702, + "ymax": 125.27631875844259 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 924.977283587449, + 92.20552470149988 + ], + [ + 929.5430812587892, + 117.67883480032259 + ], + [ + 1051.3198459383227, + 125.27631875844259 + ], + [ + 1042.4217774854894, + 99.29172246659215 + ], + [ + 935.158969611532, + 49.22212056965691 + ], + [ + 940.2738637076552, + 74.0199684934521 + ], + [ + 1066.6768507339702, + 81.45020241271834 + ], + [ + 1056.9007245421571, + 56.13564542534266 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 215, + "instance_id": 55040, + "pixel_count": 4023, + "type_id": "vehicle.tesla.cybertruck", + "bbox_3d": { + "center_world": { + "x": -80.0561294555664, + "y": -84.5146255493164, + "z": 1.0455687046051025 + }, + "extent": { + "x": 3.1367766857147217, + "y": 1.1947870254516602, + "z": 1.049095630645752 + }, + "yaw": 0.08630596101284027 + }, + "bbox_2d": { + "xmin": 672.0655515232451, + "ymin": 652.5645798037872, + "xmax": 829.934292257068, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -83.19110107421875, + -85.7141342163086, + -0.003526935586705804 + ], + [ + -83.1947021484375, + -83.3245620727539, + -0.003526935586705804 + ], + [ + -76.92115783691406, + -83.31511688232422, + -0.003526935586705804 + ], + [ + -76.91755676269531, + -85.7046890258789, + -0.003526935586705804 + ], + [ + -83.19110107421875, + -85.7141342163086, + 2.0946643352508545 + ], + [ + -83.1947021484375, + -83.3245620727539, + 2.0946643352508545 + ], + [ + -76.92115783691406, + -83.31511688232422, + 2.0946643352508545 + ], + [ + -76.91755676269531, + -85.7046890258789, + 2.0946643352508545 + ] + ], + "corners_2d": [ + [ + 672.0655515232451, + 1048.0458377019245 + ], + [ + 812.4842721477712, + 1069.0748504669755 + ], + [ + 811.7387118789613, + 712.5606207782644 + ], + [ + 700.787593687923, + 699.464636210949 + ], + [ + 675.2649919367708, + 1022.2318049940955 + ], + [ + 829.934292257068, + 1045.0285178401723 + ], + [ + 825.1443266122451, + 666.1784709038263 + ], + [ + 705.4820813951337, + 652.5645798037872 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 216, + "instance_id": 55296, + "pixel_count": 128, + "type_id": "vehicle.audi.etron", + "bbox_3d": { + "center_world": { + "x": -44.75563430786133, + "y": -104.2794189453125, + "z": 0.8648524284362793 + }, + "extent": { + "x": 2.427854299545288, + "y": 1.0163782835006714, + "z": 0.8246796727180481 + }, + "yaw": -94.3148193359375 + }, + "bbox_2d": { + "xmin": 289.5919326422985, + "ymin": 0.0, + "xmax": 412.8912344864817, + "ymax": 6.8134190610638825 + }, + "corners_3d": [ + [ + -45.58646774291992, + -101.781982421875, + 0.04017278552055359 + ], + [ + -43.559471130371094, + -101.9349136352539, + 0.04017278552055359 + ], + [ + -43.92479705810547, + -106.77686309814453, + 0.04017278552055359 + ], + [ + -45.9517936706543, + -106.6239242553711, + 0.04017278552055359 + ], + [ + -45.58646774291992, + -101.781982421875, + 1.6895321607589722 + ], + [ + -43.559471130371094, + -101.9349136352539, + 1.6895321607589722 + ], + [ + -43.92479705810547, + -106.77686309814453, + 1.6895321607589722 + ], + [ + -45.9517936706543, + -106.6239242553711, + 1.6895321607589722 + ] + ], + "corners_2d": [ + [ + 403.48813727516847, + 6.8134190610638825 + ], + [ + 412.8912344864817, + -12.64934098958247 + ], + [ + 311.5490168547892, + -14.72194894727943 + ], + [ + 298.90816978864547, + 4.6046031922467705 + ], + [ + 397.0045713916997, + -28.822385931592237 + ], + [ + 406.865983619527, + -47.653597565359746 + ], + [ + 302.86598891272473, + -49.65704440720424 + ], + [ + 289.5919326422985, + -30.961157387555204 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4809317425322915338, + "instance_id": 2806, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -62.6159553527832, + "y": -93.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 454.63600989091447, + "ymin": 73.83149898765112, + "xmax": 474.1490662677593, + "ymax": 107.35301537987667 + }, + "corners_3d": [ + [ + -62.754539489746094, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.9842529296875, + 6.416468620300293 + ], + [ + -62.754539489746094, + -93.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 471.8057698768805, + 107.35301537987667 + ], + [ + 474.1490662677593, + 102.31229692775855 + ], + [ + 461.2526746201818, + 101.47582822513459 + ], + [ + 458.82141761142327, + 106.50473018437009 + ], + [ + 467.9156296920513, + 79.61209885127306 + ], + [ + 470.3405663131123, + 74.6540878822621 + ], + [ + 457.15293681835135, + 73.83149898765112 + ], + [ + 454.63600989091447, + 78.7776199698281 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 218.6576894257301, + "ymin": 142.08845408446064, + "xmax": 242.42928960571402, + "ymax": 171.58520765029454 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 238.80342336471023, + 171.58520765029454 + ], + [ + 242.42928960571402, + 166.57468568673383 + ], + [ + 230.967130869892, + 165.74711445905797 + ], + [ + 227.27158490950563, + 170.7469757663385 + ], + [ + 230.42106696631532, + 147.86755416191153 + ], + [ + 234.1768093041972, + 142.90755358797358 + ], + [ + 222.48592252075758, + 142.08845408446064 + ], + [ + 218.6576894257301, + 147.03768207687955 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5344508464058845628, + "instance_id": 48329, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -62.61595916748047, + "y": -96.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 350.88568128068744, + "ymin": 67.40440009134664, + "xmax": 373.1264074156206, + "ymax": 100.70849890007304 + }, + "corners_3d": [ + [ + -62.75454330444336, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.9842529296875, + 6.416468620300293 + ], + [ + -62.75454330444336, + -96.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 370.0997998274128, + 100.70849890007304 + ], + [ + 373.1264074156206, + 95.75996912610304 + ], + [ + 360.46492478490666, + 94.93873670009111 + ], + [ + 357.3536005168692, + 99.87577247422394 + ], + [ + 363.9161818520713, + 73.0769410437153 + ], + [ + 367.0554635046587, + 68.21166648339653 + ], + [ + 354.1134835296364, + 67.40440009134664 + ], + [ + 350.88568128068744, + 72.25811649784663 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8433051479337506626, + "instance_id": 17047, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -62.61595153808594, + "y": -91.29429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 542.6137535910125, + "ymin": 79.28083232985597, + "xmax": 559.7716691788503, + "ymax": 112.98528990018701 + }, + "corners_3d": [ + [ + -62.75453567504883, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.4842529296875, + 6.416468620300293 + ], + [ + -62.75453567504883, + -91.4842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 558.01778774004, + 112.98528990018701 + ], + [ + 559.7716691788503, + 107.86576546355519 + ], + [ + 546.6744901038584, + 107.01627363653822 + ], + [ + 544.8298389821679, + 112.12370355807363 + ], + [ + 556.1064706357997, + 85.15385736042379 + ], + [ + 557.9147290509947, + 80.11652567142215 + ], + [ + 544.517009545847, + 79.28083232985597 + ], + [ + 542.6137535910125, + 84.30598773426937 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 983.2785427693757, + "ymin": 1.2756183686049667, + "xmax": 1003.9461716229555, + "ymax": 32.23871221157299 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 995.386932695937, + 28.190914884048198 + ], + [ + 983.2785427693757, + 27.51864259275311 + ], + [ + 984.3902476734594, + 31.55793526117128 + ], + [ + 996.5761998667704, + 32.23871221157299 + ], + [ + 1002.6853283714294, + 1.9336057246057408 + ], + [ + 990.3207366696679, + 1.2756183686049667 + ], + [ + 991.5006912944527, + 5.229507289709034 + ], + [ + 1003.9461716229555, + 5.895991095889997 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 976.3465640450436, + "ymin": 167.14353362289444, + "xmax": 997.7684564088587, + "ymax": 197.26970503224626 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 988.9986895390616, + 191.92705962927144 + ], + [ + 976.3465640450436, + 191.04484734576224 + ], + [ + 977.4695772287428, + 196.37575535830686 + ], + [ + 990.2068756927927, + 197.26970503224626 + ], + [ + 996.4834578954913, + 168.01789296438608 + ], + [ + 983.5519186243148, + 167.14353362289444 + ], + [ + 984.7479291782051, + 172.42761497974917 + ], + [ + 997.7684564088587, + 173.31385911314754 + ] + ], + "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": 934.5008062481199, + "ymin": 0.0, + "xmax": 1060.8750118647183, + "ymax": 267.8896611131375 + }, + "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": [ + [ + 965.6331422337225, + 266.7693883590913 + ], + [ + 979.3219009035635, + 267.8896611131375 + ], + [ + 945.244702816466, + 80.30056273434116 + ], + [ + 934.5008062481199, + 79.60625071149224 + ], + [ + 1043.772921824735, + 17.210475303281328 + ], + [ + 1060.8750118647183, + 18.206029289895127 + ], + [ + 1000.1818213149188, + -140.43433607897322 + ], + [ + 987.4416827290875, + -140.99282552736736 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 405.7467846045643, + "xmax": 301.3737632340474, + "ymax": 671.7623117612676 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 138.51884822286968, + 634.4070270288412 + ], + [ + 128.97880669368016, + 652.2184064580524 + ], + [ + 294.0468696030888, + 671.7623117612676 + ], + [ + 301.3737632340474, + 653.4005932700803 + ], + [ + -32.02961624319073, + 405.7467846045643 + ], + [ + -48.15469666803733, + 425.3368543180189 + ], + [ + 171.62332042115736, + 447.0535615433216 + ], + [ + 183.84923765238875, + 426.6438632004399 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 80.31125101455461, + "ymin": 0.0, + "xmax": 235.46122289668546, + "ymax": 225.06374033971048 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 175.8049205181507, + 224.09539215863603 + ], + [ + 188.21872789709687, + 225.06374033971048 + ], + [ + 235.46122289668546, + 161.03430477724058 + ], + [ + 223.9439614595916, + 160.20812878194963 + ], + [ + 80.31125101455461, + 1.3708519874772378 + ], + [ + 95.14921747730273, + 2.2281196161577554 + ], + [ + 159.6799427534139, + -53.591783432300815 + ], + [ + 146.10387900966566, + -54.30073473904895 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 147.62700363282516, + "ymin": 433.53495575534674, + "xmax": 181.47468873017272, + "ymax": 453.5325671308427 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 158.33746554907185, + 437.7128949526861 + ], + [ + 150.01299611721925, + 451.2050157776316 + ], + [ + 173.4296523097596, + 453.5325671308427 + ], + [ + 181.47468873017272, + 439.9817628611054 + ], + [ + 156.02187609381997, + 433.53495575534674 + ], + [ + 147.62700363282516, + 447.0388884508617 + ], + [ + 171.15269593672917, + 449.36864605720496 + ], + [ + 179.2655503206662, + 435.80569341079354 + ] + ], + "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": 324.72987014688914, + "ymin": 0.0, + "xmax": 456.81936988183463, + "ymax": 63.54841690933563 + }, + "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": [ + [ + 456.81936988183463, + -52.88266231991099 + ], + [ + 448.5315118444041, + -53.33606028874925 + ], + [ + 371.6097452572455, + 62.887216649943866 + ], + [ + 381.5438837447371, + 63.54841690933563 + ], + [ + 431.07006764302105, + -244.00469881881008 + ], + [ + 421.64203056005186, + -244.34547060089687 + ], + [ + 324.72987014688914, + -154.38076987950183 + ], + [ + 336.34735609197566, + -153.85350292636713 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 147.44169113729805, + "ymin": 433.42833916435734, + "xmax": 181.65323195413362, + "ymax": 453.6408468156705 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 158.26936624219547, + 437.6512656426287 + ], + [ + 149.8543180973552, + 451.2879629202092 + ], + [ + 173.52364107358386, + 453.6408468156705 + ], + [ + 181.65323195413362, + 439.9441997795738 + ], + [ + 155.92867802544163, + 433.42833916435734 + ], + [ + 147.44169113729805, + 447.07710181065926 + ], + [ + 171.22242162112332, + 449.4322415560521 + ], + [ + 179.42128192282132, + 435.72318167635154 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 152.56696049987033, + "ymin": 0.0, + "xmax": 604.8203902868953, + "ymax": 274.37926393813916 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 249.80938981611672, + 235.75054107741863 + ], + [ + 244.43213286142452, + 243.76981521859705 + ], + [ + 602.7234165943868, + 274.37926393813916 + ], + [ + 604.8203902868953, + 265.77991868850677 + ], + [ + 160.23536134603404, + -10.115575232691015 + ], + [ + 152.56696049987033, + -3.0950170953595944 + ], + [ + 593.6823378126946, + 23.985141145556327 + ], + [ + 596.3903630898201, + 16.331667848795917 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1055.0341292891949, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1378.2376033847677, + 448.9928780172627 + ], + [ + 1055.0341292891949, + 511.42213252876394 + ], + [ + 1328.819265154158, + 942.3549165160945 + ], + [ + 1745.957335247775, + 825.415705047813 + ], + [ + 1874.8221394376556, + -127.99478442731288 + ], + [ + 1362.7810028677445, + -78.3192582265932 + ], + [ + 2315.5517552521706, + 420.3449294226047 + ], + [ + 3068.7310738712295, + 249.7064613030208 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00131/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00131/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cf6525f09e2596fc2a363facea0bc53261046289 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00131/meta.json @@ -0,0 +1,3421 @@ +{ + "frame_id": 131, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 65.5, + "sim_timestamp": 11360.49777219817 + }, + "drone_pose": { + "x": -85.95819408704413, + "y": -85.80403696505824, + "z": 20.01144657510084, + "pitch": -43.31278070558483, + "yaw": -9.328654510869702, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7179967761039734, + 0.11794525384902954, + 0.6859807372093201, + 37.87006759643555 + ], + [ + -0.16209736466407776, + 0.986774742603302, + 0.0, + 98.60285949707031 + ], + [ + -0.6769084334373474, + -0.11119566112756729, + 0.7276197671890259, + -63.20551300048828 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -85.42250522954355, + "y": -85.80838848839521, + "z": 19.9075272573128 + }, + "t1_image_uv": [ + 813.6069701128481, + -244.6655365448097 + ], + "t1_depth": 0.45642278173246686 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -66.16718292236328, + "y": -88.68776321411133, + "z": 0.5749992918968201 + }, + "image_uv": [ + 652.480089177425, + 374.6319707964598 + ], + "depth": 27.88303210213889, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 193, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -66.16718292236328, + "y": -88.68775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.21471190452575684, + "y": 0.22164061665534973, + "z": 0.5147776007652283 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 641.9967374879475, + "ymin": 354.5004735282121, + "xmax": 663.2634739629171, + "ymax": 394.5752005477391 + }, + "corners_3d": [ + [ + -66.16228485107422, + -88.99630737304688, + 0.06022167205810547 + ], + [ + -66.4757308959961, + -88.682861328125, + 0.06022167205810547 + ], + [ + -66.17208099365234, + -88.37921142578125, + 0.06022167205810547 + ], + [ + -65.85863494873047, + -88.69265747070312, + 0.06022167205810547 + ], + [ + -66.16228485107422, + -88.99630737304688, + 1.089776873588562 + ], + [ + -66.4757308959961, + -88.682861328125, + 1.089776873588562 + ], + [ + -66.17208099365234, + -88.37921142578125, + 1.089776873588562 + ], + [ + -65.85863494873047, + -88.69265747070312, + 1.089776873588562 + ] + ], + "corners_2d": [ + [ + 641.9967374879475, + 385.8679619451659 + ], + [ + 650.8735488965501, + 394.5752005477391 + ], + [ + 662.6807743538317, + 388.503213053591 + ], + [ + 653.7520850041229, + 379.9076293780206 + ], + [ + 642.0478878456166, + 360.4455788706701 + ], + [ + 651.1547689436344, + 369.1340788047668 + ], + [ + 663.2634739629171, + 363.0747193105147 + ], + [ + 654.1020587723293, + 354.5004735282121 + ] + ], + "center_offset_px": [ + 12.480089177425043, + 14.631970796459825 + ] + }, + "trace_timestep_index": 131, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 72, + "semantic_pixel_counts": { + "1": 474017, + "2": 190697, + "3": 78249, + "4": 40446, + "5": 71, + "6": 15897, + "7": 1994, + "9": 9608, + "10": 59384, + "12": 3361, + "14": 8795, + "20": 12075, + "24": 27006 + }, + "instance_pixel_counts": { + "9296": 71, + "9346": 1315, + "9799": 2246, + "11927": 533, + "12439": 2234, + "12951": 1299, + "13975": 276, + "15963": 4816, + "17232": 40446, + "21952": 407, + "22464": 2751, + "22784": 176, + "22976": 14224, + "23296": 7200, + "23488": 1385, + "23552": 5342, + "24404": 1067, + "24512": 18957, + "25940": 37, + "26196": 32, + "26963": 3851, + "27795": 11098, + "28307": 8419, + "28819": 16945, + "29331": 11383, + "31893": 654, + "32405": 284, + "33429": 1193, + "33941": 192, + "35668": 9612, + "36692": 1327, + "37979": 63831, + "38539": 239, + "39051": 1529, + "39563": 2347, + "40787": 7, + "41107": 54516, + "41611": 3624, + "41619": 18311, + "42123": 2479, + "42635": 1303, + "43117": 9602, + "43147": 10831, + "43155": 135289, + "43659": 8897, + "43667": 19971, + "44179": 198085, + "44181": 3389, + "44693": 510, + "45717": 11421, + "46229": 585, + "46741": 8778, + "47552": 10, + "48064": 2269, + "49088": 3111, + "49664": 193, + "49920": 407, + "50015": 22, + "50176": 624, + "50432": 976, + "50624": 13504, + "50688": 776, + "50944": 385, + "51136": 4922, + "51648": 1125, + "51712": 5138, + "52160": 27915, + "52672": 52990, + "55296": 3657, + "55879": 32256, + "57173": 9608, + "64351": 9290 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 193, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -66.16718292236328, + "y": -88.68775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.19935546815395355, + "y": 0.2167041003704071, + "z": 0.5295013189315796 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 642.5168608992914, + "ymin": 354.433649751641, + "xmax": 662.7385548287647, + "ymax": 394.6133825562429 + }, + "corners_3d": [ + [ + -66.15491485595703, + -88.9819564819336, + 0.04549795389175415 + ], + [ + -66.46138000488281, + -88.67549133300781, + 0.04549795389175415 + ], + [ + -66.17945098876953, + -88.39356231689453, + 0.04549795389175415 + ], + [ + -65.87298583984375, + -88.70002746582031, + 0.04549795389175415 + ], + [ + -66.15491485595703, + -88.9819564819336, + 1.1045005321502686 + ], + [ + -66.46138000488281, + -88.67549133300781, + 1.1045005321502686 + ], + [ + -66.17945098876953, + -88.39356231689453, + 1.1045005321502686 + ], + [ + -65.87298583984375, + -88.70002746582031, + 1.1045005321502686 + ] + ], + "corners_2d": [ + [ + 642.5168608992914, + 386.10384349720215 + ], + [ + 651.1946781671854, + 394.6133825562429 + ], + [ + 662.1528480179608, + 388.97681103148625 + ], + [ + 653.4279700179962, + 380.5685966321235 + ], + [ + 642.5831949805913, + 359.9543776574583 + ], + [ + 651.4924917778856, + 368.44497088617743 + ], + [ + 662.7385548287647, + 362.8204913864917 + ], + [ + 653.7797170960216, + 354.433649751641 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 407, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -62.041194915771484, + "y": -85.69005584716797, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.38670408725738525, + "y": 0.41025876998901367, + "z": 0.8737021684646606 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 745.7971885698463, + "ymin": 263.1830158610044, + "xmax": 786.187245672286, + "ymax": 328.2968162072058 + }, + "corners_3d": [ + [ + -62.14207077026367, + -86.24474334716797, + -0.2987028956413269 + ], + [ + -62.58895492553711, + -85.55659484863281, + -0.2987028956413269 + ], + [ + -61.9403190612793, + -85.13536834716797, + -0.2987028956413269 + ], + [ + -61.49343490600586, + -85.82351684570312, + -0.2987028956413269 + ], + [ + -62.14207077026367, + -86.24474334716797, + 1.4487013816833496 + ], + [ + -62.58895492553711, + -85.55659484863281, + 1.4487013816833496 + ], + [ + -61.9403190612793, + -85.13536834716797, + 1.4487013816833496 + ], + [ + -61.49343490600586, + -85.82351684570312, + 1.4487013816833496 + ] + ], + "corners_2d": [ + [ + 745.7971885698463, + 317.00130370383334 + ], + [ + 766.163300621178, + 328.2968162072058 + ], + [ + 780.5524438500906, + 316.6128931734541 + ], + [ + 760.2716724197095, + 305.61568211590526 + ], + [ + 750.0406273372781, + 274.4346004378373 + ], + [ + 771.2926077304351, + 285.60892257075864 + ], + [ + 786.187245672286, + 274.050566069509 + ], + [ + 765.0294380669054, + 263.1830158610044 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 624, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -68.42300415039062, + "y": -81.74504852294922, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.3962719738483429, + "y": 0.29877686500549316, + "z": 0.8838839530944824 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 875.3263029956606, + "ymin": 422.60740208970014, + "xmax": 924.6457938754193, + "ymax": 494.6674629907418 + }, + "corners_3d": [ + [ + -68.54293823242188, + -82.22662353515625, + -0.15648728609085083 + ], + [ + -68.91899108886719, + -81.76223754882812, + -0.15648728609085083 + ], + [ + -68.30307006835938, + -81.26347351074219, + -0.15648728609085083 + ], + [ + -67.92701721191406, + -81.72785949707031, + -0.15648728609085083 + ], + [ + -68.54293823242188, + -82.22662353515625, + 1.6112806797027588 + ], + [ + -68.91899108886719, + -81.76223754882812, + 1.6112806797027588 + ], + [ + -68.30307006835938, + -81.26347351074219, + 1.6112806797027588 + ], + [ + -67.92701721191406, + -81.72785949707031, + 1.6112806797027588 + ] + ], + "corners_2d": [ + [ + 875.3263029956606, + 481.6381524654756 + ], + [ + 893.2155168247538, + 494.6674629907418 + ], + [ + 911.3572817272494, + 479.3209400303645 + ], + [ + 893.5048256883192, + 466.67107907007966 + ], + [ + 886.8777063702321, + 437.6253073955574 + ], + [ + 905.8106259583913, + 450.71637873433565 + ], + [ + 924.6457938754193, + 435.29881909395095 + ], + [ + 905.7583826788263, + 422.60740208970014 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 976, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -75.66718292236328, + "y": -88.68775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.41060057282447815, + "y": 0.4215966761112213, + "z": 0.8790242671966553 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 557.8643761630682, + "ymin": 627.408210037069, + "xmax": 613.4088201879692, + "ymax": 716.7818330140194 + }, + "corners_3d": [ + [ + -75.65940856933594, + -89.27621459960938, + -0.30402499437332153 + ], + [ + -76.2556381225586, + -88.67998504638672, + -0.30402499437332153 + ], + [ + -75.67495727539062, + -88.09930419921875, + -0.30402499437332153 + ], + [ + -75.07872772216797, + -88.6955337524414, + -0.30402499437332153 + ], + [ + -75.65940856933594, + -89.27621459960938, + 1.4540235996246338 + ], + [ + -76.2556381225586, + -88.67998504638672, + 1.4540235996246338 + ], + [ + -75.67495727539062, + -88.09930419921875, + 1.4540235996246338 + ], + [ + -75.07872772216797, + -88.6955337524414, + 1.4540235996246338 + ] + ], + "corners_2d": [ + [ + 562.4206930299509, + 687.8527213465536 + ], + [ + 582.8222638250729, + 716.7818330140194 + ], + [ + 613.4088201879692, + 696.417138151302 + ], + [ + 592.6389100776926, + 668.4038907651931 + ], + [ + 557.8643761630682, + 647.3036436659386 + ], + [ + 579.3806158631197, + 676.9653468373494 + ], + [ + 611.8356010034627, + 656.0764208625935 + ], + [ + 589.9037542199804, + 627.408210037069 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 776, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -69.78268432617188, + "y": -99.81512451171875, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.5880273580551147, + "y": 0.5130273103713989, + "z": 0.8763681650161743 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 198.18818021468957, + "ymin": 373.8394665010699, + "xmax": 268.61383076537084, + "ymax": 456.40712701848867 + }, + "corners_3d": [ + [ + -69.75404357910156, + -100.59496307373047, + -0.14896661043167114 + ], + [ + -70.55143737792969, + -99.94924926757812, + -0.14896661043167114 + ], + [ + -69.81132507324219, + -99.03528594970703, + -0.14896661043167114 + ], + [ + -69.01393127441406, + -99.68099975585938, + -0.14896661043167114 + ], + [ + -69.75404357910156, + -100.59496307373047, + 1.6037697792053223 + ], + [ + -70.55143737792969, + -99.94924926757812, + 1.6037697792053223 + ], + [ + -69.81132507324219, + -99.03528594970703, + 1.6037697792053223 + ], + [ + -69.01393127441406, + -99.68099975585938, + 1.6037697792053223 + ] + ], + "corners_2d": [ + [ + 217.71169467866855, + 432.5309975026316 + ], + [ + 225.75648674116303, + 456.40712701848867 + ], + [ + 268.61383076537084, + 440.685615155203 + ], + [ + 259.6862624544053, + 417.54457656058594 + ], + [ + 198.18818021468957, + 388.80686551402624 + ], + [ + 206.11497995891438, + 412.6965653755889 + ], + [ + 251.29375293485225, + 396.9600491628638 + ], + [ + 242.38515075581125, + 373.8394665010699 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 385, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -54.92184829711914, + "y": -96.85797882080078, + "z": 0.6135344505310059 + }, + "extent": { + "x": 0.42047119140625, + "y": 0.44652342796325684, + "z": 0.8736093640327454 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 470.4470085070264, + "ymin": 120.60823273520813, + "xmax": 503.3407626991509, + "ymax": 176.36479906170712 + }, + "corners_3d": [ + [ + -54.7763671875, + -97.45381164550781, + -0.2600749135017395 + ], + [ + -55.52534103393555, + -96.96742248535156, + -0.2600749135017395 + ], + [ + -55.06732940673828, + -96.26214599609375, + -0.2600749135017395 + ], + [ + -54.318355560302734, + -96.74853515625, + -0.2600749135017395 + ], + [ + -54.7763671875, + -97.45381164550781, + 1.4871437549591064 + ], + [ + -55.52534103393555, + -96.96742248535156, + 1.4871437549591064 + ], + [ + -55.06732940673828, + -96.26214599609375, + 1.4871437549591064 + ], + [ + -54.318355560302734, + -96.74853515625, + 1.4871437549591064 + ] + ], + "corners_2d": [ + [ + 475.8419642784839, + 164.96685792516467 + ], + [ + 482.4913123855494, + 176.36479906170712 + ], + [ + 503.3407626991509, + 171.61570833346553 + ], + [ + 496.40723033652665, + 160.36616647599413 + ], + [ + 470.4470085070264, + 125.09230683902578 + ], + [ + 477.2290112316508, + 136.20956610873998 + ], + [ + 498.80608629664596, + 131.57599891902058 + ], + [ + 491.7197156577975, + 120.60823273520813 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 5138, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 959.429710120736, + "ymin": 98.93646660564394, + "xmax": 1104.3365526791129, + "ymax": 177.61791937729137 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 959.429710120736, + 141.39646903411617 + ], + [ + 963.5920102220862, + 167.16733680601945 + ], + [ + 1088.020120816736, + 177.61791937729137 + ], + [ + 1079.2319724325218, + 151.11088935849108 + ], + [ + 970.4935783157673, + 98.93646660564394 + ], + [ + 975.2349613147919, + 123.97363547715 + ], + [ + 1104.3365526791129, + 134.16700628368514 + ], + [ + 1094.6225427861307, + 108.38825893395216 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 216, + "instance_id": 55296, + "pixel_count": 3657, + "type_id": "vehicle.audi.etron", + "bbox_3d": { + "center_world": { + "x": -44.75563430786133, + "y": -104.2794189453125, + "z": 0.8648524284362793 + }, + "extent": { + "x": 2.427854299545288, + "y": 1.0163782835006714, + "z": 0.8246796727180481 + }, + "yaw": -94.3148193359375 + }, + "bbox_2d": { + "xmin": 331.4818251531045, + "ymin": 0.0, + "xmax": 451.4214063560163, + "ymax": 46.11524965609391 + }, + "corners_3d": [ + [ + -45.58646774291992, + -101.781982421875, + 0.04017278552055359 + ], + [ + -43.559471130371094, + -101.9349136352539, + 0.04017278552055359 + ], + [ + -43.92479705810547, + -106.77686309814453, + 0.04017278552055359 + ], + [ + -45.9517936706543, + -106.6239242553711, + 0.04017278552055359 + ], + [ + -45.58646774291992, + -101.781982421875, + 1.6895321607589722 + ], + [ + -43.559471130371094, + -101.9349136352539, + 1.6895321607589722 + ], + [ + -43.92479705810547, + -106.77686309814453, + 1.6895321607589722 + ], + [ + -45.9517936706543, + -106.6239242553711, + 1.6895321607589722 + ] + ], + "corners_2d": [ + [ + 441.36087262491503, + 46.11524965609391 + ], + [ + 451.4214063560163, + 27.19772558740175 + ], + [ + 352.4984108834211, + 23.38562777047656 + ], + [ + 339.25959789794183, + 42.04785622363289 + ], + [ + 436.1871346622613, + 11.418005317466509 + ], + [ + 446.6708366982655, + -6.837806675607283 + ], + [ + 345.305280159079, + -10.512881657182959 + ], + [ + 331.4818251531045, + 7.490316782555965 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1008.9534650002851, + "ymin": 13.349140026313137, + "xmax": 1028.627270917939, + "ymax": 42.65237718211881 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1020.4742018460686, + 39.07278342956454 + ], + [ + 1008.9534650002851, + 38.27279411912201 + ], + [ + 1009.8849911253485, + 41.842559924630905 + ], + [ + 1021.4776126106688, + 42.65237718211881 + ], + [ + 1027.5608134077588, + 14.12921265758365 + ], + [ + 1015.8159078922542, + 13.349140026313137 + ], + [ + 1016.807649400831, + 16.830339743289358 + ], + [ + 1028.627270917939, + 17.62017568516751 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4809317425322915338, + "instance_id": 2806, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -62.6159553527832, + "y": -93.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 486.4483575716297, + "ymin": 115.59669901533744, + "xmax": 505.16292322908345, + "ymax": 148.88183265664392 + }, + "corners_3d": [ + [ + -62.754539489746094, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.9842529296875, + 6.416468620300293 + ], + [ + -62.754539489746094, + -93.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 502.61908331860343, + 148.88183265664392 + ], + [ + 505.16292322908345, + 143.89675691281573 + ], + [ + 492.41028465296586, + 142.78416055371747 + ], + [ + 489.77845878435704, + 147.7530904994122 + ], + [ + 499.5685603711048, + 121.58340405925881 + ], + [ + 502.19086816067943, + 116.68887383430373 + ], + [ + 489.1625072658826, + 115.59669901533744 + ], + [ + 486.4483575716297, + 120.47502685896524 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 252.3728441901976, + "ymin": 176.968442968888, + "xmax": 274.9997429418004, + "ymax": 206.25279618060551 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 271.1829696222154, + 206.25279618060551 + ], + [ + 274.9997429418004, + 201.35551741735807 + ], + [ + 263.82444390945767, + 200.26751112938092 + ], + [ + 259.94005650692446, + 205.15047669515894 + ], + [ + 263.8286051191025, + 182.8822458299233 + ], + [ + 267.7698678589229, + 178.0433155015726 + ], + [ + 256.384286041668, + 176.968442968888 + ], + [ + 252.3728441901976, + 181.7929501861324 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5344508464058845628, + "instance_id": 48329, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -62.61595916748047, + "y": -96.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 384.3567380562816, + "ymin": 107.09736807023549, + "xmax": 405.57036517053825, + "ymax": 140.06762016443417 + }, + "corners_3d": [ + [ + -62.75454330444336, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.9842529296875, + 6.416468620300293 + ], + [ + -62.75454330444336, + -96.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 402.3473712611202, + 140.06762016443417 + ], + [ + 405.57036517053825, + 135.2079337392805 + ], + [ + 393.1371065904858, + 134.12320138574427 + ], + [ + 389.8306110759376, + 138.96734686188842 + ], + [ + 397.1388257014507, + 112.93034696167825 + ], + [ + 400.46969333572224, + 108.16159952863143 + ], + [ + 387.77466520395217, + 107.09736807023549 + ], + [ + 384.3567380562816, + 111.85053316290924 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8433051479337506626, + "instance_id": 17047, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -62.61595153808594, + "y": -91.29429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 573.5951088236618, + "ymin": 122.85055082448784, + "xmax": 590.1210526267024, + "ymax": 156.40211775253334 + }, + "corners_3d": [ + [ + -62.75453567504883, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.4842529296875, + 6.416468620300293 + ], + [ + -62.75453567504883, + -91.4842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 588.1710350306215, + 156.40211775253334 + ], + [ + 590.1210526267024, + 151.30880640904226 + ], + [ + 577.0927689621783, + 150.17216167572016 + ], + [ + 575.0508243596233, + 155.24879897775926 + ], + [ + 587.0074286960198, + 128.97005109327824 + ], + [ + 589.009538137312, + 123.96686111081561 + ], + [ + 575.6932681007512, + 122.85055082448784 + ], + [ + 573.5951088236618, + 127.83699635357794 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1019.6809784936856, + "ymin": 53.48690409522311, + "xmax": 1041.0841276766394, + "ymax": 84.40372137151797 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1032.030563291075, + 80.2992488913851 + ], + [ + 1019.6809784936856, + 79.38244184292603 + ], + [ + 1020.7488872829394, + 83.47484910527885 + ], + [ + 1033.1811049877776, + 84.40372137151797 + ], + [ + 1039.8580526131375, + 54.38323778051375 + ], + [ + 1027.25055396972, + 53.48690409522311 + ], + [ + 1028.3904997830332, + 57.48832887008223 + ], + [ + 1041.0841276766394, + 58.39669605228647 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1001.0365047831815, + "ymin": 0.0, + "xmax": 1019.4637500504341, + "ymax": 11.868829784757907 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1011.9469963430457, + 8.653376139079228 + ], + [ + 1001.0365047831815, + 7.93448647192821 + ], + [ + 1001.8733887041701, + 11.141572109366678 + ], + [ + 1012.8483322342133, + 11.868829784757907 + ], + [ + 1018.5076478624092, + -15.50488050437616 + ], + [ + 1007.3962962237656, + -16.20451650595726 + ], + [ + 1008.2855460913481, + -13.083077242648415 + ], + [ + 1019.4637500504341, + -12.375152523387271 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1009.9991246310465, + "ymin": 219.94081144195255, + "xmax": 1032.2542406005718, + "ymax": 250.42263840393446 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1022.9797208329769, + 244.93471422225633 + ], + [ + 1009.9991246310465, + 243.71605766323592 + ], + [ + 1011.0621757431302, + 249.18700484059485 + ], + [ + 1024.1345988829978, + 250.42263840393446 + ], + [ + 1031.0179314750458, + 221.14754237949478 + ], + [ + 1017.7526600739476, + 219.94081144195255 + ], + [ + 1018.8930590230186, + 225.35883270978013 + ], + [ + 1032.2542406005718, + 226.5827308287809 + ] + ], + "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": 969.3569878481283, + "ymin": 0.0, + "xmax": 1099.1806196834984, + "ymax": 321.20458251159164 + }, + "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": [ + [ + 997.8211297105038, + 319.6778939457548 + ], + [ + 1011.8855949587656, + 321.20458251159164 + ], + [ + 980.2753160968049, + 129.83722692812796 + ], + [ + 969.3569878481283, + 128.91019543980525 + ], + [ + 1081.6320145033196, + 71.72798949434167 + ], + [ + 1099.1806196834984, + 73.07253837238028 + ], + [ + 1039.4371864278946, + -87.2215401482245 + ], + [ + 1026.5282363635035, + -87.9595875557414 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 439.13047187176335, + "xmax": 309.35615213840236, + "ymax": 715.8788927689495 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 147.75048758334123, + 670.9627839993336 + ], + [ + 137.21968192649103, + 689.0249096279247 + ], + [ + 301.04882259269334, + 715.8788927689495 + ], + [ + 309.35615213840236, + 697.0281475652807 + ], + [ + -13.592427197529332, + 439.13047187176335 + ], + [ + -30.840834281232674, + 458.63555231516534 + ], + [ + 184.43662369345236, + 487.99024500750903 + ], + [ + 197.87596208702678, + 467.33930576363565 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 123.7255018226025, + "ymin": 0.0, + "xmax": 269.47202062313204, + "ymax": 257.23307051719974 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 207.81757282852885, + 255.96028786957703 + ], + [ + 219.89284207108278, + 257.23307051719974 + ], + [ + 269.47202062313204, + 194.77285228109338 + ], + [ + 258.26291889062844, + 193.69039873001603 + ], + [ + 123.7255018226025, + 37.586016885270055 + ], + [ + 137.99511665904362, + 38.69229394411559 + ], + [ + 203.85873812572294, + -14.801790217385133 + ], + [ + 190.78110954734603, + -15.71476194897673 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 160.8504807539199, + "ymin": 473.2796428994228, + "xmax": 195.05909976797858, + "ymax": 494.2837157806175 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 172.23072588705708, + 477.4834787898061 + ], + [ + 163.10587794937481, + 491.11466899208756 + ], + [ + 186.21159184790872, + 494.2837157806175 + ], + [ + 195.05909976797858, + 480.5695705302585 + ], + [ + 170.0477217149973, + 473.2796428994228 + ], + [ + 160.8504807539199, + 486.91899487458545 + ], + [ + 184.05887472032242, + 490.0901823042959 + ], + [ + 192.9763357434611, + 476.3674338434505 + ] + ], + "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": 911.5954850867373, + "ymin": 0.0, + "xmax": 984.0267811528752, + "ymax": 6.99565556960431 + }, + "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": [ + [ + 913.2917710604141, + 3.8593232308786014 + ], + [ + 960.7435011569298, + 6.99565556960431 + ], + [ + 957.6067833194925, + -9.653119638427825 + ], + [ + 911.5954850867373, + -12.603641167280443 + ], + [ + 933.0096161324052, + -95.30377118849748 + ], + [ + 984.0267811528752, + -92.54747687865455 + ], + [ + 979.9182180838529, + -107.15293405300946 + ], + [ + 930.5622064559884, + -109.73468203484401 + ] + ], + "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": 369.2486734470207, + "ymin": 0.0, + "xmax": 496.1914846229313, + "ymax": 101.49914722733917 + }, + "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": [ + [ + 496.1914846229313, + -11.434935641994343 + ], + [ + 488.08202808300234, + -12.01465449198895 + ], + [ + 407.6161100169422, + 100.64828172470266 + ], + [ + 417.33577667716224, + 101.49914722733917 + ], + [ + 477.1162352534712, + -195.77038825787383 + ], + [ + 467.9559044799797, + -196.20012117198075 + ], + [ + 369.2486734470207, + -110.29211452800769 + ], + [ + 380.51663962383446, + -109.62447514761067 + ] + ], + "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": 708.3193987132834, + "ymin": 0.0, + "xmax": 1004.8472985812624, + "ymax": 29.81848053476449 + }, + "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": [ + [ + 958.8170586353654, + 29.81848053476449 + ], + [ + 958.2128520503871, + 25.96031110046175 + ], + [ + 709.3625330479268, + 8.032943774877538 + ], + [ + 708.3193987132834, + 11.65189253526512 + ], + [ + 1004.8472985812624, + -164.8688513140861 + ], + [ + 1003.803347564841, + -167.78599107927153 + ], + [ + 718.9450388455951, + -181.26701167588885 + ], + [ + 717.8281458767975, + -178.55536960621362 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7298902328162137019, + "instance_id": 47923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_0", + "bbox_3d": { + "center_world": { + "x": -58.97412109375, + "y": -104.33528900146484, + "z": 7.722432613372803 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 186.38806974979855, + "ymin": 0.0, + "xmax": 202.8521199680905, + "ymax": 0.30091190121225964 + }, + "corners_3d": [ + [ + -59.18000793457031, + -104.483154296875, + 7.667783737182617 + ], + [ + -59.18000793457031, + -104.18742370605469, + 7.667783737182617 + ], + [ + -58.76823425292969, + -104.18742370605469, + 7.667783737182617 + ], + [ + -58.76823425292969, + -104.483154296875, + 7.667783737182617 + ], + [ + -59.18000793457031, + -104.483154296875, + 7.777081489562988 + ], + [ + -59.18000793457031, + -104.18742370605469, + 7.777081489562988 + ], + [ + -58.76823425292969, + -104.18742370605469, + 7.777081489562988 + ], + [ + -58.76823425292969, + -104.483154296875, + 7.777081489562988 + ] + ], + "corners_2d": [ + [ + 187.52563393542488, + -0.33534287931939843 + ], + [ + 196.3783852313893, + 0.30091190121225964 + ], + [ + 202.8521199680905, + -5.0455185985523485 + ], + [ + 194.07857699225684, + -5.669366710938505 + ], + [ + 186.38806974979855, + -3.8012948577146517 + ], + [ + 195.2617717307407, + -3.1674971046169844 + ], + [ + 201.7626148963301, + -8.493165499192912 + ], + [ + 192.96849268530804, + -9.114573863002931 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 160.66330930673251, + "ymin": 473.1678237481203, + "xmax": 195.2396550346781, + "ymax": 494.3976143479822 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 172.16791438885008, + 477.41690453638046 + ], + [ + 162.94391276208398, + 491.1940545254316 + ], + [ + 186.2989732313381, + 494.3976143479822 + ], + [ + 195.2396550346781, + 480.53571905084914 + ], + [ + 169.9612818545403, + 473.1678237481203 + ], + [ + 160.66330930673251, + 486.9533095648028 + ], + [ + 184.12328303153015, + 490.15905880654225 + ], + [ + 193.13541630993188, + 476.28837185482513 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14685537128847865056, + "instance_id": 57460, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_1", + "bbox_3d": { + "center_world": { + "x": -58.97411346435547, + "y": -104.33528900146484, + "z": 7.7224273681640625 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 186.47681156127766, + "ymin": 0.0, + "xmax": 202.76567878897526, + "ymax": 0.25043408196512473 + }, + "corners_3d": [ + [ + -59.17780685424805, + -104.48158264160156, + 7.668359756469727 + ], + [ + -59.17780685424805, + -104.18899536132812, + 7.668359756469727 + ], + [ + -58.77042007446289, + -104.18899536132812, + 7.668359756469727 + ], + [ + -58.77042007446289, + -104.48158264160156, + 7.668359756469727 + ], + [ + -59.17780685424805, + -104.48158264160156, + 7.776494979858398 + ], + [ + -59.17780685424805, + -104.18899536132812, + 7.776494979858398 + ], + [ + -58.77042007446289, + -104.18899536132812, + 7.776494979858398 + ], + [ + -58.77042007446289, + -104.48158264160156, + 7.776494979858398 + ] + ], + "corners_2d": [ + [ + 187.60201840827665, + -0.3789786536254951 + ], + [ + 196.36036039462215, + 0.25043408196512473 + ], + [ + 202.76567878897526, + -5.038859759143293 + ], + [ + 194.08487017999857, + -5.656128574903221 + ], + [ + 186.47681156127766, + -3.807967437695538 + ], + [ + 195.25565910318517, + -3.1809596666453217 + ], + [ + 201.68751374270266, + -8.449931180731141 + ], + [ + 192.98655929672185, + -9.064811765139666 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 193.44810179700863, + "ymin": 28.02975455021499, + "xmax": 631.0296433909186, + "ymax": 317.49362132504626 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 279.7260809765251, + 269.3630476554859 + ], + [ + 274.0331558690308, + 277.23397353315795 + ], + [ + 628.6193524111534, + 317.49362132504626 + ], + [ + 631.0296433909186, + 308.8371637669217 + ], + [ + 201.31920612897403, + 28.02975455021499 + ], + [ + 193.44810179700863, + 34.78792592582175 + ], + [ + 625.9620182848028, + 69.80624127523407 + ], + [ + 628.9609702373107, + 62.21248805876405 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1086.821454532536, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1428.594660826799, + 522.6707368403805 + ], + [ + 1086.821454532536, + 577.132834289924 + ], + [ + 1376.67513743921, + 1055.9969754232034 + ], + [ + 1834.7340768728461, + 947.3868817353971 + ], + [ + 1961.847137408064, + -55.892059770059234 + ], + [ + 1415.7204950799319, + -12.57458649441162 + ], + [ + 2504.6121109691035, + 562.5555904677082 + ], + [ + 3379.476382541089, + 390.2699472765821 + ] + ], + "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": 205.66992141232424, + "ymin": 0.0, + "xmax": 471.738516051647, + "ymax": 13.277348063849502 + }, + "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": [ + [ + 291.3045955549728, + 13.277348063849502 + ], + [ + 471.738516051647, + -5.057829123592626 + ], + [ + 451.8721361616135, + -68.15659724687072 + ], + [ + 292.5580193587871, + -53.91248136963816 + ], + [ + 205.66992141232424, + -321.94610807767674 + ], + [ + 432.09258545317914, + -330.99933441265784 + ], + [ + 413.7737235387849, + -361.07777993378056 + ], + [ + 219.6538489299055, + -354.429496515306 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12783736354476579425, + "instance_id": 25050, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2728_95", + "bbox_3d": { + "center_world": { + "x": -40.00048828125, + "y": -120.97515106201172, + "z": 4.526856422424316 + }, + "extent": { + "x": 2.978419780731201, + "y": 2.8939361572265625, + "z": 4.719987869262695 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 202.56909097301434, + "ymax": 1.0825193471340526 + }, + "corners_3d": [ + [ + -37.48514938354492, + -124.27953338623047, + -0.1931314468383789 + ], + [ + -43.23114013671875, + -123.58450317382812, + -0.1931314468383789 + ], + [ + -42.51582717895508, + -117.67076873779297, + -0.1931314468383789 + ], + [ + -36.76983642578125, + -118.36579895019531, + -0.1931314468383789 + ], + [ + -37.48514938354492, + -124.27953338623047, + 9.246844291687012 + ], + [ + -43.23114013671875, + -123.58450317382812, + 9.246844291687012 + ], + [ + -42.51582717895508, + -117.67076873779297, + 9.246844291687012 + ], + [ + -36.76983642578125, + -118.36579895019531, + 9.246844291687012 + ] + ], + "corners_2d": [ + [ + 96.68907119799007, + -43.99872165851144 + ], + [ + 45.217889336417784, + -0.9675018195337657 + ], + [ + 160.03118271270216, + 1.0825193471340526 + ], + [ + 202.56909097301434, + -42.26065863472962 + ], + [ + 21.392632863905078, + -241.10855257192293 + ], + [ + -45.369041323883266, + -211.0294348177349 + ], + [ + 86.61307262158016, + -209.57836266591914 + ], + [ + 141.70682224461393, + -239.90751706947685 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00132/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00132/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..5a2becdf1ea1558e96e0b29199bee84ac6790098 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00132/meta.json @@ -0,0 +1,2898 @@ +{ + "frame_id": 132, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 66.0, + "sim_timestamp": 11372.454472031444 + }, + "drone_pose": { + "x": -85.42250522954355, + "y": -85.80838848839521, + "z": 19.9075272573128, + "pitch": -44.17404723111488, + "yaw": -6.867749337572043, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7120801210403442, + 0.08576451241970062, + 0.696840226650238, + 39.59599304199219 + ], + [ + -0.11957801878452301, + 0.9928247928619385, + 3.725290298461914e-09, + 95.4073486328125 + ], + [ + -0.6918402314186096, + -0.08332677185535431, + 0.7172263860702515, + -66.22679901123047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -84.77333777495096, + "y": -86.20043124853807, + "z": 19.99132980731097 + }, + "t1_image_uv": [ + -43.76992042695542, + -829.1079024306757 + ], + "t1_depth": 0.43748557448483427 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -65.66718292236328, + "y": -88.18776321411133, + "z": 0.575004174709211 + }, + "image_uv": [ + 640.0, + 360.0000000000001 + ], + "depth": 27.74311864742952, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 203, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -65.66718292236328, + "y": -88.18775939941406, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.2949853241443634, + "y": 0.21379880607128143, + "z": 0.5341888070106506 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.2568010066548, + "ymin": 338.95490970365194, + "xmax": 648.6218339279266, + "ymax": 380.82798835389997 + }, + "corners_3d": [ + [ + -65.96216583251953, + -88.40155792236328, + 0.04081535339355469 + ], + [ + -65.96216583251953, + -87.97396087646484, + 0.04081535339355469 + ], + [ + -65.37220001220703, + -87.97396087646484, + 0.04081535339355469 + ], + [ + -65.37220001220703, + -88.40155792236328, + 0.04081535339355469 + ], + [ + -65.96216583251953, + -88.40155792236328, + 1.109192967414856 + ], + [ + -65.96216583251953, + -87.97396087646484, + 1.109192967414856 + ], + [ + -65.37220001220703, + -87.97396087646484, + 1.109192967414856 + ], + [ + -65.37220001220703, + -88.40155792236328, + 1.109192967414856 + ] + ], + "corners_2d": [ + [ + 631.4899085105336, + 379.57568450241166 + ], + [ + 646.0929879513301, + 380.82798835389997 + ], + [ + 648.3950759094372, + 366.6765606815847 + ], + [ + 634.0054605463325, + 365.461127984941 + ], + [ + 631.2568010066548, + 353.04638922266565 + ], + [ + 646.2601119162091, + 354.29719823773286 + ], + [ + 648.6218339279266, + 340.1679051315933 + ], + [ + 633.8437581729901, + 338.95490970365194 + ] + ], + "center_offset_px": [ + 0.0, + 1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 132, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 68, + "semantic_pixel_counts": { + "1": 492868, + "2": 194300, + "3": 48747, + "4": 43527, + "5": 14, + "6": 15640, + "7": 1922, + "9": 8007, + "10": 69579, + "12": 3242, + "14": 8364, + "20": 7571, + "21": 387, + "24": 27432 + }, + "instance_pixel_counts": { + "9296": 14, + "9346": 1427, + "9799": 105, + "11927": 266, + "12439": 2307, + "12951": 1402, + "13975": 334, + "15963": 14, + "17232": 43527, + "22464": 1587, + "22784": 38, + "22976": 15406, + "23296": 7757, + "23488": 1744, + "23552": 5038, + "24404": 1245, + "24512": 20778, + "26963": 3302, + "27795": 11896, + "28307": 9536, + "28819": 18296, + "29331": 13222, + "31893": 704, + "32405": 315, + "33429": 1284, + "33941": 244, + "35668": 4352, + "36692": 1974, + "37979": 38095, + "38539": 1, + "39051": 1249, + "39563": 2743, + "41107": 51886, + "41611": 3687, + "41619": 21786, + "42123": 2674, + "42635": 1575, + "43117": 10638, + "43147": 10854, + "43155": 140686, + "43659": 9586, + "43667": 23860, + "44179": 201700, + "44181": 2741, + "44693": 616, + "45717": 11851, + "46229": 693, + "46741": 8984, + "48064": 1532, + "49088": 3618, + "49664": 203, + "49920": 426, + "50015": 4, + "50176": 567, + "50432": 989, + "50624": 13739, + "50688": 763, + "50944": 294, + "51136": 5286, + "51648": 1578, + "51712": 5125, + "52160": 28826, + "52672": 54790, + "55296": 3239, + "55879": 36487, + "57173": 8007, + "64351": 8633, + "64603": 387 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 203, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -65.66718292236328, + "y": -88.18775939941406, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.2994994819164276, + "y": 0.19932126998901367, + "z": 0.5529509782791138 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.7401980625021, + "ymin": 338.4114332490288, + "xmax": 648.1424528906815, + "ymax": 381.34876566189445 + }, + "corners_3d": [ + [ + -65.96668243408203, + -88.38707733154297, + 0.022053182125091553 + ], + [ + -65.96668243408203, + -87.98844146728516, + 0.022053182125091553 + ], + [ + -65.36768341064453, + -87.98844146728516, + 0.022053182125091553 + ], + [ + -65.36768341064453, + -88.38707733154297, + 0.022053182125091553 + ], + [ + -65.96668243408203, + -88.38707733154297, + 1.1279551982879639 + ], + [ + -65.96668243408203, + -87.98844146728516, + 1.1279551982879639 + ], + [ + -65.36768341064453, + -87.98844146728516, + 1.1279551982879639 + ], + [ + -65.36768341064453, + -88.38707733154297, + 1.1279551982879639 + ] + ], + "corners_2d": [ + [ + 631.9680818396776, + 380.18100315160024 + ], + [ + 645.5772628657019, + 381.34876566189445 + ], + [ + 647.9209184656446, + 366.98171107197834 + ], + [ + 634.5136031469679, + 365.8488331260788 + ], + [ + 631.7401980625021, + 352.7193736095778 + ], + [ + 645.7357019219609, + 353.8856999643436 + ], + [ + 648.1424528906815, + 339.54195167401355 + ], + [ + 634.360348249387, + 338.4114332490288 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 426, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -61.541194915771484, + "y": -85.19005584716797, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.5882201790809631, + "y": 0.3737744092941284, + "z": 0.9050329923629761 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 732.934905016548, + "ymin": 242.99408399691487, + "xmax": 767.1786564049869, + "ymax": 312.20287526388637 + }, + "corners_3d": [ + [ + -62.19427490234375, + -85.43336486816406, + -0.3300434947013855 + ], + [ + -62.038848876953125, + -84.7021484375, + -0.3300434947013855 + ], + [ + -60.88811492919922, + -84.94674682617188, + -0.3300434947013855 + ], + [ + -61.043540954589844, + -85.67796325683594, + -0.3300434947013855 + ], + [ + -62.19427490234375, + -85.43336486816406, + 1.4800224304199219 + ], + [ + -62.038848876953125, + -84.7021484375, + 1.4800224304199219 + ], + [ + -60.88811492919922, + -84.94674682617188, + 1.4800224304199219 + ], + [ + -61.043540954589844, + -85.67796325683594, + 1.4800224304199219 + ] + ], + "corners_2d": [ + [ + 738.7869079331199, + 312.20287526388637 + ], + [ + 761.9463788728074, + 310.8184778618392 + ], + [ + 755.4853908335799, + 287.2457954268027 + ], + [ + 732.934905016548, + 288.5572518546806 + ], + [ + 743.0324232569222, + 267.68430037369853 + ], + [ + 767.1786564049869, + 266.3131383536688 + ], + [ + 760.3027348641897, + 242.99408399691487 + ], + [ + 736.8177397487182, + 244.2900289410918 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 567, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -67.92300415039062, + "y": -81.24504852294922, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.45747312903404236, + "y": 0.3205663859844208, + "z": 0.8864853978157043 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 869.5733838809742, + "ymin": 400.9185929442158, + "xmax": 911.9644771737153, + "ymax": 471.51465237683726 + }, + "corners_3d": [ + [ + -68.4114761352539, + -81.51603698730469, + -0.15908384323120117 + ], + [ + -68.3444595336914, + -80.87841796875, + -0.15908384323120117 + ], + [ + -67.43453216552734, + -80.97406005859375, + -0.15908384323120117 + ], + [ + -67.50154876708984, + -81.61167907714844, + -0.15908384323120117 + ], + [ + -68.4114761352539, + -81.51603698730469, + 1.6138869524002075 + ], + [ + -68.3444595336914, + -80.87841796875, + 1.6138869524002075 + ], + [ + -67.43453216552734, + -80.97406005859375, + 1.6138869524002075 + ], + [ + -67.50154876708984, + -81.61167907714844, + 1.6138869524002075 + ] + ], + "corners_2d": [ + [ + 874.9113081301896, + 471.2320107851869 + ], + [ + 898.9011627399827, + 471.51465237683726 + ], + [ + 892.9650780806422, + 445.53932353221956 + ], + [ + 869.5733838809742, + 445.2705667421467 + ], + [ + 886.7608021226738, + 427.0014400661175 + ], + [ + 911.9644771737153, + 427.2857634655057 + ], + [ + 905.3957735278707, + 401.1882717258538 + ], + [ + 880.851488425857, + 400.9185929442158 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 989, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -75.16718292236328, + "y": -88.18775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.4346972107887268, + "y": 0.44981929659843445, + "z": 0.8939206004142761 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 561.8710421422591, + "ymin": 619.3463862542221, + "xmax": 612.0231545671211, + "ymax": 701.1154414690957 + }, + "corners_3d": [ + [ + -75.60188293457031, + -88.63758087158203, + -0.3189213275909424 + ], + [ + -75.60188293457031, + -87.7379379272461, + -0.3189213275909424 + ], + [ + -74.73248291015625, + -87.7379379272461, + -0.3189213275909424 + ], + [ + -74.73248291015625, + -88.63758087158203, + -0.3189213275909424 + ], + [ + -75.60188293457031, + -88.63758087158203, + 1.4689198732376099 + ], + [ + -75.60188293457031, + -87.7379379272461, + 1.4689198732376099 + ], + [ + -74.73248291015625, + -87.7379379272461, + 1.4689198732376099 + ], + [ + -74.73248291015625, + -88.63758087158203, + 1.4689198732376099 + ] + ], + "corners_2d": [ + [ + 566.4343197979952, + 696.5076637052543 + ], + [ + 606.5123197505886, + 701.1154414690957 + ], + [ + 612.0231545671211, + 665.0603769046392 + ], + [ + 573.0561819537967, + 660.7093036602582 + ], + [ + 561.8710421422591, + 656.0903504169553 + ], + [ + 604.4270688287851, + 660.8291830557957 + ], + [ + 610.333346289978, + 623.8055386347824 + ], + [ + 569.0278279522437, + 619.3463862542221 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 763, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -69.28268432617188, + "y": -99.31512451171875, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.5794507265090942, + "y": 0.47293949127197266, + "z": 0.9090154767036438 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 177.50649660864354, + "ymin": 372.8363427279392, + "xmax": 252.51873672364798, + "ymax": 454.78573148077885 + }, + "corners_3d": [ + [ + -69.80952453613281, + -99.84603881835938, + -0.18161392211914062 + ], + [ + -69.90839385986328, + -98.90534210205078, + -0.18161392211914062 + ], + [ + -68.75584411621094, + -98.78421020507812, + -0.18161392211914062 + ], + [ + -68.65697479248047, + -99.72490692138672, + -0.18161392211914062 + ], + [ + -69.80952453613281, + -99.84603881835938, + 1.636417031288147 + ], + [ + -69.90839385986328, + -98.90534210205078, + 1.636417031288147 + ], + [ + -68.75584411621094, + -98.78421020507812, + 1.636417031288147 + ], + [ + -68.65697479248047, + -99.72490692138672, + 1.636417031288147 + ] + ], + "corners_2d": [ + [ + 199.76752601601498, + 448.8878344036956 + ], + [ + 231.0531688103266, + 454.78573148077885 + ], + [ + 252.51873672364798, + 423.9255133535509 + ], + [ + 222.04797031743226, + 418.37561762300237 + ], + [ + 177.50649660864354, + 403.4185651166445 + ], + [ + 210.24868850526747, + 409.34065072205425 + ], + [ + 233.42750108563803, + 378.39210731891075 + ], + [ + 201.57572606745885, + 372.8363427279392 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 294, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -54.42184829711914, + "y": -96.35797882080078, + "z": 0.6111955642700195 + }, + "extent": { + "x": 0.41880369186401367, + "y": 0.45018064975738525, + "z": 0.8553562760353088 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 442.6611471991911, + "ymin": 108.78492458079813, + "xmax": 479.8677409849719, + "ymax": 163.57326335261098 + }, + "corners_3d": [ + [ + -54.7379035949707, + -96.8853988647461, + -0.2441607117652893 + ], + [ + -54.92509841918945, + -96.00470733642578, + -0.2441607117652893 + ], + [ + -54.10579299926758, + -95.83055877685547, + -0.2441607117652893 + ], + [ + -53.91859817504883, + -96.71125030517578, + -0.2441607117652893 + ], + [ + -54.7379035949707, + -96.8853988647461, + 1.4665517807006836 + ], + [ + -54.92509841918945, + -96.00470733642578, + 1.4665517807006836 + ], + [ + -54.10579299926758, + -95.83055877685547, + 1.4665517807006836 + ], + [ + -53.91859817504883, + -96.71125030517578, + 1.4665517807006836 + ] + ], + "corners_2d": [ + [ + 449.04635122371764, + 159.39985077599334 + ], + [ + 470.28455793445585, + 163.57326335261098 + ], + [ + 479.8677409849719, + 152.32225103850192 + ], + [ + 458.89876448315925, + 148.27505914746092 + ], + [ + 442.6611471991911, + 119.65200814387768 + ], + [ + 464.57608909520275, + 123.73159184443296 + ], + [ + 474.56663637114394, + 112.73708486409663 + ], + [ + 452.9380590190173, + 108.78492458079813 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 5125, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 922.8260093645445, + "ymin": 81.08753412874916, + "xmax": 1066.5971846426503, + "ymax": 157.8137372439857 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 922.8260093645445, + 124.05155375204859 + ], + [ + 927.6852230832101, + 150.1336170270084 + ], + [ + 1051.339527393653, + 157.8137372439857 + ], + [ + 1041.9223255481415, + 131.1965110608003 + ], + [ + 932.8507765761112, + 81.08753412874916 + ], + [ + 938.2765095524403, + 106.45162924018396 + ], + [ + 1066.5971846426503, + 113.95509429161694 + ], + [ + 1056.2699418585153, + 88.05086112885948 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 216, + "instance_id": 55296, + "pixel_count": 3239, + "type_id": "vehicle.audi.etron", + "bbox_3d": { + "center_world": { + "x": -44.75563430786133, + "y": -104.2794189453125, + "z": 0.8648524284362793 + }, + "extent": { + "x": 2.427854299545288, + "y": 1.0163782835006714, + "z": 0.8246796727180481 + }, + "yaw": -94.3148193359375 + }, + "bbox_2d": { + "xmin": 280.53232945160704, + "ymin": 0.0, + "xmax": 405.42284996759435, + "ymax": 37.46927945836774 + }, + "corners_3d": [ + [ + -45.58646774291992, + -101.781982421875, + 0.04017278552055359 + ], + [ + -43.559471130371094, + -101.9349136352539, + 0.04017278552055359 + ], + [ + -43.92479705810547, + -106.77686309814453, + 0.04017278552055359 + ], + [ + -45.9517936706543, + -106.6239242553711, + 0.04017278552055359 + ], + [ + -45.58646774291992, + -101.781982421875, + 1.6895321607589722 + ], + [ + -43.559471130371094, + -101.9349136352539, + 1.6895321607589722 + ], + [ + -43.92479705810547, + -106.77686309814453, + 1.6895321607589722 + ], + [ + -45.9517936706543, + -106.6239242553711, + 1.6895321607589722 + ] + ], + "corners_2d": [ + [ + 395.5884724839336, + 37.46927945836774 + ], + [ + 405.42284996759435, + 17.736048435547843 + ], + [ + 303.1829563044177, + 15.709289864088248 + ], + [ + 289.9788130038673, + 35.30504315673585 + ], + [ + 388.96810084594165, + 1.9686565701180712 + ], + [ + 399.279730415852, + -17.10319783394317 + ], + [ + 294.3934400545834, + -19.06013748013669 + ], + [ + 280.53232945160704, + -0.12467463847497129 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 969.9757273693212, + "ymin": 0.0, + "xmax": 989.1508732478917, + "ymax": 23.68604732483942 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 981.4729328620972, + 20.05638632298161 + ], + [ + 969.9757273693212, + 19.4614116165601 + ], + [ + 971.0080696069314, + 23.08376768915747 + ], + [ + 982.5767186016859, + 23.68604732483942 + ], + [ + 987.9852638320681, + -5.270834045669176 + ], + [ + 976.2623549324815, + -5.851238335662913 + ], + [ + 977.353680500405, + -2.317246420550873 + ], + [ + 989.1508732478917, + -1.7295789871660077 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4809317425322915338, + "instance_id": 2806, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -62.6159553527832, + "y": -93.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 442.225203497817, + "ymin": 110.22524926770978, + "xmax": 462.45578658015296, + "ymax": 144.0943056801866 + }, + "corners_3d": [ + [ + -62.754539489746094, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.9842529296875, + 6.416468620300293 + ], + [ + -62.754539489746094, + -93.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 459.96273719756437, + 144.0943056801866 + ], + [ + 462.45578658015296, + 138.85753435199138 + ], + [ + 449.2823503710305, + 138.0003476973364 + ], + [ + 446.6954946965745, + 143.2244634665446 + ], + [ + 455.7940839062169, + 116.21663948631397 + ], + [ + 458.3755816746391, + 111.06786602757666 + ], + [ + 444.90480323885276, + 110.22524926770978 + ], + [ + 442.225203497817, + 115.36129332684922 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 201.96247461387338, + "ymin": 178.39163379936076, + "xmax": 226.53940149983225, + "ymax": 208.200065422683 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 222.6851725859804, + 208.200065422683 + ], + [ + 226.53940149983225, + 202.9974947268779 + ], + [ + 214.84759805590915, + 202.14985517328392 + ], + [ + 210.9192801629976, + 207.34102406847452 + ], + [ + 213.96417930525644, + 184.37889734162403 + ], + [ + 217.95771224194556, + 179.23033769771925 + ], + [ + 206.03307904841637, + 178.39163379936076 + ], + [ + 201.96247461387338, + 183.52867540547075 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5344508464058845628, + "instance_id": 48329, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -62.61595916748047, + "y": -96.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 336.2499879896116, + "ymin": 103.64380580486227, + "xmax": 359.2883034370168, + "ymax": 137.2826417216748 + }, + "corners_3d": [ + [ + -62.75454330444336, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.9842529296875, + 6.416468620300293 + ], + [ + -62.75454330444336, + -96.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 356.06690408461594, + 137.2826417216748 + ], + [ + 359.2883034370168, + 132.1445685181767 + ], + [ + 346.3621057870346, + 131.30346942347467 + ], + [ + 343.0504660338611, + 136.4292429487518 + ], + [ + 349.5565125524523, + 109.5197782689032 + ], + [ + 352.8994161346664, + 104.47025048953444 + ], + [ + 339.6871794621191, + 103.64380580486227 + ], + [ + 336.2499879896116, + 108.68097023501304 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8433051479337506626, + "instance_id": 17047, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -62.61595153808594, + "y": -91.29429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 532.1382786616181, + "ymin": 115.80841570438105, + "xmax": 549.9418237276186, + "ymax": 149.8713260661699 + }, + "corners_3d": [ + [ + -62.75453567504883, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.4842529296875, + 6.416468620300293 + ], + [ + -62.75453567504883, + -91.4842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 548.0777200384298, + 149.8713260661699 + ], + [ + 549.9418237276186, + 144.55011773122874 + ], + [ + 536.5568964857082, + 143.67916958726798 + ], + [ + 534.5958949617682, + 148.98741523520053 + ], + [ + 545.9317615096256, + 121.898604866342 + ], + [ + 547.8552247341042, + 116.66487455298719 + ], + [ + 534.1631536023929, + 115.80841570438105 + ], + [ + 532.1382786616181, + 121.0291004589599 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 981.8639300223576, + "ymin": 34.89529600814291, + "xmax": 1002.7655151728284, + "ymax": 66.01880400828833 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 994.1846831020896, + 61.85738307136444 + ], + [ + 981.8639300223576, + 61.17558498234831 + ], + [ + 983.0473459535112, + 65.32803920581131 + ], + [ + 995.4501778918925, + 66.01880400828833 + ], + [ + 1001.4255143490354, + 35.56218813537453 + ], + [ + 988.8452175427535, + 34.89529600814291 + ], + [ + 990.0996347569278, + 38.95742047710786 + ], + [ + 1002.7655151728284, + 39.633264287674194 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 976.3643844915215, + "ymin": 203.68953559973116, + "xmax": 998.1818619065021, + "ymax": 234.15783783321663 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 989.3026912245632, + 228.6048788221645 + ], + [ + 976.3643844915215, + 227.7003844667593 + ], + [ + 977.5767815136722, + 233.2407713245612 + ], + [ + 990.6061273899064, + 234.15783783321663 + ], + [ + 996.7972041881765, + 204.58572124515462 + ], + [ + 983.5729770712209, + 203.68953559973116 + ], + [ + 984.8625146653374, + 209.17970979603945 + ], + [ + 998.1818619065021, + 210.08862205659958 + ] + ], + "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": 932.3547013722562, + "ymin": 0.0, + "xmax": 1061.7411804735348, + "ymax": 305.2252152385348 + }, + "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": [ + [ + 965.9461314297914, + 304.07376543903223 + ], + [ + 979.9514902695432, + 305.2252152385348 + ], + [ + 943.2406011384392, + 111.83527097684271 + ], + [ + 932.3547013722562, + 111.13502457093588 + ], + [ + 1044.2386851703252, + 53.30138933972722 + ], + [ + 1061.7411804735348, + 54.321305566133105 + ], + [ + 997.2640150549735, + -108.40706096152303 + ], + [ + 984.3759940145698, + -108.96652734057659 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 467.38301337264824, + "xmax": 276.9662445569743, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 107.42643172518194, + 695.6381426924444 + ], + [ + 96.85957480218826, + 714.9560950350942 + ], + [ + 268.8516805854618, + 735.9090928811687 + ], + [ + 276.9662445569743, + 715.962210350076 + ], + [ + -78.8917251097048, + 467.38301337264824 + ], + [ + -97.08281676107163, + 488.881070636597 + ], + [ + 133.37989576515042, + 512.4606112006052 + ], + [ + 147.1981242969445, + 490.00704201894695 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 60.00990513212594, + "ymin": 0.0, + "xmax": 221.62027005282363, + "ymax": 261.69172680338454 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 158.94852145422982, + 260.6993570975195 + ], + [ + 171.60845298581944, + 261.69172680338454 + ], + [ + 221.62027005282363, + 195.41158603266337 + ], + [ + 209.91010612571756, + 194.57053103421163 + ], + [ + 60.00990513212594, + 37.055088951642404 + ], + [ + 75.13528976856617, + 37.93070507208358 + ], + [ + 143.5698682359087, + -19.624174346914117 + ], + [ + 129.77934761483743, + -20.342607762798934 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 108.59608363349412, + "ymin": 497.01327809908366, + "xmax": 144.90247264596144, + "ymax": 518.56297803052 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 120.64805556832266, + 501.2059487206037 + ], + [ + 111.25011249335387, + 516.0357881066539 + ], + [ + 135.81842380817426, + 518.56297803052 + ], + [ + 144.90247264596144, + 503.6646841410708 + ], + [ + 118.07688287543363, + 497.01327809908366 + ], + [ + 108.59608363349412, + 511.859367456361 + ], + [ + 133.28181033449943, + 514.3895290300584 + ], + [ + 142.44573746832805, + 499.4745673300109 + ] + ], + "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": 314.3110442811416, + "ymin": 0.0, + "xmax": 450.36738039400905, + "ymax": 95.19376183619318 + }, + "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": [ + [ + 450.36738039400905, + -22.960428303522406 + ], + [ + 442.0282598541357, + -23.412143728177057 + ], + [ + 362.3146513274633, + 94.52713125978983 + ], + [ + 372.36639398344636, + 95.19376183619318 + ], + [ + 424.15558023762645, + -212.47192800341406 + ], + [ + 414.6893817325446, + -212.80880359972593 + ], + [ + 314.3110442811416, + -122.17600943879671 + ], + [ + 326.0462130605015, + -121.64797923338716 + ] + ], + "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": 667.1635929426741, + "ymin": 0.0, + "xmax": 960.4091267735957, + "ymax": 10.727213960906454 + }, + "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": [ + [ + 919.1148401599714, + 10.727213960906454 + ], + [ + 918.4062165806613, + 6.820479410189478 + ], + [ + 668.1189741722286, + -6.842313625132022 + ], + [ + 667.1635929426741, + -3.1182058530536096 + ], + [ + 960.4091267735957, + -187.13122033702825 + ], + [ + 959.2793672650179, + -190.092136907532 + ], + [ + 672.1359274115553, + -200.4012468507517 + ], + [ + 671.0732784781974, + -197.59831938032914 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 108.39712155086215, + "ymin": 496.89851357395787, + "xmax": 145.0938009043967, + "ymax": 518.6797888328356 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 120.58095828752175, + 501.1363563791481 + ], + [ + 111.08078165108645, + 516.1250698654344 + ], + [ + 135.91428534105086, + 518.6797888328356 + ], + [ + 145.0938009043967, + 503.62114379948395 + ], + [ + 117.98196137831405, + 496.89851357395787 + ], + [ + 108.39712155086215, + 511.9038260301527 + ], + [ + 133.3505953696669, + 514.4615832559623 + ], + [ + 142.61169919284976, + 499.3859077931011 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 133.1385105892473, + "ymin": 25.64818157128093, + "xmax": 596.9781514133334, + "ymax": 312.3887692577275 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 234.42289913677837, + 272.5749213200842 + ], + [ + 228.71365392561478, + 280.9118609357098 + ], + [ + 594.7660598446745, + 312.3887692577275 + ], + [ + 596.9781514133334, + 303.42888150546963 + ], + [ + 141.30628702767973, + 25.64818157128093 + ], + [ + 133.1385105892473, + 32.92113014992918 + ], + [ + 583.772744282098, + 60.68103236302625 + ], + [ + 586.6536893872694, + 52.730453492387426 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1061.3863182082187, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1393.8801801039172, + 495.6450301116726 + ], + [ + 1061.3863182082187, + 562.5731768284617 + ], + [ + 1358.6022206145808, + 1033.2103509052395 + ], + [ + 1793.5183492621713, + 902.4844950413791 + ], + [ + 1909.899022373624, + -87.83622763593473 + ], + [ + 1381.619110882897, + -34.3768256772604 + ], + [ + 2486.3923362596142, + 539.0395550152323 + ], + [ + 3268.121053978626, + 332.8504386833964 + ] + ], + "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": 135.73152218691985, + "ymin": 0.0, + "xmax": 425.5002001543567, + "ymax": 6.343824276318742 + }, + "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": [ + [ + 239.50863734711038, + 6.343824276318742 + ], + [ + 425.5002001543567, + -15.990283912301038 + ], + [ + 403.3224337187869, + -80.74505380161827 + ], + [ + 238.94512201306094, + -63.38534864299669 + ], + [ + 135.73152218691985, + -341.3340914296608 + ], + [ + 372.59064000873025, + -352.4596415958715 + ], + [ + 353.1716758410746, + -383.50673291302803 + ], + [ + 150.30220355193984, + -375.3546960877803 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00133/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00133/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..0747a0f285e65a0443e615756494bdcf73bd91b5 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00133/meta.json @@ -0,0 +1,3417 @@ +{ + "frame_id": 133, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 66.5, + "sim_timestamp": 11383.157308574766 + }, + "drone_pose": { + "x": -84.77333777495096, + "y": -86.20043124853807, + "z": 19.99132980731097, + "pitch": -44.57488001032698, + "yaw": -5.787884189745979, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7087023854255676, + 0.0718359649181366, + 0.7018408179283142, + 39.85604476928711 + ], + [ + -0.10084591805934906, + 0.9949020743370056, + 0.0, + 94.31002807617188 + ], + [ + -0.6982628703117371, + -0.0707777813076973, + 0.7123337984085083, + -67.33349609375 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -84.55207856873943, + "y": -86.3685735873885, + "z": 19.9842611944958 + }, + "t1_image_uv": [ + -160.55153007021602, + -531.0619092992499 + ], + "t1_depth": 0.17384663332842815 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -65.16718292236328, + "y": -88.18776321411133, + "z": 0.5749992918968201 + }, + "image_uv": [ + 640.0, + 360.00000000000006 + ], + "depth": 27.664863764870404, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 201, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -65.16718292236328, + "y": -88.18775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.24720458686351776, + "y": 0.25667479634284973, + "z": 0.5275211334228516 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 627.57015412482, + "ymin": 338.21826798378845, + "xmax": 652.4577790614451, + "ymax": 381.5979071864763 + }, + "corners_3d": [ + [ + -65.16048431396484, + -88.54405212402344, + 0.04747813940048218 + ], + [ + -65.52348327636719, + -88.18106079101562, + 0.04747813940048218 + ], + [ + -65.17388153076172, + -87.83146667480469, + 0.04747813940048218 + ], + [ + -64.81088256835938, + -88.1944580078125, + 0.04747813940048218 + ], + [ + -65.16048431396484, + -88.54405212402344, + 1.10252046585083 + ], + [ + -65.52348327636719, + -88.18106079101562, + 1.10252046585083 + ], + [ + -65.17388153076172, + -87.83146667480469, + 1.10252046585083 + ], + [ + -64.81088256835938, + -88.1944580078125, + 1.10252046585083 + ] + ], + "corners_2d": [ + [ + 627.8981001499187, + 371.8309692371399 + ], + [ + 638.9888220579384, + 381.5979071864763 + ], + [ + 652.1283838261991, + 373.9062003859374 + ], + [ + 640.9933487716625, + 364.293176419457 + ], + [ + 627.57015412482, + 345.7478609815152 + ], + [ + 638.9611333215669, + 355.508952718249 + ], + [ + 652.4577790614451, + 347.8213985379122 + ], + [ + 641.0200496890761, + 338.21826798378845 + ] + ], + "center_offset_px": [ + 0.0, + 5.684341886080802e-14 + ] + }, + "trace_timestep_index": 133, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 67, + "semantic_pixel_counts": { + "1": 500454, + "2": 199535, + "3": 41676, + "4": 44519, + "5": 88, + "6": 15519, + "7": 1986, + "9": 5743, + "10": 67979, + "12": 3120, + "14": 8848, + "20": 3702, + "21": 241, + "24": 28190 + }, + "instance_pixel_counts": { + "9296": 88, + "9346": 1577, + "9799": 50, + "11927": 405, + "12439": 2537, + "12951": 1506, + "13975": 381, + "17232": 44519, + "22464": 2222, + "22784": 26, + "22976": 16440, + "23296": 8101, + "23488": 1939, + "23552": 5230, + "24404": 1299, + "24512": 21933, + "26963": 2571, + "27795": 12488, + "28307": 10173, + "28819": 19500, + "29331": 14282, + "31893": 801, + "32405": 345, + "33429": 1372, + "33941": 302, + "35668": 1426, + "36692": 977, + "37979": 30453, + "38539": 12, + "39051": 1257, + "39563": 2858, + "41107": 54230, + "41611": 3832, + "41619": 22625, + "42123": 2825, + "42635": 1651, + "43117": 11223, + "43147": 10411, + "43155": 147384, + "43659": 9403, + "43667": 24738, + "44179": 195034, + "44181": 2880, + "44693": 639, + "45717": 12440, + "46229": 718, + "46741": 8693, + "48064": 1499, + "49088": 3761, + "49664": 201, + "49920": 407, + "50015": 29, + "50176": 563, + "50432": 995, + "50624": 14454, + "50688": 656, + "50944": 298, + "51136": 5636, + "51648": 2030, + "51712": 5181, + "52160": 29603, + "52672": 54024, + "55296": 3667, + "55879": 36819, + "57173": 5743, + "64351": 8866, + "64603": 241 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 201, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -65.16718292236328, + "y": -88.18775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.24100585281848907, + "y": 0.2494824230670929, + "z": 0.5561532378196716 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 627.8891823122188, + "ymin": 337.7180904710334, + "xmax": 652.1370127952887, + "ymax": 382.05100142376 + }, + "corners_3d": [ + [ + -65.16118621826172, + -88.53458404541016, + 0.01884603500366211 + ], + [ + -65.51400756835938, + -88.1817626953125, + 0.01884603500366211 + ], + [ + -65.17317962646484, + -87.84093475341797, + 0.01884603500366211 + ], + [ + -64.82035827636719, + -88.19375610351562, + 0.01884603500366211 + ], + [ + -65.16118621826172, + -88.53458404541016, + 1.1311525106430054 + ], + [ + -65.51400756835938, + -88.1817626953125, + 1.1311525106430054 + ], + [ + -65.17317962646484, + -87.84093475341797, + 1.1311525106430054 + ], + [ + -64.82035827636719, + -88.19375610351562, + 1.1311525106430054 + ] + ], + "corners_2d": [ + [ + 628.2258272109688, + 372.55983799506475 + ], + [ + 638.9986797168538, + 382.05100142376 + ], + [ + 651.7989375979132, + 374.55453104757606 + ], + [ + 640.9841545103111, + 365.20910684332705 + ], + [ + 627.8891823122188, + 345.06044127730166 + ], + [ + 638.969758452937, + 354.54554869592454 + ], + [ + 652.1370127952887, + 347.0534157508733 + ], + [ + 641.0120713318742, + 337.7180904710334 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 407, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -61.041194915771484, + "y": -85.19005584716797, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.38392332196235657, + "y": 0.39384275674819946, + "z": 0.87604820728302 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 728.4292752854093, + "ymin": 242.9418328360654, + "xmax": 767.1359800583101, + "ymax": 307.86989559399325 + }, + "corners_3d": [ + [ + -61.148677825927734, + -85.72946166992188, + -0.30105382204055786 + ], + [ + -61.57768249511719, + -85.06884765625, + -0.30105382204055786 + ], + [ + -60.933712005615234, + -84.65065002441406, + -0.30105382204055786 + ], + [ + -60.50470733642578, + -85.31126403808594, + -0.30105382204055786 + ], + [ + -61.148677825927734, + -85.72946166992188, + 1.451042652130127 + ], + [ + -61.57768249511719, + -85.06884765625, + 1.451042652130127 + ], + [ + -60.933712005615234, + -84.65065002441406, + 1.451042652130127 + ], + [ + -60.50470733642578, + -85.31126403808594, + 1.451042652130127 + ] + ], + "corners_2d": [ + [ + 728.4292752854093, + 297.72035427970417 + ], + [ + 748.7075396523343, + 307.86989559399325 + ], + [ + 762.0970210393455, + 295.5887380139819 + ], + [ + 741.9442983540649, + 285.7146788038375 + ], + [ + 732.0879530660512, + 254.83067112616212 + ], + [ + 753.2590386960135, + 264.89187075810776 + ], + [ + 767.1359800583101, + 252.71882350527483 + ], + [ + 746.1024995942441, + 242.9418328360654 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 563, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -67.42300415039062, + "y": -81.24504852294922, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.4101049602031708, + "y": 0.29600343108177185, + "z": 0.8831016421318054 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 868.0271903910929, + "ymin": 397.2733608133557, + "xmax": 916.7801160560514, + "ymax": 469.6302810426862 + }, + "corners_3d": [ + [ + -67.55543518066406, + -81.7331771850586, + -0.15570008754730225 + ], + [ + -67.92799377441406, + -81.2730941772461, + -0.15570008754730225 + ], + [ + -67.29057312011719, + -80.75691986083984, + -0.15570008754730225 + ], + [ + -66.91801452636719, + -81.21700286865234, + -0.15570008754730225 + ], + [ + -67.55543518066406, + -81.7331771850586, + 1.6105031967163086 + ], + [ + -67.92799377441406, + -81.2730941772461, + 1.6105031967163086 + ], + [ + -67.29057312011719, + -80.75691986083984, + 1.6105031967163086 + ], + [ + -66.91801452636719, + -81.21700286865234, + 1.6105031967163086 + ] + ], + "corners_2d": [ + [ + 868.0271903910929, + 457.57990151458915 + ], + [ + 886.3406716007466, + 469.6302810426862 + ], + [ + 903.6543554425575, + 452.88633200942803 + ], + [ + 885.4335612478906, + 441.2131326758402 + ], + [ + 879.4331494904255, + 413.7235778373581 + ], + [ + 898.8121819098925, + 425.8519067926247 + ], + [ + 916.7801160560514, + 409.0034382717955 + ], + [ + 897.5081524060233, + 397.2733608133557 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 995, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -74.66718292236328, + "y": -88.18775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.3999609351158142, + "y": 0.4203271269798279, + "z": 0.8803382515907288 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 567.7082464942623, + "ymin": 619.395916750678, + "xmax": 622.9235130183409, + "ymax": 708.1872237078211 + }, + "corners_3d": [ + [ + -74.65277862548828, + -88.76779174804688, + -0.305338978767395 + ], + [ + -75.2472152709961, + -88.17335510253906, + -0.305338978767395 + ], + [ + -74.68158721923828, + -87.60772705078125, + -0.305338978767395 + ], + [ + -74.08715057373047, + -88.20216369628906, + -0.305338978767395 + ], + [ + -74.65277862548828, + -88.76779174804688, + 1.4553375244140625 + ], + [ + -75.2472152709961, + -88.17335510253906, + 1.4553375244140625 + ], + [ + -74.68158721923828, + -87.60772705078125, + 1.4553375244140625 + ], + [ + -74.08715057373047, + -88.20216369628906, + 1.4553375244140625 + ] + ], + "corners_2d": [ + [ + 571.8436178912046, + 680.3928370595895 + ], + [ + 594.4843309203522, + 708.1872237078211 + ], + [ + 622.9235130183409, + 686.5038200045387 + ], + [ + 600.0533427309614, + 659.6234164569489 + ], + [ + 567.7082464942623, + 640.7139885108252 + ], + [ + 591.6582967300155, + 669.3090751707575 + ], + [ + 621.8820961879009, + 646.9944823693976 + ], + [ + 597.6717146197368, + 619.395916750678 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 656, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -68.78268432617188, + "y": -99.31512451171875, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.5793188214302063, + "y": 0.49858397245407104, + "z": 0.8779850602149963 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 176.4205873368732, + "ymin": 378.21054893561416, + "xmax": 250.84464067513983, + "ymax": 462.6947507367906 + }, + "corners_3d": [ + [ + -68.7597885131836, + -100.07910919189453, + -0.15058350563049316 + ], + [ + -69.53473663330078, + -99.45156860351562, + -0.15058350563049316 + ], + [ + -68.80558013916016, + -98.55113983154297, + -0.15058350563049316 + ], + [ + -68.03063201904297, + -99.17868041992188, + -0.15058350563049316 + ], + [ + -68.7597885131836, + -100.07910919189453, + 1.6053866147994995 + ], + [ + -69.53473663330078, + -99.45156860351562, + 1.6053866147994995 + ], + [ + -68.80558013916016, + -98.55113983154297, + 1.6053866147994995 + ], + [ + -68.03063201904297, + -99.17868041992188, + 1.6053866147994995 + ] + ], + "corners_2d": [ + [ + 197.99430924083532, + 439.1641817723407 + ], + [ + 208.10190227308192, + 462.6947507367906 + ], + [ + 250.84464067513983, + 444.69851237823315 + ], + [ + 239.96360609524072, + 421.95996077147163 + ], + [ + 176.4205873368732, + 395.47119823782407 + ], + [ + 186.51340557536003, + 419.12478809430985 + ], + [ + 231.74288692605904, + 401.0296944625447 + ], + [ + 220.78178133580155, + 378.21054893561416 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 298, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -53.92184829711914, + "y": -96.35797882080078, + "z": 0.6102824807167053 + }, + "extent": { + "x": 0.42528319358825684, + "y": 0.45750975608825684, + "z": 0.8753718137741089 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 436.3071384304027, + "ymin": 106.70896850480756, + "xmax": 472.21872894995334, + "ymax": 164.4782150432851 + }, + "corners_3d": [ + [ + -53.769775390625, + -96.96382904052734, + -0.26508933305740356 + ], + [ + -54.537174224853516, + -96.4654769897461, + -0.26508933305740356 + ], + [ + -54.07392120361328, + -95.75212860107422, + -0.26508933305740356 + ], + [ + -53.306522369384766, + -96.25048065185547, + -0.26508933305740356 + ], + [ + -53.769775390625, + -96.96382904052734, + 1.485654354095459 + ], + [ + -54.537174224853516, + -96.4654769897461, + 1.485654354095459 + ], + [ + -54.07392120361328, + -95.75212860107422, + 1.485654354095459 + ], + [ + -53.306522369384766, + -96.25048065185547, + 1.485654354095459 + ] + ], + "corners_2d": [ + [ + 443.0785350978103, + 152.711135968963 + ], + [ + 450.9817214126015, + 164.4782150432851 + ], + [ + 472.21872894995334, + 158.80736175782073 + ], + [ + 464.04377394614176, + 147.21610181437188 + ], + [ + 436.3071384304027, + 112.07887930075242 + ], + [ + 444.37491257118904, + 123.58726570828739 + ], + [ + 466.4000827033873, + 118.03950836095129 + ], + [ + 458.0398460644757, + 106.70896850480756 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 5181, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 917.4177595524351, + "ymin": 82.00319056025614, + "xmax": 1062.6641240845647, + "ymax": 158.49296390431076 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 917.4177595524351, + 125.17191864542477 + ], + [ + 923.0221086326328, + 151.90854201459624 + ], + [ + 1047.3216616935035, + 158.49296390431076 + ], + [ + 1037.1253023467748, + 131.2978345769308 + ], + [ + 927.4194550819384, + 82.00319056025614 + ], + [ + 933.6221051610082, + 108.04595743979809 + ], + [ + 1062.6641240845647, + 114.4921890318831 + ], + [ + 1051.5194729750058, + 87.9855577945167 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 216, + "instance_id": 55296, + "pixel_count": 3667, + "type_id": "vehicle.audi.etron", + "bbox_3d": { + "center_world": { + "x": -44.75563430786133, + "y": -104.2794189453125, + "z": 0.8648524284362793 + }, + "extent": { + "x": 2.427854299545288, + "y": 1.0163782835006714, + "z": 0.8246796727180481 + }, + "yaw": -94.3148193359375 + }, + "bbox_2d": { + "xmin": 263.4739561953186, + "ymin": 0.0, + "xmax": 391.0645375008306, + "ymax": 40.989535270044655 + }, + "corners_3d": [ + [ + -45.58646774291992, + -101.781982421875, + 0.04017278552055359 + ], + [ + -43.559471130371094, + -101.9349136352539, + 0.04017278552055359 + ], + [ + -43.92479705810547, + -106.77686309814453, + 0.04017278552055359 + ], + [ + -45.9517936706543, + -106.6239242553711, + 0.04017278552055359 + ], + [ + -45.58646774291992, + -101.781982421875, + 1.6895321607589722 + ], + [ + -43.559471130371094, + -101.9349136352539, + 1.6895321607589722 + ], + [ + -43.92479705810547, + -106.77686309814453, + 1.6895321607589722 + ], + [ + -45.9517936706543, + -106.6239242553711, + 1.6895321607589722 + ] + ], + "corners_2d": [ + [ + 381.4940804727063, + 40.989535270044655 + ], + [ + 391.0645375008306, + 20.52600625548638 + ], + [ + 286.68022388388897, + 19.312438667881167 + ], + [ + 273.61438383491446, + 39.692773194962 + ], + [ + 374.3241883478644, + 5.116955916237941 + ], + [ + 384.3915289533976, + -14.69266620426373 + ], + [ + 277.2285325812594, + -15.866328842889516 + ], + [ + 263.4739561953186, + 3.860567011168598 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 965.7291189631334, + "ymin": 0.0, + "xmax": 985.1774306336363, + "ymax": 24.938332265621057 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 977.3208194833853, + 21.197192583792287 + ], + [ + 965.7291189631334, + 20.6810314915694 + ], + [ + 966.8936500817392, + 24.415792354806854 + ], + [ + 978.5577845769435, + 24.938332265621057 + ], + [ + 983.8750975877655, + -4.317942140250693 + ], + [ + 972.0526798349086, + -4.822007845269127 + ], + [ + 973.2796584706787, + -1.17438919077631 + ], + [ + 985.1774306336363, + -0.6639720171494901 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4809317425322915338, + "instance_id": 2806, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -62.6159553527832, + "y": -93.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 433.60001924751714, + "ymin": 120.83081705042608, + "xmax": 454.40578895955576, + "ymax": 155.07882788613122 + }, + "corners_3d": [ + [ + -62.754539489746094, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.9842529296875, + 6.416468620300293 + ], + [ + -62.754539489746094, + -93.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 451.9970821220245, + 155.07882788613122 + ], + [ + 454.40578895955576, + 149.58080103582097 + ], + [ + 440.9036874232337, + 148.82336893088208 + ], + [ + 438.39664506205173, + 154.31003448983344 + ], + [ + 447.5192865388899, + 126.991246935113 + ], + [ + 450.01893969751114, + 121.57661090584955 + ], + [ + 436.20265314098447, + 120.83081705042608 + ], + [ + 433.60001924751714, + 126.23399904394734 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 187.37283226276566, + "ymin": 191.54807664944633, + "xmax": 212.86436822746452, + "ymax": 221.66563957831502 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 209.01837133946248, + 221.66563957831502 + ], + [ + 212.86436822746452, + 216.1938088946322 + ], + [ + 200.82595125000256, + 215.44349378148559 + ], + [ + 196.90152464199105, + 220.90505667089104 + ], + [ + 199.74132223477142, + 197.71461364630446 + ], + [ + 203.73373832693102, + 192.29157757257815 + ], + [ + 191.44695305496947, + 191.54807664944633 + ], + [ + 187.37283226276566, + 196.9607185130522 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5344508464058845628, + "instance_id": 48329, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -62.61595916748047, + "y": -96.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 324.71606695786454, + "ymin": 114.99647846466996, + "xmax": 348.53784494473314, + "ymax": 149.05122963354611 + }, + "corners_3d": [ + [ + -62.75454330444336, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.9842529296875, + 6.416468620300293 + ], + [ + -62.75454330444336, + -96.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 345.36372012480695, + 149.05122963354611 + ], + [ + 348.53784494473314, + 143.64196634330216 + ], + [ + 335.2528186747311, + 142.89671150740122 + ], + [ + 331.98355317784024, + 148.29488739032007 + ], + [ + 338.4046008594965, + 121.05517276298309 + ], + [ + 341.70555463534305, + 115.7300024049515 + ], + [ + 328.11657720489336, + 114.99647846466996 + ], + [ + 324.71606695786454, + 120.31047734672819 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8433051479337506626, + "instance_id": 17047, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -62.61595153808594, + "y": -91.29429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 525.7418621783645, + "ymin": 125.76747366311645, + "xmax": 543.954814033445, + "ymax": 160.17786248829563 + }, + "corners_3d": [ + [ + -62.75453567504883, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.4842529296875, + 6.416468620300293 + ], + [ + -62.75453567504883, + -91.4842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 542.2035918741649, + 160.17786248829563 + ], + [ + 543.954814033445, + 154.60418648674013 + ], + [ + 530.2677264638163, + 153.83637723603346 + ], + [ + 528.4154148748595, + 159.39845677805056 + ], + [ + 539.8578928380699, + 132.01465329650486 + ], + [ + 541.6687396713021, + 126.52372913517237 + ], + [ + 527.6586437776209, + 125.76747366311645 + ], + [ + 525.7418621783645, + 131.24670099911586 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 979.1452486792109, + "ymin": 37.25377122974925, + "xmax": 1000.397199056586, + "ymax": 68.5929883837731 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 991.5722197268035, + 64.29984701594975 + ], + [ + 979.1452486792109, + 63.70782175863337 + ], + [ + 980.4814429093251, + 67.99312237154328 + ], + [ + 992.9916978712581, + 68.5929883837731 + ], + [ + 998.8985490275444, + 37.83352048358449 + ], + [ + 986.206045879585, + 37.25377122974925 + ], + [ + 987.6178038294426, + 41.45071034784377 + ], + [ + 1000.397199056586, + 42.03829932142844 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 976.1719019328862, + "ymin": 209.1419615224008, + "xmax": 998.4234363262103, + "ymax": 239.6925135365858 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 989.219304025545, + 233.974518714533 + ], + [ + 976.1719019328862, + 233.19058362222353 + ], + [ + 977.5624595866934, + 238.89761037130992 + ], + [ + 990.7022020861816, + 239.6925135365858 + ], + [ + 996.8534726334972, + 209.9195131714879 + ], + [ + 983.5136649428773, + 209.1419615224008 + ], + [ + 984.9870892832283, + 214.8032601500374 + ], + [ + 998.4234363262103, + 215.59193080531776 + ] + ], + "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": 926.6012324375246, + "ymin": 0.0, + "xmax": 1063.3499291942192, + "ymax": 310.71962743325497 + }, + "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": [ + [ + 965.720256630216, + 309.7117873271956 + ], + [ + 979.8310916024762, + 310.71962743325497 + ], + [ + 937.5564314624244, + 112.39431387733094 + ], + [ + 926.6012324375246, + 111.78288095564506 + ], + [ + 1045.6590654094734, + 58.242713957466776 + ], + [ + 1063.3499291942192, + 59.14570305680445 + ], + [ + 991.5727153575599, + -109.43133723393123 + ], + [ + 978.5749669037839, + -109.9241812684744 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 509.417741735636, + "xmax": 275.34866609921, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 100.030685826742, + 730.430444730182 + ], + [ + 89.5010230789427, + 750.9161284523069 + ], + [ + 267.43859803029295, + 769.5794885849027 + ], + [ + 275.34866609921, + 748.5222959777846 + ], + [ + -97.57767140837609, + 509.417741735636 + ], + [ + -116.26815282138239, + 532.835332383285 + ], + [ + 125.49511103636326, + 554.4045577849547 + ], + [ + 139.38195394888925, + 530.085061225708 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 38.54457754130067, + "ymin": 0.0, + "xmax": 207.10649538857177, + "ymax": 275.9143354129702 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 144.1121044252967, + 275.0373345812938 + ], + [ + 157.15131431370122, + 275.9143354129702 + ], + [ + 207.10649538857177, + 206.41753141811944 + ], + [ + 195.071093295658, + 205.67621587503766 + ], + [ + 38.54457754130067, + 49.524067326071986 + ], + [ + 54.232616605728936, + 50.30930092122696 + ], + [ + 123.71028903677302, + -10.877276822712247 + ], + [ + 109.45192185393967, + -11.518803066695 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 99.53202957040298, + "ymin": 537.521727208815, + "xmax": 137.1635976191123, + "ymax": 559.9735633574655 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 111.8149696193392, + 541.6162502479166 + ], + [ + 102.34877477288796, + 557.6707973240239 + ], + [ + 128.04001600725394, + 559.9735633574655 + ], + [ + 137.1635976191123, + 543.8547476635778 + ], + [ + 109.08686764480956, + 537.521727208815 + ], + [ + 99.53202957040298, + 553.6017748437696 + ], + [ + 125.35243726762337, + 555.9083924993233 + ], + [ + 134.56123943255267, + 539.7636382799851 + ] + ], + "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": 297.0652724895106, + "ymin": 0.0, + "xmax": 435.8741333492882, + "ymax": 100.84934576491844 + }, + "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": [ + [ + 435.8741333492882, + -21.848329949883464 + ], + [ + 427.3785411422782, + -22.24732774522738 + ], + [ + 348.8386085940723, + 100.25795608473248 + ], + [ + 359.11467831090243, + 100.84934576491844 + ], + [ + 406.95208556407067, + -214.00481946637387 + ], + [ + 397.2771046796686, + -214.30512227774466 + ], + [ + 297.0652724895106, + -119.184600472446 + ], + [ + 309.1178850021268, + -118.7107582648236 + ] + ], + "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": 656.2631403739717, + "ymin": 0.0, + "xmax": 951.2804299010412, + "ymax": 8.934546711565929 + }, + "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": [ + [ + 910.5410350479962, + 8.934546711565929 + ], + [ + 909.7223065959363, + 4.937367064850491 + ], + [ + 657.1352196350343, + -7.0179514018960845 + ], + [ + 656.2631403739717, + -3.1814336219185293 + ], + [ + 951.2804299010412, + -190.65340865519022 + ], + [ + 950.0246766338664, + -193.70614859307352 + ], + [ + 659.6362197289817, + -202.79997852159886 + ], + [ + 658.6549012440363, + -199.88770582089376 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1279.4084868098398, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 2.6818249460059747 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 1295.5055657198914, + 0.5455342359256861 + ], + [ + 1346.330110044362, + 2.6818249460059747 + ], + [ + 1328.5939963321712, + -15.640023794837816 + ], + [ + 1279.4084868098398, + -17.64560182232998 + ], + [ + 1346.5353204020546, + -103.2885965292204 + ], + [ + 1401.5324231756435, + -101.39318134807291 + ], + [ + 1380.6082652505688, + -117.61431209530781 + ], + [ + 1327.5247729350338, + -119.38515758976018 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7298902328162137019, + "instance_id": 47923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_0", + "bbox_3d": { + "center_world": { + "x": -58.97412109375, + "y": -104.33528900146484, + "z": 7.722432613372803 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 105.30599846865857, + "ymin": 0.0, + "xmax": 123.2119597801991, + "ymax": 5.616463605347974 + }, + "corners_3d": [ + [ + -59.18000793457031, + -104.483154296875, + 7.667783737182617 + ], + [ + -59.18000793457031, + -104.18742370605469, + 7.667783737182617 + ], + [ + -58.76823425292969, + -104.18742370605469, + 7.667783737182617 + ], + [ + -58.76823425292969, + -104.483154296875, + 7.667783737182617 + ], + [ + -59.18000793457031, + -104.483154296875, + 7.777081489562988 + ], + [ + -59.18000793457031, + -104.18742370605469, + 7.777081489562988 + ], + [ + -58.76823425292969, + -104.18742370605469, + 7.777081489562988 + ], + [ + -58.76823425292969, + -104.483154296875, + 7.777081489562988 + ] + ], + "corners_2d": [ + [ + 106.7656188034108, + 5.169307227054958 + ], + [ + 116.42133116025059, + 5.616463605347974 + ], + [ + 123.2119597801991, + -0.4674347793649076 + ], + [ + 113.65041054847973, + -0.9054429961881851 + ], + [ + 105.30599846865857, + 1.530938950999996 + ], + [ + 114.98705408397939, + 1.9765600222880835 + ], + [ + 121.81088583987321, + -4.0862910801249654 + ], + [ + 112.2244847253653, + -4.522770820759035 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 99.32560071454748, + "ymin": 537.4021693795269, + "xmax": 137.36171445543283, + "ymax": 560.0952715352578 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 111.7431118931114, + 541.540862811041 + ], + [ + 102.17382327328664, + 557.7674165223173 + ], + [ + 128.14242412819806, + 560.0952715352578 + ], + [ + 137.36171445543283, + 543.8030627183182 + ], + [ + 108.98546712859593, + 537.4021693795269 + ], + [ + 99.32560071454748, + 553.6547724812954 + ], + [ + 125.42617930080678, + 555.9865648624441 + ], + [ + 134.73251318844012, + 539.667854411979 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14685537128847865056, + "instance_id": 57460, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_1", + "bbox_3d": { + "center_world": { + "x": -58.97411346435547, + "y": -104.33528900146484, + "z": 7.7224273681640625 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 105.40262380554168, + "ymin": 0.0, + "xmax": 123.11806102036098, + "ymax": 5.562098665706344 + }, + "corners_3d": [ + [ + -59.17780685424805, + -104.48158264160156, + 7.668359756469727 + ], + [ + -59.17780685424805, + -104.18899536132812, + 7.668359756469727 + ], + [ + -58.77042007446289, + -104.18899536132812, + 7.668359756469727 + ], + [ + -58.77042007446289, + -104.48158264160156, + 7.668359756469727 + ], + [ + -59.17780685424805, + -104.48158264160156, + 7.776494979858398 + ], + [ + -59.17780685424805, + -104.18899536132812, + 7.776494979858398 + ], + [ + -58.77042007446289, + -104.18899536132812, + 7.776494979858398 + ], + [ + -58.77042007446289, + -104.48158264160156, + 7.776494979858398 + ] + ], + "corners_2d": [ + [ + 106.8464045703031, + 5.119752174999746 + ], + [ + 116.39911559234179, + 5.562098665706344 + ], + [ + 123.11806102036098, + -0.45682107481457024 + ], + [ + 113.6575221907766, + -0.8902131144010355 + ], + [ + 105.40262380554168, + 1.5201873844434317 + ], + [ + 114.98013940277508, + 1.9610310789920504 + ], + [ + 121.73158732275863, + -4.03728714043649 + ], + [ + 112.24671977478306, + -4.46918299898374 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 114.29057256313138, + "ymin": 37.41375635554306, + "xmax": 592.7920265272286, + "ymax": 323.0374774335527 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 221.87001398397422, + 286.3087069027688 + ], + [ + 216.19015125338422, + 295.0479928006523 + ], + [ + 590.7664975501538, + 323.0374774335527 + ], + [ + 592.7920265272286, + 313.73694515989723 + ], + [ + 122.57032194237172, + 37.41375635554306 + ], + [ + 114.29057256313138, + 45.16067082043088 + ], + [ + 578.458795230337, + 70.22251101536642 + ], + [ + 581.1412426461529, + 61.85209834706524 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 3415205581764433368, + "instance_id": 55317, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1948_134", + "bbox_3d": { + "center_world": { + "x": -37.65735626220703, + "y": -129.6263885498047, + "z": 6.917623043060303 + }, + "extent": { + "x": 4.636507987976074, + "y": 4.5049920082092285, + "z": 7.347609519958496 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 46.26747922828861, + "ymax": 1.8319783032387704 + }, + "corners_3d": [ + [ + -33.784976959228516, + -124.44982147216797, + -0.42998647689819336 + ], + [ + -32.37153244018555, + -133.34825134277344, + -0.42998647689819336 + ], + [ + -41.52973556518555, + -134.80294799804688, + -0.42998647689819336 + ], + [ + -42.943180084228516, + -125.90452575683594, + -0.42998647689819336 + ], + [ + -33.784976959228516, + -124.44982147216797, + 14.26523208618164 + ], + [ + -32.37153244018555, + -133.34825134277344, + 14.26523208618164 + ], + [ + -41.52973556518555, + -134.80294799804688, + 14.26523208618164 + ], + [ + -42.943180084228516, + -125.90452575683594, + 14.26523208618164 + ] + ], + "corners_2d": [ + [ + 46.26747922828861, + -68.69144212506825 + ], + [ + -88.4075101365753, + -84.16156294275896 + ], + [ + -231.33039084931806, + -18.063811550148046 + ], + [ + -83.29870172703329, + 1.8319783032387704 + ], + [ + -96.46648470148023, + -405.984818920051 + ], + [ + -257.06654095850956, + -412.61127193676 + ], + [ + -466.84758152954123, + -383.6166859940996 + ], + [ + -287.5889766796249, + -374.52846119882065 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1069.5333795653694, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1400.0826856926624, + 501.2386965110053 + ], + [ + 1069.5333795653694, + 575.489094591502 + ], + [ + 1382.214734681963, + 1057.170168380995 + ], + [ + 1810.230136679196, + 912.3936342123168 + ], + [ + 1932.268985801915, + -82.08183993190937 + ], + [ + 1406.9572026571905, + -20.643031564207263 + ], + [ + 2605.7447230124553, + 600.2389329093428 + ], + [ + 3346.236519589259, + 358.5438034331028 + ] + ], + "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": 109.32768140482847, + "ymin": 0.0, + "xmax": 410.63291451048707, + "ymax": 9.983571469992114 + }, + "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": [ + [ + 221.27722968042178, + 9.983571469992114 + ], + [ + 410.63291451048707, + -14.619153982774435 + ], + [ + 386.57346611172784, + -81.18213014757526 + ], + [ + 219.20669642160283, + -62.074862072422945 + ], + [ + 109.32768140482847, + -344.09920638430674 + ], + [ + 352.48345054968297, + -356.61237393412887 + ], + [ + 331.43967844137535, + -389.1364456899296 + ], + [ + 123.40670637845233, + -379.992808869167 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12783736354476579425, + "instance_id": 25050, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2728_95", + "bbox_3d": { + "center_world": { + "x": -40.00048828125, + "y": -120.97515106201172, + "z": 4.526856422424316 + }, + "extent": { + "x": 2.978419780731201, + "y": 2.8939361572265625, + "z": 4.719987869262695 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 123.65324491192632, + "ymax": 1.7535415732207866 + }, + "corners_3d": [ + [ + -37.48514938354492, + -124.27953338623047, + -0.1931314468383789 + ], + [ + -43.23114013671875, + -123.58450317382812, + -0.1931314468383789 + ], + [ + -42.51582717895508, + -117.67076873779297, + -0.1931314468383789 + ], + [ + -36.76983642578125, + -118.36579895019531, + -0.1931314468383789 + ], + [ + -37.48514938354492, + -124.27953338623047, + 9.246844291687012 + ], + [ + -43.23114013671875, + -123.58450317382812, + 9.246844291687012 + ], + [ + -42.51582717895508, + -117.67076873779297, + 9.246844291687012 + ], + [ + -36.76983642578125, + -118.36579895019531, + 9.246844291687012 + ] + ], + "corners_2d": [ + [ + 9.403488129529478, + -46.29193370692218 + ], + [ + -44.42451265814759, + 1.7535415732207866 + ], + [ + 80.07586811427791, + 0.7129418181500569 + ], + [ + 123.65324491192632, + -47.1694502853386 + ], + [ + -86.00563321295715, + -255.1831747454487 + ], + [ + -158.738742519913, + -220.82037210777946 + ], + [ + -13.250790440483456, + -221.57456447945367 + ], + [ + 45.67632982940745, + -255.80217922841064 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00134/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00134/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f5bd383214675b38b1285d1e11a0cc2ee060e7ad --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00134/meta.json @@ -0,0 +1,2995 @@ +{ + "frame_id": 134, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 67.0, + "sim_timestamp": 11393.540172971785 + }, + "drone_pose": { + "x": -84.55207856873943, + "y": -86.3685735873885, + "z": 19.9842611944958, + "pitch": -45.14671915168469, + "yaw": -5.229433197751409, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.702358067035675, + 0.06428340822458267, + 0.7089152932167053, + 39.666622161865234 + ], + [ + -0.09114416688680649, + 0.9958376884460449, + 0.0, + 93.71551513671875 + ], + [ + -0.7059646248817444, + -0.06461348384618759, + 0.7052936553955078, + -68.20496368408203 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -83.95279524745906, + "y": -86.46537279536113, + "z": 20.005712842805675 + }, + "t1_image_uv": [ + 542.642575687871, + -675.8122136599197 + ], + "t1_depth": 0.41192668815400646 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -64.66718292236328, + "y": -87.68776321411133, + "z": 0.5749992918968201 + }, + "image_uv": [ + 657.2144763498134, + 345.01744516134727 + ], + "depth": 27.810640078116055, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 197, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -64.66718292236328, + "y": -87.68775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.2447875738143921, + "y": 0.20170408487319946, + "z": 0.5350984930992126 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 649.4359362065813, + "ymin": 325.33225405688546, + "xmax": 665.1175427143677, + "ymax": 364.42929940597924 + }, + "corners_3d": [ + [ + -64.91197204589844, + -87.88946533203125, + 0.039900779724121094 + ], + [ + -64.91197204589844, + -87.48605346679688, + 0.039900779724121094 + ], + [ + -64.42239379882812, + -87.48605346679688, + 0.039900779724121094 + ], + [ + -64.42239379882812, + -87.88946533203125, + 0.039900779724121094 + ], + [ + -64.91197204589844, + -87.88946533203125, + 1.1100977659225464 + ], + [ + -64.91197204589844, + -87.48605346679688, + 1.1100977659225464 + ], + [ + -64.42239379882812, + -87.48605346679688, + 1.1100977659225464 + ], + [ + -64.42239379882812, + -87.88946533203125, + 1.1100977659225464 + ] + ], + "corners_2d": [ + [ + 649.4359362065813, + 363.5325044564394 + ], + [ + 663.2158679603315, + 364.42929940597924 + ], + [ + 664.445343067362, + 352.6714391565607 + ], + [ + 650.8312789492852, + 351.79625784132594 + ], + [ + 649.6984309640227, + 337.061319395887 + ], + [ + 663.862316146087, + 337.9578908435252 + ], + [ + 665.1175427143677, + 326.20662707244134 + ], + [ + 651.128838485561, + 325.33225405688546 + ] + ], + "center_offset_px": [ + 17.214476349813367, + -14.982554838652732 + ] + }, + "trace_timestep_index": 134, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 62, + "semantic_pixel_counts": { + "1": 506373, + "2": 199891, + "3": 38645, + "4": 45357, + "6": 15573, + "7": 1939, + "9": 2288, + "10": 68543, + "12": 3271, + "14": 8260, + "20": 3172, + "21": 245, + "24": 28043 + }, + "instance_pixel_counts": { + "9346": 1564, + "11927": 13, + "12439": 1890, + "12951": 1570, + "13975": 398, + "17232": 45357, + "22464": 928, + "22976": 16883, + "23296": 8321, + "23488": 2010, + "23552": 5127, + "24404": 1050, + "24512": 22500, + "26963": 2500, + "27795": 12780, + "28307": 10032, + "28819": 20058, + "29331": 14451, + "31893": 807, + "32405": 329, + "33429": 1428, + "33941": 316, + "35668": 959, + "36692": 1163, + "37979": 27280, + "39051": 1060, + "39563": 2916, + "41107": 52545, + "41611": 3891, + "41619": 23043, + "42123": 2895, + "42635": 1683, + "43117": 11365, + "43147": 10511, + "43155": 150233, + "43659": 9604, + "43667": 25217, + "44179": 198014, + "44181": 2247, + "44693": 668, + "45717": 12689, + "46229": 722, + "46741": 8837, + "48064": 832, + "49088": 3851, + "49664": 197, + "49920": 414, + "50176": 572, + "50432": 931, + "50624": 14694, + "50688": 826, + "50944": 331, + "51136": 5789, + "51648": 2179, + "51712": 5222, + "52160": 29713, + "52672": 55131, + "55296": 3038, + "55879": 36868, + "57173": 2288, + "64351": 8950, + "64603": 245 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 197, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -64.66718292236328, + "y": -87.68775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.29943355917930603, + "y": 0.21296384930610657, + "z": 0.5277711153030396 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 648.8949112820625, + "ymin": 324.20307381115293, + "xmax": 665.6412028491319, + "ymax": 365.60829283335687 + }, + "corners_3d": [ + [ + -64.96661376953125, + -87.90072631835938, + 0.04722815752029419 + ], + [ + -64.96661376953125, + -87.47479248046875, + 0.04722815752029419 + ], + [ + -64.36775207519531, + -87.47479248046875, + 0.04722815752029419 + ], + [ + -64.36775207519531, + -87.90072631835938, + 0.04722815752029419 + ], + [ + -64.96661376953125, + -87.90072631835938, + 1.1027703285217285 + ], + [ + -64.96661376953125, + -87.47479248046875, + 1.1027703285217285 + ], + [ + -64.36775207519531, + -87.47479248046875, + 1.1027703285217285 + ], + [ + -64.36775207519531, + -87.90072631835938, + 1.1027703285217285 + ] + ], + "corners_2d": [ + [ + 648.8949112820625, + 364.6588279609174 + ], + [ + 663.4666787674497, + 365.60829283335687 + ], + [ + 664.9651597164626, + 351.22482436618003 + ], + [ + 650.6076949811594, + 350.3032799355398 + ], + [ + 649.1392578991655, + 338.5499567143114 + ], + [ + 664.1119660321239, + 339.49925995351475 + ], + [ + 665.6412028491319, + 325.1237115841609 + ], + [ + 650.8946613280236, + 324.20307381115293 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 414, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -60.541194915771484, + "y": -84.69005584716797, + "z": 0.5777190327644348 + }, + "extent": { + "x": 0.4505029320716858, + "y": 0.3590429723262787, + "z": 0.9004154801368713 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 745.3606338103302, + "ymin": 228.57548243124975, + "xmax": 778.5216763931616, + "ymax": 292.2897327795074 + }, + "corners_3d": [ + [ + -61.05650329589844, + -84.94758605957031, + -0.3226964473724365 + ], + [ + -60.907203674316406, + -84.24519348144531, + -0.3226964473724365 + ], + [ + -60.02588653564453, + -84.43252563476562, + -0.3226964473724365 + ], + [ + -60.17518615722656, + -85.13491821289062, + -0.3226964473724365 + ], + [ + -61.05650329589844, + -84.94758605957031, + 1.4781345129013062 + ], + [ + -60.907203674316406, + -84.24519348144531, + 1.4781345129013062 + ], + [ + -60.02588653564453, + -84.43252563476562, + 1.4781345129013062 + ], + [ + -60.17518615722656, + -85.13491821289062, + 1.4781345129013062 + ] + ], + "corners_2d": [ + [ + 750.829009070693, + 292.2897327795074 + ], + [ + 772.7924442847476, + 290.55411470836094 + ], + [ + 766.8944065112761, + 272.61345584980234 + ], + [ + 745.3606338103302, + 274.28016099446046 + ], + [ + 755.6203133420511, + 248.07228649228364 + ], + [ + 778.5216763931616, + 246.35101293603608 + ], + [ + 772.2548538846439, + 228.57548243124975 + ], + [ + 749.8202331811788, + 230.2255532045157 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 572, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -66.92300415039062, + "y": -80.74504852294922, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.5441039800643921, + "y": 0.3174999952316284, + "z": 0.8973222374916077 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 887.5513379217189, + "ymin": 378.05043212673365, + "xmax": 933.2632351285665, + "ymax": 453.37268978778724 + }, + "corners_3d": [ + [ + -67.497314453125, + -81.00393676757812, + -0.1699206829071045 + ], + [ + -67.43093872070312, + -80.3724136352539, + -0.1699206829071045 + ], + [ + -66.34869384765625, + -80.48616027832031, + -0.1699206829071045 + ], + [ + -66.41506958007812, + -81.11768341064453, + -0.1699206829071045 + ], + [ + -67.497314453125, + -81.00393676757812, + 1.6247237920761108 + ], + [ + -67.43093872070312, + -80.3724136352539, + 1.6247237920761108 + ], + [ + -66.34869384765625, + -80.48616027832031, + 1.6247237920761108 + ], + [ + -66.41506958007812, + -81.11768341064453, + 1.6247237920761108 + ] + ], + "corners_2d": [ + [ + 895.4223652928422, + 453.37268978778724 + ], + [ + 918.8728427341737, + 453.12683977249173 + ], + [ + 910.3294241621397, + 422.7092662344726 + ], + [ + 887.5513379217189, + 422.9411822296114 + ], + [ + 908.6058871394423, + 408.89519346912067 + ], + [ + 933.2632351285665, + 408.6475226715848 + ], + [ + 923.8578611563704, + 378.05043212673365 + ], + [ + 899.9427981337808, + 378.2833739025873 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 931, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -74.16718292236328, + "y": -87.68775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.4943944811820984, + "y": 0.44380855560302734, + "z": 0.9236921668052673 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 599.3335144277745, + "ymin": 601.3188222762158, + "xmax": 645.5310110581994, + "ymax": 687.2930214651944 + }, + "corners_3d": [ + [ + -74.66157531738281, + -88.1315689086914, + -0.3486928939819336 + ], + [ + -74.66157531738281, + -87.24394989013672, + -0.3486928939819336 + ], + [ + -73.67279052734375, + -87.24394989013672, + -0.3486928939819336 + ], + [ + -73.67279052734375, + -88.1315689086914, + -0.3486928939819336 + ], + [ + -74.66157531738281, + -88.1315689086914, + 1.498691439628601 + ], + [ + -74.66157531738281, + -87.24394989013672, + 1.498691439628601 + ], + [ + -73.67279052734375, + -87.24394989013672, + 1.498691439628601 + ], + [ + -73.67279052734375, + -88.1315689086914, + 1.498691439628601 + ] + ], + "corners_2d": [ + [ + 601.8136088679677, + 683.8594763991302 + ], + [ + 641.3325556164243, + 687.2930214651944 + ], + [ + 645.2034195888959, + 646.7072196664668 + ], + [ + 606.9125166122208, + 643.4856986368432 + ], + [ + 599.3335144277745, + 642.8625138521394 + ], + [ + 641.4193467962162, + 646.403353958953 + ], + [ + 645.5310110581994, + 604.6274988896457 + ], + [ + 604.8351274771667, + 601.3188222762158 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 826, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -68.28268432617188, + "y": -98.81512451171875, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.37965822219848633, + "y": 0.5086084604263306, + "z": 0.8869320750236511 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 199.99066835176643, + "ymin": 372.4646240893974, + "xmax": 268.258980258305, + "ymax": 442.5833250160127 + }, + "corners_3d": [ + [ + -68.60710144042969, + -99.36063385009766, + -0.15953052043914795 + ], + [ + -68.71342468261719, + -98.34898376464844, + -0.15953052043914795 + ], + [ + -67.95826721191406, + -98.26961517333984, + -0.15953052043914795 + ], + [ + -67.85194396972656, + -99.28126525878906, + -0.15953052043914795 + ], + [ + -68.60710144042969, + -99.36063385009766, + 1.6143336296081543 + ], + [ + -68.71342468261719, + -98.34898376464844, + 1.6143336296081543 + ], + [ + -67.95826721191406, + -98.26961517333984, + 1.6143336296081543 + ], + [ + -67.85194396972656, + -99.28126525878906, + 1.6143336296081543 + ] + ], + "corners_2d": [ + [ + 221.01786773415057, + 437.02185635517344 + ], + [ + 255.37546813219075, + 442.5833250160127 + ], + [ + 268.258980258305, + 421.974893285231 + ], + [ + 234.50673934880342, + 416.62954286487945 + ], + [ + 199.99066835176643, + 392.95449062584646 + ], + [ + 235.9643225388591, + 398.5495517555407 + ], + [ + 249.88537669437932, + 377.8316559255229 + ], + [ + 214.57435573169448, + 372.4646240893974 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 331, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -53.42184829711914, + "y": -95.85797882080078, + "z": 0.6079484820365906 + }, + "extent": { + "x": 0.5621191263198853, + "y": 0.4580712914466858, + "z": 0.9211457371711731 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 443.6011365926181, + "ymin": 92.22633443893693, + "xmax": 484.71822347214345, + "ymax": 154.2914261104772 + }, + "corners_3d": [ + [ + -53.87644577026367, + -96.42291259765625, + -0.3131972551345825 + ], + [ + -54.06692123413086, + -95.52678680419922, + -0.3131972551345825 + ], + [ + -52.96725082397461, + -95.29304504394531, + -0.3131972551345825 + ], + [ + -52.77677536010742, + -96.18917083740234, + -0.3131972551345825 + ], + [ + -53.87644577026367, + -96.42291259765625, + 1.5290942192077637 + ], + [ + -54.06692123413086, + -95.52678680419922, + 1.5290942192077637 + ], + [ + -52.96725082397461, + -95.29304504394531, + 1.5290942192077637 + ], + [ + -52.77677536010742, + -96.18917083740234, + 1.5290942192077637 + ] + ], + "corners_2d": [ + [ + 450.6130829601219, + 150.3192385915362 + ], + [ + 472.7015881327562, + 154.2914261104772 + ], + [ + 484.71822347214345, + 138.81265688250872 + ], + [ + 463.01614901061987, + 135.0003792437284 + ], + [ + 443.6011365926181, + 107.19402225053176 + ], + [ + 466.47366606897424, + 111.0788219309745 + ], + [ + 479.05978523235075, + 95.94911895682287 + ], + [ + 456.60114719605366, + 92.22633443893693 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 5222, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 914.2661419374602, + "ymin": 73.13755587565981, + "xmax": 1060.265306537469, + "ymax": 149.6043164466708 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 914.2661419374602, + 116.60035820026434 + ], + [ + 920.182521413544, + 143.62033933907608 + ], + [ + 1044.7950583010477, + 149.6043164466708 + ], + [ + 1034.3000273210953, + 122.17072793544276 + ], + [ + 924.3100783210947, + 73.13755587565981 + ], + [ + 930.8400164357328, + 99.48437883084421 + ], + [ + 1060.265306537469, + 105.35100898417227 + ], + [ + 1048.8033274290617, + 78.58501072488377 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 216, + "instance_id": 55296, + "pixel_count": 3038, + "type_id": "vehicle.audi.etron", + "bbox_3d": { + "center_world": { + "x": -44.75563430786133, + "y": -104.2794189453125, + "z": 0.8648524284362793 + }, + "extent": { + "x": 2.427854299545288, + "y": 1.0163782835006714, + "z": 0.8246796727180481 + }, + "yaw": -94.3148193359375 + }, + "bbox_2d": { + "xmin": 253.68565343365583, + "ymin": 0.0, + "xmax": 382.89802669200225, + "ymax": 33.85469253168276 + }, + "corners_3d": [ + [ + -45.58646774291992, + -101.781982421875, + 0.04017278552055359 + ], + [ + -43.559471130371094, + -101.9349136352539, + 0.04017278552055359 + ], + [ + -43.92479705810547, + -106.77686309814453, + 0.04017278552055359 + ], + [ + -45.9517936706543, + -106.6239242553711, + 0.04017278552055359 + ], + [ + -45.58646774291992, + -101.781982421875, + 1.6895321607589722 + ], + [ + -43.559471130371094, + -101.9349136352539, + 1.6895321607589722 + ], + [ + -43.92479705810547, + -106.77686309814453, + 1.6895321607589722 + ], + [ + -45.9517936706543, + -106.6239242553711, + 1.6895321607589722 + ] + ], + "corners_2d": [ + [ + 373.49239715084565, + 33.85469253168276 + ], + [ + 382.89802669200225, + 13.010504328012075 + ], + [ + 277.2532970875837, + 12.242497625747546 + ], + [ + 264.3009149490424, + 33.034041307262214 + ], + [ + 365.9523467483925, + -2.3942680612859135 + ], + [ + 375.86792761776815, + -22.593227169045065 + ], + [ + 267.3471527482542, + -23.33674861521149 + ], + [ + 253.68565343365583, + -3.190221377531941 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 963.2695568345266, + "ymin": 0.0, + "xmax": 982.895713469981, + "ymax": 15.704912679047823 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 974.9169135124326, + 11.91279659906644 + ], + [ + 963.2695568345266, + 11.440332907243146 + ], + [ + 964.4900972984387, + 15.226624320235828 + ], + [ + 976.2099989341231, + 15.704912679047823 + ], + [ + 981.5354171468791, + -13.840224617713147 + ], + [ + 969.6529000366451, + -14.301902913586332 + ], + [ + 970.9376838474573, + -10.601652084526563 + ], + [ + 982.895713469981, + -10.134168595593678 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4809317425322915338, + "instance_id": 2806, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -62.6159553527832, + "y": -93.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 428.59686579883294, + "ymin": 116.1141100187678, + "xmax": 449.7363164812183, + "ymax": 150.6480584354241 + }, + "corners_3d": [ + [ + -62.754539489746094, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.9842529296875, + 6.416468620300293 + ], + [ + -62.754539489746094, + -93.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 447.3799482129948, + 150.6480584354241 + ], + [ + 449.7363164812183, + 145.03510412303032 + ], + [ + 436.0666412382782, + 144.33682354298358 + ], + [ + 433.6102714431325, + 149.939291404902 + ], + [ + 442.6965213117601, + 122.33529198617512 + ], + [ + 445.1453784609813, + 116.8023027600212 + ], + [ + 431.150555021161, + 116.1141100187678 + ], + [ + 428.59686579883294, + 121.63651216334068 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 179.50981262646314, + "ymin": 188.65827059461492, + "xmax": 205.5223081878678, + "ymax": 218.987670337576 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 201.7022420312988, + 218.987670337576 + ], + [ + 205.5223081878678, + 213.39599781934282 + ], + [ + 193.3069199430032, + 212.70361024106086 + ], + [ + 189.40671054214806, + 218.28579222533804 + ], + [ + 192.06701665887363, + 194.89160771513346 + ], + [ + 196.03729693375612, + 189.34496698511873 + ], + [ + 183.56366745014293, + 188.65827059461492 + ], + [ + 179.50981262646314, + 194.1952912519944 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5344508464058845628, + "instance_id": 48329, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -62.61595916748047, + "y": -96.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 318.2029196528619, + "ymin": 110.72559989613578, + "xmax": 342.48187408512024, + "ymax": 145.08730397900717 + }, + "corners_3d": [ + [ + -62.75454330444336, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.9842529296875, + 6.416468620300293 + ], + [ + -62.75454330444336, + -96.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 339.346031627378, + 145.08730397900717 + ], + [ + 342.48187408512024, + 139.55636157057975 + ], + [ + 329.0111022787729, + 138.868241394658 + ], + [ + 325.77819570842115, + 144.388926235827 + ], + [ + 332.09093123628344, + 116.85374974338902 + ], + [ + 335.35665704163466, + 111.40354021553 + ], + [ + 321.57032439256693, + 110.72559989613578 + ], + [ + 318.2029196528619, + 116.16545893292877 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8433051479337506626, + "instance_id": 17047, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -62.61595153808594, + "y": -91.29429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 521.8795963360524, + "ymin": 120.66689983484957, + "xmax": 540.328331871669, + "ymax": 155.34538678736612 + }, + "corners_3d": [ + [ + -62.75453567504883, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.4842529296875, + 6.416468620300293 + ], + [ + -62.75453567504883, + -91.4842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 538.639546867504, + 155.34538678736612 + ], + [ + 540.328331871669, + 149.66268793064165 + ], + [ + 526.4895193643683, + 148.9557674776077 + ], + [ + 524.6982090685979, + 154.62778391850003 + ], + [ + 536.1593392183333, + 126.96723626085924 + ], + [ + 537.9081195870676, + 121.36381494446164 + ], + [ + 523.7359198959224, + 120.66689983484957 + ], + [ + 521.8795963360524, + 126.25953137286953 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 977.3288037405247, + "ymin": 28.375264762908728, + "xmax": 998.790191191498, + "ymax": 59.94597446994402 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 989.81253413961, + 55.59585229988397 + ], + [ + 977.3288037405247, + 55.0541313901723 + ], + [ + 978.7287926640141, + 59.3970976383394 + ], + [ + 991.2958957883665, + 59.94597446994402 + ], + [ + 997.2253235321208, + 28.906102824323852 + ], + [ + 984.4710668731909, + 28.375264762908728 + ], + [ + 985.9488978518744, + 32.63150247237007 + ], + [ + 998.790191191498, + 33.16950272797874 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 975.2489444697155, + "ymin": 201.95196620191874, + "xmax": 997.7135843770649, + "ymax": 232.59546855696394 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 988.337714934597, + 226.81821437741542 + ], + [ + 975.2489444697155, + 226.1029372943706 + ], + [ + 976.710981361085, + 231.87022477705685 + ], + [ + 989.8919325536074, + 232.59546855696394 + ], + [ + 996.0697165740096, + 202.66187181694485 + ], + [ + 982.6838752148085, + 201.95196620191874 + ], + [ + 984.2313164059402, + 207.67671530339217 + ], + [ + 997.7135843770649, + 208.39673458010392 + ] + ], + "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": 923.3139416507365, + "ymin": 0.0, + "xmax": 1063.549596217596, + "ymax": 303.7785127893659 + }, + "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": [ + [ + 964.6800921978037, + 302.85285179457685 + ], + [ + 978.8227772725429, + 303.7785127893659 + ], + [ + 934.3076191079047, + 103.55889556641569 + ], + [ + 923.3139416507365, + 102.99607993988315 + ], + [ + 1045.7669980575572, + 50.051210800206036 + ], + [ + 1063.549596217596, + 50.88610292530143 + ], + [ + 988.6909276637382, + -120.31364019938741 + ], + [ + 975.6165303635205, + -120.76968378531592 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 517.8260027078798, + "xmax": 275.7994757630279, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 98.27597073594075, + 735.4317098781991 + ], + [ + 87.9108659201355, + 756.2825858940716 + ], + [ + 268.10027562151896, + 773.4116383341528 + ], + [ + 275.7994757630279, + 752.0368192574654 + ], + [ + -105.08700060055082, + 517.8260027078798 + ], + [ + -123.80360466531602, + 541.9895190820378 + ], + [ + 122.98974985788823, + 562.0533370273771 + ], + [ + 136.7382583492497, + 537.046225405264 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 26.533960498448437, + "ymin": 0.0, + "xmax": 199.26405350236053, + "ymax": 273.8667546664624 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 136.39715560957552, + 273.05834538199406 + ], + [ + 149.62662675744616, + 273.8667546664624 + ], + [ + 199.26405350236053, + 202.93241547414624 + ], + [ + 187.059551801245, + 202.24919417954922 + ], + [ + 26.533960498448437, + 45.73322006047073 + ], + [ + 42.52948781909686, + 46.46316191008833 + ], + [ + 112.31015546618744, + -16.489110254793502 + ], + [ + 97.78826693160909, + -17.084847135147754 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 96.50593479991585, + "ymin": 544.7352014835997, + "xmax": 134.61246128104756, + "ymax": 567.4320487498293 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 108.78875611366936, + 548.7885559221752 + ], + [ + 99.40651301696289, + 565.2945604721364 + ], + [ + 125.58321022074006, + 567.4320487498293 + ], + [ + 134.61246128104756, + 550.8661173931384 + ], + [ + 105.9789339792137, + 544.7352014835997 + ], + [ + 96.50593479991585, + 561.271468065909 + ], + [ + 122.81801558184623, + 563.4130582572021 + ], + [ + 131.93439334077345, + 546.8164342616732 + ] + ], + "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": 286.9097068915079, + "ymin": 0.0, + "xmax": 427.6340989002933, + "ymax": 94.79041924006083 + }, + "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": [ + [ + 427.6340989002933, + -30.261581287416902 + ], + [ + 419.0421092657908, + -30.631920471111357 + ], + [ + 341.2549309719659, + 94.24144318118164 + ], + [ + 351.65552504017364, + 94.79041924006083 + ], + [ + 396.8778246298407, + -225.10540857892101 + ], + [ + 387.0650916056468, + -225.3856061556179 + ], + [ + 286.9097068915079, + -127.84627691305906 + ], + [ + 299.15360636420803, + -127.40347328339271 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7298902328162137019, + "instance_id": 47923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_0", + "bbox_3d": { + "center_world": { + "x": -58.97412109375, + "y": -104.33528900146484, + "z": 7.722432613372803 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 93.74950417338687, + "ymin": 0.0, + "xmax": 111.92527203812881, + "ymax": 0.34727497692273346 + }, + "corners_3d": [ + [ + -59.18000793457031, + -104.483154296875, + 7.667783737182617 + ], + [ + -59.18000793457031, + -104.18742370605469, + 7.667783737182617 + ], + [ + -58.76823425292969, + -104.18742370605469, + 7.667783737182617 + ], + [ + -58.76823425292969, + -104.483154296875, + 7.667783737182617 + ], + [ + -59.18000793457031, + -104.483154296875, + 7.777081489562988 + ], + [ + -59.18000793457031, + -104.18742370605469, + 7.777081489562988 + ], + [ + -58.76823425292969, + -104.18742370605469, + 7.777081489562988 + ], + [ + -58.76823425292969, + -104.483154296875, + 7.777081489562988 + ] + ], + "corners_2d": [ + [ + 95.27659711917647, + -0.06788653388042576 + ], + [ + 105.1102779687069, + 0.34727497692273346 + ], + [ + 111.92527203812881, + -5.907702330699465 + ], + [ + 102.18851811487309, + -6.314330433773421 + ], + [ + 93.74950417338687, + -3.7548538890910663 + ], + [ + 103.60972091776455, + -3.3410654420595165 + ], + [ + 110.45918529487574, + -9.575186925519859 + ], + [ + 100.6964157247071, + -9.98044670546551 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 96.29681514006063, + "ymin": 544.6143182517378, + "xmax": 134.8129980317546, + "ymax": 567.5550622752277 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 108.71429877842024, + 548.7114270745935 + ], + [ + 99.22981789143648, + 565.3942870160029 + ], + [ + 125.68911741306806, + 567.5550622752277 + ], + [ + 134.8129980317546, + 550.8109828245108 + ], + [ + 105.87403348921919, + 544.6143182517378 + ], + [ + 96.29681514006063, + 561.3280920084519 + ], + [ + 122.89444506570646, + 563.4930602957611 + ], + [ + 132.10731546583224, + 546.7176223867255 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14685537128847865056, + "instance_id": 57460, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_1", + "bbox_3d": { + "center_world": { + "x": -58.97411346435547, + "y": -104.33528900146484, + "z": 7.7224273681640625 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 93.8476034308203, + "ymin": 0.0, + "xmax": 111.82997740207259, + "ymax": 0.2919014537279736 + }, + "corners_3d": [ + [ + -59.17780685424805, + -104.48158264160156, + 7.668359756469727 + ], + [ + -59.17780685424805, + -104.18899536132812, + 7.668359756469727 + ], + [ + -58.77042007446289, + -104.18899536132812, + 7.668359756469727 + ], + [ + -58.77042007446289, + -104.48158264160156, + 7.668359756469727 + ], + [ + -59.17780685424805, + -104.48158264160156, + 7.776494979858398 + ], + [ + -59.17780685424805, + -104.18899536132812, + 7.776494979858398 + ], + [ + -58.77042007446289, + -104.18899536132812, + 7.776494979858398 + ], + [ + -58.77042007446289, + -104.48158264160156, + 7.776494979858398 + ] + ], + "corners_2d": [ + [ + 95.35812586260363, + -0.11879438226196726 + ], + [ + 105.08690513551494, + 0.2919014537279736 + ], + [ + 111.82997740207259, + -5.896278651695184 + ], + [ + 102.1960757590798, + -6.2986217647326725 + ], + [ + 93.8476034308203, + -3.7664414971754354 + ], + [ + 103.60235453402856, + -3.3570896570300306 + ], + [ + 110.37916977621887, + -9.524855633347158 + ], + [ + 100.71980012009396, + -9.925859341498665 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 103.68862162776486, + "ymin": 33.11148638788654, + "xmax": 590.2043091705235, + "ymax": 318.7999990680498 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 215.31463023723802, + 283.96907060892624 + ], + [ + 209.68567655031387, + 292.880663973806 + ], + [ + 588.2797870379308, + 318.7999990680498 + ], + [ + 590.2043091705235, + 309.3691340936294 + ], + [ + 111.9950980428763, + 33.11148638788654 + ], + [ + 103.68862162776486, + 41.08377275099696 + ], + [ + 575.0781429331364, + 64.49430891116657 + ], + [ + 577.656369118247, + 55.937572535563675 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1071.5673138761645, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1400.376132451665, + 492.8843863043246 + ], + [ + 1071.5673138761645, + 570.3080522547881 + ], + [ + 1387.7699898285623, + 1050.9099726985914 + ], + [ + 1810.3086481439082, + 901.2472700712627 + ], + [ + 1942.1786154109182, + -92.97863990273282 + ], + [ + 1418.1843024917575, + -27.87472701808241 + ], + [ + 2647.796410198828, + 605.7446078735243 + ], + [ + 3367.002592655459, + 350.76366776200916 + ] + ], + "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": 93.04961966627286, + "ymin": 0.0, + "xmax": 402.169385516048, + "ymax": 2.991303629747165 + }, + "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": [ + [ + 210.82426993866363, + 2.991303629747165 + ], + [ + 402.169385516048, + -22.846964534948143 + ], + [ + 376.9636414174072, + -90.43883034388972 + ], + [ + 207.72111254757675, + -70.35640847726296 + ], + [ + 93.04961966627286, + -357.07720443840435 + ], + [ + 340.398212237949, + -370.34765636884686 + ], + [ + 318.3468293645708, + -403.65776322092586 + ], + [ + 106.75066532239168, + -393.9663450866716 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00135/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00135/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..1209127bedb64ac803a668dcdefcd87c54a41c81 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00135/meta.json @@ -0,0 +1,3522 @@ +{ + "frame_id": 135, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 67.5, + "sim_timestamp": 11403.51204850711 + }, + "drone_pose": { + "x": -83.95279524745906, + "y": -86.46537279536113, + "z": 20.005712842805675, + "pitch": -44.42693292001317, + "yaw": -3.535341899383109, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7127846479415894, + 0.0440371111035347, + 0.6999990940093994, + 42.028602600097656 + ], + [ + -0.06166420876979828, + 0.9980969429016113, + 0.0, + 91.47769927978516 + ], + [ + -0.6986669301986694, + -0.04316489025950432, + 0.7141437530517578, + -69.20973205566406 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -83.52275810642803, + "y": -86.51395162556595, + "z": 19.953433821417608 + }, + "t1_image_uv": [ + 578.9160655526418, + -377.4369668963134 + ], + "t1_depth": 0.34525841778027944 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -64.16718292236328, + "y": -87.68776321411133, + "z": 0.575004174709211 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 27.75819037255983, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 187, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -64.16718292236328, + "y": -87.68775939941406, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.22739501297473907, + "y": 0.24166014790534973, + "z": 0.5411328673362732 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 628.4238946576324, + "ymin": 338.49577414387926, + "xmax": 651.5948173211308, + "ymax": 381.28543967147317 + }, + "corners_3d": [ + [ + -64.15709686279297, + -88.0194320678711, + 0.03387129306793213 + ], + [ + -64.49885559082031, + -87.67767333984375, + 0.03387129306793213 + ], + [ + -64.1772689819336, + -87.35608673095703, + 0.03387129306793213 + ], + [ + -63.83551025390625, + -87.69784545898438, + 0.03387129306793213 + ], + [ + -64.15709686279297, + -88.0194320678711, + 1.1161370277404785 + ], + [ + -64.49885559082031, + -87.67767333984375, + 1.1161370277404785 + ], + [ + -64.1772689819336, + -87.35608673095703, + 1.1161370277404785 + ], + [ + -63.83551025390625, + -87.69784545898438, + 1.1161370277404785 + ] + ], + "corners_2d": [ + [ + 628.7353387287678, + 372.446565095737 + ], + [ + 639.6427832125925, + 381.28543967147317 + ], + [ + 651.2823861742141, + 373.9247803325957 + ], + [ + 640.3515105754179, + 365.219998594372 + ], + [ + 628.4238946576324, + 345.7123929096242 + ], + [ + 639.6328128090707, + 354.5432134774372 + ], + [ + 651.5948173211308, + 347.1889459468597 + ], + [ + 640.3611534172036, + 338.49577414387926 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 135, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 68, + "semantic_pixel_counts": { + "1": 506802, + "2": 202374, + "3": 24473, + "4": 46344, + "5": 1329, + "6": 15581, + "7": 2113, + "9": 7618, + "10": 70438, + "12": 3320, + "14": 9585, + "20": 1493, + "21": 1130, + "24": 29000 + }, + "instance_pixel_counts": { + "9296": 1329, + "9346": 1873, + "9799": 251, + "11927": 617, + "12439": 2259, + "12951": 1698, + "13975": 480, + "17232": 46344, + "21952": 918, + "22464": 5158, + "22784": 70, + "22976": 18064, + "23296": 8679, + "23488": 2427, + "23552": 5466, + "24404": 1433, + "24512": 20462, + "26963": 1606, + "27795": 13404, + "28307": 8887, + "28819": 21278, + "29331": 13341, + "31893": 853, + "32405": 304, + "33429": 1477, + "33941": 316, + "36692": 60, + "37979": 14681, + "38539": 346, + "39051": 1402, + "39563": 3132, + "41107": 59946, + "41611": 3990, + "41619": 25421, + "42123": 3085, + "42635": 1879, + "43117": 9792, + "43147": 9503, + "43155": 155670, + "43659": 8963, + "43667": 27782, + "44179": 181073, + "44181": 3484, + "44693": 687, + "45717": 13251, + "46229": 795, + "46741": 7833, + "47552": 65, + "48064": 1881, + "49088": 4187, + "49664": 187, + "49920": 406, + "50015": 724, + "50176": 560, + "50432": 964, + "50624": 15165, + "50688": 817, + "50944": 386, + "51136": 6178, + "51648": 2791, + "51712": 5173, + "52160": 27321, + "52672": 51658, + "55296": 4412, + "55879": 38930, + "57173": 7618, + "64351": 8494, + "64603": 1130 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 187, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -64.16718292236328, + "y": -87.68775939941406, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.2170141488313675, + "y": 0.22161132097244263, + "z": 0.5160337686538696 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 629.166110887148, + "ymin": 339.6531694725895, + "xmax": 650.8467978839152, + "ymax": 380.14271365469193 + }, + "corners_3d": [ + [ + -64.16393280029297, + -87.99791717529297, + 0.05897039175033569 + ], + [ + -64.47734069824219, + -87.68450927734375, + 0.05897039175033569 + ], + [ + -64.1704330444336, + -87.37760162353516, + 0.05897039175033569 + ], + [ + -63.85702896118164, + -87.69100952148438, + 0.05897039175033569 + ], + [ + -64.16393280029297, + -87.99791717529297, + 1.0910379886627197 + ], + [ + -64.47734069824219, + -87.68450927734375, + 1.0910379886627197 + ], + [ + -64.1704330444336, + -87.37760162353516, + 1.0910379886627197 + ], + [ + -63.85702896118164, + -87.69100952148438, + 1.0910379886627197 + ] + ], + "corners_2d": [ + [ + 629.4442980616235, + 372.03996934924396 + ], + [ + 639.4536286501018, + 380.14271365469193 + ], + [ + 650.567962602809, + 373.12344334803515 + ], + [ + 640.5380917413639, + 365.1382171820777 + ], + [ + 629.166110887148, + 346.54600500294436 + ], + [ + 639.4391037871852, + 354.64163948198257 + ], + [ + 650.8467978839152, + 347.62831816791265 + ], + [ + 640.552167339379, + 339.6531694725895 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 406, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -60.041194915771484, + "y": -84.69005584716797, + "z": 0.5812981128692627 + }, + "extent": { + "x": 0.5096533298492432, + "y": 0.356879860162735, + "z": 0.9221951961517334 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 722.079975713576, + "ymin": 238.21119822086146, + "xmax": 762.5341922390269, + "ymax": 308.0795226638751 + }, + "corners_3d": [ + [ + -60.274253845214844, + -85.26693725585938, + -0.3408970832824707 + ], + [ + -60.66299819946289, + -84.66832733154297, + -0.3408970832824707 + ], + [ + -59.808135986328125, + -84.11317443847656, + -0.3408970832824707 + ], + [ + -59.41939163208008, + -84.71178436279297, + -0.3408970832824707 + ], + [ + -60.274253845214844, + -85.26693725585938, + 1.503493309020996 + ], + [ + -60.66299819946289, + -84.66832733154297, + 1.503493309020996 + ], + [ + -59.808135986328125, + -84.11317443847656, + 1.503493309020996 + ], + [ + -59.41939163208008, + -84.71178436279297, + 1.503493309020996 + ] + ], + "corners_2d": [ + [ + 722.079975713576, + 299.39557861117345 + ], + [ + 740.7857668962937, + 308.0795226638751 + ], + [ + 757.4877606567426, + 291.49201231764164 + ], + [ + 738.967499955643, + 283.12755808357525 + ], + [ + 725.6388648183377, + 254.3023091960285 + ], + [ + 745.2007093241143, + 262.9023781487502 + ], + [ + 762.5341922390269, + 246.48147246340034 + ], + [ + 743.1759472247959, + 238.21119822086146 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 560, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -66.42300415039062, + "y": -80.74504852294922, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.4499609172344208, + "y": 0.40366941690444946, + "z": 0.8913880586624146 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 865.7303249010615, + "ymin": 386.57718964486395, + "xmax": 922.0964802891958, + "ymax": 464.64835840409347 + }, + "corners_3d": [ + [ + -66.5186538696289, + -81.34192657470703, + -0.16398650407791138 + ], + [ + -67.02672576904297, + -80.71450805664062, + -0.16398650407791138 + ], + [ + -66.32735443115234, + -80.1481704711914, + -0.16398650407791138 + ], + [ + -65.81928253173828, + -80.77558898925781, + -0.16398650407791138 + ], + [ + -66.5186538696289, + -81.34192657470703, + 1.6187896728515625 + ], + [ + -67.02672576904297, + -80.71450805664062, + 1.6187896728515625 + ], + [ + -66.32735443115234, + -80.1481704711914, + 1.6187896728515625 + ], + [ + -65.81928253173828, + -80.77558898925781, + 1.6187896728515625 + ] + ], + "corners_2d": [ + [ + 865.7303249010615, + 449.16341853708434 + ], + [ + 891.1479451488033, + 464.64835840409347 + ], + [ + 908.7635136671981, + 445.8944925307039 + ], + [ + 883.5388761646086, + 430.95606083634425 + ], + [ + 876.9658997299078, + 404.8525756771222 + ], + [ + 903.846073184874, + 420.4206936157827 + ], + [ + 922.0964802891958, + 401.5690680336531 + ], + [ + 895.4361433771934, + 386.57718964486395 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 964, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -73.66718292236328, + "y": -87.68775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.4274047613143921, + "y": 0.471923828125, + "z": 0.9202389121055603 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 582.6357666851945, + "ymin": 615.472635882518, + "xmax": 642.2216378971845, + "ymax": 710.8916933600162 + }, + "corners_3d": [ + [ + -73.63570404052734, + -88.32367706298828, + -0.34523963928222656 + ], + [ + -74.3031005859375, + -87.65628051757812, + -0.34523963928222656 + ], + [ + -73.69866180419922, + -87.05184173583984, + -0.34523963928222656 + ], + [ + -73.03126525878906, + -87.71923828125, + -0.34523963928222656 + ], + [ + -73.63570404052734, + -88.32367706298828, + 1.495238184928894 + ], + [ + -74.3031005859375, + -87.65628051757812, + 1.495238184928894 + ], + [ + -73.69866180419922, + -87.05184173583984, + 1.495238184928894 + ], + [ + -73.03126525878906, + -87.71923828125, + 1.495238184928894 + ] + ], + "corners_2d": [ + [ + 586.0444213491155, + 680.7954242970859 + ], + [ + 613.0898235682056, + 710.8916933600162 + ], + [ + 642.0890082624626, + 686.6939366189127 + ], + [ + 614.8753837266985, + 657.7019053500876 + ], + [ + 582.6357666851945, + 639.1880517133495 + ], + [ + 611.3465907879541, + 670.1772308146562 + ], + [ + 642.2216378971845, + 645.254203353321 + ], + [ + 613.3189809738623, + 615.472635882518 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 817, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -67.78268432617188, + "y": -98.81512451171875, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.5354345440864563, + "y": 0.41774412989616394, + "z": 0.8847011923789978 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 178.28526739943084, + "ymin": 392.0927113083047, + "xmax": 249.18936169733814, + "ymax": 472.887608036069 + }, + "corners_3d": [ + [ + -67.79499816894531, + -99.49413299560547, + -0.15729963779449463 + ], + [ + -68.44429016113281, + -98.96833801269531, + -0.15729963779449463 + ], + [ + -67.77037048339844, + -98.13611602783203, + -0.15729963779449463 + ], + [ + -67.12107849121094, + -98.66191101074219, + -0.15729963779449463 + ], + [ + -67.79499816894531, + -99.49413299560547, + 1.612102746963501 + ], + [ + -68.44429016113281, + -98.96833801269531, + 1.612102746963501 + ], + [ + -67.77037048339844, + -98.13611602783203, + 1.612102746963501 + ], + [ + -67.12107849121094, + -98.66191101074219, + 1.612102746963501 + ] + ], + "corners_2d": [ + [ + 200.10833642581895, + 453.34390405099356 + ], + [ + 209.8908796706761, + 472.887608036069 + ], + [ + 249.18936169733814, + 455.0141992039903 + ], + [ + 238.85306050668987, + 436.1218437910701 + ], + [ + 178.28526739943084, + 409.38665619864713 + ], + [ + 188.12954705826513, + 429.04657531448777 + ], + [ + 229.7683422125939, + 411.0654431064275 + ], + [ + 219.29963248453907, + 392.0927113083047 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 386, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -52.92184829711914, + "y": -95.85797882080078, + "z": 0.6070353984832764 + }, + "extent": { + "x": 0.47578367590904236, + "y": 0.5089013576507568, + "z": 0.9025532603263855 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 421.05300847675056, + "ymin": 110.38718821291175, + "xmax": 461.6954256911919, + "ymax": 171.65644754145163 + }, + "corners_3d": [ + [ + -52.75417709350586, + -96.53417205810547, + -0.29551786184310913 + ], + [ + -53.60778045654297, + -95.9798355102539, + -0.29551786184310913 + ], + [ + -53.08951950073242, + -95.1817855834961, + -0.29551786184310913 + ], + [ + -52.23591613769531, + -95.73612213134766, + -0.29551786184310913 + ], + [ + -52.75417709350586, + -96.53417205810547, + 1.5095887184143066 + ], + [ + -53.60778045654297, + -95.9798355102539, + 1.5095887184143066 + ], + [ + -53.08951950073242, + -95.1817855834961, + 1.5095887184143066 + ], + [ + -52.23591613769531, + -95.73612213134766, + 1.5095887184143066 + ] + ], + "corners_2d": [ + [ + 428.55204492680843, + 158.74564185563332 + ], + [ + 438.11662426326893, + 171.65644754145163 + ], + [ + 461.6954256911919, + 164.781419988704 + ], + [ + 451.81589068684247, + 152.10341853855044 + ], + [ + 421.05300847675056, + 116.87360041104355 + ], + [ + 430.8273221213491, + 129.49337507925338 + ], + [ + 455.31838242629465, + 122.77137689496823 + ], + [ + 445.2039431610783, + 110.38718821291175 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 5173, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 891.1098158889845, + "ymin": 90.70997799995888, + "xmax": 1036.3044454261772, + "ymax": 165.20429381006483 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 891.1098158889845, + 133.95618004963129 + ], + [ + 897.8250438431035, + 161.20009533054488 + ], + [ + 1021.8900478653326, + 165.20429381006483 + ], + [ + 1010.5621829136269, + 137.68336742414175 + ], + [ + 900.2155917062366, + 90.70997799995888 + ], + [ + 907.5414785704733, + 117.25823715800351 + ], + [ + 1036.3044454261772, + 121.18807414769586 + ], + [ + 1024.0170207957926, + 94.35913841237215 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 216, + "instance_id": 55296, + "pixel_count": 4412, + "type_id": "vehicle.audi.etron", + "bbox_3d": { + "center_world": { + "x": -44.75563430786133, + "y": -104.2794189453125, + "z": 0.8648524284362793 + }, + "extent": { + "x": 2.427854299545288, + "y": 1.0163782835006714, + "z": 0.8246796727180481 + }, + "yaw": -94.3148193359375 + }, + "bbox_2d": { + "xmin": 221.67483892788084, + "ymin": 1.169396161428665, + "xmax": 353.8862830452367, + "ymax": 58.79832684106003 + }, + "corners_3d": [ + [ + -45.58646774291992, + -101.781982421875, + 0.04017278552055359 + ], + [ + -43.559471130371094, + -101.9349136352539, + 0.04017278552055359 + ], + [ + -43.92479705810547, + -106.77686309814453, + 0.04017278552055359 + ], + [ + -45.9517936706543, + -106.6239242553711, + 0.04017278552055359 + ], + [ + -45.58646774291992, + -101.781982421875, + 1.6895321607589722 + ], + [ + -43.559471130371094, + -101.9349136352539, + 1.6895321607589722 + ], + [ + -43.92479705810547, + -106.77686309814453, + 1.6895321607589722 + ], + [ + -45.9517936706543, + -106.6239242553711, + 1.6895321607589722 + ] + ], + "corners_2d": [ + [ + 344.6293455557829, + 58.079686966612485 + ], + [ + 353.8862830452367, + 36.72966638498036 + ], + [ + 246.18190829417614, + 37.401061420688166 + ], + [ + 233.18797421118927, + 58.79832684106003 + ], + [ + 336.2797532965344, + 21.85913473198144 + ], + [ + 346.07594617368994, + 1.169396161428665 + ], + [ + 235.41945166774133, + 1.8194326974606838 + ], + [ + 221.67483892788084, + 22.556229415781047 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 938.1300336081378, + "ymin": 4.154321673891104, + "xmax": 957.2643920733764, + "ymax": 33.8693999579055 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 949.7297363756252, + 30.05098713532567 + ], + [ + 938.1300336081378, + 29.729805648597505 + ], + [ + 939.4733654651591, + 33.54419282508957 + ], + [ + 951.1462664861888, + 33.8693999579055 + ], + [ + 955.7814472883715, + 4.468065417726962 + ], + [ + 943.9519799701948, + 4.154321673891104 + ], + [ + 945.3587888910351, + 7.880793631636607 + ], + [ + 957.2643920733764, + 8.198547346422515 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4809317425322915338, + "instance_id": 2806, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -62.6159553527832, + "y": -93.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 401.57512668284426, + "ymin": 145.33247289415297, + "xmax": 423.67367967327624, + "ymax": 179.92110337005718 + }, + "corners_3d": [ + [ + -62.754539489746094, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.9842529296875, + 6.416468620300293 + ], + [ + -62.754539489746094, + -93.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 421.3584538641767, + 179.92110337005718 + ], + [ + 423.67367967327624, + 174.08181373607317 + ], + [ + 409.6831722815571, + 173.59143272212816 + ], + [ + 407.26133743423713, + 179.42311084045664 + ], + [ + 416.01307633841805, + 151.57405032917168 + ], + [ + 418.4264762419724, + 145.81593832191672 + ], + [ + 404.1003317604017, + 145.33247289415297 + ], + [ + 401.57512668284426, + 151.08289660193245 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 146.85039254197028, + "ymin": 222.16032885009756, + "xmax": 174.17063540578914, + "ymax": 252.61912557670078 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 170.27616063382158, + 252.61912557670078 + ], + [ + 174.17063540578914, + 246.74611526916988 + ], + [ + 161.5430046870202, + 246.25522396364084 + ], + [ + 157.5613125654575, + 252.12124560681872 + ], + [ + 159.84116003390375, + 228.47612772842538 + ], + [ + 163.89666761713283, + 222.64743342415142 + ], + [ + 150.99692790909745, + 222.16032885009756 + ], + [ + 146.85039254197028, + 227.9819338343446 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5344508464058845628, + "instance_id": 48329, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -62.61595916748047, + "y": -96.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 288.24172670501827, + "ymin": 141.53732241365503, + "xmax": 313.689680821098, + "ymax": 176.0064362314263 + }, + "corners_3d": [ + [ + -62.75454330444336, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.9842529296875, + 6.416468620300293 + ], + [ + -62.75454330444336, + -96.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 310.54018472564155, + 176.0064362314263 + ], + [ + 313.689680821098, + 170.22684708683613 + ], + [ + 299.84162022798074, + 169.7414589209961 + ], + [ + 296.5877016385937, + 175.51355294347425 + ], + [ + 302.52795443151047, + 147.71356609175282 + ], + [ + 305.8160940806209, + 142.0157469810668 + ], + [ + 291.63932293896073, + 141.53732241365503 + ], + [ + 288.24172670501827, + 147.22757362471643 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8433051479337506626, + "instance_id": 17047, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -62.61595153808594, + "y": -91.29429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 496.94037809266047, + "ymin": 148.5256745343009, + "xmax": 516.192997125321, + "ymax": 183.21437469928213 + }, + "corners_3d": [ + [ + -62.75453567504883, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.4842529296875, + 6.416468620300293 + ], + [ + -62.75453567504883, + -91.4842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 514.5863424508584, + 183.21437469928213 + ], + [ + 516.192997125321, + 177.32462540283603 + ], + [ + 502.08209863455414, + 176.83002461568677 + ], + [ + 500.3669736106974, + 182.71206355437684 + ], + [ + 511.50661636117115, + 154.82249171679166 + ], + [ + 513.1767273879489, + 149.01340176965363 + ], + [ + 498.7242945838832, + 148.5256745343009 + ], + [ + 496.94037809266047, + 154.32697389072294 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 953.6203586815759, + "ymin": 47.180556831299214, + "xmax": 974.6142851959137, + "ymax": 78.47421288022662 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 966.0646954867091, + 74.08366731695111 + ], + [ + 953.6203586815759, + 73.71454181858519 + ], + [ + 955.1648512005502, + 78.10012415088181 + ], + [ + 967.6934717037286, + 78.47421288022662 + ], + [ + 972.9042995767579, + 47.54215130106587 + ], + [ + 960.1951429769116, + 47.180556831299214 + ], + [ + 961.8172074689219, + 51.47721556980093 + ], + [ + 974.6142851959137, + 51.84377501294853 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 926.7268519819403, + "ymin": 0.0, + "xmax": 944.534692377474, + "ymax": 1.062075993631538 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 937.7055810698723, + -2.3608581015819823 + ], + [ + 926.7268519819403, + -2.6488778090710525 + ], + [ + 927.9311192211303, + 0.7706394265518952 + ], + [ + 938.9753977459374, + 1.062075993631538 + ], + [ + 943.2081079045802, + -27.16074901394876 + ], + [ + 932.0237709965381, + -27.441516938694917 + ], + [ + 933.2823205582143, + -24.107763100497664 + ], + [ + 944.534692377474, + -23.823602240881712 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 956.151430053051, + "ymin": 221.52360704000282, + "xmax": 978.3328780236147, + "ymax": 251.9675275062221 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 969.2404205483239, + 246.10366274565865 + ], + [ + 956.151430053051, + 245.61353293925401 + ], + [ + 957.8030678115526, + 251.47042534861984 + ], + [ + 970.9858423599053, + 251.9675275062221 + ], + [ + 976.4961292482122, + 222.00993934852315 + ], + [ + 963.1144675244805, + 221.52360704000282 + ], + [ + 964.8531763058165, + 227.335951726971 + ], + [ + 978.3328780236147, + 227.82935644179983 + ] + ], + "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": 899.6937406178765, + "ymin": 0.0, + "xmax": 1041.0257619612482, + "ymax": 322.8796319814091 + }, + "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": [ + [ + 947.1767858391893, + 322.2178401143656 + ], + [ + 961.3325465984861, + 322.8796319814091 + ], + [ + 910.6519991700653, + 120.43849489442528 + ], + [ + 899.6937406178765, + 120.03988623678833 + ], + [ + 1023.2896513238306, + 70.17886673474777 + ], + [ + 1041.0257619612482, + 70.77431515219439 + ], + [ + 960.0008772990309, + -101.81850116665044 + ], + [ + 947.0127512546944, + -102.14042123364925 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 584.795869868187, + "xmax": 253.7977774405923, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 67.62030919170638, + 796.1365839142321 + ], + [ + 56.858253778521885, + 818.7486820831532 + ], + [ + 246.02388748721307, + 831.2534452613465 + ], + [ + 253.7977774405923, + 808.2388459334526 + ], + [ + -155.04792317059878, + 584.795869868187 + ], + [ + -175.20390579819286, + 611.5553499218152 + ], + [ + 87.27545639289747, + 626.5019373606369 + ], + [ + 101.71639671344883, + 599.075193054123 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 13.877491697609685, + "xmax": 168.2143290109222, + "ymax": 308.8202348621467 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 103.87192880838904, + 308.2458138365862 + ], + [ + 117.58091827357657, + 308.8202348621467 + ], + [ + 168.2143290109222, + 234.40879333679192 + ], + [ + 155.621142289045, + 233.92640284092298 + ], + [ + -14.732408927408187, + 80.13024262169375 + ], + [ + 1.9181514369823844, + 80.6518581387146 + ], + [ + 74.23671062254118, + 14.299766458899114 + ], + [ + 59.203460693957595, + 13.877491697609685 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 59.41720369916993, + "ymin": 607.7138278912307, + "xmax": 99.79659163291035, + "ymax": 631.3798049663271 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 72.49533071525354, + 611.686024528037 + ], + [ + 62.616953581785765, + 629.7961714492777 + ], + [ + 90.32039282716619, + 631.3798049663271 + ], + [ + 99.79659163291035, + 613.2226082125885 + ], + [ + 69.3976228383325, + 607.7138278912307 + ], + [ + 59.41720369916993, + 625.8636877446471 + ], + [ + 87.27016387908247, + 627.4509370028809 + ], + [ + 96.8440871884037, + 609.2536642724516 + ] + ], + "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": 252.97329794983966, + "ymin": 0.0, + "xmax": 398.6292977655075, + "ymax": 120.58606735914066 + }, + "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": [ + [ + 398.6292977655075, + -7.8154343304305485 + ], + [ + 389.9115977513094, + -8.081628002532398 + ], + [ + 312.6371763533238, + 120.18729100522549 + ], + [ + 323.26386529136863, + 120.58606735914066 + ], + [ + 363.8267845783705, + -202.06612151611898 + ], + [ + 353.8712659688329, + -202.26746107472025 + ], + [ + 252.97329794983966, + -102.02138354195739 + ], + [ + 265.497947342589, + -101.69930334700268 + ] + ], + "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": 621.1636128617699, + "ymin": 0.0, + "xmax": 915.5460499515434, + "ymax": 15.489117581737617 + }, + "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": [ + [ + 879.4107474077479, + 15.489117581737617 + ], + [ + 878.4301734356858, + 11.437658146938418 + ], + [ + 624.3479834021757, + 3.6177236104832673 + ], + [ + 623.6010032451907, + 7.5625750936848135 + ], + [ + 915.5460499515434, + -184.33424216667026 + ], + [ + 914.136429866697, + -187.43190425852765 + ], + [ + 622.0395096613747, + -193.3929575687025 + ], + [ + 621.1636128617699, + -190.38878182146652 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1241.965869011988, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 1.7428634859342083 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 1258.563041256546, + 0.45484389102335854 + ], + [ + 1308.1327577769493, + 1.7428634859342083 + ], + [ + 1289.9603442201785, + -16.35647344888912 + ], + [ + 1241.965869011988, + -17.565807805745635 + ], + [ + 1306.235958481236, + -102.73810119668872 + ], + [ + 1359.748915482293, + -101.59683162187741 + ], + [ + 1338.496567793403, + -117.59837044016064 + ], + [ + 1286.814620333126, + -118.66480738492027 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7298902328162137019, + "instance_id": 47923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_0", + "bbox_3d": { + "center_world": { + "x": -58.97412109375, + "y": -104.33528900146484, + "z": 7.722432613372803 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 55.142803015159416, + "ymin": 21.056190834664164, + "xmax": 74.01606408811222, + "ymax": 31.59770363857308 + }, + "corners_3d": [ + [ + -59.18000793457031, + -104.483154296875, + 7.667783737182617 + ], + [ + -59.18000793457031, + -104.18742370605469, + 7.667783737182617 + ], + [ + -58.76823425292969, + -104.18742370605469, + 7.667783737182617 + ], + [ + -58.76823425292969, + -104.483154296875, + 7.667783737182617 + ], + [ + -59.18000793457031, + -104.483154296875, + 7.777081489562988 + ], + [ + -59.18000793457031, + -104.18742370605469, + 7.777081489562988 + ], + [ + -58.76823425292969, + -104.18742370605469, + 7.777081489562988 + ], + [ + -58.76823425292969, + -104.483154296875, + 7.777081489562988 + ] + ], + "corners_2d": [ + [ + 56.79471604467494, + 31.303187558206787 + ], + [ + 66.98011601585608, + 31.59770363857308 + ], + [ + 74.01606408811222, + 25.028131813389848 + ], + [ + 63.93649768016542, + 24.7398973716588 + ], + [ + 55.142803015159416, + 27.598043815549147 + ], + [ + 65.3562699342882, + 27.891607251953985 + ], + [ + 72.42940586337454, + 21.343475497352642 + ], + [ + 62.32235301898129, + 21.056190834664164 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 59.19525936670266, + "ymin": 607.5878339116016, + "xmax": 100.00875287163558, + "ymax": 631.5081170741087 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 72.41694764244824, + 611.6029593101697 + ], + [ + 62.430791337512574, + 629.9072185959461 + ], + [ + 90.43344236177086, + 631.5081170741087 + ], + [ + 100.00875287163558, + 613.1557931474044 + ], + [ + 69.28568681941192, + 607.5878339116016 + ], + [ + 59.19525936670266, + 625.9326625819783 + ], + [ + 87.3506876504108, + 627.537257027014 + ], + [ + 97.02581107874119, + 609.1439888367511 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14685537128847865056, + "instance_id": 57460, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_1", + "bbox_3d": { + "center_world": { + "x": -58.97411346435547, + "y": -104.33528900146484, + "z": 7.7224273681640625 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 55.244732802467524, + "ymin": 21.111895010048897, + "xmax": 73.91717703446125, + "ymax": 31.54116620454056 + }, + "corners_3d": [ + [ + -59.17780685424805, + -104.48158264160156, + 7.668359756469727 + ], + [ + -59.17780685424805, + -104.18899536132812, + 7.668359756469727 + ], + [ + -58.77042007446289, + -104.18899536132812, + 7.668359756469727 + ], + [ + -58.77042007446289, + -104.48158264160156, + 7.668359756469727 + ], + [ + -59.17780685424805, + -104.48158264160156, + 7.776494979858398 + ], + [ + -59.17780685424805, + -104.18899536132812, + 7.776494979858398 + ], + [ + -58.77042007446289, + -104.18899536132812, + 7.776494979858398 + ], + [ + -58.77042007446289, + -104.48158264160156, + 7.776494979858398 + ] + ], + "corners_2d": [ + [ + 56.878724531699504, + 31.2498192120496 + ], + [ + 66.95544460006988, + 31.54116620454056 + ], + [ + 73.91717703446125, + 25.04173499263686 + ], + [ + 63.94405297846595, + 24.756536635089105 + ], + [ + 55.244732802467524, + 27.584194347965536 + ], + [ + 65.34892304586697, + 27.874608861705894 + ], + [ + 72.34705875885595, + 21.39616366331444 + ], + [ + 62.34702670519539, + 21.111895010048897 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 65.13611886414628, + "ymin": 66.25916649970111, + "xmax": 570.0422429677703, + "ymax": 346.2277622276828 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 185.64374472514487, + 317.8554105074388 + ], + [ + 179.9229617255682, + 327.21480939083006 + ], + [ + 568.2881319484776, + 346.2277622276828 + ], + [ + 570.0422429677703, + 336.47449232642276 + ], + [ + 73.74014756567215, + 66.25916649970111 + ], + [ + 65.13611886414628, + 74.68025325328682 + ], + [ + 549.9259246189197, + 91.92112704743903 + ], + [ + 552.365222516474, + 83.05434379929227 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 897939386194665430, + "instance_id": 54815, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1949_135", + "bbox_3d": { + "center_world": { + "x": -36.33243179321289, + "y": -120.14290618896484, + "z": 6.611191272735596 + }, + "extent": { + "x": 4.422521591186523, + "y": 4.2970757484436035, + "z": 7.008497714996338 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 167.29385708378408, + "ymax": 13.272735445467674 + }, + "corners_3d": [ + [ + -32.2579460144043, + -115.5145034790039, + -0.3973064422607422 + ], + [ + -31.58873176574707, + -124.08255767822266, + -0.3973064422607422 + ], + [ + -40.406917572021484, + -124.77130889892578, + -0.3973064422607422 + ], + [ + -41.076133728027344, + -116.20325469970703, + -0.3973064422607422 + ], + [ + -32.2579460144043, + -115.5145034790039, + 13.619688987731934 + ], + [ + -31.58873176574707, + -124.08255767822266, + 13.619688987731934 + ], + [ + -40.406917572021484, + -124.77130889892578, + 13.619688987731934 + ], + [ + -41.076133728027344, + -116.20325469970703, + 13.619688987731934 + ] + ], + "corners_2d": [ + [ + 167.29385708378408, + -57.65393828613844 + ], + [ + 21.4847767311677, + -66.04798889246479 + ], + [ + -85.96238856110665, + 2.4726873576997264 + ], + [ + 77.61914584252713, + 13.272735445467674 + ], + [ + 58.409061426156654, + -379.45587160462526 + ], + [ + -118.18498635866933, + -383.4182765041653 + ], + [ + -277.4634353306992, + -350.1938748831783 + ], + [ + -74.21827198110475, + -344.7684112189155 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1063.3645259794823, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1387.0547728496533, + 507.14519212392594 + ], + [ + 1063.3645259794823, + 595.0167140117387 + ], + [ + 1399.6961492055743, + 1087.3531649755637 + ], + [ + 1810.400531019981, + 915.8694801333942 + ], + [ + 1910.2290171497002, + -75.69481097397323 + ], + [ + 1403.004068899812, + -2.1552644356362975 + ], + [ + 2701.54242130965, + 655.4383027579727 + ], + [ + 3340.3981312890432, + 362.214465687568 + ] + ], + "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": 51.17182084141393, + "ymin": 0.0, + "xmax": 372.94063346945234, + "ymax": 28.727083070914716 + }, + "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": [ + [ + 178.18057107185984, + 28.727083070914716 + ], + [ + 372.94063346945234, + -0.09115820357578741 + ], + [ + 346.33155132043726, + -68.23236166260835 + ], + [ + 174.2537844446162, + -45.90848560106667 + ], + [ + 51.17182084141393, + -331.731370000644 + ], + [ + 303.8638152401942, + -346.5597095677641 + ], + [ + 281.2569028405592, + -380.15239535174567 + ], + [ + 65.50559486597285, + -369.3670626173546 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12783736354476579425, + "instance_id": 25050, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2728_95", + "bbox_3d": { + "center_world": { + "x": -40.00048828125, + "y": -120.97515106201172, + "z": 4.526856422424316 + }, + "extent": { + "x": 2.978419780731201, + "y": 2.8939361572265625, + "z": 4.719987869262695 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 75.22399851740579, + "ymax": 25.10584659169939 + }, + "corners_3d": [ + [ + -37.48514938354492, + -124.27953338623047, + -0.1931314468383789 + ], + [ + -43.23114013671875, + -123.58450317382812, + -0.1931314468383789 + ], + [ + -42.51582717895508, + -117.67076873779297, + -0.1931314468383789 + ], + [ + -36.76983642578125, + -118.36579895019531, + -0.1931314468383789 + ], + [ + -37.48514938354492, + -124.27953338623047, + 9.246844291687012 + ], + [ + -43.23114013671875, + -123.58450317382812, + 9.246844291687012 + ], + [ + -42.51582717895508, + -117.67076873779297, + 9.246844291687012 + ], + [ + -36.76983642578125, + -118.36579895019531, + 9.246844291687012 + ] + ], + "corners_2d": [ + [ + -44.33666113222546, + -26.010160080745266 + ], + [ + -100.09483117430273, + 25.10584659169939 + ], + [ + 30.725718931940378, + 21.749862738055867 + ], + [ + 75.22399851740579, + -28.825261027651152 + ], + [ + -151.19651620165325, + -239.22006329879002 + ], + [ + -228.1473172417226, + -202.29530896940548 + ], + [ + -74.00792378743085, + -204.75259767668842 + ], + [ + -12.44955265218232, + -241.22277906206023 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00136/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00136/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..7c9fb14a6984a7a78b36fd97f46fb65c0a93609f --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00136/meta.json @@ -0,0 +1,2572 @@ +{ + "frame_id": 136, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 68.0, + "sim_timestamp": 11414.110597619787 + }, + "drone_pose": { + "x": -83.52275810642803, + "y": -86.51395162556595, + "z": 19.953433821417608, + "pitch": -46.93206214234334, + "yaw": -3.674637907032012, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6814612150192261, + 0.043765220791101456, + 0.7305445075035095, + 38.554344177246094 + ], + [ + -0.06409057974815369, + 0.9979440569877625, + 0.0, + 91.6891098022461 + ], + [ + -0.7290425896644592, + -0.04682101681828499, + 0.6828650832176208, + -70.46647644042969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -83.04467621852358, + "y": -86.79354571979636, + "z": 20.004488772650372 + }, + "t1_image_uv": [ + -152.87515575758857, + -905.6972787901391 + ], + "t1_depth": 0.3007328201433394 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -63.66718292236328, + "y": -87.18776321411133, + "z": 0.5749992918968201 + }, + "image_uv": [ + 660.7858577070435, + 315.86544219933427 + ], + "depth": 27.71710193369973, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 207, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -63.66718292236328, + "y": -87.18775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.29436275362968445, + "y": 0.19585447013378143, + "z": 0.558285117149353 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 653.2597183862986, + "ymin": 294.44074592155096, + "xmax": 668.4303922142568, + "ymax": 336.98518094820963 + }, + "corners_3d": [ + [ + -63.961544036865234, + -87.38361358642578, + 0.016714155673980713 + ], + [ + -63.961544036865234, + -86.99190521240234, + 0.016714155673980713 + ], + [ + -63.37282180786133, + -86.99190521240234, + 0.016714155673980713 + ], + [ + -63.37282180786133, + -87.38361358642578, + 0.016714155673980713 + ], + [ + -63.961544036865234, + -87.38361358642578, + 1.133284330368042 + ], + [ + -63.961544036865234, + -86.99190521240234, + 1.133284330368042 + ], + [ + -63.37282180786133, + -86.99190521240234, + 1.133284330368042 + ], + [ + -63.37282180786133, + -87.38361358642578, + 1.133284330368042 + ] + ], + "corners_2d": [ + [ + 653.2597183862986, + 336.36898962038794 + ], + [ + 666.7106825967082, + 336.98518094820963 + ], + [ + 667.6114209651489, + 322.7604256309417 + ], + [ + 654.350368018139, + 322.161565649076 + ], + [ + 653.6585795513557, + 308.66541734216855 + ], + [ + 667.514665997788, + 309.2826308796306 + ], + [ + 668.4303922142568, + 295.0400883915063 + ], + [ + 654.775743348669, + 294.44074592155096 + ] + ], + "center_offset_px": [ + 20.785857707043533, + -44.13455780066573 + ] + }, + "trace_timestep_index": 136, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 55, + "semantic_pixel_counts": { + "1": 519922, + "2": 198219, + "3": 23170, + "4": 48112, + "6": 15547, + "7": 1946, + "9": 1289, + "10": 72927, + "12": 3504, + "14": 6531, + "20": 915, + "21": 524, + "24": 28994 + }, + "instance_pixel_counts": { + "9346": 1604, + "12439": 19, + "12951": 1796, + "13975": 551, + "17232": 48112, + "22976": 18782, + "23296": 9169, + "23488": 2765, + "23552": 5009, + "24512": 21534, + "26963": 1711, + "27795": 12160, + "28307": 8006, + "28819": 22482, + "29331": 12861, + "31893": 725, + "32405": 167, + "33429": 1539, + "33941": 300, + "36692": 915, + "37979": 13348, + "39563": 317, + "41107": 45489, + "41611": 4145, + "41619": 25115, + "42123": 3204, + "42635": 1872, + "43117": 9822, + "43147": 10650, + "43155": 162945, + "43659": 10022, + "43667": 27661, + "44179": 203203, + "44181": 1985, + "44693": 721, + "45717": 13806, + "46229": 788, + "46741": 8963, + "49664": 207, + "49920": 440, + "50176": 600, + "50432": 1042, + "50624": 15845, + "50688": 774, + "50944": 441, + "51136": 6400, + "51648": 2969, + "51712": 5490, + "52160": 30739, + "52672": 57689, + "55296": 1041, + "55879": 39143, + "57173": 1289, + "64351": 8920, + "64603": 524 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 207, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -63.66718292236328, + "y": -87.18775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.2966625690460205, + "y": 0.21771970391273499, + "z": 0.5412390828132629 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 652.5105613231633, + "ymin": 294.7880936113594, + "xmax": 669.1833881765425, + "ymax": 336.6652440543973 + }, + "corners_3d": [ + [ + -63.963844299316406, + -87.40547943115234, + 0.0337601900100708 + ], + [ + -63.963844299316406, + -86.97003936767578, + 0.0337601900100708 + ], + [ + -63.370521545410156, + -86.97003936767578, + 0.0337601900100708 + ], + [ + -63.370521545410156, + -87.40547943115234, + 0.0337601900100708 + ], + [ + -63.963844299316406, + -87.40547943115234, + 1.1162383556365967 + ], + [ + -63.963844299316406, + -86.97003936767578, + 1.1162383556365967 + ], + [ + -63.370521545410156, + -86.97003936767578, + 1.1162383556365967 + ], + [ + -63.370521545410156, + -87.40547943115234, + 1.1162383556365967 + ] + ], + "corners_2d": [ + [ + 652.5105613231633, + 335.98015685619254 + ], + [ + 667.4707531305122, + 336.6652440543973 + ], + [ + 668.3680527729133, + 322.327902767141 + ], + [ + 653.6208132215212, + 321.66224162615447 + ], + [ + 652.8752378024298, + 309.1228416276811 + ], + [ + 668.2720744652129, + 309.80903331240495 + ], + [ + 669.1833881765425, + 295.4542730188817 + ], + [ + 654.0120224696874, + 294.7880936113594 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 440, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -59.541194915771484, + "y": -84.19005584716797, + "z": 0.5841008424758911 + }, + "extent": { + "x": 0.33990478515625, + "y": 0.34818845987319946, + "z": 0.8832331895828247 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 746.4274581660113, + "ymin": 198.97133349536068, + "xmax": 778.0637179720819, + "ymax": 258.22032820030176 + }, + "corners_3d": [ + [ + -59.94606399536133, + -84.45996856689453, + -0.2991323471069336 + ], + [ + -59.8012809753418, + -83.77880859375, + -0.2991323471069336 + ], + [ + -59.13632583618164, + -83.9201431274414, + -0.2991323471069336 + ], + [ + -59.28110885620117, + -84.60130310058594, + -0.2991323471069336 + ], + [ + -59.94606399536133, + -84.45996856689453, + 1.4673340320587158 + ], + [ + -59.8012809753418, + -83.77880859375, + 1.4673340320587158 + ], + [ + -59.13632583618164, + -83.9201431274414, + 1.4673340320587158 + ], + [ + -59.28110885620117, + -84.60130310058594, + 1.4673340320587158 + ] + ], + "corners_2d": [ + [ + 751.0866937856403, + 258.22032820030176 + ], + [ + 772.2867002078015, + 256.1546940955079 + ], + [ + 767.3266071162245, + 242.60711316748524 + ], + [ + 746.4274581660113, + 244.61250057382745 + ], + [ + 755.9492277934853, + 214.48621787500107 + ], + [ + 778.0637179720819, + 212.43227751381602 + ], + [ + 772.8019084883583, + 198.97133349536068 + ], + [ + 751.0145783490066, + 200.96280909750743 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 600, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -65.92300415039062, + "y": -80.24504852294922, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.5282031297683716, + "y": 0.3129614293575287, + "z": 0.8986220359802246 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 892.7880074972161, + "ymin": 344.2819219809062, + "xmax": 939.2919204122035, + "ymax": 418.95158781397623 + }, + "corners_3d": [ + [ + -66.48102569580078, + -80.50108337402344, + -0.17122048139572144 + ], + [ + -66.41560363769531, + -79.87858581542969, + -0.17122048139572144 + ], + [ + -65.36498260498047, + -79.989013671875, + -0.17122048139572144 + ], + [ + -65.43040466308594, + -80.61151123046875, + -0.17122048139572144 + ], + [ + -66.48102569580078, + -80.50108337402344, + 1.626023530960083 + ], + [ + -66.41560363769531, + -79.87858581542969, + 1.626023530960083 + ], + [ + -65.36498260498047, + -79.989013671875, + 1.626023530960083 + ], + [ + -65.43040466308594, + -80.61151123046875, + 1.626023530960083 + ] + ], + "corners_2d": [ + [ + 901.3615431144457, + 418.95158781397623 + ], + [ + 924.2183070820543, + 418.2292981984265 + ], + [ + 915.0353593113499, + 389.0304142313242 + ], + [ + 892.7880074972161, + 389.7143480593422 + ], + [ + 915.2326553042494, + 374.4559477207877 + ], + [ + 939.2919204122035, + 373.72651496204253 + ], + [ + 929.2092748112985, + 344.2819219809062 + ], + [ + 905.8242802860148, + 344.9706513825598 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 1042, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -73.16718292236328, + "y": -87.18775939941406, + "z": 0.5750285983085632 + }, + "extent": { + "x": 0.46375972032546997, + "y": 0.4436376392841339, + "z": 0.9085817337036133 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 617.2257776631631, + "ymin": 574.4610082290571, + "xmax": 661.3243417407774, + "ymax": 655.0978623395886 + }, + "corners_3d": [ + [ + -73.63094329833984, + -87.63139343261719, + -0.33355313539505005 + ], + [ + -73.63094329833984, + -86.74412536621094, + -0.33355313539505005 + ], + [ + -72.70342254638672, + -86.74412536621094, + -0.33355313539505005 + ], + [ + -72.70342254638672, + -87.63139343261719, + -0.33355313539505005 + ], + [ + -73.63094329833984, + -87.63139343261719, + 1.4836103916168213 + ], + [ + -73.63094329833984, + -86.74412536621094, + 1.4836103916168213 + ], + [ + -72.70342254638672, + -86.74412536621094, + 1.4836103916168213 + ], + [ + -72.70342254638672, + -87.63139343261719, + 1.4836103916168213 + ] + ], + "corners_2d": [ + [ + 618.6247935852155, + 652.7221400160936 + ], + [ + 657.9913562118929, + 655.0978623395886 + ], + [ + 660.0493910987076, + 617.4608486571753 + ], + [ + 621.7979271909597, + 615.2183458113285 + ], + [ + 617.2257776631631, + 613.1493284461906 + ], + [ + 659.171156495442, + 615.604933515384 + ], + [ + 661.3243417407774, + 576.7703003674333 + ], + [ + 620.6425974520012, + 574.4610082290571 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 774, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -67.28268432617188, + "y": -98.31512451171875, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.348686546087265, + "y": 0.5069190263748169, + "z": 0.8781335353851318 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 202.98975785719227, + "ymin": 353.2993484538464, + "xmax": 270.5569185530261, + "ymax": 420.9582827622719 + }, + "corners_3d": [ + [ + -67.57646942138672, + -98.855712890625, + -0.15073198080062866 + ], + [ + -67.68244934082031, + -97.84742736816406, + -0.15073198080062866 + ], + [ + -66.98889923095703, + -97.7745361328125, + -0.15073198080062866 + ], + [ + -66.88291931152344, + -98.78282165527344, + -0.15073198080062866 + ], + [ + -67.57646942138672, + -98.855712890625, + 1.6055350303649902 + ], + [ + -67.68244934082031, + -97.84742736816406, + 1.6055350303649902 + ], + [ + -66.98889923095703, + -97.7745361328125, + 1.6055350303649902 + ], + [ + -66.88291931152344, + -98.78282165527344, + 1.6055350303649902 + ] + ], + "corners_2d": [ + [ + 224.47745026092883, + 416.10709801448843 + ], + [ + 259.5499501133088, + 420.9582827622719 + ], + [ + 270.5569185530261, + 401.64636203464806 + ], + [ + 236.0560219258556, + 396.96549661975575 + ], + [ + 202.98975785719227, + 372.6046180483476 + ], + [ + 239.78324817853223, + 377.5028881408502 + ], + [ + 251.72017801612714, + 358.0169800401068 + ], + [ + 215.55497859065719, + 353.2993484538464 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 441, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -52.42184829711914, + "y": -95.35797882080078, + "z": 0.6046965718269348 + }, + "extent": { + "x": 0.5580395460128784, + "y": 0.4588867127895355, + "z": 0.9217221736907959 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 434.93617467604963, + "ymin": 62.81598949538949, + "xmax": 476.6489252870481, + "ymax": 125.9197928151527 + }, + "corners_3d": [ + [ + -52.872283935546875, + -95.92285919189453, + -0.3170256018638611 + ], + [ + -53.06310272216797, + -95.025146484375, + -0.3170256018638611 + ], + [ + -51.971412658691406, + -94.79309844970703, + -0.3170256018638611 + ], + [ + -51.78059387207031, + -95.69081115722656, + -0.3170256018638611 + ], + [ + -52.872283935546875, + -95.92285919189453, + 1.526418685913086 + ], + [ + -53.06310272216797, + -95.025146484375, + 1.526418685913086 + ], + [ + -51.971412658691406, + -94.79309844970703, + 1.526418685913086 + ], + [ + -51.78059387207031, + -95.69081115722656, + 1.526418685913086 + ] + ], + "corners_2d": [ + [ + 442.5845638302362, + 122.20128458810862 + ], + [ + 465.25871946831273, + 125.9197928151527 + ], + [ + 476.6489252870481, + 110.05318707373061 + ], + [ + 454.37403520101316, + 106.48166663545189 + ], + [ + 434.93617467604963, + 78.2228546724852 + ], + [ + 458.45564751486893, + 81.87085882107345 + ], + [ + 470.42140466602046, + 66.31436582350346 + ], + [ + 447.33107608184946, + 62.81598949538949 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 5490, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 899.025356809029, + "ymin": 49.8024588068414, + "xmax": 1047.9885371485416, + "ymax": 126.98643406760479 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 899.025356809029, + 94.36538424950766 + ], + [ + 905.6138778540025, + 122.66205488889102 + ], + [ + 1032.1966386677352, + 126.98643406760479 + ], + [ + 1021.0134992509719, + 98.3974348054706 + ], + [ + 909.0499456061218, + 49.8024588068414 + ], + [ + 916.2884010096732, + 77.50089205915032 + ], + [ + 1047.9885371485416, + 81.763283259341 + ], + [ + 1035.7838131394165, + 53.76664273617007 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 216, + "instance_id": 55296, + "pixel_count": 1041, + "type_id": "vehicle.audi.etron", + "bbox_3d": { + "center_world": { + "x": -44.75563430786133, + "y": -104.2794189453125, + "z": 0.8648524284362793 + }, + "extent": { + "x": 2.427854299545288, + "y": 1.0163782835006714, + "z": 0.8246796727180481 + }, + "yaw": -94.3148193359375 + }, + "bbox_2d": { + "xmin": 214.2903036858541, + "ymin": 0.0, + "xmax": 349.9370899266275, + "ymax": 15.259940058831944 + }, + "corners_3d": [ + [ + -45.58646774291992, + -101.781982421875, + 0.04017278552055359 + ], + [ + -43.559471130371094, + -101.9349136352539, + 0.04017278552055359 + ], + [ + -43.92479705810547, + -106.77686309814453, + 0.04017278552055359 + ], + [ + -45.9517936706543, + -106.6239242553711, + 0.04017278552055359 + ], + [ + -45.58646774291992, + -101.781982421875, + 1.6895321607589722 + ], + [ + -43.559471130371094, + -101.9349136352539, + 1.6895321607589722 + ], + [ + -43.92479705810547, + -106.77686309814453, + 1.6895321607589722 + ], + [ + -45.9517936706543, + -106.6239242553711, + 1.6895321607589722 + ] + ], + "corners_2d": [ + [ + 340.66429304689365, + 14.644454627206414 + ], + [ + 349.9370899266275, + -7.64157288706258 + ], + [ + 239.79872018005426, + -7.065696022599354 + ], + [ + 226.79190367643196, + 15.259940058831944 + ], + [ + 331.6163157842859, + -22.91847578105387 + ], + [ + 341.4644156989722, + -44.59155445743801 + ], + [ + 228.09842047350713, + -44.032054968853686 + ], + [ + 214.2903036858541, + -22.319310641260984 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4809317425322915338, + "instance_id": 2806, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -62.6159553527832, + "y": -93.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 398.75361962047447, + "ymin": 107.90702560570602, + "xmax": 421.63394515609536, + "ymax": 143.54689453163593 + }, + "corners_3d": [ + [ + -62.754539489746094, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.9842529296875, + 6.416468620300293 + ], + [ + -62.754539489746094, + -93.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 419.3009600325389, + 143.54689453163593 + ], + [ + 421.63394515609536, + 137.4660286218995 + ], + [ + 407.3315784382513, + 136.9350985080764 + ], + [ + 404.89211054636087, + 143.00791059073381 + ], + [ + 413.5347390838448, + 114.44660482796655 + ], + [ + 415.97258828176905, + 108.43205377181536 + ], + [ + 401.30350258786865, + 107.90702560570602 + ], + [ + 398.75361962047447, + 113.91340354680926 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 140.3419779562313, + "ymin": 185.9932714439711, + "xmax": 168.66864463308593, + "ymax": 217.1126447974139 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 164.7932500775441, + 217.1126447974139 + ], + [ + 168.66864463308593, + 211.05351196663867 + ], + [ + 155.82455873236495, + 210.52695697544172 + ], + [ + 151.862928216674, + 216.5788000541983 + ], + [ + 153.57054346283155, + 192.54602700890328 + ], + [ + 157.61553339409267, + 186.51710857375264 + ], + [ + 144.47721137406631, + 185.9932714439711 + ], + [ + 140.3419779562313, + 192.01476593470252 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5344508464058845628, + "instance_id": 48329, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -62.61595916748047, + "y": -96.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 282.7386065991053, + "ymin": 103.78604169587521, + "xmax": 309.2064235173216, + "ymax": 139.31029933451924 + }, + "corners_3d": [ + [ + -62.75454330444336, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.9842529296875, + 6.416468620300293 + ], + [ + -62.75454330444336, + -96.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 306.0402783925918, + 139.31029933451924 + ], + [ + 309.2064235173216, + 133.292596394883 + ], + [ + 295.0520159060243, + 132.76715873974584 + ], + [ + 291.78160708246907, + 138.77693297011282 + ], + [ + 297.3616764588608, + 110.25596273175483 + ], + [ + 300.6759087455199, + 104.30549881414737 + ], + [ + 286.162477552212, + 103.78604169587521 + ], + [ + 282.7386065991053, + 109.72846273776017 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8433051479337506626, + "instance_id": 17047, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -62.61595153808594, + "y": -91.29429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 496.39205201066255, + "ymin": 111.3749754947707, + "xmax": 516.2231568141967, + "ymax": 147.1115334996682 + }, + "corners_3d": [ + [ + -62.75453567504883, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.4842529296875, + 6.416468620300293 + ], + [ + -62.75453567504883, + -91.4842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 514.5980186961117, + 147.1115334996682 + ], + [ + 516.2231568141967, + 140.97726922392397 + ], + [ + 501.79571166580115, + 140.4416960251815 + ], + [ + 500.0622011318686, + 146.56780019078752 + ], + [ + 511.3068448157027, + 117.97346593185327 + ], + [ + 512.9997485440057, + 111.90471492999387 + ], + [ + 498.19903020657927, + 111.3749754947707 + ], + [ + 496.39205201066255, + 117.43544269280045 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 964.8179390572882, + "ymin": 5.6924743566743246, + "xmax": 986.9066216376991, + "ymax": 38.23497334876345 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 977.5948899795833, + 33.62705184791946 + ], + [ + 964.8179390572882, + 33.22430004121418 + ], + [ + 966.3594580993297, + 37.826908210649265 + ], + [ + 979.2213300276983, + 38.23497334876345 + ], + [ + 985.1922369775629, + 6.088098510975556 + ], + [ + 972.1234529964661, + 5.6924743566743246 + ], + [ + 973.748980225913, + 10.214238375533967 + ], + [ + 986.9066216376991, + 10.615200437121132 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 964.7374170078136, + "ymin": 186.5552405386264, + "xmax": 987.816290196422, + "ymax": 217.68604203064288 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 978.0754552961289, + 211.6190744971346 + ], + [ + 964.7374170078136, + 211.09184119605038 + ], + [ + 966.3552930595417, + 217.15150483826073 + ], + [ + 979.7864070436059, + 217.68604203064288 + ], + [ + 986.008831398392, + 187.07976831274678 + ], + [ + 972.3531190110261, + 186.5552405386264 + ], + [ + 974.0630002579878, + 192.58469956889945 + ], + [ + 987.816290196422, + 193.1166660262243 + ] + ], + "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": 907.9238582274531, + "ymin": 0.0, + "xmax": 1056.0080569326037, + "ymax": 289.5490579542918 + }, + "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": [ + [ + 954.1060283022136, + 288.8461960266654 + ], + [ + 968.4688486101727, + 289.5490579542918 + ], + [ + 919.1186437216537, + 80.32160519169548 + ], + [ + 907.9238582274531, + 79.89251562138361 + ], + [ + 1037.7395607053254, + 30.974747310688258 + ], + [ + 1056.0080569326037, + 31.624778593471945 + ], + [ + 974.0342739334587, + -151.2536881778907 + ], + [ + 960.6007374894943, + -151.60804225781544 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 563.1731927580399, + "xmax": 256.8079626753659, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 71.11179086540744, + 765.528880906157 + ], + [ + 60.799513875958155, + 787.9401388358681 + ], + [ + 249.33522399873226, + 800.8125250108578 + ], + [ + 256.8079626753659, + 778.0060678043862 + ], + [ + -162.95488419928904, + 563.1731927580399 + ], + [ + -182.80630101555732, + 590.5132412250646 + ], + [ + 82.95281289568504, + 606.3773480374235 + ], + [ + 97.20003474839746, + 578.350837067931 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 163.04974618142154, + "ymax": 273.79746679412904 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 98.98771248641549, + 273.1855901933076 + ], + [ + 112.88136722365107, + 273.79746679412904 + ], + [ + 163.04974618142154, + 197.34887614180872 + ], + [ + 150.2543926227333, + 196.83237047691162 + ], + [ + -29.274592708421324, + 39.86269123828566 + ], + [ + -12.18767698015597, + 40.43187705315978 + ], + [ + 61.046192334955094, + -29.348502458068822 + ], + [ + 45.59030720587373, + -29.810979358239138 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 54.93339442362094, + "ymin": 586.7814975191267, + "xmax": 95.70853293087293, + "ymax": 610.7858877358442 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 68.06905845947756, + 590.6285328616791 + ], + [ + 58.33924926521479, + 609.1070092345044 + ], + [ + 86.37255779843747, + 610.7858877358442 + ], + [ + 95.70853293087293, + 592.259111948054 + ], + [ + 64.768947189193, + 586.7814975191267 + ], + [ + 54.93339442362094, + 605.3113181629134 + ], + [ + 83.1265593392917, + 606.9950173053103 + ], + [ + 92.56380938537495, + 588.4164809388755 + ] + ], + "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": 243.5174539625392, + "ymin": 0.0, + "xmax": 395.38402253112747, + "ymax": 79.70029596578519 + }, + "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": [ + [ + 395.38402253112747, + -54.22404233827882 + ], + [ + 386.45027619224743, + -54.51257089070771 + ], + [ + 308.6081029670531, + 79.27191934016821 + ], + [ + 319.4495748715072, + 79.70029596578519 + ], + [ + 357.27101217229387, + -258.57637134705624 + ], + [ + 346.96681758781074, + -258.798631772474 + ], + [ + 243.5174539625392, + -152.12040631038371 + ], + [ + 256.4451207202699, + -151.76675662587962 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 54.70930397637403, + "ymin": 586.6536096687867, + "xmax": 95.92280354725506, + "ymax": 610.9159399835095 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 67.98915977192712, + 590.5422965422727 + ], + [ + 58.15323335156256, + 609.2187723911054 + ], + [ + 86.48919750899336, + 610.9159399835095 + ], + [ + 95.92280354725506, + 592.1901232009216 + ], + [ + 64.65328393363939, + 586.6536096687867 + ], + [ + 54.70930397637403, + 605.3825373183104 + ], + [ + 83.2086050945727, + 607.084632122096 + ], + [ + 92.74565035832586, + 588.3059336605988 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 52.25595573100236, + "ymin": 25.66921627646127, + "xmax": 571.5249357558864, + "ymax": 312.8139717394823 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 181.99415118102888, + 283.09915450556684 + ], + [ + 176.3379811170508, + 292.6813529194419 + ], + [ + 569.7610014318493, + 312.8139717394823 + ], + [ + 571.5249357558864, + 302.82762145312176 + ], + [ + 60.972935392899785, + 25.66921627646127 + ], + [ + 52.25595573100236, + 34.52473245012061 + ], + [ + 550.4614627994001, + 53.28559650358039 + ], + [ + 552.9538358357703, + 43.95327191806376 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1068.067678025254, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1396.3909627084522, + 478.63356284912436 + ], + [ + 1068.067678025254, + 566.8608592654837 + ], + [ + 1394.120420815735, + 1056.419650626775 + ], + [ + 1808.3927002936289, + 889.0420007516252 + ], + [ + 1976.1757001389205, + -118.26014900095589 + ], + [ + 1443.6251101636487, + -38.92291330866044 + ], + [ + 2811.6729831552275, + 678.7316264734736 + ], + [ + 3485.2514080108494, + 360.4593585280489 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00137/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00137/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..dc6d0acd1d292119c00bf6970a2fec5705e7a2f2 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00137/meta.json @@ -0,0 +1,3731 @@ +{ + "frame_id": 137, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 68.5, + "sim_timestamp": 11423.58989978768 + }, + "drone_pose": { + "x": -83.04467621852358, + "y": -86.79354571979636, + "z": 20.004488772650372, + "pitch": -44.19136332959516, + "yaw": -6.136161269095942, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7129076719284058, + 0.0766429677605629, + 0.6970570087432861, + 38.6068000793457 + ], + [ + -0.10689160972833633, + 0.9942706823348999, + -3.725290298461914e-09, + 95.17305755615234 + ], + [ + -0.6930633783340454, + -0.07450954616069794, + 0.7170156836509705, + -65.43180847167969 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -82.30707368369768, + "y": -86.91247023256138, + "z": 19.90786007787476 + }, + "t1_image_uv": [ + 577.2026641842847, + -358.4815444325668 + ], + "t1_depth": 0.6023129467825318 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -63.16718292236328, + "y": -87.18776321411133, + "z": 0.5749992918968201 + }, + "image_uv": [ + 699.9566617283665, + 364.3429473792349 + ], + "depth": 27.744493763379882, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 197, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -63.16718292236328, + "y": -87.18775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.1861327886581421, + "y": 0.2166747748851776, + "z": 0.531626284122467 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 691.3431055648152, + "ymin": 346.0196171736424, + "xmax": 708.7299609201366, + "ymax": 382.3763425202153 + }, + "corners_3d": [ + [ + -63.35331726074219, + -87.40443420410156, + 0.0433729887008667 + ], + [ + -63.35331726074219, + -86.97108459472656, + 0.0433729887008667 + ], + [ + -62.981048583984375, + -86.97108459472656, + 0.0433729887008667 + ], + [ + -62.981048583984375, + -87.40443420410156, + 0.0433729887008667 + ], + [ + -63.35331726074219, + -87.40443420410156, + 1.1066255569458008 + ], + [ + -63.35331726074219, + -86.97108459472656, + 1.1066255569458008 + ], + [ + -62.981048583984375, + -86.97108459472656, + 1.1066255569458008 + ], + [ + -62.981048583984375, + -87.40443420410156, + 1.1066255569458008 + ] + ], + "corners_2d": [ + [ + 691.3431055648152, + 381.2427180423455 + ], + [ + 706.1947436217134, + 382.3763425202153 + ], + [ + 706.925605177725, + 373.39250678904983 + ], + [ + 692.2125603174013, + 372.2800834956592 + ], + [ + 692.7391383333252, + 354.97026568346604 + ], + [ + 707.9967921652492, + 356.1026997314565 + ], + [ + 708.7299609201366, + 347.1303044141362 + ], + [ + 693.6185445647471, + 346.0196171736424 + ] + ], + "center_offset_px": [ + 59.9566617283665, + 4.342947379234886 + ] + }, + "trace_timestep_index": 137, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 70, + "semantic_pixel_counts": { + "1": 506710, + "2": 204611, + "3": 40822, + "4": 41637, + "5": 2817, + "6": 16890, + "7": 2450, + "9": 10050, + "10": 50424, + "12": 3392, + "14": 10102, + "20": 1340, + "24": 30355 + }, + "instance_pixel_counts": { + "9296": 2817, + "9346": 1852, + "9799": 2484, + "11927": 619, + "12439": 2653, + "12951": 1773, + "13975": 596, + "17232": 41637, + "21952": 1391, + "22464": 6403, + "22784": 212, + "22976": 18417, + "23296": 8750, + "23488": 2769, + "23552": 6577, + "24404": 1226, + "24512": 21712, + "24660": 1, + "25940": 65, + "26196": 48, + "26963": 1920, + "27795": 13486, + "28307": 11394, + "28819": 21649, + "29331": 16784, + "31893": 871, + "32405": 385, + "33429": 1508, + "33941": 393, + "37979": 28147, + "38539": 561, + "39051": 1776, + "39563": 2663, + "40787": 29, + "41107": 66736, + "41611": 4397, + "41619": 21090, + "42123": 3191, + "42635": 1544, + "43117": 12675, + "43147": 9052, + "43155": 165694, + "43659": 8155, + "43667": 22754, + "44179": 167123, + "44181": 4407, + "44693": 617, + "45717": 14098, + "46229": 673, + "46741": 7403, + "47552": 286, + "48064": 2668, + "49088": 3636, + "49664": 197, + "49920": 423, + "50015": 1837, + "50176": 596, + "50432": 946, + "50624": 16837, + "50688": 804, + "50944": 426, + "51136": 6320, + "51648": 2635, + "51712": 5695, + "52160": 26018, + "52672": 46467, + "55296": 4407, + "55879": 33225, + "57173": 10050, + "64351": 9588 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 197, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -63.16718292236328, + "y": -87.18775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.1726098358631134, + "y": 0.21489255130290985, + "z": 0.5179979205131531 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 691.4535210394573, + "ymin": 346.69186238270004, + "xmax": 708.6175037320844, + "ymax": 381.71438727880405 + }, + "corners_3d": [ + [ + -63.33979415893555, + -87.40264892578125, + 0.057001352310180664 + ], + [ + -63.33979415893555, + -86.97286987304688, + 0.057001352310180664 + ], + [ + -62.994571685791016, + -86.97286987304688, + 0.057001352310180664 + ], + [ + -62.994571685791016, + -87.40264892578125, + 0.057001352310180664 + ], + [ + -63.33979415893555, + -87.40264892578125, + 1.0929971933364868 + ], + [ + -63.33979415893555, + -86.97286987304688, + 1.0929971933364868 + ], + [ + -62.994571685791016, + -86.97286987304688, + 1.0929971933364868 + ], + [ + -62.994571685791016, + -87.40264892578125, + 1.0929971933364868 + ] + ], + "corners_2d": [ + [ + 691.4535210394573, + 380.5908821550031 + ], + [ + 706.1827737020062, + 381.71438727880405 + ], + [ + 706.8610973902312, + 373.38341135479357 + ], + [ + 692.2593960325123, + 372.2794114355914 + ], + [ + 692.8157417319451, + 354.99250768765285 + ], + [ + 707.9370666169369, + 356.1148433208469 + ], + [ + 708.6175037320844, + 347.7942038612835 + ], + [ + 693.6305802513099, + 346.69186238270004 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 423, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -59.041194915771484, + "y": -84.19005584716797, + "z": 0.5849260687828064 + }, + "extent": { + "x": 0.43993163108825684, + "y": 0.32466307282447815, + "z": 0.8736017346382141 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 786.5785678962602, + "ymin": 249.53895383332045, + "xmax": 819.4012493620382, + "ymax": 311.149192719313 + }, + "corners_3d": [ + [ + -59.53901290893555, + -84.4161605834961, + -0.2886756658554077 + ], + [ + -59.40401077270508, + -83.78102111816406, + -0.2886756658554077 + ], + [ + -58.54337692260742, + -83.96395111083984, + -0.2886756658554077 + ], + [ + -58.67837905883789, + -84.59909057617188, + -0.2886756658554077 + ], + [ + -59.53901290893555, + -84.4161605834961, + 1.4585278034210205 + ], + [ + -59.40401077270508, + -83.78102111816406, + 1.4585278034210205 + ], + [ + -58.54337692260742, + -83.96395111083984, + 1.4585278034210205 + ], + [ + -58.67837905883789, + -84.59909057617188, + 1.4585278034210205 + ] + ], + "corners_2d": [ + [ + 792.3818503192349, + 311.149192719313 + ], + [ + 812.2999970761298, + 309.7819426894723 + ], + [ + 806.1073613844318, + 292.13039745040385 + ], + [ + 786.5785678962602, + 293.44349301691096 + ], + [ + 798.6723121520812, + 268.3682041715538 + ], + [ + 819.4012493620382, + 267.0134652474406 + ], + [ + 812.8110190362027, + 249.53895383332045 + ], + [ + 792.5034331557983, + 250.83788937429486 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 596, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -65.42300415039062, + "y": -80.24504852294922, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.368293434381485, + "y": 0.33378905057907104, + "z": 0.8822741508483887 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 933.4006927636455, + "ymin": 406.0802338060199, + "xmax": 980.3319511345487, + "ymax": 470.9306363191805 + }, + "corners_3d": [ + [ + -65.82417297363281, + -80.53851318359375, + -0.15487748384475708 + ], + [ + -65.75438690185547, + -79.87458801269531, + -0.15487748384475708 + ], + [ + -65.02183532714844, + -79.95158386230469, + -0.15487748384475708 + ], + [ + -65.09162139892578, + -80.61550903320312, + -0.15487748384475708 + ], + [ + -65.82417297363281, + -80.53851318359375, + 1.609670877456665 + ], + [ + -65.75438690185547, + -79.87458801269531, + 1.609670877456665 + ], + [ + -65.02183532714844, + -79.95158386230469, + 1.609670877456665 + ], + [ + -65.09162139892578, + -80.61550903320312, + 1.609670877456665 + ] + ], + "corners_2d": [ + [ + 939.3303551413115, + 470.884820864333 + ], + [ + 964.1372736526542, + 470.9306363191805 + ], + [ + 957.710640843465, + 450.02217799967644 + ], + [ + 933.4006927636455, + 449.9781788871667 + ], + [ + 954.2849303772388, + 427.0896641027922 + ], + [ + 980.3319511345487, + 427.1357509676367 + ], + [ + 973.2508407008897, + 406.12440514933644 + ], + [ + 947.7511714149708, + 406.0802338060199 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 946, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -72.66718292236328, + "y": -87.18775939941406, + "z": 0.5750285983085632 + }, + "extent": { + "x": 0.43578121066093445, + "y": 0.4500487744808197, + "z": 0.8746317625045776 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 650.0598293386965, + "ymin": 626.4288482168454, + "xmax": 696.3470445662247, + "ymax": 706.8291940417728 + }, + "corners_3d": [ + [ + -73.10296630859375, + -87.63780975341797, + -0.2996031641960144 + ], + [ + -73.10296630859375, + -86.73770904541016, + -0.2996031641960144 + ], + [ + -72.23139953613281, + -86.73770904541016, + -0.2996031641960144 + ], + [ + -72.23139953613281, + -87.63780975341797, + -0.2996031641960144 + ], + [ + -73.10296630859375, + -87.63780975341797, + 1.449660301208496 + ], + [ + -73.10296630859375, + -86.73770904541016, + 1.449660301208496 + ], + [ + -72.23139953613281, + -86.73770904541016, + 1.449660301208496 + ], + [ + -72.23139953613281, + -87.63780975341797, + 1.449660301208496 + ] + ], + "corners_2d": [ + [ + 650.0598293386965, + 702.6842260526162 + ], + [ + 690.5488922009026, + 706.8291940417728 + ], + [ + 693.2037126069986, + 670.439721599388 + ], + [ + 653.8536544313353, + 666.5267011247053 + ], + [ + 650.6705191188673, + 663.5409443916478 + ], + [ + 693.6280777149785, + 667.8035001841467 + ], + [ + 696.3470445662247, + 630.4390218668914 + ], + [ + 654.6694162888517, + 626.4288482168454 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 804, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -66.78268432617188, + "y": -98.31512451171875, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.6084790825843811, + "y": 0.46066898107528687, + "z": 0.8814384341239929 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 243.73079677953137, + "ymin": 381.53845147627754, + "xmax": 313.6689458778413, + "ymax": 463.5191066936752 + }, + "corners_3d": [ + [ + -67.33967590332031, + -98.83687591552734, + -0.15403687953948975 + ], + [ + -67.43598175048828, + -97.92058563232422, + -0.15403687953948975 + ], + [ + -66.22569274902344, + -97.79337310791016, + -0.15403687953948975 + ], + [ + -66.12938690185547, + -98.70966339111328, + -0.15403687953948975 + ], + [ + -67.33967590332031, + -98.83687591552734, + 1.608839988708496 + ], + [ + -67.43598175048828, + -97.92058563232422, + 1.608839988708496 + ], + [ + -66.22569274902344, + -97.79337310791016, + 1.608839988708496 + ], + [ + -66.12938690185547, + -98.70966339111328, + 1.608839988708496 + ] + ], + "corners_2d": [ + [ + 262.3371840967108, + 458.0170065257672 + ], + [ + 293.5397296490353, + 463.5191066936752 + ], + [ + 313.6689458778413, + 430.6211328841361 + ], + [ + 283.3479310553367, + 425.4617919755353 + ], + [ + 243.73079677953137, + 414.1952938650721 + ], + [ + 276.37502635881117, + 419.72460710545033 + ], + [ + 298.03907541159487, + 386.70713376756515 + ], + [ + 266.35778518509625, + 381.53845147627754 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 426, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -51.92184829711914, + "y": -95.35797882080078, + "z": 0.603778600692749 + }, + "extent": { + "x": 0.4168945252895355, + "y": 0.43474119901657104, + "z": 0.8725926876068115 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 485.3218105449353, + "ymin": 113.12881035747426, + "xmax": 519.9913526957812, + "ymax": 168.45842038964608 + }, + "corners_3d": [ + [ + -52.2392463684082, + -95.8698959350586, + -0.2688140869140625 + ], + [ + -52.420021057128906, + -95.01941680908203, + -0.2688140869140625 + ], + [ + -51.60445022583008, + -94.84606170654297, + -0.2688140869140625 + ], + [ + -51.423675537109375, + -95.69654083251953, + -0.2688140869140625 + ], + [ + -52.2392463684082, + -95.8698959350586, + 1.4763712882995605 + ], + [ + -52.420021057128906, + -95.01941680908203, + 1.4763712882995605 + ], + [ + -51.60445022583008, + -94.84606170654297, + 1.4763712882995605 + ], + [ + -51.423675537109375, + -95.69654083251953, + 1.4763712882995605 + ] + ], + "corners_2d": [ + [ + 490.436559810939, + 164.54579393722358 + ], + [ + 511.319601742248, + 168.45842038964608 + ], + [ + 519.9913526957812, + 157.11884966848413 + ], + [ + 499.3808622560649, + 153.32463429024398 + ], + [ + 485.3218105449353, + 124.09172367326343 + ], + [ + 506.8948693127142, + 127.91698586547983 + ], + [ + 515.9300234178999, + 116.83442918804542 + ], + [ + 494.6475862964693, + 113.12881035747426 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 5695, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 942.9343022275557, + "ymin": 114.21053401961242, + "xmax": 1095.7611015777193, + "ymax": 194.03774453682067 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 942.9343022275557, + 157.88398208612026 + ], + [ + 949.4865716762672, + 186.53768790662568 + ], + [ + 1078.7303021222342, + 194.03774453682067 + ], + [ + 1067.1954933876596, + 164.83934965455413 + ], + [ + 954.156790453287, + 114.21053401961242 + ], + [ + 961.4164254084983, + 142.1798970932581 + ], + [ + 1095.7611015777193, + 149.53636232410707 + ], + [ + 1083.1262384564466, + 121.01427821596047 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 216, + "instance_id": 55296, + "pixel_count": 4407, + "type_id": "vehicle.audi.etron", + "bbox_3d": { + "center_world": { + "x": -44.75563430786133, + "y": -104.2794189453125, + "z": 0.8648524284362793 + }, + "extent": { + "x": 2.427854299545288, + "y": 1.0163782835006714, + "z": 0.8246796727180481 + }, + "yaw": -94.3148193359375 + }, + "bbox_2d": { + "xmin": 268.7334349566863, + "ymin": 7.981322923311609, + "xmax": 399.389966543897, + "ymax": 66.66359586254731 + }, + "corners_3d": [ + [ + -45.58646774291992, + -101.781982421875, + 0.04017278552055359 + ], + [ + -43.559471130371094, + -101.9349136352539, + 0.04017278552055359 + ], + [ + -43.92479705810547, + -106.77686309814453, + 0.04017278552055359 + ], + [ + -45.9517936706543, + -106.6239242553711, + 0.04017278552055359 + ], + [ + -45.58646774291992, + -101.781982421875, + 1.6895321607589722 + ], + [ + -43.559471130371094, + -101.9349136352539, + 1.6895321607589722 + ], + [ + -43.92479705810547, + -106.77686309814453, + 1.6895321607589722 + ], + [ + -45.9517936706543, + -106.6239242553711, + 1.6895321607589722 + ] + ], + "corners_2d": [ + [ + 389.5131873468368, + 66.66359586254731 + ], + [ + 399.389966543897, + 45.09661809750935 + ], + [ + 292.4943805651625, + 43.51763640715018 + ], + [ + 278.92553162827664, + 64.97271303086751 + ], + [ + 382.42340128553093, + 30.41112035574838 + ], + [ + 392.81551945959166, + 9.509990965711438 + ], + [ + 283.0240166110611, + 7.981322923311609 + ], + [ + 268.7334349566863, + 28.771000559358015 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 997.254960187098, + "ymin": 28.15610464346247, + "xmax": 1018.3081981841965, + "ymax": 58.757710458925374 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1009.3557175891011, + 54.706475693909 + ], + [ + 997.254960187098, + 54.11387155533993 + ], + [ + 998.6297848821924, + 58.157439327738985 + ], + [ + 1010.8099133397795, + 58.757710458925374 + ], + [ + 1016.775760660878, + 28.735602673115466 + ], + [ + 1004.4250007751641, + 28.15610464346247 + ], + [ + 1005.874744167412, + 32.110680923232565 + ], + [ + 1018.3081981841965, + 32.69782841301094 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4809317425322915338, + "instance_id": 2806, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -62.6159553527832, + "y": -93.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 444.7415509873056, + "ymin": 163.70924427342237, + "xmax": 466.2156044258902, + "ymax": 199.0462224043137 + }, + "corners_3d": [ + [ + -62.754539489746094, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.9842529296875, + 6.416468620300293 + ], + [ + -62.754539489746094, + -93.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 463.71095248331244, + 199.0462224043137 + ], + [ + 466.2156044258902, + 193.00553844329582 + ], + [ + 452.0782869478343, + 192.1233615304273 + ], + [ + 449.4652246544431, + 198.15009023299604 + ], + [ + 459.3352510550418, + 170.54056111132547 + ], + [ + 461.936640143213, + 164.57958680679127 + ], + [ + 447.45668784575463, + 163.70924427342237 + ], + [ + 444.7415509873056, + 169.65610761945402 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 187.11297917857922, + "ymin": 232.91580012303527, + "xmax": 213.66271643849063, + "ymax": 263.8518061917457 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 209.58198465970787, + 263.8518061917457 + ], + [ + 213.66271643849063, + 257.90412071223466 + ], + [ + 201.15118555080193, + 257.0394899108301 + ], + [ + 196.98529413637704, + 262.9747635735635 + ], + [ + 199.98009546914648, + 239.67775001276436 + ], + [ + 204.22093115181235, + 233.77390232936787 + ], + [ + 191.44265002823357, + 232.91580012303527 + ], + [ + 187.11297917857922, + 238.80705405888142 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5344508464058845628, + "instance_id": 48329, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -62.61595916748047, + "y": -96.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 330.70953326048146, + "ymin": 156.90808730011068, + "xmax": 355.4590558466158, + "ymax": 192.02613908364813 + }, + "corners_3d": [ + [ + -62.75454330444336, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.9842529296875, + 6.416468620300293 + ], + [ + -62.75454330444336, + -96.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 352.112001758265, + 192.02613908364813 + ], + [ + 355.4590558466158, + 186.09434862874377 + ], + [ + 341.5754576906274, + 185.22800385489805 + ], + [ + 338.1239257256916, + 191.14621448494063 + ], + [ + 345.0328317453039, + 163.61332908160776 + ], + [ + 348.51774489885395, + 157.7624310306004 + ], + [ + 334.3039674623213, + 156.90808730011068 + ], + [ + 330.70953326048146, + 162.74526322119894 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8433051479337506626, + "instance_id": 17047, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -62.61595153808594, + "y": -91.29429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 541.4169241611495, + "ymin": 169.47439993977838, + "xmax": 560.0645267784173, + "ymax": 204.9954163941217 + }, + "corners_3d": [ + [ + -62.75453567504883, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.4842529296875, + 6.416468620300293 + ], + [ + -62.75453567504883, + -91.4842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 558.2861004007714, + 204.9954163941217 + ], + [ + 560.0645267784173, + 198.86168104224953 + ], + [ + 545.7104259573351, + 197.9659768203835 + ], + [ + 543.8201859214072, + 204.08543341079803 + ], + [ + 556.2418510349873, + 176.4135153089344 + ], + [ + 558.0809201996391, + 170.35842058567044 + ], + [ + 543.3734024803248, + 169.47439993977838 + ], + [ + 541.4169241611495, + 175.51504838259063 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1013.141571682869, + "ymin": 73.91519180222372, + "xmax": 1036.2846928429317, + "ymax": 106.20305550885195 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 1026.1605710480335, + 101.52301089700393 + ], + [ + 1013.141571682869, + 100.83880345839731 + ], + [ + 1014.7295639856424, + 105.50932946889452 + ], + [ + 1027.8404788742362, + 106.20305550885195 + ], + [ + 1034.5090483555625, + 74.58627383437056 + ], + [ + 1021.2002326964869, + 73.91519180222372 + ], + [ + 1022.8798110320098, + 78.49670649040354 + ], + [ + 1036.2846928429317, + 79.17732840312112 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 985.6063296747666, + "ymin": 0.0, + "xmax": 1005.1743954888198, + "ymax": 24.00298857883172 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 997.0353143767809, + 20.38377146653022 + ], + [ + 985.6063296747666, + 19.854147771153464 + ], + [ + 986.8346712335746, + 23.46689048459922 + ], + [ + 998.3344354772528, + 24.00298857883172 + ], + [ + 1003.8083966796281, + -4.791840055987734 + ], + [ + 992.1566403113147, + -5.308616136508249 + ], + [ + 993.4490658181944, + -1.7831640286937613 + ], + [ + 1005.1743954888198, + -1.2599497006229399 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1011.2358834791628, + "ymin": 255.24318224931707, + "xmax": 1035.5928731829952, + "ymax": 286.71163558783803 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 1024.9530080852082, + 280.4359008991404 + ], + [ + 1011.2358834791628, + 279.52378340520977 + ], + [ + 1012.9049599914802, + 285.7860659384088 + ], + [ + 1026.7247188542444, + 286.71163558783803 + ], + [ + 1033.7146498629172, + 256.1494993080097 + ], + [ + 1019.6760868155649, + 255.24318224931707 + ], + [ + 1021.4467932073599, + 261.46652868547216 + ], + [ + 1035.5928731829952, + 262.38651984719166 + ] + ], + "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": 952.0040622025217, + "ymin": 0.0, + "xmax": 1109.5266217244257, + "ymax": 358.51944565561513 + }, + "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": [ + [ + 998.5438221007848, + 357.356689210481 + ], + [ + 1013.3504932263966, + 358.51944565561513 + ], + [ + 963.3606279797067, + 144.2189209190141 + ], + [ + 952.0040622025217, + 143.529300076328 + ], + [ + 1090.7608122450602, + 102.69638800813027 + ], + [ + 1109.5266217244257, + 103.75853151370251 + ], + [ + 1023.9141936473006, + -81.10906588506202 + ], + [ + 1010.3642992681366, + -81.67059634307884 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 614.6840884516669, + "xmax": 273.66442760033834, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 87.1354429879002, + 822.7013520398779 + ], + [ + 75.48456028122519, + 846.042743068342 + ], + [ + 264.9963922131462, + 868.6666601213619 + ], + [ + 273.66442760033834, + 844.5815302568633 + ], + [ + -132.01170061995686, + 614.6840884516669 + ], + [ + -153.54018814471215, + 642.6058880389937 + ], + [ + 109.42572082389336, + 670.0273171199547 + ], + [ + 125.25654034928652, + 640.8470058374073 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 32.02523739485491, + "ymin": 21.67351252139673, + "xmax": 208.51214584335725, + "ymax": 317.47858108710284 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 142.20870243870894, + 316.47310756172556 + ], + [ + 155.7197881215473, + 317.47858108710284 + ], + [ + 208.51214584335725, + 242.62406123222894 + ], + [ + 196.08069869606368, + 241.78039670020394 + ], + [ + 32.02523739485491, + 88.2635501302679 + ], + [ + 48.378946193781985, + 89.1768346037071 + ], + [ + 122.51165582592, + 22.41208747349316 + ], + [ + 107.71217939666064, + 21.67351252139673 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 81.38623846315579, + "ymin": 648.0185620160646, + "xmax": 122.91574557102365, + "ymax": 674.0481048752629 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 95.34255414507356, + 651.9190321409218 + ], + [ + 84.55007584951602, + 671.1217009119739 + ], + [ + 112.53106156917988, + 674.0481048752629 + ], + [ + 122.91574557102365, + 654.7557137249039 + ], + [ + 92.28833248923092, + 648.0185620160646 + ], + [ + 81.38623846315579, + 667.2691282125733 + ], + [ + 109.51949780353539, + 670.2031287000407 + ], + [ + 120.00939222794341, + 650.862106150049 + ] + ], + "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": 880.7033899247826, + "ymin": 0.0, + "xmax": 955.4252826480763, + "ymax": 9.438819030671539 + }, + "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": [ + [ + 883.8000395109941, + 7.196306903720256 + ], + [ + 932.8541428008382, + 9.438819030671539 + ], + [ + 928.2190457377235, + -8.698799806323052 + ], + [ + 880.7033899247826, + -10.804135977276871 + ], + [ + 902.5125709685133, + -95.67586674069406 + ], + [ + 955.4252826480763, + -93.68856809817186 + ], + [ + 949.6900074044685, + -109.72828834482232 + ], + [ + 898.5628313256485, + -111.58513794998458 + ] + ], + "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": 303.7728568309843, + "ymin": 0.0, + "xmax": 445.32314802043663, + "ymax": 129.9931633176944 + }, + "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": [ + [ + 445.32314802043663, + 0.6212377644032472 + ], + [ + 436.6360417148745, + 0.17994678712358336 + ], + [ + 355.7044614608642, + 129.33060488699124 + ], + [ + 366.2735518540447, + 129.9931633176944 + ], + [ + 417.21686437768426, + -193.83127745322383 + ], + [ + 407.30139829915595, + -194.16513398227744 + ], + [ + 303.7728568309843, + -93.18727030634551 + ], + [ + 316.21680500472814, + -92.65175548606004 + ] + ], + "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": 671.1556445421355, + "ymin": 0.0, + "xmax": 977.7318534325808, + "ymax": 34.31877190346091 + }, + "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": [ + [ + 932.6218397645241, + 34.31877190346091 + ], + [ + 931.6729508763015, + 30.099291967999363 + ], + [ + 672.0034153798065, + 16.802487232442047 + ], + [ + 671.1556445421355, + 20.837422545895947 + ], + [ + 977.7318534325808, + -168.1167559271404 + ], + [ + 976.2766822278662, + -171.36068875688943 + ], + [ + 676.7735707767467, + -181.53803161473718 + ], + [ + 675.835962677692, + -178.45693421274325 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7298902328162137019, + "instance_id": 47923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_0", + "bbox_3d": { + "center_world": { + "x": -58.97412109375, + "y": -104.33528900146484, + "z": 7.722432613372803 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 103.19805410918934, + "ymin": 28.91308520998558, + "xmax": 121.95184316253005, + "ymax": 39.70823503712171 + }, + "corners_3d": [ + [ + -59.18000793457031, + -104.483154296875, + 7.667783737182617 + ], + [ + -59.18000793457031, + -104.18742370605469, + 7.667783737182617 + ], + [ + -58.76823425292969, + -104.18742370605469, + 7.667783737182617 + ], + [ + -58.76823425292969, + -104.483154296875, + 7.667783737182617 + ], + [ + -59.18000793457031, + -104.483154296875, + 7.777081489562988 + ], + [ + -59.18000793457031, + -104.18742370605469, + 7.777081489562988 + ], + [ + -58.76823425292969, + -104.18742370605469, + 7.777081489562988 + ], + [ + -58.76823425292969, + -104.483154296875, + 7.777081489562988 + ] + ], + "corners_2d": [ + [ + 104.71453595646244, + 39.193050731535266 + ], + [ + 114.73992385934662, + 39.70823503712171 + ], + [ + 121.95184316253005, + 33.10213161933842 + ], + [ + 112.02841229362389, + 32.597987118209744 + ], + [ + 103.19805410918934, + 35.48660841953949 + ], + [ + 113.2505890172182, + 36.00012694946196 + ], + [ + 120.49883164116659, + 29.41556894738585 + ], + [ + 110.54880234917698, + 28.91308520998558 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 81.15808091305576, + "ymin": 647.8801773680093, + "xmax": 123.13404951184998, + "ymax": 674.1894320666761 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 95.26743542626377, + 651.822867290369 + ], + [ + 84.35737029175982, + 671.2311132375659 + ], + [ + 112.64056701467052, + 674.1894320666761 + ], + [ + 123.13404951184998, + 654.6895287463475 + ], + [ + 92.18015503923743, + 647.8801773680093 + ], + [ + 81.15808091305576, + 667.337352087289 + ], + [ + 109.59686757500913, + 670.3034358320002 + ], + [ + 120.19781016673164, + 650.7538458392087 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14685537128847865056, + "instance_id": 57460, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_1", + "bbox_3d": { + "center_world": { + "x": -58.97411346435547, + "y": -104.33528900146484, + "z": 7.7224273681640625 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 103.29930820508787, + "ymin": 28.970102785096515, + "xmax": 121.8535479996292, + "ymax": 39.65031367616518 + }, + "corners_3d": [ + [ + -59.17780685424805, + -104.48158264160156, + 7.668359756469727 + ], + [ + -59.17780685424805, + -104.18899536132812, + 7.668359756469727 + ], + [ + -58.77042007446289, + -104.18899536132812, + 7.668359756469727 + ], + [ + -58.77042007446289, + -104.48158264160156, + 7.668359756469727 + ], + [ + -59.17780685424805, + -104.48158264160156, + 7.776494979858398 + ], + [ + -59.17780685424805, + -104.18899536132812, + 7.776494979858398 + ], + [ + -58.77042007446289, + -104.18899536132812, + 7.776494979858398 + ], + [ + -58.77042007446289, + -104.48158264160156, + 7.776494979858398 + ] + ], + "corners_2d": [ + [ + 104.79931897363872, + 39.140673199390164 + ], + [ + 114.71774378626822, + 39.65031367616518 + ], + [ + 121.8535479996292, + 33.11476576728978 + ], + [ + 112.03492457679249, + 32.615931344606054 + ], + [ + 103.29930820508787, + 35.47376037681897 + ], + [ + 113.24430287991697, + 35.98177033843177 + ], + [ + 120.41566398103635, + 29.46731154631874 + ], + [ + 110.57100195238172, + 28.970102785096515 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 110.74057947912661, + "ymin": 76.69817472767056, + "xmax": 608.8220892791845, + "ymax": 370.23559568267746 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 222.79153227903168, + 328.66082586866906 + ], + [ + 216.77896013170619, + 338.1218215322172 + ], + [ + 606.7896557383533, + 370.23559568267746 + ], + [ + 608.8220892791845, + 360.0998319995448 + ], + [ + 119.6130815996687, + 76.69817472767056 + ], + [ + 110.74057947912661, + 85.22443308517302 + ], + [ + 598.0988596350971, + 114.49911617907793 + ], + [ + 600.7734340106568, + 105.20326281771017 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 897939386194665430, + "instance_id": 54815, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1949_135", + "bbox_3d": { + "center_world": { + "x": -36.33243179321289, + "y": -120.14290618896484, + "z": 6.611191272735596 + }, + "extent": { + "x": 4.422521591186523, + "y": 4.2970757484436035, + "z": 7.008497714996338 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 218.12730413937396, + "ymax": 15.484849866631464 + }, + "corners_3d": [ + [ + -32.2579460144043, + -115.5145034790039, + -0.3973064422607422 + ], + [ + -31.58873176574707, + -124.08255767822266, + -0.3973064422607422 + ], + [ + -40.406917572021484, + -124.77130889892578, + -0.3973064422607422 + ], + [ + -41.076133728027344, + -116.20325469970703, + -0.3973064422607422 + ], + [ + -32.2579460144043, + -115.5145034790039, + 13.619688987731934 + ], + [ + -31.58873176574707, + -124.08255767822266, + 13.619688987731934 + ], + [ + -40.406917572021484, + -124.77130889892578, + 13.619688987731934 + ], + [ + -41.076133728027344, + -116.20325469970703, + 13.619688987731934 + ] + ], + "corners_2d": [ + [ + 218.12730413937396, + -54.252881214535705 + ], + [ + 76.18395634597232, + -65.19832331101617 + ], + [ + -30.63556042429309, + 1.4402592754533998 + ], + [ + 127.76931356676107, + 15.484849866631464 + ], + [ + 121.95014085672358, + -373.8170746816845 + ], + [ + -49.04030243905504, + -378.9576241622872 + ], + [ + -204.17567558003805, + -346.87587039973255 + ], + [ + -8.883742900306629, + -339.8672015605016 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 3415205581764433368, + "instance_id": 55317, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1948_134", + "bbox_3d": { + "center_world": { + "x": -37.65735626220703, + "y": -129.6263885498047, + "z": 6.917623043060303 + }, + "extent": { + "x": 4.636507987976074, + "y": 4.5049920082092285, + "z": 7.347609519958496 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 48.81457859724287, + "ymax": 23.694262630026742 + }, + "corners_3d": [ + [ + -33.784976959228516, + -124.44982147216797, + -0.42998647689819336 + ], + [ + -32.37153244018555, + -133.34825134277344, + -0.42998647689819336 + ], + [ + -41.52973556518555, + -134.80294799804688, + -0.42998647689819336 + ], + [ + -42.943180084228516, + -125.90452575683594, + -0.42998647689819336 + ], + [ + -33.784976959228516, + -124.44982147216797, + 14.26523208618164 + ], + [ + -32.37153244018555, + -133.34825134277344, + 14.26523208618164 + ], + [ + -41.52973556518555, + -134.80294799804688, + 14.26523208618164 + ], + [ + -42.943180084228516, + -125.90452575683594, + 14.26523208618164 + ] + ], + "corners_2d": [ + [ + 48.81457859724287, + -49.63037866755212 + ], + [ + -87.44732640714074, + -66.03430760469183 + ], + [ + -234.68355172991915, + 2.4678326632039784 + ], + [ + -84.76974733711518, + 23.694262630026742 + ], + [ + -95.3552466994139, + -390.33944322119316 + ], + [ + -257.9866659031835, + -397.413716847312 + ], + [ + -475.0424955998096, + -367.13725683151563 + ], + [ + -293.38932099896067, + -357.3497439556189 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 8418614953964379880, + "instance_id": 59550, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2345_119", + "bbox_3d": { + "center_world": { + "x": -35.8762092590332, + "y": -131.68106079101562, + "z": 7.344003677368164 + }, + "extent": { + "x": 5.283463001251221, + "y": 5.114550590515137, + "z": 7.8239593505859375 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 49.919085913232266, + "ymax": 15.9191571359583 + }, + "corners_3d": [ + [ + -31.924062728881836, + -125.47991943359375, + -0.47995567321777344 + ], + [ + -29.549972534179688, + -135.42970275878906, + -0.47995567321777344 + ], + [ + -39.8283576965332, + -137.8822021484375, + -0.47995567321777344 + ], + [ + -42.20244598388672, + -127.93241882324219, + -0.47995567321777344 + ], + [ + -31.924062728881836, + -125.47991943359375, + 15.167963027954102 + ], + [ + -29.549972534179688, + -135.42970275878906, + 15.167963027954102 + ], + [ + -39.8283576965332, + -137.8822021484375, + 15.167963027954102 + ], + [ + -42.20244598388672, + -127.93241882324219, + 15.167963027954102 + ] + ], + "corners_2d": [ + [ + 49.919085913232266, + -62.43358303552213 + ], + [ + -89.09583441307814, + -84.77229127608064 + ], + [ + -264.6147621421012, + -13.599645928012308 + ], + [ + -113.53515381732564, + 15.9191571359583 + ], + [ + -100.52983533913198, + -421.9115664332692 + ], + [ + -264.8994596704772, + -430.1266895134786 + ], + [ + -523.6192558000355, + -403.29887082464404 + ], + [ + -344.14485291933454, + -391.5901137956083 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1118.4140059679942, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1466.762853325976, + 572.6861550043801 + ], + [ + 1118.4140059679942, + 654.3409798200876 + ], + [ + 1481.3332635203851, + 1216.8391439478996 + ], + [ + 1940.1138169840563, + 1048.3471692188223 + ], + [ + 2099.952622219443, + -20.708002593071797 + ], + [ + 1533.5788598279084, + 52.83256775570226 + ], + [ + 3248.7384616805484, + 942.3837189508524 + ], + [ + 4005.7823311004277, + 573.062135281654 + ] + ], + "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": 112.64420419426847, + "ymin": 0.0, + "xmax": 419.45175575602485, + "ymax": 33.103986051216395 + }, + "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": [ + [ + 225.75636690985488, + 33.103986051216395 + ], + [ + 419.45175575602485, + 7.800750140078549 + ], + [ + 395.0743661819373, + -61.81467583512426 + ], + [ + 224.5397570954276, + -42.31286599163445 + ], + [ + 112.64420419426847, + -325.79774059166493 + ], + [ + 362.3926044807015, + -338.7963664549727 + ], + [ + 340.9766622679437, + -373.09286842260747 + ], + [ + 128.46736327273356, + -363.6948626028868 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12783736354476579425, + "instance_id": 25050, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2728_95", + "bbox_3d": { + "center_world": { + "x": -40.00048828125, + "y": -120.97515106201172, + "z": 4.526856422424316 + }, + "extent": { + "x": 2.978419780731201, + "y": 2.8939361572265625, + "z": 4.719987869262695 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 127.00728561036465, + "ymax": 23.918218051908696 + }, + "corners_3d": [ + [ + -37.48514938354492, + -124.27953338623047, + -0.1931314468383789 + ], + [ + -43.23114013671875, + -123.58450317382812, + -0.1931314468383789 + ], + [ + -42.51582717895508, + -117.67076873779297, + -0.1931314468383789 + ], + [ + -36.76983642578125, + -118.36579895019531, + -0.1931314468383789 + ], + [ + -37.48514938354492, + -124.27953338623047, + 9.246844291687012 + ], + [ + -43.23114013671875, + -123.58450317382812, + 9.246844291687012 + ], + [ + -42.51582717895508, + -117.67076873779297, + 9.246844291687012 + ], + [ + -36.76983642578125, + -118.36579895019531, + 9.246844291687012 + ] + ], + "corners_2d": [ + [ + 10.742726795471981, + -26.214465877139446 + ], + [ + -45.292936481861034, + 23.918218051908696 + ], + [ + 81.68282519157674, + 23.171294406561003 + ], + [ + 127.00728561036465, + -26.84131526168443 + ], + [ + -85.88499869288489, + -237.1579008784604 + ], + [ + -161.80848556033015, + -201.11896894304152 + ], + [ + -13.105042850079485, + -201.66345860198408 + ], + [ + 48.33706253009848, + -237.6021053591894 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00138/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00138/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..bbe3a94fd90c057613d18a3d1427f87d34bb2cd2 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00138/meta.json @@ -0,0 +1,3211 @@ +{ + "frame_id": 138, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 69.0, + "sim_timestamp": 11436.1802449245 + }, + "drone_pose": { + "x": -82.30707368369768, + "y": -86.91247023256138, + "z": 19.90786007787476, + "pitch": -44.54583007609824, + "yaw": -0.8030641955180093, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7126196026802063, + 0.009988811798393726, + 0.7014795541763306, + 43.820518493652344 + ], + [ + -0.014015655033290386, + 0.9999017715454102, + 0.0, + 88.0575180053711 + ], + [ + -0.7014106512069702, + -0.009831695817410946, + 0.7126896381378174, + -71.06468963623047 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -81.94739640787401, + "y": -87.12670862566402, + "z": 20.0026248101711 + }, + "t1_image_uv": [ + -406.0035994146888, + -1249.8165859470107 + ], + "t1_depth": 0.19197753009888038 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -62.66718292236328, + "y": -87.18776321411133, + "z": 0.5749895262720384 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 27.560133873184775, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 197, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -62.66718292236328, + "y": -87.18775939941406, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.19883055984973907, + "y": 0.21400877833366394, + "z": 0.5310344099998474 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 629.7025852839029, + "ymin": 339.55921527184967, + "xmax": 650.3056887808207, + "ymax": 380.19840744346214 + }, + "corners_3d": [ + [ + -62.65645217895508, + -87.47968292236328, + 0.043955087661743164 + ], + [ + -62.959102630615234, + -87.1770248413086, + 0.043955087661743164 + ], + [ + -62.677913665771484, + -86.89583587646484, + 0.043955087661743164 + ], + [ + -62.37526321411133, + -87.19849395751953, + 0.043955087661743164 + ], + [ + -62.65645217895508, + -87.47968292236328, + 1.106023907661438 + ], + [ + -62.959102630615234, + -87.1770248413086, + 1.106023907661438 + ], + [ + -62.677913665771484, + -86.89583587646484, + 1.106023907661438 + ], + [ + -62.37526321411133, + -87.19849395751953, + 1.106023907661438 + ] + ], + "corners_2d": [ + [ + 629.9771341422793, + 372.64505360907475 + ], + [ + 640.2301226392699, + 380.19840744346214 + ], + [ + 650.0307114297314, + 373.3695310736665 + ], + [ + 639.773541673518, + 365.922279200014 + ], + [ + 629.7025852839029, + 346.2746360583741 + ], + [ + 640.2364773136745, + 353.8228097845947 + ], + [ + 650.3056887808207, + 346.99847524062505 + ], + [ + 639.7673832062732, + 339.55921527184967 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 138, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 69, + "semantic_pixel_counts": { + "1": 515646, + "2": 202908, + "3": 6383, + "4": 47138, + "5": 4036, + "6": 14564, + "7": 2449, + "9": 7967, + "10": 71510, + "12": 3439, + "14": 11093, + "20": 1557, + "21": 1185, + "24": 31725 + }, + "instance_pixel_counts": { + "9296": 4036, + "9346": 834, + "9799": 562, + "11927": 693, + "12439": 1918, + "12951": 2109, + "13975": 221, + "17232": 47138, + "21952": 1642, + "22464": 5195, + "22784": 120, + "22976": 21469, + "23040": 55, + "23296": 9896, + "23488": 1027, + "23552": 6108, + "24404": 1556, + "24512": 17729, + "24660": 1, + "27795": 15283, + "28307": 7120, + "28819": 24817, + "29331": 6424, + "31893": 959, + "32405": 229, + "33429": 1776, + "33941": 186, + "37979": 3294, + "38539": 705, + "39051": 1612, + "39563": 3397, + "41107": 68768, + "41611": 4389, + "41619": 28187, + "42123": 3627, + "42635": 2191, + "43117": 3089, + "43147": 8118, + "43155": 175742, + "43659": 8283, + "43667": 30934, + "44179": 158371, + "44181": 4651, + "44693": 829, + "45717": 15007, + "46229": 901, + "46741": 7187, + "47552": 527, + "48064": 2340, + "49088": 4744, + "49664": 197, + "49920": 438, + "50015": 3645, + "50176": 562, + "50432": 927, + "50624": 16685, + "50688": 859, + "50944": 456, + "51136": 6940, + "51648": 4130, + "51712": 5702, + "52160": 23827, + "52672": 48168, + "53504": 469, + "55296": 4922, + "55879": 41750, + "57173": 7967, + "64351": 10660, + "64603": 1185 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 197, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -62.66718292236328, + "y": -87.18775939941406, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.22313475608825684, + "y": 0.2291552722454071, + "z": 0.5223069190979004 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 628.7156943601891, + "ymin": 339.11350917429627, + "xmax": 651.2897452236, + "ymax": 380.6777118484132 + }, + "corners_3d": [ + [ + -62.662925720214844, + -87.50757598876953, + 0.052682578563690186 + ], + [ + -62.98699951171875, + -87.18350219726562, + 0.052682578563690186 + ], + [ + -62.67144012451172, + -86.8679428100586, + 0.052682578563690186 + ], + [ + -62.34736633300781, + -87.1920166015625, + 0.052682578563690186 + ], + [ + -62.662925720214844, + -87.50757598876953, + 1.0972964763641357 + ], + [ + -62.98699951171875, + -87.18350219726562, + 1.0972964763641357 + ], + [ + -62.67144012451172, + -86.8679428100586, + 1.0972964763641357 + ], + [ + -62.34736633300781, + -87.1920166015625, + 1.0972964763641357 + ] + ], + "corners_2d": [ + [ + 629.0117217995372, + 372.58264490405907 + ], + [ + 639.992311258089, + 380.6777118484132 + ], + [ + 650.9934429476133, + 373.0098281028973 + ], + [ + 640.0078243580451, + 365.04228993462925 + ], + [ + 628.7156943601891, + 346.6456439770098 + ], + [ + 639.9921023222909, + 354.73544420172516 + ], + [ + 651.2897452236, + 347.07245714171535 + ], + [ + 640.0080334441727, + 339.11350917429627 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 438, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -58.541194915771484, + "y": -84.19005584716797, + "z": 0.5840178728103638 + }, + "extent": { + "x": 0.4337451159954071, + "y": 0.4071581959724426, + "z": 0.8773426413536072 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 716.7030952993023, + "ymin": 236.04798647920626, + "xmax": 756.5332738335088, + "ymax": 302.57846458900565 + }, + "corners_3d": [ + [ + -58.68320846557617, + -84.76776123046875, + -0.2933247685432434 + ], + [ + -59.12671661376953, + -84.0848159790039, + -0.2933247685432434 + ], + [ + -58.3991813659668, + -83.61235046386719, + -0.2933247685432434 + ], + [ + -57.95567321777344, + -84.29529571533203, + -0.2933247685432434 + ], + [ + -58.68320846557617, + -84.76776123046875, + 1.4613604545593262 + ], + [ + -59.12671661376953, + -84.0848159790039, + 1.4613604545593262 + ], + [ + -58.3991813659668, + -83.61235046386719, + 1.4613604545593262 + ], + [ + -57.95567321777344, + -84.29529571533203, + 1.4613604545593262 + ] + ], + "corners_2d": [ + [ + 716.7030952993023, + 293.3303711033561 + ], + [ + 738.6970161662327, + 302.57846458900565 + ], + [ + 751.9322135812845, + 287.9535961595354 + ], + [ + 730.1613482863092, + 279.0062557582127 + ], + [ + 719.8762609654701, + 250.22294085982506 + ], + [ + 742.8248526641025, + 259.3848977921516 + ], + [ + 756.5332738335088, + 244.899913779984 + ], + [ + 733.8279647338718, + 236.04798647920626 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 562, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -64.92300415039062, + "y": -80.24504852294922, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.39061278104782104, + "y": 0.29599854350090027, + "z": 0.8829990029335022 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 874.6646661324443, + "ymin": 381.4224319939182, + "xmax": 921.0438503791258, + "ymax": 452.6804664898343 + }, + "corners_3d": [ + [ + -65.04029083251953, + -80.72090148925781, + -0.15559256076812744 + ], + [ + -65.412841796875, + -80.26083374023438, + -0.15559256076812744 + ], + [ + -64.80571746826172, + -79.76919555664062, + -0.15559256076812744 + ], + [ + -64.43316650390625, + -80.22926330566406, + -0.15559256076812744 + ], + [ + -65.04029083251953, + -80.72090148925781, + 1.610405445098877 + ], + [ + -65.412841796875, + -80.26083374023438, + 1.610405445098877 + ], + [ + -64.80571746826172, + -79.76919555664062, + 1.610405445098877 + ], + [ + -64.43316650390625, + -80.22926330566406, + 1.610405445098877 + ] + ], + "corners_2d": [ + [ + 874.6646661324443, + 442.03208318845196 + ], + [ + 893.860399832266, + 452.6804664898343 + ], + [ + 907.8930980964669, + 435.91673500321764 + ], + [ + 888.8626592956673, + 425.60794530320777 + ], + [ + 886.25666822165, + 397.90425356712325 + ], + [ + 906.5371602548325, + 408.60395816094626 + ], + [ + 921.0438503791258, + 391.7643852560986 + ], + [ + 900.9498540609236, + 381.4224319939182 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 927, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -72.16718292236328, + "y": -87.18775939941406, + "z": 0.5749504566192627 + }, + "extent": { + "x": 0.4119604527950287, + "y": 0.4221777319908142, + "z": 0.8795787692070007 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 605.621729671613, + "ymin": 622.113055410977, + "xmax": 661.7368535363396, + "ymax": 712.4065212301268 + }, + "corners_3d": [ + [ + -72.15995788574219, + -87.777587890625, + -0.30462831258773804 + ], + [ + -72.75701141357422, + -87.18053436279297, + -0.30462831258773804 + ], + [ + -72.17440795898438, + -86.59793090820312, + -0.30462831258773804 + ], + [ + -71.57735443115234, + -87.19498443603516, + -0.30462831258773804 + ], + [ + -72.15995788574219, + -87.777587890625, + 1.4545292854309082 + ], + [ + -72.75701141357422, + -87.18053436279297, + 1.4545292854309082 + ], + [ + -72.17440795898438, + -86.59793090820312, + 1.4545292854309082 + ], + [ + -71.57735443115234, + -87.19498443603516, + 1.4545292854309082 + ] + ], + "corners_2d": [ + [ + 607.6024280347366, + 686.2744751198717 + ], + [ + 633.8618850322449, + 712.4065212301268 + ], + [ + 660.4831958799637, + 687.5863185613166 + ], + [ + 634.1900227010746, + 662.4349362329119 + ], + [ + 605.621729671613, + 646.5923157388564 + ], + [ + 633.4784211100664, + 673.490173456637 + ], + [ + 661.7368535363396, + 647.9409913742859 + ], + [ + 633.8418773692617, + 622.113055410977 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 859, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -66.28268432617188, + "y": -98.31512451171875, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.5560253858566284, + "y": 0.49983397126197815, + "z": 0.8681853413581848 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 171.16358585089353, + "ymin": 405.5809475962242, + "xmax": 248.2600363548476, + "ymax": 492.2308383963849 + }, + "corners_3d": [ + [ + -66.24415588378906, + -99.0617904663086, + -0.14078378677368164 + ], + [ + -67.02104949951172, + -98.43268585205078, + -0.14078378677368164 + ], + [ + -66.32121276855469, + -97.5684585571289, + -0.14078378677368164 + ], + [ + -65.54431915283203, + -98.19756317138672, + -0.14078378677368164 + ], + [ + -66.24415588378906, + -99.0617904663086, + 1.595586895942688 + ], + [ + -67.02104949951172, + -98.43268585205078, + 1.595586895942688 + ], + [ + -66.32121276855469, + -97.5684585571289, + 1.595586895942688 + ], + [ + -65.54431915283203, + -98.19756317138672, + 1.595586895942688 + ] + ], + "corners_2d": [ + [ + 193.44277310939788, + 468.7014834888652 + ], + [ + 207.13915906948017, + 492.2308383963849 + ], + [ + 248.2600363548476, + 471.57965454519876 + ], + [ + 233.9392032730729, + 448.9343950467037 + ], + [ + 171.16358585089353, + 425.46395471824724 + ], + [ + 185.03638626705663, + 449.1798681900997 + ], + [ + 228.6596758830591, + 428.3621088544288 + ], + [ + 214.07909709957192, + 405.5809475962242 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 456, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -51.42184829711914, + "y": -95.35797882080078, + "z": 0.6028704047203064 + }, + "extent": { + "x": 0.43303221464157104, + "y": 0.47569334506988525, + "z": 0.8995270133018494 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 404.1024206681783, + "ymin": 114.33934666619055, + "xmax": 443.67018829365014, + "ymax": 174.9856311580751 + }, + "corners_3d": [ + [ + -51.25874328613281, + -95.98023223876953, + -0.29665660858154297 + ], + [ + -52.056644439697266, + -95.46206665039062, + -0.29665660858154297 + ], + [ + -51.58495330810547, + -94.73572540283203, + -0.29665660858154297 + ], + [ + -50.787052154541016, + -95.25389099121094, + -0.29665660858154297 + ], + [ + -51.25874328613281, + -95.98023223876953, + 1.5023974180221558 + ], + [ + -52.056644439697266, + -95.46206665039062, + 1.5023974180221558 + ], + [ + -51.58495330810547, + -94.73572540283203, + 1.5023974180221558 + ], + [ + -50.787052154541016, + -95.25389099121094, + 1.5023974180221558 + ] + ], + "corners_2d": [ + [ + 412.283474561988, + 163.00397013602554 + ], + [ + 422.22319465661644, + 174.9856311580751 + ], + [ + 443.67018829365014, + 168.07136266661044 + ], + [ + 433.4843561654694, + 156.30506595676724 + ], + [ + 404.1024206681783, + 120.88601261049197 + ], + [ + 414.2693198063829, + 132.60589368245383 + ], + [ + 436.56722935823103, + 125.8410441062006 + ], + [ + 426.1337954056609, + 114.33934666619055 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 5702, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 867.2610463766881, + "ymin": 102.77016926687992, + "xmax": 1015.6598820476629, + "ymax": 176.09007807421776 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 867.2610463766881, + 146.67249489331303 + ], + [ + 875.7333638252215, + 175.29495467127458 + ], + [ + 1001.6526305922685, + 176.09007807421776 + ], + [ + 988.42683204786, + 147.4218393027143 + ], + [ + 875.7525488932133, + 102.77016926687992 + ], + [ + 884.8956736037095, + 130.70652899114563 + ], + [ + 1015.6598820476629, + 131.5056981985168 + ], + [ + 1001.3979038955919, + 103.52216044493531 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 209, + "instance_id": 53504, + "pixel_count": 469, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -44.30002975463867, + "y": -58.57492446899414, + "z": 0.8211467266082764 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 1251.3051879051634, + "ymin": 26.852599855703772, + "xmax": 1280.0, + "ymax": 82.96051227343764 + }, + "corners_3d": [ + [ + -45.22607421875, + -56.065513610839844, + 0.05378423258662224 + ], + [ + -43.344486236572266, + -56.07659912109375, + 0.05378423258662224 + ], + [ + -43.373985290527344, + -61.08433532714844, + 0.05378423258662224 + ], + [ + -45.25557327270508, + -61.0732536315918, + 0.05378423258662224 + ], + [ + -45.22607421875, + -56.065513610839844, + 1.588509202003479 + ], + [ + -43.344486236572266, + -56.07659912109375, + 1.588509202003479 + ], + [ + -43.373985290527344, + -61.08433532714844, + 1.588509202003479 + ], + [ + -45.25557327270508, + -61.0732536315918, + 1.588509202003479 + ] + ], + "corners_2d": [ + [ + 1391.904996117884, + 82.96051227343764 + ], + [ + 1367.8960334926167, + 61.320180526096976 + ], + [ + 1251.3051879051634, + 60.867668363507335 + ], + [ + 1271.3951673082415, + 82.47719630625556 + ], + [ + 1412.6784956812314, + 48.359954947306846 + ], + [ + 1387.3371940356858, + 27.292725858041536 + ], + [ + 1267.6206197761444, + 26.852599855703772 + ], + [ + 1288.8262700192572, + 47.88902688079975 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 216, + "instance_id": 55296, + "pixel_count": 4922, + "type_id": "vehicle.audi.etron", + "bbox_3d": { + "center_world": { + "x": -44.75563430786133, + "y": -104.2794189453125, + "z": 0.8648524284362793 + }, + "extent": { + "x": 2.427854299545288, + "y": 1.0163782835006714, + "z": 0.8246796727180481 + }, + "yaw": -94.3148193359375 + }, + "bbox_2d": { + "xmin": 165.97729884407204, + "ymin": 20.402776294511852, + "xmax": 306.68901533525144, + "ymax": 83.46169796656278 + }, + "corners_3d": [ + [ + -45.58646774291992, + -101.781982421875, + 0.04017278552055359 + ], + [ + -43.559471130371094, + -101.9349136352539, + 0.04017278552055359 + ], + [ + -43.92479705810547, + -106.77686309814453, + 0.04017278552055359 + ], + [ + -45.9517936706543, + -106.6239242553711, + 0.04017278552055359 + ], + [ + -45.58646774291992, + -101.781982421875, + 1.6895321607589722 + ], + [ + -43.559471130371094, + -101.9349136352539, + 1.6895321607589722 + ], + [ + -43.92479705810547, + -106.77686309814453, + 1.6895321607589722 + ], + [ + -45.9517936706543, + -106.6239242553711, + 1.6895321607589722 + ] + ], + "corners_2d": [ + [ + 297.68491691451214, + 79.94210210556503 + ], + [ + 306.68901533525144, + 56.88730517699969 + ], + [ + 192.8373229568391, + 60.166431435813365 + ], + [ + 179.67421707122145, + 83.46169796656278 + ], + [ + 287.55461207365283, + 42.79043311584729 + ], + [ + 297.17698422895836, + 20.402776294511852 + ], + [ + 180.00911970649304, + 23.584213505844957 + ], + [ + 165.97729884407204, + 46.21222533094942 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 915.1549967855267, + "ymin": 15.65587677060654, + "xmax": 934.5983022007974, + "ymax": 45.88578718560677 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 927.003219089722, + 41.849504984274574 + ], + [ + 915.1549967855267, + 41.77246125080984 + ], + [ + 916.8052029052363, + 45.80774799154176 + ], + [ + 928.729932236799, + 45.88578718560677 + ], + [ + 932.7984142589803, + 15.73120054662877 + ], + [ + 920.7102548101786, + 15.65587677060654 + ], + [ + 922.4304952881255, + 19.601581204046056 + ], + [ + 934.5983022007974, + 19.677898061932126 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4809317425322915338, + "instance_id": 2806, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -62.6159553527832, + "y": -93.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 361.955901524279, + "ymin": 183.0092599211569, + "xmax": 386.35125073206495, + "ymax": 218.6723629750552 + }, + "corners_3d": [ + [ + -62.754539489746094, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.9842529296875, + 6.416468620300293 + ], + [ + -62.754539489746094, + -93.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 384.1153904227178, + 218.6723629750552 + ], + [ + 386.35125073206495, + 212.13342599760622 + ], + [ + 371.3689578090612, + 212.00883464875088 + ], + [ + 369.01055310884635, + 218.54571908449765 + ], + [ + 377.45288478455325, + 189.5974875563731 + ], + [ + 379.80208942930597, + 183.1324172413155 + ], + [ + 364.4340688389366, + 183.0092599211569 + ], + [ + 361.955901524279, + 189.4722482746283 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 90.05840687911439, + "ymin": 269.2661919472262, + "xmax": 120.70519068818578, + "ymax": 300.6013865271565 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 116.63520148908253, + 300.6013865271565 + ], + [ + 120.70519068818578, + 293.9549901362672 + ], + [ + 106.99811930427597, + 293.8289524725487 + ], + [ + 102.82507258560963, + 300.47343545822076 + ], + [ + 104.19491129462722, + 276.0057986297453 + ], + [ + 108.45647693940975, + 269.39159630703995 + ], + [ + 94.42793952651027, + 269.2661919472262 + ], + [ + 90.05840687911439, + 275.87844505511237 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5344508464058845628, + "instance_id": 48329, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -62.61595916748047, + "y": -96.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 239.75915899677807, + "ymin": 182.03821709925415, + "xmax": 268.1703694154689, + "ymax": 217.67349098000943 + }, + "corners_3d": [ + [ + -62.75454330444336, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.9842529296875, + 6.416468620300293 + ], + [ + -62.75454330444336, + -96.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 264.96892654123076, + 217.67349098000943 + ], + [ + 268.1703694154689, + 211.15073423189477 + ], + [ + 253.22499695335313, + 211.0264498961857 + ], + [ + 249.90161645429583, + 217.54716171567696 + ], + [ + 255.2166402916119, + 188.60972197767893 + ], + [ + 258.5819429085326, + 182.16106311965115 + ], + [ + 243.2527692065546, + 182.03821709925415 + ], + [ + 239.75915899677807, + 188.48480191760189 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8433051479337506626, + "instance_id": 17047, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -62.61595153808594, + "y": -91.29429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 464.0251403192448, + "ymin": 183.82032787446317, + "xmax": 485.0584378795202, + "ymax": 219.50664242885216 + }, + "corners_3d": [ + [ + -62.75453567504883, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.4842529296875, + 6.416468620300293 + ], + [ + -62.75453567504883, + -91.4842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 483.6309000417712, + 219.50664242885216 + ], + [ + 485.0584378795202, + 212.95417613856944 + ], + [ + 470.04527358058164, + 212.82932808025683 + ], + [ + 468.494683125461, + 219.3797354558272 + ], + [ + 479.5551573658528, + 190.42253969576123 + ], + [ + 481.0536508413369, + 183.94374551114518 + ], + [ + 465.65314522916196, + 183.82032787446317 + ], + [ + 464.0251403192448, + 190.29703346517798 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 934.2225796404658, + "ymin": 61.30983189520151, + "xmax": 955.7093060727373, + "ymax": 93.14936267212818 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 946.954981907754, + 88.48779304268834 + ], + [ + 934.2225796404658, + 88.39885740420942 + ], + [ + 936.1283951095144, + 93.05919152894728 + ], + [ + 948.9491917185824, + 93.14936267212818 + ], + [ + 953.6242821069336, + 61.3970439471741 + ], + [ + 940.614376598447, + 61.30983189520151 + ], + [ + 942.6070971872003, + 65.88052219254581 + ], + [ + 955.7093060727373, + 65.9689724067191 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 901.1723959763225, + "ymin": 0.0, + "xmax": 919.171111206877, + "ymax": 11.256442382756859 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 912.3724755843485, + 7.649902028759755 + ], + [ + 901.1723959763225, + 7.581036466908415 + ], + [ + 902.6469236480668, + 11.186736021987542 + ], + [ + 913.915344695685, + 11.256442382756859 + ], + [ + 917.5664188252322, + -17.668198823507907 + ], + [ + 906.1521720683372, + -17.735378897366274 + ], + [ + 907.6858761177086, + -14.2175286087068 + ], + [ + 919.171111206877, + -14.149512528778246 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 943.9977721795609, + "ymin": 243.14983225529, + "xmax": 966.9639974320519, + "ymax": 273.93424589543037 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 957.4115199633777, + 267.6807245913561 + ], + [ + 943.9977721795609, + 267.56210981897243 + ], + [ + 946.0887570780346, + 273.8138848297878 + ], + [ + 959.6011852929207, + 273.93424589543037 + ], + [ + 964.6694258858871, + 243.2676847762805 + ], + [ + 950.9479712496337, + 243.14983225529 + ], + [ + 953.1392656629914, + 249.36245353690052 + ], + [ + 966.9639974320519, + 249.48208124722007 + ] + ], + "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": 875.0866921135141, + "ymin": 0.0, + "xmax": 1030.7223037189601, + "ymax": 345.3907631898037 + }, + "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": [ + [ + 935.9240764380438, + 345.1628576769434 + ], + [ + 950.4078071587606, + 345.3907631898037 + ], + [ + 886.2340314104172, + 131.8318886040003 + ], + [ + 875.0866921135141, + 131.69660184531062 + ], + [ + 1012.4674626393974, + 89.04442190760227 + ], + [ + 1030.7223037189601, + 89.25229686790487 + ], + [ + 932.5668692378445, + -94.62749417466904 + ], + [ + 919.3120608783466, + -94.73744481090216 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 49.33167707292864, + "xmax": 115.06974118461585, + "ymax": 359.77439705144326 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 47.340844622010195, + 359.62703830693135 + ], + [ + 62.24095849435082, + 359.77439705144326 + ], + [ + 115.06974118461585, + 276.1293382184083 + ], + [ + 101.48124126194102, + 276.0069178957056 + ], + [ + -94.7465769220895, + 125.70384055203783 + ], + [ + -76.30101855095575, + 125.84128838155215 + ], + [ + 2.7263346356702414, + 49.44116585267784 + ], + [ + -13.75042724231946, + 49.33167707292864 + ] + ], + "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": 193.78758807853507, + "ymin": 0.0, + "xmax": 352.06029305042995, + "ymax": 147.5907263299585 + }, + "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": [ + [ + 352.06029305042995, + 8.397828569959245 + ], + [ + 342.9158914597862, + 8.305123929930346 + ], + [ + 265.99254631386935, + 147.4494256355995 + ], + [ + 277.26746337603777, + 147.5907263299585 + ], + [ + 308.6184648984623, + -191.79981429731652 + ], + [ + 298.1024957903186, + -191.87050274916828 + ], + [ + 193.78758807853507, + -81.88205677067765 + ], + [ + 207.22309243445386, + -81.7662625208435 + ] + ], + "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": 578.2662793867217, + "ymin": 0.0, + "xmax": 880.5842818806927, + "ymax": 22.4340468698706 + }, + "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": [ + [ + 848.2991988775126, + 22.4340468698706 + ], + [ + 847.0683943194056, + 18.221474702093474 + ], + [ + 587.0962515459671, + 15.563875264131298 + ], + [ + 586.5138460730564, + 19.73927609282623 + ], + [ + 880.5842818806927, + -181.05843002478093 + ], + [ + 878.9058713213926, + -184.29022464639604 + ], + [ + 579.0034436642129, + -186.32550923796566 + ], + [ + 578.2662793867217, + -183.12660035718397 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7298902328162137019, + "instance_id": 47923, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_0", + "bbox_3d": { + "center_world": { + "x": -58.97412109375, + "y": -104.33528900146484, + "z": 7.722432613372803 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 56.92118991641661, + "xmax": 2.9562584545652726, + "ymax": 68.34166503310075 + }, + "corners_3d": [ + [ + -59.18000793457031, + -104.483154296875, + 7.667783737182617 + ], + [ + -59.18000793457031, + -104.18742370605469, + 7.667783737182617 + ], + [ + -58.76823425292969, + -104.18742370605469, + 7.667783737182617 + ], + [ + -58.76823425292969, + -104.483154296875, + 7.667783737182617 + ], + [ + -59.18000793457031, + -104.483154296875, + 7.777081489562988 + ], + [ + -59.18000793457031, + -104.18742370605469, + 7.777081489562988 + ], + [ + -58.76823425292969, + -104.18742370605469, + 7.777081489562988 + ], + [ + -58.76823425292969, + -104.483154296875, + 7.777081489562988 + ] + ], + "corners_2d": [ + [ + -15.840034172916148, + 68.26521951328306 + ], + [ + -4.669610176436549, + 68.34166503310075 + ], + [ + 2.9562584545652726, + 60.83427312537799 + ], + [ + -8.08668624916561, + 60.75957451143228 + ], + [ + -17.838116507844575, + 64.40494533307736 + ], + [ + -6.633891266196542, + 64.48117060159751 + ], + [ + 1.037587751234014, + 56.99566809664816 + ], + [ + -10.038390001499351, + 56.92118991641661 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 14685537128847865056, + "instance_id": 57460, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_1", + "bbox_3d": { + "center_world": { + "x": -58.97411346435547, + "y": -104.33528900146484, + "z": 7.7224273681640625 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 56.9815160724018, + "xmax": 2.847459206128974, + "ymax": 68.2803815714106 + }, + "corners_3d": [ + [ + -59.17780685424805, + -104.48158264160156, + 7.668359756469727 + ], + [ + -59.17780685424805, + -104.18899536132812, + 7.668359756469727 + ], + [ + -58.77042007446289, + -104.18899536132812, + 7.668359756469727 + ], + [ + -58.77042007446289, + -104.48158264160156, + 7.668359756469727 + ], + [ + -59.17780685424805, + -104.48158264160156, + 7.776494979858398 + ], + [ + -59.17780685424805, + -104.18899536132812, + 7.776494979858398 + ], + [ + -58.77042007446289, + -104.18899536132812, + 7.776494979858398 + ], + [ + -58.77042007446289, + -104.48158264160156, + 7.776494979858398 + ] + ], + "corners_2d": [ + [ + -15.74925224672063, + 68.20475912545174 + ], + [ + -4.6980645395287866, + 68.2803815714106 + ], + [ + 2.847459206128974, + 60.85310167528763 + ], + [ + -8.078944063704625, + 60.77918915190725 + ], + [ + -17.72565438351171, + 64.38566001849989 + ], + [ + -6.641384504015491, + 64.46106687076457 + ], + [ + 0.9487876315183712, + 57.05521282544407 + ], + [ + -10.009953876447526, + 56.9815160724018 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 109.05996135659046, + "xmax": 546.2650423754014, + "ymax": 384.3550674775258 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 136.24959122227, + 366.9753312439477 + ], + [ + 130.33257860496389, + 377.51074611417494 + ], + [ + 544.876299566956, + 384.3550674775258 + ], + [ + 546.2650423754014, + 373.67010339003355 + ], + [ + 2.080303915057243, + 109.05996135659046 + ], + [ + -7.320872515806286, + 118.81521848947114 + ], + [ + 518.9523268654574, + 125.18368077192542 + ], + [ + 521.0768270443778, + 115.25230490919401 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 897939386194665430, + "instance_id": 54815, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1949_135", + "bbox_3d": { + "center_world": { + "x": -36.33243179321289, + "y": -120.14290618896484, + "z": 6.611191272735596 + }, + "extent": { + "x": 4.422521591186523, + "y": 4.2970757484436035, + "z": 7.008497714996338 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 106.4477131742749, + "ymax": 37.877212479747925 + }, + "corners_3d": [ + [ + -32.2579460144043, + -115.5145034790039, + -0.3973064422607422 + ], + [ + -31.58873176574707, + -124.08255767822266, + -0.3973064422607422 + ], + [ + -40.406917572021484, + -124.77130889892578, + -0.3973064422607422 + ], + [ + -41.076133728027344, + -116.20325469970703, + -0.3973064422607422 + ], + [ + -32.2579460144043, + -115.5145034790039, + 13.619688987731934 + ], + [ + -31.58873176574707, + -124.08255767822266, + 13.619688987731934 + ], + [ + -40.406917572021484, + -124.77130889892578, + 13.619688987731934 + ], + [ + -41.076133728027344, + -116.20325469970703, + 13.619688987731934 + ] + ], + "corners_2d": [ + [ + 106.4477131742749, + -40.00362280423451 + ], + [ + -49.49685385739588, + -46.04196697279599 + ], + [ + -164.3297692717672, + 30.001875215224686 + ], + [ + 12.432869237370824, + 37.877212479747925 + ], + [ + -23.529314763684056, + -375.0471620496903 + ], + [ + -215.1545130950733, + -377.9314000167602 + ], + [ + -392.58733311301285, + -340.4352395019615 + ], + [ + -168.60085005601923, + -336.4010749331204 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1073.9846137203076, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1394.475137645587, + 528.259054880776 + ], + [ + 1073.9846137203076, + 637.4476482495534 + ], + [ + 1457.9328098390783, + 1167.6712030876438 + ], + [ + 1852.9634121997706, + 951.5840120741789 + ], + [ + 1948.7202951899133, + -64.63182839241881 + ], + [ + 1451.2505470064323, + 30.763690532310306 + ], + [ + 3094.5306979190846, + 832.180882871968 + ], + [ + 3559.677520513771, + 411.613898168549 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12511280680997575471, + "instance_id": 12123, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2349_123", + "bbox_3d": { + "center_world": { + "x": -36.20769119262695, + "y": -108.4781723022461, + "z": 6.51531457901001 + }, + "extent": { + "x": 4.686452865600586, + "y": 4.53662633895874, + "z": 6.939882278442383 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 325.39865611981406, + "ymax": 52.11171452517209 + }, + "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": [ + [ + 120.3660564338544, + 52.11171452517209 + ], + [ + 325.39865611981406, + 16.88358159191796 + ], + [ + 295.0797339909902, + -54.788415251572815 + ], + [ + 114.16426064878465, + -27.64116177031974 + ], + [ + -31.75773081364298, + -323.55609576506583 + ], + [ + 239.7780557152699, + -341.94241955312305 + ], + [ + 214.98394869861346, + -377.59789572776583 + ], + [ + -15.74085147437404, + -364.35922287237634 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12783736354476579425, + "instance_id": 25050, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2728_95", + "bbox_3d": { + "center_world": { + "x": -40.00048828125, + "y": -120.97515106201172, + "z": 4.526856422424316 + }, + "extent": { + "x": 2.978419780731201, + "y": 2.8939361572265625, + "z": 4.719987869262695 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 8.840101373134985, + "ymax": 55.00321169494151 + }, + "corners_3d": [ + [ + -37.48514938354492, + -124.27953338623047, + -0.1931314468383789 + ], + [ + -43.23114013671875, + -123.58450317382812, + -0.1931314468383789 + ], + [ + -42.51582717895508, + -117.67076873779297, + -0.1931314468383789 + ], + [ + -36.76983642578125, + -118.36579895019531, + -0.1931314468383789 + ], + [ + -37.48514938354492, + -124.27953338623047, + 9.246844291687012 + ], + [ + -43.23114013671875, + -123.58450317382812, + 9.246844291687012 + ], + [ + -42.51582717895508, + -117.67076873779297, + 9.246844291687012 + ], + [ + -36.76983642578125, + -118.36579895019531, + 9.246844291687012 + ] + ], + "corners_2d": [ + [ + -119.79811070364303, + -1.5448116650914017 + ], + [ + -179.50959948754405, + 55.00321169494151 + ], + [ + -37.903865883760545, + 48.25944747739777 + ], + [ + 8.840101373134985, + -7.154575464313496 + ], + [ + -246.23695203663362, + -224.01750492000758 + ], + [ + -331.55748314421453, + -182.54458285732858 + ], + [ + -162.11052994587158, + -187.56181327708384 + ], + [ + -95.01568821890771, + -228.05893004804363 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00139/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00139/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..44f526458242b06905a8c068fe165d8e6e1a98e8 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00139/meta.json @@ -0,0 +1,2569 @@ +{ + "frame_id": 139, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 69.5, + "sim_timestamp": 11446.135647613555 + }, + "drone_pose": { + "x": -81.94739640787401, + "y": -87.12670862566402, + "z": 20.0026248101711, + "pitch": -49.47771393822663, + "yaw": 1.836271689402213, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6494101285934448, + -0.02082006447017193, + 0.7601533532142639, + 39.826393127441406 + ], + [ + 0.03204349800944328, + 0.9994864463806152, + -9.313225746154785e-10, + 84.45608520507812 + ], + [ + -0.7597629427909851, + 0.02435797080397606, + 0.6497437953948975, + -77.37940216064453 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -81.44604669797774, + "y": -87.29204258323975, + "z": 20.002120944705386 + }, + "t1_image_uv": [ + 100.3117978629765, + -760.822425315768 + ], + "t1_depth": 0.3225223220333641 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -62.16718292236328, + "y": -86.68776321411133, + "z": 0.5749992918968201 + }, + "image_uv": [ + 633.2192079196062, + 276.0343978644175 + ], + "depth": 27.622583068433904, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 204, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -62.16718292236328, + "y": -86.68775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.23217038810253143, + "y": 0.20537106692790985, + "z": 0.5328439474105835 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 625.6931432699084, + "ymin": 256.7634706538588, + "xmax": 640.6240877594369, + "ymax": 294.9596334100373 + }, + "corners_3d": [ + [ + -62.39935302734375, + -86.89312744140625, + 0.042155325412750244 + ], + [ + -62.39935302734375, + -86.48239135742188, + 0.042155325412750244 + ], + [ + -61.93501281738281, + -86.48239135742188, + 0.042155325412750244 + ], + [ + -61.93501281738281, + -86.89312744140625, + 0.042155325412750244 + ], + [ + -62.39935302734375, + -86.89312744140625, + 1.1078431606292725 + ], + [ + -62.39935302734375, + -86.48239135742188, + 1.1078431606292725 + ], + [ + -61.93501281738281, + -86.48239135742188, + 1.1078431606292725 + ], + [ + -61.93501281738281, + -86.89312744140625, + 1.1078431606292725 + ] + ], + "corners_2d": [ + [ + 626.4666460439486, + 294.9596334100373 + ], + [ + 640.6059548910647, + 294.6351015552558 + ], + [ + 640.0926378928763, + 283.3172854955719 + ], + [ + 626.1045060516402, + 283.634908650276 + ], + [ + 626.0615398657425, + 268.4500494889538 + ], + [ + 640.6240877594369, + 268.1241803873106 + ], + [ + 640.0953794921373, + 256.7634706538588 + ], + [ + 625.6931432699084, + 257.0821983890098 + ] + ], + "center_offset_px": [ + -6.7807920803937805, + -83.96560213558251 + ] + }, + "trace_timestep_index": 139, + "instance_stats": { + "semantic_tags_present": 13, + "instances_present": 52, + "semantic_pixel_counts": { + "1": 518698, + "2": 200966, + "3": 1352, + "4": 54183, + "6": 13180, + "7": 1895, + "9": 3004, + "10": 83438, + "12": 3411, + "14": 6407, + "20": 1406, + "21": 3822, + "24": 29838 + }, + "instance_pixel_counts": { + "9346": 460, + "12951": 2194, + "17232": 54183, + "22976": 20760, + "23296": 9406, + "23552": 4512, + "24512": 17315, + "26963": 697, + "27795": 14110, + "28307": 2400, + "28819": 27607, + "29331": 964, + "31893": 695, + "32405": 21, + "33429": 1965, + "33941": 43, + "36692": 1406, + "37979": 237, + "41107": 34161, + "41611": 4515, + "41619": 15322, + "42123": 3761, + "42635": 2465, + "43117": 1115, + "43147": 9949, + "43155": 186356, + "43659": 10637, + "43667": 34931, + "44179": 202847, + "44181": 1344, + "44693": 158, + "45717": 15804, + "46229": 1025, + "46741": 8783, + "49664": 204, + "49920": 424, + "50176": 519, + "50432": 921, + "50624": 16828, + "50688": 868, + "50944": 475, + "51136": 7174, + "51648": 5060, + "51712": 6186, + "52160": 29242, + "52672": 62180, + "55296": 221, + "55879": 42560, + "57173": 3004, + "62043": 463, + "64351": 8886, + "64603": 3359 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 204, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -62.16718292236328, + "y": -86.68775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.1705956757068634, + "y": 0.21523435413837433, + "z": 0.5261176824569702 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 625.3977379303511, + "ymin": 258.4203467220674, + "xmax": 640.9022588173852, + "ymax": 293.28910933404416 + }, + "corners_3d": [ + [ + -62.3377799987793, + -86.90299224853516, + 0.048881590366363525 + ], + [ + -62.3377799987793, + -86.47252655029297, + 0.048881590366363525 + ], + [ + -61.996585845947266, + -86.47252655029297, + 0.048881590366363525 + ], + [ + -61.996585845947266, + -86.90299224853516, + 0.048881590366363525 + ], + [ + -62.3377799987793, + -86.90299224853516, + 1.1011168956756592 + ], + [ + -62.3377799987793, + -86.47252655029297, + 1.1011168956756592 + ], + [ + -61.996585845947266, + -86.47252655029297, + 1.1011168956756592 + ], + [ + -61.996585845947266, + -86.90299224853516, + 1.1011168956756592 + ] + ], + "corners_2d": [ + [ + 626.0764149270836, + 293.28910933404416 + ], + [ + 640.8764071370074, + 292.94995236071713 + ], + [ + 640.4964936529697, + 284.6336964365414 + ], + [ + 625.8129621556382, + 284.9675321178809 + ], + [ + 625.6655703972846, + 267.10822184406163 + ], + [ + 640.9022588173852, + 266.76771378347314 + ], + [ + 640.5110201954014, + 258.4203467220674 + ], + [ + 625.3977379303511, + 258.75535659097716 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 424, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -58.041194915771484, + "y": -83.69005584716797, + "z": 0.581683874130249 + }, + "extent": { + "x": 0.41761717200279236, + "y": 0.30238768458366394, + "z": 0.8757017850875854 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 709.9181704350149, + "ymin": 150.09901625446665, + "xmax": 739.7326362976094, + "ymax": 213.22646543163907 + }, + "corners_3d": [ + [ + -58.51255798339844, + -83.89900970458984, + -0.2940179109573364 + ], + [ + -58.38681411743164, + -83.30744934082031, + -0.2940179109573364 + ], + [ + -57.56983184814453, + -83.4811019897461, + -0.2940179109573364 + ], + [ + -57.69557571411133, + -84.07266235351562, + -0.2940179109573364 + ], + [ + -58.51255798339844, + -83.89900970458984, + 1.4573856592178345 + ], + [ + -58.38681411743164, + -83.30744934082031, + 1.4573856592178345 + ], + [ + -57.56983184814453, + -83.4811019897461, + 1.4573856592178345 + ], + [ + -57.69557571411133, + -84.07266235351562, + 1.4573856592178345 + ] + ], + "corners_2d": [ + [ + 717.3607430378374, + 213.22646543163907 + ], + [ + 735.4228736901205, + 210.24827307261125 + ], + [ + 727.6988867657033, + 193.87982871781296 + ], + [ + 709.9181704350149, + 196.7585519393808 + ], + [ + 720.865906419747, + 169.39707489808603 + ], + [ + 739.7326362976094, + 166.42410432471743 + ], + [ + 731.5902338854504, + 150.09901625446665 + ], + [ + 713.0303047398837, + 152.9683184270353 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 519, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -64.42300415039062, + "y": -79.74504852294922, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.5808203220367432, + "y": 0.3722314238548279, + "z": 0.9051470756530762 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 864.6402025312066, + "ymin": 284.61171918371144, + "xmax": 917.203031800291, + "ymax": 363.4039558462939 + }, + "corners_3d": [ + [ + -65.03955078125, + -80.05452728271484, + -0.17774063348770142 + ], + [ + -64.96173095703125, + -79.31414031982422, + -0.17774063348770142 + ], + [ + -63.80645751953125, + -79.4355697631836, + -0.17774063348770142 + ], + [ + -63.884273529052734, + -80.17595672607422, + -0.17774063348770142 + ], + [ + -65.03955078125, + -80.05452728271484, + 1.6325535774230957 + ], + [ + -64.96173095703125, + -79.31414031982422, + 1.6325535774230957 + ], + [ + -63.80645751953125, + -79.4355697631836, + 1.6325535774230957 + ], + [ + -63.884273529052734, + -80.17595672607422, + 1.6325535774230957 + ] + ], + "corners_2d": [ + [ + 876.7311961600603, + 363.4039558462939 + ], + [ + 902.826507421795, + 360.603831299941 + ], + [ + 890.0495530852573, + 329.8047354725261 + ], + [ + 864.6402025312066, + 332.4531922961985 + ], + [ + 889.7143517725245, + 318.5881090058572 + ], + [ + 917.203031800291, + 315.7523064794964 + ], + [ + 903.3323948268087, + 284.61171918371144 + ], + [ + 876.6037351291342, + 287.28587698617105 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 921, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -71.66718292236328, + "y": -86.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.5419774651527405, + "y": 0.4500780701637268, + "z": 0.9339103698730469 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 623.705177099149, + "ymin": 531.5898071697759, + "xmax": 667.1297466497731, + "ymax": 616.7705323012981 + }, + "corners_3d": [ + [ + -72.20915985107422, + -87.1378402709961, + -0.3589159846305847 + ], + [ + -72.20915985107422, + -86.23767852783203, + -0.3589159846305847 + ], + [ + -71.12520599365234, + -86.23767852783203, + -0.3589159846305847 + ], + [ + -71.12520599365234, + -87.1378402709961, + -0.3589159846305847 + ], + [ + -72.20915985107422, + -87.1378402709961, + 1.5089046955108643 + ], + [ + -72.20915985107422, + -86.23767852783203, + 1.5089046955108643 + ], + [ + -71.12520599365234, + -86.23767852783203, + 1.5089046955108643 + ], + [ + -71.12520599365234, + -87.1378402709961, + 1.5089046955108643 + ] + ], + "corners_2d": [ + [ + 625.7696784798488, + 616.7705323012981 + ], + [ + 665.3644521104475, + 615.5853485004502 + ], + [ + 663.091403865562, + 572.4979148506466 + ], + [ + 624.7331779465777, + 573.6101479298994 + ], + [ + 624.7783774440105, + 577.4960496774659 + ], + [ + 667.1297466497731, + 576.2644605753363 + ], + [ + 664.6448969719547, + 531.5898071697759 + ], + [ + 623.705177099149, + 532.7405734304451 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 868, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -65.78268432617188, + "y": -97.81512451171875, + "z": 0.7273966670036316 + }, + "extent": { + "x": 0.41678959131240845, + "y": 0.47331544756889343, + "z": 0.8675508499145508 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 172.25843477304318, + "ymin": 344.2539033779266, + "xmax": 242.4429699487328, + "ymax": 413.4670727612073 + }, + "corners_3d": [ + [ + -66.14771270751953, + -98.32941436767578, + -0.1401541829109192 + ], + [ + -66.24666595458984, + -97.38796997070312, + -0.1401541829109192 + ], + [ + -65.41765594482422, + -97.30083465576172, + -0.1401541829109192 + ], + [ + -65.3187026977539, + -98.24227905273438, + -0.1401541829109192 + ], + [ + -66.14771270751953, + -98.32941436767578, + 1.5949475765228271 + ], + [ + -66.24666595458984, + -97.38796997070312, + 1.5949475765228271 + ], + [ + -65.41765594482422, + -97.30083465576172, + 1.5949475765228271 + ], + [ + -65.3187026977539, + -98.24227905273438, + 1.5949475765228271 + ] + ], + "corners_2d": [ + [ + 196.60543647943223, + 411.3932907904425 + ], + [ + 231.6555782766489, + 413.4670727612073 + ], + [ + 242.4429699487328, + 388.86508350781384 + ], + [ + 208.10582573780346, + 386.87704480574075 + ], + [ + 172.25843477304318, + 369.1577989434714 + ], + [ + 209.19142844798495, + 371.26699041489303 + ], + [ + 221.0541714353085, + 346.27125212665334 + ], + [ + 184.91192185954645, + 344.2539033779266 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 475, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -50.92184829711914, + "y": -94.85797882080078, + "z": 0.6005266308784485 + }, + "extent": { + "x": 0.4343530237674713, + "y": 0.43889158964157104, + "z": 0.9001483917236328 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 378.0302853789417, + "ymin": 32.00942639019553, + "xmax": 418.82668497224495, + "ymax": 91.66928892468724 + }, + "corners_3d": [ + [ + -51.25545883178711, + -95.3775863647461, + -0.2996217608451843 + ], + [ + -51.43796157836914, + -94.51898193359375, + -0.2996217608451843 + ], + [ + -50.58823776245117, + -94.33837127685547, + -0.2996217608451843 + ], + [ + -50.40573501586914, + -95.19697570800781, + -0.2996217608451843 + ], + [ + -51.25545883178711, + -95.3775863647461, + 1.5006749629974365 + ], + [ + -51.43796157836914, + -94.51898193359375, + 1.5006749629974365 + ], + [ + -50.58823776245117, + -94.33837127685547, + 1.5006749629974365 + ], + [ + -50.40573501586914, + -95.19697570800781, + 1.5006749629974365 + ] + ], + "corners_2d": [ + [ + 388.21722874365133, + 89.22475934920914 + ], + [ + 411.13156357760647, + 91.66928892468724 + ], + [ + 418.82668497224495, + 78.34696053059707 + ], + [ + 396.2468076265095, + 75.97792912116529 + ], + [ + 378.0302853789417, + 45.07000840726033 + ], + [ + 401.84408249031026, + 47.481963677014505 + ], + [ + 409.99693784121143, + 34.34394420381233 + ], + [ + 386.5441068533265, + 32.00942639019553 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 6186, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 838.6484660304438, + "ymin": 11.837722439707363, + "xmax": 988.9544281826251, + "ymax": 90.0046650319764 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 838.6484660304438, + 60.12375382131438 + ], + [ + 847.903641783606, + 90.0046650319764 + ], + [ + 974.6570611855414, + 87.4362320774593 + ], + [ + 961.0031994883072, + 57.74540456428366 + ], + [ + 846.8978493491147, + 14.152496470210565 + ], + [ + 856.8594003662087, + 43.5633861462714 + ], + [ + 988.9544281826251, + 41.0545112372659 + ], + [ + 974.2226708313437, + 11.837722439707363 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 216, + "instance_id": 55296, + "pixel_count": 221, + "type_id": "vehicle.audi.etron", + "bbox_3d": { + "center_world": { + "x": -44.75563430786133, + "y": -104.2794189453125, + "z": 0.8648524284362793 + }, + "extent": { + "x": 2.427854299545288, + "y": 1.0163782835006714, + "z": 0.8246796727180481 + }, + "yaw": -94.3148193359375 + }, + "bbox_2d": { + "xmin": 102.87314436643396, + "ymin": 0.0, + "xmax": 253.28867212150476, + "ymax": 10.103567076186437 + }, + "corners_3d": [ + [ + -45.58646774291992, + -101.781982421875, + 0.04017278552055359 + ], + [ + -43.559471130371094, + -101.9349136352539, + 0.04017278552055359 + ], + [ + -43.92479705810547, + -106.77686309814453, + 0.04017278552055359 + ], + [ + -45.9517936706543, + -106.6239242553711, + 0.04017278552055359 + ], + [ + -45.58646774291992, + -101.781982421875, + 1.6895321607589722 + ], + [ + -43.559471130371094, + -101.9349136352539, + 1.6895321607589722 + ], + [ + -43.92479705810547, + -106.77686309814453, + 1.6895321607589722 + ], + [ + -45.9517936706543, + -106.6239242553711, + 1.6895321607589722 + ] + ], + "corners_2d": [ + [ + 245.52607920570625, + 3.3109724016089785 + ], + [ + 253.28867212150476, + -21.979853558889033 + ], + [ + 132.51679377263565, + -15.629996983935314 + ], + [ + 120.52788861435147, + 10.103567076186437 + ], + [ + 232.2412533205495, + -36.33574066012039 + ], + [ + 240.70899164369348, + -61.09846628297629 + ], + [ + 115.86233808015459, + -54.88637181354386 + ], + [ + 102.87314436643396, + -29.675604212489873 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4809317425322915338, + "instance_id": 2806, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -62.6159553527832, + "y": -93.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 323.41541671518894, + "ymin": 115.8753075549871, + "xmax": 350.0161439428966, + "ymax": 153.19872096369087 + }, + "corners_3d": [ + [ + -62.754539489746094, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.9842529296875, + 6.416468620300293 + ], + [ + -62.754539489746094, + -93.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 348.14341639564066, + 152.88789844491654 + ], + [ + 350.0161439428966, + 145.871379993886 + ], + [ + 334.4005732010947, + 146.17745827766163 + ], + [ + 332.4066338872955, + 153.19872096369087 + ], + [ + 339.6151772174707, + 122.85855014004119 + ], + [ + 341.60941415042015, + 115.8753075549871 + ], + [ + 325.5380730951043, + 116.17986906671473 + ], + [ + 323.41541671518894, + 123.16797088946231 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 43.98322401482153, + "ymin": 213.51963935204057, + "xmax": 77.66175224063875, + "ymax": 245.9166078111644 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 73.99600059989291, + 245.60266651260136 + ], + [ + 77.66175224063875, + 238.47286556131752 + ], + [ + 63.246446337040766, + 238.78238394274922 + ], + [ + 59.47690817741022, + 245.9166078111644 + ], + [ + 58.8946444100269, + 220.65730214735652 + ], + [ + 62.76705574911182, + 213.51963935204057 + ], + [ + 47.965084655381474, + 213.82944314446203 + ], + [ + 43.98322401482153, + 220.9716514995622 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5344508464058845628, + "instance_id": 48329, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -62.61595916748047, + "y": -96.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 195.0947972027583, + "ymin": 118.28614550952946, + "xmax": 226.42014545903146, + "ymax": 155.66066988741403 + }, + "corners_3d": [ + [ + -62.75454330444336, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.9842529296875, + 6.416468620300293 + ], + [ + -62.75454330444336, + -96.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 223.58579750196606, + 155.34817520430363 + ], + [ + 226.42014545903146, + 148.29406080989887 + ], + [ + 210.72121382111976, + 148.6017730694256 + ], + [ + 207.764355854705, + 155.66066988741403 + ], + [ + 211.3842651140879, + 125.307899315161 + ], + [ + 214.3974416668862, + 118.28614550952946 + ], + [ + 198.23780880086673, + 118.59238023684313 + ], + [ + 195.0947972027583, + 125.61903353941008 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8433051479337506626, + "instance_id": 17047, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -62.61595153808594, + "y": -91.29429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 429.80983987322395, + "ymin": 113.87631149608089, + "xmax": 452.5119948261938, + "ymax": 151.15713687459288 + }, + "corners_3d": [ + [ + -62.75453567504883, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.4842529296875, + 6.416468620300293 + ], + [ + -62.75453567504883, + -91.4842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 451.4328339573028, + 150.84769760566292 + ], + [ + 452.5119948261938, + 143.8622802329216 + ], + [ + 436.9653856136538, + 144.1670067809266 + ], + [ + 435.766083013731, + 151.15713687459288 + ], + [ + 445.93540877594825, + 120.82770265116727 + ], + [ + 447.08901512848536, + 113.87631149608089 + ], + [ + 431.09069928397764, + 114.17948910373846 + ], + [ + 429.80983987322395, + 121.13570628316117 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 907.8535643943075, + "ymin": 0.0, + "xmax": 929.7971830798228, + "ymax": 4.2213755744911055 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 920.7855142341467, + -0.9237675089573258 + ], + [ + 907.8535643943075, + -0.7085760975110702 + ], + [ + 909.8918459233602, + 4.2213755744911055 + ], + [ + 922.9068131896142, + 4.003392634519514 + ], + [ + 927.5792320958875, + -29.510323752356385 + ], + [ + 914.3362625489657, + -29.2981902744678 + ], + [ + 916.4671416077357, + -24.43750079207109 + ], + [ + 929.7971830798228, + -24.652453384300486 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 919.5864233253121, + "ymin": 160.19454491601493, + "xmax": 942.7213088994258, + "ymax": 191.79051881238928 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 932.9834258354535, + 185.12129572542668 + ], + [ + 919.5864233253121, + 185.39871402354655 + ], + [ + 921.7896589934942, + 191.79051881238928 + ], + [ + 935.2762638674503, + 191.5093496230476 + ], + [ + 940.3199895194407, + 160.19454491601493 + ], + [ + 926.5896137638899, + 160.4714369211256 + ], + [ + 928.8968004917938, + 166.85223952102595 + ], + [ + 942.7213088994258, + 166.57150900640946 + ] + ], + "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": 846.2048061600344, + "ymin": 0.0, + "xmax": 1008.0767061584595, + "ymax": 263.6928629286448 + }, + "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": [ + [ + 911.6150801957244, + 263.6928629286448 + ], + [ + 925.9832814774225, + 263.46051786658074 + ], + [ + 857.5122572946693, + 43.942125784440975 + ], + [ + 846.2048061600344, + 44.08572193088531 + ], + [ + 989.6067295143937, + 0.4223177621637433 + ], + [ + 1008.0767061584595, + 0.19994862807595837 + ], + [ + 903.7604663529421, + -197.73023711719213 + ], + [ + 890.058245628109, + -197.60824588660796 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 1483182832834245112, + "instance_id": 63729, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_2", + "bbox_3d": { + "center_world": { + "x": -77.22300720214844, + "y": -96.55422973632812, + "z": 4.029996395111084 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 695.9033481017785, + "xmax": 234.39910721824378, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -77.00340270996094, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.4426040649414, + -98.470947265625, + 0.15327763557434082 + ], + [ + -77.44261169433594, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00341033935547, + -94.63751220703125, + 0.15327763557434082 + ], + [ + -77.00340270996094, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.4426040649414, + -98.470947265625, + 7.906715393066406 + ], + [ + -77.44261169433594, + -94.63751220703125, + 7.906715393066406 + ], + [ + -77.00341033935547, + -94.63751220703125, + 7.906715393066406 + ] + ], + "corners_2d": [ + [ + 28.9753047697817, + 860.4898401429036 + ], + [ + 19.932183182490235, + 886.5387065345883 + ], + [ + 228.6774272189288, + 879.1661778346427 + ], + [ + 234.39910721824378, + 853.3477989081798 + ], + [ + -266.9559919881432, + 705.4718797670178 + ], + [ + -287.5864782105101, + 740.719012647428 + ], + [ + 26.045412854323672, + 730.6872397228517 + ], + [ + 39.2384929792737, + 695.9033481017785 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 69.49309076165582, + "ymax": 308.17888205758493 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 6.22878316635456, + 308.17888205758493 + ], + [ + 21.855760432922693, + 307.8205446422699 + ], + [ + 69.49309076165582, + 218.4381861212636 + ], + [ + 55.18536081180389, + 218.73919700238946 + ], + [ + -168.0287024141678, + 68.31386557562962 + ], + [ + -148.0325625541043, + 67.95932593405007 + ], + [ + -70.9939860995811, + -18.484742248394696 + ], + [ + -88.88003013084699, + -18.200132965396563 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2141257636277524096, + "instance_id": 32790, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_1", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94465637207031, + "z": 7.689112186431885 + }, + "extent": { + "x": 0.20369505882263184, + "y": 0.14629322290420532, + "z": 0.05406738072633743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 706.6773414484226, + "xmax": 39.01246604858375, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -77.0766372680664, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.635044574737549 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.635044574737549 + ], + [ + -77.0766372680664, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -95.14835357666016, + 7.743179798126221 + ], + [ + -77.36922454833984, + -94.74095916748047, + 7.743179798126221 + ], + [ + -77.0766372680664, + -94.74095916748047, + 7.743179798126221 + ] + ], + "corners_2d": [ + [ + 7.070571370043922, + 710.8249974171249 + ], + [ + -2.0437583890242195, + 733.7673143163795 + ], + [ + 30.40129939908286, + 732.7279541688764 + ], + [ + 39.01246604858375, + 709.8172420545377 + ], + [ + 2.8459930848197246, + 707.6896606359164 + ], + [ + -6.396326800100724, + 730.7383762206834 + ], + [ + 26.27157269595466, + 729.6940922958913 + ], + [ + 35.00384942692881, + 706.6773414484226 + ] + ], + "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": 122.95918424150682, + "ymin": 0.0, + "xmax": 297.76264192495404, + "ymax": 76.99256403466427 + }, + "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": [ + [ + 297.76264192495404, + -76.06738305669046 + ], + [ + 288.0520517838393, + -75.96331933212923 + ], + [ + 217.33056998468527, + 76.99256403466427 + ], + [ + 229.21532376918583, + 76.83702275000758 + ], + [ + 237.71384043073562, + -296.55522399477354 + ], + [ + 226.28844029170165, + -296.47215408775105 + ], + [ + 122.95918424150682, + -169.40688555255622 + ], + [ + 137.51827397798735, + -169.5413455730802 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 8047412139408322004, + "instance_id": 54381, + "pixel_count": null, + "type_id": "BP_StreetLight_simple54_SM_0", + "bbox_3d": { + "center_world": { + "x": -77.22293090820312, + "y": -94.94466400146484, + "z": 7.689117908477783 + }, + "extent": { + "x": 0.2058880627155304, + "y": 0.14786842465400696, + "z": 0.054649047553539276 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 706.5330425483018, + "xmax": 39.25014256846384, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -77.07506561279297, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.634469032287598 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.634469032287598 + ], + [ + -77.07506561279297, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -95.15055084228516, + 7.743766784667969 + ], + [ + -77.37079620361328, + -94.73877716064453, + 7.743766784667969 + ], + [ + -77.07506561279297, + -94.73877716064453, + 7.743766784667969 + ] + ], + "corners_2d": [ + [ + 6.968731674486548, + 710.7256770707496 + ], + [ + -2.245591622421898, + 733.9140989125946 + ], + [ + 30.549818461732116, + 732.8634169347672 + ], + [ + 39.25014256846384, + 709.7072809407525 + ], + [ + 2.698232514564097, + 707.5560992528449 + ], + [ + -6.646885217186423, + 730.8532215678558 + ], + [ + 26.376222354342985, + 729.7975073292865 + ], + [ + 35.20023659259027, + 706.5330425483018 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 41.00637066323634, + "xmax": 521.6833506745845, + "ymax": 323.77811499772616 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 99.77299987904428, + 312.65444425524925 + ], + [ + 94.54099292671856, + 323.77811499772616 + ], + [ + 520.8196788770304, + 316.575439525605 + ], + [ + 521.6833506745845, + 305.59796343454695 + ], + [ + -65.00054779228753, + 47.93526530140508 + ], + [ + -74.08042364596213, + 58.91429013093813 + ], + [ + 484.29563521352037, + 51.79736238418349 + ], + [ + 485.90412195605757, + 41.00637066323634 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1050.0386546403804, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1356.8978130503492, + 430.6501401833573 + ], + [ + 1050.0386546403804, + 548.781944075213 + ], + [ + 1402.4825479693702, + 1019.7140741090682 + ], + [ + 1764.658889817973, + 808.3805720930237 + ], + [ + 1935.2447924331593, + -174.33162516015489 + ], + [ + 1445.1039636438818, + -59.92886356040697 + ], + [ + 2928.6789180663386, + 697.7555549444191 + ], + [ + 3368.4295048346976, + 277.64544186323894 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00140/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00140/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e2c4ba9352711c43fff132e8bb87cf9ca210aca2 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00140/meta.json @@ -0,0 +1,3212 @@ +{ + "frame_id": 140, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 70.0, + "sim_timestamp": 11456.801567878574 + }, + "drone_pose": { + "x": -81.44604669797774, + "y": -87.29204258323975, + "z": 20.002120944705386, + "pitch": -44.472607603952795, + "yaw": 1.74994335019673, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7132526636123657, + -0.021791137754917145, + 0.7005682587623596, + 45.980953216552734 + ], + [ + 0.030537527054548264, + 0.9995335936546326, + 9.313225746154785e-10, + 84.76417541503906 + ], + [ + -0.7002415060997009, + 0.02139361947774887, + 0.7135854363441467, + -73.172607421875 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -80.94469698808147, + "y": -87.45737654081547, + "z": 20.00181021430452 + }, + "t1_image_uv": [ + 150.609112660699, + -581.3074133083594 + ], + "t1_depth": 0.3542038887708104 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -61.66718292236328, + "y": -86.68776321411133, + "z": 0.575004174709211 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 27.730515173817714, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 201, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -61.66718292236328, + "y": -86.68775939941406, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.20234130322933197, + "y": 0.2328466773033142, + "z": 0.5330061316490173 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 629.187009604586, + "ymin": 339.27371560783615, + "xmax": 650.8201224222399, + "ymax": 380.4967663490839 + }, + "corners_3d": [ + [ + -61.64561080932617, + -86.9954833984375, + 0.04199802875518799 + ], + [ + -61.97490692138672, + -86.66619110107422, + 0.04199802875518799 + ], + [ + -61.68875503540039, + -86.38003540039062, + 0.04199802875518799 + ], + [ + -61.359458923339844, + -86.7093276977539, + 0.04199802875518799 + ], + [ + -61.64561080932617, + -86.9954833984375, + 1.1080102920532227 + ], + [ + -61.97490692138672, + -86.66619110107422, + 1.1080102920532227 + ], + [ + -61.68875503540039, + -86.38003540039062, + 1.1080102920532227 + ], + [ + -61.359458923339844, + -86.7093276977539, + 1.1080102920532227 + ] + ], + "corners_2d": [ + [ + 629.474257839841, + 372.69715496186785 + ], + [ + 641.0658387284366, + 380.4967663490839 + ], + [ + 650.5325071021203, + 373.2874103619347 + ], + [ + 638.9509035344836, + 365.6036790674971 + ], + [ + 629.187009604586, + 346.3584000848708 + ], + [ + 641.0951695873715, + 354.1516602727915 + ], + [ + 650.8201224222399, + 346.9480533611171 + ], + [ + 638.9224919909636, + 339.27371560783615 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 140, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 69, + "semantic_pixel_counts": { + "1": 518261, + "2": 194356, + "3": 468, + "4": 47656, + "5": 4490, + "6": 14302, + "7": 2790, + "9": 9647, + "10": 76898, + "12": 3384, + "14": 13119, + "20": 1827, + "21": 2138, + "24": 32256, + "25": 8 + }, + "instance_pixel_counts": { + "5695": 8, + "9296": 4490, + "9346": 494, + "9799": 999, + "11927": 748, + "12439": 1567, + "12951": 2285, + "17232": 47656, + "21952": 1819, + "22464": 4690, + "22784": 180, + "22976": 21637, + "23040": 353, + "23296": 9545, + "23552": 6520, + "24404": 1726, + "24512": 14640, + "24660": 1, + "25940": 47, + "26196": 53, + "27795": 17123, + "28307": 4277, + "28819": 27232, + "29331": 1823, + "31893": 946, + "32405": 114, + "33429": 1921, + "37979": 12, + "38539": 1014, + "39051": 1807, + "39563": 3459, + "41107": 75652, + "41611": 4614, + "41619": 30272, + "42123": 3906, + "42635": 2430, + "43117": 456, + "43147": 6871, + "43155": 187935, + "43659": 7756, + "43667": 33748, + "44179": 140199, + "44181": 5189, + "44693": 840, + "45717": 16107, + "46229": 999, + "46741": 6140, + "47552": 1238, + "48064": 2687, + "49088": 5200, + "49664": 201, + "49920": 399, + "50015": 8411, + "50176": 539, + "50432": 924, + "50624": 17375, + "50688": 837, + "50944": 484, + "51136": 7492, + "51648": 5304, + "51712": 5985, + "52160": 20575, + "52672": 45513, + "53504": 1870, + "55296": 5264, + "55879": 43460, + "57173": 9647, + "64351": 8730, + "64603": 2138 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 201, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -61.66718292236328, + "y": -86.68775939941406, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.2156079113483429, + "y": 0.23749999701976776, + "z": 0.5201126933097839 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 628.7510041039858, + "ymin": 339.2942271820897, + "xmax": 651.2526012024535, + "ymax": 380.5033843943299 + }, + "corners_3d": [ + [ + -61.651702880859375, + -87.0081558227539, + 0.05489146709442139 + ], + [ + -61.987579345703125, + -86.67227935791016, + 0.05489146709442139 + ], + [ + -61.68266296386719, + -86.36736297607422, + 0.05489146709442139 + ], + [ + -61.34678649902344, + -86.70323944091797, + 0.05489146709442139 + ], + [ + -61.651702880859375, + -87.0081558227539, + 1.0951168537139893 + ], + [ + -61.987579345703125, + -86.67227935791016, + 1.0951168537139893 + ], + [ + -61.68266296386719, + -86.36736297607422, + 1.0951168537139893 + ], + [ + -61.34678649902344, + -86.70323944091797, + 1.0951168537139893 + ] + ], + "corners_2d": [ + [ + 629.0427478416503, + 372.5439951154388 + ], + [ + 640.8702255998287, + 380.5033843943299 + ], + [ + 650.9606796145862, + 372.8200165537666 + ], + [ + 639.1440549069376, + 364.9866143674318 + ], + [ + 628.7510041039858, + 346.84244019660366 + ], + [ + 640.8935941949841, + 354.79561386612227 + ], + [ + 651.2526012024535, + 347.11818700552834 + ], + [ + 639.1214499356822, + 339.2942271820897 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 399, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -57.541194915771484, + "y": -83.69005584716797, + "z": 0.5807707905769348 + }, + "extent": { + "x": 0.2727587819099426, + "y": 0.39144042134284973, + "z": 0.870071530342102 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 713.3779697701619, + "ymin": 237.49637597477295, + "xmax": 746.5658832241462, + "ymax": 297.1731016034752 + }, + "corners_3d": [ + [ + -57.55675506591797, + -84.16690063476562, + -0.28930073976516724 + ], + [ + -57.9831428527832, + -83.51032257080078, + -0.28930073976516724 + ], + [ + -57.525634765625, + -83.21321105957031, + -0.28930073976516724 + ], + [ + -57.099246978759766, + -83.86978912353516, + -0.28930073976516724 + ], + [ + -57.55675506591797, + -84.16690063476562, + 1.4508423805236816 + ], + [ + -57.9831428527832, + -83.51032257080078, + 1.4508423805236816 + ], + [ + -57.525634765625, + -83.21321105957031, + 1.4508423805236816 + ], + [ + -57.099246978759766, + -83.86978912353516, + 1.4508423805236816 + ] + ], + "corners_2d": [ + [ + 713.3779697701619, + 289.03400928543107 + ], + [ + 734.7677445758162, + 297.1731016034752 + ], + [ + 742.4239935621631, + 287.8398135106544 + ], + [ + 721.188993655893, + 279.87173587752386 + ], + [ + 716.3495133687363, + 246.5612323109653 + ], + [ + 738.6428031269851, + 254.62026258589862 + ], + [ + 746.5658832241462, + 245.37929629615894 + ], + [ + 724.4409059741159, + 237.49637597477295 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 539, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -63.92300796508789, + "y": -79.74504852294922, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.4887719750404358, + "y": 0.3947070240974426, + "z": 0.9062649607658386 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 870.1053026900721, + "ymin": 368.70996180092516, + "xmax": 925.2632867275937, + "ymax": 447.7561334214997 + }, + "corners_3d": [ + [ + -64.05445861816406, + -80.35939025878906, + -0.17886340618133545 + ], + [ + -64.55125427246094, + -79.74589538574219, + -0.17886340618133545 + ], + [ + -63.79155731201172, + -79.13070678710938, + -0.17886340618133545 + ], + [ + -63.29476547241211, + -79.74420166015625, + -0.17886340618133545 + ], + [ + -64.05445861816406, + -80.35939025878906, + 1.6336665153503418 + ], + [ + -64.55125427246094, + -79.74589538574219, + 1.6336665153503418 + ], + [ + -63.79155731201172, + -79.13070678710938, + 1.6336665153503418 + ], + [ + -63.29476547241211, + -79.74420166015625, + 1.6336665153503418 + ] + ], + "corners_2d": [ + [ + 870.1053026900721, + 434.59637155918114 + ], + [ + 895.9736223058137, + 447.7561334214997 + ], + [ + 911.8016380207379, + 426.49656950348 + ], + [ + 886.2624139965062, + 413.87109121991995 + ], + [ + 881.5978942893523, + 389.48404883121225 + ], + [ + 908.9319952344673, + 402.6967641401855 + ], + [ + 925.2632867275937, + 381.36014067285157 + ], + [ + 898.2990911066668, + 368.70996180092516 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 924, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -71.16718292236328, + "y": -86.68775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.4888964593410492, + "y": 0.4493652284145355, + "z": 0.9236838221549988 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 622.3760929657179, + "ymin": 615.3675372733422, + "xmax": 684.9467735667697, + "ymax": 713.3496559732573 + }, + "corners_3d": [ + [ + -71.19513702392578, + -87.35121154785156, + -0.3486894369125366 + ], + [ + -71.83063507080078, + -86.71571350097656, + -0.3486894369125366 + ], + [ + -71.13922882080078, + -86.02430725097656, + -0.3486894369125366 + ], + [ + -70.50373077392578, + -86.65980529785156, + -0.3486894369125366 + ], + [ + -71.19513702392578, + -87.35121154785156, + 1.498678207397461 + ], + [ + -71.83063507080078, + -86.71571350097656, + 1.498678207397461 + ], + [ + -71.13922882080078, + -86.02430725097656, + 1.498678207397461 + ], + [ + -70.50373077392578, + -86.65980529785156, + 1.498678207397461 + ] + ], + "corners_2d": [ + [ + 623.4336640382131, + 686.9476860026459 + ], + [ + 652.8328964679226, + 713.3496559732573 + ], + [ + 682.2581941755008, + 682.9115530155593 + ], + [ + 652.9500562818776, + 657.7232806046247 + ], + [ + 622.3760929657179, + 645.3957978056587 + ], + [ + 653.6702805338648, + 672.599977236046 + ], + [ + 684.9467735667697, + 641.243393654587 + ], + [ + 653.7565517421668, + 615.3675372733422 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 837, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -65.28268432617188, + "y": -97.81512451171875, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.49049803614616394, + "y": 0.4609130620956421, + "z": 0.8698872923851013 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 176.75787236662018, + "ymin": 421.14579772369757, + "xmax": 249.08781407357804, + "ymax": 504.4062351598119 + }, + "corners_3d": [ + [ + -65.23316955566406, + -98.48637390136719, + -0.14248573780059814 + ], + [ + -65.9495620727539, + -97.90625, + -0.14248573780059814 + ], + [ + -65.33219909667969, + -97.14387512207031, + -0.14248573780059814 + ], + [ + -64.61580657958984, + -97.7239990234375, + -0.14248573780059814 + ], + [ + -65.23316955566406, + -98.48637390136719, + 1.5972888469696045 + ], + [ + -65.9495620727539, + -97.90625, + 1.5972888469696045 + ], + [ + -65.33219909667969, + -97.14387512207031, + 1.5972888469696045 + ], + [ + -64.61580657958984, + -97.7239990234375, + 1.5972888469696045 + ] + ], + "corners_2d": [ + [ + 198.95825655457816, + 483.1096059653633 + ], + [ + 213.3110988054583, + 504.4062351598119 + ], + [ + 249.08781407357804, + 484.84614349565794 + ], + [ + 234.29966120605678, + 464.30189468309464 + ], + [ + 176.75787236662018, + 440.0858010185793 + ], + [ + 191.38187230279175, + 461.57289880542936 + ], + [ + 229.3770801192167, + 441.83625045658636 + ], + [ + 214.25647424801144, + 421.14579772369757 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 484, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -50.42184829711914, + "y": -94.85797882080078, + "z": 0.5996184349060059 + }, + "extent": { + "x": 0.4364379644393921, + "y": 0.49839353561401367, + "z": 0.9222415089607239 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 389.1365603161702, + "ymin": 120.22857193433126, + "xmax": 430.71797612830113, + "ymax": 182.73650528901632 + }, + "corners_3d": [ + [ + -50.24156188964844, + -95.49545288085938, + -0.322623074054718 + ], + [ + -51.077537536621094, + -94.95256042480469, + -0.322623074054718 + ], + [ + -50.602134704589844, + -94.22050476074219, + -0.322623074054718 + ], + [ + -49.76615905761719, + -94.76339721679688, + -0.322623074054718 + ], + [ + -50.24156188964844, + -95.49545288085938, + 1.521859884262085 + ], + [ + -51.077537536621094, + -94.95256042480469, + 1.521859884262085 + ], + [ + -50.602134704589844, + -94.22050476074219, + 1.521859884262085 + ], + [ + -49.76615905761719, + -94.76339721679688, + 1.521859884262085 + ] + ], + "corners_2d": [ + [ + 398.0625213278481, + 170.42205859417336 + ], + [ + 409.3700668863826, + 182.73650528901632 + ], + [ + 430.71797612830113, + 175.2080842596172 + ], + [ + 419.1796860486237, + 163.1328376282366 + ], + [ + 389.1365603161702, + 127.35181039405799 + ], + [ + 400.7168931103356, + 139.39741237759176 + ], + [ + 422.9458906140854, + 132.03162177256576 + ], + [ + 411.11456855313037, + 120.22857193433126 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 5985, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 842.0849757677462, + "ymin": 111.20947506261666, + "xmax": 990.5240168619265, + "ymax": 186.4363653734473 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 842.0849757677462, + 157.24543422131592 + ], + [ + 852.0040646877454, + 186.4363653734473 + ], + [ + 977.417087660417, + 184.02497002157776 + ], + [ + 962.782731191772, + 155.02659559692336 + ], + [ + 849.6952792437488, + 113.35250133454457 + ], + [ + 860.310246780257, + 141.871394041101 + ], + [ + 990.5240168619265, + 139.53394662173082 + ], + [ + 974.8332348471812, + 111.20947506261666 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 209, + "instance_id": 53504, + "pixel_count": 1870, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -44.30002975463867, + "y": -58.57492446899414, + "z": 0.8211467266082764 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 1216.2785309195897, + "ymin": 25.325412449959458, + "xmax": 1280.0, + "ymax": 82.45871924211593 + }, + "corners_3d": [ + [ + -45.22607421875, + -56.065513610839844, + 0.05378423258662224 + ], + [ + -43.344486236572266, + -56.07659912109375, + 0.05378423258662224 + ], + [ + -43.373985290527344, + -61.08433532714844, + 0.05378423258662224 + ], + [ + -45.25557327270508, + -61.0732536315918, + 0.05378423258662224 + ], + [ + -45.22607421875, + -56.065513610839844, + 1.588509202003479 + ], + [ + -43.344486236572266, + -56.07659912109375, + 1.588509202003479 + ], + [ + -43.373985290527344, + -61.08433532714844, + 1.588509202003479 + ], + [ + -45.25557327270508, + -61.0732536315918, + 1.588509202003479 + ] + ], + "corners_2d": [ + [ + 1353.8041542410192, + 80.32107324253468 + ], + [ + 1329.3348839666107, + 59.06048683829681 + ], + [ + 1216.2785309195897, + 61.06298739609616 + ], + [ + 1237.0679133823342, + 82.45871924211593 + ], + [ + 1373.2758887506984, + 46.01750215681972 + ], + [ + 1347.5200391368094, + 25.325412449959458 + ], + [ + 1231.529886076735, + 27.27282370953077 + ], + [ + 1253.40918747563, + 48.09999230461676 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 216, + "instance_id": 55296, + "pixel_count": 5264, + "type_id": "vehicle.audi.etron", + "bbox_3d": { + "center_world": { + "x": -44.75563430786133, + "y": -104.2794189453125, + "z": 0.8648524284362793 + }, + "extent": { + "x": 2.427854299545288, + "y": 1.0163782835006714, + "z": 0.8246796727180481 + }, + "yaw": -94.3148193359375 + }, + "bbox_2d": { + "xmin": 120.69310829761025, + "ymin": 40.69745781822962, + "xmax": 267.3799639044233, + "ymax": 108.23551429044832 + }, + "corners_3d": [ + [ + -45.58646774291992, + -101.781982421875, + 0.04017278552055359 + ], + [ + -43.559471130371094, + -101.9349136352539, + 0.04017278552055359 + ], + [ + -43.92479705810547, + -106.77686309814453, + 0.04017278552055359 + ], + [ + -45.9517936706543, + -106.6239242553711, + 0.04017278552055359 + ], + [ + -45.58646774291992, + -101.781982421875, + 1.6895321607589722 + ], + [ + -43.559471130371094, + -101.9349136352539, + 1.6895321607589722 + ], + [ + -43.92479705810547, + -106.77686309814453, + 1.6895321607589722 + ], + [ + -45.9517936706543, + -106.6239242553711, + 1.6895321607589722 + ] + ], + "corners_2d": [ + [ + 258.9380955829747, + 101.79252998346209 + ], + [ + 267.3799639044233, + 77.5343419355807 + ], + [ + 149.03825343161827, + 83.5266098378359 + ], + [ + 136.12665100797756, + 108.23551429044832 + ], + [ + 247.37841993723322, + 64.29656919088387 + ], + [ + 256.48880815248845, + 40.69745781822962 + ], + [ + 134.55401040414466, + 46.5222036590564 + ], + [ + 120.69310829761025, + 70.57303582331116 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 889.2270421969027, + "ymin": 26.680882976949817, + "xmax": 908.4162353704701, + "ymax": 57.11660975004969 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 901.067720438831, + 52.81329405213006 + ], + [ + 889.2270421969027, + 52.98514413206948 + ], + [ + 891.1145880241949, + 57.11660975004969 + ], + [ + 903.0317125906399, + 56.94251817852836 + ], + [ + 906.3768246923373, + 26.680882976949817 + ], + [ + 894.2967518833543, + 26.84901612625754 + ], + [ + 896.2565835523188, + 30.89167950606418 + ], + [ + 908.4162353704701, + 30.721308298402505 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4809317425322915338, + "instance_id": 2806, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -62.6159553527832, + "y": -93.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 333.02301926015394, + "ymin": 215.30235161480854, + "xmax": 358.82905782860877, + "ymax": 251.7287001401911 + }, + "corners_3d": [ + [ + -62.754539489746094, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.9842529296875, + 6.416468620300293 + ], + [ + -62.754539489746094, + -93.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 356.79409458223364, + 251.43257417355784 + ], + [ + 358.82905782860877, + 244.42320324045266 + ], + [ + 343.22498421247, + 244.71437118867664 + ], + [ + 341.05698229097277, + 251.7287001401911 + ], + [ + 349.1858338794154, + 222.24655116983823 + ], + [ + 351.34064727736586, + 215.30235161480854 + ], + [ + 335.3181339432296, + 215.59074993903974 + ], + [ + 333.02301926015394, + 222.53999287627175 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 49.23478313132, + "ymin": 310.384242502013, + "xmax": 82.17652086281487, + "ymax": 342.4896512859644 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 78.10936066548777, + 342.1864056978825 + ], + [ + 82.17652086281487, + 334.965056763852 + ], + [ + 67.6669143940378, + 335.2635836191995 + ], + [ + 63.484176561845175, + 342.4896512859644 + ], + [ + 64.22611460303574, + 317.58575902582044 + ], + [ + 68.50404284033152, + 310.384242502013 + ], + [ + 53.63412359852043, + 310.68189443491883 + ], + [ + 49.23478313132, + 317.8882325976443 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5344508464058845628, + "instance_id": 48329, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -62.61595916748047, + "y": -96.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 204.9774567092258, + "ymin": 217.58548698660812, + "xmax": 235.31090887758575, + "ymax": 254.07457603875503 + }, + "corners_3d": [ + [ + -62.75454330444336, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.9842529296875, + 6.416468620300293 + ], + [ + -62.75454330444336, + -96.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 232.22027122472917, + 253.7767825729278 + ], + [ + 235.31090887758575, + 246.72811512556288 + ], + [ + 219.61971157065523, + 247.02090881284593 + ], + [ + 216.39454435295647, + 254.07457603875503 + ], + [ + 221.23373905930669, + 224.56966356157923 + ], + [ + 224.5020011905517, + 217.58548698660812 + ], + [ + 208.38763460084283, + 217.8755386640486 + ], + [ + 204.9774567092258, + 224.8648022434051 + ] + ], + "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": 190.53583843983682, + "ymin": 0.0, + "xmax": 212.57405744048185, + "ymax": 13.877030547277116 + }, + "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": [ + [ + 198.94499226204647, + 13.877030547277116 + ], + [ + 210.23279933203156, + 13.725672921744945 + ], + [ + 212.57405744048185, + 10.134178878318494 + ], + [ + 201.35485426538338, + 10.283718258888655 + ], + [ + 190.53583843983682, + -11.36560232302412 + ], + [ + 202.04097808079257, + -11.513316277838214 + ], + [ + 204.47687019543315, + -15.017932005724958 + ], + [ + 193.04299307352147, + -14.872026041374681 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8433051479337506626, + "instance_id": 17047, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -62.61595153808594, + "y": -91.29429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 439.165694511046, + "ymin": 213.4096533866647, + "xmax": 461.2375245104297, + "ymax": 249.78381411470295 + }, + "corners_3d": [ + [ + -62.75453567504883, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.4842529296875, + 6.416468620300293 + ], + [ + -62.75453567504883, + -91.4842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 460.0733537516868, + 249.48906706655714 + ], + [ + 461.2375245104297, + 242.51219301168288 + ], + [ + 445.7055011655027, + 242.80201648727171 + ], + [ + 444.40951992748285, + 249.78381411470295 + ], + [ + 455.2512334447549, + 220.3208001000986 + ], + [ + 456.48784818948013, + 213.4096533866647 + ], + [ + 440.54128094437976, + 213.69668468017505 + ], + [ + 439.165694511046, + 220.61283880390852 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 911.0512370774267, + "ymin": 73.46156500472722, + "xmax": 932.355316602305, + "ymax": 105.53227883304834 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 923.7753818363828, + 100.55535005295792 + ], + [ + 911.0512370774267, + 100.75400329578878 + ], + [ + 913.234291442627, + 105.53227883304834 + ], + [ + 926.0467577619479, + 105.33083770616688 + ], + [ + 929.9894433815716, + 73.46156500472722 + ], + [ + 916.9884316686175, + 73.65651717182129 + ], + [ + 919.2620841669975, + 78.34651776685394 + ], + [ + 932.355316602305, + 78.14876909309157 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 873.2427907895888, + "ymin": 0.0, + "xmax": 890.9441966271977, + "ymax": 21.68701843721658 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 884.4358331258128, + 17.845814001247277 + ], + [ + 873.2427907895888, + 17.99926487775099 + ], + [ + 874.9276161630835, + 21.68701843721658 + ], + [ + 886.1889471580957, + 21.53167724976572 + ], + [ + 889.1278563981891, + -7.491850147659193 + ], + [ + 877.7211264471225, + -7.342053862847479 + ], + [ + 879.4665375517922, + -3.7416857788317657 + ], + [ + 890.9441966271977, + -3.893363113391274 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 927.5297764559052, + "ymin": 257.7198906520269, + "xmax": 950.5278169526479, + "ymax": 288.74965301576947 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 940.9392841501053, + 282.0708415978773 + ], + [ + 927.5297764559052, + 282.33593361258227 + ], + [ + 929.966980237187, + 288.74965301576947 + ], + [ + 943.4751524374881, + 288.4806150725231 + ], + [ + 947.8803593505996, + 257.7198906520269 + ], + [ + 934.1636457076107, + 257.98346006665474 + ], + [ + 936.7078491483618, + 264.36147762446785 + ], + [ + 950.5278169526479, + 264.0938934109157 + ] + ], + "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": 849.1068703284378, + "ymin": 0.0, + "xmax": 1012.4732906457813, + "ymax": 359.6791925055728 + }, + "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": [ + [ + 920.8435005840297, + 359.6791925055728 + ], + [ + 935.3194092574962, + 359.45859053504665 + ], + [ + 860.2462180555337, + 141.5087747599294 + ], + [ + 849.1068703284378, + 141.63909337402657 + ], + [ + 994.2371424058085, + 104.05418708979852 + ], + [ + 1012.4732906457813, + 103.85144135921882 + ], + [ + 901.9518164631586, + -85.02686199672092 + ], + [ + 888.7116104444758, + -84.92036027413462 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 84.4553078319691, + "xmax": 75.17070677135143, + "ymax": 404.1594080792888 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + 6.373556005293949, + 404.1594080792888 + ], + [ + 22.190467334339928, + 403.8100345874362 + ], + [ + 75.17070677135143, + 313.20210675666647 + ], + [ + 60.82435300578027, + 313.490227815953 + ], + [ + -153.06089089632087, + 169.22524937167142 + ], + [ + -133.19520278111008, + 168.89211866296714 + ], + [ + -50.92571515767895, + 84.4553078319691 + ], + [ + -68.52573011652407, + 84.71776075509547 + ] + ], + "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": 760.584502796923, + "ymin": 0.0, + "xmax": 827.7373619083086, + "ymax": 5.530898243859156 + }, + "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": [ + [ + 765.8041597604566, + 5.530898243859156 + ], + [ + 814.1912791914403, + 4.882898998811925 + ], + [ + 807.4655984203814, + -13.466344477291273 + ], + [ + 760.584502796923, + -12.858220325041884 + ], + [ + 775.5990243312939, + -98.1998968596414 + ], + [ + 827.7373619083086, + -98.77508676769281 + ], + [ + 820.0512440300802, + -115.0217387834341 + ], + [ + 769.6572782868046, + -114.48455973106337 + ] + ], + "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": 146.59688323887394, + "ymin": 0.0, + "xmax": 312.3925494315409, + "ymax": 173.15450161506223 + }, + "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": [ + [ + 312.3925494315409, + 26.07474417306298 + ], + [ + 302.9466408853393, + 26.166816975331756 + ], + [ + 228.58569389538167, + 173.15450161506223 + ], + [ + 240.32628913914192, + 173.0125938270019 + ], + [ + 261.7762453741697, + -176.59646123910102 + ], + [ + 250.86182013935115, + -176.52556208665794 + ], + [ + 146.59688323887394, + -58.94971973018244 + ], + [ + 160.69514429113303, + -59.06762804791123 + ] + ], + "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": 539.3908746290255, + "ymin": 0.0, + "xmax": 844.4226827140257, + "ymax": 32.97377461219628 + }, + "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": [ + [ + 816.8727473470238, + 30.363469573578357 + ], + [ + 815.4340270355772, + 26.083575627866708 + ], + [ + 553.4133753067022, + 28.657472868564525 + ], + [ + 553.0076642768843, + 32.97377461219628 + ], + [ + 844.4226827140257, + -173.2904760740563 + ], + [ + 842.5395486382397, + -176.58966086578334 + ], + [ + 539.9698994093462, + -174.60641493463322 + ], + [ + 539.3908746290255, + -171.27477896718392 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 143.388157598007, + "xmax": 527.656424556736, + "ymax": 420.13112410018226 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 100.71172795271184, + 408.72688543772233 + ], + [ + 94.84233140470394, + 420.13112410018226 + ], + [ + 526.7057601222252, + 413.2211972306806 + ], + [ + 527.656424556736, + 401.9727283695814 + ], + [ + -49.60379487889861, + 149.75631658857597 + ], + [ + -59.351896495986125, + 160.5638867363793 + ], + [ + 494.9439972843502, + 154.00720014038015 + ], + [ + 496.6152877608362, + 143.388157598007 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 897939386194665430, + "instance_id": 54815, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1949_135", + "bbox_3d": { + "center_world": { + "x": -36.33243179321289, + "y": -120.14290618896484, + "z": 6.611191272735596 + }, + "extent": { + "x": 4.422521591186523, + "y": 4.2970757484436035, + "z": 7.008497714996338 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 55.03114029303856, + "ymax": 63.9297947601122 + }, + "corners_3d": [ + [ + -32.2579460144043, + -115.5145034790039, + -0.3973064422607422 + ], + [ + -31.58873176574707, + -124.08255767822266, + -0.3973064422607422 + ], + [ + -40.406917572021484, + -124.77130889892578, + -0.3973064422607422 + ], + [ + -41.076133728027344, + -116.20325469970703, + -0.3973064422607422 + ], + [ + -32.2579460144043, + -115.5145034790039, + 13.619688987731934 + ], + [ + -31.58873176574707, + -124.08255767822266, + 13.619688987731934 + ], + [ + -40.406917572021484, + -124.77130889892578, + 13.619688987731934 + ], + [ + -41.076133728027344, + -116.20325469970703, + 13.619688987731934 + ] + ], + "corners_2d": [ + [ + 55.03114029303856, + -19.651590314009127 + ], + [ + -109.51644885779547, + -22.986255268369234 + ], + [ + -229.47652356043318, + 59.535040421149915 + ], + [ + -41.314718359349854, + 63.9297947601122 + ], + [ + -92.48636508822642, + -361.98339628169515 + ], + [ + -297.129411901201, + -363.6168454328629 + ], + [ + -488.79042419025427, + -321.7077669614482 + ], + [ + -246.3204125094186, + -319.3855582128433 + ] + ], + "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": 140.9318222352049, + "ymin": 0.0, + "xmax": 366.96561022497497, + "ymax": 17.263279739502252 + }, + "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": [ + [ + 243.0417430405896, + 17.263279739502252 + ], + [ + 366.96561022497497, + -26.884309568573542 + ], + [ + 296.83541318702504, + -61.25298645392428 + ], + [ + 175.94369974119223, + -22.588287609086137 + ], + [ + 210.78734036683807, + -90.03853624686508 + ], + [ + 346.5357396789382, + -129.00000180596146 + ], + [ + 272.85737514066983, + -159.0120590078052 + ], + [ + 140.9318222352049, + -125.22900377179246 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1074.9804910491034, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1384.05770568338, + 533.1396545136587 + ], + [ + 1074.9804910491034, + 658.6246556670653 + ], + [ + 1486.64017979326, + 1194.57632074341 + ], + [ + 1853.5709483876474, + 948.0766950971874 + ], + [ + 1928.1268238190908, + -55.27089307188527 + ], + [ + 1460.532863226727, + 56.59252207092305 + ], + [ + 3227.45027076214, + 900.0108040194174 + ], + [ + 3525.785145259612, + 411.01371725646356 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12511280680997575471, + "instance_id": 12123, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2349_123", + "bbox_3d": { + "center_world": { + "x": -36.20769119262695, + "y": -108.4781723022461, + "z": 6.51531457901001 + }, + "extent": { + "x": 4.686452865600586, + "y": 4.53662633895874, + "z": 6.939882278442383 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 285.08415867717855, + "ymax": 76.45244792154426 + }, + "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": [ + [ + 72.81945937099613, + 76.45244792154426 + ], + [ + 285.08415867717855, + 35.22796995736485 + ], + [ + 250.95022597830484, + -38.60142859087364 + ], + [ + 63.54452461804465, + -6.895278414911502 + ], + [ + -99.63408155884008, + -307.07687337178595 + ], + [ + 185.81023411797872, + -329.12654291332797 + ], + [ + 158.2346031677909, + -366.62480102093014 + ], + [ + -83.88900866476331, + -350.8225291372428 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00141/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00141/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..9aac0917706c3a2b7337d8bf6b2fcae0d6faca82 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00141/meta.json @@ -0,0 +1,3421 @@ +{ + "frame_id": 141, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 70.5, + "sim_timestamp": 11467.117591178045 + }, + "drone_pose": { + "x": -80.94469698808147, + "y": -87.45737654081547, + "z": 20.00181021430452, + "pitch": -44.42858351316467, + "yaw": 3.673050452424802, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7126566171646118, + -0.045748837292194366, + 0.7000197172164917, + 47.6851806640625 + ], + [ + 0.0640629231929779, + 0.9979458451271057, + -1.862645149230957e-09, + 82.09217071533203 + ], + [ + -0.6985818147659302, + 0.044845305383205414, + 0.7141234874725342, + -74.75230407714844 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -80.4433472781852, + "y": -87.6227104983912, + "z": 20.001541917662596 + }, + "t1_image_uv": [ + 99.21660172242389, + -580.009364171673 + ], + "t1_depth": 0.34991417372706973 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -61.16718292236328, + "y": -86.18776321411133, + "z": 0.5749944090844292 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 27.751813507390374, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 208, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -61.16718292236328, + "y": -86.18775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.27827635407447815, + "y": 0.21290524303913116, + "z": 0.524263322353363 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.9821203804677, + "ymin": 339.8788296375227, + "xmax": 648.1293375206869, + "ymax": 379.8919962008964 + }, + "corners_3d": [ + [ + -61.445457458496094, + -86.40066528320312, + 0.05073106288909912 + ], + [ + -61.445457458496094, + -85.974853515625, + 0.05073106288909912 + ], + [ + -60.88890838623047, + -85.974853515625, + 0.05073106288909912 + ], + [ + -60.88890838623047, + -86.40066528320312, + 0.05073106288909912 + ], + [ + -61.445457458496094, + -86.40066528320312, + 1.0992577075958252 + ], + [ + -61.445457458496094, + -85.974853515625, + 1.0992577075958252 + ], + [ + -60.88890838623047, + -85.974853515625, + 1.0992577075958252 + ], + [ + -60.88890838623047, + -86.40066528320312, + 1.0992577075958252 + ] + ], + "corners_2d": [ + [ + 633.3053706671835, + 379.8919962008964 + ], + [ + 647.9157035557794, + 379.22177850917564 + ], + [ + 646.5965462895391, + 365.7763387465437 + ], + [ + 632.1900180139261, + 366.4279128972346 + ], + [ + 633.1245623069244, + 353.979200518563 + ], + [ + 648.1293375206869, + 353.3094556454466 + ], + [ + 646.7720189296509, + 339.8788296375227 + ], + [ + 631.9821203804677, + 340.5294519553505 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 141, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 71, + "semantic_pixel_counts": { + "1": 521128, + "2": 183696, + "4": 48626, + "5": 4360, + "6": 13227, + "7": 3092, + "9": 10185, + "10": 81013, + "12": 3435, + "14": 14759, + "20": 1993, + "21": 3336, + "24": 32728, + "25": 22 + }, + "instance_pixel_counts": { + "5695": 22, + "9296": 4360, + "9799": 1157, + "11927": 781, + "12439": 1234, + "12951": 2203, + "17232": 48626, + "21952": 1914, + "22464": 4151, + "22784": 203, + "22976": 20589, + "23040": 707, + "23296": 8701, + "23552": 6679, + "24404": 1877, + "24512": 11454, + "25940": 53, + "26196": 63, + "27795": 18491, + "28307": 1341, + "28819": 27149, + "29331": 9, + "31893": 1053, + "32405": 62, + "33429": 1883, + "38539": 1140, + "39051": 1889, + "39563": 3423, + "40075": 62, + "40787": 29, + "41107": 79695, + "41611": 4747, + "41619": 31879, + "42123": 3581, + "42635": 2641, + "42643": 442, + "43147": 6100, + "43155": 196171, + "43659": 7516, + "43667": 36269, + "44179": 129682, + "44181": 5355, + "44693": 906, + "45205": 22, + "45717": 16777, + "46229": 1038, + "46741": 5632, + "47552": 1584, + "48064": 2831, + "49088": 5491, + "49600": 117, + "49664": 208, + "49920": 403, + "50015": 10242, + "50176": 544, + "50432": 947, + "50624": 17829, + "50688": 882, + "50944": 451, + "51136": 8796, + "51648": 6133, + "51712": 6056, + "52160": 18150, + "52672": 44399, + "53504": 3156, + "55296": 5547, + "55879": 44830, + "57173": 10185, + "62043": 92, + "64351": 3784, + "64603": 3244 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 208, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -61.16718292236328, + "y": -86.18775939941406, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.2808227241039276, + "y": 0.1971728354692459, + "z": 0.5496416687965393 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 632.5189010936829, + "ymin": 339.1983371681649, + "xmax": 647.586586705207, + "ymax": 380.5400480440055 + }, + "corners_3d": [ + [ + -61.44800567626953, + -86.38493347167969, + 0.02535271644592285 + ], + [ + -61.44800567626953, + -85.99058532714844, + 0.02535271644592285 + ], + [ + -60.88636016845703, + -85.99058532714844, + 0.02535271644592285 + ], + [ + -60.88636016845703, + -86.38493347167969, + 0.02535271644592285 + ], + [ + -61.44800567626953, + -86.38493347167969, + 1.1246360540390015 + ], + [ + -61.44800567626953, + -85.99058532714844, + 1.1246360540390015 + ], + [ + -60.88636016845703, + -85.99058532714844, + 1.1246360540390015 + ], + [ + -60.88636016845703, + -86.38493347167969, + 1.1246360540390015 + ] + ], + "corners_2d": [ + [ + 633.8546453313238, + 380.5400480440055 + ], + [ + 647.3776787393462, + 379.91927325004474 + ], + [ + 646.0549247659077, + 366.34989042073033 + ], + [ + 632.7221247383267, + 366.95325198679006 + ], + [ + 633.6805165267348, + 353.37236975694685 + ], + [ + 647.586586705207, + 352.7520524516907 + ], + [ + 646.2238887576698, + 339.1983371681649 + ], + [ + 632.5189010936829, + 339.8007719089317 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 403, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -57.041194915771484, + "y": -83.19005584716797, + "z": 0.5784319043159485 + }, + "extent": { + "x": 0.33043456077575684, + "y": 0.34765625, + "z": 0.8847320079803467 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 709.957365774597, + "ymin": 236.0106178772263, + "xmax": 740.6796978605785, + "ymax": 295.31701964211726 + }, + "corners_3d": [ + [ + -57.43669128417969, + -83.46141052246094, + -0.3063001036643982 + ], + [ + -57.2921257019043, + -82.78129577636719, + -0.3063001036643982 + ], + [ + -56.64569854736328, + -82.918701171875, + -0.3063001036643982 + ], + [ + -56.79026412963867, + -83.59881591796875, + -0.3063001036643982 + ], + [ + -57.43669128417969, + -83.46141052246094, + 1.4631638526916504 + ], + [ + -57.2921257019043, + -82.78129577636719, + 1.4631638526916504 + ], + [ + -56.64569854736328, + -82.918701171875, + 1.4631638526916504 + ], + [ + -56.79026412963867, + -83.59881591796875, + 1.4631638526916504 + ] + ], + "corners_2d": [ + [ + 716.4796383403788, + 295.31701964211726 + ], + [ + 736.6936587292568, + 291.55962011483 + ], + [ + 729.9095684412898, + 279.06757513457006 + ], + [ + 709.957365774597, + 282.71793863396033 + ], + [ + 719.6465251200443, + 252.08579324374736 + ], + [ + 740.6796978605785, + 248.36649675769496 + ], + [ + 733.5607296461674, + 236.0106178772263 + ], + [ + 712.8108316203302, + 239.6196840904226 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 544, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -63.42300796508789, + "y": -79.24504852294922, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.5170459151268005, + "y": 0.3168871998786926, + "z": 0.8920160531997681 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 874.6326498774806, + "ymin": 364.57776700389275, + "xmax": 922.3622121787234, + "ymax": 438.98775765850496 + }, + "corners_3d": [ + [ + -63.97034454345703, + -79.50615692138672, + -0.1646144986152649 + ], + [ + -63.90409851074219, + -78.8758544921875, + -0.1646144986152649 + ], + [ + -62.87567138671875, + -78.98394012451172, + -0.1646144986152649 + ], + [ + -62.941917419433594, + -79.61424255371094, + -0.1646144986152649 + ], + [ + -63.97034454345703, + -79.50615692138672, + 1.619417667388916 + ], + [ + -63.90409851074219, + -78.8758544921875, + 1.619417667388916 + ], + [ + -62.87567138671875, + -78.98394012451172, + 1.619417667388916 + ], + [ + -62.941917419433594, + -79.61424255371094, + 1.619417667388916 + ] + ], + "corners_2d": [ + [ + 887.3352344093416, + 438.98775765850496 + ], + [ + 909.132089073152, + 436.07748022330543 + ], + [ + 895.8852883555651, + 409.03622127592564 + ], + [ + 874.6326498774806, + 411.79359976093275 + ], + [ + 899.530362162786, + 394.59483606393275 + ], + [ + 922.3622121787234, + 391.6743791996815 + ], + [ + 908.1138114875133, + 364.57776700389275 + ], + [ + 885.8782536812801, + 367.3375507510614 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 947, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -70.66718292236328, + "y": -86.18775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.4633593261241913, + "y": 0.4434325695037842, + "z": 0.9028083682060242 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 645.9724603198839, + "ymin": 621.9456885039107, + "xmax": 691.7762186253424, + "ymax": 704.2508561246798 + }, + "corners_3d": [ + [ + -71.13053894042969, + -86.63119506835938, + -0.32780909538269043 + ], + [ + -71.13053894042969, + -85.74432373046875, + -0.32780909538269043 + ], + [ + -70.20382690429688, + -85.74432373046875, + -0.32780909538269043 + ], + [ + -70.20382690429688, + -86.63119506835938, + -0.32780909538269043 + ], + [ + -71.13053894042969, + -86.63119506835938, + 1.477807641029358 + ], + [ + -71.13053894042969, + -85.74432373046875, + 1.477807641029358 + ], + [ + -70.20382690429688, + -85.74432373046875, + 1.477807641029358 + ], + [ + -70.20382690429688, + -86.63119506835938, + 1.477807641029358 + ] + ], + "corners_2d": [ + [ + 648.8383487048022, + 704.2508561246798 + ], + [ + 688.7042797565894, + 701.8029847567655 + ], + [ + 684.6449743861143, + 663.229743777334 + ], + [ + 645.9724603198839, + 665.5324882681562 + ], + [ + 649.39694334232, + 664.1123124018484 + ], + [ + 691.7762186253424, + 661.5913123223223 + ], + [ + 687.3710392855651, + 621.9456885039107 + ], + [ + 646.3378606729757, + 624.3082389360202 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 882, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -64.78268432617188, + "y": -97.31512451171875, + "z": 0.5749943852424622 + }, + "extent": { + "x": 0.3491430878639221, + "y": 0.5111084580421448, + "z": 0.8846458196640015 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 180.50129736321253, + "ymin": 444.27866091499936, + "xmax": 250.72852540388806, + "ymax": 510.2152390814024 + }, + "corners_3d": [ + [ + -65.07649230957031, + -97.85993194580078, + -0.3096514344215393 + ], + [ + -65.18334197998047, + -96.84331512451172, + -0.3096514344215393 + ], + [ + -64.48887634277344, + -96.77031707763672, + -0.3096514344215393 + ], + [ + -64.38202667236328, + -97.78693389892578, + -0.3096514344215393 + ], + [ + -65.07649230957031, + -97.85993194580078, + 1.4596402645111084 + ], + [ + -65.18334197998047, + -96.84331512451172, + 1.4596402645111084 + ], + [ + -64.48887634277344, + -96.77031707763672, + 1.4596402645111084 + ], + [ + -64.38202667236328, + -97.78693389892578, + 1.4596402645111084 + ] + ], + "corners_2d": [ + [ + 203.21914544288768, + 508.9241692722353 + ], + [ + 241.88888339701498, + 510.2152390814024 + ], + [ + 250.72852540388806, + 488.90922008078627 + ], + [ + 212.80265770276782, + 487.66804396771454 + ], + [ + 180.50129736321253, + 465.73247845506853 + ], + [ + 221.15652158545248, + 467.03695794316724 + ], + [ + 230.87249040811832, + 445.5301852430449 + ], + [ + 191.03865824713228, + 444.27866091499936 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 451, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -49.92184829711914, + "y": -94.35797882080078, + "z": 0.5972795486450195 + }, + "extent": { + "x": 0.5605444312095642, + "y": 0.45824217796325684, + "z": 0.9167683124542236 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 377.33259023483157, + "ymin": 125.45387316723205, + "xmax": 419.86379449456, + "ymax": 186.86415133076173 + }, + "corners_3d": [ + [ + -50.37487030029297, + -94.9227523803711, + -0.3194887638092041 + ], + [ + -50.5654182434082, + -94.02629089355469, + -0.3194887638092041 + ], + [ + -49.46882629394531, + -93.79320526123047, + -0.3194887638092041 + ], + [ + -49.27827835083008, + -94.68966674804688, + -0.3194887638092041 + ], + [ + -50.37487030029297, + -94.9227523803711, + 1.5140478610992432 + ], + [ + -50.5654182434082, + -94.02629089355469, + 1.5140478610992432 + ], + [ + -49.46882629394531, + -93.79320526123047, + 1.5140478610992432 + ], + [ + -49.27827835083008, + -94.68966674804688, + 1.5140478610992432 + ] + ], + "corners_2d": [ + [ + 386.7842525855807, + 184.82363289383957 + ], + [ + 410.58069833425316, + 186.86415133076173 + ], + [ + 419.86379449456, + 170.13740254416234 + ], + [ + 396.560211838408, + 168.1846974343122 + ], + [ + 377.33259023483157, + 141.72948548594752 + ], + [ + 401.9936046331793, + 143.72726502900176 + ], + [ + 411.81020875412935, + 127.36257335526184 + ], + [ + 387.67807127477124, + 125.45387316723205 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 6056, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 820.2978205615109, + "ymin": 113.35552683928557, + "xmax": 968.3610547035502, + "ymax": 191.1061087052549 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 820.2978205615109, + 161.6820693034465 + ], + [ + 831.1842732526773, + 191.1061087052549 + ], + [ + 956.0658527024004, + 186.24170752533664 + ], + [ + 940.5173739333266, + 157.19358324435458 + ], + [ + 827.1258625327407, + 117.71336236711505 + ], + [ + 838.7164493462369, + 146.46875524655408 + ], + [ + 968.3610547035502, + 141.73049106222282 + ], + [ + 951.7533016475662, + 113.35552683928557 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 209, + "instance_id": 53504, + "pixel_count": 3156, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -44.30002975463867, + "y": -58.57492446899414, + "z": 0.8211467266082764 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 1187.268802734659, + "ymin": 20.912358401332654, + "xmax": 1280.0, + "ymax": 79.3746059723581 + }, + "corners_3d": [ + [ + -45.22607421875, + -56.065513610839844, + 0.05378423258662224 + ], + [ + -43.344486236572266, + -56.07659912109375, + 0.05378423258662224 + ], + [ + -43.373985290527344, + -61.08433532714844, + 0.05378423258662224 + ], + [ + -45.25557327270508, + -61.0732536315918, + 0.05378423258662224 + ], + [ + -45.22607421875, + -56.065513610839844, + 1.588509202003479 + ], + [ + -43.344486236572266, + -56.07659912109375, + 1.588509202003479 + ], + [ + -43.373985290527344, + -61.08433532714844, + 1.588509202003479 + ], + [ + -45.25557327270508, + -61.0732536315918, + 1.588509202003479 + ] + ], + "corners_2d": [ + [ + 1322.3496094994248, + 75.33146520220185 + ], + [ + 1297.679479158263, + 54.48068526495064 + ], + [ + 1187.268802734659, + 58.270287130326096 + ], + [ + 1208.4460355167366, + 79.3746059723581 + ], + [ + 1340.7773822886106, + 41.195156498757854 + ], + [ + 1314.862035254172, + 20.912358401332654 + ], + [ + 1201.6542654599866, + 24.596144366851092 + ], + [ + 1223.8948220826, + 45.13218991773209 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 216, + "instance_id": 55296, + "pixel_count": 5547, + "type_id": "vehicle.audi.etron", + "bbox_3d": { + "center_world": { + "x": -44.75563430786133, + "y": -104.2794189453125, + "z": 0.8648524284362793 + }, + "extent": { + "x": 2.427854299545288, + "y": 1.0163782835006714, + "z": 0.8246796727180481 + }, + "yaw": -94.3148193359375 + }, + "bbox_2d": { + "xmin": 83.75950261661524, + "ymin": 53.4350760157692, + "xmax": 235.3076658051985, + "ymax": 124.48910336131524 + }, + "corners_3d": [ + [ + -45.58646774291992, + -101.781982421875, + 0.04017278552055359 + ], + [ + -43.559471130371094, + -101.9349136352539, + 0.04017278552055359 + ], + [ + -43.92479705810547, + -106.77686309814453, + 0.04017278552055359 + ], + [ + -45.9517936706543, + -106.6239242553711, + 0.04017278552055359 + ], + [ + -45.58646774291992, + -101.781982421875, + 1.6895321607589722 + ], + [ + -43.559471130371094, + -101.9349136352539, + 1.6895321607589722 + ], + [ + -43.92479705810547, + -106.77686309814453, + 1.6895321607589722 + ], + [ + -45.9517936706543, + -106.6239242553711, + 1.6895321607589722 + ] + ], + "corners_2d": [ + [ + 227.24372952193937, + 115.66249344672048 + ], + [ + 235.3076658051985, + 90.59496154689685 + ], + [ + 113.41767122007172, + 98.79409951933008 + ], + [ + 100.64481538085272, + 124.48910336131524 + ], + [ + 214.48844061898996, + 77.84747924699388 + ], + [ + 223.264936834335, + 53.4350760157692 + ], + [ + 97.5507136442227, + 61.41396333078745 + ], + [ + 83.75950261661524, + 86.45633784445079 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 866.2721413580983, + "ymin": 30.795567811391493, + "xmax": 885.1488484929221, + "ymax": 61.52134656730334 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 878.0924774082268, + 56.98768305036094 + ], + [ + 866.2721413580983, + 57.35196476936693 + ], + [ + 868.3135540853579, + 61.52134656730334 + ], + [ + 880.2098727277205, + 61.15229238823491 + ], + [ + 882.9555219332326, + 30.795567811391493 + ], + [ + 870.8964478733169, + 31.152034328698278 + ], + [ + 873.0106818816688, + 35.232559561804806 + ], + [ + 885.1488484929221, + 34.871326602596696 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4809317425322915338, + "instance_id": 2806, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -62.6159553527832, + "y": -93.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 307.56631229349364, + "ymin": 234.64229166485427, + "xmax": 334.5688133952337, + "ymax": 271.89581015399705 + }, + "corners_3d": [ + [ + -62.754539489746094, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.9842529296875, + 6.416468620300293 + ], + [ + -62.754539489746094, + -93.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 332.6705166034644, + 271.24566259512426 + ], + [ + 334.5688133952337, + 263.92595029242506 + ], + [ + 318.50071238583376, + 264.5649742544558 + ], + [ + 316.46166772862824, + 271.89581015399705 + ], + [ + 324.22742459147815, + 241.90244883319565 + ], + [ + 326.25189872853997, + 234.64229166485427 + ], + [ + 309.7394609278488, + 235.27597989613582 + ], + [ + 307.56631229349364, + 242.5474722847952 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 15.008592808267622, + "ymin": 337.42426064629444, + "xmax": 49.854070950855316, + "ymax": 370.36985358835386 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 45.776720080562654, + 369.6960429098478 + ], + [ + 49.854070950855316, + 362.064053790316 + ], + [ + 34.71696390401701, + 362.7270861508487 + ], + [ + 30.51414076309152, + 370.36985358835386 + ], + [ + 30.67043641934538, + 345.04580500455523 + ], + [ + 34.974910617935734, + 337.42426064629444 + ], + [ + 19.445157005484702, + 338.0862622535491 + ], + [ + 15.008592808267622, + 345.71884298388255 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5344508464058845628, + "instance_id": 48329, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -62.61595916748047, + "y": -96.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 175.07802873695738, + "ymin": 239.6732895422335, + "xmax": 207.02115940764395, + "ymax": 277.064880593599 + }, + "corners_3d": [ + [ + -62.75454330444336, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.9842529296875, + 6.416468620300293 + ], + [ + -62.75454330444336, + -96.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 203.99976534590076, + 276.4068319828371 + ], + [ + 207.02115940764395, + 268.9985848846886 + ], + [ + 190.75948221307726, + 269.64530739406916 + ], + [ + 187.5939370379905, + 277.064880593599 + ], + [ + 191.9472333392198, + 247.0236853903021 + ], + [ + 195.15839321356407, + 239.6732895422335 + ], + [ + 178.4415570273701, + 240.31482192865602 + ], + [ + 175.07802873695738, + 247.67676507083218 + ] + ], + "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": 154.17067088243112, + "ymin": 0.0, + "xmax": 177.44812505511692, + "ymax": 28.17527412578056 + }, + "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": [ + [ + 163.45598211405678, + 28.17527412578056 + ], + [ + 175.11957550061436, + 27.843507354376243 + ], + [ + 177.44812505511692, + 24.0984487032365 + ], + [ + 165.85757071154632, + 24.42614573371378 + ], + [ + 154.17067088243112, + 2.6276024541634797 + ], + [ + 166.06655463833482, + 2.3035585969975614 + ], + [ + 168.49692569905181, + -1.353845155222018 + ], + [ + 156.67700860825607, + -1.0338530055851152 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8433051479337506626, + "instance_id": 17047, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -62.61595153808594, + "y": -91.29429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 416.7268259232061, + "ymin": 230.49665455171308, + "xmax": 439.70142120327966, + "ymax": 267.6355683146457 + }, + "corners_3d": [ + [ + -62.75453567504883, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.4842529296875, + 6.416468620300293 + ], + [ + -62.75453567504883, + -91.4842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 438.7187886683288, + 266.99189679551455 + ], + [ + 439.70142120327966, + 259.74475701016735 + ], + [ + 423.7920058069309, + 260.37747001495325 + ], + [ + 422.67139224698553, + 267.6355683146457 + ], + [ + 433.2174549004994, + 237.6828758979485 + ], + [ + 434.2749957569151, + 230.49665455171308 + ], + [ + 417.93004014686534, + 231.12391534092882 + ], + [ + 416.7268259232061, + 238.32129912820935 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 889.8827266610822, + "ymin": 77.99965019202182, + "xmax": 910.9040282471396, + "ymax": 110.39966729332562 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 902.5808984330068, + 105.15285368745171 + ], + [ + 889.8827266610822, + 105.57422932487447 + ], + [ + 892.2453576123355, + 110.39966729332562 + ], + [ + 905.0312552314556, + 109.97234993833752 + ], + [ + 908.3579004632417, + 77.99965019202182 + ], + [ + 895.3838084562956, + 78.41326102181779 + ], + [ + 897.838343674351, + 83.15057621647355 + ], + [ + 910.9040282471396, + 82.73100342025407 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 848.9897441777823, + "ymin": 0.0, + "xmax": 866.3622715863577, + "ymax": 25.774587225849302 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 860.1661953830156, + 21.72973533025356 + ], + [ + 848.9897441777823, + 22.05485819716978 + ], + [ + 850.8109965101442, + 25.774587225849302 + ], + [ + 862.0553558248321, + 25.44544254296551 + ], + [ + 864.409802963285, + -3.6666654123462763 + ], + [ + 853.020145156428, + -3.349235020449896 + ], + [ + 854.9020823207228, + 0.28295423197232594 + ], + [ + 866.3622715863577, + -0.03847923888883997 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 911.1972564525595, + "ymin": 263.42107695217726, + "xmax": 934.0498761548813, + "ymax": 294.841473603816 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 924.5750863155201, + 287.7971719627823 + ], + [ + 911.1972564525595, + 288.3598607420689 + ], + [ + 913.8624761024932, + 294.841473603816 + ], + [ + 927.3382384664835, + 294.27036631008116 + ], + [ + 931.1718855023727, + 263.42107695217726 + ], + [ + 917.4881070680858, + 263.98066519672034 + ], + [ + 920.2636186238516, + 270.4277747105226 + ], + [ + 934.0498761548813, + 269.8596179749209 + ] + ], + "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": 826.7756532848246, + "ymin": 0.0, + "xmax": 993.8394944465515, + "ymax": 365.63622711759314 + }, + "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": [ + [ + 905.7838433558761, + 365.63622711759314 + ], + [ + 920.2225931049518, + 365.0679415359154 + ], + [ + 837.8980129387921, + 145.37330361467988 + ], + [ + 826.7756532848246, + 145.70826311543627 + ], + [ + 975.6605265416923, + 109.64127546528684 + ], + [ + 993.8394944465515, + 109.11774009823202 + ], + [ + 875.5200419640726, + -81.60987903439332 + ], + [ + 862.3027182781183, + -81.33577982576509 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 107.25583197083168, + "xmax": 42.14079518634776, + "ymax": 434.375142971017 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + -27.630618231377298, + 434.375142971017 + ], + [ + -11.09221149397456, + 433.59798477123235 + ], + [ + 42.14079518634776, + 337.9663779780358 + ], + [ + 27.199174626328954, + 338.60389664998223 + ], + [ + -201.794245826556, + 198.29805598240623 + ], + [ + -180.77761903830663, + 197.54613067634398 + ], + [ + -95.60216128255524, + 107.25583197083168 + ], + [ + -114.10676128304453, + 107.84340659823445 + ] + ], + "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": 733.2196242301952, + "ymin": 0.0, + "xmax": 798.9213125896792, + "ymax": 9.281582396975978 + }, + "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": [ + [ + 739.0372122342573, + 9.281582396975978 + ], + [ + 787.4237355954081, + 7.911098780895827 + ], + [ + 780.1038103397958, + -10.534297855220473 + ], + [ + 733.2196242301952, + -9.248408178826082 + ], + [ + 746.78050305341, + -94.71007424770164 + ], + [ + 798.9213125896792, + -95.9271873277707 + ], + [ + 790.6625021736439, + -112.26548309644784 + ], + [ + 740.2619979584367, + -111.12906866559587 + ] + ], + "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": 107.5357808387165, + "ymin": 0.0, + "xmax": 280.1844585286565, + "ymax": 189.65813133417436 + }, + "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": [ + [ + 280.1844585286565, + 37.07409063035499 + ], + [ + 270.50214129192443, + 37.31660204096471 + ], + [ + 197.7770690097501, + 189.65813133417436 + ], + [ + 209.87915083923747, + 189.28144419294983 + ], + [ + 223.58299413036832, + -167.7816090107301 + ], + [ + 212.35118807449857, + -167.59395381371894 + ], + [ + 107.5357808387165, + -44.94965607708639 + ], + [ + 122.15909682198549, + -45.26511321449175 + ] + ], + "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": 507.4112459757996, + "ymin": 0.0, + "xmax": 814.4818248449645, + "ymax": 40.34640158782935 + }, + "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": [ + [ + 790.8987504133524, + 33.598358328346876 + ], + [ + 789.321054563641, + 29.292558819823626 + ], + [ + 525.8131750705481, + 35.94587579779642 + ], + [ + 525.5287764415209, + 40.34640158782935 + ], + [ + 814.4818248449645, + -170.4685859934997 + ], + [ + 812.4687353469546, + -173.79068232085956 + ], + [ + 507.88873300512677, + -168.6543165751234 + ], + [ + 507.4112459757996, + -165.247542520686 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 159.14455892685302, + "xmax": 510.58068001907486, + "ymax": 448.57145900922814 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 70.96945841792115, + 436.54582087576927 + ], + [ + 65.12296759311744, + 448.57145900922814 + ], + [ + 509.94106776368596, + 430.17473533402557 + ], + [ + 510.58068001907486, + 418.57257615643005 + ], + [ + -93.0693688570318, + 176.2898281912489 + ], + [ + -103.13298680236232, + 187.85930565304724 + ], + [ + 472.74984527794703, + 170.19230007204385 + ], + [ + 474.1166090898156, + 159.14455892685302 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 897939386194665430, + "instance_id": 54815, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1949_135", + "bbox_3d": { + "center_world": { + "x": -36.33243179321289, + "y": -120.14290618896484, + "z": 6.611191272735596 + }, + "extent": { + "x": 4.422521591186523, + "y": 4.2970757484436035, + "z": 7.008497714996338 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 13.625432531306046, + "ymax": 81.70603699153128 + }, + "corners_3d": [ + [ + -32.2579460144043, + -115.5145034790039, + -0.3973064422607422 + ], + [ + -31.58873176574707, + -124.08255767822266, + -0.3973064422607422 + ], + [ + -40.406917572021484, + -124.77130889892578, + -0.3973064422607422 + ], + [ + -41.076133728027344, + -116.20325469970703, + -0.3973064422607422 + ], + [ + -32.2579460144043, + -115.5145034790039, + 13.619688987731934 + ], + [ + -31.58873176574707, + -124.08255767822266, + 13.619688987731934 + ], + [ + -40.406917572021484, + -124.77130889892578, + 13.619688987731934 + ], + [ + -41.076133728027344, + -116.20325469970703, + 13.619688987731934 + ] + ], + "corners_2d": [ + [ + 13.625432531306046, + -6.059312630031798 + ], + [ + -157.92578711118688, + -7.081532130356607 + ], + [ + -282.30643225053745, + 80.34828327453278 + ], + [ + -84.82491311516628, + 81.70603699153128 + ], + [ + -148.62215972115928, + -354.5538350719364 + ], + [ + -364.1472704830775, + -355.0605545759954 + ], + [ + -568.2404992900167, + -309.96577048697054 + ], + [ + -310.14032936835326, + -309.23630041339266 + ] + ], + "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": 100.07352780077099, + "ymin": 0.0, + "xmax": 334.5374815896823, + "ymax": 28.875061013356856 + }, + "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": [ + [ + 208.70558139039804, + 28.875061013356856 + ], + [ + 334.5374815896823, + -18.11780084898612 + ], + [ + 261.91522895113786, + -52.237173094152695 + ], + [ + 138.63882890423446, + -10.977010185882932 + ], + [ + 173.01874414012616, + -79.5576346912892 + ], + [ + 311.35759906805123, + -121.1280042882272 + ], + [ + 235.0868180509023, + -150.98184034034597 + ], + [ + 100.07352780077099, + -114.84515550351387 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1070.345532020035, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1370.3276169581088, + 530.0281234688439 + ], + [ + 1070.345532020035, + 666.7547800311258 + ], + [ + 1498.3992316530914, + 1200.4622778096123 + ], + [ + 1843.5480628714745, + 934.2378118463272 + ], + [ + 1900.5778056118008, + -57.569507350859624 + ], + [ + 1455.6726051701837, + 64.5270274795285 + ], + [ + 3276.855421291882, + 912.7275070639271 + ], + [ + 3463.0485845715007, + 389.1276609964415 + ] + ], + "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": 0.0, + "ymin": 0.0, + "xmax": 338.5210346698984, + "ymax": 10.258984356592919 + }, + "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": [ + [ + 186.1718597679935, + 10.258984356592919 + ], + [ + 338.5210346698984, + -51.66939909039752 + ], + [ + 226.7783529896564, + -90.99478302290117 + ], + [ + 74.964951680269, + -38.38280434751755 + ], + [ + 48.172974495503695, + -393.8851027339572 + ], + [ + 258.9823107543971, + -418.6577320067744 + ], + [ + 127.7974081209544, + -433.61012375429425 + ], + [ + -78.86755114591074, + -413.47252415448816 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12511280680997575471, + "instance_id": 12123, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2349_123", + "bbox_3d": { + "center_world": { + "x": -36.20769119262695, + "y": -108.4781723022461, + "z": 6.51531457901001 + }, + "extent": { + "x": 4.686452865600586, + "y": 4.53662633895874, + "z": 6.939882278442383 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 252.38258288972725, + "ymax": 92.68250203227933 + }, + "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": [ + [ + 34.27539064841585, + 92.68250203227933 + ], + [ + 252.38258288972725, + 46.778596722556756 + ], + [ + 215.45486702501108, + -28.32887739477053 + ], + [ + 22.74898628387041, + 6.940289481194782 + ], + [ + -155.3190529710963, + -297.52732173655124 + ], + [ + 141.68396150534295, + -322.3610969936467 + ], + [ + 112.2413000997933, + -360.83104814244905 + ], + [ + -139.4057081217518, + -343.0877697299053 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15383328701178387651, + "instance_id": 49948, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2347_121", + "bbox_3d": { + "center_world": { + "x": -31.11125373840332, + "y": -118.98149108886719, + "z": 3.6639244556427 + }, + "extent": { + "x": 2.6075401306152344, + "y": 2.524176836013794, + "z": 3.861347198486328 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 29.034117110915417, + "ymax": 12.671621257143897 + }, + "corners_3d": [ + [ + -32.073577880859375, + -122.48072814941406, + -0.19742274284362793 + ], + [ + -34.6399040222168, + -118.13333129882812, + -0.19742274284362793 + ], + [ + -30.148929595947266, + -115.48225402832031, + -0.19742274284362793 + ], + [ + -27.582605361938477, + -119.82965087890625, + -0.19742274284362793 + ], + [ + -32.073577880859375, + -122.48072814941406, + 7.525271415710449 + ], + [ + -34.6399040222168, + -118.13333129882812, + 7.525271415710449 + ], + [ + -30.148929595947266, + -115.48225402832031, + 7.525271415710449 + ], + [ + -27.582605361938477, + -119.82965087890625, + 7.525271415710449 + ] + ], + "corners_2d": [ + [ + -131.8408844801313, + -7.76000508244465 + ], + [ + -64.83352258320815, + 12.671621257143897 + ], + [ + 29.034117110915417, + -27.529929654168143 + ], + [ + -36.600555975738416, + -45.32975451727725 + ], + [ + -231.28353946637083, + -181.31830147425842 + ], + [ + -159.3133344165849, + -165.16265215781993 + ], + [ + -46.63093004113773, + -196.81011958058002 + ], + [ + -117.37778170878323, + -210.6413745228324 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00142/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00142/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..232d88cd0fafa7743f667437ccaa4d66080db964 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00142/meta.json @@ -0,0 +1,3847 @@ +{ + "frame_id": 142, + "is_perturbed": true, + "perturbation": { + "drone_position": false, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 71.0, + "sim_timestamp": 11477.490229519084 + }, + "drone_pose": { + "x": -80.4433472781852, + "y": -87.6227104983912, + "z": 20.001541917662596, + "pitch": -42.45003205358114, + "yaw": 6.11526534738492, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7336674928665161, + -0.07860413193702698, + 0.6749469637870789, + 52.40619659423828 + ], + [ + 0.10652898252010345, + 0.9943096041679382, + 0.0, + 78.55455017089844 + ], + [ + -0.6711062788963318, + 0.07190141826868057, + 0.737866222858429, + -75.04468536376953 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -79.94199756828894, + "y": -87.78804445596691, + "z": 20.00131150269574 + }, + "t1_image_uv": [ + 50.988612319553454, + -517.294459257183 + ], + "t1_depth": 0.3549835645836676 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -60.66718292236328, + "y": -86.18776321411133, + "z": 0.576429955875501 + }, + "image_uv": [ + 616.4627500794205, + 393.16393219023763 + ], + "depth": 27.73284199415488, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 203, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -60.66718292236328, + "y": -86.18775939941406, + "z": 0.5764299631118774 + }, + "extent": { + "x": 0.19959227740764618, + "y": 0.22575682401657104, + "z": 0.5320320129394531 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 605.5844694009206, + "ymin": 372.6977714191404, + "xmax": 627.0554860337994, + "ymax": 413.42464509819035 + }, + "corners_3d": [ + [ + -60.648681640625, + -86.488525390625, + 0.044397950172424316 + ], + [ + -60.96794891357422, + -86.16925811767578, + 0.044397950172424316 + ], + [ + -60.68568420410156, + -85.88699340820312, + 0.044397950172424316 + ], + [ + -60.366416931152344, + -86.20626068115234, + 0.044397950172424316 + ], + [ + -60.648681640625, + -86.488525390625, + 1.1084619760513306 + ], + [ + -60.96794891357422, + -86.16925811767578, + 1.1084619760513306 + ], + [ + -60.68568420410156, + -85.88699340820312, + 1.1084619760513306 + ], + [ + -60.366416931152344, + -86.20626068115234, + 1.1084619760513306 + ] + ], + "corners_2d": [ + [ + 606.4646380329015, + 406.48680615732235 + ], + [ + 618.3181484638493, + 413.42464509819035 + ], + [ + 627.0554860337994, + 405.82430376688353 + ], + [ + 615.2334258203078, + 398.9987956770599 + ], + [ + 605.5844694009206, + 380.1619403212287 + ], + [ + 617.7447040690021, + 387.0805218672065 + ], + [ + 626.71599431689, + 379.50141937068645 + ], + [ + 614.5888038450913, + 372.6977714191404 + ] + ], + "center_offset_px": [ + -23.537249920579484, + 33.16393219023763 + ] + }, + "trace_timestep_index": 142, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 80, + "semantic_pixel_counts": { + "1": 509928, + "2": 173251, + "3": 1618, + "4": 47319, + "5": 4521, + "6": 12792, + "7": 3492, + "9": 27258, + "10": 80931, + "12": 3327, + "14": 16208, + "20": 2164, + "21": 6140, + "24": 32512, + "25": 139 + }, + "instance_pixel_counts": { + "2139": 479, + "2981": 513, + "3424": 44, + "4483": 44, + "5695": 95, + "6309": 33, + "9296": 4521, + "9799": 12075, + "11927": 810, + "12439": 817, + "12951": 2088, + "17232": 47319, + "21952": 1980, + "22464": 3404, + "22784": 498, + "22976": 18641, + "23040": 1994, + "23296": 6860, + "23552": 6744, + "24404": 1964, + "24512": 4994, + "24660": 2, + "25940": 64, + "26196": 134, + "27522": 3303, + "27795": 17497, + "28819": 23442, + "29781": 70, + "31893": 1077, + "33429": 1797, + "33697": 159, + "38539": 1161, + "39051": 1887, + "39563": 3482, + "40075": 735, + "40787": 144, + "41099": 521, + "41107": 80745, + "41611": 4870, + "41619": 33601, + "41889": 407, + "42123": 4142, + "42635": 2909, + "42643": 13092, + "43147": 4070, + "43155": 205730, + "43659": 6322, + "43667": 39288, + "44179": 96533, + "44181": 5401, + "44693": 879, + "45205": 360, + "45717": 17647, + "46229": 1158, + "46741": 4193, + "47552": 1619, + "48033": 503, + "48064": 2911, + "49088": 5866, + "49600": 2043, + "49664": 203, + "49920": 401, + "50015": 11921, + "50112": 912, + "50176": 554, + "50432": 979, + "50624": 18272, + "50688": 753, + "50944": 437, + "51136": 9816, + "51648": 7071, + "51712": 5954, + "52160": 11962, + "52672": 37871, + "53504": 4480, + "55296": 5774, + "55879": 46132, + "57173": 23955, + "62043": 824, + "64603": 4770 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 203, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -60.66718292236328, + "y": -86.18775939941406, + "z": 0.5764299631118774 + }, + "extent": { + "x": 0.2018115222454071, + "y": 0.22229979932308197, + "z": 0.5150878429412842 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 605.6408233922795, + "ymin": 373.13782060657473, + "xmax": 627.0071217588605, + "ymax": 413.0049051623905 + }, + "corners_3d": [ + [ + -60.65269470214844, + -86.4876480102539, + 0.06134212017059326 + ], + [ + -60.96707534790039, + -86.17327117919922, + 0.06134212017059326 + ], + [ + -60.681671142578125, + -85.88787078857422, + 0.06134212017059326 + ], + [ + -60.36729049682617, + -86.2022476196289, + 0.06134212017059326 + ], + [ + -60.65269470214844, + -86.4876480102539, + 1.0915178060531616 + ], + [ + -60.96707534790039, + -86.17327117919922, + 1.0915178060531616 + ], + [ + -60.681671142578125, + -85.88787078857422, + 1.0915178060531616 + ], + [ + -60.36729049682617, + -86.2022476196289, + 1.0915178060531616 + ] + ], + "corners_2d": [ + [ + 606.4919988459604, + 406.1728414218291 + ], + [ + 618.168808233968, + 413.0049051623905 + ], + [ + 627.0071217588605, + 405.3211605976485 + ], + [ + 615.361649567222, + 398.60098032492465 + ], + [ + 605.6408233922795, + 380.6863665692186 + ], + [ + 617.610044960619, + 387.50008981112046 + ], + [ + 626.6773864765555, + 379.83715141967 + ], + [ + 614.7410385395154, + 373.13782060657473 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 401, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -56.541194915771484, + "y": -83.19005584716797, + "z": 0.5770354270935059 + }, + "extent": { + "x": 0.4610961675643921, + "y": 0.3969042897224426, + "z": 0.904151439666748 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 679.6604824449082, + "ymin": 263.6669918986179, + "xmax": 716.1463038994123, + "ymax": 330.40035281406574 + }, + "corners_3d": [ + [ + -56.71173095703125, + -83.77405548095703, + -0.3271160125732422 + ], + [ + -57.144073486328125, + -83.10831451416016, + -0.3271160125732422 + ], + [ + -56.37065887451172, + -82.6060562133789, + -0.3271160125732422 + ], + [ + -55.938316345214844, + -83.27179718017578, + -0.3271160125732422 + ], + [ + -56.71173095703125, + -83.77405548095703, + 1.481186866760254 + ], + [ + -57.144073486328125, + -83.10831451416016, + 1.481186866760254 + ], + [ + -56.37065887451172, + -82.6060562133789, + 1.481186866760254 + ], + [ + -55.938316345214844, + -83.27179718017578, + 1.481186866760254 + ] + ], + "corners_2d": [ + [ + 679.6604824449082, + 323.25057711125606 + ], + [ + 701.8037046502515, + 330.40035281406574 + ], + [ + 713.2215835393826, + 314.19382231641544 + ], + [ + 691.4034014452201, + 307.31344304651566 + ], + [ + 681.2625917036089, + 279.37118662358284 + ], + [ + 704.322382427812, + 286.4242719994593 + ], + [ + 716.1463038994123, + 270.4438598817485 + ], + [ + 693.4389841413122, + 263.6669918986179 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 554, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -62.92300796508789, + "y": -79.24504852294922, + "z": 0.7273918986320496 + }, + "extent": { + "x": 0.4296630620956421, + "y": 0.39244139194488525, + "z": 0.8764016032218933 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 849.7711422083989, + "ymin": 390.1386454954833, + "xmax": 899.0466517053558, + "ymax": 464.14378787107626 + }, + "corners_3d": [ + [ + -63.00994873046875, + -79.82042694091797, + -0.14900970458984375 + ], + [ + -63.50389099121094, + -79.21045684814453, + -0.14900970458984375 + ], + [ + -62.83606719970703, + -78.66967010498047, + -0.14900970458984375 + ], + [ + -62.342124938964844, + -79.2796401977539, + -0.14900970458984375 + ], + [ + -63.00994873046875, + -79.82042694091797, + 1.6037935018539429 + ], + [ + -63.50389099121094, + -79.21045684814453, + 1.6037935018539429 + ], + [ + -62.83606719970703, + -78.66967010498047, + 1.6037935018539429 + ], + [ + -62.342124938964844, + -79.2796401977539, + 1.6037935018539429 + ] + ], + "corners_2d": [ + [ + 849.7711422083989, + 452.7058431221036 + ], + [ + 875.9503102162888, + 464.14378787107626 + ], + [ + 887.7887422233978, + 444.9302411057914 + ], + [ + 861.9806098848474, + 433.9328700809523 + ], + [ + 859.382252855714, + 408.86864199695304 + ], + [ + 886.8941464326152, + 420.2966811700518 + ], + [ + 899.0466517053558, + 401.106815671412 + ], + [ + 871.9456301225846, + 390.1386454954833 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 979, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -70.16718292236328, + "y": -86.18775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.478400856256485, + "y": 0.4792577922344208, + "z": 0.8995716571807861 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 623.7021520753111, + "ymin": 648.9468956555208, + "xmax": 687.7614150936946, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -70.16658020019531, + -86.86492919921875, + -0.3245723843574524 + ], + [ + -70.84435272216797, + -86.1871566772461, + -0.3245723843574524 + ], + [ + -70.16778564453125, + -85.51058959960938, + -0.3245723843574524 + ], + [ + -69.4900131225586, + -86.18836212158203, + -0.3245723843574524 + ], + [ + -70.16658020019531, + -86.86492919921875, + 1.4745709896087646 + ], + [ + -70.84435272216797, + -86.1871566772461, + 1.4745709896087646 + ], + [ + -70.16778564453125, + -85.51058959960938, + 1.4745709896087646 + ], + [ + -69.4900131225586, + -86.18836212158203, + 1.4745709896087646 + ] + ], + "corners_2d": [ + [ + 624.6305031038816, + 722.354547218809 + ], + [ + 658.6171553083108, + 748.7390296567253 + ], + [ + 685.054256179389, + 716.2416701417535 + ], + [ + 651.3849608721725, + 691.1800427762837 + ], + [ + 623.7021520753111, + 680.8499377139417 + ], + [ + 659.7670670054541, + 707.926788904658 + ], + [ + 687.7614150936946, + 674.5865731565696 + ], + [ + 652.0543393701639, + 648.9468956555208 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 753, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -64.28268432617188, + "y": -97.31512451171875, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.44239988923072815, + "y": 0.5334179401397705, + "z": 0.8782732486724854 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 151.12046171156743, + "ymin": 482.24989197089764, + "xmax": 226.2319421562089, + "ymax": 569.4362550779653 + }, + "corners_3d": [ + [ + -64.14655303955078, + -97.99462127685547, + -0.3032739758491516 + ], + [ + -64.97563934326172, + -97.3232421875, + -0.3032739758491516 + ], + [ + -64.41881561279297, + -96.63562774658203, + -0.3032739758491516 + ], + [ + -63.58972930908203, + -97.3070068359375, + -0.3032739758491516 + ], + [ + -64.14655303955078, + -97.99462127685547, + 1.4532725811004639 + ], + [ + -64.97563934326172, + -97.3232421875, + 1.4532725811004639 + ], + [ + -64.41881561279297, + -96.63562774658203, + 1.4532725811004639 + ], + [ + -63.58972930908203, + -97.3070068359375, + 1.4532725811004639 + ] + ], + "corners_2d": [ + [ + 174.44847332980584, + 545.1203584985714 + ], + [ + 193.67551365956962, + 569.4362550779653 + ], + [ + 226.2319421562089, + 549.1120611605899 + ], + [ + 206.64173363554858, + 525.6866978656491 + ], + [ + 151.12046171156743, + 501.8081240535177 + ], + [ + 170.7732323001394, + 526.3304011618908 + ], + [ + 205.4169612853782, + 505.8298496759364 + ], + [ + 185.34327103335852, + 482.24989197089764 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 437, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -49.42184829711914, + "y": -94.35797882080078, + "z": 0.5963664650917053 + }, + "extent": { + "x": 0.4193164110183716, + "y": 0.433051735162735, + "z": 0.8876398801803589 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 347.42273066290414, + "ymin": 166.85337758060163, + "xmax": 388.3695318225658, + "ymax": 225.92350052906733 + }, + "corners_3d": [ + [ + -49.28703689575195, + -94.94550323486328, + -0.29127341508865356 + ], + [ + -50.01341247558594, + -94.47379302978516, + -0.29127341508865356 + ], + [ + -49.55665969848633, + -93.77045440673828, + -0.29127341508865356 + ], + [ + -48.830284118652344, + -94.2421646118164, + -0.29127341508865356 + ], + [ + -49.28703689575195, + -94.94550323486328, + 1.484006404876709 + ], + [ + -50.01341247558594, + -94.47379302978516, + 1.484006404876709 + ], + [ + -49.55665969848633, + -93.77045440673828, + 1.484006404876709 + ], + [ + -48.830284118652344, + -94.2421646118164, + 1.484006404876709 + ] + ], + "corners_2d": [ + [ + 357.1664284600906, + 215.66940162935845 + ], + [ + 367.9970854773684, + 225.92350052906733 + ], + [ + 388.3695318225658, + 217.826399832647 + ], + [ + 377.3773864391891, + 207.79275792285034 + ], + [ + 347.42273066290414, + 174.54186249134574 + ], + [ + 358.49098798453014, + 184.55953325854352 + ], + [ + 379.6744279945718, + 176.6483257891504 + ], + [ + 368.43038480833013, + 166.85337758060163 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 5954, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 790.494287084899, + "ymin": 148.73455167180404, + "xmax": 936.5150239646838, + "ymax": 228.44164138926536 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 790.494287084899, + 199.21966839973018 + ], + [ + 802.6289330113325, + 228.44164138926536 + ], + [ + 925.8557506743448, + 220.5414548318346 + ], + [ + 909.0729920442052, + 191.9360302714459 + ], + [ + 795.9886017337269, + 155.79884689379227 + ], + [ + 808.8089463087549, + 184.27565048707345 + ], + [ + 936.5150239646838, + 176.58968959459062 + ], + [ + 918.7096027707237, + 148.73455167180404 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 209, + "instance_id": 53504, + "pixel_count": 4480, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -44.30002975463867, + "y": -58.57492446899414, + "z": 0.8211467266082764 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 1143.9235739995213, + "ymin": 50.54601275754561, + "xmax": 1280.0, + "ymax": 109.24987737167291 + }, + "corners_3d": [ + [ + -45.22607421875, + -56.065513610839844, + 0.05378423258662224 + ], + [ + -43.344486236572266, + -56.07659912109375, + 0.05378423258662224 + ], + [ + -43.373985290527344, + -61.08433532714844, + 0.05378423258662224 + ], + [ + -45.25557327270508, + -61.0732536315918, + 0.05378423258662224 + ], + [ + -45.22607421875, + -56.065513610839844, + 1.588509202003479 + ], + [ + -43.344486236572266, + -56.07659912109375, + 1.588509202003479 + ], + [ + -43.373985290527344, + -61.08433532714844, + 1.588509202003479 + ], + [ + -45.25557327270508, + -61.0732536315918, + 1.588509202003479 + ] + ], + "corners_2d": [ + [ + 1274.74562417782, + 103.01425095428039 + ], + [ + 1249.7535894319442, + 83.16010722340269 + ], + [ + 1143.9235739995213, + 89.00160251777828 + ], + [ + 1165.6369599670056, + 109.24987737167291 + ], + [ + 1290.8822866718142, + 69.80064022863337 + ], + [ + 1264.7472406812726, + 50.54601275754561 + ], + [ + 1156.438266754148, + 56.20787101117975 + ], + [ + 1179.1374271528812, + 75.85443443014736 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 216, + "instance_id": 55296, + "pixel_count": 5774, + "type_id": "vehicle.audi.etron", + "bbox_3d": { + "center_world": { + "x": -44.75563430786133, + "y": -104.2794189453125, + "z": 0.8648524284362793 + }, + "extent": { + "x": 2.427854299545288, + "y": 1.0163782835006714, + "z": 0.8246796727180481 + }, + "yaw": -94.3148193359375 + }, + "bbox_2d": { + "xmin": 41.05314319598142, + "ymin": 103.99795782041127, + "xmax": 197.61769725289605, + "ymax": 178.41404208139323 + }, + "corners_3d": [ + [ + -45.58646774291992, + -101.781982421875, + 0.04017278552055359 + ], + [ + -43.559471130371094, + -101.9349136352539, + 0.04017278552055359 + ], + [ + -43.92479705810547, + -106.77686309814453, + 0.04017278552055359 + ], + [ + -45.9517936706543, + -106.6239242553711, + 0.04017278552055359 + ], + [ + -45.58646774291992, + -101.781982421875, + 1.6895321607589722 + ], + [ + -43.559471130371094, + -101.9349136352539, + 1.6895321607589722 + ], + [ + -43.92479705810547, + -106.77686309814453, + 1.6895321607589722 + ], + [ + -45.9517936706543, + -106.6239242553711, + 1.6895321607589722 + ] + ], + "corners_2d": [ + [ + 189.72772901670731, + 166.5036115713723 + ], + [ + 197.61769725289605, + 140.87630636189434 + ], + [ + 71.93574575851642, + 151.90459957944356 + ], + [ + 58.936270988186834, + 178.41404208139323 + ], + [ + 176.11402951806627, + 128.9226311063157 + ], + [ + 184.75775394707847, + 103.99795782041127 + ], + [ + 55.13774275617254, + 114.71697424320806 + ], + [ + 41.05314319598142, + 140.52572224528024 + ] + ], + "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": 158.0524641091004, + "ymin": 0.0, + "xmax": 178.52613007388095, + "ymax": 12.815116320933043 + }, + "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": [ + [ + 166.05026038086424, + 12.815116320933043 + ], + [ + 176.6787459266722, + 12.367863229589034 + ], + [ + 178.52613007388095, + 9.342351542020594 + ], + [ + 167.95985879923677, + 9.784515632697435 + ], + [ + 158.0524641091004, + -10.753498688693185 + ], + [ + 168.8669999448348, + -11.18810468290718 + ], + [ + 170.79064860637703, + -14.127738703353998 + ], + [ + 160.04051556383968, + -13.6981604933423 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 833.6468391440534, + "ymin": 70.07566208499793, + "xmax": 851.687229093742, + "ymax": 100.4850839012766 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 845.2951326180613, + 95.77591732073932 + ], + [ + 833.6468391440534, + 96.37491871123365 + ], + [ + 835.874367666453, + 100.4850839012766 + ], + [ + 847.5983082894818, + 99.87804685116566 + ], + [ + 849.31132491847, + 70.07566208499793 + ], + [ + 837.4389243454285, + 70.66082642502357 + ], + [ + 839.7362342649212, + 74.6766486108271 + ], + [ + 851.687229093742, + 74.08347901681066 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4809317425322915338, + "instance_id": 2806, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -62.6159553527832, + "y": -93.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 275.91376871270666, + "ymin": 289.66645880162304, + "xmax": 304.0974325393018, + "ymax": 327.7449169155262 + }, + "corners_3d": [ + [ + -62.754539489746094, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.9842529296875, + 6.416468620300293 + ], + [ + -62.754539489746094, + -93.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 302.3026443975504, + 326.6103592424428 + ], + [ + 304.0974325393018, + 318.9648231399392 + ], + [ + 287.488483865098, + 320.0789232227455 + ], + [ + 285.5393866277899, + 327.7449169155262 + ], + [ + 293.14487762147957, + 297.24448065693747 + ], + [ + 295.072995541385, + 289.66645880162304 + ], + [ + 278.0048833846671, + 290.7704892884985 + ], + [ + 275.91376871270666, + 298.36933654186134 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 402.80705552688255, + "xmax": 7.668687800255157, + "ymax": 436.91052405020906 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 3.411541093435744, + 435.7057930229121 + ], + [ + 7.668687800255157, + 427.5386752305257 + ], + [ + -8.329311083533526, + 428.72285120472804 + ], + [ + -12.730172058663584, + 436.91052405020906 + ], + [ + -12.76365035622132, + 410.962677284565 + ], + [ + -8.257297288131895, + 402.80705552688255 + ], + [ + -24.67918669597225, + 403.9893447297619 + ], + [ + -29.33699189517222, + 412.16601288452154 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5344508464058845628, + "instance_id": 48329, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -62.61595916748047, + "y": -96.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 138.15926530123147, + "ymin": 298.4675367099554, + "xmax": 171.72924577058654, + "ymax": 336.81229992048736 + }, + "corners_3d": [ + [ + -62.75454330444336, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.9842529296875, + 6.416468620300293 + ], + [ + -62.75454330444336, + -96.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 168.69334191487167, + 335.6533049470839 + ], + [ + 171.72924577058654, + 327.8439601294881 + ], + [ + 154.76584973554003, + 328.981836079081 + ], + [ + 151.5690215294655, + 336.81229992048736 + ], + [ + 155.77175203406136, + 306.21237547262723 + ], + [ + 159.01150707604887, + 298.4675367099554 + ], + [ + 141.56919560473267, + 299.5957719753283 + ], + [ + 138.15926530123147, + 307.36212804919484 + ] + ], + "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": 113.17409004155479, + "ymin": 51.40762274621278, + "xmax": 137.42568757667084, + "ymax": 81.07378772835153 + }, + "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": [ + [ + 123.04055969201931, + 81.07378772835153 + ], + [ + 135.0750115713186, + 80.5042080400437 + ], + [ + 137.42568757667084, + 76.65443653359989 + ], + [ + 125.47092251071444, + 77.21671059824689 + ], + [ + 113.17409004155479, + 55.720154269215925 + ], + [ + 125.44756126216305, + 55.164273679339374 + ], + [ + 127.90584936349023, + 51.40762274621278 + ], + [ + 115.71524722407946, + 51.956238745099995 + ] + ], + "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": 134.94892076844383, + "ymin": 19.623989881396597, + "xmax": 157.33654168221943, + "ymax": 47.991570252218025 + }, + "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": [ + [ + 143.88538031207491, + 47.991570252218025 + ], + [ + 155.23729217043916, + 47.48312013809846 + ], + [ + 157.33654168221943, + 44.04512163485822 + ], + [ + 146.0555669347733, + 44.547406804515276 + ], + [ + 134.94892076844383, + 23.46700474199804 + ], + [ + 146.51329685178916, + 22.97182660236126 + ], + [ + 148.70406671720485, + 19.623989881396597 + ], + [ + 137.21329655298865, + 20.113056901147843 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8433051479337506626, + "instance_id": 17047, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -62.61595153808594, + "y": -91.29429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 388.43713956238776, + "ymin": 282.47583725009025, + "xmax": 412.30013431923294, + "ymax": 320.33438047241077 + }, + "corners_3d": [ + [ + -62.75453567504883, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.4842529296875, + 6.416468620300293 + ], + [ + -62.75453567504883, + -91.4842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 411.50065245395547, + 319.2196016661695 + ], + [ + 412.30013431923294, + 311.70666784019113 + ], + [ + 395.97814100166903, + 312.8015193105577 + ], + [ + 395.0296283356046, + 320.33438047241077 + ], + [ + 405.35981686429034, + 289.9189275941868 + ], + [ + 406.23715036472356, + 282.47583725009025 + ], + [ + 389.4717487976451, + 283.5602871269244 + ], + [ + 388.43713956238776, + 291.0236487607466 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 859.4526458655623, + "ymin": 116.56714866853031, + "xmax": 879.6401056445, + "ymax": 148.76525267907496 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 871.9754665842356, + 143.29560381377058 + ], + [ + 859.4526458655623, + 143.99097723579953 + ], + [ + 862.0400928979716, + 148.76525267907496 + ], + [ + 874.6503767411638, + 148.0598204916953 + ], + [ + 876.8722936372823, + 116.56714866853031 + ], + [ + 864.0900987158757, + 117.24852293320563 + ], + [ + 866.7667761674936, + 121.92750011571016 + ], + [ + 879.6401056445, + 121.23605911620501 + ] + ], + "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": 749.8401149549148, + "ymin": 0.0, + "xmax": 761.2695172575654, + "ymax": 18.29654698290358 + }, + "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": [ + [ + 749.8401149549148, + 15.703688681418498 + ], + [ + 751.0506311362909, + 18.29654698290358 + ], + [ + 759.5807222120953, + 17.916258156726713 + ], + [ + 758.3298589776464, + 15.327065928437833 + ], + [ + 751.3848541875798, + -3.897891579294651 + ], + [ + 752.6200871369009, + -1.364938751225509 + ], + [ + 761.2695172575654, + -1.7364630286725742 + ], + [ + 759.9928034035013, + -4.265784047855107 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 814.8167034827475, + "ymin": 36.23622365773406, + "xmax": 831.3600531891302, + "ymax": 65.28771409611147 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 825.8243310975911, + 61.097355763426776 + ], + [ + 814.8167034827475, + 61.63056681638244 + ], + [ + 816.7987148162274, + 65.28771409611147 + ], + [ + 827.8738792133089, + 64.74775803997431 + ], + [ + 829.2504812263551, + 36.23622365773406 + ], + [ + 818.0429214895677, + 36.755966990658465 + ], + [ + 820.0824743332871, + 40.321218442511054 + ], + [ + 831.3600531891302, + 39.794778023310926 + ] + ], + "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": 214.36020219920164, + "ymin": 9.790552382825183, + "xmax": 230.94494919834165, + "ymax": 32.84392338344526 + }, + "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": [ + [ + 220.45271015950055, + 32.84392338344526 + ], + [ + 229.60066771714833, + 32.442720700851 + ], + [ + 230.94494919834165, + 29.711656480126123 + ], + [ + 221.8433760881336, + 30.108887406777455 + ], + [ + 214.36020219920164, + 12.852754521942416 + ], + [ + 223.64540550591408, + 12.46049799295389 + ], + [ + 225.03906209323992, + 9.790552382825183 + ], + [ + 215.8016408579391, + 10.1788697752595 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 888.1065705920621, + "ymin": 300.47750668926665, + "xmax": 910.4155836123875, + "ymax": 332.1994939218661 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 901.366631440907, + 324.7620335348711 + ], + [ + 888.1065705920621, + 325.70267482934884 + ], + [ + 891.089964670096, + 332.1994939218661 + ], + [ + 904.4486501415699, + 331.24432088903325 + ], + [ + 907.2180081671038, + 300.47750668926665 + ], + [ + 893.6674236508226, + 301.4115228340625 + ], + [ + 896.7619921673262, + 307.8638579553909 + ], + [ + 910.4155836123875, + 306.9150853784964 + ] + ], + "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": 796.1760868335843, + "ymin": 0.0, + "xmax": 964.9283725521384, + "ymax": 402.73108960348384 + }, + "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": [ + [ + 885.1015441297952, + 402.73108960348384 + ], + [ + 899.4486615641796, + 401.7155080284979 + ], + [ + 807.1785730044728, + 182.48781440818314 + ], + [ + 796.1760868335843, + 183.0768421707623 + ], + [ + 947.0458831771052, + 148.29306419909642 + ], + [ + 964.9283725521384, + 147.37259656461126 + ], + [ + 837.4920986100338, + -39.997811906957395 + ], + [ + 824.522724162082, + -39.522870019904985 + ] + ], + "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": 696.9594369767433, + "ymin": 0.0, + "xmax": 759.5178678055266, + "ymax": 49.34259093674382 + }, + "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": [ + [ + 703.4661984922009, + 49.34259093674382 + ], + [ + 751.2503013240523, + 47.09786424046689 + ], + [ + 743.2416340828001, + 29.03713614877637 + ], + [ + 696.9594369767433, + 31.140438482196203 + ], + [ + 708.2028177464833, + -52.16830908993711 + ], + [ + 759.5178678055266, + -54.14847658727956 + ], + [ + 750.6512894183786, + -70.03816890364732 + ], + [ + 701.0642638783848, + -68.19157356642472 + ] + ], + "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": 64.50501637050957, + "ymin": 0.0, + "xmax": 242.67212260997167, + "ymax": 242.7324681499021 + }, + "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": [ + [ + 242.67212260997167, + 85.85474846578563 + ], + [ + 232.7791554736665, + 86.29244869864152 + ], + [ + 160.4346562152283, + 242.7324681499021 + ], + [ + 172.95174050205043, + 242.03900419279535 + ], + [ + 182.0790585862789, + -116.00184083840884 + ], + [ + 170.6255273870263, + -115.66594239709076 + ], + [ + 64.50501637050957, + 9.340200750256713 + ], + [ + 79.62811311647386, + 8.763391119201174 + ] + ], + "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": 468.8833185336369, + "ymin": 0.0, + "xmax": 772.9423958371453, + "ymax": 84.26186035500484 + }, + "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": [ + [ + 755.7434950024949, + 72.38455609975756 + ], + [ + 754.0000897858256, + 68.15577458495073 + ], + [ + 491.618205434355, + 79.86189339688502 + ], + [ + 491.46612424876514, + 84.26186035500484 + ], + [ + 772.9423958371453, + -126.3029135243413 + ], + [ + 770.8007443994359, + -129.52240630520117 + ], + [ + 469.24814078135716, + -120.59340166042682 + ], + [ + 468.8833185336369, + -117.22362320059779 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1092.6420396898416, + "ymin": 0.0, + "xmax": 1193.2568273057066, + "ymax": 29.38725524281267 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 1111.6094961781034, + 29.38725524281267 + ], + [ + 1156.2517583058216, + 27.293112797263177 + ], + [ + 1135.9739017799673, + 10.423917247705049 + ], + [ + 1092.6420396898416, + 12.39029351161389 + ], + [ + 1145.5537292338977, + -69.94620815360656 + ], + [ + 1193.2568273057066, + -71.78330210501349 + ], + [ + 1170.3496964631954, + -86.54506562061073 + ], + [ + 1124.1393510799971, + -84.82770795593336 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 210.08088057727963, + "xmax": 487.8734894508756, + "ymax": 516.2271904270557 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 30.615728769161024, + 503.32229659540724 + ], + [ + 24.53040172799149, + 516.2271904270557 + ], + [ + 487.5753432081152, + 481.6958777875677 + ], + [ + 487.8734894508756, + 469.63321217170653 + ], + [ + -145.06676514177605, + 242.0779555753969 + ], + [ + -155.80498303505146, + 254.4964833720309 + ], + [ + 444.8233810430233, + 221.46820182859256 + ], + [ + 445.86209188360317, + 210.08088057727963 + ] + ], + "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": 56.10883405247273, + "ymin": 0.0, + "xmax": 296.8571035247397, + "ymax": 78.76363225081701 + }, + "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": [ + [ + 169.28473808332097, + 78.76363225081701 + ], + [ + 296.8571035247397, + 29.24367973587789 + ], + [ + 222.3708422885357, + -3.5507688568799267 + ], + [ + 96.78734453550896, + 39.97740560315498 + ], + [ + 131.3883189015291, + -28.370876711379026 + ], + [ + 271.69126420541835, + -71.98269967314832 + ], + [ + 193.70320060970533, + -100.54737310427208 + ], + [ + 56.10883405247273, + -62.57878900424606 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1066.1192780633635, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1353.108363818647, + 555.2528988419867 + ], + [ + 1066.1192780633635, + 707.5623461775789 + ], + [ + 1531.6421485753503, + 1253.6427309203546 + ], + [ + 1845.4965669752598, + 952.0808878782302 + ], + [ + 1838.20736150241, + -25.851825727741584 + ], + [ + 1432.4865116858095, + 104.05971213895654 + ], + [ + 3327.834360920646, + 939.6875839488229 + ], + [ + 3346.102207654983, + 382.6939260352902 + ] + ], + "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": 0.0, + "ymin": 0.0, + "xmax": 300.2443827179217, + "ymax": 60.57986660040626 + }, + "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": [ + [ + 145.91702357952636, + 60.57986660040626 + ], + [ + 300.2443827179217, + -4.181057609942911 + ], + [ + 185.97162071118532, + -41.52096257942526 + ], + [ + 30.923009519107836, + 13.666611424533698 + ], + [ + 0.5278000790094666, + -336.35208461235663 + ], + [ + 214.28595503113644, + -361.8414646175521 + ], + [ + 81.37023268093981, + -375.81282639023334 + ], + [ + -129.93836724787798, + -354.98042814444045 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12511280680997575471, + "instance_id": 12123, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2349_123", + "bbox_3d": { + "center_world": { + "x": -36.20769119262695, + "y": -108.4781723022461, + "z": 6.51531457901001 + }, + "extent": { + "x": 4.686452865600586, + "y": 4.53662633895874, + "z": 6.939882278442383 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 214.3730044639051, + "ymax": 147.2986363728473 + }, + "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": [ + [ + -10.329031380771085, + 147.2986363728473 + ], + [ + 214.3730044639051, + 96.08853953515916 + ], + [ + 175.373508560731, + 21.28410163784139 + ], + [ + -22.806166955868775, + 60.383353383314784 + ], + [ + -209.63014595145, + -239.51569335796 + ], + [ + 96.74681888887437, + -266.88342155839814 + ], + [ + 66.27904815761678, + -304.66764365831887 + ], + [ + -192.60348074667957, + -285.2306032871297 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15477109144773432660, + "instance_id": 21653, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2346_120", + "bbox_3d": { + "center_world": { + "x": -23.484771728515625, + "y": -123.59561157226562, + "z": 7.382508277893066 + }, + "extent": { + "x": 5.345683574676514, + "y": 5.174781322479248, + "z": 7.9160966873168945 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 26.662847276077628, + "ymax": 43.60077048915571 + }, + "corners_3d": [ + [ + -30.79944610595703, + -122.2353744506836, + -0.5335884094238281 + ], + [ + -22.36284065246582, + -116.24061584472656, + -0.5335884094238281 + ], + [ + -16.17009735107422, + -124.95584869384766, + -0.5335884094238281 + ], + [ + -24.60670280456543, + -130.9506072998047, + -0.5335884094238281 + ], + [ + -30.79944610595703, + -122.2353744506836, + 15.298604965209961 + ], + [ + -22.36284065246582, + -116.24061584472656, + 15.298604965209961 + ], + [ + -16.17009735107422, + -124.95584869384766, + 15.298604965209961 + ], + [ + -24.60670280456543, + -130.9506072998047, + 15.298604965209961 + ] + ], + "corners_2d": [ + [ + -161.4048503052037, + 43.60077048915571 + ], + [ + 26.662847276077628, + -25.405349524992232 + ], + [ + -86.72847703388561, + -58.13810836081376 + ], + [ + -275.3728478913415, + 1.4498807877417335 + ], + [ + -393.6373594646652, + -352.20966022481036 + ], + [ + -123.87865104126695, + -377.5960318579778 + ], + [ + -250.58035363164754, + -389.0374625857223 + ], + [ + -515.5057019281951, + -367.92662707899467 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 17624874717371266855, + "instance_id": 10103, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2729_96", + "bbox_3d": { + "center_world": { + "x": -23.074316024780273, + "y": -116.09037780761719, + "z": 6.446401596069336 + }, + "extent": { + "x": 4.342342853546143, + "y": 4.219171524047852, + "z": 6.881437301635742 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 140.05423903897457, + "ymax": 18.995792238928118 + }, + "corners_3d": [ + [ + -21.257497787475586, + -110.31486511230469, + -0.43503570556640625 + ], + [ + -17.248931884765625, + -117.74029541015625, + -0.43503570556640625 + ], + [ + -24.89113426208496, + -121.86589050292969, + -0.43503570556640625 + ], + [ + -28.899700164794922, + -114.44046020507812, + -0.43503570556640625 + ], + [ + -21.257497787475586, + -110.31486511230469, + 13.327838897705078 + ], + [ + -17.248931884765625, + -117.74029541015625, + 13.327838897705078 + ], + [ + -24.89113426208496, + -121.86589050292969, + 13.327838897705078 + ], + [ + -28.899700164794922, + -114.44046020507812, + 13.327838897705078 + ] + ], + "corners_2d": [ + [ + 140.05423903897457, + -38.47599343957239 + ], + [ + 30.705038609968938, + -58.04172562666906 + ], + [ + -99.84727616494365, + -5.420112859315168 + ], + [ + 16.38685864723334, + 18.995792238928118 + ], + [ + 39.40933160706868, + -329.9688679990279 + ], + [ + -85.9915702833589, + -339.11451623193057 + ], + [ + -261.291084252196, + -314.1714494863064 + ], + [ + -127.67037442818162, + -302.2146745709357 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00143/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00143/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..48d1bc0ac23bafd50ccb4366b3a1d1cbd6adce73 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00143/meta.json @@ -0,0 +1,3528 @@ +{ + "frame_id": 143, + "is_perturbed": false, + "perturbation": { + "drone_position": false, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 71.5, + "sim_timestamp": 11489.462936906144 + }, + "drone_pose": { + "x": -79.94199756828894, + "y": -87.78804445596691, + "z": 20.00131150269574, + "pitch": -44.31932679888885, + "yaw": 6.062650969248741, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7114555239677429, + -0.07556362450122833, + 0.6986566781997681, + 49.53471374511719 + ], + [ + 0.10561586916446686, + 0.9944069981575012, + 3.725290298461914e-09, + 78.8539047241211 + ], + [ + -0.694749116897583, + 0.07378923892974854, + 0.7154570817947388, + -76.32752990722656 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -79.5881373845642, + "y": -87.98161902735312, + "z": 20.03460103780784 + }, + "t1_image_uv": [ + -391.7945218744403, + -786.3118398428178 + ], + "t1_depth": 0.21387064134398265 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -60.16718292236328, + "y": -85.68776321411133, + "z": 0.5822405027970672 + }, + "image_uv": [ + 640.0, + 359.99999999999994 + ], + "depth": 27.79486992368757, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 202, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -60.16718292236328, + "y": -85.68775939941406, + "z": 0.5822405219078064 + }, + "extent": { + "x": 0.18640866875648499, + "y": 0.20949704945087433, + "z": 0.5166344046592712 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 632.0551060906299, + "ymin": 342.08956786265423, + "xmax": 648.0130956226214, + "ymax": 377.63863107065447 + }, + "corners_3d": [ + [ + -60.35359191894531, + -85.89725494384766, + 0.06560611724853516 + ], + [ + -60.35359191894531, + -85.47826385498047, + 0.06560611724853516 + ], + [ + -59.98077392578125, + -85.47826385498047, + 0.06560611724853516 + ], + [ + -59.98077392578125, + -85.89725494384766, + 0.06560611724853516 + ], + [ + -60.35359191894531, + -85.89725494384766, + 1.0988749265670776 + ], + [ + -60.35359191894531, + -85.47826385498047, + 1.0988749265670776 + ], + [ + -59.98077392578125, + -85.47826385498047, + 1.0988749265670776 + ], + [ + -59.98077392578125, + -85.89725494384766, + 1.0988749265670776 + ] + ], + "corners_2d": [ + [ + 633.5343085502025, + 377.63863107065447 + ], + [ + 647.8067883763882, + 376.56017722527434 + ], + [ + 646.3981254701047, + 367.61994254643264 + ], + [ + 632.2579674337677, + 368.6782671942982 + ], + [ + 633.3632437362911, + 352.0955178949104 + ], + [ + 648.0130956226214, + 351.0181685371837 + ], + [ + 646.565580525457, + 342.08956786265423 + ], + [ + 632.0551060906299, + 343.1462845885349 + ] + ], + "center_offset_px": [ + 0.0, + -5.684341886080802e-14 + ] + }, + "trace_timestep_index": 143, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 73, + "semantic_pixel_counts": { + "1": 525354, + "2": 172076, + "3": 1, + "4": 48804, + "5": 4190, + "6": 12601, + "7": 3166, + "9": 14383, + "10": 81264, + "12": 3398, + "14": 16584, + "20": 2122, + "21": 3857, + "24": 33750, + "25": 50 + }, + "instance_pixel_counts": { + "2139": 1, + "5695": 50, + "9296": 4190, + "9799": 1708, + "11927": 854, + "12439": 821, + "12951": 2158, + "17232": 48804, + "21952": 2092, + "22464": 3508, + "22784": 270, + "22976": 19664, + "23040": 1298, + "23296": 7150, + "23552": 6970, + "24404": 1966, + "24512": 6189, + "24660": 1, + "25940": 67, + "26196": 88, + "27522": 409, + "27795": 18041, + "28819": 24291, + "31893": 1136, + "33429": 1854, + "38539": 1216, + "39051": 1986, + "39563": 3528, + "40075": 314, + "40787": 79, + "41099": 109, + "41107": 85021, + "41611": 5055, + "41619": 34015, + "42123": 4914, + "42635": 2906, + "42643": 4300, + "43147": 4628, + "43155": 212648, + "43659": 6929, + "43667": 38982, + "44179": 108056, + "44181": 5696, + "44693": 908, + "45205": 122, + "45717": 18053, + "46229": 1131, + "46741": 4850, + "47552": 1710, + "48064": 3078, + "49088": 6014, + "49600": 844, + "49664": 202, + "49920": 430, + "50015": 11276, + "50112": 120, + "50176": 484, + "50432": 927, + "50624": 19152, + "50688": 896, + "50944": 459, + "51136": 10063, + "51648": 7506, + "51712": 6236, + "52160": 13645, + "52672": 41291, + "53504": 4327, + "55296": 6021, + "55879": 46650, + "57173": 13974, + "62043": 153, + "64351": 74, + "64603": 3704 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 202, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -60.16718292236328, + "y": -85.68775939941406, + "z": 0.5822405219078064 + }, + "extent": { + "x": 0.22677244246006012, + "y": 0.20673826336860657, + "z": 0.5317180156707764 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 632.0073296807856, + "ymin": 340.7575636678715, + "xmax": 648.0783304296215, + "ymax": 378.97494270361267 + }, + "corners_3d": [ + [ + -60.39395523071289, + -85.89450073242188, + 0.05052250623703003 + ], + [ + -60.39395523071289, + -85.48101806640625, + 0.05052250623703003 + ], + [ + -59.94041061401367, + -85.48101806640625, + 0.05052250623703003 + ], + [ + -59.94041061401367, + -85.89450073242188, + 0.05052250623703003 + ], + [ + -60.39395523071289, + -85.89450073242188, + 1.1139585971832275 + ], + [ + -60.39395523071289, + -85.48101806640625, + 1.1139585971832275 + ], + [ + -59.94041061401367, + -85.48101806640625, + 1.1139585971832275 + ], + [ + -59.94041061401367, + -85.89450073242188, + 1.1139585971832275 + ] + ], + "corners_2d": [ + [ + 633.7703104314592, + 378.97494270361267 + ], + [ + 647.8641307943197, + 377.9084787529781 + ], + [ + 646.1521568260849, + 367.0320402695173 + ], + [ + 632.2170765085336, + 368.07434670463255 + ], + [ + 633.6004343879332, + 352.6848386175905 + ], + [ + 648.0783304296215, + 351.61943988754047 + ], + [ + 646.317767424842, + 340.7575636678715 + ], + [ + 632.0073296807856, + 341.7981828177178 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 430, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -56.041194915771484, + "y": -82.69005584716797, + "z": 0.5779338479042053 + }, + "extent": { + "x": 0.5815820097923279, + "y": 0.36656248569488525, + "z": 0.8960008025169373 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 700.6799143586916, + "ymin": 229.40458262771182, + "xmax": 738.3035736490881, + "ymax": 298.963808947041 + }, + "corners_3d": [ + [ + -56.686279296875, + -82.92768859863281, + -0.31806695461273193 + ], + [ + -56.53385543823242, + -82.21058654785156, + -0.31806695461273193 + ], + [ + -55.39611053466797, + -82.45242309570312, + -0.31806695461273193 + ], + [ + -55.54853439331055, + -83.16952514648438, + -0.31806695461273193 + ], + [ + -56.686279296875, + -82.92768859863281, + 1.4739346504211426 + ], + [ + -56.53385543823242, + -82.21058654785156, + 1.4739346504211426 + ], + [ + -55.39611053466797, + -82.45242309570312, + 1.4739346504211426 + ], + [ + -55.54853439331055, + -83.16952514648438, + 1.4739346504211426 + ] + ], + "corners_2d": [ + [ + 713.3524994307718, + 298.963808947041 + ], + [ + 734.3678757842382, + 294.4059309294598 + ], + [ + 721.2409933232514, + 272.8918281864218 + ], + [ + 700.6799143586916, + 277.2269817979812 + ], + [ + 716.4283954795659, + 255.18059771935378 + ], + [ + 738.3035736490881, + 250.66982270308543 + ], + [ + 724.5422172594806, + 229.40458262771182 + ], + [ + 703.1587238155876, + 233.68607133240448 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 484, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -62.42300796508789, + "y": -78.74504852294922, + "z": 0.7274064421653748 + }, + "extent": { + "x": 0.42741209268569946, + "y": 0.32234129309654236, + "z": 0.8856412172317505 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 875.350840879048, + "ymin": 359.2110793604878, + "xmax": 921.4224611295898, + "ymax": 428.69510311392963 + }, + "corners_3d": [ + [ + -62.881771087646484, + -79.02095031738281, + -0.15823477506637573 + ], + [ + -62.81438446044922, + -78.37979888916016, + -0.15823477506637573 + ], + [ + -61.9642448425293, + -78.46914672851562, + -0.15823477506637573 + ], + [ + -62.03163146972656, + -79.11029815673828, + -0.15823477506637573 + ], + [ + -62.881771087646484, + -79.02095031738281, + 1.6130475997924805 + ], + [ + -62.81438446044922, + -78.37979888916016, + 1.6130475997924805 + ], + [ + -61.9642448425293, + -78.46914672851562, + 1.6130475997924805 + ], + [ + -62.03163146972656, + -79.11029815673828, + 1.6130475997924805 + ] + ], + "corners_2d": [ + [ + 886.9652949049384, + 428.69510311392963 + ], + [ + 908.5146861261037, + 425.1006058651562 + ], + [ + 896.4735020524379, + 403.3589993952555 + ], + [ + 875.350840879048, + 406.7990180990127 + ], + [ + 898.8817870377395, + 384.5742521531263 + ], + [ + 921.4224611295898, + 380.9721633699636 + ], + [ + 908.5225170924929, + 359.2110793604878 + ], + [ + 886.4481300044605, + 362.65116107588074 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 927, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -69.66718292236328, + "y": -85.68775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.4346093237400055, + "y": 0.44960445165634155, + "z": 0.8925550580024719 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 662.3312317054408, + "ymin": 620.4117679040755, + "xmax": 711.3174123051765, + "ymax": 701.2441573824684 + }, + "corners_3d": [ + [ + -70.10179138183594, + -86.13736724853516, + -0.3175557851791382 + ], + [ + -70.10179138183594, + -85.23815155029297, + -0.3175557851791382 + ], + [ + -69.23257446289062, + -85.23815155029297, + -0.3175557851791382 + ], + [ + -69.23257446289062, + -86.13736724853516, + -0.3175557851791382 + ], + [ + -70.10179138183594, + -86.13736724853516, + 1.4675543308258057 + ], + [ + -70.10179138183594, + -85.23815155029297, + 1.4675543308258057 + ], + [ + -69.23257446289062, + -85.23815155029297, + 1.4675543308258057 + ], + [ + -69.23257446289062, + -86.13736724853516, + 1.4675543308258057 + ] + ], + "corners_2d": [ + [ + 667.1123569426132, + 701.2441573824684 + ], + [ + 707.1590285935953, + 697.1821007563839 + ], + [ + 701.2673750375087, + 661.3654283092548 + ], + [ + 662.3312317054408, + 665.2020655105625 + ], + [ + 668.7967946507964, + 661.3678466384782 + ], + [ + 711.3174123051765, + 657.1887925212598 + ], + [ + 704.947955290324, + 620.4117679040755 + ], + [ + 663.6771646899631, + 624.3451662879238 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 896, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -63.78268051147461, + "y": -96.81512451171875, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.5875440239906311, + "y": 0.4707666337490082, + "z": 0.9049261212348938 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 181.12815595183815, + "ymin": 450.5320476141301, + "xmax": 254.5951725248509, + "ymax": 531.5787267802026 + }, + "corners_3d": [ + [ + -64.31779479980469, + -97.3447265625, + -0.32992684841156006 + ], + [ + -64.41621398925781, + -96.40835571289062, + -0.32992684841156006 + ], + [ + -63.247562408447266, + -96.2855224609375, + -0.32992684841156006 + ], + [ + -63.149147033691406, + -97.22189331054688, + -0.32992684841156006 + ], + [ + -64.31779479980469, + -97.3447265625, + 1.4799253940582275 + ], + [ + -64.41621398925781, + -96.40835571289062, + 1.4799253940582275 + ], + [ + -63.247562408447266, + -96.2855224609375, + 1.4799253940582275 + ], + [ + -63.149147033691406, + -97.22189331054688, + 1.4799253940582275 + ] + ], + "corners_2d": [ + [ + 204.71622958058566, + 531.5787267802026 + ], + [ + 241.47317732244653, + 531.5456032173996 + ], + [ + 254.5951725248509, + 494.8956822829965 + ], + [ + 219.05333939514952, + 494.92676708820136 + ], + [ + 181.12815595183815, + 487.60312061695294 + ], + [ + 219.87764655155416, + 487.5695867322992 + ], + [ + 234.4369833400815, + 450.5320476141301 + ], + [ + 197.0355008629886, + 450.56340507228305 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 459, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -48.92184829711914, + "y": -93.85797882080078, + "z": 0.5940276384353638 + }, + "extent": { + "x": 0.4165917932987213, + "y": 0.4437206983566284, + "z": 0.857711911201477 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 365.8640107126424, + "ymin": 135.72051449488262, + "xmax": 404.80621437041316, + "ymax": 189.80403188069417 + }, + "corners_3d": [ + [ + -49.23707962036133, + -94.37861633300781, + -0.2636842727661133 + ], + [ + -49.421592712402344, + -93.51056671142578, + -0.2636842727661133 + ], + [ + -48.60661697387695, + -93.33734130859375, + -0.2636842727661133 + ], + [ + -48.42210388183594, + -94.20539093017578, + -0.2636842727661133 + ], + [ + -49.23707962036133, + -94.37861633300781, + 1.4517395496368408 + ], + [ + -49.421592712402344, + -93.51056671142578, + 1.4517395496368408 + ], + [ + -48.60661697387695, + -93.33734130859375, + 1.4517395496368408 + ], + [ + -48.42210388183594, + -94.20539093017578, + 1.4517395496368408 + ] + ], + "corners_2d": [ + [ + 375.1175156036717, + 188.38471102426135 + ], + [ + 398.5368935017707, + 189.80403188069417 + ], + [ + 404.80621437041316, + 177.1789444923242 + ], + [ + 381.76008837008123, + 175.80590667418846 + ], + [ + 365.8640107126424, + 148.04597746963117 + ], + [ + 390.0853497292406, + 149.43760081255974 + ], + [ + 396.71422327125845, + 137.06521151369554 + ], + [ + 372.8919016871902, + 135.72051449488262 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 6236, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 799.5066069530599, + "ymin": 122.65724612671065, + "xmax": 948.7266728263344, + "ymax": 204.24369557319037 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 799.5066069530599, + 174.10206937361485 + ], + [ + 811.9502999640197, + 204.24369557319037 + ], + [ + 937.0677861673134, + 196.1629432850587 + ], + [ + 919.9740672711655, + 166.6431548164132 + ], + [ + 805.6318321188621, + 129.91844824684588 + ], + [ + 818.8205608004694, + 159.4019999980542 + ], + [ + 948.7266728263344, + 151.5102582137279 + ], + [ + 930.5325595900058, + 122.65724612671065 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 209, + "instance_id": 53504, + "pixel_count": 4327, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -44.30002975463867, + "y": -58.57492446899414, + "z": 0.8211467266082764 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 1159.0393300919586, + "ymin": 20.78759215035467, + "xmax": 1280.0, + "ymax": 81.2584049338098 + }, + "corners_3d": [ + [ + -45.22607421875, + -56.065513610839844, + 0.05378423258662224 + ], + [ + -43.344486236572266, + -56.07659912109375, + 0.05378423258662224 + ], + [ + -43.373985290527344, + -61.08433532714844, + 0.05378423258662224 + ], + [ + -45.25557327270508, + -61.0732536315918, + 0.05378423258662224 + ], + [ + -45.22607421875, + -56.065513610839844, + 1.588509202003479 + ], + [ + -43.344486236572266, + -56.07659912109375, + 1.588509202003479 + ], + [ + -43.373985290527344, + -61.08433532714844, + 1.588509202003479 + ], + [ + -45.25557327270508, + -61.0732536315918, + 1.588509202003479 + ] + ], + "corners_2d": [ + [ + 1292.2510441515433, + 74.84677095189392 + ], + [ + 1266.904007851433, + 54.2504393190398 + ], + [ + 1159.0393300919586, + 60.26170403035064 + ], + [ + 1181.0840107541003, + 81.2584049338098 + ], + [ + 1309.7528241253203, + 40.81627747016813 + ], + [ + 1283.1807240953606, + 20.78759215035467 + ], + [ + 1172.647085339415, + 26.629678028535807 + ], + [ + 1195.7494348252949, + 47.05813202079145 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 216, + "instance_id": 55296, + "pixel_count": 6021, + "type_id": "vehicle.audi.etron", + "bbox_3d": { + "center_world": { + "x": -44.75563430786133, + "y": -104.2794189453125, + "z": 0.8648524284362793 + }, + "extent": { + "x": 2.427854299545288, + "y": 1.0163782835006714, + "z": 0.8246796727180481 + }, + "yaw": -94.3148193359375 + }, + "bbox_2d": { + "xmin": 37.30251387164344, + "ymin": 75.859869093013, + "xmax": 196.4184618592198, + "ymax": 152.244624527189 + }, + "corners_3d": [ + [ + -45.58646774291992, + -101.781982421875, + 0.04017278552055359 + ], + [ + -43.559471130371094, + -101.9349136352539, + 0.04017278552055359 + ], + [ + -43.92479705810547, + -106.77686309814453, + 0.04017278552055359 + ], + [ + -45.9517936706543, + -106.6239242553711, + 0.04017278552055359 + ], + [ + -45.58646774291992, + -101.781982421875, + 1.6895321607589722 + ], + [ + -43.559471130371094, + -101.9349136352539, + 1.6895321607589722 + ], + [ + -43.92479705810547, + -106.77686309814453, + 1.6895321607589722 + ], + [ + -45.9517936706543, + -106.6239242553711, + 1.6895321607589722 + ] + ], + "corners_2d": [ + [ + 188.83606455566292, + 140.01246522819335 + ], + [ + 196.4184618592198, + 113.53300499695871 + ], + [ + 68.90503130602974, + 124.87180371255562 + ], + [ + 56.22381281377193, + 152.244624527189 + ], + [ + 174.46591927687058, + 101.69307733179363 + ], + [ + 182.8272442214148, + 75.859869093013 + ], + [ + 51.110753694061486, + 86.91450512774128 + ], + [ + 37.30251387164344, + 113.64722097723404 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 845.5693662565438, + "ymin": 42.808675316261315, + "xmax": 864.4283115908703, + "ymax": 74.09219733288 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 857.4634289997391, + 69.18538145466931 + ], + [ + 845.5693662565438, + 69.8048405385369 + ], + [ + 847.8750024819793, + 74.09219733288 + ], + [ + 859.8455524353333, + 73.46450865965369 + ], + [ + 861.9661145123077, + 42.808675316261315 + ], + [ + 849.8299414368225, + 43.41518156055008 + ], + [ + 852.2124969976994, + 47.61354970093919 + ], + [ + 864.4283115908703, + 46.998817336958496 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4809317425322915338, + "instance_id": 2806, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -62.6159553527832, + "y": -93.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 279.65308563931774, + "ymin": 271.27316540786103, + "xmax": 308.416060794635, + "ymax": 309.8792027695016 + }, + "corners_3d": [ + [ + -62.754539489746094, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.9842529296875, + 6.416468620300293 + ], + [ + -62.754539489746094, + -93.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 306.7127000156096, + 308.7154122322805 + ], + [ + 308.416060794635, + 300.8030943882875 + ], + [ + 291.5415721737368, + 301.9461821616275 + ], + [ + 289.6837511255867, + 309.8792027695016 + ], + [ + 297.1825015181128, + 279.138087632534 + ], + [ + 299.0216244662622, + 271.27316540786103 + ], + [ + 281.655833836973, + 272.4091578345682 + ], + [ + 279.65308563931774, + 280.2952457438828 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 385.2391340010518, + "xmax": 9.30538037221288, + "ymax": 419.4926661311665 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 5.167002925326415, + 418.2689552387362 + ], + [ + 9.30538037221288, + 409.8990219238934 + ], + [ + -6.858597266445258, + 411.1022341698835 + ], + [ + -11.139252943876158, + 419.4926661311665 + ], + [ + -11.754766492043473, + 393.6175548654791 + ], + [ + -7.36102960230653, + 385.2391340010518 + ], + [ + -23.973529850933915, + 386.4433353383818 + ], + [ + -28.517572904663098, + 394.84282126793124 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5344508464058845628, + "instance_id": 48329, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -62.61595916748047, + "y": -96.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 139.54983143650475, + "ymin": 280.32725720016055, + "xmax": 173.95908379384593, + "ymax": 319.17772797853326 + }, + "corners_3d": [ + [ + -62.75454330444336, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.9842529296875, + 6.416468620300293 + ], + [ + -62.75454330444336, + -96.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 171.0138861967282, + 317.9894349183403 + ], + [ + 173.95908379384593, + 309.9113964618118 + ], + [ + 156.73254435785384, + 311.0783325055133 + ], + [ + 153.62641081427557, + 319.17772797853326 + ], + [ + 157.45904193740722, + 288.3616716656492 + ], + [ + 160.61435596873196, + 280.32725720016055 + ], + [ + 142.87582818327854, + 281.48763257049825 + ], + [ + 139.54983143650475, + 289.543901064766 + ] + ], + "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": 109.2761286296817, + "ymin": 22.986463666346822, + "xmax": 134.38144662142065, + "ymax": 53.52940601006361 + }, + "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": [ + [ + 119.78145133700855, + 53.52940601006361 + ], + [ + 132.05437096461014, + 52.94067012561089 + ], + [ + 134.38144662142065, + 48.9263020705651 + ], + [ + 122.18891279537002, + 49.5075602420539 + ], + [ + 109.2761286296817, + 27.48804939420097 + ], + [ + 121.80665201888132, + 26.912223695898888 + ], + [ + 124.24693647416484, + 22.986463666346822 + ], + [ + 111.80019369091963, + 23.554829441570803 + ] + ], + "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": 130.9139122282902, + "ymin": 0.0, + "xmax": 154.1041980550424, + "ymax": 19.017381904049614 + }, + "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": [ + [ + 140.439763668296, + 19.017381904049614 + ], + [ + 152.02378219170174, + 18.49126013602796 + ], + [ + 154.1041980550424, + 14.902402155755851 + ], + [ + 142.59182639067927, + 15.422203530000445 + ], + [ + 130.9139122282902, + -6.230565540513169 + ], + [ + 142.72718413559465, + -6.744016345943521 + ], + [ + 144.90403653331475, + -10.245980637254263 + ], + [ + 133.1652635024838, + -9.738814490500658 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8433051479337506626, + "instance_id": 17047, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -62.61595153808594, + "y": -91.29429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 394.1425953195079, + "ymin": 263.8728046490569, + "xmax": 418.3729097348638, + "ymax": 302.27647516904113 + }, + "corners_3d": [ + [ + -62.75453567504883, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.4842529296875, + 6.416468620300293 + ], + [ + -62.75453567504883, + -91.4842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 417.6662580422925, + 301.1325291337108 + ], + [ + 418.3729097348638, + 293.35444738893307 + ], + [ + 401.78361820147745, + 294.4782156079237 + ], + [ + 400.92767809562037, + 302.27647516904113 + ], + [ + 411.3646685771053, + 271.60054670058025 + ], + [ + 412.1485207947576, + 263.8728046490569 + ], + [ + 395.08444307831235, + 264.989060226261 + ], + [ + 394.1425953195079, + 272.7374162574228 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 872.261902775842, + "ymin": 91.38543916616487, + "xmax": 893.3751013779558, + "ymax": 124.41255960421176 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 885.0396151092464, + 118.72186072677297 + ], + [ + 872.261902775842, + 119.43991589941515 + ], + [ + 874.936069637133, + 124.41255960421176 + ], + [ + 887.8020865290734, + 123.68422599674264 + ], + [ + 890.5106281460854, + 91.38543916616487 + ], + [ + 877.453095345109, + 92.0907176991198 + ], + [ + 880.2253427178052, + 96.9757727374676 + ], + [ + 893.3751013779558, + 96.2601706653304 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 826.067120739801, + "ymin": 7.410500052683972, + "xmax": 843.3536612365424, + "ymax": 37.35960584754412 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 837.3130154158531, + 32.988604342043686 + ], + [ + 826.067120739801, + 33.540624533034816 + ], + [ + 828.1208745718274, + 37.35960584754412 + ], + [ + 839.4351295989926, + 36.80066655159965 + ], + [ + 841.1653221926979, + 7.410500052683972 + ], + [ + 829.7032137743538, + 7.949725696544135 + ], + [ + 831.820531512032, + 11.680713467938801 + ], + [ + 843.3536612365424, + 11.134595807756227 + ] + ], + "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": 211.58268743729235, + "ymin": 0.0, + "xmax": 228.70696237051328, + "ymax": 2.2327446018507544 + }, + "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": [ + [ + 218.0583530103167, + 2.2327446018507544 + ], + [ + 227.3814258006384, + 1.8187789553878133 + ], + [ + 228.70696237051328, + -1.0239974670722063 + ], + [ + 219.43061737961165, + -0.6140863323553845 + ], + [ + 211.58268743729235, + -18.345717570934312 + ], + [ + 221.05343578329826, + -18.751111093002066 + ], + [ + 222.43072799928507, + -21.534781183645237 + ], + [ + 213.00819469175394, + -21.133418675367466 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 900.4133669160615, + "ymin": 280.41032175882776, + "xmax": 923.5961703307853, + "ymax": 312.511528276375 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 913.8709335653293, + 304.8584676074268 + ], + [ + 900.4133669160615, + 305.8191640627489 + ], + [ + 903.4662348579469, + 312.511528276375 + ], + [ + 917.0223088020346, + 311.5362267932595 + ], + [ + 920.3200435460149, + 280.41032175882776 + ], + [ + 906.552412625945, + 281.3664183457575 + ], + [ + 909.7254268917983, + 288.028099802695 + ], + [ + 923.5961703307853, + 287.05712166686936 + ] + ], + "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": 805.1903254999995, + "ymin": 0.0, + "xmax": 982.9115959398414, + "ymax": 383.22920403200595 + }, + "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": [ + [ + 896.0369085285528, + 383.22920403200595 + ], + [ + 910.5508120649023, + 382.19969595770294 + ], + [ + 816.3700242179314, + 156.8173526236139 + ], + [ + 805.1903254999995, + 157.41991958965036 + ], + [ + 964.6089816560409, + 126.15964243576255 + ], + [ + 982.9115959398414, + 125.203951066451 + ], + [ + 850.3297599779, + -71.59636478770966 + ], + [ + 837.0285626876014, + -71.10123110563813 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 147.32676324087387, + "xmax": 0.4917751053766324, + "ymax": 486.64880234199507 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + -71.38838149400738, + 486.64880234199507 + ], + [ + -53.68603723574904, + 485.237234535522 + ], + [ + 0.4917751053766324, + 380.7793024546932 + ], + [ + -15.403545229613655, + 381.9268578289397 + ], + [ + -268.3147100022072, + 249.570403048109 + ], + [ + -245.38688540975636, + 248.17014852180392 + ], + [ + -154.6510583174503, + 147.32676324087387 + ], + [ + -174.63921179381293, + 148.4056255874545 + ] + ], + "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": 703.4588155726364, + "ymin": 0.0, + "xmax": 768.2495734798772, + "ymax": 18.940722520722886 + }, + "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": [ + [ + 710.2037827736503, + 18.940722520722886 + ], + [ + 758.8906630328598, + 16.629479893105724 + ], + [ + 750.63300211493, + -2.1375766031669627 + ], + [ + 703.4588155726364, + 0.02968287976841566 + ], + [ + 715.7533278778079, + -85.73166999101898 + ], + [ + 768.2495734798772, + -87.78727823038497 + ], + [ + 759.0458491193507, + -104.43210690398462 + ], + [ + 708.3039699225316, + -102.51414541058818 + ] + ], + "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": 58.66338573642588, + "ymin": 0.0, + "xmax": 241.3319563514949, + "ymax": 218.5861602058083 + }, + "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": [ + [ + 241.3319563514949, + 56.586250153055005 + ], + [ + 231.27197561973497, + 57.035489465008595 + ], + [ + 160.421605698679, + 218.5861602058083 + ], + [ + 173.10364804920528, + 217.87915977233135 + ], + [ + 176.7451014452842, + -151.8350260467875 + ], + [ + 165.00081384744925, + -151.48456365708955 + ], + [ + 58.66338573642588, + -20.012977569150678 + ], + [ + 74.14297253453265, + -20.613004303151286 + ] + ], + "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": 471.03264126180727, + "ymin": 0.0, + "xmax": 783.0703553532732, + "ymax": 55.04500973683008 + }, + "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": [ + [ + 763.555856531568, + 42.844041935235055 + ], + [ + 761.7590008606603, + 38.45630793109831 + ], + [ + 494.64092015414127, + 50.48360441485039 + ], + [ + 494.53275468405474, + 55.04500973683008 + ], + [ + 783.0703553532732, + -162.51691502320648 + ], + [ + 780.8323648265514, + -165.91179658659405 + ], + [ + 471.35475947209807, + -156.58788907634676 + ], + [ + 471.03264126180727, + -153.03677348423219 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 190.58737494269886, + "xmax": 494.95889956638223, + "ymax": 498.4290519292837 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 34.05887469987738, + 485.297576387715 + ], + [ + 28.183900031003986, + 498.4290519292837 + ], + [ + 494.78466894874305, + 463.5965518797562 + ], + [ + 494.95889956638223, + 451.29673158042607 + ], + [ + -150.72476133070984, + 223.7126529088758 + ], + [ + -161.4110632378928, + 236.6796523073678 + ], + [ + 451.6735136375896, + 202.4963014350074 + ], + [ + 452.55693372715825, + 190.58737494269886 + ] + ], + "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": 48.55989780711502, + "ymin": 0.0, + "xmax": 295.5353510621777, + "ymax": 48.9448936444569 + }, + "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": [ + [ + 166.47728258017008, + 48.9448936444569 + ], + [ + 295.5353510621777, + -2.3503104265623733 + ], + [ + 219.1395792579745, + -36.446539581296975 + ], + [ + 91.99531388624757, + 8.707951578800476 + ], + [ + 126.149614376758, + -61.27083068360042 + ], + [ + 268.7877994636443, + -106.82285400026751 + ], + [ + 188.53827173942523, + -136.75406225112522 + ], + [ + 48.55989780711502, + -97.0561412647694 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1079.1011503988125, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1368.9768520316634, + 539.5302491494255 + ], + [ + 1079.1011503988125, + 693.7847666107905 + ], + [ + 1541.6140089739265, + 1240.3540255131447 + ], + [ + 1859.296127950889, + 940.5808195315054 + ], + [ + 1903.078599828662, + -49.21265662434223 + ], + [ + 1486.4651285992193, + 91.41446945823805 + ], + [ + 3531.34008543809, + 1013.6424587937667 + ], + [ + 3506.790478372437, + 396.7234219187038 + ] + ], + "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": 0.0, + "ymin": 0.0, + "xmax": 298.54901753238283, + "ymax": 30.224292144275125 + }, + "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": [ + [ + 142.40412826218056, + 30.224292144275125 + ], + [ + 298.54901753238283, + -36.9689177989664 + ], + [ + 181.4202950193981, + -75.8740515941679 + ], + [ + 24.406765576332873, + -18.51925728540766 + ], + [ + -14.404618495133263, + -383.5010625588707 + ], + [ + 206.06711304039328, + -410.75611735068696 + ], + [ + 68.35891367961301, + -425.7139132240678 + ], + [ + -149.62699058175428, + -403.45702918506356 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12511280680997575471, + "instance_id": 12123, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2349_123", + "bbox_3d": { + "center_world": { + "x": -36.20769119262695, + "y": -108.4781723022461, + "z": 6.51531457901001 + }, + "extent": { + "x": 4.686452865600586, + "y": 4.53662633895874, + "z": 6.939882278442383 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 212.6739228560275, + "ymax": 119.9295362263714 + }, + "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": [ + [ + -14.756544423853029, + 119.9295362263714 + ], + [ + 212.6739228560275, + 67.06651621828303 + ], + [ + 171.70625911013008, + -10.53593189730151 + ], + [ + -29.311372484471804, + 29.963760069745433 + ], + [ + -229.2380770098997, + -280.74494639251134 + ], + [ + 86.43811667594593, + -309.88031563102004 + ], + [ + 54.20386132832607, + -350.1810755485601 + ], + [ + -212.53392001400346, + -329.5003289038458 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15477109144773432660, + "instance_id": 21653, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2346_120", + "bbox_3d": { + "center_world": { + "x": -23.484771728515625, + "y": -123.59561157226562, + "z": 7.382508277893066 + }, + "extent": { + "x": 5.345683574676514, + "y": 5.174781322479248, + "z": 7.9160966873168945 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 19.25966233957172, + "ymax": 12.474587564743047 + }, + "corners_3d": [ + [ + -30.79944610595703, + -122.2353744506836, + -0.5335884094238281 + ], + [ + -22.36284065246582, + -116.24061584472656, + -0.5335884094238281 + ], + [ + -16.17009735107422, + -124.95584869384766, + -0.5335884094238281 + ], + [ + -24.60670280456543, + -130.9506072998047, + -0.5335884094238281 + ], + [ + -30.79944610595703, + -122.2353744506836, + 15.298604965209961 + ], + [ + -22.36284065246582, + -116.24061584472656, + 15.298604965209961 + ], + [ + -16.17009735107422, + -124.95584869384766, + 15.298604965209961 + ], + [ + -24.60670280456543, + -130.9506072998047, + 15.298604965209961 + ] + ], + "corners_2d": [ + [ + -170.74381529519667, + 12.474587564743047 + ], + [ + 19.25966233957172, + -59.15870537828374 + ], + [ + -97.09439465479682, + -93.28717746568157 + ], + [ + -287.87271400748295, + -31.34074087354867 + ], + [ + -422.32931724472223, + -400.4329920728293 + ], + [ + -143.8300179380028, + -427.5759797591588 + ], + [ + -274.9257751348341, + -439.82628220032416 + ], + [ + -548.4148577800499, + -417.27277741366595 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00144/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00144/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..93ea516004f62d471b69f5901e2dfb51dd8d57c9 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00144/meta.json @@ -0,0 +1,4160 @@ +{ + "frame_id": 144, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 72.0, + "sim_timestamp": 11499.13619546406 + }, + "drone_pose": { + "x": -79.5881373845642, + "y": -87.98161902735312, + "z": 20.03460103780784, + "pitch": -42.530405910773354, + "yaw": 4.5524768321484945, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7345937490463257, + -0.0584908053278923, + 0.675981342792511, + 50.06804275512695 + ], + [ + 0.07937213033437729, + 0.9968450665473938, + -1.862645149230957e-09, + 81.38697052001953 + ], + [ + -0.6738486886024475, + 0.053654082119464874, + 0.7369186878204346, + -73.11480712890625 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -78.96977472465288, + "y": -88.26629991390206, + "z": 19.94722998973439 + }, + "t1_image_uv": [ + -3.401830823416958, + -291.4422759017043 + ], + "t1_depth": 0.49665534366305697 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -59.66718292236328, + "y": -85.68776321411133, + "z": 0.5864153071120382 + }, + "image_uv": [ + 664.2608678415492, + 386.99485125507175 + ], + "depth": 27.914589838885945, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 192, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -59.66718292236328, + "y": -85.68775939941406, + "z": 0.5864152908325195 + }, + "extent": { + "x": 0.19811034202575684, + "y": 0.21205565333366394, + "z": 0.5273790955543518 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 654.1158311451328, + "ymin": 366.96232981491363, + "xmax": 674.6613996555566, + "ymax": 406.82171401110423 + }, + "corners_3d": [ + [ + -59.65732192993164, + -85.97779083251953, + 0.059036195278167725 + ], + [ + -59.95721435546875, + -85.67790222167969, + 0.059036195278167725 + ], + [ + -59.67704391479492, + -85.3977279663086, + 0.059036195278167725 + ], + [ + -59.37715148925781, + -85.69761657714844, + 0.059036195278167725 + ], + [ + -59.65732192993164, + -85.97779083251953, + 1.1137943267822266 + ], + [ + -59.95721435546875, + -85.67790222167969, + 1.1137943267822266 + ], + [ + -59.67704391479492, + -85.3977279663086, + 1.1137943267822266 + ], + [ + -59.37715148925781, + -85.69761657714844, + 1.1137943267822266 + ] + ], + "corners_2d": [ + [ + 654.1158311451328, + 400.16790700514605 + ], + [ + 665.2602842211414, + 406.82171401110423 + ], + [ + 673.7875396153102, + 399.5349450666772 + ], + [ + 662.6693232363588, + 392.98491450254653 + ], + [ + 654.4811719134543, + 374.12133747541947 + ], + [ + 665.9189091758551, + 380.75550634747344 + ], + [ + 674.6613996555566, + 373.49037292655464 + ], + [ + 663.2513478700096, + 366.96232981491363 + ] + ], + "center_offset_px": [ + 24.260867841549157, + 26.99485125507175 + ] + }, + "trace_timestep_index": 144, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 81, + "semantic_pixel_counts": { + "1": 514835, + "2": 182471, + "3": 2859, + "4": 43747, + "5": 4964, + "6": 14748, + "7": 4061, + "9": 26484, + "10": 71299, + "12": 3412, + "14": 15094, + "20": 2070, + "21": 2042, + "24": 33414, + "25": 100 + }, + "instance_pixel_counts": { + "2981": 844, + "4483": 75, + "5695": 100, + "5797": 20, + "6309": 305, + "9296": 4964, + "9799": 15184, + "11927": 823, + "12439": 1198, + "12951": 2471, + "17232": 43747, + "21952": 2026, + "22464": 4221, + "22784": 579, + "22976": 22152, + "23040": 2072, + "23296": 8696, + "23552": 7216, + "24404": 1856, + "24512": 7274, + "24660": 2, + "25940": 68, + "26196": 144, + "27522": 3411, + "27795": 20143, + "28307": 484, + "28819": 27819, + "29781": 538, + "31893": 1197, + "32405": 29, + "33429": 2032, + "33697": 620, + "38539": 1180, + "39051": 1969, + "39563": 3502, + "40075": 783, + "40787": 171, + "41099": 619, + "41107": 84222, + "41611": 5296, + "41619": 32408, + "41889": 823, + "42123": 4980, + "42635": 2694, + "42643": 14632, + "43147": 3521, + "43155": 216964, + "43659": 5606, + "43667": 35907, + "44179": 82256, + "44181": 5643, + "44693": 897, + "45205": 408, + "45717": 18496, + "46229": 1028, + "46741": 3684, + "47552": 1648, + "48033": 878, + "48064": 3062, + "49088": 5707, + "49600": 2170, + "49664": 192, + "49920": 411, + "50015": 14877, + "50112": 1102, + "50176": 546, + "50432": 943, + "50624": 20119, + "50688": 860, + "50944": 460, + "51136": 10221, + "51648": 7171, + "51712": 6332, + "52160": 10473, + "52672": 33419, + "53504": 2968, + "55296": 5794, + "55879": 45371, + "57173": 23073, + "64351": 1880, + "64603": 873 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 192, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -59.66718292236328, + "y": -85.68775939941406, + "z": 0.5864152908325195 + }, + "extent": { + "x": 0.23564940690994263, + "y": 0.24387206137180328, + "z": 0.5429909825325012 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 652.4640403011769, + "ymin": 365.4097254983368, + "xmax": 676.3588304616839, + "ymax": 408.39776800611065 + }, + "corners_3d": [ + [ + -59.66136932373047, + -86.0268325805664, + 0.04342430830001831 + ], + [ + -60.006256103515625, + -85.68194580078125, + 0.04342430830001831 + ], + [ + -59.672996520996094, + -85.34868621826172, + 0.04342430830001831 + ], + [ + -59.32810974121094, + -85.69357299804688, + 0.04342430830001831 + ], + [ + -59.66136932373047, + -86.0268325805664, + 1.129406213760376 + ], + [ + -60.006256103515625, + -85.68194580078125, + 1.129406213760376 + ], + [ + -59.672996520996094, + -85.34868621826172, + 1.129406213760376 + ], + [ + -59.32810974121094, + -85.69357299804688, + 1.129406213760376 + ] + ], + "corners_2d": [ + [ + 652.4640403011769, + 400.7339395991072 + ], + [ + 665.2787151404219, + 408.39776800611065 + ], + [ + 675.4155872267094, + 399.72054825449055 + ], + [ + 662.6367777331526, + 392.1986358647746 + ], + [ + 652.7963773629056, + 373.91544204815733 + ], + [ + 665.9584957933102, + 381.55628533420025 + ], + [ + 676.3588304616839, + 372.90534374514255 + ], + [ + 663.2346181299134, + 365.4097254983368 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 411, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -55.541194915771484, + "y": -82.69005584716797, + "z": 0.5787004828453064 + }, + "extent": { + "x": 0.514404296875, + "y": 0.39265623688697815, + "z": 0.902880847454071 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 724.489931609094, + "ymin": 259.37336956318086, + "xmax": 763.6758670171065, + "ymax": 327.66857740836514 + }, + "corners_3d": [ + [ + -55.75875473022461, + -83.29953002929688, + -0.32418036460876465 + ], + [ + -56.186466217041016, + -82.64091491699219, + -0.32418036460876465 + ], + [ + -55.32363510131836, + -82.08058166503906, + -0.32418036460876465 + ], + [ + -54.89592361450195, + -82.73919677734375, + -0.32418036460876465 + ], + [ + -55.75875473022461, + -83.29953002929688, + 1.4815813302993774 + ], + [ + -56.186466217041016, + -82.64091491699219, + 1.4815813302993774 + ], + [ + -55.32363510131836, + -82.08058166503906, + 1.4815813302993774 + ], + [ + -54.89592361450195, + -82.73919677734375, + 1.4815813302993774 + ] + ], + "corners_2d": [ + [ + 724.489931609094, + 320.2544790737892 + ], + [ + 746.4362577213147, + 327.66857740836514 + ], + [ + 758.9481025208382, + 309.95992740095636 + ], + [ + 737.3489115614843, + 302.85085204231 + ], + [ + 727.891404746079, + 276.52177588563416 + ], + [ + 750.7605828505571, + 283.83583138878754 + ], + [ + 763.6758670171065, + 266.3747409224362 + ], + [ + 741.1837623945331, + 259.37336956318086 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 546, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -61.92300796508789, + "y": -78.74504852294922, + "z": 0.7274113893508911 + }, + "extent": { + "x": 0.29017090797424316, + "y": 0.3994238078594208, + "z": 0.8656290769577026 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 898.59995052014, + "ymin": 391.9530929872863, + "xmax": 946.5014421047069, + "ymax": 459.57885442705634 + }, + "corners_3d": [ + [ + -61.89714813232422, + -79.23806762695312, + -0.13821768760681152 + ], + [ + -62.399879455566406, + -78.61724853515625, + -0.13821768760681152 + ], + [ + -61.94886779785156, + -78.25202941894531, + -0.13821768760681152 + ], + [ + -61.446136474609375, + -78.87284851074219, + -0.13821768760681152 + ], + [ + -61.89714813232422, + -79.23806762695312, + 1.5930404663085938 + ], + [ + -62.399879455566406, + -78.61724853515625, + 1.5930404663085938 + ], + [ + -61.94886779785156, + -78.25202941894531, + 1.5930404663085938 + ], + [ + -61.446136474609375, + -78.87284851074219, + 1.5930404663085938 + ] + ], + "corners_2d": [ + [ + 898.59995052014, + 447.55404820389543 + ], + [ + 925.3999901770529, + 459.57885442705634 + ], + [ + 933.296164640681, + 446.85255716199055 + ], + [ + 906.7442417749776, + 435.13610447847253 + ], + [ + 910.2518987490616, + 404.3442108652249 + ], + [ + 938.4264963648156, + 416.35669737085277 + ], + [ + 946.5014421047069, + 403.6438535524154 + ], + [ + 918.602143981868, + 391.9530929872863 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 943, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -69.16718292236328, + "y": -85.68775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.3776220679283142, + "y": 0.4272558391094208, + "z": 0.8653120994567871 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 679.6721132886702, + "ymin": 645.3752665965592, + "xmax": 735.6697032179366, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -69.13208770751953, + -86.25689697265625, + -0.29031282663345337 + ], + [ + -69.73632049560547, + -85.65266418457031, + -0.29031282663345337 + ], + [ + -69.20227813720703, + -85.11862182617188, + -0.29031282663345337 + ], + [ + -68.5980453491211, + -85.72285461425781, + -0.29031282663345337 + ], + [ + -69.13208770751953, + -86.25689697265625, + 1.4403114318847656 + ], + [ + -69.73632049560547, + -85.65266418457031, + 1.4403114318847656 + ], + [ + -69.20227813720703, + -85.11862182617188, + 1.4403114318847656 + ], + [ + -68.5980453491211, + -85.72285461425781, + 1.4403114318847656 + ] + ], + "corners_2d": [ + [ + 679.6721132886702, + 709.6986266734059 + ], + [ + 710.0086051989077, + 733.5049372339274 + ], + [ + 730.4727992980864, + 708.8407255205118 + ], + [ + 700.3408510223592, + 685.9530384153788 + ], + [ + 681.9526251911486, + 669.641359470655 + ], + [ + 714.1154189033315, + 694.0236173830972 + ], + [ + 735.6697032179366, + 668.7637155802968 + ], + [ + 703.7387687393405, + 645.3752665965592 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 860, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -63.28268051147461, + "y": -96.81512451171875, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.42216306924819946, + "y": 0.5439745783805847, + "z": 0.8896824717521667 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 210.3921950794744, + "ymin": 466.0246119510982, + "xmax": 280.33315124867164, + "ymax": 552.1175536632571 + }, + "corners_3d": [ + [ + -63.125606536865234, + -97.48554229736328, + -0.314683198928833 + ], + [ + -63.97110366821289, + -96.80087280273438, + -0.314683198928833 + ], + [ + -63.439754486083984, + -96.14470672607422, + -0.314683198928833 + ], + [ + -62.59425735473633, + -96.82937622070312, + -0.314683198928833 + ], + [ + -63.125606536865234, + -97.48554229736328, + 1.4646817445755005 + ], + [ + -63.97110366821289, + -96.80087280273438, + 1.4646817445755005 + ], + [ + -63.439754486083984, + -96.14470672607422, + 1.4646817445755005 + ], + [ + -62.59425735473633, + -96.82937622070312, + 1.4646817445755005 + ] + ], + "corners_2d": [ + [ + 230.82225119125133, + 527.4740252219194 + ], + [ + 250.32206948530222, + 552.1175536632571 + ], + [ + 280.33315124867164, + 533.8250934019179 + ], + [ + 260.48039290103156, + 510.0055209754422 + ], + [ + 210.3921950794744, + 483.58263632435876 + ], + [ + 230.38474872939042, + 508.4022050420032 + ], + [ + 262.26086424526665, + 489.9734974439664 + ], + [ + 241.86247434636493, + 466.0246119510982 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 460, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -48.42184829711914, + "y": -93.85797882080078, + "z": 0.5931145548820496 + }, + "extent": { + "x": 0.47996580600738525, + "y": 0.43211913108825684, + "z": 0.9083988070487976 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 394.62786579541637, + "ymin": 158.58444002163947, + "xmax": 436.52230386036615, + "ymax": 219.08873554491885 + }, + "corners_3d": [ + [ + -48.32085037231445, + -94.49586486816406, + -0.31528425216674805 + ], + [ + -49.04566192626953, + -94.02516174316406, + -0.31528425216674805 + ], + [ + -48.52284622192383, + -93.2200927734375, + -0.31528425216674805 + ], + [ + -47.79803466796875, + -93.6907958984375, + -0.31528425216674805 + ], + [ + -48.32085037231445, + -94.49586486816406, + 1.5015133619308472 + ], + [ + -49.04566192626953, + -94.02516174316406, + 1.5015133619308472 + ], + [ + -48.52284622192383, + -93.2200927734375, + 1.5015133619308472 + ], + [ + -47.79803466796875, + -93.6907958984375, + 1.5015133619308472 + ] + ], + "corners_2d": [ + [ + 402.9194077038445, + 208.81233239218082 + ], + [ + 413.6890712900096, + 219.08873554491885 + ], + [ + 436.52230386036615, + 210.29579869848334 + ], + [ + 425.56540903889163, + 200.26059941034666 + ], + [ + 394.62786579541637, + 166.9235631257087 + ], + [ + 405.6587183213858, + 176.95352909057536 + ], + [ + 429.3909933910963, + 168.370844144197 + ], + [ + 418.1568388102395, + 158.58444002163947 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 6332, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 827.7328594280186, + "ymin": 164.05390143624862, + "xmax": 979.2954685569853, + "ymax": 243.9605563295438 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 827.7328594280186, + 213.38565216666592 + ], + [ + 840.2060324208551, + 243.9605563295438 + ], + [ + 966.8045610744823, + 237.733063065749 + ], + [ + 949.408705657068, + 207.65819059241156 + ], + [ + 834.716858623532, + 169.61429809876284 + ], + [ + 847.9693013124146, + 199.4633240429741 + ], + [ + 979.2954685569853, + 193.39754067435936 + ], + [ + 960.7536982732499, + 164.05390143624862 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 209, + "instance_id": 53504, + "pixel_count": 2968, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -44.30002975463867, + "y": -58.57492446899414, + "z": 0.8211467266082764 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 1191.321454333648, + "ymin": 66.0612806894244, + "xmax": 1280.0, + "ymax": 125.2596317504073 + }, + "corners_3d": [ + [ + -45.22607421875, + -56.065513610839844, + 0.05378423258662224 + ], + [ + -43.344486236572266, + -56.07659912109375, + 0.05378423258662224 + ], + [ + -43.373985290527344, + -61.08433532714844, + 0.05378423258662224 + ], + [ + -45.25557327270508, + -61.0732536315918, + 0.05378423258662224 + ], + [ + -45.22607421875, + -56.065513610839844, + 1.588509202003479 + ], + [ + -43.344486236572266, + -56.07659912109375, + 1.588509202003479 + ], + [ + -43.373985290527344, + -61.08433532714844, + 1.588509202003479 + ], + [ + -45.25557327270508, + -61.0732536315918, + 1.588509202003479 + ] + ], + "corners_2d": [ + [ + 1327.5311334081534, + 120.25719059909522 + ], + [ + 1301.2474102732872, + 99.17480271609867 + ], + [ + 1191.321454333648, + 103.85232863828185 + ], + [ + 1214.0418953902126, + 125.2596317504073 + ], + [ + 1345.553089933755, + 86.54039905302807 + ], + [ + 1317.9957683255382, + 66.0612806894244 + ], + [ + 1205.3936369330515, + 70.60191319639739 + ], + [ + 1229.2095637442771, + 91.40488153391436 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 216, + "instance_id": 55296, + "pixel_count": 5794, + "type_id": "vehicle.audi.etron", + "bbox_3d": { + "center_world": { + "x": -44.75563430786133, + "y": -104.2794189453125, + "z": 0.8648524284362793 + }, + "extent": { + "x": 2.427854299545288, + "y": 1.0163782835006714, + "z": 0.8246796727180481 + }, + "yaw": -94.3148193359375 + }, + "bbox_2d": { + "xmin": 73.55384133271855, + "ymin": 107.44625010149133, + "xmax": 228.97709327689364, + "ymax": 180.81221219787236 + }, + "corners_3d": [ + [ + -45.58646774291992, + -101.781982421875, + 0.04017278552055359 + ], + [ + -43.559471130371094, + -101.9349136352539, + 0.04017278552055359 + ], + [ + -43.92479705810547, + -106.77686309814453, + 0.04017278552055359 + ], + [ + -45.9517936706543, + -106.6239242553711, + 0.04017278552055359 + ], + [ + -45.58646774291992, + -101.781982421875, + 1.6895321607589722 + ], + [ + -43.559471130371094, + -101.9349136352539, + 1.6895321607589722 + ], + [ + -43.92479705810547, + -106.77686309814453, + 1.6895321607589722 + ], + [ + -45.9517936706543, + -106.6239242553711, + 1.6895321607589722 + ] + ], + "corners_2d": [ + [ + 220.81646804960258, + 170.54608179364428 + ], + [ + 228.97709327689364, + 144.42734609824538 + ], + [ + 103.83058382128672, + 153.92690646927903 + ], + [ + 90.56097034898892, + 180.81221219787236 + ], + [ + 208.03691469310968, + 132.86459660219163 + ], + [ + 216.93373870901996, + 107.44625010149133 + ], + [ + 87.88924026501809, + 116.68430212382933 + ], + [ + 73.55384133271855, + 142.8714764374677 + ] + ], + "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": 192.74310004393516, + "ymin": 0.0, + "xmax": 212.71552081541944, + "ymax": 16.19160505229314 + }, + "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": [ + [ + 200.23175790319885, + 16.19160505229314 + ], + [ + 210.84314082754963, + 15.852558125021176 + ], + [ + 212.71552081541944, + 12.765956204896156 + ], + [ + 202.16640601339282, + 13.101111683251077 + ], + [ + 192.74310004393516, + -7.484156460273937 + ], + [ + 203.5398747045934, + -7.813765124873839 + ], + [ + 205.48666255562085, + -10.81411732050583 + ], + [ + 194.7543430992069, + -10.488355612020882 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 876.7321597308438, + "ymin": 84.63523182756796, + "xmax": 896.2115329606398, + "ymax": 115.468014555373 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 888.7156449560034, + 110.66381949179143 + ], + [ + 876.7321597308438, + 111.13333098559931 + ], + [ + 879.0681873236197, + 115.468014555373 + ], + [ + 891.1320865106019, + 114.99204037028127 + ], + [ + 893.7112718580634, + 84.63523182756796 + ], + [ + 881.4906975345035, + 85.0944331587956 + ], + [ + 883.9073213108687, + 89.33457807442932 + ], + [ + 896.2115329606398, + 88.86892762832883 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4809317425322915338, + "instance_id": 2806, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -62.6159553527832, + "y": -93.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 308.85474366607986, + "ymin": 306.6006874025074, + "xmax": 336.6372559777125, + "ymax": 344.8591527122907 + }, + "corners_3d": [ + [ + -62.754539489746094, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.9842529296875, + 6.416468620300293 + ], + [ + -62.754539489746094, + -93.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 334.77538760082655, + 343.978212156107 + ], + [ + 336.6372559777125, + 335.9892325040239 + ], + [ + 319.8148200046706, + 336.8539600820485 + ], + [ + 317.79400310605746, + 344.8591527122907 + ], + [ + 326.3161167807678, + 314.5293972788507 + ], + [ + 328.3094074945983, + 306.6006874025074 + ], + [ + 311.01604881062576, + 307.45869543287415 + ], + [ + 308.85474366607986, + 315.40394051300484 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5213105555477846287, + "instance_id": 3929, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -62.51597213745117, + "y": -101.6950454711914, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.13933593034744263, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 414.27658310952563, + "xmax": 36.24047318794487, + "ymax": 448.2854107881295 + }, + "corners_3d": [ + [ + -62.65530776977539, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.50508880615234, + 2.645533323287964 + ], + [ + -62.37663650512695, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.88500213623047, + 2.645533323287964 + ], + [ + -62.65530776977539, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.50508880615234, + 3.5146729946136475 + ], + [ + -62.37663650512695, + -101.88500213623047, + 3.5146729946136475 + ], + [ + -62.65530776977539, + -101.88500213623047, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 31.866495840297148, + 447.365405192761 + ], + [ + 36.24047318794487, + 438.97152555419643 + ], + [ + 20.256427976094756, + 439.87563716000466 + ], + [ + 15.738341924185761, + 448.2854107881295 + ], + [ + 16.206041515961488, + 422.6650401937741 + ], + [ + 20.83092055921611, + 414.27658310952563 + ], + [ + 4.423636101367379, + 415.1799306520242 + ], + [ + -0.3531121960246537, + 423.5846792726702 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5344508464058845628, + "instance_id": 48329, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -62.61595916748047, + "y": -96.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 169.67502661646313, + "ymin": 313.4249047351516, + "xmax": 202.86691039678828, + "ymax": 351.8792154665525 + }, + "corners_3d": [ + [ + -62.75454330444336, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.9842529296875, + 6.416468620300293 + ], + [ + -62.75454330444336, + -96.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 199.7322599849204, + 350.98393332447563 + ], + [ + 202.86691039678828, + 342.86556910005567 + ], + [ + 185.7731721187261, + 343.7442426037947 + ], + [ + 182.4744231747968, + 351.8792154665525 + ], + [ + 187.42864735126602, + 321.4856092109279 + ], + [ + 190.76783121338013, + 313.4249047351516 + ], + [ + 173.1878202921252, + 314.2971350963181 + ], + [ + 169.67502661646313, + 322.3747896216421 + ] + ], + "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": 147.2861767487716, + "ymin": 56.14981568311265, + "xmax": 171.0139583509353, + "ymax": 85.8805950623231 + }, + "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": [ + [ + 156.6069389884152, + 85.8805950623231 + ], + [ + 168.62604993674307, + 85.44783847140252 + ], + [ + 171.0139583509353, + 81.51138742870012 + ], + [ + 159.07466226704753, + 81.93853868849078 + ], + [ + 147.2861767487716, + 60.41569079815446 + ], + [ + 159.54364991912723, + 59.993116098186476 + ], + [ + 162.03738415983395, + 56.14981568311265 + ], + [ + 149.86291012047184, + 56.566812480407634 + ] + ], + "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": 169.35488837980307, + "ymin": 23.65373893137098, + "xmax": 191.227801502607, + "ymax": 52.085692334109126 + }, + "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": [ + [ + 177.76206784577323, + 52.085692334109126 + ], + [ + 189.09765229128243, + 51.69980446654108 + ], + [ + 191.227801502607, + 48.18827225170054 + ], + [ + 179.96324239552575, + 48.56943771691539 + ], + [ + 169.35488837980307, + 27.450878098626106 + ], + [ + 180.9022706353798, + 27.074877228768628 + ], + [ + 183.12208685687352, + 23.65373893137098 + ], + [ + 171.64839874028212, + 24.025055515217048 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8433051479337506626, + "instance_id": 17047, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -62.61595153808594, + "y": -91.29429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 423.0915522007888, + "ymin": 300.9985499763032, + "xmax": 446.49576289904365, + "ymax": 339.09480113067536 + }, + "corners_3d": [ + [ + -62.75453567504883, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.4842529296875, + 6.416468620300293 + ], + [ + -62.75453567504883, + -91.4842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 445.6640422419802, + 338.22555032084057 + ], + [ + 446.49576289904365, + 330.342043270168 + ], + [ + 429.894508870412, + 331.1954012741802 + ], + [ + 428.9079921403088, + 339.09480113067536 + ], + [ + 440.3148625535337, + 308.819724982896 + ], + [ + 441.21970098370844, + 300.9985499763032 + ], + [ + 424.1598976052217, + 301.8449700774516 + ], + [ + 423.0915522007888, + 309.68234486266243 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 903.8442175513335, + "ymin": 133.84094332778932, + "xmax": 925.6952920154172, + "ymax": 166.497203025644 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 916.7594746894382, + 160.89465960215082 + ], + [ + 903.8442175513335, + 161.4418940953286 + ], + [ + 906.5686012257429, + 166.497203025644 + ], + [ + 919.5773049191499, + 165.94182973091674 + ], + [ + 922.7703097007189, + 133.84094332778932 + ], + [ + 909.5792522672273, + 134.37787715295903 + ], + [ + 912.4067410617876, + 139.33891509089506 + ], + [ + 925.6952920154172, + 138.79382018144133 + ] + ], + "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": 787.6104184912276, + "ymin": 4.042215936178991, + "xmax": 799.8233812117468, + "ymax": 26.832762612536158 + }, + "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": [ + [ + 787.6104184912276, + 24.137788496711778 + ], + [ + 788.8538214389159, + 26.832762612536158 + ], + [ + 797.5553622758073, + 26.538931761266667 + ], + [ + 796.269810421793, + 23.84684269199272 + ], + [ + 789.725820949403, + 4.326596565431657 + ], + [ + 790.9977484401132, + 6.960965676180081 + ], + [ + 799.8233812117468, + 6.673724395335228 + ], + [ + 798.5080972619451, + 4.042215936178991 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 857.0168588291538, + "ymin": 48.949336548574024, + "xmax": 874.8494970172502, + "ymax": 78.39613537568385 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 868.3207032204391, + 74.13373647457888 + ], + [ + 857.0168588291538, + 74.55046402079864 + ], + [ + 859.0893487270329, + 78.39613537568385 + ], + [ + 870.4647210461939, + 77.97400696229397 + ], + [ + 872.6362918032994, + 48.949336548574024 + ], + [ + 861.1217170434894, + 49.355966545726574 + ], + [ + 863.2606946345568, + 53.108963448552686 + ], + [ + 874.8494970172502, + 52.696962819288274 + ] + ], + "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": 247.8542215710067, + "ymin": 12.512955035299058, + "xmax": 264.0118920815935, + "ymax": 35.59321819120083 + }, + "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": [ + [ + 253.5111642113921, + 35.59321819120083 + ], + [ + 262.64416961709406, + 35.289898563945314 + ], + [ + 264.0118920815935, + 32.51122717703805 + ], + [ + 254.92530496149288, + 32.811521301636276 + ], + [ + 247.8542215710067, + 15.526996211031019 + ], + [ + 257.12396063146105, + 15.230342298007429 + ], + [ + 258.5395837122819, + 12.512955035299058 + ], + [ + 249.31765907425842, + 12.806606964509513 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 931.1870353688352, + "ymin": 324.54527256541155, + "xmax": 955.2980105698518, + "ymax": 356.5884409834424 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 944.8945082034875, + 348.9471173050856 + ], + [ + 931.1870353688352, + 349.6894808818022 + ], + [ + 934.317542786863, + 356.5884409834424 + ], + [ + 948.1308907036123, + 355.834266337152 + ], + [ + 951.9293363165173, + 324.54527256541155 + ], + [ + 937.9114593164707, + 325.2834662095237 + ], + [ + 941.1693922761242, + 332.1450653658492 + ], + [ + 955.2980105698518, + 331.3948525900934 + ] + ], + "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": 833.4820190212785, + "ymin": 0.0, + "xmax": 1018.721883439067, + "ymax": 427.5787472259712 + }, + "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": [ + [ + 925.4120071256218, + 427.5787472259712 + ], + [ + 940.2249216403475, + 426.80461060298035 + ], + [ + 844.7466065798297, + 196.2248085766904 + ], + [ + 833.4820190212785, + 196.66789753503002 + ], + [ + 1000.1129109645749, + 171.3549923609683 + ], + [ + 1018.721883439067, + 170.64233372584613 + ], + [ + 882.8278143162986, + -28.884111763751775 + ], + [ + 869.4944884997207, + -28.52359279460353 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 2084342259206464935, + "instance_id": 42789, + "pixel_count": null, + "type_id": "BP_StreetLight_simple52_123_SM_2", + "bbox_3d": { + "center_world": { + "x": -60.58367919921875, + "y": -104.33521270751953, + "z": 4.0633111000061035 + }, + "extent": { + "x": 1.9167187213897705, + "y": 0.219604030251503, + "z": 3.876718759536743 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 176.52845300821755, + "xmax": 28.18881436866468, + "ymax": 513.6395015401393 + }, + "corners_3d": [ + [ + -62.500396728515625, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.11560821533203, + 0.18659234046936035 + ], + [ + -58.666961669921875, + -104.55481719970703, + 0.18659234046936035 + ], + [ + -62.500396728515625, + -104.55481719970703, + 7.940030097961426 + ], + [ + -62.500396728515625, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.11560821533203, + 7.940030097961426 + ], + [ + -58.666961669921875, + -104.55481719970703, + 7.940030097961426 + ] + ], + "corners_2d": [ + [ + -46.483086643367756, + 513.6395015401393 + ], + [ + -28.983269435898592, + 512.5778070526751 + ], + [ + 28.18881436866468, + 408.0768409586637 + ], + [ + 12.513429055143888, + 408.9345401423382 + ], + [ + -228.5775375794882, + 276.791222713964 + ], + [ + -206.20535418127974, + 275.75581272274434 + ], + [ + -113.69304236044218, + 176.52845300821755 + ], + [ + -133.16921731315256, + 177.32178639890105 + ] + ], + "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": 732.3225752336807, + "ymin": 0.0, + "xmax": 798.737257927162, + "ymax": 57.14404392549295 + }, + "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": [ + [ + 738.9258383861454, + 57.14404392549295 + ], + [ + 787.5628521210876, + 55.41607172081484 + ], + [ + 779.3984887170832, + 36.70090698171305 + ], + [ + 732.3225752336807, + 38.318262575813264 + ], + [ + 746.4413170357961, + -45.3707415483114 + ], + [ + 798.737257927162, + -46.8997462144784 + ], + [ + 789.586603024731, + -63.41555504005396 + ], + [ + 739.0911042081168, + -61.991467677444916 + ] + ], + "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": 99.82935310705398, + "ymin": 0.0, + "xmax": 274.50748335819964, + "ymax": 248.22802477153348 + }, + "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": [ + [ + 274.50748335819964, + 88.75810179511615 + ], + [ + 264.63293527506715, + 89.07826627316933 + ], + [ + 190.68643868823193, + 248.22802477153348 + ], + [ + 203.18581601985437, + 247.71896825706446 + ], + [ + 218.28760838841475, + -113.94254078428412 + ], + [ + 206.85915729899375, + -113.6959891889079 + ], + [ + 99.82935310705398, + 14.00205217254313 + ], + [ + 114.92656852564551, + 13.576557045749666 + ] + ], + "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": 506.2069393069893, + "ymin": 0.0, + "xmax": 815.1477041566675, + "ymax": 90.33168608771689 + }, + "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": [ + [ + 792.0761426666161, + 81.5039586085141 + ], + [ + 790.2969711863028, + 77.11645008202635 + ], + [ + 524.2655072661157, + 85.81506570714788 + ], + [ + 524.089394021543, + 90.33168608771689 + ], + [ + 815.1477041566675, + -119.5181353078703 + ], + [ + 812.9074676656276, + -122.88052991982897 + ], + [ + 506.56241500037277, + -116.20704246295492 + ], + [ + 506.2069393069893, + -112.73037471547724 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1137.6884298226196, + "ymin": 0.0, + "xmax": 1245.1661774630943, + "ymax": 41.48000924502884 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 1157.4357453538514, + 41.48000924502884 + ], + [ + 1203.6331344188739, + 39.8410306504872 + ], + [ + 1182.4770641603266, + 22.073923346745516 + ], + [ + 1137.6884298226196, + 23.610491665093264 + ], + [ + 1195.6843363314874, + -59.42458642119419 + ], + [ + 1245.1661774630943, + -60.86843635792599 + ], + [ + 1221.0937248852754, + -76.48043765157996 + ], + [ + 1173.2242500949756, + -75.13312637664404 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 229.16056013192667, + "xmax": 518.42656378349, + "ymax": 527.597748634538 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 57.64142465297755, + 514.3723177452321 + ], + [ + 51.37658267107918, + 527.597748634538 + ], + [ + 518.0590377360143, + 501.87641852243826 + ], + [ + 518.42656378349, + 489.28818498998055 + ], + [ + -112.81498534616298, + 253.2345736598968 + ], + [ + -123.7702175244508, + 266.0654588820167 + ], + [ + 482.9220055594251, + 241.19933103957464 + ], + [ + 483.94902165307315, + 229.16056013192667 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 897939386194665430, + "instance_id": 54815, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1949_135", + "bbox_3d": { + "center_world": { + "x": -36.33243179321289, + "y": -120.14290618896484, + "z": 6.611191272735596 + }, + "extent": { + "x": 4.422521591186523, + "y": 4.2970757484436035, + "z": 7.008497714996338 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 2.255823332538739, + "ymax": 137.53885221832027 + }, + "corners_3d": [ + [ + -32.2579460144043, + -115.5145034790039, + -0.3973064422607422 + ], + [ + -31.58873176574707, + -124.08255767822266, + -0.3973064422607422 + ], + [ + -40.406917572021484, + -124.77130889892578, + -0.3973064422607422 + ], + [ + -41.076133728027344, + -116.20325469970703, + -0.3973064422607422 + ], + [ + -32.2579460144043, + -115.5145034790039, + 13.619688987731934 + ], + [ + -31.58873176574707, + -124.08255767822266, + 13.619688987731934 + ], + [ + -40.406917572021484, + -124.77130889892578, + 13.619688987731934 + ], + [ + -41.076133728027344, + -116.20325469970703, + 13.619688987731934 + ] + ], + "corners_2d": [ + [ + 2.255823332538739, + 46.07159490468007 + ], + [ + -173.56298781648047, + 46.186860627470935 + ], + [ + -304.36890231725124, + 137.53885221832027 + ], + [ + -100.18906378270492, + 137.38346530501414 + ], + [ + -158.90879595805586, + -297.73314573657944 + ], + [ + -379.21124787406075, + -297.6763513128427 + ], + [ + -593.3272578039562, + -250.75078842967218 + ], + [ + -326.6025669452508, + -250.83399127249936 + ] + ], + "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": 91.55313633970866, + "ymin": 0.0, + "xmax": 328.9152332340594, + "ymax": 80.11704336535797 + }, + "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": [ + [ + 201.29262245257388, + 80.11704336535797 + ], + [ + 328.9152332340594, + 31.21912438821471 + ], + [ + 255.03367453567517, + -2.98902335749807 + ], + [ + 129.86907468379007, + 39.799432410737836 + ], + [ + 165.77880799010825, + -27.258311914094577 + ], + [ + 305.9338236022212, + -70.38284995178958 + ], + [ + 228.47882230335847, + -100.217920322368 + ], + [ + 91.55313633970866, + -62.8565097883029 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1116.118273594819, + "ymin": 11.247636309585516, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1416.5400826790149, + 600.2901017561051 + ], + [ + 1116.118273594819, + 755.684911189484 + ], + [ + 1619.71296746181, + 1366.2704783548697 + ], + [ + 1953.7525680095287, + 1045.3224318696384 + ], + [ + 1983.8762626925998, + 11.247636309585516 + ], + [ + 1556.8285752749098, + 153.23205793772144 + ], + [ + 4025.9486933928224, + 1267.3645351385198 + ], + [ + 3842.520580505342, + 526.0029180943687 + ] + ], + "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": 0.0, + "ymin": 0.0, + "xmax": 332.743954858898, + "ymax": 61.55864752324322 + }, + "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": [ + [ + 178.39261227827092, + 61.55864752324322 + ], + [ + 332.743954858898, + -2.5927841991444325 + ], + [ + 219.3903081853536, + -41.743865862606924 + ], + [ + 65.1712459424366, + 12.568813971714405 + ], + [ + 41.75024068807056, + -336.57520022175083 + ], + [ + 254.37049666034267, + -362.02804706142354 + ], + [ + 122.08747475086045, + -376.7865101301412 + ], + [ + -86.88002242384403, + -356.1587044682286 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12511280680997575471, + "instance_id": 12123, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2349_123", + "bbox_3d": { + "center_world": { + "x": -36.20769119262695, + "y": -108.4781723022461, + "z": 6.51531457901001 + }, + "extent": { + "x": 4.686452865600586, + "y": 4.53662633895874, + "z": 6.939882278442383 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 246.0851131262599, + "ymax": 147.81604572834013 + }, + "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": [ + [ + 22.39910653320078, + 147.81604572834013 + ], + [ + 246.0851131262599, + 98.64672274773574 + ], + [ + 208.1378972990684, + 21.9533008191475 + ], + [ + 11.448883410872895, + 59.33033006301309 + ], + [ + -167.64516611191732, + -239.51078176866736 + ], + [ + 136.27402688558124, + -265.9529750335845 + ], + [ + 106.17824305584838, + -304.93818299296026 + ], + [ + -149.79305084807788, + -286.2689156271424 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15383328701178387651, + "instance_id": 49948, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2347_121", + "bbox_3d": { + "center_world": { + "x": -31.11125373840332, + "y": -118.98149108886719, + "z": 3.6639244556427 + }, + "extent": { + "x": 2.6075401306152344, + "y": 2.524176836013794, + "z": 3.861347198486328 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 18.236404759386232, + "ymax": 65.98083653533831 + }, + "corners_3d": [ + [ + -32.073577880859375, + -122.48072814941406, + -0.19742274284362793 + ], + [ + -34.6399040222168, + -118.13333129882812, + -0.19742274284362793 + ], + [ + -30.148929595947266, + -115.48225402832031, + -0.19742274284362793 + ], + [ + -27.582605361938477, + -119.82965087890625, + -0.19742274284362793 + ], + [ + -32.073577880859375, + -122.48072814941406, + 7.525271415710449 + ], + [ + -34.6399040222168, + -118.13333129882812, + 7.525271415710449 + ], + [ + -30.148929595947266, + -115.48225402832031, + 7.525271415710449 + ], + [ + -27.582605361938477, + -119.82965087890625, + 7.525271415710449 + ] + ], + "corners_2d": [ + [ + -146.79500326203822, + 45.434373435649434 + ], + [ + -78.4092798587709, + 65.98083653533831 + ], + [ + 18.236404759386232, + 24.105505003287362 + ], + [ + -48.57806265749298, + 6.343435562900197 + ], + [ + -246.14610886403602, + -126.43683713144083 + ], + [ + -172.85077144658032, + -110.24804627679413 + ], + [ + -56.959529259737224, + -143.08585183096176 + ], + [ + -128.822623764098, + -156.83081294721615 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 15477109144773432660, + "instance_id": 21653, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2346_120", + "bbox_3d": { + "center_world": { + "x": -23.484771728515625, + "y": -123.59561157226562, + "z": 7.382508277893066 + }, + "extent": { + "x": 5.345683574676514, + "y": 5.174781322479248, + "z": 7.9160966873168945 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 61.54139782687548, + "ymax": 40.645342188057555 + }, + "corners_3d": [ + [ + -30.79944610595703, + -122.2353744506836, + -0.5335884094238281 + ], + [ + -22.36284065246582, + -116.24061584472656, + -0.5335884094238281 + ], + [ + -16.17009735107422, + -124.95584869384766, + -0.5335884094238281 + ], + [ + -24.60670280456543, + -130.9506072998047, + -0.5335884094238281 + ], + [ + -30.79944610595703, + -122.2353744506836, + 15.298604965209961 + ], + [ + -22.36284065246582, + -116.24061584472656, + 15.298604965209961 + ], + [ + -16.17009735107422, + -124.95584869384766, + 15.298604965209961 + ], + [ + -24.60670280456543, + -130.9506072998047, + 15.298604965209961 + ] + ], + "corners_2d": [ + [ + -124.50321877431543, + 40.645342188057555 + ], + [ + 61.54139782687548, + -27.05268525575599 + ], + [ + -49.47778239805041, + -61.233663272806155 + ], + [ + -235.04846160392526, + -3.139442068874928 + ], + [ + -345.410555103697, + -354.03747722774494 + ], + [ + -80.49579483966693, + -379.0632987270893 + ], + [ + -204.41596613382285, + -391.0692086756993 + ], + [ + -463.03403545953483, + -370.4182046329447 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 17624874717371266855, + "instance_id": 10103, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2729_96", + "bbox_3d": { + "center_world": { + "x": -23.074316024780273, + "y": -116.09037780761719, + "z": 6.446401596069336 + }, + "extent": { + "x": 4.342342853546143, + "y": 4.219171524047852, + "z": 6.881437301635742 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 173.82360058591553, + "ymax": 17.825413004352015 + }, + "corners_3d": [ + [ + -21.257497787475586, + -110.31486511230469, + -0.43503570556640625 + ], + [ + -17.248931884765625, + -117.74029541015625, + -0.43503570556640625 + ], + [ + -24.89113426208496, + -121.86589050292969, + -0.43503570556640625 + ], + [ + -28.899700164794922, + -114.44046020507812, + -0.43503570556640625 + ], + [ + -21.257497787475586, + -110.31486511230469, + 13.327838897705078 + ], + [ + -17.248931884765625, + -117.74029541015625, + 13.327838897705078 + ], + [ + -24.89113426208496, + -121.86589050292969, + 13.327838897705078 + ], + [ + -28.899700164794922, + -114.44046020507812, + 13.327838897705078 + ] + ], + "corners_2d": [ + [ + 173.82360058591553, + -39.10281615989925 + ], + [ + 66.01484862397831, + -59.98301640679347 + ], + [ + -63.2546800163484, + -8.150715533094683 + ], + [ + 50.747578868106075, + 17.825413004352015 + ], + [ + 79.69686969983684, + -330.9959495841248 + ], + [ + -43.89185784329902, + -340.7930366793689 + ], + [ + -216.36528378127798, + -316.15327777625055 + ], + [ + -85.54978424897547, + -303.3921382600597 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00145/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00145/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..3840dd083d0a276ae3d387316b4414fc6e571b3e --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00145/meta.json @@ -0,0 +1,3527 @@ +{ + "frame_id": 145, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 72.5, + "sim_timestamp": 11512.582406545058 + }, + "drone_pose": { + "x": -78.96977472465288, + "y": -88.26629991390206, + "z": 19.94722998973439, + "pitch": -44.00943078061229, + "yaw": 8.836541727693193, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7106887102127075, + -0.11048459261655807, + 0.6947767734527588, + 52.01612091064453 + ], + [ + 0.1536160707473755, + 0.9881306290626526, + 0.0, + 75.08760070800781 + ], + [ + -0.6865302324295044, + 0.10672888159751892, + 0.7192254662513733, + -77.98224639892578 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -78.19818265832103, + "y": -89.21307501886766, + "z": 19.9461346981198 + }, + "t1_image_uv": [ + -1636.4032255014745, + -564.0777793926372 + ], + "t1_depth": 0.44451867590379046 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -59.16718292236328, + "y": -85.18776321411133, + "z": 0.5880071040987969 + }, + "image_uv": [ + 640.0, + 360.0 + ], + "depth": 27.863946975182508, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 195, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -59.16718292236328, + "y": -85.18775939941406, + "z": 0.5880070924758911 + }, + "extent": { + "x": 0.27699217200279236, + "y": 0.21916013956069946, + "z": 0.5310298204421997 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.0096007568826, + "ymin": 339.37420502154583, + "xmax": 649.10427929283, + "ymax": 380.407995955398 + }, + "corners_3d": [ + [ + -59.444175720214844, + -85.40692138671875, + 0.056977272033691406 + ], + [ + -59.444175720214844, + -84.96859741210938, + 0.056977272033691406 + ], + [ + -58.89019012451172, + -84.96859741210938, + 0.056977272033691406 + ], + [ + -58.89019012451172, + -85.40692138671875, + 0.056977272033691406 + ], + [ + -59.444175720214844, + -85.40692138671875, + 1.1190369129180908 + ], + [ + -59.444175720214844, + -84.96859741210938, + 1.1190369129180908 + ], + [ + -58.89019012451172, + -84.96859741210938, + 1.1190369129180908 + ], + [ + -58.89019012451172, + -85.40692138671875, + 1.1190369129180908 + ] + ], + "corners_2d": [ + [ + 634.0365863384034, + 380.407995955398 + ], + [ + 648.864866043527, + 378.7722704420822 + ], + [ + 645.8710039552382, + 365.6807527646319 + ], + [ + 631.2431455434339, + 367.27148704140694 + ], + [ + 633.8752465822928, + 354.07343575144654 + ], + [ + 649.10427929283, + 352.44021143518654 + ], + [ + 646.0273096912113, + 339.37420502154583 + ], + [ + 631.0096007568826, + 340.96131843339776 + ] + ], + "center_offset_px": [ + 0.0, + 0.0 + ] + }, + "trace_timestep_index": 145, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 72, + "semantic_pixel_counts": { + "1": 529825, + "2": 161856, + "3": 287, + "4": 49081, + "5": 3954, + "6": 12031, + "7": 3660, + "9": 19145, + "10": 78624, + "12": 3678, + "14": 17588, + "20": 2195, + "21": 4210, + "24": 35373, + "25": 93 + }, + "instance_pixel_counts": { + "2139": 287, + "5695": 93, + "9296": 3954, + "9799": 3590, + "11927": 934, + "12439": 321, + "12951": 1947, + "17232": 49081, + "21952": 2286, + "22464": 2700, + "22784": 355, + "22976": 15083, + "23040": 2096, + "23296": 6124, + "23552": 7009, + "24404": 2029, + "24512": 2117, + "24660": 1, + "25940": 76, + "26196": 89, + "27522": 2536, + "27795": 14998, + "28819": 21045, + "31893": 1164, + "33429": 1995, + "38539": 1313, + "39051": 2045, + "39563": 3865, + "40075": 627, + "40787": 107, + "41099": 295, + "41107": 90411, + "41611": 5384, + "41619": 36848, + "42123": 5617, + "42635": 3171, + "42643": 9502, + "43147": 2885, + "43155": 231638, + "43659": 6329, + "43667": 41671, + "44179": 83712, + "44181": 6063, + "44693": 959, + "45205": 301, + "45717": 19906, + "46229": 1208, + "46741": 3777, + "47552": 1851, + "48064": 3179, + "49088": 6680, + "49600": 1781, + "49664": 195, + "49920": 406, + "50015": 10449, + "50112": 458, + "50176": 570, + "50432": 1071, + "50624": 20538, + "50688": 963, + "50944": 473, + "51136": 11608, + "51648": 8844, + "51712": 6387, + "52160": 8162, + "52672": 38246, + "53504": 4577, + "55296": 6624, + "55879": 47749, + "57173": 16609, + "62043": 150, + "64603": 4060 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 195, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -59.16718292236328, + "y": -85.18775939941406, + "z": 0.5880070924758911 + }, + "extent": { + "x": 0.2879394292831421, + "y": 0.20913083851337433, + "z": 0.5237367749214172 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.2996113738634, + "ymin": 339.3413844555501, + "xmax": 648.8162811734791, + "ymax": 380.4576997225787 + }, + "corners_3d": [ + [ + -59.45512390136719, + -85.39688873291016, + 0.06427031755447388 + ], + [ + -59.45512390136719, + -84.97863006591797, + 0.06427031755447388 + ], + [ + -58.879241943359375, + -84.97863006591797, + 0.06427031755447388 + ], + [ + -58.879241943359375, + -85.39688873291016, + 0.06427031755447388 + ], + [ + -59.45512390136719, + -85.39688873291016, + 1.1117439270019531 + ], + [ + -59.45512390136719, + -84.97863006591797, + 1.1117439270019531 + ], + [ + -58.879241943359375, + -84.97863006591797, + 1.1117439270019531 + ], + [ + -58.879241943359375, + -85.39688873291016, + 1.1117439270019531 + ] + ], + "corners_2d": [ + [ + 634.4316410896665, + 380.4576997225787 + ], + [ + 648.5875115891884, + 378.8959947845373 + ], + [ + 645.4794813814809, + 365.28602114910643 + ], + [ + 631.5224885525845, + 366.8030895391915 + ], + [ + 634.2830497742935, + 354.4846085685286 + ], + [ + 648.8162811734791, + 352.9252353501547 + ], + [ + 645.6232990598828, + 339.3413844555501 + ], + [ + 631.2996113738634, + 340.85502569652084 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 406, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -55.041194915771484, + "y": -82.19005584716797, + "z": 0.5798430442810059 + }, + "extent": { + "x": 0.555468738079071, + "y": 0.3810668885707855, + "z": 0.9223418235778809 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 693.1547074380826, + "ymin": 227.76796279345166, + "xmax": 731.5646091138441, + "ymax": 297.7915721616627 + }, + "corners_3d": [ + [ + -55.663753509521484, + -82.44730377197266, + -0.342498779296875 + ], + [ + -55.50529479980469, + -81.70182800292969, + -0.342498779296875 + ], + [ + -54.418636322021484, + -81.93280792236328, + -0.342498779296875 + ], + [ + -54.57709503173828, + -82.67828369140625, + -0.342498779296875 + ], + [ + -55.663753509521484, + -82.44730377197266, + 1.5021848678588867 + ], + [ + -55.50529479980469, + -81.70182800292969, + 1.5021848678588867 + ], + [ + -54.418636322021484, + -81.93280792236328, + 1.5021848678588867 + ], + [ + -54.57709503173828, + -82.67828369140625, + 1.5021848678588867 + ] + ], + "corners_2d": [ + [ + 706.5416857285173, + 297.7915721616627 + ], + [ + 727.8388804434388, + 292.4360919039862 + ], + [ + 714.0396298113609, + 272.5239522817178 + ], + [ + 693.1547074380826, + 277.6335130887413 + ], + [ + 709.3824140301278, + 252.71034208924658 + ], + [ + 731.5646091138441, + 247.4186037129262 + ], + [ + 717.1043171156375, + 227.76796279345166 + ], + [ + 695.3688577964234, + 232.8067421481885 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 570, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -61.42300796508789, + "y": -78.24504852294922, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.5308325290679932, + "y": 0.3182958960533142, + "z": 0.8865498900413513 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 873.069430055939, + "ymin": 347.6755496482775, + "xmax": 922.4284173292285, + "ymax": 422.2395143214161 + }, + "corners_3d": [ + [ + -61.98420333862305, + -78.50611114501953, + -0.15914833545684814 + ], + [ + -61.917659759521484, + -77.87300872802734, + -0.15914833545684814 + ], + [ + -60.861812591552734, + -77.9839859008789, + -0.15914833545684814 + ], + [ + -60.9283561706543, + -78.6170883178711, + -0.15914833545684814 + ], + [ + -61.98420333862305, + -78.50611114501953, + 1.6139514446258545 + ], + [ + -61.917659759521484, + -77.87300872802734, + 1.6139514446258545 + ], + [ + -60.861812591552734, + -77.9839859008789, + 1.6139514446258545 + ], + [ + -60.9283561706543, + -78.6170883178711, + 1.6139514446258545 + ] + ], + "corners_2d": [ + [ + 889.0364444632743, + 422.2395143214161 + ], + [ + 909.6541575145711, + 417.97974134027123 + ], + [ + 893.2100560553868, + 391.9811162522684 + ], + [ + 873.069430055939, + 396.01860379401194 + ], + [ + 900.8874157240897, + 377.9099395871265 + ], + [ + 922.4284173292285, + 373.64822621996797 + ], + [ + 904.874235914849, + 347.6755496482775 + ], + [ + 883.8531028745847, + 351.7047533248612 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 1071, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -68.66718292236328, + "y": -85.18775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.5069506168365479, + "y": 0.44753900170326233, + "z": 0.9220219850540161 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 680.8502373808766, + "ymin": 611.4794641792435, + "xmax": 734.2132619185436, + "ymax": 701.2615220437108 + }, + "corners_3d": [ + [ + -69.17413330078125, + -85.63529968261719, + -0.3470227122306824 + ], + [ + -69.17413330078125, + -84.74021911621094, + -0.3470227122306824 + ], + [ + -68.16023254394531, + -84.74021911621094, + -0.3470227122306824 + ], + [ + -68.16023254394531, + -85.63529968261719, + -0.3470227122306824 + ], + [ + -69.17413330078125, + -85.63529968261719, + 1.497021198272705 + ], + [ + -69.17413330078125, + -84.74021911621094, + 1.497021198272705 + ], + [ + -68.16023254394531, + -84.74021911621094, + 1.497021198272705 + ], + [ + -68.16023254394531, + -85.63529968261719, + 1.497021198272705 + ] + ], + "corners_2d": [ + [ + 689.2313794628627, + 701.2615220437108 + ], + [ + 728.5862620533621, + 695.4129950531512 + ], + [ + 718.9634949068172, + 654.3734996389453 + ], + [ + 680.8502373808766, + 659.8472335303723 + ], + [ + 692.3739649156827, + 659.6092172983064 + ], + [ + 734.2132619185436, + 653.5934111718252 + ], + [ + 723.8062504628493, + 611.4794641792435 + ], + [ + 683.3674594598965, + 617.0864743869022 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 963, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -62.78268051147461, + "y": -96.31512451171875, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.4093237519264221, + "y": 0.5053613781929016, + "z": 0.8841387033462524 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 186.93723072752766, + "ymin": 470.72471551781234, + "xmax": 257.7185190146041, + "ymax": 541.8059484147602 + }, + "corners_3d": [ + [ + -63.13693618774414, + -96.86050415039062, + -0.3091345429420471 + ], + [ + -63.24258804321289, + -95.85531616210938, + -0.3091345429420471 + ], + [ + -62.42842483520508, + -95.76974487304688, + -0.3091345429420471 + ], + [ + -62.32277297973633, + -96.77493286132812, + -0.3091345429420471 + ], + [ + -63.13693618774414, + -96.86050415039062, + 1.4591429233551025 + ], + [ + -63.24258804321289, + -95.85531616210938, + 1.4591429233551025 + ], + [ + -62.42842483520508, + -95.76974487304688, + 1.4591429233551025 + ], + [ + -62.32277297973633, + -96.77493286132812, + 1.4591429233551025 + ] + ], + "corners_2d": [ + [ + 209.77141558183945, + 541.8059484147602 + ], + [ + 250.10284719352643, + 540.1715528196155 + ], + [ + 257.7185190146041, + 514.1195168284896 + ], + [ + 218.34812309723742, + 515.6778726031736 + ], + [ + 186.93723072752766, + 498.71070767212257 + ], + [ + 229.4413430428187, + 497.0565689785399 + ], + [ + 237.96172963535554, + 470.72471551781234 + ], + [ + 196.5235964808436, + 472.2979653841044 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 473, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -47.92184829711914, + "y": -93.35797882080078, + "z": 0.5907756686210632 + }, + "extent": { + "x": 0.5330468416213989, + "y": 0.45884764194488525, + "z": 0.8910077214241028 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 349.23095362745204, + "ymin": 142.24515514931807, + "xmax": 391.19973238788515, + "ymax": 201.07849714009325 + }, + "corners_3d": [ + [ + -48.34784698486328, + -93.9176254272461, + -0.30023205280303955 + ], + [ + -48.53864669799805, + -93.01998901367188, + -0.30023205280303955 + ], + [ + -47.495849609375, + -92.79833221435547, + -0.30023205280303955 + ], + [ + -47.305049896240234, + -93.69596862792969, + -0.30023205280303955 + ], + [ + -48.34784698486328, + -93.9176254272461, + 1.481783390045166 + ], + [ + -48.53864669799805, + -93.01998901367188, + 1.481783390045166 + ], + [ + -47.495849609375, + -92.79833221435547, + 1.481783390045166 + ], + [ + -47.305049896240234, + -93.69596862792969, + 1.481783390045166 + ] + ], + "corners_2d": [ + [ + 359.4566160605864, + 200.2834561609061 + ], + [ + 384.17764545888343, + 201.07849714009325 + ], + [ + 391.19973238788515, + 184.70676234294487 + ], + [ + 366.9977410702969, + 183.94522042460704 + ], + [ + 349.23095362745204, + 158.23903687008337 + ], + [ + 374.8430421755115, + 159.01795428430546 + ], + [ + 382.32167200120915, + 142.99009540789552 + ], + [ + 357.2662852542363, + 142.24515514931807 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 6387, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 778.3504998218176, + "ymin": 132.86468339012282, + "xmax": 928.5062471345939, + "ymax": 218.61846076410336 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 778.3504998218176, + 187.95784850930866 + ], + [ + 792.7279660200181, + 218.61846076410336 + ], + [ + 917.5735959608254, + 206.7361018199386 + ], + [ + 898.6093787241484, + 176.99191333366156 + ], + [ + 783.7162552944754, + 143.5509731283986 + ], + [ + 798.8904957665343, + 173.5513100764103 + ], + [ + 928.5062471345939, + 161.93509938706217 + ], + [ + 908.3955463159695, + 132.86468339012282 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 209, + "instance_id": 53504, + "pixel_count": 4577, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -44.30002975463867, + "y": -58.57492446899414, + "z": 0.8211467266082764 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 1127.5241068549478, + "ymin": 21.260711425541388, + "xmax": 1274.5733898293397, + "ymax": 83.6660006111307 + }, + "corners_3d": [ + [ + -45.22607421875, + -56.065513610839844, + 0.05378423258662224 + ], + [ + -43.344486236572266, + -56.07659912109375, + 0.05378423258662224 + ], + [ + -43.373985290527344, + -61.08433532714844, + 0.05378423258662224 + ], + [ + -45.25557327270508, + -61.0732536315918, + 0.05378423258662224 + ], + [ + -45.22607421875, + -56.065513610839844, + 1.588509202003479 + ], + [ + -43.344486236572266, + -56.07659912109375, + 1.588509202003479 + ], + [ + -43.373985290527344, + -61.08433532714844, + 1.588509202003479 + ], + [ + -45.25557327270508, + -61.0732536315918, + 1.588509202003479 + ] + ], + "corners_2d": [ + [ + 1258.213802878074, + 74.62715621433472 + ], + [ + 1232.1243101044286, + 54.53877470009894 + ], + [ + 1127.5241068549478, + 63.01706560400612 + ], + [ + 1150.5545411120186, + 83.6660006111307 + ], + [ + 1274.5733898293397, + 40.77731350038965 + ], + [ + 1247.2906426409236, + 21.260711425541388 + ], + [ + 1140.185925610881, + 29.493743098388506 + ], + [ + 1164.260503962334, + 49.56943071267824 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 216, + "instance_id": 55296, + "pixel_count": 6624, + "type_id": "vehicle.audi.etron", + "bbox_3d": { + "center_world": { + "x": -44.75563430786133, + "y": -104.2794189453125, + "z": 0.8648524284362793 + }, + "extent": { + "x": 2.427854299545288, + "y": 1.0163782835006714, + "z": 0.8246796727180481 + }, + "yaw": -94.3148193359375 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 103.22887064144334, + "xmax": 154.80845968139374, + "ymax": 186.04020700841124 + }, + "corners_3d": [ + [ + -45.58646774291992, + -101.781982421875, + 0.04017278552055359 + ], + [ + -43.559471130371094, + -101.9349136352539, + 0.04017278552055359 + ], + [ + -43.92479705810547, + -106.77686309814453, + 0.04017278552055359 + ], + [ + -45.9517936706543, + -106.6239242553711, + 0.04017278552055359 + ], + [ + -45.58646774291992, + -101.781982421875, + 1.6895321607589722 + ], + [ + -43.559471130371094, + -101.9349136352539, + 1.6895321607589722 + ], + [ + -43.92479705810547, + -106.77686309814453, + 1.6895321607589722 + ], + [ + -45.9517936706543, + -106.6239242553711, + 1.6895321607589722 + ] + ], + "corners_2d": [ + [ + 147.96607461599763, + 169.4399606759399 + ], + [ + 154.80845968139374, + 141.4574205537974 + ], + [ + 20.589335733250437, + 156.8075996121886 + ], + [ + 8.175010106326226, + 186.04020700841124 + ], + [ + 131.8180242422314, + 130.5710756510387 + ], + [ + 139.5087834122204, + 103.22887064144334 + ], + [ + 0.6206724974857707, + 118.21935097354748 + ], + [ + -13.043707964081705, + 146.82368672919645 + ] + ], + "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": 105.90422344752938, + "ymin": 0.0, + "xmax": 128.7894506081921, + "ymax": 7.792150624600367 + }, + "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": [ + [ + 115.57404159998521, + 7.792150624600367 + ], + [ + 127.00173469511833, + 7.070687322012759 + ], + [ + 128.7894506081921, + 3.709138164044475 + ], + [ + 117.43094683727395, + 4.422177071787132 + ], + [ + 105.90422344752938, + -17.026365647767307 + ], + [ + 117.55471394603683, + -17.72940995853861 + ], + [ + 119.43145001514301, + -21.004709885135924 + ], + [ + 107.852859530621, + -20.310024816253247 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 824.8354297851519, + "ymin": 55.899590128692296, + "xmax": 843.659461674552, + "ymax": 87.73957339592249 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 836.7557553081815, + 82.44784862987598 + ], + [ + 824.8354297851519, + 83.37118901675217 + ], + [ + 827.4691995642058, + 87.73957339592249 + ], + [ + 839.4656694450196, + 86.8038035979796 + ], + [ + 840.8644500038491, + 55.899590128692296 + ], + [ + 828.7008009150177, + 56.80372779033053 + ], + [ + 831.4165214195369, + 61.081990338950845 + ], + [ + 843.659461674552, + 60.16542480470315 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4809317425322915338, + "instance_id": 2806, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -62.6159553527832, + "y": -93.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 254.87569448297052, + "ymin": 312.2553198414454, + "xmax": 285.3708869825047, + "ymax": 352.4704313003517 + }, + "corners_3d": [ + [ + -62.754539489746094, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.9842529296875, + 6.416468620300293 + ], + [ + -62.754539489746094, + -93.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 283.9869174407211, + 350.6266186657776 + ], + [ + 285.3708869825047, + 342.0717012162143 + ], + [ + 267.58136450965384, + 343.8812745732511 + ], + [ + 266.0269363870946, + 352.4704313003517 + ], + [ + 273.39312405520593, + 320.7759806106589 + ], + [ + 274.9195156527507, + 312.2553198414454 + ], + [ + 256.5832293437759, + 314.05725308310605 + ], + [ + 254.87569448297052, + 322.61302906910504 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5344508464058845628, + "instance_id": 48329, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -62.61595916748047, + "y": -96.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 105.91661859031194, + "ymin": 326.6883792350546, + "xmax": 142.94071000849203, + "ymax": 367.2946504314277 + }, + "corners_3d": [ + [ + -62.75454330444336, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.9842529296875, + 6.416468620300293 + ], + [ + -62.75454330444336, + -96.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 140.1731188069475, + 365.39099013174706 + ], + [ + 142.94071000849203, + 356.5600005682253 + ], + [ + 124.57928164888051, + 358.42774917130896 + ], + [ + 121.63018341276688, + 367.2946504314277 + ], + [ + 125.0534469379835, + 335.49235166092393 + ], + [ + 128.05137607995619, + 326.6883792350546 + ], + [ + 109.10778595240333, + 328.54999333836355 + ], + [ + 105.91661859031194, + 337.39084872187357 + ] + ], + "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": 61.74498671976005, + "ymin": 52.265580078387075, + "xmax": 88.88962478318479, + "ymax": 83.96734262110976 + }, + "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": [ + [ + 73.60088720442263, + 83.96734262110976 + ], + [ + 86.5995505907772, + 83.04227378142502 + ], + [ + 88.88962478318479, + 78.73610405946357 + ], + [ + 75.98037893670596, + 79.6489556249361 + ], + [ + 61.74498671976005, + 57.38751168447794 + ], + [ + 75.03253490908924, + 56.481646858105364 + ], + [ + 77.44832382551215, + 52.265580078387075 + ], + [ + 64.2541886573058, + 53.159233548933514 + ] + ], + "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": 83.21177769968108, + "ymin": 16.66470059078739, + "xmax": 108.2520668064301, + "ymax": 46.98295226488426 + }, + "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": [ + [ + 93.97933063893436, + 46.98295226488426 + ], + [ + 106.2135843017586, + 46.159889884606 + ], + [ + 108.2520668064301, + 42.326809305640154 + ], + [ + 96.09706757953404, + 43.139612638110066 + ], + [ + 83.21177769968108, + 21.21282030483212 + ], + [ + 95.70167151918713, + 20.408754184419763 + ], + [ + 97.8470018954306, + 16.66470059078739 + ], + [ + 85.43969128591334, + 17.458548823612887 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8433051479337506626, + "instance_id": 17047, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -62.61595153808594, + "y": -91.29429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 375.34106465184294, + "ymin": 300.57899573809345, + "xmax": 400.6944569111169, + "ymax": 340.47142115217724 + }, + "corners_3d": [ + [ + -62.75453567504883, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.4842529296875, + 6.416468620300293 + ], + [ + -62.75453567504883, + -91.4842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 400.39920925687863, + 338.6753518135606 + ], + [ + 400.6944569111169, + 330.34072448619895 + ], + [ + 383.36135641304963, + 332.1038697840707 + ], + [ + 382.9042779419571, + 340.47142115217724 + ], + [ + 393.36501416855543, + 308.8738805005259 + ], + [ + 393.73543648063526, + 300.57899573809345 + ], + [ + 375.8832033381856, + 302.3333601509538 + ], + [ + 375.34106465184294, + 310.66197232016816 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 855.3553798159162, + "ymin": 105.40018320217408, + "xmax": 876.556045311057, + "ymax": 139.06883651709046 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 868.1548945056734, + 132.9192766807575 + ], + [ + 855.3553798159162, + 133.9917383251046 + ], + [ + 858.4164446450787, + 139.06883651709046 + ], + [ + 871.3037571065532, + 137.98080372463008 + ], + [ + 873.2976655068169, + 105.40018320217408 + ], + [ + 860.217242749391, + 106.45376082627286 + ], + [ + 863.3839210352587, + 111.44244839239462 + ], + [ + 876.556045311057, + 110.37322489006306 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 802.5763377119376, + "ymin": 19.89202010698807, + "xmax": 819.7521477329536, + "ymax": 50.337832057641094 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 813.8510805648948, + 45.63092488204052 + ], + [ + 802.5763377119376, + 46.45253463892789 + ], + [ + 804.9188450307535, + 50.337832057641094 + ], + [ + 816.2617022934197, + 49.505795329094724 + ], + [ + 817.2717385587381, + 19.89202010698807 + ], + [ + 805.7795280892494, + 20.694639837414 + ], + [ + 808.1891643467148, + 24.490709132565314 + ], + [ + 819.7521477329536, + 23.67770093427407 + ] + ], + "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": 166.30285764063967, + "ymin": 1.3580422773403598, + "xmax": 184.65992042366003, + "ymax": 25.84234429800165 + }, + "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": [ + [ + 173.6505077332681, + 25.84234429800165 + ], + [ + 183.4004752844972, + 25.20340997622492 + ], + [ + 184.65992042366003, + 22.20732100293958 + ], + [ + 174.9606536085779, + 22.83980718835727 + ], + [ + 166.30285764063967, + 4.919766070188189 + ], + [ + 176.21431300068116, + 4.293665910546906 + ], + [ + 177.53038084979437, + 1.3580422773403598 + ], + [ + 167.67131282490038, + 1.9777250898110879 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 891.8455566322298, + "ymin": 297.2629908628207, + "xmax": 915.4004797880689, + "ymax": 330.12221045394034 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 905.3147764955647, + 321.82783009312993 + ], + [ + 891.8455566322298, + 323.26724940752655 + ], + [ + 895.3810496499001, + 330.12221045394034 + ], + [ + 908.9480116342102, + 328.66056643155974 + ], + [ + 911.6303832460864, + 297.2629908628207 + ], + [ + 897.8504753542725, + 298.6960177236018 + ], + [ + 901.5182607521282, + 305.5220516101326 + ], + [ + 915.4004797880689, + 304.0663653772376 + ] + ], + "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": 782.9885627974138, + "ymin": 0.0, + "xmax": 974.28390966077, + "ymax": 400.843006169056 + }, + "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": [ + [ + 888.5417579069774, + 400.843006169056 + ], + [ + 903.0613906153609, + 399.25816047708514 + ], + [ + 794.1917804705756, + 169.7015034480823 + ], + [ + 782.9885627974138, + 170.6226258234535 + ], + [ + 955.973422979311, + 142.30197302299578 + ], + [ + 974.28390966077, + 140.82581946313644 + ], + [ + 824.1012164497843, + -59.98110829215807 + ], + [ + 810.7662444584516, + -59.22384222397352 + ] + ], + "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": 671.2598537290347, + "ymin": 0.0, + "xmax": 735.0235750110173, + "ymax": 31.162335312729056 + }, + "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": [ + [ + 679.1609965690373, + 31.162335312729056 + ], + [ + 728.0606577445678, + 27.737871829198696 + ], + [ + 718.6456154919423, + 8.781221297734817 + ], + [ + 671.2598537290347, + 11.99040340548504 + ], + [ + 682.2766750137533, + -74.06625965802243 + ], + [ + 735.0235750110173, + -77.11182731068192 + ], + [ + 724.6508787606286, + -93.92103264829973 + ], + [ + 673.6611269010301, + -91.08133429391484 + ] + ], + "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": 6.811760728170157, + "ymin": 0.0, + "xmax": 199.4035940789912, + "ymax": 252.99473760680468 + }, + "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": [ + [ + 199.4035940789912, + 80.77716399203194 + ], + [ + 188.89994802114137, + 81.48932685519895 + ], + [ + 121.3055606502254, + 252.99473760680468 + ], + [ + 134.67544756367425, + 251.8566723804978 + ], + [ + 125.9682285502837, + -131.39786104305466 + ], + [ + 113.61751283150068, + -130.83888667409963 + ], + [ + 6.811760728170157, + 10.012988193903766 + ], + [ + 23.32168273220293, + 9.035499632694666 + ] + ], + "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": 432.28126904927933, + "ymin": 0.0, + "xmax": 749.1645023330121, + "ymax": 73.11235736542983 + }, + "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": [ + [ + 734.2053575605157, + 54.33412465263041 + ], + [ + 732.1374193033429, + 49.89449189173604 + ], + [ + 461.4804465677761, + 68.4014955490407 + ], + [ + 461.6053546062319, + 73.11235736542983 + ], + [ + 749.1645023330121, + -152.0089636221153 + ], + [ + 746.6472566359118, + -155.4421828238676 + ], + [ + 432.38684007499035, + -141.07889557271136 + ], + [ + 432.28126904927933, + -137.40100924795388 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1071.1944182261066, + "ymin": 0.0, + "xmax": 1172.8569302276217, + "ymax": 1.5031633546118428 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 1091.323573354494, + 1.5031633546118428 + ], + [ + 1135.6607534694024, + -1.597453161424994 + ], + [ + 1114.290505015161, + -18.792017551444417 + ], + [ + 1071.1944182261066, + -15.877487272579856 + ], + [ + 1125.3921528215146, + -100.57483904434343 + ], + [ + 1172.8569302276217, + -103.31001002688447 + ], + [ + 1148.7227437292477, + -118.4372463978703 + ], + [ + 1102.6764507669445, + -115.87798193588861 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 224.7921975719289, + "xmax": 483.2667013590752, + "ymax": 556.8543238257048 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -2.709138505653982, + 542.4204062411671 + ], + [ + -8.527154176147405, + 556.8543238257048 + ], + [ + 483.2667013590752, + 500.25047754508364 + ], + [ + 482.7952320473404, + 487.2250269993829 + ], + [ + -210.836822639979, + 279.6783086903556 + ], + [ + -222.1701017952713, + 294.3242004679925 + ], + [ + 435.0340447967414, + 237.58722284424422 + ], + [ + 435.18646817085994, + 224.7921975719289 + ] + ], + "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": 0.0, + "ymin": 0.0, + "xmax": 252.89742351446694, + "ymax": 74.15951144211738 + }, + "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": [ + [ + 120.28699534773932, + 74.15951144211738 + ], + [ + 252.89742351446694, + 17.90351381257699 + ], + [ + 171.85580043106398, + -15.785703547966705 + ], + [ + 40.26541739588322, + 33.90538050683591 + ], + [ + 74.75206094756857, + -37.95527482113249 + ], + [ + 222.19128266343614, + -88.0623625502916 + ], + [ + 137.01779939607087, + -117.70513496020055 + ], + [ + -8.714245642801757, + -73.88746532889189 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1094.3263844899484, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1369.2696012487309, + 545.0369679666992 + ], + [ + 1094.3263844899484, + 718.3613927279367 + ], + [ + 1596.9489842200865, + 1271.3034774377338 + ], + [ + 1877.0022410723038, + 936.265724070279 + ], + [ + 1902.0586599127416, + -45.81495291023231 + ], + [ + 1527.2445718776173, + 112.88256241535811 + ], + [ + 3806.3761678652813, + 1080.8757419448932 + ], + [ + 3520.9741615750836, + 381.38836104865265 + ] + ], + "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": 0.0, + "ymin": 0.0, + "xmax": 254.6660097967773, + "ymax": 55.42555473001528 + }, + "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": [ + [ + 94.36784189155628, + 55.42555473001528 + ], + [ + 254.6660097967773, + -17.7815104634833 + ], + [ + 130.93345841594504, + -55.71832772597264 + ], + [ + -32.14417210358317, + 7.152798006215676 + ], + [ + -83.79512454720782, + -368.52119947641893 + ], + [ + 147.7384961557426, + -398.3808027042212 + ], + [ + 1.8938272790927613, + -413.0023935006708 + ], + [ + -229.60760152742262, + -388.46167323352677 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12511280680997575471, + "instance_id": 12123, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2349_123", + "bbox_3d": { + "center_world": { + "x": -36.20769119262695, + "y": -108.4781723022461, + "z": 6.51531457901001 + }, + "extent": { + "x": 4.686452865600586, + "y": 4.53662633895874, + "z": 6.939882278442383 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 169.71353554919915, + "ymax": 153.61709998879434 + }, + "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": [ + [ + -68.74778151428279, + 153.61709998879434 + ], + [ + 169.71353554919915, + 92.21966875236836 + ], + [ + 123.49054423090536, + 12.314877275647405 + ], + [ + -87.4849673097001, + 59.20870539592164 + ], + [ + -312.2239072161659, + -258.6754457567389 + ], + [ + 26.114795252183512, + -292.98962867896387 + ], + [ + -10.171931786440155, + -334.83032032303095 + ], + [ + -295.324061163839, + -310.6448177926387 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 17624874717371266855, + "instance_id": 10103, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2729_96", + "bbox_3d": { + "center_world": { + "x": -23.074316024780273, + "y": -116.09037780761719, + "z": 6.446401596069336 + }, + "extent": { + "x": 4.342342853546143, + "y": 4.219171524047852, + "z": 6.881437301635742 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 82.05561050988217, + "ymax": 13.286033616982934 + }, + "corners_3d": [ + [ + -21.257497787475586, + -110.31486511230469, + -0.43503570556640625 + ], + [ + -17.248931884765625, + -117.74029541015625, + -0.43503570556640625 + ], + [ + -24.89113426208496, + -121.86589050292969, + -0.43503570556640625 + ], + [ + -28.899700164794922, + -114.44046020507812, + -0.43503570556640625 + ], + [ + -21.257497787475586, + -110.31486511230469, + 13.327838897705078 + ], + [ + -17.248931884765625, + -117.74029541015625, + 13.327838897705078 + ], + [ + -24.89113426208496, + -121.86589050292969, + 13.327838897705078 + ], + [ + -28.899700164794922, + -114.44046020507812, + 13.327838897705078 + ] + ], + "corners_2d": [ + [ + 82.05561050988217, + -51.52796072855227 + ], + [ + -36.6829235027551, + -70.63276825401294 + ], + [ + -175.18422067222286, + -10.809214279342257 + ], + [ + -47.52263958500157, + 13.286033616982934 + ], + [ + -41.504548718763886, + -362.7422838317972 + ], + [ + -179.81438515457955, + -371.9238424435084 + ], + [ + -373.42749417471043, + -342.66177358239815 + ], + [ + -223.8147321795966, + -330.43906373810046 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00146/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00146/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f7348ff9b21b5937669ebaedc1fbd52c86a213ac --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00146/meta.json @@ -0,0 +1,3953 @@ +{ + "frame_id": 146, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 73.0, + "sim_timestamp": 11523.960118943825 + }, + "drone_pose": { + "x": -78.19818265832103, + "y": -89.21307501886766, + "z": 19.9461346981198, + "pitch": -42.26566220939805, + "yaw": 13.568021237752689, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.7193815112113953, + -0.17361174523830414, + 0.6725690960884094, + 58.327613830566406 + ], + [ + 0.23459957540035248, + 0.9720920920372009, + 0.0, + 68.37805938720703 + ], + [ + -0.6537991166114807, + 0.15778443217277527, + 0.7400343418121338, + -79.9631576538086 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -77.24456773130704, + "y": -89.87020347381232, + "z": 20.01080586903169 + }, + "t1_image_uv": [ + -926.912967191809, + -671.2416668596759 + ], + "t1_depth": 0.5284318790957461 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -58.66718292236328, + "y": -85.18776321411133, + "z": 0.5870940177515149 + }, + "image_uv": [ + 616.8726816105747, + 391.8695384401281 + ], + "depth": 27.76937423089356, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 197, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -58.66718292236328, + "y": -85.18775939941406, + "z": 0.5870940089225769 + }, + "extent": { + "x": 0.29473140835762024, + "y": 0.2126464545726776, + "z": 0.5300313830375671 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 607.1216038438736, + "ymin": 370.5288549588352, + "xmax": 626.4974628499172, + "ymax": 413.04552761360463 + }, + "corners_3d": [ + [ + -58.9619140625, + -85.40040588378906, + 0.057062625885009766 + ], + [ + -58.9619140625, + -84.97511291503906, + 0.057062625885009766 + ], + [ + -58.37245178222656, + -84.97511291503906, + 0.057062625885009766 + ], + [ + -58.37245178222656, + -85.40040588378906, + 0.057062625885009766 + ], + [ + -58.9619140625, + -85.40040588378906, + 1.117125391960144 + ], + [ + -58.9619140625, + -84.97511291503906, + 1.117125391960144 + ], + [ + -58.37245178222656, + -84.97511291503906, + 1.117125391960144 + ], + [ + -58.37245178222656, + -85.40040588378906, + 1.117125391960144 + ] + ], + "corners_2d": [ + [ + 612.2245801922245, + 413.04552761360463 + ], + [ + 626.4974628499172, + 410.6006169185455 + ], + [ + 622.02058971958, + 396.8055792396152 + ], + [ + 607.9498852373865, + 399.1778659590019 + ], + [ + 611.4955656095453, + 386.71342697012324 + ], + [ + 626.1440257897755, + 384.27589999580084 + ], + [ + 621.5571823065799, + 370.5288549588352 + ], + [ + 607.1216038438736, + 372.89212305247787 + ] + ], + "center_offset_px": [ + -23.12731838942534, + 31.86953844012811 + ] + }, + "trace_timestep_index": 146, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 82, + "semantic_pixel_counts": { + "1": 527380, + "2": 152920, + "3": 6240, + "4": 47735, + "5": 3896, + "6": 13234, + "7": 4234, + "9": 27053, + "10": 74310, + "12": 3554, + "14": 15050, + "20": 2094, + "21": 6651, + "24": 35852, + "25": 1397 + }, + "instance_pixel_counts": { + "2139": 3885, + "2981": 149, + "3424": 1221, + "3714": 9, + "4483": 26, + "5695": 176, + "7820": 274, + "9296": 3708, + "9799": 13405, + "11927": 1025, + "12439": 1, + "12951": 1433, + "15440": 188, + "17232": 47735, + "21952": 2536, + "22464": 1331, + "22784": 634, + "22976": 7424, + "23040": 3306, + "23296": 6039, + "23552": 7250, + "24404": 1825, + "24660": 3, + "25940": 76, + "26196": 190, + "27522": 9530, + "27795": 11861, + "28819": 15909, + "29781": 77, + "31893": 1214, + "33429": 1599, + "33697": 279, + "38539": 1410, + "39051": 2028, + "39563": 4072, + "40075": 1404, + "40787": 204, + "41099": 853, + "41107": 94763, + "41611": 5608, + "41619": 40836, + "41889": 906, + "42123": 6456, + "42635": 3519, + "42643": 23341, + "43155": 251653, + "43659": 5343, + "43667": 45351, + "44179": 43472, + "44181": 6335, + "44433": 903, + "44693": 1051, + "45205": 656, + "45717": 21609, + "46229": 1332, + "46741": 2033, + "47552": 2009, + "48033": 1093, + "48064": 3157, + "49088": 6885, + "49600": 4062, + "49664": 197, + "49920": 403, + "50015": 9556, + "50112": 1472, + "50176": 395, + "50432": 1113, + "50624": 20849, + "50688": 961, + "50944": 485, + "51136": 12335, + "51648": 9839, + "51712": 6444, + "52672": 33287, + "53504": 4129, + "55296": 4477, + "55879": 45963, + "57173": 17523, + "62043": 824, + "63637": 23, + "64147": 194, + "64603": 5678 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 197, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -58.66718292236328, + "y": -85.18775939941406, + "z": 0.5870940089225769 + }, + "extent": { + "x": 0.25979000329971313, + "y": 0.19768552482128143, + "z": 0.5383898019790649 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 607.8801601080751, + "ymin": 371.2024720030629, + "xmax": 625.7307663608029, + "ymax": 412.3279006351109 + }, + "corners_3d": [ + [ + -58.926971435546875, + -85.38544464111328, + 0.04870420694351196 + ], + [ + -58.926971435546875, + -84.99007415771484, + 0.04870420694351196 + ], + [ + -58.40739440917969, + -84.99007415771484, + 0.04870420694351196 + ], + [ + -58.40739440917969, + -85.38544464111328, + 0.04870420694351196 + ], + [ + -58.926971435546875, + -85.38544464111328, + 1.125483751296997 + ], + [ + -58.926971435546875, + -84.99007415771484, + 1.125483751296997 + ], + [ + -58.40739440917969, + -84.99007415771484, + 1.125483751296997 + ], + [ + -58.40739440917969, + -85.38544464111328, + 1.125483751296997 + ] + ], + "corners_2d": [ + [ + 612.4760579766195, + 412.3279006351109 + ], + [ + 625.7307663608029, + 410.0590556394327 + ], + [ + 621.7916904395496, + 397.89718092018484 + ], + [ + 608.7025837070478, + 400.10652812508596 + ], + [ + 611.7428485520861, + 385.5831922489237 + ], + [ + 625.3516060215484, + 383.32141631608374 + ], + [ + 621.3144069739142, + 371.2024720030629 + ], + [ + 607.8801601080751, + 373.40338947672643 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 403, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -54.541194915771484, + "y": -82.19005584716797, + "z": 0.5806145071983337 + }, + "extent": { + "x": 0.3823510706424713, + "y": 0.3214453160762787, + "z": 0.8714970946311951 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 664.6628320169161, + "ymin": 260.57565369793633, + "xmax": 694.4758285269327, + "ymax": 321.1716117913742 + }, + "corners_3d": [ + [ + -54.98202133178711, + -82.42498016357422, + -0.29088258743286133 + ], + [ + -54.848358154296875, + -81.796142578125, + -0.29088258743286133 + ], + [ + -54.10036849975586, + -81.95513153076172, + -0.29088258743286133 + ], + [ + -54.234031677246094, + -82.58396911621094, + -0.29088258743286133 + ], + [ + -54.98202133178711, + -82.42498016357422, + 1.4521116018295288 + ], + [ + -54.848358154296875, + -81.796142578125, + 1.4521116018295288 + ], + [ + -54.10036849975586, + -81.95513153076172, + 1.4521116018295288 + ], + [ + -54.234031677246094, + -82.58396911621094, + 1.4521116018295288 + ] + ], + "corners_2d": [ + [ + 675.1237069990317, + 321.1716117913742 + ], + [ + 692.4610201720618, + 315.77114212525873 + ], + [ + 681.7920321316154, + 302.6429118089117 + ], + [ + 664.6628320169161, + 307.8729973420592 + ], + [ + 676.4817973726005, + 278.8275729528149 + ], + [ + 694.4758285269327, + 273.50453677659146 + ], + [ + 683.3706872958724, + 260.57565369793633 + ], + [ + 665.6006523962106, + 265.7244366884779 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 395, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -60.92300796508789, + "y": -78.24504852294922, + "z": 0.7274015545845032 + }, + "extent": { + "x": 0.4704223573207855, + "y": 0.34949949383735657, + "z": 0.8932135701179504 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 849.1631048910092, + "ymin": 365.6592245678816, + "xmax": 897.8879111978475, + "ymax": 438.1925507792279 + }, + "corners_3d": [ + [ + -61.42738723754883, + -78.54346466064453, + -0.16581201553344727 + ], + [ + -61.35432052612305, + -77.8482894897461, + -0.16581201553344727 + ], + [ + -60.41862869262695, + -77.9466323852539, + -0.16581201553344727 + ], + [ + -60.491695404052734, + -78.64180755615234, + -0.16581201553344727 + ], + [ + -61.42738723754883, + -78.54346466064453, + 1.6206151247024536 + ], + [ + -61.35432052612305, + -77.8482894897461, + 1.6206151247024536 + ], + [ + -60.41862869262695, + -77.9466323852539, + 1.6206151247024536 + ], + [ + -60.491695404052734, + -78.64180755615234, + 1.6206151247024536 + ] + ], + "corners_2d": [ + [ + 865.1860288599391, + 438.1925507792279 + ], + [ + 886.6682863862711, + 432.2285370874881 + ], + [ + 870.2450743853353, + 410.3074638299551 + ], + [ + 849.1631048910092, + 415.99707707097946 + ], + [ + 875.4961624812433, + 393.41006407384964 + ], + [ + 897.8879111978475, + 387.4684987134201 + ], + [ + 880.463902761223, + 365.6592245678816 + ], + [ + 858.5060584946681, + 371.31540010567903 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 1113, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -68.16718292236328, + "y": -85.18775939941406, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.43480953574180603, + "y": 0.4530907869338989, + "z": 0.8873528242111206 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 684.8493350574979, + "ymin": 643.7441433983932, + "xmax": 740.3397181229574, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -68.60198974609375, + -85.64085388183594, + -0.31235355138778687 + ], + [ + -68.60198974609375, + -84.73466491699219, + -0.31235355138778687 + ], + [ + -67.73237609863281, + -84.73466491699219, + -0.31235355138778687 + ], + [ + -67.73237609863281, + -85.64085388183594, + -0.31235355138778687 + ], + [ + -68.60198974609375, + -85.64085388183594, + 1.4623520374298096 + ], + [ + -68.60198974609375, + -84.73466491699219, + 1.4623520374298096 + ], + [ + -67.73237609863281, + -84.73466491699219, + 1.4623520374298096 + ], + [ + -67.73237609863281, + -85.64085388183594, + 1.4623520374298096 + ] + ], + "corners_2d": [ + [ + 695.4366146789786, + 730.148756698506 + ], + [ + 734.7184676605514, + 720.9731103002978 + ], + [ + 723.0866493321297, + 685.7897258996537 + ], + [ + 684.8493350574979, + 694.4475437529372 + ], + [ + 698.7525457967653, + 689.1069070552808 + ], + [ + 740.3397181229574, + 679.7077546956209 + ], + [ + 727.8688402906914, + 643.7441433983932 + ], + [ + 687.4504463131301, + 652.5826767798043 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 961, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -62.28268051147461, + "y": -96.31512451171875, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.551328182220459, + "y": 0.452080100774765, + "z": 0.8702250719070435 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 163.99061400367492, + "ymin": 526.1240289068912, + "xmax": 234.2259308958889, + "ymax": 610.5352204407916 + }, + "corners_3d": [ + [ + -62.78373336791992, + -96.82235717773438, + -0.2952257990837097 + ], + [ + -62.87824249267578, + -95.92314910888672, + -0.2952257990837097 + ], + [ + -61.7816276550293, + -95.80789184570312, + -0.2952257990837097 + ], + [ + -61.68711853027344, + -96.70709991455078, + -0.2952257990837097 + ], + [ + -62.78373336791992, + -96.82235717773438, + 1.4452242851257324 + ], + [ + -62.87824249267578, + -95.92314910888672, + 1.4452242851257324 + ], + [ + -61.7816276550293, + -95.80789184570312, + 1.4452242851257324 + ], + [ + -61.68711853027344, + -96.70709991455078, + 1.4452242851257324 + ] + ], + "corners_2d": [ + [ + 187.82155662422537, + 610.5352204407916 + ], + [ + 226.18095908765935, + 606.3184624291468 + ], + [ + 234.2259308958889, + 569.0431110943646 + ], + [ + 197.17852191849107, + 572.9830735020123 + ], + [ + 163.99061400367492, + 568.0695314331263 + ], + [ + 204.45784299149392, + 563.7992404560216 + ], + [ + 213.6707640045882, + 526.1240289068912 + ], + [ + 174.6607822549409, + 530.1000372093721 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 485, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -47.42184829711914, + "y": -93.35797882080078, + "z": 0.5898674726486206 + }, + "extent": { + "x": 0.4203149378299713, + "y": 0.4367919862270355, + "z": 0.8871338963508606 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 305.670764156147, + "ymin": 188.85139170835566, + "xmax": 346.0897731298196, + "ymax": 243.964083832646 + }, + "corners_3d": [ + [ + -47.742164611816406, + -93.87261199951172, + -0.29726642370224 + ], + [ + -47.92379379272461, + -93.01811981201172, + -0.29726642370224 + ], + [ + -47.101531982421875, + -92.84334564208984, + -0.29726642370224 + ], + [ + -46.91990280151367, + -93.69783782958984, + -0.29726642370224 + ], + [ + -47.742164611816406, + -93.87261199951172, + 1.477001428604126 + ], + [ + -47.92379379272461, + -93.01811981201172, + 1.477001428604126 + ], + [ + -47.101531982421875, + -92.84334564208984, + 1.477001428604126 + ], + [ + -46.91990280151367, + -93.69783782958984, + 1.477001428604126 + ] + ], + "corners_2d": [ + [ + 317.16302278281927, + 243.964083832646 + ], + [ + 341.4634847197767, + 243.5788362896825 + ], + [ + 346.0897731298196, + 230.28047859025472 + ], + [ + 322.2192621056931, + 230.6522897384281 + ], + [ + 305.670764156147, + 202.2317015007203 + ], + [ + 330.84187186691815, + 201.85475717916955 + ], + [ + 335.82311213498076, + 188.85139170835566 + ], + [ + 311.1130226866877, + 189.21473409457937 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 6444, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 741.1049419755457, + "ymin": 161.1542330205078, + "xmax": 888.7283996312597, + "ymax": 251.3107803722206 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 741.1049419755457, + 221.1825396475019 + ], + [ + 758.4581185317147, + 251.3107803722206 + ], + [ + 879.6704856382548, + 233.44335247509892 + ], + [ + 858.0388057347509, + 204.69537852371965 + ], + [ + 744.9197260191505, + 177.18774052240593 + ], + [ + 763.100779225527, + 206.59278769880277 + ], + [ + 888.7283996312597, + 189.16414734785297 + ], + [ + 865.958583404563, + 161.1542330205078 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 209, + "instance_id": 53504, + "pixel_count": 4129, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -44.30002975463867, + "y": -58.57492446899414, + "z": 0.8211467266082764 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 1064.9636980723733, + "ymin": 39.12067119458487, + "xmax": 1202.1025748857692, + "ymax": 102.47170518342438 + }, + "corners_3d": [ + [ + -45.22607421875, + -56.065513610839844, + 0.05378423258662224 + ], + [ + -43.344486236572266, + -56.07659912109375, + 0.05378423258662224 + ], + [ + -43.373985290527344, + -61.08433532714844, + 0.05378423258662224 + ], + [ + -45.25557327270508, + -61.0732536315918, + 0.05378423258662224 + ], + [ + -45.22607421875, + -56.065513610839844, + 1.588509202003479 + ], + [ + -43.344486236572266, + -56.07659912109375, + 1.588509202003479 + ], + [ + -43.373985290527344, + -61.08433532714844, + 1.588509202003479 + ], + [ + -45.25557327270508, + -61.0732536315918, + 1.588509202003479 + ] + ], + "corners_2d": [ + [ + 1188.563198082052, + 89.69108354468534 + ], + [ + 1161.9694382140294, + 71.27845094914142 + ], + [ + 1064.9636980723733, + 83.28163703541435 + ], + [ + 1088.997170492776, + 102.47170518342438 + ], + [ + 1202.1025748857692, + 56.948418557338755 + ], + [ + 1174.4490987240438, + 39.12067119458487 + ], + [ + 1075.3380843030716, + 50.73951853569122 + ], + [ + 1100.3202423078142, + 69.33888789041976 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 216, + "instance_id": 55296, + "pixel_count": 4477, + "type_id": "vehicle.audi.etron", + "bbox_3d": { + "center_world": { + "x": -44.75563430786133, + "y": -104.2794189453125, + "z": 0.8648524284362793 + }, + "extent": { + "x": 2.427854299545288, + "y": 1.0163782835006714, + "z": 0.8246796727180481 + }, + "yaw": -94.3148193359375 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 164.39975863358498, + "xmax": 95.0017376564141, + "ymax": 256.90304449081566 + }, + "corners_3d": [ + [ + -45.58646774291992, + -101.781982421875, + 0.04017278552055359 + ], + [ + -43.559471130371094, + -101.9349136352539, + 0.04017278552055359 + ], + [ + -43.92479705810547, + -106.77686309814453, + 0.04017278552055359 + ], + [ + -45.9517936706543, + -106.6239242553711, + 0.04017278552055359 + ], + [ + -45.58646774291992, + -101.781982421875, + 1.6895321607589722 + ], + [ + -43.559471130371094, + -101.9349136352539, + 1.6895321607589722 + ], + [ + -43.92479705810547, + -106.77686309814453, + 1.6895321607589722 + ], + [ + -45.9517936706543, + -106.6239242553711, + 1.6895321607589722 + ] + ], + "corners_2d": [ + [ + 89.78024907404983, + 232.4135583922856 + ], + [ + 95.0017376564141, + 202.87122895581103 + ], + [ + -48.95339631948855, + 225.42736021652843 + ], + [ + -60.48675544011735, + 256.90304449081566 + ], + [ + 71.59138785689618, + 193.27738329342358 + ], + [ + 77.72265860406856, + 164.39975863358498 + ], + [ + -71.50784338018036, + 186.44154134364578 + ], + [ + -84.43037898231432, + 217.27331753249166 + ] + ], + "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": 39.21182281926497, + "ymin": 38.209816528769295, + "xmax": 63.966749761448, + "ymax": 67.82501240671894 + }, + "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": [ + [ + 50.14387815656778, + 67.82501240671894 + ], + [ + 62.34131668694067, + 66.63840447782172 + ], + [ + 63.966749761448, + 63.0807496890871 + ], + [ + 51.847705201154895, + 64.25280848867783 + ], + [ + 39.21182281926497, + 42.83320035738569 + ], + [ + 51.65761812631308, + 41.676694582244295 + ], + [ + 53.37976367525914, + 38.209816528769295 + ], + [ + 41.01556367911098, + 39.35188219254451 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 786.5336422251899, + "ymin": 89.5550209573297, + "xmax": 804.5744710934987, + "ymax": 121.34320497704397 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 798.1303963624284, + 115.68784144153278 + ], + [ + 786.5336422251899, + 117.08415067119572 + ], + [ + 789.6428803344429, + 121.34320497704397 + ], + [ + 801.3109696017093, + 119.92796083006903 + ], + [ + 801.3076709328695, + 89.5550209573297 + ], + [ + 789.4845824826826, + 90.92019107374244 + ], + [ + 792.677235690649, + 95.08501753531061 + ], + [ + 804.5744710934987, + 93.70095852159113 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4809317425322915338, + "instance_id": 2806, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -62.6159553527832, + "y": -93.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 230.80638171792225, + "ymin": 380.86659173830503, + "xmax": 262.4580234694231, + "ymax": 423.1147170362267 + }, + "corners_3d": [ + [ + -62.754539489746094, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.9842529296875, + 6.416468620300293 + ], + [ + -62.754539489746094, + -93.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 261.8163104439736, + 420.03430768570723 + ], + [ + 262.4580234694231, + 410.8443373659226 + ], + [ + 243.64250079402802, + 413.8642325434861 + ], + [ + 242.81077628282515, + 423.1147170362267 + ], + [ + 250.42509329977298, + 390.02601266408936 + ], + [ + 251.20154693369574, + 380.86659173830503 + ], + [ + 231.7852290327025, + 383.875848412351 + ], + [ + 230.80638171792225, + 393.0973990413799 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5344508464058845628, + "instance_id": 48329, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -62.61595916748047, + "y": -96.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 71.06649716317395, + "ymin": 405.1945956700484, + "xmax": 110.45180826212027, + "ymax": 448.17342369315776 + }, + "corners_3d": [ + [ + -62.75454330444336, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.9842529296875, + 6.416468620300293 + ], + [ + -62.75454330444336, + -96.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 108.23964550417372, + 444.92608158065576 + ], + [ + 110.45180826212027, + 435.24149261493244 + ], + [ + 90.62710863333291, + 438.4233613234333 + ], + [ + 88.2041709712355, + 448.17342369315776 + ], + [ + 91.78178901126307, + 414.862374360289 + ], + [ + 94.2332809138228, + 405.1945956700484 + ], + [ + 73.74318172869243, + 408.37027380524535 + ], + [ + 71.06649716317395, + 418.1054351381297 + ] + ], + "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": 0.0, + "ymin": 116.26448776843736, + "xmax": 27.460858486705774, + "ymax": 149.1439130769535 + }, + "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": [ + [ + 11.357896477971394, + 149.1439130769535 + ], + [ + 25.350986617595254, + 147.60188508038038 + ], + [ + 27.460858486705774, + 142.98391025937673 + ], + [ + 13.57078607174276, + 144.50441268227263 + ], + [ + -1.960234740186479, + 122.29856724780711 + ], + [ + 12.360297381678606, + 120.78783818092501 + ], + [ + 14.607233730453572, + 116.26448776843736 + ], + [ + 0.39455524422976396, + 117.75368670862949 + ] + ], + "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": 18.125584157404774, + "ymin": 78.20814999074537, + "xmax": 45.23609981005143, + "ymax": 109.52470987545689 + }, + "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": [ + [ + 30.254455847974782, + 109.52470987545689 + ], + [ + 43.37004343725903, + 108.16164045945689 + ], + [ + 45.23609981005143, + 104.07732318129052 + ], + [ + 32.21108257165292, + 105.42249206486841 + ], + [ + 18.125584157404774, + 83.53079019187089 + ], + [ + 31.52858675931202, + 82.19876144626193 + ], + [ + 33.510892929211195, + 78.20814999074537 + ], + [ + 20.20244179040924, + 79.52234176974815 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8433051479337506626, + "instance_id": 17047, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -62.61595153808594, + "y": -91.29429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 357.20362190476385, + "ymin": 361.5572720867822, + "xmax": 383.8260235665849, + "ymax": 403.20983720331986 + }, + "corners_3d": [ + [ + -62.75453567504883, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.4842529296875, + 6.416468620300293 + ], + [ + -62.75453567504883, + -91.4842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 383.8260235665849, + 400.2588987239905 + ], + [ + 383.27710323074155, + 391.45272950771545 + ], + [ + 365.2448413819855, + 394.34691077675296 + ], + [ + 365.6192973525289, + 403.20983720331986 + ], + [ + 376.27829806036146, + 370.3230760782811 + ], + [ + 375.78831041262157, + 361.5572720867822 + ], + [ + 357.20362190476385, + 364.43763748373334 + ], + [ + 357.50823284850514, + 373.26160312297884 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 822.5830392048864, + "ymin": 137.68572268793494, + "xmax": 843.0444745540709, + "ymax": 171.42085996295808 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 835.0010124506132, + 164.84118657190317 + ], + [ + 822.5830392048864, + 166.46484588803483 + ], + [ + 826.201078967983, + 171.42085996295808 + ], + [ + 838.7007643338379, + 169.77343887758565 + ], + [ + 839.2323578601649, + 137.68572268793494 + ], + [ + 826.5546297501133, + 139.27818792906845 + ], + [ + 830.2815832636886, + 144.14001087170504 + ], + [ + 843.0444745540709, + 142.52372838877025 + ] + ], + "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": 674.8567741000493, + "ymin": 11.779937005407817, + "xmax": 685.79076708655, + "ymax": 35.225162822600396 + }, + "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": [ + [ + 674.8567741000493, + 32.558625723618945 + ], + [ + 676.5589516840031, + 35.225162822600396 + ], + [ + 685.1385780503031, + 34.344963837546516 + ], + [ + 683.3974191516752, + 31.686969637927575 + ], + [ + 675.358736591176, + 12.631799029669821 + ], + [ + 677.088039735806, + 15.238026524617567 + ], + [ + 685.79076708655, + 14.377694570900701 + ], + [ + 684.0213592158402, + 11.779937005407817 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 760.2690599469365, + "ymin": 54.5733430687597, + "xmax": 776.6405717750073, + "ymax": 84.89181060974607 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 771.2594239770692, + 79.86564543129032 + ], + [ + 760.2690599469365, + 81.10708533906603 + ], + [ + 763.032022026846, + 84.89181060974607 + ], + [ + 774.0864979292948, + 83.63450614322016 + ], + [ + 773.7435413683728, + 54.5733430687597 + ], + [ + 762.5500427153909, + 55.784314847755184 + ], + [ + 765.3805678793461, + 59.476746169539524 + ], + [ + 776.6405717750073, + 58.25000314614414 + ] + ], + "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": 100.95029229884301, + "ymin": 57.96641813900004, + "xmax": 120.72631768154508, + "ymax": 83.06982822056688 + }, + "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": [ + [ + 109.31198210283435, + 83.06982822056688 + ], + [ + 119.63127639515244, + 82.02923824544587 + ], + [ + 120.72631768154508, + 78.88879953515732 + ], + [ + 110.4635353780501, + 79.91841542171301 + ], + [ + 100.95029229884301, + 62.06307109664709 + ], + [ + 111.44673205487527, + 61.04339615564254 + ], + [ + 112.6028144467399, + 57.96641813900004 + ], + [ + 102.16483232809821, + 58.975171638580605 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 872.7664016357152, + "ymin": 326.5725086117236, + "xmax": 895.9643459449167, + "ymax": 360.02801162246874 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 885.8176455641918, + 351.0833243737835 + ], + [ + 872.7664016357152, + 353.28056041005937 + ], + [ + 877.0204491529375, + 360.02801162246874 + ], + [ + 890.1622694399015, + 357.7964372688453 + ], + [ + 891.4739656397431, + 326.5725086117236 + ], + [ + 878.1363517161097, + 328.7566316072261 + ], + [ + 882.5321480627583, + 335.4654131763548 + ], + [ + 895.9643459449167, + 333.2463609449357 + ] + ], + "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": 743.83322853658, + "ymin": 0.0, + "xmax": 950.0941464738928, + "ymax": 430.26872441133594 + }, + "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": [ + [ + 871.978527350117, + 430.26872441133594 + ], + [ + 886.0775213930918, + 427.7892234563915 + ], + [ + 754.804601204396, + 202.1237807889917 + ], + [ + 743.83322853658, + 203.555033003991 + ], + [ + 932.5280023698109, + 172.90218523246358 + ], + [ + 950.0941464738928, + 170.63063130877626 + ], + [ + 776.1690063969838, + -23.82617339994772 + ], + [ + 763.2018507955552, + -22.66490259396022 + ] + ], + "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": 615.7899119884647, + "ymin": 0.0, + "xmax": 678.0975509240906, + "ymax": 68.5025028600507 + }, + "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": [ + [ + 627.1794587833756, + 68.5025028600507 + ], + [ + 675.4070963932041, + 63.30222985477661 + ], + [ + 664.2232753926374, + 44.8232716071422 + ], + [ + 617.4592230187359, + 49.69369854117565 + ], + [ + 626.1957996297231, + -34.90737952012182 + ], + [ + 678.0975509240906, + -39.50686789608352 + ], + [ + 666.0005059620729, + -55.80001217223838 + ], + [ + 615.7899119884647, + -51.51339013126858 + ] + ], + "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": 137.88170515957177, + "ymax": 321.5690690149548 + }, + "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": [ + [ + 137.88170515957177, + 137.87607655934087 + ], + [ + 126.77421196103057, + 139.06132655100717 + ], + [ + 67.29606229418573, + 321.5690690149548 + ], + [ + 81.64613945258998, + 319.62779207372967 + ], + [ + 54.2410415996128, + -75.07771932768867 + ], + [ + 41.10149899838052, + -74.14750055701495 + ], + [ + -61.08803811190421, + 76.1618246597314 + ], + [ + -43.16462528920965, + 74.48548037129893 + ] + ], + "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": 133.23453046470934, + "ymin": 0.0, + "xmax": 265.22318856237706, + "ymax": 9.787220669086423 + }, + "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": [ + [ + 187.88083116189677, + 6.452171204302488 + ], + [ + 186.98718888116798, + 9.787220669086423 + ], + [ + 264.8319018944239, + 2.81163426585681 + ], + [ + 265.22318856237706, + -0.4351991370446058 + ], + [ + 134.61713756741102, + -159.64022765162804 + ], + [ + 133.23453046470934, + -157.1035434509579 + ], + [ + 220.98004586661716, + -162.4048883495267 + ], + [ + 221.7251242078209, + -164.86671732305695 + ] + ], + "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": 373.75675432699956, + "ymin": 0.0, + "xmax": 690.6311754008208, + "ymax": 119.09025107537511 + }, + "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": [ + [ + 683.9395864478586, + 89.47472609600874 + ], + [ + 681.4544115097731, + 85.13655352008095 + ], + [ + 410.39650126872493, + 114.31640483529287 + ], + [ + 410.9395009642077, + 119.09025107537511 + ], + [ + 690.6311754008208, + -112.58796475869121 + ], + [ + 687.7151628482366, + -115.9051674825908 + ], + [ + 373.75675432699956, + -93.45155018647426 + ], + [ + 374.06318875910796, + -89.74632790854253 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 7060442795507255338, + "instance_id": 10760, + "pixel_count": null, + "type_id": "BP_Lamppost_tall_8_SM_2", + "bbox_3d": { + "center_world": { + "x": -36.436309814453125, + "y": -58.59585952758789, + "z": 2.522153615951538 + }, + "extent": { + "x": 1.0284277200698853, + "y": 1.150354027748108, + "z": 2.342824935913086 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1003.0947890068874, + "ymin": 0.0, + "xmax": 1095.324595465189, + "ymax": 24.942412244354955 + }, + "corners_3d": [ + [ + -37.46473693847656, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -57.44550704956055, + 0.17932868003845215 + ], + [ + -35.40788269042969, + -59.746212005615234, + 0.17932868003845215 + ], + [ + -37.46473693847656, + -59.746212005615234, + 4.864978790283203 + ], + [ + -37.46473693847656, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -57.44550704956055, + 4.864978790283203 + ], + [ + -35.40788269042969, + -59.746212005615234, + 4.864978790283203 + ] + ], + "corners_2d": [ + [ + 1024.0636835293215, + 24.942412244354955 + ], + [ + 1065.5004104391896, + 20.480738172595807 + ], + [ + 1043.4640764893443, + 4.578986779219292 + ], + [ + 1003.0947890068874, + 8.77734228202678 + ], + [ + 1051.2247799516408, + -73.45461161139377 + ], + [ + 1095.324595465189, + -77.3548677765396 + ], + [ + 1070.8426676450385, + -91.2185325951948 + ], + [ + 1027.9477238777718, + -87.56389459311589 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 282.33502987099035, + "xmax": 471.8805639481854, + "ymax": 657.1745147784909 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -47.57657671372954, + 640.9060087572936 + ], + [ + -53.03066403432251, + 657.1745147784909 + ], + [ + 471.8805639481854, + 559.4995023292371 + ], + [ + 470.1860224203714, + 545.8187410341772 + ], + [ + -280.73864102771586, + 377.965366094531 + ], + [ + -292.50249767268235, + 394.86502774153195 + ], + [ + 420.1324526285521, + 295.77231369916785 + ], + [ + 418.7853094024387, + 282.33502987099035 + ] + ], + "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": 0.0, + "ymin": 0.0, + "xmax": 188.48712662411634, + "ymax": 134.07369836145767 + }, + "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": [ + [ + 51.869862011214764, + 134.07369836145767 + ], + [ + 188.48712662411634, + 70.78532677120461 + ], + [ + 100.34933413865315, + 39.291967243035344 + ], + [ + -37.133004403339555, + 95.60049014321504 + ], + [ + 0.12162300383067759, + 21.25374997871387 + ], + [ + 152.95431957386108, + -35.10271996487148 + ], + [ + 60.34342627488934, + -62.789528671340975 + ], + [ + -92.87528830370115, + -13.120624219468425 + ] + ], + "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": 0.0, + "ymin": 0.0, + "xmax": 172.85751441529806, + "ymax": 6.614705905478729 + }, + "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": [ + [ + 172.85751441529806, + -36.13187279076823 + ], + [ + 77.7745050104703, + -51.67533797898642 + ], + [ + -13.970112039703736, + -11.789716235995002 + ], + [ + 86.27308712028662, + 6.614705905478729 + ], + [ + 143.26136927820744, + -128.1515563292586 + ], + [ + 43.3876964176892, + -141.4594077447219 + ], + [ + -57.6615811842172, + -107.19960931193111 + ], + [ + 47.82456861789649, + -91.26785111093142 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1110.321340655103, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1350.2232123141184, + 545.5115127232394 + ], + [ + 1110.321340655103, + 741.3690150650591 + ], + [ + 1660.0767621143273, + 1267.898606617081 + ], + [ + 1865.321871643197, + 897.3186667416704 + ], + [ + 1823.5947673261592, + -34.876737801075535 + ], + [ + 1534.1168548230457, + 133.20701643057697 + ], + [ + 3759.707234168546, + 962.4486975811961 + ], + [ + 3263.4477980408533, + 305.14982010203397 + ] + ], + "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": 0.0, + "ymin": 0.0, + "xmax": 188.1126791969341, + "ymax": 115.89646086746234 + }, + "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": [ + [ + 23.25652494371286, + 115.89646086746234 + ], + [ + 188.1126791969341, + 34.407327610707796 + ], + [ + 54.406356212584456, + -0.09578207757880364 + ], + [ + -117.10273332008546, + 70.76927764168346 + ], + [ + -179.47240831564898, + -311.55657166061224 + ], + [ + 64.12164632523854, + -344.7623310589054 + ], + [ + -93.57287255804476, + -358.0176167895843 + ], + [ + -342.7694013932819, + -330.28701936435357 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12511280680997575471, + "instance_id": 12123, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2349_123", + "bbox_3d": { + "center_world": { + "x": -36.20769119262695, + "y": -108.4781723022461, + "z": 6.51531457901001 + }, + "extent": { + "x": 4.686452865600586, + "y": 4.53662633895874, + "z": 6.939882278442383 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 106.7046094385563, + "ymax": 226.27950754171007 + }, + "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": [ + [ + -147.68957187866113, + 226.27950754171007 + ], + [ + 106.7046094385563, + 150.86234995816199 + ], + [ + 51.443878655545404, + 70.14173186043399 + ], + [ + -174.38754867755745, + 127.5270720142397 + ], + [ + -425.8486405270935, + -193.95486410098908 + ], + [ + -56.510376488262864, + -236.42384491314624 + ], + [ + -101.08389108033043, + -278.7223686019106 + ], + [ + -412.3013643103716, + -248.97209672901295 + ] + ], + "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": 0.0, + "ymin": 0.0, + "xmax": 21.964074407783755, + "ymax": 36.2568774761279 + }, + "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": [ + [ + -167.09248163670077, + 36.2568774761279 + ], + [ + 21.964074407783755, + 6.8642320967097135 + ], + [ + 21.954421582042755, + -47.17002444390744 + ], + [ + -146.44105695304904, + -23.713518726280995 + ], + [ + -347.77484134138444, + -272.6903127867042 + ], + [ + -107.43186285821855, + -288.22364437072395 + ], + [ + -91.50901330201475, + -315.83957210831556 + ], + [ + -299.5140194978459, + -303.99735623960873 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 17624874717371266855, + "instance_id": 10103, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2729_96", + "bbox_3d": { + "center_world": { + "x": -23.074316024780273, + "y": -116.09037780761719, + "z": 6.446401596069336 + }, + "extent": { + "x": 4.342342853546143, + "y": 4.219171524047852, + "z": 6.881437301635742 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 2.50429033516491, + "ymax": 77.77955489590153 + }, + "corners_3d": [ + [ + -21.257497787475586, + -110.31486511230469, + -0.43503570556640625 + ], + [ + -17.248931884765625, + -117.74029541015625, + -0.43503570556640625 + ], + [ + -24.89113426208496, + -121.86589050292969, + -0.43503570556640625 + ], + [ + -28.899700164794922, + -114.44046020507812, + -0.43503570556640625 + ], + [ + -21.257497787475586, + -110.31486511230469, + 13.327838897705078 + ], + [ + -17.248931884765625, + -117.74029541015625, + 13.327838897705078 + ], + [ + -24.89113426208496, + -121.86589050292969, + 13.327838897705078 + ], + [ + -28.899700164794922, + -114.44046020507812, + 13.327838897705078 + ] + ], + "corners_2d": [ + [ + 2.50429033516491, + 5.8701955042344025 + ], + [ + -127.07060079975065, + -9.843163095528553 + ], + [ + -275.7203141443201, + 57.48938622219822 + ], + [ + -133.461617827547, + 77.77955489590153 + ], + [ + -138.83690606521782, + -306.8400659525689 + ], + [ + -290.88375941355207, + -314.4051794409098 + ], + [ + -504.0059989537242, + -281.2563894510888 + ], + [ + -334.9348914450334, + -270.8809855909054 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00147/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00147/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..f181456974c5affd349753c00e0730258fc401d2 --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00147/meta.json @@ -0,0 +1,3314 @@ +{ + "frame_id": 147, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": true + }, + "timing": { + "trace_timestamp": 73.5, + "sim_timestamp": 11535.339869448915 + }, + "drone_pose": { + "x": -77.24456773130704, + "y": -89.87020347381232, + "z": 20.01080586903169, + "pitch": -45.98651114402749, + "yaw": 11.076630566500146, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.6818838715553284, + -0.13349148631095886, + 0.7191762328147888, + 50.277435302734375 + ], + [ + 0.1921217143535614, + 0.9813711047172546, + -7.450580596923828e-09, + 73.35566711425781 + ], + [ + -0.7057787775993347, + 0.13816934823989868, + 0.6948277354240417, + -80.83895111083984 + ], + [ + 0.0, + 0.0, + 0.0, + 1.0 + ] + ], + "nav_waypoint": { + "t1_world": { + "x": -76.06534799367795, + "y": -90.30658626277086, + "z": 20.099885042620965 + }, + "t1_image_uv": [ + -282.02843091629256, + -814.1627727814036 + ], + "t1_depth": 0.6817738607037832 + }, + "target": { + "enabled": true, + "actor_id": 194, + "world_location": { + "x": -58.16718292236328, + "y": -85.18776321411133, + "z": 0.5861858152598143 + }, + "image_uv": [ + 672.3450061363303, + 338.62453863253535 + ], + "depth": 27.6033513591479, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 189, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -58.16718292236328, + "y": -85.18775939941406, + "z": 0.5861858129501343 + }, + "extent": { + "x": 0.2539941370487213, + "y": 0.2463964819908142, + "z": 0.5348950624465942 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 660.0620847135547, + "ymin": 316.76445301665024, + "xmax": 684.9288837891163, + "ymax": 360.25973739239595 + }, + "corners_3d": [ + [ + -58.17255401611328, + -85.54158782958984, + 0.05129075050354004 + ], + [ + -58.52101135253906, + -85.19313049316406, + 0.05129075050354004 + ], + [ + -58.16181182861328, + -84.83393096923828, + 0.05129075050354004 + ], + [ + -57.8133544921875, + -85.18238830566406, + 0.05129075050354004 + ], + [ + -58.17255401611328, + -85.54158782958984, + 1.1210808753967285 + ], + [ + -58.52101135253906, + -85.19313049316406, + 1.1210808753967285 + ], + [ + -58.16181182861328, + -84.83393096923828, + 1.1210808753967285 + ], + [ + -57.8133544921875, + -85.18238830566406, + 1.1210808753967285 + ] + ], + "corners_2d": [ + [ + 660.0620847135547, + 353.46141117694765 + ], + [ + 674.3484209926752, + 360.25973739239595 + ], + [ + 683.6960682796414, + 349.8778860674142 + ], + [ + 669.4946756946155, + 343.22036711139805 + ], + [ + 660.6302254681602, + 327.01030629611614 + ], + [ + 675.3280286558935, + 333.8151505563627 + ], + [ + 684.9288837891163, + 323.42441365707845 + ], + [ + 670.3210306775212, + 316.76445301665024 + ] + ], + "center_offset_px": [ + 32.34500613633031, + -21.375461367464652 + ] + }, + "trace_timestep_index": 147, + "instance_stats": { + "semantic_tags_present": 14, + "instances_present": 68, + "semantic_pixel_counts": { + "1": 555445, + "2": 166878, + "4": 49323, + "5": 3658, + "6": 14369, + "7": 3806, + "9": 5994, + "10": 59656, + "12": 3444, + "14": 19154, + "20": 1253, + "21": 257, + "24": 38289, + "25": 74 + }, + "instance_pixel_counts": { + "5695": 74, + "9296": 3658, + "9799": 1125, + "11927": 1061, + "12439": 241, + "12951": 2465, + "17232": 49323, + "21952": 2648, + "22464": 2808, + "22784": 203, + "22976": 22828, + "23040": 2061, + "23296": 7848, + "23552": 8055, + "24404": 1119, + "24512": 1856, + "24660": 2, + "25940": 58, + "26196": 74, + "27522": 1468, + "27795": 16393, + "28819": 25223, + "31893": 1290, + "33429": 2337, + "38539": 1482, + "39051": 2221, + "39563": 3946, + "40075": 433, + "40787": 8, + "41107": 102013, + "41611": 6145, + "41619": 37100, + "42123": 6427, + "42635": 3088, + "42643": 4103, + "43147": 1629, + "43155": 260631, + "43659": 6389, + "43667": 39490, + "44179": 70492, + "44181": 6871, + "44693": 992, + "45205": 120, + "45717": 22252, + "46229": 1168, + "46741": 3259, + "47552": 2126, + "48064": 3334, + "49088": 4933, + "49600": 1276, + "49664": 189, + "49920": 419, + "50015": 10407, + "50176": 574, + "50432": 1029, + "50624": 22470, + "50688": 787, + "50944": 446, + "51136": 13491, + "51648": 9737, + "51712": 7178, + "52160": 4105, + "52672": 38614, + "53504": 4737, + "55296": 7239, + "55879": 41115, + "57173": 4526, + "64603": 257 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 189, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -58.16718292236328, + "y": -85.18775939941406, + "z": 0.5861858129501343 + }, + "extent": { + "x": 0.24007567763328552, + "y": 0.24693359434604645, + "z": 0.5522553324699402 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 660.2985964078216, + "ymin": 316.5934781240469, + "xmax": 684.7051235768845, + "ymax": 360.3969058035609 + }, + "corners_3d": [ + [ + -58.16233444213867, + -85.5321273803711, + 0.03393048048019409 + ], + [ + -58.51155090332031, + -85.18290710449219, + 0.03393048048019409 + ], + [ + -58.17203140258789, + -84.84339141845703, + 0.03393048048019409 + ], + [ + -57.82281494140625, + -85.19261169433594, + 0.03393048048019409 + ], + [ + -58.16233444213867, + -85.5321273803711, + 1.1384410858154297 + ], + [ + -58.51155090332031, + -85.18290710449219, + 1.1384410858154297 + ], + [ + -58.17203140258789, + -84.84339141845703, + 1.1384410858154297 + ], + [ + -57.82281494140625, + -85.19261169433594, + 1.1384410858154297 + ] + ], + "corners_2d": [ + [ + 660.2985964078216, + 353.58789622967424 + ], + [ + 674.6073483116759, + 360.3969058035609 + ], + [ + 683.4388277198128, + 350.58401353665323 + ], + [ + 669.2104689912771, + 343.90832268535314 + ], + [ + 660.8921845272127, + 326.2777321196404 + ], + [ + 675.6265501649308, + 333.0933619842322 + ], + [ + 684.7051235768845, + 323.27180270587206 + ], + [ + 670.056047697947, + 316.5934781240469 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 419, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -54.041194915771484, + "y": -82.19005584716797, + "z": 0.5813762545585632 + }, + "extent": { + "x": 0.2724340856075287, + "y": 0.38984617590904236, + "z": 0.8700211644172668 + }, + "yaw": 33.00003433227539 + }, + "bbox_2d": { + "xmin": 720.0466218020765, + "ymin": 207.88001249000325, + "xmax": 752.3543529250702, + "ymax": 266.16792664481966 + }, + "corners_3d": [ + [ + -54.057350158691406, + -82.66539001464844, + -0.2886449098587036 + ], + [ + -54.48200225830078, + -82.01148223876953, + -0.2886449098587036 + ], + [ + -54.02503967285156, + -81.7147216796875, + -0.2886449098587036 + ], + [ + -53.60038757324219, + -82.3686294555664, + -0.2886449098587036 + ], + [ + -54.057350158691406, + -82.66539001464844, + 1.45139741897583 + ], + [ + -54.48200225830078, + -82.01148223876953, + 1.45139741897583 + ], + [ + -54.02503967285156, + -81.7147216796875, + 1.45139741897583 + ], + [ + -53.60038757324219, + -82.3686294555664, + 1.45139741897583 + ] + ], + "corners_2d": [ + [ + 720.0466218020765, + 260.3663077044255 + ], + [ + 742.8436695607506, + 266.16792664481966 + ], + [ + 747.8937794440037, + 256.1420293226141 + ], + [ + 725.3169218721507, + 250.46856874076127 + ], + [ + 723.372294459253, + 217.69237560824698 + ], + [ + 747.1453722718828, + 223.44814839497937 + ], + [ + 752.3543529250702, + 213.50343102892566 + ], + [ + 728.8207030385905, + 207.88001249000325 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 574, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -60.42300796508789, + "y": -78.24504852294922, + "z": 0.742113471031189 + }, + "extent": { + "x": 0.47080808877944946, + "y": 0.3443017601966858, + "z": 0.9021589756011963 + }, + "yaw": 38.99995422363281 + }, + "bbox_2d": { + "xmin": 908.5778945045806, + "ymin": 319.1917432622907, + "xmax": 956.3220349647272, + "ymax": 393.6845681502309 + }, + "corners_3d": [ + [ + -60.57221984863281, + -78.80890655517578, + -0.16004550457000732 + ], + [ + -61.00556945800781, + -78.27376556396484, + -0.16004550457000732 + ], + [ + -60.27379608154297, + -77.68119049072266, + -0.16004550457000732 + ], + [ + -59.84044647216797, + -78.2163314819336, + -0.16004550457000732 + ], + [ + -60.57221984863281, + -78.80890655517578, + 1.6442724466323853 + ], + [ + -61.00556945800781, + -78.27376556396484, + 1.6442724466323853 + ], + [ + -60.27379608154297, + -77.68119049072266, + 1.6442724466323853 + ], + [ + -59.84044647216797, + -78.2163314819336, + 1.6442724466323853 + ] + ], + "corners_2d": [ + [ + 908.5778945045806, + 385.26897754706766 + ], + [ + 932.3274741270379, + 393.6845681502309 + ], + [ + 941.506751900473, + 372.24903864941507 + ], + [ + 918.1751028419947, + 364.17959383799814 + ], + [ + 921.9544653236044, + 340.3332924309824 + ], + [ + 947.0131904016826, + 348.78187157635267 + ], + [ + 956.3220349647272, + 327.27600314705495 + ], + [ + 931.7289306193265, + 319.1917432622907 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 1029, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -67.66718292236328, + "y": -85.18775939941406, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.45182371139526367, + "y": 0.4362207055091858, + "z": 0.9003443717956543 + }, + "yaw": 44.99999237060547 + }, + "bbox_2d": { + "xmin": 734.7650699503389, + "ymin": 590.7668976879415, + "xmax": 797.1897412839764, + "ymax": 682.3034854692492 + }, + "corners_3d": [ + [ + -67.67821502685547, + -85.81570434570312, + -0.325340211391449 + ], + [ + -68.29512786865234, + -85.19879150390625, + -0.325340211391449 + ], + [ + -67.6561508178711, + -84.559814453125, + -0.325340211391449 + ], + [ + -67.03923797607422, + -85.17672729492188, + -0.325340211391449 + ], + [ + -67.67821502685547, + -85.81570434570312, + 1.4753484725952148 + ], + [ + -68.29512786865234, + -85.19879150390625, + 1.4753484725952148 + ], + [ + -67.6561508178711, + -84.559814453125, + 1.4753484725952148 + ], + [ + -67.03923797607422, + -85.17672729492188, + 1.4753484725952148 + ] + ], + "corners_2d": [ + [ + 734.7650699503389, + 661.7776868555914 + ], + [ + 768.8165579504775, + 682.3034854692492 + ], + [ + 787.8828917223484, + 650.9572877645902 + ], + [ + 754.3397495313, + 631.390434362622 + ], + [ + 740.7824320806776, + 622.0458922658595 + ], + [ + 777.1340833042282, + 643.2268201998289 + ], + [ + 797.1897412839764, + 610.8972816872655 + ], + [ + 761.4192050547927, + 590.7668976879415 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 787, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -61.78268051147461, + "y": -96.31512451171875, + "z": 0.5749894976615906 + }, + "extent": { + "x": 0.5435131788253784, + "y": 0.4894189238548279, + "z": 0.8736164569854736 + }, + "yaw": 51.00003433227539 + }, + "bbox_2d": { + "xmin": 221.08122399477304, + "ymin": 455.82353404421633, + "xmax": 302.2199597097323, + "ymax": 546.3006216383953 + }, + "corners_3d": [ + [ + -61.7443733215332, + -97.04551696777344, + -0.29862695932388306 + ], + [ + -62.50507354736328, + -96.42951202392578, + -0.29862695932388306 + ], + [ + -61.820987701416016, + -95.58473205566406, + -0.29862695932388306 + ], + [ + -61.06028747558594, + -96.20073699951172, + -0.29862695932388306 + ], + [ + -61.7443733215332, + -97.04551696777344, + 1.448606014251709 + ], + [ + -62.50507354736328, + -96.42951202392578, + 1.448606014251709 + ], + [ + -61.820987701416016, + -95.58473205566406, + 1.448606014251709 + ], + [ + -61.06028747558594, + -96.20073699951172, + 1.448606014251709 + ] + ], + "corners_2d": [ + [ + 242.81753126318057, + 525.0342995447255 + ], + [ + 265.8311318051568, + 546.3006216383953 + ], + [ + 302.2199597097323, + 518.2440436384779 + ], + [ + 279.1034199376911, + 497.96834720227173 + ], + [ + 221.08122399477304, + 483.3075148473354 + ], + [ + 244.9574739079253, + 504.9516377247501 + ], + [ + 283.84874789672807, + 476.4057836870701 + ], + [ + 259.8388906894339, + 455.82353404421633 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 446, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -46.92184829711914, + "y": -93.35797882080078, + "z": 0.5889543890953064 + }, + "extent": { + "x": 0.4334716796875, + "y": 0.4794921875, + "z": 0.8956760168075562 + }, + "yaw": 56.999961853027344 + }, + "bbox_2d": { + "xmin": 357.03148097918717, + "ymin": 119.5632432566411, + "xmax": 402.61444920908593, + "ymax": 183.00698251353452 + }, + "corners_3d": [ + [ + -46.75579833984375, + -93.982666015625, + -0.30672162771224976 + ], + [ + -47.5600700378418, + -93.46036529541016, + -0.30672162771224976 + ], + [ + -47.08789825439453, + -92.73329162597656, + -0.30672162771224976 + ], + [ + -46.283626556396484, + -93.2555923461914, + -0.30672162771224976 + ], + [ + -46.75579833984375, + -93.982666015625, + 1.4846303462982178 + ], + [ + -47.5600700378418, + -93.46036529541016, + 1.4846303462982178 + ], + [ + -47.08789825439453, + -92.73329162597656, + 1.4846303462982178 + ], + [ + -46.283626556396484, + -93.2555923461914, + 1.4846303462982178 + ] + ], + "corners_2d": [ + [ + 367.49114926981053, + 171.79043484529564 + ], + [ + 382.32666529328174, + 183.00698251353452 + ], + [ + 402.61444920908593, + 173.17181138411658 + ], + [ + 387.6798379319276, + 162.22199508664778 + ], + [ + 357.03148097918717, + 128.96638706613896 + ], + [ + 372.2933305917448, + 140.00009152860946 + ], + [ + 393.48668566252167, + 130.32460857471762 + ], + [ + 378.1144848886936, + 119.5632432566411 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 7178, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 803.4503769969537, + "ymin": 114.90969884858404, + "xmax": 960.2251343009252, + "ymax": 206.8659980769477 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 803.4503769969537, + 174.4615764389689 + ], + [ + 821.203442723922, + 206.8659980769477 + ], + [ + 947.35420931651, + 191.1654508128337 + ], + [ + 925.1490706399481, + 159.95256453897176 + ], + [ + 810.2026873136788, + 129.12931717065393 + ], + [ + 828.990610361279, + 161.0101212800486 + ], + [ + 960.2251343009252, + 145.57172374898892 + ], + [ + 936.6271180194904, + 114.90969884858404 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 209, + "instance_id": 53504, + "pixel_count": 4737, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -44.30002975463867, + "y": -58.57492446899414, + "z": 0.8211467266082764 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 1145.500171997705, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 55.5289847716366 + }, + "corners_3d": [ + [ + -45.22607421875, + -56.065513610839844, + 0.05378423258662224 + ], + [ + -43.344486236572266, + -56.07659912109375, + 0.05378423258662224 + ], + [ + -43.373985290527344, + -61.08433532714844, + 0.05378423258662224 + ], + [ + -45.25557327270508, + -61.0732536315918, + 0.05378423258662224 + ], + [ + -45.22607421875, + -56.065513610839844, + 1.588509202003479 + ], + [ + -43.344486236572266, + -56.07659912109375, + 1.588509202003479 + ], + [ + -43.373985290527344, + -61.08433532714844, + 1.588509202003479 + ], + [ + -45.25557327270508, + -61.0732536315918, + 1.588509202003479 + ] + ], + "corners_2d": [ + [ + 1277.4383169427529, + 43.868350850648596 + ], + [ + 1249.4632755261316, + 23.185534251786464 + ], + [ + 1145.500171997705, + 34.13932637913831 + ], + [ + 1170.6265698969105, + 55.5289847716366 + ], + [ + 1295.207611542987, + 9.200803064475565 + ], + [ + 1265.9200808205183, + -10.9535951982823 + ], + [ + 1159.38363608453, + -0.2839289003749741 + ], + [ + 1185.6801740302253, + 20.578651796484962 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 216, + "instance_id": 55296, + "pixel_count": 7239, + "type_id": "vehicle.audi.etron", + "bbox_3d": { + "center_world": { + "x": -44.75563430786133, + "y": -104.2794189453125, + "z": 0.8648524284362793 + }, + "extent": { + "x": 2.427854299545288, + "y": 1.0163782835006714, + "z": 0.8246796727180481 + }, + "yaw": -94.3148193359375 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 99.33584284106553, + "xmax": 147.87945022339568, + "ymax": 190.89316176538557 + }, + "corners_3d": [ + [ + -45.58646774291992, + -101.781982421875, + 0.04017278552055359 + ], + [ + -43.559471130371094, + -101.9349136352539, + 0.04017278552055359 + ], + [ + -43.92479705810547, + -106.77686309814453, + 0.04017278552055359 + ], + [ + -45.9517936706543, + -106.6239242553711, + 0.04017278552055359 + ], + [ + -45.58646774291992, + -101.781982421875, + 1.6895321607589722 + ], + [ + -43.559471130371094, + -101.9349136352539, + 1.6895321607589722 + ], + [ + -43.92479705810547, + -106.77686309814453, + 1.6895321607589722 + ], + [ + -45.9517936706543, + -106.6239242553711, + 1.6895321607589722 + ] + ], + "corners_2d": [ + [ + 143.44925919224357, + 169.40433926267391 + ], + [ + 147.87945022339568, + 138.79069673124621 + ], + [ + 6.1744679992749525, + 158.65211958711552 + ], + [ + -4.140489592326958, + 190.89316176538557 + ], + [ + 125.69403197056204, + 129.42452033842915 + ], + [ + 130.97649965314167, + 99.33584284106553 + ], + [ + -16.175158672077146, + 118.84733914484559 + ], + [ + -27.81208530092897, + 150.5938961979295 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 860.2277258035755, + "ymin": 40.12496326335764, + "xmax": 881.0829949005981, + "ymax": 73.48285031112681 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 872.393165825539, + 67.53593801133349 + ], + [ + 860.2277258035755, + 68.78575334178794 + ], + [ + 863.5090764099843, + 73.48285031112681 + ], + [ + 875.7498430826066, + 72.21627923997164 + ], + [ + 877.6147402480472, + 40.12496326335764 + ], + [ + 865.1849770260096, + 41.35295291720354 + ], + [ + 868.5745950280302, + 45.96890354939114 + ], + [ + 881.0829949005981, + 44.72407672084756 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4809317425322915338, + "instance_id": 2806, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -62.6159553527832, + "y": -93.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 297.2958524130618, + "ymin": 337.14049194665404, + "xmax": 327.5153363357151, + "ymax": 379.09614899075507 + }, + "corners_3d": [ + [ + -62.754539489746094, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.9842529296875, + 6.416468620300293 + ], + [ + -62.754539489746094, + -93.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 327.11410110616197, + 376.5002005584766 + ], + [ + 327.5153363357151, + 366.9421718730429 + ], + [ + 308.7549740358664, + 369.489164680273 + ], + [ + 308.17303953543416, + 379.09614899075507 + ], + [ + 316.88494571674846, + 346.7170142154809 + ], + [ + 317.39909278614715, + 337.14049194665404 + ], + [ + 298.00320762123806, + 339.6918339391972 + ], + [ + 297.2958524130618, + 349.3190086854649 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5344508464058845628, + "instance_id": 48329, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -62.61595916748047, + "y": -96.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 138.87908291966085, + "ymin": 357.6592979165376, + "xmax": 176.7262678877558, + "ymax": 400.0736717749466 + }, + "corners_3d": [ + [ + -62.75454330444336, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.9842529296875, + 6.416468620300293 + ], + [ + -62.75454330444336, + -96.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 174.84657881420264, + 397.3692097724277 + ], + [ + 176.7262678877558, + 387.41411942640383 + ], + [ + 157.18936256115012, + 390.0665396190586 + ], + [ + 155.11376210161905, + 400.0736717749466 + ], + [ + 159.31468842722632, + 367.6470070326724 + ], + [ + 161.41144441622282, + 357.6592979165376 + ], + [ + 141.1858556881441, + 360.319779781414 + ], + [ + 138.87908291966085, + 370.3614430131932 + ] + ], + "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": 55.1486889857556, + "ymin": 51.541311682352216, + "xmax": 84.15642107137683, + "ymax": 85.29782387888963 + }, + "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": [ + [ + 68.32633622277444, + 85.29782387888963 + ], + [ + 82.21986559999823, + 83.98856091322756 + ], + [ + 84.15642107137683, + 79.1513353423407 + ], + [ + 70.36022084183128, + 80.44299157382159 + ], + [ + 55.1486889857556, + 57.585910427718034 + ], + [ + 69.38643143159322, + 56.29815131324824 + ], + [ + 71.45571721181432, + 51.541311682352216 + ], + [ + 57.3201555815906, + 52.81135855067163 + ] + ], + "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": 73.70628803280397, + "ymin": 11.426144331556543, + "xmax": 100.51111558329274, + "ymax": 43.757927537946216 + }, + "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": [ + [ + 85.72856451413509, + 43.757927537946216 + ], + [ + 98.79084737978553, + 42.59546836649463 + ], + [ + 100.51111558329274, + 38.298504018161054 + ], + [ + 87.5349136420217, + 39.446224511885475 + ], + [ + 73.70628803280397, + 16.780913718267698 + ], + [ + 87.07247581931426, + 15.640581378004015 + ], + [ + 88.90581292132083, + 11.426144331556543 + ], + [ + 75.62973439160191, + 12.551708261786871 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8433051479337506626, + "instance_id": 17047, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -62.61595153808594, + "y": -91.29429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 423.79674662754826, + "ymin": 320.6793355206155, + "xmax": 449.37305175802413, + "ymax": 362.25442391344626 + }, + "corners_3d": [ + [ + -62.75453567504883, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.4842529296875, + 6.416468620300293 + ], + [ + -62.75453567504883, + -91.4842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 449.37305175802413, + 359.7439913250754 + ], + [ + 448.6298808755915, + 350.49897853123815 + ], + [ + 430.4818099375776, + 352.9628435366274 + ], + [ + 431.05594505059344, + 362.25442391344626 + ], + [ + 443.24759991230434, + 329.9322929023888 + ], + [ + 442.5395991139279, + 320.6793355206155 + ], + [ + 423.79674662754826, + 323.14477702113805 + ], + [ + 424.3243921221872, + 332.44583830357436 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 898.2413993239688, + "ymin": 93.48260532842738, + "xmax": 921.8939860934502, + "ymax": 128.6563642523824 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 911.2745842772113, + 121.74976075050975 + ], + [ + 898.2413993239688, + 123.20051485411693 + ], + [ + 902.0528076998946, + 128.6563642523824 + ], + [ + 915.1724052292589, + 127.18463896684884 + ], + [ + 917.8524712916139, + 93.48260532842738 + ], + [ + 904.5155749656947, + 94.91299959968563 + ], + [ + 908.4666040351848, + 100.29347466213568 + ], + [ + 921.8939860934502, + 98.84189608872305 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 832.4889329927557, + "ymin": 1.2975411500361247, + "xmax": 851.4130216651525, + "ymax": 33.258843938192285 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 844.0144157977056, + 27.966724988694295 + ], + [ + 832.4889329927557, + 29.079348009872263 + ], + [ + 835.408690506267, + 33.258843938192285 + ], + [ + 847.0018040916987, + 32.13215490874671 + ], + [ + 848.3341954286964, + 1.2975411500361247 + ], + [ + 836.5716728074198, + 2.3879624551842085 + ], + [ + 839.5800557798004, + 6.484752945767923 + ], + [ + 851.4130216651525, + 5.380251347792125 + ] + ], + "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": 152.8240590289754, + "ymin": 0.0, + "xmax": 172.38712440927497, + "ymax": 14.988953668206307 + }, + "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": [ + [ + 161.0565626000029, + 14.988953668206307 + ], + [ + 171.37581311881763, + 14.100819525719544 + ], + [ + 172.38712440927497, + 10.794778388881525 + ], + [ + 162.1219942222686, + 11.67386353099073 + ], + [ + 152.8240590289754, + -6.884059384101533 + ], + [ + 163.33190473144901, + -7.756974669730084 + ], + [ + 164.40224177882993, + -11.006003147185993 + ], + [ + 153.95050411090347, + -10.14213338155912 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 943.4814317721738, + "ymin": 294.2271072492561, + "xmax": 969.7925053235276, + "ymax": 328.06695362719944 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 957.0801240957636, + 318.87554536894197 + ], + [ + 943.4814317721738, + 320.7972321578269 + ], + [ + 947.8531656780754, + 328.06695362719944 + ], + [ + 961.5463567302148, + 326.11591123586606 + ], + [ + 965.1488293034758, + 294.2271072492561 + ], + [ + 951.2200700968463, + 296.1468003045679 + ], + [ + 955.764610227722, + 303.410763184732 + ], + [ + 969.7925053235276, + 301.4609892199575 + ] + ], + "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": 806.3106817930777, + "ymin": 0.0, + "xmax": 1042.2824640849835, + "ymax": 398.37892436247785 + }, + "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": [ + [ + 936.6448871910065, + 398.37892436247785 + ], + [ + 951.2513255809299, + 396.258559432383 + ], + [ + 817.6935890869173, + 154.51808293090707 + ], + [ + 806.3106817930777, + 155.75927438965502 + ], + [ + 1023.6351063391153, + 137.64740691410896 + ], + [ + 1042.2824640849835, + 135.59926896088223 + ], + [ + 854.9100002369415, + -82.77494606350109 + ], + [ + 841.2094043328036, + -81.72540604943782 + ] + ], + "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": 676.0649795816245, + "ymin": 0.0, + "xmax": 744.3219312775589, + "ymax": 8.812705578260534 + }, + "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": [ + [ + 686.125573338179, + 8.812705578260534 + ], + [ + 736.1545194121394, + 4.228544376423486 + ], + [ + 724.5846975702719, + -15.900516930636797 + ], + [ + 676.0649795816245, + -11.602087648632278 + ], + [ + 690.0740692838697, + -100.64683528147572 + ], + [ + 744.3219312775589, + -104.77299840806558 + ], + [ + 731.5240381845808, + -122.83152443489007 + ], + [ + 679.0460454911345, + -118.98335654530433 + ] + ], + "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": 189.00111871183896, + "ymax": 260.9762639795282 + }, + "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": [ + [ + 189.00111871183896, + 71.77547074681559 + ], + [ + 177.92891902119737, + 72.76957146424894 + ], + [ + 123.49272246131079, + 260.9762639795282 + ], + [ + 137.60657703939654, + 259.38248609967377 + ], + [ + 106.27850191272205, + -151.2134567802459 + ], + [ + 93.0340475335014, + -150.40869313466703 + ], + [ + -2.8719741632536397, + 9.835330424951337 + ], + [ + 14.967289784343848, + 8.409125703433801 + ] + ], + "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": 432.2570065547196, + "ymin": 0.0, + "xmax": 762.753075568801, + "ymax": 58.06617012215696 + }, + "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": [ + [ + 744.7874784560219, + 32.46800878273359 + ], + [ + 742.2233559228891, + 27.75692296768625 + ], + [ + 463.5979545880593, + 52.98741889517447 + ], + [ + 464.199719328913, + 58.06617012215696 + ], + [ + 762.753075568801, + -182.70431182026516 + ], + [ + 759.6043104982078, + -186.4358503537769 + ], + [ + 432.2570065547196, + -166.345270157149 + ], + [ + 432.6932540337898, + -162.26939563627695 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 242.5446775042087, + "xmax": 529.459840281468, + "ymax": 596.3399804049479 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + 20.566627511100933, + 580.3726935067091 + ], + [ + 15.809703790893764, + 596.3399804049479 + ], + [ + 529.459840281468, + 517.6646815885346 + ], + [ + 527.6694525209766, + 503.6631223685937 + ], + [ + -204.76595783050686, + 323.1401933570924 + ], + [ + -215.34572346089135, + 340.38446418576564 + ], + [ + 492.02880537721467, + 256.9842060506812 + ], + [ + 490.2488488747321, + 242.5446775042087 + ] + ], + "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": 0.0, + "ymin": 0.0, + "xmax": 237.5575051102955, + "ymax": 65.27115801807963 + }, + "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": [ + [ + 102.4647813643885, + 65.27115801807963 + ], + [ + 237.5575051102955, + 1.6199895229106573 + ], + [ + 148.40538807172936, + -33.43046098126615 + ], + [ + 13.074635446151433, + 23.07820514909355 + ], + [ + 50.92066430767591, + -51.927875964896145 + ], + [ + 202.78552431969183, + -109.48291183984719 + ], + [ + 108.46441238250156, + -140.75298669112374 + ], + [ + -43.086817699620724, + -90.19151157608809 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1178.275494705967, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1435.3160997184664, + 536.6487128879216 + ], + [ + 1178.275494705967, + 729.4844494298281 + ], + [ + 1729.6310981426848, + 1286.707999876342 + ], + [ + 1968.074470170207, + 924.914493148661 + ], + [ + 2067.0435093337037, + -59.75834577430322 + ], + [ + 1751.2811276311681, + 135.4671370687384 + ], + [ + 4622.654233993268, + 1284.6102568213932 + ], + [ + 3875.662813556953, + 404.11519337889683 + ] + ], + "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": 0.0, + "ymin": 0.0, + "xmax": 236.80043652157576, + "ymax": 45.91704632421795 + }, + "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": [ + [ + 73.88862933842233, + 45.91704632421795 + ], + [ + 236.80043652157576, + -36.6824977601276 + ], + [ + 101.69472415602968, + -75.78640731676546 + ], + [ + -66.49076791009395, + -4.301745621894099 + ], + [ + -133.1178728721011, + -408.0843456327507 + ], + [ + 112.79700159484821, + -443.9322989758439 + ], + [ + -49.96030311359243, + -459.860199250268 + ], + [ + -299.44306213127174, + -430.2489064696896 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12511280680997575471, + "instance_id": 12123, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2349_123", + "bbox_3d": { + "center_world": { + "x": -36.20769119262695, + "y": -108.4781723022461, + "z": 6.51531457901001 + }, + "extent": { + "x": 4.686452865600586, + "y": 4.53662633895874, + "z": 6.939882278442383 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 157.89208787401668, + "ymax": 156.7412560857459 + }, + "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": [ + [ + -90.90749306613861, + 156.7412560857459 + ], + [ + 157.89208787401668, + 84.441218462074 + ], + [ + 100.69640419876418, + -1.5448989296342575 + ], + [ + -120.7106588725178, + 53.809415729930606 + ], + [ + -374.35061643468555, + -281.76191085000823 + ], + [ + -6.1463908677329755, + -324.90203239651566 + ], + [ + -54.5065957976567, + -372.5109771815355 + ], + [ + -364.9580591801871, + -342.3007864940281 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 17624874717371266855, + "instance_id": 10103, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2729_96", + "bbox_3d": { + "center_world": { + "x": -23.074316024780273, + "y": -116.09037780761719, + "z": 6.446401596069336 + }, + "extent": { + "x": 4.342342853546143, + "y": 4.219171524047852, + "z": 6.881437301635742 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 50.04284690325824, + "ymax": 2.7378646333688152 + }, + "corners_3d": [ + [ + -21.257497787475586, + -110.31486511230469, + -0.43503570556640625 + ], + [ + -17.248931884765625, + -117.74029541015625, + -0.43503570556640625 + ], + [ + -24.89113426208496, + -121.86589050292969, + -0.43503570556640625 + ], + [ + -28.899700164794922, + -114.44046020507812, + -0.43503570556640625 + ], + [ + -21.257497787475586, + -110.31486511230469, + 13.327838897705078 + ], + [ + -17.248931884765625, + -117.74029541015625, + 13.327838897705078 + ], + [ + -24.89113426208496, + -121.86589050292969, + 13.327838897705078 + ], + [ + -28.899700164794922, + -114.44046020507812, + 13.327838897705078 + ] + ], + "corners_2d": [ + [ + 50.04284690325824, + -70.37445086005533 + ], + [ + -79.20487703275955, + -89.28406140219863 + ], + [ + -222.73266826197573, + -21.294572914039748 + ], + [ + -82.34147350750823, + 2.7378646333688152 + ], + [ + -95.02091236118508, + -404.2598783028267 + ], + [ + -248.71302371335048, + -413.77545365973117 + ], + [ + -458.4024930936421, + -378.8131303382613 + ], + [ + -289.6274804220733, + -365.9420851530043 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file diff --git a/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00148/meta.json b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00148/meta.json new file mode 100644 index 0000000000000000000000000000000000000000..e38fe1e095bf7744b6fbbc38afa1cd75a93593ca --- /dev/null +++ b/data_v7/Town05_Opt/trajectory_1777280590/aug_001/frames_playback/frame_00148/meta.json @@ -0,0 +1,3101 @@ +{ + "frame_id": 148, + "is_perturbed": true, + "perturbation": { + "drone_position": true, + "drone_rotation": false + }, + "timing": { + "trace_timestamp": 74.0, + "sim_timestamp": 11550.16600090079 + }, + "drone_pose": { + "x": -76.06534799367795, + "y": -90.30658626277086, + "z": 20.099885042620965, + "pitch": -45.41249629604496, + "yaw": 16.982738087043238, + "roll": 0.0 + }, + "world_to_camera": [ + [ + 0.671385645866394, + -0.2050420194864273, + 0.7121791839599609, + 55.27110290527344 + ], + [ + 0.2920835614204407, + 0.9563928246498108, + 0.0, + 64.15113067626953 + ], + [ + -0.6811230182647705, + 0.2080158293247223, + 0.7019977569580078, + -84.70513153076172 + ], + [ + 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": 194, + "world_location": { + "x": -57.66718292236328, + "y": -84.68776321411133, + "z": 0.5838420647010207 + }, + "image_uv": [ + 640.0, + 360.0000000000001 + ], + "depth": 27.403276883604796, + "visible": true, + "in_view": true, + "lost_reason": "visible", + "pixel_count": 211, + "visibility_method": "instance", + "bbox_3d": { + "center_world": { + "x": -57.66718292236328, + "y": -84.68775939941406, + "z": 0.5838420391082764 + }, + "extent": { + "x": 0.12680663168430328, + "y": 0.2013866901397705, + "z": 0.5537870526313782 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.8509866625599, + "ymin": 341.70868714792755, + "xmax": 648.1757734230647, + "ymax": 377.9369975221155 + }, + "corners_3d": [ + [ + -57.79399108886719, + -84.88914489746094, + 0.030054986476898193 + ], + [ + -57.79399108886719, + -84.48637390136719, + 0.030054986476898193 + ], + [ + -57.540374755859375, + -84.48637390136719, + 0.030054986476898193 + ], + [ + -57.540374755859375, + -84.88914489746094, + 0.030054986476898193 + ], + [ + -57.79399108886719, + -84.88914489746094, + 1.1376290321350098 + ], + [ + -57.79399108886719, + -84.48637390136719, + 1.1376290321350098 + ], + [ + -57.540374755859375, + -84.48637390136719, + 1.1376290321350098 + ], + [ + -57.540374755859375, + -84.88914489746094, + 1.1376290321350098 + ] + ], + "corners_2d": [ + [ + 634.6030993720009, + 377.9369975221155 + ], + [ + 647.9434098839787, + 374.9855934085653 + ], + [ + 645.3482812748115, + 368.95546845589104 + ], + [ + 632.081860199108, + 371.8709353715919 + ], + [ + 634.4447422602084, + 350.69746808296685 + ], + [ + 648.1757734230647, + 347.7431540676774 + ], + [ + 645.5037494355083, + 341.70868714792755 + ], + [ + 631.8509866625599, + 344.6259845545117 + ] + ], + "center_offset_px": [ + 0.0, + 1.1368683772161603e-13 + ] + }, + "trace_timestep_index": 148, + "instance_stats": { + "semantic_tags_present": 15, + "instances_present": 69, + "semantic_pixel_counts": { + "1": 567831, + "2": 143100, + "3": 1198, + "4": 50946, + "5": 3027, + "6": 13723, + "7": 3408, + "9": 11498, + "10": 65612, + "12": 3392, + "14": 13624, + "20": 1489, + "21": 3349, + "24": 39238, + "25": 165 + }, + "instance_pixel_counts": { + "2139": 1198, + "5695": 165, + "9296": 3027, + "9799": 2680, + "11927": 1260, + "12439": 3, + "12951": 1492, + "17232": 50946, + "21952": 3135, + "22464": 482, + "22784": 366, + "22976": 6899, + "23040": 1649, + "23296": 6869, + "23552": 8137, + "24404": 1283, + "24660": 7, + "25940": 76, + "26196": 123, + "27522": 4714, + "27795": 11031, + "28819": 15738, + "31893": 1429, + "33429": 936, + "38539": 1693, + "39051": 2324, + "39563": 3751, + "40075": 1180, + "40787": 110, + "41099": 374, + "41107": 112088, + "41611": 6478, + "41619": 44444, + "42123": 5907, + "42635": 3796, + "42643": 15974, + "43155": 287585, + "43659": 5650, + "43667": 47776, + "44179": 33100, + "44181": 7523, + "44693": 1149, + "45205": 488, + "45717": 24722, + "46229": 1393, + "46741": 1598, + "47552": 2464, + "48064": 3626, + "49088": 4894, + "49600": 3562, + "49664": 211, + "49920": 404, + "50015": 7734, + "50112": 541, + "50176": 458, + "50432": 857, + "50624": 23384, + "50688": 941, + "50944": 521, + "51136": 8852, + "51648": 12933, + "51712": 7109, + "52672": 35740, + "53504": 4273, + "55296": 2242, + "55879": 45823, + "57173": 6784, + "64147": 95, + "64603": 3349 + } + }, + "meta_format_version": "7.0.0", + "camera": { + "intrinsic": [ + [ + 960.0, + 0.0, + 640.0 + ], + [ + 0.0, + 960.0, + 360.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "image_size": { + "width": 1280, + "height": 720 + }, + "hfov_deg": 67.38013505195957, + "vfov_deg": 41.112090439166934, + "focal_length_px": 960.0, + "optical_zoom": 1.5, + "software_zoom_factor": 1.0 + }, + "objects": [ + { + "role": "primary", + "category": "pedestrian", + "actor_id": 194, + "instance_id": 49664, + "pixel_count": 211, + "type_id": "walker.pedestrian.0011", + "bbox_3d": { + "center_world": { + "x": -57.66718292236328, + "y": -84.68775939941406, + "z": 0.5838420391082764 + }, + "extent": { + "x": 0.12590575218200684, + "y": 0.19783689081668854, + "z": 0.5541407465934753 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 631.9807220588177, + "ymin": 341.746726690736, + "xmax": 648.0456881287205, + "ymax": 377.89761934937826 + }, + "corners_3d": [ + [ + -57.793087005615234, + -84.8855972290039, + 0.029701292514801025 + ], + [ + -57.793087005615234, + -84.48992156982422, + 0.029701292514801025 + ], + [ + -57.54127883911133, + -84.48992156982422, + 0.029701292514801025 + ], + [ + -57.54127883911133, + -84.8855972290039, + 0.029701292514801025 + ], + [ + -57.793087005615234, + -84.8855972290039, + 1.1379828453063965 + ], + [ + -57.793087005615234, + -84.48992156982422, + 1.1379828453063965 + ], + [ + -57.54127883911133, + -84.48992156982422, + 1.1379828453063965 + ], + [ + -57.54127883911133, + -84.8855972290039, + 1.1379828453063965 + ] + ], + "corners_2d": [ + [ + 634.711953506135, + 377.89761934937826 + ], + [ + 647.8168767559401, + 374.9983369157818 + ], + [ + 645.2409164133456, + 369.0108946853938 + ], + [ + 632.2080620922495, + 371.87512505365976 + ], + [ + 634.5566975524481, + 350.640630903877 + ], + [ + 648.0456881287205, + 347.7384919126403 + ], + [ + 645.3933698361159, + 341.746726690736 + ], + [ + 631.9807220588177, + 344.6127601104455 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 195, + "instance_id": 49920, + "pixel_count": 404, + "type_id": "walker.pedestrian.0025", + "bbox_3d": { + "center_world": { + "x": -53.541194915771484, + "y": -81.69004821777344, + "z": 0.5825188159942627 + }, + "extent": { + "x": 0.21437743306159973, + "y": 0.3452832102775574, + "z": 0.9198810458183289 + }, + "yaw": -12.000048637390137 + }, + "bbox_2d": { + "xmin": 678.3270463824708, + "ymin": 223.14198156539226, + "xmax": 705.9059285279774, + "ymax": 282.00337547282595 + }, + "corners_3d": [ + [ + -53.82267761230469, + -81.98321533203125, + -0.33736222982406616 + ], + [ + -53.679100036621094, + -81.3077392578125, + -0.33736222982406616 + ], + [ + -53.25971221923828, + -81.39688110351562, + -0.33736222982406616 + ], + [ + -53.403289794921875, + -82.07235717773438, + -0.33736222982406616 + ], + [ + -53.82267761230469, + -81.98321533203125, + 1.5023999214172363 + ], + [ + -53.679100036621094, + -81.3077392578125, + 1.5023999214172363 + ], + [ + -53.25971221923828, + -81.39688110351562, + 1.5023999214172363 + ], + [ + -53.403289794921875, + -82.07235717773438, + 1.5023999214172363 + ] + ], + "corners_2d": [ + [ + 685.0438893932993, + 282.00337547282595 + ], + [ + 703.1584642879687, + 275.30751522024684 + ], + [ + 696.3409159153737, + 267.9201825563127 + ], + [ + 678.3270463824708, + 274.50484059263107 + ], + [ + 687.0187507634323, + 237.09615616740032 + ], + [ + 705.9059285279774, + 230.45924009438403 + ], + [ + 698.770570159535, + 223.14198156539226 + ], + [ + 679.9927456250364, + 229.66392331404674 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 196, + "instance_id": 50176, + "pixel_count": 458, + "type_id": "walker.pedestrian.0018", + "bbox_3d": { + "center_world": { + "x": -59.92300796508789, + "y": -77.74504852294922, + "z": 0.7759563326835632 + }, + "extent": { + "x": 0.18839354813098907, + "y": 0.36717528104782104, + "z": 0.9159488677978516 + }, + "yaw": -6.000004291534424 + }, + "bbox_2d": { + "xmin": 877.4158001912887, + "ymin": 327.29425353731085, + "xmax": 919.3001258982001, + "ymax": 388.7266382867141 + }, + "corners_3d": [ + [ + -60.14875030517578, + -78.09052276611328, + -0.13999253511428833 + ], + [ + -60.071990966796875, + -77.36019134521484, + -0.13999253511428833 + ], + [ + -59.697265625, + -77.39957427978516, + -0.13999253511428833 + ], + [ + -59.774024963378906, + -78.1299057006836, + -0.13999253511428833 + ], + [ + -60.14875030517578, + -78.09052276611328, + 1.6919052600860596 + ], + [ + -60.071990966796875, + -77.36019134521484, + 1.6919052600860596 + ], + [ + -59.697265625, + -77.39957427978516, + 1.6919052600860596 + ], + [ + -59.774024963378906, + -78.1299057006836, + 1.6919052600860596 + ] + ], + "corners_2d": [ + [ + 884.6261698719688, + 388.7266382867141 + ], + [ + 906.19586757617, + 381.4687738000114 + ], + [ + 898.8499869686726, + 372.82755084040775 + ], + [ + 877.4158001912887, + 379.9594965555757 + ], + [ + 896.7607602365747, + 343.2119582990361 + ], + [ + 919.3001258982001, + 335.94248974794755 + ], + [ + 911.4766053789547, + 327.29425353731085 + ], + [ + 889.0846845052274, + 334.43145482980344 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 197, + "instance_id": 50432, + "pixel_count": 857, + "type_id": "walker.pedestrian.0043", + "bbox_3d": { + "center_world": { + "x": -67.16718292236328, + "y": -84.68775939941406, + "z": 0.5750041604042053 + }, + "extent": { + "x": 0.43724116683006287, + "y": 0.45008784532546997, + "z": 0.9228782653808594 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 737.2118272078983, + "ymin": 611.448510072462, + "xmax": 798.6114818904655, + "ymax": 698.7121603945407 + }, + "corners_3d": [ + [ + -67.60442352294922, + -85.13784790039062, + -0.34787410497665405 + ], + [ + -67.60442352294922, + -84.2376708984375, + -0.34787410497665405 + ], + [ + -66.72994232177734, + -84.2376708984375, + -0.34787410497665405 + ], + [ + -66.72994232177734, + -85.13784790039062, + -0.34787410497665405 + ], + [ + -67.60442352294922, + -85.13784790039062, + 1.49788236618042 + ], + [ + -67.60442352294922, + -84.2376708984375, + 1.49788236618042 + ], + [ + -66.72994232177734, + -84.2376708984375, + 1.49788236618042 + ], + [ + -66.72994232177734, + -85.13784790039062, + 1.49788236618042 + ] + ], + "corners_2d": [ + [ + 751.4014591634544, + 698.7121603945407 + ], + [ + 788.9082915046455, + 687.4367804122581 + ], + [ + 773.8397384483158, + 652.8245992507634 + ], + [ + 737.2118272078983, + 663.5057130773091 + ], + [ + 758.7276540692237, + 658.7564107786502 + ], + [ + 798.6114818904655, + 647.1118820314282 + ], + [ + 782.3143818646511, + 611.448510072462 + ], + [ + 743.4224331807101, + 622.4408431932377 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 198, + "instance_id": 50688, + "pixel_count": 941, + "type_id": "walker.pedestrian.0034", + "bbox_3d": { + "center_world": { + "x": -61.28268051147461, + "y": -95.81512451171875, + "z": 0.5749992728233337 + }, + "extent": { + "x": 0.31181642413139343, + "y": 0.45960453152656555, + "z": 0.9215108752250671 + }, + "yaw": 6.000008583068848 + }, + "bbox_2d": { + "xmin": 199.96065389028354, + "ymin": 525.8537035200453, + "xmax": 266.5196844393422, + "ymax": 597.5292836609485 + }, + "corners_3d": [ + [ + -61.54474639892578, + -96.30480194091797, + -0.3465116024017334 + ], + [ + -61.640830993652344, + -95.39063262939453, + -0.3465116024017334 + ], + [ + -61.02061462402344, + -95.32544708251953, + -0.3465116024017334 + ], + [ + -60.924530029296875, + -96.23961639404297, + -0.3465116024017334 + ], + [ + -61.54474639892578, + -96.30480194091797, + 1.4965101480484009 + ], + [ + -61.640830993652344, + -95.39063262939453, + 1.4965101480484009 + ], + [ + -61.02061462402344, + -95.32544708251953, + 1.4965101480484009 + ], + [ + -60.924530029296875, + -96.23961639404297, + 1.4965101480484009 + ] + ], + "corners_2d": [ + [ + 224.98515237673507, + 597.5292836609485 + ], + [ + 264.51777990985, + 591.1109379254193 + ], + [ + 266.5196844393422, + 569.1974054349196 + ], + [ + 227.72018405141165, + 575.3838394090822 + ], + [ + 199.96065389028354, + 554.793407139213 + ], + [ + 242.00415775099003, + 548.2302153050218 + ], + [ + 244.55726893110483, + 525.8537035200453 + ], + [ + 203.3419079967993, + 532.1659021663747 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pedestrian", + "actor_id": 199, + "instance_id": 50944, + "pixel_count": 521, + "type_id": "walker.pedestrian.0044", + "bbox_3d": { + "center_world": { + "x": -46.42184829711914, + "y": -92.85797882080078, + "z": 0.5849406719207764 + }, + "extent": { + "x": 0.42433103919029236, + "y": 0.44384765625, + "z": 0.9268313646316528 + }, + "yaw": 12.000038146972656 + }, + "bbox_2d": { + "xmin": 298.0199879544674, + "ymin": 157.7519314551659, + "xmax": 340.3752644893633, + "ymax": 217.72708189288068 + }, + "corners_3d": [ + [ + -46.744625091552734, + -93.3803482055664, + -0.34189069271087646 + ], + [ + -46.9291877746582, + -92.51205444335938, + -0.34189069271087646 + ], + [ + -46.09907150268555, + -92.33560943603516, + -0.34189069271087646 + ], + [ + -45.91450881958008, + -93.20390319824219, + -0.34189069271087646 + ], + [ + -46.744625091552734, + -93.3803482055664, + 1.5117720365524292 + ], + [ + -46.9291877746582, + -92.51205444335938, + 1.5117720365524292 + ], + [ + -46.09907150268555, + -92.33560943603516, + 1.5117720365524292 + ], + [ + -45.91450881958008, + -93.20390319824219, + 1.5117720365524292 + ] + ], + "corners_2d": [ + [ + 311.4509584773247, + 217.72708189288068 + ], + [ + 337.1951971828372, + 216.3901217183791 + ], + [ + 340.3752644893633, + 202.00655906955282 + ], + [ + 315.08273183188123, + 203.2975639815317 + ], + [ + 298.0199879544674, + 173.22759362128352 + ], + [ + 324.8373540650084, + 171.91052727515563 + ], + [ + 328.3675203934173, + 157.7519314551659 + ], + [ + 302.03993551662546, + 159.02192707234613 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 202, + "instance_id": 51712, + "pixel_count": 7109, + "type_id": "vehicle.nissan.patrol", + "bbox_3d": { + "center_world": { + "x": -51.40492248535156, + "y": -76.39866638183594, + "z": 0.9868422746658325 + }, + "extent": { + "x": 2.3022549152374268, + "y": 0.9657964706420898, + "z": 0.9274230599403381 + }, + "yaw": 89.66276550292969 + }, + "bbox_2d": { + "xmin": 742.4431170297738, + "ymin": 128.81949057842584, + "xmax": 895.9891238900208, + "ymax": 227.8733126880671 + }, + "corners_3d": [ + [ + -50.453094482421875, + -78.70845031738281, + 0.06372232735157013 + ], + [ + -52.38465118408203, + -78.69708251953125, + 0.06453153491020203 + ], + [ + -52.35755157470703, + -74.09265899658203, + 0.05512009561061859 + ], + [ + -50.42599105834961, + -74.10403442382812, + 0.054310884326696396 + ], + [ + -50.452293395996094, + -78.70466613769531, + 1.9185644388198853 + ], + [ + -52.383853912353516, + -78.69329833984375, + 1.919373631477356 + ], + [ + -52.35675048828125, + -74.08887481689453, + 1.9099621772766113 + ], + [ + -50.42518997192383, + -74.10025024414062, + 1.9091529846191406 + ] + ], + "corners_2d": [ + [ + 742.4431170297738, + 195.69324401067635 + ], + [ + 763.4802014449234, + 227.8733126880671 + ], + [ + 885.8131175040376, + 203.92049848707646 + ], + [ + 860.8103913480304, + 173.5272220960799 + ], + [ + 746.6997497542458, + 150.55290277941518 + ], + [ + 768.8024004869776, + 182.22091636973022 + ], + [ + 895.9891238900208, + 158.6602237632847 + ], + [ + 869.6077642180812, + 128.81949057842584 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 209, + "instance_id": 53504, + "pixel_count": 4273, + "type_id": "vehicle.dodge.charger_2020", + "bbox_3d": { + "center_world": { + "x": -44.30002975463867, + "y": -58.57492446899414, + "z": 0.8211467266082764 + }, + "extent": { + "x": 2.5039126873016357, + "y": 0.9408109784126282, + "z": 0.7673624753952026 + }, + "yaw": -90.33749389648438 + }, + "bbox_2d": { + "xmin": 1058.3974718567006, + "ymin": 0.0, + "xmax": 1197.101897858547, + "ymax": 55.42300376276512 + }, + "corners_3d": [ + [ + -45.22607421875, + -56.065513610839844, + 0.05378423258662224 + ], + [ + -43.344486236572266, + -56.07659912109375, + 0.05378423258662224 + ], + [ + -43.373985290527344, + -61.08433532714844, + 0.05378423258662224 + ], + [ + -45.25557327270508, + -61.0732536315918, + 0.05378423258662224 + ], + [ + -45.22607421875, + -56.065513610839844, + 1.588509202003479 + ], + [ + -43.344486236572266, + -56.07659912109375, + 1.588509202003479 + ], + [ + -43.373985290527344, + -61.08433532714844, + 1.588509202003479 + ], + [ + -45.25557327270508, + -61.0732536315918, + 1.588509202003479 + ] + ], + "corners_2d": [ + [ + 1182.6047954112696, + 38.744412962401384 + ], + [ + 1154.3591720909776, + 19.721072271296862 + ], + [ + 1058.3974718567006, + 35.42985638113822 + ], + [ + 1084.4102259410176, + 55.42300376276512 + ], + [ + 1197.101897858547, + 4.8790087462825795 + ], + [ + 1167.6906854634615, + -13.624731543209236 + ], + [ + 1069.517772685422, + 1.652912476425513 + ], + [ + 1096.5955471344332, + 21.125769329531067 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vehicle", + "actor_id": 216, + "instance_id": 55296, + "pixel_count": 2242, + "type_id": "vehicle.audi.etron", + "bbox_3d": { + "center_world": { + "x": -44.75563430786133, + "y": -104.2794189453125, + "z": 0.8648524284362793 + }, + "extent": { + "x": 2.427854299545288, + "y": 1.0163782835006714, + "z": 0.8246796727180481 + }, + "yaw": -94.3148193359375 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 159.5249132107852, + "xmax": 53.177461127508536, + "ymax": 266.49318043341185 + }, + "corners_3d": [ + [ + -45.58646774291992, + -101.781982421875, + 0.04017278552055359 + ], + [ + -43.559471130371094, + -101.9349136352539, + 0.04017278552055359 + ], + [ + -43.92479705810547, + -106.77686309814453, + 0.04017278552055359 + ], + [ + -45.9517936706543, + -106.6239242553711, + 0.04017278552055359 + ], + [ + -45.58646774291992, + -101.781982421875, + 1.6895321607589722 + ], + [ + -43.559471130371094, + -101.9349136352539, + 1.6895321607589722 + ], + [ + -43.92479705810547, + -106.77686309814453, + 1.6895321607589722 + ], + [ + -45.9517936706543, + -106.6239242553711, + 1.6895321607589722 + ] + ], + "corners_2d": [ + [ + 50.97284512760973, + 232.84661364547785 + ], + [ + 53.177461127508536, + 199.46522597198827 + ], + [ + -102.87131134485776, + 230.46273605891727 + ], + [ + -111.82196548496779, + 266.49318043341185 + ], + [ + 28.812090244182286, + 192.46138120013498 + ], + [ + 32.001409241670785, + 159.5249132107852 + ], + [ + -130.73845440331684, + 190.10603775389362 + ], + [ + -141.27545245892452, + 225.75850932601762 + ] + ], + "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": 0.0, + "ymin": 25.03656290574554, + "xmax": 10.677420165512444, + "ymax": 57.53709893462104 + }, + "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": [ + [ + -4.073329177052756, + 57.53709893462104 + ], + [ + 9.35202795362909, + 55.777079450696874 + ], + [ + 10.677420165512444, + 51.60994488773707 + ], + [ + -2.660719546941891, + 53.34810105175825 + ], + [ + -17.83866088972502, + 30.848676824534493 + ], + [ + -4.0902905523810205, + 29.122588655396896 + ], + [ + -2.6514121684507472, + 25.03656290574554 + ], + [ + -16.30835228693229, + 26.740755971228964 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 2354369858299963948, + "instance_id": 11306, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -53.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 795.5532893795647, + "ymin": 60.85965986489674, + "xmax": 815.1519347535567, + "ymax": 94.7047380081724 + }, + "corners_3d": [ + [ + -53.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -53.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -53.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -53.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -53.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 807.4291242700166, + 88.10654805804973 + ], + [ + 795.5532893795647, + 90.04076484276578 + ], + [ + 799.35089380619, + 94.7047380081724 + ], + [ + 811.2946887825397, + 92.74484246834146 + ], + [ + 811.1740251098604, + 60.85965986489674 + ], + [ + 799.0423634834048, + 62.76050747289628 + ], + [ + 802.9493637770142, + 67.34498136553299 + ], + [ + 815.1519347535567, + 65.41832702443793 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 4809317425322915338, + "instance_id": 2806, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_0", + "bbox_3d": { + "center_world": { + "x": -62.6159553527832, + "y": -93.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 243.247360227228, + "ymin": 414.7044384707023, + "xmax": 277.0551230815041, + "ymax": 459.1595765743805 + }, + "corners_3d": [ + [ + -62.754539489746094, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.60433959960938, + 5.545533180236816 + ], + [ + -62.47737121582031, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.9842529296875, + 5.545533180236816 + ], + [ + -62.754539489746094, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.60433959960938, + 6.416468620300293 + ], + [ + -62.47737121582031, + -93.9842529296875, + 6.416468620300293 + ], + [ + -62.754539489746094, + -93.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 277.0551230815041, + 454.67165316904925 + ], + [ + 276.5140398040131, + 444.10114141598694 + ], + [ + 256.38340130821376, + 448.50053237508024 + ], + [ + 256.72479117755773, + 459.1595765743805 + ], + [ + 264.5522598067978, + 425.33527326992555 + ], + [ + 264.12062264877244, + 414.7044384707023 + ], + [ + 243.247360227228, + 419.12805553232965 + ], + [ + 243.46421106993972, + 429.850999405097 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 5344508464058845628, + "instance_id": 48329, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -62.61595916748047, + "y": -96.79429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 70.27567795307937, + "ymin": 450.70353071913155, + "xmax": 112.85859043179448, + "ymax": 495.96835752870913 + }, + "corners_3d": [ + [ + -62.75454330444336, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.60433959960938, + 5.545533180236816 + ], + [ + -62.47737503051758, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.9842529296875, + 5.545533180236816 + ], + [ + -62.75454330444336, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.60433959960938, + 6.416468620300293 + ], + [ + -62.47737503051758, + -96.9842529296875, + 6.416468620300293 + ], + [ + -62.75454330444336, + -96.9842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 111.72726196706094, + 491.1679536307671 + ], + [ + 112.85859043179448, + 479.86688902400005 + ], + [ + 91.340923331373, + 484.5694047019977 + ], + [ + 89.9813937485876, + 495.96835752870913 + ], + [ + 92.88542265750209, + 462.09560555148903 + ], + [ + 94.256158011769, + 450.70353071913155 + ], + [ + 71.89295587312336, + 455.44290756318094 + ], + [ + 70.27567795307937, + 466.93718340415626 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 8433051479337506626, + "instance_id": 17047, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -62.61595153808594, + "y": -91.29429626464844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.18995605409145355, + "y": 0.1385839879512787, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 377.3971224037537, + "ymin": 386.5139176414346, + "xmax": 406.71001843236604, + "ymax": 430.3004274720588 + }, + "corners_3d": [ + [ + -62.75453567504883, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.10433959960938, + 5.545533180236816 + ], + [ + -62.47736740112305, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.4842529296875, + 5.545533180236816 + ], + [ + -62.75453567504883, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.10433959960938, + 6.416468620300293 + ], + [ + -62.47736740112305, + -91.4842529296875, + 6.416468620300293 + ], + [ + -62.75453567504883, + -91.4842529296875, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 406.71001843236604, + 426.05017358280236 + ], + [ + 404.9347666268475, + 416.0356710127768 + ], + [ + 385.86004714647856, + 420.20429869411146 + ], + [ + 387.4563288177284, + 430.3004274720588 + ], + [ + 398.89601644837205, + 396.56719339940025 + ], + [ + 397.13963528491195, + 386.5139176414346 + ], + [ + 377.3971224037537, + 390.6978972539949 + ], + [ + 378.9616948994368, + 400.8358635363634 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 11044220590406881906, + "instance_id": 29394, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_1", + "bbox_3d": { + "center_world": { + "x": -56.14430236816406, + "y": -78.2840347290039, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 839.5191385970169, + "ymin": 113.70897274301103, + "xmax": 861.9183914623444, + "ymax": 149.44643069655592 + }, + "corners_3d": [ + [ + -56.00571823120117, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.47399139404297, + 5.545533180236816 + ], + [ + -56.28288650512695, + -78.09407806396484, + 5.545533180236816 + ], + [ + -56.00571823120117, + -78.09407806396484, + 6.416468620300293 + ], + [ + -56.00571823120117, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.47399139404297, + 6.416468620300293 + ], + [ + -56.28288650512695, + -78.09407806396484, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 852.1731498873605, + 141.79494550751036 + ], + [ + 839.5191385970169, + 144.03678915400047 + ], + [ + 843.923897788352, + 149.44643069655592 + ], + [ + 856.6548322621707, + 147.1725203068546 + ], + [ + 857.2905289043017, + 113.70897274301103 + ], + [ + 844.3459377304322, + 115.91971857363254 + ], + [ + 848.8933255058178, + 121.25562309609938 + ], + [ + 861.9183914623444, + 119.0124831170213 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 15237566582046867759, + "instance_id": 12097, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_2", + "bbox_3d": { + "center_world": { + "x": -50.64430236816406, + "y": -78.28404235839844, + "z": 5.981000900268555 + }, + "extent": { + "x": 0.1385839879512787, + "y": 0.18995605409145355, + "z": 0.43546751141548157 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 763.4318037938356, + "ymin": 22.34834753311884, + "xmax": 781.104098815753, + "ymax": 54.745890434195076 + }, + "corners_3d": [ + [ + -50.50571823120117, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.4739990234375, + 5.545533180236816 + ], + [ + -50.78288650512695, + -78.09408569335938, + 5.545533180236816 + ], + [ + -50.50571823120117, + -78.09408569335938, + 6.416468620300293 + ], + [ + -50.50571823120117, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.4739990234375, + 6.416468620300293 + ], + [ + -50.78288650512695, + -78.09408569335938, + 6.416468620300293 + ] + ], + "corners_2d": [ + [ + 774.727183061785, + 48.867764753533265 + ], + [ + 763.4318037938356, + 50.591539100024534 + ], + [ + 766.8144509493292, + 54.745890434195076 + ], + [ + 778.1714318627858, + 53.00052396247696 + ], + [ + 777.5686526573143, + 22.34834753311884 + ], + [ + 766.0419613332367, + 24.038144079843505 + ], + [ + 769.5132617427178, + 28.111369712581336 + ], + [ + 781.104098815753, + 26.39995536218788 + ] + ], + "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": 47.71558220353006, + "ymin": 40.38457508339667, + "xmax": 70.22679082786499, + "ymax": 67.71237407602194 + }, + "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": [ + [ + 58.18499344448492, + 67.71237407602194 + ], + [ + 69.41578395971169, + 66.19935214374112 + ], + [ + 70.22679082786499, + 62.59281484467698 + ], + [ + 59.05748104536883, + 64.0898152347599 + ], + [ + 47.71558220353006, + 45.42517192651735 + ], + [ + 59.17166350885282, + 43.935344519103694 + ], + [ + 60.05244467562886, + 40.38457508339667 + ], + [ + 48.6603203256343, + 41.85834529593143 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "traffic_light", + "actor_id": 17162743606462072323, + "instance_id": 838, + "pixel_count": null, + "type_id": "AmericanLights_Town04_17_TrafficLight_3", + "bbox_3d": { + "center_world": { + "x": -61.04505157470703, + "y": -78.38402557373047, + "z": 3.0801031589508057 + }, + "extent": { + "x": 0.13933593034744263, + "y": 0.18995605409145355, + "z": 0.4345698356628418 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 900.7062626241936, + "ymin": 312.8343596028287, + "xmax": 926.1032518292371, + "ymax": 347.4943280680039 + }, + "corners_3d": [ + [ + -60.90571594238281, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.57398223876953, + 2.645533323287964 + ], + [ + -61.18438720703125, + -78.1940689086914, + 2.645533323287964 + ], + [ + -60.90571594238281, + -78.1940689086914, + 3.5146729946136475 + ], + [ + -60.90571594238281, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.57398223876953, + 3.5146729946136475 + ], + [ + -61.18438720703125, + -78.1940689086914, + 3.5146729946136475 + ] + ], + "corners_2d": [ + [ + 913.798159961947, + 337.34095782642214 + ], + [ + 900.7062626241936, + 340.3033388827268 + ], + [ + 905.8182660746947, + 347.4943280680039 + ], + [ + 918.992525142201, + 344.48720051492836 + ], + [ + 920.7231480985563, + 312.8343596028287 + ], + [ + 907.3211817331912, + 315.7936517119556 + ], + [ + 912.6150190847749, + 322.9790824473515 + ], + [ + 926.1032518292371, + 319.97394500599404 + ] + ], + "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": 743.2597299431684, + "ymin": 0.0, + "xmax": 990.6076838341953, + "ymax": 416.69568589524647 + }, + "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": [ + [ + 897.720094948962, + 416.69568589524647 + ], + [ + 911.7822471898725, + 413.37680987941263 + ], + [ + 754.4311556911564, + 174.31542839706432 + ], + [ + 743.2597299431684, + 176.26790362223932 + ], + [ + 972.7788766125952, + 157.61309071102446 + ], + [ + 990.6076838341953, + 154.40793112080965 + ], + [ + 778.2864664055458, + -61.66281990420919 + ], + [ + 764.8506186314731, + -60.00883531927519 + ] + ], + "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": 592.134000808761, + "ymin": 0.0, + "xmax": 659.3124768106244, + "ymax": 32.20526738563012 + }, + "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": [ + [ + 608.0020284599225, + 32.20526738563012 + ], + [ + 657.8038511764591, + 25.070050879100847 + ], + [ + 644.168100143713, + 5.0604150982086935 + ], + [ + 595.7952078945925, + 11.753419263726528 + ], + [ + 605.2577782990929, + -77.06315758059958 + ], + [ + 659.3124768106244, + -83.49408197240325 + ], + [ + 644.5093226802431, + -101.46389097357934 + ], + [ + 592.134000808761, + -95.46378211837964 + ] + ], + "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": 92.3381384690922, + "ymax": 333.6977352719545 + }, + "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": [ + [ + 92.3381384690922, + 124.82845972940805 + ], + [ + 80.33289249374025, + 126.54320464094923 + ], + [ + 36.892387340497635, + 333.6977352719545 + ], + [ + 52.374957735245744, + 330.8911594222173 + ], + [ + -13.282034658413295, + -103.02136766871723 + ], + [ + -27.90155475541303, + -101.60615656487863 + ], + [ + -120.9109343697346, + 79.22236787616146 + ], + [ + -100.8032720224262, + 76.63433843953169 + ] + ], + "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": 337.1893894859571, + "ymin": 0.0, + "xmax": 674.1924369265106, + "ymax": 94.6998970448218 + }, + "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": [ + [ + 669.1987125950166, + 53.41626571053996 + ], + [ + 666.1529402181862, + 48.72857729307515 + ], + [ + 383.7999110307165, + 89.41657564868433 + ], + [ + 384.9131356041456, + 94.6998970448218 + ], + [ + 674.1924369265106, + -160.85463930617198 + ], + [ + 670.5890114416939, + -164.57702033344526 + ], + [ + 337.1893894859571, + -131.96678931019744 + ], + [ + 338.092551688639, + -127.68194158895477 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "pole", + "actor_id": 17343697380640261262, + "instance_id": 36484, + "pixel_count": null, + "type_id": "AmericanLights_Town04_16_Poles_4", + "bbox_3d": { + "center_world": { + "x": -62.85200881958008, + "y": -95.94818878173828, + "z": 4.223353385925293 + }, + "extent": { + "x": 6.027276039123535, + "y": 0.21641643345355988, + "z": 4.223353385925293 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 304.09527367681983, + "xmax": 498.0273301412502, + "ymax": 715.0039881290052 + }, + "corners_3d": [ + [ + -62.58203125, + -101.97330474853516, + 0.0 + ], + [ + -63.01484680175781, + -101.9771499633789, + 0.0 + ], + [ + -63.121986389160156, + -89.9230728149414, + 0.0 + ], + [ + -62.689170837402344, + -89.91922760009766, + 0.0 + ], + [ + -62.58203125, + -101.97330474853516, + 8.446706771850586 + ], + [ + -63.01484680175781, + -101.9771499633789, + 8.446706771850586 + ], + [ + -63.121986389160156, + -89.9230728149414, + 8.446706771850586 + ], + [ + -62.689170837402344, + -89.91922760009766, + 8.446706771850586 + ] + ], + "corners_2d": [ + [ + -50.93363837307845, + 696.543221972816 + ], + [ + -54.97012142674225, + 715.0039881290052 + ], + [ + 498.0273301412502, + 576.8535359442674 + ], + [ + 494.7561065423553, + 562.0100582507487 + ], + [ + -328.77461420821953, + 451.3551843564208 + ], + [ + -339.98567578667814, + 472.5163966982474 + ], + [ + 447.9887980252147, + 319.76733943738265 + ], + [ + 444.4238782695388, + 304.09527367681983 + ] + ], + "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": 0.0, + "ymin": 0.0, + "xmax": 138.34940292266754, + "ymax": 122.0978292832977 + }, + "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": [ + [ + -3.740288325282336, + 122.0978292832977 + ], + [ + 138.34940292266754, + 46.636317635121316 + ], + [ + 38.37574250520993, + 13.915508019894446 + ], + [ + -106.70967130082897, + 81.70263868024091 + ], + [ + -68.8111210031193, + 2.3982538505618436 + ], + [ + 93.3070513395196, + -66.46455306374071 + ], + [ + -12.739907563738939, + -95.88696390234992 + ], + [ + -177.6527856840588, + -34.64114141828725 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 10795556244556209767, + "instance_id": 26590, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_1753_894", + "bbox_3d": { + "center_world": { + "x": -74.24409484863281, + "y": -71.42816925048828, + "z": 7.579312801361084 + }, + "extent": { + "x": 4.791197776794434, + "y": 4.6380228996276855, + "z": 7.094995021820068 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 1169.6114584905772, + "ymin": 0.0, + "xmax": 1280.0, + "ymax": 720.0 + }, + "corners_3d": [ + [ + -68.18824768066406, + -68.63648223876953, + 0.4843177795410156 + ], + [ + -71.2571792602539, + -77.39014434814453, + 0.4843177795410156 + ], + [ + -80.29994201660156, + -74.21985626220703, + 0.4843177795410156 + ], + [ + -77.23101043701172, + -65.46619415283203, + 0.4843177795410156 + ], + [ + -68.18824768066406, + -68.63648223876953, + 14.674307823181152 + ], + [ + -71.2571792602539, + -77.39014434814453, + 14.674307823181152 + ], + [ + -80.29994201660156, + -74.21985626220703, + 14.674307823181152 + ], + [ + -77.23101043701172, + -65.46619415283203, + 14.674307823181152 + ] + ], + "corners_2d": [ + [ + 1386.2511708469444, + 517.8455909079888 + ], + [ + 1169.6114584905772, + 737.7003812720562 + ], + [ + 1746.2026963049334, + 1245.6541662303923 + ], + [ + 1905.4861863809342, + 853.4748969442699 + ], + [ + 1940.9413189998238, + -68.19624535791291 + ], + [ + 1719.0841020399635, + 147.80269125982448 + ], + [ + 4334.316272014618, + 1103.821769812577 + ], + [ + 3469.9194559349603, + 293.7085185086895 + ] + ], + "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": 0.0, + "ymin": 0.0, + "xmax": 134.4147617205051, + "ymax": 103.33289795511615 + }, + "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": [ + [ + -36.803980324222834, + 103.33289795511615 + ], + [ + 134.4147617205051, + 6.434199499108843 + ], + [ + -16.317389432859045, + -28.705625001542614 + ], + [ + -198.4366420673822, + 56.770182806802836 + ], + [ + -301.9996174194032, + -368.02245521355053 + ], + [ + -28.313812202520126, + -411.93511881758207 + ], + [ + -212.02699215039354, + -426.7884219791273 + ], + [ + -498.01778847456944, + -389.6896597480917 + ] + ], + "in_view": true + }, + { + "role": "agent", + "category": "vegetation", + "actor_id": 12511280680997575471, + "instance_id": 12123, + "pixel_count": null, + "type_id": "InstancedFoliageActor_0_Inst_2349_123", + "bbox_3d": { + "center_world": { + "x": -36.20769119262695, + "y": -108.4781723022461, + "z": 6.51531457901001 + }, + "extent": { + "x": 4.686452865600586, + "y": 4.53662633895874, + "z": 6.939882278442383 + }, + "yaw": 0.0 + }, + "bbox_2d": { + "xmin": 0.0, + "ymin": 0.0, + "xmax": 59.207722205804885, + "ymax": 234.55320112132824 + }, + "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": [ + [ + -213.35176044034972, + 234.55320112132824 + ], + [ + 59.207722205804885, + 139.91780360412955 + ], + [ + -11.113090885290262, + 50.84382707751615 + ], + [ + -255.6247169782505, + 123.3605389544193 + ], + [ + -577.0157490758695, + -222.17155386957052 + ], + [ + -150.71804462838384, + -281.6590360186758 + ], + [ + -210.14746596336727, + -332.92068184113964 + ], + [ + -569.7419280274637, + -291.5163620296231 + ] + ], + "in_view": true + } + ] +} \ No newline at end of file